navigationAlgoCode.py 文件源码

def getPointsBtwnVertices(v1, v2, dx):
    """
        accepts:
            v1: the position of one vertex
            v2: the position of the other vertex
            dx: stride length
        returns:
            points: ordered list of points between v1 and v2 at which to take a photo

    """
    points = []
    v1x, v2x = v1[0], v2[0]
    v1y, v2y = v1[1], v2[1]
    if np.isclose(v1x, v2x):
        return getPointsonVerticalLine(v1x, v1y, v2y, dx)
    if v2x-v1x<0: dx = -dx
    xPoints = int((v2x - v1x) / dx)
    dy = (v2y - v1y) / (v2x - v1x) * dx
    x, y = v1x, v1y
    for pointNo in range(xPoints):
        points.append((x, y))
        x += dx
        y += dy
    return points