Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Estimation/GeoPosition/GeoPosition.cpp@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | #include "GeoPosition.h" |
shimniok | 0:826c6171fc1b | 2 | #include <math.h> |
shimniok | 0:826c6171fc1b | 3 | |
shimniok | 0:826c6171fc1b | 4 | // Earth's mean radius in meters |
shimniok | 0:826c6171fc1b | 5 | #define EARTHRADIUS 6371000.0 |
shimniok | 0:826c6171fc1b | 6 | // TODO: 2 altitude |
shimniok | 0:826c6171fc1b | 7 | |
shimniok | 0:826c6171fc1b | 8 | GeoPosition::GeoPosition(): _R(EARTHRADIUS), _latitude(0.0), _longitude(0.0) |
shimniok | 0:826c6171fc1b | 9 | { |
shimniok | 0:826c6171fc1b | 10 | } |
shimniok | 0:826c6171fc1b | 11 | |
shimniok | 0:826c6171fc1b | 12 | GeoPosition::GeoPosition(double latitude, double longitude): _R(EARTHRADIUS), _latitude(latitude), _longitude(longitude) |
shimniok | 0:826c6171fc1b | 13 | { |
shimniok | 0:826c6171fc1b | 14 | } |
shimniok | 0:826c6171fc1b | 15 | |
shimniok | 0:826c6171fc1b | 16 | /* |
shimniok | 0:826c6171fc1b | 17 | double GeoPosition::easting() |
shimniok | 0:826c6171fc1b | 18 | { |
shimniok | 0:826c6171fc1b | 19 | } |
shimniok | 0:826c6171fc1b | 20 | |
shimniok | 0:826c6171fc1b | 21 | double GeoPosition::northing() |
shimniok | 0:826c6171fc1b | 22 | { |
shimniok | 0:826c6171fc1b | 23 | } |
shimniok | 0:826c6171fc1b | 24 | */ |
shimniok | 0:826c6171fc1b | 25 | |
shimniok | 0:826c6171fc1b | 26 | double GeoPosition::latitude() |
shimniok | 0:826c6171fc1b | 27 | { |
shimniok | 0:826c6171fc1b | 28 | return _latitude; |
shimniok | 0:826c6171fc1b | 29 | } |
shimniok | 0:826c6171fc1b | 30 | |
shimniok | 0:826c6171fc1b | 31 | double GeoPosition::longitude() |
shimniok | 0:826c6171fc1b | 32 | { |
shimniok | 0:826c6171fc1b | 33 | return _longitude; |
shimniok | 0:826c6171fc1b | 34 | } |
shimniok | 0:826c6171fc1b | 35 | |
shimniok | 0:826c6171fc1b | 36 | void GeoPosition::set(double latitude, double longitude) |
shimniok | 0:826c6171fc1b | 37 | { |
shimniok | 0:826c6171fc1b | 38 | _latitude = latitude; |
shimniok | 0:826c6171fc1b | 39 | _longitude = longitude; |
shimniok | 0:826c6171fc1b | 40 | } |
shimniok | 0:826c6171fc1b | 41 | |
shimniok | 0:826c6171fc1b | 42 | void GeoPosition::set(GeoPosition pos) |
shimniok | 0:826c6171fc1b | 43 | { |
shimniok | 0:826c6171fc1b | 44 | _latitude = pos.latitude(); |
shimniok | 0:826c6171fc1b | 45 | _longitude = pos.longitude(); |
shimniok | 0:826c6171fc1b | 46 | } |
shimniok | 0:826c6171fc1b | 47 | |
shimniok | 0:826c6171fc1b | 48 | /* |
shimniok | 0:826c6171fc1b | 49 | void GeoPosition::set(UTM coord) |
shimniok | 0:826c6171fc1b | 50 | { |
shimniok | 0:826c6171fc1b | 51 | } |
shimniok | 0:826c6171fc1b | 52 | */ |
