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replace geo _wrap_pi with matrix::wrap_pi
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
518daa4a8d
commit
d0bde9ab2a
@@ -1,271 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2014 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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/**
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* @file geo.c
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*
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* Geo / math functions to perform geodesic calculations
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <lib/ecl/geo/geo.h>
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#include <px4.h>
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#include <unistd.h>
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#include <pthread.h>
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#include <stdio.h>
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#include <math.h>
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#include <stdbool.h>
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#include <string.h>
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#include <float.h>
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__EXPORT float _wrap_pi(float bearing)
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{
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/* value is inf or NaN */
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if (!PX4_ISFINITE(bearing)) {
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return bearing;
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}
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int c = 0;
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while (bearing >= M_PI_F) {
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bearing -= M_TWOPI_F;
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if (c++ > 3) {
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return NAN;
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}
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}
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c = 0;
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while (bearing < -M_PI_F) {
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bearing += M_TWOPI_F;
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if (c++ > 3) {
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return NAN;
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}
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}
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return bearing;
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}
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__EXPORT float _wrap_2pi(float bearing)
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{
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/* value is inf or NaN */
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if (!PX4_ISFINITE(bearing)) {
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return bearing;
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}
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int c = 0;
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while (bearing >= M_TWOPI_F) {
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bearing -= M_TWOPI_F;
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if (c++ > 3) {
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return NAN;
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}
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}
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c = 0;
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while (bearing < 0.0f) {
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bearing += M_TWOPI_F;
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if (c++ > 3) {
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return NAN;
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}
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}
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return bearing;
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}
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__EXPORT float _wrap_180(float bearing)
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{
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/* value is inf or NaN */
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if (!PX4_ISFINITE(bearing)) {
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return bearing;
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}
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int c = 0;
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while (bearing >= 180.0f) {
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bearing -= 360.0f;
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if (c++ > 3) {
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return NAN;
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}
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}
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c = 0;
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while (bearing < -180.0f) {
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bearing += 360.0f;
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if (c++ > 3) {
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return NAN;
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}
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}
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return bearing;
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}
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__EXPORT float _wrap_360(float bearing)
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{
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/* value is inf or NaN */
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if (!PX4_ISFINITE(bearing)) {
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return bearing;
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}
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int c = 0;
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while (bearing >= 360.0f) {
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bearing -= 360.0f;
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if (c++ > 3) {
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return NAN;
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}
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}
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c = 0;
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while (bearing < 0.0f) {
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bearing += 360.0f;
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if (c++ > 3) {
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return NAN;
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}
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}
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return bearing;
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}
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__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref)
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{
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return ref->init_done;
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}
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__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref)
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{
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return ref->timestamp;
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}
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__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0,
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uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
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{
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ref->lat_rad = lat_0 * M_DEG_TO_RAD;
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ref->lon_rad = lon_0 * M_DEG_TO_RAD;
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ref->sin_lat = sin(ref->lat_rad);
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ref->cos_lat = cos(ref->lat_rad);
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ref->timestamp = timestamp;
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ref->init_done = true;
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return 0;
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}
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__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0,
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double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
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{
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return map_projection_init_timestamped(ref, lat_0, lon_0, px4::get_time_micros());
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}
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__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad,
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double *ref_lon_rad)
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{
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if (!map_projection_initialized(ref)) {
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return -1;
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}
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*ref_lat_rad = ref->lat_rad;
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*ref_lon_rad = ref->lon_rad;
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return 0;
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}
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__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x,
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float *y)
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{
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if (!map_projection_initialized(ref)) {
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return -1;
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}
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double lat_rad = lat * M_DEG_TO_RAD;
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double lon_rad = lon * M_DEG_TO_RAD;
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double sin_lat = sin(lat_rad);
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double cos_lat = cos(lat_rad);
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double cos_d_lon = cos(lon_rad - ref->lon_rad);
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double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon);
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double k = (fabs(c) < DBL_EPSILON) ? 1.0 : (c / sin(c));
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*x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH;
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*y = k * cos_lat * sin(lon_rad - ref->lon_rad) * CONSTANTS_RADIUS_OF_EARTH;
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return 0;
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}
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__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat,
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double *lon)
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{
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if (!map_projection_initialized(ref)) {
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return -1;
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}
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double x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
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double y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
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double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
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double sin_c = sin(c);
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double cos_c = cos(c);
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double lat_rad;
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double lon_rad;
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if (fabs(c) > DBL_EPSILON) {
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lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c);
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lon_rad = (ref->lon_rad + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c));
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} else {
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lat_rad = ref->lat_rad;
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lon_rad = ref->lon_rad;
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}
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*lat = lat_rad * 180.0 / M_PI;
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*lon = lon_rad * 180.0 / M_PI;
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return 0;
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}
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