ground/gcs/src/libs/utils/coordinateconversions.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       coordinateconversions.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
   7  * @brief
   8  * @see        The GNU Public License (GPL) Version 3
   9  * @defgroup
  10  * @{
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #ifndef COORDINATECONVERSIONS_H
  30 #define COORDINATECONVERSIONS_H
  31
  32 #include "utils_global.h"
  33 #include "../extensionsystem/pluginmanager.h"
  34 #include "../../plugins/uavobjects/uavobjectmanager.h"
  35 #include "../../plugins/uavobjects/uavobject.h"
  36 #include "math.h"
  37
  38 namespace Utils {
  39 class QTCREATOR_UTILS_EXPORT CoordinateConversions {
  40 public:
  41     CoordinateConversions();
  42     int NED2LLA_HomeECEF(double BaseECEFcm[3], double NED[3], double position[3]);
  43     int NED2LLA_HomeLLA(double LLA[3], double NED[3], double position[3]);
  44     void RneFromLLA(double LLA[3], float Rne[3][3]);
  45     void LLA2ECEF(double LLA[3], double ECEF[3]);
  46     int ECEF2LLA(double ECEF[3], double LLA[3]);
  47     void LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
  48     void Quaternion2RPY(const float q[4], float rpy[3]);
  49     void RPY2Quaternion(const float rpy[3], float q[4]);
  50     void Quaternion2R(const float q[4], float Rbe[3][3]);
  51     void R2Quaternion(float const Rbe[3][3], float q[4]);
  52 };
  53 }
  54
  55 #endif /* COORDINATECONVERSIONS_H */