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#include <iostream>
#include "snake.h"
#include "clipper/clipper.hpp"
#define CLIPPER_SCALE 10000
#ifndef NDEBUG
//#define SHOW_TIME
#endif
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using namespace snake_geometry;
using namespace std;
namespace bg = boost::geometry;
namespace trans = bg::strategy::transform;
namespace snake {
Scenario::Scenario() :
_mAreaBoundingBox(min_bbox_rt{0, 0, 0, BoostPolygon{}})
{
}
bool Scenario::addArea(Area &area)
{
if (area.geoPolygon.size() < 3){
errorString = "Area has less than three vertices.";
return false;
}
if (area.type == MeasurementArea)
return Scenario::_setMeasurementArea(area);
else if (area.type == ServiceArea)
return Scenario::_setServiceArea(area);
else if (area.type == Corridor)
return Scenario::_setCorridor(area);
return false;
}
bool Scenario::defined(double tileWidth, double tileHeight, double minTileArea)
{
if (!_areas2enu())
return false;
if (!_calculateBoundingBox())
return false;
if (!_calculateTiles(tileWidth, tileHeight, minTileArea))
return false;
if (!_calculateJoinedArea())
return false;
return true;
}
bool Scenario::_areas2enu()
{
if (_measurementArea.geoPolygon.size() > 0){
_measurementAreaENU.clear();
for(auto vertex : _measurementArea.geoPolygon) {
Point3D ENUVertex;
toENU(_geoOrigin, Point3D{vertex[0], vertex[1], _measurementArea.altitude}, ENUVertex);
_measurementAreaENU.outer().push_back(BoostPoint{ENUVertex[0], ENUVertex[1]});
}
bg::correct(_measurementAreaENU);
_serviceAreaENU.clear();
if (_serviceArea.geoPolygon.size() > 0){
for(auto vertex : _serviceArea.geoPolygon) {
Point3D ENUVertex;
toENU(_geoOrigin, Point3D{vertex[0], vertex[1], _serviceArea.altitude}, ENUVertex);
_serviceAreaENU.outer().push_back(BoostPoint{ENUVertex[0], ENUVertex[1]});
}
} else{
errorString = "Service area has no vertices.";
return false;
}
bg::correct(_serviceAreaENU);
polygonCenter(_serviceAreaENU, _homePositionENU);
fromENU(_geoOrigin, Point3D{_homePositionENU.get<0>(), _homePositionENU.get<1>(), 0}, _homePosition);
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_corridorENU.clear();
if (_corridor.geoPolygon.size() > 0){
for(auto vertex : _corridor.geoPolygon) {
Point3D ENUVertex;
toENU(_geoOrigin, Point3D{vertex[0], vertex[1], _corridor.altitude}, ENUVertex);
_corridorENU.outer().push_back(BoostPoint{ENUVertex[0], ENUVertex[1]});
}
}
bg::correct(_corridorENU);
return true;
}
errorString = "Measurement area has no vertices.";
return false;
}
bool Scenario::_setMeasurementArea(Area &area)
{
if (area.geoPolygon.size() <= 0)
return false;
GeoPoint2D origin2D = area.geoPolygon[0];
_geoOrigin = GeoPoint3D{origin2D[0], origin2D[1], 0};
_measurementArea = area;
_measurementAreaENU.clear();
_serviceAreaENU.clear();
_corridorENU.clear();
return true;
}
bool Scenario::_setServiceArea(Area &area)
{
if (area.geoPolygon.size() <= 0)
return false;
_serviceArea = area;
_serviceAreaENU.clear();
return true;
}
bool Scenario::_setCorridor(Area &area)
{
if (area.geoPolygon.size() <= 0)
return false;
_corridor = area;
_corridorENU.clear();
return true;
}
bool Scenario::_calculateBoundingBox()
{
minimalBoundingBox(_measurementAreaENU, _mAreaBoundingBox);
return true;
}
/**
* Devides the (measurement area) bounding box into tiles and clips it to the measurement area.
