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20 _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0);
21 real sphi, cphi, slam, clam;
31 for (
size_t i = 0;
i < dim2_; ++
i) {
32 size_t row =
i / dim_,
col =
i % dim_;
39 real M[dim2_])
const {
41 _earth.IntForward(
lat,
lon,
h, xc, yc, zc,
M);
42 xc -= _x0; yc -= _y0; zc -= _z0;
43 x = _r[0] * xc + _r[3] * yc + _r[6] * zc;
44 y = _r[1] * xc + _r[4] * yc + _r[7] * zc;
45 z = _r[2] * xc + _r[5] * yc + _r[8] * zc;
52 real M[dim2_])
const {
54 xc = _x0 + _r[0] *
x + _r[1] *
y + _r[2] *
z,
55 yc = _y0 + _r[3] *
x + _r[4] *
y + _r[5] *
z,
56 zc = _z0 + _r[6] *
x + _r[7] *
y + _r[8] *
z;
57 _earth.IntReverse(xc, yc, zc,
lat,
lon,
h,
M);
static T AngNormalize(T x)
Namespace for GeographicLib.
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
static constexpr double lon0
static void sincosd(T x, T &sinx, T &cosx)
int EIGEN_BLAS_FUNC() copy(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy)
void IntReverse(real x, real y, real z, real &lat, real &lon, real &h, real M[dim2_]) const
void MatrixMultiply(real M[dim2_]) const
void Reset(real lat0, real lon0, real h0=0)
void IntForward(real lat, real lon, real h, real &x, real &y, real &z, real M[dim2_]) const
static constexpr double lat0
Header for GeographicLib::LocalCartesian class.
static void Rotation(real sphi, real cphi, real slam, real clam, real M[dim2_])
static constexpr double h0
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Sun Feb 16 2025 04:01:45