This struct is used by the WaypointHandler class to store location, size, and type information about a given location of interest of waypoint. More...

#include <GeospatialOperations.hpp>

Collaboration diagram for geoops::Waypoint:

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Public Member Functions
	Waypoint (const geoops::GPSCoordinate &stGPSLocation=geoops::GPSCoordinate(), const WaypointType &eType=WaypointType::eUNKNOWN, const double dRadius=0.0, const int nID=-1)
	Construct a new Waypoint object.

	Waypoint (const geoops::UTMCoordinate &stUTMLocation, const WaypointType &eType=WaypointType::eUNKNOWN, const double dRadius=0.0, const int nID=-1)
	Construct a new Waypoint object.

const geoops::GPSCoordinate &	GetGPSCoordinate () const
	Accessor for the geoops::GPSCoordinate member variable.

const geoops::UTMCoordinate &	GetUTMCoordinate () const
	Accessor for the geoops::UTMCoordinate member variable.

bool	operator== (const Waypoint &stOtherWaypoint) const
	Overridden operator equals for Waypoint struct.

bool	operator!= (const Waypoint &stOtherWaypoint) const
	Overridden operator equals for Waypoint struct.

Public Attributes
WaypointType	eType

double	dRadius

int	nID

Private Attributes
geoops::GPSCoordinate	stGPSLocation

geoops::UTMCoordinate	stUTMLocation

Detailed Description

This struct is used by the WaypointHandler class to store location, size, and type information about a given location of interest of waypoint.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date: 2024-02-02

Constructor & Destructor Documentation

◆ Waypoint() [1/2]

geoops::Waypoint::Waypoint	(	const geoops::GPSCoordinate &	stGPSLocation = `geoops::GPSCoordinate()`,
		const WaypointType &	eType = `WaypointType::eUNKNOWN`,
		const double	dRadius = `0.0`,
		const int	nID = `-1`
	)

inline

Construct a new Waypoint object.

Parameters

stGPSLocation	- The location of this waypoint stored in a geoops namespace GPSCoordinate struct.
eType	- The waypoint type. Navigation, Intermediate, Tag, Object, etc.
dRadius	- The size of the waypoint. This is mainly only useful for objects or when you want the rover to just go to a general area.
nID	- The unique identifier for this waypoint or a ARTag ID.

Note: This will also store the equivalent UTM coordinate.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date: 2024-02-02

            {
                // Initialize member variables.
                this->stGPSLocation = stGPSLocation;
                this->stUTMLocation = geoops::ConvertGPSToUTM(stGPSLocation);
                this->eType         = eType;
                this->dRadius       = dRadius;
                this->nID           = nID;
            }

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◆ Waypoint() [2/2]

geoops::Waypoint::Waypoint	(	const geoops::UTMCoordinate &	stUTMLocation,
		const WaypointType &	eType = `WaypointType::eUNKNOWN`,
		const double	dRadius = `0.0`,
		const int	nID = `-1`
	)

inline

Construct a new Waypoint object.

Parameters

stUTMLocation	- The location of this waypoint stored in a geoops namespace UTMCoordinate struct.
eType	- The waypoint type. Navigation, Intermediate, Tag, Object, etc.
dRadius	- The size of the waypoint. This is mainly only useful for objects or when you want the rover to just go to a general area.
nID	- The unique identifier for this waypoint or a ARTag ID.

Note: This will also store the equivalent GPS coordinate.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date: 2024-02-02

            {
                // Initialize member variables.
                this->stUTMLocation = stUTMLocation;
                this->stGPSLocation = geoops::ConvertUTMToGPS(stUTMLocation);
                this->eType         = eType;
                this->dRadius       = dRadius;
                this->nID           = nID;
            }

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Member Function Documentation

◆ GetGPSCoordinate()

const geoops::GPSCoordinate & geoops::Waypoint::GetGPSCoordinate ( ) const

inline

Accessor for the geoops::GPSCoordinate member variable.

Returns: geoops::GPSCoordinate - The location of the waypoint stored in a geoops namespace GPSCoordinate struct.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date: 2024-02-02

466{ return stGPSLocation; }

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◆ GetUTMCoordinate()

const geoops::UTMCoordinate & geoops::Waypoint::GetUTMCoordinate ( ) const

inline

Accessor for the geoops::UTMCoordinate member variable.

Returns: geoops::UTMCoordinate - The location of the waypoint stored in a geoops namespace UTMCoordinate struct.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date: 2024-02-02

477{ return stUTMLocation; }

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◆ operator==()

bool geoops::Waypoint::operator== ( const Waypoint & stOtherWaypoint ) const

inline

Overridden operator equals for Waypoint struct.

Parameters

stOtherWaypoint - The other Waypoint struct we are comparing to.

Returns: true - The two Waypoints are equal.; false - The two Waypoints are not equal.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date: 2024-02-04

            {
                // Check if location, altitude, and accuracy are the same. Not going to worry about other values for now.
                return (stGPSLocation == stOtherWaypoint.stGPSLocation && stUTMLocation == stOtherWaypoint.stUTMLocation && eType == stOtherWaypoint.eType &&
                        dRadius == stOtherWaypoint.dRadius && nID == stOtherWaypoint.nID);
            }

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