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[python] wrap pprz_geodetic with swig

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This commit is contained in:
Felix Ruess
2015-01-07 17:47:21 +01:00
parent 7424f5044d
commit d685c84c1f
8 changed files with 287 additions and 0 deletions
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sw/lib/python/math/.gitignore
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build
*.c
pprz_geodetic.py
sw/lib/python/math/Makefile
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all:
swig2.0 -python pprz_geodetic.i
python setup.py build_ext --inplace
clean:
rm -rf build *.so *.c pprz_geodetic.py
sw/lib/python/math/__init__.py
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sw/lib/python/math/pprz_geodetic.i
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/* File : pprz_geodetic.i */
%module pprz_geodetic
%feature("autodoc", "3");
%include "typemaps.i"
%include pprz_geodetic_int.i
%include pprz_geodetic_float.i
%include pprz_geodetic_double.i
%{
#define SWIG_FILE_WITH_INIT
%}
sw/lib/python/math/pprz_geodetic_double.i
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/* File : pprz_geodetic_double.i */
%module geodetic_double
%{
#include "math/pprz_geodetic_double.h"
%}
struct EcefCoor_d {
double x; ///< in meters
double y; ///< in meters
double z; ///< in meters
};
struct LlaCoor_d {
double lat; ///< in radians
double lon; ///< in radians
double alt; ///< in meters above WGS84 reference ellipsoid
};
struct NedCoor_d {
double x; ///< in meters
double y; ///< in meters
double z; ///< in meters
};
struct EnuCoor_d {
double x; ///< in meters
double y; ///< in meters
double z; ///< in meters
};
struct UtmCoor_d {
double north; ///< in meters
double east; ///< in meters
double alt; ///< in meters above WGS84 reference ellipsoid
uint8_t zone; ///< UTM zone number
};
struct LtpDef_d {
struct EcefCoor_d ecef; ///< origin of local frame in ECEF
struct LlaCoor_d lla; ///< origin of local frame in LLA
struct DoubleRMat ltp_of_ecef; ///< rotation from ECEF to local frame
double hmsl; ///< height in meters above mean sea level
};
void lla_of_utm_d(struct LlaCoor_d *out, struct UtmCoor_d *in);
void ltp_def_from_ecef_d(struct LtpDef_d *def, struct EcefCoor_d *ecef);
void lla_of_ecef_d(struct LlaCoor_d *out, struct EcefCoor_d *in);
void ecef_of_lla_d(struct EcefCoor_d *out, struct LlaCoor_d *in);
void enu_of_ecef_point_d(struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
void ned_of_ecef_point_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
void enu_of_ecef_vect_d(struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
void ned_of_ecef_vect_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
void ecef_of_enu_point_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu);
void ecef_of_ned_point_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned);
void ecef_of_enu_vect_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu);
void ecef_of_ned_vect_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned);
void enu_of_lla_point_d(struct EnuCoor_d *enu, struct LtpDef_d *def, struct LlaCoor_d *lla);
void ned_of_lla_point_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct LlaCoor_d *lla);
double gc_of_gd_lat_d(double gd_lat, double hmsl);
sw/lib/python/math/pprz_geodetic_float.i
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/* File : pprz_geodetic_float.i */
%module geodetic_float
%{
#include "math/pprz_geodetic_float.h"
%}
struct EcefCoor_f {
float x; ///< in meters
float y; ///< in meters
float z; ///< in meters
};
/**
* @brief vector in Latitude, Longitude and Altitude
*/
struct LlaCoor_f {
float lat; ///< in radians
float lon; ///< in radians
float alt; ///< in meters above WGS84 reference ellipsoid
};
/**
* @brief vector in North East Down coordinates
* Units: meters */
struct NedCoor_f {
float x; ///< in meters
float y; ///< in meters
float z; ///< in meters
};
/**
* @brief vector in East North Up coordinates
* Units: meters */
struct EnuCoor_f {
float x; ///< in meters
float y; ///< in meters
float z; ///< in meters
};
/**
* @brief position in UTM coordinates
* Units: meters */
struct UtmCoor_f {
float north; ///< in meters
float east; ///< in meters
float alt; ///< in meters above WGS84 reference ellipsoid
uint8_t zone; ///< UTM zone number
};
/**
* @brief definition of the local (flat earth) coordinate system
* @details Defines the origin of the local coordinate system
* in ECEF and LLA coordinates and the roation matrix from
* ECEF to local frame */
struct LtpDef_f {
struct EcefCoor_f ecef; ///< origin of local frame in ECEF
struct LlaCoor_f lla; ///< origin of local frame in LLA
struct FloatRMat ltp_of_ecef; ///< rotation from ECEF to local frame
float hmsl; ///< Height above mean sea level in meters
};
void lla_of_utm_f(struct LlaCoor_f *lla, struct UtmCoor_f *utm);
void utm_of_lla_f(struct UtmCoor_f *utm, struct LlaCoor_f *lla);
void ltp_def_from_ecef_f(struct LtpDef_f *def, struct EcefCoor_f *ecef);
void ltp_def_from_lla_f(struct LtpDef_f *def, struct LlaCoor_f *lla);
void lla_of_ecef_f(struct LlaCoor_f *out, struct EcefCoor_f *in);
void ecef_of_lla_f(struct EcefCoor_f *out, struct LlaCoor_f *in);
void enu_of_ecef_point_f(struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef);
void ned_of_ecef_point_f(struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef);
void enu_of_ecef_vect_f(struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef);
void ned_of_ecef_vect_f(struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef);
void enu_of_lla_point_f(struct EnuCoor_f *enu, struct LtpDef_f *def, struct LlaCoor_f *lla);
void ned_of_lla_point_f(struct NedCoor_f *ned, struct LtpDef_f *def, struct LlaCoor_f *lla);
/* not enought precision with floats - used the double version */
void ecef_of_enu_point_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu);
void ecef_of_ned_point_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned);
void ecef_of_enu_vect_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu);
void ecef_of_ned_vect_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned);
/* end use double versions */
sw/lib/python/math/pprz_geodetic_int.i
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/* File : pprz_geodetic_int.i */
%module geodetic_int
%include "stdint.i"
%{
#include "math/pprz_geodetic_int.h"
%}
/**
* @brief vector in EarthCenteredEarthFixed coordinates
* @details Origin at center of mass of the Earth. Z-axis is pointing north,
* the x-axis intersects the sphere of the earth at 0° latitude (Equator)
* and 0° longitude (Greenwich). Y-axis completes it to right-hand system.
