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;
#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field
class Location
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{
public:
uint8_t relative_alt : 1; // 1 if altitude is relative to home
uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise
uint8_t terrain_alt : 1; // this altitude is above terrain
uint8_t origin_alt : 1; // this altitude is above ekf origin
uint8_t loiter_xtrack : 1; // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
// note that mission storage only stores 24 bits of altitude (~ +/- 83km)
int32_t alt;
int32_t lat;
int32_t lng;
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/// enumeration of possible altitude types
enum class AltFrame {
ABSOLUTE = 0,
ABOVE_HOME = 1,
ABOVE_ORIGIN = 2,
ABOVE_TERRAIN = 3
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};
/// constructors
Location();
Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, AltFrame frame);
Location(const Vector3f &ekf_offset_neu);
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static void set_terrain(AP_Terrain* terrain) { _terrain = terrain; }
// set altitude
void set_alt_cm(int32_t alt_cm, AltFrame 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
bool get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const;
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// get altitude frame
AltFrame get_alt_frame() const;
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// 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
bool change_alt_frame(AltFrame desired_frame);
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// get position as a vector from origin (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
// x, y and z are in centimetres
bool get_vector_xy_from_origin_NE(Vector2f &vec_ne) const;
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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);
// longitude_scale - returns the scaler to compensate for
// shrinking longitude as you move north or south from the equator
// Note: this does not include the scaling to convert
// longitude/latitude points to meters or centimeters
float longitude_scale() const;
bool is_zero(void) const;
void zero(void);
/*
* convert invalid waypoint with useful data. return true if location changed
*/
bool sanitize(const struct Location &defaultLoc);
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private:
static AP_Terrain *_terrain;
};
#endif /* LOCATION_H */