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31 lines
823 B
31 lines
823 B
6 years ago
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#pragma once
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#include <cmath>
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#include "ugv_comms.hh"
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struct LatLong {
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static constexpr float PI =
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3.1415926535897932384626433832795028841971693993751058209749445923078164062;
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static constexpr float RAD_PER_DEG = PI / 180.f;
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// Radius of earth in meters
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static constexpr float EARTH_RAD = 6372795.f;
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public:
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float latitude;
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float longitude;
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inline LatLong() : LatLong(0., 0.) {}
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inline LatLong(double latitude_, double longitude_)
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: latitude(latitude_), longitude(longitude_) {}
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inline LatLong(const ugv::comms::messages::TargetLocation &loc)
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: latitude(loc.latitude()), longitude(loc.longitude()) {}
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/**
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* Return distance from this LatLong to target, in meters
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*/
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float distance_to(const LatLong &target) const;
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float bearing_toward(const LatLong &target) const;
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};
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