Commit ed47290e authored by Valentin Platzgummer's avatar Valentin Platzgummer

libGeographic dependency removed, snake namespace renamed to geometry,...

libGeographic dependency removed, snake namespace renamed to geometry, geometry.h and geometry.cpp cleared up
parent ec7b37e1
......@@ -35,6 +35,8 @@ linux {
QMAKE_CXXFLAGS_WARN_ON += -Werror \
-Wno-deprecated-copy \ # These come from mavlink headers
-Wno-unused-parameter \ # gst_plugins-good has these errors
-Wno-ignored-qualifiers\ # or-tools has these errors
-Wno-sign-compare\ # or-tools has these errors
-Wno-implicit-fallthrough # gst_plugins-good has these errors
}
} else : linux-rasp-pi2-g++ {
......
......@@ -445,6 +445,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
#
HEADERS += \
src/MeasurementComplexItem/geometry/geometry.h \
src/QmlControls/QmlUnitsConversion.h \
src/MeasurementComplexItem/geometry/GeoArea.h \
src/MeasurementComplexItem/geometry/MeasurementArea.h \
......@@ -479,7 +480,6 @@ HEADERS += \
src/MeasurementComplexItem/geometry/mapbox/recursive_wrapper.hpp \
src/MeasurementComplexItem/geometry/mapbox/variant.hpp \
src/MeasurementComplexItem/geometry/mapbox/variant_io.hpp \
src/MeasurementComplexItem/geometry/snake.h \
src/MeasurementComplexItem/geometry/GenericPolygon.h \
src/MeasurementComplexItem/geometry/GenericPolygonArray.h \
src/MeasurementComplexItem/geometry/GeoPoint3D.h \
......@@ -524,6 +524,7 @@ SOURCES += \
src/MeasurementComplexItem/geometry/GeoArea.cc \
src/MeasurementComplexItem/geometry/MeasurementArea.cc \
src/MeasurementComplexItem/geometry/SafeArea.cc \
src/MeasurementComplexItem/geometry/geometry.cpp \
src/Vehicle/VehicleEscStatusFactGroup.cc \
src/MeasurementComplexItem/AreaData.cc \
src/api/QGCCorePlugin.cc \
......@@ -537,7 +538,6 @@ SOURCES += \
src/MeasurementComplexItem/GeneratorBase.cc \
src/MeasurementComplexItem/LinearGenerator.cpp \
src/MeasurementComplexItem/geometry/clipper/clipper.cpp \
src/MeasurementComplexItem/geometry/snake.cpp \
src/MeasurementComplexItem/geometry/GeoPoint3D.cpp \
src/MeasurementComplexItem/NemoInterface.cpp \
src/MeasurementComplexItem/nemo_interface/QNemoProgress.cc \
......
......@@ -2,7 +2,7 @@
#include "geometry/MeasurementArea.h"
#include "geometry/SafeArea.h"
#include "geometry/snake.h"
#include "geometry/geometry.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
......@@ -116,10 +116,10 @@ bool AreaData::isCorrect(bool showError) {
return false;
}
const auto &origin = this->origin();
snake::FPolygon safeAreaENU;
snake::areaToEnu(origin, safeArea->pathModel(), safeAreaENU);
snake::FPolygon measurementAreaENU;
snake::areaToEnu(origin, measurementArea->pathModel(), measurementAreaENU);
geometry::FPolygon safeAreaENU;
geometry::areaToEnu(origin, safeArea->pathModel(), safeAreaENU);
geometry::FPolygon measurementAreaENU;
geometry::areaToEnu(origin, measurementArea->pathModel(), measurementAreaENU);
// qDebug() << "origin" << origin;
// std::stringstream ss;
// ss << "measurementAreaENU: " << bg::wkt(measurementAreaENU) << std::endl;
......@@ -218,14 +218,14 @@ void AreaData::intersection(bool showError) {
// convert to ENU
const auto origin = this->origin();
snake::FPolygon safeAreaENU;
snake::areaToEnu(origin, safeArea->pathModel(), safeAreaENU);
snake::FPolygon measurementAreaENU;
snake::areaToEnu(origin, measurementArea->pathModel(),
geometry::FPolygon safeAreaENU;
geometry::areaToEnu(origin, safeArea->pathModel(), safeAreaENU);
geometry::FPolygon measurementAreaENU;
geometry::areaToEnu(origin, measurementArea->pathModel(),
measurementAreaENU);
// do intersection
std::deque<snake::FPolygon> outputENU;
std::deque<geometry::FPolygon> outputENU;
boost::geometry::intersection(measurementAreaENU, safeAreaENU, outputENU);
if (outputENU.size() < 1 || outputENU[0].outer().size() < 4) {
......@@ -246,9 +246,9 @@ void AreaData::intersection(bool showError) {
// Shrink the result if safeAreaENU doesn't cover it.
