Classes
class	GeoReference

class	IdentityTransform
	Specialization of swri_transform_util::TransformImpl that represents the identity transform. More...

class	LocalXyWgs84Util
	Utility class for converting between WGS84 lat/lon and an ortho-rectified LocalXY coordinate system. More...

class	TfToUtmTransform
	Class to implement transformation from TF to UTM. More...

class	TfToWgs84Transform
	Specialization of TransformImpl for transforming from TF to WGS84. More...

class	TfTransform
	Specialization of swri_transform_util::TransformImpl that performs TF transformation. More...

class	Transform
	An abstraction of the tf::Transform class to support transforms in addition to the rigid transforms supported by tf. More...

class	Transformer
	A base class for transformers. More...

class	TransformImpl
	Base class for Transform implementations. More...

class	TransformManager
	Wrapper around tf::TransformListener to support non-TF transforms. More...

class	UtmToTfTransform
	Class to implement transformation from UTM to TF. More...

class	UtmToWgs84Transform
	Class to implement transformation from UTM to WGS84. More...

class	UtmTransformer
	Instantiation of Transformer to handle transforms to/from UTM. More...

class	UtmUtil
	Utility class for converting between latitude/longitude and UTM. More...

class	Wgs84ToTfTransform
	Specialization of TransformImpl for transforming from WGS84 to TF. More...

class	Wgs84ToUtmTransform
	Class to implement transformation from WGS84 to UTM. More...

class	Wgs84Transformer

Typedefs
typedef boost::shared_ptr< LocalXyWgs84Util >	LocalXyWgs84UtilPtr

typedef std::map< std::string, TransformerMap >	SourceTargetMap

typedef std::map< std::string, boost::shared_ptr< Transformer > >	TransformerMap

typedef boost::shared_ptr< TransformImpl >	TransformImplPtr

typedef boost::shared_ptr< TransformManager >	TransformManagerPtr

Functions
bool	FrameIdsEqual (const std::string &frame1, const std::string &frame2)
	Compare two TF frame IDs, assuming that frames with relative paths are in the global namespace. More...

tf::Matrix3x3	Get3x3Cov (const boost::array< double, 9 > &matrix)
	Converts the 3x3 covariance matrices from Imu messages to a Matrix3x3. More...

char	GetBand (double latitude)
	Given a latitude angle, get the UTM band letter. More...

double	GetBearing (double source_latitude, double source_longitude, double destination_latitude, double destination_longitude)
	Calculates the bearing between two points. More...

double	GetHeading (double src_x, double src_y, double dst_x, double dst_y)
	Calculates the heading in degrees from a source and destination point in a north-oriented (+y = north, +x = east), ortho-rectified coordinate system. More...

tf::Matrix3x3	GetLowerRight (const boost::array< double, 36 > &matrix)
	Gets the lower-right 3x3 sub-matrix of a 6x6 matrix. More...

void	GetMidpointLatLon (double latitude1, double longitude1, double latitude2, double longitude2, double &mid_latitude, double &mid_longitude)
	Find the midpoint on the arc between two lat/lon points. More...

tf::Vector3	GetPrimaryAxis (const tf::Vector3 &vector)
	Return an axis aligned unit vector that is nearest the provided vector. More...

tf::Transform	GetRelativeTransform (double latitude, double longitude, double yaw, double reference_latitude, double reference_longitude, double reference_yaw)

tf::Matrix3x3	GetUpperLeft (const boost::array< double, 36 > &matrix)
	Gets the upper-left 3x3 sub-matrix of a 6x6 matrix. More...

uint32_t	GetZone (double longitude)
	Given a longitude angle, get the UTM zone. More...

double	GreatCircleDistance (const tf::Vector3 &src, const tf::Vector3 &dst)
	Calculates the great circle distance between two points. More...

double	GreatCircleDistance (double src_latitude, double src_longitude, double dst_latitude, double dst_longitude)
	Calculates the great circle distance between two points. More...

bool	IsRotation (tf::Matrix3x3 matrix)
	Validate that a 3x3 matrix is a rotation. More...

double	LatitudeDegreesFromMeters (double altitude, double arc_length)
	Calculate the subtending angle of an arc (aligned with the latitudinal coordinate axis at the specified altitude) with the specied arc length. More...

void	LocalXyFromWgs84 (double latitude, double longitude, double reference_latitude, double reference_longitude, double &x, double &y)
	Transform a point from WGS84 lat/lon to an ortho-rectified LocalXY coordinate system. More...

