Double Geodetic functions

Collaboration diagram for Double Geodetic functions:

Data Structures
struct	EcefCoor_d
	vector in EarthCenteredEarthFixed coordinates More...
struct	LlaCoor_d
	vector in Latitude, Longitude and Altitude More...
struct	NedCoor_d
	vector in North East Down coordinates Units: meters More...
struct	EnuCoor_d
	vector in East North Up coordinates Units: meters More...
struct	UtmCoor_d
	position in UTM coordinates Units: meters More...
struct	LtpDef_d
	definition of the local (flat earth) coordinate system More...

Functions
void	lla_of_utm_d (struct LlaCoor_d *lla, struct UtmCoor_d *utm)
void	utm_of_lla_d (struct UtmCoor_d *utm, struct LlaCoor_d *lla)
void	ltp_def_from_ecef_d (struct LtpDef_d *def, struct EcefCoor_d *ecef)
void	ltp_def_from_lla_d (struct LtpDef_d *def, struct LlaCoor_d *lla)
void	lla_of_ecef_d (struct LlaCoor_d *out, struct EcefCoor_d *in)
void	ecef_of_lla_d (struct EcefCoor_d *out, struct LlaCoor_d *in)
void	enu_of_ecef_point_d (struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef)
void	ned_of_ecef_point_d (struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef)
void	enu_of_ecef_vect_d (struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef)
void	ned_of_ecef_vect_d (struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef)
void	ecef_of_enu_point_d (struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu)
void	ecef_of_ned_point_d (struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned)
void	ecef_of_enu_vect_d (struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu)
void	ecef_of_ned_vect_d (struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned)
void	enu_of_lla_point_d (struct EnuCoor_d *enu, struct LtpDef_d *def, struct LlaCoor_d *lla)
void	ned_of_lla_point_d (struct NedCoor_d *ned, struct LtpDef_d *def, struct LlaCoor_d *lla)
double	gc_of_gd_lat_d (double gd_lat, double hmsl)

Detailed Description

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Data Structure Documentation

EcefCoor_d

struct EcefCoor_d

vector in EarthCenteredEarthFixed coordinates

Origin at center of mass of the Earth. Z-axis is pointing north, the x-axis intersects the sphere of the earth at 0° latitude (Equator) and 0° longitude (Greenwich). Y-axis completes it to right-hand system. Units: meters

Definition at line 49 of file pprz_geodetic_double.h.

Data Fields
double	x	in meters
double	y	in meters
double	z	in meters

LlaCoor_d

struct LlaCoor_d

vector in Latitude, Longitude and Altitude

Definition at line 58 of file pprz_geodetic_double.h.

Data Fields
double	alt	in meters above WGS84 reference ellipsoid
double	lat	in radians
double	lon	in radians

NedCoor_d

struct NedCoor_d

vector in North East Down coordinates Units: meters

Definition at line 67 of file pprz_geodetic_double.h.

Data Fields
double	x	in meters
double	y	in meters
double	z	in meters

EnuCoor_d

struct EnuCoor_d

vector in East North Up coordinates Units: meters

Definition at line 76 of file pprz_geodetic_double.h.

Data Fields
double	x	in meters
double	y	in meters
double	z	in meters

UtmCoor_d

struct UtmCoor_d

position in UTM coordinates Units: meters

Definition at line 85 of file pprz_geodetic_double.h.

Data Fields
double	alt	in meters (above WGS84 reference ellipsoid or above MSL)
double	east	in meters
double	north	in meters
uint8_t	zone	UTM zone number.

LtpDef_d

struct LtpDef_d

definition of the local (flat earth) coordinate system

Defines the origin of the local coordinate system in ECEF and LLA coordinates and the roation matrix from ECEF to local frame

Definition at line 97 of file pprz_geodetic_double.h.

Collaboration diagram for LtpDef_d:

Data Fields
struct EcefCoor_d	ecef	origin of local frame in ECEF
double	hmsl	height in meters above mean sea level
struct LlaCoor_d	lla	origin of local frame in LLA
struct DoubleRMat	ltp_of_ecef	rotation from ECEF to local frame

Function Documentation

ecef_of_enu_point_d()

void ecef_of_enu_point_d	(	struct EcefCoor_d *	ecef,
		struct LtpDef_d *	def,
		struct EnuCoor_d *	enu
	)

Definition at line 168 of file pprz_geodetic_double.c.

