public COVERAGE_TYPE polygonGeometry()
{
///////////////////////////////////////////////////////////////////////
// get the mean polygon location and the polygon area
// convert all vertices to UTM
// get the UTM zone that will be used
// get recangular bounding box
// determine the orientation of the point-scatter covariance ellipse
///////////////////////////////////////////////////////////////////////
utm = new UTM2Geodetic(); //class for LL to UTM conversion
for (int i = 0; i < polygons.Count; i++)
{
//local copy of the polygon -- re-inserted into the polygon list at the end of this procedure
Polygon p = polygons[i];
int numLatLonPoints = p.latitudeDeg.Count;
//mean Northing and Easting from mean lat/lon -- also use this to get the UTMZone that will be held fixed for this polygon
p.meanNorthing = 0.0;
p.meanEasting = 0.0;
//NOTE: get the UTMZone here (for the polygon mean location) that will be used for the whole project
utm.LLtoUTM(p.meanLatDeg * Deg2Rad, p.meanLonDeg * Deg2Rad, ref p.meanNorthing, ref p.meanEasting, ref p.UTMZone, false);
//the UTM zone will be held constant across the polygon points -- deals with polys that cross UTM zones
//get the Northing and Easting from the lat/lon poly points
double northing = 0.0, easting = 0.0;
p.maxNorthing = -9999999.0; p.maxEasting = -999999999.0; p.minNorthing = 999999999.0; p.minEasting = 99999999999.0;
p.maxLatDeg = -99999.0; p.maxLonDeg = -9999999.0; p.minLatDeg = 99999.0; p.minLonDeg = 999999.0;
double CovXX = 0.0, CovYY = 0.0, CovXY = 0.0; //covariance of the UTM poly points
for (int ipnts = 0; ipnts < numLatLonPoints; ipnts++)
{
utm.LLtoUTM(p.latitudeDeg[ipnts] * Deg2Rad, p.longitudeDeg[ipnts] * Deg2Rad, ref northing, ref easting, ref p.UTMZone, true);
p.Northing.Add(northing); p.Easting.Add(easting);
if (northing > p.maxNorthing) p.maxNorthing = northing;
if (northing < p.minNorthing) p.minNorthing = northing;
if (easting > p.maxEasting) p.maxEasting = easting;
if (easting < p.minEasting) p.minEasting = easting;
if (p.latitudeDeg[ipnts] > p.maxLatDeg) p.maxLatDeg = p.latitudeDeg[ipnts];
if (p.latitudeDeg[ipnts] < p.minLatDeg) p.minLatDeg = p.latitudeDeg[ipnts];
if (p.longitudeDeg[ipnts] > p.maxLonDeg) p.maxLonDeg = p.longitudeDeg[ipnts];
if (p.longitudeDeg[ipnts] < p.minLonDeg) p.minLonDeg = p.longitudeDeg[ipnts];
//covariance elements used to compute the principal axes of the polygon
//here we are assuming a north (X), east (Y), down (Z) corrdinatate system
CovYY += (easting - p.meanEasting) * (easting - p.meanEasting);
CovXX += (northing - p.meanNorthing) * (northing - p.meanNorthing);
CovXY += (easting - p.meanEasting) * (northing - p.meanNorthing);
}
CovYY /= 1000*numLatLonPoints;
CovXX /= 1000*numLatLonPoints;
CovXY /= 1000*numLatLonPoints;
//Compute the orientation of the principal axis of the covariance ellipse
//this is used to determine the best flying direction
//eigenvalues of covariance matrix -- see below site for equations for eigenvalues/vectors for 2D matrix
// people.csail.mit.edu/bkph/articles/Eigenvectors.pdf
double det = Math.Sqrt( (CovXX - CovYY)*(CovXX - CovYY) + 4.0 * CovXY * CovXY );
double lambda1 = ( CovXX + CovYY + det )/ 2.0;
double lambda2 = ( CovXX + CovYY - det )/ 2.0;
//the larger of these is the length of the major axis
//smaller is length of the minor axis
//the angle associated with the larger eigenvalue is the angle of the major axis
//eigenvectors should be 90 deg apart
if (lambda1 > lambda2)
{
//eigenvectors of covariance matrix
double eigen1X = 2.0 * CovXY;
double eigen1Y = CovYY - CovXX + det;
double ang1 = Math.Atan(eigen1Y / eigen1X) * Constants.Rad2Deg;
p.rotationAngleDeg = ang1;
}
else
{
//eigenvectors of covariance matrix
double eigen2X = 2.0 * CovXY;
double eigen2Y = CovYY - CovXX - det;
double ang2 = Math.Atan(eigen2Y / eigen2X) * Constants.Rad2Deg;
p.rotationAngleDeg = ang2;
}
//reflect a negative major axis direction by 180 deg (major axis can go either direction)
if (p.rotationAngleDeg < 0) p.rotationAngleDeg += 180.0;
//this must be done after creating the UTM Northing & Easting from the geodetic coordinates
polygonMath polyMath = new polygonMath(p.Easting, p.Northing, datasetFolder);
//compute rectangle bounds using the principal axes
double maxAlongPA = -9999999999, minAlongPA = 9999999999, distanceA = 0.0;
double maxOrthoPA = -9999999999, minOrthoPA = 9999999999, distanceO = 0.0;
for (int ipnts = 0; ipnts < numLatLonPoints; ipnts++)
{
//note below that the X components is Northing and the Y components are Easting
//The "line" is defined by its origin and rotation angle (positive east of north)
//the "point" is the ipnts vertex of the polygon
distanceO = polyMath.distanceFromPoint2Line( //distance orthogonal to the pricipal axis
new PointD(p.meanNorthing, p.meanEasting),
p.rotationAngleDeg,
new PointD(p.Northing[ipnts], p.Easting[ipnts]));
distanceA = polyMath.distanceFromPoint2Line( //distance orthogonal to the pricipal axis
new PointD(p.meanNorthing, p.meanEasting),
p.rotationAngleDeg + 90,
new PointD(p.Northing[ipnts], p.Easting[ipnts]));
if (distanceA > maxAlongPA) maxAlongPA = distanceA;
if (distanceA < minAlongPA) minAlongPA = distanceA;
if (distanceO > maxOrthoPA) maxOrthoPA = distanceO;
if (distanceO < minOrthoPA) minOrthoPA = distanceO;
}
//length and width of a bounding box with long-side along principal axis
//length should always be larger than the width
double lengthKm = (maxAlongPA - minAlongPA) / 1000.0;
double widthKm = (maxOrthoPA - minOrthoPA) / 1000.0;
//Constants.Log("Principal Axis bounding box: " + lengthKm.ToString("F1") + " X " + widthKm.ToString("F1"));
//if (lengthKm < widthKm)
// MessageBox.Show("Principal axes of polygon not longer than minor axis");
//principal axis direction is defined by p.rotationAngleDeg
//set the corner of the principal axes bounding box to be negative-going along the major and minor axis
//this corner will also become the origion of the flight line reference coordinate system
//this will correspond to a south-east corner for a north-going princpal axis
p.boundingBoxCornerNorthing =
Math.Cos(p.rotationAngleDeg * Constants.Deg2Rad) * (p.meanNorthing + minAlongPA) +
Math.Sin(p.rotationAngleDeg * Constants.Deg2Rad) * (p.meanEasting + minOrthoPA);
p.boundingBoxCornerEasting =
-Math.Sin(p.rotationAngleDeg * Constants.Deg2Rad) * (p.meanNorthing + minAlongPA) +
Math.Cos(p.rotationAngleDeg * Constants.Deg2Rad) * (p.meanEasting + minOrthoPA);
//TODO: should just return the polygon points and fill the p structure after the return
p.areasqkm = polyMath.areaOfPolygon();
p.areasqmi = p.areasqkm * 1000000.0 / ((0.3048 * 5280.0) * (0.3048 * 5280.0));
Constants.Log("");
if (p.polyCoverageType == COVERAGE_TYPE.polygon)
{
Constants.Log("Polygon area: " + p.areasqmi.ToString("F3") + " (sqmi) " + p.areasqkm.ToString("F3") + " (sqkm)");
}
else if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
{
double pathRange = polyMath.pathLength();
Constants.Log("Path length: " + (pathRange/0.3048/5280.0).ToString("F2") +
" (mi) " + (pathRange/1000.0).ToString("F2") + " (km)");
}
Constants.Log("");
///////////////////////////////////////////////////////////////////////////////////////////////
//write the summary information for this polygon
//outfile.WriteLine();
outfile.WriteLine("PolygonName: {0} PolyPoints= {1,4} Area= {2,9:####.00} (kmsq) {3,9:####.00} (sqmi)",
p.PolygonName, numLatLonPoints.ToString(), p.areasqkm, p.areasqmi);
//foreach (airport apt in apts)
// outfile.WriteLine(" {0,50} distance (mi) {1,8:####.00}", apt.name, apt.distanceToPolyCenterMi);
/////////////////////////////////////////////////////////////////////////////////////////////////
//we have modified a copy of the polygon object -- re-insert it into the polygon list
polygons[i] = p;
}
//NOTE: here we are assuming that all the coverage types are identical
//generally we only use a single coverage for a mission plan session
return polygons[0].polyCoverageType;
}
public void createBackgroundMapsForLinearFeature(List<LINEAR_FEATURE> linearFeatures, String UTMZone, bool downloadMap)
{
/////////////////TODO -- put in a input file
////////////////////////////////////////////////////////////////////////////
double maxIncrementAlonPathMeters = 5.0 * 5280.0 * 0.3048; // 5.0 miles
////////////////////////////////////////////////////////////////////////////
for (int iFeat = 0; iFeat < linearFeatures.Count; iFeat++)
{
LINEAR_FEATURE linearFeature = linearFeatures[iFeat];
polygonMath polyMath = new polygonMath(linearFeature.EastingProNavS, linearFeature.NorthingProNavS, datasetFolder);
UTM2Geodetic utm = new UTM2Geodetic();
linearFeature.NWMapCorner = new List<PointD>();
linearFeature.SEMapCorner = new List<PointD>();
linearFeature.mapNames = new List<string>();
//find a deltaRange along the path < maxIncrementAlonPathMeters such that deltaRange * N = totalPathLength
int nMaps = (int)(linearFeature.pathLength / maxIncrementAlonPathMeters);
//above gives a number of increments such that one additional increment will fall outside the endpoint.
double incrementAlongPath = linearFeature.pathLength / (nMaps + 1);
//this gives an incerment that is < maxIncrementAlonPathMeters such that
//there will be nMaps+1 increments that end exactly on the end of the path
//We will need nMaps + 2 maps with one map at the beginning and one map at the end
int totalMaps = nMaps + 2;
//this lets us put N equispaced 10mix10mi maps along the path.
for (int i = 0; i < totalMaps; i++)
{
/////////////////////
//get a map
/////////////////////
//build up the URL to retrieve the Google Map -- see the above model for the syntax
//this zoom level gives ~ 10mi X 10mi
int zoom = 12;
//increment the path
PointD pap = polyMath.pointAlongPathFromStart(i * incrementAlongPath);
double latitude = 0.0, longitude = 0.0;
utm.UTMtoLL(pap.Y, pap.X, UTMZone, ref latitude, ref longitude);
setMap(zoom, new PointD(longitude, latitude));
/* below used only to get the width & height of the returned map with zoom = 12
double NWNorthing = 0.0, NWEasting = 0.0;
double SENorthing = 0.0, SEEasting = 0.0;
utm.LLtoUTM(mapNWCornerCordinates.Y * Constants.Deg2Rad, mapNWCornerCordinates.X * Constants.Deg2Rad,
ref NWNorthing, ref NWEasting, ref UTMZone, true);
utm.LLtoUTM(mapSECornerCordinates.Y * Constants.Deg2Rad, mapSECornerCordinates.X * Constants.Deg2Rad,
ref SENorthing, ref SEEasting, ref UTMZone, true);
double mapNSDimensionMi = (NWNorthing - SENorthing) / 0.3048 / 5280.0;
double mapEWDimensionMi = (SEEasting - NWEasting) / 0.3048 / 5280.0;
* */
linearFeature.NWMapCorner.Add(mapNWCornerCordinates);
linearFeature.SEMapCorner.Add(mapSECornerCordinates);
String GoogleMapsURL = "http://maps.googleapis.com/maps/api/staticmap?center=" +
latitude.ToString() + "," +
longitude.ToString() + "&zoom=" + zoom.ToString() + "&size=640x480&sensor=false";
//this downloads a map that can be opened --- need to figure out the scaling...
