/home/travis/build/lis-epfl/MAVRIC_Library/util/coord_conventions.hpp

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/*******************************************************************************
 * \file coord_conventions.h
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Coordinate conventions
 *
 ******************************************************************************/


#ifndef COORD_CONVENTIONS_HPP_
#define COORD_CONVENTIONS_HPP_

#include <cstdint>
#include <array>

extern "C"
{
#include "util/quaternions.h"
}


#define EARTH_RADIUS 6378137.0f                 ///< radius of the earth in meters


typedef struct
{
    double longitude;           
    double latitude;            
    float altitude;             
} global_position_t;

typedef std::array<float,3> local_position_t;

typedef std::array<float,3> local_velocity_t;

/*
 * \brief       Attitude with aeronautics convention
 *
 * \details     Expressed with the NED frame: X front, Y right, Z down.
 *              The rotations are done in the following order:
 *              - first around the local yaw axis,
 *              - then around new local pitch axis,
 *              - and finally around the new roll axis
*/
typedef struct
{
    float rpy[3];   
} aero_attitude_t;


void coord_conventions_local_to_global_position(const local_position_t& input, const global_position_t& origin, global_position_t& output);


void coord_conventions_global_to_local_position(const global_position_t& input, const global_position_t& origin, local_position_t& output);


aero_attitude_t coord_conventions_quat_to_aero(quat_t qe);


quat_t coord_conventions_quaternion_from_aero(aero_attitude_t aero);

quat_t coord_conventions_quaternion_from_rpy(const float rpy[3]);
quat_t coord_conventions_quaternion_from_rpy(float roll, float pitch, float yaw);


void coord_conventions_rpy_from_quaternion(const quat_t& quat, float rpy[3]);


float coord_conventions_get_yaw(quat_t qe);


quat_t coord_conventions_quaternion_from_angle_axis(float angle, const float axis[3]);


#endif /* STABILISATION_HPP_ */