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AP_Math: Location get_bearing & get_horizontal_distance use Vector2f

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Josh Henderson 2021-09-10 23:50:03 -04:00 committed by Andrew Tridgell
parent d5769f70ac
commit 2a15cf86ad
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_Math/location.cpp
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@ -24,13 +24,13 @@
#include "location.h" #include "location.h"
// return horizontal distance between two positions in cm // return horizontal distance between two positions in cm
float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination) float get_horizontal_distance_cm(const Vector2f &origin, const Vector2f &destination)
{ {
return norm(destination.x-origin.x,destination.y-origin.y); return (destination - origin).length();
} }
// return bearing in centi-degrees between two positions // return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination) float get_bearing_cd(const Vector2f &origin, const Vector2f &destination)
{ {
float bearing = atan2f(destination.y-origin.y, destination.x-origin.x) * DEGX100; float bearing = atan2f(destination.y-origin.y, destination.x-origin.x) * DEGX100;
if (bearing < 0) { if (bearing < 0) {

4
libraries/AP_Math/location.h
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@ -10,10 +10,10 @@
*/ */
// return horizontal distance in centimeters between two positions // return horizontal distance in centimeters between two positions
float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination); float get_horizontal_distance_cm(const Vector2f &origin, const Vector2f &destination);
// return bearing in centi-degrees between two positions // return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination); float get_bearing_cd(const Vector2f &origin, const Vector2f &destination);
// Converts from WGS84 geodetic coordinates (lat, lon, height) // Converts from WGS84 geodetic coordinates (lat, lon, height)
// into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates // into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates