nav_algo.navigation module¶

class nav_algo.navigation.NavigationController(event=None, waypoints=[])¶

Bases: object

A controller class for the navigation algorithm.

Parameters: waypoints (list of (float, float)) – A list of (latitude, longitude) tuples of waypoints.

DETECTION_RADIUS¶

How close we need to get to a waypoint.

coordinate_system¶

The global coordinate system.

waypoints¶

Position vectors of waypoints.

boat¶

A representation of the boat.

radio¶

Prints navigation data to the base station.

current_waypoint¶

The current target waypoint.

boat_position¶

The current position of the boat.

boat_to_target¶

The vector from the boat to the target position.

navigate()¶

Execute the navigation algorithm.

This is a blocking call that runs until all waypoints have been hit.