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292 lines
16 KiB
292 lines
16 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#ifndef SurveyMissionItem_H |
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#define SurveyMissionItem_H |
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#include "ComplexMissionItem.h" |
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#include "MissionItem.h" |
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#include "SettingsFact.h" |
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#include "QGCLoggingCategory.h" |
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#include "QGCMapPolygon.h" |
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Q_DECLARE_LOGGING_CATEGORY(SurveyMissionItemLog) |
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class SurveyMissionItem : public ComplexMissionItem |
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{ |
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Q_OBJECT |
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public: |
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SurveyMissionItem(Vehicle* vehicle, QObject* parent = NULL); |
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Q_PROPERTY(Fact* gridAltitude READ gridAltitude CONSTANT) |
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Q_PROPERTY(Fact* gridAltitudeRelative READ gridAltitudeRelative CONSTANT) |
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Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT) |
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Q_PROPERTY(Fact* gridSpacing READ gridSpacing CONSTANT) |
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Q_PROPERTY(Fact* gridEntryLocation READ gridEntryLocation CONSTANT) |
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Q_PROPERTY(Fact* turnaroundDist READ turnaroundDist CONSTANT) |
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Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT) |
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Q_PROPERTY(Fact* cameraTriggerInTurnaround READ cameraTriggerInTurnaround CONSTANT) |
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Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT) |
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Q_PROPERTY(Fact* groundResolution READ groundResolution CONSTANT) |
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Q_PROPERTY(Fact* frontalOverlap READ frontalOverlap CONSTANT) |
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Q_PROPERTY(Fact* sideOverlap READ sideOverlap CONSTANT) |
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Q_PROPERTY(Fact* cameraSensorWidth READ cameraSensorWidth CONSTANT) |
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Q_PROPERTY(Fact* cameraSensorHeight READ cameraSensorHeight CONSTANT) |
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Q_PROPERTY(Fact* cameraResolutionWidth READ cameraResolutionWidth CONSTANT) |
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Q_PROPERTY(Fact* cameraResolutionHeight READ cameraResolutionHeight CONSTANT) |
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Q_PROPERTY(Fact* cameraFocalLength READ cameraFocalLength CONSTANT) |
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Q_PROPERTY(Fact* fixedValueIsAltitude READ fixedValueIsAltitude CONSTANT) |
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Q_PROPERTY(Fact* cameraOrientationLandscape READ cameraOrientationLandscape CONSTANT) |
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Q_PROPERTY(Fact* manualGrid READ manualGrid CONSTANT) |
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Q_PROPERTY(Fact* camera READ camera CONSTANT) |
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Q_PROPERTY(bool cameraOrientationFixed MEMBER _cameraOrientationFixed NOTIFY cameraOrientationFixedChanged) |
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Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT) |
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Q_PROPERTY(bool refly90Degrees READ refly90Degrees WRITE setRefly90Degrees NOTIFY refly90DegreesChanged) |
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Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged) |
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Q_PROPERTY(QVariantList gridPoints READ gridPoints NOTIFY gridPointsChanged) |
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Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged) |
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Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged) |
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Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT) |
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QVariantList gridPoints (void) { return _simpleGridPoints; } |
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Fact* manualGrid (void) { return &_manualGridFact; } |
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Fact* gridAltitude (void) { return &_gridAltitudeFact; } |
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Fact* gridAltitudeRelative (void) { return &_gridAltitudeRelativeFact; } |
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Fact* gridAngle (void) { return &_gridAngleFact; } |
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Fact* gridSpacing (void) { return &_gridSpacingFact; } |
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Fact* gridEntryLocation (void) { return &_gridEntryLocationFact; } |
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Fact* turnaroundDist (void) { return &_turnaroundDistFact; } |
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Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; } |
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Fact* cameraTriggerInTurnaround (void) { return &_cameraTriggerInTurnaroundFact; } |
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Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; } |
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Fact* groundResolution (void) { return &_groundResolutionFact; } |
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Fact* frontalOverlap (void) { return &_frontalOverlapFact; } |
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Fact* sideOverlap (void) { return &_sideOverlapFact; } |
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Fact* cameraSensorWidth (void) { return &_cameraSensorWidthFact; } |
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Fact* cameraSensorHeight (void) { return &_cameraSensorHeightFact; } |
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Fact* cameraResolutionWidth (void) { return &_cameraResolutionWidthFact; } |
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Fact* cameraResolutionHeight (void) { return &_cameraResolutionHeightFact; } |
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Fact* cameraFocalLength (void) { return &_cameraFocalLengthFact; } |
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Fact* cameraOrientationLandscape(void) { return &_cameraOrientationLandscapeFact; } |
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Fact* fixedValueIsAltitude (void) { return &_fixedValueIsAltitudeFact; } |
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Fact* camera (void) { return &_cameraFact; } |
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int cameraShots (void) const; |
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double coveredArea (void) const { return _coveredArea; } |
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double timeBetweenShots (void) const; |
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bool hoverAndCaptureAllowed (void) const; |
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bool refly90Degrees (void) const { return _refly90Degrees; } |
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QGCMapPolygon* mapPolygon (void) { return &_mapPolygon; } |
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void setRefly90Degrees(bool refly90Degrees); |
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// Overrides from ComplexMissionItem |
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double complexDistance (void) const final { return _surveyDistance; } |
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int lastSequenceNumber (void) const final; |
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bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final; |
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double greatestDistanceTo (const QGeoCoordinate &other) const final; |
