pprz_geodetic_double.h

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/*
 * Copyright (C) 2008-2014 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef PPRZ_GEODETIC_DOUBLE_H
#define PPRZ_GEODETIC_DOUBLE_H

#ifdef __cplusplus
extern "C" {
#endif

#include "pprz_geodetic.h"
#include "pprz_algebra_double.h"
#include "std.h"

struct EcefCoor_d {
  double x; 
  double y; 
  double z; 
};

struct LlaCoor_d {
  double lat; 
  double lon; 
  double alt; 
};

struct NedCoor_d {
  double x; 
  double y; 
  double z; 
};

struct EnuCoor_d {
  double x; 
  double y; 
  double z; 
};

struct UtmCoor_d {
  double north; 
  double east; 
  double alt; 
  uint8_t zone; 
};

struct LtpDef_d {
  struct EcefCoor_d  ecef; 
  struct LlaCoor_d   lla; 
  struct DoubleRMat ltp_of_ecef; 
  double hmsl; 
};

extern void lla_of_utm_d(struct LlaCoor_d *lla, struct UtmCoor_d *utm);
extern void utm_of_lla_d(struct UtmCoor_d *utm, struct LlaCoor_d *lla);
extern void ltp_def_from_ecef_d(struct LtpDef_d *def, struct EcefCoor_d *ecef);
extern void ltp_def_from_lla_d(struct LtpDef_d *def, struct LlaCoor_d *lla);
extern void lla_of_ecef_d(struct LlaCoor_d *out, struct EcefCoor_d *in);
extern void ecef_of_lla_d(struct EcefCoor_d *out, struct LlaCoor_d *in);

extern void enu_of_ecef_point_d(struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
extern void ned_of_ecef_point_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);

extern void enu_of_ecef_vect_d(struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
extern void ned_of_ecef_vect_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);

extern void ecef_of_enu_point_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu);
extern void ecef_of_ned_point_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned);

extern void ecef_of_enu_vect_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu);
extern void ecef_of_ned_vect_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned);

extern void enu_of_lla_point_d(struct EnuCoor_d *enu, struct LtpDef_d *def, struct LlaCoor_d *lla);
extern void ned_of_lla_point_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct LlaCoor_d *lla);

extern double gc_of_gd_lat_d(double gd_lat, double hmsl);

#ifdef __cplusplus
} /* extern "C" */
#endif

#endif /* PPRZ_GEODETIC_DOUBLE_H */