-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathindex.html
More file actions
240 lines (216 loc) · 14 KB
/
index.html
File metadata and controls
240 lines (216 loc) · 14 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
<!DOCTYPE html>
<html class="writer-html5" lang="en" data-content_root="./">
<head>
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Fields2Cover — Fields2Cover latest documentation</title>
<link rel="stylesheet" type="text/css" href="_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" />
<link rel="stylesheet" type="text/css" href="_static/graphviz.css?v=eafc0fe6" />
<link rel="stylesheet" type="text/css" href="_static/code-tabs.css?v=1bc26e2f" />
<link rel="shortcut icon" href="_static/favicon.ico"/>
<link rel="canonical" href="https://fields2cover.github.io/index.html" />
<script src="_static/jquery.js?v=5d32c60e"></script>
<script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="_static/documentation_options.js?v=c6e86fd7"></script>
<script src="_static/doctools.js?v=888ff710"></script>
<script src="_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="_static/code-tabs.js?v=c983d12e"></script>
<script src="_static/js/theme.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="next" title="Installation" href="source/installation.html" />
</head>
<body class="wy-body-for-nav">
<div class="wy-grid-for-nav">
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
<div class="wy-side-scroll">
<div class="wy-side-nav-search" >
<a href="#">
<img src="_static/logo_fields2cover.png" class="logo" alt="Logo"/>
</a>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="search.html" method="get">
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
<input type="hidden" name="check_keywords" value="yes" />
<input type="hidden" name="area" value="default" />
</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
<ul class="current">
<li class="toctree-l1 current"><a class="current reference internal" href="#">Fields2Cover</a></li>
<li class="toctree-l1"><a class="reference internal" href="source/installation.html">Installation</a></li>
<li class="toctree-l1"><a class="reference internal" href="source/tutorials.html">Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="source/migration_to_v2.html">Migration guide to version 2.0</a></li>
<li class="toctree-l1"><a class="reference internal" href="source/faq.html">FAQ</a></li>
<li class="toctree-l1"><a class="reference internal" href="api/f2c_library.html">API</a></li>
</ul>
</div>
</div>
</nav>
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
<a href="#">Fields2Cover</a>
</nav>
<div class="wy-nav-content">
<div class="rst-content">
<div role="navigation" aria-label="Page navigation">
<ul class="wy-breadcrumbs">
<li><a href="#" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item active">Fields2Cover</li>
<li class="wy-breadcrumbs-aside">
<a href="_sources/index.rst.txt" rel="nofollow"> View page source</a>
</li>
</ul>
<hr/>
</div>
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<section id="fields2cover">
<h1>Fields2Cover<a class="headerlink" href="#fields2cover" title="Link to this heading"></a></h1>
<blockquote>
<div><p><strong>Robust and efficient coverage paths for autonomous agricultural vehicles</strong></p>
</div></blockquote>
<img alt="_images/logo_fields2cover.jpeg" class="align-center" src="_images/logo_fields2cover.jpeg" />
<p><a class="reference external" href="https://github.com/Fields2Cover/Fields2Cover">The github repository is here</a>.</p>
<p>The Coverage Path Planning problem (CPP) aims to create a path to cover an area with one or several vehicles.</p>
<a class="reference internal image-reference" href="_images/diagram-F2C.jpg"><img alt="_images/diagram-F2C.jpg" class="align-center" src="_images/diagram-F2C.jpg" style="width: 500px;" /></a>
<p>Although the development of this project is focused on offline planning of agricultural vehicles,
the library accepts pull requests from other types of coverage planners.</p>
<section id="f2c-version-2-0">
<h2>F2C version 2.0<a class="headerlink" href="#f2c-version-2-0" title="Link to this heading"></a></h2>
<p>The version 2.0 of Fields2Cover comes with support for non-convex fields and fields with obstacles!! This has been huge request from the community and finally it’s here.</p>
<p>A quick list of new additions to the library:</p>
<ol class="arabic simple">
<li><p><a class="reference internal" href="source/tutorials/decomposition.html#tutorial-decomp"><span class="std std-ref">Decomposition algorithms</span></a>:</p>
<ul class="simple">
<li><p>Trapezoidal and Boustrophedon decomposition. Those algorithms are useful to split any concave field into several convex sub-fields.</p></li>
</ul>
</li>
<li><p><a class="reference internal" href="source/tutorials/route_planning.html#tutorial-route"><span class="std std-ref">Route planner</span></a>:</p>
<ul class="simple">
<li><p>Route optimizer using <a class="reference external" href="https://developers.google.com/optimization">OR-tools</a> can be used to order the swaths, instead of just using a known pattern.</p></li>
<li><p>Support for a point used as the start and end points of the route.</p></li>
</ul>
</li>
<li><p>Path planner:</p>
<ul class="simple">
<li><p>Support for routes provided by the route optimizer.</p></li>
</ul>
</li>
<li><p>Swath generator:</p>
<ul class="simple">
<li><p>Speed improvement on swath generation.</p></li>
<li><p>New cost function: <code class="docutils literal notranslate"><span class="pre">NSwathModified</span></code>. It uses an approximation to compute the number of swaths, reducing computation costs.</p></li>
</ul>
</li>
<li><p>Many bugs fixed.</p></li>
</ol>
<p>For a little guide about the migration, please check: <a class="reference internal" href="source/migration_to_v2.html#migration-guide"><span class="std std-ref">Migration guide to version 2.0</span></a>.</p>
</section>
<section id="citing">
<h2>Citing<a class="headerlink" href="#citing" title="Link to this heading"></a></h2>
<p>Please cite <a class="reference external" href="https://ieeexplore.ieee.org/document/10050562">the following paper</a> when using Fields2Cover for your research:</p>