//GoogleMapsURL = "http://dev.virtualearth.net/REST/v1/Imagery/Map/Road/Routes?wp.0=Seattle,WA;64;1&wp.1=Redmond,WA;66;2&key=" +
// Constants.bingKey;
//set the file storage location
String backgroundImageFolder = datasetFolder + "\\" + polygonName + "_Background";
if (!Directory.Exists(backgroundImageFolder)) Directory.CreateDirectory(backgroundImageFolder);
String SaveToFile = backgroundImageFolder + "\\linearMap_" + iFeat.ToString("D2") +"_" + i.ToString("D3") + ".png";
if (downloadMap)
{
//get the file from the web using a webClient
getFileFromWeb(GoogleMapsURL, SaveToFile);
}
linearFeature.mapNames.Add(SaveToFile);
}
}
}
public void expandPolygonVertices(double border)
{
for (int ipoly = 0; ipoly < polygons.Count; ipoly++)
{
Polygon p = polygons[ipoly];
polygonMath polyMath = new polygonMath(p.Easting, p.Northing, datasetFolder);
////////////////////////////////////////////////////////////////////////////////////////////////////////
//expand the client polygon with a border
//these will become the expanded polygon points
//note the origonal points are destroyed -- should save them
List<double> EastingExp = new List<double>();
List<double> NorthingExp = new List<double>();
p.OriginalLatitudeDeg = new List<double>();
p.OriginalLongitudeDeg = new List<double>();
//double border = 500.0; //added border in meters
polyMath.expandedPoly(ref EastingExp, ref NorthingExp, border);
//preserve the original polygon latitude and longitude
for (int i = 0; i < EastingExp.Count; i++)
{
p.OriginalLatitudeDeg.Add(p.latitudeDeg[i]);
p.OriginalLongitudeDeg.Add(p.longitudeDeg[i]);
}
//destroy the old lat-lon points and replace with the new expanded points
p.latitudeDeg.Clear();
p.longitudeDeg.Clear();
p.Easting.Clear();
p.Northing.Clear();
for (int i = 0; i < EastingExp.Count; i++)
{
if (NorthingExp[i] > p.maxNorthing) p.maxNorthing = NorthingExp[i];
if (NorthingExp[i] < p.minNorthing) p.minNorthing = NorthingExp[i];
if (EastingExp[i] > p.maxEasting) p.maxEasting = EastingExp[i];
if (EastingExp[i] < p.minEasting) p.minEasting = EastingExp[i];
p.Easting.Add(EastingExp[i]); //replace original with expanded
p.Northing.Add(NorthingExp[i]);
double lat = 0.0;
double lon = 0.0;
utm.UTMtoLL(NorthingExp[i], EastingExp[i], p.UTMZone, ref lat, ref lon);
p.latitudeDeg.Add(lat);
p.longitudeDeg.Add(lon);
if (lat > p.maxLatDeg) p.maxLatDeg = lat;
if (lat < p.minLatDeg) p.minLatDeg = lat;
if (lon > p.maxLonDeg) p.maxLonDeg = lon;
if (lon < p.minLonDeg) p.minLonDeg = lon;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
Constants.Log("Expanded the client polygon by 500m " + p.PolygonName);
//we have modified a copy of the polygon -- new re-insert it into the list
polygons[ipoly] = p;
}
}
public void generateSmoothTrajectoryWithProNav(String DataSetFolder, String UTMZone, bool computeProjections, ref double maxBankDeg,
double ProNavGain, double deltaTime, double DistanceToTarget, double vehicleVelocity, double altitude, double swathWidth,
List<double> NorthingIn, List<double> EastingIn, List<double> NorthingOut, List<double> EastingOut,
List<double> NorthingProjected, List<double> EastingProjected,
List<double> NorthingIP1, List<double> EastingIP1, List<double> NorthingIP2, List<double> EastingIP2)
{
//////////////////////////////////////////////////////////////////////////////////////////
//using an input set of path points generated by Google earth, create a smoothed
//trajectory flyable by an aircraft that passes near the points.
//////////////////////////////////////////////////////////////////////////////////////////
//initialize the state at first vertex with heading along first segment
double X = NorthingIn[0];
double Y = EastingIn[0];
//heading from 0th point towards the 1th point -- heading is positive CCW from north
double heading = Math.Atan2(EastingIn[1] - EastingIn[0],
NorthingIn[1] - NorthingIn[0]);
//add the initial position to the output trajectory
NorthingOut.Add(X);
EastingOut.Add(Y);
//stop a segment when the ProNav acceleration command results in a bank greater than some max bank threshold
bool stopThisSegment = false;
polygonMath polyMath = new polygonMath(EastingIn, NorthingIn, datasetFolder);
UTM2Geodetic utm = new UTM2Geodetic();
int lastXYVertex = 0;
double distanceToNextVertex = 0;
int iTime = 0;
double bankCommand = 0.0;
double maxBank = -999999.0;
//integrate the state in the while loop
while (!stopThisSegment)
{
//////////////////////////////
//state: X Y heading
//////////////////////////////
//get a point on the path that is orthognal to the velocity vector
PointD pca = polyMath.pointOnPathOrthogonalToVelocityVector(heading, new PointD(X, Y),
ref lastXYVertex, ref distanceToNextVertex,
EastingIn, NorthingIn);
//if (lastXYVertex == 1) break;
//stopping condition -- have gone beyond last vertex in the path
if (-distanceToNextVertex > 0)
{
Console.WriteLine(" stopping on distanceToNextVertex " + distanceToNextVertex.ToString());
stopThisSegment = true;
}
//locate a point ahead of (X,Y) along the path by a prescribed distance
//this becomes the target for pro nav guidance
//placing the target farther ahead reduces the max bank but smooths the points
PointD pAhead = polyMath.FuturePointOnLineFeature(
pca, lastXYVertex, distanceToNextVertex, DistanceToTarget,
EastingIn, NorthingIn);
//X is north and Y is east
double velX = vehicleVelocity * Math.Cos(heading);
double velY = vehicleVelocity * Math.Sin(heading);
//compute the Line-Of-Sight rate between the platform and the target point
//the heading_dot will be commanded to -3*LOSRate per the ProNav
// X -- North Y -- East -- causes heading to be positive CCW rotation for Right Hand coordinate system
double delX = pAhead.X - X;
double delY = pAhead.Y - Y;
double LOSAngle = Math.Atan2(delY, delX);
double LOSRate = Math.Cos(LOSAngle) * Math.Cos(LOSAngle) * (-velY / delX + delY * velX / (delX * delX));
X += velX * deltaTime;
Y += velY * deltaTime;
////////////////////////////////////////////////////
//generate the output file for the trajectory
////////////////////////////////////////////////////
NorthingOut.Add(X);
EastingOut.Add(Y);
double accelCommand = ProNavGain * LOSRate * vehicleVelocity; //units: m/s/s
//pursuit navigation
//double accelCommand = -0.10 * (heading - LOSAngle) * vehicleVelocity;
//bank command necessary to maintain level flight and achieve command lateral acceleration
bankCommand = Math.Atan(accelCommand / Constants.Gravity); // degrees
if (Math.Abs(bankCommand) > maxBank) maxBank = Math.Abs(bankCommand);
heading += (accelCommand / vehicleVelocity) * deltaTime;
if (accelCommand / Constants.Gravity > 100.0)
{
stopThisSegment = true;
Console.WriteLine(" stopping on the bank command threshold ");
}
if (iTime%3 == 0 && computeProjections)
{
double Xproj = X + altitude * Math.Tan(bankCommand) * velY / vehicleVelocity;
double Yproj = Y - altitude * Math.Tan(bankCommand) * velX / vehicleVelocity;
NorthingProjected.Add(Xproj);
EastingProjected.Add(Yproj);
//creat endpoints for an image taken at this location
NorthingIP1.Add(Xproj + swathWidth * velY / vehicleVelocity / 2.0 );
EastingIP1.Add( Yproj - swathWidth * velX / vehicleVelocity / 2.0 );
NorthingIP2.Add(Xproj - swathWidth * velY / vehicleVelocity / 2.0 );
EastingIP2.Add( Yproj + swathWidth * velX / vehicleVelocity / 2.0 );
//predicted miss distance
//if we assume the future point doesnt move, we can compute the miss distance
//that would occur if the continue with pronav until the point-of-closest-approach
double tgo = DistanceToTarget / vehicleVelocity;
double Xmiss = 3.0 * (X + velX * tgo) / tgo * tgo;
double Ymiss = 3.0 * (Y + velY * tgo) / tgo * tgo;
//miss vector orthogonal to flight direction
}
iTime++;
if (iTime > 5000)
{
stopThisSegment = true;
Console.WriteLine("stopping on count");
}
} //end of trajectory generator
maxBankDeg = maxBank*Constants.Rad2Deg;
Console.WriteLine(" Max bank command = " + maxBankDeg.ToString("F2") + " deg");
}
List<LINEAR_FEATURE> linearFeatureCoverage(int numberParallelPaths, LINEAR_PATH_CENTERING centering,
double altAGLMeters, double swathWidth, double vehicleVelocityMperSec)
{
/////////////////////////////////////////////////////////////////////////////////////////////////////
//This procedure creates a mission plan from a kml linear path created by the Google Earth Path tool
//The geodetic path points (vertices) must have been generated using "InspectKMLforMissions()"
//In this procedure, the input path is "flown" using a 2D simulation and proportional navigation
//Capability is provided to allow multiple side-by-side parallel paths
//either centered over the inoput path of to the right of this path. Separate flight lines
//may be required for a single path if the path turns are too sharp.
/////////////////////////////////////////////////////////////////////////////////////////////////////
//TODO: get these from the input file
//pronav numerical integration parameters
double proNavGain = 3.0; //proportional Navigation Gain -- usually assumed to be 3.0
double deltaTime = 2.0; //integration step size along the trajectory for the pro nav simulation
double distanceToTarget = 2500.0; //diatance ahead along the path the "rabbit" is placed
double altitudeAGL = altAGLMeters;
double vehicleVelocity = vehicleVelocityMperSec;
List<LINEAR_FEATURE> linearFeatures = new List<LINEAR_FEATURE>();
//the following trajectories are constant for all parallel paths
//these represent the smoothed trajectory for the input path
//The parallel paths are parallel t the smoothed input path
List<double> EastingTrajectoryF = new List<double>();
List<double> NorthingTrajectoryF = new List<double>();
List<double> EastingTrajectoryB = new List<double>();
List<double> NorthingTrajectoryB = new List<double>();
List<double> EastingTrajectoryS = new List<double>();
List<double> NorthingTrajectoryS = new List<double>();
List<double> placeHolder = new List<double>();
//polyMat provides polygon and line path math tools
polygonMath polyMath = new polygonMath(polys[0].Easting, polys[0].Northing, datasetFolder);
String UTMZone = polys[0].UTMZone;
double maxBankDeg = 0.0;
//generate the pro nav smoothed forward trajectory
polyMath.generateSmoothTrajectoryWithProNav(datasetFolder, UTMZone, false, ref maxBankDeg,
proNavGain, deltaTime, distanceToTarget, vehicleVelocity, altitudeAGL, swathWidth,
polys[0].Northing, polys[0].Easting, NorthingTrajectoryF, EastingTrajectoryF,
placeHolder, placeHolder,
placeHolder, placeHolder, placeHolder, placeHolder);
//create a reversed set of path points so we can fly the path backwards
List<double> NorthingB = new List<double>();
List<double> EastingB = new List<double>();
for (int i = polys[0].Northing.Count - 1; i >= 0; i--)
{
NorthingB.Add(polys[0].Northing[i]);
EastingB.Add(polys[0].Easting[i]);
}
//generate the pro nav smoothed backward trajectory
polyMath.generateSmoothTrajectoryWithProNav(datasetFolder, UTMZone, false, ref maxBankDeg,
proNavGain, deltaTime, distanceToTarget, vehicleVelocity, altitudeAGL, swathWidth,
NorthingB, EastingB, NorthingTrajectoryB, EastingTrajectoryB,
placeHolder, placeHolder,
placeHolder, placeHolder, placeHolder, placeHolder);
List<double> NorthingOutBrev = new List<double>();
List<double> EastingOutBrev = new List<double>();
//reverse this trajectory so we can match it to the forward trajectory
for (int i = NorthingTrajectoryB.Count - 1; i >= 0; i--)
{
NorthingOutBrev.Add(NorthingTrajectoryB[i]);
EastingOutBrev.Add(EastingTrajectoryB[i]);
}
//
//average the two paths to get a smoothed path that can be flown both ways
int numRecs = NorthingTrajectoryF.Count;
double distanceToNextVertex = 0;
int index = 0;
if (NorthingTrajectoryF.Count > NorthingTrajectoryB.Count)
numRecs = NorthingTrajectoryB.Count;
//go through all points and do the averaging
for (int i = 0; i < numRecs; i++)
{
//increment through points in forward trajectory
//locate point-of-closest-approach on the backward trajectorty
//average these two points to get the smoothed trajectory
PointD pca = polyMath.distanceFromPoint2Linefeature(
new PointD(NorthingTrajectoryF[i], EastingTrajectoryF[i]),
ref index, ref distanceToNextVertex, NorthingOutBrev, EastingOutBrev);
NorthingTrajectoryS.Add((NorthingTrajectoryF[i] + pca.X) / 2.0);
EastingTrajectoryS.Add((EastingTrajectoryF[i] + pca.Y) / 2.0);
}
/*
//the following diagnostic kml files are constant for each path
prepareKmlForUTMPointList(datasetFolder, "TrajectoryF",
NorthingTrajectoryF, EastingTrajectoryF, UTMZone);
prepareKmlForUTMPointList(datasetFolder, "TrajectoryB",
NorthingTrajectoryB, EastingTrajectoryB, UTMZone);
prepareKmlForUTMPointList(datasetFolder, "TrajectoryS ",
NorthingTrajectoryS, EastingTrajectoryS, UTMZone);
* */
//prepare the trajectory information for the offset parallel paths
//NOTE: path 0 is always assumed to be the initial path flown from start-to-end as defined by the input data
// successive even paths are flown end-to-start (reversed direction)
// successive odd paths are flown start-to-end
for (int iPar = 0; iPar < numberParallelPaths; iPar++)
{
LINEAR_FEATURE linearFeature = new LINEAR_FEATURE();
linearFeature.proNavGain = proNavGain;
linearFeature.rabbitAheadDistance = distanceToTarget;
linearFeature.EastingProNavS = new List<double>();
linearFeature.NorthingProNavS = new List<double>();
linearFeature.EastingProjection = new List<double>();
linearFeature.NorthingProjection = new List<double>();
linearFeature.EastingImage1 = new List<double>();
linearFeature.NorthingImage1 = new List<double>();
linearFeature.EastingImage2 = new List<double>();
linearFeature.NorthingImage2 = new List<double>();
linearFeature.alongPathAltitude = new List<double>();
//this where we offset the input path depending on numberParallelPaths & LINEAR_PATH_CENTERING
//generate an offset trajectory to the smoothed trajectory
polygonMath polyMath2 = new polygonMath(EastingTrajectoryS, NorthingTrajectoryS, datasetFolder);
double offset = 0.0;
if ( centering == LINEAR_PATH_CENTERING.centeredOnInputPath) offset = -(numberParallelPaths - 1) * swathWidth / 2.0 + iPar * swathWidth;
else if (centering == LINEAR_PATH_CENTERING.offsetToLeftOfInputPath) offset = iPar * swathWidth;
else if (centering == LINEAR_PATH_CENTERING.offsetToRightOfInputPath) offset = -iPar * swathWidth;
offset *= 0.70; ///this accounts for a 30% sidelap between paths
//create the current path when multiple paths are requested
List<double> EastingParallel = new List<double>();
List<double> NorthingParallel = new List<double>();
//return a parallel path from the input smoothed path
polyMath2.parallelPath(ref EastingParallel, ref NorthingParallel, offset);
//should this be polyMath2 ???
