GAMS  1.4.0
Public Member Functions | Static Public Member Functions | Static Private Member Functions | Private Attributes | List of all members
gams::pose::geodetic_util::GeodeticConverter Class Reference

Helper class for translating between LLA, ECEF, and NED coordinates. More...

#include <geodetic_conv.h>

Public Member Functions

 GeodeticConverter (const double latitude, const double longitude, const double altitude)
 
void ecef2Ned (const double x, const double y, const double z, double *north, double *east, double *down) const
 
void enu2Geodetic (const double east, const double north, const double up, double *latitude, double *longitude, double *altitude) const
 
void geodetic2Enu (const double latitude, const double longitude, const double altitude, double *east, double *north, double *up) const
 
void geodetic2Ned (const double latitude, const double longitude, const double altitude, double *north, double *east, double *down) const
 
void getReference (double *latitude, double *longitude, double *altitude) const
 
void ned2Ecef (const double north, const double east, const double down, double *x, double *y, double *z) const
 
void ned2Geodetic (const double north, const double east, const double down, double *latitude, double *longitude, double *altitude) const
 

Static Public Member Functions

static void ecef2Geodetic (const double x, const double y, const double z, double *latitude, double *longitude, double *altitude)
 
static void geodetic2Ecef (const double latitude, const double longitude, const double altitude, double *x, double *y, double *z)
 

Static Private Member Functions

static double deg2Rad (const double degrees)
 
static Matrix3 nRe (const double lat_radians, const double lon_radians)
 
static double rad2Deg (const double radians)
 

Private Attributes

Matrix3 ecef_to_ned_matrix_
 
double initial_altitude_
 
double initial_ecef_x_
 
double initial_ecef_y_
 
double initial_ecef_z_
 
double initial_latitude_
 
double initial_longitude_
 
Matrix3 ned_to_ecef_matrix_
 

Detailed Description

Helper class for translating between LLA, ECEF, and NED coordinates.

Definition at line 89 of file geodetic_conv.h.

Constructor & Destructor Documentation

◆ GeodeticConverter()

gams::pose::geodetic_util::GeodeticConverter::GeodeticConverter ( const double  latitude,
const double  longitude,
const double  altitude 
)
inline

Definition at line 93 of file geodetic_conv.h.

Member Function Documentation

◆ deg2Rad()

static double gams::pose::geodetic_util::GeodeticConverter::deg2Rad ( const double  degrees)
inlinestaticprivate

Definition at line 284 of file geodetic_conv.h.

◆ ecef2Geodetic()

static void gams::pose::geodetic_util::GeodeticConverter::ecef2Geodetic ( const double  x,
const double  y,
const double  z,
double *  latitude,
double *  longitude,
double *  altitude 
)
inlinestatic

Definition at line 138 of file geodetic_conv.h.

◆ ecef2Ned()

void gams::pose::geodetic_util::GeodeticConverter::ecef2Ned ( const double  x,
const double  y,
const double  z,
double *  north,
double *  east,
double *  down 
) const
inline

Definition at line 172 of file geodetic_conv.h.

◆ enu2Geodetic()

void gams::pose::geodetic_util::GeodeticConverter::enu2Geodetic ( const double  east,
const double  north,
const double  up,
double *  latitude,
double *  longitude,
double *  altitude 
) const
inline

Definition at line 240 of file geodetic_conv.h.

◆ geodetic2Ecef()

static void gams::pose::geodetic_util::GeodeticConverter::geodetic2Ecef ( const double  latitude,
const double  longitude,
const double  altitude,
double *  x,
double *  y,
double *  z 
)
inlinestatic

Definition at line 121 of file geodetic_conv.h.

◆ geodetic2Enu()

void gams::pose::geodetic_util::GeodeticConverter::geodetic2Enu ( const double  latitude,
const double  longitude,
const double  altitude,
double *  east,
double *  north,
double *  up 
) const
inline

Definition at line 224 of file geodetic_conv.h.

◆ geodetic2Ned()

void gams::pose::geodetic_util::GeodeticConverter::geodetic2Ned ( const double  latitude,
const double  longitude,
const double  altitude,
double *  north,
double *  east,
double *  down 
) const
inline

Definition at line 204 of file geodetic_conv.h.

◆ getReference()

void gams::pose::geodetic_util::GeodeticConverter::getReference ( double *  latitude,
double *  longitude,
double *  altitude 
) const
inline

Definition at line 114 of file geodetic_conv.h.

◆ ned2Ecef()

void gams::pose::geodetic_util::GeodeticConverter::ned2Ecef ( const double  north,
const double  east,
const double  down,
double *  x,
double *  y,
double *  z 
) const
inline

Definition at line 189 of file geodetic_conv.h.

◆ ned2Geodetic()

void gams::pose::geodetic_util::GeodeticConverter::ned2Geodetic ( const double  north,
const double  east,
const double  down,
double *  latitude,
double *  longitude,
double *  altitude 
) const
inline

Definition at line 214 of file geodetic_conv.h.

◆ nRe()

static Matrix3 gams::pose::geodetic_util::GeodeticConverter::nRe ( const double  lat_radians,
const double  lon_radians 
)
inlinestaticprivate

Definition at line 255 of file geodetic_conv.h.

◆ rad2Deg()

static double gams::pose::geodetic_util::GeodeticConverter::rad2Deg ( const double  radians)
inlinestaticprivate

Definition at line 278 of file geodetic_conv.h.

Member Data Documentation

◆ ecef_to_ned_matrix_

Matrix3 gams::pose::geodetic_util::GeodeticConverter::ecef_to_ned_matrix_
private

Definition at line 297 of file geodetic_conv.h.

◆ initial_altitude_

double gams::pose::geodetic_util::GeodeticConverter::initial_altitude_
private

Definition at line 291 of file geodetic_conv.h.

◆ initial_ecef_x_

double gams::pose::geodetic_util::GeodeticConverter::initial_ecef_x_
private

Definition at line 293 of file geodetic_conv.h.

◆ initial_ecef_y_

double gams::pose::geodetic_util::GeodeticConverter::initial_ecef_y_
private

Definition at line 294 of file geodetic_conv.h.

◆ initial_ecef_z_

double gams::pose::geodetic_util::GeodeticConverter::initial_ecef_z_
private

Definition at line 295 of file geodetic_conv.h.

◆ initial_latitude_

double gams::pose::geodetic_util::GeodeticConverter::initial_latitude_
private

Definition at line 289 of file geodetic_conv.h.

◆ initial_longitude_

double gams::pose::geodetic_util::GeodeticConverter::initial_longitude_
private

Definition at line 290 of file geodetic_conv.h.

◆ ned_to_ecef_matrix_

Matrix3 gams::pose::geodetic_util::GeodeticConverter::ned_to_ecef_matrix_
private

Definition at line 298 of file geodetic_conv.h.

The documentation for this class was generated from the following file: