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Code Issues Releases Activity

GCS - MapLib change relative waypoint to distance and

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bearing definition
This commit is contained in:
PT_Dreamer 2012-05-27 21:55:47 +01:00
parent 7a1501eea3
commit 28b754183f
6 changed files with 72 additions and 55 deletions
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23
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.cpp
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@ -217,8 +217,13 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
}
double PureProjection::courseBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
{
return fmod(atan2(sin(p1.Lng()-p2.Lng())*cos(p2.Lat()),
cos(p1.Lat())*sin(p2.Lat())-sin(p1.Lat())*cos(p2.Lat())*cos(p1.Lng()-p2.Lng())), 2*PI);
double lon1=p1.Lng()* (PI / 180);;
double lat1=p1.Lat()* (PI / 180);;
double lon2=p2.Lng()* (PI / 180);;
double lat2=p2.Lat()* (PI / 180);;
return 2*M_PI-myfmod(atan2(sin(lon1-lon2)*cos(lat2),
cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon1-lon2)), 2*PI);
}
@ -237,22 +242,22 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
return d;
}
void PureProjection::offSetFromLatLngs(PointLatLng p1,PointLatLng p2,double &dX,double &dY)
void PureProjection::offSetFromLatLngs(PointLatLng p1,PointLatLng p2,double &distance,double &bearing)
{
dX=DistanceBetweenLatLng(p1,p2)*sin(courseBetweenLatLng(p1,p2));
dY=DistanceBetweenLatLng(p1,p2)*sin(courseBetweenLatLng(p1,p2));
}
distance=DistanceBetweenLatLng(p1,p2)*1000;
bearing=courseBetweenLatLng(p1,p2);
}
double PureProjection::myfmod(double x,double y)
{
return x - y*floor(x/y);
}
PointLatLng PureProjection::translate(PointLatLng p1,double dX,double dY)
PointLatLng PureProjection::translate(PointLatLng p1,double distance,double bearing)
{
PointLatLng ret;
double d=sqrt(pow(dX,2)+pow(dY,2));
double tc=(atan2(dY,dX));
double d=distance;
double tc=bearing;
double lat1=p1.Lat()*M_PI/180;
double lon1=p1.Lng()*M_PI/180;
double R=6378137;

2
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.h
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@ -81,7 +81,7 @@ public:
void FromCartesianTGeodetic(const double &X,const double &Y,const double &Z, double &Lat, double &Lng);
static double DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2);
PointLatLng translate(PointLatLng p1, double dX, double dY);
PointLatLng translate(PointLatLng p1, double distance, double bearing);
double courseBetweenLatLng(const PointLatLng &p1, const PointLatLng &p2);
void offSetFromLatLngs(PointLatLng p1, PointLatLng p2, double &dX, double &dY);
protected:

4
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
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@ -42,7 +42,7 @@ namespace mapcontrol
this->setScene(&mscene);
Home=new HomeItem(map,this);
Home->setParentItem(map);
setStyleSheet("QToolTip {font-size:8pt; color:yellow;background-color : transparent; padding:2px; border-width:2px; border-style:solid; border-radius:4px }");
setStyleSheet("QToolTip {font-size:8pt; color:blue;opacity: 223; padding:2px; border-width:2px; border-style:solid; border-color: rgb(170, 170, 127);border-radius:4px }");
this->adjustSize();
connect(map,SIGNAL(zoomChanged(double,double,double)),this,SIGNAL(zoomChanged(double,double,double)));
connect(map->core,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)),this,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
@ -211,7 +211,7 @@ namespace mapcontrol
item->setParentItem(map);
return item;
}
WayPointItem* OPMapWidget::WPCreate(const QPoint &relativeCoord, const int &altitude, const QString &description)
WayPointItem* OPMapWidget::WPCreate(const distBearing &relativeCoord, const int &altitude, const QString &description)
{
WayPointItem* item=new WayPointItem(relativeCoord,altitude,description,map);
ConnectWP(item);

2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
View File

@ -286,7 +286,7 @@ namespace mapcontrol
* @param description the description of the WayPoint
* @return WayPointItem a pointer to the WayPoint created
*/
WayPointItem *WPCreate(const QPoint &relativeCoord, const int &altitude, const QString &description);
WayPointItem *WPCreate(const distBearing &relativeCoord, const int &altitude, const QString &description);
/**
* @brief Inserts a new WayPoint on the specified position
*

