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Commit 0877c5b7 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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clearup temp commit 2

parent 458ab210
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qgroundcontrol.pro
View file @ 0877c5b7
......@@ -416,7 +416,6 @@ INCLUDEPATH += \
src/QtLocationPlugin \
src/QtLocationPlugin/QMLControl \
src/Settings \
src/Wima/Snake \
src/Wima \
src/Terrain \
src/Vehicle \
......@@ -447,74 +446,58 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
HEADERS += \
src/QmlControls/QmlUnitsConversion.h \
src/Vehicle/VehicleEscStatusFactGroup.h \
src/Wima/CircularSurvey.h \
src/Wima/GenericSingelton.h \
src/Wima/Geometry/GenericCircle.h \
src/Wima/RoutingThread.h \
src/Wima/Snake/CircularGenerator.h \
src/Wima/Snake/GeneratorBase.h \
src/Wima/Snake/LinearGenerator.h \
src/Wima/Snake/clipper/clipper.hpp \
src/Wima/Snake/mapbox/feature.hpp \
src/Wima/Snake/mapbox/geometry.hpp \
src/Wima/Snake/mapbox/geometry/box.hpp \
src/Wima/Snake/mapbox/geometry/empty.hpp \
src/Wima/Snake/mapbox/geometry/envelope.hpp \
src/Wima/Snake/mapbox/geometry/for_each_point.hpp \
src/Wima/Snake/mapbox/geometry/geometry.hpp \
src/Wima/Snake/mapbox/geometry/line_string.hpp \
src/Wima/Snake/mapbox/geometry/multi_line_string.hpp \
src/Wima/Snake/mapbox/geometry/multi_point.hpp \
src/Wima/Snake/mapbox/geometry/multi_polygon.hpp \
src/Wima/Snake/mapbox/geometry/point.hpp \
src/Wima/Snake/mapbox/geometry/point_arithmetic.hpp \
src/Wima/Snake/mapbox/geometry/polygon.hpp \
src/Wima/Snake/mapbox/geometry_io.hpp \
src/Wima/Snake/mapbox/optional.hpp \
src/Wima/Snake/mapbox/polylabel.hpp \
src/Wima/Snake/mapbox/recursive_wrapper.hpp \
src/Wima/Snake/mapbox/variant.hpp \
src/Wima/Snake/mapbox/variant_io.hpp \
src/Wima/Snake/snake.h \
src/Wima/Geometry/GenericPolygon.h \
src/Wima/Geometry/GenericPolygonArray.h \
src/Wima/Geometry/GeoPoint3D.h \
src/Wima/Snake/NemoInterface.h \
src/Wima/Snake/QNemoHeartbeat.h \
src/Wima/Snake/QNemoProgress.h \
src/Wima/Snake/QNemoProgress.h \
src/Wima/Snake/SnakeTile.h \
src/Wima/Snake/SnakeTileLocal.h \
src/Wima/Snake/SnakeTiles.h \
src/Wima/Snake/SnakeTilesLocal.h \
src/Wima/Utils.h \
src/Wima/WimaBridge.h \
src/Wima/WimaStateMachine.h \
src/Wima/call_once.h \
src/RouteMissionItem/RouteComplexItem.h \
src/RouteMissionItem/GenericSingelton.h \
src/RouteMissionItem/geometry/GenericCircle.h \
src/RouteMissionItem/RoutingThread.h \
src/RouteMissionItem/CircularGenerator.h \
src/RouteMissionItem/GeneratorBase.h \
src/RouteMissionItem/LinearGenerator.h \
src/RouteMissionItem/geometry/clipper/clipper.hpp \
src/RouteMissionItem/geometry/mapbox/feature.hpp \
src/RouteMissionItem/geometry/mapbox/geometry.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/box.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/empty.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/envelope.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/for_each_point.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/geometry.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/line_string.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/multi_line_string.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/multi_point.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/multi_polygon.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/point.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/point_arithmetic.hpp \
