From b88dd6cdf268e8f97dd80e8af96b699e1c04a1f7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 20 Jan 2019 20:48:31 +0300
Subject: [PATCH] Remove unused global_local.py

---
 clever/src/global_local.py | 43 --------------------------------------
 1 file changed, 43 deletions(-)
 delete mode 100644 clever/src/global_local.py

diff --git a/clever/src/global_local.py b/clever/src/global_local.py
deleted file mode 100644
index dd5f7d85..00000000
--- a/clever/src/global_local.py
+++ /dev/null
@@ -1,43 +0,0 @@
-import rospy
-import math
-import geopy
-from geometry_msgs.msg import PoseStamped
-from geopy.distance import VincentyDistance, vincenty
-from sensor_msgs.msg import NavSatFix
-
-
-def global_to_local(lat, lon):
-    # TODO: refactor
-
-    try:
-        position_global = rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.5)
-    except rospy.exceptions.ROSException:
-        raise Exception('No global position')
-
-    try:
-        pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=0.5)
-    except rospy.exceptions.ROSException:
-        raise Exception('No local position')
-
-    d = math.hypot(pose.pose.position.x, pose.pose.position.y)
-
-    bearing = math.degrees(math.atan2(-pose.pose.position.x, -pose.pose.position.y))
-    if bearing < 0:
-        bearing += 360
-
-    cur = geopy.Point(position_global.latitude, position_global.longitude)
-    origin = VincentyDistance(meters=d).destination(cur, bearing)
-
-    _origin = origin.latitude, origin.longitude
-    olat_tlon = origin.latitude, lon
-    tlat_olon = lat, origin.longitude
-
-    N = vincenty(_origin, tlat_olon)
-    if lat < origin.latitude:
-        N = -N
-
-    E = vincenty(_origin, olat_tlon)
-    if lon < origin.longitude:
-        E = -E
-
-    return E.meters, N.meters