positionorientationvelocity.inl

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namespace
{
  inline
  EMANE::Orientation adjustOrientation(const EMANE::Orientation & orientation,
                                       const EMANE::Velocity & velocity)
  {
    double dYaw{velocity.getAzimuthDegrees() + orientation.getYawDegrees()};
    
    // set yaw to [0 to 360)
    EMANE::Utils::AI_TO_BE_DEGREES(dYaw, 0.0, 360.0);
          
    double dPitch{velocity.getElevationDegrees() + orientation.getPitchDegrees()};
    
    // set dpitch to [0 to 360)
    EMANE::Utils::AI_TO_BE_DEGREES(dPitch, 0.0, 360.0);
    
    // set pitch to [-90 to 90]
    EMANE::Utils::NEG_90_TO_POS_90_DEGREES(dPitch);
    
    return {orientation.getRollDegrees(),dPitch,dYaw};
  }
}

inline
EMANE::PositionOrientationVelocity::PositionOrientationVelocity():
  position_{},
  orientation_{},
  velocity_{},
  bValid_{},
  bHasOrientation_{},
  bHasVelocity_{}{}

inline
EMANE::PositionOrientationVelocity::PositionOrientationVelocity(const Position & position,
                                                                const std::pair<const Orientation &, bool> & orientation,
                                                                const std::pair<const Velocity &, bool> & velocity):
  position_{position},
  orientation_{orientation.first},
  velocity_{velocity.first},
  bValid_{true},
  bHasOrientation_{orientation.second},
  bHasVelocity_{velocity.second},
  positionECEF_{position},
  adjustedOrientation_{adjustOrientation(orientation_,velocity_)}{}

inline
bool EMANE::PositionOrientationVelocity::update(const Position & position,
                                                const std::pair<const Orientation &, bool> & orientation,
                                                const std::pair<const Velocity &, bool> & velocity)
{
  if(position == position_ &&
     (!orientation.second || orientation.first == orientation_) &&
     (!velocity.second || velocity.first == velocity_))
    {
      return false;
    }
  else
    {
      bValid_ = true;

      if(position != position_)
        {
          position_ = position;
          positionECEF_ = PositionECEF(position_);
        }

      bool bCalculateAdjustedOrientation{false};
      
      if(orientation.second)
        {
          orientation_ = orientation.first;
          bHasOrientation_ = true;
          bCalculateAdjustedOrientation = true;
        }
      
      if(velocity.second)
        {
          velocity_ = velocity.first;
          bHasVelocity_ = true;
          bCalculateAdjustedOrientation = true;
        }
            
      if(bCalculateAdjustedOrientation)
        {
          adjustedOrientation_ = adjustOrientation(orientation_,velocity_);
        }
      
      return true;
    }
}

inline
const EMANE::Position & EMANE::PositionOrientationVelocity::getPosition() const
{
  return position_;
}

inline
std::pair<const EMANE::Orientation &, bool> EMANE::PositionOrientationVelocity::getOrientation() const
{
  return {orientation_,bHasOrientation_};
}

inline
std::pair<const EMANE::Orientation &, bool> EMANE::PositionOrientationVelocity::getAdjustedOrientation() const
{
  return {adjustedOrientation_,bHasOrientation_ || bHasVelocity_};
}

inline
std::pair<const EMANE::Velocity &, bool>  EMANE::PositionOrientationVelocity::getVelocity() const
{
  return {velocity_,bHasVelocity_};
}

inline
const EMANE::PositionECEF &  EMANE::PositionOrientationVelocity::getPositionECEF() const
{
  return positionECEF_;
}

inline
EMANE::PositionNEU  EMANE::PositionOrientationVelocity::getPositionNEU(const PositionOrientationVelocity & other) const
{
  const auto & selfECEF = getPositionECEF();
  const auto & otherECEF = other.getPositionECEF();

  double dX{otherECEF.getX() - selfECEF.getX()};
  double dY{otherECEF.getY() - selfECEF.getY()};
  double dZ{ otherECEF.getZ() - selfECEF.getZ()};
        
  double dLatitudeRadians{position_.getLatitudeRadians()};
  double dLongitudeRadians{position_.getLongitudeRadians()};

  double dNorthMeters{-dX * sin(dLatitudeRadians) * cos(dLongitudeRadians) - 
      dY * sin(dLatitudeRadians) * sin(dLongitudeRadians) + 
      dZ * cos(dLatitudeRadians)};

  double dEastMeters{-dX * sin(dLongitudeRadians) + dY * cos(dLongitudeRadians)};
         
  double dUpMeters{dX * cos(dLatitudeRadians) * cos(dLongitudeRadians) + 
      dY * cos(dLatitudeRadians) * sin(dLongitudeRadians) + 
      dZ * sin(dLatitudeRadians)};

  PositionNEU otherNEU{dNorthMeters,dEastMeters,dUpMeters};
        
  if(bHasOrientation_ || bHasVelocity_)
    {
      otherNEU.rotate(adjustedOrientation_);
    }
        
  return otherNEU;
};

inline
bool EMANE::PositionOrientationVelocity::operator!() const
{
  return bValid_==false;
}