src/RouteMissionItem/geometry/mapbox/geometry/polygon.hpp \
src/RouteMissionItem/geometry/mapbox/geometry_io.hpp \
src/RouteMissionItem/geometry/mapbox/optional.hpp \
src/RouteMissionItem/geometry/mapbox/polylabel.hpp \
src/RouteMissionItem/geometry/mapbox/recursive_wrapper.hpp \
src/RouteMissionItem/geometry/mapbox/variant.hpp \
src/RouteMissionItem/geometry/mapbox/variant_io.hpp \
src/RouteMissionItem/geometry/snake.h \
src/RouteMissionItem/geometry/GenericPolygon.h \
src/RouteMissionItem/geometry/GenericPolygonArray.h \
src/RouteMissionItem/geometry/GeoPoint3D.h \
src/RouteMissionItem/NemoInterface.h \
src/RouteMissionItem/nemo_interface/QNemoHeartbeat.h \
src/RouteMissionItem/nemo_interface/QNemoProgress.h \
src/RouteMissionItem/nemo_interface/QNemoProgress.h \
src/RouteMissionItem/nemo_interface/SnakeTile.h \
src/RouteMissionItem/nemo_interface/SnakeTileLocal.h \
src/RouteMissionItem/nemo_interface/SnakeTiles.h \
src/RouteMissionItem/nemo_interface/SnakeTilesLocal.h \
src/RouteMissionItem/call_once.h \
src/api/QGCCorePlugin.h \
src/api/QGCOptions.h \
src/api/QGCSettings.h \
src/api/QmlComponentInfo.h \
src/GPS/Drivers/src/base_station.h \
src/Wima/Geometry/WimaArea.h \
src/Wima/Geometry/WimaServiceArea.h \
src/Wima/Geometry/WimaTrackerPolyline.h \
src/Wima/WimaPlaner.h \
src/Wima/Geometry/WimaMeasurementArea.h \
src/Wima/Geometry/WimaCorridor.h \
src/Wima/Geometry/WimaAreaData.h \
src/Wima/Geometry/WimaServiceAreaData.h \
src/Wima/Geometry/WimaCorridorData.h \
src/Wima/Geometry/WimaMeasurementAreaData.h \
src/Wima/WimaPlanData.h \
src/Wima/Geometry/WimaJoinedArea.h \
src/Wima/Geometry/WimaJoinedAreaData.h \
src/Wima/Geometry/PlanimetryCalculus.h \
src/Wima/Geometry/PolygonCalculus.h \
src/Wima/OptimisationTools.h \
src/Wima/Geometry/GeoUtilities.h \
src/Wima/Geometry/TestPolygonCalculus.h \
src/Wima/Geometry/testplanimetrycalculus.h \
src/RouteMissionItem/geometry/WimaArea.h \
src/RouteMissionItem/geometry/WimaServiceArea.h \
src/RouteMissionItem/geometry/WimaMeasurementArea.h \
src/RouteMissionItem/geometry/PlanimetryCalculus.h \
src/RouteMissionItem/geometry/PolygonCalculus.h \
src/RouteMissionItem/OptimisationTools.h \
src/Settings/WimaSettings.h \
src/comm/ros_bridge/include/RosBridgeClient.h \
src/comm/ros_bridge/include/com_private.h \
......@@ -540,25 +523,23 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
SOURCES += \
src/Vehicle/VehicleEscStatusFactGroup.cc \
src/Wima/WimaStateMachine.cpp \
src/RouteMissionItem/AreaData.cc \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
src/api/QGCSettings.cc \
src/api/QmlComponentInfo.cc \
src/Wima/CircularSurvey.cc \
src/Wima/GenericSingelton.cpp \
src/Wima/RoutingThread.cpp \
src/Wima/Snake/CircularGenerator.cpp \
src/Wima/Snake/GeneratorBase.cc \
src/Wima/Snake/LinearGenerator.cpp \
src/Wima/Snake/clipper/clipper.cpp \
src/Wima/Snake/snake.cpp \
src/Wima/Geometry/GeoPoint3D.cpp \
src/Wima/Snake/NemoInterface.cpp \
src/Wima/Snake/QNemoProgress.cc \
src/Wima/Snake/SnakeTile.cpp \
src/Wima/Utils.cpp \
src/Wima/WimaBridge.cc \
src/RouteMissionItem/RouteComplexItem.cc \
src/RouteMissionItem/GenericSingelton.cpp \
src/RouteMissionItem/RoutingThread.cpp \
src/RouteMissionItem/CircularGenerator.cpp \
