planiCalc now namespace not class, about to add polygonCalc

qgroundcontrol.pro

@@ -427,7 +427,8 @@ HEADERS += \
     src/Wima/SphereCalculus.h \
     src/Wima/CircularSurveyComplexItem.h \
     src/Wima/PlanimetryCalculus.h \
-    src/Wima/Circle.h
+    src/Wima/Circle.h \
+    src/Wima/PolygonCalculus.h
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -453,7 +454,8 @@ SOURCES += \
     src/Wima/SphereCalculus.cc \
     src/Wima/CircularSurveyComplexItem.cc \
     src/Wima/PlanimetryCalculus.cc \
-    src/Wima/Circle.cc
+    src/Wima/Circle.cc \
+    src/Wima/PolygonCalculus.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/Wima/Circle.cc

@@ -97,16 +97,47 @@ QPolygonF Circle::approximate(int numberOfCorners) const
 {
     if ( numberOfCorners < 3)
         return QPolygonF();
+    return approximateSektor(numberOfCorners, 0, 2*M_PI);
+}
+
+QPolygonF Circle::approximate(double angleDiscretisation) const
+{
+    return approximateSektor(angleDiscretisation, 0, 2*M_PI);
+}
+
+QPolygonF Circle::approximateSektor(int numberOfCorners, double alpha1, double alpha2) const
+{
+    return approximateSektor((alpha2-alpha1)/double(numberOfCorners-1), alpha1, alpha2);
+}
+
+QPolygonF Circle::approximateSektor(double angleDiscretisation, double alpha1, double alpha2) const
+{
+    // truncate alpha1 to [0, 2*pi], fmod() does not work in this case
+    alpha1              = PlanimetryCalculus::truncateAngle(alpha1);
+    alpha2              = PlanimetryCalculus::truncateAngle(alpha2);
+    double deltaAlpha   = PlanimetryCalculus::truncateAngle(alpha2 - alpha1);
+    angleDiscretisation = PlanimetryCalculus::truncateAngle(angleDiscretisation);
+
+    if (angleDiscretisation > deltaAlpha || qFuzzyIsNull(angleDiscretisation))
+        return QPolygonF();
 
-    double rotationAngle = 2*M_PI/numberOfCorners;
 
     QPolygonF polygon;
     QPointF vertex(-_circleRadius,0); // initial vertex
-    polygon.append(vertex + _circleOrigin);
+    double currentAngle = alpha1;
     // rotate the vertex numberOfCorners-1 times add the origin and append to the polygon.
-    for(int i = 0; i < numberOfCorners; i++) {
-        rotatePoint(vertex, rotationAngle);
+    while(currentAngle < alpha2) {
+        PlanimetryCalculus::rotatePoint(vertex, currentAngle);
         polygon.append(vertex + _circleOrigin);
+        currentAngle = PlanimetryCalculus::truncateAngle(currentAngle + angleDiscretisation);
+    }
+
+    // append last point if necessarry
+    PlanimetryCalculus::rotatePoint(vertex, alpha2);
+    vertex = vertex + _circleOrigin;
+    if (   !qFuzzyIsNull(PlanimetryCalculus::distance(polygon.first(), vertex))
+        && !qFuzzyIsNull(PlanimetryCalculus::distance(polygon.last(), vertex )) ){
+        polygon.append(vertex);
     }
 
     return polygon;

src/Wima/Circle.h

@@ -4,9 +4,11 @@
 #include <QPointF>
 #include <QPolygonF>
 
+#include <cmath>
+
 #include "PlanimetryCalculus.h"
 
-class Circle : public QObject, protected PlanimetryCalculus
+class Circle : public QObject
 {
     Q_OBJECT
 public:
@@ -25,7 +27,10 @@ public:
     QPointF origin() const;
 
     // Member methodes
-    QPolygonF approximate(int numberOfCorners) const;
+    QPolygonF approximate      (int numberOfCorners) const;
+    QPolygonF approximate      (double angleDiscretisation) const;
+    QPolygonF approximateSektor(int numberOfCorners, double alpha1, double alpha2) const;
+    QPolygonF approximateSektor(double angleDiscretisation, double alpha1, double alpha2) const;
     bool isNull() const;
 
 signals:

src/Wima/PlanimetryCalculus.h

@@ -5,11 +5,9 @@
 #include <QtMath>
 #include <QLineF>
 
-#include "Circle.h"
-class PlanimetryCalculus
-{
-public:
-    PlanimetryCalculus();
+class Circle;
+
+namespace PlanimetryCalculus {
 
     enum IntersectType{InsideNoIntersection, InsideTouching, InsideIntersection,
                        OutsideIntersection, OutsideTouching, OutsideNoIntersection,
@@ -31,8 +29,9 @@ public:
     double distance(const QPointF &p1, const QPointF p2);
     double angle(const QPointF &p1, const QPointF p2);
     double angleDegree(const QPointF &p1, const QPointF p2);
+    double truncateAngle(double angle);
+    double truncateAngleDegree(double angle);
+}
+
 
-private:
-    IntersectType intersects(const Circle &circle, const QLineF &line, QList<QPointF> &intersectionPoints, bool calcIntersect);
-};
 

src/Wima/PolygonCalculus.cc

+#include "PolygonCalculus.h"
+

src/Wima/PolygonCalculus.h

+#ifndef POLYGONCALCULUS_H
+#define POLYGONCALCULUS_H
+
+
+namespace PolygonCalculus {
+
+}
+
+#endif // POLYGONCALCULUS_H

src/Wima/WimaArea.cc

@@ -668,23 +668,7 @@ void WimaArea::saveToJson(QJsonObject &json)
 bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
 {
     if ( this->QGCMapPolygon::loadFromJson(json, false /*no poly required*/, errorString) ) {
-        if ( json.contains(maxAltitudeName) && json[maxAltitudeName].i// Overrides from ComplexMissionItem
-             bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
-             QString mapVisualQML        (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
-
-             // Overrides from TransectStyleComplexItem
-             void    save                (QJsonArray&  planItems) final;
-             bool    specifiesCoordinate (void) const final { return true; }
-             void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
-             void    applyNewAltitude    (double newAltitude) final;
-             double  timeBetweenShots    (void) final;
-
-             // Overrides from VisualMissionionItem
-             QString commandDescription  (void) const final { return tr("Survey"); }
-             QString commandName         (void) const final { return tr("Survey"); }
-             QString abbreviation        (void) const final { return tr("S"); }
-             bool    readyForSave        (void) const final;
-             double  additionalTimeDelay (void) const final;sDouble()) {
+        if ( json.contains(maxAltitudeName) && json[maxAltitudeName].isDouble()) {
             _maxAltitude = json[maxAltitudeName].toDouble();
             return true;
         } else {