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