def get_GPS_Pos(self, microsoft_relative_GPS_pos: GPSCoordinate):
'''AirSim calculates GPS position in relation to microsoft headquarters,
this method gives the GPS position relative to the home coordinate set by the constructor.'''
#calculate lat, long distance from current position to microsoft home coordinate
if not isinstance(microsoft_relative_GPS_pos, GPSCoordinate):
raise Exception("Please provide a valid WGS84 GPS coordinate")
#metres_lat = microsoft_relative_GPS_pos.get_lat_metres_to_other(GPSToUnreal.ORIGIN_GPS)
#metres_lng = microsoft_relative_GPS_pos.get_long_metres_to_other(GPSToUnreal.ORIGIN_GPS)
#if microsoft_relative_GPS_pos.lat < GPSToUnreal.ORIGIN_GPS.lat:
# metres_lat =- lat_dist
#if microsoft_relative_GPS_pos.long < GPSToUnreal.ORIGIN_GPS.long:
# metres_lat =- lng_dist
#if microsoft_relative_GPS_pos.alt:
# metres_alt = microsoft_relative_GPS_pos.alt
#then add this distance to home coordinate
#first calculate azimuth (will probably be ok to do this as dealing with small(ish) angles
bearing = GPSToUnreal.ORIGIN_GPS.get_initial_bearing(
microsoft_relative_GPS_pos)
distance = microsoft_relative_GPS_pos.get_metres_to_other(
GPSToUnreal.ORIGIN_GPS)
destination = GPSCoordinate._vincentyGeodesicDirect(
self.home_position_GPS, distance, bearing)
return destination
def testGetMoveToPosXYZFromGPSCoord(self):
mapper1 = GPSToUnreal(self.NUIGCoordinate)
UECoord1 = mapper1.getMoveToPosXYZFromGPSCoord(
self.EyreSquareCoordinate)
#nuig coordinate to eyre square coordinate
self.assertAlmostEqual(UECoord1[0], -731.3, delta=10)
self.assertAlmostEqual(UECoord1[1], 1183, delta=20)
#check that signs change
mapper2 = GPSToUnreal(self.EyreSquareCoordinate)
UECoord2 = mapper2.getMoveToPosXYZFromGPSCoord(self.NUIGCoordinate)
self.assertAlmostEqual(UECoord2[0], 730, delta=20)
self.assertAlmostEqual(UECoord2[1], -1183, delta=20)
nuigRectCoord1 = GPSCoordinate(53.2787637762, -9.0634679794)
nuigRectCoord2 = GPSCoordinate(53.2787637762, -9.0601420403)
nuigRectCoord3 = GPSCoordinate(53.2810987761, -9.0601420403)
nuigRectCoord4 = GPSCoordinate(53.2810987761, -9.0634679794)
mapper3 = GPSToUnreal(GPSCoordinate(53.280, -9.062, 0))
rect_coords = [
nuigRectCoord1, nuigRectCoord2, nuigRectCoord3, nuigRectCoord4
]
for coord in rect_coords:
print(mapper1.getMoveToPosXYZFromGPSCoord(coord))
def testGetMetresBetweenPoints(self):
self.assertAlmostEqual(GPSCoordinate.getMetresBetweenPoints(
self.OConnellStreetCoordinate, self.EyreSquareCoordinate),
185629,
delta=5000)
self.assertAlmostEqual(GPSCoordinate.getMetresBetweenPoints(
self.EyreSquareCoordinate, self.NUIGCoordinate),
1394,
delta=50)
def read_GPS_coords(gps_coords_file_path) -> "A list of gps coords":
'''Reads in a list of gps coordinates'''
try:
#read file but skip header
gps_coords = open(gps_coords_file_path, 'r').readlines()[1:]
except FileNotFoundError as e:
#don't handle this for now...
raise e
try:
gps_coords = [GPSCoordinate(coord.replace('\n','').split(',')[0], coord.replace('\n','').split(',')[1], coord.replace('\n','').split(',')[2])for coord in filter(lambda gps_coord: gps_coord != '\n', gps_coords)]
except IndexError as e:
#don't handle for now
gps_coords = [GPSCoordinate(coord.replace('\n','').split(',')[0], coord.replace('\n','').split(',')[1]) for coord in filter(lambda gps_coord: gps_coord != '\n', gps_coords)]
print('gps_coords: ',gps_coords)
return gps_coords
def main(
GPS_CSV: 'file path to csv containing gps coordinates',
desination_UE4_coord_file='file to save converted UE4 coordinates',
GPS_home_pos:
"GPSCoordinate which records where the RAV home position is located" = GPSCoordinate(
53.2793, -9.0638)):
gps_coords = read_GPS_coords(GPS_CSV)
converter = GenerateUECoordsFromGPS(GPS_home_pos)
UE4_coords = converter.convert_GPS_list_to_UE4(gps_coords)
write_UE4_coords(desination_UE4_coord_file, UE4_coords)
def testGet_GPS_Pos(self):
mapper1 = GPSToUnreal(self.NUIGCoordinate)
#pos = mapper1.get_GPS_Pos()
redmond_campus_coord = GPSCoordinate(47.6477308, -122.1321476)
#should be 696 m lat, 600 long
#close enough
print(mapper1.get_GPS_Pos(redmond_campus_coord))
# self.assertAlmostEqual(OConnellStreetCoordinate.getMetresBetweenPoints(EyreSquareCoordinate),186270 delta = 5000)
# self.assertAlmostEqual(NUIGCoordinate.getMetresBetweenPoints(EyreSquareCoordinate),836 delta = 50)
def testGetInitialBearing(self):
#taken from https://www.movable-type.co.uk/scripts/latlong.html
osaka = GPSCoordinate(35, 135)
baghdad = GPSCoordinate(35, 45)
self.assertAlmostEqual(osaka.get_initial_bearing(baghdad), 60, delta=5)
self.assertAlmostEqual(baghdad.get_initial_bearing(osaka),
360 - 60,
delta=5)
def setUp(self):
self.OConnellStreetCoordinate = GPSCoordinate(53.3512416, -6.2629676,
0)
self.EyreSquareCoordinate = GPSCoordinate(53.2743394, -9.0514163)
self.NUIGCoordinate = GPSCoordinate(53.2809159, -9.0692133, 20)
def __init__(self, home_position_GPS: GPSCoordinate = GPSCoordinate(53.2793, -9.0638), home_position_UE4 = UE4Coord(0,0,0)): #set home gps position self.home_position_GPS = home_position_GPS self.home_position_UE4 = home_position_UE4 self.GPS_to_unreal_converter = GPSToUnreal(home_position_GPS)
class GPSToUnreal:
