diff --git a/.gitattributes b/.gitattributes index 11ed9054fac..194b5af8197 100644 --- a/.gitattributes +++ b/.gitattributes @@ -2741,7 +2741,6 @@ Minkowski_sum_3/doc_tex/Minkowski_sum_3/fig/decomposition_method.pdf -text Minkowski_sum_3/doc_tex/Minkowski_sum_3/fig/glide.eps -text Minkowski_sum_3/doc_tex/Minkowski_sum_3/fig/spoon_star.ps -text Minkowski_sum_3/doc_tex/Minkowski_sum_3/fig/tight_passage.ps -text -Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.aux -text Minkowski_sum_3/doc_tex/Minkowski_sum_3_ref/main.aux -text Minkowski_sum_3/examples/Minkowski_sum_3/cube.nef3 -text Minkowski_sum_3/examples/Minkowski_sum_3/cube_offset.cin -text diff --git a/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.aux b/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.aux deleted file mode 100644 index e6a9ad61012..00000000000 --- a/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.aux +++ /dev/null @@ -1,45 +0,0 @@ -\relax -\@writefile{toc}{\contentsline {chapter}{\numberline {1}Minkowski Sum of Polyhedra }{1}{chapter.1}} -\@writefile{lof}{\addvspace {10\p@ }} -\@writefile{lot}{\addvspace {10\p@ }} -\newlabel{chapterMinkowskiSum3}{{1}{1}{Minkowski Sum of Polyhedra \label {chapterMinkowskiSum3}\relax }{chapter.1}{}} -\@writefile{lof}{\contentsline {xchapter}{Minkowski Sum of Polyhedra }{1}{chapter.1}} -\@writefile{lot}{\contentsline {xchapter}{Minkowski Sum of Polyhedra }{1}{chapter.1}} -\@writefile{toc}{\contentsline {section}{\numberline {1.1}Introduction}{1}{section.1.1}} -\@writefile{toc}{\contentsline {section}{\numberline {1.2}Decomposition Method}{1}{section.1.2}} -\@writefile{toc}{\contentsline {section}{\numberline {1.3}Features and Restrictions}{1}{section.1.3}} -\@writefile{lof}{\contentsline {figure}{\numberline {1.1}{\ignorespaces The Minkowski sum of a spoon and a star.}}{1}{figure.1.1}} -\@writefile{lof}{\contentsline {figure}{\numberline {1.2}{\ignorespaces The Minkowski sum of a spoon and a star.}}{2}{figure.1.2}} -\@writefile{lof}{\contentsline {figure}{\numberline {1.3}{\ignorespaces The Minkowski sum of a spoon and a star.}}{2}{figure.1.3}} -\@writefile{toc}{\contentsline {section}{\numberline {1.4}Usage}{2}{section.1.4}} -\@writefile{lof}{\contentsline {figure}{\numberline {1.4}{\ignorespaces The Minkowski sum of a spoon and a star.}}{4}{figure.1.4}} -\@writefile{toc}{\contentsline {section}{\numberline {1.5}Glide}{4}{section.1.5}} -\@setckpt{Minkowski_sum_3/main}{ -\setcounter{page}{6} -\setcounter{equation}{0} -\setcounter{enumi}{4} -\setcounter{enumii}{0} -\setcounter{enumiii}{0} -\setcounter{enumiv}{0} -\setcounter{footnote}{0} -\setcounter{mpfootnote}{0} -\setcounter{part}{0} -\setcounter{chapter}{1} -\setcounter{section}{5} -\setcounter{subsection}{0} -\setcounter{subsubsection}{0} -\setcounter{paragraph}{0} -\setcounter{subparagraph}{0} -\setcounter{figure}{4} -\setcounter{table}{0} -\setcounter{r@tfl@t}{0} -\setcounter{LT@tables}{0} -\setcounter{LT@chunks}{0} -\setcounter{Item}{9} -\setcounter{Hfootnote}{0} -\setcounter{mtc}{1} -\setcounter{minitocdepth}{2} -\setcounter{ptc}{0} -\setcounter{parttocdepth}{2} -\setcounter{section@level}{1} -} diff --git a/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.tex b/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.tex index 501eb55bc49..073149b58e9 100644 --- a/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.tex +++ b/Minkowski_sum_3/doc_tex/Minkowski_sum_3/main.tex @@ -19,7 +19,7 @@ % +------------------------------------------------------------------------+ \section{Introduction} -\begin{figure} +\begin{figure}[h] \begin{ccTexOnly} \begin{center} \includegraphics[width=0.8\textwidth]{Minkowski_sum_3/fig/spoon_star} @@ -33,7 +33,7 @@ \caption{The Minkowski sum of a spoon and a star.