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openpilot v0.7.6 release

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This commit is contained in:
Vehicle Researcher
2020-05-31 13:22:49 -07:00
parent 2d659de09c
commit 4fd2b0e730
733 changed files with 6097 additions and 211199 deletions
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common/transformations/coordinates.py
+6 -4
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@@ -18,9 +18,9 @@ def geodetic2ecef(geodetic, radians=False):
geodetic = np.atleast_2d(geodetic)
ratio = 1.0 if radians else (np.pi / 180.0)
lat = ratio*geodetic[:,0]
lon = ratio*geodetic[:,1]
alt = geodetic[:,2]
lat = ratio*geodetic[:, 0]
lon = ratio*geodetic[:, 1]
alt = geodetic[:, 2]
xi = np.sqrt(1 - esq * np.sin(lat)**2)
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
@@ -52,7 +52,7 @@ def ecef2geodetic(ecef, radians=False):
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
Q = np.sqrt(1 + 2 * esq * esq * P)
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
@@ -78,6 +78,8 @@ class LocalCoord():
[-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
[np.cos(lat), 0, -np.sin(lat)]])
self.ecef2ned_matrix = self.ned2ecef_matrix.T
self.ecef_from_ned_matrix = self.ned2ecef_matrix
self.ned_from_ecef_matrix = self.ecef2ned_matrix
@classmethod
def from_geodetic(cls, init_geodetic):