Description:

The Minkowski difference is calculated for a pair of 2D polygons. The algorithm from
Lozano-Perez [Lozano-Perez, 1983] is used which has a complexity of O(m + n) where
m and n are the number of vertices of the robot and obstacle, respectively.

Background:

Minkowski differences are used in motion planning for a robot among obstacles. It is used
for the computation of the configuration space, which is the set of all admissible positions
of the robot. 

Build:

$ make

Usage:

$ ./minkowski <num-of-robot-vertices> <num-of-obstacle-vertices>

$ ./minkowski -f <csv-input-file>

Library Installation:

For rendering images, please install SFML library.

$ sudo apt-get install libsfml-dev

Examples:

Square robot and a hexagon obstacle:

$ ./minkowski 4 6

Pentagon robot and pentagon obstacle:

$ ./minkowski 5 5 

Input file

    $ ./minkowski -f inputDataExample.txt