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AP_Math: added get_distance_cm() to return in centimeters

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This commit is contained in:
Andrew Tridgell 2012-07-11 07:49:05 +10:00
parent 165604a55c
commit a72f6acef6
2 changed files with 12 additions and 2 deletions
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5
libraries/AP_Math/AP_Math.h
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@ -31,7 +31,10 @@ float safe_sqrt(float v);
enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL);
// return distance in meters between two locations
int32_t get_distance(const struct Location *loc1, const struct Location *loc2);
float get_distance(const struct Location *loc1, const struct Location *loc2);
// return distance in centimeters between two locations
int32_t get_distance_cm(const struct Location *loc1, const struct Location *loc2);
// return bearing in centi-degrees between two locations
int32_t get_bearing(const struct Location *loc1, const struct Location *loc2);

9
libraries/AP_Math/location.cpp
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@ -42,7 +42,7 @@ static float longitude_scale(const struct Location *loc)
// return distance in meters to between two locations, or -1
// if one of the locations is invalid
int32_t get_distance(const struct Location *loc1, const struct Location *loc2)
float get_distance(const struct Location *loc1, const struct Location *loc2)
{
if (loc1->lat == 0 || loc1->lng == 0)
return -1;
@ -53,6 +53,13 @@ int32_t get_distance(const struct Location *loc1, const struct Location *loc2)
return sqrt(sq(dlat) + sq(dlong)) * .01113195;
}
// return distance in centimeters to between two locations, or -1 if
// one of the locations is invalid
int32_t get_distance_cm(const struct Location *loc1, const struct Location *loc2)
{
return get_distance(loc1, loc2) * 100;
}
// return bearing in centi-degrees between two locations
int32_t get_bearing(const struct Location *loc1, const struct Location *loc2)
{