Module grid_based_sweep_cpp 

Grid-based sweep coverage path planner (boustrophedon / lawn-mower pattern).

Ported from PythonRobotics GridBasedSweepCPP.

The algorithm:

1. Find the longest edge of the input polygon to determine the sweep direction.
2. Rotate the polygon so that the longest edge is axis-aligned.
3. Build a grid map from the rotated polygon boundary, marking cells outside the polygon as occupied.
4. Expand obstacles by one cell to avoid boundary collisions.
5. Perform a boustrophedon (back-and-forth) sweep search on the grid.
6. Convert the resulting grid path back to global coordinates.

Structs

GridBasedSweepConfig

Configuration for the grid-based sweep coverage path planner.

SweepCoveragePath

Result of the grid-based sweep coverage path planner.

Enums

MovingDirection

Horizontal moving direction.

SweepDirection

Sweep (vertical) direction.

Functions

plan_sweep_coverage

Plan a boustrophedon (lawn-mower) coverage path over the area enclosed by the given polygon.