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Commit 887e51f1 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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hello

parent 56d4d813
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Showing with 168 additions and 59 deletions
ToDo.txt
View file @ 887e51f1
optimize circular survey
remove Reference artefacts
solve Dijkstra issue (no path found, for some geometries)
solve Dijkstra issue (path not found, or not minimal)
qgroundcontrol.qrc
View file @ 887e51f1
......@@ -225,6 +225,7 @@
<file alias="QGroundControl/Controls/DragCoordinate.qml">src/WimaView/DragCoordinate.qml</file>
<file alias="QGroundControl/Controls/CoordinateIndicatorDrag.qml">src/WimaView/CoordinateIndicatorDrag.qml</file>
<file alias="QGroundControl/Controls/CoordinateIndicator.qml">src/WimaView/CoordinateIndicator.qml</file>
<file alias="QGroundControl/Controls/WimaJoinedAreaMapVisual.qml">src/WimaView/WimaJoinedAreaMapVisual.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ 887e51f1
......@@ -81,15 +81,15 @@ Rectangle {
/*QGCSlider {
id: rSlider
minimumValue: 0.1
maximumValue: 5
minimumValue: 0.3
maximumValue: 20
stepSize: 0.1
tickmarksEnabled: false
Layout.fillWidth: true
Layout.columnSpan: 2
Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
onValueChanged: missionItem.deltaR.value = value
Component.onCompleted: value = missionItem.deltaR.value
Component.onCompleted: value = missionItem.deltaR.defaultValue
updateValueWhileDragging: true
}*/
......@@ -110,7 +110,7 @@ Rectangle {
Layout.columnSpan: 2
Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
onValueChanged: missionItem.deltaAlpha.value = value
Component.onCompleted: value = missionItem.deltaAlpha.value
Component.onCompleted: value = missionItem.deltaAlpha.defaultValue
updateValueWhileDragging: true
}
}
......
src/QmlControls/QGroundControl.Controls.qmldir
View file @ 887e51f1
......@@ -87,6 +87,7 @@ FlyAreaItemEditor 1.0 FlyAreaItemEditor.qml
WimaMapVisual 1.0 WimaMapVisual.qml
WimaMeasurementAreaMapVisual 1.0 WimaMeasurementAreaMapVisual.qml
WimaJoinedAreaMapVisual 1.0 WimaJoinedAreaMapVisual.qml
WimaMeasurementAreaEditor 1.0 WimaMeasurementAreaEditor.qml
WimaServiceAreaMapVisual 1.0 WimaServiceAreaMapVisual.qml
WimaAreaMapVisual 1.0 WimaAreaMapVisual.qml
......
src/Wima/CircularSurvey.SettingsGroup.json
View file @ 887e51f1
......@@ -6,7 +6,7 @@
"units": "m",
"min": 0.3,
"decimalPlaces": 1,
"defaultValue": 3
"defaultValue": 20
},
{
"name": "DeltaAlpha",
......@@ -15,6 +15,6 @@
"units": "Deg",
"min": 0.3,
"decimalPlaces": 1,
"defaultValue": 1
"defaultValue": 5
}
]
src/Wima/CircularSurveyComplexItem.cc
View file @ 887e51f1
......@@ -111,8 +111,10 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
return;
double dalpha = _deltaAlpha.rawValue().toDouble()/180*M_PI; // radiants
double dalpha = _deltaAlpha.rawValue().toDouble()/180.0*M_PI; // radiants
double dr = _deltaR.rawValue().toDouble(); // meter
// double dalpha = 1.0/180.0*M_PI; // radiants
// double dr = 10.0; // meter
double r_min = dr; // meter
double r_max = (*std::max_element(distances.begin(), distances.end())); // meter
......@@ -230,42 +232,43 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
}
}
// optimize path to lawn pattern
if (fullPath.size() == 0)
return;
QList<QPointF> currentSection = fullPath.takeFirst();
QList<QList<QPointF>> optiPath; // optimized path
while( !fullPath.empty() ) {
optiPath.append(currentSection);