auto large = std::move(outputENU[0]);
snake::FPolygon small;
geometry::FPolygon small;
while (!bg::covered_by(large, safeAreaENU)) {
snake::offsetPolygon(large, small, -0.1);
geometry::offsetPolygon(large, small, -0.1);
large = std::move(small);
}
......@@ -259,7 +259,7 @@ void AreaData::intersection(bool showError) {
for (auto it = large.outer().begin(); it != large.outer().end() - 1;
++it) {
QGeoCoordinate c;
snake::fromENU(origin, *it, c);
geometry::fromENU(origin, *it, c);
measurementArea->appendVertex(c);
}
}
......
......@@ -31,11 +31,12 @@ const char *minLengthKey = "MinLength";
const char *referenceKey = "ReferencePoint";
} // namespace
bool circularTransects(const snake::FPoint &reference,
const snake::FPolygon &polygon,
const std::vector<snake::FPolygon> &tiles,
snake::Length deltaR, snake::Angle deltaAlpha,
snake::Length minLength, snake::Transects &transects);
bool circularTransects(const geometry::FPoint &reference,
const geometry::FPolygon &polygon,
const std::vector<geometry::FPolygon> &tiles,
geometry::Length deltaR, geometry::Angle deltaAlpha,
geometry::Length minLength,
geometry::LineStringArray &transects);
const char *CircularGenerator::settingsGroup = "CircularGenerator";
const char *CircularGenerator::typeString = "CircularGenerator";
......@@ -76,7 +77,7 @@ QString CircularGenerator::abbreviation() const { return tr("C. Gen."); }
QString CircularGenerator::type() const { return typeString; }
bool CircularGenerator::get(Generator &generator) {
bool CircularGenerator::get(Work &work) {
if (this->_d) {
if (this->_d->isCorrect()) {
// Prepare data.
......@@ -93,8 +94,8 @@ bool CircularGenerator::get(Generator &generator) {
qCDebug(CircularGeneratorLog) << "get(): reference invalid." << ref;
return false;
}
snake::FPoint reference;
snake::toENU(origin, ref, reference);
geometry::FPoint reference;
geometry::toENU(origin, ref, reference);
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
......@@ -114,13 +115,13 @@ bool CircularGenerator::get(Generator &generator) {
return false;
}
}
auto pPolygon = std::make_shared<snake::FPolygon>();
snake::areaToEnu(origin, geoPolygon, *pPolygon);
auto pPolygon = std::make_shared<geometry::FPolygon>();
geometry::areaToEnu(origin, geoPolygon, *pPolygon);
// Progress and tiles.
const auto &progress = measurementArea->progress();
const auto *tiles = measurementArea->tiles();
auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
auto pTiles = std::make_shared<std::vector<geometry::FPolygon>>();
if (progress.size() == tiles->count()) {
for (int i = 0; i < tiles->count(); ++i) {
if (progress[i] == 100) {
......@@ -128,8 +129,8 @@ bool CircularGenerator::get(Generator &generator) {
const auto *tile = qobject_cast<const SnakeTile *>(obj);
if (tile != nullptr) {
snake::FPolygon tileENU;
snake::areaToEnu(origin, tile->coordinateList(), tileENU);
geometry::FPolygon tileENU;
geometry::areaToEnu(origin, tile->coordinateList(), tileENU);
pTiles->push_back(std::move(tileENU));
} else {
qCDebug(CircularGeneratorLog)
......@@ -154,22 +155,22 @@ bool CircularGenerator::get(Generator &generator) {
qCDebug(CircularGeneratorLog) << "get(): depot invalid." << geoDepot;
return false;
}
snake::FPoint depot;
snake::toENU(origin, geoDepot, depot);
geometry::FPoint depot;
geometry::toENU(origin, geoDepot, depot);
// Fetch transect parameter.
