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‎.clang-format

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---
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BasedOnStyle: Google
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AccessModifierOffset: -2
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ConstructorInitializerIndentWidth: 2
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AlignEscapedNewlinesLeft: false
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: None
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AlwaysBreakTemplateDeclarations: true
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AlwaysBreakBeforeMultilineStrings: false
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BreakBeforeBinaryOperators: false
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BreakBeforeTernaryOperators: false
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BreakConstructorInitializersBeforeComma: true
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BinPackParameters: true
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ColumnLimit: 120
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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DerivePointerBinding: false
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PointerBindsToType: true
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ExperimentalAutoDetectBinPacking: false
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IndentCaseLabels: true
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakBeforeFirstCallParameter: 19
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PenaltyBreakComment: 60
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PenaltyBreakString: 1
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PenaltyBreakFirstLessLess: 1000
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PenaltyExcessCharacter: 1000
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PenaltyReturnTypeOnItsOwnLine: 90
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SpacesBeforeTrailingComments: 2
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Cpp11BracedListStyle: false
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Standard: Auto
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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IndentFunctionDeclarationAfterType: false
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SpacesInParentheses: false
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SpacesInAngles: false
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SpaceInEmptyParentheses: false
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SpacesInCStyleCastParentheses: false
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SpaceAfterControlStatementKeyword: true
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SpaceBeforeAssignmentOperators: true
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ContinuationIndentWidth: 4
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SortIncludes: false
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SpaceAfterCStyleCast: false
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# Configure each individual brace in BraceWrapping
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BreakBeforeBraces: Custom
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# Control of individual brace wrapping cases
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BraceWrapping: {
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AfterClass: 'true'
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AfterControlStatement: 'true'
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AfterEnum : 'true'
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AfterFunction : 'true'
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AfterNamespace : 'true'
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AfterStruct : 'true'
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AfterUnion : 'true'
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BeforeCatch : 'true'
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BeforeElse : 'true'
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IndentBraces : 'false'
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}
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...

‎.clang-tidy

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---
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Checks: '*,
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-llvm-header-guard,
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-google-build-using-namespace,
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-clang-analyzer-alpha.clone.CloneChecker,
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-google-runtime-int,
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-cppcoreguidelines-pro-bounds-array-to-pointer-decay,
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-cppcoreguidelines-pro-bounds-constant-array-index,
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-clang-analyzer-alpha.deadcode.UnreachableCode,
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-misc-use-after-move,
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-cppcoreguidelines-pro-type-vararg,
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-modernize-use-emplace,
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-android-*,
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-absel-*,
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-cert-*,
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-objc-*,
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-zircon-*,
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-hicpp-vararg,
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-hicpp-no-array-decay,
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-google-runtime-references,
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-llvm-include-order,
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-fuchsia-*,
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-misc-unused-parameters'
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WarningsAsErrors: '*'
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HeaderFilterRegex: ''
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AnalyzeTemporaryDtors: false
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CheckOptions:
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- key: llvm-namespace-comment.ShortNamespaceLines
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value: '10'
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- key: llvm-namespace-comment.SpacesBeforeComments
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value: '2'
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- key: readability-braces-around-statements.ShortStatementLines
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value: '2'
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# type names
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- key: readability-identifier-naming.ClassCase
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value: CamelCase
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- key: readability-identifier-naming.EnumCase
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value: CamelCase
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- key: readability-identifier-naming.UnionCase
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value: CamelCase
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# method names are camelCase
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- key: readability-identifier-naming.MethodCase
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value: camelBack
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# variable names are snake_case
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- key: readability-identifier-naming.VariableCase
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value: lower_case
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- key: readability-identifier-naming.ParameterCase
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value: lower_case
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- key: readability-identifier-naming.ClassMemberSuffix
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value: '_'
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# global variables are g_snake_case
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- key: readability-identifier-naming.GlobalVariablePrefix
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value: g_
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- key: readability-identifier-naming.GlobalVariableCase
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value: lower_case
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# namespaces are snake_case
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- key: readability-identifier-naming.NamespaceCase
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value: lower_case
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...

‎.gitignore

Whitespace-only changes.

‎README.md

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# Boustrophedon Planner
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Boustrophedon Planner is a coverage path planner that implements the [Boustrophedon Cell Decomposition](https://en.wikipedia.org/wiki/Boustrophedon_cell_decomposition) algorithm.
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## Overview
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The path planner is an actionlib server that takes in a `geometry_msgs/PolygonStamped` and a `geometry_msgs/PoseStamped`,
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and returns a `StripingPlan` message which contains a list of waypoints to stripe the passed in polygon.

