Support custom launch in sub missions

Author: evanmoss

DESCRIPTION

@@ -1,7 +1,7 @@
 Package: flightplanning
 Type: Package
-Title: UAV Flight Planning
-Version: 0.8.4
+Title: Hivemapper/UAV Flight Planning
+Version: 0.8.14
 Authors@R: c(
   person("Caio", "Hamamura", email = "caiohamamura@gmail.com", role = c("aut", "cre")),
   person("Danilo Roberti Alves de", "Almeida", email = "daniloflorestas@gmail.com", role = c("aut")),
@@ -22,5 +22,3 @@ License: MIT + file LICENSE
 Encoding: UTF-8
 LazyData: true
 RoxygenNote: 7.1.0
-URL: https://github.com/caiohamamura/flightplanning-R
-BugReports: https://github.com/caiohamamura/flightplanning-R/issues

R/main.R

@@ -249,13 +249,62 @@ litchi.plan = function(roi, output,
 
 
   # Check if launch point has been specified before inserting it as way-point 1
-  if ((launch[1] == 0) && (launch[2] == 0)) {
-    message("No launch point specified")
+  hasCustomLaunch = (launch[1] != 0) || (launch[2] != 0)
+  if (hasCustomLaunch) {
+    message("Launch point specified ", launch)
+    p0x = launch[[1]][1]
+    p0y = launch[[2]][1]
+
+    lookAt = 1
+    while (lookAt <= length(waypoints)) {
+      p1x = waypoints[lookAt, 1]
+      p1y = waypoints[lookAt, 2]
+      dx = p1x - p0x
+      dy = p1y - p0y
+      distance = sqrt(dx ** 2 + dy ** 2)
+
+      needsInterp = distance > max.waypoints.distance
+      if (needsInterp) {
+        nPtsToAdd = floor(distance / max.waypoints.distance)
+        newSegDist = distance / nPtsToAdd
+
+        ptsToAdd = data.frame(
+          x = numeric(nPtsToAdd + 1),
+          y = numeric(nPtsToAdd + 1),
+          isCurve = FALSE,
+          takePhoto = FALSE
+        )
+        message('a', nPtsToAdd)
+        ptsToAdd[1,] <- c(launch[1], launch[2], FALSE, FALSE)
+        for (j in 1:nPtsToAdd) {
+
+          message('b', j)
+          ptsToAdd[j + 1,] <- c(p0x + (j / (nPtsToAdd + 1)) * dx, p0y + (j / (nPtsToAdd + 1)) * dy, FALSE, FALSE)
+        }
+
+
+        message('c')
+        waypoints = rbind(waypoints[0:lookAt-1,], ptsToAdd, waypoints[lookAt:length(waypoints),])
+      } else {
+        ptsToAdd = data.frame(
+          x = numeric(1),
+          y = numeric(1),
+          isCurve = FALSE,
+          takePhoto = FALSE
+        )
+
+        message('d')
+        ptsToAdd[1,] <- c(launch[1], launch[2], FALSE, FALSE)
+
+        message('e')
+        waypoints = rbind(waypoints[0:lookAt-1,], ptsToAdd, waypoints[lookAt:length(waypoints),])
+      }
+
+      lookAt = MAX_WAYPOINTS + lookAt
+    }
+    message(waypoints)
   } else {
-    launchdf = data.frame(launch[1], launch[2], FALSE, FALSE)
-    names(launchdf) = c("x", "y", "isCurve", "takePhoto")
-    tempdf = rbind(launchdf, waypoints)
-    waypoints = tempdf
+    message("No launch point specified")
   }
 
 
@@ -313,11 +362,13 @@ litchi.plan = function(roi, output,
 
     dfLitchi$split = rep(1:nBreaks, diff(c(0, waypointsBreak, finalSize)))
     splits = split.data.frame(dfLitchi, f = dfLitchi$split)
+
     if (nrow(waypoints) > MAX_WAYPOINTS) {
       message("Your flight was split into ", length(splits), " sub-flights,
 because the number of waypoints ", nrow(waypoints), " exceeds the maximum of ", MAX_WAYPOINTS, ".")
     }
     else {
+      # XXX flight time doesn't include custom launch point stuff
       message("Your flight was split into ", length(splits), " sub-flights,
 because the total flight time of ", round(totalFlightTime, 2), " minutes exceeds the max of ", max.flight.time, " minutes.")
     }

R/utils.R

@@ -2,7 +2,7 @@
 #'
 #' @description
 #' Calculates the minimum oriented bounding box using the
-#' rotating claipers algorithm.
+#' rotating calipers algorithm.
 #' Credits go to Daniel Wollschlaeger <https://github.com/ramnathv>
 #'
 #' @param xy A matrix of xy values from which to calculate the minimum oriented