QPointF endVertex = currentSection.last();
double minDist = std::numeric_limits<double>::infinity();
int index = 0;
bool reversePath = false;
// iterate over all paths in fullPath and assign the one with the shortest distance to endVertex to currentSection
for (int i = 0; i < fullPath.size(); i++) {
auto iteratorPath = fullPath[i];
double dist = PlanimetryCalculus::distance(endVertex, iteratorPath.first());
if ( dist < minDist ) {
minDist = dist;
index = i;
}
dist = PlanimetryCalculus::distance(endVertex, iteratorPath.last());
if (dist < minDist) {
minDist = dist;
index = i;
reversePath = true;
}
}
currentSection = fullPath.takeAt(index);
if (reversePath) {
PolygonCalculus::reversePath(currentSection);
}
}
// // optimize path to lawn pattern
// if (fullPath.size() == 0)
// return;
// QList<QPointF> currentSection = fullPath.takeFirst();
// QList<QList<QPointF>> optiPath; // optimized path
// while( !fullPath.empty() ) {
// optiPath.append(currentSection);
// QPointF endVertex = currentSection.last();
// double minDist = std::numeric_limits<double>::infinity();
// int index = 0;
// bool reversePath = false;
// // iterate over all paths in fullPath and assign the one with the shortest distance to endVertex to currentSection
// for (int i = 0; i < fullPath.size(); i++) {
// auto iteratorPath = fullPath[i];
// double dist = PlanimetryCalculus::distance(endVertex, iteratorPath.first());
// if ( dist < minDist ) {
// minDist = dist;
// index = i;
// }
// dist = PlanimetryCalculus::distance(endVertex, iteratorPath.last());
// if (dist < minDist) {
// minDist = dist;
// index = i;
// reversePath = true;
// }
// }
// currentSection = fullPath.takeAt(index);
// if (reversePath) {
// PolygonCalculus::reversePath(currentSection);
// }
// }
// convert to CoordInfo_t
for ( const QList<QPointF> &transect : optiPath) {
// for ( const QList<QPointF> &transect : optiPath) {
for ( const QList<QPointF> &transect : fullPath) {
QList<QGeoCoordinate> geoPath = toGeo(transect, _referencePoint);
QList<CoordInfo_t> transectList;
for ( const QGeoCoordinate &coordinate : geoPath) {
......
src/Wima/OptimisationTools.h
View file @ 887e51f1
......@@ -16,7 +16,7 @@ namespace OptimisationTools {
* \sa QList
*/
template <class T>
bool dijkstraAlgorithm(const QList<T> &elements, int startIndex, int endIndex, QList<T> &elementPath, std::function<double(const T &, const T &)> distance)
bool dijkstraAlgorithm(const QList<T> &elements, int startIndex, int endIndex, QList<T> &elementPath, std::function<double(const T &, const T &)> distanceDij)
{
if ( elements.isEmpty() || startIndex < 0
|| startIndex >= elements.size() || endIndex < 0
......@@ -53,7 +53,7 @@ namespace OptimisationTools {
while (workingSet.size() > 0) {
// serach Node with minimal distance
double minDist = std::numeric_limits<qreal>::infinity();
int minDistIndex = 0;
int minDistIndex = -1;
for (int i = 0; i < workingSet.size(); i++) {
Node* node = workingSet.value(i);
double dist = node->distance;
......@@ -62,12 +62,15 @@ namespace OptimisationTools {
minDistIndex = i;
}
}
if (minDistIndex == -1)
return false;
Node* u = workingSet.takeAt(minDistIndex);
//update distance
for (int i = 0; i < workingSet.size(); i++) {
Node* v = workingSet[i];
double dist = distance(u->element, v->element);
double dist = distanceDij(u->element, v->element);
// is ther a alternative path which is shorter?
double alternative = u->distance + dist;
if (alternative < v->distance) {
......
