localization/geometry.py
def gcd(self, lon1, lat1, lon2, lat2):
        """
        Calculate the great circle distance between two points
        on the earth (specified in decimal degrees)
        """
        # convert decimal degrees to radians
        lon1, lat1, lon2, lat2 = map(math.radians, [lon1, lat1, lon2, lat2])

        # haversine formula
        dlon = lon2 - lon1
        dlat = lat2 - lat1
        a = math.sin(dlat / 2) ** 2 + math.cos(lat1) * math.cos(lat2) * math.sin(dlon / 2) ** 2
        c = 2 * math.asin(math.sqrt(a))

        dis = E.R * c
        return dis
def gcd(self, lon1, lat1, lon2, lat2):
        """
        Calculate the great circle distance between two points
        on the earth (specified in decimal degrees)
        """
        # convert decimal degrees to radians
        lon1, lat1, lon2, lat2 = map(math.radians, [lon1, lat1, lon2, lat2])

        # haversine formula
        dlon = lon2 - lon1
        dlat = lat2 - lat1
        a = math.sin(dlat / 2) ** 2 + math.cos(lat1) * math.cos(lat2) * math.sin(dlon / 2) ** 2
        c = 2 * math.asin(math.sqrt(a))

        dis = E.R * c
        return dis
def gcd ( self , lon1 , lat1 , lon2 , lat2 ) : # convert decimal degrees to radians lon1 , lat1 , lon2 , lat2 = map ( math . radians , [ lon1 , lat1 , lon2 , lat2 ] ) # haversine formula dlon = lon2 - lon1 dlat = lat2 - lat1 a = math . sin ( dlat / 2 ) ** 2 + math . cos ( lat1 ) * math . cos ( lat2 ) * math . sin ( dlon / 2 ) ** 2 c = 2 * math . asin ( math . sqrt ( a ) ) dis = E . R * c return dis
Calculate the great circle distance between two points
        on the earth (specified in decimal degrees)
Calculate the great circle distance between two points on the earth ( specified in decimal degrees )