/// <summary>
/// returns a list of nearby points
/// </summary>
/// <param name="longitude"></param>
/// <param name="latitude"></param>
/// <param name="radius_mm"></param>
/// <returns></returns>
public ArrayList isNear(float longitude, float latitude, float radius_mm)
{
ArrayList result = new ArrayList();
for (int i = 0; i < Points.Count; i++)
{
kmlPlacemarkPoint pt = (kmlPlacemarkPoint)Points[i];
if (pt.DistanceTo(longitude, latitude) < radius_mm)
{
result.Add(pt.Name);
}
}
return(result);
}
/// <summary>
/// returns the point with the given location name
/// </summary>
/// <param name="location_name"></param>
/// <returns></returns>
public kmlPlacemarkPoint GetPoint(String location_name)
{
kmlPlacemarkPoint pt = null;
int i = 0;
while ((i < Points.Count) && (pt == null))
{
kmlPlacemarkPoint p = (kmlPlacemarkPoint)Points[i];
if (p.Name == location_name)
{
pt = p;
}
i++;
}
return(pt);
}
/// <summary>
/// return an xml element
/// </summary>
/// <param name="doc">xml document to add the data to</param>
/// <returns>an xml element</returns>
public XmlElement getXml(XmlDocument doc)
{
XmlElement elem = doc.CreateElement("Document");
doc.DocumentElement.AppendChild(elem);
xml.AddTextElement(doc, elem, "name", Name);
xml.AddTextElement(doc, elem, "description", Description);
if (Polygons.Count > 0)
{
XmlElement elemPoly = doc.CreateElement("Polygons");
elem.AppendChild(elemPoly);
for (int i = 0; i < Polygons.Count; i++)
{
kmlPlacemarkPolygon poly = (kmlPlacemarkPolygon)Polygons[i];
elemPoly.AppendChild(poly.getXml(doc));
}
}
if (Points.Count > 0)
{
XmlElement elemPoints = doc.CreateElement("Points");
elem.AppendChild(elemPoints);
for (int i = 0; i < Points.Count; i++)
{
kmlPlacemarkPoint pt = (kmlPlacemarkPoint)Points[i];
elemPoints.AppendChild(pt.getXml(doc));
}
}
if (Paths.Count > 0)
{
XmlElement elemPaths = doc.CreateElement("Paths");
elem.AppendChild(elemPaths);
for (int i = 0; i < Paths.Count; i++)
{
kmlPlacemarkPath path = (kmlPlacemarkPath)Paths[i];
elemPaths.AppendChild(path.getXml(doc));
}
}
return(elem);
}
/// <summary>
/// parse an xml node to extract data
/// </summary>
/// <param name="xnod"></param>
/// <param name="level"></param>
public void LoadFromXml(XmlNode xnod, int level, String ObjectType)
{
XmlNode xnodWorking;
if (xnod.Name == "name")
Name = xnod.InnerText;
if (xnod.Name == "description")
Description = xnod.InnerText;
if (xnod.Name == "Polygons")
{
ObjectType = xnod.Name;
Polygons.Clear();
}
if (xnod.Name == "Points")
{
ObjectType = xnod.Name;
Points.Clear();
}
if (xnod.Name == "Paths")
{
ObjectType = xnod.Name;
Paths.Clear();
}
if (xnod.Name == "Placemark")
{
if (ObjectType == "Polygons")
{
kmlPlacemarkPolygon poly = new kmlPlacemarkPolygon();
poly.LoadFromXml(xnod, level);
Polygons.Add(poly);
}
if (ObjectType == "Points")
{
kmlPlacemarkPoint pt = new kmlPlacemarkPoint();
pt.LoadFromXml(xnod, level);
Points.Add(pt);
}
if (xnod.Name == "Paths")
{
kmlPlacemarkPath path = new kmlPlacemarkPath();
path.LoadFromXml(xnod, level);
Paths.Add(path);
}
}
// call recursively on all children of the current node
if (xnod.HasChildNodes)
{
xnodWorking = xnod.FirstChild;
while (xnodWorking != null)
{
LoadFromXml(xnodWorking, level + 1, ObjectType);
xnodWorking = xnodWorking.NextSibling;
}
}
}
public void Add(kmlPlacemarkPoint pt)
{
Points.Add(pt);
}
/// <summary>
/// add a waypoint at the specified position
/// </summary>
/// <param name="name"></param>
/// <param name="position_x_mm"></param>
/// <param name="position_y_mm"></param>
public void AddWaypoint(String name, float position_x_mm, float position_y_mm)
{
kmlPlacemarkPoint waypoint = new kmlPlacemarkPoint();
waypoint.SetPositionMillimetres(position_x_mm, position_y_mm);
worksites.Add(waypoint);
SaveWorkSite("worksites.kml");
}
/// <summary>
/// adds a waypoint for the current robot position to the set of work sites
/// </summary>
/// <param name="name"></param>
public void AddWaypoint(String name)
{
kmlPlacemarkPoint waypoint = new kmlPlacemarkPoint();
waypoint.SetPositionMillimetres(x, y);
worksites.Add(waypoint);
SaveWorkSite("worksites.kml");
}
/// <summary>
/// parse an xml node to extract data
/// </summary>
/// <param name="xnod"></param>
/// <param name="level"></param>
public void LoadFromXml(XmlNode xnod, int level, String ObjectType)
{
XmlNode xnodWorking;
if (xnod.Name == "name")
{
Name = xnod.InnerText;
}
if (xnod.Name == "description")
{
Description = xnod.InnerText;
}
if (xnod.Name == "Polygons")
{
ObjectType = xnod.Name;
Polygons.Clear();
}
if (xnod.Name == "Points")
{
ObjectType = xnod.Name;
Points.Clear();
}
if (xnod.Name == "Paths")
{
ObjectType = xnod.Name;
Paths.Clear();
}
if (xnod.Name == "Placemark")
{
if (ObjectType == "Polygons")
{
kmlPlacemarkPolygon poly = new kmlPlacemarkPolygon();
poly.LoadFromXml(xnod, level);
Polygons.Add(poly);
}
if (ObjectType == "Points")
{
kmlPlacemarkPoint pt = new kmlPlacemarkPoint();
pt.LoadFromXml(xnod, level);
Points.Add(pt);
}
if (xnod.Name == "Paths")
{
kmlPlacemarkPath path = new kmlPlacemarkPath();
path.LoadFromXml(xnod, level);
Paths.Add(path);
}
}
// call recursively on all children of the current node
if (xnod.HasChildNodes)
{
xnodWorking = xnod.FirstChild;
while (xnodWorking != null)
{
LoadFromXml(xnodWorking, level + 1, ObjectType);
xnodWorking = xnodWorking.NextSibling;
}
}
}
public void Add(kmlPlacemarkPoint pt)
{
Points.Add(pt);
}