linearFeature.pathLength = polyMath.pathLength();
//create a reversed set of path points so we can fly the path backwards
List<double> NorthingRev = new List<double>();
List<double> EastingRev = new List<double>();
if (iPar % 2 != 0) //locate the odd paths (1, 3, 5, 7 ...
{
for (int i = EastingTrajectoryS.Count - 1; i >= 0; i--)
{
NorthingRev.Add(NorthingParallel[i]);
EastingRev.Add(EastingParallel[i]);
}
for (int i = 0; i < EastingTrajectoryS.Count; i++)
{
NorthingParallel[i] = NorthingRev[i];
EastingParallel[i] = EastingRev[i];
}
}
//generate the pro nav solution for the smoothed forward/backward trajectory
//this is the trajectory that is expected from the actual flight mission
polyMath.generateSmoothTrajectoryWithProNav(datasetFolder, UTMZone, true, ref maxBankDeg,
proNavGain, deltaTime, distanceToTarget/2.0, vehicleVelocity, altitudeAGL, swathWidth,
NorthingParallel, EastingParallel,
linearFeature.NorthingProNavS, linearFeature.EastingProNavS,
linearFeature.NorthingProjection, linearFeature.EastingProjection,
linearFeature.NorthingImage1, linearFeature.EastingImage1,
linearFeature.NorthingImage2, linearFeature.EastingImage2);
String parallelPathNotation= "";
if (numberParallelPaths > 0) parallelPathNotation = iPar.ToString("D2");
/*
//the following kml output files vary with each parallel path
prepareKmlForUTMPointList(datasetFolder, "ParallelPath" + parallelPathNotation,
NorthingParallel, EastingParallel, UTMZone);
prepareKmlForUTMPointList(datasetFolder, "ProNavS" + parallelPathNotation,
linearFeature.NorthingProNavS, linearFeature.EastingProNavS, UTMZone);
prepareKmlForUTMPointList(datasetFolder, "Projection" + parallelPathNotation,
linearFeature.NorthingProjection, linearFeature.EastingProjection, UTMZone);
prepareKmlForUTMPointPairs(datasetFolder, "ImageEndpoints" + parallelPathNotation, UTMZone,
linearFeature.NorthingImage1, linearFeature.EastingImage1,
linearFeature.NorthingImage2, linearFeature.EastingImage2);
* */
linearFeature.maximumMeasuredBank = maxBankDeg;
//add the linear feature just prepared fo the list of linear features
//there will be one prepared linear feature for each of the parallel paths
linearFeatures.Add(linearFeature);
}
//return the list of linear features prepared in this routine.
return linearFeatures;
}
private COVERAGE_SUMMARY getPolygonFlightPathCoverage(double rotationRad,
Polygon p, double swathWidthKm, double maxFLLengthKm, double minLineLength, double DRImageHeightKm,
ref int numSets, ref int numFlightLines, ref double[,,] XAllSets, ref double[,,] YAllSets)
{
/////////////////////////////////////////////////////////////////////////
//this procedure defines a set of flight lines that cover a polygon
//The flight lines are returned on the arrays XallSets, YAllSets
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//For coverages other than North-South,
//rotate the input easting, Northing polygon vertices by angle about the polygon centroid
//cover the rotated polygon with a North-South set of flight lines
//This will result in a YAllSets[i,k,j], XAllsets[i,k,j] set of flight line endpoints
//where i=0,1 to represent the start or end
// j= the set number
// k= flightline number within the set
//now rotate the flight line endpoints by -theta about the polygon centroid.
//now YAllSets, XAlSets are rotated vectors
//go through the set-based flight lines, tossing zero-length lines
//and to produce a 1D (non-set-based) list of flight lines
//The flightline-length computation must use the generalized UTM flight line endpoints.
//////////////////////////////////////////////////////////////////////////////////////////////////////////
//
//rotate the input polygon
List<double> originalPolygonEasting = new List<double>();
List<double> originalPolygonNorthing = new List<double>();
for (int i = 0; i < p.Northing.Count; i++)
{
originalPolygonNorthing.Add(p.Northing[i]);
originalPolygonEasting.Add(p.Easting[i]);
}
//rotate the original coordinates
p.maxEasting = -999999999999.0; p.maxNorthing = -9999999999999.0;
p.minEasting = 999999999999.0; p.minNorthing = 9999999999999.0;
//double rotation = (-p.rotationAngleDeg) * Constants.Deg2Rad;
for (int i = 0; i < p.Northing.Count; i++)
{
double delEasting = originalPolygonEasting[i] - p.meanEasting;
double delNorthing = originalPolygonNorthing[i] - p.meanNorthing;
p.Easting[i] = p.meanEasting + Math.Cos(rotationRad) * delEasting + Math.Sin(rotationRad) * delNorthing;
p.Northing[i] = p.meanNorthing - Math.Sin(rotationRad) * delEasting + Math.Cos(rotationRad) * delNorthing;
//recompute the maximums for the rotated vertices
if (p.Easting[i] > p.maxEasting) p.maxEasting = p.Easting[i];
if (p.Northing[i] > p.maxNorthing) p.maxNorthing = p.Northing[i];
if (p.Easting[i] < p.minEasting) p.minEasting = p.Easting[i];
if (p.Northing[i] < p.minNorthing) p.minNorthing = p.Northing[i];
}
//compute the north-to-south distance wherein we will space the flightlines
double NSDstanceKm = (p.maxNorthing - p.minNorthing) / 1000.0;
double EWDstanceKm = (p.maxEasting - p.minEasting) / 1000.0;
double NSDstanceMi = (p.maxNorthing - p.minNorthing) / 0.3048 / 5280.0;
double EWDstanceMi = (p.maxEasting - p.minEasting) / 0.3048 / 5280.0;
//must also recompute the maxNorthing and maxEasting for the rotated vertices
//int numFlightLines = 0, numSets = 0;
double maxFLLengthMet = 0.0;
double E2WKm = 0.0;
numFlightLines = Convert.ToInt32(Math.Floor(EWDstanceKm / swathWidthKm)); //flight lines should always be inside the polygon
//input flight line length is reduced to cause an integer number of equal-length flight lines to span the NS extent
numSets = Convert.ToInt32(Math.Floor(NSDstanceKm / maxFLLengthKm)) + 1;
maxFLLengthKm = NSDstanceKm / numSets; //make maxFLLength equal-to or smaller-than max so each set has constant NS length
double maxFLLengthMi = maxFLLengthKm * 1000.0 / 0.3048 / 5280.0;
maxFLLengthMet = maxFLLengthKm * 1000.0;
E2WKm = swathWidthKm * numFlightLines; //redefine the E2W coverage distance so that flightline spacing fixed by camera FOV and sidelap
//this is the final UTM set of flight line endpointd
//XAllSets[k,i,j], YAllSets[k,i,j] whete k=0,1 (start,end of flight line), i=Set, j=FlightlineInSet
//X is the Easting and Y is the Northing
//the Start is always below (to the south) from the end for a flight line
//double[, ,] XAllSets;
//double[, ,] YAllSets;
//set up for the polygon math
polygonMath polyMath = new polygonMath(p.Easting, p.Northing, datasetFolder);
//these arrays store the endpoints of the flight lines not-terminated by max line length constraint
double[,] XintAllFL = new double[2, numFlightLines + 1]; //beginning and end of each flight line
double[,] YintAllFL = new double[2, numFlightLines + 1];
double EastingStart = 0, EastingEnd = 0, NorthingStart = 0, NorthingEnd = 0;
//set the first NS flight line on the eastmost side -- no more than 1/2 swathwidth inside the polygon
//because the flight lines are N-S, the eastings for the endpoints will be the same
//NOTE: EWDstanceKm is the max extent of the polygon rectangular boundary
//E2WKm will be <= EWDstanceKm
EastingStart = p.minEasting + 1000.0 * (EWDstanceKm - E2WKm) / 2.0; //fight lines will always be inside the polygon
EastingEnd = EastingStart; // all NS flight lines have the same EW coordinates (they are exactly NS)
//initialize the initial flight line ends as the max of the polygon rectangular envelope
NorthingStart = p.maxNorthing;
NorthingEnd = p.minNorthing;
outfile.WriteLine();
outfile.WriteLine(" Precompute the flight line lengths without maxLength consideration");
/////////////////////////////////////////////////////////////////////////////////////////////////////
//without the below statement, the last flight line will be too far inside the right max extent
//something fishy about the above integer math!!!!!