src/Wima/PolygonCalculus.cc
View file @ 887e51f1
......@@ -167,7 +167,7 @@ namespace PolygonCalculus {
int startIndex = 0;
bool crossContainsWalker = true;
for (int i = 0; i < walkerPoly->size(); i++) {
if ( !crossPoly->contains(walkerPoly->value(i)) ) {
if ( !contains(*crossPoly, walkerPoly->at(i)) ) {
crossContainsWalker = false;
startIndex = i;
break;
......@@ -178,11 +178,10 @@ namespace PolygonCalculus {
joinedPolygon.append(*crossPoly);
return JoinPolygonError::PolygonJoined;
}
QPointF lastVertex = walkerPoly->last();
QPointF currentVertex = walkerPoly->value(startIndex);
QPointF currentVertex = walkerPoly->at(startIndex);
QPointF startVertex = currentVertex;
// possible nextVertex (if no intersection between currentVertex and protoVertex with crossPoly)
int nextVertexNumber = nextVertexIndex(walkerPoly->size(), startIndex);
int nextVertexNumber = nextVertexIndex(walkerPoly->size(), startIndex);
QPointF protoNextVertex = walkerPoly->value(nextVertexNumber);
while (1) {
//qDebug("nextVertexNumber: %i", nextVertexNumber);
......@@ -206,14 +205,13 @@ namespace PolygonCalculus {
for (int i = 0; i < intersectionList.size(); i++) {
double currentDist = PlanimetryCalculus::distance(currentVertex, intersectionList[i]);
if ( minDist > currentDist && currentVertex != intersectionList[i]) {
if ( minDist > currentDist && !qFuzzyIsNull(distance(currentVertex, intersectionList[i])) ) {
minDist = currentDist;
minDistIndex = i;
}
}
if (minDistIndex != -1){
lastVertex = currentVertex;
currentVertex = intersectionList.value(minDistIndex);
QPair<int, int> neighbours = neighbourList.value(minDistIndex);
protoNextVertex = crossPoly->value(neighbours.second);
......@@ -224,14 +222,12 @@ namespace PolygonCalculus {
walkerPoly = crossPoly;
crossPoly = temp;
} else {
lastVertex = currentVertex;
currentVertex = walkerPoly->value(nextVertexNumber);
nextVertexNumber = nextVertexIndex(walkerPoly->size(), nextVertexNumber);
protoNextVertex = walkerPoly->value(nextVertexNumber);
}
} else {
lastVertex = currentVertex;
currentVertex = walkerPoly->value(nextVertexNumber);
nextVertexNumber = nextVertexIndex(walkerPoly->size(), nextVertexNumber);
protoNextVertex = walkerPoly->value(nextVertexNumber);
......@@ -479,7 +475,7 @@ namespace PolygonCalculus {
return;
}
bool shortestPath(QPolygonF polygon, QPointF startVertex, const QPointF &endVertex, QList<QPointF> &shortestPath)
bool shortestPath(QPolygonF polygon,const QPointF &startVertex, const QPointF &endVertex, QList<QPointF> &shortestPath)
{
using namespace PlanimetryCalculus;
offsetPolygon(polygon, 0.01); // solves numerical errors
......@@ -488,7 +484,7 @@ namespace PolygonCalculus {
// lambda
QPolygonF polygon2 = polygon;
offsetPolygon(polygon2, 0.01); // solves numerical errors
std::function<double(const QPointF &, const QPointF &)> distance = [polygon2](const QPointF &p1, const QPointF &p2) -> double {
std::function<double(const QPointF &, const QPointF &)> distanceDij = [polygon2](const QPointF &p1, const QPointF &p2) -> double {
if (containsPath(polygon2, p1, p2)){
double dx = p1.x()-p2.x();
double dy = p1.y()-p2.y();
......@@ -503,7 +499,7 @@ namespace PolygonCalculus {
for (int i = 0; i < polygon.size(); i++) {
elementList.append(polygon[i]);
}
return OptimisationTools::dijkstraAlgorithm<QPointF>(elementList, 0, 1, shortestPath, distance);
return OptimisationTools::dijkstraAlgorithm<QPointF>(elementList, 0, 1, shortestPath, distanceDij);
} else {
return false;
}
......