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QString mapVisualQML (void) const final { return QStringLiteral("SurveyMapVisual.qml"); } |
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// Overrides from VisualMissionItem |
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bool dirty (void) const final { return _dirty; } |
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bool isSimpleItem (void) const final { return false; } |
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bool isStandaloneCoordinate (void) const final { return false; } |
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bool specifiesCoordinate (void) const final; |
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bool specifiesAltitudeOnly (void) const final { return false; } |
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QString commandDescription (void) const final { return "Survey"; } |
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QString commandName (void) const final { return "Survey"; } |
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QString abbreviation (void) const final { return "S"; } |
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QGeoCoordinate coordinate (void) const final { return _coordinate; } |
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QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; } |
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int sequenceNumber (void) const final { return _sequenceNumber; } |
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double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
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double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
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void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final; |
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void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final; |
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void applyNewAltitude (double newAltitude) final; |
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bool coordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); } |
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bool exitCoordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); } |
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bool exitCoordinateSameAsEntry (void) const final { return false; } |
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void setDirty (bool dirty) final; |
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void setCoordinate (const QGeoCoordinate& coordinate) final; |
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void setSequenceNumber (int sequenceNumber) final; |
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void setTurnaroundDist (double dist) { _turnaroundDistFact.setRawValue(dist); } |
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void save (QJsonArray& missionItems) final; |
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// Must match json spec for GridEntryLocation |
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enum EntryLocation { |
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EntryLocationTopLeft, |
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EntryLocationTopRight, |
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EntryLocationBottomLeft, |
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EntryLocationBottomRight, |
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}; |
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static const char* jsonComplexItemTypeValue; |
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static const char* settingsGroup; |
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static const char* manualGridName; |
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static const char* gridAltitudeName; |
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static const char* gridAltitudeRelativeName; |
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static const char* gridAngleName; |
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static const char* gridSpacingName; |
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static const char* gridEntryLocationName; |
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static const char* turnaroundDistName; |
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static const char* cameraTriggerDistanceName; |
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static const char* cameraTriggerInTurnaroundName; |
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static const char* hoverAndCaptureName; |
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static const char* groundResolutionName; |
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static const char* frontalOverlapName; |
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static const char* sideOverlapName; |
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static const char* cameraSensorWidthName; |
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static const char* cameraSensorHeightName; |
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static const char* cameraResolutionWidthName; |
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static const char* cameraResolutionHeightName; |
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static const char* cameraFocalLengthName; |
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static const char* cameraTriggerName; |
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static const char* cameraOrientationLandscapeName; |
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static const char* fixedValueIsAltitudeName; |
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static const char* cameraName; |
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signals: |
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void gridPointsChanged (void); |
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void cameraShotsChanged (int cameraShots); |
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void coveredAreaChanged (double coveredArea); |
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void cameraValueChanged (void); |
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void gridTypeChanged (QString gridType); |
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void timeBetweenShotsChanged (void); |
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void cameraOrientationFixedChanged (bool cameraOrientationFixed); |
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void refly90DegreesChanged (bool refly90Degrees); |
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private slots: |
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void _setDirty(void); |
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void _polygonDirtyChanged(bool dirty); |
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void _clearInternal(void); |
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private: |
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enum CameraTriggerCode { |
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CameraTriggerNone, |
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CameraTriggerOn, |
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CameraTriggerOff, |
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CameraTriggerHoverAndCapture |
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}; |
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void _setExitCoordinate(const QGeoCoordinate& coordinate); |
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void _generateGrid(void); |
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void _updateCoordinateAltitude(void); |
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int _gridGenerator(const QList<QPointF>& polygonPoints, QList<QList<QPointF>>& transectSegments, bool refly); |
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QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle); |
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void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines); |
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void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines); |
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void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines); |
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void _setSurveyDistance(double surveyDistance); |
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void _setCameraShots(int cameraShots); |
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void _setCoveredArea(double coveredArea); |
