public static void DefineBoxAt(IAgAreaTarget at, double centerLat, double centerLong, double boundSize)
{
at.AreaType = AgEAreaType.ePattern;
IAgAreaTypePatternCollection pattern = (IAgAreaTypePatternCollection)at.AreaTypeData;
pattern.RemoveAll();
pattern.Add(centerLat + boundSize, centerLong + boundSize);
pattern.Add(centerLat + boundSize, centerLong - boundSize);
pattern.Add(centerLat - boundSize, centerLong - boundSize);
pattern.Add(centerLat - boundSize, centerLong + boundSize);
}
public List <Waypoint> RasterSearchWaypointGenerator(
string areaTargetPath, string heading, double speed, double altitude, double turnRadius,
SwathWidthType swathType, double swathParameter)
{
List <Waypoint> waypoints = new List <Waypoint>();
IAgStkObject areaTarget = root.GetObjectFromPath(areaTargetPath);
IAgAreaTarget areaTargetObj = (IAgAreaTarget)areaTarget;
bool areaTargetElActive = areaTarget.AccessConstraints.IsConstraintActive(AgEAccessConstraints.eCstrElevationAngle);
double restoreAngle = 0;
if (!areaTargetElActive)
{
IAgAccessCnstrAngle elevationMin = areaTarget.AccessConstraints.AddConstraint(AgEAccessConstraints.eCstrElevationAngle) as IAgAccessCnstrAngle;
root.UnitPreferences["Angle"].SetCurrentUnit("deg");
elevationMin.Angle = 90;
}
else
{
IAgAccessCnstrAngle elevationMin = areaTarget.AccessConstraints.GetActiveConstraint(AgEAccessConstraints.eCstrElevationAngle) as IAgAccessCnstrAngle;
root.UnitPreferences["Angle"].SetCurrentUnit("deg");
restoreAngle = (double)elevationMin.Angle;
elevationMin.Angle = 90;
}
double minLat = 90;
double maxLat = -90;
double minLon = 180;
double maxLon = -180;
root.UnitPreferences["Angle"].SetCurrentUnit("deg");
switch (areaTargetObj.AreaType)
{
case AgEAreaType.eEllipse:
IAgDataProviderGroup boundingProvider = areaTarget.DataProviders["Bounding Rectangle"] as IAgDataProviderGroup;
IAgDataPrvFixed dpElements = boundingProvider.Group["Corner Points"] as IAgDataPrvFixed;
IAgDrResult atDataPrvResult = dpElements.Exec();
Array atLats = atDataPrvResult.DataSets.GetDataSetByName("Geodetic-Lat").GetValues();
Array atLons = atDataPrvResult.DataSets.GetDataSetByName("Geodetic-Lon").GetValues();
foreach (object item in atLats)
{
if ((double)item > maxLat)
{
maxLat = (double)item;
}
if ((double)item < minLat)
{
minLat = (double)item;
}
}
foreach (object item in atLons)
{
if ((double)item > maxLon)
{
maxLon = (double)item;
}
if ((double)item < minLon)
{
minLon = (double)item;
}
}
break;
case AgEAreaType.ePattern:
IAgAreaTypePatternCollection boundary = areaTargetObj.AreaTypeData as IAgAreaTypePatternCollection;
foreach (IAgAreaTypePattern item in boundary)
{
if ((double)item.Lat > maxLat)
{
maxLat = (double)item.Lat;
}
if ((double)item.Lat < minLat)
{
minLat = (double)item.Lat;
}
if ((double)item.Lon > maxLon)
{
maxLon = (double)item.Lon;
}
if ((double)item.Lon < minLon)
{
minLon = (double)item.Lon;
}
}
break;
default:
break;
}
double deltaLat = maxLat - minLat;
double deltaLon = maxLon - minLon;
IAgExecCmdResult cmdResult;
switch (heading)
{
case "NorthSouth":
cmdResult = root.ExecuteCommand("MeasureSurfaceDistance * " +
minLat + " " + minLon + " " + minLat + " " + maxLon);
break;
case "EastWest":
