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\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_help_format}
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\begin{document}

\begin{labcover}
\labtitle{Help Topic: Pavilion Coordinates}
\vspace{0.1in}
\labdate{Spring 2023}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labsrc{project-pavlab/helpdocs/help\_pav\_coords} 
\labauth{MIT, Cambridge MA 02139}
\labline
\end{labcover}

\wikidoc{file=PavLab.Coords}
\wikidoc{auth=mikerb@mit.edu}

%====================================================================
\section*{Pavilion Coordinates}
%====================================================================
\label{sec_coords}

The MIT Sailing Pavilion is the center of operations for the Pavlab,
or Marine Autonomy Lab. The \var{(0,0)} coordinates, or datum, is
located at: \var{42.358456, -71.087589}.  These datum coordinates are
declared in the top of every \var{.moos} file in missions run at the
MIT Sailing Pavilion, and set in the plug file
\var{plug\_origin\_warp.moos}:

\vspace{0.1in}
\begin{fileverb}
// MIT Sailing Pavilion                                                                   
LatOrigin  = 42.358456
LongOrigin = -71.087589
\end{fileverb}
\vspace{0.1in}

\noindent
All other coordinates are usually configured in local coordinates
relative to the above datum.

\vspace{0.1in}
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.82\textwidth]{figures/pavlab_coords.png}
  \caption{Useful coordinates related to the rescue lab. There are two
    playing field rectangles, a large one (\var{"pav90"}) roughly the
    extent of the docks, and a smaller region (\var{"pav60"}) closer to
    the Pavlab doors on the East end of the dock.}
  \label{fig_pavlab_coords}
\end{figure}
\vspace{0.1in}

\noindent
Note there are two rectangles representing a small and large operation
area. The smaller area (\var{pav60}) is typically used for in-water
tests involving one or two vehicles. The larger area (\var{pav90}) is
typically used for in-water tests involving more vehicles.

\vspace{0.1in}
\begin{fileverb}
  pav60: pts={60,10:-30.3602,-32.8374:-4.6578,-87.0535:85.7024,-44.2161}
  pav90: pts={60,10:-75.5402,-54.2561:-36.9866,-135.58:98.5536,-71.3241}
\end{fileverb}
\vspace{0.1in}

\noindent
Coordinates are generated with the support of the \var{pavop.sh} script,
found in \var{moos-ivp-pavlab/scripts/}.

\end{document}

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