shimniok | 0:826c6171fc1b | 53 | |
shimniok | 0:826c6171fc1b | 54 | void GeoPosition::move(float course, float distance) |
shimniok | 0:826c6171fc1b | 55 | { |
shimniok | 0:826c6171fc1b | 56 | double d = distance / _R; |
shimniok | 0:826c6171fc1b | 57 | double c = radians(course); |
shimniok | 0:826c6171fc1b | 58 | double rlat1 = radians(_latitude); |
shimniok | 0:826c6171fc1b | 59 | double rlon1 = radians(_longitude); |
shimniok | 0:826c6171fc1b | 60 | |
shimniok | 0:826c6171fc1b | 61 | // Precompute to improve performance |
shimniok | 0:826c6171fc1b | 62 | double cd = cos(d); |
shimniok | 0:826c6171fc1b | 63 | double sd = sin(d); |
shimniok | 0:826c6171fc1b | 64 | double srlat1 = sin(rlat1); |
shimniok | 0:826c6171fc1b | 65 | double crlat1 = cos(rlat1); |
shimniok | 0:826c6171fc1b | 66 | |
shimniok | 0:826c6171fc1b | 67 | double rlat2 = asin(srlat1*cd + crlat1*sd*cos(c)); |
shimniok | 0:826c6171fc1b | 68 | double rlon2 = rlon1 + atan2(sin(c)*sd*crlat1, cd-srlat1*sin(rlat2)); |
shimniok | 0:826c6171fc1b | 69 | |
shimniok | 0:826c6171fc1b | 70 | _latitude = degrees(rlat2); |
shimniok | 0:826c6171fc1b | 71 | _longitude = degrees(rlon2); |
shimniok | 0:826c6171fc1b | 72 | |
shimniok | 0:826c6171fc1b | 73 | // bring back within the range -180 to +180 |
shimniok | 0:826c6171fc1b | 74 | while (_longitude < -180.0) _longitude += 360.0; |
shimniok | 0:826c6171fc1b | 75 | while (_longitude > 180.0) _longitude -= 360.0; |
shimniok | 0:826c6171fc1b | 76 | } |
shimniok | 0:826c6171fc1b | 77 | |
shimniok | 0:826c6171fc1b | 78 | /* |
shimniok | 0:826c6171fc1b | 79 | void GeoPosition::move(Direction toWhere) |
shimniok | 0:826c6171fc1b | 80 | { |
shimniok | 0:826c6171fc1b | 81 | } |
shimniok | 0:826c6171fc1b | 82 | |
shimniok | 0:826c6171fc1b | 83 | Direction GeoPosition::direction(GeoPosition startingPoint) |
shimniok | 0:826c6171fc1b | 84 | { |
shimniok | 0:826c6171fc1b | 85 | } |
shimniok | 0:826c6171fc1b | 86 | */ |
shimniok | 0:826c6171fc1b | 87 | |
shimniok | 0:826c6171fc1b | 88 | float GeoPosition::bearing(GeoPosition from) |
shimniok | 0:826c6171fc1b | 89 | { |
shimniok | 0:826c6171fc1b | 90 | return bearingFrom(from); |
shimniok | 0:826c6171fc1b | 91 | } |
shimniok | 0:826c6171fc1b | 92 | |
shimniok | 0:826c6171fc1b | 93 | float GeoPosition::bearingTo(GeoPosition to) |
shimniok | 0:826c6171fc1b | 94 | { |
shimniok | 0:826c6171fc1b | 95 | double lat1 = radians(_latitude); |
shimniok | 0:826c6171fc1b | 96 | double lon1 = radians(_longitude); |
shimniok | 0:826c6171fc1b | 97 | double lat2 = radians(to.latitude()); |
shimniok | 0:826c6171fc1b | 98 | double lon2 = radians(to.longitude()); |
shimniok | 0:826c6171fc1b | 99 | double dLon = lon2 - lon1; |