85
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -42,25 +42,19 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
if(relativeCoord.isNull())
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
double X;
double Y;
map->Projection()->offSetFromLatLngs(home->Coord(),coord,X,Y);
relativeCoord.setX(X);
relativeCoord.setY(Y);
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
HomeItem * home=this->parent()->findChild<HomeItem *>();
if(home)
map->Projection()->offSetFromLatLngs(home->Coord(),coord,relativeCoord.distante,relativeCoord.bearing);
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
@ -76,35 +70,22 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
SetShowNumber(shownumber);
RefreshToolTip();
RefreshPos();
if(relativeCoord.isNull())
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
double X;
double Y;
map->Projection()->offSetFromLatLngs(home->Coord(),coord,X,Y);
relativeCoord.setX(X);
relativeCoord.setY(Y);
}
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
home=h;
}
if(home)
{
map->Projection()->offSetFromLatLngs(home->Coord(),coord,relativeCoord.distante,relativeCoord.bearing);
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
}
WayPointItem::WayPointItem(const QPoint &relativeCoord, const int &altitude, const QString &description, MapGraphicItem *map):relativeCoord(relativeCoord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
WayPointItem::WayPointItem(const distBearing &relativeCoord, const int &altitude, const QString &description, MapGraphicItem *map):relativeCoord(relativeCoord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
@ -115,7 +96,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
home=h;
}
connect(home,SIGNAL(homePositionChanged(internals::PointLatLng)),this,SLOT(onHomePositionChanged(internals::PointLatLng)));
coord=map->Projection()->translate(home->Coord(),relativeCoord.x(),relativeCoord.y());
coord=map->Projection()->translate(home->Coord(),relativeCoord.distante,relativeCoord.bearing);
myType=relative;
text=0;
numberI=0;
@ -130,6 +111,15 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
RefreshPos();
}
void WayPointItem::changeWPType(wptype type)
{
myType=type;
emit WPValuesChanged(this);
RefreshPos();
RefreshToolTip();
this->update();
}
QRectF WayPointItem::boundingRect() const
{
return QRectF(-picture.width()/2,-picture.height(),picture.width(),picture.height());
@ -164,9 +154,18 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
{
if(event->button()==Qt::LeftButton)
{
HomeItem* home=NULL;
QList<QGraphicsItem *> list=map->childItems();
foreach(QGraphicsItem * obj,list)
{
HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
if(h)
home=h;
}
delete text;
delete textBG;
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
map->Projection()->offSetFromLatLngs(home->Coord(),coord,relativeCoord.distante,relativeCoord.bearing);
isDragging=false;
RefreshToolTip();
@ -277,7 +276,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
{
if(myType==relative)
{
coord=map->Projection()->translate(homepos,relativeCoord.x(),relativeCoord.y());
coord=map->Projection()->translate(homepos,relativeCoord.distante,relativeCoord.bearing);
emit WPValuesChanged(this);
RefreshPos();
RefreshToolTip();
@ -328,8 +327,14 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitu
}
void WayPointItem::RefreshToolTip()
{
QString type_str;
if(myType==relative)
type_str="Relative";
else
type_str="Absolute";
QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);
setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nAltitude:%5").arg(QString::number(WayPointItem::number)).arg(description).arg(coord_str).arg(QString::number(altitude)));
QString relativeCoord_str = " Distance:" + QString::number(relativeCoord.distante) + " Bearing:" + QString::number(relativeCoord.bearing*180/M_PI);
setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nFrom Home:%5\nAltitude:%6\nType:%7").arg(QString::number(WayPointItem::number)).arg(description).arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str));
}
int WayPointItem::snumber=0;

11
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h
View File

@ -37,6 +37,12 @@
namespace mapcontrol
{
struct distBearing
{
double distante;
double bearing;
};
/**
* @brief A QGraphicsItem representing a WayPoint
*
@ -68,7 +74,7 @@ public:
* @return
*/
WayPointItem(internals::PointLatLng const& coord,int const& altitude,QString const& description,MapGraphicItem* map,wptype type=absolute);
WayPointItem(QPoint const& relativeCoord,int const& altitude,QString const& description,MapGraphicItem* map);
WayPointItem(distBearing const& relativeCoord,int const& altitude,QString const& description,MapGraphicItem* map);
/**
* @brief Returns the WayPoint description
@ -149,6 +155,7 @@ public:
~WayPointItem();
static int snumber;
void changeWPType(wptype type);
protected:
void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
@ -156,7 +163,7 @@ protected:
private:
internals::PointLatLng coord;//coordinates of this WayPoint
QPoint relativeCoord;
distBearing relativeCoord;
bool reached;
QString description;
bool shownumber;