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Diffstat (limited to 'src/platforms/ros/geo.cpp')
-rw-r--r-- | src/platforms/ros/geo.cpp | 266 |
1 files changed, 266 insertions, 0 deletions
diff --git a/src/platforms/ros/geo.cpp b/src/platforms/ros/geo.cpp new file mode 100644 index 000000000..04094de8b --- /dev/null +++ b/src/platforms/ros/geo.cpp @@ -0,0 +1,266 @@ +/**************************************************************************** + * + * 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; +} + +__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref) +{ + return ref->init_done; +} + +__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref) +{ + return ref->timestamp; +} + +__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 +{ + + ref->lat_rad = lat_0 * M_DEG_TO_RAD; + ref->lon_rad = lon_0 * M_DEG_TO_RAD; + ref->sin_lat = sin(ref->lat_rad); + ref->cos_lat = cos(ref->lat_rad); + + ref->timestamp = timestamp; + ref->init_done = true; + + return 0; +} + +__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 +{ + return map_projection_init_timestamped(ref, lat_0, lon_0, px4::get_time_micros()); +} + +__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad) +{ + if (!map_projection_initialized(ref)) { + return -1; + } + + *ref_lat_rad = ref->lat_rad; + *ref_lon_rad = ref->lon_rad; + + return 0; +} + +__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y) +{ + if (!map_projection_initialized(ref)) { + return -1; + } + + double lat_rad = lat * M_DEG_TO_RAD; + double lon_rad = lon * M_DEG_TO_RAD; + + double sin_lat = sin(lat_rad); + double cos_lat = cos(lat_rad); + double cos_d_lon = cos(lon_rad - ref->lon_rad); + + double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon); + double k = (fabs(c) < DBL_EPSILON) ? 1.0 : (c / sin(c)); + + *x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH; + *y = k * cos_lat * sin(lon_rad - ref->lon_rad) * CONSTANTS_RADIUS_OF_EARTH; + + return 0; +} + +__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon) +{ + if (!map_projection_initialized(ref)) { + return -1; + } + + double x_rad = x / CONSTANTS_RADIUS_OF_EARTH; + double y_rad = y / CONSTANTS_RADIUS_OF_EARTH; + double c = sqrtf(x_rad * x_rad + y_rad * y_rad); + double sin_c = sin(c); + double cos_c = cos(c); + + double lat_rad; + double lon_rad; + + if (fabs(c) > DBL_EPSILON) { + lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c); + lon_rad = (ref->lon_rad + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c)); + + } else { + lat_rad = ref->lat_rad; + lon_rad = ref->lon_rad; + } + + *lat = lat_rad * 180.0 / M_PI; + *lon = lon_rad * 180.0 / M_PI; + + return 0; +} |