auto distance =
snake::Length(this->_distance.rawValue().toDouble() * bu::si::meter);
auto minLength =
snake::Length(this->_minLength.rawValue().toDouble() * bu::si::meter);
auto alpha = snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
bu::degree::degree);
generator = [reference, depot, pPolygon, pTiles, distance, alpha,
minLength](snake::Transects &transects) -> bool {
auto distance = geometry::Length(this->_distance.rawValue().toDouble() *
bu::si::meter);
auto minLength = geometry::Length(this->_minLength.rawValue().toDouble() *
bu::si::meter);
auto alpha = geometry::Angle(this->_deltaAlpha.rawValue().toDouble() *
bu::degree::degree);
work = [reference, depot, pPolygon, pTiles, distance, alpha,
minLength](geometry::LineStringArray &transects) -> bool {
bool value = circularTransects(reference, *pPolygon, *pTiles, distance,
alpha, minLength, transects);
transects.insert(transects.begin(), snake::FLineString{depot});
transects.insert(transects.begin(), geometry::FLineString{depot});
return value;
};
return true;
......@@ -413,11 +414,12 @@ void CircularGenerator::setMeasurementArea(MeasurementArea *area) {
}
}
bool circularTransects(const snake::FPoint &reference,
const snake::FPolygon &polygon,
const std::vector<snake::FPolygon> &tiles,
snake::Length deltaR, snake::Angle deltaAlpha,
snake::Length minLength, snake::Transects &transects) {
bool circularTransects(const geometry::FPoint &reference,
const geometry::FPolygon &polygon,
const std::vector<geometry::FPolygon> &tiles,
geometry::Length deltaR, geometry::Angle deltaAlpha,
geometry::Length minLength,
geometry::LineStringArray &transects) {
auto s1 = std::chrono::high_resolution_clock::now();
// Check preconitions
......@@ -435,15 +437,16 @@ bool circularTransects(const snake::FPoint &reference,
qCDebug(CircularGeneratorLog) << ss.str().c_str();
} else {
// Calculate polygon distances and angles.
std::vector<snake::Length> distances;
std::vector<geometry::Length> distances;
distances.reserve(polygon.outer().size());
std::vector<snake::Angle> angles;
std::vector<geometry::Angle> angles;
angles.reserve(polygon.outer().size());
// qCDebug(CircularGeneratorLog) << "circularTransects():";
for (const auto &p : polygon.outer()) {
snake::Length distance = bg::distance(reference, p) * si::meter;
geometry::Length distance = bg::distance(reference, p) * si::meter;
distances.push_back(distance);
snake::Angle alpha = (std::atan2(p.get<1>(), p.get<0>())) * si::radian;
geometry::Angle alpha =
(std::atan2(p.get<1>(), p.get<0>())) * si::radian;
alpha = alpha < 0 * si::radian ? alpha + 2 * M_PI * si::radian : alpha;
angles.push_back(alpha);
// qCDebug(CircularGeneratorLog) << "distances, angles,
......@@ -456,8 +459,8 @@ bool circularTransects(const snake::FPoint &reference,
}
auto rMin = deltaR; // minimal circle radius
snake::Angle alpha1(0 * degree::degree);
snake::Angle alpha2(360 * degree::degree);
geometry::Angle alpha1(0 * degree::degree);
geometry::Angle alpha2(360 * degree::degree);
// Determine r_min by successive approximation
if (!bg::within(reference, polygon.outer())) {
rMin = bg::distance(reference, polygon) * si::meter;
......@@ -478,7 +481,7 @@ bool circularTransects(const snake::FPoint &reference,
// Generate circle sectors.
auto rScaled = rMinScaled;
const auto nTran = long(std::ceil(((rMax - rMin) / deltaR).value()));
vector<ClipperLib::Path> sectors(nTran, ClipperLib::Path());
std::vector<ClipperLib::Path> sectors(nTran, ClipperLib::Path());
const auto nSectors =
long(std::round(((alpha2 - alpha1) / deltaAlpha).value()));
// qCDebug(CircularGeneratorLog) << "circularTransects(): sector
......@@ -504,8 +507,8 @@ bool circularTransects(const snake::FPoint &reference,
}
// Clip sectors to polygonENU.