/////////////////////////////////////////////////////////////////////////////////////////////////////
numFlightLines++;
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//pre compute all the flightline intersections with the polygon without consideration of Sets that will act to reduce the flight line length
//this initial step computes the flightlines as though they can have infinite length
// Sets: vertically divide the Project polygon into equal-distance regions where we will look for non-zero flight lines
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
double maxUnterminatedLineLength = -999.0;
for (int i = 0; i < numFlightLines; i++)
{
//flight line intersections wthout consideration of line length
double[] Xint = new double[2];
double[] Yint = new double[2];
//compute the north-most and south-most flightline ends by the intersection of the flightline with the polygon
//here we only return two intersections -- internal to this procedure, we compute the most-north and most-south of all intersections
//note the polygons may contain concave areas that would cause more than two intersections
int intersectionCounter =
polyMath.intersectionOfLineWithPolygon(EastingStart, NorthingStart, EastingEnd, NorthingEnd, ref Xint, ref Yint);
XintAllFL[0, i] = Xint[0]; //west-most line intersection with poly for Flightline i
XintAllFL[1, i] = Xint[1]; //east-most line intersection with poly
YintAllFL[0, i] = Yint[0]; //south-most line intersection with poly
YintAllFL[1, i] = Yint[1]; //north-most line intersection with poly
double lineLength = 0.0;
lineLength = (YintAllFL[1, i] - YintAllFL[0, i]);
outfile.WriteLine(String.Format("line number: {0,2} non-terminated linelength = {1,12:#.00} (km) {2,12:#.00} (Mi)",
i, lineLength / 1000.0, lineLength / 0.3048 / 5280.0));
outfile.Flush();
//
if (lineLength > maxUnterminatedLineLength) maxUnterminatedLineLength = lineLength;
//increment the NS flight line by the swath width -- assume North-South flightline that moves to the east
EastingStart += (swathWidthKm * 1000.0);
EastingEnd = EastingStart;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
//completed locating the coverage flight lines without consideration of maximum flight line length
/////////////////////////////////////////////////////////////////////////////////////////////////////
outfile.WriteLine();
outfile.WriteLine();
//input flight line length is reduced to cause an integer number of equal-length flight lines to span the NS extent
outfile.WriteLine(" Break up the non-terminated lines using the adjusted flightline maxLength: " + maxFLLengthMi.ToString("F2") + " (mi)");
outfile.WriteLine(" Number of Sets: " + numSets.ToString());
outfile.WriteLine();
outfile.WriteLine();
outfile.Flush();
//these will hold the flight line endpoints that are broken into sets to reduce flight line length
XAllSets = new double[2, numSets, numFlightLines + 1];
YAllSets = new double[2, numSets, numFlightLines + 1];
/////////////////////////////////////////////////////////////
//takes care of the case when there is only a single set
/////////////////////////////////////////////////////////////
//handle the case where the non-terminated line length is less than the client-requested max line length
//if (maxUnterminatedLineLength < maxFLLengthMet) numSets = 1;
for (int i = 0; i < numSets; i++) for (int j = 0; j < numFlightLines; j++) for (int k = 0; k < 2; k++)
{
XAllSets[k, i, j] = XintAllFL[k, j];
YAllSets[k, i, j] = YintAllFL[k, j];
}
FLSum = new FlightlineSummary[numSets * numFlightLines + 1];
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//now break up the non-terminated (too long) NS flight lines into the subsets defined by the user-set max flight line length
// the subset regions will have equal vertical (NS) height if lines end at a set boundary
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//cycle through the number of sets as determined by the max flight line length
for (int i = 0; i < numSets; i++) //numsets breaks the too-long flight lines to be less than the max flight line
{
outfile.WriteLine();
outfile.WriteLine(" Set: " + i.ToString());
outfile.WriteLine();
//define flight line candidate endpoints based on only the set start points
//these are adjusted based on line-end intersections with the client polygon
double startSetY = 0, endSetY = 0, startSetX = 0, endSetX = 0;
//define the vertical locations of the Set endpoints -- starts at the north-most set and moves south
startSetY = p.maxNorthing - i * maxFLLengthKm * 1000.0; //test subset flight line Ystart at the Set start
endSetY = startSetY - maxFLLengthKm * 1000.0; //test subset flight line Yend at the Set end
//cycle through the number of flight lines spaced across the plan pattern for each along-line set
for (int j = 0; j < numFlightLines; j++)
{
//start & end X (easting) values are equal and increment to the east with flight line counter
startSetX = p.minEasting + 1000.0 * (EWDstanceKm - E2WKm) / 2.0 + j * swathWidthKm * 1000.0;
//EW coordinates of NS flightlines are identical
endSetX = startSetX;
//at this point we have a set of flight lines defined by the along-line set and across-line FL spacing
//based solely on a rectangular region defined by the max/min coverage boundaries
//we need to terminate these lines based on their intersections with the client polygon
//the below arrays are the intersections of the flight line with the client polygon
double[] Xint = new double[2];
double[] Yint = new double[2];
//compute the number of intersections of the per-set line segment with the client polygon
//this can be zero, 1, 2, ....
int numIntersects = polyMath.intersectionOfLineWithPolygon(startSetX, startSetY, endSetX, endSetY, ref Xint, ref Yint);
//test to see if both ends of the test flight line are outside the total Project polygon external hull -- if so skip remainder of this loop --
//NOTE: endSetY will always be to the North of startSetY -- End and Start have a geographic order
//endsetY is south of startSetY -- YintAllFL[1, j] is south of YintAllFL[0, j]
//YintAllFL[0, i] south-most line intersection with poly
//YintAllFL[1, i] north-most line intersection with poly
if (endSetY > YintAllFL[1, j] || startSetY < YintAllFL[0, j])
{
outfile.WriteLine("both ends of FL= " + j.ToString() + " outside set " + i.ToString());
//force this line length for this set to zero -- else it will be counted again on another set
YAllSets[1, i, j] = YintAllFL[0, j];
YAllSets[0, i, j] = YintAllFL[0, j];
continue;
}
//if we get here -- at least one line end is inside the current set boundary extent
// numIntersects is the number of intersections of the set-terminated flight line with the client polygon
//there can be zero intersects even with both ends outside or inside the polygon
if (numIntersects == 0)
{
//test to see if one end is inside the polygon -- since there are zero intersects, this is the case where both ends are inside the polygon
if (polyMath.pointInsidePolygon(p.Easting.Count, endSetX, endSetY, p.Easting, p.Northing)) //both endpoints are inside the polygon
{
// set the desired flight line ends to fall on the set boundaries
YAllSets[1, i, j] = startSetY;
YAllSets[0, i, j] = endSetY;
outfile.WriteLine(" both line ends are inside the client poly ");
}
//the below "continue" is redundant with the first test above -- should never get here
//there are zero set-line intersections and neither end is inside the client poly
else
{
outfile.WriteLine("set line has at least one intersections with client poly -- but neither end is inside the poly");
continue; //this is the case where the poly is concave so that the complete terminated line is outside the polygon
}
}
else if (numIntersects % 2 == 1) //one of the set-boundary-terminated flight lines is outside the client polygon
{
outfile.WriteLine(" one line end is inside the client poly ");
//test to see if the endpoint is inside the client polygon
//if so, then this end is on the desired flight line
//the other end is at the set boundary
if (polyMath.pointInsidePolygon(p.Easting.Count, endSetX, endSetY, p.Easting, p.Northing))
{
YAllSets[1, i, j] = Yint[1];
YAllSets[0, i, j] = endSetY;
}
else //the startpoint is inside the client polygon
{
YAllSets[1, i, j] = startSetY;
YAllSets[0, i, j] = Yint[0];
}
}
//here we have an even number of intersctions
else //either both of the unterminated lines are outside the polygon or there is a concave polygon section
// must also consider a jut-out where both ends are outside ---
{
if (!polyMath.pointInsidePolygon(p.Easting.Count, endSetX, endSetY, p.Easting, p.Northing))
{
outfile.WriteLine("even number of intersections -- both ends are outside the client poly ");
//both ends must be outside the polygon
YAllSets[1, i, j] = Yint[1];
YAllSets[0, i, j] = Yint[0];
}
else //both ends must be inside the polygon
{
outfile.WriteLine("even number of intersections -- both ends are inside the client poly ");
YAllSets[1, i, j] = startSetY;
YAllSets[0, i, j] = endSetY;
}
}
double lineLengthKm = 0, lineLengthMi = 0;
//this becomes a list of the flight lines on a Set grouping that cover the polygon
//need to keep the order of the line within the set ... e.g., track those on the ends
XAllSets[0, i, j] = startSetX; //start of the line (this is to the South for a NS flightline)
XAllSets[1, i, j] = endSetX; //end of the line
lineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
lineLengthMi = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 0.3048 / 5280.0;
outfile.WriteLine(String.Format("lines terminated at Set boundaries: set= {0,2} FL= {1,2} length: {2,10:#.00} Km {3,10:#.00} Mi intersects = {4}",
i, j, lineLengthKm, lineLengthMi, numIntersects));
outfile.Flush();
//below we do the following:
//if a line is too short, add the segment to either the next or last extension of the line
//if the short line is at the bottom of this Set, add to the top of the next set
//if the short line is at the top of this Set, add to the bottom of the last set
}
}
outfile.WriteLine();
outfile.WriteLine();
outfile.WriteLine("Extend the flight lines slightly to account for the descretization resulting from the swath width");
///////////////////////////////////////////////////////////////////////////////////////////
//we have a set of flight lines that cover the polygon spaced per the swath width
//However, if we use these flight lines, we will end up with gaps at the polygon edges
//due to the discretization of the flight lines. A short flight line prior to a
//longer flight line must be extended so that its edge covers the polygon.
//this should really be done by locating the polygon intersections at the halfway points between
//each of the flightline. We use the 0.75 below to account for this approximation.
//if the polygon edges were linear between the endpoints, we would use 0.5
//if the edge bewteen the endpoint has a vertices with convex shape it should be bigger than 0.5
//////////////////////////////////////////////////////////////////////////////////////////
//save the old endpoints
double[, ,] YAllSetsTemp = new double[2, numSets, numFlightLines];
for (int i = 0; i < numSets; i++) for (int j = 0; j < numFlightLines; j++) for (int k = 0; k < 2; k++) YAllSetsTemp[k, i, j] = YAllSets[k, i, j];
double[, ,] XAllSetsTemp = new double[2, numSets, numFlightLines];
for (int i = 0; i < numSets; i++) for (int j = 0; j < numFlightLines; j++) for (int k = 0; k < 2; k++) XAllSetsTemp[k, i, j] = XAllSets[k, i, j];
for (int i = 0; i < numSets; i++)
{
for (int j = 0; j < numFlightLines; j++)
{
double lineLengthKm = lineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
//discard zero-length lines
if (lineLengthKm == 0.0)
{
outfile.WriteLine(" discard set {0} FL {1} due to zero length", i, j);
continue;
}
else
{
outfile.WriteLine(" keep set {0,2} FL {1,2} length = {2,8:#.00} (km) {3,8:#.00} (mi) ", i, j, lineLengthKm, lineLengthKm * 1000.0 / 0.3048 / 5280.0);
}
if (j < (numFlightLines - 2))
{
double lineLengthKm2 = 0;
lineLengthKm2 = (YAllSetsTemp[1, i, j + 1] - YAllSetsTemp[0, i, j + 1]) / 1000.0;
if (lineLengthKm2 == 0.0) continue;
//test to see if the next flight line end is above the current flight line end
//if so, then extend this flight line halfway to the next line end
if (YAllSetsTemp[1, i, j] < YAllSetsTemp[1, i, j + 1]) YAllSets[1, i, j] += 0.75 * (YAllSetsTemp[1, i, j + 1] - YAllSets[1, i, j]);
//test to see if the next flight line start is below the current flight line start
//if so, then extend this flight line start point halfway to the next line startpoint
if (YAllSetsTemp[0, i, j] > YAllSetsTemp[0, i, j + 1]) YAllSets[0, i, j] -= 0.75 * (YAllSetsTemp[0, i, j] - YAllSetsTemp[0, i, j + 1]);
}
if (j > 0)
{
double lineLengthKm2 = lineLengthKm2 = (YAllSetsTemp[1, i, j - 1] - YAllSetsTemp[0, i, j - 1]) / 1000.0;
if (lineLengthKm2 == 0.0) continue;
//test to see if the prior flight line end is above the current flight line end
//if so, then extend this flight line end point halfway to the prior line end point
if (YAllSetsTemp[1, i, j] < YAllSetsTemp[1, i, j - 1]) YAllSets[1, i, j] += 0.75 * (YAllSetsTemp[1, i, j - 1] - YAllSetsTemp[1, i, j]);
//test to see if the prior flight line start is below the current flight line start
//if so, then extend this flight line start point halfway to the prior line start point
if (YAllSetsTemp[0, i, j] > YAllSetsTemp[0, i, j - 1]) YAllSets[0, i, j] -= 0.75 * (YAllSetsTemp[0, i, j] - YAllSetsTemp[0, i, j - 1]);
}
}
}
//output a summary of the above computations
for (int i = 0; i < numSets; i++)
{
outfile.WriteLine("Set = " + i.ToString("D2"));
for (int j = 0; j < numFlightLines; j++)
{
double newlineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
double oldlineLengthKm = (YAllSetsTemp[1, i, j] - YAllSetsTemp[0, i, j]) / 1000.0;
outfile.WriteLine("FL = {0,2} oldLength = {1,8:#.00} (km) newLength = {2,8:#.00} ", j, oldlineLengthKm, newlineLengthKm);
}
}
outfile.WriteLine();
outfile.WriteLine();
outfile.WriteLine("Go back through the terminated flight lines and add too short lines to prior set ");
outfile.Flush();
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
//go back through the flight line segments, ordered by set & flightline, and cull the "zero-length" segments
//also add the too-short segments to the adjoining (to the South) Set
//Caveat: adding the too-short segments to the South Set can result in some odd outlier flightline groupings!!!
//Resolution: at the start of a set: once we "keep" a segment, dont adjoin anymore short lines to the south
// but at the end of a Set, once we adjoin a segment, must also adjoin the remainder
// thus we have to look for short flightlines going forward -- terminating after we find a sufficiently long line
// and then go backward, again stopping after we have found a sufficiently long line
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
int numTooShortLines = 0;
for (int i = 0; i < numSets - 2; i++) //TEMPORARY ???
{
//define the vertical locations of the Set endpoints
double startSetY = p.maxNorthing - i * maxFLLengthKm * 1000.0; //test subset flight line Ystart at the Set start
double endSetY = startSetY - maxFLLengthKm * 1000.0; //test subset flight line Yend at the Set end
int jStart = 0, jEnd = numFlightLines, jDelta = 1; //conditions that cause going forward for each set
for (int k = 0; k < 2; k++) //causes going backward and forward through the flightlines in a Set -- see above Caveat.
