RecordSwath Class Reference¶
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class
RecordSwath
¶ Records points of a sonar swath for analysis of the coverage and subsequent tracks.
Public Functions
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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
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void
ResetLine
()¶ Resets the storage for a new line.
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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
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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
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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
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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
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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
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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
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BoatSide
GetOutputSide
()¶ Gets the side on which minimum interval points are being processed
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double
IntervalDist
()¶ The distance between subsequent analysis intervals for swath minimums.
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bool
ValidRecord
()¶ Determines if the record has valid points for building a path.
Protected Functions
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void
MinInterval
()¶ Determines the minimum swath over the recorded interval and places it into a list of minimums.
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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
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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
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struct
SwathRecord
¶ Stores the location and width of one measured sonar swath.
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bool