def kml(self, path, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given. No nodes are added if less than two log
entries are given.
Args:
path: A list of UasTelemetry elements.
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
# KML Compliant Datetime Formatter
kml_datetime_format = "%Y-%m-%dT%H:%M:%S.%fZ"
icon = 'http://maps.google.com/mapfiles/kml/shapes/airports.png'
kml_output_resolution = 100 # milliseconds
coords = []
when = []
ranges = []
if len(path) < 2:
return
dt = timedelta(milliseconds=kml_output_resolution)
for pos, uav, time in self.times(path, dt):
# Spatial Coordinates (longitude, latitude, altitude)
coord = (pos[1], pos[0], units.feet_to_meters(pos[2]))
coords.append(coord)
# Time Elements
when.append(time.strftime(kml_datetime_format))
# Distance Elements
uas_range = distance.distance_to(*uav + pos)
ranges.append(uas_range)
# Create a new track in the folder
trk = kml.newgxtrack(name='Obstacle Path {}'.format(self.id))
trk.altitudemode = AltitudeMode.absolute
# Create a schema for extended data: proximity
schema = kml_doc.newschema()
schema.newgxsimplearrayfield(name='proximity',
type=Types.float,
displayname='UAS Proximity [ft]')
trk.extendeddata.schemadata.schemaurl = schema.id
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.extendeddata.schemadata.newgxsimplearraydata('proximity', ranges)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.red
trk.iconstyle.icon.href = icon
def kml(self, path, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given. No nodes are added if less than two log
entries are given.
Args:
path: A list of UasTelemetry elements.
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
# KML Compliant Datetime Formatter
kml_datetime_format = "%Y-%m-%dT%H:%M:%S.%fZ"
icon = 'http://maps.google.com/mapfiles/kml/shapes/airports.png'
kml_output_resolution = 100 # milliseconds
coords = []
when = []
ranges = []
if len(path) < 2:
return
dt = timedelta(milliseconds=kml_output_resolution)
for pos, uav, time in self.times(path, dt):
# Spatial Coordinates (longitude, latitude, altitude)
coord = (pos[1], pos[0], pos[2])
coords.append(coord)
# Time Elements
when.append(time.strftime(kml_datetime_format))
# Distance Elements
uas_range = distance.distance_to(*uav + pos)
ranges.append(uas_range)
# Create a new track in the folder
trk = kml.newgxtrack(name='Obstacle Path {}'.format(self.id))
trk.altitudemode = AltitudeMode.absolute
# Create a schema for extended data: proximity
schema = kml_doc.newschema()
schema.newgxsimplearrayfield(name='proximity',
type=Types.float,
displayname='UAS Proximity [ft]')
trk.extendeddata.schemadata.schemaurl = schema.id
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.extendeddata.schemadata.newgxsimplearraydata('proximity', ranges)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.red
trk.iconstyle.icon.href = icon
def distance_to(self, other):
"""Computes distance to another position.
Args:
other: The other position.
Returns:
Distance in feet.
"""
return distance.distance_to(self.latitude, self.longitude, 0, other.latitude, other.longitude, 0)
def distance_to(self, other):
"""Computes distance to another position.
Args:
other: The other position.
Returns:
Distance in feet.
"""
return distance.distance_to(self.latitude, self.longitude, 0,
other.latitude, other.longitude, 0)
def contains_pos(self, obst_lat, obst_lon, obst_alt, aerial_pos):
"""Whether the pos is contained within the obstacle's pos.
Args:
obst_lat: The latitude of the obstacle.
obst_lon: The longitude of the obstacle.
obst_alt: The altitude of the obstacle.
aerial_pos: The position to test.
Returns:
Whether the given position is inside the obstacle.
"""
dist_to_center = distance.distance_to(
obst_lat, obst_lon, obst_alt, aerial_pos.gps_position.latitude,
aerial_pos.gps_position.longitude, aerial_pos.altitude_msl)
return dist_to_center <= self.sphere_radius
def contains_pos(self, obst_lat, obst_lon, obst_alt, aerial_pos):
"""Whether the pos is contained within the obstacle's pos.
Args:
obst_lat: The latitude of the obstacle.
obst_lon: The longitude of the obstacle.
obst_alt: The altitude of the obstacle.
aerial_pos: The position to test.
Returns:
Whether the given position is inside the obstacle.
"""
dist_to_center = distance.distance_to(
obst_lat, obst_lon, obst_alt, aerial_pos.gps_position.latitude,
aerial_pos.gps_position.longitude, aerial_pos.altitude_msl)
return dist_to_center <= self.sphere_radius
