| Trapzoidal Map + Minkowski Sum | |
| A Motion Planning Demo | |
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Tools
Mouse mode:
Tip: Drag to move vertices and shapes.
Hover to highlight trapezoids.
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Robot
Enable ↓ Draw robot below: |
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Settings
Draw halfedges Search method: Jitter amount: |
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Animation
Speed:
Animated on the left is the line sweep algorithm I used to compute the trapezoidal map.
On the right is the binary search tree for ordered segments under sweep line, with color-coding corresponding to that of the segments.
Please click "recompute" after any change to the input or settings. |
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| Lingdong Huang 2022, for 6.850 Geometric Computing @ MIT. Read source code | |