Spiri/ROSBuzz_MISTLab
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simplify ned transform

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This commit is contained in:
David St-Onge 2017-03-27 16:53:56 -04:00
parent 6533af3c7e
commit cff0a226a5
1 changed files with 10 additions and 2 deletions
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12
src/roscontroller.cpp
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@ -436,8 +436,16 @@ namespace rosbzz_node{
/ from GPS coordinates / from GPS coordinates
----------------------------------------------------------- */ ----------------------------------------------------------- */
#define EARTH_RADIUS (double) 6371000.0 #define EARTH_RADIUS (double) 6371000.0
#define DEG2RAD(DEG) ((DEG)*((M_PI)/(180.0)))
void roscontroller::cvt_rangebearing_coordinates(double nei[], double out[], double cur[]){ void roscontroller::cvt_rangebearing_coordinates(double nei[], double out[], double cur[]){
double lat1 = cur[0]*M_PI/180.0; double d_lon = nei[1] - cur[1];
double d_lat = nei[0] - cur[0];
double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS;
double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
out[0] = sqrt(ned_x*ned_x+ned_y*ned_y);
out[1] = atan2(ned_y,ned_x);
out[2] = 0.0;
/* double lat1 = cur[0]*M_PI/180.0;
double lon1 = cur[1]*M_PI/180.0; double lon1 = cur[1]*M_PI/180.0;
double lat2 = nei[0]*M_PI/180.0; double lat2 = nei[0]*M_PI/180.0;
double lon2 = nei[1]*M_PI/180.0; double lon2 = nei[1]*M_PI/180.0;
@ -445,7 +453,7 @@ namespace rosbzz_node{
double y = sin(lon1-lon2)*cos(lat1); double y = sin(lon1-lon2)*cos(lat1);
double x = cos(lat2)*sin(lat1) - sin(lat2)*cos(lat1)*cos(lon1-lon2); double x = cos(lat2)*sin(lat1) - sin(lat2)*cos(lat1)*cos(lon1-lon2);
out[1] = atan2(y,x)+M_PI; out[1] = atan2(y,x)+M_PI;
out[2] = 0.0; out[2] = 0.0;*/
} }
/*------------------------------------------------------ /*------------------------------------------------------