Esempi in Python per Navigation.latlon_to_utm

Esempio n. 1

def test_utm_latlon_conversion():
    n = Navigation(utm_zone=30)
    lat = 50.927482
    lon = -1.408787
    x, y = n.latlon_to_utm(lat, lon)
    ll = n.utm_to_latlon(x, y)
    assert_almost_equal(ll.lat.decimal_degree,  lat)
    assert_almost_equal(ll.lon.decimal_degree,  lon)

Esempio n. 2

File: test_navigation.py Progetto: Maritime-Robotics-Student-Society/sailing-robot

def test_utm_latlon_conversion():
    n = Navigation(utm_zone=30)
    lat = 50.927482
    lon = -1.408787
    x, y = n.latlon_to_utm(lat, lon)
    ll = n.utm_to_latlon(x, y)
    assert_almost_equal(ll.lat.decimal_degree, lat)
    assert_almost_equal(ll.lon.decimal_degree, lon)

Esempio n. 3

def leg_wp(wpA, wpB):
    '''
        Generate 2 waypoints on the leg between wpA and wpB
    '''
    nav = Navigation()
    wpA_utm = nav.latlon_to_utm(wpA[0], wpA[1])
    wpB_utm = nav.latlon_to_utm(wpB[0], wpB[1])

    vAB = np.array([wpB_utm[0] - wpA_utm[0], wpB_utm[1] - wpA_utm[1]])
    AB = np.linalg.norm(vAB)

    if CLOCKWISE:
        vAB_orth = np.array([-vAB[1], vAB[0]]) / AB
    else:
        vAB_orth = np.array([vAB[1], -vAB[0]]) / AB

    wpA_p_utm = wpA_utm + vAB_orth * RADIUS
    wpB_p_utm = wpB_utm + vAB_orth * RADIUS

    wpA_p = nav.utm_to_latlon(wpA_p_utm[0], wpA_p_utm[1])
    wpB_p = nav.utm_to_latlon(wpB_p_utm[0], wpB_p_utm[1])

    return wpA_p, wpB_p

Esempio n. 4

File: waypoint_generator_round_buoy.py Progetto: Maritime-Robotics-Student-Society/sailing-robot

def leg_wp(wpA, wpB):
    '''
        Generate 2 waypoints on the leg between wpA and wpB
    '''
    nav = Navigation()
    wpA_utm = nav.latlon_to_utm(wpA[0], wpA[1])
    wpB_utm = nav.latlon_to_utm(wpB[0], wpB[1])

    vAB = np.array([wpB_utm[0] - wpA_utm[0], wpB_utm[1] - wpA_utm[1]])
    AB = np.linalg.norm(vAB)

    if CLOCKWISE:
        vAB_orth = np.array([-vAB[1], vAB[0]])/AB
    else:
        vAB_orth = np.array([vAB[1], -vAB[0]])/AB

    wpA_p_utm = wpA_utm + vAB_orth*RADIUS
    wpB_p_utm = wpB_utm + vAB_orth*RADIUS

    wpA_p = nav.utm_to_latlon(wpA_p_utm[0], wpA_p_utm[1])
    wpB_p = nav.utm_to_latlon(wpB_p_utm[0], wpB_p_utm[1])

    return wpA_p, wpB_p 

Esempio n. 5

input_file = sys.argv[1]
with open(input_file, 'r') as f:
    yaml_data = yaml.safe_load(f)

output_file = input_file[:-5] + "_gen_obstacle.yaml"

margin = 10 # [m]

wp1 = yaml_data['wp/table']['wp1']
wp2 = yaml_data['wp/table']['wp2']
#wp3 = yaml_data['wp/table']['wp3']
wp4 = yaml_data['wp/table']['wp4']


nav = Navigation(utm_zone=UTM_ZONE)
wp1_utm = nav.latlon_to_utm(wp1[0], wp1[1])
wp2_utm = nav.latlon_to_utm(wp2[0], wp2[1])
#wp3_utm = nav.latlon_to_utm(wp3[0], wp3[1])
wp4_utm = nav.latlon_to_utm(wp4[0], wp4[1])