src/RouteMissionItem/GeneratorBase.cc \
src/RouteMissionItem/LinearGenerator.cpp \
src/RouteMissionItem/geometry/clipper/clipper.cpp \
src/RouteMissionItem/geometry/snake.cpp \
src/RouteMissionItem/geometry/GeoPoint3D.cpp \
src/RouteMissionItem/NemoInterface.cpp \
src/RouteMissionItem/nemo_interface/QNemoProgress.cc \
src/RouteMissionItem/nemo_interface/SnakeTile.cpp \
src/comm/ros_bridge/include/RosBridgeClient.cpp \
src/comm/ros_bridge/include/com_private.cpp \
src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.cpp \
......@@ -573,25 +554,12 @@ SOURCES += \
src/comm/ros_bridge/include/server.cpp \
src/comm/ros_bridge/include/topic_publisher.cpp \
src/comm/ros_bridge/include/topic_subscriber.cpp \
src/Wima/Geometry/WimaArea.cc \
src/Wima/Geometry/WimaServiceArea.cc \
src/Wima/Geometry/WimaTrackerPolyline.cc \
src/Wima/WimaPlaner.cc \
src/Wima/Geometry/WimaMeasurementArea.cc \
src/Wima/Geometry/WimaCorridor.cc \
src/Wima/Geometry/WimaAreaData.cc \
src/Wima/Geometry/WimaServiceAreaData.cc \
src/Wima/Geometry/WimaCorridorData.cpp \
src/Wima/WimaPlanData.cc \
src/Wima/Geometry/WimaMeasurementAreaData.cc \
src/Wima/Geometry/WimaJoinedArea.cc \
src/Wima/Geometry/WimaJoinedAreaData.cc \
src/Wima/Geometry/PlanimetryCalculus.cc \
src/Wima/OptimisationTools.cc \
src/Wima/Geometry/GeoUtilities.cc \
src/Wima/Geometry/PolygonCalculus.cc \
src/Wima/Geometry/TestPolygonCalculus.cpp \
src/Wima/Geometry/testplanimetrycalculus.cpp \
src/RouteMissionItem/geometry/WimaArea.cc \
src/RouteMissionItem/geometry/WimaServiceArea.cc \
src/RouteMissionItem/geometry/WimaMeasurementArea.cc \
src/RouteMissionItem/geometry/PlanimetryCalculus.cc \
src/RouteMissionItem/OptimisationTools.cc \
src/RouteMissionItem/geometry/PolygonCalculus.cc \
src/Settings/WimaSettings.cc \
src/comm/ros_bridge/src/ros_bridge.cpp
......@@ -1586,9 +1554,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
}
DISTFILES += \
src/Wima/Routing/json/CircularGenerator.SettingsGroup.json \
src/Wima/Snake/json/LinearGenerator.SettingsGroup.json \
src/Wima/json/CircularSurvey.SettingsGroup.json \
src/WimaView/WimaMeasurementAreaEditor.qml \
src/Settings/Wima.SettingsGroup.json \
src/QmlControls/QGroundControl/Specific/qmldir
qgroundcontrol.qrc
View file @ 0877c5b7
......@@ -289,7 +289,6 @@
<file alias="Wima/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
<file alias="Wima/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
<file alias="Wima/WimaToolBar.qml">src/WimaView/WimaToolBar.qml</file>
<file alias="WimaView.qml">src/WimaView/WimaView.qml</file>
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
<file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>
......
src/QGCApplication.cc
View file @ 0877c5b7
......@@ -112,8 +112,6 @@
#include "Wima/Snake/CircularGenerator.h"
#include "Wima/Snake/LinearGenerator.h"
#include "Wima/Snake/NemoInterface.h"
#include "Wima/WimaController.h"
#include "Wima/WimaPlaner.h"
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
......@@ -596,8 +594,6 @@ void QGCApplication::_initCommon()
#endif
// Wima
qmlRegisterType<WimaController>("Wima", 1, 0, "WimaController");
qmlRegisterType<WimaPlaner>("Wima", 1, 0, "WimaPlaner");
qmlRegisterType<NemoInterface>("Wima", 1, 0, "NemoInterface");
qmlRegisterInterface<routing::GeneratorBase>("GeneratorBase");
qmlRegisterType<routing::CircularGenerator>("Wima", 1, 0,
......
