Revision 0:8b049ccf57cb, committed 2011-04-27

Comitter:

shimniok

Date:

Wed Apr 27 17:58:09 2011 +0000

Child:

1:b4feb3f54fa3

Commit message:

Initial release

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GeoPosition.cpp	Wed Apr 27 17:58:09 2011 +0000
@@ -0,0 +1,141 @@
+#include "GeoPosition.h"
+#include <math.h>
+
+// Earth's mean radius in meters
+#define EARTHRADIUS 6371000.0
+
+GeoPosition::GeoPosition(): _R(EARTHRADIUS), _latitude(0.0), _longitude(0.0)
+{
+}
+
+GeoPosition::GeoPosition(double latitude, double longitude): _R(EARTHRADIUS), _latitude(latitude), _longitude(longitude)
+{
+}
+    
+/*
+double GeoPosition::easting()
+{
+}
+
+double GeoPosition::northing()
+{
+}
+*/
+
+double GeoPosition::latitude()
+{
+    return _latitude;
+}
+
+double GeoPosition::longitude()
+{
+    return _longitude;
+}
+
+void GeoPosition::set(double latitude, double longitude)
+{
+    _latitude = latitude;
+    _longitude = longitude;
+}
+
+void GeoPosition::set(GeoPosition pos)
+{
+    _latitude = pos.latitude();
+    _longitude = pos.longitude();
+}
+
+/*
+void GeoPosition::set(UTM coord)
+{
+}
+*/
+
+void GeoPosition::move(float course, float distance)
+{
+    double d = distance / _R;
+    double c = radians(course);
+    double rlat1 = radians(_latitude);
+    double rlon1 = radians(_longitude);
+
+    double rlat2 = asin(sin(rlat1)*cos(d) + cos(rlat1)*sin(d)*cos(c));
+    double rlon2 = rlon1 + atan2(sin(c)*sin(d)*cos(rlat1), cos(d)-sin(rlat1)*sin(rlat2));
+
+    _latitude  = degrees(rlat2);
+    _longitude = degrees(rlon2);
+
+    // bring back within the range -180 to +180
+    while (_longitude < -180.0) _longitude += 360.0;
+    while (_longitude > 180.0) _longitude -= 360.0;
+}
+
+/*
+void GeoPosition::move(Direction toWhere)
+{
+}
+
+Direction GeoPosition::direction(GeoPosition startingPoint)
+{
+}
+*/
+
+float GeoPosition::bearing(GeoPosition from)
+{
+    double lat1 = radians(from.latitude());
+    double lon1 = radians(from.longitude());
+    double lat2 = radians(_latitude);
+    double lon2 = radians(_longitude);
+    double dLon = lon2 - lon1;
+
+    double y = sin(dLon) * cos(lat2);
+    double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(dLon);
+
+    return degrees(atan2(y, x)); 
+}
+
+/*
+float GeoPosition::bearing(LatLong startingPoint)
+{
+}
+
+float GeoPosition::bearing(UTM startingPoint)
+{
+}
+*/
+
+float GeoPosition::distance(GeoPosition from)
+{
+    double lat1 = radians(from.latitude());
+    double lon1 = radians(from.longitude());
+    double lat2 = radians(_latitude);
+    double lon2 = radians(_longitude);
+    double dLat = lat2 - lat1;
+    double dLon = lon2 - lon1;
+
+    double a = sin(dLat/2.0) * sin(dLat/2.0) + 
+               cos(lat1) * cos(lat2) *
+               sin(dLon/2.0) * sin(dLon/2.0);
+    double c = 2.0 * atan2(sqrt(a), sqrt(1-a));
+    
+    return _R * c;
+}
+
+/*
+float GeoPosition::distance(LatLong startingPoint)
+{
+}
+
+float GeoPosition::distance(UTM startingPoint)
+{
+}
+*/
+
+void GeoPosition::setTimestamp(int time) {
+    _time = time;
+}
+
+int GeoPosition::getTimestamp(void) {
+    return _time;
+}
+
+
+    
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GeoPosition.h	Wed Apr 27 17:58:09 2011 +0000
@@ -0,0 +1,93 @@
+#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);
+    
+    /** 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);
+    
+    /** 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 */
+};
\ No newline at end of file