Scenario and various libs added

.gitmodules

@@ -4,3 +4,9 @@
 [submodule "libs/mavlink/include/mavlink/v2.0"]
 	path = libs/mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
+[submodule "libs/WGS84toCartesian"]
+	path = libs/WGS84toCartesian
+	url = https://github.com/chrberger/WGS84toCartesian.git
+[submodule "libs/polylabel"]
+	path = libs/polylabel
+	url = https://github.com/mapbox/polylabel.git

WGS84toCartesian @ 15181a84

+Subproject commit 15181a849968866efa5ac220d3f7c2e5ac281254

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/feature.hpp

+#pragma once
+
+#include <mapbox/geometry.hpp>
+
+#include <mapbox/variant.hpp>
+
+#include <cstdint>
+#include <string>
+#include <vector>
+#include <unordered_map>
+
+namespace mapbox {
+namespace feature {
+
+struct value;
+
+struct null_value_t
+{
+};
+
+constexpr bool operator==(const null_value_t&, const null_value_t&) { return true; }
+constexpr bool operator!=(const null_value_t&, const null_value_t&) { return false; }
+constexpr bool operator<(const null_value_t&, const null_value_t&) { return false; }
+
+constexpr null_value_t null_value = null_value_t();
+
+// Multiple numeric types (uint64_t, int64_t, double) are present in order to support
+// the widest possible range of JSON numbers, which do not have a maximum range.
+// Implementations that produce `value`s should use that order for type preference,
+// using uint64_t for positive integers, int64_t for negative integers, and double
+// for non-integers and integers outside the range of 64 bits.
+using value_base = mapbox::util::variant<null_value_t, bool, uint64_t, int64_t, double, std::string,
+                                         mapbox::util::recursive_wrapper<std::vector<value>>,
+                                         mapbox::util::recursive_wrapper<std::unordered_map<std::string, value>>>;
+
+struct value : value_base
+{
+    using value_base::value_base;
+};
+
+using property_map = std::unordered_map<std::string, value>;
+
+// The same considerations and requirement for numeric types apply as for `value_base`.
+using identifier = mapbox::util::variant<null_value_t, uint64_t, int64_t, double, std::string>;
+
+template <class T>
+struct feature
+{
+    using coordinate_type = T;
+    using geometry_type = mapbox::geometry::geometry<T>; // Fully qualified to avoid GCC -fpermissive error.
+
+    geometry_type geometry;
+    property_map properties;
+    identifier id;
+
+    feature()
+        : geometry(),
+          properties(),
+          id() {}
+    feature(geometry_type const& geom_)
+        : geometry(geom_),
+          properties(),
+          id() {}
+    feature(geometry_type&& geom_)
+        : geometry(std::move(geom_)),
+          properties(),
+          id() {}
+    feature(geometry_type const& geom_, property_map const& prop_)
+        : geometry(geom_), properties(prop_), id() {}
+    feature(geometry_type&& geom_, property_map&& prop_)
+        : geometry(std::move(geom_)),
+          properties(std::move(prop_)),
+          id() {}
+    feature(geometry_type const& geom_, property_map const& prop_, identifier const& id_)
+        : geometry(geom_),
+          properties(prop_),
+          id(id_) {}
+    feature(geometry_type&& geom_, property_map&& prop_, identifier&& id_)
+        : geometry(std::move(geom_)),
+          properties(std::move(prop_)),
+          id(std::move(id_)) {}
+};
+
+template <class T>
+constexpr bool operator==(feature<T> const& lhs, feature<T> const& rhs)
+{
+    return lhs.id == rhs.id && lhs.geometry == rhs.geometry && lhs.properties == rhs.properties;
+}
+
+template <class T>
+constexpr bool operator!=(feature<T> const& lhs, feature<T> const& rhs)
+{
+    return !(lhs == rhs);
+}
+
+template <class T, template <typename...> class Cont = std::vector>
+struct feature_collection : Cont<feature<T>>
+{
+    using coordinate_type = T;
+    using feature_type = feature<T>;
+    using container_type = Cont<feature_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    feature_collection(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    feature_collection(std::initializer_list<feature_type> args)
+        : container_type(std::move(args)) {}
+};
+
+} // namespace feature
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry.hpp

