ardupilot/libraries/AP_Common/Location.h

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/*
* Location.h
*
*/
#ifndef LOCATION_H
#define LOCATION_H
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL.h>
class AP_AHRS_NavEKF;
class AP_Terrain;
class Location_Class : public Location
{
public:
/// enumeration of possible altitude types
enum ALT_FRAME {
ALT_FRAME_ABSOLUTE = 0,
ALT_FRAME_ABOVE_HOME = 1,
ALT_FRAME_ABOVE_ORIGIN = 2,
ALT_FRAME_ABOVE_TERRAIN = 3
};
/// constructors
Location_Class();
Location_Class(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_FRAME frame);
Location_Class(const Location& loc);
Location_Class(const Vector3f &ekf_offset_neu);
/// accept reference to ahrs and (indirectly) EKF
static void set_ahrs(const AP_AHRS_NavEKF* ahrs) { _ahrs = ahrs; }
static void set_terrain(AP_Terrain* terrain) { _terrain = terrain; }
// operators
Location_Class& operator=(const struct Location &loc);
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// set altitude
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void set_alt_cm(int32_t alt_cm, ALT_FRAME frame);
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// get altitude (in cm) in the desired frame
// returns false on failure to get altitude in the desired frame which
// can only happen if the original frame or desired frame is above-terrain
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bool get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const;
// get altitude frame
ALT_FRAME get_alt_frame() const;
// converts altitude to new frame
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// returns false on failure to convert which can only happen if
// the original frame or desired frame is above-terrain
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bool change_alt_frame(ALT_FRAME desired_frame);
// get position as a vector from home (x,y only or x,y,z)
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// return false on failure to get the vector which can only
// happen if the EKF origin has not been set yet
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bool get_vector_xy_from_origin_NEU(Vector3f &vec_neu) const;
bool get_vector_from_origin_NEU(Vector3f &vec_neu) const;
// return distance in meters between two locations
float get_distance(const struct Location &loc2) const;
// extrapolate latitude/longitude given distances (in meters) north and east
void offset(float ofs_north, float ofs_east);
private:
static const AP_AHRS_NavEKF *_ahrs;
static AP_Terrain *_terrain;
};
#endif /* LOCATION_H */