cmdResult = root.ExecuteCommand("MeasureSurfaceDistance * " +
minLat + " " + minLon + " " + maxLat + " " + minLon);
break;
default:
cmdResult = root.ExecuteCommand("MeasureSurfaceDistance * " +
minLat + " " + minLon + " " + maxLat + " " + minLon);
break;
}
double regionWidth = double.Parse(cmdResult[0]);
int numPasses = DetermineNumPasses(swathType, swathParameter, altitude, regionWidth, null);
if (numPasses < 1)
{
MessageBox.Show("No Passes. Try Adjusting Swath Width Parameters");
return(waypoints);
}
root.BeginUpdate();
string gvName = uniqueName("gridTester", AgESTKObjectType.eGroundVehicle);
IAgGroundVehicle groundVehicle = root.CurrentScenario.Children.New(AgESTKObjectType.eGroundVehicle, gvName) as IAgGroundVehicle;
groundVehicle.Graphics.SetAttributesType(AgEVeGfxAttributes.eAttributesBasic);
IAgVeGfxAttributesBasic gvGfx = groundVehicle.Graphics.Attributes as IAgVeGfxAttributesBasic;
gvGfx.Inherit = false;
gvGfx.IsVisible = false;
IAgVePropagatorGreatArc route = groundVehicle.Route as IAgVePropagatorGreatArc;
//route.ArcGranularity = 51.333;
route.SetAltitudeRefType(AgEVeAltitudeRef.eWayPtAltRefWGS84);
route.Method = AgEVeWayPtCompMethod.eDetermineTimeAccFromVel;
Waypoint waypoint1 = new Waypoint();
Waypoint waypoint2 = new Waypoint();
bool headEast = true;
double loopMin;
double loopMax;
double gridAngleStep;
switch (heading)
{
case "NorthSouth":
loopMin = minLon;
loopMax = maxLon;
gridAngleStep = (maxLon - minLon) / numPasses;
break;
case "EastWest":
loopMin = minLat;
loopMax = maxLat;
gridAngleStep = (maxLat - minLat) / numPasses;
break;
default:
loopMin = minLat;
loopMax = maxLat;
gridAngleStep = .95 * (maxLat - minLat) / numPasses;
break;
}
for (double eval = loopMin; eval <= loopMax; eval += gridAngleStep)
{
route.Waypoints.RemoveAll();
IAgVeWaypointsElement thisWaypoint1;
IAgVeWaypointsElement thisWaypoint2;
switch (heading)
{
case "NorthSouth":
thisWaypoint1 = route.Waypoints.Add();
thisWaypoint1.Latitude = minLat - gridAngleStep;
thisWaypoint1.Longitude = eval;
thisWaypoint1.Altitude = 0;
thisWaypoint2 = route.Waypoints.Add();
thisWaypoint2.Latitude = maxLat + gridAngleStep;
thisWaypoint2.Longitude = eval;
thisWaypoint2.Altitude = 0;
break;
case "EastWest":
default:
thisWaypoint1 = route.Waypoints.Add();
thisWaypoint1.Latitude = eval;
thisWaypoint1.Longitude = minLon - gridAngleStep;
thisWaypoint1.Altitude = 0;
thisWaypoint2 = route.Waypoints.Add();
thisWaypoint2.Latitude = eval;
thisWaypoint2.Longitude = maxLon + gridAngleStep;
thisWaypoint2.Altitude = 0;
break;
}
route.Propagate();
IAgStkAccess access = areaTarget.GetAccessToObject((IAgStkObject)groundVehicle);
access.ComputeAccess();
IAgDataPrvInterval dpAccess = access.DataProviders["Access Data"] as IAgDataPrvInterval;
IAgScenario scen = root.CurrentScenario as IAgScenario;
IAgDrResult result = dpAccess.Exec(scen.StartTime, scen.StopTime);
if (result.DataSets.Count > 0)
{
Array startTimes = result.DataSets.GetDataSetByName("Start Time").GetValues();
Array stopTimes = result.DataSets.GetDataSetByName("Stop Time").GetValues();
string startTime = (string)startTimes.GetValue(0);
string stopTime = (string)stopTimes.GetValue(stopTimes.GetLength(0) - 1);