} \end{figure} -The Minkowski sum of two point sets $P$ and $Q$ in $R^d$, denoted by +The Minkowski sum of two point sets $P$ and $Q$ in $\mathbb{R}^d$, denoted by $P \oplus Q$, is defined as the set $\{p+q:p \in P, q \in Q \}$. Minkowski sums are used in a wide range of applications such as robot motion planning and computer-aided design. This @@ -57,10 +57,12 @@ the convex pieces and merges the pairwise sums. \end{ccTexOnly} \begin{ccHtmlOnly}

- Minkowski sum example + decomposition method
\end{ccHtmlOnly} - \caption{The Minkowski sum of a spoon and a star.} + \caption{The decomposition method decomposes both input polyhedra + into convex parts, computes all pairwise Minkowski sums + of the convex parts, and merges the pairwise sums.} \end{figure} The Minkowski sum is an iherent complex method. Using the @@ -82,15 +84,18 @@ possible with the current implementation. \begin{figure} \begin{ccTexOnly} \begin{center} - \includegraphics[width=0.8\textwidth]{Minkowski_sum_3/fig/tight_passage} + \includegraphics[width=0.5\textwidth]{Minkowski_sum_3/fig/tight_passage} \end{center} \end{ccTexOnly} \begin{ccHtmlOnly}

- Minkowski sum example + tight passage
\end{ccHtmlOnly} - \caption{The Minkowski sum of a spoon and a star.} + \caption{The Minkowski sum of a maze and a cube that exactly fits through + the corridor of the maze. Modeling the cube as an open set, the + Minkowski sum includes facets that represent the remaining path + for the cubical robot.} \end{figure} We strife for extending the package to work for arbitrary @@ -126,7 +131,7 @@ destroyed by the function. So, if they are further on needed, they need to be copied, first. The copying is not done by the function itself to keep the memory usage as small as possible. -\ccIncludeExampleCode{Minkowski_sum_3/minkowski_sum.cpp} +\ccIncludeExampleCode{Minkowski_sum_3/cube_offset.cpp} % +------------------------------------------------------------------------+ \section{Glide} @@ -134,15 +139,15 @@ itself to keep the memory usage as small as possible. \begin{figure} \begin{ccTexOnly} \begin{center} - \includegraphics[width=0.8\textwidth]{Minkowski_sum_3/fig/glide} + \includegraphics[width=0.5\textwidth]{Minkowski_sum_3/fig/glide} \end{center} \end{ccTexOnly} \begin{ccHtmlOnly}

- Minkowski sum example + glide operation
\end{ccHtmlOnly} - \caption{The Minkowski sum of a spoon and a star.} + \caption{The region swept by a star that moves along a polygonal path.