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)[source]¶

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.

Returns:	True if no altitude provided.

position()[source]¶

Returns:	Corresponding geographic_msgs/GeoPoint message.

toPoint()[source]¶

Returns:	Corresponding geometry_msgs/Point message.

toPointXY()[source]¶

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

toWayPoint()[source]¶

Returns:	Corresponding geographic_msgs/WayPoint message.

Returns:	UUID of way point.

class geodesy.wu_point.WuPointSet(points)[source]¶

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`.

iter(wu_set)

Returns:	An iterator over the points in the set.

These methods are also provided:

distance2D(idx1, idx2)[source]¶

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)[source]¶

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)[source]¶

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)[source]¶

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.