Support for overlapping paths about fields2cover HOT 5 CLOSED

Yes, in this function:

I need to split the heuristic that search the best angle and the swath generator actually. As a way to solve your issue with the current code, you can use a F2CRobot with a narrow width and then change the width of the swaths manually.

Just for curiosity, which is the purpouse of re-covering the same area systematically?

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Yes. I suspect that specifying constant width / overhang is useful for other applications as well. But for me, it is an application where we like a bit of overlap (just ~5-10% of the robot implement width) to ensure we don't leave strips of land uncovered between swaths, to account for a bit of localization/controller variability etc.

As a way to solve your issue with the current code, you can use a F2CRobot with a narrow width and then change the width of the swaths manually.

I suspect if I do that, on the edge of the boundary the robot will overhang / violate the boundary right?

change the width of the swaths manually.

I am not sure what you mean / how that would help. Can you please clarify?

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I suspect if I do that, on the edge of the boundary the robot will overhang / violate the boundary right?

The swath generator assume that you have headlands on the sides of the field. So even if the swaths go out of the mainland, you cover part of the headlands (without going outside).

As you can see, no checks are made if the area of the swaths go out of boundaries.

I am not sure what you mean / how that would help. Can you please clarify?

You can change the width of a swath with this function:

As F2CSwaths are containers of F2CSwath, you need to create a loop to change the width of each swath.

Other (easier) option is to modify the code on:

to:

float safe_perc = 0.1; // 10%

int n_swaths {static_cast<int>(ceil(field_width / (op_width - safe_perc)))}; 
auto seed_curve = rot_poly.getStraightLongCurve( 
    F2CPoint(rot_poly.getDimMinX(), rot_poly.getDimMinY()), 
    boost::math::constants::half_pi<double>()); 
  
F2CSwaths swaths; 
for (int i = 0; i < n_swaths; ++i) { 
   auto path = F2CPoint(0.0, 0.0).rotateFromPoint(-angle, 
       seed_curve + F2CPoint(safe_perc / 2, 0.0) + F2CPoint(op_width - safe_perc, 0.0) * (i + 0.5)); 
   swaths.append(path, poly, op_width); 
 } 

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Thanks for the insight @Gonzalo-Mier . I think I will probably test this out and PR the overlap input into the swath generator within the next few months. I will write it here in the issue when I get started.

As you can see, no checks are made if the area of the swaths go out of boundaries.

Yes I noticed that ! Is there a particular reason? It would be nice to have some sort of way to tell the system "never let the machine violate this boundary" for all types of generators (Swath Generator, Route Planner, Path Planner)

(Maybe this should be filed a separate issue / request)

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Yes I noticed that ! Is there a particular reason? It would be nice to have some sort of way to tell the system "never let the machine violate this boundary" for all types of generators (Swath Generator, Route Planner, Path Planner)

The reasons is that we assume the headland generator part is used, and right now only constant width headland is provided. Boundaries are actually a huge constraint and we are also working on that part for future releases, but not solved yet.

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