support cartesian waypoints and compute distance off a cartesian route.
Add a helper to access the total route distance.
Should not cause any visible functionality change.
SGRoute::~SGRoute() {
}
-
-// Calculate perpendicular distance from the current route segment
-// This routine assumes all points are laying on a flat plane and
-// ignores the altitude (or Z) dimension. For best results, use with
-// CARTESIAN way points.
-double SGRoute::distance_off_route( double x, double y ) const {
- if ( current_wp > 0 ) {
- int n0 = current_wp - 1;
- int n1 = current_wp;
- sgdVec3 p, p0, p1, d;
- sgdSetVec3( p, x, y, 0.0 );
- sgdSetVec3( p0,
- route[n0].get_target_lon(), route[n0].get_target_lat(),
- 0.0 );
- sgdSetVec3( p1,
- route[n1].get_target_lon(), route[n1].get_target_lat(),
- 0.0 );
- sgdSubVec3( d, p0, p1 );
-
- return sqrt( sgdClosestPointToLineDistSquared( p, p0, d ) );
-
- } else {
- // We are tracking the first waypoint so there is no route
- // segment. If you add the current location as the first
- // waypoint and the actual waypoint as the second, then we
- // will have a route segment and calculate distance from it.
-
- return 0;
- }
-}
-
/** Update the length of the leg ending at waypoint index */
void SGRoute::update_distance(int index)
{
if ( n < size - 1 )
update_distance( n );
}
+
+double SGRoute::total_distance() const {
+ double total = 0.0;
+ for (unsigned int i=0; i<route.size(); ++i) {
+ total += route[i].get_distance();
+ }
+ return total;
+}
/** Delete waypoint waypoint with index n (last one if n < 0) */
void delete_waypoint( int n = 0 );
-
+
/**
- * Calculate perpendicular distance from the current route segment
- * This routine assumes all points are laying on a flat plane and
- * ignores the altitude (or Z) dimension. For most accurate
- * results, use with CARTESIAN way points.
+ * Helper, sum the distance members of each waypoint
*/
- double distance_off_route( double x, double y ) const;
+ double total_distance() const;
};
#include "waypoint.hxx"
+using std::string;
// Constructor
SGWayPoint::SGWayPoint( const double lon, const double lat, const double alt,
- const modetype m, const string& s, const string& n ) {
- target_lon = lon;
- target_lat = lat;
- target_alt = alt;
- mode = m;
- id = s;
- name = n;
+ const modetype m, const string& s, const string& n ) :
+ mode(m),
+ pos(SGGeod::fromDegM(lon, lat, alt)),
+ distance(0.0),
+ id(s),
+ name(n)
+{
}
+SGWayPoint::SGWayPoint(const SGGeod& geod, const string& s, const string& n ) :
+ mode(WGS84),
+ pos(geod),
+ distance(0.0),
+ id(s),
+ name(n)
+{
+}
// Destructor
SGWayPoint::~SGWayPoint() {
}
+void SGWayPoint::CourseAndDistance(const SGGeod& cur, double& course, double& dist ) const {
+ if ( mode == WGS84 ) {
+ double reverse;
+ SGGeodesy::inverse(cur, pos, course, reverse, dist);
+ } else if ( mode == SPHERICAL ) {
+ Point3D currentPoint(cur.getLongitudeRad(), cur.getLatitudeRad(), 0.0 );
+ Point3D targetPoint(pos.getLongitudeRad(), pos.getLatitudeRad(), 0.0 );
+ calc_gc_course_dist( currentPoint, targetPoint, &course, &dist );
+ course = 360.0 - course * SGD_RADIANS_TO_DEGREES;
+ }
+}
// Calculate course and distances. For WGS84 and SPHERICAL
// coordinates lat, lon, and course are in degrees, alt and distance
const double cur_lat,
const double cur_alt,
double *course, double *dist ) const {
- if ( mode == WGS84 ) {
- double reverse;
- geo_inverse_wgs_84( cur_alt, cur_lat, cur_lon, target_lat, target_lon,
- course, &reverse, dist );
- } else if ( mode == SPHERICAL ) {
