renderer_common::renderer_common(Map const &m, unsigned offset_x, unsigned offset_y,
unsigned width, unsigned height, double scale_factor,
std::shared_ptr<label_collision_detector4> detector)
: renderer_common(width, height, scale_factor,
CoordTransform(m.width(),m.height(),m.get_current_extent(),offset_x,offset_y),
detector)
{}
PPETask::PPETask(DjiPoint _startSprayingPosition,double _sprayingDirection, double _sprayingWidth,
int _droneNum, bool _isUseCoordTransform)
{
if (!(_sprayingDirection <= 360 && _sprayingDirection >= 0 &&
_sprayingWidth>0 && _sprayingWidth<=MAX_SPRAY_WIDTH_METER))
{
printLog("WaypointTask init input error", true);
}
if (_isUseCoordTransform)
{
if (!isLegalLatLong(_startSprayingPosition))
{
printLog("_startSprayingPosition is illegal LatLong", true);
}
}
if (_droneNum<1)
{
printLog("inupt error droneNum<1", true);
}
isUseCoordTransform = _isUseCoordTransform;
//all the latitude_longtitude data will be transformed into plane coordinate (the unit is metre)
tran = isUseCoordTransform ? CoordTransform(_startSprayingPosition) : CoordTransform();
homePoint = isUseCoordTransform ? tran.latlong2plane(_startSprayingPosition) : _startSprayingPosition;
droneNum = _droneNum;
forwardVec = CoordTransform::dirSouthEastFromNorthAngle(_sprayingDirection);
forwardVec = forwardVec / molMat(forwardVec);
//rotate clockwise 90 degree
sideVec.x = forwardVec.y;
sideVec.y = -forwardVec.x;
sprayWidth = _sprayingWidth;
printLog(" ");
printPoint("startSprayingPosition: ", _startSprayingPosition);
printLog("sprayingDirection: " + double2string(_sprayingDirection));
printLog("sprayingWidth: " + double2string(sprayWidth));
printLog("droneNum: " + int2string(droneNum));
initDefaultValues();
}
renderer_common::renderer_common(request const &req, unsigned offset_x, unsigned offset_y,
unsigned width, unsigned height, double scale_factor)
: renderer_common(width, height, scale_factor,
CoordTransform(req.width(),req.height(),req.extent(),offset_x,offset_y),
std::make_shared<label_collision_detector4>(
box2d<double>(-req.buffer_size(), -req.buffer_size(),
req.width() + req.buffer_size() ,req.height() + req.buffer_size())))
{}
renderer_common::renderer_common(Map const &m, unsigned offset_x, unsigned offset_y,
unsigned width, unsigned height, double scale_factor)
: renderer_common(width, height, scale_factor,
CoordTransform(m.width(),m.height(),m.get_current_extent(),offset_x,offset_y),
std::make_shared<label_collision_detector4>(
box2d<double>(-m.buffer_size(), -m.buffer_size(),
m.width() + m.buffer_size() ,m.height() + m.buffer_size())))
{}
CoordTransform Map::view_transform() const
{
return CoordTransform(width_,height_,current_extent_);
}
