void stateCalcPositionNed_i(void)
{
if (bit_is_set(state.pos_status, POS_NED_I)) {
return;
}
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
SetBit(state.pos_status, POS_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
ned_of_ecef_pos_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
} else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> ned_f, set status bit, then convert to int */
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> ecef_f -> ned_f, set status bits, then convert to int */
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_I)) {
ned_of_lla_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.lla_pos_i);
} else { /* could not get this representation, set errno */
errno = 1;
}
} else if (state.utm_initialized_f) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
SetBit(state.pos_status, POS_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_UTM_F)) {
/* transform utm_f -> ned_f -> ned_i, set status bits */
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> utm_f -> ned_f -> ned_i, set status bits */
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f -> ned_f -> ned_i, set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else { /* could not get this representation, set errno */
errno = 2;
}
} else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_i _ned_zero = {0};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_NED_I);
}
int main()
{
struct LtpDef_i ref;
struct EcefCoor_i ecef_ref;
ecef_ref.x = -241887298;
ecef_ref.y = 538037726;
ecef_ref.z = 241732905;
ltp_def_from_ecef_i(&ref,&ecef_ref);
struct EcefCoor_i pos1;
pos1.x = -241887285;
pos1.y = 538037716;
pos1.z = 241732895;
struct NedCoor_i result1;
ned_of_ecef_pos_i(&result1,&ref,&ecef_ref);
printf("x %f, ",POS_FLOAT_OF_BFP(result1.x));
printf("y %f, ",POS_FLOAT_OF_BFP(result1.y));
printf("z %f\n",POS_FLOAT_OF_BFP(result1.z));
struct NedCoor_i result;
ned_of_ecef_pos_i(&result,&ref,&pos1);
printf("x %f, ",POS_FLOAT_OF_BFP(result.x));
printf("y %f, ",POS_FLOAT_OF_BFP(result.y));
printf("z %f\n",POS_FLOAT_OF_BFP(result.z));
struct NedCoor_i ned_tar1, ned_tar2;
ned_tar1.x = 100 + POS_FLOAT_OF_BFP(result.x) * 100;
ned_tar1.y = POS_FLOAT_OF_BFP(result.y) * 100;
ned_tar1.z = 100 + POS_FLOAT_OF_BFP(result.z) * 100;
ned_tar2.x = -300;
ned_tar2.y = 0;
ned_tar2.z = 100;
struct EcefCoor_i ecef_tar1, ecef_tar2;
ecef_of_ned_point_i(&ecef_tar1,&ref,&ned_tar1);
ecef_of_ned_point_i(&ecef_tar2,&ref,&ned_tar2);
printf("ecef_tar1 x %d y %d z %d\n",ecef_tar1.x,ecef_tar1.y,ecef_tar1.z);
printf("ecef_tar2 x %d y %d z %d\n",ecef_tar2.x,ecef_tar2.y,ecef_tar2.z);
ned_of_ecef_pos_i(&result,&ref,&ecef_tar1);
printf("x %f, ",POS_FLOAT_OF_BFP(result.x));
printf("y %f, ",POS_FLOAT_OF_BFP(result.y));
printf("z %f\n",POS_FLOAT_OF_BFP(result.z));
ned_of_ecef_pos_i(&result,&ref,&ecef_tar2);
printf("x %f, ",POS_FLOAT_OF_BFP(result.x));
printf("y %f, ",POS_FLOAT_OF_BFP(result.y));
printf("z %f\n",POS_FLOAT_OF_BFP(result.z));
ned_of_ecef_point_i(&result,&ref,&ecef_tar1);
printf("x %f, ",POS_FLOAT_OF_BFP(result.x));
printf("y %f, ",POS_FLOAT_OF_BFP(result.y));
printf("z %f\n",POS_FLOAT_OF_BFP(result.z));
ned_of_ecef_point_i(&result,&ref,&ecef_tar2);
printf("x %f, ",POS_FLOAT_OF_BFP(result.x));
printf("y %f, ",POS_FLOAT_OF_BFP(result.y));
printf("z %f\n",POS_FLOAT_OF_BFP(result.z));
return 0;
}
