mirror of https://github.com/ArduPilot/ardupilot
178 lines
7.5 KiB
C++
178 lines
7.5 KiB
C++
#pragma once
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#include <AP_Math/AP_Math.h>
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#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field
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class Location
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{
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public:
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uint8_t relative_alt : 1; // 1 if altitude is relative to home
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uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise
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uint8_t terrain_alt : 1; // this altitude is above terrain
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uint8_t origin_alt : 1; // this altitude is above ekf origin
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uint8_t loiter_xtrack : 1; // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
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// note that mission storage only stores 24 bits of altitude (~ +/- 83km)
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int32_t alt; // in cm
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int32_t lat; // in 1E7 degrees
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int32_t lng; // in 1E7 degrees
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/// enumeration of possible altitude types
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enum class AltFrame {
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ABSOLUTE = 0,
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ABOVE_HOME = 1,
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ABOVE_ORIGIN = 2,
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ABOVE_TERRAIN = 3
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};
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/// constructors
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Location();
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Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, AltFrame frame);
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Location(const Vector3f &ekf_offset_neu, AltFrame frame);
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Location(const Vector3d &ekf_offset_neu, AltFrame frame);
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// set altitude
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void set_alt_cm(int32_t alt_cm, AltFrame frame);
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// get altitude (in cm) in the desired frame
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// returns false on failure to get altitude in the desired frame which can only happen if the original frame or desired frame is:
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// - above-terrain and the terrain database can't supply terrain height amsl
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// - above-home and home is not set
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// - above-origin and origin is not set
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bool get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const WARN_IF_UNUSED;
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// same as get_alt_cm but in metres:
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bool get_alt_m(AltFrame desired_frame, float &ret_alt) const WARN_IF_UNUSED;
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// get altitude frame
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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:
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// - above-terrain and the terrain database can't supply terrain height amsl
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// - above-home and home is not set
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// - above-origin and origin is not set
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bool change_alt_frame(AltFrame desired_frame);
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// get position as a vector (in cm) from origin (x,y only or
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// x,y,z) return false on failure to get the vector which can only
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// happen if the EKF origin has not been set yet x, y and z are in
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// centimetres. If this method returns false then vec_ne is
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// unmodified.
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template<typename T>
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bool get_vector_xy_from_origin_NE(T &vec_ne) const WARN_IF_UNUSED;
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// converts location to a vector from origin; if this method returns
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// false then vec_neu is unmodified
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template<typename T>
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bool get_vector_from_origin_NEU(T &vec_neu) const WARN_IF_UNUSED;
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// return horizontal distance in meters between two locations
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ftype get_distance(const Location &loc2) const;
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// return the altitude difference in meters taking into account alt frame.
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bool get_alt_distance(const Location &loc2, ftype &distance) const WARN_IF_UNUSED;
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// return the distance in meters in North/East/Down plane as a N/E/D vector to loc2
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// NOT CONSIDERING ALT FRAME!
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Vector3f get_distance_NED(const Location &loc2) const;
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Vector3d get_distance_NED_double(const Location &loc2) const;
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// return the distance in meters in North/East/Down plane as a N/E/D vector to loc2 considering alt frame, if altitude cannot be resolved down distance is 0
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Vector3f get_distance_NED_alt_frame(const Location &loc2) const;
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// return the distance in meters in North/East plane as a N/E vector to loc2
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Vector2f get_distance_NE(const Location &loc2) const;
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Vector2d get_distance_NE_double(const Location &loc2) const;
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Vector2F get_distance_NE_ftype(const Location &loc2) const;
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// extrapolate latitude/longitude given distances (in meters) north and east
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static void offset_latlng(int32_t &lat, int32_t &lng, ftype ofs_north, ftype ofs_east);
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void offset(ftype ofs_north, ftype ofs_east);
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// extrapolate latitude/longitude given distances (in meters) north
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// and east. Note that this is metres, *even for the altitude*.
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void offset(const Vector3p &ofs_ned);
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// extrapolate latitude/longitude given bearing and distance
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void offset_bearing(ftype bearing_deg, ftype distance);
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// extrapolate latitude/longitude given bearing, pitch and distance
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void offset_bearing_and_pitch(ftype bearing_deg, ftype pitch_deg, ftype distance);
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// longitude_scale - returns the scaler to compensate for
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// shrinking longitude as you move north or south from the equator
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// Note: this does not include the scaling to convert
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// longitude/latitude points to meters or centimeters
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static ftype longitude_scale(int32_t lat);
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bool is_zero(void) const WARN_IF_UNUSED;
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void zero(void);
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// return the bearing in radians, from 0 to 2*Pi
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ftype get_bearing(const Location &loc2) const;
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// return bearing in centi-degrees from location to loc2, return is 0 to 35999
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int32_t get_bearing_to(const Location &loc2) const {
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return int32_t(get_bearing(loc2) * DEGX100 + 0.5);
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}
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// check if lat and lng match. Ignore altitude and options
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bool same_latlon_as(const Location &loc2) const;
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// check if altitude matches.
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bool same_alt_as(const Location &loc2) const;
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// check if lat, lng, and alt match.
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bool same_loc_as(const Location &loc2) const {
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return same_latlon_as(loc2) && same_alt_as(loc2);
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}
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/*
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* convert invalid waypoint with useful data. return true if location changed
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*/
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bool sanitize(const Location &defaultLoc);
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// return true when lat and lng are within range
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bool check_latlng() const;
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// see if location is past a line perpendicular to
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// the line between point1 and point2 and passing through point2.
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// If point1 is 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 past_interval_finish_line(const Location &point1, const Location &point2) const;
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/*
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return the proportion we are along the path from point1 to
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point2, along a line parallel to point1<->point2.
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This will be more than 1 if we have passed point2
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*/
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float line_path_proportion(const Location &point1, const Location &point2) const;
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// update altitude and alt-frame base on this location's horizontal position between point1 and point2
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// this location's lat,lon is used to calculate the alt of the closest point on the line between point1 and point2
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// origin and destination's altitude frames must be the same
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// this alt-frame will be updated to match the destination alt frame
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void linearly_interpolate_alt(const Location &point1, const Location &point2);
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bool initialised() const { return (lat !=0 || lng != 0 || alt != 0); }
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// wrap longitude at -180e7 to 180e7
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static int32_t wrap_longitude(int64_t lon);
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// limit latitude to -90e7 to 90e7
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static int32_t limit_lattitude(int32_t lat);
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// get lon1-lon2, wrapping at -180e7 to 180e7
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static int32_t diff_longitude(int32_t lon1, int32_t lon2);
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private:
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// scaling factor from 1e-7 degrees to meters at equator
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// == 1.0e-7 * DEG_TO_RAD * RADIUS_OF_EARTH
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static constexpr float LOCATION_SCALING_FACTOR = LATLON_TO_M;
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// inverse of LOCATION_SCALING_FACTOR
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static constexpr float LOCATION_SCALING_FACTOR_INV = LATLON_TO_M_INV;
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};
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