#include <route_planner_base.h>

Public Member Functions
virtual std::vector< long long int >	computeBestRoute (const F2CGraph2D &cov_graph, bool show_log, long int time_limit_seconds, bool use_guided_local_search=true) const

virtual F2CGraph2D	createCoverageGraph (const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, F2CGraph2D &shortest_graph, double d_tol, bool redirect_swaths=true) const

virtual F2CGraph2D	createShortestGraph (const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, double d_tol) const

virtual F2CRoute	genRoute (const F2CCells &cells, const F2CSwathsByCells &swaths_by_cells, bool show_log=false, double d_tol=1e-4, bool redirect_swaths=true, long int time_limit_seconds=1, bool search_for_optimum=false)

void	setStartAndEndPoint (const F2CPoint &p)
	Set the start and the end of the route. More...

virtual F2CRoute	transformSolutionToRoute (const std::vector< long long int > &route_ids, const F2CSwathsByCells &swaths_by_cells, const F2CGraph2D &coverage_graph, F2CGraph2D &shortest_graph) const
	Tranform index of points to an actual Route. More...

virtual	~RoutePlannerBase ()=default

Protected Attributes
std::optional< F2CPoint >	r_start_end

Detailed Description

Definition at line 23 of file route_planner_base.h.

Constructor & Destructor Documentation

◆ ~RoutePlannerBase()

virtual f2c::rp::RoutePlannerBase::~RoutePlannerBase ( )

virtualdefault

Member Function Documentation

◆ computeBestRoute()

std::vector< long long int > f2c::rp::RoutePlannerBase::computeBestRoute	(	const F2CGraph2D &	cov_graph,
		bool	show_log,
		long int	time_limit_seconds,
		bool	use_guided_local_search = `true`
	)		const

virtual

Use the optimizer to generate the index of the points of the best coverage route.

Parameters

cov_graph	Graph representing the coverage problem
show_log	Whether to show optimization logs
time_limit_seconds	Maximum time to spend on optimization
use_guided_local_search	If true, uses guided local search which may take longer but can find more optimal solutions. If false, uses automatic search which is faster but may find less optimal solutions.

Definition at line 149 of file route_planner_base.cpp.

◆ createCoverageGraph()

F2CGraph2D f2c::rp::RoutePlannerBase::createCoverageGraph	(	const F2CCells &	cells,
		const F2CSwathsByCells &	swaths_by_cells,
		F2CGraph2D &	shortest_graph,
		double	d_tol,
		bool	redirect_swaths = `true`
	)		const

virtual

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.

Definition at line 91 of file route_planner_base.cpp.

◆ createShortestGraph()

F2CGraph2D f2c::rp::RoutePlannerBase::createShortestGraph	(	const F2CCells &	cells,
		const F2CSwathsByCells &	swaths_by_cells,
		double	d_tol
	)		const

virtual

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.

Definition at line 40 of file route_planner_base.cpp.

◆ genRoute()

F2CRoute f2c::rp::RoutePlannerBase::genRoute	(	const F2CCells &	cells,
		const F2CSwathsByCells &	swaths_by_cells,
		bool	show_log = `false`,
		double	d_tol = `1e-4`,
		bool	redirect_swaths = `true`,
		long int	time_limit_seconds = `1`,
		bool	search_for_optimum = `false`
	)

virtual

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.
redirect_swaths	Whether to allow redirecting swaths
time_limit_seconds	Maximum time to spend on optimization
search_for_optimum	If true, uses guided local search which may take longer but can find more optimal solutions. If false, uses automatic search which is faster but may find less optimal solutions.

Returns: Route that covers all the swaths

Definition at line 21 of file route_planner_base.cpp.

◆ setStartAndEndPoint()

void f2c::rp::RoutePlannerBase::setStartAndEndPoint ( const F2CPoint & p )

Set the start and the end of the route.

Definition at line 36 of file route_planner_base.cpp.

◆ transformSolutionToRoute()

F2CRoute f2c::rp::RoutePlannerBase::transformSolutionToRoute	(	const std::vector< long long int > &	route_ids,
		const F2CSwathsByCells &	swaths_by_cells,
		const F2CGraph2D &	coverage_graph,
		F2CGraph2D &	shortest_graph
	)		const

virtual

Tranform index of points to an actual Route.

Definition at line 193 of file route_planner_base.cpp.

Member Data Documentation

◆ r_start_end

std::optional<F2CPoint> f2c::rp::RoutePlannerBase::r_start_end

protected

Definition at line 92 of file route_planner_base.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~RoutePlannerBase()

Member Function Documentation

◆ computeBestRoute()

◆ createCoverageGraph()

◆ createShortestGraph()

◆ genRoute()

◆ setStartAndEndPoint()

◆ transformSolutionToRoute()

Member Data Documentation

◆ r_start_end