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.
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
#include <vanetza/geodesy/haversine.hpp>
|
|
#include <boost/units/cmath.hpp>
|
|
#include <cmath>
|
|
#include <limits>
|
|
|
|
namespace vanetza
|
|
{
|
|
namespace geodesy
|
|
{
|
|
namespace haversine
|
|
{
|
|
|
|
// arithmetic mean radius of WGS84 ellipsoid
|
|
static const units::Length earth_radius = 6371008.8 * units::si::meter;
|
|
|
|
units::Length distance(const GeodeticPosition& a, const GeodeticPosition& b)
|
|
{
|
|
using boost::units::sin;
|
|
using boost::units::cos;
|
|
|
|
const units::Angle delta_phi { b.latitude - a.latitude };
|
|
const units::Angle delta_lambda { b.longitude - a.longitude };
|
|
|
|
const auto sin_dphi = sin(delta_phi / 2.0);
|
|
const auto sin_dlambda = sin(delta_lambda / 2.0);
|
|
const auto h = sin_dphi * sin_dphi + cos(a.latitude) * cos(b.latitude) * sin_dlambda * sin_dlambda;
|
|
const auto c = 2.0 * std::atan2(std::sqrt(h), std::sqrt(1.0 - h));
|
|
|
|
return earth_radius * c;
|
|
}
|
|
|
|
CartesianPosition local_cartesian(
|
|
const GeodeticPosition& origin,
|
|
const GeodeticPosition& position)
|
|
{
|
|
using boost::units::cos;
|
|
|
|
const double dlat = units::Angle {position.latitude - origin.latitude }.value();
|
|
const double dlon = units::Angle {position.longitude - origin.longitude }.value();
|
|
|
|
const units::Length x = dlon * cos(origin.latitude) * earth_radius;
|
|
const units::Length y = dlat * earth_radius;
|
|
|
|
return CartesianPosition(x, y);
|
|
}
|
|
|
|
} // namespace haversine
|
|
} // namespace geodesy
|
|
} // namespace vanetza
|