lidar_correction.c File Reference

#include "lidar_correction.h"
#include "modules/lidar/tfmini.h"
#include "modules/ins/ins_int.h"
#include "math/pprz_algebra.h"
#include <math.h>
#include <float.h>
#include <state.h>

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Functions
float	distance_to_wall (float theta, const struct FloatVect2 *P, const struct FloatVect2 *A, const struct FloatVect2 *B)
static float	distance_to_segment (const struct FloatVect2 *P, const struct FloatVect2 *A, const struct FloatVect2 *B, struct FloatVect2 *C)
float	find_nearest_wall (const struct FloatVect2 *obstacle_pos, struct FloatVect2 *nearest_point)
void	init_walls (void)
void	convert_walls_to_ltp (void)

Variables
struct WallSystem	wall_system
const struct WallConfig	obstacle_walls [] = OBSTACLE_WALLS

Function Documentation

convert_walls_to_ltp()

void convert_walls_to_ltp

(

void

)

Definition at line 168 of file lidar_correction.c.

References Wall::converted, WallSystem::converted_to_ltp, Wall::count, foo, ned_of_lla_point_f(), p, Wall::points_ltp, Wall::points_wgs84, stateGetNedOrigin_f(), stateIsLocalCoordinateValid(), WallSystem::wall_count, wall_system, WallSystem::walls, FloatVect2::x, and FloatVect2::y.

Referenced by ins_update_lidar().

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distance_to_segment()

static float distance_to_segment ( const struct FloatVect2 *  P, const struct FloatVect2 *  A, const struct FloatVect2 *  B, struct FloatVect2 *  C  )

static

Definition at line 75 of file lidar_correction.c.

References A, B, foo, P, FloatVect2::x, and FloatVect2::y.

Referenced by find_nearest_wall().

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distance_to_wall()

float distance_to_wall	(	float	theta,
		const struct FloatVect2 *	P,
		const struct FloatVect2 *	A,
		const struct FloatVect2 *	B
	)

Definition at line 48 of file lidar_correction.c.

References A, B, foo, P, and s.

Referenced by sim_overwrite_lidar().

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find_nearest_wall()

float find_nearest_wall	(	const struct FloatVect2 *	obstacle_pos,
		struct FloatVect2 *	nearest_point
	)

Definition at line 97 of file lidar_correction.c.

References WallSystem::converted_to_ltp, distance_to_segment(), foo, p, WallSystem::wall_count, wall_system, WallSystem::walls, FloatVect2::x, and FloatVect2::y.

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init_walls()

void init_walls

(

void

)

Definition at line 144 of file lidar_correction.c.

References ObstaclePoint::alt, WallSystem::converted_to_ltp, WallConfig::count, Wall::count, foo, ObstaclePoint::lat_deg, ObstaclePoint::lon_deg, obstacle_walls, p, WallConfig::points, WallSystem::wall_count, wall_system, and WallSystem::walls.

Variable Documentation

obstacle_walls

const struct WallConfig obstacle_walls[] = OBSTACLE_WALLS

Definition at line 141 of file lidar_correction.c.

Referenced by init_walls().

wall_system

struct WallSystem wall_system

Definition at line 35 of file lidar_correction.c.

Referenced by convert_walls_to_ltp(), find_nearest_wall(), init_walls(), ins_update_lidar(), and sim_overwrite_lidar().