def run():
custom_path_width = 2 # leave the value 0 and it's calculated using the drone FOV specified
# Routing( 2D-array of global coordinates specifying the corners of the map,
# plot padding,
# user defined path width in meters - used for testing
# - leave the value 0 and it's calculated using the drone FOV specified)
sohn = Routing(odin_arr, 0.00002, custom_path_width)
sohn.get_local_coordinates()
sohn.analyze_coordinates()
# get_to_route( path limit points,
# origo global coordinates,
# relay box coordinates,
# path functions )
get_to_route(sohn.get_path_limit_points(), sohn.get_origo(),
odin_relay_box, sohn.get_path_functions())
# search_route( path width (meters) - if default pass obj.get_path_width as parameter,
# path limit points,
# origo global points,
# path functions,
# drone speed (m/s) - default value 1 if 0 is passed as a parameter )
search_route(custom_path_width, sohn.get_path_limit_points(),
sohn.get_origo(), sohn.get_path_functions(), 0)
# print(cmd_string)
cmd_string = go_home(sohn.get_path_limit_points(), odin_relay_box,
sohn.get_origo())
parser(cmd_string)
