Initial dump from main repo

.clang-format

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

.clang-tidy

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

README.md

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+# Boustrophedon Planner
+Boustrophedon Planner is a coverage path planner that implements the [Boustrophedon Cell Decomposition](https://en.wikipedia.org/wiki/Boustrophedon_cell_decomposition) algorithm.
+
+## Overview
+The path planner is an actionlib server that takes in a `geometry_msgs/PolygonStamped` and a `geometry_msgs/PoseStamped`,
+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)
+project(boustrophedon_msgs)
+
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(catkin REQUIRED
+  genmsg
+  std_msgs
+  geometry_msgs
+  actionlib_msgs
+  nav_msgs
+  )
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  StripingPoint.msg
+  StripingPlan.msg
+)
+
+add_service_files(
+  FILES
+  ConvertPlanToPath.srv
+)
+
+add_action_files(
+  DIRECTORY action
+  FILES
+  PlanMowingPath.action
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+  actionlib_msgs
+  nav_msgs
+)
+
+catkin_package()

boustrophedon_msgs/action/PlanMowingPath.action

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

boustrophedon_msgs/msg/StripingPlan.msg

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+Header header
+boustrophedon_msgs/StripingPoint[] points

boustrophedon_msgs/msg/StripingPoint.msg

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

boustrophedon_msgs/package.xml

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

boustrophedon_msgs/srv/ConvertPlanToPath.srv

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+boustrophedon_msgs/StripingPlan plan
+---
+nav_msgs/Path path

boustrophedon_server/CMakeLists.txt

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

boustrophedon_server/include/boustrophedon_server/boustrophedon_planner_server.h

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

boustrophedon_server/include/boustrophedon_server/boustrophedon_types.h

@@ -0,0 +1,22 @@
+#ifndef SRC_BOUSTROPHEDON_TYPES_H
+#define SRC_BOUSTROPHEDON_TYPES_H
+
+#include "cgal_types.h"
+
+enum class PointType
+{
+  Outline = 0,
+  StripeStart = 1,
+  StripeEnd = 2,
+  Travel = 3
+};
+
+struct NavPoint
+{
+  PointType type{};
+  Point point{};
+
+  NavPoint(PointType type, Point point);
+};
+
+#endif  // SRC_BOUSTROPHEDON_TYPES_H