### Covplan Path Planning and Optimization Example

Source: https://covplan.readthedocs.io/en/latest/usage

Example demonstrating how to use covplan.pathplan to generate a coverage trajectory and covplan.find_min to find the optimal driving angle. Ensure input_file exists and parameters are set appropriately.

```python
import covplan

def main():
    n_clusters=4    #number of sections
    r=2 #radius for Dubins curves
    input_file='sample_area.txt' #location of the input file containing coordinates of the field
    width = 10  #distance between tracks
    driving_angle=90    #angle wrt X-axis in degrees
    no_hd=0 #number of margins around boundary (each with distance=0.5*width) if needed, otherwise 0

    op=covplan.pathplan(input_file,num_hd=no_hd,width=width,theta=driving_angle,num_clusters=n_clusters,radius=r,visualize=False) # returns list of waypoint coordinates composing full trajectory for coverage
    print('The trajectory for full coverage consists of the following waypoints:',op)

    min=covplan.find_min(input_file,width=width,num_hd=no_hd,num_clusters=n_clusters,radius=r,verbose=True)  # runs optimizer and returns angle corresponding to minimum path length
    # print('Angle for trajectory with minimum length:', min)

if __name__ == '__main__':
    main()

```

--------------------------------

### covplan.find_min

Source: https://covplan.readthedocs.io/en/latest/usage

Runs a single objective optimizer to find the driving angle that minimizes the trajectory length for a given AoI.

```APIDOC
## covplan.find_min(input_file, params)

### Description
This function returns the angle that minimizes the trajectory length for a chosen set of parameters.

### Parameters
#### Request Body
- **input_file** (text file) - Required - Text file containing list of coordinates describing the boundaries.
- **width** (float) - Required - The distance between parallel tracks aka operating width.
- **num_hd** (int) - Required - Number of boundary margins or headland polygons.
- **num_clusters** (int) - Required - Number of sections into which the AoI is divided.
- **radius** (string) - Required - The radius of the Dubins curves to be used.
- **verbose** (Boolean) - Required - True if the distance and minimum angle is to be printed.
```

--------------------------------

### covplan.pathplan

Source: https://covplan.readthedocs.io/en/latest/usage

Generates a list of waypoint coordinates that compose a trajectory for complete coverage of an area.

```APIDOC
## covplan.pathplan(input_file, params)

### Description
This function returns the list of waypoint coordinates that together compose the trajectory that covers the area.

### Parameters
#### Request Body
- **input_file** (text file) - Required - Text file containing list of coordinates describing the boundaries.
- **width** (float) - Required - The distance between parallel tracks aka operating width in meters.
- **num_hd** (int) - Required - Number of boundary margins or headland polygons.
- **theta** (float) - Required - The driving or heading angle of the parallel tracks in degrees (0<theta <=180).
- **num_clusters** (int) - Required - Number of sections into which the AoI is divided.
- **radius** (string) - Required - The radius of the Dubins curves to be used.
- **visualize** (Boolean) - Required - True if the trajectory is to be visualized.
```

--------------------------------

### Define Area of Interest for Covplan

Source: https://covplan.readthedocs.io/en/latest/usage

Describe the boundaries of the Area of Interest (AoI) using lat-lon coordinates. Separate different polygons with 'NaN NaN'. Ensure coordinates are clockwise for AoI and counter-clockwise for obstacles.

```plaintext
  lat1  lon1
  lat2  lon2
  ...
  lat1  lon1
  NaN  NaN

```

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