ClipperLib::Path polygonClipper;
snake::FPolygon shrinked;
snake::offsetPolygon(polygon, shrinked, -0.3);
geometry::FPolygon shrinked;
geometry::offsetPolygon(polygon, shrinked, -0.3);
auto &outer = shrinked.outer();
polygonClipper.reserve(outer.size());
for (auto it = outer.begin(); it < outer.end() - 1; ++it) {
......@@ -522,7 +525,7 @@ bool circularTransects(const snake::FPoint &reference,
// Subtract holes.
if (tiles.size() > 0) {
vector<ClipperLib::Path> processedTiles;
std::vector<ClipperLib::Path> processedTiles;
for (const auto &tile : tiles) {
ClipperLib::Path path;
for (const auto &v : tile.outer()) {
......@@ -546,12 +549,12 @@ bool circularTransects(const snake::FPoint &reference,
// Extract transects from PolyTree and convert them to
// BoostLineString
for (const auto &child : transectsClipper.Childs) {
snake::FLineString transect;
geometry::FLineString transect;
transect.reserve(child->Contour.size());
for (const auto &vertex : child->Contour) {
auto x = static_cast<double>(vertex.X) / CLIPPER_SCALE;
auto y = static_cast<double>(vertex.Y) / CLIPPER_SCALE;
transect.push_back(snake::FPoint(x, y));
transect.push_back(geometry::FPoint(x, y));
}
transects.push_back(transect);
}
......@@ -562,7 +565,7 @@ bool circularTransects(const snake::FPoint &reference,
for (auto iti = ito + 1; iti < transects.end(); ++iti) {
auto dist1 = bg::distance(ito->front(), iti->front());
if (dist1 < th) {
snake::FLineString temp;
geometry::FLineString temp;
for (auto it = iti->end() - 1; it >= iti->begin(); --it) {
temp.push_back(*it);
}
......@@ -573,7 +576,7 @@ bool circularTransects(const snake::FPoint &reference,
}
auto dist2 = bg::distance(ito->front(), iti->back());
if (dist2 < th) {
snake::FLineString temp;
geometry::FLineString temp;
temp.insert(temp.end(), iti->begin(), iti->end());
temp.insert(temp.end(), ito->begin(), ito->end());
*ito = temp;
......@@ -582,7 +585,7 @@ bool circularTransects(const snake::FPoint &reference,
}
auto dist3 = bg::distance(ito->back(), iti->front());
if (dist3 < th) {
snake::FLineString temp;
geometry::FLineString temp;
temp.insert(temp.end(), ito->begin(), ito->end());
temp.insert(temp.end(), iti->begin(), iti->end());
*ito = temp;
......@@ -591,7 +594,7 @@ bool circularTransects(const snake::FPoint &reference,
}
auto dist4 = bg::distance(ito->back(), iti->back());
if (dist4 < th) {
snake::FLineString temp;
geometry::FLineString temp;
temp.insert(temp.end(), ito->begin(), ito->end());
for (auto it = iti->end() - 1; it >= iti->begin(); --it) {
temp.push_back(*it);
......
......@@ -26,7 +26,7 @@ public:
virtual QString abbreviation() const override;
virtual QString type() const override;
virtual bool get(Generator &generator) override;
virtual bool get(Work &work) override;
QGeoCoordinate reference() const;
Fact *distance();
......
......@@ -7,7 +7,7 @@
#include <functional>
#include <memory>
#include "geometry/snake.h"
#include "geometry/geometry.h"
#include "AreaData.h"
......@@ -17,7 +17,7 @@ class GeneratorBase : public QObject {
Q_OBJECT
public:
using Data = AreaData *;
using Generator = std::function<bool(snake::Transects &)>;
using Work = std::function<bool(geometry::LineStringArray &)>;
explicit GeneratorBase(QObject *parent = nullptr);
explicit GeneratorBase(Data d, QObject *parent = nullptr);
......@@ -39,7 +39,7 @@ public:
virtual QString abbreviation() const = 0;
virtual QString type() const = 0;
virtual bool get(Generator &generator) = 0;
virtual bool get(Work &work) = 0;
Data data() const;
void setData(Data d);
......