double	LongitudeDegreesFromMeters (double latitude, double altitude, double arc_length)
	Calculate the subtending angle of an arc (aligned with the longitudinal coordinate axis at the specified latitude and altitude) with the specied arc length. More...

std::string	NormalizeFrameId (const std::string &frame_id)
	Normalize a TF frame ID by assuming that frames with relative paths are in the global namespace and adding a leading slash. More...

void	Set3x3Cov (const tf::Matrix3x3 &matrix_in, boost::array< double, 9 > &matrix_out)
	Converts the Matrix3x3 matrix into a 9 element covariance matrix from Imu messages. More...

void	SetLowerRight (const tf::Matrix3x3 &sub_matrix, boost::array< double, 36 > &matrix)
	Sets the lower-right quadrant of a 6x6 matrix with the specified 3x3 sub-matrix. More...

void	SetUpperLeft (const tf::Matrix3x3 &sub_matrix, boost::array< double, 36 > &matrix)
	Sets the upper-left quadrant of a 6x6 matrix with the specified 3x3 sub-matrix. More...

tf::Quaternion	SnapToRightAngle (const tf::Quaternion &rotation)
	Snaps a quaternion rotation to the closest right angle rotation. More...

double	ToHeading (double yaw)
	Convert yaw to heading, where yaw is in radians, counter-clockwise, with 0 on the positive x-axis and heading is in degrees, clockwise, with 0 on the positive y-axis. More...

double	ToYaw (double heading)
	Convert heading to yaw, where yaw is in radians, counter-clockwise, with 0 on the positive x-axis and heading is in degrees, clockwise, with 0 on the positive y-axis. More...

void	Wgs84FromLocalXy (double x, double y, double reference_latitude, double reference_longitude, double &latitude, double &longitude)
	Transform a point from an ortho-rectified LocalXY coordinate system into WGS84 latitude and longitude. More...

Variables
static const double	_earth_eccentricity = 0.08181919084261
	Earth 'first' eccentricity according to WGS84. More...

static const double	_earth_equator_circumference = 40075016.69
	Earth equatorial circumference in meters according to WGS84. More...

static const double	_earth_equator_radius = 6378137.0
	Earth equatorial radius in meters according to WGS84. More...

static const double	_earth_flattening = 3.35281066475e-3
	Earth flattening according to WGS84. More...

static const double	_earth_mean_radius = 6371009.0
	Earth mean radius in meters. More...

static const double	_earth_rotation_rate = 7.292115e-5
	Earth rotation rate in radians per second. More...

static const std::string	_local_xy_frame = "/local_xy"
	Special frame id for data defined a LocalXY coordinate system. More...

static const std::string	_tf_frame = "/tf"
	Special frame id used internally to denote frames that are part of the ROS TF tree. More...

static const std::string	_utm_frame = "/utm"
	Special frame id for data defined in the UTM coordinate system. More...

static const std::string	_wgs84_frame = "/wgs84"
	Special frame id for data defined in the WGS84 lat/lon coordinate system. More...

Typedef Documentation

◆ LocalXyWgs84UtilPtr

typedef boost::shared_ptr<LocalXyWgs84Util> swri_transform_util::LocalXyWgs84UtilPtr

Definition at line 236 of file local_xy_util.h.

◆ SourceTargetMap

typedef std::map<std::string, TransformerMap> swri_transform_util::SourceTargetMap

Definition at line 49 of file transform_manager.h.

◆ TransformerMap

typedef std::map<std::string, boost::shared_ptr<Transformer> > swri_transform_util::TransformerMap

Definition at line 48 of file transform_manager.h.

◆ TransformImplPtr

typedef boost::shared_ptr<TransformImpl> swri_transform_util::TransformImplPtr

Definition at line 95 of file transform.h.

◆ TransformManagerPtr

typedef boost::shared_ptr<TransformManager> swri_transform_util::TransformManagerPtr

Definition at line 255 of file transform_manager.h.

Function Documentation

◆ FrameIdsEqual()

bool swri_transform_util::FrameIdsEqual	(	const std::string &	frame1,
		const std::string &	frame2
	)

Compare two TF frame IDs, assuming that frames with relative paths are in the global namespace.

E.g. "map" == "/map" "map" == "map" "//map" != "/map" "/ns/map" == "ns/map" "/ns/map" != "map" "/ns/map" != "/map"

Parameters

[in]	frame1	A TF frame ID, with or without a leading slash
	[in[	frame2 A TF frame ID, with or without a leading slash

Returns: True if the frames match

◆ Get3x3Cov()

tf::Matrix3x3 swri_transform_util::Get3x3Cov ( const boost::array< double, 9 > & matrix )

Converts the 3x3 covariance matrices from Imu messages to a Matrix3x3.

