swri_transform_util: transform

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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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00029 
00030 #ifndef TRANSFORM_UTIL_TRANSFORM_UTIL_H_
00031 #define TRANSFORM_UTIL_TRANSFORM_UTIL_H_
00032 
00033 #include <boost/array.hpp>
00034 
00035 #include <tf/transform_datatypes.h>
00036 
00037 #include <swri_transform_util/local_xy_util.h>
00038 
00039 namespace swri_transform_util
00040 {
00041   tf::Transform GetRelativeTransform(
00042       double latitude,
00043       double longitude,
00044       double yaw,
00045       double reference_latitude,
00046       double reference_longitude,
00047       double reference_yaw);
00048 
00059   double GreatCircleDistance(
00060       double src_latitude,
00061       double src_longitude,
00062       double dst_latitude,
00063       double dst_longitude);
00064 
00073   double GreatCircleDistance(const tf::Vector3& src, const tf::Vector3& dst);
00074 
00084   double GetBearing(
00085       double source_latitude,
00086       double source_longitude,
00087       double destination_latitude,
00088       double destination_longitude);
00089 
00100   void GetMidpointLatLon(
00101       double latitude1,
00102       double longitude1,
00103       double latitude2,
00104       double longitude2,
00105       double& mid_latitude,
00106       double& mid_longitude);
00107 
00121   double GetHeading(double src_x, double src_y, double dst_x, double dst_y);
00122 
00132   double ToHeading(double yaw);
00133 
00143   double ToYaw(double heading);
00144 
00152   tf::Quaternion SnapToRightAngle(const tf::Quaternion& rotation);
00153 
00161   tf::Vector3 GetPrimaryAxis(const tf::Vector3& vector);
00162 
00170   bool IsRotation(tf::Matrix3x3 matrix);
00171 
00179   tf::Matrix3x3 GetUpperLeft(const boost::array<double, 36>& matrix);
00180 
00188   tf::Matrix3x3 GetLowerRight(const boost::array<double, 36>& matrix);
00189 
00197   tf::Matrix3x3 Get3x3Cov(const boost::array<double, 9>& matrix);
00198 
00207   void Set3x3Cov(const tf::Matrix3x3& matrix_in,
00208                           boost::array<double, 9>& matrix_out);
00216   void SetUpperLeft(
00217       const tf::Matrix3x3& sub_matrix,
00218       boost::array<double, 36>& matrix);
00219 
00227   void SetLowerRight(
00228       const tf::Matrix3x3& sub_matrix,
00229       boost::array<double, 36>& matrix);
00230 
00241   double LongitudeDegreesFromMeters(
00242     double latitude,
00243     double altitude,
00244     double arc_length);
00245 
00255   double LatitudeDegreesFromMeters(
00256     double altitude,
00257     double arc_length);
00258 }
00259 
00260 #endif  // TRANSFORM_UTIL_TRANSFORM_UTIL_H_
00261