29:null 2a:["$","title",null,{"children":"Optimal coverage path planning in agriculture 🚜🌻 | Christoph Pahmeyer | Observable"}] 2f:Ta63,mapboxMap = { const container = html`

`; yield container; mapboxgl.accessToken = "pk.eyJ1IjoidG9mZmkiLCJhIjoiY2lvMDBxMzR3MDB1eHZza2x4NGI2YjI5OSJ9.IEaNA05pWbT92nOu-lEOYw"; var map = new mapboxgl.Map({ container: container, style: "mapbox://styles/mapbox/satellite-v9?optimize=true", center: turf.centroid(plots[viewof currentPlot.value]).geometry.coordinates, //pitch: 55, zoom: 15 }); map.on("load", async () => { await addLines(plots[viewof currentPlot.value]); map.addLayer({ id: "plot", type: "line", source: "plot", layout: { "line-join": "round", "line-cap": "round" }, paint: { "line-color": "#EB8D35", "line-width": 2 } }); map.addLayer({ id: "headland", type: "line", source: "headland", layout: { "line-join": "round", "line-cap": "round" }, paint: { "line-color": "#B2C6C9", "line-width": 2 } }); map.fitBounds(turf.bbox(plots[viewof currentPlot.value]), { padding: 40 }); }); viewof currentPlot.addEventListener("input", async () => { console.log("input"); map.fitBounds(turf.bbox(plots[viewof currentPlot.value]), { padding: 40 }); await addLines(plots[viewof currentPlot.value]); }); async function addLines(feature, center) { if (!feature) { feature = await queryFeature(center); } else { center = turf.centroid(feature); } //const expositionAndSlope = await slopeAndExposition(feature); const expositionAndSlope = { slope: 0, exposition: 0 }; //const expositionAndSlope = await queryExpositionSlope(center); const lines = minimalTurns({ feature: turf.buffer( feature.features ? feature.features[0] : feature, -sprayerWidth / 2 / 1000 ), workWidth, expositionAndSlope }); const headlandLines = [ ...Array(Math.ceil(sprayerWidth / 2 / workWidth)) ].map((u, i) => turf.buffer(feature, (-i * workWidth - workWidth / 2) / 1000) ); mutable minimumTurns = lines.features.length; mutable bearing = lines.properties.bearing; const source = map.getSource("plot"); const headlandSource = map.getSource("headland"); if (source) { source.setData(lines); headlandSource.setData(turf.featureCollection([...headlandLines])); } else { map.addSource("plot", { type: "geojson", data: lines }); map.addSource("headland", { type: "geojson", data: turf.featureCollection([...headlandLines]) }); } } }30:T4c2,async function queryExpositionSlope(center) { const slopeText = await await fetch( `https://wms.flf.julius-kuehn.de/cgi-bin/hangneigung/qgis_mapserv.fcgi?Service=WMS&Request=GetFeatureInfo&INFO_FORMAT=text%2Fplain&LAYER=Hangneigung%20%5B%C2%B0%5D&QUERY_LAYERS=Hangneigung%20%5B%C2%B0%5D&FORMAT=image%2Fpng&SRS=EPSG%3A4326&Height=512&Width=512&x=256&y=256&VERSION=1.3.0&BBOX=${turf .bbox(turf.buffer(turf.point(center), 0.001)) .reverse() .join(',')}` ).then(res => res.text()); const slope = slopeText .split("Band 1 = '")[1] .split("'")[0] .trim(); const expositionText = await await fetch( `https://wms.flf.julius-kuehn.de/cgi-bin/aspect/qgis_mapserv.fcgi?Service=WMS&Request=GetFeatureInfo&INFO_FORMAT=text%2Fplain&LAYER=Exposition%20%5B%C2%B0%5D&QUERY_LAYERS=Exposition%20%5B%C2%B0%5D&FORMAT=image%2Fpng&SRS=EPSG%3A4326&Height=512&Width=512&x=256&y=256&VERSION=1.3.0&BBOX=${turf .bbox(turf.buffer(turf.point(center), 0.001)) .reverse() .join(',')}` ).then(res => res.text()); const exposition = expositionText .split("Band 1 = '")[1] .split("'")[0] .trim(); return { slope: Number(slope) / 100, exposition: Number(exposition) }; }31:T7c0,function minimalTurns({feature, workWidth, expositionAndSlope}) { const centroid = turf.centroid(feature); let featureAsLine = turf.polygonToLine(feature); if (turf.getType(featureAsLine) === "FeatureCollection") { featureAsLine = featureAsLine.features[0]; } const length = turf.length(featureAsLine); const points = [...Array(Math.ceil(length / 2 / (workWidth / 