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@ -104,7 +104,10 @@ public:
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*/
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bool get_point(double & x, double & y, double & angle, bool add_to_detector = true)
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{
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if (done_) return false;
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if (done_)
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{
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return false;
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}
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unsigned cmd;
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/* This functions starts at the position of the previous marker,
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walks along the path, counting how far it has to go in spacing_left.
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@ -120,7 +123,8 @@ public:
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{
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//First marker
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spacing_left_ = spacing_ / 2;
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} else
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}
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else
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{
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spacing_left_ = spacing_;
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}
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@ -150,7 +154,7 @@ public:
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double segment_length = std::sqrt(dx * dx + dy * dy);
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if (segment_length <= spacing_left_)
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{
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//Segment is to short to place marker. Find next segment
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//Segment is too short to place marker. Find next segment
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spacing_left_ -= segment_length;
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last_x = next_x;
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last_y = next_y;
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@ -178,7 +182,8 @@ public:
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//Segment to short => Skip this segment
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set_spacing_left(segment_length + marker_width_/2); //Only moves forward
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continue;
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} else if (segment_length - spacing_left_ < marker_width_/2)
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}
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else if (segment_length - spacing_left_ < marker_width_/2)
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{
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//Segment is long enough, but we are to close to the end
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//Note: This function moves backwards. This could lead to an infinite
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@ -187,7 +192,8 @@ public:
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if (error_ == 0)
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{
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set_spacing_left(segment_length - marker_width_/2, true);
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} else
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}
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else
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{
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//Skip this segment
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set_spacing_left(segment_length + marker_width_/2); //Only moves forward
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