shimniok | 0:826c6171fc1b | 100 | |
shimniok | 0:826c6171fc1b | 101 | double y = sin(dLon) * cos(lat2); |
shimniok | 0:826c6171fc1b | 102 | double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(dLon); |
shimniok | 0:826c6171fc1b | 103 | |
shimniok | 0:826c6171fc1b | 104 | return degrees(atan2(y, x)); |
shimniok | 0:826c6171fc1b | 105 | } |
shimniok | 0:826c6171fc1b | 106 | |
shimniok | 0:826c6171fc1b | 107 | /* |
shimniok | 0:826c6171fc1b | 108 | JavaScript: |
shimniok | 0:826c6171fc1b | 109 | var y = Math.sin(dLon) * Math.cos(lat2); |
shimniok | 0:826c6171fc1b | 110 | var x = Math.cos(lat1)*Math.sin(lat2) - |
shimniok | 0:826c6171fc1b | 111 | Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon); |
shimniok | 0:826c6171fc1b | 112 | var brng = Math.atan2(y, x).toDeg(); |
shimniok | 0:826c6171fc1b | 113 | */ |
shimniok | 0:826c6171fc1b | 114 | float GeoPosition::bearingFrom(GeoPosition from) |
shimniok | 0:826c6171fc1b | 115 | { |
shimniok | 0:826c6171fc1b | 116 | double lat1 = radians(from.latitude()); |
shimniok | 0:826c6171fc1b | 117 | double lon1 = radians(from.longitude()); |
shimniok | 0:826c6171fc1b | 118 | double lat2 = radians(_latitude); |
shimniok | 0:826c6171fc1b | 119 | double lon2 = radians(_longitude); |
shimniok | 0:826c6171fc1b | 120 | double dLon = lon2 - lon1; |
shimniok | 0:826c6171fc1b | 121 | |
shimniok | 0:826c6171fc1b | 122 | double y = sin(dLon) * cos(lat2); |
shimniok | 0:826c6171fc1b | 123 | double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(dLon); |
shimniok | 0:826c6171fc1b | 124 | |
shimniok | 0:826c6171fc1b | 125 | return degrees(atan2(y, x)); |
shimniok | 0:826c6171fc1b | 126 | } |
shimniok | 0:826c6171fc1b | 127 | |
shimniok | 0:826c6171fc1b | 128 | /* |
shimniok | 0:826c6171fc1b | 129 | float GeoPosition::bearing(LatLong startingPoint) |
shimniok | 0:826c6171fc1b | 130 | { |
shimniok | 0:826c6171fc1b | 131 | } |
shimniok | 0:826c6171fc1b | 132 | |
shimniok | 0:826c6171fc1b | 133 | float GeoPosition::bearing(UTM startingPoint) |
shimniok | 0:826c6171fc1b | 134 | { |
shimniok | 0:826c6171fc1b | 135 | } |
shimniok | 0:826c6171fc1b | 136 | */ |
shimniok | 0:826c6171fc1b | 137 | |
shimniok | 0:826c6171fc1b | 138 | float GeoPosition::distance(GeoPosition from) |
shimniok | 0:826c6171fc1b | 139 | { |
shimniok | 0:826c6171fc1b | 140 | return distanceFrom(from); |
shimniok | 0:826c6171fc1b | 141 | } |
shimniok | 0:826c6171fc1b | 142 | |
shimniok | 0:826c6171fc1b | 143 | float GeoPosition::distanceTo(GeoPosition to) |
shimniok | 0:826c6171fc1b | 144 | { |
shimniok | 0:826c6171fc1b | 145 | double lat1 = radians(_latitude); |
shimniok | 0:826c6171fc1b | 146 | double lon1 = radians(_longitude); |
