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uncrustify libraries/AP_Math/location.cpp

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uncrustify 2012-08-16 23:20:14 -07:00 committed by Pat Hickey
parent f11f64108a
commit 86e4925fa5
1 changed files with 57 additions and 57 deletions
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114
libraries/AP_Math/location.cpp
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@ -18,7 +18,7 @@
*/
/*
this module deals with calculations involving struct Location
* this module deals with calculations involving struct Location
*/
#include <FastSerial.h>
@ -29,17 +29,17 @@
static float longitude_scale(const struct Location *loc)
{
static int32_t last_lat;
static float scale = 1.0;
if (labs(last_lat - loc->lat) < 100000) {
// we are within 0.01 degrees (about 1km) of the
// same latitude. We can avoid the cos() and return
// the same scale factor.
return scale;
}
scale = cos((fabs((float)loc->lat)/1.0e7) * 0.0174532925);
last_lat = loc->lat;
return scale;
static int32_t last_lat;
static float scale = 1.0;
if (labs(last_lat - loc->lat) < 100000) {
// we are within 0.01 degrees (about 1km) of the
// same latitude. We can avoid the cos() and return
// the same scale factor.
return scale;
}
scale = cos((fabs((float)loc->lat)/1.0e7) * 0.0174532925);
last_lat = loc->lat;
return scale;
}
@ -48,13 +48,13 @@ static float longitude_scale(const struct Location *loc)
// if one of the locations is invalid
float get_distance(const struct Location *loc1, const struct Location *loc2)
{
if (loc1->lat == 0 || loc1->lng == 0)
return -1;
if(loc2->lat == 0 || loc2->lng == 0)
return -1;
float dlat = (float)(loc2->lat - loc1->lat);
float dlong = ((float)(loc2->lng - loc1->lng)) * longitude_scale(loc2);
return sqrt(sq(dlat) + sq(dlong)) * .01113195;
if (loc1->lat == 0 || loc1->lng == 0)
return -1;
if(loc2->lat == 0 || loc2->lng == 0)
return -1;
float dlat = (float)(loc2->lat - loc1->lat);
float dlong = ((float)(loc2->lng - loc1->lng)) * longitude_scale(loc2);
return sqrt(sq(dlat) + sq(dlong)) * .01113195;
}
// return distance in centimeters to between two locations, or -1 if
@ -67,11 +67,11 @@ int32_t get_distance_cm(const struct Location *loc1, const struct Location *loc2
// return bearing in centi-degrees between two locations
int32_t get_bearing_cd(const struct Location *loc1, const struct Location *loc2)
{
int32_t off_x = loc2->lng - loc1->lng;
int32_t off_y = (loc2->lat - loc1->lat) / longitude_scale(loc2);
int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
if (bearing < 0) bearing += 36000;
return bearing;
int32_t off_x = loc2->lng - loc1->lng;
int32_t off_y = (loc2->lat - loc1->lat) / longitude_scale(loc2);
int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
if (bearing < 0) bearing += 36000;
return bearing;
}
// see if location is past a line perpendicular to
@ -80,16 +80,16 @@ int32_t get_bearing_cd(const struct Location *loc1, const struct Location *loc2)
// then this function returns true if we have flown past
// the target waypoint
bool location_passed_point(struct Location &location,
struct Location &point1,
struct Location &point2)
struct Location &point1,
struct Location &point2)
{
// the 3 points form a triangle. If the angle between lines
// point1->point2 and location->point2 is greater than 90
// degrees then we have passed the waypoint
Vector2f loc1(location.lat, location.lng);
Vector2f pt1(point1.lat, point1.lng);
Vector2f pt2(point2.lat, point2.lng);
float angle = (loc1 - pt2).angle(pt1 - pt2);
// the 3 points form a triangle. If the angle between lines
// point1->point2 and location->point2 is greater than 90
// degrees then we have passed the waypoint
Vector2f loc1(location.lat, location.lng);
Vector2f pt1(point1.lat, point1.lng);
Vector2f pt2(point2.lat, point2.lng);
float angle = (loc1 - pt2).angle(pt1 - pt2);
if (isinf(angle)) {
// two of the points are co-located.
// If location is equal to point2 then say we have passed the
@ -99,34 +99,34 @@ bool location_passed_point(struct Location &location,
}
return false;
} else if (angle == 0) {
// if we are exactly on the line between point1 and
// point2 then we are past the waypoint if the
// distance from location to point1 is greater then
// the distance from point2 to point1
return get_distance(&location, &point1) >
get_distance(&point2, &point1);
// if we are exactly on the line between point1 and
// point2 then we are past the waypoint if the
// distance from location to point1 is greater then
// the distance from point2 to point1
return get_distance(&location, &point1) >
get_distance(&point2, &point1);
}
if (degrees(angle) > 90) {
return true;
}
return false;
}
if (degrees(angle) > 90) {
return true;
}
return false;
}
/*
extrapolate latitude/longitude given bearing and distance
thanks to http://www.movable-type.co.uk/scripts/latlong.html
This function is precise, but costs about 1.7 milliseconds on an AVR2560
*/
* extrapolate latitude/longitude given bearing and distance
* thanks to http://www.movable-type.co.uk/scripts/latlong.html
*
* This function is precise, but costs about 1.7 milliseconds on an AVR2560
*/
void location_update(struct Location *loc, float bearing, float distance)
{
float lat1 = radians(loc->lat*1.0e-7);
float lon1 = radians(loc->lng*1.0e-7);
float brng = radians(bearing);
float dr = distance/RADIUS_OF_EARTH;
float lat1 = radians(loc->lat*1.0e-7);
float lon1 = radians(loc->lng*1.0e-7);
float brng = radians(bearing);
float dr = distance/RADIUS_OF_EARTH;
float lat2 = asin(sin(lat1)*cos(dr) +
float lat2 = asin(sin(lat1)*cos(dr) +
cos(lat1)*sin(dr)*cos(brng));
float lon2 = lon1 + atan2(sin(brng)*sin(dr)*cos(lat1),
cos(dr)-sin(lat1)*sin(lat2));
@ -135,9 +135,9 @@ void location_update(struct Location *loc, float bearing, float distance)
}
/*
extrapolate latitude/longitude given distances north and east
This function costs about 80 usec on an AVR2560
*/
* extrapolate latitude/longitude given distances north and east
* This function costs about 80 usec on an AVR2560
*/
void location_offset(struct Location *loc, float ofs_north, float ofs_east)
{
if (ofs_north != 0 || ofs_east != 0) {