{
if (k == 1) //going backward -- lines go from largest to smallest
{ jStart = numFlightLines - 1; jEnd = 0; jDelta = -1; } //conditions that cause going backward
//multiplying by "-1" on the back pass flips the equality!! -- so start at the end going down to "0" (j>-1)
for (int j = jStart; (jDelta * j) < (jDelta * jEnd - 1); j += jDelta)
{
//test to see if both ends of the test flight line are outside the polygon -- if so skip remainder of this loop --
if (endSetY > YintAllFL[1, j] || startSetY < YintAllFL[0, j]) continue;
double lineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
double lineLengthMi = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 0.3048 / 5280.0;
outfile.WriteLine(String.Format("set {0} FL {1} linelength = {2,15:#.00} Km {3,15:#.00} Mi", i, j, lineLengthKm, lineLengthMi));
outfile.Flush();
if (lineLengthKm == 0) continue;
//if zero length -- continue
//if a line is too short, add the segment to either the next or last extension of the line
if (lineLengthKm < minLineLength)
{
numTooShortLines++;
//if the short line is at the bottom of this Set, add to the top of the next set
if (YAllSets[0, i, j] == endSetY && i < (numSets - 1)) //bottom of this short line is at the bottom of the Set
{
outfile.WriteLine(String.Format("remove and add to top of next set:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
outfile.Flush();
YAllSets[1, i + 1, j] += lineLengthKm * 1000.0; //bottom this segment added to top of next segment
YAllSets[0, i, j] = 0; //set old short segment to zero
YAllSets[1, i, j] = 0; //set old short segment to zero
}
//if the short line is at the top of this Set, add to the bottom of the last set
else if (YAllSets[1, i, j] == startSetY && i > 0) ////top of this short line is at the top of the Set
{
outfile.WriteLine(String.Format("remove and add to bottom of last set:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
outfile.Flush();
YAllSets[0, i - 1, j] -= lineLengthKm * 1000.0; //top this segment added to bottom of last segment
YAllSets[0, i, j] = 0; //set old short segment to zero
YAllSets[1, i, j] = 0; //set old short segment to zero
}
else
{
//if both ends of the short line are on the polygon, then do nothing.
if (k == 0) outfile.WriteLine(String.Format("forward Pass: short line contained within the polygon:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
if (k == 1) outfile.WriteLine(String.Format("backward Pass: short line contained within the polygon:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
outfile.Flush();
}
}
//below break causes the short flight lies to be merged with the Southern set either at the start or end of a Set
else break; //this breaks after we have found the first occurrence of a sufficient long fliight line
}
} //end of the k-look --- k=0 is forward and k=1 is backward
}
outfile.WriteLine("Number of moved too-short flight lines = {0,2}", numTooShortLines);
/////////////////////////////////////////////////////////////////////////////////////////
//adjust the photocenters so that they fall on a rectangular grid
//grid origin is always the NW corner of the bounding rectangle
//note that the rotated flight lines are still North-South
//make adjustments to the UTM north and south flight line endpoints
///////////////////////////////////////////////////////////////////////////////
outfile.WriteLine();
outfile.WriteLine("Adjust the flight line endoints so they fall on a rectangular grid");
COVERAGE_SUMMARY covSummary = new COVERAGE_SUMMARY();
covSummary.numTotalFlightLines = 0;
covSummary.totalFlightLineLength = 0.0;
for (int i = 0; i < numSets; i++)
{
outfile.WriteLine("Set= {0,2} ", i);
for (int j = 0; j < numFlightLines; j++)
{
double distanceBetweenTriggersMeters = DRImageHeightKm * 1000.0;
double originalFLlength = YAllSets[1, i, j] - YAllSets[0, i, j];
//make FL start fall on a grid with downrange spacing of distanceBetweenTriggers
//the start end is always below the end (to the south for a NS flightline)
//compute the number of grid cells from the origin -- the "+1" ensures it covers (is above) the non-gridded flight line
int numGridsFromMaxNorthingS = (int)((p.maxNorthing - YAllSets[0, i, j]) / distanceBetweenTriggersMeters);
//the "+1" below always ensures the quantized start points are outside (below) the polygon.
//this will result in a single frame duplication between sets.
YAllSets[0, i, j] = p.maxNorthing - (numGridsFromMaxNorthingS + 1) * distanceBetweenTriggersMeters;
//make FL end latitude fall on a grid with downrange spacing of distanceBetweenTriggers
//compute the number of grid cells from the origin -- the "-1" ensures it covers the non-gridded flight line
int numGridsFromMaxNorthingE = (int)((p.maxNorthing - YAllSets[1, i, j]) / distanceBetweenTriggersMeters) + 1;
//the "-1" below always ensures the quantized endponts points are outside (above) the polygon (note the double negative.
//this will result in a songle frame duplication between sets.
YAllSets[1, i, j] = p.maxNorthing - (numGridsFromMaxNorthingE - 1) * distanceBetweenTriggersMeters;
double finalFLlength = YAllSets[1, i, j] - YAllSets[0, i, j];
outfile.WriteLine("FL = {0,2} original length = {1,8:#.00} (km) adjusted length = {2,8:#.00} ",
j, originalFLlength, finalFLlength);
if (finalFLlength > 0)
{
covSummary.numTotalFlightLines++;
covSummary.totalFlightLineLength += finalFLlength;
}
}
}
covSummary.totalFlightLineLength /= 1000.0;
covSummary.averageFlightLineLength = covSummary.totalFlightLineLength / covSummary.numTotalFlightLines;
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//all the above was performed assuming the input polygon was rotated to a North-South orientation
//NS flightlines were computer to cover the polygon
//we must now counter-rotate the resulting flight lines back to their original geometry
//this approach preseves the flightline relationship with the original polygon
//The resulting flight lines are now arbitrarily rotated relative to north
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//retrieve the original non-rotated UTM input coordinates
for (int i = 0; i < p.Northing.Count; i++)
{
p.Easting[i] = originalPolygonEasting[i];
p.Northing[i] = originalPolygonNorthing[i];
}
//rotate the flight line endpoints back to the original non-rotated coordinate frame
//X corresponds to Eastng, Y to Northing --
//note that in the initial rotation, the variable "rotation" was set to p.rotationDeg
//below we rotation with -rotation to get back to the original coordinates
for (int i = 0; i < numSets; i++)
{
for (int j = 0; j < numFlightLines; j++)
{
for (int k = 0; k < 2; k++)
{
double delEasting = XAllSets[k, i, j] - p.meanEasting;
double delNorthing = YAllSets[k, i, j] - p.meanNorthing;
XAllSets[k, i, j] = p.meanEasting + Math.Cos(-rotationRad) * delEasting + Math.Sin(-rotationRad) * delNorthing;
YAllSets[k, i, j] = p.meanNorthing - Math.Sin(-rotationRad) * delEasting + Math.Cos(-rotationRad) * delNorthing;
XAllSets[k, i, j] = p.meanEasting + Math.Cos(-rotationRad) * delEasting + Math.Sin(-rotationRad) * delNorthing;
YAllSets[k, i, j] = p.meanNorthing - Math.Sin(-rotationRad) * delEasting + Math.Cos(-rotationRad) * delNorthing;
}
}
}
//return sufficient information to compare various coverage options
return covSummary;
}
//////////////////////////////////////
//all the action occurs here
//////////////////////////////////////
private void prepareKML()
{
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// this procedure is called immediately after we have clicked the BROWSE button and selected the input file
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//filestream to create the files where we will write some summary output (debug: KMLDebugFile)
FileStream fs1;
try
{
//debug output data
fs1 = new FileStream(datasetFolder + "\\KMLDebugFile.txt", FileMode.Create, FileAccess.Write, FileShare.None);
outfile = new StreamWriter(fs1);
outfile.AutoFlush = true;
}
catch { MessageBox.Show("Cant open the KMLDebugFile file "); }
//Constants.Log -- writes the the RTF on the main page of the GUI
Constants.Log("File opened for writing log information: \n" + datasetFolder + "\\KMLDebugFile.txt");
//First determine whether the mission is a linear or area mission
//In Google Earth -- use the Polygon tool for the polygon and the Path tool for the linear feature
//can detect these by inspecting the input KML
//Path has only a LineString tag and coordonate tag
//Polygon has a Polygon tag, OuterBoundaryIs tag, linearRing tag, coordinates tag
//get the lat/lon client data and other info from the input kml file
InspectKMLforMissions kml = new InspectKMLforMissions(kmlInputFilename, datasetFolder, outfile);
//generate polygon or linearFeature geometry information and further populate the job definition structure
//convert geodetic to UTM coordinates, compute area, bounding box, etc ...
COVERAGE_TYPE polyCoverageType_polygonOrLinear = kml.polygonGeometry();
//expand the poly boundary for insurance -- destroying the original polygon
if (polyCoverageType_polygonOrLinear == COVERAGE_TYPE.polygon)
{
//original lat-lon poonts saved in originalLatitudeDeg, originalLongitudeDeg within poly description
double borderWidth = 10; //probably should be adaptive to 1/2 the swath width !!
kml.expandPolygonVertices(borderWidth); //expand the client poly vertices with a border for insurance
}
//get the airports that are close to the Job polygons
kml.getAirports();
////////////////////////////////////////////////////////////////////////////////////////////////////////////
//We plan to allow three levels of naming: job, project, polygon
//the original idea was that job = the overall job containing projects and individual polygons in a job
//an example would be
//job: agricultureFieldsForDate
//Project: FarmerJohn, FarmerJoe
//polygon: field#1, field#2, etc
//However, the current setup is that we have a single polygon in the input kml file
//we will use the polygon.name for the output kml file --- that becomes the flight plan for the flight computer
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//retrieve a local copy of the Project Polygons from the client-input kml
//shared for the polygon and linear feature coverage
polys = new List<Polygon>(); //do we need this statement ???
polys = kml.getPolygonsFromKML();
//must see if the input kml file and the polygon.name are the same.
//if polygon name and inut polygon name are the same, the input file will be deastroyed (over-written)
//if names are the same: add "_input" to the original name
DirectoryInfo kmlInfo = new DirectoryInfo(kmlInputFilename);
String inputFilenameWOextension = Path.GetFileNameWithoutExtension(kmlInputFilename);
if (inputFilenameWOextension == polys[0].PolygonName)
{
MessageBox.Show("Google Earth placemark name same as input kml filename. \n" +
"Input kml name changed by appending _input at the end");
String newName = Path.GetDirectoryName(kmlInputFilename) + "\\" + inputFilenameWOextension + "_input.kml";
System.IO.File.Move(kmlInputFilename, newName);
Constants.Log("");
Constants.Log("The input kml fileName and the Google Earth Placemark name are the same");
Constants.Log("The input kml filename has been changed by adding _input to its fileName");
Constants.Log("The prepared mission plan will have the name of the original kml file");
Constants.Log("Use the new kml filename (with _input) on any new flight planning exercise");
}
////////////////////////////////////////////////////////////////////////////////////
//at this point, we have the polygon selected as well as the nearby airports
////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
//Cycle through all the Project Polygons
// for now -- we only allow a single poly at a time
//however, the kml read program allows mpre than one at a time
//this would be useful for clients with a lot of polygon areas
////////////////////////////////////////////////////////////////
//for (int totIt=0; totIt<4; totIt++)
{
//disable the browse button after the input kml selection has been completed
button1.Visible = false;
button1.Enabled = false;
Polygon p = polys[0];
//we need to display the airports and allow the user to select a project airport.
