fix: fix field boundaries

Remove vertices too close to each other to avoid jumps
and thus uncalculable chirality

CourseGenerator/CourseGenerator.lua

@@ -22,6 +22,9 @@ NewCourseGenerator.cRowWaypointDistance = 10
 -- find corners which the vehicle can't make due to its turning radius, without deviating more than
 -- cMaxCrossTrackError meters from the vertex in the corner.
 NewCourseGenerator.cMaxCrossTrackError = 0.5
+-- Maximum cross track error when generating rows parallel to a non-straight field edge. The row will end when
+-- the cross track error is bigger than this limit
+NewCourseGenerator.cMaxCrossTrackErrorForCurvedRows = 0.15
 -- The delta angle above which smoothing kicks in. No smoothing around vertices with a delta
 -- angle below this
 NewCourseGenerator.cMinSmoothingAngle = math.rad(15)

CourseGenerator/CurvedPathHelper.lua

@@ -72,14 +72,14 @@ end
 function CurvedPathHelper.findLongestStraightSection(boundary, ix, radiusThreshold, section)
     local i, n, j = ix, 1
     -- max one round only (n <) self:at(currentIx):getXte(r)
-    while n < #boundary and boundary:at(i):getXte(radiusThreshold) < cg.cMaxCrossTrackError do
+    while n < #boundary and boundary:at(i):getXte(radiusThreshold) < cg.cMaxCrossTrackErrorForCurvedRows do
         section:append((boundary:at(i)):clone())
         i = i - 1
         n = n + 1
     end
     section:reverse()
     j, n = ix + 1, 1
-    while n < #boundary and boundary:at(j):getXte(radiusThreshold) < cg.cMaxCrossTrackError do
+    while n < #boundary and boundary:at(j):getXte(radiusThreshold) < cg.cMaxCrossTrackErrorForCurvedRows do
         section:append((boundary:at(j)):clone())
         j = j + 1
         n = n + 1

CourseGenerator/FieldworkCourseHelper.lua

@@ -95,6 +95,7 @@ function FieldworkCourseHelper.createUsableBoundary(originalBoundary, clockwise)
     local usableBoundary = originalBoundary:clone()
     -- some field scans are not perfect and have sudden direction changes which screws up the clockwise calculation
     usableBoundary:removeGlitches()
+    usableBoundary:ensureMinimumEdgeLength(cg.cMinEdgeLength)
     if usableBoundary:isClockwise() ~= clockwise then
         -- all headlands are generated in the same direction as the field boundary,
         -- so if it does not match the required cw/ccw, reverse it

main.lua

@@ -495,7 +495,12 @@ local function drawFields()
         local unpackedVertices = f:getUnpackedVertices()
         if #unpackedVertices > 2 then
             love.graphics.polygon('line', unpackedVertices)
-            for _, v in ipairs(f:getBoundary()) do
+            for i, v in ipairs(f:getBoundary()) do
+                if v:getRadius() < 10 then
+                    love.graphics.setColor(debugColor)
+                else
+                    love.graphics.setColor(fieldBoundaryColor)
+                end
                 love.graphics.points(v.x, v.y)
             end
             for _, i in ipairs(f:getIslands()) do
@@ -571,7 +576,8 @@ local function highlightPathAroundVertex(v)
 end
 
 local function highlightPathToNextRow(vertices)
-    for i, v in ipairs(vertices) do
+    for i = 1, #vertices - 1 do
+        local v = vertices[i]
         if v:getAttributes():isRowEnd() then
             local innermostHeadland = course:findPathToNextRow(v:getAttributes():getAtBoundaryId(),
                     v, course:getPath()[v.ix + 1], turningRadius:get())