diff --git a/Minkowski_sum_2/doc_tex/Minkowski_sum_2/mink_sum.tex b/Minkowski_sum_2/doc_tex/Minkowski_sum_2/mink_sum.tex index 3f09b99c8eb..e41f8ac84f0 100644 --- a/Minkowski_sum_2/doc_tex/Minkowski_sum_2/mink_sum.tex +++ b/Minkowski_sum_2/doc_tex/Minkowski_sum_2/mink_sum.tex @@ -5,7 +5,7 @@ Given two sets $A,B \in \mathbb{R}^d$, their \emph{Minkowski sum}, denoted by $A \oplus B$, is the set $\left\{ a + b ~|~ a \in -A, b \in B \right\}$. Minkowski sum are used in many applications, +A, b \in B \right\}$. Minkowski sums are used in many applications, such as motion planning and computer-aided design and manufacturing. This package contains functions for computing planar Minkowski sums of two polygons (namely $A$ and $B$ are two closed @@ -117,12 +117,12 @@ and $Q$, represented using the \ccc{Polygon_2} class-template and uses the convolution method in order to compute and return their Minkowski sum $S = P \oplus Q$. -As the input polygons may not be convex,their Minkowski sum may not be +As the input polygons may not be convex, their Minkowski sum may not be simply connected and contain polygonal holes; see for example Figure~\ref{mink_fig:onecyc}. $S$ is therefore an instance of the \ccc{Polygon_with_holes_2} class-template, defined in the Boolean Set-Operations package: The outer boundary of $S$ is a polygon that -can be accessed using \ccc{S.outer_boundary()}, and its polygonal holes can +can be accessed using \ccc{S.outer_boundary()}, and its polygonal holes are given by the range \ccc{[S.holes_begin(), S.holes_end())} (where $S$ contains \ccc{S.number_of_holes()} holes in its interior). @@ -186,7 +186,7 @@ In order to compute Minkowski sums using the decomposition method, it is possible to call the function \ccc{minkowski_sum_2 (P, Q, decomp)}, where \ccc{decomp} is an instance of a class that models the concept \ccc{PolygonConvexDecomposition_2}, namely it should provide a method named -\ccc{decompose()} that receives a planar polygons and returns a range +\ccc{decompose()} that receives a planar polygon and returns a range of convex polygons that represents its convex decomposition. The Minkowski-sum package includes four models of the concept @@ -325,7 +325,7 @@ $P = \left( p_0, \ldots, p_{n-1} \right)$, whose vertices all have rational coordinates (i.e., for each vertex $p_i = (x_i, y_i)$ we have $x_i, y_i \in {\mathbb Q}$, and we wish to compute its Minkowski sum with a disc of radius $r$, where $r$ is also a rational number. The boundary of this -sum is comprised of line segments an circular arcs, where: +sum is comprised of line segments and circular arcs, where: \begin{itemize} \item Each circular arc is supported by a circle of radius $r$ centered at one @@ -413,7 +413,7 @@ application of set operations on such polygons. The function returns an object of the nested type \ccc{Gps_circle_segment_traits_2::Polygon_with_holes_2} representing the approximated offset polygon (recall that if $P$ is not convex, its -offset may not be simple an contain holes, whose boundary is also comprised +offset may not be simple and may contain holes, whose boundary is also comprised of line segments and circular arcs). \begin{figure}[t] diff --git a/Minkowski_sum_2/doc_tex/Minkowski_sum_2_ref/intro.tex b/Minkowski_sum_2/doc_tex/Minkowski_sum_2_ref/intro.tex index 5c97956c7e1..f0182026941 100644 --- a/Minkowski_sum_2/doc_tex/Minkowski_sum_2_ref/intro.tex +++ b/Minkowski_sum_2/doc_tex/Minkowski_sum_2_ref/intro.tex @@ -20,7 +20,7 @@ In addition, the package also includes functions for offsetting a polygon, namely computing its Minkowski sum with a disc of a given radius. It is possible to compute the exact representation of the offset, or to approximate it with guaranteed error bounds, in order -to speed up the computations time. +to speed up the computation time. \subsection*{Functions}