Diff: Estimation/GeoPosition/GeoPosition.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Estimation/GeoPosition/GeoPosition.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,106 @@
+#ifndef __GEOPOSITION_H
+#define __GEOPOSITION_H
+
+#ifndef _PI
+#define _PI 3.141592653
+#endif
+
+#define degrees(x) ((x)*180/_PI)
+#define radians(x) ((x)*_PI/180)
+
+/** Geographical position and calculation. Most of this comes from http://www.movable-type.co.uk/scripts/latlong.html
+ *
+ */
+class GeoPosition {
+public:
+
+    /** Create a new emtpy position object
+     *
+     */
+    GeoPosition();
+
+    /** Create a new position with the specified latitude and longitude. See set()
+     *
+     *  @param latitude is the latitude to set
+     *  @param longitude is the longitude to set
+     */
+    GeoPosition(double latitude, double longitude);
+    
+    /** Get the position's latitude
+     *
+     *  @returns the position's latitude
+     */
+    double latitude();
+    
+    /** Get the position's longitude
+     *
+     *  @returns the position's longitude
+     */
+    double longitude();
+    
+    /** Set the position's location to another position's coordinates
+     *
+     *  @param pos is another position from which coordinates will be copied
+     */
+    void set(GeoPosition pos);
+    
+    /** Set the position's location to the specified coordinates
+     *
+     *  @param latitude is the new latitude to set
+     *  @param longitude is the new longitude to set
+     */
+    void set(double latitude, double longitude);
+    
+    /** Move the location of the position by the specified distance and in
+     *  the specified direction
+     *
+     *  @param course is the direction of movement in degrees, absolute not relative
+     *  @param distance is the distance of movement along the specified course in meters
+     */
+    void move(float course, float distance);
+
+    /** Get the bearing from the specified origin position to this position.  To get
+     *  relative bearing, subtract the result from your heading.
+     *
+     *  @param from is the position from which to calculate bearing
+     *  @returns the bearing in degrees
+     */
+    float bearing(GeoPosition from);
+
+    float bearingFrom(GeoPosition from);
+
+    float bearingTo(GeoPosition to);
+    
+    /** Get the distance from the specified origin position to this position
+     *
+     *  @param from is the position from which to calculate distance
+     *  @returns the distance in meters
+     */
+    float distance(GeoPosition from);
+    
+    float distanceTo(GeoPosition to);
+    
+    float distanceFrom(GeoPosition from);
+    
+    /** Set an arbitrary timestamp on the position
+     *
+     * @param timestamp is an integer timestamp, eg., seconds, milliseconds, or whatever
+     */
+     void setTimestamp(int time);
+
+    /** Return a previously set timestamp on the position
+     *
+     * @returns the timestamp (e.g., seconds, milliseconds, etc.)
+     */     
+     int getTimestamp(void);
+
+private:
+    double _R;          /** Earth's mean radius */
+    double _latitude;   /** The position's latitude */
+    double _longitude;  /** The position's longitude */
+    double _northing;   /** The position's UTM northing coordinate */
+    double _easting;    /** The position's UTM easting coordinate */
+    int _time;          /** Timestamp */
+};
+
+#endif
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