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https://github.com/sunnypilot/sunnypilot.git
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c0ac9bb63c
* live_kf to c++
* first locationd code
* Running in process_replay
* locationd handle cam_odo and live_calib
* log event handlers
* working message receiving
* compiling message sending
* correctly sending some messages
* correct receiving and sending
* update ref_commit with some all_alive_and_valid being false, minor fixes
* fix std abs
* linking on device fix
* fix cpu usage test
* generate kf constants and defines
* fix replay test
* replay without acks, cleanup
* operate on bytearray messages
* cleanup
* send msg fix
* small sleep, less flaky test
* remove python locationd
* review feedback
* bump rednose
old-commit-hash: 3420707ad5
42 lines
843 B
C++
42 lines
843 B
C++
#pragma once
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#define DEG2RAD(x) ((x) * M_PI / 180.0)
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#define RAD2DEG(x) ((x) * 180.0 / M_PI)
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struct ECEF {
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double x, y, z;
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Eigen::Vector3d to_vector(){
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return Eigen::Vector3d(x, y, z);
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}
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};
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struct NED {
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double n, e, d;
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Eigen::Vector3d to_vector(){
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return Eigen::Vector3d(n, e, d);
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}
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};
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struct Geodetic {
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double lat, lon, alt;
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bool radians=false;
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};
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ECEF geodetic2ecef(Geodetic g);
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Geodetic ecef2geodetic(ECEF e);
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class LocalCoord {
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public:
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Eigen::Matrix3d ned2ecef_matrix;
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Eigen::Matrix3d ecef2ned_matrix;
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Eigen::Vector3d init_ecef;
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LocalCoord(Geodetic g, ECEF e);
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LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
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LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
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NED ecef2ned(ECEF e);
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ECEF ned2ecef(NED n);
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NED geodetic2ned(Geodetic g);
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Geodetic ned2geodetic(NED n);
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};
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