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# pythonのnp.array配列に格納した２次元座標から、入力した座標に最も近い座標を取得した際の備忘録です

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# 目的

pythonのnp.array配列に格納した２次元座標から、入力した座標に最も近い座標を取得した際の備忘録です

# コード

sample.py
```#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import numpy as np

PI = 3.1415
coordinate = np.array([
# x, y, th
[0.5, 0, PI],
[0.9, 0, PI],
[0.9, -0.5, PI],
[0.9, 0.5, PI],
[0.9, 0, PI],
[0, 0.5, -1*PI/2],
[0, 0.5, 0],
[0, 0.5, PI],
[-0.5, 0, 0],
[-0.9, 0, 0],
[-0.9, 0.5, 0],
[-0.9, -0.5, 0],
[-0.9, 0, 0],
[0, -0.5, PI/2],
[0, -0.5, 0],
[0, -0.5, PI],
[0, -0.5, PI/4]
])

# 点p0に一番近い点を取得
def func_search_neighbourhood(p0, ps):
L = np.array([])
for i in range(ps.shape[0]):
norm = np.sqrt( (ps[i][0] - p0[0])*(ps[i][0] - p0[0]) +
(ps[i][1] - p0[1])*(ps[i][1] - p0[1]) )
L = np.append(L, norm)
return np.argmin(L) ,ps[np.argmin(L)]

def main():
# target coordinate
_x = 0
_y = -0.7

target_coor = np.array([_x, _y])
idx, nearrest_coor = func_search_neighbourhood(target_coor, coordinate)
print( len( coordinate ) )
print( idx, nearrest_coor[0], nearrest_coor[1], nearrest_coor[2] ) # idx, (x, y, th)

if __name__ == '__main__':
main()
```

```\$ python sample.py
17
13 0.0 -0.5 1.57075
```

# 参考

# 投稿内容は私個人の意見であり、所属企業・部門見解を代表するものではありません。 # 投稿内容は執筆時点の情報であり、必ずしも最新情報であるとはかぎりません。
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