math classes edited

qgroundcontrol.pro

@@ -424,8 +424,10 @@ HEADERS += \
     src/Wima/WimaPlanData.h \
     src/Wima/WimaJoinedArea.h \
     src/Wima/WimaJoinedAreaData.h \
-    src/Wima/SphericalGeometryCalculus.h \
-    src/Wima/SphereCalculus.h
+    src/Wima/SphereCalculus.h \
+    src/Wima/CircularSurveyComplexItem.h \
+    src/Wima/PlanimetryCalculus.h \
+    src/Wima/Circle.h
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -448,8 +450,10 @@ SOURCES += \
     src/Wima/WimaMeasurementAreaData.cc \
     src/Wima/WimaJoinedArea.cc \
     src/Wima/WimaJoinedAreaData.cc \
-    src/Wima/SphericalGeometryCalculus.cc \
-    src/Wima/SphereCalculus.cc
+    src/Wima/SphereCalculus.cc \
+    src/Wima/CircularSurveyComplexItem.cc \
+    src/Wima/PlanimetryCalculus.cc \
+    src/Wima/Circle.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/Wima/Circle.c

+#include "Circle.h"
+
+Circle::Circle()
+{
+
+}

src/Wima/Circle.cc

+#include "Circle.h"
+
+
+
+Circle::Circle(QObject *parent)
+    :   QObject (parent)
+    ,   _circleRadius(0)
+    ,   _circleOrigin(QPointF(0,0))
+{
+
+}
+
+Circle::Circle(double radius, QObject *parent)
+    :   QObject (parent)
+    ,   _circleRadius(radius)
+    ,   _circleOrigin(QPointF(0,0))
+{
+
+}
+
+Circle::Circle(double radius, QPointF origin, QObject *parent)
+    :   QObject (parent)
+    ,   _circleRadius(radius)
+    ,   _circleOrigin(origin)
+{
+
+}
+
+Circle::Circle(const Circle &other, QObject *parent)
+    :   QObject (parent)
+{
+    *this = other;
+}
+
+Circle &Circle::operator=(const Circle &other)
+{
+    this->setRadius(other.radius());
+    this->setOrigin(other.origin());
+
+    return *this;
+}
+
+/*!
+ * \fn void Circle::setRadius(double radius)
+ * Sets the radius of the circle to \a radius
+ */
+void Circle::setRadius(double radius)
+{
+    if ( radius >= 0 && !qFuzzyCompare(_circleRadius, radius) ) {
+        _circleRadius = radius;
+
+        emit radiusChanged(_circleRadius);
+    }
+}
+
+/*!
+ * \fn void Circle::setOrigin(const QPointF &origin)
+ * Sets the origin of the circle to \a origin
+ *
+ * \sa QPointF
+ */
+void Circle::setOrigin(const QPointF &origin)
+{
+    if (origin != _circleOrigin) {
+        _circleOrigin = origin;
+
+        emit originChanged(_circleOrigin);
+    }
+}
+
+/*!
+ * \fn double Circle::radius() const
+ * Returns the radius of the circle.
+ */
+double Circle::radius() const
+{
+    return _circleRadius;
+}
+
+/*!
+ * \fn QPointF Circle::origin() const
+ * Returns the origin of the circle.
+ *
+ * \sa QPointF
+ */
+QPointF Circle::origin() const
+{
+    return _circleOrigin;
+}
+
+
+/*!
+ * \fn QPolygonF Circle::approximate(int numberOfCorners)
+ * Returns a polygon with \a numberOfCorners corners which approximates the circle.
+ *
+ * \sa QPointF
+ */
+QPolygonF Circle::approximate(int numberOfCorners)
+{
+    if ( numberOfCorners < 3)
+        return QPolygonF();
+
+    double rotationAngle = 2*M_PI/numberOfCorners;
+
+    QPolygonF polygon;
+    QPointF vertex(-_circleRadius,0); // initial vertex
+    polygon.append(vertex + _circleOrigin);
+    // rotate the vertex numberOfCorners-1 times add the origin and append to the polygon.
+    for(int i = 0; i < numberOfCorners; i++) {
+        rotatePoint(vertex, rotationAngle);
+        polygon.append(vertex + _circleOrigin);
+    }
+
+    return polygon;
+}
+
+/*!
+ * \class Circle
+ * \brief Provies a circle with radius and origin.
+ *
+ * \sa QPointF
+ */

