Tutorials

On these tutorials, we will learn how to create a coverage path for a field. Fields2Cover library is made by several modules. Each of them solves an individual part of the Coverage Path Planning (CPP) problem. Here, we will learn how to concatenate them to solve the CPP.

All the code examples shown in the tutorials are located on the tutorials folder.

Moreover, tutorials are compiled automatically with the project. If you want to run the examples, go to your build folder and run:

sudo chmod a+rwx tutorials/*
./tutorials/<name-of-the-tutorial>

Computed images will appear in the same folder as you are now.

• Part 1: Basic types
  • Initialize a F2CPoint
  • Basic types are shared pointers
  • Initialize a F2CLineString
  • Initialize a F2CLinearRing
  • Initializing other collections
  • Accessing elements in collections
  • F2CRobot
  • F2CSwath, F2CSwaths and F2CSwathsByCells
  • F2CRoute
  • F2CPath
  • Visualizing Fields2Cover data
• Part 2: Objective functions
  • Decomp objective functions
  • HG objective functions
    • Remaining area
  • SG objective functions
    • Field coverage
    • Number of swaths
    • Overlap
    • Swath Length
  • RP objective functions
    • Distance with turns
    • Direct distance without turns
  • PP objective functions
    • Path length
• Part 3: Headland generator
  • Constant width headland
• Part 4: Swath generator
  • Brute force
• Part 5: Route planning
  • Metaheuristics for route planning
  • Known patterns
    • Boustrophedon order
    • Snake order
    • Spiral order
    • Custom order
• Part 6: Path planning
  • Dubins curves
  • Dubins curves with Continuous curvature
  • Reeds-Shepp curves
  • Reeds-Shepp curves with Continuous curvature
• Part 7: Cell Decomposition
  • When/Why decompose?
  • Decomposition and Route planner
• Part 8: Complete flow
  • Import a field
  • Transform to UTM
  • Create path
  • Move the path back to previous CRS