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improved globe plotting

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This commit is contained in:
Kevin Dee
2026-03-02 16:15:03 -08:00
parent e40d2e4614
commit 032f50774f
3 changed files with 11 additions and 8 deletions
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2
aerpaw/config/scenario.csv
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 25.0, 0.1, 1.0, 1.0, 100, 3, 3.0, 30.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "50.0, 50.0, 100.0", "35.0, 35.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 30.0", 0, "", "" 5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, 3.0, 30.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "50.0, 50.0, 50.0", "35.0, 35.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 0, "", ""
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 25.0 30.0 0.1 1.0 1.0 2.0 100 3 3.0 30.0 60.0 0.2 10.0 1.0 0.0, 0.0, 0.0 50.0, 50.0, 100.0 50.0, 50.0, 50.0 35.0, 35.0 1e-6 5.0, 10.0, 45.0, 15.0, 10.0, 30.0 5.0, 10.0, 45.0, 15.0, 10.0, 35.0 0

2
aerpaw/controller.coderprj
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@@ -1070,7 +1070,7 @@
</Artifacts> </Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/> <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success> <Success>true</Success>
<Timestamp>2026-03-02T11:41:10</Timestamp> <Timestamp>2026-03-02T12:17:24</Timestamp>
</MainBuildResult> </MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState> </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0> </MF0>

15
aerpaw/results/plotGpsCsvs.m
View File

@@ -7,15 +7,12 @@ seaToGroundLevel = 110; % meters, measured approximately from USGS national map
lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA) lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA)
% Paths to logs % Paths to logs
gpsCsvs = fullfile ("sandbox", "test4", ... gpsCsvs = dir(fullfile("sandbox", "test5", "*.csv"));
["GPS_DATA_0c8d904aa159_2026-03-02_14:42:51.csv"; ...
"GPS_DATA_8e4f52dac04d_2026-03-02_14:42:52.csv"; ...
]);
G = cell(size(gpsCsvs)); G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1) for ii = 1:size(gpsCsvs, 1)
% Read CSV % Read CSV
G{ii} = readGpsCsv(gpsCsvs(ii)); G{ii} = readGpsCsv(fullfile(gpsCsvs(ii).folder, gpsCsvs(ii).name));
% Find when algorithm begins/ends (using ENU altitude) % Find when algorithm begins/ends (using ENU altitude)
enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat'); enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat');
@@ -41,7 +38,13 @@ llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3); geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3);
% Plot domain % Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed
domain = [lla0; enu2lla([50, 50, 100], lla0, 'flat')]; domain = [lla0; enu2lla([50, 50, 100], lla0, 'flat')];
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + 10, 1, 5), 'LineWidth', 3); geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
hold(gf, "off"); hold(gf, "off");