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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
36 lines
1023 B
C++
36 lines
1023 B
C++
#pragma once
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#include <vanetza/geodesy/position.hpp>
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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 haversine
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{
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/**
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* Get distance between two geodetic positions using the Haversine formula.
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* Uses a spherical Earth model (radius 6371 km).
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* \param a first position
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* \param b second position
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* \return distance in meters (always positive)
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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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* Derive cartesian position ENU from geodetic coordinates using equirectangular projection.
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* Uses a spherical Earth model (radius 6371 km).
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* Suitable for short distances (< ~10 km) typical in GeoNetworking.
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* \param origin Reference point becoming origin
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* \param position Calculate cartesian coordinates for this point
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* \return Cartesian coordinates of position relative to origin
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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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} // namespace haversine
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} // namespace geodesy
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} // namespace vanetza
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