//show the airport list in a datGridView and wait for the user to select the correct airport.
foreach (airport apt in p.airports) this.dataGridView1.Rows.Add(apt.name, apt.distanceToPolyCenterMi.ToString("F1"));
Constants.Log(" ");
Constants.Log("Please select a takeoff airport from the dropdown list ");
this.dataGridView1.Enabled = true;
this.dataGridView1.Visible = true;
this.dataGridView1.CurrentCell.Selected = false;
this.label2.Enabled = true;
this.label2.Visible = true;
//wait here while the user selects the takeoff airport
//the selected airport is given: selectedAirportIndex
while (!airportSelected)
{
Application.DoEvents();
}
Constants.Log("Selected airport: " + p.airports[selectedAirportIndex].name);
Constants.Log(" ");
Constants.Log("Please select a camera .... ");
this.listBox2.Enabled = true;
this.listBox2.Visible = true;
this.label1.Enabled = true;
this.label1.Visible = true;
//wait here for the user to select a camera
while (!cameraSelected)
{
Application.DoEvents(); //wait for user inputs
}
String cameraType = this.listBox2.SelectedItem.ToString();
Constants.Log(" ");
Constants.Log("Please select a resolution (cm) .... ");
this.listBox3.Enabled = true;
this.listBox3.Visible = true;
this.label3.Enabled = true;
this.label3.Visible = true;
//wait here for the user to select a resolution
while (!ResolutionSelected)
{
Application.DoEvents(); //wait for user inputs
}
//no need to select max flight line for a linear feature path coverage
if (p.polyCoverageType == COVERAGE_TYPE.polygon)
{
Constants.Log(" ");
Constants.Log("Please select a max Flightline Length (nm) .... ");
this.listBox4.Enabled = true;
this.listBox4.Visible = true;
this.label4.Enabled = true;
this.label4.Visible = true;
//wait here for the user to select a max flight line length
while (!maxFLSelected)
{
Application.DoEvents(); //wait for user inputs
}
//no need to select max mission time for a linear feature path coverage
//assume the user will make the linear features of flyable lengths
Constants.Log(" ");
Constants.Log("Large coverages may require multiple flight missions. ");
Constants.Log("Please select a maximum per-mission ferry+overtarget flight time (hrs) .... ");
this.listBox6.Enabled = true;
this.listBox6.Visible = true;
this.label6.Enabled = true;
this.label6.Visible = true;
//wait here for the user to select a max mission time
while (!maxMissionTimeSelected)
{
Application.DoEvents(); //wait for user inputs
}
}
else
{
this.panel1.Enabled = true;
this.panel1.Visible = true;
radioButton1.Checked = false;
radioButton2.Checked = false;
radioButton3.Checked = false;
//wait here for the user to select the number of prlallel paths
while (!linearFeaturePathsSelected ||
(radioButton1.Checked == false &&
radioButton2.Checked == false &&
radioButton3.Checked == false) )
{
Application.DoEvents(); //wait for user inputs
}
if (radioButton1.Checked == true) {linearPathCentering = LINEAR_PATH_CENTERING.centeredOnInputPath; }
else if (radioButton2.Checked == true) {linearPathCentering = LINEAR_PATH_CENTERING.offsetToLeftOfInputPath; }
else if (radioButton3.Checked == true) {linearPathCentering = LINEAR_PATH_CENTERING.offsetToRightOfInputPath; }
}
Constants.Log(" ");
Constants.Log("Please select a nominal aircraft speed (knots) .... ");
this.listBox5.Enabled = true;
this.listBox5.Visible = true;
this.label5.Enabled = true;
this.label5.Visible = true;
//wait here for the user to select a aircraft speed
while (!nominalSpeedSelected)
{
Application.DoEvents(); //wait for user inputs
}
p.selectedAirportIndex = selectedAirportIndex;
//////////////////////////////////////////////////////////////////////////
//at this point, we have completed all the user's initial inputs.
//next we compute the performance for the three coverage types
////////////////SETUP PARAMETERS///////////////////////////////////////////////////////////////////
/// specific setup for the Canon 5D rotated 90 deg (long side downrange)
//double flightAlt = 3500.0; //5,000 provides about 6" resolution -- !!!!!!!!!!this is assumed to be agl!!!!!!!!!!!
//compute the flight line spacing from the camera FOV and altitude
double CRFOV = 27.5; //degrees crossrange FOV (rotated 5D with 50m lenses -- GeoPod)
double DRFOV = 39.0; //degrees downrange FOV (rotated 5D with 50mm lens)
double downlap = 60; //percent downlap X 100 -- 60
double sideLap = 30.0; //percent sidelap X 100
int cameraPixels = 3744; //pixels in crossrange (rotated canon 5D)
//max FL length is in nautical miles
double maxFLLengthMi = maxFLLengthNM * 1.15078; //convert nautical miles to statute miles
double timeToTurn = 1.0 / 60.0; //hours -- about 2 min -- this is conservative 1.5 is typical
double aircraftSpeedKnots = nominalSpeed; // 100.0;
double takeoffTime = 5.0 / 60.0; //time to roll/run-up on the runway turing the takeoff event -- added to the ferry time
double landingTime = 5.0 / 60.0; //time in pattern & taxi roll on the runway turing the landing event -- added to the ferry time
//we attempt to merge small lines (below minLineLength) with prior lines
double minLineLength = 8.0; //minimum length of a flight line segment (units km)
///////////////////////////////////////////////////////////////////////////////////////////////////////////
//derived setup parameters/////////////////////////////////////////////////////////////////////////////////////////////////
//double swathWidth = 2.0 * Math.Tan(CRFOV * Constants.Deg2Rad / 2.0) * flightAlt; //in feet
//double GSD = swathWidth / cameraPixels * 0.3048; //GSD im meters
double swathWidthMeters = resolutionCm * cameraPixels / 100.0;
double flightAlt = swathWidthMeters / (2.0 * Math.Tan(CRFOV * Constants.Deg2Rad / 2.0)) / 0.3048;
double swathWidthWithSidelap = (1.0 - sideLap / 100.0) * swathWidthMeters; //in meters
double swathWidthKm = swathWidthWithSidelap / 1000.0; //Km
//set the max flight line length
double maxFLLengthKm = maxFLLengthMi * 5280.0 * 0.3048 / 1000.0;
outfile.WriteLine();
outfile.WriteLine("Input flight line length is: " + maxFLLengthMi.ToString("F1") + " (mi) " + maxFLLengthKm.ToString("F1") + "( km)" );
//downrange image spacing including downlap
//below used to compute the number of images per flight line
double DRImageHeightWithDownlap = (1.0 - downlap / 100.0) * 2.0 * Math.Tan(DRFOV * Constants.Deg2Rad / 2.0) * flightAlt; //in feet
//same as above but in km -- distance downrange between each image trigger
double DRImageHeightKm = DRImageHeightWithDownlap * 0.3048 / 1000.0; //Km
double aircraftSpeedKPH = aircraftSpeedKnots * 0.514 / 1000 * 3600.0; //0.514 m/sec per knot -- 100 knots = 51.4 m/s
double forwardSpeedInClimb = 0.70 * aircraftSpeedKPH; //limit the forward speed when the aircraft is climbing to altitude
double avgClimbRate = 500.0; //ft per minute -- climb rate
double minimumFerryTime = (flightAlt / avgClimbRate) / 60.0; //time to climb to altitude
double distanceDuringClimb = forwardSpeedInClimb * minimumFerryTime; //horizontal distance traveled during the climb to altitude
//note -- this can make a flight line exceed the max length -- but not by too much.
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//at this point, we have the camera parameters
//and all the coordinates of the polygon or linear path
///////////////////////////////////////////////////////////////////////////////
//compute the LinearFeature coverage --- The below procedure will terminate the Planner
if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
{
LinearFeaturePlanner(p, flightAlt, swathWidthKm, aircraftSpeedKnots, aircraftSpeedKPH, DRImageHeightKm);
}
//////////////////////////////////////////////////////////////////////////
//we will get to the below functionality only for the polygon planner
//////////////////////////////////////////////////////////////////////////
//now determine if we prefere a NS or EW mission plan
//compute the north-to-south distance wherein we will space the flightlines
double NSDstanceKm = (p.maxNorthing - p.minNorthing) / 1000.0;
double EWDstanceKm = (p.maxEasting - p.minEasting) / 1000.0;
double NSDstanceMi = (p.maxNorthing - p.minNorthing) / 0.3048 / 5280.0;
double EWDstanceMi = (p.maxEasting - p.minEasting) / 0.3048 / 5280.0;
btnNS_EW.Visible = true;
btnNS_EW.Enabled = true;
int numSets = 0;
int numFlightLines = 0;
int maxSets = 20;
int maxFlightLines = 200;
double[, ,] XAllSets = new double[2, maxSets, maxFlightLines];
double[, ,] YAllSets = new double[2, maxSets, maxFlightLines];
///////////////////////////////////////////////////////////////////////////////////////////
//get the polygon coverage for three types of coverage and present the results to the user
///////////////////////////////////////////////////////////////////////////////////////////
COVERAGE_SUMMARY covSummary1 =
getPolygonFlightPathCoverage(0.0, //North-South case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
COVERAGE_SUMMARY covSummary2 =
getPolygonFlightPathCoverage(90.0 * Constants.Deg2Rad, //East-West case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
COVERAGE_SUMMARY covSummary3 = //principal axis case
getPolygonFlightPathCoverage((180.0-p.rotationAngleDeg) * Constants.Deg2Rad,
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
double flightTime1 = covSummary1.totalFlightLineLength / aircraftSpeedKPH + (covSummary1.numTotalFlightLines - 1) * timeToTurn;
double flightTime2 = covSummary2.totalFlightLineLength / aircraftSpeedKPH + (covSummary2.numTotalFlightLines - 1) * timeToTurn;
double flightTime3 = covSummary3.totalFlightLineLength / aircraftSpeedKPH + (covSummary3.numTotalFlightLines - 1) * timeToTurn;
//display the results to the user and allow user to select from among the types of coverage
Constants.Log("");
Constants.Log(" Coverage Options: ");
Constants.Log(" Type #FL AvgFL (km) TotalLength (km) Time (hrs) ");
String fmt1 = String.Format("NorthSouth \t{0,5} \t{1,8:##.00} \t{2,10:###.00} \t{3,6:#.00}",
covSummary1.numTotalFlightLines, covSummary1.averageFlightLineLength, covSummary1.totalFlightLineLength, flightTime1);
Constants.Log(fmt1);
String fmt2 = String.Format("EastWest \t{0,5} \t{1,8:##.00} \t{2,10:###.00} \t{3,6:#.00}",
covSummary2.numTotalFlightLines, covSummary2.averageFlightLineLength, covSummary2.totalFlightLineLength, flightTime2);
Constants.Log(fmt2);
String fmt3 = String.Format("PrincipalAxis \t{0,5} \t{1,8:##.00} \t{2,10:###.00} \t{3,6:#.00}",
covSummary3.numTotalFlightLines, covSummary3.averageFlightLineLength, covSummary3.totalFlightLineLength, flightTime3);
Constants.Log(fmt3);
outfile.WriteLine();
outfile.WriteLine("Results of three types of coverage ");
outfile.WriteLine(fmt1);
outfile.WriteLine(fmt2);
outfile.WriteLine(fmt3);
//select the recommended coverage option from the three candidates
if (flightTime1 < flightTime2 && flightTime1 < flightTime3)
{ btnNS_EW.Text = "North-South"; polyCoverageType = PolygonCoverageType.South2North; };
if (flightTime2 < flightTime1 && flightTime2 < flightTime3)
{ btnNS_EW.Text = "East-West"; polyCoverageType = PolygonCoverageType.East2West; };
if (flightTime3 < flightTime1 && flightTime3 < flightTime2)
{ btnNS_EW.Text = "PrincipleAxis"; polyCoverageType = PolygonCoverageType.PrincipalAxis; };
//enable the missionPlan startup button.
button3.Visible = true;
button3.Enabled = true;
///////////////////////////////////////////////////////////////////////////////////
// wait here til user clicks considers the coverage options and clicks: "PLAN"
///////////////////////////////////////////////////////////////////////////////////
while (!MissionPlanningInitiated)
{
Application.DoEvents(); //wait for user inputs
}
//redo the polygon coverage based on the user selection --
//need to save the old plans so we dont have to redo!!
if ( polyCoverageType == PolygonCoverageType.South2North)
getPolygonFlightPathCoverage(0.0, //North-South case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
else if (polyCoverageType == PolygonCoverageType.East2West)
getPolygonFlightPathCoverage(90.0 * Constants.Deg2Rad, //East-West case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
else if (polyCoverageType == PolygonCoverageType.PrincipalAxis)
getPolygonFlightPathCoverage((180.0-p.rotationAngleDeg) * Constants.Deg2Rad,
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
//this is placed here just in case the user has changed his mind and re-clicked a different airport
p.selectedAirportIndex = selectedAirportIndex;
GoogleMaps gglmaps = new GoogleMaps(datasetFolder, p.PolygonName);
gglmaps.getGoogleMapToCoverProject(ref p, downloadMap); //insert the Google map from the web into this polygon
/////////////////////////////////////////////////////////////////////////////////
bool replannerTool = false; //set true for a replanner tool
/////////////////////////////////////////////////////////////////////////////////
//this is for a replanner tool
// what does this do ?????
//supposed to allow visual editing of the Quick-Look and replanning the mission to cover clouds & shadows
List<endPoints> reflyLines = null;
ReflyPlanner refly;
if (replannerTool)
{
refly = new ReflyPlanner(@"E:\Melbourne\Melbourne_NEW_005\QLData\refly_005.kml", p);
MessageBox.Show("refly tool is in effect");
//should have a way to indicate which photocenters are to be reflown
reflyLines = refly.getReflySegments();
}
/////////////////////////////////////////////////////////////////////////////////
//open the file to write the kml Project results
kmlOutputFilename = datasetFolder + "\\" + p.PolygonName + ".kml";
//NOTE: this will fail if the input client polygon (.kml) is the same as the desired output kml
FileStream fs2 = null;
try
{
fs2 = new FileStream(kmlOutputFilename, FileMode.Create, FileAccess.Write, FileShare.None);
}
catch
{
MessageBox.Show("cant open the kml Project results file -- input file cannot be same as output file ");
}
kmlFlightLines = new StreamWriter(fs2); //kml file where we will write
kmlFlightLines.AutoFlush = true;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//at this point, we have a 2D table YAllSets[numsets][numFlightLines] that describes the intended flightlines and lengths
//however, some of these have zero length because of the irregular shape of the polygon
//Moreover, we have not considered the max endurance -- so we must collect sequentual flightlines into flyable missions
//Below we convert the 2D structure to a 1D structure containing only flightlines to be flown
//we also assign the flightlines to individual missions
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
outfile.WriteLine();
outfile.WriteLine("Now have the set of flight lines by set");
outfile.WriteLine("Next break up these flight lines into time-constrained groupings to get a mission");
outfile.WriteLine();
Constants.Log("Accumulate flight lines into missions based on max mission length");
//go through the flightlines for a set and determine the total time-over-the-covered area for the complete Set
//If this is > 2 hrs, then break the set into ~equal Area Of Interest (AOI) flight sessions "AOITimeMax".
