User/medhansh/desired heading #467
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MC6527medhansh
requested review from
jamenkaye and
FireBoyAJ24
as code owners
FireBoyAJ24
requested changes
Jan 11, 2025
| def get_angle(self, boat_lat, boat_long, current_lat, current_long): | ||
| # calculate distance from current position of boat to next local waypoint | ||
| distance = self.calculate_distance(boat_lat, boat_long, current_lat, current_long) | ||
| # update waypoint |
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Comments are redundant
| self.gps, self.ais_ships, self.global_path, self.filtered_wind_sensor, self.planner | ||
| ) | ||
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| # TODO: create function to compute the heading from current position to next local waypoint | ||
| return 0.0 | ||
| boat_lat = self.gps.position.lat_lon.latitude |
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The boat latitude and longitude could be placed in a tuple and parsed into the functions
| return self.local_path.waypoints[self.current_waypoint_index] | ||
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| def calculate_distance(lat1, lon1, lat2, lon2): | ||
| GEODESIC = Geod(ellps="WGS84") |
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You could add this statements to the top of the file
FireBoyAJ24
requested changes
Jan 11, 2025
| _, _, distance = GEODESIC.inv(lon1, lat1, lon2, lat2) | ||
| return distance | ||
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| def calculate_angle(lat1, lon1, lat2, lon2): |
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The calculate_distance and calculate_angle function looks redundant as the functions are acting as wrappers to the geodesic.inv function. You could add the geodesic.inv function to the 'get_angle' function.
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| def update_waypoint(self, distance, threshold): | ||
| if (distance < threshold): | ||
| # then update the next local waypoint by increasing index by 1 |
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Description
Verification
Geodclass from thepyprojlibrary for distance and azimuth computation.Resources