Feature/swath discretization

[Marnonel6]

Description:

This PR introduces a new feature in our Path Planning module which discretizes swath sections of the path. By providing a discretization step and the robot's swath speed, the function returns a new path with the swath sections discretized.

Main Changes:

Swath Discretization Function:

• Added a new method Path::discretize_swath(double step_size, double swath_speed) that takes in a step_size and swath_speed and returns a new path with discretized swath sections.
• The method works by iterating through the path points and discretizing swath points using the given step_size. The velocity of the swath is set based on the provided swath_speed.

Example Script:

• An example script discretize_swath_path.cpp demonstrates the use of the discretize_swath function.
• This script defines a field, a robot, and generates swath connections using Dubins curves. After which, it uses the new discretize_swath function to generate a discretized path and visualize it using our visualization module.

Tests:

• Different swaft, headland and path planning parameters were tested.
• The discretized path was visualized and inspected for correct discretization.
• Graphs were also plotted of the coordinates and the angle to ensure correctness.

Screenshots & Files

discretized_swath_path.csv

[Gonzalo-Mier]

Hi @Marnonel6, cool PR!! Thank you for your contribution. I have left a few comments to solve a few issues I've seen. Thank you again

[Marnonel6]

I'll get on those comments thank you!

[Marnonel6]

Updated some of the mentioned comments. Let me know what you think and what should still change @Gonzalo-Mier

[Gonzalo-Mier]

Great! Could you add some test to to check that it works as expected in any future version? Thank you

[Marnonel6]

Okay I've updated your latest comments and added a bunch of tests. Let me know what you think @Gonzalo-Mier .

[Gonzalo-Mier]

Thank your really much. Just for the record, I made a few changes. I changed the style of the code to be in the same style as the rest of the repo (2 spaces instead of 4 and { in the same line as for() and if()). Moreover, I moved the test from the path_planning to the Path_test.
Great job!!

[Marnonel6]

My pleasure. Thank you for the merge!