*
* Devides the (measurement area) bounding box into tiles of width \p tileWidth and height \p tileHeight.
* Clips the resulting tiles to the measurement area. Tiles are rejected, if their area is smaller than \p minTileArea.
* The function assumes that \a _measurementAreaENU and \a _mAreaBoundingBox have correct values. \see \ref Scenario::_areas2enu() and \ref
* Scenario::_calculateBoundingBox().
*
* @param tileWidth The width (>0) of a tile.
* @param tileHeight The heigth (>0) of a tile.
* @param minTileArea The minimal area (>0) of a tile.
*
* @return Returns true if successful.
*/
bool Scenario::_calculateTiles(double tileWidth, double tileHeight, double minTileArea)
{
_tilesENU.clear();
_tileCenterPointsENU.clear();
_tiles.clear();
_tileCenterPoints.clear();
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if (tileWidth <= 0 || tileHeight <= 0 || minTileArea <= 0) {
errorString = "Parameters tileWidth, tileHeight, minTileArea must be positive.";
return false;
}
double bbox_width = _mAreaBoundingBox.width;
double bbox_height = _mAreaBoundingBox.height;
BoostPoint origin = _mAreaBoundingBox.corners.outer()[0];
//cout << "Origin: " << origin[0] << " " << origin[1] << endl;
// Transform _measurementAreaENU polygon to bounding box coordinate system.
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate(_mAreaBoundingBox.angle*180/M_PI);
trans::translate_transformer<double, 2, 2> translate(-origin.get<0>(), -origin.get<1>());
BoostPolygon translated_polygon;
BoostPolygon rotated_polygon;
boost::geometry::transform(_measurementAreaENU, translated_polygon, translate);
boost::geometry::transform(translated_polygon, rotated_polygon, rotate);
bg::correct(rotated_polygon);
//cout << bg::wkt<BoostPolygon2D>(rotated_polygon) << endl;
size_t i_max = ceil(bbox_width/tileWidth);
size_t j_max = ceil(bbox_height/tileHeight);
if (i_max < 1 || j_max < 1) {
errorString = "tileWidth or tileHeight to small.";
return false;
}
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate_back(-_mAreaBoundingBox.angle*180/M_PI);
trans::translate_transformer<double, 2, 2> translate_back(origin.get<0>(), origin.get<1>());
for (size_t i = 0; i < i_max; ++i){
double x_min = tileWidth*i;
double x_max = x_min + tileWidth;
for (size_t j = 0; j < j_max; ++j){
double y_min = tileHeight*j;
double y_max = y_min + tileHeight;
BoostPolygon tile_unclipped;
tile_unclipped.outer().push_back(BoostPoint{x_min, y_min});
tile_unclipped.outer().push_back(BoostPoint{x_min, y_max});
tile_unclipped.outer().push_back(BoostPoint{x_max, y_max});
tile_unclipped.outer().push_back(BoostPoint{x_max, y_min});
tile_unclipped.outer().push_back(BoostPoint{x_min, y_min});
std::deque<BoostPolygon> boost_tiles;
if (!boost::geometry::intersection(tile_unclipped, rotated_polygon, boost_tiles))
continue;
for (BoostPolygon t : boost_tiles)
{
if (bg::area(t) > minTileArea){
// Transform boost_tile to world coordinate system.
BoostPolygon rotated_tile;
BoostPolygon translated_tile;
boost::geometry::transform(t, rotated_tile, rotate_back);
boost::geometry::transform(rotated_tile, translated_tile, translate_back);
// Store tile and calculate center point.
