Recommend use CGAL library to finish this coverage planning due the bugs of this repository.

BUG when confronted with complicated polygons

Here is the good one

Then we have got a bad one

the bug lies in PolygonDecomposition::DecomposeIt() where the processing of erasing polygons and adding polygons

Decompose the given polygon if concave

Compute a bow-shape complete coverage path for every polygon

• Eigen

• OpenCV

The decomposition algorithm is proposed by ZHU chuanmin, TANG jun and XU tiangui

from College of Mechanical Engineering, Tongji University, Shanghai, China

The paper link : https://wenku.baidu.com/view/a3ccf9abf705cc1755270974.html

The reason I take this algorithm cause I came from Tongji

# build
mkdir build
cd build
cmake ..
make
# run
./planner