1000)))].map( (p, i) => turf.along(featureAsLine, (workWidth * i) / 1000).geometry.coordinates ); const longestLine = points.reduce((maxValue, currentCoord, index) => { const bearing = turf.rhumbBearing(currentCoord, centroid); if ( expositionAndSlope.slope > 5 && !inBounds(bearing, expositionAndSlope.exposition) ) return maxValue; const line = turf.lineString([ currentCoord, turf.rhumbDestination(currentCoord, 20, bearing).geometry.coordinates ]); //const clippedLine = cutLineByPolygon(line, feature); const intersections = turf.lineIntersect(line, feature); const newValue = intersections.features.reduce( (longest, feature) => { const distance = turf.distance(currentCoord, feature); longest = distance > longest.distance ? { line: turf.lineString([ currentCoord, feature.geometry.coordinates ]), distance: distance, intersections: intersections } : longest; return longest; }, { distance: 0 } ); const linesInPoly = createLines(newValue.line, feature, workWidth); linesInPoly.properties = { bearing }; if (maxValue.features == undefined) { maxValue = linesInPoly; } else { maxValue = linesInPoly.features.length && linesInPoly.features.length < maxValue.features.length ? linesInPoly : maxValue; } return maxValue; }, {}); return longestLine; }32:T755,function createLines(line, feature, workWidth) { // extend the line in both directions const bearing = turf.rhumbBearing( line.geometry.coordinates[0], line.geometry.coordinates[1] ); const extendedLine = turf.lineString([ turf.rhumbDestination(line.geometry.coordinates[0], 2, bearing + 180) .geometry.coordinates, turf.rhumbDestination(line.geometry.coordinates[1], 2, bearing).geometry .coordinates ]); // offset left and right by 1 km = 1000 / workWidth * 2 const lines = [...Array(Math.ceil((500 / workWidth) * 2))].reduce( (contained, u, index) => { const offset = -500 + index * workWidth; const offsetLine = turf.lineOffset(extendedLine, offset, { units: "meters" }); let intersectionPoints = turf.lineIntersect(offsetLine, feature); let intersectionPointsArray = intersectionPoints.features.map((d) => { return d.geometry.coordinates; }); if (intersectionPointsArray.length > 2) { // order points by distance to the starting point of the line const start = offsetLine.geometry.coordinates[0]; intersectionPointsArray = intersectionPointsArray.sort((a, b) => { return ( turf.length(turf.lineSlice(start, a, offsetLine)) - turf.length(turf.lineSlice(start, b, offsetLine)) ); }); } try { for (let i = 1; i < intersectionPointsArray.length; i++) { if ((i + 1) % 2 === 0) { let intersection = turf.lineSlice( turf.point(intersectionPointsArray[i - 1]), turf.point(intersectionPointsArray[i]), offsetLine ); if (intersection) contained.push(intersection); } } } catch {} return contained; }, [] ); return turf.featureCollection(lines); }33:T4dd,function longestLine(feature) { const centroid = turf.centroid(feature); // const currentCoord = features.features[0].geometry.coordinates[0][25]; const longestLine = turf.coordReduce( feature, (maxValue, currentCoord) => { const bearing = turf.rhumbBearing(currentCoord, centroid); const line = turf.lineString([ currentCoord, turf.rhumbDestination(currentCoord, 20, bearing).geometry.coordinates ]); const intersections = turf.lineIntersect(line, feature); const newValue = intersections.features.reduce( (longest, feature) => { const distance = turf.distance(currentCoord, feature); longest = distance > longest.distance ? { line: turf.lineString([ currentCoord, feature.geometry.coordinates ]), distance: distance, intersections: intersections } : longest; return longest; }, { distance: 0 } ); maxValue = newValue.distance > maxValue.distance ? newValue : maxValue; return maxValue; }, { distance: 0 } ); return