Class RoutePlannerBase
Defined in File route_planner_base.h
Class Documentation

class RoutePlannerBase
Public Functions

virtual F2CRoute genRoute(const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, bool show_log = false, double d_tol = 1e4, bool redirect_swaths = true)
Generate route to cover the swaths on a field.
If two consecutive swaths are far away, the route connects both through the headland.
 Parameters:
cells – Headland swath rings used to travel through the headlands
swaths_by_cells – Swaths to be covered.
show_log – Show log from the optimizer
d_tol – Tolerance distance to consider if two points are the same.
 Returns:
Route that covers all the swaths

virtual F2CGraph2D createShortestGraph(const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, double d_tol) const
Create graph to compute the shortest path between two points in the headlands.
 Parameters:
cells – Headland swath rings used to travel through the headlands
swaths_by_cells – Swaths to be covered.
d_tol – Tolerance distance to consider if two points are the same.

virtual F2CGraph2D createCoverageGraph(const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, F2CGraph2D &shortest_graph, double d_tol, bool redirect_swaths = true) const
Create graph to compute the cost of covering the swaths in a given order.
 Parameters:
cells – Headland swath rings used to travel through the headlands
swaths_by_cells – Swaths to be covered.
shortest_graph – Graph to compute the shortest path between two nodes.
d_tol – Tolerance distance to consider if two points are the same.

virtual ~RoutePlannerBase() = default

virtual F2CRoute genRoute(const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, bool show_log = false, double d_tol = 1e4, bool redirect_swaths = true)