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[math] factor out function to calc ltp_of_ecef rmat

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This commit is contained in:
Felix Ruess
2013-08-22 16:58:45 +02:00
parent 393a21b1d0
commit c90cd6f335
2 changed files with 28 additions and 46 deletions
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sw/airborne/math/pprz_geodetic_int.c
+27 -46
View File
@@ -24,6 +24,31 @@
#define HIGH_RES_TRIG_FRAC 20
void ltp_of_ecef_rmat_from_lla_i(struct Int32Mat33* ltp_of_ecef, struct LlaCoor_i* lla) {
#if USE_DOUBLE_PRECISION_TRIG
int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)lla->lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)lla->lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)lla->lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)lla->lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)lla->lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)lla->lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)lla->lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)lla->lon)), HIGH_RES_TRIG_FRAC));
#endif
ltp_of_ecef->m[0] = -sin_lon;
ltp_of_ecef->m[1] = cos_lon;
ltp_of_ecef->m[2] = 0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
ltp_of_ecef->m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
ltp_of_ecef->m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
ltp_of_ecef->m[5] = cos_lat;
ltp_of_ecef->m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
ltp_of_ecef->m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
ltp_of_ecef->m[8] = sin_lat;
}
void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef) {
/* store the origin of the tangeant plane */
@@ -31,29 +56,7 @@ void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef) {
/* compute the lla representation of the origin */
lla_of_ecef_i(&def->lla, &def->ecef);
/* store the rotation matrix */
#if 1
int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#endif
def->ltp_of_ecef.m[0] = -sin_lon;
def->ltp_of_ecef.m[1] = cos_lon;
def->ltp_of_ecef.m[2] = 0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
def->ltp_of_ecef.m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[5] = cos_lat;
def->ltp_of_ecef.m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[8] = sin_lat;
ltp_of_ecef_rmat_from_lla_i(&def->ltp_of_ecef, &def->lla);
}
@@ -64,29 +67,7 @@ void ltp_def_from_lla_i(struct LtpDef_i* def, struct LlaCoor_i* lla) {
/* compute the ecef representation of the origin */
ecef_of_lla_i(&def->ecef, &def->lla);
/* store the rotation matrix */
#if 1
int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#endif
def->ltp_of_ecef.m[0] = -sin_lon;
def->ltp_of_ecef.m[1] = cos_lon;
def->ltp_of_ecef.m[2] = 0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
def->ltp_of_ecef.m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[5] = cos_lat;
def->ltp_of_ecef.m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[8] = sin_lat;
ltp_of_ecef_rmat_from_lla_i(&def->ltp_of_ecef, &def->lla);
}
sw/airborne/math/pprz_geodetic_int.h
+1
View File
@@ -99,6 +99,7 @@ struct LtpDef_i {
int32_t hmsl; ///< Height above mean sea level in mm
};
extern void ltp_of_ecef_rmat_from_lla_i(struct Int32Mat33* ltp_of_ecef, struct LlaCoor_i* lla);
extern void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef);
extern void ltp_def_from_lla_i(struct LtpDef_i* def, struct LlaCoor_i* lla);
extern void lla_of_ecef_i(struct LlaCoor_i* out, struct EcefCoor_i* in);