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void _cameraValueChanged(void); |
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int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent); |
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bool _nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord); |
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double _triggerDistance(void) const; |
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bool _triggerCamera(void) const; |
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bool _imagesEverywhere(void) const; |
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bool _hoverAndCaptureEnabled(void) const; |
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bool _hasTurnaround(void) const; |
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double _turnaroundDistance(void) const; |
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void _convertTransectToGeo(const QList<QList<QPointF>>& transectSegmentsNED, const QGeoCoordinate& tangentOrigin, QList<QList<QGeoCoordinate>>& transectSegmentsGeo); |
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bool _appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly); |
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void _optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects); |
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void _appendGridPointsFromTransects(QList<QList<QGeoCoordinate>>& rgTransectSegments); |
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qreal _ccw(QPointF pt1, QPointF pt2, QPointF pt3); |
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qreal _dp(QPointF pt1, QPointF pt2); |
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void _swapPoints(QList<QPointF>& points, int index1, int index2); |
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QList<QPointF> _convexPolygon(const QList<QPointF>& polygon); |
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void _reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects); |
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void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects); |
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void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects); |
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bool _gridAngleIsNorthSouthTransects(); |
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double _clampGridAngle90(double gridAngle); |
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int _sequenceNumber; |
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bool _dirty; |
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QGCMapPolygon _mapPolygon; |
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QVariantList _simpleGridPoints; ///< Grid points for drawing simple grid visuals |
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QList<QList<QGeoCoordinate>> _transectSegments; ///< Internal transect segments including grid exit, turnaround and internal camera points |
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QList<QList<QGeoCoordinate>> _reflyTransectSegments; ///< Refly segments |
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QGeoCoordinate _coordinate; |
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QGeoCoordinate _exitCoordinate; |
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bool _cameraOrientationFixed; |
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int _missionCommandCount; |
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bool _refly90Degrees; |
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bool _ignoreRecalc; |
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double _surveyDistance; |
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int _cameraShots; |
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double _coveredArea; |
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double _timeBetweenShots; |
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double _cruiseSpeed; |
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QMap<QString, FactMetaData*> _metaDataMap; |
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SettingsFact _manualGridFact; |
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SettingsFact _gridAltitudeFact; |
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SettingsFact _gridAltitudeRelativeFact; |
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SettingsFact _gridAngleFact; |
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SettingsFact _gridSpacingFact; |
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SettingsFact _gridEntryLocationFact; |
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SettingsFact _turnaroundDistFact; |
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SettingsFact _cameraTriggerDistanceFact; |
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SettingsFact _cameraTriggerInTurnaroundFact; |
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SettingsFact _hoverAndCaptureFact; |
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SettingsFact _groundResolutionFact; |
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SettingsFact _frontalOverlapFact; |
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SettingsFact _sideOverlapFact; |
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SettingsFact _cameraSensorWidthFact; |
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SettingsFact _cameraSensorHeightFact; |
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SettingsFact _cameraResolutionWidthFact; |
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SettingsFact _cameraResolutionHeightFact; |
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SettingsFact _cameraFocalLengthFact; |
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SettingsFact _cameraOrientationLandscapeFact; |
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SettingsFact _fixedValueIsAltitudeFact; |
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SettingsFact _cameraFact; |
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static const char* _jsonGridObjectKey; |
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static const char* _jsonGridAltitudeKey; |
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static const char* _jsonGridAltitudeRelativeKey; |
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static const char* _jsonGridAngleKey; |
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static const char* _jsonGridSpacingKey; |
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static const char* _jsonGridEntryLocationKey; |
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static const char* _jsonTurnaroundDistKey; |
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static const char* _jsonCameraTriggerDistanceKey; |
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static const char* _jsonCameraTriggerInTurnaroundKey; |
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static const char* _jsonHoverAndCaptureKey; |
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static const char* _jsonGroundResolutionKey; |
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static const char* _jsonFrontalOverlapKey; |
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static const char* _jsonSideOverlapKey; |
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static const char* _jsonCameraSensorWidthKey; |
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static const char* _jsonCameraSensorHeightKey; |
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static const char* _jsonCameraResolutionWidthKey; |
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static const char* _jsonCameraResolutionHeightKey; |
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static const char* _jsonCameraFocalLengthKey; |
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static const char* _jsonManualGridKey; |
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static const char* _jsonCameraObjectKey; |
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static const char* _jsonCameraNameKey; |
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static const char* _jsonCameraOrientationLandscapeKey; |
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static const char* _jsonFixedValueIsAltitudeKey; |
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static const char* _jsonRefly90DegreesKey; |
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}; |
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#endif
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