Inflate Geometry #67
Inflate Geometry #67
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Conversion between LLA and XYZ (in both directions) is inaccurate. Not sure by how much. This conversion is not as simple as it is made to be in the function, and a more complex conversion method must be looked into to ensure accuracy. |
modules/inflate_geometry.py
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| import numpy as np | ||
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| def inflate_polygon(vertices: np.ndarray, scale_distance: int) -> np.ndarray: |
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can this be a list, makes it easier for users of the class
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You're referring to the input and output vertices of the function?
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both input and output, mb should have clarified. you can use the waypoint class that we have in modules because that one has both lonlat and altitude
| np.ndarray: List of the offset vertices | ||
| """ | ||
| # Referance radius for altitude (Radius of earth = 6371 km): | ||
| r_ref = 6371 * (10**3) |
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i think this method may create too much inaccuracy. can we write some unit tests to test the results? also just to verify that it still works well in the event we refactor repo
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Are you referring to the inflation method as a whole, or just the method of converting between LLA and XYZ?
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just this method of converting LLA and XYZ, but dont worry about it for now, we should make unit tests and see the results
modules/inflate_geometry.py
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| def inflate_polygon(vertices: np.ndarray, scale_distance: int) -> np.ndarray: | ||
| """ | ||
| Given a list of vertices representing a polygon geometry, offset the vertices such that the perpendicular |
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does this handle both convex and concave geometry? could there be invalid inputs (waypoints that seem ok but isnt actually valid geeometry and will mess up the code). if so we should try and detect and return empty?
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Now that you mention it, I don't believe that it'll work with concave geometry. Some additional features will need to be added for it to work with concave.
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sounds good, you should change comment to "a convex polygon geometry"
| # Referance radius for altitude (Radius of earth = 6371 km): | ||
| r_ref = 6371 * (10**3) | ||
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| # Convert LLA coordinates from degrees to radians: |
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with LLA, does it work in 3d? or does it just keep the same altitude for waypoints but expand the latlon
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Yes it works in 3D, so altitude will be expanded.
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The latest commit contains a new file called inflate_geo. This file contains a function that uses a completely different method for inflating the polygon that allows for convex geometry. Tests are included to check for valid input. There are two other functions in the file that are also used for testing. As of now, only 2D geometry can be handled. |
Added Inflate Geometry module to pathing modules.