} \end{figure} With the function \ccc{minkowski_sum_3} it is also possible to realize diff --git a/Minkowski_sum_3/doc_tex/Minkowski_sum_3_ref/main.aux b/Minkowski_sum_3/doc_tex/Minkowski_sum_3_ref/main.aux index 0e431e224e9..20a2572cb41 100644 --- a/Minkowski_sum_3/doc_tex/Minkowski_sum_3_ref/main.aux +++ b/Minkowski_sum_3/doc_tex/Minkowski_sum_3_ref/main.aux @@ -1,13 +1,13 @@ \relax \@writefile{@@@}{\chapterbegin } -\newlabel{chapterMinkowskiSum3Ref}{{1.5}{7}{Minkowski sum of Polyhedra\label {chapterMinkowskiSum3Ref}\\ Reference~Manual\relax }{figure.1.4}{}} -\@writefile{toc}{\contentsline {section}{\hbox to\@tempdima {\hfil }{Reference Manual}}{7}{chapter*.2}} -\@writefile{toc}{\contentsline {section}{\numberline {1.6}Classified Reference Pages}{7}{section.1.6}} -\@writefile{toc}{\contentsline {section}{\numberline {1.7}Alphabetical List of Reference Pages}{7}{section.1.7}} -\newlabel{ccRef_CGAL::minkowski_sum_3}{{1.7}{8}{\ifnum \ccNewRefManualStyle =\ccTrue \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectConceptCat \ccDrawRefTabs {FunctionObjectConcept}{minkowski_sum_3}\\ \else \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectClassCat \ccDrawRefTabs {FunctionObjectClass}{minkowski_sum_3}\\ \else \ccDrawRefTabs {\ccRefCategory }{minkowski_sum_3}\\ \fi \fi \else \ccRefCategory \fi \expandafter \ccPrintTokens \ccRefPureGlobalScope \ccEnd {\expandafter \ccPrintTokens \ccPureRefScope minkowski_sum_3\ccEnd }\relax }{section*.4}{}} -\newlabel{refminkowski_sum_3}{{1.7}{8}{\ifnum \ccNewRefManualStyle =\ccTrue \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectConceptCat \ccDrawRefTabs {FunctionObjectConcept}{minkowski_sum_3}\\ \else \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectClassCat \ccDrawRefTabs {FunctionObjectClass}{minkowski_sum_3}\\ \else \ccDrawRefTabs {\ccRefCategory }{minkowski_sum_3}\\ \fi \fi \else \ccRefCategory \fi \expandafter \ccPrintTokens \ccRefPureGlobalScope \ccEnd {\expandafter \ccPrintTokens \ccPureRefScope minkowski_sum_3\ccEnd }\relax }{section*.4}{}} +\newlabel{chapterMinkowskiSum3Ref}{{1.5}{5}{Minkowski sum of Polyhedra\label {chapterMinkowskiSum3Ref}\\ Reference~Manual\relax }{figure.1.4}{}} +\@writefile{toc}{\contentsline {section}{\hbox to\@tempdima {\hfil }{Reference Manual}}{5}{chapter*.2}} +\@writefile{toc}{\contentsline {section}{\numberline {1.6}Classified Reference Pages}{5}{section.1.6}} +\@writefile{toc}{\contentsline {section}{\numberline {1.7}Alphabetical List of Reference Pages}{5}{section.1.7}} +\newlabel{ccRef_CGAL::minkowski_sum_3}{{1.7}{6}{\ifnum \ccNewRefManualStyle =\ccTrue \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectConceptCat \ccDrawRefTabs {FunctionObjectConcept}{minkowski_sum_3}\\ \else \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectClassCat \ccDrawRefTabs {FunctionObjectClass}{minkowski_sum_3}\\ \else \ccDrawRefTabs {\ccRefCategory }{minkowski_sum_3}\\ \fi \fi \else \ccRefCategory \fi \expandafter \ccPrintTokens \ccRefPureGlobalScope \ccEnd {\expandafter \ccPrintTokens \ccPureRefScope minkowski_sum_3\ccEnd }\relax }{section*.4}{}} +\newlabel{refminkowski_sum_3}{{1.7}{6}{\ifnum \ccNewRefManualStyle =\ccTrue \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectConceptCat \ccDrawRefTabs {FunctionObjectConcept}{minkowski_sum_3}\\ \else \ifnum \ccCurrentIndexCat =\ccIndexFunctionObjectClassCat \ccDrawRefTabs {FunctionObjectClass}{minkowski_sum_3}\\ \else \ccDrawRefTabs {\ccRefCategory }{minkowski_sum_3}\\ \fi \fi \else \ccRefCategory \fi \expandafter \ccPrintTokens \ccRefPureGlobalScope \ccEnd {\expandafter \ccPrintTokens \ccPureRefScope minkowski_sum_3\ccEnd }\relax }{section*.4}{}} \@setckpt{Minkowski_sum_3_ref/main}{ -\setcounter{page}{9} +\setcounter{page}{7} \setcounter{equation}{0} \setcounter{enumi}{4} \setcounter{enumii}{0}