#include "component.hpp"
#include <cmath>
namespace asw {
LocalPose to_local(double origin_lat, double origin_lon, double latitude, double longitude) {
  constexpr double radius = 6378137.0; constexpr double pi = 3.14159265358979323846;
  const double lat0 = origin_lat * pi / 180.0;
  return {(longitude - origin_lon) * pi / 180.0 * radius * std::cos(lat0), (latitude - origin_lat) * pi / 180.0 * radius};
}
}