From 9cb1747bd4a8207b3d686a0ffb1cafc35b66eb84 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Rik=20B=C3=A4hnemann?= <brik@ethz.ch>
Date: Fri, 19 May 2023 11:14:21 +0200
Subject: [PATCH] Circular kernel conversion and kernel redefinition.

---
 polygon_coverage_geometry/CMakeLists.txt      |  1 +
 .../cgal_definitions.h                        | 25 ++++++++++++++-
 .../circular_segments.h                       | 32 +++++++++++++++++++
 .../src/circular_segments.cc                  | 15 +++++++++
 4 files changed, 72 insertions(+), 1 deletion(-)
 create mode 100644 polygon_coverage_geometry/include/polygon_coverage_geometry/circular_segments.h
 create mode 100644 polygon_coverage_geometry/src/circular_segments.cc

diff --git a/polygon_coverage_geometry/CMakeLists.txt b/polygon_coverage_geometry/CMakeLists.txt
index 7c4eda8..4f6021a 100644
--- a/polygon_coverage_geometry/CMakeLists.txt
+++ b/polygon_coverage_geometry/CMakeLists.txt
@@ -22,6 +22,7 @@ include_directories(include ${catkin_INCLUDE_DIRS})
 add_library(${PROJECT_NAME}
   src/bcd.cc
   src/boolean.cc
+  src/circular_segments.cc
   src/cgal_comm.cc
   src/decomposition.cc
   src/offset.cc
diff --git a/polygon_coverage_geometry/include/polygon_coverage_geometry/cgal_definitions.h b/polygon_coverage_geometry/include/polygon_coverage_geometry/cgal_definitions.h
index f2b1002..1a5992d 100644
--- a/polygon_coverage_geometry/include/polygon_coverage_geometry/cgal_definitions.h
+++ b/polygon_coverage_geometry/include/polygon_coverage_geometry/cgal_definitions.h
@@ -24,7 +24,25 @@
 #include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
 #include <CGAL/Polygon_with_holes_2.h>
 
-typedef CGAL::Exact_predicates_exact_constructions_kernel K;
+#include <CGAL/Exact_circular_kernel_2.h>
+
+// Explicitely define the EPECK to use for CGAL that uses Gmpq to allow conversion to circular kernel.
+// See https://stackoverflow.com/questions/67141983/cgal-coordinate-value-transformation-not-working-anymore-in-5-2-1
+namespace CGAL
+{
+    class Kernel
+        : public Type_equality_wrapper<
+              Lazy_kernel_base<Simple_cartesian<Gmpq>,
+                               Simple_cartesian<Interval_nt_advanced>,
+                               Cartesian_converter<Simple_cartesian<Gmpq>,
+                                                   Simple_cartesian<Interval_nt_advanced>>,
+                               Kernel>,
+              Kernel>
+    {
+    };
+} // namespace CGAL
+
+typedef CGAL::Kernel K;
 typedef K::FT FT;
 typedef K::Point_2 Point_2;
 typedef K::Point_3 Point_3;
@@ -46,4 +64,9 @@ typedef Polygon_2::Edge_const_circulator EdgeConstCirculator;
 typedef CGAL::Polygon_with_holes_2<K> PolygonWithHoles;
 typedef CGAL::Exact_predicates_inexact_constructions_kernel InexactKernel;
 
+typedef CGAL::Exact_circular_kernel_2 Kc;
+typedef Kc::Point_2 Point_2c; 
+typedef CGAL::Cartesian_converter<K, Kc> K_to_Kc;
+typedef CGAL::Cartesian_converter<Kc, K> Kc_to_K;
+
 #endif  // POLYGON_COVERAGE_GEOMETRY_CGAL_DEFINITIONS_H_
diff --git a/polygon_coverage_geometry/include/polygon_coverage_geometry/circular_segments.h b/polygon_coverage_geometry/include/polygon_coverage_geometry/circular_segments.h
new file mode 100644
index 0000000..8299153
--- /dev/null
+++ b/polygon_coverage_geometry/include/polygon_coverage_geometry/circular_segments.h
@@ -0,0 +1,32 @@
+/*
+ * polygon_coverage_planning implements algorithms for coverage planning in
+ * general polygons with holes. Copyright (C) 2019, Rik Bähnemann, Autonomous
+ * Systems Lab, ETH Zürich
+ *
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef POLYGON_COVERAGE_GEOMETRY_CIRCULAR_SEGMENTS_H_
+#define POLYGON_COVERAGE_GEOMETRY_CIRCULAR_SEGMENTS_H_
+#include "polygon_coverage_geometry/cgal_definitions.h"
+
+namespace polygon_coverage_planning {
+
+Point_2c toCircular(const Point_2& p);
+
+Point_2 fromCircular(const Point_2c& p);
+
+}  // namespace polygon_coverage_planning
+
+#endif  // POLYGON_COVERAGE_GEOMETRY_CIRCULAR_SEGMENTS_H_
\ No newline at end of file
diff --git a/polygon_coverage_geometry/src/circular_segments.cc b/polygon_coverage_geometry/src/circular_segments.cc
new file mode 100644
index 0000000..dc3dd4c
--- /dev/null
+++ b/polygon_coverage_geometry/src/circular_segments.cc
@@ -0,0 +1,15 @@
+#include "polygon_coverage_geometry/circular_segments.h"
+
+namespace polygon_coverage_planning {
+
+Point_2c toCircular(const Point_2& p) {
+  K_to_Kc to_circular;
+  return to_circular(p);
+}
+
+Point_2 fromCircular(const Point_2c& p) {
+  Kc_to_K from_circular;
+  return from_circular(p);
+}
+
+}  // namespace polygon_coverage_planning
\ No newline at end of file