Classes
class	UTMPoint

class	UTMPose

Functions
template<class From , class To >
void	convert (const From &from, To &to)

template<class Same >
void	convert (const Same &from, Same &to)

static void	fromMsg (const geographic_msgs::GeoPoint &from, geographic_msgs::GeoPoint &to)

static void	fromMsg (const geographic_msgs::GeoPose &from, geographic_msgs::GeoPose &to)

void	fromMsg (const geographic_msgs::GeoPoint &from, UTMPoint &to, const bool &force_zone=false, const char &band='A', const uint8_t &zone=0)

void	fromMsg (const geographic_msgs::GeoPose &from, UTMPose &to, const bool &force_zone=false, const char &band='A', const uint8_t &zone=0)

static bool	is2D (const geographic_msgs::GeoPoint &pt)

static bool	is2D (const geographic_msgs::GeoPose &pose)

static bool	is2D (const UTMPoint &pt)

static bool	is2D (const UTMPose &pose)

static bool	isValid (const geographic_msgs::GeoPoint &pt)

static bool	isValid (const geographic_msgs::GeoPose &pose)

bool	isValid (const UTMPoint &pt)

bool	isValid (const UTMPose &pose)

static void	normalize (geographic_msgs::GeoPoint &pt)

static void	normalize (UTMPoint &pt)

static std::ostream &	operator<< (std::ostream &out, const UTMPoint &pt)

static std::ostream &	operator<< (std::ostream &out, const UTMPose &pose)

static bool	sameGridZone (const UTMPoint &pt1, const UTMPoint &pt2)

static bool	sameGridZone (const UTMPose &pose1, const UTMPose &pose2)

static geometry_msgs::Point	toGeometry (const UTMPoint &from)

static geometry_msgs::Pose	toGeometry (const UTMPose &from)

static geographic_msgs::GeoPoint	toMsg (double lat, double lon)

static geographic_msgs::GeoPoint	toMsg (double lat, double lon, double alt)

static geographic_msgs::GeoPoint	toMsg (const sensor_msgs::NavSatFix &fix)

geographic_msgs::GeoPoint	toMsg (const UTMPoint &from)

geographic_msgs::GeoPose	toMsg (const UTMPose &from)

static geographic_msgs::GeoPoint	toMsg (const geographic_msgs::GeoPoint &from)

static geographic_msgs::GeoPose	toMsg (const geographic_msgs::GeoPoint &pt, const geometry_msgs::Quaternion &q)

static geographic_msgs::GeoPose	toMsg (const sensor_msgs::NavSatFix &fix, const geometry_msgs::Quaternion &q)

static geographic_msgs::GeoPose	toMsg (const geographic_msgs::GeoPose &from)

static char	UTMBand (double Lat, double Lon)

Function Documentation

template<class From , class To >

void geodesy::convert	(	const From &	from,
		To &	to
	)

Convert any coordinate to any other via intermediate WGS 84 representation.

Author: Tully Foote

Note: Every coordinate type must implement fromMsg() and toMsg() functions for both points and poses.

Definition at line 227 of file wgs84.h.

template<class Same >

void geodesy::convert	(	const Same &	from,
		Same &	to
	)

Convert any coordinate to itself.

Definition at line 233 of file wgs84.h.

static void geodesy::fromMsg	(	const geographic_msgs::GeoPoint &	from,
		geographic_msgs::GeoPoint &	to
	)

inlinestatic

Convert one WGS 84 geodetic point to another.

Parameters

from	WGS 84 point message.
to	another point.

Definition at line 85 of file wgs84.h.

static void geodesy::fromMsg	(	const geographic_msgs::GeoPose &	from,
		geographic_msgs::GeoPose &	to
	)

inlinestatic

Convert one WGS 84 geodetic pose to another.

Parameters

from	WGS 84 pose message.
to	another pose.

Definition at line 96 of file wgs84.h.

void geodesy::fromMsg	(	const geographic_msgs::GeoPoint &	from,
		UTMPoint &	to,
		const bool &	force_zone,
		const char &	band,
		const uint8_t &	zone
	)

Convert WGS 84 geodetic point to UTM point.

Equations from USGS Bulletin 1532

Parameters

from	WGS 84 point message.
to	UTM point.

Definition at line 187 of file utm_conversions.cpp.

void geodesy::fromMsg	(	const geographic_msgs::GeoPose &	from,
		UTMPose &	to,
		const bool &	force_zone,
		const char &	band,
		const uint8_t &	zone
	)

Convert WGS 84 geodetic pose to UTM pose.

Parameters

from	WGS 84 pose message.
to	UTM pose.

Todo:: define the orientation transformation properly

Definition at line 318 of file utm_conversions.cpp.

static bool geodesy::is2D ( const geographic_msgs::GeoPoint & pt )

inlinestatic

Returns: true if no altitude specified.

Definition at line 103 of file wgs84.h.

static bool geodesy::is2D ( const geographic_msgs::GeoPose & pose )

inlinestatic

Returns: true if pose has no altitude.

Definition at line 109 of file wgs84.h.

static bool geodesy::is2D ( const UTMPoint & pt )

inlinestatic

Returns: true if no altitude specified.

Definition at line 186 of file utm.h.

static bool geodesy::is2D ( const UTMPose & pose )

inlinestatic

Returns: true if no altitude specified.

