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geo: purge old globallocal_converter

master
Daniel Agar 4 years ago
parent
b3c1bd6d40
commit
4df0054873
2 changed files with 0 additions and 198 deletions
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  1. 111
      geo/geo.cpp
  2. 87
      geo/geo.h

111
geo/geo.cpp
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@ -57,39 +57,19 @@ using matrix::wrap_2pi;
* formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html
*/ */
static struct map_projection_reference_s mp_ref;
static struct globallocal_converter_reference_s gl_ref = {0.0f, false};
bool map_projection_global_initialized()
{
return map_projection_initialized(&mp_ref);
}
bool map_projection_initialized(const struct map_projection_reference_s *ref) bool map_projection_initialized(const struct map_projection_reference_s *ref)
{ {
return ref->init_done; return ref->init_done;
} }
uint64_t map_projection_global_timestamp()
{
return map_projection_timestamp(&mp_ref);
}
uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref) uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref)
{ {
return ref->timestamp; return ref->timestamp;
} }
// lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp)
{
return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
}
// lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 // lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp)
{ {
ref->lat_rad = math::radians(lat_0); ref->lat_rad = math::radians(lat_0);
ref->lon_rad = math::radians(lon_0); ref->lon_rad = math::radians(lon_0);
ref->sin_lat = sin(ref->lat_rad); ref->sin_lat = sin(ref->lat_rad);
@ -107,11 +87,6 @@ int map_projection_init(struct map_projection_reference_s *ref, double lat_0, do
return map_projection_init_timestamped(ref, lat_0, lon_0, ecl_absolute_time()); return map_projection_init_timestamped(ref, lat_0, lon_0, ecl_absolute_time());
} }
int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad)
{
return map_projection_reference(&mp_ref, ref_lat_rad, ref_lon_rad);
}
int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad) int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad)
{ {
if (!map_projection_initialized(ref)) { if (!map_projection_initialized(ref)) {
@ -124,11 +99,6 @@ int map_projection_reference(const struct map_projection_reference_s *ref, doubl
return 0; return 0;
} }
int map_projection_global_project(double lat, double lon, float *x, float *y)
{
return map_projection_project(&mp_ref, lat, lon, x, y);
}
int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y) int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y)
{ {
if (!map_projection_initialized(ref)) { if (!map_projection_initialized(ref)) {
@ -158,11 +128,6 @@ int map_projection_project(const struct map_projection_reference_s *ref, double
return 0; return 0;
} }
int map_projection_global_reproject(float x, float y, double *lat, double *lon)
{
return map_projection_reproject(&mp_ref, x, y, lat, lon);
}
int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon) int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
{ {
if (!map_projection_initialized(ref)) { if (!map_projection_initialized(ref)) {
@ -191,82 +156,6 @@ int map_projection_reproject(const struct map_projection_reference_s *ref, float
return 0; return 0;
} }
int map_projection_global_getref(double *lat_0, double *lon_0)
{
if (!map_projection_global_initialized()) {
return -1;
}
if (lat_0 != nullptr) {
*lat_0 = math::degrees(mp_ref.lat_rad);
}
if (lon_0 != nullptr) {
*lon_0 = math::degrees(mp_ref.lon_rad);
}
return 0;
}
int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp)
{
gl_ref.alt = alt_0;
if (!map_projection_global_init(lat_0, lon_0, timestamp)) {
gl_ref.init_done = true;
return 0;
}
gl_ref.init_done = false;
return -1;
}
bool globallocalconverter_initialized()
{
return gl_ref.init_done && map_projection_global_initialized();
}
int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z)
{
if (!map_projection_global_initialized()) {
return -1;
}
map_projection_global_project(lat, lon, x, y);
*z = gl_ref.alt - alt;
return 0;
}
int globallocalconverter_toglobal(float x, float y, float z, double *lat, double *lon, float *alt)
{
if (!map_projection_global_initialized()) {
return -1;
}
map_projection_global_reproject(x, y, lat, lon);
*alt = gl_ref.alt - z;
return 0;
}
int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0)
{
if (map_projection_global_initialized() != 0) {
return -1;
}
if (map_projection_global_getref(lat_0, lon_0)) {
return -1;
}
if (alt_0 != nullptr) {
*alt_0 = gl_ref.alt;
}
return 0;
}
float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next) float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{ {
const double lat_now_rad = math::radians(lat_now); const double lat_now_rad = math::radians(lat_now);

