As mentioned off hand here, <a class="issue-link js-issue-link" data-error-text="F

I'll leave here some papers with good ideas/methods: <a href="

Option to have turns happen inside the polygon when leaving the polygon shape is not permissible about fields2cover HOT 3 OPEN

fields2cover commented on May 28, 2024

Option to have turns happen inside the polygon when leaving the polygon shape is not permissible

from fields2cover.

Comments (3)

Gonzalo-Mier commented on May 28, 2024

I'll leave here some papers with good ideas/methods:

from fields2cover.

greymfm commented on May 28, 2024

A pragmatic implementation is simple: In 'PathPlanning::searchBestPath' (

Fields2Cover/src/fields2cover/path_planning/path_planning.cpp

Lines 18 to 19 in 3dec46f

 swaths[i].endPoint(), swaths[i].getOutAngle(), 

 swaths[i + 1].startPoint(), swaths[i + 1].getInAngle());

) one need to change the start angle and end angle for all swaths like this:
...
swaths[i].endPoint(), swaths[i].getOutAngle() + 3.1415,
swaths[i + 1].startPoint(), swaths[i + 1].getInAngle() + 3.1415);
...

...and it will output plans like this:

from fields2cover.

Gonzalo-Mier commented on May 28, 2024

Well... yes, I guess that a possibility. Not for agriculture, though. Either way we could add it :)

from fields2cover.

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Option to have turns happen inside the polygon when leaving the polygon shape is not permissible about fields2cover HOT 3 OPEN

Comments (3)

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	swaths[i].endPoint(), swaths[i].getOutAngle(),
	swaths[i + 1].startPoint(), swaths[i + 1].getInAngle());