.. _program_listing_file_fields2cover.h:

Program Listing for File fields2cover.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_fields2cover.h>` (``fields2cover.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //=============================================================================
   //    Copyright (C) 2021-2024 Wageningen University - All Rights Reserved
   //                     Author: Gonzalo Mier
   //                        BSD-3 License
   //=============================================================================
   
   #pragma once
   #ifndef FIELDS2COVER_H_
   #define FIELDS2COVER_H_
   
   #include "fields2cover/types.h"
   
   
   #include "fields2cover/utils/random.h"
   #include "fields2cover/utils/spline.h"
   #include "fields2cover/utils/transformation.h"
   #include "fields2cover/utils/parser.h"
   #include "fields2cover/utils/visualizer.h"
   
   
   #include "fields2cover/objectives/base_objective.h"
   
   #include "fields2cover/objectives/hg_obj/hg_objective.h"
   #include "fields2cover/objectives/hg_obj/rem_area.h"
   
   #include "fields2cover/objectives/sg_obj/sg_objective.h"
   #include "fields2cover/objectives/sg_obj/n_swath.h"
   #include "fields2cover/objectives/sg_obj/n_swath_modified.h"
   #include "fields2cover/objectives/sg_obj/field_coverage.h"
   #include "fields2cover/objectives/sg_obj/overlaps.h"
   #include "fields2cover/objectives/sg_obj/swath_length.h"
   
   #include "fields2cover/objectives/rp_obj/rp_objective.h"
   #include "fields2cover/objectives/rp_obj/direct_dist_path_obj.h"
   #include "fields2cover/objectives/rp_obj/complete_turn_path_obj.h"
   
   #include "fields2cover/objectives/pp_obj/pp_objective.h"
   #include "fields2cover/objectives/pp_obj/path_length.h"
   
   #include "fields2cover/objectives/decomp_obj/decomp_objective.h"
   
   
   #include "fields2cover/decomposition/decomposition_base.h"
   #include "fields2cover/decomposition/trapezoidal_decomp.h"
   #include "fields2cover/decomposition/boustrophedon_decomp.h"
   
   #include "fields2cover/headland_generator/headland_generator_base.h"
   #include "fields2cover/headland_generator/constant_headland.h"
   
   #include "fields2cover/swath_generator/swath_generator_base.h"
   #include "fields2cover/swath_generator/brute_force.h"
   
   
   #include "fields2cover/route_planning/single_cell_swaths_order_base.h"
   #include "fields2cover/route_planning/boustrophedon_order.h"
   #include "fields2cover/route_planning/snake_order.h"
   #include "fields2cover/route_planning/spiral_order.h"
   #include "fields2cover/route_planning/custom_order.h"
   
   #include "fields2cover/route_planning/route_planner_base.h"
   
   #include "fields2cover/path_planning/turning_base.h"
   #include "fields2cover/path_planning/dubins_curves.h"
   #include "fields2cover/path_planning/dubins_curves_cc.h"
   #include "fields2cover/path_planning/reeds_shepp_curves.h"
   #include "fields2cover/path_planning/reeds_shepp_curves_hc.h"
   #include "fields2cover/path_planning/path_planning.h"
   
   
   namespace f2c {
   
   
   namespace types {}
   
   namespace obj {}
   
   namespace sg {}
   
   enum class SGAlg {
     BRUTE_FORCE = 0,  //Default
     GIVEN_ANGLE = 1,
   };
   
   enum class SGObjFunc {
     N_SWATH_MOD = 0,  // Default
     N_SWATH = 1,
     SWATH_LENGTH = 2,
     FIELD_COV = 3,
     OVERLAPS = 4,
   };
   
   namespace rp {}
   
   enum class RPAlg {
     SHORTEST_ROUTE = 0,  // Default
     //BOUSTROPHEDON = 1,
     //SNAKE = 2,
     //SPIRAL = 3,
     //CUSTOM = 4,
   };
   
   namespace pp {}
   
   enum class PPAlg {
     DUBINS = 0,  // Default
     DUBINS_CC = 1,
     REEDS_SHEPP = 2,
     REEDS_SHEPP_HC = 3,
   };
   
   
   namespace hg {}
   
   enum class HGAlg {
     NONE = 0,
     CONST = 1,  // Default
   };
   
   
   namespace decomp {}
   
   enum class DecompAlg {
     NONE = 0,  // Default
     // TRAPEZOIDAL = 1,
     // BOUSTROPHEDON = 2,
   };
   
   struct Options {
     DecompAlg decomp_alg {DecompAlg::NONE};
     double decomp_angle {0.0};
   
     HGAlg hg_alg {HGAlg::CONST};
     int hg_swaths {3};
   
     SGAlg sg_alg {SGAlg::BRUTE_FORCE};
     SGObjFunc sg_obj {SGObjFunc::N_SWATH_MOD};
     double sg_angle {0.0};
   
     RPAlg rp_alg {RPAlg::SHORTEST_ROUTE};
   
     PPAlg pp_alg {PPAlg::DUBINS};
   };
   
   F2CRoute planCovRoute(const F2CRobot& robot, const F2CCell& cell,
       const Options& opt = Options());
   F2CRoute planCovRoute(const F2CRobot& robot, const F2CCells& cells,
       const Options& opt = Options());
   F2CRoute planCovRoute(const F2CRobot& robot, const F2CField& field,
       bool local_crs);
   F2CRoute planCovRoute(const F2CRobot& robot, const F2CField& field,
       const Options& opt = Options(), bool local_crs = true);
   F2CPath planCovPath(const F2CRobot& robot, const F2CCell& cell,
       const Options& opt = Options());
   F2CPath planCovPath(const F2CRobot& robot, const F2CCells& cells,
       const Options& opt = Options());
   F2CPath planCovPath(const F2CRobot& robot, const F2CField& field,
       bool local_crs);
   F2CPath planCovPath(const F2CRobot& robot, const F2CField& field,
       const Options& opt = Options(), bool local_crs = true);
   
   }  // namespace f2c
   
   #endif  // FIELDS2COVER_H_