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Diffstat (limited to 'src/modules/systemlib/geo/geo.h')
| -rw-r--r-- | src/modules/systemlib/geo/geo.h | 97 |
1 files changed, 0 insertions, 97 deletions
diff --git a/src/modules/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h deleted file mode 100644 index 0c0b5c533..000000000 --- a/src/modules/systemlib/geo/geo.h +++ /dev/null @@ -1,97 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * Lorenz Meier <lm@inf.ethz.ch> - * - * 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 geo.h - * - * Definition of geo / math functions to perform geodesic calculations - * - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu> - */ - - -#include <stdbool.h> - -struct crosstrack_error_s { - bool past_end; // Flag indicating we are past the end of the line/arc segment - float distance; // Distance in meters to closest point on line/arc - float bearing; // Bearing in radians to closest point on line/arc -} ; - -/** - * Initializes the 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 void map_projection_init(double lat_0, double lon_0); - -/** - * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -__EXPORT void map_projection_project(double lat, double lon, float *x, float *y); - -/** - * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system - * - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon); - -__EXPORT float get_distance_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); - -__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end); - -__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, - float radius, float arc_start_bearing, float arc_sweep); - -__EXPORT float _wrap_180(float bearing); -__EXPORT float _wrap_360(float bearing); -__EXPORT float _wrap_pi(float bearing); -__EXPORT float _wrap_2pi(float bearing); |