geodesy.wu_point

Convenience classes for manipulating way points and their associated Universal Transverse Mercator (UTM) coordinates.

class geodesy.wu_point.WuPoint(waypt, utm=None)

WuPoint represents a map way point with associated UTM information.

Parameters:

• waypt – geographic_msgs/WayPoint message.
• utm – Corresponding geodesy.utm.UTMPoint object. If None provided, the utm object will be created.

str(wu_point)

Returns:String representation of WuPoint object.

is2D()

Returns:True if no altitude provided.

position()

Returns:Corresponding geographic_msgs/GeoPoint message.

toPoint()

Returns:Corresponding geometry_msgs/Point message.

toPointXY()

Returns:geometry_msgs/Point with X and Y coordinates, and Z coordinate of zero.

toWayPoint()

Returns:Corresponding geographic_msgs/WayPoint message.

uuid()

Returns:UUID of way point.

class geodesy.wu_point.WuPointSet(points)

WuPointSet is a container for the way points in a geographic_msgs/GeographicMap or geographic_msgs/RouteNetwork message. UTM coordinates are available for each way point, but they are evaluated lazily, only when needed.

Parameters:points – array of geographic_msgs/WayPoint messages

WuPointSet supports these standard container operations:

len(wu_set)

Returns:The number of points in the set.

wu_set[uuid]

Returns:The point with key uuid. Raises a KeyError if uuid is not in the set.

uuid in wu_set

Returns:True if wu_set has a key uuid, else False.

uuid not in wu_set

Equivalent to not uuid in wu_set.

iter(wu_set)

Returns:An iterator over the points in the set.

These methods are also provided:

distance2D(idx1, idx2)

Compute 2D Euclidean distance between points.

Parameters:

• idx1 – Index of first point.
• idx2 – Index of second point.

Returns:

Distance in meters within the UTM XY plane. Altitudes are ignored.

distance3D(idx1, idx2)

Compute 3D Euclidean distance between points.

Parameters:

• idx1 – Index of first point.
• idx2 – Index of second point.

Returns:

Distance in meters between two UTM points, including altitudes.

get(key, default=None)

Get point, if defined.

Parameters:

• key – UUID of desired point.
• default – value to return if no such point.

Returns:

Named WuPoint, if successful; otherwise default.

index(key, default=None)

Get index of point, if defined.

Parameters:

• key – UUID of desired point.
• default – value to return if no such point.

Returns:

Index of point, if successful; otherwise default. Beware: the index may be 0, which evaluates False as a predicate, use is not None to test for presence.

next()

Next iteration point.

Returns:Next WuPoint. Raises:StopIteration when finished.