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58 lines
2.0 KiB
58 lines
2.0 KiB
/** |
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****************************************************************************** |
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* |
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* @file coordinateconversions.h |
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. |
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* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009. |
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* @brief |
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* @see The GNU Public License (GPL) Version 3 |
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* @defgroup |
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* @{ |
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* |
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*****************************************************************************/ |
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/* |
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* This program 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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* |
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* This program is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY |
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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* for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program; if not, write to the Free Software Foundation, Inc., |
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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#ifndef COORDINATECONVERSIONS_H |
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#define COORDINATECONVERSIONS_H |
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#include "utils_global.h" |
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#ifndef EXTERNAL_USE |
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#include "../extensionsystem/pluginmanager.h" |
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#include "../../plugins/uavobjects/uavobjectmanager.h" |
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#include "../../plugins/uavobjects/uavobject.h" |
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#endif |
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#include "math.h" |
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namespace Utils { |
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class QTCREATOR_UTILS_EXPORT CoordinateConversions |
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{ |
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public: |
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CoordinateConversions(); |
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int GetLLA(double LLA[3], double NED[3], double position[3]); |
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void RneFromLLA(double LLA[3], double Rne[3][3]); |
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void LLA2ECEF(double LLA[3], double ECEF[3]); |
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int ECEF2LLA(double ECEF[3], double LLA[3]); |
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void LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3], float NED[3]); |
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void Quaternion2RPY(const float q[4], float rpy[3]); |
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void RPY2Quaternion(const float rpy[3], float q[4]); |
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void Quaternion2R(const float q[4], float Rbe[3][3]); |
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}; |
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} |
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#endif /* COORDINATECONVERSIONS_H */
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