coverPointFinder.h

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/*******************************************************************************
** Copyright (c) 2017 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "matrix/vlVector.h"
#include "vrfNavigation/navArea.h"

#include "vrfNavigation/vrfNavigationDefines.h"

class DT_DLL_vrfNavigation DtCoverPoint
{
public:

   DtCoverPoint() {};
   ~DtCoverPoint() {};

   bool operator<(const DtCoverPoint& other) const;

   DtVector myPoint;
   double myDistanceFromThreat;
   double myPathCost;
   double myAngularDistFromThreat;
   bool myCoverIsHigh; 

   static double theCostToleranceFactor; 
   static double theThreatDistanceToleranceFactor; 
};

class DT_DLL_vrfNavigation DtCoverPointFinder
{
public:

   DtCoverPointFinder(const DtVector& startPosition, const DtVector& threatPosition,
      double threatRadius, double distanceFromThreat, unsigned numberOfPoints, Coordinate_System* cs);

   static DtOnGraphVertexVisitedResult pointCallback(
      const DtVector& localPoint, const DtNavTag& tag, void* userData);
   virtual DtOnGraphVertexVisitedResult processPoint(const DtVector& localPoint, const DtNavTag& tag);

   static DtOnPathToGraphVertexComputedResult pathCallback(
      const DtVector& localPoint, double pathCost, void* userData);
   virtual DtOnPathToGraphVertexComputedResult processPath(const DtVector& localPoint, double pathCost);

   double angleToPoint(const DtVector& fromPoint, const DtVector& toPoint);

   std::pair<double, double> anglesToCircularArea(const DtVector& fromPoint, const DtVector& toPoint, double radius);
      
   DtVector myThreatPosition;
   double myThreatRadius;
   double myDistanceFromThreat;
   DtVector myStartPosition;
   unsigned myNumberOfPoints;
   double myAngleToThreat;

   unsigned myNumberOfPointsConsidered;

   bool myCurrentCoverIsHigh;


   std::set<DtCoverPoint> myBestCoverPoints;

   Coordinate_System* myCoordSys;

   static unsigned theMinPointsToConsider; 
   static double theMaxPointsToConsiderFactor; 
   static double theCostLimitFactor; 
};