void GeoDialog::loadCityList()
{
mCityCombo->clear();
mGeoDataMap.clear();
QFile file( KStandardDirs::locate( "data", "kaddressbook/zone.tab" ) );
if ( file.open( QIODevice::ReadOnly ) ) {
QTextStream s( &file );
QString line, country;
QRegExp coord( "[+-]\\d+[+-]\\d+" );
QRegExp name( "[^\\s]+/[^\\s]+" );
int pos;
while ( !s.atEnd() ) {
line = s.readLine().trimmed();
if ( line.isEmpty() || line[ 0 ] == '#' )
continue;
country = line.left( 2 );
QString c, n;
pos = coord.indexIn( line, 0 );
if ( pos >= 0 )
c = line.mid( pos, coord.matchedLength() );
pos = name.indexIn(line, pos);
if ( pos > 0 ) {
n = line.mid( pos, name.matchedLength() ).trimmed();
n.replace( '_', " " );
}
if ( !c.isEmpty() && !n.isEmpty() ) {
pos = c.indexOf( "+", 1 );
if ( pos < 0 )
pos = c.indexOf( "-", 1 );
if ( pos > 0 ) {
GeoData data;
data.latitude = calculateCoordinate( c.left( pos ) );
data.longitude = calculateCoordinate( c.mid( pos ) );
data.country = country;
mGeoDataMap.insert( n, data );
}
}
}
QStringList items( mGeoDataMap.keys() );
items.prepend( i18nc( "@item:inlistbox Undefined location", "Undefined" ) );
mCityCombo->addItems( items );
file.close();
}
}
AU_UAV_ROS::GoToWaypoint updatePath(const AU_UAV_ROS::TelemetryUpdate::ConstPtr &msg, AU_UAV_ROS::mathVector forceVector){
AU_UAV_ROS::GoToWaypoint goToWaypointSrv; /* destination to go to */
double forceTheta = forceVector.getDirection(); /* angle of the force vector with respect to North bearing */
double d = MPS_SPEED/EARTH_RADIUS; /* angular distance traveled in one second */
AU_UAV_ROS::waypoint currentPosition, newPosition;
currentPosition.latitude = msg->currentLatitude;
currentPosition.longitude = msg->currentLongitude;
currentPosition.altitude = msg->currentAltitude;
newPosition = calculateCoordinate(currentPosition, forceTheta, d); /* find new position one second away based on direction of force */
/* set up new goToWaypoint service */
goToWaypointSrv.request.planeID = msg->planeID;
goToWaypointSrv.request.latitude = newPosition.latitude;
goToWaypointSrv.request.longitude = newPosition.longitude;
goToWaypointSrv.request.altitude = newPosition.altitude;
return goToWaypointSrv;
}
