| Require: |
| : a list containing pairs of non communicating positions (obstacle information: OI). |
| MaxAngle: The maximum angle aperture tolerated between two given prunable OI. |
| MaxFarness: the maximum distance tolerated (i.e. to be prunable) between the projected OI extremity and its |
| orthogonal projection on the line carrying the other OI. |
| Ensure: : list of non communicating positions with more accurate extremities. |
| () for (; .size; ) do |
| () for (; .size; ) do |
| () if ([].hasSimilarDirection([], MaxAngle) = false) then |
| () Continue ▹ go to the next iteration |
| () end if |
| () Let the line passing through [] |
| () Let the line passing through [] |
| () Point ← getOrthogonalProjection([].LeftExtremity, ) |
| () Point ← getOrthogonalProjection([].LeftExtremity, ) |
| () ← euclidianDistance([].LeftExtremity, ) |
| () ← euclidianDistance([].LeftExtremity, ) |
| () Point ← getOrthogonalProjection([].RightExtremity, ) |
| () Point ← getOrthogonalProjection([].RightExtremity, ) |
| () ← euclidianDistance([].RightExtremity, ) |
| () ← euclidianDistance([].RightExtremity, ) |
| () if (.isInsideSegment([]) and MaxFarness) then |
| () [].LeftExtremity ← ; |
| () else if (.isInsideSegment([]) and MaxFarness) then |
| () [].LeftExtremity ← ; |
| () end if |
| () if (.isInsideSegment([]) and MaxFarness) then |
| () [].RightExtremity ; |
| () else if (.isInsideSegment([]) and MaxFarness) then |
| () [].RightExtremity ← ; |
| () end if |
| () end for |
| () end for |
| () return |
