math_helpers.h
3.35 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <array>
template<typename T>
std::array<T, 3> get_local_mission_item(const Mission::MissionItem &item, const CoordinateTransformation &ct)
{
using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate;
GlobalCoordinate global;
global.latitude_deg = item.latitude_deg;
global.longitude_deg = item.longitude_deg;
auto local = ct.local_from_global(global);
return {static_cast<T>(local.north_m), static_cast<T>(local.east_m), -item.relative_altitude_m};
}
template<typename T>
T sq(T x)
{
return x * x;
}
template<typename T>
T norm(const std::array<T, 3> &vec)
{
return std::sqrt(sq(vec[0]) + sq(vec[1]) + sq(vec[2]));
}
template<typename T>
T dot(const std::array<T, 3> &vec1, const std::array<T, 3> &vec2)
{
return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
}
template<typename T>
std::array<T, 3> diff(const std::array<T, 3> &vec1, const std::array<T, 3> &vec2)
{
return {vec1[0] - vec2[0], vec1[1] - vec2[1], vec1[2] - vec2[2]};
}
template<typename T>
std::array<T, 3> normalized(const std::array<T, 3> &vec)
{
T n = norm(vec);
if (n > 1e-6f) {
return {vec[0] / n, vec[1] / n, vec[2] / n};
} else {
return {0, 0, 0};
}
}
template<typename T>
T point_to_line_distance(const std::array<T, 3> &point, const std::array<T, 3> &line_start,
const std::array<T, 3> &line_end)
{
std::array<T, 3> norm_dir = normalized(diff(line_end, line_start));
T t = dot(norm_dir, diff(point, line_start));
// closest_on_line = line_start + t * norm_dir;
std::array<T, 3> closest_on_line { line_start[0] + t *norm_dir[0], line_start[1] + t *norm_dir[1], line_start[2] + t *norm_dir[2]};
return norm(diff(closest_on_line, point));
}