src/QmlControls/FlightPathSegment.h
View file @ 0877c5b7
......@@ -35,7 +35,7 @@ public:
Q_PROPERTY(double distanceBetween MEMBER _distanceBetween NOTIFY distanceBetweenChanged)
Q_PROPERTY(double finalDistanceBetween MEMBER _finalDistanceBetween NOTIFY finalDistanceBetweenChanged)
Q_PROPERTY(double totalDistance MEMBER _totalDistance NOTIFY totalDistanceChanged)
Q_PROPERTY(bool terrainCollision MEMBER _terrainCollision NOTIFY terrainCollisionChanged);
Q_PROPERTY(bool terrainCollision MEMBER _terrainCollision NOTIFY terrainCollisionChanged)
QGeoCoordinate coordinate1 (void) const { return _coord1; }
QGeoCoordinate coordinate2 (void) const { return _coord2; }
......
src/Wima/.directory deleted 100644 → 0
View file @ 458ab210
[Dolphin]
Timestamp=2020,7,8,11,13,28
Version=4
ViewMode=1
src/Wima/CircularSurvey.cc deleted 100644 → 0
View file @ 458ab210
This diff is collapsed.
src/Wima/CircularSurvey.h deleted 100644 → 0
View file @ 458ab210
#pragma once
#include <QFutureWatcher>
#include <QVector>
#include <memory>
#include "SettingsFact.h"
#include "TransectStyleComplexItem.h"
#include "Geometry/WimaJoinedAreaData.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "WimaPlanData.h"
class RoutingThread;
class RoutingData;
namespace routing {
class GeneratorBase;
}
class CircularSurvey : public TransectStyleComplexItem {
Q_OBJECT
using PtrGenerator = std::shared_ptr<routing::GeneratorBase>;
using PtrRoutingData = std::shared_ptr<RoutingData>;
using PtrWorker = std::unique_ptr<RoutingThread>;
using Transects = QList<QList<CoordInfo_t>>;
using Variant = Transects;
enum class STATE { IDLE, ROUTING, SKIPP, REVERSE, VARIANT_CHANGE };
public:
CircularSurvey(PlanMasterController *masterController, bool flyView,
const QString &kmlOrShpFile, QObject *parent);
~CircularSurvey();
Q_PROPERTY(Fact *variant READ variant CONSTANT)
Q_PROPERTY(
QStringList variantNames READ variantNames NOTIFY variantNamesChanged)
Q_PROPERTY(QStringList generatorNameList READ generatorNameList NOTIFY
generatorNameListChanged)
Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
Q_PROPERTY(
routing::GeneratorBase *generator READ generator NOTIFY generatorChanged)
Q_PROPERTY(int generatorIndex READ generatorIndex NOTIFY generatorChanged)
Q_INVOKABLE void reverse(void);
// Property setters
void setPlanData(const WimaPlanData &d);
// Property getters
const WimaPlanData &planData() const;
WimaPlanData &planData();
Fact *variant();
QStringList variantNames() const;
bool calculating() const;
// Overrides
virtual bool load(const QJsonObject &complexObject, int sequenceNumber,
QString &errorString) override final;
virtual QString mapVisualQML(void) const override final;
virtual void save(QJsonArray &planItems) override final;
virtual bool specifiesCoordinate(void) const override final;
virtual double timeBetweenShots(void) override final;
virtual QString commandDescription(void) const override final;
virtual QString commandName(void) const override final;
virtual QString abbreviation(void) const override final;
virtual ReadyForSaveState readyForSaveState(void) const override final;
virtual double additionalTimeDelay(void) const override final;
virtual QString patternName(void) const override;
// Generator
bool registerGenerator(const QString &name,
std::shared_ptr<routing::GeneratorBase> g);
bool unregisterGenerator(const QString &name);
bool unregisterGenerator(int index);
Q_INVOKABLE bool switchToGenerator(const QString &name);
Q_INVOKABLE bool switchToGenerator(int index);
QStringList generatorNameList();
routing::GeneratorBase *generator();
int generatorIndex();
static const char *settingsGroup;
static const char *variantName;
static const char *jsonComplexItemTypeValue;
static const QString name;
signals:
void calculatingChanged();
void variantNamesChanged();
void generatorNameListChanged();
void generatorChanged();
private slots:
// Overrides from TransectStyleComplexItem
virtual void _rebuildTransectsPhase1(void) override final;
virtual void _recalcCameraShots(void) override final;
// Worker functions.
void _setTransects(PtrRoutingData pRoute);
void _changeVariant();
bool _updateWorker();
void _changeVariantWorker();
void _reverseWorker();
private:
bool _switchToGenerator(const PtrGenerator &newG);
void _setState(STATE state);
bool _calculating(STATE state) const;
// State.
