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- def Collision_checker(messages_grouped):
- """
- messages_grouped as example:{Drone0: (list of dictionaries), Drone1: (list of dictionaries), ...}
- """
- for key in messages_grouped:
- X_new=messages_grouped[key][1]['X (ENU)']
- Y_new=messages_grouped[key][1]['Y (ENU)']
- Z_new=messages_grouped[key][1]['altitude']
- X_old=messages_grouped[key][0]['X (ENU)']
- Y_old=messages_grouped[key][0]['Y (ENU)']
- Z_old=messages_grouped[key][0]['altitude']
- for key in messages_grouped:
- X2_new=messages_grouped[key][1]['X (ENU)']
- Y2_new=messages_grouped[key][1]['Y (ENU)']
- Z2_new=messages_grouped[key][1]['altitude']
- X2_old=messages_grouped[key][0]['X (ENU)']
- Y2_old=messages_grouped[key][0]['Y (ENU)']
- Z2_old=messages_grouped[key][0]['altitude']
- Line1=Line_analysis(X_new,Y_new,Z_new, X_old, Y_old, Z_old)
- Line2=Line_analysis(X2_new,Y2_new,Z2_new, X2_old, Y2_old, Z2_old)
- if Line1 is not None and Line2 is not None:
- Intersection=Line1.intersection(Line2)
- else:
- pass
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