PathPlan Class Reference¶
Plans a path for surveying based on a recorded path and swath.
Paths are offset and processed to give a valid vehicle path
- Author
- Damian Manda
- Date
- 25 Feb 2016
- Copyright
- MIT License
Typedefs
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typedef Eigen::Matrix<double, 2, Eigen::Dynamic>
EPointList¶
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typedef Eigen::Vector2d
EPoint¶
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typedef std::valarray<std::size_t>
SegIndex¶
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typedef boost::geometry::model::d2::point_xy<double>
BPoint¶
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struct
XYPt¶ - #include <PathPlan.h>
Defines a simple point, for better memory use in lists.
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class
PathPlan¶ - #include <PathPlan.h>
Plans a subsequent survey path offset from existing coverage.
Public Functions
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PathPlan(const RecordSwath &last_swath, BoatSide side, BPolygon op_region, double margin = 0.2, double max_bend_angle = 60, bool restrict_to_region = true)¶
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~PathPlan()¶
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XYSegList
GenerateNextPath()¶ Generates an offset path
- Return
- The path in MOOS XYSegList format;
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void
RemoveAll(std::function<void(std::list<Eigen::Vector2d>&)> process, std::list<Eigen::Vector2d> &path_points, )¶ The Damian Repeats a process until it makes no more changes to the path Currently does not make a copy of the passed input, may want to reconsider this
- Parameters
process-Likes The Damian
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void
RemoveBends(std::list<EPoint> &path_pts)¶ Check for drastic angles between segments
- Parameters
path_pts-Note that this goes to the last point being checked
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void
RestrictToRegion(std::list<EPoint> &path_pts)¶ Restricts a path to the region by simply eliminating points outside the region specified by m_op_region.
- Parameters
path_pts-The path to process, passed by reference
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std::pair<bool, bool>
ClipToRegion(std::list<EPoint> &path_pts)¶ Clips a path to the region, eliminating points outside
- Return
- A pair with whether the <beginning, end> was clipped. If false, means the path was already inside the polygon.
- Parameters
path_pts-The path to clip, passed by reference
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void
ExtendToEdge(std::list<EPoint> &path_pts, bool begin)¶ Extends a path to meet the edges of a region if it does not already. Adds to the last segment, extending it as a ray from the end. Can extend either the beginning or the end of the path.
- Parameters
path_pts-The path to process
begin-True to process the beginning, false to process the end
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std::pair<double, EPoint>
FindNearestIntersect(EPoint ray_vec, EPoint starting_pt, BPolygon &poly)¶ Finds the closest intersection of a ray with a polygon
- Parameters
ray_vec-EPoint(dx,dy)
start_pt-EPoint(x,y)
poly-BPolygon([(x1,y1), (x2,y2), ...])
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std::pair<bool, EPoint>
IntersectRaySegment(EPoint ray_vector, EPoint start_pt, std::pair<BPoint, BPoint> segment)¶ Finds the intersection point of a ray with a segment, if it exists. Derived from: http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect/565282#565282
- Return
- <intersection exists, Intersection point, if exists>
- Parameters
ray_vector-The vector describing the direction of the ray
start_pt-Starting location of the ray
segment-Segment to test for intersection
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double
Cross2d(EPoint vec1, EPoint vec2)¶ Replicates the functionality of 2d cross product from numpy. This is the z component of a cross product (which does not require a z input).
- Return
- The z component of the cross product
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EPoint
VectorFromSegment(const std::vector<EPoint> &points, SegIndex segment)¶ Determines a vector (segment) <x, y> from points at the indicies provided by the second argument.
- Return
- A segment vector between the selected points.
- Parameters
points-The list from which to select points for the segment
segment-The beginning and end of the segment.
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std::list<XYPt>
SegListToXYPt(const XYSegList &to_convert)¶ Converts an XYSeglist to a std::list of simple points (XYPt).
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XYSegList
XYPtToSegList(const std::list<XYPt> &to_convert)¶ Converts a std::list of simple points (XYPt) to a MOOS XYSegList.
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XYSegList
VectorListToSegList(const std::list<Eigen::Vector2d> &to_convert)¶ Converts a std::list of Eigen points (vectors) to a MOOS XYSegList.
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XYSegList
GetRawPath()¶
Public Static Functions
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void
RemoveIntersects(std::list<EPoint> &path_pts)¶ Removes intersecting segments from a line.
Removes the points between the first point of an intersecting segment and the last point of the final segment it intersects in the line.
- Parameters
path_pts-The line from which to remove intersecting segments.
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bool
CCW(EPoint A, EPoint B, EPoint C)¶ Determines whether segments are counter clockwise in smalles angle with respect to each other.
- Return
- True if rotate CCW from AB to BC.
- Parameters
A-First point (end point)
B-Middle point
C-Last point (end point)
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bool
Intersect(EPoint A, EPoint B, EPoint C, EPoint D)¶ Determines if the segment AB intersects CD
- Return
- True if the segments intersect
- Parameters
A-First point of first segment
B-Second point of first segment
C-First point of second segment
D-Second point of second segment
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double
VectorAngle(EPoint vector1, EPoint vector2)¶ Determines the angle between two vectors
tan(ang) = |(axb)|/(a.b) cos(ang) = (a.b)/(||a||*||b||)
- Return
- Angle between the vectors in degrees
- Parameters
vector1-First vector
vector2-Second vector
- template <typename T>
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static void
SelectIndicies(std::list<T> &select_from, std::list<std::size_t> to_select)¶ Selects specific elements from a list by index.
Replicates the select by index functionality of numpy or armadillo or dyND.
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