all errors fixed

Author: sarthak268

__pycache__/tangent.cpython-36.pyc

@@ -1,7 +1,7 @@
 QGC	WPL	110
-0	0	0	16	0	0	0	0	-0.14741751494722885	1531470527956.281	550	1
-1	0	0	16	0	0	0	0	-0.14741751494722885	1531470527956.281	550	1
-2	0	0	16	0	0	0	0	-0.14741751494722885	1531470527956.281	550	1
-3	0	0	16	0	0	0	0	-0.14741751494722885	1531470527956.281	550	1
-4	0	0	16	0	0	0	0	-0.14741751494722885	1531470527956.281	550	1
-5	0	0	16	0	0	0	0	-0.14741751494722885	1531470527956.281	550	1
+0	0	0	16	0	0	0	0	32.8341316675710	-117.161677385817	550	1
+1	0	0	16	0	0	0	0	32.8341316675710	-117.161677385817	550	1
+2	0	0	16	0	0	0	0	32.8341316675710	-117.161677385817	550	1
+3	0	0	16	0	0	0	0	32.8341316675710	-117.161677385817	550	1
+4	0	0	16	0	0	0	0	32.8341316675710	-117.161677385817	550	1
+5	0	0	16	0	0	0	0	32.8341316675710	-117.161677385817	550	1

new_waypoint.txt

@@ -53,7 +53,7 @@ def read_obstacle(obstacle_file):
 		obstacle.append([longi,lati,rad])
 
 read_waypoint(waypoint_file)
-#print ("waypoint = ", waypoint)
+print ("initial", waypoint)
 read_obstacle(obstacle_file)
 #print ("obstacle = ",obstacle)
 
@@ -97,7 +97,7 @@ def distance(p1,p2,co):
 	return (num/den)
 
 def main():
-	print (waypoint)
+	#print (waypoint)
 	for i in range(len(waypoint)):
 		if (i == 0):
 			waypoint_final.append(waypoint[i])
@@ -129,13 +129,13 @@ def main():
 						waypoint_final.append(intersection)
 						#print ("naya daala")
 				waypoint_final.append(waypoint[i])
-	print (waypoint_final)
+	#print (waypoint_final)
 	for k in range(len(waypoint_final)):
 		cx = waypoint_final[i][0]
 		cy = waypoint_final[i][1]
 		lat, lng = translatexy2ll(cx,cy)
 		waypoint_final_.append([lng,lat])
-	#print (waypoint_final_)
+	print ("final",waypoint_final_)
 
 	######################################################################
 	final_wp_file = "./new_waypoint.txt"

suas.py

@@ -1,6 +1,6 @@
 import math
-from sympy.solvers import solve
-from sympy import Symbol
+from sympy import *
+from sympy.solvers.solveset import linsolve
 
 def distance(x1,y1,x2,y2):
 	return math.sqrt((x1-x2)**2 + (y1-y2)**2)
@@ -19,28 +19,31 @@ def find_point(p1, p2, r, oc):
 	cons21 = (a*b + r*(math.sqrt(a**2 + b**2 -r**2))) / (r**2 - a**2) 
 	cons22 = (a*b - r*(math.sqrt(a**2 + b**2 -r**2))) / (r**2 - a**2)
 
-	x = Symbol('x')
-	a1 = -(cons11)*(x-x0-p) + q + y0
-	a2 = -(cons12)*(x-x0-p) + q + y0
-	b1 = -(cons21)*(x-x0-a) + b + y0
-	b2 = -(cons22)*(x-x0-a) + b + y0
+	x,y = symbols('x,y')
+	a1 = -(cons11)*(x-x0-p) + q + y0 - y
+	a2 = -(cons12)*(x-x0-p) + q + y0 - y
+	b1 = -(cons21)*(x-x0-a) + b + y0 - y 
+	b2 = -(cons22)*(x-x0-a) + b + y0 - y 
 
-	ans1 = solve(a1,b1)
-	ans2 = solve(a1,b2)
-	ans3 = solve(a2,b1)
-	ans4 = solve(a2,b2)
-	#print("fcgvhb,",ans4)
+	ans1 = linsolve([a1,b1],(x,y))
+	x1,y1 = next(iter(ans1))
+	ans2 = linsolve([a1,b2],(x,y))
+	x2,y2 = next(iter(ans2))
+	ans3 = linsolve([a2,b1],(x,y))
+	x3,y3 = next(iter(ans3))
+	ans4 = linsolve([a2,b2],(x,y))
+	x4,y4 = next(iter(ans4))
 
-	d1 = distance(p,q,ans1[0],ans1[1])
-	d2 = distance(p,q,ans2[0],ans2[1])
-	d3 = distance(p,q,ans3[0],ans3[1])
-	d4 = distance(p,q,ans4[0],ans4[1])
+	d1 = distance(p,q,x1,y1)
+	d2 = distance(p,q,x2,y2)
+	d3 = distance(p,q,x3,y3)
+	d4 = distance(p,q,x4,y4)
 
 	if(d1<=min(d2,d3,d4)):
-		return ans1[0], ans1[1]
+		return x1,y1
 	elif(d2<=min(d1,d3,d4)):
-		return ans2[0], ans2[1]
+		return x2,y2
 	elif(d3<=min(d2,d1,d4)):
-		return ans3[0], ans3[1]
+		return x3,y3
 	elif(d4<=min(d2,d3,d1)):
-		return ans4[0], ans4[1]
+		return x4,y4