Maze

A maze is an inferface object that holds the geofence data as well as the coverage grid and planned routes.

class wadl.lib.maze.Maze(file, step=40, rotation=0, home=None, priority=None, routeParameters=None)

Bases: wadl.lib.fence.Fence

Holds the geofence data, coverage grid, and planned routes

graph
Type:networkx.Graph
routeSet
Type:RouteSet
Parameters:
  • file (str) – location of geofence file (csv).
  • step (int, optional) – grid spacing in (m). default 40.
  • rotation (float, optional) – grid rotation in rads. default 0.
  • home ([tuple], optional) – list of (lat, long) of the desired home(s) default none.
  • routeParameters (RouteParameters, optional) – desired route parameters.
isPriority(line)

checks if a line in in a priority polygon

plot(ax, showGrid=False, showRoutes=True)

plot the geofence with grid overlay

Parameters:
  • ax (pyplot.axis) – axis object from pyplot you want to draw on
  • showGrid (bool, optional) – show the grid. default False.
  • showRoutes (bool, optional) – show the routes default True.
setPriority(file)

Add a priority area to the survey.

Parameters:priority (str) – file for priority area
write(filePath)

Write the maze information to a file

Parameters:filePath (str) – file path for output location.
writeGrid(outFile, UTM=True)

writes the grid to file

Parameters:outFile (str) – name of output file