STATE _state;
// center of the circular lanes, e.g. base station
QMap<QString, FactMetaData *> _metaDataMap;
SettingsFact _variant;
QStringList _variantNames;
// Area data
std::shared_ptr<WimaPlanData> _pAreaData;
// Generators
QList<PtrGenerator> _generatorList;
QStringList _generatorNameList;
PtrGenerator _pGenerator;
// Routing.
QVector<Variant> _variantVector;
PtrWorker _pWorker;
};
src/Wima/GenericSingelton.h deleted 100644 → 0
View file @ 458ab210
#pragma once
#include "call_once.h"
#include <QScopedPointer>
#include <QtGlobal>
template <class T> class GenericSingelton {
private:
typedef T *(*CreateInstanceFunction)();
public:
static T *instance(CreateInstanceFunction create);
private:
static void init();
GenericSingelton();
~GenericSingelton();
Q_DISABLE_COPY(GenericSingelton)
static QBasicAtomicPointer<void> create;
static QBasicAtomicInt flag;
static QBasicAtomicPointer<void> tptr;
bool inited;
};
template <class T>
T *GenericSingelton<T>::instance(CreateInstanceFunction create) {
GenericSingelton::create.store(reinterpret_cast<void *>(create));
qCallOnce(init, flag);
return (T *)tptr.load();
}
template <class T> void GenericSingelton<T>::init() {
static GenericSingelton singleton;
if (singleton.inited) {
CreateInstanceFunction createFunction =
(CreateInstanceFunction)GenericSingelton::create.load();
tptr.store(createFunction());
}
}
template <class T> GenericSingelton<T>::GenericSingelton() { inited = true; }
template <class T> GenericSingelton<T>::~GenericSingelton() {
T *createdTptr = (T *)tptr.fetchAndStoreOrdered(nullptr);
if (createdTptr) {
delete createdTptr;
}
create.store(nullptr);
}
template <class T>
QBasicAtomicPointer<void>
GenericSingelton<T>::create = Q_BASIC_ATOMIC_INITIALIZER(nullptr);
template <class T>
QBasicAtomicInt GenericSingelton<T>::flag =
Q_BASIC_ATOMIC_INITIALIZER(CallOnce::CO_Request);
template <class T>
QBasicAtomicPointer<void>
GenericSingelton<T>::tptr = Q_BASIC_ATOMIC_INITIALIZER(nullptr);
src/Wima/Geometry/GenericCircle.h deleted 100644 → 0
View file @ 458ab210
#pragma once
#include <QObject>
#include <QPointF>
#include <cmath>
#include "boost/units/systems/angle/degrees.hpp"
#include "boost/units/systems/si.hpp"
template <int k, class Point> auto get(const Point &p);
namespace bu = boost::units;
namespace qty {
using Length = bu::quantity<bu::si::length>;
using Angle = bu::quantity<bu::si::plane_angle>;
using Degree = bu::quantity<bu::degree::plane_angle>;
using Radian = bu::quantity<bu::si::plane_angle>;
} // namespace qty
template <class NumberType, class Point> class GenericCircle {
public:
GenericCircle();
GenericCircle(NumberType rad, Point ori);
// Property setters
void setRadius(NumberType rad);
void setOrigin(const Point &ori);
// Property getters
NumberType radius() const;
const Point &origin() const;
Point &origin();
private:
NumberType _r;
Point _origin;
};
// Free functions.
template <class Circle, class Container>
void approximate(Circle &circ, long n, qty::Angle alpha1, qty::Angle alpha2,
Container &c);
template <class Circle, class Container>
void approximate(Circle &circ, long n, Container &c);
// Impl.
template <class NumberType, class Point>
GenericCircle<NumberType, Point>::GenericCircle() : _r(0), _origin(0, 0) {}
template <class NumberType, class Point>
GenericCircle<NumberType, Point>::GenericCircle(NumberType rad, Point ori)
: _r(rad), _origin(ori) {}
/*!
* Returns a polygon with \a n corners which approximates the
* circle.