# this is taken as origin (0,0)
# EYRE_SQUARE_COORD = GPSCoordinate(53.2745, -9.049, 0)
# NUIG
# EYRE_SQUARE_COORD = GPSCoordinate(53.276, -9.057, 0)
# not quite eyre square, but close enough!
#HOME_COORD = GPSCoordinate(53.280, -9.062, 0)
ORIGIN_GPS = GPSCoordinate(47.641468, -122.140165, 122)
# transormation that maps a GPS position from the microsoft office origin
# to the Eyre square coordinate
#DELTA_TRANSFORM = HOME_COORD - ORIGIN_GPS
# home_position_GPS is the home gps location of the drone in AirSim
def __init__(self,
home_position_GPS: GPSCoordinate = GPSCoordinate(
53.2793, -9.0638)):
'''Set the home gps coordinate of the rav'''
self.home_position_GPS = home_position_GPS
def getMoveToPosXYZFromGPSCoord(self, desired_GPS_position: GPSCoordinate):
'''Returns the XYZ Unreal Engine NED coordinatee position to move to in order to reach the desired gps position'''
if not isinstance(desired_GPS_position, GPSCoordinate):
raise Exception("Please provide a valid WGS84 GPS coordinate")
metres_lat = self.home_position_GPS.get_lat_metres_to_other(
desired_GPS_position)
metres_long = self.home_position_GPS.get_long_metres_to_other(
desired_GPS_position)
metres_alt = self.home_position_GPS.get_alt_metres_to_other(
desired_GPS_position)
#check whether the lat/long difference is positive or negative (metres to other methods give abs values)
if desired_GPS_position.lat < self.home_position_GPS.lat:
metres_lat = -metres_lat
if desired_GPS_position.long < self.home_position_GPS.long:
metres_long = -metres_long
#altitudes in games engine are negative
return (metres_lat, metres_long, -abs(metres_alt))
def get_GPS_Pos(self, microsoft_relative_GPS_pos: GPSCoordinate):
'''AirSim calculates GPS position in relation to microsoft headquarters,
this method gives the GPS position relative to the home coordinate set by the constructor.'''
#calculate lat, long distance from current position to microsoft home coordinate
if not isinstance(microsoft_relative_GPS_pos, GPSCoordinate):
raise Exception("Please provide a valid WGS84 GPS coordinate")
#metres_lat = microsoft_relative_GPS_pos.get_lat_metres_to_other(GPSToUnreal.ORIGIN_GPS)
#metres_lng = microsoft_relative_GPS_pos.get_long_metres_to_other(GPSToUnreal.ORIGIN_GPS)
#if microsoft_relative_GPS_pos.lat < GPSToUnreal.ORIGIN_GPS.lat:
# metres_lat =- lat_dist
#if microsoft_relative_GPS_pos.long < GPSToUnreal.ORIGIN_GPS.long:
# metres_lat =- lng_dist
#if microsoft_relative_GPS_pos.alt:
# metres_alt = microsoft_relative_GPS_pos.alt
#then add this distance to home coordinate
#first calculate azimuth (will probably be ok to do this as dealing with small(ish) angles
bearing = GPSToUnreal.ORIGIN_GPS.get_initial_bearing(
microsoft_relative_GPS_pos)
distance = microsoft_relative_GPS_pos.get_metres_to_other(
GPSToUnreal.ORIGIN_GPS)
destination = GPSCoordinate._vincentyGeodesicDirect(
self.home_position_GPS, distance, bearing)
return destination
def __init__(self,
home_position_GPS: GPSCoordinate = GPSCoordinate(
53.2793, -9.0638)):
'''Set the home gps coordinate of the rav'''
self.home_position_GPS = home_position_GPS
parser.add_argument(
"GPS_home_pos_lat",
type=float,
metavar="GPS_home_pos_lat",
nargs='?',
help="latitude which records where the RAV home position is located")
parser.add_argument(
"GPS_home_pos_lng",
type=float,
metavar="GPS_home_pos_lng",
nargs='?',
help="longitude which records where the RAV home position is located")
parser.add_argument(
"GPS_home_pos_alt",
type=float,
metavar="GPS_home_pos_alt",
nargs='?',
help="altitude which records where the RAV home position is located")
args = vars(parser.parse_args())
print(args)
if args["GPS_home_pos_lat"] and args["GPS_home_pos_lng"]:
args["GPS_home_pos"] = GPSCoordinate(args["GPS_home_pos_lat"],
args["GPS_home_pos_lng"],
args["GPS_home_pos_alt"])
del args["GPS_home_pos_lat"]
del args["GPS_home_pos_lng"]
del args["GPS_home_pos_alt"]
main(**args)