Utility for computational geometry. More...

#include <cgutil.hpp>
#include <array>
#include <string>
#include <unordered_map>
#include <boost/range/adaptor/indexed.hpp>
#include <boost/range/adaptor/reversed.hpp>
#include <std_msgs/Float64.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Polygon.h>
#include "cpp_uav/Torres16.h"

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Classes
struct	Direction
	Storage for line sweep direction. More...

Functions
bool	isClockWise (const PointVector &path)
	Checks if given path is clockwise (the first turn made to the left) or not. More...

Direction	identifyOptimalSweepDir (const PointVector &polygon)
	Calculates line sweep direction for given polygon. More...

PointVector	reshapePath (const PointVector &path, double padding)
	Reshape given path. More...

bool	computeConvexCoverage (const PointVector &polygon, double footprintWidth, double horizontalOverwrap, const Direction &sweepDirection, PointVector &path)
	Compute coverage path for convex polygon. More...

bool	computeConvexCoverage (const PointVector &polygon, double footprintWidth, double horizontalOverwrap, PointVector &path)
	Compute coverage path for convex polygon. More...

double	calculatePathLength (const PointVector &path)
	Calculates length of path. More...

PointVector	computeCCWPath (PointVector path)
	Return counter clock wise-ed path of given path. More...

PointVector	computeOppositePath (const PointVector &path)
	Return opposite path of given path. More...

PointVector	identifyOptimalAlternative (const PointVector &polygon, const PointVector &path, const geometry_msgs::Point &start, const geometry_msgs::Point &end)
	Identify optimal path from 4 coverage alternatives. More...

PointVector	identifyOptimalAlternative (const PointVector &polygon, const PointVector &path, const geometry_msgs::Point &start)
	Identify optimal path from 4 coverage alternatives. More...

bool	findSecondOptimalPath (const PointVector &polygon, double footprintWidth, double horizontalOverwrap, PointVector &path)
	Find second optimal path. More...

bool	isAdjacent (const PointVector &polygon1, const PointVector &polygon2)
	Check if given two polygons are adjacent. More...

PointVector	computeMultiplePolygonCoverage (std::vector< PointVector > subPolygons, double footprintWidth, double horizontalOverwrap, int adjacencyCriteria=1)
	Compute coverage path for multiple convex polygons. More...

Detailed Description

Utility for computational geometry.

Header file for torres_etal_2016.cpp.

Author: Takaki Ueno

Definition in file torres_etal_2016.hpp.

Function Documentation

double calculatePathLength ( const PointVector & path )

Calculates length of path.

Parameters

path

Returns: double Length of path

Definition at line 380 of file torres_etal_2016.hpp.

PointVector computeCCWPath ( PointVector path )

Return counter clock wise-ed path of given path.

Parameters

path	Clockwise path

Returns: PointVector Counter clock wise version of given path

Definition at line 400 of file torres_etal_2016.hpp.

bool computeConvexCoverage	(	const PointVector &	polygon,
		double	footprintWidth,
		double	horizontalOverwrap,
		const Direction &	sweepDirection,
		PointVector &	path
	)

Compute coverage path for convex polygon.

Parameters

polygon	Coverage path is calculated on this region
footprintWidth	Width of the area taken by one sweep
horizontalOverwrap	Horizontal overwrap of each sweep
sweepDirection
path	Path of coverage path

Returns: bool True if path does not intersect with polygon

Definition at line 260 of file torres_etal_2016.hpp.

bool computeConvexCoverage	(	const PointVector &	polygon,
		double	footprintWidth,
		double	horizontalOverwrap,
		PointVector &	path
	)

Compute coverage path for convex polygon.

Parameters

polygon	Coverage path is calculated on this region
footprintWidth	Width of the area taken by one sweep
horizontalOverwrap	Horizontal overwrap of each sweep
path	Path of coverage path

Returns: bool True if path does not intersect with polygon

Definition at line 368 of file torres_etal_2016.hpp.

PointVector computeMultiplePolygonCoverage	(	std::vector< PointVector >	subPolygons,
		double	footprintWidth,
		double	horizontalOverwrap,
		int	adjacencyCriteria = `1`
	)

Compute coverage path for multiple convex polygons.

Parameters

subPolygons
footprintWidth
horizontalOverwrap
adjacencyCriteria	Ignore paths which have less adjacent polygons than this number

Returns: PointVector Computed Path

See section 6.2 of torres et al. 2016 for the detail

Definition at line 634 of file torres_etal_2016.hpp.

PointVector computeOppositePath ( const PointVector & path )

Return opposite path of given path.

Parameters

path

Returns: PointVector Path with points of reversed order of given path

Definition at line 425 of file torres_etal_2016.hpp.

bool findSecondOptimalPath	(	const PointVector &	polygon,
		double	footprintWidth,
		double	horizontalOverwrap,
		PointVector &	path
	)

Find second optimal path.

Parameters

polygon
footprintWidth
horizontalOverwrap
path

Returns: bool True if second optimal path exists

Definition at line 547 of file torres_etal_2016.hpp.

PointVector identifyOptimalAlternative	(	const PointVector &	polygon,
		const PointVector &	path,
		const geometry_msgs::Point &	start,
		const geometry_msgs::Point &	end
	)

Identify optimal path from 4 coverage alternatives.

Parameters

polygon
path
start	Start point
end	End point

Returns: PointVector Optimal path that minimizes the length of path

The naming of the following variable follows torres et al. 2016

Definition at line 447 of file torres_etal_2016.hpp.

PointVector identifyOptimalAlternative	(	const PointVector &	polygon,
		const PointVector &	path,
		const geometry_msgs::Point &	start
	)

Identify optimal path from 4 coverage alternatives.

Parameters

polygon
path
start	Start point

Returns: PointVector Optimal path that minimizes the length of path

The naming of the following variable follows torres et al. 2016

Definition at line 533 of file torres_etal_2016.hpp.

Direction identifyOptimalSweepDir ( const PointVector & polygon )

Calculates line sweep direction for given polygon.

Parameters

polygon Line sweep direction is calculated on this region

Returns: direction Struct containing edge and vertex

Definition at line 65 of file torres_etal_2016.hpp.

bool isAdjacent	(	const PointVector &	polygon1,
		const PointVector &	polygon2
	)

Check if given two polygons are adjacent.

Parameters

polygon1
polygon2

Returns: True if given two polygons are adjacent

Definition at line 609 of file torres_etal_2016.hpp.

bool isClockWise ( const PointVector & path )

inline

Checks if given path is clockwise (the first turn made to the left) or not.

Parameters

path

Returns: bool True if path is clockwise

the definition of "clockwise" is based on Fig.8 in Torres et al. 2016

Definition at line 55 of file torres_etal_2016.hpp.

PointVector reshapePath	(	const PointVector &	path,
		double	padding
	)

Reshape given path.

Parameters

path	The sweep lines of path should be horizontal about x axis
padding

Returns: PointVector

Reshape given path so that generated path becomes the sequence of "C" shapes and add padding

Definition at line 134 of file torres_etal_2016.hpp.

Classes

Functions

Detailed Description

Function Documentation