IAgDataProviderGroup dpLLA = ((IAgStkObject)groundVehicle).DataProviders["LLA State"] as IAgDataProviderGroup;
IAgDataPrvTimeVar dpElements = dpLLA.Group["Fixed"] as IAgDataPrvTimeVar;
IAgDrResult DataPrvResult = dpElements.ExecSingle(startTime);
Array Lats = DataPrvResult.DataSets.GetDataSetByName("Lat").GetValues();
Array Lons = DataPrvResult.DataSets.GetDataSetByName("Lon").GetValues();
waypoint1 = new Waypoint();
waypoint1.Latitude = (double)Lats.GetValue(0);
waypoint1.Longitude = (double)Lons.GetValue(0);
waypoint1.Altitude = altitude;
waypoint1.SurfaceAltitude = 0;
waypoint1.Speed = speed;
waypoint1.TurnRadius = turnRadius;
IAgDataProviderGroup dpLLA1 = ((IAgStkObject)groundVehicle).DataProviders["LLA State"] as IAgDataProviderGroup;
IAgDataPrvTimeVar dpElements1 = dpLLA1.Group["Fixed"] as IAgDataPrvTimeVar;
IAgDrResult DataPrvResult1 = dpElements1.ExecSingle(stopTime);
Array Lats1 = DataPrvResult1.DataSets.GetDataSetByName("Lat").GetValues();
Array Lons1 = DataPrvResult1.DataSets.GetDataSetByName("Lon").GetValues();
waypoint2 = new Waypoint();
waypoint2.Latitude = (double)Lats1.GetValue(0);
waypoint2.Longitude = (double)Lons1.GetValue(0);
waypoint2.Altitude = altitude;
waypoint2.SurfaceAltitude = 0;
waypoint2.Speed = speed;
waypoint2.TurnRadius = turnRadius;
if (headEast)
{
waypoints.Add(waypoint1);
waypoints.Add(waypoint2);
}
else
{
waypoints.Add(waypoint2);
waypoints.Add(waypoint1);
}
headEast = !headEast;
}
access.RemoveAccess();
}
((IAgStkObject)groundVehicle).Unload();
if (!areaTargetElActive)
{
areaTarget.AccessConstraints.RemoveConstraint(AgEAccessConstraints.eCstrElevationAngle);
}
else
{
IAgAccessCnstrAngle elevationMin = areaTarget.AccessConstraints.GetActiveConstraint(AgEAccessConstraints.eCstrElevationAngle) as IAgAccessCnstrAngle;
root.UnitPreferences["Angle"].SetCurrentUnit("deg");
elevationMin.Angle = restoreAngle;
}
root.EndUpdate();
root.UnitPreferences.ResetUnits();
return(waypoints);
}
public List <Waypoint> ExpandingSquareWaypointGenerator(
string areaTargetPath, double speed, double altitude, double turnRadius,
SwathWidthType swathType, double swathParameter)
{
List <Waypoint> waypoints = new List <Waypoint>();
IAgStkObject areaTarget = root.GetObjectFromPath(areaTargetPath);
IAgAreaTarget areaTargetObj = (IAgAreaTarget)areaTarget;
double minLat = 90;
double maxLat = -90;
double minLon = 180;
double maxLon = -180;
root.UnitPreferences["Angle"].SetCurrentUnit("deg");
switch (areaTargetObj.AreaType)
{
case AgEAreaType.eEllipse:
IAgDataProviderGroup boundingProvider = areaTarget.DataProviders["Bounding Rectangle"] as IAgDataProviderGroup;
IAgDataPrvFixed dpElements = boundingProvider.Group["Corner Points"] as IAgDataPrvFixed;
IAgDrResult atDataPrvResult = dpElements.Exec();
Array atLats = atDataPrvResult.DataSets.GetDataSetByName("Geodetic-Lat").GetValues();
Array atLons = atDataPrvResult.DataSets.GetDataSetByName("Geodetic-Lon").GetValues();
foreach (object item in atLats)
{
if ((double)item > maxLat)
{
maxLat = (double)item;
}
if ((double)item < minLat)
{
minLat = (double)item;
}
}
foreach (object item in atLons)
{
if ((double)item > maxLon)
{
maxLon = (double)item;
}
if ((double)item < minLon)
{
minLon = (double)item;
}
}
break;
