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)