87
geo/geo.h
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@ -81,57 +81,24 @@ struct map_projection_reference_s {
bool init_done; bool init_done;
}; };
struct globallocal_converter_reference_s {
float alt;
bool init_done;
};
/**
* Checks if global projection was initialized
* @return true if map was initialized before, false else
*/
bool map_projection_global_initialized();
/** /**
* Checks if projection given as argument was initialized * Checks if projection given as argument was initialized
* @return true if map was initialized before, false else * @return true if map was initialized before, false else
*/ */
bool map_projection_initialized(const struct map_projection_reference_s *ref); bool map_projection_initialized(const struct map_projection_reference_s *ref);
/**
* Get the timestamp of the global map projection
* @return the timestamp of the map_projection
*/
uint64_t map_projection_global_timestamp(void);
/** /**
* Get the timestamp of the map projection given by the argument * Get the timestamp of the map projection given by the argument
* @return the timestamp of the map_projection * @return the timestamp of the map_projection
*/ */
uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref); uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref);
/**
* Writes the reference values of the global projection to ref_lat and ref_lon
* @return 0 if map_projection_init was called before, -1 else
*/
int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad);
/** /**
* Writes the reference values of the projection given by the argument to ref_lat and ref_lon * Writes the reference values of the projection given by the argument to ref_lat and ref_lon
* @return 0 if map_projection_init was called before, -1 else * @return 0 if map_projection_init was called before, -1 else
*/ */
int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad); int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad);
/**
* Initializes the global 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°)
*/
int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp);
/** /**
* Initializes the map transformation given by the argument. * Initializes the map transformation given by the argument.
* *
@ -152,17 +119,6 @@ int map_projection_init_timestamped(struct map_projection_reference_s *ref, doub
*/ */
int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0); int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
/**
* Transforms a point in the geographic coordinate system to the local
* azimuthal equidistant plane using the global projection
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
* @return 0 if map_projection_init was called before, -1 else
*/
int map_projection_global_project(double lat, double lon, float *x, float *y);
/* Transforms a point in the geographic coordinate system to the local /* Transforms a point in the geographic coordinate system to the local
* azimuthal equidistant plane using the projection given by the argument * azimuthal equidistant plane using the projection given by the argument
* @param x north * @param x north
@ -173,18 +129,6 @@ int map_projection_global_project(double lat, double lon, float *x, float *y);
*/ */
int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y); int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y);
/**
* Transforms a point in the local azimuthal equidistant plane to the
* geographic coordinate system using the global projection
*
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
* @return 0 if map_projection_init was called before, -1 else
*/
int map_projection_global_reproject(float x, float y, double *lat, double *lon);
/** /**
* Transforms a point in the local azimuthal equidistant plane to the * Transforms a point in the local azimuthal equidistant plane to the
* geographic coordinate system using the projection given by the argument * geographic coordinate system using the projection given by the argument
@ -197,37 +141,6 @@ int map_projection_global_reproject(float x, float y, double *lat, double *lon);
*/ */
int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon); int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
/**
* Get reference position of the global map projection
*/
int map_projection_global_getref(double *lat_0, double *lon_0);
/**
* Initialize the global mapping between global position (spherical) and local position (NED).
*/
int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp);
/**
* Checks if globallocalconverter was initialized
* @return true if map was initialized before, false else
*/
bool globallocalconverter_initialized(void);
/**
* Convert from global position coordinates to local position coordinates using the global reference
*/
int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z);
/**
* Convert from local position coordinates to global position coordinates using the global reference
*/
int globallocalconverter_toglobal(float x, float y, float z, double *lat, double *lon, float *alt);
/**
* Get reference position of the global to local converter
*/
int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0);
/** /**
* Returns the distance to the next waypoint in meters. * Returns the distance to the next waypoint in meters.
* *

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