forked from Archive/PX4-Autopilot
98 lines
4.2 KiB
C
98 lines
4.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
|
* Julian Oes <joes@student.ethz.ch>
|
|
* Lorenz Meier <lm@inf.ethz.ch>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file geo.h
|
|
*
|
|
* Definition of geo / math functions to perform geodesic calculations
|
|
*
|
|
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
|
* @author Julian Oes <joes@student.ethz.ch>
|
|
* @author Lorenz Meier <lm@inf.ethz.ch>
|
|
* Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
|
|
*/
|
|
|
|
|
|
#include <stdbool.h>
|
|
|
|
struct crosstrack_error_s {
|
|
bool past_end; // Flag indicating we are past the end of the line/arc segment
|
|
float distance; // Distance in meters to closest point on line/arc
|
|
float bearing; // Bearing in radians to closest point on line/arc
|
|
} ;
|
|
|
|
/**
|
|
* Initializes the map transformation.
|
|
*
|
|
* Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
|
|
* @param lat in degrees (47.1234567°, not 471234567°)
|
|
* @param lon in degrees (8.1234567°, not 81234567°)
|
|
*/
|
|
__EXPORT void map_projection_init(double lat_0, double lon_0);
|
|
|
|
/**
|
|
* Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
|
|
* @param x north
|
|
* @param y east
|
|
* @param lat in degrees (47.1234567°, not 471234567°)
|
|
* @param lon in degrees (8.1234567°, not 81234567°)
|
|
*/
|
|
__EXPORT void map_projection_project(double lat, double lon, float *x, float *y);
|
|
|
|
/**
|
|
* Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
|
|
*
|
|
* @param x north
|
|
* @param y east
|
|
* @param lat in degrees (47.1234567°, not 471234567°)
|
|
* @param lon in degrees (8.1234567°, not 81234567°)
|
|
*/
|
|
__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
|
|
|
|
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
|
|
|
|
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
|
|
|
|
__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
|
|
|
|
__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
|
|
float radius, float arc_start_bearing, float arc_sweep);
|
|
|
|
__EXPORT float _wrap_180(float bearing);
|
|
__EXPORT float _wrap_360(float bearing);
|
|
__EXPORT float _wrap_pi(float bearing);
|
|
__EXPORT float _wrap_2pi(float bearing);
|