mirror of https://github.com/ArduPilot/ardupilot
59 lines
2.0 KiB
C
59 lines
2.0 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef AP_MATH_H
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#define AP_MATH_H
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// Assorted useful math operations for ArduPilot(Mega)
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#include <AP_Common.h>
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#include <math.h>
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#include <stdint.h>
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#include "rotations.h"
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#include "vector2.h"
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#include "vector3.h"
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#include "matrix3.h"
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#include "quaternion.h"
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#include "polygon.h"
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// define AP_Param types AP_Vector3f and Ap_Matrix3f
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AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
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AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
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// a varient of asin() that always gives a valid answer.
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float safe_asin(float v);
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// a varient of sqrt() that always gives a valid answer.
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float safe_sqrt(float v);
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// find a rotation that is the combination of two other
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// rotations. This is used to allow us to add an overall board
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// rotation to an existing rotation of a sensor such as the compass
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enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL);
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// return distance in meters between two locations
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float get_distance(const struct Location *loc1, const struct Location *loc2);
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// return distance in centimeters between two locations
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int32_t get_distance_cm(const struct Location *loc1, const struct Location *loc2);
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// return bearing in centi-degrees between two locations
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int32_t get_bearing_cd(const struct Location *loc1, const struct Location *loc2);
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// see if location is past a line perpendicular to
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// the line between point1 and point2. If point1 is
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// our previous waypoint and point2 is our target waypoint
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// then this function returns true if we have flown past
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// the target waypoint
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bool location_passed_point(struct Location &location,
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struct Location &point1,
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struct Location &point2);
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// extrapolate latitude/longitude given bearing and distance
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void location_update(struct Location *loc, float bearing, float distance);
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// extrapolate latitude/longitude given distances north and east
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void location_offset(struct Location *loc, float ofs_north, float ofs_east);
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#endif // AP_MATH_H
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