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Commit d29b8b03 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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doc added to WimaArea, renaming areas

parent b37dda84
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classic.css 0 → 100644
View file @ d29b8b03
h3.fn,span.fn
{
margin-left: 1cm;
text-indent: -1cm;
}
a:link
{
color: #004faf;
text-decoration: none
}
a:visited
{
color: #672967;
text-decoration: none
}
td.postheader
{
font-family: sans-serif
}
tr.address
{
font-family: sans-serif
}
body
{
background: #ffffff;
color: black
}
table tr.odd {
background: #f0f0f0;
color: black;
}
table tr.even {
background: #e4e4e4;
color: black;
}
table.annotated th {
padding: 3px;
text-align: left
}
table.annotated td {
padding: 3px;
}
table tr pre
{
padding-top: none;
padding-bottom: none;
padding-left: none;
padding-right: none;
border: none;
background: none
}
tr.qt-style
{
background: #a2c511;
color: black
}
body pre
{
padding: 0.2em;
border: #e7e7e7 1px solid;
background: #f1f1f1;
color: black
}
span.preprocessor, span.preprocessor a
{
color: darkblue;
}
span.comment
{
color: darkred;
font-style: italic
}
span.string,span.char
{
color: darkgreen;
}
master.qdocconf 0 → 100644
View file @ d29b8b03
project = wima
description = Wireless Measurement Application (Wima)
headerdirs = ./src/Wima
sourcedirs = ./src/Wima
headers = ./src/Wima/WimaArea.h
sources = ./src/Wima/WimaArea.cc
sources.fileextensions = "*.cpp *.cc *.qdoc *.mm *.qml"
headers.fileextensions = "*.h *.ch *.h++ *.hh *.hpp *.hxx"
outputdir = ./doc/QDoc/html
outputformats = HTML
qgroundcontrol.pro
View file @ d29b8b03
......@@ -416,7 +416,8 @@ HEADERS += \
src/Wima/WimaVehicle.h \
src/Wima/WimaDataContainer.h \
src/Wima/WimaPlaner.h \
src/Wima/WimaPlaner.h
src/Wima/WimaPlaner.h \
src/Wima/WimaMeasurementArea.h
SOURCES += \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
......@@ -424,14 +425,14 @@ SOURCES += \
src/api/QmlComponentInfo.cc \
src/comm/MavlinkMessagesTimer.cc \
src/Wima/WimaArea.cc \
src/Wima/WimaGOperationArea.cc \
src/Wima/WimaServiceArea.cc \
src/Wima/WimaVCorridor.cc \
src/Wima/WimaTrackerPolyline.cc \
src/Wima/WimaController.cc \
src/Wima/WimaVehicle.cc \
src/Wima/WimaDataContainer.cc \
src/Wima/WimaPlaner.cc
src/Wima/WimaPlaner.cc \
src/Wima/WimaMeasurementArea.cc
#
# Unit Test specific configuration goes here (requires full debug build with all plugins)
......
src/Wima/WimaArea.cc
View file @ d29b8b03
#include "WimaArea.h"
/*!
* \variable WimaArea::numericalAccuracy
* \brief The accuracy used for calculations.
*/
const double WimaArea::numericalAccuracy = 1e-3; // meters
/*!
* \variable WimaArea::maxAltitudeName
* \brief A string containing the name of the \c _maxAltitude member. Among other used for storing.
*/
const char* WimaArea::maxAltitudeName = "maxAltitude";
/*!
* \variable WimaArea::wimaAreaName
* \brief A string containing the name of this \c WimaArea member. Among other used for storing.
*/
const char* WimaArea::wimaAreaName = "WimaArea";
/*!
* \variable WimaArea::areaTypeName
* \brief A string containing \c {"AreaType"}. Among other used for stroing.
*/
const char* WimaArea::areaTypeName = "AreaType";
......@@ -26,14 +42,27 @@ WimaArea::WimaArea(const WimaArea &other, QObject *parent)
_maxAltitude = other.maxAltitude();
}
void WimaArea::setMaxAltitude(double alt)
/*!
\fn void WimaArea::setMaxAltitude(double altitude)
Sets the \c _maxAltitude member to \a altitude and emits the signal \c maxAltitudeChanged()
if \c _maxAltitude is not equal to altitude.
*/
void WimaArea::setMaxAltitude(double altitude)
{
if ( alt > 0 && qFuzzyCompare(alt, _maxAltitude) ) {
_maxAltitude = alt;
if ( altitude > 0 && qFuzzyCompare(altitude, _maxAltitude) ) {
_maxAltitude = altitude;
emit maxAltitudeChanged();
}
}
/*!
