pprz_geodetic_int.h File Reference

Paparazzi fixed point math for geodetic calculations. More...

#include "pprz_geodetic.h"
#include "std.h"
#include "pprz_algebra_int.h"

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Data Structures
struct	EcefCoor_i
	vector in EarthCenteredEarthFixed coordinates More...
struct	LlaCoor_i
	vector in Latitude, Longitude and Altitude More...
struct	NedCoor_i
	vector in North East Down coordinates More...
struct	EnuCoor_i
	vector in East North Up coordinates More...
struct	UtmCoor_i
	position in UTM coordinates More...
struct	LtpDef_i
	definition of the local (flat earth) coordinate system More...

Macros
#define	CM_OF_M(_m)   ((_m)*1e2)
#define	M_OF_CM(_cm)   ((_cm)/1e2)
#define	MM_OF_M(_m)   ((_m)*1e3)
#define	M_OF_MM(_mm)   ((_mm)/1e3)
#define	EM7RAD_OF_RAD(_r)   ((_r)*1e7)
#define	RAD_OF_EM7RAD(_r)   ((_r)/1e7)
#define	EM7DEG_OF_DEG(_r)   ((_r)*1e7)
#define	DEG_OF_EM7DEG(_r)   ((_r)/1e7)
#define	EM7DEG_OF_RAD(_r)   (DegOfRad(_r)*1e7)
#define	RAD_OF_EM7DEG(_r)   (RadOfDeg(_r)/1e7)
#define	HIGH_RES_TRIG_FRAC   20
#define	VECT3_ENU_OF_NED(_o, _i)
#define	VECT3_NED_OF_ENU(_o, _i)   VECT3_ENU_OF_NED(_o,_i)
#define	INT32_VECT3_NED_OF_ENU(_o, _i)   VECT3_ENU_OF_NED(_o,_i)
#define	INT32_VECT3_ENU_OF_NED(_o, _i)   VECT3_ENU_OF_NED(_o,_i)
#define	VECT3_CM_OF_REAL(_o, _i)
#define	VECT3_FLOAT_OF_CM(_o, _i)
#define	VECT3_DOUBLE_OF_CM(_o, _i)
#define	ECEF_BFP_OF_REAL(_o, _i)   VECT3_CM_OF_REAL(_o, _i)
#define	ECEF_FLOAT_OF_BFP(_o, _i)   VECT3_FLOAT_OF_CM(_o, _i)
#define	ECEF_DOUBLE_OF_BFP(_o, _i)   VECT3_DOUBLE_OF_CM(_o, _i)
#define	LLA_BFP_OF_REAL(_o, _i)
#define	LLA_FLOAT_OF_BFP(_o, _i)
#define	LLA_DOUBLE_OF_BFP(_o, _i)
#define	NED_BFP_OF_REAL(_o, _i)
#define	ENU_BFP_OF_REAL(_o, _i)   NED_BFP_OF_REAL(_o, _i)
#define	NED_FLOAT_OF_BFP(_o, _i)
#define	ENU_FLOAT_OF_BFP(_o, _i)   NED_FLOAT_OF_BFP(_o, _i)
#define	INT32_VECT2_ENU_OF_NED(_o, _i)
#define	INT32_VECT2_NED_OF_ENU(_o, _i)   INT32_VECT2_ENU_OF_NED(_o,_i)
#define	HIGH_RES_RMAT_BFP_OF_REAL(_ei, _ef)
#define	HIGH_RES_RMAT_FLOAT_OF_BFP(_ef, _ei)
#define	HIGH_RES_RMAT_DOUBLE_OF_BFP(_ef, _ei)
#define	UTM_FLOAT_OF_BFP(_o, _i)
#define	UTM_DOUBLE_OF_BFP(_o, _i)
#define	UTM_BFP_OF_REAL(_o, _i)

Functions
void	lla_of_utm_i (struct LlaCoor_i *lla, struct UtmCoor_i *utm)
	Convert a UTM to LLA. More...
void	utm_of_lla_i (struct UtmCoor_i *utm, struct LlaCoor_i *lla)
	Convert a LLA to UTM. More...
void	ltp_of_ecef_rmat_from_lla_i (struct Int32RMat *ltp_of_ecef, struct LlaCoor_i *lla)
void	ltp_def_from_ecef_i (struct LtpDef_i *def, struct EcefCoor_i *ecef)
void	ltp_def_from_lla_i (struct LtpDef_i *def, struct LlaCoor_i *lla)
void	lla_of_ecef_i (struct LlaCoor_i *out, struct EcefCoor_i *in)
	Convert a ECEF to LLA. More...
void	ecef_of_lla_i (struct EcefCoor_i *out, struct LlaCoor_i *in)
	Convert a LLA to ECEF. More...
void	enu_of_ecef_point_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a point from ECEF to local ENU. More...
void	ned_of_ecef_point_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a point from ECEF to local NED. More...
void	enu_of_ecef_pos_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a ECEF position to local ENU. More...
void	ned_of_ecef_pos_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a ECEF position to local NED. More...
void	enu_of_ecef_vect_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Rotate a vector from ECEF to ENU. More...
void	ned_of_ecef_vect_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Rotate a vector from ECEF to NED. More...
void	enu_of_lla_point_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local ENU. More...
void	ned_of_lla_point_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local NED. More...
void	enu_of_lla_pos_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local ENU. More...
void	ned_of_lla_pos_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local NED. More...
void	enu_of_lla_vect_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
void	ned_of_lla_vect_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla)
void	ecef_of_enu_point_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu)
	Convert a point in local ENU to ECEF. More...
void	ecef_of_ned_point_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned)
	Convert a point in local NED to ECEF. More...
void	ecef_of_enu_pos_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu)
	Convert a local ENU position to ECEF. More...
void	ecef_of_ned_pos_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned)
	Convert a local NED position to ECEF. More...
void	ecef_of_enu_vect_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu)
	Rotate a vector from ENU to ECEF. More...
void	ecef_of_ned_vect_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned)
	Rotate a vector from NED to ECEF. More...

Detailed Description

Paparazzi fixed point math for geodetic calculations.

Definition in file pprz_geodetic_int.h.