Diff: Estimation/Mapping/Mapping.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Estimation/Mapping/Mapping.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,39 @@
+#ifndef __MAPPING_H
+#define __MAPPING_H
+
+#include "GeoPosition.h"
+#include "CartPosition.h"
+
+/** Maps GeoPosition latitude/longitude to CartPosition cartesian x,y
+ */
+class Mapping {
+public:
+    /** Initialize mapping with a number of GeoPosition coordinates
+     *  The maximum/minimum values for lat/lon are then used to form
+     *  four coordinates and linear interpolation is used to map lat/lon to y/x
+     */
+    void init(int count, GeoPosition *p);
+    /** Convert a GeoPosition to a CartPosition
+     * @param pos is the lat/lon pair
+     * @returns cart is the converted cartesian coordinate pair
+     */
+    void geoToCart(GeoPosition pos, CartPosition *cart);
+    /** Convert a GeoPosition to a CartPosition
+     * @param x is the cartesian x coordinate
+     * @param y is the cartesian y coordinate
+     * @returns pos is the converted GeoPosition lat/lon coordinate pair
+     */
+    void cartToGeo(float x, float y, GeoPosition *pos);
+    /** Convert a GeoPosition to a CartPosition
+     * @param cart is the x,y cartesian coordinate pair
+     * @returns pos is the converted GeoPosition lat/lon coordinate pair
+     */
+    void cartToGeo(CartPosition cart, GeoPosition *pos);
+
+private:
+    double lonToX;
+    double latToY;
+    double latZero;
+    double lonZero;
+};
+#endif