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pprz_geodetic_float.h File Reference

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

#include "pprz_geodetic.h"
#include "pprz_algebra_float.h"
#include "std.h"
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Go to the source code of this file.

Data Structures

struct  EcefCoor_f
 vector in EarthCenteredEarthFixed coordinates More...
 
struct  LlaCoor_f
 vector in Latitude, Longitude and Altitude More...
 
struct  NedCoor_f
 vector in North East Down coordinates Units: meters More...
 
struct  EnuCoor_f
 vector in East North Up coordinates Units: meters More...
 
struct  UtmCoor_f
 position in UTM coordinates Units: meters More...
 
struct  LtpDef_f
 definition of the local (flat earth) coordinate system More...
 

Functions

void lla_of_utm_f (struct LlaCoor_f *lla, struct UtmCoor_f *utm)
 
void utm_of_lla_f (struct UtmCoor_f *utm, struct LlaCoor_f *lla)
 
void ltp_def_from_ecef_f (struct LtpDef_f *def, struct EcefCoor_f *ecef)
 
void ltp_def_from_lla_f (struct LtpDef_f *def, struct LlaCoor_f *lla)
 
void lla_of_ecef_f (struct LlaCoor_f *out, struct EcefCoor_f *in)
 
void ecef_of_lla_f (struct EcefCoor_f *out, struct LlaCoor_f *in)
 
void enu_of_ecef_point_f (struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef)
 
void ned_of_ecef_point_f (struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef)
 
void enu_of_ecef_vect_f (struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef)
 
void ned_of_ecef_vect_f (struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef)
 
void enu_of_lla_point_f (struct EnuCoor_f *enu, struct LtpDef_f *def, struct LlaCoor_f *lla)
 
void ned_of_lla_point_f (struct NedCoor_f *ned, struct LtpDef_f *def, struct LlaCoor_f *lla)
 
void ecef_of_enu_point_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu)
 
void ecef_of_ned_point_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned)
 
void ecef_of_enu_vect_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu)
 
void ecef_of_ned_vect_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned)
 

Detailed Description

Paparazzi floating point math for geodetic calculations.

This is the more detailed description of this file.

Definition in file pprz_geodetic_float.h.

Function Documentation

void ecef_of_enu_point_f ( struct EcefCoor_f ecef,
struct LtpDef_f def,
struct EnuCoor_f enu 
)
void ecef_of_enu_vect_f ( struct EcefCoor_f ecef,
struct LtpDef_f def,
struct EnuCoor_f enu 
)
void ecef_of_ned_point_f ( struct EcefCoor_f ecef,
struct LtpDef_f def,
struct NedCoor_f ned 
)

Definition at line 120 of file pprz_geodetic_float.c.

References ecef_of_enu_point_f(), and ENU_OF_TO_NED.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionLla_f(), and stateCalcPositionLla_i().

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void ecef_of_ned_vect_f ( struct EcefCoor_f ecef,
struct LtpDef_f def,
struct NedCoor_f ned 
)

Definition at line 153 of file pprz_geodetic_float.c.

References ecef_of_enu_vect_f(), and ENU_OF_TO_NED.

Referenced by stateCalcAccelEcef_f(), and stateCalcSpeedEcef_f().

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void enu_of_ecef_point_f ( struct EnuCoor_f enu,
struct LtpDef_f def,
struct EcefCoor_f ecef 
)

Definition at line 55 of file pprz_geodetic_float.c.

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

Referenced by enu_of_lla_point_f(), ned_of_ecef_point_f(), stateCalcPositionEnu_f(), and stateCalcPositionEnu_i().

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void enu_of_ecef_vect_f ( struct EnuCoor_f enu,
struct LtpDef_f def,
struct EcefCoor_f ecef 
)

Definition at line 68 of file pprz_geodetic_float.c.

References LtpDef_f::ltp_of_ecef, and MAT33_VECT3_MUL.

Referenced by ned_of_ecef_vect_f(), and stateCalcSpeedEnu_f().

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void enu_of_lla_point_f ( struct EnuCoor_f enu,
struct LtpDef_f def,
struct LlaCoor_f lla 
)

Definition at line 78 of file pprz_geodetic_float.c.

References ecef_of_lla_f(), and enu_of_ecef_point_f().

Referenced by stateCalcPositionEnu_f().

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void lla_of_ecef_f ( struct LlaCoor_f out,
struct EcefCoor_f in 
)

Definition at line 164 of file pprz_geodetic_float.c.

References LlaCoor_f::alt, c, G, LlaCoor_f::lat, LlaCoor_f::lon, Q, EcefCoor_f::x, EcefCoor_f::y, and EcefCoor_f::z.

Referenced by ltp_def_from_ecef_f(), stateCalcPositionLla_f(), and stateCalcPositionLla_i().

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void ltp_def_from_ecef_f ( struct LtpDef_f def,
struct EcefCoor_f ecef 
)

Definition at line 9 of file pprz_geodetic_float.c.

References LtpDef_f::ecef, LlaCoor_f::lat, LtpDef_f::lla, lla_of_ecef_f(), LlaCoor_f::lon, LtpDef_f::ltp_of_ecef, FloatMat33::m, and VECT3_COPY.

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void ltp_def_from_lla_f ( struct LtpDef_f def,
struct LlaCoor_f lla 
)

Definition at line 32 of file pprz_geodetic_float.c.

References LtpDef_f::ecef, ecef_of_lla_f(), LlaCoor_f::lat, LtpDef_f::lla, LLA_COPY, LlaCoor_f::lon, LtpDef_f::ltp_of_ecef, and FloatMat33::m.

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void ned_of_ecef_point_f ( struct NedCoor_f ned,
struct LtpDef_f def,
struct EcefCoor_f ecef 
)

Definition at line 61 of file pprz_geodetic_float.c.

References enu_of_ecef_point_f(), and ENU_OF_TO_NED.

Referenced by ned_of_lla_point_f(), stateCalcPositionNed_f(), and stateCalcPositionNed_i().

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void ned_of_ecef_vect_f ( struct NedCoor_f ned,
struct LtpDef_f def,
struct EcefCoor_f ecef 
)

Definition at line 72 of file pprz_geodetic_float.c.

References enu_of_ecef_vect_f(), and ENU_OF_TO_NED.

Referenced by stateCalcAccelNed_f(), stateCalcHorizontalSpeedNorm_i(), and stateCalcSpeedNed_f().

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void ned_of_lla_point_f ( struct NedCoor_f ned,
struct LtpDef_f def,
struct LlaCoor_f lla 
)

Definition at line 84 of file pprz_geodetic_float.c.

References ecef_of_lla_f(), and ned_of_ecef_point_f().

Referenced by stateCalcPositionNed_f().

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