snake mod

src/Snake/snake.h

@@ -158,10 +158,6 @@ class Scenario{
         void setServiceArea     (const BoostPolygon &area);
         void setCorridor        (const BoostPolygon &area);
 
-        BoostPolygon &measurementArea();
-        BoostPolygon &serviceArea();
-        BoostPolygon &corridor();
-
         const BoundingBox &mAreaBoundingBox() const;
 
         const BoostPolygon &measurementArea() const;
@@ -242,60 +238,31 @@ bool joinAreas(const std::vector<BoostPolygon>  &areas,
                BoostPolygon                     &joinedArea);
 
 //========================================================================================
-// Flightplan
+// flight_plan
 //========================================================================================
 
-class Flightplan{
-public:
-    using ScenarioPtr = shared_ptr<Scenario>;
-    using ProgressPtr = shared_ptr<vector<int>>;
-
-    Flightplan(ScenarioPtr s, ScenarioPtr p);
-
-    const vector<BoostPoint>   &waypoints(void)      const {return _waypoints;}
-    const vector<BoostPoint>   &arrivalPath(void)    const {return _arrivalPath;}
-    const vector<BoostPoint>   &returnPath(void)     const {return _returnPath;}
-
-    double lineDistance() const;
-    void setLineDistance(double lineDistance);
-
-    double minTransectLengthconst;
-    void setMinTransectLength(double minTransectLength);
-
-    ScenarioPtr scenario() const;
-    void setScenario(ScenarioPtr &scenario);
-
-    ProgressPtr progress() const;
-    void setProgress(ProgressPtr &progress);
-
-    bool update();
-
-    string errorString;
-
-private:
-    // Search Filter to speed up routing.SolveWithParameters(...);
-    // Found here: http://www.lia.disi.unibo.it/Staff/MicheleLombardi/or-tools-doc/user_manual/manual/ls/ls_filtering.html
-    class SearchFilter;
-    struct RoutingDataModel;
-
-    bool _generateTransects();
-    void _generateRoutingModel(const BoostLineString &vertices,
-                               const BoostPolygon &polygonOffset,
-                               size_t n0,
-                               RoutingDataModel &dataModel,
-                               Matrix<double> &graph);
-    double                          _lineDistance;
-    double                          _minTransectLength;
-    shared_ptr<const Scenario>      _pScenario;
-    shared_ptr<const vector<int>>   _pProgress;
-    vector<BoostPoint>              _waypoints;
-    vector<BoostPoint>              _arrivalPath;
-    vector<BoostPoint>              _returnPath;
-    vector<BoostLineString>         _transects;
-};
-
-    namespace detail {
-        const double offsetConstant = 0.1; // meter, polygon offset to compenstate for numerical inaccurracies.
-    }
+namespace flight_plan{
+
+    using Transects = vector<BoostLineString>;
+    using Progress = vector<int>;
+    using Route = vector<BoostPoint>;
+
+    bool transectsFromScenario(Length distance,
+                   Length minLength,
+                   Angle angle,
+                   const Scenario &scenario,
+                   const Progress &p,
+                   Transects &t,
+                   string &errorString);
+    bool route(const BoostPolygon &area,
+               const Transects &transects,
+               Transects &transectsRouted,
+               Route &route,
+               string &errorString);
+} // namespace flight_plan
+
+namespace detail {
+    const double offsetConstant = 0.1; // meter, polygon offset to compenstate for numerical inaccurracies.
+} // namespace detail
 }
 

src/Snake/snake_typedefs.h

@@ -3,7 +3,13 @@
 #include <vector>
 #include <array>
 #include <boost/geometry.hpp>
+
 #include <boost/units/systems/si.hpp>
+#include <boost/units/systems/si/io.hpp>
+#include <boost/units/systems/si/plane_angle.hpp>
+#include <boost/units/systems/si/prefixes.hpp>
+#include <boost/units/systems/angle/degrees.hpp>
+
 
 namespace bg = boost::geometry;
 namespace bu = boost::units;
@@ -14,8 +20,10 @@ typedef bg::model::point<double, 2, bg::cs::cartesian>  BoostPoint;
 typedef bg::model::polygon<BoostPoint>                  BoostPolygon;
 typedef bg::model::linestring<BoostPoint>               BoostLineString;
 typedef std::vector<std::vector<int64_t>>               Int64Matrix;
+typedef bg::model::box<BoostPoint>                      BoostBox;
 
-typedef bu::quantity<bu::si::length>    Length;
-typedef bu::quantity<bu::si::area>      Area;
+typedef bu::quantity<bu::si::length, double> Length;
+typedef bu::quantity<bu::si::area, double> Area;
+typedef bu::quantity<bu::si::plane_angle, double> Angle;
 
 }

src/Wima/Snake/SnakeDataManager.h

@@ -57,7 +57,8 @@ protected:
 
 private:
     bool precondition() const;
-    SnakeImplPtr _pImpl;
+    void resetWaypointData();
+    SnakeImplPtr pImpl;
 };
 
 

src/Wima/WimaController.cc

@@ -200,6 +200,18 @@ Fact *WimaController::altitude() {
     return &_altitude;
 }
 
+QmlObjectListModel *WimaController::snakeTiles()
+{
+    qWarning() << "using snake tile dummy";
+    return QmlObjectListModel();
+}
+
+QVariantList WimaController::snakeTileCenterPoints()
+{
+    qWarning() << "using snakeTileCenterPoints dummy";
+    return QVariantList();
+}
+
 QVector<int> WimaController::nemoProgress() {
     if ( _nemoProgress.progress().size() == _snakeTileCenterPoints.size() )
         return _nemoProgress.progress();

src/Wima/WimaController.h

@@ -216,8 +216,8 @@ public:
     Fact*                       snakeLineDistance      (void)           { return &_snakeLineDistance;}
     Fact*                       snakeMinTransectLength (void)           { return &_snakeMinTransectLength;}
     // Snake data.
-    QmlObjectListModel*         snakeTiles             (void)           { return _snakeTiles.QmlObjectListModel();}
-    QVariantList                snakeTileCenterPoints  (void)           { return _snakeTileCenterPoints;}
+    QmlObjectListModel*         snakeTiles             (void);
+    QVariantList                snakeTileCenterPoints  (void);
     QVector<int>                nemoProgress           (void);
     int                         nemoStatus             (void) const;
     QString                     nemoStatusString       (void) const;