def __init__(self):
self.gm = GeoMag("../src/geomag/WMM.COF")
rospy.init_node("declination_provider")
self.fix = None
self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
self.pub = rospy.Publisher("declination", Float32, latch=True)
def __init__(self):
rospy.init_node("declination_provider")
wmm_path = path.join(get_pkg_dir('declination'), "wmm", "WMM.COF")
self.gm = GeoMag(wmm_path)
self.fix = None
self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
self.pub = rospy.Publisher("declination", Float32, latch=True)
class Declination:
def __init__(self):
self.gm = GeoMag("../src/geomag/WMM.COF")
rospy.init_node("declination_provider")
self.fix = None
self.declination = 0.0
self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
self.pub = rospy.Publisher("declination", Float32, latch=True)
def _fix(self, msg):
#if self.fix:
# # For now, return. Later, figure out conditions under which to recompute.
# return
if msg.latitude and msg.longitude:
self.fix = msg
if not msg.altitude:
msg.altitude = 0
result = self.gm.calc(msg.latitude, msg.longitude, msg.altitude)
if self.declination != result.dec:
self.pub.publish(radians(result.dec))
self.declination = result.dec
def spin(self):
rospy.spin()
class Compute:
def __init__(self):
rospy.init_node("declination_provider")
wmm_path = path.join(get_pkg_dir('declination'), "wmm", "WMM.COF")
self.gm = GeoMag(wmm_path)
self.fix = None
self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
self.pub = rospy.Publisher("declination", Float32, latch=True)
def _fix(self, msg):
if self.fix:
# For now, return. Later, figure out conditions under which to recompute.
return
if msg.latitude and msg.longitude:
self.fix = msg
if not msg.altitude: msg.altitude = 0
result = self.gm.calc(msg.latitude, msg.longitude, msg.altitude)
result_rad = radians(result.dec)
self.pub.publish(result_rad)
rospy.loginfo("Computed magnetic declination to be %f rad (%f degrees)" \
% (result_rad, result.dec))
def spin(self):
rospy.spin()
def __init__(self):
self.gm = GeoMag("../src/geomag/WMM.COF")
rospy.init_node("declination_provider")
self.fix = None
self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
self.pub = rospy.Publisher("declination", Float32, latch=True)
def main(name):
script_path = os.path.dirname(os.path.abspath(__file__))
gm = GeoMag(script_path + os.sep + 'geomag' + os.sep + 'WMM.COF')
socket_map = generate_map(name)
gps_socket = socket_map['gps']
decl_socket = socket_map['decl']
rt = RateTimer(1)
while True:
raw = gps_socket.recv()
if rt.expired():
gps = loads(raw)
try:
date = datetime.strptime(gps[TIME], '%Y-%m-%d %H:%M:%S').date()
decl = gm.GeoMag(gps[LAT], gps[LON], time=date).dec
decl_socket.send('%f' % decl)
except:
pass
def main(name):
script_path = os.path.dirname(os.path.abspath(__file__))
gm = GeoMag(script_path + os.sep + 'geomag' + os.sep + 'WMM.COF')
socket_map = generate_map(name)
gps_socket = socket_map['gps']
decl_socket = socket_map['decl']
i = 0
while True:
data = gps_socket.recv()
if i == 20:
i = 0
gps_data = GpsData()
gps_data.ParseFromString(data)
if gps_data.time and gps_data.fix >= 2:
date = datetime.strptime(gps_data.time, '%Y-%m-%d %H:%M:%S').date()
decl = gm.GeoMag(gps_data.lat, gps_data.lon, time = date).dec
print time(), decl
decl_socket.send('%f' % decl)
i += 1
class Declination:
def __init__(self):
self.gm = GeoMag("../src/geomag/WMM.COF")
rospy.init_node("declination_provider")
self.fix = None
self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
self.pub = rospy.Publisher("declination", Float32, latch=True)
def _fix(msg):
if self.fix:
# For now, return. Later, figure out conditions under which to recompute.
return
if msg.latitude and msg.longitude:
self.fix = msg
if not msg.altitude: msg.altitude = 0
result = self.gm.calc(msg.latitude, msg.longitude, msg.altitude)
self.pub.publish(result.dec)
def spin(self):
rospy.spin()
#!/usr/bin/python
import roslib
roslib.load_manifest('lrm_outdoor')
import rospy
from geomag.geomag import GeoMag
if __name__ == "__main__":
rospy.init_node("test_declination")
gm = GeoMag("../src/geomag/WMM.COF")
#mag = gm.calc(43.411454, -80.472708)
mag = gm.calc(-22.411454, -44.472708)
print mag.dec
def point_declination(lat, lon):
mag = GeoMag().GeoMag(lat, lon)
declination = mag.dec
return float(declination)
