74 lines
1.8 KiB
Go
74 lines
1.8 KiB
Go
// Copyright 2017 Google Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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package pipoint
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// Position is a 3D point in geographic coordinates.
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type Position struct {
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Time float64
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Lat float64
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Lon float64
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Alt float64
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Heading float64
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}
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// NEUPosition is a 3D point on the local tangent plane.
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type NEUPosition struct {
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Time float64
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North float64
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East float64
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Up float64
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}
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// Attitude is the orientation of a body, often to the local tangent
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// plane.
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type Attitude struct {
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Roll float64
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Pitch float64
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Yaw float64
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}
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// ToNEU converts a geographic position to local tangent plane.
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func (p *Position) ToNEU() *NEUPosition {
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lat := AsRad(p.Lat)
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return &NEUPosition{
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Time: p.Time,
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North: LatLength(lat) * p.Lat,
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East: LonLength(lat) * p.Lon,
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Up: p.Alt,
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}
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}
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// Sub returns piecewise this minus right.
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func (p *NEUPosition) Sub(right *NEUPosition) *NEUPosition {
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return &NEUPosition{
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Time: p.Time - right.Time,
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North: p.North - right.North,
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East: p.East - right.East,
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Up: p.Up - right.Up,
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}
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}
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// Add returns piecewise this plus right.
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func (p *NEUPosition) Add(right *NEUPosition) *NEUPosition {
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return &NEUPosition{
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Time: p.Time + right.Time,
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North: p.North + right.North,
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East: p.East + right.East,
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Up: p.Up + right.Up,
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}
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}
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