Abstact algorithm that can be run on a path. More...

Classes
class	PathFillet

struct	PathPlanData
	The PathPlanData struct is the internal representation of the waypoints. Notice this is in absolute terms, not NED. More...

class	FlightDataModel

class	IPathAlgorithm

Enumerations
enum	FlightDataModel::PathPlanDataEnum { FlightDataModel::LATPOSITION, FlightDataModel::LNGPOSITION, FlightDataModel::ALTITUDE, FlightDataModel::NED_NORTH, FlightDataModel::NED_EAST, FlightDataModel::NED_DOWN, FlightDataModel::VELOCITY, FlightDataModel::MODE, FlightDataModel::MODE_PARAMS, FlightDataModel::LOCKED, FlightDataModel::WPDESCRIPTION, FlightDataModel::LASTCOLUMN }
	The column names. More...

Functions
	PathFillet::PathFillet (QObject *parent=nullptr)

virtual bool	PathFillet::verifyPath (FlightDataModel *model, QString &err)

virtual bool	PathFillet::processPath (FlightDataModel *model)

virtual bool	PathFillet::configure (QWidget *callingUi=nullptr)

	FlightDataModel::FlightDataModel (QObject *parent)
	Initialize an empty flight plan. More...

int	FlightDataModel::rowCount (const QModelIndex &parent=QModelIndex()) const
	Return the number of waypoints. More...

int	FlightDataModel::columnCount (const QModelIndex &parent=QModelIndex()) const
	Return the number of fields in the model. More...

QVariant	FlightDataModel::data (const QModelIndex &index, int role=Qt::DisplayRole) const
	FlightDataModel::data Fetch the data from the model. More...

QVariant	FlightDataModel::headerData (int section, Qt::Orientation orientation, int role) const
	FlightDataModel::headerData Get the names of the columns. More...

void	FlightDataModel::fixupValidationErrors ()

bool	FlightDataModel::setData (const QModelIndex &index, const QVariant &value, int role=Qt::EditRole)
	FlightDataModel::setData Set the data at a given location. More...

Qt::ItemFlags	FlightDataModel::flags (const QModelIndex &index) const
	FlightDataModel::flags Tell QT MVC which flags are supported for items. More...

bool	FlightDataModel::insertRows (int row, int count, const QModelIndex &parent=QModelIndex())
	FlightDataModel::insertRows Create a new waypoint. More...

bool	FlightDataModel::removeRows (int row, int count, const QModelIndex &parent=QModelIndex())
	FlightDataModel::removeRows Remove waypoints from the model. More...

bool	FlightDataModel::writeToFile (QString filename)
	FlightDataModel::writeToFile Write the waypoints to an xml file. More...

void	FlightDataModel::readFromFile (QString fileName)
	FlightDataModel::readFromFile Read into the model from a flight plan xml file. More...

bool	FlightDataModel::replaceData (FlightDataModel *newModel)
	Replace a model data with another model. More...

void	FlightDataModel::pauseValidation (bool pausing)
	Prevent validation/correction of data. More...

	IPathAlgorithm::IPathAlgorithm (QObject *parent=nullptr)

virtual bool	IPathAlgorithm::verifyPath (FlightDataModel *model, QString &err)=0

virtual bool	IPathAlgorithm::processPath (FlightDataModel *model)=0

virtual bool	IPathAlgorithm::configure (QWidget *callingUi=nullptr)=0

Variables
QString	PathPlanData::wpDescription
	Description for the waypoint. More...

double	PathPlanData::latPosition
	Latitude of the waypoint. More...

double	PathPlanData::lngPosition
	Longitude of the waypoint. More...

double	PathPlanData::altitude
	Altitude of the waypoint (m above ellipsoid) More...

float	PathPlanData::velocity
	Velocity associated with this waypoint. More...

int	PathPlanData::mode
	Navigation mode for this waypoint. More...

float	PathPlanData::mode_params
	Optional parameters associated with this waypoint. More...

bool	PathPlanData::locked
	Lock a waypoint. More...

static QMap< int, QString >	FlightDataModel::modeNames = QMap<int, QString>()

double	FlightDataModel::NED::North

double	FlightDataModel::NED::East

double	FlightDataModel::NED::Down

Public Slots
bool	ModelUavoProxy::modelToObjects ()
	Cast from the internal representation to the UAVOs. More...