# Unit vector 12
v12 = np.array([wp2_utm[0] - wp1_utm[0], wp2_utm[1] - wp1_utm[1]])
d12 = np.linalg.norm(v12)
v12_unit = v12 / d12



# Unit vector 14
v14 = np.array([wp4_utm[0] - wp1_utm[0], wp4_utm[1] - wp1_utm[1]])
d14 = np.linalg.norm(v14)

Esempio n. 6

File: waypoint_generator_startline.py Progetto: Maritime-Robotics-Student-Society/sailing-robot

# Load yaml file given in argument
input_file = sys.argv[1]
yaml_data = yaml.load(file(input_file, 'r'), Loader=yaml.Loader)

output_file = input_file[:-5] + "_gen_obstacle.yaml"

margin = 10 # [m]

wp1 = yaml_data['wp/table']['1']
wp0 = yaml_data['wp/table']['0']
#wp3 = yaml_data['wp/table']['wp3']


nav = Navigation()
wp1_utm = nav.latlon_to_utm(wp1[0], wp1[1])
wp0_utm = nav.latlon_to_utm(wp0[0], wp0[1])


# Unit vector 10
v10 = np.array([wp0_utm[0] - wp1_utm[0], wp0_utm[1] - wp1_utm[1]])
d10 = np.linalg.norm(v10)
v10_unit = v10 / d10
print d10


# Unit vector orth to 10
v10_orth = np.array([-v10_unit[1], v10_unit[0]])

Esempio n. 7

waypoints = np.array(yaml_data['wp/table'].values())

origin = [waypoints[:, 0].mean(), waypoints[:, 1].mean()]

side_dist = 250  # half of the size of the square in m

location = os.path.basename(input_file).split("_")[0]

output_file_name = os.path.join(
    image_dir,
    str(origin[0]) + '_' + str(origin[1]) + "_" + str(side_dist) + "_" +
    location + ".png")

nav = Navigation()
origin_utm = nav.latlon_to_utm(origin[0], origin[1])

minx = -side_dist
maxx = +side_dist
miny = -side_dist
maxy = +side_dist

SO_corner = nav.utm_to_latlon(origin_utm[0] + minx, origin_utm[1] + miny)
NE_corner = nav.utm_to_latlon(origin_utm[0] + maxx, origin_utm[1] + maxy)

image_map = smopy.Map((float(SO_corner.lat), float(
    SO_corner.lon), float(NE_corner.lat), float(NE_corner.lon)),
                      z=18,
                      maxtiles=302,
                      margin=0)

Esempio n. 8

File: waypoint_generator_area_scanning.py Progetto: Maritime-Robotics-Student-Society/sailing-robot

# Load yaml file given in argument
input_file = sys.argv[1]
yaml_data = yaml.load(file(input_file, 'r'), Loader=yaml.Loader)

output_file = input_file[:-5] + "_gen_area.yaml"


wpA = yaml_data['wp/table']['A'] # top left (start line)
wpB = yaml_data['wp/table']['B'] # start line (second point)
#wpC = yaml_data['wp/table']['C'] #finish line (top)
wpD = yaml_data['wp/table']['D'] # finish line (second point)
wpE = yaml_data['wp/table']['E'] # top right corner


nav = Navigation()
wpA_utm = nav.latlon_to_utm(wpA[0], wpA[1])
wpB_utm = nav.latlon_to_utm(wpB[0], wpB[1])
#wpC_utm = nav.latlon_to_utm(wpC[0], wpC[1])
wpD_utm = nav.latlon_to_utm(wpD[0], wpD[1])
wpE_utm = nav.latlon_to_utm(wpE[0], wpE[1])


# Unit vector AB
vAB = np.array([wpB_utm[0] - wpA_utm[0], wpB_utm[1] - wpA_utm[1]])/3.0

# Unit vector orth to AB
vAB_orth = np.array([-vAB[1], vAB[0]])
vAE = np.array([wpE_utm[0] - wpA_utm[0], wpE_utm[1] - wpA_utm[1]])/6.0
vAB_orth = vAE

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