The codes in up pop use 4 steps complete the Shortest Path Algorithm :
1. Cal Initial feasible path
1.1 Use Graham Scan algorithm cal the outermost convex Hull ,
1.2 Then cal the remaining internal points convex hull ,
1.3 Force the collapse of the internal convex hull point , the point join postion is whers increase min distance .
1.4 repeat 1.2 1.3 until the remaining points less than 3 .
1.5 Use 1.3 method join remains .
2. Use ElpanovEvgeniy's method Optimize the polyline .
3. Optimize the location of the points which acute angle formed between two adjacent points , this use changing 3p postion .
4. ReOptimize the location of the points which acute angle formed between two adjacent points , This use 'getclosestpointto' method .
and so