Parameters

[in] matrix The input matrix

Return values

Returns the input matrix as a Matrix3x3 object

◆ GetBand()

char swri_transform_util::GetBand ( double latitude )

Given a latitude angle, get the UTM band letter.

Parameters

latitude Latitude angle in degrees

Returns: UTM band letter

◆ GetBearing()

double swri_transform_util::GetBearing	(	double	source_latitude,
		double	source_longitude,
		double	destination_latitude,
		double	destination_longitude
	)

Calculates the bearing between two points.

Parameters

[in]	source_latitude	The latitude of the origin point in degrees
[in]	source_longitude	The longitude of the origin point in degrees
[in]	destination_latitude	The latitude of the destination point in degrees
[in]	destination_longitude	The longitude of the destination point in degrees

Returns: The bearing between the origin and destination in degrees ENU

◆ GetHeading()

double swri_transform_util::GetHeading	(	double	src_x,
		double	src_y,
		double	dst_x,
		double	dst_y
	)

Calculates the heading in degrees from a source and destination point in a north-oriented (+y = north, +x = east), ortho-rectified coordinate system.

The heading is positive clock-wise with 0 degrees at north.

Parameters

[in]	src_x	The source X coordinate.
[in]	src_y	The source Y coordinate.
[in]	dst_x	The destination X coordinate.
[in]	dst_y	The destination Y coordinate.

Returns: The heading in degrees along the vector between the source and destination points.

◆ GetLowerRight()

tf::Matrix3x3 swri_transform_util::GetLowerRight ( const boost::array< double, 36 > & matrix )

Gets the lower-right 3x3 sub-matrix of a 6x6 matrix.

Parameters

[in] matrix The 6x6 matrix.

Returns: The lower-right 3x3 sub-matrix.

◆ GetMidpointLatLon()

void swri_transform_util::GetMidpointLatLon	(	double	latitude1,
		double	longitude1,
		double	latitude2,
		double	longitude2,
		double &	mid_latitude,
		double &	mid_longitude
	)

Find the midpoint on the arc between two lat/lon points.

Parameters

[in]	latitude1	Endpoint 1 latitude in degrees
[in]	longitude1	Endpoint 1 longitude in degrees
[in]	latitude2	Endpoint 2 latitude in degrees
[in]	longitude2	Endpoint 2 longitude in degrees
[out]	mid_latitude	Midpoint latitude in degrees
[out]	mid_longitude	Midpoint longitude in degrees

◆ GetPrimaryAxis()

tf::Vector3 swri_transform_util::GetPrimaryAxis ( const tf::Vector3 & vector )

Return an axis aligned unit vector that is nearest the provided vector.

Parameters

[in] vector The input vector.

Returns: The axis aligned unit vector.

◆ GetRelativeTransform()

tf::Transform swri_transform_util::GetRelativeTransform	(	double	latitude,
		double	longitude,
		double	yaw,
		double	reference_latitude,
		double	reference_longitude,
		double	reference_yaw
	)

◆ GetUpperLeft()

tf::Matrix3x3 swri_transform_util::GetUpperLeft ( const boost::array< double, 36 > & matrix )

Gets the upper-left 3x3 sub-matrix of a 6x6 matrix.

Parameters

[in] matrix The 6x6 matrix.

Returns: The upper-left 3x3 sub-matrix.

◆ GetZone()

uint32_t swri_transform_util::GetZone ( double longitude )

Given a longitude angle, get the UTM zone.

Parameters

longitude Longitude angle in degrees

Returns: UTM zone number

◆ GreatCircleDistance() [1/2]

double swri_transform_util::GreatCircleDistance	(	const tf::Vector3 &	src,
		const tf::Vector3 &	dst
	)

Calculates the great circle distance between two points.

Parameters

[in]	src	Source(x = longitude, y = latitude, z ignored)
[in]	dst	Destination(x = longitude, y = latitude, z ignored)

Returns: Distance in meters.

◆ GreatCircleDistance() [2/2]

double swri_transform_util::GreatCircleDistance	(	double	src_latitude,
		double	src_longitude,
		double	dst_latitude,
		double	dst_longitude
	)

Calculates the great circle distance between two points.

