Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
#include <vanetza/geodesy/geographiclib.hpp>
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#include <GeographicLib/Geocentric.hpp>
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#include <GeographicLib/Geodesic.hpp>
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#include <GeographicLib/LocalCartesian.hpp>
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#include <limits>
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namespace vanetza
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{
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namespace geodesy
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{
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namespace geographiclib
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{
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units::Length distance(const GeodeticPosition& a, const GeodeticPosition& b)
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{
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const auto& geod = GeographicLib::Geodesic::WGS84();
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double distance_m = 0.0;
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geod.Inverse(a.latitude / units::degree, a.longitude / units::degree,
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b.latitude / units::degree, b.longitude / units::degree,
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distance_m);
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return (distance_m >= 0.0 ? distance_m : std::numeric_limits<double>::quiet_NaN()) * units::si::meter;
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}
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CartesianPosition local_cartesian(
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const GeodeticPosition& origin,
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const GeodeticPosition& position)
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{
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const auto& earth = GeographicLib::Geocentric::WGS84();
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GeographicLib::LocalCartesian proj {
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origin.latitude / units::degree,
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origin.longitude / units::degree,
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0.0, earth
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};
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double result_x, result_y, unused_z = 0.0;
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proj.Forward(position.latitude / units::degree,
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position.longitude / units::degree, 0.0,
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result_x, result_y, unused_z);
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return CartesianPosition(result_x * units::si::meter, result_y * units::si::meter);
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}
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} // namespace geographiclib
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} // namespace geodesy
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} // namespace vanetza
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