- Point3D current( cur_lon * SGD_DEGREES_TO_RADIANS, cur_lat * SGD_DEGREES_TO_RADIANS, 0.0 );
- Point3D target( target_lon * SGD_DEGREES_TO_RADIANS, target_lat * SGD_DEGREES_TO_RADIANS, 0.0 );
- calc_gc_course_dist( current, target, course, dist );
- *course = 360.0 - *course * SGD_RADIANS_TO_DEGREES;
- } else if ( mode == CARTESIAN ) {
- double dx = target_lon - cur_lon;
- double dy = target_lat - cur_lat;
- *course = -atan2( dy, dx ) * SGD_RADIANS_TO_DEGREES - 90;
- while ( *course < 0 ) {
- *course += 360.0;
- }
- while ( *course > 360.0 ) {
- *course -= 360.0;
- }
- *dist = sqrt( dx * dx + dy * dy );
- }
+ CourseAndDistance(SGGeod::fromDegM(cur_lon, cur_lat, cur_alt), *course, *dist);
}
// Calculate course and distances between two waypoints
void SGWayPoint::CourseAndDistance( const SGWayPoint &wp,
double *course, double *dist ) const {
- CourseAndDistance( wp.get_target_lon(),
- wp.get_target_lat(),
- wp.get_target_alt(),
- course, dist );
+ CourseAndDistance( wp.get_target(), course, dist );
}
#include <simgear/compiler.h>
-#include <string>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/SGGeod.hxx>
-using std::string;
+#include <string>
/**
* the world is a perfect sphere. This is less compuntationally
* expensive than using wgs84 math and still a fairly good
* approximation of the real world, especially over shorter distances.
- * <li> CARTESIAN requests all math be done assuming the coordinates specify
- * position in a Z = up world.
*/
enum modetype {
WGS84 = 0,
SPHERICAL = 1,
- CARTESIAN = 2
};
private:
modetype mode;
- double target_lon;
- double target_lat;
- double target_alt;
+ SGGeod pos;
double distance;
- string id;
- string name;
+ std::string id;
+ std::string name;
public:
*/
SGWayPoint( const double lon = 0.0, const double lat = 0.0,
const double alt = 0.0, const modetype m = WGS84,
- const string& s = "", const string& n = "" );
+ const std::string& s = "", const std::string& n = "" );
+
+ /**
+ * Construct from a geodetic position, in WGS84 coordinates
+ */
+ SGWayPoint(const SGGeod& pos, const std::string& s = "", const std::string& n = "" );
/** Destructor */
~SGWayPoint();
const double cur_alt,
double *course, double *dist ) const;
+ void CourseAndDistance(const SGGeod& current,
+ double& course, double& dist ) const;
+
/**
* Calculate course and distances between a specified starting waypoint
* and this waypoint.
void CourseAndDistance( const SGWayPoint &wp,
double *course, double *dist ) const;
- /** @return waypoint mode */
- inline modetype get_mode() const { return mode; }
-
/** @return waypoint longitude */
- inline double get_target_lon() const { return target_lon; }
+ inline double get_target_lon() const { return pos.getLongitudeDeg(); }
/** @return waypoint latitude */
- inline double get_target_lat() const { return target_lat; }
+ inline double get_target_lat() const { return pos.getLatitudeDeg(); }
/** @return waypoint altitude */
- inline double get_target_alt() const { return target_alt; }
+ inline double get_target_alt() const { return pos.getElevationM(); }
+
+ inline const SGGeod& get_target() const { return pos; }
/**
* This value is not calculated by this class. It is simply a
inline void set_distance( double d ) { distance = d; }
/** @return waypoint id */
- inline const string& get_id() const { return id; }
+ inline const std::string& get_id() const { return id; }
/** @return waypoint name */
- inline const string& get_name() const { return name; }
+ inline const std::string& get_name() const { return name; }
};
projects / simgear.git / commitdiff