public void GeneratePathToStartInfield()
{
//go to the startpoint
CDubins dubPathToStart = new CDubins();
CDubins.turningRadius = mf.vehicle.minTurningRadius * 1.2;
////get the dubins path vec3 point coordinates of turn
//dubList.Clear();
//dubList = dubPathToStart.GenerateDubins(endHeadlandPoint, startInfieldPoint, mf.bnd);
//transfer point list to genList class
for (int i = 0; i < dubList.Count; i++)
{
CGenPathPt pt = new CGenPathPt(dubList[i].easting, dubList[i].northing, dubList[i].heading);
if (i < 10)
{
pt.sequence = 1;
}
genList.Add(pt);
}
//made the path so set the flag
isPathToInfieldMade = true;
genListCount = genList.Count;
currentPositonIndex = 0;
isEndOfTheGenLine = false;
}
public void GeneratePathHome()
{
genList.Clear();
currentPositonIndex = 0;
isEndOfTheGenLine = false;
//go to the startpoint
CDubins dubPathToStart = new CDubins();
CDubins.turningRadius = mf.vehicle.minTurningRadius * 2.0;
////get the dubins path vec3 point coordinates of turn
//dubList.Clear();
//dubList = dubPathToStart.GenerateDubins(mf.pivotAxlePos, homePoint, mf.bnd);
//transfer point list to genList class
for (int i = 0; i < dubList.Count; i++)
{
CGenPathPt pt = new CGenPathPt(dubList[i].easting, dubList[i].northing, dubList[i].heading);
genList.Add(pt);
}
genListCount = genList.Count;
currentPositonIndex = 0;
//shut everything off
isDrivingHome = true;
}
public void GenerateHeadlandPath()
{
//first find out which side is inside the boundary
//insideOutside = glm.PIBy2;
//point.easting = mf.bnd.ptList[3].easting - (Math.Sin(insideOutside + mf.bnd.ptList[3].heading) * 2.0);
//point.northing = mf.bnd.ptList[3].northing - (Math.Cos(insideOutside + mf.bnd.ptList[3].heading) * 2.0);
//if (!mf.bnd.IsPointInsideBoundary(point)) insideOutside *= -1.0;
//keep copy of original position/heading
homePoint = mf.pivotAxlePos;
//clear the main list
genList.Clear();
for (int passNumber = 1; passNumber <= numHeadlandPasses; passNumber++)
{
//determine the start point of first headland -
accList.Clear();
BuildOneHeadlandPath((mf.vehicle.toolWidth - mf.vehicle.toolOverlap) * ((double)passNumber - 0.4));
startHeadlandPoint = accList[0];
CDubins dubPath = new CDubins();
CDubins.turningRadius = mf.vehicle.minTurningRadius * 1.2;
////get the dubins path vec3 point coordinates of turn
//dubList.Clear();
//if (passNumber == 1) dubList = dubPath.GenerateDubins(mf.pivotAxlePos, startHeadlandPoint, mf.bnd);
//else dubList = dubPath.GenerateDubins(endHeadlandPoint, startHeadlandPoint, mf.bnd);
//transfer point list to genList class
for (int i = 0; i < dubList.Count; i++)
{
CGenPathPt pt = new CGenPathPt(dubList[i].easting, dubList[i].northing, dubList[i].heading);
if (i < 5)
{
pt.sequence = 1;
}
genList.Add(pt);
}
for (int i = 0; i < accList.Count; i++)
{
CGenPathPt pt = new CGenPathPt(accList[i].easting, accList[i].northing, accList[i].heading);
if (i < 5)
{
pt.sequence = 2;
}
genList.Add(pt);
}
for (int i = 0; i < 5; i++)
{
CGenPathPt pt = new CGenPathPt(accList[i].easting, accList[i].northing, accList[i].heading);
genList.Add(pt);
}
endHeadlandPoint = accList[5];
}
genListCount = genList.Count;
currentPositonIndex = 0;
isEndOfTheGenLine = false;
}