‎boustrophedon_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(boustrophedon_msgs)
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set(CMAKE_CXX_STANDARD 14)
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find_package(catkin REQUIRED
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genmsg
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std_msgs
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geometry_msgs
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actionlib_msgs
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nav_msgs
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)
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add_message_files(
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DIRECTORY msg
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FILES
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StripingPoint.msg
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StripingPlan.msg
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)
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add_service_files(
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FILES
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ConvertPlanToPath.srv
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)
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add_action_files(
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DIRECTORY action
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FILES
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PlanMowingPath.action
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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geometry_msgs
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actionlib_msgs
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nav_msgs
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)
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catkin_package()

‎boustrophedon_msgs/action/PlanMowingPath.action

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geometry_msgs/PolygonStamped property
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geometry_msgs/PoseStamped robot_position
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---
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boustrophedon_msgs/StripingPlan plan
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---

‎boustrophedon_msgs/msg/StripingPlan.msg

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Header header
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boustrophedon_msgs/StripingPoint[] points

‎boustrophedon_msgs/msg/StripingPoint.msg

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geometry_msgs/Point point
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uint8 type
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uint8 OUTLINE=0
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uint8 STRIPE_START=1
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uint8 STRIPE_END=2

‎boustrophedon_msgs/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>boustrophedon_msgs</name>
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<version>0.0.1</version>
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<description>Custom messages for the Boustrophedon Planner</description>
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<maintainer email="[email protected]">Charles Brian Quinn</maintainer>
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<maintainer email="[email protected]">Oswin So</maintainer>
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<license>TODO</license>
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<author email="[email protected]">Charles Brian Quinn</author>
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<author email="[email protected]">Oswin So</author>
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<depend>actionlib_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>geometry_msgs</depend>
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<build_depend>message_generation</build_depend>
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<buildtool_depend>catkin</buildtool_depend>
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<export>
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</export>
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</package>

‎boustrophedon_msgs/srv/ConvertPlanToPath.srv

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boustrophedon_msgs/StripingPlan plan
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---
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nav_msgs/Path path

‎boustrophedon_server/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(boustrophedon_server)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_CLANG_TIDY clang-tidy)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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boustrophedon_msgs
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actionlib
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tf
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geometry_msgs
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nav_msgs
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rosparam_shortcuts
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)
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find_package(CGAL REQUIRED COMPONENTS Core)
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS
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roscpp
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boustrophedon_msgs
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actionlib
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tf
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geometry_msgs
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nav_msgs
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rosparam_shortcuts
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_executable(boustrophedon_planner_server
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src/boustrophedon_server/boustrophedon_planner_node.cpp
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src/boustrophedon_server/boustrophedon_planner_server.cpp
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src/boustrophedon_server/striping_planner.cpp
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src/boustrophedon_server/outline_planner.cpp
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src/boustrophedon_server/cgal_utils.cpp
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src/boustrophedon_server/boustrophedon_types.cpp
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src/boustrophedon_server/cellular_decomposition/polygon_decomposer.cpp
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src/boustrophedon_server/cellular_decomposition/cell.cpp
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)
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target_link_libraries(boustrophedon_planner_server
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${catkin_LIBRARIES}
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CGAL::CGAL
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CGAL::CGAL_Core)
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add_dependencies(boustrophedon_planner_server ${catkin_EXPORTED_TARGETS})
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install(
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TARGETS
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boustrophedon_planner_server
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)

‎boustrophedon_server/include/boustrophedon_server/boustrophedon_planner_server.h

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#ifndef SRC_BOUSTROPHEDON_PLANNER_SERVER_H
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#define SRC_BOUSTROPHEDON_PLANNER_SERVER_H
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#include <ros/ros.h>
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#include <actionlib/server/simple_action_server.h>
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#include <tf/transform_listener.h>
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#include <boustrophedon_msgs/PlanMowingPathAction.h>
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#include <boustrophedon_msgs/ConvertPlanToPath.h>
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#include "cgal_utils.h"
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#include "striping_planner.h"
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#include "outline_planner.h"
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#include "cellular_decomposition/polygon_decomposer.h"
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class BoustrophedonPlannerServer
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{
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public:
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BoustrophedonPlannerServer();
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void executePlanPathAction(const boustrophedon_msgs::PlanMowingPathGoalConstPtr& goal);
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private:
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using Server = actionlib::SimpleActionServer<boustrophedon_msgs::PlanMowingPathAction>;
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ros::NodeHandle node_handle_;
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ros::NodeHandle private_node_handle_;
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Server action_server_;
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ros::ServiceServer conversion_server_;
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StripingPlanner striping_planner_;
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OutlinePlanner outline_planner_;
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int outline_layer_count_{};
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double stripe_separation_{};
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double stripe_angle_{};
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tf::TransformListener transform_listener_{};
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bool convertStripingPlanToPath(boustrophedon_msgs::ConvertPlanToPath::Request& request,
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boustrophedon_msgs::ConvertPlanToPath::Response& response);
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boustrophedon_msgs::PlanMowingPathResult toResult(std::vector<NavPoint>&& path, const std::string& frame) const;
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Polygon fromBoundary(const geometry_msgs::PolygonStamped& boundary) const;
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Point fromPositionWithFrame(const geometry_msgs::PoseStamped& pose, const std::string& target_frame) const;
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};
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#endif // SRC_BOUSTROPHEDON_PLANNER_SERVER_H

‎boustrophedon_server/include/boustrophedon_server/boustrophedon_types.h

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#ifndef SRC_BOUSTROPHEDON_TYPES_H
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#define SRC_BOUSTROPHEDON_TYPES_H
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#include "cgal_types.h"
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enum class PointType
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{
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Outline = 0,
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StripeStart = 1,
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StripeEnd = 2,
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Travel = 3
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};
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struct NavPoint
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{
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PointType type{};
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Point point{};
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NavPoint(PointType type, Point point);
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};
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#endif // SRC_BOUSTROPHEDON_TYPES_H

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