mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
89 lines
2.8 KiB
C++
89 lines
2.8 KiB
C++
/*
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* Location.h
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*
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*/
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#ifndef LOCATION_H
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#define LOCATION_H
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/AP_HAL.h>
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class AP_AHRS_NavEKF;
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class AP_Terrain;
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class Location_Class : public Location
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{
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public:
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/// enumeration of possible altitude types
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enum ALT_FRAME {
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ALT_FRAME_ABSOLUTE = 0,
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ALT_FRAME_ABOVE_HOME = 1,
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ALT_FRAME_ABOVE_ORIGIN = 2,
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ALT_FRAME_ABOVE_TERRAIN = 3
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};
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/// constructors
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Location_Class();
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Location_Class(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_FRAME frame);
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Location_Class(const Location& loc);
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Location_Class(const Vector3f &ekf_offset_neu);
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/// accept reference to ahrs and (indirectly) EKF
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static void set_ahrs(const AP_AHRS_NavEKF* ahrs) { _ahrs = ahrs; }
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static void set_terrain(AP_Terrain* terrain) { _terrain = terrain; }
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// operators
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Location_Class& operator=(const struct Location loc);
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// set altitude
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void set_alt(int32_t alt_cm, ALT_FRAME frame);
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// get altitude in desired frame
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bool get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const;
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// get altitude frame
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ALT_FRAME get_alt_frame() const;
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// converts altitude to new frame
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bool change_alt_frame(ALT_FRAME desired_frame);
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// get position as a vector from home (x,y only or x,y,z)
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bool get_vector_xy_from_origin_NEU(Vector3f &vec_neu) const;
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bool get_vector_from_origin_NEU(Vector3f &vec_neu) const;
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// return distance in meters between two locations
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float get_distance(const struct Location &loc2) const;
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// return bearing in centi-degrees from this location to loc2
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int32_t get_bearing_cd(const struct Location &loc2) const;
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// see if location is past a line perpendicular to the line between point1 and point2.
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// if point1 is our previous waypoint and point2 is our target waypoint then this function
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// returns true if we have flown past the target waypoint
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bool passed_point(const struct Location & point1, const struct Location & point2) const;
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// return the proportion we are along the path from point1 to
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// point2. This will be less than >1 if we have passed point2
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float path_proportion(const struct Location &point1, const struct Location &point2) const;
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// extrapolate latitude/longitude given bearing and distance
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// bearing in degrees, distance in meters
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void extrapolate(float bearing, float distance);
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// extrapolate latitude/longitude given distances (in meters) north and east
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void offset(float ofs_north, float ofs_east);
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// return the distance in meters in North/East plane as a N/E vector from loc1 to loc2
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Vector2f diff_2D(const struct Location &loc2) const;
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private:
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static const AP_AHRS_NavEKF *_ahrs;
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static AP_Terrain *_terrain;
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};
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#endif /* LOCATION_H */
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