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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 5408a31d56
commit 813b124c47
3 changed files with 11 additions and 8 deletions
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2
aerpaw/config/scenario.csv
View File

@@ -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
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
View File

@@ -1070,7 +1070,7 @@
</Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-03-02T11:41:10</Timestamp>
<Timestamp>2026-03-02T12:17:24</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</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)
% Paths to logs
gpsCsvs = fullfile ("sandbox", "test4", ...
["GPS_DATA_0c8d904aa159_2026-03-02_14:42:51.csv"; ...
"GPS_DATA_8e4f52dac04d_2026-03-02_14:42:52.csv"; ...
]);
gpsCsvs = dir(fullfile("sandbox", "test5", "*.csv"));
G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1)
% 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)
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);
% Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed
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");