* Units: centimeters */
struct EcefCoor_i {
int32_t x; ///< in centimeters
int32_t y; ///< in centimeters
int32_t z; ///< in centimeters
};
/**
* @brief vector in Latitude, Longitude and Altitude
*/
struct LlaCoor_i {
int32_t lat; ///< in degrees*1e7
int32_t lon; ///< in degrees*1e7
int32_t alt; ///< in millimeters above WGS84 reference ellipsoid
};
/**
* @brief vector in North East Down coordinates
*/
struct NedCoor_i {
int32_t x; ///< North
int32_t y; ///< East
int32_t z; ///< Down
};
/**
* @brief vector in East North Up coordinates
*/
struct EnuCoor_i {
int32_t x; ///< East
int32_t y; ///< North
int32_t z; ///< Up
};
/**
* @brief position in UTM coordinates
*/
struct UtmCoor_i {
int32_t north; ///< in centimeters
int32_t east; ///< in centimeters
int32_t alt; ///< in millimeters above WGS84 reference ellipsoid
uint8_t zone; ///< UTM zone number
};
/**
* @brief definition of the local (flat earth) coordinate system
* @details Defines the origin of the local coordinate system
* in ECEF and LLA coordinates and the roation matrix from
* ECEF to local frame */
struct LtpDef_i {
struct EcefCoor_i ecef; ///< Reference point in ecef
struct LlaCoor_i lla; ///< Reference point in lla
struct Int32RMat ltp_of_ecef; ///< Rotation matrix
int32_t hmsl; ///< Height above mean sea level in mm
};
extern void ltp_of_ecef_rmat_from_lla_i(struct Int32RMat *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);
extern void ecef_of_lla_i(struct EcefCoor_i *out, struct LlaCoor_i *in);
extern void enu_of_ecef_point_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef);
extern void ned_of_ecef_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef);
extern void enu_of_ecef_pos_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef);
extern void ned_of_ecef_pos_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef);
extern void enu_of_ecef_vect_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef);
extern void ned_of_ecef_vect_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef);
extern void enu_of_lla_point_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla);
extern void ned_of_lla_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla);
extern void enu_of_lla_vect_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla);
extern void ned_of_lla_vect_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla);
extern void ecef_of_enu_point_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu);
extern void ecef_of_ned_point_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned);
extern void ecef_of_enu_pos_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu);
extern void ecef_of_ned_pos_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned);
extern void ecef_of_enu_vect_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu);
extern void ecef_of_ned_vect_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned);
sw/lib/python/math/setup.py
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#!/usr/bin/env python
"""
setup.py file for pprz_geodetic math wrapper
"""
from distutils.core import setup, Extension
from os import path, getenv
# if PAPARAZZI_SRC not set, then assume the tree containing this
# file is a reasonable substitute
pprz_src = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
pprz_airborne = path.join(pprz_src, "sw/airborne")
common_inc_dirs = ["./", path.join(pprz_src, "sw/include"), pprz_airborne]
pprz_geodetic_module = Extension('_pprz_geodetic',
sources=['pprz_geodetic_wrap.c',
path.join(pprz_airborne, 'math/pprz_geodetic_int.c'),
path.join(pprz_airborne, 'math/pprz_geodetic_double.c'),
path.join(pprz_airborne, 'math/pprz_geodetic_float.c')
],
include_dirs=common_inc_dirs)
setup(name='geodetic_double',
version='0.1',
author="Felix Ruess",
description="""Pprz geodetic math wrapper""",
ext_modules=[pprz_geodetic_module],
py_modules=["pprz_geodetic"],
)