Class ConstHL
Defined in File constant_headland.h
Inheritance Relationships
Base Type
public f2c::hg::HeadlandGeneratorBase(Class HeadlandGeneratorBase)
Class Documentation
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class ConstHL : public f2c::hg::HeadlandGeneratorBase
Class to generate headlands with equal width in each border.
Public Functions
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virtual F2CCells generateHeadlands(const F2CCells &field, double dist_headland) override
Generate headland area of the field at a given distance from borders.
- Parameters:
field – Borders of the field and the obstacles on it.
dist_headland – Distance between exterior and interior borders of the headlands.
- Returns:
Mainland area
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virtual F2CCells generateHeadlandArea(const F2CCells &field, double swath_width, int n_swaths) override
Generate headland area of the field for a given number of swaths with given width.
- Parameters:
field – Borders of the field and the obstacles on it.
swath_width – Width of each headland swath.
n_swaths – Number of headland swaths.
- Returns:
Headland area
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virtual std::vector<F2CCells> generateHeadlandSwaths(const F2CCells &field, double swath_width, int n_swaths, bool dir_out2in = true) override
Generate headland swaths of the field for a given number of swaths with given width.
- Parameters:
field – Borders of the field and the obstacles on it.
swath_width – Width of each headland swath.
n_swaths – Number of headland swaths.
dir_out2in – When true, headland swaths are created from outer borders to inner borders. Otherwise, they are created from inner borders to outers.
- Returns:
Vector of size n_swaths for each headland swath. Each F2CLinearRing on it is a headland swath ring.
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F2CCells generateHeadlands(const F2CCell &field, const F2CRobot &robot, double track_ang)
Get the regions of a cell without the headlands the robot needs to turn.
- Parameters:
field – Borders of the cell and the obstacles on it.
robot – Robot doing the coverage.
track_ang – Angle of the swaths on the cell.
- Returns:
Mainland area
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F2CCells generateHeadlands(const F2CCells &field, const F2CRobot &robot, const std::vector<double> &track_angs)
Get the regions of the field without the headlands the robot needs.
- Parameters:
field – Borders of the field and the obstacles on it.
robot – Robot doing the coverage.
track_angs – Angle of the swaths on each cell.
- Returns:
Mainland area
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F2CCells generateHeadlands(const F2CCells &field, double dist_headland) = 0
Get the regions of the field without headlands.
- Parameters:
_field – Original field
_dist_headland – Width of the headland
- Returns:
Field without headlands
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virtual F2CCells generateHeadlands(const F2CCell &field, const F2CRobot &robot, double track_ang)
Get the regions of a cell without the headlands the robot needs to turn.
- Parameters:
field – Borders of the cell and the obstacles on it.
robot – Robot doing the coverage.
track_ang – Angle of the swaths on the cell.
- Returns:
Mainland area
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virtual F2CCells generateHeadlands(const F2CCells &field, const F2CRobot &robot, const std::vector<double> &track_angs)
Get the regions of the field without the headlands the robot needs.
- Parameters:
field – Borders of the field and the obstacles on it.
robot – Robot doing the coverage.
track_angs – Angle of the swaths on each cell.
- Returns:
Mainland area
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virtual F2CCells generateHeadlands(const F2CCells &field, double dist_headland) override