1 files changed, 165 insertions, 0 deletions
diff --git a/src/platforms/ros/geo.cpp b/src/platforms/ros/geo.cpp
new file mode 100644
index 000000000..a7ee6fd84
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+++ b/src/platforms/ros/geo.cpp
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   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 geo.c
+ *
+ * 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>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <geo/geo.h>
+#include <px4.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <string.h>
+#include <float.h>
+
+__EXPORT float _wrap_pi(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= M_PI_F) {
+		bearing -= M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < -M_PI_F) {
+		bearing += M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_2pi(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= M_TWOPI_F) {
+		bearing -= M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < 0.0f) {
+		bearing += M_TWOPI_F;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_180(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= 180.0f) {
+		bearing -= 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < -180.0f) {
+		bearing += 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_360(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	int c = 0;
+	while (bearing >= 360.0f) {
+		bearing -= 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	c = 0;
+	while (bearing < 0.0f) {
+		bearing += 360.0f;
+
+		if (c++ > 3) {
+			return NAN;
+		}
+	}
+
+	return bearing;
+}