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62 lines
2.5 KiB
62 lines
2.5 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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/// @file |
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/// @brief Coordinate transformation math functions. |
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/// @link https://github.com/PX4/Firmware/blob/master/src/lib/geo/geo.c |
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/// @link http://psas.pdx.edu/CoordinateSystem/Latitude_to_LocalTangent.pdf |
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/// @link http://dspace.dsto.defence.gov.au/dspace/bitstream/1947/3538/1/DSTO-TN-0432.pdf |
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/// @author David Goodman <dagoodma@gmail.com> |
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#ifndef QGCGEO_H |
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#define QGCGEO_H |
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#include <QGeoCoordinate> |
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/* Safeguard for systems lacking sincos (e.g. Mac OS X Leopard) */ |
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#ifndef sincos |
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#define sincos(th,x,y) { (*(x))=sin(th); (*(y))=cos(th); } |
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#endif |
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/** |
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* @brief Project a geodetic coordinate on to local tangential plane (LTP) as coordinate with East, |
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* North, and Down components in meters. |
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* @param[in] coord Geodetic coordinate to project onto LTP. |
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* @param[in] origin Geoedetic origin for LTP projection. |
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* @param[out] x North component of coordinate in local plane. |
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* @param[out] y East component of coordinate in local plane. |
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* @param[out] z Down component of coordinate in local plane. |
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*/ |
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void convertGeoToNed(QGeoCoordinate coord, QGeoCoordinate origin, double* x, double* y, double* z); |
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/** |
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* @brief Transform a local (East, North, and Down) coordinate into a geodetic coordinate. |
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* @param[in] x North component of local coordinate in meters. |
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* @param[in] x East component of local coordinate in meters. |
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* @param[in] x Down component of local coordinate in meters. |
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* @param[in] origin Geoedetic origin for LTP. |
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* @param[out] coord Geodetic coordinate to hold result. |
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*/ |
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void convertNedToGeo(double x, double y, double z, QGeoCoordinate origin, QGeoCoordinate *coord); |
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#endif // QGCGEO_H
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