diff options
Diffstat (limited to 'src/lib/geo/geo.h')
| -rw-r--r-- | src/lib/geo/geo.h | 141 |
1 files changed, 132 insertions, 9 deletions
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 8b286af36..2311e0a7c 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -69,39 +69,162 @@ struct crosstrack_error_s { /* lat/lon are in radians */ struct map_projection_reference_s { - double lat; - double lon; + double lat_rad; + double lon_rad; double sin_lat; double cos_lat; + bool init_done; + uint64_t timestamp; }; +struct globallocal_converter_reference_s { + float alt; + bool init_done; +}; + +/** + * Checks if global projection was initialized + * @return true if map was initialized before, false else + */ +__EXPORT bool map_projection_global_initialized(void); + +/** + * Checks if projection given as argument was initialized + * @return true if map was initialized before, false else + */ +__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref); + +/** + * Get the timestamp of the global map projection + * @return the timestamp of the map_projection + */ +__EXPORT uint64_t map_projection_global_timestamp(void); + +/** + * Get the timestamp of the map projection given by the argument + * @return the timestamp of the map_projection + */ +__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref); + +/** + * Writes the reference values of the global projection to ref_lat and ref_lon + * @return 0 if map_projection_init was called before, -1 else + */ +__EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad); + /** - * Initializes the map transformation. + * Writes the reference values of the projection given by the argument to ref_lat and ref_lon + * @return 0 if map_projection_init was called before, -1 else + */ +__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad); + +/** + * Initializes the global map transformation. + * + * Initializes the transformation between the geographic coordinate system and + * the azimuthal equidistant plane + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + */ +__EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp); + +/** + * Initializes the map transformation given by the argument. + * + * Initializes the transformation between the geographic coordinate system and + * the azimuthal equidistant plane + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + */ +__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, + double lat_0, double lon_0, uint64_t timestamp); + +/** + * Initializes the map transformation given by the argument and sets the timestamp to now. * - * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane + * Initializes the transformation between the geographic coordinate system and + * the azimuthal equidistant plane * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ -__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0); +__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0); /** - * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane + * Transforms a point in the geographic coordinate system to the local + * azimuthal equidistant plane using the global projection * @param x north * @param y east * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) + * @return 0 if map_projection_init was called before, -1 else */ -__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y); +__EXPORT int map_projection_global_project(double lat, double lon, float *x, float *y); + + + /* Transforms a point in the geographic coordinate system to the local + * azimuthal equidistant plane using the projection given by the argument + * @param x north + * @param y east + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + * @return 0 if map_projection_init was called before, -1 else + */ +__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y); + +/** + * Transforms a point in the local azimuthal equidistant plane to the + * geographic coordinate system using the global projection + * + * @param x north + * @param y east + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + * @return 0 if map_projection_init was called before, -1 else + */ +__EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon); /** - * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system + * Transforms a point in the local azimuthal equidistant plane to the + * geographic coordinate system using the projection given by the argument * * @param x north * @param y east * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) + * @return 0 if map_projection_init was called before, -1 else + */ +__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon); + +/** + * Get reference position of the global map projection + */ +__EXPORT int map_projection_global_getref(double *lat_0, double *lon_0); + +/** + * Initialize the global mapping between global position (spherical) and local position (NED). + */ +__EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp); + +/** + * Checks if globallocalconverter was initialized + * @return true if map was initialized before, false else + */ +__EXPORT bool globallocalconverter_initialized(void); + +/** + * Convert from global position coordinates to local position coordinates using the global reference + */ +__EXPORT int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z); + +/** + * Convert from local position coordinates to global position coordinates using the global reference + */ +__EXPORT int globallocalconverter_toglobal(float x, float y, float z, double *lat, double *lon, float *alt); + +/** + * Get reference position of the global to local converter */ -__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon); +__EXPORT int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0); /** * Returns the distance to the next waypoint in meters. |