* \fn int WimaArea::getClosestVertexIndex(const QGeoCoordinate &coordinate) const
* Returns the index of the vertex (element of the polygon path)
* which has the least distance to \a coordinate.
*
* \sa QGeoCoordinate
*/
int WimaArea::getClosestVertexIndex(const QGeoCoordinate &coordinate) const
{
if (this->count() == 0) {
......@@ -56,44 +85,69 @@ int WimaArea::getClosestVertexIndex(const QGeoCoordinate &coordinate) const
}
}
/*!
* \fn QGeoCoordinate WimaArea::getClosestVertex(const QGeoCoordinate& coordinate) const
* Returns the vertex of the polygon path with the least distance to \a coordinate.
*
* \sa QGeoCoordinate
*/
QGeoCoordinate WimaArea::getClosestVertex(const QGeoCoordinate& coordinate) const
{
return this->vertexCoordinate(getClosestVertexIndex(coordinate));
}
QGCMapPolygon WimaArea::toQGCPolygon(const WimaArea &poly)
/*!
* \fn QGCMapPolygon WimaArea::toQGCPolygon(const WimaArea &area)
* Converts the \c WimaArea \a area to \c QGCMapPolygon by copying the path only.
*/
QGCMapPolygon WimaArea::toQGCPolygon(const WimaArea &area)
{
QGCMapPolygon qgcPoly;
qgcPoly.setPath(poly.path());
qgcPoly.setCenter(poly.center());
qgcPoly.setCenterDrag(poly.centerDrag());
qgcPoly.setInteractive(poly.interactive());
qgcPoly.setPath(area.path());
return QGCMapPolygon(qgcPoly);
}
/*!
* \fn QGCMapPolygon WimaArea::toQGCPolygon() const
* Converts the calling \c WimaArea to \c QGCMapPolygon by copying the path only.
*/
QGCMapPolygon WimaArea::toQGCPolygon() const
{
return toQGCPolygon(*this);
}
/*!
* \fn void WimaArea::join(QList<WimaArea *>* polyList, WimaArea* joinedPoly)
* Not yet implemented \a polyList, \a joinedPoly.
*
* \sa QList
*/
void WimaArea::join(QList<WimaArea *>* polyList, WimaArea* joinedPoly)
{
return;
}
bool WimaArea::join(WimaArea &poly1, WimaArea &poly2, WimaArea &joinedPoly)
/*!
* \fn bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
* Joins the areas \a area1 and \a area2 such that a \l {Simple Polygon} is created.
* Stores the result inside \a joinedArea.
* Returns \c true if the algorithm was able to join the areas; false else.
* The algorithm will be able to join the areas, if either their edges intersect with each other,
* or one area contains the other.
*/
bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
{
if (poly1.count() >= 3 && poly2.count() >= 3) {
if (area1.count() >= 3 && area2.count() >= 3) {
joinedPoly.clear();
joinedArea.clear();
poly1.verifyClockwiseWinding();
poly2.verifyClockwiseWinding();
area1.verifyClockwiseWinding();
area2.verifyClockwiseWinding();
WimaArea* walkerPoly = &poly1; // "walk" on this polygon towards higher indices
WimaArea* crossPoly = &poly2; // check for crossings with this polygon while "walking"
WimaArea* walkerPoly = &area1; // "walk" on this polygon towards higher indices
WimaArea* crossPoly = &area2; // check for crossings with this polygon while "walking"
// and swicht to this polygon on a intersection,
// continue to walk towards higher indices
......@@ -110,7 +164,7 @@ bool WimaArea::join(WimaArea &poly1, WimaArea &poly2, WimaArea &joinedPoly)
if ( crossContainsWalker == true) {
joinedPoly.appendVertices(crossPoly->coordinateList());
joinedArea.appendVertices(crossPoly->coordinateList());
return true;
}
......@@ -123,7 +177,7 @@ bool WimaArea::join(WimaArea &poly1, WimaArea &poly2, WimaArea &joinedPoly)
int nextVertexIndex = walkerPoly->nextVertexIndex(startIndex);
while (1) {
//qDebug("nextVertexIndex: %i", nextVertexIndex);
joinedPoly.appendVertex(currentVertex);
joinedArea.appendVertex(currentVertex);
QGCMapPolyline walkerPolySegment;
walkerPolySegment.appendVertex(currentVertex);
......@@ -177,7 +231,7 @@ bool WimaArea::join(WimaArea &poly1, WimaArea &poly2, WimaArea &joinedPoly)
}
if (currentVertex == startVertex) {
if (poly1.count() == joinedPoly.count()) { // is the case if poly1 and poly2 don't intersect
if (area1.count() == joinedArea.count()) { // is the case if poly1 and poly2 don't intersect
return false;
} else {
return true;
......@@ -190,10 +244,18 @@ bool WimaArea::join(WimaArea &poly1, WimaArea &poly2, WimaArea &joinedPoly)
}
}
bool WimaArea::join(WimaArea &poly)
/*!
