Commit f552637b authored by Oleg Dzhimiev's avatar Oleg Dzhimiev

related to optimization

parent 2c2f02f7
......@@ -305,8 +305,145 @@ function hll3_w_i(i,v){
* Functions for position latitude and longitude (heading is fixed)
* hll4a_...
*/
// p0 = new L.LatLng(lat0,lng0)
// p1 = new L.LatLng(lat0,lng0)
// p0.distanceTo(p1)
function hll4a_r_i(i,v){
return hll3_r_i(i,v);
}
function hll4a_dr_dx_i(i,v){
return hll3_dr_dx_i(i,v);
}
function hll4a_dr_dy_i(i,v){
return hll3_dr_dy_i(i,v);
}
function hll4a_w_i(i,v){
return hll3_w_i(i,v);
}
function hll4b_3d_i(i,v){
var base = Data.camera;
var mark = Data.markers[i];
// 3D model part
var xyz_real = x3dom_scene_to_heading(mark.align.x,mark.align.y,mark.align.z);
var vec_xz = new x3dom.fields.SFVec3f(xyz_real.x,0,xyz_real.z);
var d_3d = vec_xz.length();
return d_3d;
}
function hll4b_map_i(i,v){
var base = Data.camera;
var mark = Data.markers[i];
var p1_ll = new L.LatLng(v[0],v[1]);
var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);
var d_map = p1_ll.distanceTo(p2_ll);
return d_map;
}
function hll4b_r_i(i,v){
var base = Data.camera;
var mark = Data.markers[i];
// 3D model part
var d_3d = hll4b_3d_i(i,v);
// Map part
var d_map = hll4b_map_i(i,v);
// bring error to degrees:
var result = Math.atan((d_3d-d_map)/d_3d)*180/Math.PI;
return result;
}
// latitude
function hll4b_dr_dx_i(i,v){
var mark = Data.markers[i];
var p1_ll = new L.LatLng(v[0],v[1]);
var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);
p1_ll.lat = p1_ll.lat*Math.PI/180;
p1_ll.lng = p1_ll.lng*Math.PI/180;
p2_ll.lat = p2_ll.lat*Math.PI/180;
p2_ll.lng = p2_ll.lng*Math.PI/180;
var dlat = p2_ll.lat-p1_ll.lat;
var dlon = p2_ll.lng-p1_ll.lng;
// L.CRS.Earth.R - distance in meters
var a = Math.sin(dlat/2)*Math.sin(dlat/2)+Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.sin(dlon/2);
var da = -1/2*Math.sin(dlat/4)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.sin(dlon/2)*(-1);
var res = L.CRS.Earth.R*(1/Math.sqrt(a))*(1/Math.sqrt(1-a))*da;
// extra coeff
var d_3d = hll4b_3d_i(i,v);
var d_map = hll4b_map_i(i,v);
//var k = -1/d_3d*180/Math.PI;
var result = 1/(1+((d_3d-d_map)/d_3d))*(-1)*res*180/Math.PI;
return result;
}
// longitude
function hll4b_dr_dy_i(i,v){
var mark = Data.markers[i];
var p1_ll = new L.LatLng(v[0],v[1]);
var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);
p1_ll.lat = p1_ll.lat*Math.PI/180;
p1_ll.lng = p1_ll.lng*Math.PI/180;
p2_ll.lat = p2_ll.lat*Math.PI/180;
p2_ll.lng = p2_ll.lng*Math.PI/180;
var dlat = p2_ll.lat-p1_ll.lat;
var dlon = p2_ll.lng-p1_ll.lng;
// L.CRS.Earth.R - distance in meters
var a = Math.sin(dlat/2)*Math.sin(dlat/2)+Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.sin(dlon/2);
var da = (-1/2)*Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.cos(dlon/2);
var res = L.CRS.Earth.R*(1/Math.sqrt(a))*(1/Math.sqrt(1-a))*da;
// extra coeff
var d_3d = hll4b_3d_i(i,v);
var d_map = hll4b_map_i(i,v);
//var k = -1/d_3d*180/Math.PI;
var result = 1/(1+((d_3d-d_map)/d_3d))*(-1)*res*180/Math.PI;
return result;
}
function hll4b_w_i(i,v){
return 1;
}
/**
* Functions for relative altitude, tilt and roll
......
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