coord_system.h

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/*
 * Copyright (c) 2010 Swift Navigation Inc.
 * Contact: Fergus Noble <fergus@swift-nav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

#ifndef LIBSWIFTNAV_COORD_SYSTEM_H
#define LIBSWIFTNAV_COORD_SYSTEM_H

#define WGS84_A 6378137.0

#define WGS84_IF 298.257223563

#define WGS84_F (1/WGS84_IF)

#define WGS84_B (WGS84_A*(1-WGS84_F))

#define WGS84_E (sqrt(2*WGS84_F - WGS84_F*WGS84_F))
/* \} */

/* \} */

void llhrad2deg(const double llh_rad[3], double llh_deg[3]);

void llhdeg2rad(const double llh_deg[3], double llh_rad[3]);

void wgsllh2ecef(const double llh[3], double ecef[3]);

void wgsecef2llh(const double ecef[3], double llh[3]);

void wgsecef2ned(const double ecef[3], const double ref_ecef[3],
                 double ned[3]);
void wgsecef2ned_d(const double ecef[3], const double ref_ecef[3],
                   double ned[3]);

void wgsned2ecef(const double ned[3], const double ref_ecef[3],
                 double ecef[3]);
void wgsned2ecef_d(const double ned[3], const double ref_ecef[3],
                   double ecef[3]);

void wgsecef2azel(const double ecef[3], const double ref_ecef[3],
                  double* azimuth, double* elevation);

#endif /* LIBSWIFTNAV_COORD_SYSTEM_H */