Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Estimation/GeoPosition/GeoPosition.h@0:a6a169de725f, 2013-05-27 (annotated)

Committer:
shimniok
Date:
Mon May 27 13:26:03 2013 +0000
Revision:
0:a6a169de725f
Working version with priorities set and update time display

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #ifndef __GEOPOSITION_H
shimniok 0:a6a169de725f 2 #define __GEOPOSITION_H
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 #ifndef _PI
shimniok 0:a6a169de725f 5 #define _PI 3.141592653
shimniok 0:a6a169de725f 6 #endif
shimniok 0:a6a169de725f 7
shimniok 0:a6a169de725f 8 #define degrees(x) ((x)*180/_PI)
shimniok 0:a6a169de725f 9 #define radians(x) ((x)*_PI/180)
shimniok 0:a6a169de725f 10
shimniok 0:a6a169de725f 11 /** Geographical position and calculation. Most of this comes from http://www.movable-type.co.uk/scripts/latlong.html
shimniok 0:a6a169de725f 12 *
shimniok 0:a6a169de725f 13 */
shimniok 0:a6a169de725f 14 class GeoPosition {
shimniok 0:a6a169de725f 15 public:
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 /** Create a new emtpy position object
shimniok 0:a6a169de725f 18 *
shimniok 0:a6a169de725f 19 */
shimniok 0:a6a169de725f 20 GeoPosition();
shimniok 0:a6a169de725f 21
shimniok 0:a6a169de725f 22 /** Create a new position with the specified latitude and longitude. See set()
shimniok 0:a6a169de725f 23 *
shimniok 0:a6a169de725f 24 * @param latitude is the latitude to set
shimniok 0:a6a169de725f 25 * @param longitude is the longitude to set
shimniok 0:a6a169de725f 26 */
shimniok 0:a6a169de725f 27 GeoPosition(double latitude, double longitude);
shimniok 0:a6a169de725f 28
shimniok 0:a6a169de725f 29 /** Get the position's latitude
shimniok 0:a6a169de725f 30 *
shimniok 0:a6a169de725f 31 * @returns the position's latitude
shimniok 0:a6a169de725f 32 */
shimniok 0:a6a169de725f 33 double latitude();
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 /** Get the position's longitude
shimniok 0:a6a169de725f 36 *
shimniok 0:a6a169de725f 37 * @returns the position's longitude
shimniok 0:a6a169de725f 38 */
shimniok 0:a6a169de725f 39 double longitude();
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 /** Set the position's location to another position's coordinates
shimniok 0:a6a169de725f 42 *
shimniok 0:a6a169de725f 43 * @param pos is another position from which coordinates will be copied
shimniok 0:a6a169de725f 44 */
shimniok 0:a6a169de725f 45 void set(GeoPosition pos);
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 /** Set the position's location to the specified coordinates
shimniok 0:a6a169de725f 48 *
shimniok 0:a6a169de725f 49 * @param latitude is the new latitude to set
shimniok 0:a6a169de725f 50 * @param longitude is the new longitude to set
shimniok 0:a6a169de725f 51 */
shimniok 0:a6a169de725f 52 void set(double latitude, double longitude);
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 /** Move the location of the position by the specified distance and in
shimniok 0:a6a169de725f 55 * the specified direction
shimniok 0:a6a169de725f 56 *
shimniok 0:a6a169de725f 57 * @param course is the direction of movement in degrees, absolute not relative
shimniok 0:a6a169de725f 58 * @param distance is the distance of movement along the specified course in meters
shimniok 0:a6a169de725f 59 */
shimniok 0:a6a169de725f 60 void move(float course, float distance);
shimniok 0:a6a169de725f 61
shimniok 0:a6a169de725f 62 /** Get the bearing from the specified origin position to this position. To get
shimniok 0:a6a169de725f 63 * relative bearing, subtract the result from your heading.
shimniok 0:a6a169de725f 64 *
shimniok 0:a6a169de725f 65 * @param from is the position from which to calculate bearing
shimniok 0:a6a169de725f 66 * @returns the bearing in degrees
shimniok 0:a6a169de725f 67 */
shimniok 0:a6a169de725f 68 float bearing(GeoPosition from);
shimniok 0:a6a169de725f 69
shimniok 0:a6a169de725f 70 float bearingFrom(GeoPosition from);
shimniok 0:a6a169de725f 71
shimniok 0:a6a169de725f 72 float bearingTo(GeoPosition to);
shimniok 0:a6a169de725f 73
shimniok 0:a6a169de725f 74 /** Get the distance from the specified origin position to this position
shimniok 0:a6a169de725f 75 *
shimniok 0:a6a169de725f 76 * @param from is the position from which to calculate distance
shimniok 0:a6a169de725f 77 * @returns the distance in meters
shimniok 0:a6a169de725f 78 */
shimniok 0:a6a169de725f 79 float distance(GeoPosition from);
shimniok 0:a6a169de725f 80
shimniok 0:a6a169de725f 81 float distanceTo(GeoPosition to);
shimniok 0:a6a169de725f 82
shimniok 0:a6a169de725f 83 float distanceFrom(GeoPosition from);
shimniok 0:a6a169de725f 84
shimniok 0:a6a169de725f 85 /** Set an arbitrary timestamp on the position
shimniok 0:a6a169de725f 86 *
shimniok 0:a6a169de725f 87 * @param timestamp is an integer timestamp, eg., seconds, milliseconds, or whatever
shimniok 0:a6a169de725f 88 */
shimniok 0:a6a169de725f 89 void setTimestamp(int time);
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91 /** Return a previously set timestamp on the position
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @returns the timestamp (e.g., seconds, milliseconds, etc.)
shimniok 0:a6a169de725f 94 */
shimniok 0:a6a169de725f 95 int getTimestamp(void);
shimniok 0:a6a169de725f 96
shimniok 0:a6a169de725f 97 private:
shimniok 0:a6a169de725f 98 double _R; /** Earth's mean radius */
shimniok 0:a6a169de725f 99 double _latitude; /** The position's latitude */
shimniok 0:a6a169de725f 100 double _longitude; /** The position's longitude */
shimniok 0:a6a169de725f 101 double _northing; /** The position's UTM northing coordinate */
shimniok 0:a6a169de725f 102 double _easting; /** The position's UTM easting coordinate */
shimniok 0:a6a169de725f 103 int _time; /** Timestamp */
shimniok 0:a6a169de725f 104 };
shimniok 0:a6a169de725f 105
shimniok 0:a6a169de725f 106 #endif