CommandAreaPathGenerateForPictures.h

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#include "./Command.h"
#include "./ArtificialIntelligence/CscEntityReflexion.h"
#include "environmentEntitiesCommands.h"
#include "CommandCommons.h"
 
 
using namespace conscience_core::bridging::commands;
 
namespace conscience_core::bridging::commands::area_path_generate_for_pictures {
 
struct CSC_DLL_IMPORTEXPORT CommandAreaPathGenerateForPicturesParams {
public:
    CommandAreaPathGenerateForPicturesParams(); 
    CommandAreaPathGenerateForPicturesParams(
        ptr<CscEntityReflexion> entityReflexion, 
        vector<const CscPoint3d *> areaVertices, vector<vector<const CscPoint3d *>> holes, 
        double fovWidth, double fovHeight, int flightHeight, float overlapPercentage, const CscPoint3d *entityPosition, optional<bool> doNotPlay);
    
    const ptr<CscEntityReflexion> entityReflexion; 
    const vector<const CscPoint3d *> areaVertices;
    const vector<vector<const CscPoint3d *>> holes;
    const double fovWidth;
    const double fovHeight;
    const int flightHeight;
    const float overlapPercentage;
    const CscPoint3d *const entityPosition;
    const optional<bool> doNotPlay;
};
 
class CSC_DLL_IMPORTEXPORT CommandAreaPathGenerateForPictures : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "AREA_PATH_GENERATE_FOR_PICTURES";
 
    CommandAreaPathGenerateForPictures(ptr<CommandAreaPathGenerateForPicturesParams> params);
    ~CommandAreaPathGenerateForPictures() override;
 
    const ptr<CommandAreaPathGenerateForPicturesParams> params;
 
protected:
    ptr<CscEntityReflexion> getEntityReflexion() const override;
    const CscCommandExecutionResultSequence * doExecute(CscEnvironmentSimulator &environmentSimulator) override;
};
 
COMMAND_TYPE_BUILDER(CommandAreaPathGenerateForPictures, CscPoint3d, double, double, double)
COMMAND_TYPE_BUILDER(CommandAreaPathGenerateForPictures, CommandAreaPathGenerateForPicturesParams, ptr<CscEntityReflexion>, vector<const CscPoint3d *>, vector<vector<const CscPoint3d *>>, double, double, int, float, const CscPoint3d *, optional<bool>)
COMMAND_REGISTER(CommandAreaPathGenerateForPictures, ptr<CommandAreaPathGenerateForPicturesParams>)
 
CscSequencePositions *computeEntityPath(ptr<CommandAreaPathGenerateForPicturesParams> parameters, CscEnvironmentSimulator &environmentSimulator);
vector<CscPoint3d *> computeWaypoints(int numberOfLines, int numberOfColumns, const std::vector<const CscPoint3d*>& areaVertices, const vector<vector<const CscPoint3d *>>& holes, double photoAreaWidth, double photoAreaHeight);
CscPoint3d *createPoint(CscPoint3d* originPoint, int column, int line, double photoAreaWidth, double photoAreaHeight, bool goNorth);
bool isPointInExclusionArea(vector<vector<const CscPoint3d *>> holes, CscPoint3d *pathPoint);
}