References LtpDef_d::ecef, LtpDef_d::ltp_of_ecef, MAT33_VECT3_TRANSP_MUL, and VECT3_ADD.

Referenced by ecef_of_ned_point_d(), get_pos(), and nps_fdm_run_step().

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ecef_of_enu_vect_d()

void ecef_of_enu_vect_d	(	struct EcefCoor_d *	ecef,
		struct LtpDef_d *	def,
		struct EnuCoor_d *	enu
	)

Definition at line 181 of file pprz_geodetic_double.c.

References LtpDef_d::ltp_of_ecef, and MAT33_VECT3_TRANSP_MUL.

Referenced by ecef_of_ned_vect_d(), get_acc(), get_vel(), and nps_fdm_run_step().

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ecef_of_lla_d()

void ecef_of_lla_d	(	struct EcefCoor_d *	out,
		struct LlaCoor_d *	in
	)

Definition at line 120 of file pprz_geodetic_double.c.

References LlaCoor_d::alt, f, LlaCoor_d::lat, LlaCoor_d::lon, EcefCoor_d::x, EcefCoor_d::y, and EcefCoor_d::z.

Referenced by decode_gpspacket(), ecef_of_lla_i(), enu_of_lla_point_d(), init_jsbsim(), init_ltp(), ltp_def_from_lla_d(), and ned_of_lla_point_d().

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ecef_of_ned_point_d()

void ecef_of_ned_point_d	(	struct EcefCoor_d *	ecef,
		struct LtpDef_d *	def,
		struct NedCoor_d *	ned
	)

Definition at line 174 of file pprz_geodetic_double.c.

References ecef_of_enu_point_d(), and ENU_OF_TO_NED.

Referenced by gazebo_read().

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ecef_of_ned_vect_d()

void ecef_of_ned_vect_d	(	struct EcefCoor_d *	ecef,
		struct LtpDef_d *	def,
		struct NedCoor_d *	ned
	)

Definition at line 186 of file pprz_geodetic_double.c.

References ecef_of_enu_vect_d(), and ENU_OF_TO_NED.

Referenced by decode_gpspacket(), and gazebo_read().

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enu_of_ecef_point_d()

void enu_of_ecef_point_d	(	struct EnuCoor_d *	ned,
		struct LtpDef_d *	def,
		struct EcefCoor_d *	ecef
	)

Definition at line 140 of file pprz_geodetic_double.c.

References LtpDef_d::ecef, LtpDef_d::ltp_of_ecef, MAT33_VECT3_MUL, and VECT3_DIFF.

Referenced by enu_of_lla_point_d(), ned_of_ecef_point_d(), and nps_fdm_run_step().

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enu_of_ecef_vect_d()

void enu_of_ecef_vect_d	(	struct EnuCoor_d *	ned,
		struct LtpDef_d *	def,
		struct EcefCoor_d *	ecef
	)

Definition at line 154 of file pprz_geodetic_double.c.

References LtpDef_d::ltp_of_ecef, and MAT33_VECT3_MUL.

Referenced by ned_of_ecef_vect_d(), and nps_fdm_run_step().

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enu_of_lla_point_d()

void enu_of_lla_point_d	(	struct EnuCoor_d *	enu,
		struct LtpDef_d *	def,
		struct LlaCoor_d *	lla
	)

Definition at line 194 of file pprz_geodetic_double.c.

References ecef_of_lla_d(), and enu_of_ecef_point_d().

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gc_of_gd_lat_d()

double gc_of_gd_lat_d	(	double	gd_lat,
		double	hmsl
	)

Definition at line 210 of file pprz_geodetic_double.c.

References c2, and f.

Referenced by gazebo_read(), and init_jsbsim().

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lla_of_ecef_d()

void lla_of_ecef_d	(	struct LlaCoor_d *	out,
		struct EcefCoor_d *	in
	)

Definition at line 83 of file pprz_geodetic_double.c.

