C++ (Cpp) LLA_COPY Exemples

Exemple #1

Fichier : pprz_geodetic_int.c Projet : HolyFox812/paparazzi

void ltp_def_from_lla_i(struct LtpDef_i* def, struct LlaCoor_i* lla) {

  /* store the origin of the tangeant plane */
  LLA_COPY(def->lla, *lla);
  /* compute the ecef representation of the origin */
  ecef_of_lla_i(&def->ecef, &def->lla);
  /* store the rotation matrix                    */

#if 1
  int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
  int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
  int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
  int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
  int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
  int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
  int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
  int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#endif


  def->ltp_of_ecef.m[0] = -sin_lon;
  def->ltp_of_ecef.m[1] =  cos_lon;
  def->ltp_of_ecef.m[2] =  0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
  def->ltp_of_ecef.m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
  def->ltp_of_ecef.m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
  def->ltp_of_ecef.m[5] =  cos_lat;
  def->ltp_of_ecef.m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
  def->ltp_of_ecef.m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
  def->ltp_of_ecef.m[8] =  sin_lat;

}

Exemple #2

Fichier : pprz_geodetic_int.c Projet : De-Night/paparazzi

void ltp_def_from_lla_i(struct LtpDef_i *def, struct LlaCoor_i *lla)
{

  /* store the origin of the tangent plane */
  LLA_COPY(def->lla, *lla);
  /* compute the ecef representation of the origin */
  ecef_of_lla_i(&def->ecef, &def->lla);
  /* store the rotation matrix                    */
  ltp_of_ecef_rmat_from_lla_i(&def->ltp_of_ecef, &def->lla);

}

Exemple #3

Fichier : pprz_geodetic_float.c Projet : AshuLara/lisa

void ltp_def_from_lla_f(struct LtpDef_f* def, struct LlaCoor_f* lla) {
  /* store the origin of the tangeant plane */
  LLA_COPY(def->lla, *lla);
  /* compute the ecef representation of the origin */
  ecef_of_lla_f(&def->ecef, &def->lla);

  /* store the rotation matrix                    */
  const float sin_lat = sinf(def->lla.lat);
  const float cos_lat = cosf(def->lla.lat);
  const float sin_lon = sinf(def->lla.lon);
  const float cos_lon = cosf(def->lla.lon);

  def->ltp_of_ecef.m[0] = -sin_lon;
  def->ltp_of_ecef.m[1] =  cos_lon;
  def->ltp_of_ecef.m[2] =  0.; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
  def->ltp_of_ecef.m[3] = -sin_lat*cos_lon;
  def->ltp_of_ecef.m[4] = -sin_lat*sin_lon;
  def->ltp_of_ecef.m[5] =  cos_lat;
  def->ltp_of_ecef.m[6] =  cos_lat*cos_lon;
  def->ltp_of_ecef.m[7] =  cos_lat*sin_lon;
  def->ltp_of_ecef.m[8] =  sin_lat;
}