+#pragma once
+
+#include <mapbox/geometry/point.hpp>
+#include <mapbox/geometry/line_string.hpp>
+#include <mapbox/geometry/polygon.hpp>
+#include <mapbox/geometry/multi_point.hpp>
+#include <mapbox/geometry/multi_line_string.hpp>
+#include <mapbox/geometry/multi_polygon.hpp>
+#include <mapbox/geometry/geometry.hpp>
+#include <mapbox/geometry/point_arithmetic.hpp>
+#include <mapbox/geometry/for_each_point.hpp>
+#include <mapbox/geometry/envelope.hpp>

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/box.hpp

+#pragma once
+
+#include <mapbox/geometry/point.hpp>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T>
+struct box
+{
+    using coordinate_type = T;
+    using point_type = point<coordinate_type>;
+
+    constexpr box(point_type const& min_, point_type const& max_)
+        : min(min_), max(max_)
+    {
+    }
+
+    point_type min;
+    point_type max;
+};
+
+template <typename T>
+constexpr bool operator==(box<T> const& lhs, box<T> const& rhs)
+{
+    return lhs.min == rhs.min && lhs.max == rhs.max;
+}
+
+template <typename T>
+constexpr bool operator!=(box<T> const& lhs, box<T> const& rhs)
+{
+    return lhs.min != rhs.min || lhs.max != rhs.max;
+}
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/empty.hpp

+#pragma once
+
+namespace mapbox {
+namespace geometry {
+
+struct empty
+{
+}; //  this Geometry type represents the empty point set, ∅, for the coordinate space (OGC Simple Features).
+
+constexpr bool operator==(empty, empty) { return true; }
+constexpr bool operator!=(empty, empty) { return false; }
+constexpr bool operator<(empty, empty) { return false; }
+constexpr bool operator>(empty, empty) { return false; }
+constexpr bool operator<=(empty, empty) { return true; }
+constexpr bool operator>=(empty, empty) { return true; }
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/envelope.hpp

+#pragma once
+
+#include <mapbox/geometry/box.hpp>
+#include <mapbox/geometry/for_each_point.hpp>
+
+#include <limits>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename G, typename T = typename G::coordinate_type>
+box<T> envelope(G const& geometry)
+{
+    using limits = std::numeric_limits<T>;
+
+    T min_t = limits::has_infinity ? -limits::infinity() : limits::min();
+    T max_t = limits::has_infinity ? limits::infinity() : limits::max();
+
+    point<T> min(max_t, max_t);
+    point<T> max(min_t, min_t);
+
+    for_each_point(geometry, [&](point<T> const& point) {
+        if (min.x > point.x) min.x = point.x;
+        if (min.y > point.y) min.y = point.y;
+        if (max.x < point.x) max.x = point.x;
+        if (max.y < point.y) max.y = point.y;
+    });
+
+    return box<T>(min, max);
+}
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/for_each_point.hpp

+#pragma once
+
+#include <mapbox/geometry/geometry.hpp>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename F>
+void for_each_point(mapbox::geometry::empty const&, F&&)
+{
+}
+
+template <typename Point, typename F>
+auto for_each_point(Point&& point, F&& f)
+    -> decltype(point.x, point.y, void())
+{
+    f(std::forward<Point>(point));
+}
+
+template <typename Container, typename F>
+auto for_each_point(Container&& container, F&& f)
+    -> decltype(container.begin(), container.end(), void());
+
+template <typename... Types, typename F>
+void for_each_point(mapbox::util::variant<Types...> const& geom, F&& f)
+{
+    mapbox::util::variant<Types...>::visit(geom, [&](auto const& g) {
+        for_each_point(g, f);
+    });
+}
+
+template <typename... Types, typename F>
+void for_each_point(mapbox::util::variant<Types...>& geom, F&& f)
+{
+    mapbox::util::variant<Types...>::visit(geom, [&](auto& g) {
+        for_each_point(g, f);
+    });
+}
+
+template <typename Container, typename F>
+auto for_each_point(Container&& container, F&& f)
+    -> decltype(container.begin(), container.end(), void())
+{
+    for (auto& e : container)
+    {
+        for_each_point(e, f);
+    }
+}
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/geometry.hpp

