mirror of https://github.com/ArduPilot/ardupilot
107 lines
2.9 KiB
C++
107 lines
2.9 KiB
C++
/*
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* location.cpp
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* Copyright (C) Andrew Tridgell 2011
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* this module deals with calculations involving struct Location
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*/
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#include <stdlib.h>
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#include "AP_Math.h"
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#include "location.h"
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// return horizontal distance between two positions in cm
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float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
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{
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return norm(destination.x-origin.x,destination.y-origin.y);
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}
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// return bearing in centi-degrees between two positions
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float get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
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{
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float bearing = atan2f(destination.y-origin.y, destination.x-origin.x) * DEGX100;
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if (bearing < 0) {
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bearing += 36000.0f;
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}
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return bearing;
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}
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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(const struct Location &location,
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const struct Location &point1,
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const struct Location &point2)
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{
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return location_path_proportion(location, point1, point2) >= 1.0f;
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}
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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 less than >1 if we have passed point2
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*/
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float location_path_proportion(const struct Location &location,
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const struct Location &point1,
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const struct Location &point2)
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{
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const Vector2f vec1 = point1.get_distance_NE(point2);
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const Vector2f vec2 = point1.get_distance_NE(location);
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float dsquared = sq(vec1.x) + sq(vec1.y);
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if (dsquared < 0.001f) {
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// the two points are very close together
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return 1.0f;
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}
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return (vec1 * vec2) / dsquared;
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}
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// return true when lat and lng are within range
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bool check_lat(float lat)
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{
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return fabsf(lat) <= 90;
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}
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bool check_lng(float lng)
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{
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return fabsf(lng) <= 180;
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}
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bool check_lat(int32_t lat)
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{
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return labs(lat) <= 90*1e7;
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}
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bool check_lng(int32_t lng)
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{
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return labs(lng) <= 180*1e7;
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}
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bool check_latlng(float lat, float lng)
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{
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return check_lat(lat) && check_lng(lng);
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}
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bool check_latlng(int32_t lat, int32_t lng)
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{
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return check_lat(lat) && check_lng(lng);
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}
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