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# Untitled

a guest Aug 14th, 2019 65 Never
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1. def Collision_checker(messages_grouped):
2. """
3. messages_grouped as example:{Drone0: (list of dictionaries), Drone1: (list of dictionaries), ...}
4. """
5. for key in messages_grouped:
6.      X_new=messages_grouped[key][1]['X (ENU)']
7.      Y_new=messages_grouped[key][1]['Y (ENU)']
8.      Z_new=messages_grouped[key][1]['altitude']
9.      X_old=messages_grouped[key][0]['X (ENU)']
10.      Y_old=messages_grouped[key][0]['Y (ENU)']
11.      Z_old=messages_grouped[key][0]['altitude']
12.      for key in messages_grouped:
13.          X2_new=messages_grouped[key][1]['X (ENU)']
14.          Y2_new=messages_grouped[key][1]['Y (ENU)']
15.          Z2_new=messages_grouped[key][1]['altitude']
16.          X2_old=messages_grouped[key][0]['X (ENU)']
17.          Y2_old=messages_grouped[key][0]['Y (ENU)']
18.          Z2_old=messages_grouped[key][0]['altitude']
19.          Line1=Line_analysis(X_new,Y_new,Z_new, X_old, Y_old, Z_old)
20.          Line2=Line_analysis(X2_new,Y2_new,Z2_new, X2_old, Y2_old, Z2_old)
21.
22.          if Line1 is not None and Line2 is not None:
23.              Intersection=Line1.intersection(Line2)
24.          else:
25.              pass
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