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Zigzag path generation
| Require: Pc ≠ Ø, Ps ≠ Ø, A(Pproj) > At > 0 | ||
| 1: |
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| 2: | Mc ← construction of monotone chains along sweeping direction from Pproj | |
| 3: | Pinters ← intersection points between Mc and parallel offsetting lines. | |
| 4: | Pz ← sorting of Pinters into zigzag pattern | |
| 5: | return Pz | |