References LlaCoor_d::alt, b, f, LlaCoor_d::lat, LlaCoor_d::lon, P, s, logger_uart_parse::s1, EcefCoor_d::x, EcefCoor_d::y, EcefCoor_d::z, and z2.

Referenced by fetch_state(), gazebo_read(), get_pos(), lla_of_ecef_i(), ltp_def_from_ecef_d(), nps_fdm_run_step(), and nps_sensor_gps_run_step().

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lla_of_utm_d()

void lla_of_utm_d	(	struct LlaCoor_d *	lla,
		struct UtmCoor_d *	utm
	)

Definition at line 311 of file pprz_geodetic_double.c.

References LlaCoor_d::alt, UtmCoor_d::alt, CSin, DELTA_EAST, DELTA_NORTH, E, UtmCoor_d::east, inverse_isometric_latitude_d(), isometric_latitude_fast_d(), LambdaOfUtmZone, LlaCoor_d::lat, LlaCoor_d::lon, N, UtmCoor_d::north, scale, serie_coeff_proj_mercator, serie_coeff_proj_mercator_inverse, VECT2_SMUL, VECT2_SUB, DoubleVect2::x, DoubleVect2::y, and UtmCoor_d::zone.

Referenced by lla_of_utm_i().

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ltp_def_from_ecef_d()

void ltp_def_from_ecef_d	(	struct LtpDef_d *	def,
		struct EcefCoor_d *	ecef
	)

Definition at line 34 of file pprz_geodetic_double.c.

References LtpDef_d::ecef, LlaCoor_d::lat, LtpDef_d::lla, lla_of_ecef_d(), LlaCoor_d::lon, LtpDef_d::ltp_of_ecef, DoubleRMat::m, and VECT3_COPY.

Referenced by gps_feed_value(), and init_ltp().

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ltp_def_from_lla_d()

void ltp_def_from_lla_d	(	struct LtpDef_d *	def,
		struct LlaCoor_d *	lla
	)

Definition at line 57 of file pprz_geodetic_double.c.

References LtpDef_d::ecef, ecef_of_lla_d(), LlaCoor_d::lat, LtpDef_d::lla, LLA_COPY, LlaCoor_d::lon, LtpDef_d::ltp_of_ecef, and DoubleRMat::m.

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ned_of_ecef_point_d()

void ned_of_ecef_point_d	(	struct NedCoor_d *	ned,
		struct LtpDef_d *	def,
		struct EcefCoor_d *	ecef
	)

Definition at line 147 of file pprz_geodetic_double.c.

References enu_of_ecef_point_d(), and ENU_OF_TO_NED.

Referenced by decode_gpspacket(), fetch_state(), ned_of_lla_point_d(), and nps_fdm_run_step().

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ned_of_ecef_vect_d()

void ned_of_ecef_vect_d	(	struct NedCoor_d *	ned,
		struct LtpDef_d *	def,
		struct EcefCoor_d *	ecef
	)

Definition at line 159 of file pprz_geodetic_double.c.

References enu_of_ecef_vect_d(), and ENU_OF_TO_NED.

Referenced by decode_gpspacket(), fetch_state(), gps_feed_value(), and nps_fdm_run_step().

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ned_of_lla_point_d()

void ned_of_lla_point_d	(	struct NedCoor_d *	ned,
		struct LtpDef_d *	def,
		struct LlaCoor_d *	lla
	)

Definition at line 201 of file pprz_geodetic_double.c.

References ecef_of_lla_d(), and ned_of_ecef_point_d().

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utm_of_lla_d()

void utm_of_lla_d	(	struct UtmCoor_d *	utm,
		struct LlaCoor_d *	lla
	)

Definition at line 276 of file pprz_geodetic_double.c.

References LlaCoor_d::alt, UtmCoor_d::alt, CSin, DELTA_EAST, DELTA_NORTH, E, UtmCoor_d::east, isometric_latitude_d(), isometric_latitude_fast_d(), LambdaOfUtmZone, LlaCoor_d::lat, LlaCoor_d::lon, N, UtmCoor_d::north, serie_coeff_proj_mercator, UtmZoneOfLlaLonRad, VECT2_ADD, VECT2_SMUL, DoubleVect2::x, DoubleVect2::y, and UtmCoor_d::zone.

Referenced by utm_of_lla_i().

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