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Updating point search task #67

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Updating point search task #67

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778b5ea
Merge pull request #4 from afrl-rq/develop
jonsteingass May 10, 2018
6138fed
Merge pull request #5 from afrl-rq/develop
jonsteingass Jun 19, 2018
0b87884
Added discretization level to point search task message
jonsteingass Jun 19, 2018
7b1aa44
updated description of DiscretizationLevel field of PointSearchTask m…
jonsteingass Jun 20, 2018
6c11efb
Added discretization level to point search task. Could consider chang…
jonsteingass Jun 20, 2018
7339485
Revert "updated description of DiscretizationLevel field of PointSear…
jonsteingass Jul 10, 2018
1cd2083
Revert "Added discretization level to point search task message"
jonsteingass Jul 10, 2018
6261fac
changed the PointSearchTask to use a discretization parameter from th…
jonsteingass Jul 12, 2018
daa51cf
forgot this
jonsteingass Jul 12, 2018
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25 changes: 21 additions & 4 deletions src/Tasks/CmasiPointSearchTaskService.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@

#define COUT_FILE_LINE_MSG(MESSAGE) std::cout << "CMPS-CMPS-CMPS-CMPS:: CmasiPointSearch:" << __FILE__ << ":" << __LINE__ << ":" << MESSAGE << std::endl;std::cout.flush();
#define CERR_FILE_LINE_MSG(MESSAGE) std::cerr << "CMPS-CMPS-CMPS-CMPS:: CmasiPointSearch:" << __FILE__ << ":" << __LINE__ << ":" << MESSAGE << std::endl;std::cerr.flush();

#define STRING_XML_POINT_SEARCH_DISCRETIZATION_LEVEL "DiscretizationLevel"

namespace uxas
{
Expand Down Expand Up @@ -75,6 +75,22 @@ CmasiPointSearchTaskService::configureTask(const pugi::xml_node& ndComponent)
sstrErrors << "ERROR:: **c_Task_CmasiLineSearch::bConfigure failed to cast a PointSearchTask from the task pointer." << std::endl;
CERR_FILE_LINE_MSG(sstrErrors.str())
isSuccessful = false;
} else {
{
//////////////////////////////////////////////
//////////// PROCESS OPTIONS /////////////////
pugi::xml_node ndTaskOptions = ndComponent.child(m_taskOptions_XmlTag.c_str());
if (ndTaskOptions) {
for(pugi::xml_node ndTaskOption = ndTaskOptions.first_child(); ndTaskOption; ndTaskOption = ndTaskOption.next_sibling())
{
if(std::string(STRING_XML_POINT_SEARCH_DISCRETIZATION_LEVEL) == ndTaskOption.name())
{
//get the value attribute of the discretizationlevel
m_discretizationLevel = atoi(ndTaskOption.child_value());
}
}
}
}
}
}
else
Expand Down Expand Up @@ -146,9 +162,10 @@ void CmasiPointSearchTaskService::buildTaskPlanOptions()
}
else
{
// no set wedge, so standoff from any angle
double dHeadingCurrent_rad = 0.0;
double dHeadingTarget_rad = n_Const::c_Convert::dTwoPi() - wedgeDirectionIncrement;
// no set wedge, so standoff from evenly spaced angles (number based on discretization level). Similar logic could be placed in wedge logic (evenlyish spaced headings checked in wedge)
wedgeDirectionIncrement = n_Const::c_Convert::dTwoPi() / m_discretizationLevel;
double dHeadingCurrent_rad = 0.0; //start from true north
double dHeadingTarget_rad = n_Const::c_Convert::dTwoPi() - wedgeDirectionIncrement; // the target (2pi - increment) so we dont double check angle 0.0
while (n_Const::c_Convert::bCompareDouble(dHeadingTarget_rad, dHeadingCurrent_rad, n_Const::c_Convert::enGreaterEqual))
{
if (isCalculateOption(taskId, optionId, dHeadingCurrent_rad))
Expand Down
1 change: 1 addition & 0 deletions src/Tasks/CmasiPointSearchTaskService.h
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Expand Up @@ -168,6 +168,7 @@ class CmasiPointSearchTaskService : public TaskServiceBase
bool isCalculateOption(const int64_t& taskId, int64_t& optionId, const double& wedgeHeading_rad);
private:
std::shared_ptr<afrl::cmasi::PointSearchTask> m_pointSearchTask;
int64_t m_discretizationLevel{16};

public:

Expand Down