utm.h File Reference

Universal Transverse Mercator coordinates. More...

#include <limits>
#include <ctype.h>
#include <iostream>
#include <iomanip>
#include <ros/ros.h>
#include <tf/tf.h>
#include <geodesy/wgs84.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>

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Classes
class	geodesy::UTMPoint
class	geodesy::UTMPose
Namespaces
namespace	geodesy
Functions
void	geodesy::fromMsg (const geographic_msgs::GeoPose &from, UTMPose &to)
void	geodesy::fromMsg (const geographic_msgs::GeoPoint &from, UTMPoint &to)
static bool	geodesy::is2D (const UTMPose &pose)
static bool	geodesy::is2D (const UTMPoint &pt)
bool	geodesy::isValid (const UTMPose &pose)
bool	geodesy::isValid (const UTMPoint &pt)
static void	geodesy::normalize (UTMPoint &pt)
static std::ostream &	geodesy::operator<< (std::ostream &out, const UTMPose &pose)
static std::ostream &	geodesy::operator<< (std::ostream &out, const UTMPoint &pt)
static bool	geodesy::sameGridZone (const UTMPose &pose1, const UTMPose &pose2)
static bool	geodesy::sameGridZone (const UTMPoint &pt1, const UTMPoint &pt2)
static geometry_msgs::Pose	geodesy::toGeometry (const UTMPose &from)
static geometry_msgs::Point	geodesy::toGeometry (const UTMPoint &from)
geographic_msgs::GeoPose	geodesy::toMsg (const UTMPose &from)
geographic_msgs::GeoPoint	geodesy::toMsg (const UTMPoint &from)

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Detailed Description

Universal Transverse Mercator coordinates.

For outdoor robotics applications, Euclidean projections like UTM are easier to work with than latitude and longitude. This system is slightly more general than strict UTM. It is based on the Military Grid Reference System (MGRS), which can be extended to cover the poles, allowing well-defined transformations for every latitude and longitude.

Todo:

add Universal Polar Stereographic support

Author:

Jack O'Quin

Definition in file utm.h.