def get_waypoint_travel_time(self, waypoints, id_tm1, id_t):
"""Gets the travel time to the current waypoint from a previous.
Args:
waypoints: A set of sorted waypoints which define a path.
id_tm1: The ID of the starting waypoint.
id_t: The ID of the ending waypoint.
Returns:
Time to travel between the two waypoints in seconds. Returns None on
error.
"""
# Validate inputs
if not waypoints:
return None
if len(waypoints) < 2:
return None
if id_tm1 is None or id_tm1 < 0 or id_tm1 >= len(waypoints):
return None
if id_t is None or id_t < 0 or id_t >= len(waypoints):
return None
if self.speed_avg <= 0:
return None
waypoint_t = waypoints[id_t]
waypoint_tm1 = waypoints[id_tm1]
waypoint_dist = waypoint_tm1.distance_to(waypoint_t)
speed_avg_fps = units.knots_to_feet_per_second(self.speed_avg)
waypoint_travel_time = waypoint_dist / speed_avg_fps
return waypoint_travel_time
def get_waypoint_travel_time(self, waypoints, id_tm1, id_t):
"""Gets the travel time to the current waypoint from a previous.
Args:
waypoints: A set of sorted waypoints which define a path.
id_tm1: The ID of the starting waypoint.
id_t: The ID of the ending waypoint.
Returns:
Time to travel between the two waypoints in seconds. Returns None on
error.
"""
# Validate inputs
if not waypoints:
return None
if len(waypoints) < 2:
return None
if id_tm1 is None or id_tm1 < 0 or id_tm1 >= len(waypoints):
return None
if id_t is None or id_t < 0 or id_t >= len(waypoints):
return None
if self.speed_avg <= 0:
return None
waypoint_t = waypoints[id_t]
waypoint_tm1 = waypoints[id_tm1]
waypoint_dist = waypoint_tm1.distance_to(waypoint_t)
speed_avg_fps = units.knots_to_feet_per_second(self.speed_avg)
waypoint_travel_time = waypoint_dist / speed_avg_fps
return waypoint_travel_time
def test_get_waypoint_travel_time(self):
"""Tests travel time calc."""
test_spds = [1, 10, 100, 500]
for (lon2, lat2, lon1, lat1, dist_km) in TESTDATA_COMPETITION_DIST:
dist_ft = units.kilometers_to_feet(dist_km)
for speed in test_spds:
speed_fps = units.knots_to_feet_per_second(speed)
time = dist_ft / speed_fps
gpos1 = GpsPosition()
gpos1.latitude = lat1
gpos1.longitude = lon1
gpos1.save()
apos1 = AerialPosition()
apos1.gps_position = gpos1
apos1.altitude_msl = 0
apos1.save()
wpt1 = Waypoint()
wpt1.position = apos1
gpos2 = GpsPosition()
gpos2.latitude = lat2
gpos2.longitude = lon2
gpos2.save()
apos2 = AerialPosition()
apos2.gps_position = gpos2
apos2.altitude_msl = 0
apos2.save()
wpt2 = Waypoint()
wpt2.position = apos2
waypoints = [wpt1, wpt2]
obstacle = MovingObstacle()
obstacle.speed_avg = speed
self.assertTrue(
self.eval_travel_time(
obstacle.get_waypoint_travel_time(waypoints, 0, 1),
time))
def test_get_waypoint_travel_time(self):
"""Tests travel time calc."""
test_spds = [1, 10, 100, 500]
for (lon2, lat2, lon1, lat1, dist_km) in TESTDATA_COMPETITION_DIST:
dist_ft = units.kilometers_to_feet(dist_km)
for speed in test_spds:
speed_fps = units.knots_to_feet_per_second(speed)
time = dist_ft / speed_fps
gpos1 = GpsPosition()
gpos1.latitude = lat1
gpos1.longitude = lon1
gpos1.save()
apos1 = AerialPosition()
apos1.gps_position = gpos1
apos1.altitude_msl = 0
apos1.save()
wpt1 = Waypoint()
wpt1.position = apos1
gpos2 = GpsPosition()
gpos2.latitude = lat2
gpos2.longitude = lon2
gpos2.save()
apos2 = AerialPosition()
apos2.gps_position = gpos2
apos2.altitude_msl = 0
apos2.save()
wpt2 = Waypoint()
wpt2.position = apos2
waypoints = [wpt1, wpt2]
obstacle = MovingObstacle()
obstacle.speed_avg = speed
self.assertTrue(self.eval_travel_time(
obstacle.get_waypoint_travel_time(waypoints, 0, 1), time))
def test_knots_to_fps(self):
"""Performs a data-drive test of the conversion."""
cases = [
# (knots, fps)
( 1, 1.68781),
( 10, 16.8781),
(100, 168.781),
] # yapf: disable
for (knots, fps_actual) in cases:
self.assertAlmostEqual(fps_actual,
units.knots_to_feet_per_second(knots),
delta=5)
def test_knots_to_fps(self):
"""Performs a data-drive test of the conversion."""
cases = [
# (knots, fps)
( 1, 1.68781),
( 10, 16.8781),
(100, 168.781),
] # yapf: disable
for (knots, fps_actual) in cases:
self.assertAlmostEqual(fps_actual,
units.knots_to_feet_per_second(knots),
delta=5)
def test_knots_to_fps(self):
"""Performs a data-drive test of the conversion."""
threshold = 5 # ft/s
cases = [
# (knots, fps)
(0.1, 0.168781),
(1, 1.68781),
(10, 16.8781),
(100, 168.781),
] # yapf: disable
for (knots, fps_actual) in cases:
self.assertLess(
abs(units.knots_to_feet_per_second(knots) - fps_actual),
threshold)
