geo: purge old globallocal_converter

geo/geo.cpp

@@ -57,39 +57,19 @@ using matrix::wrap_2pi;
  * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html
  */
 
-static struct map_projection_reference_s mp_ref;
-static struct globallocal_converter_reference_s gl_ref = {0.0f, false};
-
-bool map_projection_global_initialized()
-{
-	return map_projection_initialized(&mp_ref);
-}
-
 bool map_projection_initialized(const struct map_projection_reference_s *ref)
 {
 	return ref->init_done;
 }
 
-uint64_t map_projection_global_timestamp()
-{
-	return map_projection_timestamp(&mp_ref);
-}
-
 uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref)
 {
 	return ref->timestamp;
 }
 
-// lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp)
-{
-	return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
-}
-
 // lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
 int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp)
 {
-
 	ref->lat_rad = math::radians(lat_0);
 	ref->lon_rad = math::radians(lon_0);
 	ref->sin_lat = sin(ref->lat_rad);
@@ -107,11 +87,6 @@ int map_projection_init(struct map_projection_reference_s *ref, double lat_0, do
 	return map_projection_init_timestamped(ref, lat_0, lon_0, ecl_absolute_time());
 }
 
-int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad)
-{
-	return map_projection_reference(&mp_ref, ref_lat_rad, ref_lon_rad);
-}
-
 int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad)
 {
 	if (!map_projection_initialized(ref)) {
@@ -124,11 +99,6 @@ int map_projection_reference(const struct map_projection_reference_s *ref, doubl
 	return 0;
 }
 
-int map_projection_global_project(double lat, double lon, float *x, float *y)
-{
-	return map_projection_project(&mp_ref, lat, lon, x, y);
-}
-
 int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y)
 {
 	if (!map_projection_initialized(ref)) {
@@ -158,11 +128,6 @@ int map_projection_project(const struct map_projection_reference_s *ref, double
 	return 0;
 }
 
-int map_projection_global_reproject(float x, float y, double *lat, double *lon)
-{
-	return map_projection_reproject(&mp_ref, x, y, lat, lon);
-}
-
 int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
 {
 	if (!map_projection_initialized(ref)) {
@@ -191,82 +156,6 @@ int map_projection_reproject(const struct map_projection_reference_s *ref, float
 	return 0;
 }
 
-int map_projection_global_getref(double *lat_0, double *lon_0)
-{
-	if (!map_projection_global_initialized()) {
-		return -1;
-	}
-
-	if (lat_0 != nullptr) {
-		*lat_0 = math::degrees(mp_ref.lat_rad);
-	}
-
-	if (lon_0 != nullptr) {
-		*lon_0 = math::degrees(mp_ref.lon_rad);
-	}
-
-	return 0;
-
-}
-int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp)
-{
-	gl_ref.alt = alt_0;
-
-	if (!map_projection_global_init(lat_0, lon_0, timestamp)) {
-		gl_ref.init_done = true;
-		return 0;
-	}
-
-	gl_ref.init_done = false;
-	return -1;
-}
-
-bool globallocalconverter_initialized()
-{
-	return gl_ref.init_done && map_projection_global_initialized();
-}
-
-int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z)
-{
-	if (!map_projection_global_initialized()) {
-		return -1;
-	}
-
-	map_projection_global_project(lat, lon, x, y);
-	*z = gl_ref.alt - alt;
-
-	return 0;
-}
-
-int globallocalconverter_toglobal(float x, float y, float z,  double *lat, double *lon, float *alt)
-{
-	if (!map_projection_global_initialized()) {
-		return -1;
-	}
-
-	map_projection_global_reproject(x, y, lat, lon);
-	*alt = gl_ref.alt - z;
-
-	return 0;
-}
-
-int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0)
-{
-	if (map_projection_global_initialized() != 0) {
-		return -1;
-	}
-
-	if (map_projection_global_getref(lat_0, lon_0)) {
-		return -1;
-	}
-
-	if (alt_0 != nullptr) {
-		*alt_0 = gl_ref.alt;
-	}
-
-	return 0;
-}
-
 float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
 {
 	const double lat_now_rad = math::radians(lat_now);

geo/geo.h

@@ -81,57 +81,24 @@ struct map_projection_reference_s {
 	bool init_done;
 };
 
-struct globallocal_converter_reference_s {
-	float alt;
-	bool init_done;
-};
-
-/**
- * Checks if global projection was initialized
- * @return true if map was initialized before, false else
- */
-bool map_projection_global_initialized();
-
 /**
  * Checks if projection given as argument was initialized
  * @return true if map was initialized before, false else
  */
 bool map_projection_initialized(const struct map_projection_reference_s *ref);
 
-/**
- * Get the timestamp of the global map projection
- * @return the timestamp of the map_projection
- */
-uint64_t map_projection_global_timestamp(void);
-
 /**
  * Get the timestamp of the map projection given by the argument
  * @return the timestamp of the map_projection
  */
 uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref);
 
-/**
- * Writes the reference values of the global projection to ref_lat and ref_lon
- * @return 0 if map_projection_init was called before, -1 else
- */
-int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad);
-
 /**
  * Writes the reference values of the projection given by the argument to ref_lat and ref_lon
  * @return 0 if map_projection_init was called before, -1 else
  */
 int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad);
 
-/**
- * Initializes the global map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and
- * the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp);
-
 /**
  * Initializes the map transformation given by the argument.
  *
@@ -152,17 +119,6 @@ int map_projection_init_timestamped(struct map_projection_reference_s *ref, doub
  */
 int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
 
-/**
- * Transforms a point in the geographic coordinate system to the local
- * azimuthal equidistant plane using the global projection
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- * @return 0 if map_projection_init was called before, -1 else
- */
-int map_projection_global_project(double lat, double lon, float *x, float *y);
-
 /* Transforms a point in the geographic coordinate system to the local
  * azimuthal equidistant plane using the projection given by the argument
 * @param x north
@@ -173,18 +129,6 @@ int map_projection_global_project(double lat, double lon, float *x, float *y);
 */
 int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y);
 
-/**
- * Transforms a point in the local azimuthal equidistant plane to the
- * geographic coordinate system using the global projection
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- * @return 0 if map_projection_init was called before, -1 else
- */
-int map_projection_global_reproject(float x, float y, double *lat, double *lon);
-
 /**
  * Transforms a point in the local azimuthal equidistant plane to the
  * geographic coordinate system using the projection given by the argument
@@ -197,37 +141,6 @@ int map_projection_global_reproject(float x, float y, double *lat, double *lon);
  */
 int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
 
-/**
- * Get reference position of the global map projection
- */
-int map_projection_global_getref(double *lat_0, double *lon_0);
-
-/**
- * Initialize the global mapping between global position (spherical) and local position (NED).
- */
-int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp);
-
-/**
- * Checks if globallocalconverter was initialized
- * @return true if map was initialized before, false else
- */
-bool globallocalconverter_initialized(void);
-
-/**
- * Convert from global position coordinates to local position coordinates using the global reference
- */
-int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z);
-
-/**
- * Convert from local position coordinates to global position coordinates using the global reference
- */
-int globallocalconverter_toglobal(float x, float y, float z,  double *lat, double *lon, float *alt);
-
-/**
- * Get reference position of the global to local converter
- */
-int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0);
-
 /**
  * Returns the distance to the next waypoint in meters.
  *