for fence in fenceList: #if fence['id'] == 0: # continue traj.InputGeofenceData(fence) localFence = [] for vertex in fence['Vertices']: vertex3d = [*vertex, Home[2]] localFence.append(ConvertLLA2NED(Home, vertex3d)) localFence.append(localFence[0]) localFenceList.append(localFence) #traj.InputTrafficData(1,[37.10233259,-76.38832752,5.0],[270,2.04*0.5144,0]) #traj.InputTrafficData(2,[37.10206582,-76.38683474,5.0],[90,2.04*0.5144,0]) t1 = time.time() traj.FindPath("plan0", Home, Goal, Vel, Velf) t2 = time.time() print("Computation time:", t2 - t1) waypoints = traj.GetFlightPlan("plan0", ) if len(waypoints) <= 1: print("No path computed") fp = [[wp.time, wp.latitude, wp.longitude, wp.altitude] for wp in waypoints] tcp = [[*wp.tcp] for wp in waypoints] tcpValues = [[*wp.tcpValue] for wp in waypoints] n, e, d, ptn, pte, ptd = plotTcpPlan(fp, tcp, tcpValues, local=False) minc1 = min(n)