Detailed Description

Abstact algorithm that can be run on a path.

global include for the library

The Path Planner plugin.

Used to represent flight paths.

Representation of a flight plan.

Enumeration Type Documentation

enum FlightDataModel::PathPlanDataEnum

The column names.

Enumerator
LATPOSITION
LNGPOSITION
ALTITUDE
NED_NORTH
NED_EAST
NED_DOWN
VELOCITY
MODE
MODE_PARAMS
LOCKED
WPDESCRIPTION
LASTCOLUMN

Definition at line 54 of file flightdatamodel.h.

Function Documentation

int FlightDataModel::columnCount ( const QModelIndex & parent = QModelIndex() ) const

Return the number of fields in the model.

Definition at line 68 of file flightdatamodel.cpp.

virtual bool IPathAlgorithm::configure ( QWidget * callingUi = nullptr )

pure virtual

Present a UI to configure options for the algorithm

Parameters

callingUi the QWidget that called this algorithm

Returns: true for success, false for failure

Implemented in PathFillet.

bool PathFillet::configure ( QWidget * callingUi = nullptr )

virtual

Present a UI to configure options for the algorithm

Parameters

callingUi the QWidget that called this algorithm

Returns: true for success, false for failure

Verify the path is valid to run through this algorithm

Parameters

[in]	model	the flight model to validate
[out]	err	an error message for the user for invalid paths

Returns: true for valid path, false for invalid

Implements IPathAlgorithm.

Definition at line 49 of file pathfillet.cpp.

QVariant FlightDataModel::data	(	const QModelIndex &	index,
		int	role = `Qt::DisplayRole`
	)		const

FlightDataModel::data Fetch the data from the model.

Parameters

index	Specifies the row and column to fetch
role	Either use Qt::DisplayRole or Qt::EditRole

Returns: The data as a variant or QVariant::Invalid for a bad role

Definition at line 81 of file flightdatamodel.cpp.

void FlightDataModel::fixupValidationErrors ( )

Definition at line 462 of file flightdatamodel.cpp.

Qt::ItemFlags FlightDataModel::flags ( const QModelIndex & index ) const

FlightDataModel::flags Tell QT MVC which flags are supported for items.

Returns: That the item is selectable, editable and enabled

Definition at line 268 of file flightdatamodel.cpp.

FlightDataModel::FlightDataModel ( QObject * parent )

Initialize an empty flight plan.

Definition at line 43 of file flightdatamodel.cpp.

QVariant FlightDataModel::headerData	(	int	section,
		Qt::Orientation	orientation,
		int	role
	)		const

FlightDataModel::headerData Get the names of the columns.

Parameters

section
orientation
role

Returns

Definition at line 138 of file flightdatamodel.cpp.

bool FlightDataModel::insertRows	(	int	row,
		int	count,
		const QModelIndex &	parent = `QModelIndex()`
	)

FlightDataModel::insertRows Create a new waypoint.

Parameters

row	The new waypoint id
count	How many to add

Returns

Definition at line 288 of file flightdatamodel.cpp.

IPathAlgorithm::IPathAlgorithm ( QObject * parent = nullptr )

explicit

Definition at line 27 of file ipathalgorithm.cpp.

PathFillet::PathFillet ( QObject * parent = nullptr )

explicit

Definition at line 36 of file pathfillet.cpp.

void FlightDataModel::pauseValidation ( bool pausing )

Prevent validation/correction of data.

Definition at line 453 of file flightdatamodel.cpp.

virtual bool IPathAlgorithm::processPath ( FlightDataModel * model )

pure virtual

Process the flight path according to the algorithm

Parameters

model the flight model to process and update

Returns: true for success, false for failure

Implemented in PathFillet.

bool PathFillet::processPath ( FlightDataModel * model )

virtual

Process the flight path according to the algorithm

Parameters

model the flight model to process and update

Returns: true for success, false for failure

It connects waypoints together with straight lines, and fillets, so that the vehicle dynamics, i.e. Dubin's cart constraints, are taken into account. However the "direct with filleting" path planner still assumes that there are no obstacles along the path. The general approach is that before adding a new segment, the path planner looks ahead at the next waypoint, and adds in fillets that align the vehicle with this next waypoint.

Parameters

[in]	original	the flight model to process
[out]	new	the resulting flight model

Returns: true for success, false for failure

Implements IPathAlgorithm.

