lidar_correction.h File Reference

#include "math/pprz_algebra.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"

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Data Structures
struct	ObstaclePoint
struct	WallConfig
struct	Wall
struct	WallSystem

Macros
#define	MAX_WALLS   10
#define	MAX_POINTS   5

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

Variables
struct WallSystem	wall_system

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Data Structure Documentation

ObstaclePoint

struct ObstaclePoint

Definition at line 38 of file lidar_correction.h.

Data Fields
float	alt
float	lat_deg
float	lon_deg

WallConfig

struct WallConfig

Definition at line 44 of file lidar_correction.h.

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Data Fields
uint8_t	count
struct ObstaclePoint	points[MAX_POINTS]

Wall

struct Wall

Definition at line 51 of file lidar_correction.h.

Collaboration diagram for Wall:

Data Fields
bool	converted
uint8_t	count
struct FloatVect2	points_ltp[MAX_POINTS]
struct LlaCoor_f	points_wgs84[MAX_POINTS]

WallSystem

struct WallSystem

Definition at line 58 of file lidar_correction.h.

Collaboration diagram for WallSystem:

Data Fields
bool	converted_to_ltp
uint8_t	wall_count
struct Wall	walls[MAX_WALLS]

Macro Definition Documentation

MAX_POINTS

#define MAX_POINTS   5

Definition at line 34 of file lidar_correction.h.

MAX_WALLS

#define MAX_WALLS   10

Definition at line 33 of file lidar_correction.h.

Function Documentation

convert_walls_to_ltp()

void convert_walls_to_ltp ( void  )

extern

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_wall()

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

extern

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  )

extern

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  )

extern

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

wall_system

struct WallSystem wall_system

extern

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().