* \fn bool WimaArea::join(WimaArea &area)
* Joins the calling \c WimaArea and the \a area such that a \l {Simple Polygon} is created.
* Overwrites the calling \c WimaArea with the result, if the algorithm was successful.
* Returns \c true if the algorithm was able to join the areas; false else.
* The algorithm will be able to join the areas, if either their edges intersect with each other,
* or one area contains the other.
*/
bool WimaArea::join(WimaArea &area)
{
WimaArea joinedArea;
if ( join(*this, poly, joinedArea) ) {
if ( join(*this, area, joinedArea) ) {
this->setPath(joinedArea.path());
return true;
} else {
......@@ -201,6 +263,12 @@ bool WimaArea::join(WimaArea &poly)
}
}
/*!
* \fn bool WimaArea::isDisjunct(QList<WimaArea *>* polyList)
* Not yet implemented.
*
* \sa QList
*/
bool WimaArea::isDisjunct(QList<WimaArea *>* polyList)
{
// needs improvement
......@@ -220,6 +288,10 @@ bool WimaArea::isDisjunct(QList<WimaArea *>* polyList)
}
}
/*!
* \fn bool WimaArea::isDisjunct(WimaArea *poly1, WimaArea *poly2)
* Not yet implemented.
*/
bool WimaArea::isDisjunct(WimaArea *poly1, WimaArea *poly2)
{
if (poly1 != nullptr && poly2 != nullptr) {
......@@ -238,6 +310,12 @@ bool WimaArea::isDisjunct(WimaArea *poly1, WimaArea *poly2)
}
}
/*!
* \fn int WimaArea::nextVertexIndex(int index) const
* Returns the index of the next vertex (of the areas path), which is \a index + 1 if \a index is smaller than \c {area.count() - 1},
* or 0 if \a index equals \c {area.count() - 1}, or -1 if the \a index is out of bounds.
* \note The function \c {area.count()} (derived from \c QGCMapPolygon) returns the number of vertices defining the area.
*/
int WimaArea::nextVertexIndex(int index) const
{
if (index >= 0 && index < count()-1) {
......@@ -250,6 +328,12 @@ int WimaArea::nextVertexIndex(int index) const
}
}
/*!
* \fn int WimaArea::previousVertexIndex(int index) const
* Returns the index of the previous vertex (of the areas path), which is \a index - 1 if \a index is larger 0,
* or \c {area.count() - 1} if \a index equals 0, or -1 if the \a index is out of bounds.
* \note The function \c {area.count()} (derived from \c QGCMapPolygon) returns the number of vertices defining the area.
*/
int WimaArea::previousVertexIndex(int index) const
{
if (index > 0 && index < count()) {
......@@ -262,6 +346,13 @@ int WimaArea::previousVertexIndex(int index) const
}
}
/*!
* \fn bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &line2, QGeoCoordinate &intersectionPt)
* Returns \c true if \a line1 and \a line2 intersect with each other.
* Stores the intersection point in \a intersectionPt
*
* \sa QGeoCoordinate
*/
bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &line2, QGeoCoordinate &intersectionPt)
{
......@@ -288,7 +379,8 @@ bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &lin
if (kartLine1.intersect(kartLine2, &intersectionPoint) == QLineF::BoundedIntersection) {
convertNedToGeo(intersectionPoint.x(), intersectionPoint.y(), origin.altitude(), origin, &intersectionPt);
return true;
} else {
}
else {
return false;
}
......@@ -299,28 +391,33 @@ bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &lin
}
}
bool WimaArea::intersects(const QGCMapPolyline &line,
const WimaArea &poly,
QList<QGeoCoordinate> &intersectionList,
QList<QPair<int, int> > &neighbourList)
/*!
* \fn bool WimaArea::intersects(const QGCMapPolyline &line, const WimaArea &area, QList<QGeoCoordinate> &intersectionList, QList<QPair<int, int>> &neighbourList)
* Returns \c true if \a line and \a area intersect with each other at least once.bool WimaArea::intersects(const QGCMapPolyline &line, const WimaArea &area, QList<QGeoCoordinate> &intersectionList, QList<QPair<int, int>> &neighbourList)
* Stores the intersection points in \a intersectionList.