Definition at line 83 of file pathfillet.cpp.

void FlightDataModel::readFromFile ( QString fileName )

FlightDataModel::readFromFile Read into the model from a flight plan xml file.

Parameters

fileName The filename to parse

Definition at line 568 of file flightdatamodel.cpp.

bool FlightDataModel::removeRows	(	int	row,
		int	count,
		const QModelIndex &	parent = `QModelIndex()`
	)

FlightDataModel::removeRows Remove waypoints from the model.

Parameters

row	The starting waypoint
count	How many to remove

Returns: True if succeeded, otherwise false

Definition at line 327 of file flightdatamodel.cpp.

bool FlightDataModel::replaceData ( FlightDataModel * newModel )

Replace a model data with another model.

FlightDataModel::replaceData with data from a new model.

Parameters

newModel the new data to use

Returns: true if successful

Definition at line 816 of file flightdatamodel.cpp.

int FlightDataModel::rowCount ( const QModelIndex & parent = QModelIndex() ) const

Return the number of waypoints.

Definition at line 62 of file flightdatamodel.cpp.

bool FlightDataModel::setData	(	const QModelIndex &	index,
		const QVariant &	value,
		int	role = `Qt::EditRole`
	)

FlightDataModel::setData Set the data at a given location.

Parameters

index	Specifies both the row (waypoint) and column (field0
value	The new value
role	Used by the Qt MVC to determine what to do. Should be Qt::EditRole

Returns: True if setting data succeeded, otherwise false

Definition at line 183 of file flightdatamodel.cpp.

virtual bool IPathAlgorithm::verifyPath	(	FlightDataModel *	model,
		QString &	err
	)

pure virtual

Verify the path is valid to run through this algorithm

Parameters

[in]	model	the flight model to validate
[out]	err	an error message for the user for invalid paths

Returns: true for valid path, false for invalid

Implemented in PathFillet.

bool PathFillet::verifyPath	(	FlightDataModel *	model,
		QString &	err
	)

virtual

Verify the path is valid to run through this algorithm

Parameters

[in]	model	the flight model to validate
[out]	err	an error message for the user for invalid paths

Returns: true for valid path, false for invalid

Implements IPathAlgorithm.

Definition at line 63 of file pathfillet.cpp.

bool FlightDataModel::writeToFile ( QString fileName )

FlightDataModel::writeToFile Write the waypoints to an xml file.

Parameters

fileName The filename to write to

Returns

Definition at line 348 of file flightdatamodel.cpp.

Variable Documentation

double PathPlanData::altitude

Altitude of the waypoint (m above ellipsoid)

Definition at line 42 of file flightdatamodel.h.

double FlightDataModel::NED::Down

Definition at line 101 of file flightdatamodel.h.

double FlightDataModel::NED::East

Definition at line 100 of file flightdatamodel.h.

double PathPlanData::latPosition

Latitude of the waypoint.

Definition at line 40 of file flightdatamodel.h.

double PathPlanData::lngPosition

Longitude of the waypoint.

Definition at line 41 of file flightdatamodel.h.

bool PathPlanData::locked

Lock a waypoint.

Definition at line 46 of file flightdatamodel.h.

int PathPlanData::mode

Navigation mode for this waypoint.

Definition at line 44 of file flightdatamodel.h.

float PathPlanData::mode_params

Optional parameters associated with this waypoint.

Definition at line 45 of file flightdatamodel.h.

QMap< int, QString > FlightDataModel::modeNames = QMap<int, QString>()

static

Definition at line 83 of file flightdatamodel.h.

double FlightDataModel::NED::North

Definition at line 99 of file flightdatamodel.h.

float PathPlanData::velocity

Velocity associated with this waypoint.

Definition at line 43 of file flightdatamodel.h.

QString PathPlanData::wpDescription

Description for the waypoint.

Definition at line 39 of file flightdatamodel.h.

Public Slots

bool ModelUavoProxy::modelToObjects ( )

slot

Cast from the internal representation to the UAVOs.

ModelUavoProxy::modelToObjects Cast from the internal representation of a path to the UAV objects required to represent it.

Returns: true if all wp were sent ok

Definition at line 55 of file modeluavoproxy.cpp.

Classes

Enumerations

Functions

Variables

Public Slots

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation

Public Slots