longestLine; }34:[{"id":"7ad7bc04f6f6ca8a94bad1ec7093a29bff6456477c0fd0cc4394ad45d1b79eab5eeead582b26e6453cf6130fe3df319424ecd28b611f4ba8ee9d18174ba23fee","href":"https://static.observableusercontent.com/files/7ad7bc04f6f6ca8a94bad1ec7093a29bff6456477c0fd0cc4394ad45d1b79eab5eeead582b26e6453cf6130fe3df319424ecd28b611f4ba8ee9d18174ba23fee","name":"plots.json","type":"application/json","lastModified":1610444467475.949,"size":227167},{"id":"d4d85b76a306fef58487b433d5251c3cfb3a08e95451e9605ed75ae797eceabde823ef8ff68c06f03b6eef10f9c9aa97ab044f846dde0ea536699a922268b6dd","href":"https://static.observableusercontent.com/files/d4d85b76a306fef58487b433d5251c3cfb3a08e95451e9605ed75ae797eceabde823ef8ff68c06f03b6eef10f9c9aa97ab044f846dde0ea536699a922268b6dd","name":"turf.min.js","type":"application/javascript","lastModified":1610211445315.613,"size":601680}] 2d:{"id":"aae843f7b53bcd75","slug":"optimal-coverage-path-planning-in-agriculture","title":"Optimal coverage path planning in agriculture 🚜🌻","thumbnail":"f0d13039569253103adc67ae863851160cc47b1865998f0c5c18b8c609532946","access_level":"public","create_time":"$D2021-01-09T16:56:52.988Z","update_time":"$D2022-11-08T09:01:53.121Z","view_time":null,"first_public_time":"$D2021-01-12T15:10:38.495Z","has_unpublished_edits":null,"fork":false,"stars":1,"starred":false,"owner":{"type":"team","id":"d2dc6c8d94d1ea2c","login":"chrispahm","name":"Christoph Pahmeyer","avatar_url":"https://avatars-next.observableusercontent.com/5f4a345410b8a1f574bf0beecf9c7b18c1140fb1c085b289e271718ef4ed0d57","tier":"starter_2024"},"version":475,"publish_version":475,"role":null,"authored":false,"authors":[{"type":"individual","id":"e3c99024cde17af0","login":"chrispahm","name":"Christoph Pahmeyer","avatar_url":"https://avatars-next.observableusercontent.com/5f4a345410b8a1f574bf0beecf9c7b18c1140fb1c085b289e271718ef4ed0d57","tier":null}],"members":[{"type":"individual","id":"e3c99024cde17af0","login":"chrispahm","name":"Christoph Pahmeyer","avatar_url":"https://avatars-next.observableusercontent.com/5f4a345410b8a1f574bf0beecf9c7b18c1140fb1c085b289e271718ef4ed0d57","tier":null,"role":"editor"}],"comments":[],"custom_thumbnail":false,"trashed":false,"lapsed":null,"subscribed":null,"forks":2,"collection":{"id":"990e3d6110ce5e66","slug":"agriculture/2","title":"Agriculture","owner":{"id":"d2dc6c8d94d1ea2c","login":"chrispahm","name":"Christoph Pahmeyer"}},"type":"notebook","body":{"title":"Optimal coverage path planning in agriculture 🚜🌻","cells":[{"id":0,"value":"md`# Optimal coverage path planning in agriculture 🚜🌻`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":265,"value":"md`\n\nThis algorithm is **work-in-progress** 🚧\n\nYour contribution is highly appreciated! You can help by\n - adding an [interface for manually testing different angles](https://observablehq.com/@toja/radial-input) (to check if the optimization yields the correct result → minimum no. of turns)\n - outsourcing computations into [WebWorkers](https://observablehq.com/@fil/worker)\n - performance improvements (→ adapt algorithm to start drawing lines from middle, then going outwards)\n - implementing a published (and peer-reviewed) path planning algorithm (e.g [Oksanen and Visala, 2009](https://doi.org/10.1002/rob.20300))\n`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":249,"value":"viewof workWidth = slider({\n min: 1,\n max: 40,\n step: 1,\n value: 3,\n title: \"Working width\",\n submit: true,\n description: \"Working width of the implement (e.g. a seeder) in meters\"\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":259,"value":"viewof sprayerWidth = slider({\n min: 1,\n max: 40,\n step: 1,\n value: 27,\n title: \"Sprayer (tramline) width\",\n submit: true,\n description:\n \"Working width of the sprayer (meters), determining the tramline width\"\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":287,"value":"viewof currentPlot = cycleComponent({\n array: plots,\n startAtZero: false,\n text: \"Current plot:\",\n showRandom: true,\n