Exact Arrangementsand Motion Planning课件.pptVIP

Exact Arrangementsand Motion Planning;Planar Arrangements;CGAL’s Arrangement Package(Ezra, Flato, Fogel, Hanniel, Hirsch, Nechushtan) ;The package is designed to handle all sorts of degenerate inputs, such as:;The Arrangement Traits Concept;Existing Arrangement Traits;The traits classes implement robust predicate and exact constructions (e.g. of intersection points) using exact arithmetic and exact number types:;Translating Polygonal Robot;Translating Polygonal Robot(E. Flato, 2000);Translating Disc Robot;Translating Disc Robot(S. Hirsch and E. Leiserowitz, 2001);Hybrid Motion Planning: Tw