* Stores the indices of the closest two \a area vetices for each of coorespoinding intersection points in \a neighbourList.
*
* For example if an intersection point is found between the first and the second vertex of the \a area the intersection point will
* be stored in \a intersectionList and the indices 1 and 2 will be stored in \a neighbourList.
* \a neighbourList has entries of type \c {QPair<int, int>}, where \c{pair.first} would contain 1 and \c{pair.second} would contain 2, when
* relating to the above example.
*
* \sa QPair, QList
*/
bool WimaArea::intersects(const QGCMapPolyline &line, const WimaArea &area, QList<QGeoCoordinate> &intersectionList, QList<QPair<int, int>> &neighbourList)
{
// ================ Brief Explanation ================
// This function checks whether line intersects with the border line of poly
// Returns true if at least one intersection occurs, false else.
// Stores the intersection points inside intersectionList.
// Stores the indices of the cloest two polygon vetices for each of coorespoinding intersection points in neighbourList
intersectionList.clear();
neighbourList.clear();
if (line.count() == 2 && poly.count() >= 3) { // are line a proper line and poly a proper poly?
if (line.count() == 2 && area.count() >= 3) { // are line a proper line and poly a proper poly?
// Asseble a line form each tow consecutive polygon vertices and check whether it intersects with line
for (int i = 0; i < poly.count(); i++) {
for (int i = 0; i < area.count(); i++) {
QGCMapPolyline interatorLine;
QGeoCoordinate currentVertex = poly.vertexCoordinate(i);
QGeoCoordinate nextVertex = poly.vertexCoordinate(poly.nextVertexIndex(i));
QGeoCoordinate currentVertex = area.vertexCoordinate(i);
QGeoCoordinate nextVertex = area.vertexCoordinate(area.nextVertexIndex(i));
interatorLine.appendVertex(currentVertex);
interatorLine.appendVertex(nextVertex);
......@@ -330,7 +427,7 @@ bool WimaArea::intersects(const QGCMapPolyline &line,
QPair<int, int> neighbours;
neighbours.first = i;
neighbours.second = poly.nextVertexIndex(i);
neighbours.second = area.nextVertexIndex(i);
neighbourList.append(neighbours);
}
}
......@@ -346,19 +443,27 @@ bool WimaArea::intersects(const QGCMapPolyline &line,
}
}
double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &c2, WimaArea poly)
/*!
* \fn double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &c2, WimaArea area)
* Returns the distance between the coordinate \a c1 and coordinate \a c2, or infinity if the shortest path between
* the two coordinates is not fully inside the \a area.
* \note Both coordinates must lie inside the \a area.
*
* \sa QGeoCoordinate
*/
double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &c2, WimaArea area)
{
poly.offset(0.1); // hack to compensate for numerical issues, migh be replaced in the future...
if ( poly.containsCoordinate(c1) && poly.containsCoordinate(c2)) {
area.offset(0.1); // hack to compensate for numerical issues, migh be replaced in the future...
if ( area.containsCoordinate(c1) && area.containsCoordinate(c2)) {
QList<QGeoCoordinate> intersectionList;
QList<QPair<int, int>> neighbourlist;
QGCMapPolyline line;
line.appendVertex(c1);
line.appendVertex(c2);
intersects(line, poly, intersectionList, neighbourlist);
intersects(line, area, intersectionList, neighbourlist);
if ( intersectionList.size() == 0 ){
if ( intersectionList.size() == 0 ){ // if an intersection was found the path between c1 and c2 is not fully inside area.
return c1.distanceTo(c2);
} else {
return std::numeric_limits<qreal>::infinity();
......@@ -369,17 +474,22 @@ double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &
}
}
/*!
* \fn bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &end, const WimaArea &area, QList<QGeoCoordinate> &dijkstraPath)
* Calculates the shortest path (inside \a area) between \a start and \a end.
* The \l {Dijkstra Algorithm} is used to find the shorest path.
* Stores the result inside \a dijkstraPath when sucessfull.
* Returns \c true if successful, \c false else.
*
* \sa QList
*/
bool WimaArea::dijkstraPath(const QGeoCoordinate &start,
const QGeoCoordinate &end,
const WimaArea &poly,
const WimaArea &area,
QList<QGeoCoordinate> &dijkstraPath)
{
// ================ Brief Explanation ================
// This function calculates the shortes Path between two GeoCoordinates (start, end) using the Dijkstra Algorithm.
