ROSBuzz_MISTLab/buzz_scripts/include/act/naviguation.bzz

GOTO_MAXVEL = 1.5 # m/steps
GOTO_MAXDIST = 150 # m.
GOTODIST_TOL = 0.4  # m.
GOTOANG_TOL = 0.1 # rad.
GPSlimit = {.1={.lat=45.510386, .lng=-73.610400},
			.2={.lat=45.509839, .lng=-73.610047},
			.3={.lat=45.510859, .lng=-73.608714},
			.4={.lat=45.510327, .lng=-73.608393}}

# Core naviguation function to travel to a GPS target location.
function goto_gps(transf) {
	if(Geofence()) {
		m_navigation = vec_from_gps(cur_goal.latitude, cur_goal.longitude, 0)
		#print(" has to move ", math.vec2.length(m_navigation), math.vec2.angle(m_navigation))
		if(math.vec2.length(m_navigation)>GOTO_MAXDIST)
			log("Sorry this is too far (", math.vec2.length(m_navigation), " / ", GOTO_MAXDIST, " )")
		else if(math.vec2.length(m_navigation) < GOTODIST_TOL and math.vec2.angle(m_navigation) < GOTOANG_TOL){ # reached destination
				transf()
		} else {
			m_navigation = LimitSpeed(m_navigation, 1.0)
			#m_navigation = LCA(m_navigation)
			goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0)
		}
	} else
		log("Geofencing prevents from going to that location!")
}

function LimitSpeed(vel_vec, factor){
  if(math.vec2.length(vel_vec)>GOTO_MAXVEL*factor)
  	vel_vec = math.vec2.scale(vel_vec, GOTO_MAXVEL*factor/math.vec2.length(vel_vec))
	return vel_vec
}

function Geofence(){ #TODO: rotate the fence box to really fit the coordinates
	if(cur_goal.latitude > GPSlimit[1].lat and cur_goal.latitude > GPSlimit[2].lat and cur_goal.latitude > GPSlimit[3].lat and cur_goal.latitude > GPSlimit[4].lat)
		return 0;
	if(cur_goal.latitude < GPSlimit[1].lat and cur_goal.latitude < GPSlimit[2].lat and cur_goal.latitude < GPSlimit[3].lat and cur_goal.latitude < GPSlimit[4].lat)
		return 0;
	if(cur_goal.longitude > GPSlimit[1].lng and cur_goal.longitude > GPSlimit[2].lng and cur_goal.longitude > GPSlimit[3].lng and cur_goal.longitude > GPSlimit[4].lng)
		return 0;
	if(cur_goal.longitude < GPSlimit[1].lng and cur_goal.longitude < GPSlimit[2].lng and cur_goal.longitude < GPSlimit[3].lng and cur_goal.longitude < GPSlimit[4].lng)
		return 0;

	return 1
}