50 lines
1.7 KiB
C++
50 lines
1.7 KiB
C++
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#ifndef _GLUE_HPP
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#define _GLUE_HPP
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#include "BodyEnvironment.hpp"
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namespace yasim {
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// The XYZ coordinate system has Z as the earth's axis, the Y axis
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// pointing out the equator at zero longitude, and the X axis pointing
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// out the middle of the western hemisphere.
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class Glue {
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public:
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static void calcAlphaBeta(State* s, float* alpha, float* beta);
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// Calculates the instantaneous rotation velocities about each
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// axis.
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static void calcEulerRates(State* s,
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float* roll, float* pitch, float* hdg);
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static void xyz2geoc(double* xyz,
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double* lat, double* lon, double* alt);
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static void geoc2xyz(double lat, double lon, double alt,
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double* out);
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static void xyz2geod(double* xyz,
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double* lat, double* lon, double* alt);
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static void geod2xyz(double lat, double lon, double alt,
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double* out);
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static double geod2geocLat(double lat);
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static double geoc2geodLat(double lat);
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// Returns a global to "local" (north, east, down) matrix. Note
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// that the latitude passed in is geoDETic.
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static void xyz2nedMat(double lat, double lon, float* out);
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// Conversion between a euler triplet and a matrix that transforms
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// "local" (north/east/down) coordinates to the aircraft frame.
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static void euler2orient(float roll, float pitch, float hdg,
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float* out);
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static void orient2euler(float* o,
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float* roll, float* pitch, float* hdg);
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// Returns a geodetic (i.e. gravitational, "level", etc...) "up"
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// vector for the specified xyz position.
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static void geodUp(double* pos, float* out);
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};
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}; // namespace yasim
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#endif // _GLUE_HPP
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