mirror of https://github.com/ArduPilot/ardupilot
199 lines
6.5 KiB
C
199 lines
6.5 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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 <AP_Param.h>
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#include <math.h>
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#ifdef __AVR__
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# include <AP_Math_AVR_Compat.h>
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#endif
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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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#include "edc.h"
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#include "float.h"
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#include "AP_Param.h"
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#ifndef M_PI_F
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#define M_PI_F 3.141592653589793f
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#endif
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#ifndef M_2PI_F
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#define M_2PI_F (2*M_PI_F)
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#endif
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#ifndef PI
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# define PI M_PI_F
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#endif
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#ifndef M_PI_2
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# define M_PI_2 1.570796326794897f
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#endif
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//Single precision conversions
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#define DEG_TO_RAD 0.017453292519943295769236907684886f
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#define RAD_TO_DEG 57.295779513082320876798154814105f
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//GPS Specific double precision conversions
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//The precision here does matter when using the wsg* functions for converting
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//between LLH and ECEF coordinates. Test code in examlpes/location/location.pde
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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#define DEG_TO_RAD_DOUBLE 0.0174532925199432954743716805978692718781530857086181640625 // equals to (M_PI / 180.0)
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#define RAD_TO_DEG_DOUBLE 57.29577951308232286464772187173366546630859375 // equals to (180.0 / M_PI)
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#endif
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#define RadiansToCentiDegrees(x) ((x) * 5729.5779513082320876798154814105f)
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// acceleration due to gravity in m/s/s
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#define GRAVITY_MSS 9.80665f
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// radius of earth in meters
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#define RADIUS_OF_EARTH 6378100
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#define ROTATION_COMBINATION_SUPPORT 0
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// convert a longitude or latitude point to meters or centimeteres.
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// Note: this does not include the longitude scaling which is dependent upon location
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#define LATLON_TO_M 0.01113195f
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#define LATLON_TO_CM 1.113195f
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// Semi-major axis of the Earth, in meters.
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#define WGS84_A 6378137.0
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//Inverse flattening of the Earth
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#define WGS84_IF 298.257223563
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// The flattening of the Earth
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#define WGS84_F (1/WGS84_IF)
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// Semi-minor axis of the Earth in meters
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#define WGS84_B (WGS84_A*(1-WGS84_F))
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// Eccentricity of the Earth
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#define WGS84_E (sqrt(2*WGS84_F - WGS84_F*WGS84_F))
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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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// are two floats equal
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static inline bool is_equal(const float fVal1, const float fVal2) { return fabsf(fVal1 - fVal2) < FLT_EPSILON ? true : false; }
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// is a float is zero
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static inline bool is_zero(const float fVal1) { return fabsf(fVal1) < FLT_EPSILON ? true : false; }
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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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#if ROTATION_COMBINATION_SUPPORT
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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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#endif
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// longitude_scale - returns the scaler to compensate for shrinking longitude as you move north or south from the equator
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// Note: this does not include the scaling to convert longitude/latitude points to meters or centimeters
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float longitude_scale(const struct Location &loc);
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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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uint32_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(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 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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*/
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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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// 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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/*
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return the distance in meters in North/East plane as a N/E vector
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from loc1 to loc2
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*/
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Vector2f location_diff(const struct Location &loc1, const struct Location &loc2);
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/*
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wrap an angle in centi-degrees
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*/
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int32_t wrap_360_cd(int32_t error);
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int32_t wrap_180_cd(int32_t error);
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float wrap_360_cd_float(float angle);
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float wrap_180_cd_float(float angle);
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/*
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wrap an angle defined in radians to -PI ~ PI (equivalent to +- 180 degrees)
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*/
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float wrap_PI(float angle_in_radians);
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/*
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print a int32_t lat/long in decimal degrees
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*/
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void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon);
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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// Converts from WGS84 geodetic coordinates (lat, lon, height)
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// into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates
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// (X, Y, Z)
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void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef);
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// Converts from WGS84 Earth Centered, Earth Fixed (ECEF)
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// coordinates (X, Y, Z), into WHS84 geodetic
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// coordinates (lat, lon, height)
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void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
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#endif
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// constrain a value
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float constrain_float(float amt, float low, float high);
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int16_t constrain_int16(int16_t amt, int16_t low, int16_t high);
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int32_t constrain_int32(int32_t amt, int32_t low, int32_t high);
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// degrees -> radians
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float radians(float deg);
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// radians -> degrees
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float degrees(float rad);
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// square
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float sq(float v);
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// sqrt of sum of squares
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float pythagorous2(float a, float b);
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float pythagorous3(float a, float b, float c);
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#ifdef radians
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#error "Build is including Arduino base headers"
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#endif
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/* The following three functions used to be arduino core macros */
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#define max(a,b) ((a)>(b)?(a):(b))
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#define min(a,b) ((a)<(b)?(a):(b))
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#endif // AP_MATH_H
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