_tilesENU.push_back(translated_tile);
BoostPoint tile_center;
polygonCenter(translated_tile, tile_center);
_tileCenterPointsENU.push_back(tile_center);
}
}
}
}
if (_tilesENU.size() < 1){
errorString = "No tiles calculated. Is the minTileArea parameter large enough?";
return false;
}
for ( auto tile : _tilesENU){
GeoPoint3DList geoTile;
for ( int i=0; i < int(tile.outer().size())-1; ++i) {
BoostPoint vertex(tile.outer()[i]);
GeoPoint3D geoVertex;
fromENU(_geoOrigin, Point3D{vertex.get<0>(), vertex.get<1>(), 0}, geoVertex);
geoTile.push_back(geoVertex);
}
_tiles.push_back(geoTile);
}
for ( auto vertex : _tileCenterPointsENU){
GeoPoint3D geoVertex;
fromENU(_geoOrigin, Point3D{vertex.get<0>(), vertex.get<1>(), 0}, geoVertex);
_tileCenterPoints.push_back(geoVertex);
}
return true;
}
bool Scenario::_calculateJoinedArea()
{
_joinedAreaENU.clear();
// Measurement area and service area overlapping?
bool overlapingSerMeas = bg::intersects(_measurementAreaENU, _serviceAreaENU) ? true : false;
bool corridorValid = _corridorENU.outer().size() > 0 ? true : false;
// Check if corridor is connecting measurement area and service area.
bool corridor_is_connection = false;
if (corridorValid) {
// Corridor overlaping with measurement area?
if ( bg::intersects(_corridorENU, _measurementAreaENU) ) {
// Corridor overlaping with service area?
if ( bg::intersects(_corridorENU, _serviceAreaENU) ) {
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}
}
// Are areas joinable?
std::deque<BoostPolygon> sol;
BoostPolygon partialArea = _measurementAreaENU;
if (overlapingSerMeas){
if(corridor_is_connection){
bg::union_(partialArea, _corridorENU, sol);
}
} else if (corridor_is_connection){
bg::union_(partialArea, _corridorENU, sol);
} else {
errorString = "Areas are not overlapping";
return false;
}
if (sol.size() > 0) {
partialArea = sol[0];
sol.clear();
}
// Join areas.
bg::union_(partialArea, _serviceAreaENU, sol);
if (sol.size() > 0) {
_joinedAreaENU = sol[0];
} else {
return false;
}
return true;
}
FlightPlan::FlightPlan()
{
}
bool FlightPlan::generate(double lineDistance, double minTransectLength)
{
_waypointsENU.clear();
_waypoints.clear();
_arrivalPathIdx.clear();
_returnPathIdx.clear();
#ifndef NDEBUG
_PathVertices.clear();
#endif
#ifdef SHOW_TIME
auto start = std::chrono::high_resolution_clock::now();
#endif
if (!_generateTransects(lineDistance, minTransectLength))
return false;
#ifdef SHOW_TIME
auto delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - start);
cout << endl;
cout << "Execution time _generateTransects(): " << delta.count() << " ms" << endl;
#endif
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//=======================================
// Route Transects using Google or-tools.
//=======================================
// Offset joined area.
const BoostPolygon &jArea = _scenario.getJoineAreaENU();
BoostPolygon jAreaOffset;
offsetPolygon(jArea, jAreaOffset, detail::offsetConstant);
// Create vertex list;
BoostLineString vertices;
size_t n_t = _transects.size()*2;
size_t n0 = n_t+1;
vertices.reserve(n0);
for (auto lstring : _transects){
for (auto vertex : lstring){
vertices.push_back(vertex);
}
}
vertices.push_back(_scenario.getHomePositonENU());
for (long i=0; i<long(jArea.outer().size())-1; ++i) {
vertices.push_back(jArea.outer()[i]);
}
for (auto ring : jArea.inners()) {
for (auto vertex : ring)
vertices.push_back(vertex);
}
size_t n1 = vertices.size();
// Generate routing model.