+#pragma once
+
+#include <mapbox/geometry/empty.hpp>
+#include <mapbox/geometry/point.hpp>
+#include <mapbox/geometry/line_string.hpp>
+#include <mapbox/geometry/polygon.hpp>
+#include <mapbox/geometry/multi_point.hpp>
+#include <mapbox/geometry/multi_line_string.hpp>
+#include <mapbox/geometry/multi_polygon.hpp>
+
+#include <mapbox/variant.hpp>
+
+// stl
+#include <vector>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct geometry_collection;
+
+template <typename T, template <typename...> class Cont = std::vector>
+using geometry_base = mapbox::util::variant<empty,
+                                            point<T>,
+                                            line_string<T, Cont>,
+                                            polygon<T, Cont>,
+                                            multi_point<T, Cont>,
+                                            multi_line_string<T, Cont>,
+                                            multi_polygon<T, Cont>,
+                                            geometry_collection<T, Cont>>;
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct geometry : geometry_base<T, Cont>
+{
+    using coordinate_type = T;
+    using geometry_base<T>::geometry_base;
+};
+
+template <typename T, template <typename...> class Cont>
+struct geometry_collection : Cont<geometry<T>>
+{
+    using coordinate_type = T;
+    using geometry_type = geometry<T>;
+    using container_type = Cont<geometry_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    geometry_collection(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    geometry_collection(std::initializer_list<geometry_type> args)
+        : container_type(std::move(args)) {}
+};
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/line_string.hpp

+#pragma once
+
+// mapbox
+#include <mapbox/geometry/point.hpp>
+// stl
+#include <vector>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct line_string : Cont<point<T>>
+{
+    using coordinate_type = T;
+    using point_type = point<T>;
+    using container_type = Cont<point_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    line_string(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    line_string(std::initializer_list<point_type> args)
+        : container_type(std::move(args)) {}
+};
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/multi_line_string.hpp

+#pragma once
+
+// mapbox
+#include <mapbox/geometry/line_string.hpp>
+// stl
+#include <vector>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct multi_line_string : Cont<line_string<T>>
+{
+    using coordinate_type = T;
+    using line_string_type = line_string<T>;
+    using container_type = Cont<line_string_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    multi_line_string(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    multi_line_string(std::initializer_list<line_string_type> args)
+        : container_type(std::move(args)) {}
+};
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/multi_point.hpp

+#pragma once
+
+// mapbox
+#include <mapbox/geometry/point.hpp>
+// stl
+#include <vector>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct multi_point : Cont<point<T>>
+{
+    using coordinate_type = T;
+    using point_type = point<T>;
+    using container_type = Cont<point_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    multi_point(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    multi_point(std::initializer_list<point_type> args)
+        : container_type(std::move(args)) {}
+};
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/multi_polygon.hpp

+#pragma once
+
+// mapbox
+#include <mapbox/geometry/polygon.hpp>
+// stl
+#include <vector>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct multi_polygon : Cont<polygon<T>>
+{
+    using coordinate_type = T;
+    using polygon_type = polygon<T>;
+    using container_type = Cont<polygon_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    multi_polygon(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    multi_polygon(std::initializer_list<polygon_type> args)
+        : container_type(std::move(args)) {}
+};
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/point.hpp