src/Wima/Circle.h

+#pragma once
+
+#include <QObject>
+#include <QPointF>
+#include <QPolygonF>
+
+#include "PlanimetryCalculus.h"
+
+class Circle : public QObject, protected PlanimetryCalculus
+{
+    Q_OBJECT
+public:
+    Circle(QObject *parent = nullptr);
+    Circle(double radius = 0, QObject *parent = nullptr);
+    Circle(double radius = 0, QPointF origin = QPointF(0,0), QObject *parent = nullptr);
+    Circle(const Circle &other, QObject *parent = nullptr);
+    Circle &operator=(const Circle &other);
+
+    // Property setters
+    void setRadius(double radius);
+    void setOrigin(const QPointF &origin);
+
+    // Property getters
+    double radius() const;
+    QPointF origin() const;
+
+    // Member methodes
+    QPolygonF approximate(int numberOfCorners);
+
+signals:
+    void radiusChanged(double radius);
+    void originChanged(QPointF origin);
+
+private:
+    double  _circleRadius;
+    QPointF _circleOrigin;
+};
+

src/Wima/CircularSurveyComplexItem.cc

+#include "CircularSurveyComplexItem.h"
+
+
+const char* CircularSurveyComplexItem::settingsGroup =              "Survey";
+
+CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile, QObject *parent)
+    : TransectStyleComplexItem (vehicle, flyView, settingsGroup, parent)
+{
+
+}
+
+bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
+{
+    return TransectStyleComplexItem::load(complexObject, sequenceNumber, errorString);
+}
+
+void CircularSurveyComplexItem::save(QJsonArray &planItems)
+{
+    TransectStyleComplexItem::save(planItems);
+}
+
+void CircularSurveyComplexItem::appendMissionItems(QList<MissionItem *> &items, QObject *missionItemParent)
+{
+
+}
+
+void CircularSurveyComplexItem::applyNewAltitude(double newAltitude)
+{
+
+}
+
+double CircularSurveyComplexItem::timeBetweenShots()
+{
+    return 1;
+}
+
+bool CircularSurveyComplexItem::readyForSave() const
+{
+    return false;
+}
+
+double CircularSurveyComplexItem::additionalTimeDelay() const
+{
+    return 0;
+}
+
+void CircularSurveyComplexItem::_rebuildTransectsPhase1()
+{
+    _transects.clear();
+}
+
+void CircularSurveyComplexItem::_recalcComplexDistance()
+{
+
+}
+
+void CircularSurveyComplexItem::_recalcCameraShots()
+{
+
+}
+
+/*!
+    \class CircularSurveyComplexItem
+    \inmodule Wima
+
+    \brief The \c CircularSurveyComplexItem class provides a survey mission item with circular transects around a point of interest.
+
+    CircularSurveyComplexItem class provides a survey mission item with circular transects around a point of interest. Within the
+    \c Wima module it's used to scan a defined area with constant angle (circular transects) to the base station (point of interest).
+
+    \sa WimaArea
+*/

src/Wima/CircularSurveyComplexItem.h

+# pragma once
+
+#include "TransectStyleComplexItem.h"
+
+class CircularSurveyComplexItem :public TransectStyleComplexItem
+{
+    Q_OBJECT
+public:
+    /// @param vehicle Vehicle which this is being contructed for
+    /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
+    /// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
+    CircularSurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
+
+    // Overrides from ComplexMissionItem
+    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+    QString mapVisualQML        (void) const final { return QStringLiteral("SpericalSurveyMapVisual.qml"); }
+
+    // Overrides from TransectStyleComplexItem
+    void    save                (QJsonArray&  planItems) final;
+    bool    specifiesCoordinate (void) const final { return true; }
+    void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
+    void    applyNewAltitude    (double newAltitude) final;
+    double  timeBetweenShots    (void) final;
+
+    // Overrides from VisualMissionionItem
+    QString commandDescription  (void) const final { return tr("Spherical Survey"); }
+    QString commandName         (void) const final { return tr("SphericalSurvey"); }
+    QString abbreviation        (void) const final { return tr("Sph.S"); }
+    bool    readyForSave        (void) const final;
+    double  additionalTimeDelay (void) const final;
+
+    static const char* settingsGroup;
+
+private slots:
+    // Overrides from TransectStyleComplexItem
+    void _rebuildTransectsPhase1    (void) final;
+    void _recalcComplexDistance     (void) final;
+    void _recalcCameraShots         (void) final;
+};
+
+
+