startIndex: 3\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":384,"value":"md`Turns required: **${minimumTurns}**, current bearing: **${Math.round(\n bearing\n)}°** (degrees from north line)`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":177,"value":"$2f","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":374,"value":"mutable minimumTurns = 0","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":376,"value":"mutable bearing = 0","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":93,"value":"async function queryFeature(center) {\n const raw = await fetch(\n `https://www.wfs.nrw.de/umwelt/lwk_eufoerderung?service=WFS&request=GetFeature&typeName=umwelt_lwk_eufoerderung%3ABeantragte_und_als_foerderfaehig_festgestellte_Teilschlaege_in_NRW&version=2.0.0&srsname=EPSG%3A4326&count=1&outputFormat=GEOJSON&BBOX=${turf\n .bbox(turf.buffer(turf.point(center), 0.001))\n .reverse()\n .join(',')}`\n ).then(res => res.text());\n const fix = raw.replace(/(AREA_HA\": \\d+?),/, '$1.');\n console.log(fix);\n return JSON.parse(fix);\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":97,"value":"$30","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":57,"value":"$31","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":7,"value":"$32","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":217,"value":"async function slopeAndExposition(feature) {\n const points = [\n turf.centroid(feature).geometry.coordinates,\n ...turf.bboxPolygon(turf.bbox(feature)).geometry.coordinates[0]\n ];\n const promises = points.map(queryExpositionSlope);\n const data = await Promise.all(promises);\n return {\n slope: data.reduce((avg, p) => (avg += p.slope / data.length), 0),\n exposition: data.reduce((avg, p) => (avg += p.exposition / data.length), 0)\n };\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":16,"value":"$33","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":116,"value":"function inBounds(bearing, exposition) {\n const curSlope = turf.bearingToAzimuth(bearing);\n const treshold = 5;\n const acceptableMin =\n exposition + 90 - treshold < 360\n ? exposition + 90 - treshold\n : exposition + 90 - treshold - 360;\n const acceptableMax =\n exposition + 90 + treshold < 360\n ? exposition + 90 + treshold\n : exposition + 90 + treshold - 360;\n const acceptable2Min =\n exposition + 270 - treshold < 360\n ? exposition + 270 - treshold\n : exposition + 270 - treshold - 360;\n const acceptable2Max =\n exposition + 270 + treshold < 360\n ? exposition + 270 + treshold\n : exposition + 270 + treshold - 360;\n return (curSlope > acceptableMin && curSlope < acceptableMax) ||\n (curSlope > acceptable2Min && curSlope < acceptable2Max)\n ? true\n : false;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":283,"value":"import { cycleComponent } from '@chrispahm/cycle-through-array-input-component'","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":268,"value":"plots = await FileAttachment(\"plots.json\").json()","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":5,"value":"turf = require(await FileAttachment(\"turf.min.js\").url())","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":250,"value":"import { slider } from \"@jashkenas/inputs\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":172,"value":"mapboxgl = {\n const gl = require('mapbox-gl@2');\n if (!gl.accessToken) {\n // token allowed only this Observable\n gl.accessToken =\n \"pk.eyJ1IjoidG9mZmkiLCJhIjoiY2lvMDBxMzR3MDB1eHZza2x4NGI2YjI5OSJ9.IEaNA05pWbT92nOu-lEOYw\";\n const href = await require.resolve(\"mapbox-gl@2/dist/mapbox-gl.css\");\n document.head.appendChild(html``);\n }\n return gl;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":22,"value":"import { map } from '@chrispahm/map'","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"}],"files":"$W34","stdlib":"1","titling":"auto"}} 2e:"$2d:body"