+#pragma once
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T>
+struct point
+{
+    using coordinate_type = T;
+
+    constexpr point()
+        : x(), y()
+    {
+    }
+    constexpr point(T x_, T y_)
+        : x(x_), y(y_)
+    {
+    }
+
+    T x;
+    T y;
+};
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+
+template <typename T>
+constexpr bool operator==(point<T> const& lhs, point<T> const& rhs)
+{
+    return lhs.x == rhs.x && lhs.y == rhs.y;
+}
+
+#pragma GCC diagnostic pop
+
+template <typename T>
+constexpr bool operator!=(point<T> const& lhs, point<T> const& rhs)
+{
+    return !(lhs == rhs);
+}
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/point_arithmetic.hpp

+#pragma once
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T>
+point<T> operator+(point<T> const& lhs, point<T> const& rhs)
+{
+    return point<T>(lhs.x + rhs.x, lhs.y + rhs.y);
+}
+
+template <typename T>
+point<T> operator+(point<T> const& lhs, T const& rhs)
+{
+    return point<T>(lhs.x + rhs, lhs.y + rhs);
+}
+
+template <typename T>
+point<T> operator-(point<T> const& lhs, point<T> const& rhs)
+{
+    return point<T>(lhs.x - rhs.x, lhs.y - rhs.y);
+}
+
+template <typename T>
+point<T> operator-(point<T> const& lhs, T const& rhs)
+{
+    return point<T>(lhs.x - rhs, lhs.y - rhs);
+}
+
+template <typename T>
+point<T> operator*(point<T> const& lhs, point<T> const& rhs)
+{
+    return point<T>(lhs.x * rhs.x, lhs.y * rhs.y);
+}
+
+template <typename T>
+point<T> operator*(point<T> const& lhs, T const& rhs)
+{
+    return point<T>(lhs.x * rhs, lhs.y * rhs);
+}
+
+template <typename T>
+point<T> operator/(point<T> const& lhs, point<T> const& rhs)
+{
+    return point<T>(lhs.x / rhs.x, lhs.y / rhs.y);
+}
+
+template <typename T>
+point<T> operator/(point<T> const& lhs, T const& rhs)
+{
+    return point<T>(lhs.x / rhs, lhs.y / rhs);
+}
+
+template <typename T>
+point<T>& operator+=(point<T>& lhs, point<T> const& rhs)
+{
+    lhs.x += rhs.x;
+    lhs.y += rhs.y;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator+=(point<T>& lhs, T const& rhs)
+{
+    lhs.x += rhs;
+    lhs.y += rhs;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator-=(point<T>& lhs, point<T> const& rhs)
+{
+    lhs.x -= rhs.x;
+    lhs.y -= rhs.y;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator-=(point<T>& lhs, T const& rhs)
+{
+    lhs.x -= rhs;
+    lhs.y -= rhs;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator*=(point<T>& lhs, point<T> const& rhs)
+{
+    lhs.x *= rhs.x;
+    lhs.y *= rhs.y;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator*=(point<T>& lhs, T const& rhs)
+{
+    lhs.x *= rhs;
+    lhs.y *= rhs;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator/=(point<T>& lhs, point<T> const& rhs)
+{
+    lhs.x /= rhs.x;
+    lhs.y /= rhs.y;
+    return lhs;
+}
+
+template <typename T>
+point<T>& operator/=(point<T>& lhs, T const& rhs)
+{
+    lhs.x /= rhs;
+    lhs.y /= rhs;
+    return lhs;
+}
+
+} // namespace geometry
+} // namespace mapbox

libs/mason_packages/headers/geometry/1.0.0/include/mapbox/geometry/polygon.hpp

+#pragma once
+
+// mapbox
+#include <mapbox/geometry/point.hpp>
+
+// stl
+#include <vector>
+
+namespace mapbox {
+namespace geometry {
+
+template <typename T, template <typename...> class Cont = std::vector>
+struct linear_ring : Cont<point<T>>
+{
+    using coordinate_type = T;
+    using point_type = point<T>;
+    using container_type = Cont<point_type>;
+    using size_type = typename container_type::size_type;
+
+    template <class... Args>
+    linear_ring(Args&&... args) : container_type(std::forward<Args>(args)...)
+    {
+    }
+    linear_ring(std::initializer_list<point_type> args)