// The path will be inside the polygon poly if possible.
// Stores the result inside dijkstraPath
// Returns true if a valid path was found.
if ( isSelfIntersecting(poly) ) {
if ( isSelfIntersecting(area) ) {
return false;
}
......@@ -397,7 +507,7 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start,
// Elements will be successively remove during the execution of the Dijkstra Algorithm.
QList<Node*> workingSet;
// initialize nodeList
// initialize nodeList_maxAltitude
// start cooridnate
Node startNode;
startNode.coordinate = start;
......@@ -405,9 +515,9 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start,
nodeList.append(startNode);
//poly cooridnates
for (int i = 0; i < poly.count(); i++) {
for (int i = 0; i < area.count(); i++) {
Node node;
node.coordinate = poly.vertexCoordinate(i);
node.coordinate = area.vertexCoordinate(i);
nodeList.append(node);
}
......@@ -445,7 +555,7 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start,
Node* v = workingSet[i];
// is neighbour? dist == infinity if no neihbour
double dist = distInsidePoly(u->coordinate, v->coordinate, poly);
double dist = distInsidePoly(u->coordinate, v->coordinate, area);
// is ther a alternative path which is shorter?
double alternative = u->distance + dist;
if (alternative < v->distance) {
......@@ -479,20 +589,26 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate &start,
return true;
}
bool WimaArea::isSelfIntersecting(const WimaArea &poly)
/*!
* \fn bool WimaArea::isSelfIntersecting(const WimaArea &area)
* Returns \c true if the \a area is self intersecting, \c false else.
* \note If the \a area is self intersecting, it's not a \l {Simple Polygon}.
*/
bool WimaArea::isSelfIntersecting(const WimaArea &area)
{
int i = 0;
if (poly.count() > 3) {
while(i < poly.count()-1) {
if (area.count() > 3) {
// check if any edge of the area (formed by two adjacent vertices) intersects with any other edge of the area
while(i < area.count()-1) {
QGCMapPolyline refLine;
refLine.appendVertex(poly.vertexCoordinate(i));
refLine.appendVertex(poly.vertexCoordinate(poly.nextVertexIndex(i)));
int j = poly.nextVertexIndex(i);
while(j < poly.count()) {
refLine.appendVertex(area.vertexCoordinate(i));
refLine.appendVertex(area.vertexCoordinate(area.nextVertexIndex(i)));
int j = area.nextVertexIndex(i);
while(j < area.count()) {
QGeoCoordinate dummy;
QGCMapPolyline iteratorLine;
iteratorLine.appendVertex(poly.vertexCoordinate(j));
iteratorLine.appendVertex(poly.vertexCoordinate(poly.nextVertexIndex(j)));
iteratorLine.appendVertex(area.vertexCoordinate(j));
iteratorLine.appendVertex(area.vertexCoordinate(area.nextVertexIndex(j)));
if ( intersects(refLine, iteratorLine, dummy) )
return true;
......@@ -506,11 +622,22 @@ bool WimaArea::isSelfIntersecting(const WimaArea &poly)
return false;
}
/*!
* \fn bool WimaArea::isSelfIntersecting()
* Returns \c true if the calling area is self intersecting, \c false else.
* \note If the calling area is self intersecting, it's not a \l {Simple Polygon}.
*/
bool WimaArea::isSelfIntersecting()
{
return isSelfIntersecting(*this);
}
/*!
* \fn void WimaArea::saveToJson(QJsonObject &json)
* Saves the calling area to \c QJsonObject object and stores it inside \a json.
*
* \sa QJsonObject
*/
void WimaArea::saveToJson(QJsonObject &json)
{
this->QGCMapPolygon::saveToJson(json);
......@@ -519,6 +646,14 @@ void WimaArea::saveToJson(QJsonObject &json)
// add WimaVehicle if necessary..
}
/*!
* \fn bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
* Loads data from \a json and stores it inside the calling area.
* Returns \c true if loading was successful, \c false else.
* Stores error messages inside \a errorString.
*
* \sa QJsonObject
*/
bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
{
if ( this->QGCMapPolygon::loadFromJson(json, false /*no poly required*/, errorString) ) {
......@@ -535,17 +670,29 @@ bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
}
}
/*!
* \fn void WimaArea::update(const WimaArea &area)
* Not yet implemented.
*/
void WimaArea::update(const WimaArea &area)
{
this->QGCMapPolygon::update(area);
this->setMaxAltitude(area.maxAltitude());
this->setMaxAltitude(area.maxAltitude());displays
}
/*!
