Ashin Walpola
d107534eb2
obu-firmware builds against the vanetza-idf C-ITS library, which until now came from the colleague's microbu-esp32c5 tree beside the repository and was not tracked here, so a clone of this repository could not build the firmware it ships. The library alone is now part of obu-firmware, as obu-firmware/external/vanetza-idf: their external/vanetza-idf at commit cf4b99f, unchanged (9775 files; see its PROVENANCE.md). CMake takes it from there by default; -DVANETZA_IDF_DIR still points the build elsewhere. The rest of the colleague's tree (their own VAM firmware, PKI tooling, station-link Python tools, the V2X2MAP bridge) stays out of this repository and gitignored; nothing is pushed to their repository. NOTES.md, docs/06, TODO.md and the pcap verifier's usage line point at the new location.
44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
#include <vanetza/geodesy/geographiclib.hpp>
|
|
#include <GeographicLib/Geocentric.hpp>
|
|
#include <GeographicLib/Geodesic.hpp>
|
|
#include <GeographicLib/LocalCartesian.hpp>
|
|
#include <limits>
|
|
|
|
namespace vanetza
|
|
{
|
|
namespace geodesy
|
|
{
|
|
namespace geographiclib
|
|
{
|
|
|
|
units::Length distance(const GeodeticPosition& a, const GeodeticPosition& b)
|
|
{
|
|
const auto& geod = GeographicLib::Geodesic::WGS84();
|
|
double distance_m = 0.0;
|
|
geod.Inverse(a.latitude / units::degree, a.longitude / units::degree,
|
|
b.latitude / units::degree, b.longitude / units::degree,
|
|
distance_m);
|
|
return (distance_m >= 0.0 ? distance_m : std::numeric_limits<double>::quiet_NaN()) * units::si::meter;
|
|
}
|
|
|
|
CartesianPosition local_cartesian(
|
|
const GeodeticPosition& origin,
|
|
const GeodeticPosition& position)
|
|
{
|
|
const auto& earth = GeographicLib::Geocentric::WGS84();
|
|
GeographicLib::LocalCartesian proj {
|
|
origin.latitude / units::degree,
|
|
origin.longitude / units::degree,
|
|
0.0, earth
|
|
};
|
|
double result_x, result_y, unused_z = 0.0;
|
|
proj.Forward(position.latitude / units::degree,
|
|
position.longitude / units::degree, 0.0,
|
|
result_x, result_y, unused_z);
|
|
return CartesianPosition(result_x * units::si::meter, result_y * units::si::meter);
|
|
}
|
|
|
|
} // namespace geographiclib
|
|
} // namespace geodesy
|
|
} // namespace vanetza
|