Class HeadlandGeneratorBase

Inheritance Relationships

Derived Types

Class Documentation

class HeadlandGeneratorBase

Base class to generate the headlands.

Subclassed by f2c::hg::ConstHL, f2c::hg::CorridorHL, f2c::hg::ReqHL

Public Functions

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

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

double maxHLWidthRequired(const F2CRobot &robot) const

Width of the headland a robot can need on a border, at worst.

virtual 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

virtual F2CCells generateHeadlandArea(const F2CCells &field, double swath_width, int n_swaths) = 0

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

virtual std::vector<F2CCells> generateHeadlandSwaths(const F2CCells &field, double swath_width, int n_swaths, bool dir_out2in = true) = 0

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.

virtual ~HeadlandGeneratorBase() = default