......@@ -23,10 +23,11 @@ const char *minLengthKey = "MinLength";
QGC_LOGGING_CATEGORY(LinearGeneratorLog, "LinearGeneratorLog")
bool linearTransects(const snake::FPolygon &polygon,
const std::vector<snake::FPolygon> &tiles,
snake::Length distance, snake::Angle angle,
snake::Length minLength, snake::Transects &transects);
bool linearTransects(const geometry::FPolygon &polygon,
const std::vector<geometry::FPolygon> &tiles,
geometry::Length distance, geometry::Angle angle,
geometry::Length minLength,
geometry::LineStringArray &transects);
const char *LinearGenerator::settingsGroup = "LinearGenerator";
const char *LinearGenerator::typeString = "LinearGenerator";
......@@ -67,7 +68,7 @@ QString LinearGenerator::abbreviation() const {
QString LinearGenerator::type() const { return typeString; }
bool LinearGenerator::get(Generator &generator) {
bool LinearGenerator::get(Work &generator) {
if (_d != nullptr) {
if (this->_d->isCorrect()) {
// Prepare data.
......@@ -95,13 +96,13 @@ bool LinearGenerator::get(Generator &generator) {
return false;
}
}
auto pPolygon = std::make_shared<snake::FPolygon>();
snake::areaToEnu(origin, geoPolygon, *pPolygon);
auto pPolygon = std::make_shared<geometry::FPolygon>();
geometry::areaToEnu(origin, geoPolygon, *pPolygon);
// Progress and tiles.
const auto &progress = measurementArea->progress();
const auto *tiles = measurementArea->tiles();
auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
auto pTiles = std::make_shared<std::vector<geometry::FPolygon>>();
if (progress.size() == tiles->count()) {
for (int i = 0; i < tiles->count(); ++i) {
if (progress[i] == 100) {
......@@ -109,8 +110,8 @@ bool LinearGenerator::get(Generator &generator) {
const auto *tile = qobject_cast<const SnakeTile *>(obj);
if (tile != nullptr) {
snake::FPolygon tileENU;
snake::areaToEnu(origin, tile->coordinateList(), tileENU);
geometry::FPolygon tileENU;
geometry::areaToEnu(origin, tile->coordinateList(), tileENU);
pTiles->push_back(std::move(tileENU));
} else {
qCDebug(LinearGeneratorLog) << "get(): tile == nullptr";
......@@ -134,21 +135,21 @@ bool LinearGenerator::get(Generator &generator) {
qCDebug(LinearGeneratorLog) << "get(): depot invalid." << geoDepot;
return false;
}
snake::FPoint depot;
snake::toENU(origin, geoDepot, depot);
geometry::FPoint depot;
geometry::toENU(origin, geoDepot, depot);
// Fetch transect parameter.
auto distance =
snake::Length(this->_distance.rawValue().toDouble() * bu::si::meter);
auto minLength =
snake::Length(this->_minLength.rawValue().toDouble() * bu::si::meter);
auto alpha =
snake::Angle(this->_alpha.rawValue().toDouble() * bu::degree::degree);
auto distance = geometry::Length(this->_distance.rawValue().toDouble() *
bu::si::meter);
auto minLength = geometry::Length(this->_minLength.rawValue().toDouble() *
bu::si::meter);
auto alpha = geometry::Angle(this->_alpha.rawValue().toDouble() *
bu::degree::degree);
generator = [depot, pPolygon, pTiles, distance, alpha,
minLength](snake::Transects &transects) -> bool {
minLength](geometry::LineStringArray &transects) -> bool {
bool value = linearTransects(*pPolygon, *pTiles, distance, alpha,
minLength, transects);
transects.insert(transects.begin(), snake::FLineString{depot});
transects.insert(transects.begin(), geometry::FLineString{depot});
return value;
};
return true;
......@@ -326,10 +327,11 @@ void LinearGenerator::setMeasurementArea(MeasurementArea *area) {
}
}
bool linearTransects(const snake::FPolygon &polygon,
const std::vector<snake::FPolygon> &tiles,
snake::Length distance, snake::Angle angle,
snake::Length minLength, snake::Transects &transects) {
bool linearTransects(const geometry::FPolygon &polygon,
const std::vector<geometry::FPolygon> &tiles,
geometry::Length distance, geometry::Angle angle,
geometry::Length minLength,
geometry::LineStringArray &transects) {
namespace tr = bg::strategy::transform;
auto s1 = std::chrono::high_resolution_clock::now();
......@@ -349,9 +351,9 @@ bool linearTransects(const snake::FPolygon &polygon,
tr::rotate_transformer<bg::degree, double, 2, 2> rotate(angle.value() *
180 / M_PI);
// Rotate polygon by angle and calculate bounding box.