Parameters

[in]	src_latitude	Source latitude
[in]	src_longitude	Source longitude
[in]	dst_latitude	Destination latitude
[in]	dst_longitude	Destination longitude

Returns: Distance in meters.

◆ IsRotation()

bool swri_transform_util::IsRotation ( tf::Matrix3x3 matrix )

Validate that a 3x3 matrix is a rotation.

Parameters

[in] matrix The matrix to validate.

Returns: True if the matrix is a valid rotation.

◆ LatitudeDegreesFromMeters()

double swri_transform_util::LatitudeDegreesFromMeters	(	double	altitude,
		double	arc_length
	)

Calculate the subtending angle of an arc (aligned with the latitudinal coordinate axis at the specified altitude) with the specied arc length.

This conversion is invariant to longitude.

Parameters

[in]	altitude	The radius of the arc.
[in]	arc_length	The arc length in meters.

Returns: The angle subtended by the arc (in degrees)

◆ LocalXyFromWgs84()

void swri_transform_util::LocalXyFromWgs84	(	double	latitude,
		double	longitude,
		double	reference_latitude,
		double	reference_longitude,
		double &	x,
		double &	y
	)

Transform a point from WGS84 lat/lon to an ortho-rectified LocalXY coordinate system.

Parameters

[in]	latitude	The input latitude in degrees.
[in]	longitude	The input latitude in degrees.
[in]	reference_latitude	The reference WGS84 latitude in degrees.
[in]	reference_longitude	The reference WGS84 longitude in degrees.
[out]	x	The output X coordinate in meters.
[out]	y	The output Y coordinate in meters.

◆ LongitudeDegreesFromMeters()

double swri_transform_util::LongitudeDegreesFromMeters	(	double	latitude,
		double	altitude,
		double	arc_length
	)

Calculate the subtending angle of an arc (aligned with the longitudinal coordinate axis at the specified latitude and altitude) with the specied arc length.

Parameters

[in]	latitude	The latitude of the arc.
[in]	altitude	The radius of the arc.
[in]	arc_length	The arc length in meters.

Returns: The angle subtended by the arc (in degrees)

◆ NormalizeFrameId()

std::string swri_transform_util::NormalizeFrameId ( const std::string & frame_id )

Normalize a TF frame ID by assuming that frames with relative paths are in the global namespace and adding a leading slash.

Parameters

[in] frame_id A TF frame ID, with or without a leading slash

Returns: frame_id with a leading slash if it did not have one previously

◆ Set3x3Cov()

void swri_transform_util::Set3x3Cov	(	const tf::Matrix3x3 &	matrix_in,
		boost::array< double, 9 > &	matrix_out
	)

Converts the Matrix3x3 matrix into a 9 element covariance matrix from Imu messages.

Parameters

[in]	matrix_in	The input matrix
[out]	matrix_out	The output matrix

◆ SetLowerRight()

void swri_transform_util::SetLowerRight	(	const tf::Matrix3x3 &	sub_matrix,
		boost::array< double, 36 > &	matrix
	)

Sets the lower-right quadrant of a 6x6 matrix with the specified 3x3 sub-matrix.

Parameters

[in]	sub_matrix	The 3x3 sub-matrix.
[out]	matrix	The 6x6 matrix to modify.

◆ SetUpperLeft()

void swri_transform_util::SetUpperLeft	(	const tf::Matrix3x3 &	sub_matrix,
		boost::array< double, 36 > &	matrix
	)

Sets the upper-left quadrant of a 6x6 matrix with the specified 3x3 sub-matrix.

Parameters

[in]	sub_matrix	The 3x3 sub-matrix.
[out]	matrix	The 6x6 matrix to modify.

◆ SnapToRightAngle()

tf::Quaternion swri_transform_util::SnapToRightAngle ( const tf::Quaternion & rotation )

Snaps a quaternion rotation to the closest right angle rotation.

Parameters

[in] rotation The input quaternion rotation.

Returns: The closest right angle rotation to the input rotation.

◆ ToHeading()

double swri_transform_util::ToHeading ( double yaw )

Convert yaw to heading, where yaw is in radians, counter-clockwise, with 0 on the positive x-axis and heading is in degrees, clockwise, with 0 on the positive y-axis.

Parameters

[in] yaw The yaw in radians.

Returns: The heading in degrees.

◆ ToYaw()

double swri_transform_util::ToYaw ( double heading )

Convert heading to yaw, where yaw is in radians, counter-clockwise, with 0 on the positive x-axis and heading is in degrees, clockwise, with 0 on the positive y-axis.