RoutingDataModel_t dataModel;
Matrix<double> connectionGraph(n1, n1);
#ifdef SHOW_TIME
start = std::chrono::high_resolution_clock::now();
#endif
_generateRoutingModel(vertices, jAreaOffset, n0, dataModel, connectionGraph);
#ifdef SHOW_TIME
delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - start);
cout << "Execution time _generateRoutingModel(): " << delta.count() << " ms" << endl;
#endif
// Create Routing Index Manager.
RoutingIndexManager manager(dataModel.distanceMatrix.getN(), dataModel.numVehicles,
dataModel.depot);
// Create Routing Model.
RoutingModel routing(manager);
// Create and register a transit callback.
const int transit_callback_index = routing.RegisterTransitCallback(
[&dataModel, &manager](int64 from_index, int64 to_index) -> int64 {
// Convert from routing variable Index to distance matrix NodeIndex.
auto from_node = manager.IndexToNode(from_index).value();
auto to_node = manager.IndexToNode(to_index).value();
return dataModel.distanceMatrix.get(from_node, to_node);
});
// Define cost of each arc.
routing.SetArcCostEvaluatorOfAllVehicles(transit_callback_index);
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// Define Constraints.
size_t n = _transects.size()*2;
Solver *solver = routing.solver();
for (size_t i=0; i<n; i=i+2){
// auto idx0 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(i));
// auto idx1 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(i+1));
// auto cond0 = routing.NextVar(idx0)->IsEqual(idx1);
// auto cond1 = routing.NextVar(idx1)->IsEqual(idx0);
// auto c = solver->MakeNonEquality(cond0, cond1);
// solver->AddConstraint(c);
// alternative
auto idx0 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(i));
auto idx1 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(i+1));
auto cond0 = routing.NextVar(idx0)->IsEqual(idx1);
auto cond1 = routing.NextVar(idx1)->IsEqual(idx0);
vector<IntVar*> conds{cond0, cond1};
auto c = solver->MakeAllDifferent(conds);
solver->MakeRejectFilter();
solver->AddConstraint(c);
}
// Setting first solution heuristic.
RoutingSearchParameters searchParameters = DefaultRoutingSearchParameters();
searchParameters.set_first_solution_strategy(
FirstSolutionStrategy::PATH_CHEAPEST_ARC);
google::protobuf::Duration *tMax = new google::protobuf::Duration(); // seconds
tMax->set_seconds(10);
searchParameters.set_allocated_time_limit(tMax);
// Solve the problem.
#ifdef SHOW_TIME
start = std::chrono::high_resolution_clock::now();
#endif
const Assignment* solution = routing.SolveWithParameters(searchParameters);
#ifdef SHOW_TIME
delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - start);
cout << "Execution time routing.SolveWithParameters(): " << delta.count() << " ms" << endl;
#endif
if (!solution || solution->Size() <= 1){
errorString = "Not able to solve the routing problem.";
return false;
}
// Extract waypoints from solution.
long index = routing.Start(0);
std::vector<size_t> route;
route.push_back(manager.IndexToNode(index).value());
while (!routing.IsEnd(index)){
index = solution->Value(routing.NextVar(index));
route.push_back(manager.IndexToNode(index).value());
}
// Connect transects
#ifndef NDEBUG
_PathVertices = vertices;
#endif
{
_waypointsENU.push_back(vertices[route[0]]);
vector<size_t> pathIdx;
long arrivalPathLength = 0;
for (long i=0; i<long(route.size())-1; ++i){
size_t idx0 = route[i];
size_t idx1 = route[i+1];
pathIdx.clear();
shortestPathFromGraph(connectionGraph, idx0, idx1, pathIdx);
if ( i==0 )
arrivalPathLength = pathIdx.size();
for (size_t j=1; j<pathIdx.size(); ++j)
_waypointsENU.push_back(vertices[pathIdx[j]]);
}
long returnPathLength = pathIdx.size();
for (long i=returnPathLength; i > 0; --i)
_returnPathIdx.push_back(_waypointsENU.size()-i);
for (long i=0; i < arrivalPathLength; ++i)
_arrivalPathIdx.push_back(i);
}
// Back transform waypoints.
