LIB: Added some functions to the GeoBox class

get_cartesian_corners: returns the Cartesian coordinates of the corner points
get_center_point: returns the lat/lon of the GeoBox center

ap_lib/src/ap_lib/ap_enumerations.py

@@ -114,10 +114,11 @@ PATROL_BOX = 13            # Randomly patrol a rectangular box
 PATROL_BOX_SHOOTER = 14    # Randomly patrol a rectangular box & engage approaching red UAVs
 TACTIC_INTERFACE = 15      # Use generic tactic interface
 EVADER = 16                # Move to a waypoint while avoiding enemies
-SIMPLE_GRND_ATTACK = 17    # Basic ground attack behavior (just land there)
-WAVE_ATTACK = 18           # Formation flyin and sequential drop
-DELAYED_ATTACK = 19        # Time delay between individual attacks one one location
-OVERWATCH_ATTACK = 20      # Formation flyin and sequential drop with highboy overwatch
+AREA_SPREAD = 17           # Disperse uniformly through a rectangular area
+SIMPLE_GRND_ATTACK = 18    # Basic ground attack behavior (just land there)
+WAVE_ATTACK = 19           # Formation flyin and sequential drop
+DELAYED_ATTACK = 20        # Time delay between individual attacks one one location
+OVERWATCH_ATTACK = 21      # Formation flyin and sequential drop with highboy overwatch
 FIXED_TURN = 97            # Simple test behavior for turn-rate control capability
 SWARM_SEQUENCE_LAND = 98   # Land in order (low-to-high UAV)
 SWARM_EGRESS = 99          # Egress the swarm for recovery
@@ -149,6 +150,7 @@ SWARM_BHVRS = {  SWARM_STANDBY:          'Standby', \
                  LAZY_ALTITUDE_SORT:     'Lazy Altitude Sort', \
                  SWARM_SEQUENCE_LAND:    'Sequence Land', \
                  INDEPENDENT_TRANSIT:    'Independent Transit', \
+                 AREA_SPREAD:            'Area Spread', \
                  PATROL_BOX:             'Patrol Box', \
                  TACTIC_INTERFACE:       'Tactic Interface', \
                  EVADER:                 'Evader', \
@@ -173,6 +175,7 @@ SWARM_BHVR_VALUES = { 'Standby':               SWARM_STANDBY, \
                       'Lazy Altitude Sort':    LAZY_ALTITUDE_SORT, \
                       'Sequence Land':         SWARM_SEQUENCE_LAND, \
                       'Independent Transit':   INDEPENDENT_TRANSIT, \
+                      'Area Spread':           AREA_SPREAD, \
                       'Patrol Box':            PATROL_BOX, \
                       'Patrol Box Shooter':    PATROL_BOX_SHOOTER, \
                       'Evader':                EVADER, \

ap_lib/src/ap_lib/gps_utils.py

@@ -310,6 +310,9 @@ class GeoBox():
                                                 ne_corner[0], ne_corner[1]), \
                                cartesian_offset(sw_lat, sw_lon, \
                                                 se_corner[0], se_corner[1]) )
+        center_up = gps_newpos(sw_lat, sw_lon, orientation, length/2.0)
+        self._center = gps_newpos(center_up[0], center_up[1], \
+                                   orientation + math.pi/2.0, width/2.0)
         self._floor = floor
         self._ceiling = ceiling
         self._length = length
@@ -338,6 +341,12 @@ class GeoBox():
         return tuple(self._corners)
 
 
+    def get_cartesian_corners(self):
+        ''' Returns a tuple containing the GeoBox object's corners
+        '''
+        return tuple(self._cart_corners)
+
+
     def contains(self, lat, lon, alt):
         ''' Returns True if the GeoBox contains the lat/lon/alt point
         @param lat: latitude being tested
@@ -416,6 +425,12 @@ class GeoBox():
         return gps_newpos(self._corners[0][0], self._corners[0][1], brng, dist)
 
 
+    def center_point(self):
+        ''' Returns the latitude/longitude of the GeoBox's center point
+        '''
+        return self._center
+
+
     def __vector_aligned_pts(self, lat, lon):
         ''' Returns a series of cartesian coordinates corresponding to
         positions relative to each of the four corners of the box