Parameters

[in] heading The heading in degrees.

Returns: The yaw in radians.

◆ Wgs84FromLocalXy()

void swri_transform_util::Wgs84FromLocalXy	(	double	x,
		double	y,
		double	reference_latitude,
		double	reference_longitude,
		double &	latitude,
		double &	longitude
	)

Transform a point from an ortho-rectified LocalXY coordinate system into WGS84 latitude and longitude.

Assumes the LocalXY data was generated with respect to the WGS84 datum.

Parameters

[in]	x	The input X coordinate in meters.
[in]	y	The input Y coordinate in meters.
[in]	reference_latitude	The reference WGS84 latitude in degrees.
[in]	reference_longitude	The reference WGS84 longitude in degrees.
[out]	latitude	The output latitude in degrees.
[out]	longitude	The output latitude in degrees.

Variable Documentation

◆ _earth_eccentricity

const double swri_transform_util::_earth_eccentricity = 0.08181919084261

static

Earth 'first' eccentricity according to WGS84.

Definition at line 53 of file earth_constants.h.

◆ _earth_equator_circumference

const double swri_transform_util::_earth_equator_circumference = 40075016.69

static

Earth equatorial circumference in meters according to WGS84.

Definition at line 48 of file earth_constants.h.

◆ _earth_equator_radius

const double swri_transform_util::_earth_equator_radius = 6378137.0

static

Earth equatorial radius in meters according to WGS84.

Definition at line 38 of file earth_constants.h.

◆ _earth_flattening

const double swri_transform_util::_earth_flattening = 3.35281066475e-3

static

Earth flattening according to WGS84.

Flattening is a measure of the compression of a sphere along a diameter to form an ellipsoid of revolution.

See: http://en.wikipedia.org/wiki/Flattening

Definition at line 63 of file earth_constants.h.

◆ _earth_mean_radius

const double swri_transform_util::_earth_mean_radius = 6371009.0

static

Earth mean radius in meters.

Definition at line 43 of file earth_constants.h.

◆ _earth_rotation_rate

const double swri_transform_util::_earth_rotation_rate = 7.292115e-5

static

Earth rotation rate in radians per second.

Definition at line 68 of file earth_constants.h.

◆ _local_xy_frame

const std::string swri_transform_util::_local_xy_frame = "/local_xy"

static

Special frame id for data defined a LocalXY coordinate system.

Dependent on the LocalXY origin of the system.

Definition at line 55 of file frames.h.

◆ _tf_frame

const std::string swri_transform_util::_tf_frame = "/tf"

static

Special frame id used internally to denote frames that are part of the ROS TF tree.

Definition at line 60 of file frames.h.

◆ _utm_frame

const std::string swri_transform_util::_utm_frame = "/utm"

static

Special frame id for data defined in the UTM coordinate system.

The zone is assumed to be the same as the LocalXY origin of the system. Because of this zone transitions are not supported.

Definition at line 48 of file frames.h.

◆ _wgs84_frame

const std::string swri_transform_util::_wgs84_frame = "/wgs84"

static

Special frame id for data defined in the WGS84 lat/lon coordinate system.

Definition at line 40 of file frames.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ LocalXyWgs84UtilPtr

◆ SourceTargetMap

◆ TransformerMap

◆ TransformImplPtr

◆ TransformManagerPtr

Function Documentation

◆ FrameIdsEqual()

◆ Get3x3Cov()

◆ GetBand()

◆ GetBearing()

◆ GetHeading()

◆ GetLowerRight()

◆ GetMidpointLatLon()

◆ GetPrimaryAxis()

◆ GetRelativeTransform()

◆ GetUpperLeft()

◆ GetZone()

◆ GreatCircleDistance() [1/2]

◆ GreatCircleDistance() [2/2]

◆ IsRotation()

◆ LatitudeDegreesFromMeters()

◆ LocalXyFromWgs84()

◆ LongitudeDegreesFromMeters()

◆ NormalizeFrameId()

◆ Set3x3Cov()

◆ SetLowerRight()

◆ SetUpperLeft()

◆ SnapToRightAngle()

◆ ToHeading()

◆ ToYaw()

◆ Wgs84FromLocalXy()

Variable Documentation

◆ _earth_eccentricity

◆ _earth_equator_circumference

◆ _earth_equator_radius

◆ _earth_flattening

◆ _earth_mean_radius

◆ _earth_rotation_rate

◆ _local_xy_frame

◆ _tf_frame

◆ _utm_frame

◆ _wgs84_frame