Collision check against completed layers
When a layer is complete, there is a risk of colliding with it when planning the next layer (especially for many layers up). This will only really happen between contours, not during them (not true - can happen during contours or higher up layers),
Ideas:
- when planning between contours, move 5mm up, plan to 5mm above next contour, move 5mm down.
- during the trajectory motion planning, add collision object which includes the space of the print up to the highest layer that is currently in progress,
- during contour planning, collision objects include the print space up to the highest layer which has been completed
Tasks:
-
add SimEnv interface to add and remove collision cubes for the pybullet environment -
method to get width and length from contour data (height will vary as layers are being drawn). -
keep track of completed layers in greedy and update a permanent collision object representing completed layers. -
Change motion planning between contours to include moving up and down (n)mm -
add another collision object above completed layers for layers in progress to avoid during motion planning