src/Wima/PlanimetryCalculus.cc

+#include "PlanimetryCalculus.h"
+
+
+PlanimetryCalculus::PlanimetryCalculus()
+{
+
+}
+
+/*!
+    \fn void PlanimetryCalculus::rotatePoint(QPointF &point, double alpha)
+    Rotates the \a point counter clockwisely by the angle \a alpha (in radiants).
+*/
+void PlanimetryCalculus::rotatePoint(QPointF &point, double alpha)
+{
+    double x = point.x();
+    double y = point.y();
+
+    point.setX(x*qCos(alpha) - y*qSin(alpha));
+    point.setY(x*qSin(alpha) + y*qCos(alpha));
+}
+
+/*!
+    \fn void PlanimetryCalculus::rotatePointDegree(QPointF &point, double alpha)
+    Rotates the \a point counter clockwisely by the angle \a alpha (in degrees).
+*/
+void PlanimetryCalculus::rotatePointDegree(QPointF &point, double alpha)
+{
+    rotatePoint(point, alpha/180*M_PI);
+}
+
+/*!
+    \fn PlanimetryCalculus::IntersectType PlanimetryCalculus::intersects(const Circle &circle1, const Circle &circle2)
+    Returns the intersection type of the two cirles \a circle1 and \a circle2.
+
+    \sa Circle
+*/
+PlanimetryCalculus::IntersectType PlanimetryCalculus::intersects(const Circle &circle1, const Circle &circle2)
+{
+    double r1 = circle1.radius();
+    double r2 = circle2.radius();
+    double d = distance(circle1.origin(), circle2.origin());
+
+    //go on here
+}
+
+/*!
+    \fn double PlanimetryCalculus::distance(const QPointF &p1, const QPointF p2)
+    Calculates the distance (2-norm) between \a p1 and \a p2.
+    \sa QPointF
+*/
+double PlanimetryCalculus::distance(const QPointF &p1, const QPointF p2)
+{
+    double dx = p1.x()-p2.x();
+    double dy = p1.y()-p2.y();
+
+    return qSqrt(dx*dx+dy*dy);
+}
+
+/*!
+    \class PlanimetryCalculus
+    \inmodule Wima
+
+    \brief The \c PlanimetryCalculus class provides routines handy for planimetrical (2D) calculations.
+*/

src/Wima/PlanimetryCalculus.h

+#pragma once
+
+#include <QLineF>
+#include <QPointF>
+#include <QtMath>
+#include <QLineF>
+
+#include "Circle.h"
+class PlanimetryCalculus
+{
+public:
+    PlanimetryCalculus();
+
+    enum IntersectType{CircleInsideNoIntersection, CircleInsideTouching, CircleInsideIntersection,
+                       CircleOutsideIntersection, CircleOutsideTouching, CircleOutsideNoIntersection, //Circle Circle intersection
+
+                       NoIntersection, Tangent, Secant // Circle Line Intersetion
+                       };
+
+    void rotatePoint(QPointF &point, double alpha);
+    void rotatePointDegree(QPointF &point, double alpha);
+    IntersectType intersects(const Circle &circle1, const Circle &circle2);
+    IntersectType intersects(const Circle &circle, const QLineF &line);
+    double distance(const QPointF &p1, const QPointF p2);
+};
+

