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96 lines
3.4 KiB
96 lines
3.4 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2020 PX4 Development Team. All rights reserved. |
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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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#include <array> |
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template<typename T> |
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std::array<T, 3> get_local_mission_item(const Mission::MissionItem &item, const CoordinateTransformation &ct) |
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{ |
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using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate; |
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GlobalCoordinate global; |
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global.latitude_deg = item.latitude_deg; |
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global.longitude_deg = item.longitude_deg; |
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auto local = ct.local_from_global(global); |
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return {static_cast<T>(local.north_m), static_cast<T>(local.east_m), -item.relative_altitude_m}; |
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} |
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template<typename T> |
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T sq(T x) |
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{ |
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return x * x; |
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} |
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template<typename T> |
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T norm(const std::array<T, 3> &vec) |
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{ |
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return std::sqrt(sq(vec[0]) + sq(vec[1]) + sq(vec[2])); |
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} |
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template<typename T> |
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T dot(const std::array<T, 3> &vec1, const std::array<T, 3> &vec2) |
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{ |
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return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2]; |
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} |
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template<typename T> |
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std::array<T, 3> diff(const std::array<T, 3> &vec1, const std::array<T, 3> &vec2) |
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{ |
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return {vec1[0] - vec2[0], vec1[1] - vec2[1], vec1[2] - vec2[2]}; |
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} |
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template<typename T> |
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std::array<T, 3> normalized(const std::array<T, 3> &vec) |
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{ |
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T n = norm(vec); |
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if (n > 1e-6f) { |
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return {vec[0] / n, vec[1] / n, vec[2] / n}; |
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} else { |
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return {0, 0, 0}; |
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} |
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} |
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template<typename T> |
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T point_to_line_distance(const std::array<T, 3> &point, const std::array<T, 3> &line_start, |
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const std::array<T, 3> &line_end) |
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{ |
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std::array<T, 3> norm_dir = normalized(diff(line_end, line_start)); |
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T t = dot(norm_dir, diff(point, line_start)); |
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// closest_on_line = line_start + t * norm_dir; |
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std::array<T, 3> closest_on_line { line_start[0] + t *norm_dir[0], line_start[1] + t *norm_dir[1], line_start[2] + t *norm_dir[2]}; |
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return norm(diff(closest_on_line, point)); |
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}
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