nav_algo.coordinates module¶

class nav_algo.coordinates.CoordinateSystem(latititude: float, longitude: float)¶

Bases: object

A representation of a latitude/longitude coordinate system.

An object of type CoordinateSystem can be used to initialize a vector inside of a coordinate system with origin at LAT_OFFSET and LONG_OFFSET.

Parameters

latitude (float) – The latitude of the origin of the system.
longitude (float) – The longitude of the origin of the system.

LAT_OFFSET¶

The latitude of the origin of the system.

Type: float

LONG_OFFSET¶

The longitude of the origin of the system.

Type: float

EARTH_RADIUS¶

The radius of the Earth (in meters).

Type: float

class nav_algo.coordinates.Vector(coord_sys=None, latitude=None, longitude=None, angle=None, x=None, y=None)¶

Bases: object

A representation of 2D vectors with a coordinate system.

To construct a position vector, pass in a CoordinateSystem and a latitude and longitude. To specify only the x and y components, pass in x and y. Alternatively, to construct a unit vector with a given angle, pass in an angle.

Parameters

coord_sys (CoordinateSystem) – (Optional) The coordinate system in which the vector lies.
latitude (float) – (Optional) The latitude of the position.
longitude (float) – (Optional) The longitude of the position.
angle (float) – (Optional) The angle (in degrees) used to construct a unit vector.
x (float) – (Optional) The x component of the vector.
y (float) – (Optional) The y component of the vector.

x¶

The x component of the vector.

Type: float

y¶

The y component of the vector.

Type: float

coordinate_system¶

(Optional) The coordinate system in which the vector lies.

Type: CoordinateSystem

latitude¶

(Optional) The latitude of the position.

Type: float

longitude¶

(Optional) The longitude of the position.

Type: float

angle()¶

Calculates the anglular distance between the vector and the x-axis.

The returned angle is between 0 and 360 degrees.

Returns: The angle between the vector and North.
Return type: float

dot(other)¶

Calculates the dot product of two vectors.

Parameters: other (Vector) – The vector to dot with ‘self’.
Returns: The dot product of ‘self’ and ‘other’.
Return type: float

inverse()¶

Constructs the inverse of a vector.

Returns: The inverse of the original vector.
Return type: Vector

magnitude()¶

Calculates the magnitude of a vector.

Returns: The magnitude of the vector.
Return type: float

midpoint(other)¶

Calculates the midpoint between two positions.

Parameters: other (Vector) – The second position vector.
Returns: The position vector midpoint between ‘self’ and ‘other’.
Return type: Vector

toUnitVector()¶

Converts a vector to a unit vector.

Returns: A unit vector representation of the input vector.
Return type: Vector

vectorSubtract(other)¶

Calculates the vector difference between two vectors.

Parameters: other (Vector) – The vector to subtract from ‘self’.
Returns: The vector difference between ‘self’ and ‘other’.
Return type: Vector

xyDist(other)¶

Calculates the distance between two positions.

Parameters: other (Vector) – The second position in the distance calculation.
Returns: The distance between ‘self’ and ‘other’.
Return type: float

static zeroVector()¶

Constructs a zero vector.

Returns: A vector with zero magnitude.
Return type: Vector

nav_algo.coordinates.degToRad(angle)¶

Converts from degrees to radians.

Parameters: angle (float) – An angle in degrees.
Returns: The angle in radians.
Return type: float

nav_algo.coordinates.radToDeg(angle)¶

Converts from radians to degrees.

Parameters: angle (float) – An angle in radians.
Returns: The angle in degrees.
Return type: float

nav_algo.coordinates.rangeAngle(angle)¶

Puts an angle with the range of 0 to 360.

Parameters: angle (float) – An angle in degrees.
Returns: An angle within the range of 0 to 360.
Return type: float