<div class="highlight-bibtex notranslate"><div class="highlight"><pre><span></span><span class="nc">@article</span><span class="p">{</span><span class="nl">Mier_Fields2Cover_An_open-source_2023</span><span class="p">,</span>
<span class="w"> </span><span class="na">author</span><span class="p">=</span><span class="s">{Mier, Gonzalo and Valente, João and de Bruin, Sytze}</span><span class="p">,</span>
<span class="w"> </span><span class="na">journal</span><span class="p">=</span><span class="s">{IEEE Robotics and Automation Letters}</span><span class="p">,</span>
<span class="w"> </span><span class="na">title</span><span class="p">=</span><span class="s">{Fields2Cover: An Open-Source Coverage Path Planning Library for Unmanned Agricultural Vehicles}</span><span class="p">,</span>
<span class="w"> </span><span class="na">year</span><span class="p">=</span><span class="s">{2023}</span><span class="p">,</span>
<span class="w"> </span><span class="na">volume</span><span class="p">=</span><span class="s">{8}</span><span class="p">,</span>
<span class="w"> </span><span class="na">number</span><span class="p">=</span><span class="s">{4}</span><span class="p">,</span>
<span class="w"> </span><span class="na">pages</span><span class="p">=</span><span class="s">{2166-2172}</span><span class="p">,</span>
<span class="w"> </span><span class="na">doi</span><span class="p">=</span><span class="s">{10.1109/LRA.2023.3248439}</span>
<span class="p">}</span>
</pre></div>
</div>
</section>
<section id="more-information">
<h2>More information<a class="headerlink" href="#more-information" title="Link to this heading"></a></h2>
<div class="toctree-wrapper compound">
<ul class="current">
<li class="toctree-l1 current"><a class="current reference internal" href="#">Fields2Cover</a></li>
<li class="toctree-l1"><a class="reference internal" href="source/installation.html">Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/installation.html#requirements-on-linux">Requirements on Linux</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/installation.html#compilation">Compilation</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/installation.html#add-it-to-your-projects">Add it to your projects</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/installation.html#compilation-with-python-interface">Compilation with python interface</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="source/tutorials.html">Tutorials</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/basic_types.html">Part 1: Basic types</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/objective_functions.html">Part 2: Objective functions</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/headland_generator.html">Part 3: Headland generator</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/swath_generator.html">Part 4: Swath generator</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/route_planning.html">Part 5: Route planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/path_planning.html">Part 6: Path planning</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/decomposition.html">Part 7: Cell Decomposition</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/tutorials/complete_flow.html">Part 8: Complete flow</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="source/migration_to_v2.html">Migration guide to version 2.0</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/migration_to_v2.html#new-classes-and-new-functionalities">New classes and new functionalities</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/migration_to_v2.html#renaming-functions">Renaming functions</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/migration_to_v2.html#renaming-files">Renaming files</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/migration_to_v2.html#class-attributes-are-private-now">Class attributes are private now</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/migration_to_v2.html#visualizer">Visualizer</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="source/faq.html">FAQ</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/faq.html#is-fields2cover-only-focused-on-agriculture-ugv">Is Fields2Cover only focused on agriculture/UGV?</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/faq.html#how-frequently-is-the-library-updated">How frequently is the library updated?</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="api/f2c_library.html">API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="api/f2c_library.html#page-hierarchy">Page Hierarchy</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/f2c_library.html#class-hierarchy">Class Hierarchy</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/f2c_library.html#file-hierarchy">File Hierarchy</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/f2c_library.html#full-api">Full API</a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="contribute">
<h2>Contribute<a class="headerlink" href="#contribute" title="Link to this heading"></a></h2>
<p>If you find any issue/bug/proposal, open an issue and we will try to solve/discuss it.</p>
<p>Pull requests are more than welcome. For major changes, please open an issue first to discuss what you would like to change. Please make sure to update tests as appropriate.</p>
</section>
<section id="license">
<h2>License<a class="headerlink" href="#license" title="Link to this heading"></a></h2>
<p>Fields2Cover project is under <a class="reference external" href="https://tldrlegal.com/license/bsd-3-clause-license-%28revised%29">BSD-3 license</a>.</p>
</section>
</section>
</div>
</div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
<a href="source/installation.html" class="btn btn-neutral float-right" title="Installation" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
</div>
<hr/>
<div role="contentinfo">
<p>© Copyright 2020-2024, Wageningen University.</p>
</div>
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
provided by <a href="https://readthedocs.org">Read the Docs</a>.
</footer>
</div>
</div>
</section>
</div>
<script>
jQuery(function () {
SphinxRtdTheme.Navigation.enable(true);
});
</script>
<style>
/* Sidebar header (and topbar for mobile) */
.wy-side-nav-search, .wy-nav-top {
background: #D0F1C6; */
}
/* Sidebar */
.wy-nav-side {
/* background: #ff0000; */
}
</style>
</body>
</html>