Class GpsHandler

Defined in File gps_utils.hpp

Inheritance Relationships

Base Type

private GeographicLib::LocalCartesian

Class Documentation

class GpsHandler : private GeographicLib::LocalCartesian

Public Functions

inline GpsHandler(): Construct a new Gps Handler object based on WGS84 ellipsoid.

inline GpsHandler(double lat0, double lon0, double h0 = 0)

Construct a new Gps Handler object based on WGS84 ellipsoid with a given origin.

Parameters:

lat0 – Latitude at origin (degrees)
lon0 – Longitude at origin (degrees)
h0 – Altitude at origin (meters)

void setOrigin(const double &lat0, const double &lon0, const double &h0 = 0)

void setOrigin(const sensor_msgs::msg::NavSatFix &fix)

void setOrigin(const geographic_msgs::msg::GeoPoseStamped &gps)

void getOrigin(double &rLat, double &rLon, double &rH)

void getOrigin(geographic_msgs::msg::GeoPoseStamped &gps)

void LatLon2Local(const double &lat, const double &lon, const double &h, double &rX, double &rY, double &rZ)

void LatLon2Local(const sensor_msgs::msg::NavSatFix &fix, double &rX, double &rY, double &rZ)

void LatLon2Local(const geographic_msgs::msg::GeoPoseStamped &gps, double &rX, double &rY, double &rZ)

void LatLon2Local(const double &lat, const double &lon, const double &h, geometry_msgs::msg::PoseStamped &ps)

void LatLon2Local(const sensor_msgs::msg::NavSatFix &fix, geometry_msgs::msg::PoseStamped &ps)

void LatLon2Local(const geographic_msgs::msg::GeoPoseStamped &gps, geometry_msgs::msg::PoseStamped &ps)

void Local2LatLon(const double &x, const double &y, const double &z, double &rLat, double &rLon, double &rH)

void Local2LatLon(const double &x, const double &y, const double &z, geographic_msgs::msg::GeoPoseStamped &gps)

void Local2LatLon(const geometry_msgs::msg::PoseStamped &ps, double &rLat, double &rLon, double &rH)

void Local2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)

Public Static Functions

static void LatLon2Ecef(const double &lat, const double &lon, const double &h, double &rX, double &rY, double &rZ)

static void LatLon2Ecef(const sensor_msgs::msg::NavSatFix &fix, double &rX, double &rY, double &rZ)

static void LatLon2Ecef(const geographic_msgs::msg::GeoPoseStamped &gps, double &rX, double &rY, double &rZ)

static void LatLon2Ecef(const double &lat, const double &lon, const double &h, geometry_msgs::msg::PoseStamped &ps)

static void LatLon2Ecef(const sensor_msgs::msg::NavSatFix &fix, geometry_msgs::msg::PoseStamped &ps)

static void LatLon2Ecef(const geographic_msgs::msg::GeoPoseStamped &gps, geometry_msgs::msg::PoseStamped &ps)

static void Ecef2LatLon(const double &x, const double &y, const double &z, double &rLat, double &rLon, double &rH)

static void Ecef2LatLon(const double &x, const double &y, const double &z, geographic_msgs::msg::GeoPoseStamped &gps)

static void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, double &rLat, double &rLon, double &rH)

static void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)