case AgEAreaType.ePattern:
IAgAreaTypePatternCollection boundary = areaTargetObj.AreaTypeData as IAgAreaTypePatternCollection;
foreach (IAgAreaTypePattern item in boundary)
{
if ((double)item.Lat > maxLat)
{
maxLat = (double)item.Lat;
}
if ((double)item.Lat < minLat)
{
minLat = (double)item.Lat;
}
if ((double)item.Lon > maxLon)
{
maxLon = (double)item.Lon;
}
if ((double)item.Lon < minLon)
{
minLon = (double)item.Lon;
}
}
break;
default:
break;
}
double deltaLat = maxLat - minLat;
double deltaLon = maxLon - minLon;
double swathWidth;
double gridAngleStep;
if (swathType != SwathWidthType.NumberOfPasses)
{
swathWidth = DetermineSwathWidth(swathType, swathParameter, altitude);
gridAngleStep = swathWidth / 111000; // degrees longitude...ish
}
else
{
gridAngleStep = (((maxLat - minLat) + (maxLon - minLon)) / 2) / swathParameter;
}
double initialLat, initialLon;
initialLat = maxLat - ((maxLat - minLat) / 2);
initialLon = maxLon - ((maxLon - minLon) / 2);
//IAgPosition centroid = (areaTarget as IAgAreaTarget).Position;
//object centroidLat;
//object centroidLon;
//double centroidAlt;
//centroid.QueryPlanetodetic(out centroidLat, out centroidLon, out centroidAlt);
//initialLat = (double)centroidLat ;
//initialLon = (double)centroidLon ;
Waypoint waypointInit = new Waypoint();
waypointInit.Latitude = (double)initialLat;
waypointInit.Longitude = (double)initialLon;
waypointInit.Altitude = altitude;
waypointInit.SurfaceAltitude = 0;
waypointInit.Speed = speed;
waypointInit.TurnRadius = turnRadius;
waypoints.Add(waypointInit);
bool keepCircling = true;
Waypoint waypoint1, waypoint2, waypoint3, waypoint4;
double multiplier = 1;
while (keepCircling)
{
waypoint1 = new Waypoint();
waypoint1.Latitude = waypoints[waypoints.Count - 1].Latitude + multiplier * gridAngleStep;
waypoint1.Longitude = waypoints[waypoints.Count - 1].Longitude;
waypoint1.Altitude = altitude;
waypoint1.SurfaceAltitude = 0;
waypoint1.Speed = speed;
waypoint1.TurnRadius = turnRadius;
waypoints.Add(waypoint1);
waypoint2 = new Waypoint();
waypoint2.Latitude = waypoints[waypoints.Count - 1].Latitude;
waypoint2.Longitude = waypoints[waypoints.Count - 1].Longitude + multiplier * gridAngleStep;
waypoint2.Altitude = altitude;
waypoint2.SurfaceAltitude = 0;
waypoint2.Speed = speed;
waypoint2.TurnRadius = turnRadius;
waypoints.Add(waypoint2);
multiplier += 1.0;
waypoint3 = new Waypoint();
waypoint3.Latitude = waypoints[waypoints.Count - 1].Latitude - multiplier * gridAngleStep;
waypoint3.Longitude = waypoints[waypoints.Count - 1].Longitude;
waypoint3.Altitude = altitude;
waypoint3.SurfaceAltitude = 0;
waypoint3.Speed = speed;
waypoint3.TurnRadius = turnRadius;
waypoints.Add(waypoint3);
waypoint4 = new Waypoint();
waypoint4.Latitude = waypoints[waypoints.Count - 1].Latitude;
waypoint4.Longitude = waypoints[waypoints.Count - 1].Longitude - multiplier * gridAngleStep;
waypoint4.Altitude = altitude;
waypoint4.SurfaceAltitude = 0;
waypoint4.Speed = speed;
waypoint4.TurnRadius = turnRadius;
waypoints.Add(waypoint4);
multiplier += 1.0;
if ((waypoint4.Latitude > maxLat & waypoint4.Longitude > maxLon) ||
(waypoint4.Latitude < minLat & waypoint4.Longitude < minLon))
{
keepCircling = false;
}
}
return(waypoints);
}
