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Ignore whitespace Rev 364 → Rev 365

/roboti/Robotour/SW/vector/geocalc.cpp
0,0 → 1,118
/* Navigation code */
 
#include "geocalc.h"
 
double GeoCalc::EllipsoidDistance(double lat1, double lon1, double lat2, double lon2)
{
double distance = 0.0;
double faz, baz;
double r = 1.0 - GEO::FLATTENING;
double tu1, tu2, cu1, su1, cu2, x, sx, cx, sy, cy, y, sa, c2a, cz, e, c, d;
double cosy1, cosy2;
distance = 0.0;
 
if((lon1 == lon2) && (lat1 == lat2)) return distance;
lon1 *= GEO::DE2RA;
lon2 *= GEO::DE2RA;
lat1 *= GEO::DE2RA;
lat2 *= GEO::DE2RA;
 
cosy1 = cos(lat1);
cosy2 = cos(lat2);
 
if(cosy1 == 0.0) cosy1 = 0.0000000001;
if(cosy2 == 0.0) cosy2 = 0.0000000001;
 
tu1 = r * sin(lat1) / cosy1;
tu2 = r * sin(lat2) / cosy2;
cu1 = 1.0 / sqrt(tu1 * tu1 + 1.0);
su1 = cu1 * tu1;
cu2 = 1.0 / sqrt(tu2 * tu2 + 1.0);
x = lon2 - lon1;
 
distance = cu1 * cu2;
baz = distance * tu2;
faz = baz * tu1;
 
do {
sx = sin(x);
cx = cos(x);
tu1 = cu2 * sx;
tu2 = baz - su1 * cu2 * cx;
sy = sqrt(tu1 * tu1 + tu2 * tu2);
cy = distance * cx + faz;
y = atan2(sy, cy);
sa = distance * sx / sy;
c2a = -sa * sa + 1.0;
cz = faz + faz;
if(c2a > 0.0) cz = -cz / c2a + cy;
e = cz * cz * 2. - 1.0;
c = ((-3.0 * c2a + 4.0) * GEO::FLATTENING + 4.0) * c2a * GEO::FLATTENING / 16.0;
d = x;
x = ((e * cy * c + cz) * sy * c + y) * sa;
x = (1.0 - c) * x * GEO::FLATTENING + lon2 - lon1;
} while(fabs(d - x) > GEO::EPS);
 
x = sqrt((1.0 / r / r - 1.0) * c2a + 1.0) + 1.0;
x = (x - 2.0) / x;
c = 1.0 - x;
c = (x * x / 4.0 + 1.0) / c;
d = (0.375 * x * x - 1.0) * x;
x = e * cy;
distance = 1.0 - e - e;
distance = ((((sy * sy * 4.0 - 3.0) *
distance * cz * d / 6.0 - x) * d / 4.0 + cz) * sy * d + y) * c * GEO::ERAD * r;
 
return distance;
}
 
 
double GeoCalc::GCAzimuth(double lat1, double lon1, double lat2, double lon2)
{
double result = 0.0;
 
INT32 ilat1 = (INT32)(0.50 + lat1 * 360000.0);
INT32 ilat2 = (INT32)(0.50 + lat2 * 360000.0);
INT32 ilon1 = (INT32)(0.50 + lon1 * 360000.0);
INT32 ilon2 = (INT32)(0.50 + lon2 * 360000.0);
 
lat1 *= GEO::DE2RA;
lon1 *= GEO::DE2RA;
lat2 *= GEO::DE2RA;
lon2 *= GEO::DE2RA;
 
if ((ilat1 == ilat2) && (ilon1 == ilon2))
{
return result;
}
else if (ilon1 == ilon2)
{
if (ilat1 > ilat2)
result = 180.0;
}
else
{
double c = acos(sin(lat2)*sin(lat1) + cos(lat2)*cos(lat1)*cos((lon2-lon1)));
double A = asin(cos(lat2)*sin((lon2-lon1))/sin(c));
result = (A * GEO::RA2DE);
 
if ((ilat2 > ilat1) && (ilon2 > ilon1))
{
}
else if ((ilat2 < ilat1) && (ilon2 < ilon1))
{
result = 180.0 - result;
}
else if ((ilat2 < ilat1) && (ilon2 > ilon1))
{
result = 180.0 - result;
}
else if ((ilat2 > ilat1) && (ilon2 < ilon1))
{
result += 360.0;
}
}
 
return result;
}