Definition at line 193 of file utm.h.

static bool geodesy::isValid ( const geographic_msgs::GeoPoint & pt )

inlinestatic

Returns: true if point is valid.

Definition at line 115 of file wgs84.h.

static bool geodesy::isValid ( const geographic_msgs::GeoPose & pose )

inlinestatic

Returns: true if pose is valid.

Definition at line 127 of file wgs84.h.

bool geodesy::isValid ( const UTMPoint & pt )

Returns: true if point is valid.

Definition at line 275 of file utm_conversions.cpp.

bool geodesy::isValid ( const UTMPose & pose )

Returns: true if pose is valid.

Definition at line 326 of file utm_conversions.cpp.

static void geodesy::normalize ( geographic_msgs::GeoPoint & pt )

inlinestatic

Normalize a WGS 84 geodetic point.

Parameters

pt	point to normalize.

Normalizes the longitude to [-180, 180). Clamps latitude to [-90, 90].

Definition at line 147 of file wgs84.h.

static void geodesy::normalize ( UTMPoint & pt )

inlinestatic

Normalize UTM point.

Ensures the point is within its canonical grid zone.

Definition at line 206 of file utm.h.

static std::ostream& geodesy::operator<<	(	std::ostream &	out,
		const UTMPoint &	pt
	)

inlinestatic

Output stream operator for UTM point.

Definition at line 214 of file utm.h.

static std::ostream& geodesy::operator<<	(	std::ostream &	out,
		const UTMPose &	pose
	)

inlinestatic

Output stream operator for UTM pose.

Definition at line 223 of file utm.h.

static bool geodesy::sameGridZone	(	const UTMPoint &	pt1,
		const UTMPoint &	pt2
	)

inlinestatic

Returns: true if two points have the same Grid Zone Designator

Definition at line 234 of file utm.h.

static bool geodesy::sameGridZone	(	const UTMPose &	pose1,
		const UTMPose &	pose2
	)

inlinestatic

Returns: true if two poses have the same Grid Zone Designator

Definition at line 240 of file utm.h.

static geometry_msgs::Point geodesy::toGeometry ( const UTMPoint & from )

inlinestatic

Returns: a geometry Point corresponding to a UTM point.

Definition at line 246 of file utm.h.

static geometry_msgs::Pose geodesy::toGeometry ( const UTMPose & from )

inlinestatic

Returns: a geometry Pose corresponding to a UTM pose.

Definition at line 256 of file utm.h.

static geographic_msgs::GeoPoint geodesy::toMsg	(	double	lat,
		double	lon
	)

inlinestatic

Returns: a 2D WGS 84 geodetic point message.

Definition at line 155 of file wgs84.h.

static geographic_msgs::GeoPoint geodesy::toMsg	(	double	lat,
		double	lon,
		double	alt
	)

inlinestatic

Returns: a 3D WGS 84 geodetic point message.

Definition at line 166 of file wgs84.h.

static geographic_msgs::GeoPoint geodesy::toMsg ( const sensor_msgs::NavSatFix & fix )

inlinestatic

Returns: a WGS 84 geodetic point message from a NavSatFix.

Definition at line 177 of file wgs84.h.

geographic_msgs::GeoPoint geodesy::toMsg ( const UTMPoint & from )

Convert UTM point to WGS 84 geodetic point.

Equations from USGS Bulletin 1532

Parameters

from	UTM point.

Returns: WGS 84 point message.

Definition at line 119 of file utm_conversions.cpp.

geographic_msgs::GeoPose geodesy::toMsg ( const UTMPose & from )

Convert UTM pose to WGS 84 geodetic pose.

Parameters

from UTM pose.

Returns: WGS 84 pose message.

Definition at line 303 of file utm_conversions.cpp.

static geographic_msgs::GeoPoint geodesy::toMsg ( const geographic_msgs::GeoPoint & from )

inlinestatic

Returns: a WGS 84 geodetic point message from another.

Definition at line 188 of file wgs84.h.

static geographic_msgs::GeoPose geodesy::toMsg	(	const geographic_msgs::GeoPoint &	pt,
		const geometry_msgs::Quaternion &	q
	)

inlinestatic

Returns: a WGS 84 geodetic pose message from a point and a quaternion.

Definition at line 197 of file wgs84.h.

static geographic_msgs::GeoPose geodesy::toMsg	(	const sensor_msgs::NavSatFix &	fix,
		const geometry_msgs::Quaternion &	q
	)

inlinestatic

Returns: a WGS 84 geodetic pose message from a NavSatFix and a quaternion.

Definition at line 210 of file wgs84.h.

static geographic_msgs::GeoPose geodesy::toMsg ( const geographic_msgs::GeoPose & from )

inlinestatic

Returns: a WGS 84 geodetic pose message from another.

Definition at line 221 of file wgs84.h.

static char geodesy::UTMBand	(	double	Lat,
		double	Lon
	)

static

Determine the correct UTM band letter for the given latitude. (Does not currently handle polar (UPS) zones: A, B, Y, Z).

Returns: ' ' if latitude is outside the UTM limits of +84 to -80

Definition at line 82 of file utm_conversions.cpp.

Classes

Functions

Function Documentation