src/Wima/PolygonCalculus.h
View file @ 887e51f1
......@@ -26,7 +26,7 @@ namespace PolygonCalculus {
void offsetPolygon (QPolygonF &polygon, double offset);
bool containsPath (QPolygonF polygon, const QPointF &c1, const QPointF &c2);
void decomposeToConvex (const QPolygonF &polygon, QList<QPolygonF> &convexPolygons);
bool shortestPath (QPolygonF polygon, QPointF startVertex, const QPointF &endVertex, QList<QPointF> &shortestPath);
bool shortestPath (QPolygonF polygon, const QPointF &startVertex, const QPointF &endVertex, QList<QPointF> &shortestPath);
QPolygonF toQPolygonF(const QVector3DList &polygon);
QPolygonF toQPolygonF(const QPointFList &polygon);
......
src/Wima/WimaPlaner.cc
View file @ 887e51f1
......@@ -263,6 +263,9 @@ bool WimaPlaner::updateMission()
}
QGeoCoordinate start = _serviceArea.center();
QGeoCoordinate end = survey->visualTransectPoints().first().value<QGeoCoordinate>();
if (!_visualItems.contains(&_joinedArea))
_visualItems.append(&_joinedArea);
QList<QGeoCoordinate> path;
if ( !calcShortestPath(start, end, path)) {
qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
......@@ -576,10 +579,10 @@ bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start, const QGeoCoordin
using namespace PolygonCalculus;
QList<QPointF> path2D;
bool retVal = PolygonCalculus::shortestPath(
toQPolygonF(toCartesian2D(_joinedArea.coordinateList(), /*origin*/start)),
toQPolygonF(toCartesian2D(_joinedArea.coordinateList(), /*origin*/ start)),
/*start point*/ QPointF(0,0),
/*destination*/toCartesian2D(destination, start),
/*shortest path*/path2D);
/*destination*/ toCartesian2D(destination, start),
/*shortest path*/ path2D);
path.append(toGeo(path2D, /*origin*/start));
return retVal;
......
src/WimaView/WimaJoinedAreaMapVisual.qml 0 → 100644
View file @ 887e51f1
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FlightMap 1.0
/// Wima Global Measurement Area visuals
Item {
id: _root
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
property var areaItem: object
property var _polygon: areaItem
//property var _polyline: areaItem.polyline
signal clicked(int sequenceNumber)
/// Add an initial 4 sided polygon if there is none
function _addInitialPolygon() {
if (_polygon.count < 3) {
// Initial polygon is inset to take 2/3rds space
var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
rect.x += (rect.width * 0.25) / 2
rect.y += (rect.height * 0.25) / 2
rect.width *= 0.25
rect.height *= 0.25
var centerCoord = map.toCoordinate(Qt.point(rect.x + (rect.width / 2), rect.y + (rect.height / 2)), false /* clipToViewPort */)
var topLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y), false /* clipToViewPort */)
var topRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y), false /* clipToViewPort */)
var bottomLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y + rect.height), false /* clipToViewPort */)
var bottomRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height), false /* clipToViewPort */)
// Adjust polygon to max size
var maxSize = 100
var halfWidthMeters = Math.min(topLeftCoord.distanceTo(topRightCoord), maxSize) / 2
var halfHeightMeters = Math.min(topLeftCoord.distanceTo(bottomLeftCoord), maxSize) / 2
topLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
topRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
bottomLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
bottomRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
_polygon.appendVertex(topLeftCoord)
_polygon.appendVertex(topRightCoord)
_polygon.appendVertex(bottomRightCoord)
_polygon.appendVertex(bottomLeftCoord)
}
}
/*function _addInitialPolyline(){
_polyline.setStartVertexIndex(0);
_polyline.setEndVertexIndex(1);
}*/
Component.onCompleted: {
//_addInitialPolygon()
//_addInitialPolyline()
}
Component.onDestruction: {
}
WimaMapPolygonVisuals {
qgcView: _root.qgcView
mapControl: map
mapPolygon: _polygon
borderWidth: 1
borderColor: "black"
interiorColor: "blue"
interiorOpacity: 0.25
}
/*WimaMapPolylineVisuals {
qgcView: _root.qgcView
mapControl: map
mapPolyline: _polyline
lineWidth: 4
lineColor: interactive ? "white" : "yellow"
enableSplitHandels: false
enableDragHandels: true
edgeHandelsOnly: true
}*/
}
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