GeoPoint3D origin{_scenario.getOrigin()};
for (auto vertex : _waypointsENU) {
GeoPoint3D geoVertex;
fromENU(origin, Point3D{vertex.get<0>(), vertex.get<1>(), 0}, geoVertex);
_waypoints.push_back(GeoPoint2D{geoVertex[0], geoVertex[1]});
}
return true;
}
bool FlightPlan::_generateTransects(double lineDistance, double minTransectLength)
{
_transects.clear();
if (_scenario.getTilesENU().size() != _progress.size()){
ostringstream strstream;
strstream << "Number of tiles ("
<< _scenario.getTilesENU().size()
<< ") is not equal to progress array length ("
<< _progress.size()
<< ")";
errorString = strstream.str();
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return false;
}
// Calculate processed tiles (_progress[i] == 100) and subtract them from measurement area.
size_t num_tiles = _progress.size();
vector<BoostPolygon> processedTiles;
{
const auto &tiles = _scenario.getTilesENU();
for (size_t i=0; i<num_tiles; ++i) {
if (_progress[i] == 100){
processedTiles.push_back(tiles[i]);
}
}
if (processedTiles.size() == num_tiles)
return true;
}
// Convert measurement area and tiles to clipper path.
ClipperLib::Path mAreaClipper;
for ( auto vertex : _scenario.getMeasurementAreaENU().outer() ){
mAreaClipper.push_back(ClipperLib::IntPoint{static_cast<ClipperLib::cInt>(vertex.get<0>()*CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(vertex.get<1>()*CLIPPER_SCALE)});
}
vector<ClipperLib::Path> processedTilesClipper;
for (auto t : processedTiles){
ClipperLib::Path path;
for (auto vertex : t.outer()){
path.push_back(ClipperLib::IntPoint{static_cast<ClipperLib::cInt>(vertex.get<0>()*CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(vertex.get<1>()*CLIPPER_SCALE)});
}
processedTilesClipper.push_back(path);
}
const min_bbox_rt &bbox = _scenario.getMeasurementAreaBBoxENU();
double alpha = bbox.angle;
double x0 = bbox.corners.outer()[0].get<0>();
double y0 = bbox.corners.outer()[0].get<1>();
double bboxWidth = bbox.width;
double bboxHeight = bbox.height;
double delta = detail::offsetConstant;
size_t num_t = int(ceil((bboxHeight + 2*delta)/lineDistance)); // number of transects
vector<double> yCoords;
yCoords.reserve(num_t);
double y = -delta;
for (size_t i=0; i < num_t; ++i) {
yCoords.push_back(y);
y += lineDistance;
}
// Generate transects and convert them to clipper path.
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate_back(-alpha*180/M_PI);
trans::translate_transformer<double, 2, 2> translate_back(x0, y0);
vector<ClipperLib::Path> transectsClipper;
transectsClipper.reserve(num_t);
for (size_t i=0; i < num_t; ++i) {
// calculate transect
BoostPoint v1{-delta, yCoords[i]};
BoostPoint v2{bboxWidth+delta, yCoords[i]};
BoostLineString transect;
transect.push_back(v1);
transect.push_back(v2);
// transform back
BoostLineString temp_transect;
bg::transform(transect, temp_transect, rotate_back);
transect.clear();
bg::transform(temp_transect, transect, translate_back);
ClipperLib::IntPoint c1{static_cast<ClipperLib::cInt>(transect[0].get<0>()*CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(transect[0].get<1>()*CLIPPER_SCALE)};
ClipperLib::IntPoint c2{static_cast<ClipperLib::cInt>(transect[1].get<0>()*CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(transect[1].get<1>()*CLIPPER_SCALE)};
ClipperLib::Path path{c1, c2};
transectsClipper.push_back(path);
}
// Perform clipping.
