Wrote a short python script to help one of our mechanical leads with steering geometry calculations by finding the minimum turning radius of our competition track. Converts track lat/lon GPS data into local tangent plane coordinates and then fits an interpolating spline to determine curvature.
I wrote my own ECEF-g (Earth Centered Earth Fixed geodesic) to ECEF-r (Earth Centered Earth Fixed rectangular) to ENU (East North Up, a type of LTP reference frame) converter over Summer 2024 to turn GPS data into pose vectors in the map frame for our robot. It’s mainly based on this doc.
I ended up using that code again here instead of the popular PyMap3d package because I couldn’t configure the package to output values with sensible units (come on, no racetrack is 200 km long). I was probably mixing up radians and degrees…
See more on this project’s GitHub page.