* \fn void WimaArea::init()
* Funtion to be called during construction.
*/
void WimaArea::init()
{
this->setObjectName(wimaAreaName);
}
/*!
* \fn void print(const WimaArea &area)
* Prints the data contained in \a area to the console.
*/
void print(const WimaArea &area)
{
QString message;
......@@ -553,6 +700,10 @@ void print(const WimaArea &area)
qWarning() << message;
}
/*!
* \fn void print(const WimaArea &area)
* Prints the data contained in \a area to the \a outputString.
*/
void print(const WimaArea &area, QString &outputString)
{
outputString.append(QString("Type: %1").arg(area.objectName()));
......@@ -560,3 +711,58 @@ void print(const WimaArea &area, QString &outputString)
outputString.append(QString("Maximum Altitude: %1").arg(area._maxAltitude));
}
// QDoc Documentation
/*!
\group WimaAreaGroup
\title Group of WimaAreas
Every \c WimaArea of the equally named group uses a \l {Simple Polygon} derived from \c {QGCMapPolygon}
to define areas inside which certain taskts are performed.
*/
/*!
\class WimaArea
\inmodule Wima
\ingroup WimaArea
\brief The \c WimaArea class provides the a base class for
all areas used within the Wima extension.
\c WimaArea uses a \l {Simple Polygon} derived from \c {QGCMapPolygon}
to define areas inside which certain taskts are performed. The polygon (often refered to as the path) can
be displayed visually on a map.
*/
/*!
\variable WimaArea::_maxAltitude
\brief The maximum altitude vehicles are allowed to fly inside this area.
*/
/*!
\property WimaArea::maxAltitude
\brief The maximum altitude at which vehicles are allowed to fly.
*/
/*!
\property WimaArea::mapVisualQML
\brief A string containing the name of the QML file used to displays this area on a map.
*/
/*!
\property WimaArea::editorQML
\brief A string containing the name of the QML file allowing to edit the area's properties.
*/
/*!
\externalpage https://en.wikipedia.org/wiki/Simple_polygon
\title Simple Polygon
*/
/*!
\externalpage https://en.wikipedia.org/wiki/Dijkstra%27s_algorithm
\title Dijkstra Algorithm
*/
src/Wima/WimaArea.h
View file @ d29b8b03
......@@ -37,7 +37,7 @@ public:
QGeoCoordinate getClosestVertex (const QGeoCoordinate& coordinate) const;
QGCMapPolygon toQGCPolygon () const;
void join (QList<WimaArea*>* polyList, WimaArea* joinedPoly);// change to & notation
bool join (WimaArea &poly);
bool join (WimaArea &area);
bool isDisjunct (QList<WimaArea*>* polyList);// change to & notation, if necessary
bool isDisjunct (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary
/// calculates the next polygon vertex index
......@@ -52,11 +52,11 @@ public:
bool loadFromJson (const QJsonObject &jsonObject, QString& errorString);
// static Methodes
static QGCMapPolygon toQGCPolygon (const WimaArea& poly);
static QGCMapPolygon toQGCPolygon (const WimaArea& area);
/// joins the poly1 and poly2 if possible, joins the polygons to form a simple polygon (no holes)
/// see https://en.wikipedia.org/wiki/Simple_polygon
/// @return true if polygons have been joined, false else
static bool join (WimaArea &poly1, WimaArea &poly2, WimaArea& joinedPoly);
static bool join (WimaArea &area1, WimaArea &area2, WimaArea& joinedArea);
/// checks if line1 and line2 intersect with each other, takes latitude and longitute into account only (height neglected)
/// @param line1 line containing two coordinates, height not taken into account
/// @param line2 line containing two coordinates, height not taken into account
......@@ -69,18 +69,18 @@ public:
/// @param intersectionList Empty list to store intersection points in.
/// @param neighbourList Empty list to store the indices of the neighbours (the two Vertices of poly with the smallest distance to the intersection pt.)
/// @return false on error or no intersection, true else
static bool intersects (const QGCMapPolyline& line, const WimaArea& poly,
static bool intersects (const QGCMapPolyline& line, const WimaArea& area,
QList<QGeoCoordinate>& intersectionList,
QList<QPair<int, int>>& neighbourList);
/// calculates the distance between to geo coordinates, returns the distance if the path lies within the polygon and inf. else.