//find the start-end flightline for AOIs so the accumulated AOITime < AOITimeMax -- except the last AOI may be larger
List<MissionSummary> MissionSumA = new List<MissionSummary>();
//set up for the polygon math
polygonMath polyMath = new polygonMath(p.Easting, p.Northing, datasetFolder);
double totalFlightlineDistance = 0;
double flightlineDistanceThisMission = 0;
int missionNumber = 0;
int totalImages = 0;
int totalImagesThisMission = 0;
int startFlightlineThisMission = 0;
double sumMissionLat = 0.0; //used to compute the average mission center (average lat/lon)
double sumMissionLon = 0.0;
double totalFerryTime = 0.0;
double totalTimeToTurn = 0.0;
double totalTimeOverTarget = 0.0;
double latStart = 0, lonStart = 0;
double latEnd = 0, lonEnd = 0;
int jApt = 0; //airport counter
double ferryTime = 0.0;
double oldFerryTime = 0.0;
int numberFlightlines = 0;
outfile.Flush();
double avgMissionLat=0.0; double avgMissionLon=0.0;
int numFL = 0; //numFL becomes the sequential flight line counter for the 1D array that will persist across the project
for (int i = 0; i < numSets; i++)
{
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//compute the max allowable AOITime for this Set
double maxAOITime = maxMissionTimeHrs; //maxAOITimeGlobal;
outfile.WriteLine("Input Maximum Mission time is set to " + maxMissionTimeHrs.ToString());
double totalFlightlineDistancePerSet = 0; int numFLthisSet=0;
int lastNonZeroFLThisSet = 0;
//precompute the total time to cover the flight lines in this set
for (int j = 0; j < numFlightLines; j++)
{
double FLLength = 0;
double delEasting = XAllSets[1, i, j] - XAllSets[0, i, j];
double delNorthing = YAllSets[1, i, j] - YAllSets[0, i, j];
FLLength = Math.Sqrt(delEasting*delEasting + delNorthing * delNorthing);
if (FLLength > 0)
{
numFLthisSet++;
totalFlightlineDistancePerSet += FLLength;
lastNonZeroFLThisSet = j;
}
}
//total time for this set
double totalAOITime = (totalFlightlineDistancePerSet / 1000.0) / aircraftSpeedKPH + (numFLthisSet - 1) * timeToTurn;
double numberOfAOIsThisSet = Math.Floor(totalAOITime / maxAOITime) + 1.0;
//adjust the maxAOITime so that it is <= to the input maxAOITime but equal for all missions within this set
maxAOITime = totalAOITime / numberOfAOIsThisSet;
outfile.WriteLine();
outfile.WriteLine("Number of missions this set = " + numberOfAOIsThisSet.ToString());
outfile.WriteLine("Adjusted Maximum Mission time to enforce equal-size missions this set " + maxAOITime.ToString("F1"));
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//max allowable is now <= the initial max allowable -- reduced to have neary equal sized AOIs within the set.
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int AOIsThisSet = 0;
////////////////////////////////////////////////////////////////////////////////////
//now go back through the flight lines and break into groupings of flight lines
//this will define the flyable missions with a prescribed time-over-target threshold
////////////////////////////////////////////////////////////////////////////////////
for (int j = 0; j < numFlightLines; j++)
{
//compute the flight line length using the north and south intersection extents
//YAllSets[1, i, j] is the flight line "end" -- the larger Northing value (i.e., northmost end)
double flightLineDistanceKm = 0;
double delEasting = XAllSets[1, i, j] - XAllSets[0, i, j];
double delNorthing = YAllSets[1, i, j] - YAllSets[0, i, j];
flightLineDistanceKm = Math.Sqrt(delEasting * delEasting + delNorthing * delNorthing) / 1000.0;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (flightLineDistanceKm == 0 ) continue; //skip the below computations id the terminated flight line has zero length
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//number of flightlines this mission is current flight line (numFL) minus start flight line
numberFlightlines = numFL - startFlightlineThisMission + 1; //num of flight lines this mission
//sum the total flight line distances
//images this flight line based on the downrange image extent
int imagesThisFlightline = Convert.ToInt32(Math.Floor(flightLineDistanceKm / DRImageHeightKm) + 1.0);
//per-mission and total travel distances and num of images
totalFlightlineDistance += flightLineDistanceKm;
flightlineDistanceThisMission += flightLineDistanceKm;
totalImages += imagesThisFlightline;
totalImagesThisMission += imagesThisFlightline;
//transfer the start/end UTM coordinates back to the LatLon for use in the kml file
//Y is northing and X is easting
utm.UTMtoLL(YAllSets[0, i, j], XAllSets[0, i, j], p.UTMZone, ref latStart, ref lonStart);
utm.UTMtoLL(YAllSets[1, i, j], XAllSets[1, i, j], p.UTMZone, ref latEnd, ref lonEnd);
FLSum[numFL].planned.startUTMX = XAllSets[0, i, j];
FLSum[numFL].planned.startUTMY = YAllSets[0, i, j];
FLSum[numFL].planned.endUTMX = XAllSets[1, i, j];
FLSum[numFL].planned.endUTMY = YAllSets[1, i, j];
//fill the flightline summary structure
FLSum[numFL].planned.startLat = latStart;
FLSum[numFL].planned.startLon = lonStart;
FLSum[numFL].planned.endLat = latEnd;
FLSum[numFL].planned.endLon = lonEnd;
FLSum[numFL].numImages = imagesThisFlightline;
FLSum[numFL].lineNumberInPolygon = numFL;
FLSum[numFL].flightlineLengthMi = flightLineDistanceKm * 1000.0 / 0.3048 / 5280.0;
FLSum[numFL].FLstat = fightlineStatus.plan;
//sums to be used to compute the average mission center
sumMissionLat += (FLSum[numFL].planned.startLat + FLSum[numFL].planned.endLat) / 2.0;
sumMissionLon += (FLSum[numFL].planned.startLon + FLSum[numFL].planned.endLon) / 2.0;
///////////////////////////////Closest Airport///////////////////////////////////////////////////////////////////
//average mission lat/lon for use in getting the ferry distance
//we keep a running sum to get the avg as we add flight lines to the mission
avgMissionLat = sumMissionLat / numberFlightlines;
avgMissionLon = sumMissionLon / numberFlightlines;
/*
//closest airport and ferry time to average mission location
//test all candidate airports and use the closest to the mission center
double minAptDistance = 99999999999999.0;
for (int jA = 0; jA < p.airports.Count; jA++)
{
double delLat = p.airports[jA].lat - avgMissionLat;
double delLon = p.airports[jA].lon - avgMissionLon;
double dist = Math.Sqrt(delLat * delLat + delLon * delLon);
if (dist < minAptDistance) { minAptDistance = dist; jApt = jA; } //store the index of the closest airport
}
*/
double aptNorthing = 0.0, aptEasting = 000, avgNorthing = 0.0, avgEasting = 0.0;
//convert the airport lat/Long (LL) coordinates to UTM for distance measurement
utm.LLtoUTM(p.airports[p.selectedAirportIndex].lat * Constants.Deg2Rad, p.airports[p.selectedAirportIndex].lon * Constants.Deg2Rad,
ref aptNorthing, ref aptEasting, ref p.UTMZone, true);
utm.LLtoUTM(avgMissionLat * Constants.Deg2Rad, avgMissionLon * Constants.Deg2Rad, ref avgNorthing, ref avgEasting, ref p.UTMZone, true);
//delta N and E distances in Miles
double dn = (aptNorthing - avgNorthing) / 1000.0;
double de = (aptEasting - avgEasting) / 1000.0;
//ferry distance one-way -- approximation cause the ferry time really to the start of the first line of this mission
double ferryDistanceKm = Math.Sqrt(dn * dn + de * de);
oldFerryTime = ferryTime; // save the last ferry time --- new ferry time assuming we keep the current mission is below
if (ferryDistanceKm > distanceDuringClimb) //account for the travel portion while climbing to altitude
ferryTime = minimumFerryTime + (ferryDistanceKm - distanceDuringClimb) / aircraftSpeedKPH +
ferryDistanceKm / aircraftSpeedKPH + takeoffTime + landingTime;
else //closest airport is inside the mission area -- climb time is purely addidive to the flight time
ferryTime = minimumFerryTime + ferryDistanceKm / aircraftSpeedKPH + takeoffTime + landingTime;
/////////////////////////////////Closest AIRPORT////////////////////////////////////////////////////////////////
numFL++; //number of flight lines that have been investigated
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//separate the flight lines into multiple missions by asking: If we add this flight line do we exceed the aircraft endurance?
//also do this for the last flightline in each Set -- and the very last flight line.
//note -- on the first entry, we havent computed a ferry time (its zero) but its computed below
double expectedAOITime = (flightlineDistanceThisMission) / aircraftSpeedKPH + (numberFlightlines - 1) * timeToTurn;
outfile.WriteLine(String.Format(" New flightline: {0,2} length {1,10:#.00} (mi) accumulated Time = {2,10:#.00}",
numFL, flightLineDistanceKm * 1000.0 / 0.3048 / 5280.0, expectedAOITime));
outfile.Flush();
//NOTE: expectedAOITime includes the current line being tested
//will we allow each AOI to be slightly larger than maxAOITime (by one flight line) or force each AOI to be smaller by one flight line?
//for the first case, we will end up with a short AOI at the end -- for the second case, we end up with a long AOI at the end.
//at the very end, we always want to set the prior lines in this Set as an AOI
//first part of the "if" test tests to see if adding this flight line exceeds the maxAOITime.
//note that this test is removed if we are at the last AOI within a set. This allows the last AOI to be established
//even though the AOITime is below the maxAOITime. The second part of the "if" test triggers the AOI at the very last nonzero flightline.
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if ((expectedAOITime > maxAOITime && AOIsThisSet != (numberOfAOIsThisSet-1) ) || (j == lastNonZeroFLThisSet))
{
AOIsThisSet++;
//numFL is the total number of flight lines that have been processed below
//numFL-1 is the flightline ID of the last fight line that was processed
//numFL will be the next flight line process so is the start line of the next mission
//below logic accounts for the potential staggered start and ends of flight lines
//these computations assume you start at the west headed north and turn back south after each north-going line, alternating north/south directions
double extendedTravelToNextLine = 0; // accounts for the distance to travel to the start of the next flight line
for (int k = startFlightlineThisMission; k < (numFL-2) ; k += 2)
{
//account for extended line going north and turning south (end is at the north)
extendedTravelToNextLine += Math.Abs(FLSum[k].planned.endUTMX - FLSum[k + 1].planned.endUTMX) / 1000.0;
//account for extended line going south and turning north (start is at the south)
extendedTravelToNextLine += Math.Abs(FLSum[k + 1].planned.startUTMX - FLSum[k + 2].planned.startUTMX) / 1000.0;
}
flightlineDistanceThisMission += extendedTravelToNextLine;
totalTimeToTurn += (numberFlightlines - 1) * timeToTurn;
//Store the mission summary data into a structure and add to the ArrayList Collection
MissionSummary missionSum = new MissionSummary();
missionSum.missionPolygon = new List<PointD>(); // this is a geodetic polygon formed from the flight line endpoints
missionSum.missionNumber = missionNumber; //incremental index of the missions
missionSum.startFlightLine = startFlightlineThisMission; //starting flight line for this mission
missionSum.FerryTime = ferryTime; //two-way ferry --- computed below
missionSum.LengthMi = flightlineDistanceThisMission * 1000.0 / 0.3048 / 5280.0;
missionSum.numberFlightlines = numberFlightlines; //
missionSum.TimeOverTarget = flightlineDistanceThisMission / aircraftSpeedKPH + (numberFlightlines - 1) * timeToTurn;
totalTimeOverTarget += missionSum.TimeOverTarget;
missionSum.MissionStat = MissionStatus.plan;
missionSum.takeoffAirport = p.airports[jApt];
missionSum.totalImages = totalImagesThisMission;
missionSum.backgroundImageNWCorner = new PointD(0.0, 0.0);
missionSum.backgroundImageSECorner = new PointD(0.0, 0.0);
outfile.WriteLine(String.Format(" new misson: {0,2} startFlightLine {1,3} numFlightLines {2,3} flightlineDistance {3,10:#.00} (Mi) ferryTime {4,5:#.00} (hr) ",
missionSum.missionNumber, missionSum.startFlightLine, missionSum.numberFlightlines, missionSum.LengthMi, missionSum.FerryTime));
missionSum.backgroundImageFilename = "NA";
missionSum.setNumber = i;
if (!replannerTool)
{
//form a polygon of the mission envelope based upon the flight line endpoints.
