pressure_height.h
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00001 //=================================================================================================
00002 // Copyright (c) 2013, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H
00030 #define HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H
00031 
00032 #include <hector_uav_msgs/Altimeter.h>
00033 #include <cmath>
00034 
00035 namespace hector_uav_msgs {
00036 
00037 static const Altimeter::_qnh_type STANDARD_PRESSURE = 1013.25;
00038 
00039 static inline Altimeter::_altitude_type altitudeFromPressure(Altimeter::_pressure_type pressure, Altimeter::_qnh_type qnh = STANDARD_PRESSURE) {
00040   return 288.15 / 0.0065 * (1.0 - pow(pressure / qnh, 1.0/5.255));
00041 }
00042 
00043 static inline Altimeter::_pressure_type pressureFromAltitude(Altimeter::_altitude_type altitude, Altimeter::_qnh_type qnh = STANDARD_PRESSURE) {
00044   return qnh * pow(1.0 - (0.0065 * altitude) / 288.15, 5.255);
00045 }
00046 
00047 static inline Altimeter& altitudeFromPressure(Altimeter& altimeter) {
00048   if (altimeter.qnh == 0.0) altimeter.qnh = STANDARD_PRESSURE;
00049   altimeter.altitude = altitudeFromPressure(altimeter.pressure, altimeter.qnh);
00050   return altimeter;
00051 }
00052 
00053 static inline Altimeter& pressureFromAltitude(Altimeter& altimeter) {
00054   if (altimeter.qnh == 0.0) altimeter.qnh = STANDARD_PRESSURE;
00055   altimeter.pressure = pressureFromAltitude(altimeter.altitude, altimeter.qnh);
00056   return altimeter;
00057 }
00058 
00059 } // namespace hector_uav_msgs
00060 
00061 #endif // HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H


hector_uav_msgs
Author(s): Johannes Meyer
autogenerated on Mon Oct 6 2014 00:29:22