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108 lines
4.1 KiB
C++
108 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025 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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#include <matrix/math.hpp>
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namespace ObstacleMath
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{
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enum SensorOrientation {
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ROTATION_YAW_0 = 0, // MAV_SENSOR_ROTATION_NONE
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ROTATION_YAW_45 = 1, // MAV_SENSOR_ROTATION_YAW_45
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ROTATION_YAW_90 = 2, // MAV_SENSOR_ROTATION_YAW_90
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ROTATION_YAW_135 = 3, // MAV_SENSOR_ROTATION_YAW_135
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ROTATION_YAW_180 = 4, // MAV_SENSOR_ROTATION_YAW_180
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ROTATION_YAW_225 = 5, // MAV_SENSOR_ROTATION_YAW_225
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ROTATION_YAW_270 = 6, // MAV_SENSOR_ROTATION_YAW_270
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ROTATION_YAW_315 = 7, // MAV_SENSOR_ROTATION_YAW_315
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ROTATION_CUSTOM = 100, // MAV_SENSOR_ROTATION_CUSTOM
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ROTATION_FORWARD_FACING = 0, // MAV_SENSOR_ROTATION_NONE
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ROTATION_RIGHT_FACING = 2, // MAV_SENSOR_ROTATION_YAW_90
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ROTATION_BACKWARD_FACING = 4, // MAV_SENSOR_ROTATION_YAW_180
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ROTATION_LEFT_FACING = 6 // MAV_SENSOR_ROTATION_YAW_270
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};
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/**
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* Converts a sensor orientation to a yaw offset
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* @param orientation sensor orientation
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*/
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float sensor_orientation_to_yaw_offset(const SensorOrientation orientation, const float q[4] = nullptr);
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/**
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* Scales a distance measurement taken in the vehicle body horizontal plane onto the world horizontal plane
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* @param distance measurement which is scaled down
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* @param yaw orientation of the measurement on the body horizontal plane
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* @param q_world_vehicle vehicle attitude quaternion
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*/
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void project_distance_on_horizontal_plane(float &distance, const float yaw, const matrix::Quatf &q_world_vehicle);
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/**
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* Returns bin index at a given angle from the 0th bin
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* @param bin_width width of a bin in degrees
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* @param angle clockwise angle from start bin in degrees
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*/
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int get_bin_at_angle(float bin_width, float angle);
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/**
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* Returns lower bound angle of a bin
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* @param bin bin index
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* @param bin_width width of a bin in degrees
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* @param angle_offset clockwise angle offset in degrees
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*/
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float get_lower_bound_angle(int bin, float bin_width, float angle_offset);
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/**
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* Returns bin index for the current bin after an angle offset
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* @param bin current bin index
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* @param bin_width width of a bin in degrees
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* @param angle_offset clockwise angle offset in degrees
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*/
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int get_offset_bin_index(int bin, float bin_width, float angle_offset);
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/**
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* Wraps a bin index to the range [0, bin_count)
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* @param bin bin index
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* @param bin_count number of bins
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*/
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int wrap_bin(int bin, int bin_count);
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/**
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* Wraps an angle to the range [0, 360)
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* @param angle angle in degrees
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*/
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float wrap_360(const float angle);
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} // ObstacleMath
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