move geo and geo_lookup from PX4 Firmware to ECL

2026-10-15 08:43:34 +08:00 · 2018-03-26 21:52:11 -04:00
parent 1bb4c17c0e
commit cd12f049fe
25 changed files with 392 additions and 343 deletions
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mathlib.h
+ *
+ * Target specific math functions and definitions
+ *
+ * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
+ */
+#ifndef MATHLIB_H
+#define MATHLIB_H
+#ifdef POSIX_SHARED
+// #include <Eigen/Dense>
+// #include <algorithm>
+#ifndef M_PI_F
+#define M_PI_F 3.14159265358979323846f
+#endif
+
+#ifndef M_PI
+#define M_PI (3.14159265358979323846f)
+#endif
+
+#ifndef M_PI_2_F
+#define M_PI_2_F (M_PI / 2.0f)
+#endif
+
+namespace math
+{
+// using namespace Eigen;
+
+float min(float val1, float val2);
+float max(float val1, float val2);
+float constrain(float val, float min, float max);
+float radians(float degrees);
+float degrees(float radians);
+
+}
+#else
+#include <mathlib/mathlib.h>
+#endif //POSIX_SHARED
+#endif //MATHLIB_H