added task generation

DemaScenarios/task_generator.py

@@ -0,0 +1,87 @@
+import json
+import random
+
+import contextily as cx
+import geojson
+import matplotlib.pyplot as plt
+import shapely
+import trajgenpy.Logging
+from trajgenpy import Utils
+from trajgenpy.Geometries import (
+    GeoMultiPolygon,
+    GeoMultiTrajectory,
+    GeoPolygon,
+    decompose_polygon,
+    generate_sweep_pattern,
+    get_sweep_offset,
+)
+from trajgenpy.Query import query_features
+
+log = trajgenpy.Logging.get_logger()
+
+
+def get_line_segments(polygon: GeoPolygon):
+    polygon_list = decompose_polygon(polygon.get_geometry())
+
+    log.info(f"Number of polygons: {len(polygon_list)}")
+
+    offset = get_sweep_offset(0.1, 15, 90)
+    result = []
+    for decomposed_poly in polygon_list:
+        sweeps_connected = generate_sweep_pattern(decomposed_poly, offset, connect_sweeps=False)
+        result.extend(sweeps_connected)
+    return result
+
+
+def export_to_geojson(tasks: GeoMultiTrajectory, polygon: GeoPolygon):
+    log.info(f"Number of sweeps: {len(tasks.get_geometry().geoms)}")
+    geojson_collection = geojson.FeatureCollection(
+        [
+            polygon.to_geojson(id="boundary"),
+            multi_traj.to_geojson(id="tasks"),
+        ]
+    )
+    with open("environment.geojson", "w") as f:
+        geojson.dump(geojson_collection, f)
+
+
+import osmnx as ox
+
+if __name__ == "__main__":
+    # polygon_file = "examples/DemaScenarios/FlatTerrainNature.geojson"
+    # polygon_file = "examples/DemaScenarios/HillyTerrainNature.geojson"
+    # polygon_file = "examples/DemaScenarios/Urban.geojson"
+    polygon_file = "DemaScenarios/Water.geojson"
+
+    # Load the GeoJSON data
+    with open(polygon_file, "r") as f:
+        data = json.load(f)
+
+    # Extract the polygon coordinates
+    coordinates = data["features"][0]["geometry"]["coordinates"][0]
+
+    # Create the shapely Polygon object
+    polygon = GeoPolygon(shapely.Polygon(coordinates)).set_crs("EPSG:2197")
+    polygon.plot(facecolor="none", edgecolor="black", linewidth=2)
+
+    query_polygon = GeoPolygon(shapely.Polygon(coordinates)).set_crs("WGS84")
+    features = query_features(
+        query_polygon,
+        {
+            "natural": ["coastline"],
+        },
+    )
+    GeoMultiTrajectory(features["natural"]).set_crs("EPSG:2197").plot(color="blue", linewidth=2)
+
+    tasks = get_line_segments(polygon)
+
+    multi_traj = GeoMultiTrajectory(tasks, "EPSG:2197")
+    multi_traj.plot(color="red")
+
+    Utils.plot_basemap(provider=cx.providers.OpenStreetMap.Mapnik, crs="EPSG:2197")
+    export_to_geojson(multi_traj, polygon)
+
+    # No axis on the plot
+    plt.axis("equal")
+    plt.axis("off")
+    plt.show()