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add tangent plane mapping to geo.c

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daregger
2012-11-05 17:17:28 +01:00
parent 97a1d0fb87
commit 801cf3af3e
2 changed files with 151 additions and 1 deletions
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apps/systemlib/geo/geo.h
+7 -1
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@@ -55,6 +55,12 @@ typedef struct {
float bearing; // Bearing in radians to closest point on line/arc
} crosstrack_error_s;
__EXPORT static void map_projection_init(double lat_0, double lon_0);
__EXPORT static 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);
__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);
@@ -69,4 +75,4 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);
float _wrap2PI(float bearing);