shimniok | 0:826c6171fc1b | 147 | double lat2 = radians(to.latitude()); |
shimniok | 0:826c6171fc1b | 148 | double lon2 = radians(to.longitude()); |
shimniok | 0:826c6171fc1b | 149 | double dLat = lat2 - lat1; |
shimniok | 0:826c6171fc1b | 150 | double dLon = lon2 - lon1; |
shimniok | 0:826c6171fc1b | 151 | |
shimniok | 0:826c6171fc1b | 152 | double a = sin(dLat/2.0) * sin(dLat/2.0) + |
shimniok | 0:826c6171fc1b | 153 | cos(lat1) * cos(lat2) * |
shimniok | 0:826c6171fc1b | 154 | sin(dLon/2.0) * sin(dLon/2.0); |
shimniok | 0:826c6171fc1b | 155 | double c = 2.0 * atan2(sqrt(a), sqrt(1-a)); |
shimniok | 0:826c6171fc1b | 156 | |
shimniok | 0:826c6171fc1b | 157 | return _R * c; |
shimniok | 0:826c6171fc1b | 158 | } |
shimniok | 0:826c6171fc1b | 159 | |
shimniok | 0:826c6171fc1b | 160 | float GeoPosition::distanceFrom(GeoPosition from) |
shimniok | 0:826c6171fc1b | 161 | { |
shimniok | 0:826c6171fc1b | 162 | double lat1 = radians(from.latitude()); |
shimniok | 0:826c6171fc1b | 163 | double lon1 = radians(from.longitude()); |
shimniok | 0:826c6171fc1b | 164 | double lat2 = radians(_latitude); |
shimniok | 0:826c6171fc1b | 165 | double lon2 = radians(_longitude); |
shimniok | 0:826c6171fc1b | 166 | double dLat = lat2 - lat1; |
shimniok | 0:826c6171fc1b | 167 | double dLon = lon2 - lon1; |
shimniok | 0:826c6171fc1b | 168 | |
shimniok | 0:826c6171fc1b | 169 | double a = sin(dLat/2.0) * sin(dLat/2.0) + |
shimniok | 0:826c6171fc1b | 170 | cos(lat1) * cos(lat2) * |
shimniok | 0:826c6171fc1b | 171 | sin(dLon/2.0) * sin(dLon/2.0); |
shimniok | 0:826c6171fc1b | 172 | double c = 2.0 * atan2(sqrt(a), sqrt(1-a)); |
shimniok | 0:826c6171fc1b | 173 | |
shimniok | 0:826c6171fc1b | 174 | return _R * c; |
shimniok | 0:826c6171fc1b | 175 | } |
shimniok | 0:826c6171fc1b | 176 | |
shimniok | 0:826c6171fc1b | 177 | /* |
shimniok | 0:826c6171fc1b | 178 | float GeoPosition::distance(LatLong startingPoint) |
shimniok | 0:826c6171fc1b | 179 | { |
shimniok | 0:826c6171fc1b | 180 | } |
shimniok | 0:826c6171fc1b | 181 | |
shimniok | 0:826c6171fc1b | 182 | float GeoPosition::distance(UTM startingPoint) |
shimniok | 0:826c6171fc1b | 183 | { |
shimniok | 0:826c6171fc1b | 184 | } |
shimniok | 0:826c6171fc1b | 185 | */ |
shimniok | 0:826c6171fc1b | 186 | |
shimniok | 0:826c6171fc1b | 187 | void GeoPosition::setTimestamp(int time) { |
shimniok | 0:826c6171fc1b | 188 | _time = time; |
shimniok | 0:826c6171fc1b | 189 | } |
shimniok | 0:826c6171fc1b | 190 | |
shimniok | 0:826c6171fc1b | 191 | int GeoPosition::getTimestamp(void) { |
shimniok | 0:826c6171fc1b | 192 | return _time; |
shimniok | 0:826c6171fc1b | 193 | } |
shimniok | 0:826c6171fc1b | 194 | |
shimniok | 0:826c6171fc1b | 195 | |
shimniok | 0:826c6171fc1b | 196 |