Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

Estimation/Mapping/Mapping.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 #ifndef __MAPPING_H
shimniok 0:826c6171fc1b 2 #define __MAPPING_H
shimniok 0:826c6171fc1b 3
shimniok 0:826c6171fc1b 4 #include "GeoPosition.h"
shimniok 0:826c6171fc1b 5 #include "CartPosition.h"
shimniok 0:826c6171fc1b 6
shimniok 0:826c6171fc1b 7 /** Maps GeoPosition latitude/longitude to CartPosition cartesian x,y
shimniok 0:826c6171fc1b 8 */
shimniok 0:826c6171fc1b 9 class Mapping {
shimniok 0:826c6171fc1b 10 public:
shimniok 0:826c6171fc1b 11 /** Initialize mapping with a number of GeoPosition coordinates
shimniok 0:826c6171fc1b 12 * The maximum/minimum values for lat/lon are then used to form
shimniok 0:826c6171fc1b 13 * four coordinates and linear interpolation is used to map lat/lon to y/x
shimniok 0:826c6171fc1b 14 */
shimniok 0:826c6171fc1b 15 void init(int count, GeoPosition *p);
shimniok 0:826c6171fc1b 16 /** Convert a GeoPosition to a CartPosition
shimniok 0:826c6171fc1b 17 * @param pos is the lat/lon pair
shimniok 0:826c6171fc1b 18 * @returns cart is the converted cartesian coordinate pair
shimniok 0:826c6171fc1b 19 */
shimniok 0:826c6171fc1b 20 void geoToCart(GeoPosition pos, CartPosition *cart);
shimniok 0:826c6171fc1b 21 /** Convert a GeoPosition to a CartPosition
shimniok 0:826c6171fc1b 22 * @param x is the cartesian x coordinate
shimniok 0:826c6171fc1b 23 * @param y is the cartesian y coordinate
shimniok 0:826c6171fc1b 24 * @returns pos is the converted GeoPosition lat/lon coordinate pair
shimniok 0:826c6171fc1b 25 */
shimniok 0:826c6171fc1b 26 void cartToGeo(float x, float y, GeoPosition *pos);
shimniok 0:826c6171fc1b 27 /** Convert a GeoPosition to a CartPosition
shimniok 0:826c6171fc1b 28 * @param cart is the x,y cartesian coordinate pair
shimniok 0:826c6171fc1b 29 * @returns pos is the converted GeoPosition lat/lon coordinate pair
shimniok 0:826c6171fc1b 30 */
shimniok 0:826c6171fc1b 31 void cartToGeo(CartPosition cart, GeoPosition *pos);
shimniok 0:826c6171fc1b 32
shimniok 0:826c6171fc1b 33 private:
shimniok 0:826c6171fc1b 34 double lonToX;
shimniok 0:826c6171fc1b 35 double latToY;
shimniok 0:826c6171fc1b 36 double latZero;
shimniok 0:826c6171fc1b 37 double lonZero;
shimniok 0:826c6171fc1b 38 };
shimniok 0:826c6171fc1b 39 #endif