wgs84.h

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/* -*- mode: C++ -*- */
/* $Id: fb960a260c7cab4ceece860288539d1a5bbd2506 $ */

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#ifndef _WGS84_H_
#define _WGS84_H_

#include <limits>
#include <ctype.h>
#include <ros/ros.h>
#include <geographic_msgs/GeoPoint.h>
#include <geographic_msgs/GeoPose.h>
#include <sensor_msgs/NavSatFix.h>
#include <tf/tf.h>

namespace geodesy
{
  template <class From, class To>
  void convert(const From &from, To &to)
  {
    fromMsg(toMsg(from), to);
  }

  template <class Same>
  void convert(const Same &from, Same &to)
  {
    if (&from != &to)
      to = from;
  }

  static inline void fromMsg(const geographic_msgs::GeoPoint &from,
                             geographic_msgs::GeoPoint &to)
  {
    convert(from, to);
  }

  static inline void fromMsg(const geographic_msgs::GeoPose &from,
                             geographic_msgs::GeoPose &to)
  {
    convert(from, to);
  }

  static inline bool is2D(const geographic_msgs::GeoPoint &pt)
  {
    return (pt.altitude != pt.altitude);
  }

  static inline bool is2D(const geographic_msgs::GeoPose &pose)
  {
    return is2D(pose.position);
  }

  static inline bool isValid(const geographic_msgs::GeoPoint &pt)
  {
    if (pt.latitude < -90.0 || pt.latitude > 90.0)
      return false;

    if (pt.longitude < -180.0 || pt.longitude >= 180.0)
      return false;

    return true;
  }

  static inline bool isValid(const geographic_msgs::GeoPose &pose)
  {
    // check that orientation quaternion is normalized
    double len2 = (pose.orientation.x * pose.orientation.x
                   + pose.orientation.y * pose.orientation.y
                   + pose.orientation.z * pose.orientation.z
                   + pose.orientation.w * pose.orientation.w);
    if (fabs(len2 - 1.0) > tf::QUATERNION_TOLERANCE)
      return false;

    return isValid(pose.position);
  }

  static inline void normalize(geographic_msgs::GeoPoint &pt)
  {
    pt.longitude =
      (fmod(fmod((pt.longitude + 180.0), 360.0) + 360.0, 360.0) - 180.0);
    pt.latitude = std::min(std::max(pt.latitude, -90.0), 90.0);
  }

  static inline geographic_msgs::GeoPoint toMsg(double lat, double lon)
  {
    geographic_msgs::GeoPoint pt;
    pt.latitude = lat;
    pt.longitude = lon;
    pt.altitude = std::numeric_limits<double>::quiet_NaN();
    return pt;
  }

  static inline geographic_msgs::GeoPoint
    toMsg(double lat, double lon, double alt)
  {
    geographic_msgs::GeoPoint pt;
    pt.latitude = lat;
    pt.longitude = lon;
    pt.altitude = alt;
    return pt;
  }

  static inline geographic_msgs::GeoPoint
    toMsg(const sensor_msgs::NavSatFix &fix)
  {
    geographic_msgs::GeoPoint pt;
    pt.latitude = fix.latitude;
    pt.longitude = fix.longitude;
    pt.altitude = fix.altitude;
    return pt;
  }

  static inline geographic_msgs::GeoPoint
    toMsg(const geographic_msgs::GeoPoint &from)
  {
    return from;
  }

  static inline geographic_msgs::GeoPose
    toMsg(const geographic_msgs::GeoPoint &pt,
          const geometry_msgs::Quaternion &q)
  {
    geographic_msgs::GeoPose pose;
    pose.position = pt;
    pose.orientation = q;
    return pose;
  }

  static inline geographic_msgs::GeoPose
    toMsg(const sensor_msgs::NavSatFix &fix,
          const geometry_msgs::Quaternion &q)
  {
    geographic_msgs::GeoPose pose;
    pose.position = toMsg(fix);
    pose.orientation = q;
    return pose;
  }

  static inline geographic_msgs::GeoPose
    toMsg(const geographic_msgs::GeoPose &from)
  {
    return from;
  }

}; // namespace geodesy

#endif // _WGS84_H_