// Clip transects to measurement area.
ClipperLib::Clipper clipper;
clipper.AddPath(mAreaClipper, ClipperLib::ptClip, true);
clipper.AddPaths(transectsClipper, ClipperLib::ptSubject, false);
ClipperLib::PolyTree clippedTransecsPolyTree1;
clipper.Execute(ClipperLib::ctIntersection, clippedTransecsPolyTree1, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// Subtract holes (tiles with measurement_progress == 100) from transects.
clipper.Clear();
for (auto child : clippedTransecsPolyTree1.Childs)
clipper.AddPath(child->Contour, ClipperLib::ptSubject, false);
clipper.AddPaths(processedTilesClipper, ClipperLib::ptClip, true);
ClipperLib::PolyTree clippedTransecsPolyTree2;
clipper.Execute(ClipperLib::ctDifference, clippedTransecsPolyTree2, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// Extract transects from PolyTree and convert them to BoostLineString
for (auto child : clippedTransecsPolyTree2.Childs){
ClipperLib::Path clipperTransect = child->Contour;
BoostPoint v1{static_cast<double>(clipperTransect[0].X)/CLIPPER_SCALE,
static_cast<double>(clipperTransect[0].Y)/CLIPPER_SCALE};
BoostPoint v2{static_cast<double>(clipperTransect[1].X)/CLIPPER_SCALE,
static_cast<double>(clipperTransect[1].Y)/CLIPPER_SCALE};
BoostLineString transect{v1, v2};
if (bg::length(transect) >= minTransectLength)
_transects.push_back(transect);
}
if (_transects.size() < 1)
return false;
return true;
}
void FlightPlan::_generateRoutingModel(const BoostLineString &vertices,
const BoostPolygon &polygonOffset,
size_t n0,
FlightPlan::RoutingDataModel_t &dataModel,
Matrix<double> &graph)
{
#ifdef SHOW_TIME
auto start = std::chrono::high_resolution_clock::now();
#endif
graphFromPolygon(polygonOffset, vertices, graph);
#ifdef SHOW_TIME
auto delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()-start);
cout << "Execution time graphFromPolygon(): " << delta.count() << " ms" << endl;
#endif
// cout << endl;
// for (size_t i=0; i<graph.size(); ++i){
// vector<double> &row = graph[i];
// for (size_t j=0; j<row.size();++j){
// cout << "(" << i << "," << j << "):" << row[j] << " ";
// }
// cout << endl;
// }
// cout << endl;
Matrix<double> distanceMatrix(graph);
#ifdef SHOW_TIME
start = std::chrono::high_resolution_clock::now();
#endif
#ifdef SHOW_TIME
delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()-start);
cout << "Execution time toDistanceMatrix(): " << delta.count() << " ms" << endl;
#endif
dataModel.distanceMatrix.setDimension(n0, n0);
for (size_t i=0; i<n0; ++i){
dataModel.distanceMatrix.set(i, i, 0);
for (size_t j=i+1; j<n0; ++j){
dataModel.distanceMatrix.set(i, j, int64_t(distanceMatrix.get(i, j)*CLIPPER_SCALE));
dataModel.distanceMatrix.set(j, i, int64_t(distanceMatrix.get(i, j)*CLIPPER_SCALE));
}
}
dataModel.numVehicles = 1;
dataModel.depot = n0-1;
}
Area::Area() : Area(GeoPoint2DList(), 0, 1, AreaType::MeasurementArea)
{
}
Area::Area(const GeoPoint2DList &gP, AreaType tp) : Area(gP, 0, 1, tp)
{
}
Area::Area(const GeoPoint2DList &gP, double alt, size_t l, AreaType tp) :
geoPolygon(gP)
, altitude(alt)
, layers(l)
, type(tp)
{
}