snake::FPolygon polygonENURotated;
geometry::FPolygon polygonENURotated;
bg::transform(polygon.outer(), polygonENURotated.outer(), rotate);
snake::FBox box;
geometry::FBox box;
boost::geometry::envelope(polygonENURotated, box);
double x0 = box.min_corner().get<0>();
double y0 = box.min_corner().get<1>();
......@@ -360,17 +362,17 @@ bool linearTransects(const snake::FPolygon &polygon,
// Generate transects and convert them to clipper path.
size_t num_t = ceil((y1 - y0) / distance.value()); // number of transects
vector<ClipperLib::Path> transectsClipper;
std::vector<ClipperLib::Path> transectsClipper;
transectsClipper.reserve(num_t);
for (size_t i = 0; i < num_t; ++i) {
// calculate transect
snake::FPoint v1{x0, y0 + i * distance.value()};
snake::FPoint v2{x1, y0 + i * distance.value()};
snake::FLineString transect;
geometry::FPoint v1{x0, y0 + i * distance.value()};
geometry::FPoint v2{x1, y0 + i * distance.value()};
geometry::FLineString transect;
transect.push_back(v1);
transect.push_back(v2);
// transform back
snake::FLineString temp_transect;
geometry::FLineString temp_transect;
tr::rotate_transformer<bg::degree, double, 2, 2> rotate_back(
-angle.value() * 180 / M_PI);
bg::transform(transect, temp_transect, rotate_back);
......@@ -397,8 +399,8 @@ bool linearTransects(const snake::FPolygon &polygon,
}
// Convert measurement area to clipper path.
snake::FPolygon shrinked;
snake::offsetPolygon(polygon, shrinked, -0.2);
geometry::FPolygon shrinked;
geometry::offsetPolygon(polygon, shrinked, -0.2);
auto &outer = shrinked.outer();
ClipperLib::Path polygonClipper;
for (auto vertex : outer) {
......@@ -418,7 +420,7 @@ bool linearTransects(const snake::FPolygon &polygon,
// Subtract holes.
if (tiles.size() > 0) {
vector<ClipperLib::Path> processedTiles;
std::vector<ClipperLib::Path> processedTiles;
for (const auto &tile : tiles) {
ClipperLib::Path path;
for (const auto &v : tile.outer()) {
......@@ -442,14 +444,14 @@ bool linearTransects(const snake::FPolygon &polygon,
// Extract transects from PolyTree and convert them to BoostLineString
for (const auto &child : clippedTransecs.Childs) {
const auto &clipperTransect = child->Contour;
snake::FPoint v1{
geometry::FPoint v1{
static_cast<double>(clipperTransect[0].X) / CLIPPER_SCALE,
static_cast<double>(clipperTransect[0].Y) / CLIPPER_SCALE};
snake::FPoint v2{
geometry::FPoint v2{
static_cast<double>(clipperTransect[1].X) / CLIPPER_SCALE,
static_cast<double>(clipperTransect[1].Y) / CLIPPER_SCALE};
snake::FLineString transect{v1, v2};
geometry::FLineString transect{v1, v2};
if (bg::length(transect) >= minLength.value()) {
transects.push_back(transect);
}
......
......@@ -25,7 +25,7 @@ public:
virtual QString abbreviation() const override;
virtual QString type() const override;
virtual bool get(Generator &generator) override;
virtual bool get(Work &generator) override;
//!
//! \brief save Saves the generator.
......
......@@ -7,7 +7,7 @@
#include "geometry/MeasurementArea.h"
#include "geometry/SafeArea.h"
#include "geometry/clipper/clipper.hpp"
#include "geometry/snake.h"
#include "geometry/geometry.h"
#include "nemo_interface/SnakeTile.h"
// QGC
......@@ -365,13 +365,13 @@ bool MeasurementComplexItem::load(const QJsonObject &complexObject,
auto safeArea = safeAreaArray[0];
QGeoCoordinate origin =
safeArea->pathModel().value<QGCQGeoCoordinate *>(0)->coordinate();
snake::FPolygon safeAreaENU;
snake::areaToEnu(origin, safeArea->coordinateList(), safeAreaENU);
geometry::FPolygon safeAreaENU;
geometry::areaToEnu(origin, safeArea->coordinateList(), safeAreaENU);
for (const auto &variant : variantVector) {
snake::FLineString varENU;
geometry::FLineString varENU;
for (const auto &vertex : variant) {
snake::FPoint vertexENU;
snake::toENU(origin, vertex.value<QGeoCoordinate>(), vertexENU);
geometry::FPoint vertexENU;
geometry::toENU(origin, vertex.value<QGeoCoordinate>(), vertexENU);
varENU.push_back(vertexENU);
}
......@@ -833,11 +833,11 @@ void MeasurementComplexItem::_updateRoute() {
RoutingParameter par;
par.numSolutions = 5;
auto &safeAreaENU = par.safeArea;
snake::areaToEnu(origin, geoSafeArea, safeAreaENU);
geometry::areaToEnu(origin, geoSafeArea, safeAreaENU);
// Create generator.
