Parameter to enforce single sweep direction

[rikba]

Set the sweep direction in degrees. This should go somewhere here:

polygon_coverage_planning/polygon_coverage_planners/src/graphs/sweep_plan_graph.cc

Lines 174 to 209 in 1056d54

	bool SweepPlanGraph::computeDecomposition() {
	// Create decomposition.
	timing::Timer timer_decom("decomposition");
	switch (settings_.decomposition_type) {
	case DecompositionType::kBCD: {
	if (!computeBestBCDFromPolygonWithHoles(settings_.polygon,
	&polygon_clusters_)) {
	ROS_ERROR_STREAM("Cannot compute boustrophedon decomposition.");
	return false;
	} else {
	ROS_INFO_STREAM("Successfully created boustrophedon decomposition with "
	<< polygon_clusters_.size() << " polygon(s).");
	}
	break;
	}
	case DecompositionType::kTCD: {
	if (!computeBestTCDFromPolygonWithHoles(settings_.polygon,
	&polygon_clusters_)) {
	ROS_ERROR_STREAM("Cannot compute trapezoidal decomposition.");
	return false;
	} else {
	ROS_INFO_STREAM("Successfully created trapezoidal decomposition with "
	<< polygon_clusters_.size() << " polygon(s).");
	}
	break;
	}
	default: {
	ROS_ERROR_STREAM("No valid decomposition type set.");
	return false;
	break;
	}
	}
	timer_decom.Stop();
	return true;
	}

Addresses question by @FrGe2016 in #60