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84 lines
3.3 KiB
84 lines
3.3 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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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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/** |
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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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// LatLonToUTMXY |
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// Converts a latitude/longitude pair to x and y coordinates in the |
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// Universal Transverse Mercator projection. |
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// |
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// Inputs: |
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// lat - Latitude of the point, in radians. |
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// lon - Longitude of the point, in radians. |
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// zone - UTM zone to be used for calculating values for x and y. |
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// If zone is less than 1 or greater than 60, the routine |
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// will determine the appropriate zone from the value of lon. |
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// |
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// Outputs: |
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// x - The x coordinate (easting) of the computed point. (in meters) |
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// y - The y coordinate (northing) of the computed point. (in meters) |
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// |
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// Returns: |
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// The UTM zone used for calculating the values of x and y. |
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int convertGeoToUTM(const QGeoCoordinate& coord, double& easting, double& northing); |
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// UTMXYToLatLon |
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// |
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// Converts x and y coordinates in the Universal Transverse Mercator// The UTM zone parameter should be in the range [1,60]. |
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// projection to a latitude/longitude pair. |
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// |
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// Inputs: |
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// x - The easting of the point, in meters. |
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// y - The northing of the point, in meters. |
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// zone - The UTM zone in which the point lies. |
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// southhemi - True if the point is in the southern hemisphere; |
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// false otherwise. |
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// |
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// Outputs: |
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// lat - The latitude of the point, in radians. |
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// lon - The longitude of the point, in radians. |
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// |
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// Returns: |
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// The function does not return a value. |
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void convertUTMToGeo(double easting, double northing, int zone, bool southhemi, QGeoCoordinate& coord); |
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#endif // QGCGEO_H
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