src/Wima/SphericalSurveyComplexItem.cc

+#include "CircularSurveyComplexItem.h"
+
+
+const char* CircularSurveyComplexItem::settingsGroup =              "Survey";
+
+CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile, QObject *parent)
+    : TransectStyleComplexItem (vehicle, flyView, settingsGroup, parent)
+{
+
+}
+
+bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
+{
+    return TransectStyleComplexItem::load(complexObject, sequenceNumber, errorString);
+}
+
+void CircularSurveyComplexItem::save(QJsonArray &planItems)
+{
+    TransectStyleComplexItem::save(planItems);
+}
+
+void CircularSurveyComplexItem::appendMissionItems(QList<MissionItem *> &items, QObject *missionItemParent)
+{
+
+}
+
+void CircularSurveyComplexItem::applyNewAltitude(double newAltitude)
+{
+
+}
+
+double CircularSurveyComplexItem::timeBetweenShots()
+{
+    return 1;
+}
+
+bool CircularSurveyComplexItem::readyForSave() const
+{
+    return false;
+}
+
+double CircularSurveyComplexItem::additionalTimeDelay() const
+{
+    return 0;
+}
+
+void CircularSurveyComplexItem::_rebuildTransectsPhase1()
+{
+
+}
+
+void CircularSurveyComplexItem::_recalcComplexDistance()
+{
+
+}
+
+void CircularSurveyComplexItem::_recalcCameraShots()
+{
+
+}
+
+/*!
+    \class CircularSurveyComplexItem
+    \inmodule Wima
+
+    \brief The \c CircularSurveyComplexItem class provides a survey mission item with circular transects around a point of interest.
+
+    CircularSurveyComplexItem class provides a survey mission item with circular transects around a point of interest. Within the
+    \c Wima module it's used to scan a defined area with constant angle (circular transects) to the base station (point of interest).
+
+    \sa WimaArea
+*/

src/Wima/SphericalSurveyComplexItem.h

+# pragma once
+
+#include "TransectStyleComplexItem.h"
+
+
+class CircularSurveyComplexItem :public TransectStyleComplexItem
+{
+    Q_OBJECT
+public:
+    /// @param vehicle Vehicle which this is being contructed for
+    /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
+    /// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
+    CircularSurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
+
+    // Overrides from ComplexMissionItem
+    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+    QString mapVisualQML        (void) const final { return QStringLiteral("SpericalSurveyMapVisual.qml"); }
+
+    // Overrides from TransectStyleComplexItem
+    void    save                (QJsonArray&  planItems) final;
+    bool    specifiesCoordinate (void) const final { return true; }
+    void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
+    void    applyNewAltitude    (double newAltitude) final;
+    double  timeBetweenShots    (void) final;
+
+    // Overrides from VisualMissionionItem
+    QString commandDescription  (void) const final { return tr("Spherical Survey"); }
+    QString commandName         (void) const final { return tr("SphericalSurvey"); }
+    QString abbreviation        (void) const final { return tr("Sph.S"); }
+    bool    readyForSave        (void) const final;
+    double  additionalTimeDelay (void) const final;
+
+    static const char* settingsGroup;
+
+private slots:
+    // Overrides from TransectStyleComplexItem
+    void _rebuildTransectsPhase1    (void) final;
+    void _recalcComplexDistance     (void) final;
+    void _recalcCameraShots         (void) final;
+};
+
+
+

src/Wima/WimaArea.cc

@@ -221,7 +221,7 @@ bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea, QStr
                     QGeoCoordinate protoCurrentVertex = intersectionList.value(minDistIndex);
                     // take numerical erros into account
                     if (protoCurrentVertex.distanceTo(currentVertex) > epsilonMeter) {
-                        currentVertex                   = protoCurrentVertexertexCoordinate;
+                        currentVertex                   = protoNextVertex;
                         QPair<int, int> neighbours      = neighbourList.value(minDistIndex);
                         protoNextVertex                 = crossPoly->vertexCoordinate(neighbours.second);
                         nextVertexIndex                 = neighbours.second;
@@ -668,7 +668,23 @@ void WimaArea::saveToJson(QJsonObject &json)
 bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
 {
     if ( this->QGCMapPolygon::loadFromJson(json, false /*no poly required*/, errorString) ) {
-        if ( json.contains(maxAltitudeName) && json[maxAltitudeName].isDouble()) {
+        if ( json.contains(maxAltitudeName) && json[maxAltitudeName].i// Overrides from ComplexMissionItem
+             bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+             QString mapVisualQML        (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
+
+             // Overrides from TransectStyleComplexItem
+             void    save                (QJsonArray&  planItems) final;
+             bool    specifiesCoordinate (void) const final { return true; }
+             void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
+             void    applyNewAltitude    (double newAltitude) final;
+             double  timeBetweenShots    (void) final;
+
+             // Overrides from VisualMissionionItem
+             QString commandDescription  (void) const final { return tr("Survey"); }
+             QString commandName         (void) const final { return tr("Survey"); }
+             QString abbreviation        (void) const final { return tr("S"); }
+             bool    readyForSave        (void) const final;
+             double  additionalTimeDelay (void) const final;sDouble()) {
             _maxAltitude = json[maxAltitudeName].toDouble();
             return true;
         } else {