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9859829fcc
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3025 ebee16cc-31ac-478f-84a7-5cbb03baadba
57 lines
2.0 KiB
C++
57 lines
2.0 KiB
C++
/**
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******************************************************************************
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*
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* @file coordinateconversions.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
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* @brief
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* @see The GNU Public License (GPL) Version 3
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* @defgroup
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef COORDINATECONVERSIONS_H
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#define COORDINATECONVERSIONS_H
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#include "utils_global.h"
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#include "../extensionsystem/pluginmanager.h"
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#include "../../plugins/uavobjects/uavobjectmanager.h"
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#include "../../plugins/uavobjects/uavobject.h"
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#include "math.h"
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namespace Utils {
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class QTCREATOR_UTILS_EXPORT CoordinateConversions
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{
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public:
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CoordinateConversions();
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int GetLLA(double LLA[3], double NED[3], double position[3]);
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void RneFromLLA(double LLA[3], double Rne[3][3]);
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void LLA2ECEF(double LLA[3], double ECEF[3]);
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int ECEF2LLA(double ECEF[3], double LLA[3]);
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void LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
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void Quaternion2RPY(const float q[4], float rpy[3]);
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void RPY2Quaternion(const float rpy[3], float q[4]);
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void Quaternion2R(const float q[4], float Rbe[3][3]);
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};
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}
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#endif /* COORDINATECONVERSIONS_H */
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