ardupilot/libraries/AP_Math/location.h

35 lines
1.2 KiB
C

#pragma once
#include <inttypes.h>
#include "vector2.h"
#include "vector3.h"
/*
* LOCATION
*/
// return horizontal distance in centimeters between two positions
float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
// return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
// Converts from WGS84 geodetic coordinates (lat, lon, height)
// into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates
// (X, Y, Z)
void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef);
// Converts from WGS84 Earth Centered, Earth Fixed (ECEF)
// coordinates (X, Y, Z), into WHS84 geodetic
// coordinates (lat, lon, height)
void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
// return true when lat and lng are within range
bool check_lat(float lat) WARN_IF_UNUSED;
bool check_lng(float lng) WARN_IF_UNUSED;
bool check_lat(int32_t lat) WARN_IF_UNUSED;
bool check_lng(int32_t lng) WARN_IF_UNUSED;
bool check_latlng(float lat, float lng) WARN_IF_UNUSED;
bool check_latlng(int32_t lat, int32_t lng) WARN_IF_UNUSED;