/// @return the distance if the path lies within the polygon and inf. else.
static double distInsidePoly (const QGeoCoordinate& c1, const QGeoCoordinate& c2, WimaArea poly);
static double distInsidePoly (const QGeoCoordinate& c1, const QGeoCoordinate& c2, WimaArea area);
/// calculates the shortes path between two geo coordinates inside a polygon using the Dijkstra Algorithm
/// @return true if path was found, false else
static bool dijkstraPath (const QGeoCoordinate& c1, const QGeoCoordinate& c2,
const WimaArea& poly, QList<QGeoCoordinate>& dijkstraPath);
const WimaArea& area, QList<QGeoCoordinate>& dijkstraPath);
/// @return true if the polygon is self intersecting
static bool isSelfIntersecting (const WimaArea& poly);
static bool isSelfIntersecting (const WimaArea& area);
bool isSelfIntersecting ();
// Friends
......@@ -98,10 +98,9 @@ public:
signals:
void maxAltitudeChanged (void);
void vehicleChanged (void);
public slots:
void setMaxAltitude (double alt);
void setMaxAltitude (double altitude);
/// Updates this with data from area
void update(const WimaArea& area);
......@@ -113,3 +112,6 @@ private:
};
src/Wima/WimaController.cc
View file @ d29b8b03
......@@ -136,3 +136,5 @@ void WimaController::setReadyForSaveSend(bool ready)
src/Wima/WimaController.h
View file @ d29b8b03
......@@ -5,7 +5,7 @@
#include "QmlObjectListModel.h"
#include "WimaArea.h"
#include "WimaGOperationArea.h"
#include "WimaMeasurementArea.h"
#include "WimaServiceArea.h"
#include "WimaVCorridor.h"
#include "WimaDataContainer.h"
......
src/Wima/WimaGOperationArea.cc deleted 100644 → 0
View file @ b37dda84
#include "WimaGOperationArea.h"
const char* WimaGOperationArea::settingsGroup = "OperationArea";
const char* WimaGOperationArea::bottomLayerAltitudeName = "BottomLayerAltitude";
const char* WimaGOperationArea::numberOfLayersName = "NumberOfLayers";
const char* WimaGOperationArea::layerDistanceName = "LayerDistance";
const char* WimaGOperationArea::borderPolygonOffsetName = "BorderPolygonOffset";
const char* WimaGOperationArea::wimaGOperationAreaName = "Operation Area";
WimaGOperationArea::WimaGOperationArea(QObject *parent)
: WimaArea (parent)
{
init();
}
WimaGOperationArea::WimaGOperationArea(const WimaGOperationArea &other, QObject *parent)
: WimaArea(other, parent)
{
init();
}
void WimaGOperationArea::saveToJson(QJsonObject &json)
{
this->WimaArea::saveToJson(json);
json[bottomLayerAltitudeName] = _bottomLayerAltitude.rawValue().toDouble();
json[numberOfLayersName] = _numberOfLayers.rawValue().toInt();
json[layerDistanceName] = _layerDistance.rawValue().toDouble();
json[borderPolygonOffsetName] = _borderPolygonOffset.rawValue().toDouble();
json[areaTypeName] = wimaGOperationAreaName;
}
bool WimaGOperationArea::loadFromJson(const QJsonObject &json, QString& errorString)
{
if (this->WimaArea::loadFromJson(json, errorString)) {
bool retVal = true;
if ( json.contains(bottomLayerAltitudeName) && json[bottomLayerAltitudeName].isDouble() ) {
_bottomLayerAltitude.setRawValue(json[bottomLayerAltitudeName].toDouble());
} else {
errorString.append(tr("Could not load Bottom Layer Altitude!\n"));
retVal = false;
}
if ( json.contains(numberOfLayersName) && json[numberOfLayersName].isDouble() ) {
_numberOfLayers.setRawValue(json[numberOfLayersName].toInt());
} else {
errorString.append(tr("Could not load Number of Layers!\n"));
retVal = false;
}
if ( json.contains(layerDistanceName) && json[layerDistanceName].isDouble() ) {
_layerDistance.setRawValue(json[layerDistanceName].toDouble());
} else {
errorString.append(tr("Could not load Layer Distance!\n"));
retVal = false;
}
if ( json.contains(borderPolygonOffsetName) && json[borderPolygonOffsetName].isDouble() ) {
_borderPolygonOffset.setRawValue(json[borderPolygonOffsetName].toDouble());
} else {
errorString.append(tr("Could not load Border Polygon Offset!\n"));
retVal = false;
}
return retVal;
} else {
return false;
}
}