*
* \sa Point
*/
template <class NumberType, class Point>
void GenericCircle<NumberType, Point>::setRadius(NumberType rad) {
if (rad >= 0) {
this->_r = rad;
}
}
template <class NumberType, class Point>
void GenericCircle<NumberType, Point>::setOrigin(const Point &ori) {
this->_origin = ori;
}
template <class NumberType, class Point>
NumberType GenericCircle<NumberType, Point>::radius() const {
return this->_r;
}
template <class NumberType, class Point>
const Point &GenericCircle<NumberType, Point>::origin() const {
return this->_origin;
}
template <class NumberType, class Point>
Point &GenericCircle<NumberType, Point>::origin() {
return this->_origin;
}
template <class Circle, class Container>
void approximate(Circle &circ, long n, qty::Angle alpha1, qty::Angle alpha2,
Container &c) {
auto clipp = [](double angle) {
while (angle < 0) {
angle += 2 * M_PI;
}
while (angle > 2 * M_PI) {
angle -= 2 * M_PI;
}
return angle;
};
double a1 = clipp(alpha1.value());
double a2 = clipp(alpha2.value());
double angleDisc = 0;
if (n > 0) {
angleDisc = (a2 - a1) / (n - 1);
} else {
angleDisc = (a2 - a1) / (n + 1);
n = n * (-1);
}
double a = a1;
using Point =
std::remove_cv_t<std::remove_reference_t<decltype(circ.origin())>>;
auto x0 = get<0>(circ.origin());
auto y0 = get<1>(circ.origin());
auto r = circ.radius();
using NumberType = std::remove_cv_t<std::remove_reference_t<decltype(x0)>>;
while (n--) {
auto x = NumberType(x0 + r * std::cos(a));
auto y = NumberType(y0 + r * std::sin(a));
c.push_back(Point(x, y));
a += angleDisc;
}
}
template <class Circle, class Container>
void approximate(Circle &circ, long n, Container &c) {
using namespace bu;
double angleDisc = 0;
if (n > 0) {
angleDisc = 2 * M_PI / (n - 1);
} else {
angleDisc = 2 * M_PI / (n + 1);
n = n * (-1);
}
double a = 0;
using Point =
std::remove_cv_t<std::remove_reference_t<decltype(circ.origin())>>;
auto x0 = get<0>(circ.origin());
auto y0 = get<1>(circ.origin());
auto r = circ.radius();
using NumberType = std::remove_cv_t<std::remove_reference_t<decltype(x0)>>;
while (n--) {
auto x = NumberType(x0 + r * std::cos(a));
auto y = NumberType(y0 + r * std::sin(a));
c.push_back(Point(x, y));
a += angleDisc;
}
}
src/Wima/Geometry/GenericPolygon.h deleted 100644 → 0
View file @ 458ab210
#pragma once
#include <QPolygonF>
#include <QPointF>
#include "ros_bridge/include/messages/geometry_msgs/polygon_stamped.h"
template <class PointType = QPointF, template <class, class...> class ContainerType = QVector>
class GenericPolygon{ //
typedef ros_bridge::messages::geometry_msgs::polygon::GenericPolygon<PointType, ContainerType> Polygon;
public:
GenericPolygon(){}
GenericPolygon(const GenericPolygon &other) : _polygon(other._polygon){}
GenericPolygon& operator=(const GenericPolygon& other) {
this->_polygon = other._polygon;
return *this;
}
const Polygon &polygon() const {return _polygon;}
Polygon &polygon() {return _polygon;}
const ContainerType<PointType> &path() const {return _polygon.points();}
ContainerType<PointType> &path() {return _polygon.points();}
private:
Polygon _polygon;
};
src/Wima/Geometry/GenericPolygonArray.h deleted 100644 → 0
View file @ 458ab210
#pragma once
#include "QmlObjectListModel.h"
#include <QVector>
#include <QString>
template <class PolygonType, template <class, class...> class ContainerType = QVector>
class GenericPolygonArray
{
public:
GenericPolygonArray() {}
GenericPolygonArray(const GenericPolygonArray &other) :
_polygons(other._polygons), _dirty(true)
{}
~GenericPolygonArray(){
_objs.clearAndDeleteContents();
}
class QmlObjectListModel *QmlObjectListModel(){
if (_dirty)
_updateObjects();
_dirty = false;
return &_objs;
}
const ContainerType<PolygonType> &polygons() const {
return _polygons;
}