RecordSwath Class Reference

class RecordSwath

Records points of a sonar swath for analysis of the coverage and subsequent tracks.

Public Functions

bool AddRecord(double swath_stbd, double swath_port, double loc_x, double loc_y, double heading, double depth)

Adds a recorded swath to the path.

Return
True if the record coverage was successfully added
Parameters
  • swath_stbd -

    Swath width to starboard

  • swath_port -

    Swath width to port

  • loc_x -

    X coordinate of position where record takes place

  • loc_y -

    Y coordinate of position

  • heading -

    Heading of the vessel at the time of recording

void ResetLine()

Resets the storage for a new line.

bool SaveLast()

Saves the last point to a record. This makes sure that the last swath (after crossing the boundary) is recorded so that it is included in planning.

Return
If the min_record is valid

XYSegList SwathOuterPts(BoatSide side)

Get all of the points on one side of the swath limits

Return
An ordered list of the points on the outside of the swath
Parameters
  • side -

    The side of the boat on which to return the swath

double SwathWidth(BoatSide side, unsigned int index)

Gets a specific width along a recorded decimated swath

Return
The swath width in meters
Parameters
  • side -

    Side of the boat on which the swath was recorded

  • index -

    Position of the desired swath

std::vector<double> AllSwathWidths(BoatSide side)

Gets all the minimum swath widths on a side (recorded at the set side)

Return
A vector of swath widths.
Parameters
  • side -

    The side from which to get swaths

XYPoint SwathLocation(unsigned int index)

Gets the x,y location of where a specific min swath was recorded

Return
XYPoint of recording location
Parameters
  • index -

    The index along the swath record

void SetOutputSide(BoatSide side)

Sets the side that will be used for outer point determination

Parameters
  • side -

    Side of the boat on which to generate outer swath points

BoatSide GetOutputSide()

Gets the side on which minimum interval points are being processed

double IntervalDist()

The distance between subsequent analysis intervals for swath minimums.

bool ValidRecord()

Determines if the record has valid points for building a path.

Protected Functions

void MinInterval()

Determines the minimum swath over the recorded interval and places it into a list of minimums.

XYPoint OuterPoint(const SwathRecord &record, BoatSide side)

Gets the x,y position of the edge of a swath from a record

Return
Location of the swath outer points
Parameters
  • record -

    The swath record to use for location and width

  • side -

    The side of the boat on which to project the swath

bool AddToCoverage(SwathRecord record)

Adds a record to the coverage model.

Return
Whether the record was able to be added sucessfully (no geometry errors).
Parameters
  • record -

    The record to add

struct SwathRecord

Stores the location and width of one measured sonar swath.