//I dont see where these UTM endpoints are used!!!
List<double> EastingMsn = new List<double>(); List<double> NorthingMsn = new List<double>();
//go around the flight line endpoints beginning at the south ends and moving counterclockwise
for (int ifl = startFlightlineThisMission; ifl < (startFlightlineThisMission + numberFlightlines); ifl++)
{
EastingMsn.Add(FLSum[ifl].planned.startUTMX);
NorthingMsn.Add(FLSum[ifl].planned.startUTMY);
missionSum.missionPolygon.Add(new PointD(FLSum[ifl].planned.startLon, FLSum[ifl].planned.startLat));
}
//add the north ends starting at the westmost lines so the poly forms a sequential set of points counterclockwise
for (int ifl = (startFlightlineThisMission + numberFlightlines - 1); ifl > startFlightlineThisMission - 1; ifl--)
{
EastingMsn.Add(FLSum[ifl].planned.endUTMX);
NorthingMsn.Add(FLSum[ifl].planned.endUTMY);
missionSum.missionPolygon.Add(new PointD(FLSum[ifl].planned.endLon, FLSum[ifl].planned.endLat));
}
//add one more point back at the start to create a linesegment to close the polygon
missionSum.missionPolygon.Add(new PointD(FLSum[startFlightlineThisMission].planned.startLon, FLSum[startFlightlineThisMission].planned.startLat));
}
else
{
//form the mission polygon from the flight line bounding boxes
double maxLat = -99999.0, maxLon = -99999.0;
double minLat = 99999.0, minLon = 99999.0;
foreach (endPoints ep in reflyLines)
{
if (ep.startLat > maxLat) maxLat = ep.startLat;
if (ep.endLat > maxLat) maxLat = ep.endLat;
if (ep.startLon > maxLon) maxLon = ep.startLon;
if (ep.endLon > maxLon) maxLon = ep.endLon;
if (ep.startLat < minLat) minLat = ep.startLat;
if (ep.endLat < minLat) minLat = ep.endLat;
if (ep.startLon < minLon) minLon = ep.startLon;
if (ep.endLon < minLon) minLon = ep.endLon;
}
missionSum.missionPolygon.Add(new PointD(minLon-0.01, maxLat+0.01));
missionSum.missionPolygon.Add(new PointD(maxLon+0.01, maxLat+0.01));
missionSum.missionPolygon.Add(new PointD(maxLon+0.01, minLat-0.01));
missionSum.missionPolygon.Add(new PointD(minLon-0.01, minLat-0.01));
missionSum.missionPolygon.Add(new PointD(minLon-0.01, maxLat+0.01));
}
//mission center/average lat/lon is computed below this statement
missionSum.missionCenter = new PointD(avgMissionLat, avgMissionLon);
outfile.Flush();
//////////// add mission summary to the ArrayList collection of missions///////////////////////////////
MissionSumA.Add(missionSum);
totalFerryTime += ferryTime; //total ferry times across the complete project -- used for the average ferry per mission
flightlineDistanceThisMission = 0; //reset the mission distance summation
totalImagesThisMission = 0; //reset the total images this mission
missionNumber++; //increment the mission couinter
startFlightlineThisMission = numFL; //set the start flight line for the next mission
sumMissionLat = 0.0; //reset the sums used for the current mission lat/lon average
sumMissionLon = 0.0;
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//cycle back through the missions and get the maps and the average altitude
//do this in a batch rather than in the per-mission segment above
//in order to better batch-submit requests to the Google Maps API
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
List<PointD> totalPointsInPoly = new List<PointD>(); //a list of Npts points randomly spaced withi each polygon;
int Npts = 100; //number of random-spaced points from each mission polygon used to form the average elevation in the mission polygon
// MissionSumA is the collection of all missions -- this includes the mission polygon that is determined above
for (int i = 0; i < MissionSumA.Count; i++)
{
////////////////////////////////////////////////////////////
// not quite sure why we do the intermediate storage !!!
////////////////////////////////////////////////////////////
MissionSummary missionSum = MissionSumA[i];
//get the map of the mission area
gglmaps.createBackgroundMaps(ref missionSum, FLSum, p.UTMZone, downloadMap);
MissionSumA[i] = missionSum;
//get a list of all the accumulated Npts points used for all the averages
//this is done so we can request the elevation using Google Maps API with a minimum of requests
// getPointsInPoly returns a list of Npts PointD points -- so the below call adds Npts on each call ???
for (int ips = 0; ips < Npts; ips++)
{
totalPointsInPoly.Add(polyMath.getPointsInPoly(Npts, missionSum.missionPolygon)[ips]);
}
}
//this procedure gets the elevations for the totalPointsInPoly using the Google Elevation API
//the points are requested using the polyline request method to minimize the number of requests.
//we pack as many elevation points into each request as possible within the constraints of the URL length
//The elevation API limits requests to 2500/day and a total of 25000 elevation points per day.
//so 2500 requests with 100 points per request will hit the limit.
List<double> heights = polyMath.getTerrainHeightsFromPointList(totalPointsInPoly);
//go back through the total list of elevations and break the list into missions and get the elevation stats per mission
for (int i = 0; i < MissionSumA.Count; i++)
{
MissionSummary missionSum = MissionSumA[i];
List<double> heightsThisMission = new List<double>();
for (int ips = i * Npts; ips < (i + 1) * Npts; ips++) heightsThisMission.Add(heights[ips]);
heightsThisMission.Sort(); //used to get the 90 percentile height
missionSum.ts.avgTerrainHeight = heightsThisMission.Average();
missionSum.ts.terrain90percentileHeight = heightsThisMission[Convert.ToInt32(0.90 * Npts)];
missionSum.ts.maxTerrainHeight = heightsThisMission.Max();
missionSum.ts.minTerrainHeight = heightsThisMission.Min();
////flight altitude in feet for the pilot display
missionSum.FlightAltMSLft = flightAlt + missionSum.ts.terrain90percentileHeight / 0.3048; //flightAlt is AGL in ft;
////round to the nearest 100 ft
missionSum.FlightAltMSLft = (int)(missionSum.FlightAltMSLft / 100.0 + 0.50) * 100.00;
MissionSumA[i] = missionSum;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//now we have all the data for the missions.
//we need to write out the xml text lines that will be inserted into the original kml file.
//we insert beneath the original Placemark element (after the <Placemark> and form a <Folder> kml structure
//each element in the folders will contain one mission
//also each mission folder will contain multiple Placemark elements that represent the flightlines
//note the <description> <!CDATA[ ..... ]]> .... this is inserted HTML code to format the presentation
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Constants.Log(" Write the mission plan .kml");
////////////////////////////////
//write the kml file
////////////////////////////////
writeKmlPolygonMissonPlan(p,
DRImageHeightKm, missionNumber, flightAlt, swathWidthKm,
totalFlightlineDistance, totalFerryTime, aircraftSpeedKPH,
totalTimeOverTarget, numFL, totalImages, MissionSumA);
///////////////////////////////////////////////////////////////
//the above comprises a complete closed set of .kml elements
///////////////////////////////////////////////////////////////
kmlFlightLines.Flush();
Constants.Log("");
Constants.Log("");
Constants.Log("Normal Termination ");
Constants.Log("");
//////////////////////////////////////////////
//show the END button
button2.Visible = true;
button2.Enabled = true;
//////////////////////////////////////////////
}
//Application.Exit();
}
void LinearFeaturePlanner(Polygon p, double flightAlt, double swathWidthKm,
double aircraftSpeedKnots, double aircraftSpeedKPH, double DRImageHeightKm)
{
//if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
//{
//show the "PLAN" button
button3.Visible = true;
button3.Enabled = true;
///////////////////////////////////////////////////////////////////////////////////
// wait here til user clicks considers the coverage options and clicks: "PLAN"
///////////////////////////////////////////////////////////////////////////////////
while (!MissionPlanningInitiated)
{
Application.DoEvents(); //wait for user inputs
}
//TODO
//get the flyable aircraft paths that will cover the input linear feature path
//there will be one linearFeature object for each of the parallel paths
List<LINEAR_FEATURE> linearFeatures =
linearFeatureCoverage(numParallelPaths, linearPathCentering,
flightAlt, swathWidthKm * 1000.0, aircraftSpeedKnots * 0.514);
//the above procedure writes kml files for forward, backward, & smoothed trajectory
//also writes out the image boresight projection and the image endpoints as kml files
GoogleMaps ggl = new GoogleMaps(datasetFolder, p.PolygonName);
//get the project map for the path -- shows complete extent of the path and takeoff airport
ggl.getGoogleMapToCoverProject(ref p, downloadMap);
//get the path-segment maps that will be used to form a aircraft-centered sliding window map
//get rectangular maps sized 10mi x 10mi at 5mi intervals along the path
ggl.createBackgroundMapsForLinearFeature(linearFeatures, p.UTMZone, downloadMap);
double totalPathDistance = 0.0;
polygonMath polymath = new polygonMath(linearFeatures[0].EastingProNavS, linearFeatures[0].NorthingProNavS, datasetFolder);
//get the along-path altitudes
for (int iLF = 0; iLF < linearFeatures.Count; iLF++)
{
totalPathDistance += linearFeatures[iLF].pathLength;
List<PointD> pointsAlongPath = new List<PointD>();
UTM2Geodetic utm = new UTM2Geodetic();
//create a sequence of points along path based on the smoothed trajectory
for (int i = 0; i < linearFeatures[iLF].NorthingProNavS.Count; i++)
{
double lat = 0.0, lon = 0.0;
utm.UTMtoLL(linearFeatures[iLF].NorthingProNavS[i], linearFeatures[iLF].EastingProNavS[i], p.UTMZone, ref lat, ref lon);
pointsAlongPath.Add(new PointD(lon, lat));
}
//get the terrain heights using the Google Elevation API
linearFeatures[iLF].alongPathAltitude = polymath.getTerrainHeightsFromPointList(pointsAlongPath);
//number of triggered images along the path
linearFeatures[iLF].numImages = (int)(linearFeatures[iLF].pathLength / (DRImageHeightKm * 1000.0));
//get stats of the along-path altitudes
double maxAlt = -99999.0, minAlt = 99999.0, meanAlt = 0.0;
foreach (double alt in linearFeatures[iLF].alongPathAltitude)
{
if (alt > maxAlt) maxAlt = alt;
if (alt < minAlt) minAlt = alt;
meanAlt += alt;
}
meanAlt /= linearFeatures[iLF].alongPathAltitude.Count;
linearFeatures[iLF].maxAltitude = maxAlt;
linearFeatures[iLF].minAltitude = minAlt;
linearFeatures[iLF].meanAltitude = meanAlt;
linearFeatures[iLF].pathNumber = iLF;
}
//get the 2way ferry distance
double total2WayFerryDistance = 0.0;
//start: always start for 0th path to the selected airport
//distance from selected airport to start of first line
double delNS = linearFeatures[0].NorthingProNavS[0] - p.airports[selectedAirportIndex].northing;
double delES = linearFeatures[0].EastingProNavS[0] - p.airports[selectedAirportIndex].easting;
double distanceToAptS = Math.Sqrt(delNS * delNS + delES * delES);
total2WayFerryDistance += distanceToAptS;
//always return to the airport from the end of the last path
int endIndex = linearFeatures[linearFeatures.Count - 1].NorthingProNavS.Count - 1;
//distance from selected airport to start of first line
delNS = linearFeatures[linearFeatures.Count - 1].NorthingProNavS[endIndex] - p.airports[selectedAirportIndex].northing;
delES = linearFeatures[linearFeatures.Count - 1].EastingProNavS[endIndex] - p.airports[selectedAirportIndex].easting;
distanceToAptS = Math.Sqrt(delNS * delNS + delES * delES);
//final 2-way ferry distance is the sum of the to- and from- ferry distances
total2WayFerryDistance += distanceToAptS;
double totalPathTime = totalPathDistance / (aircraftSpeedKPH * 1000.0);
int totalLFImages = (int)(totalPathDistance / (DRImageHeightKm * 1000.0));
writeKmlLinearFeatureMissonPlan(p,
DRImageHeightKm, numParallelPaths, flightAlt, swathWidthKm,
totalPathDistance, total2WayFerryDistance, aircraftSpeedKPH,
totalPathTime, totalLFImages, linearFeatures);
//////////////////////////////////////////////
//show the END button
button2.Visible = true;
button2.Enabled = true;
//////////////////////////////////////////////
//wait here to see if the user clicks the "END" button
while (true)
{
Application.DoEvents();
}
//Environment.Exit(-1);
//}
//////////////////////// end of linear feature Planner //////////////////
}
