def _followingRoute(self):
"""are we still following the route or is rerouting needed"""
start1 = time.clock()
pos = self.get('pos', None)
proj = self.m.get('projection', None)
if pos and proj:
pLat, pLon = pos
# we use Radians to get rid of radian conversion overhead for
# the geographic distance computation method
radiansLL = self.radiansRoute
pLat = geo.radians(pLat)
pLon = geo.radians(pLon)
if len(radiansLL) == 0:
self.log.error("Divergence: can't follow a zero point route")
return False
elif len(radiansLL) == 1: # 1 point route
aLat, aLon = radiansLL[0]
minDistance = geo.distanceApproxRadians(pLat, pLon, aLat, aLon)
else: # 2+ points route
aLat, aLon = radiansLL[0]
bLat, bLon = radiansLL[1]
minDistance = geo.distancePointToLineRadians(pLat, pLon, aLat, aLon, bLat, bLon)
aLat, aLon = bLat, bLon
for point in radiansLL[1:]:
bLat, bLon = point
dist = geo.distancePointToLineRadians(pLat, pLon, aLat, aLon, bLat, bLon)
if dist < minDistance:
minDistance = dist
aLat, aLon = bLat, bLon
# the multiplier tries to compensate for high speed movement
threshold = float(
self.get('reroutingThreshold', REROUTING_DEFAULT_THRESHOLD)) * self.reroutingThresholdMultiplier
self.log.debug("Divergence from route: %1.2f/%1.2f m computed in %1.0f ms",
minDistance * 1000, float(threshold), (1000 * (time.clock() - start1)))
return minDistance * 1000 < threshold
def _followingRoute(self):
"""are we still following the route or is rerouting needed"""
start1 = time.clock()
pos = self.get('pos', None)
proj = self.m.get('projection', None)
if pos and proj:
pLat, pLon = pos
# we use Radians to get rid of radian conversion overhead for
# the geographic distance computation method
radiansLL = self.radiansRoute
pLat = geo.radians(pLat)
pLon = geo.radians(pLon)
if len(radiansLL) == 0:
self.log.error("Divergence: can't follow a zero point route")
return False
elif len(radiansLL) == 1: # 1 point route
aLat, aLon = radiansLL[0]
minDistance = geo.distanceApproxRadians(pLat, pLon, aLat, aLon)
else: # 2+ points route
aLat, aLon = radiansLL[0]
bLat, bLon = radiansLL[1]
minDistance = geo.distancePointToLineRadians(pLat, pLon, aLat, aLon, bLat, bLon)
aLat, aLon = bLat, bLon
for point in radiansLL[1:]:
bLat, bLon = point
dist = geo.distancePointToLineRadians(pLat, pLon, aLat, aLon, bLat, bLon)
if dist < minDistance:
minDistance = dist
aLat, aLon = bLat, bLon
# the multiplier tries to compensate for high speed movement
threshold = float(
self.get('reroutingThreshold', REROUTING_DEFAULT_THRESHOLD)) * self.reroutingThresholdMultiplier
self.log.debug("Divergence from route: %1.2f/%1.2f m computed in %1.0f ms",
minDistance * 1000, float(threshold), (1000 * (time.clock() - start1)))
return minDistance * 1000 < threshold