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added geo functions to create new waypoints from given setting

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Roman
2015-11-17 22:28:09 +01:00
parent 0f03ae12d7
commit 896dff40cf
2 changed files with 31 additions and 0 deletions
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src/lib/geo/geo.c
+25
View File
@@ -298,6 +298,31 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
return CONSTANTS_RADIUS_OF_EARTH * c; return CONSTANTS_RADIUS_OF_EARTH * c;
} }
__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist, double *lat_target, double *lon_target)
{
float heading;
if (fabsf(dist) < FLT_EPSILON) {
*lat_target = lat_A;
*lon_target = lon_A;
}
else if (dist >= FLT_EPSILON) {
heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
} else {
heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
heading = _wrap_2pi(heading + 180.0f * M_PI_F);
waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
}
}
__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, double *lat_end, double *lon_end)
{
bearing = _wrap_2pi(bearing);
double radius_ratio = (double)(dist / CONSTANTS_RADIUS_OF_EARTH);
*lat_end = asin(sin(lat_start) * cos(radius_ratio) + cos(lat_start) * sin(radius_ratio) * cos((double)bearing));
*lon_end = lon_start + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start), cos(radius_ratio) - sin(lat_start) * sin(*lat_end));
}
__EXPORT float get_bearing_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)
{ {
double lat_now_rad = lat_now * M_DEG_TO_RAD; double lat_now_rad = lat_now * M_DEG_TO_RAD;
src/lib/geo/geo.h
+6
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@@ -236,6 +236,12 @@ __EXPORT int globallocalconverter_getref(double *lat_0, double *lon_0, float *al
*/ */
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next); __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
// TODO put description for both functions and improve naming
__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist, double *lat_target, double *lon_target);
__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, double *end_lat, double *end_lon);
/** /**
* Returns the bearing to the next waypoint in radians. * Returns the bearing to the next waypoint in radians.
* *