Parameter for following perimeter clockwise

CMakeLists.txt

@@ -23,10 +23,11 @@ ExternalProject_Add(
         ${EP_SLIC3R}
 
         PREFIX ${EP_SLIC3R}
-        GIT_REPOSITORY https://github.com/ClemensElflein/Slic3r
-        GIT_TAG 026c1380e0ad12176dd2fc8cdf8f6f181deeb071
+        GIT_REPOSITORY https://github.com/HoverMower/Slic3r
+        #GIT_TAG 026c1380e0ad12176dd2fc8cdf8f6f181deeb071
         GIT_SHALLOW OFF
 
+
         BUILD_ALWAYS OFF
 
         INSTALL_COMMAND cmake -E echo "Skipping install step."
@@ -39,7 +40,7 @@ ExternalProject_Add(
 
 
 ## System dependencies are found with CMake's conventions
- find_package(Boost REQUIRED COMPONENTS system thread)
+# find_package(Boost REQUIRED COMPONENTS system thread)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures

README.md

@@ -1,2 +1,13 @@
 # slic3r_coverage_planner
 A coverage planner for ROS using libslic3r as core logic
+
+# Parameter
+## Clockwise
+By default, outer perimeter gets followed counter clockwise. 
+With the optional parameter clockwise, (true/false) you can change the direction.
+
+```
+    <node pkg="slic3r_coverage_planner" type="slic3r_coverage_planner" name="slic3r_coverage_planner" output="screen">
+      <param name="clockwise" type="bool" value="true" />
+    </node>
+```

src/coverage_planner.cpp

@@ -23,6 +23,7 @@
 
 
 bool visualize_plan;
+bool doPerimeterClockwise;
 ros::Publisher marker_array_publisher;
 
 
@@ -410,6 +411,9 @@ bool planPath(slic3r_coverage_planner::PlanPathRequest &req, slic3r_coverage_pla
 
 
             auto equally_spaced_points = line.equally_spaced_points(scale_(0.1));
+            if (doPerimeterClockwise == true) {
+                std::reverse(equally_spaced_points.begin(), equally_spaced_points.end());
+            }
             if (equally_spaced_points.size() < 2) {
                 ROS_INFO("Skipping single dot");
                 continue;
@@ -462,6 +466,7 @@ bool planPath(slic3r_coverage_planner::PlanPathRequest &req, slic3r_coverage_pla
 
 
         auto equally_spaced_points = line.equally_spaced_points(scale_(0.1));
+
         if (equally_spaced_points.size() < 2) {
             ROS_INFO("Skipping single dot");
             continue;
@@ -524,6 +529,10 @@ bool planPath(slic3r_coverage_planner::PlanPathRequest &req, slic3r_coverage_pla
 
 
             auto equally_spaced_points = line.equally_spaced_points(scale_(0.1));
+            if (doPerimeterClockwise == true) {
+                std::reverse(equally_spaced_points.begin(), equally_spaced_points.end());
+            }
+
             if (equally_spaced_points.size() < 2) {
                 ROS_INFO("Skipping single dot");
                 continue;
@@ -578,6 +587,8 @@ int main(int argc, char **argv) {
     ros::NodeHandle paramNh("~");
 
     visualize_plan = paramNh.param("visualize_plan", true);
+    doPerimeterClockwise = paramNh.param("clockwise", false);
+    ROS_INFO_STREAM("Perimeter Clockwise: " << doPerimeterClockwise);
 
     if (visualize_plan) {
         marker_array_publisher = n.advertise<visualization_msgs::MarkerArray>(