void WimaGOperationArea::update(const WimaGOperationArea &area)
{
this->WimaArea::update(area);
this->setBottomLayerAltitude(area.bottomLayerAltitude());
this->setNumberOfLayers(area.numberOfLayers());
this->setLayerDistance(area.layerDistance());
this->setBorderPolygonOffset(area.borderPolygonOffset());
recalcBorderPolygon();
}
void WimaGOperationArea::setBottomLayerAltitude(double altitude)
{
}
void print(const WimaGOperationArea &area)
{
QString message;
print(area, message);
qWarning() << message;
}
void print(const WimaGOperationArea &area, QString outputStr)
{
print(static_cast<const WimaArea&>(area), outputStr);
outputStr.append(QString("Bottom Layer Altitude: %1\n").arg(area._bottomLayerAltitude.rawValue().toDouble()));
outputStr.append(QString("Number of Layers: %1\n").arg(area._numberOfLayers.rawValue().toInt()));
outputStr.append(QString("Layer Distance: %1\n").arg(area._layerDistance.rawValue().toDouble()));
outputStr.append(QString("Border Polygon Offset: %1\n").arg(area._borderPolygonOffset.rawValue().toDouble()));
outputStr.append(QString("Border Polygon Coordinates\n").arg(area._borderPolygonOffset.rawValue().toDouble()));
for (int i = 0; i < area._borderPolygon.count(); i++) {
QGeoCoordinate coordinate = area._borderPolygon.vertexCoordinate(i);
outputStr.append(QString("%1\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
}
}
void WimaGOperationArea::recalcBorderPolygon()
{
//qWarning("WimaGOperationArea::recalcBorderPolygon() %f", _borderPolygonOffset.rawValue().toDouble());
QGCMapPolygon polyCopy = this->toQGCPolygon(*this);
polyCopy.offset(_borderPolygonOffset.rawValue().toDouble());
_borderPolygon.setPath(polyCopy.path());
polyCopy.deleteLater();
emit borderPolygonChanged();
}
void WimaGOperationArea::init()
{
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/WimaGOperationArea.SettingsGroup.json"), this /* QObject parent */);
_bottomLayerAltitude = SettingsFact(settingsGroup, _metaDataMap[bottomLayerAltitudeName], this /* QObject parent */);
_numberOfLayers = SettingsFact(settingsGroup, _metaDataMap[numberOfLayersName], this /* QObject parent */);
_layerDistance = SettingsFact(settingsGroup, _metaDataMap[layerDistanceName], this /* QObject parent */);
_borderPolygonOffset = SettingsFact(settingsGroup, _metaDataMap[borderPolygonOffsetName], this /* QObject parent */);
_borderPolygon = new QGCMapPolygon(this);
this->setObjectName(wimaGOperationAreaName);
connect(this, &WimaGOperationArea::pathChanged, this, &WimaGOperationArea::recalcBorderPolygon);
connect(&_borderPolygonOffset, &SettingsFact::rawValueChanged, this, &WimaGOperationArea::recalcBorderPolygon);
}
src/Wima/WimaMeasurementArea.cc 0 → 100644
View file @ d29b8b03
#include "WimaMeasurementArea.h"
WimaMeasurementArea::WimaMeasurementArea()
{
}
src/Wima/WimaMeasurementArea.h 0 → 100644
View file @ d29b8b03
#ifndef WIMAMEASUREMENTAREA_H
#define WIMAMEASUREMENTAREA_H
class WimaMeasurementArea
{
public:
WimaMeasurementArea();
};
#endif // WIMAMEASUREMENTAREA_H
\ No newline at end of file
src/Wima/doc/doc/QDoc/html/.index 0 → 100644
View file @ d29b8b03
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QDOCINDEX>
<INDEX url="" title="" version="" project="">
<namespace threadsafety="unspecified" name="" status="active" access="public"/>
</INDEX>
src/Wima/doc/doc/QDoc/html/wima/wima.index 0 → 100644
View file @ d29b8b03
This source diff could not be displayed because it is too large. You can view the blob instead.
src/Wima/doc/wima.qdocconf 0 → 100644
View file @ d29b8b03
project = Wima
headerdirs = ../
sourcedirs = ../
sources.fileextensions = "*.cpp *.cc *.qdoc *.mm *.qml"
headers.fileextensions = "*.h *.ch *.h++ *.hh *.hpp *.hxx"
examples.fileextensions = "*.cpp *.h *.js *.xq *.svg *.xml *.ui *.qhp *.qhcp *.qml"
examples.imageextensions = "*.png *.jpeg *.jpg *.gif *.mng"
outputdir = ./doc/QDoc/html
outputformats = HTML
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