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Cleaned up PI wrapping code, still subject to testing

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Lorenz Meier
2012-11-20 15:19:51 +01:00
parent 129e6d73de
commit 6ff4520904
10 changed files with 121 additions and 174 deletions
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apps/systemlib/geo/geo.h
+29 -9
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@@ -54,24 +54,44 @@ struct crosstrack_error_s {
float bearing; // Bearing in radians to closest point on line/arc
} ;
__EXPORT static void map_projection_init(double lat_0, double lon_0);
/**
* 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);
__EXPORT static void map_projection_project(double lat, double lon, float *x, float *y);
/**
* 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);
__EXPORT static void map_projection_reproject(float x, float y, double *lat, double *lon);
/**
* 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);
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);
__EXPORT float _wrap_180(float bearing);
__EXPORT float _wrap_360(float bearing);
__EXPORT float _wrap_pi(float bearing);
__EXPORT float _wrap_2pi(float bearing);