if (this->_pGenerator != nullptr) {
routing::GeneratorBase::Generator g; // Transect generator.
routing::GeneratorBase::Work g; // Transect generator.
if (this->_pGenerator->get(g)) {
// Start/Restart routing worker.
this->_pWorker->route(par, g);
......@@ -1182,7 +1182,7 @@ void MeasurementComplexItem::_storeRoutingData(
auto ori = this->_pAreaData->origin();
ori.setAltitude(0);
QVector<Variant> variantVector;
const auto nSolutions = pRoute->solutionVector.size();
const std::size_t nSolutions = pRoute->solutionVector.size();
for (std::size_t j = 0; j < nSolutions; ++j) {
Variant var;
......@@ -1195,7 +1195,7 @@ void MeasurementComplexItem::_storeRoutingData(
for (const auto &vertex : path) {
QGeoCoordinate c;
snake::fromENU(ori, vertex, c);
geometry::fromENU(ori, vertex, c);
var.append(QVariant::fromValue(c));
}
} else {
......
......@@ -12,7 +12,7 @@
#include "AreaData.h"
class RoutingThread;
class RoutingData;
class RoutingResult;
namespace routing {
class GeneratorBase;
......@@ -23,7 +23,7 @@ class MeasurementComplexItem : public ComplexMissionItem {
using PtrGenerator = routing::GeneratorBase *;
using PtrAreaData = AreaData *;
using PtrRoutingData = std::shared_ptr<RoutingData>;
using PtrRoutingData = std::shared_ptr<RoutingResult>;
using PtrWorker = RoutingThread *;
using Variant = QVariantList;
......
......@@ -14,7 +14,7 @@
#include "GenericSingelton.h"
#include "geometry/MeasurementArea.h"
#include "geometry/snake.h"
#include "geometry/geometry.h"
#include "nemo_interface/QNemoHeartbeat.h"
#include "nemo_interface/QNemoProgress.h"
#include "nemo_interface/SnakeTile.h"
......@@ -170,7 +170,7 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
tile = qobject_cast<const SnakeTile *>(obj);
if (tile != nullptr) {
SnakeTileLocal tileENU;
snake::areaToEnu(origin, tile->coordinateList(), tileENU.path());
geometry::areaToEnu(origin, tile->coordinateList(), tileENU.path());
this->tilesENU.polygons().push_back(std::move(tileENU));
} else {
qCDebug(NemoInterfaceLog) << "Impl::setTileData(): nullptr.";
......
......@@ -3,10 +3,35 @@
#include <chrono>
// Qt
#include <QDebug>
// or-tools
#include "QGCLoggingCategory.h"
#include "ortools/constraint_solver/routing.h"
#include "ortools/constraint_solver/routing_enums.pb.h"
#include "ortools/constraint_solver/routing_index_manager.h"
#include "ortools/constraint_solver/routing_parameters.h"
QGC_LOGGING_CATEGORY(RoutingThreadLog, "RoutingThreadLog")
using namespace geometry;
using namespace operations_research;
// Aux struct and functions.
struct InternalParameters {
InternalParameters()
: numSolutionsPerRun(1), numRuns(1), minNumTransectsPerRun(5),
stop([] { return false; }) {}
std::size_t numSolutionsPerRun;
std::size_t numRuns;
std::size_t minNumTransectsPerRun;
std::function<bool(void)> stop;
mutable std::string errorString;
};
bool getRoute(const FPolygon &area, const LineStringArray &transects,
std::vector<Solution> &solutionVector,
const InternalParameters &par = InternalParameters());
// class RoutingThread
RoutingThread::RoutingThread(QObject *parent)
: QThread(parent), _calculating(false), _stop(false), _restart(false) {
......@@ -26,12 +51,11 @@ RoutingThread::~RoutingThread() {
bool RoutingThread::calculating() const { return this->_calculating; }
void RoutingThread::route(const RoutingParameter &par,<