utm.h File Reference

Universal Transverse Mercator coordinates. More...

#include <limits>
#include <ctype.h>
#include <iostream>
#include <iomanip>
#include <tf/tf.h>
#include <geodesy/wgs84.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>

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Classes
class	geodesy::UTMPoint
class	geodesy::UTMPose

Namespaces
	geodesy

Functions
void	geodesy::fromMsg (const geographic_msgs::GeoPoint &from, UTMPoint &to, const bool &force_zone=false, const char &band='A', const uint8_t &zone=0)
void	geodesy::fromMsg (const geographic_msgs::GeoPose &from, UTMPose &to, const bool &force_zone=false, const char &band='A', const uint8_t &zone=0)
static bool	geodesy::is2D (const UTMPoint &pt)
static bool	geodesy::is2D (const UTMPose &pose)
bool	geodesy::isValid (const UTMPoint &pt)
bool	geodesy::isValid (const UTMPose &pose)
static void	geodesy::normalize (UTMPoint &pt)
static std::ostream &	geodesy::operator<< (std::ostream &out, const UTMPoint &pt)
static std::ostream &	geodesy::operator<< (std::ostream &out, const UTMPose &pose)
static bool	geodesy::sameGridZone (const UTMPoint &pt1, const UTMPoint &pt2)
static bool	geodesy::sameGridZone (const UTMPose &pose1, const UTMPose &pose2)
static geometry_msgs::Point	geodesy::toGeometry (const UTMPoint &from)
static geometry_msgs::Pose	geodesy::toGeometry (const UTMPose &from)
geographic_msgs::GeoPoint	geodesy::toMsg (const UTMPoint &from)
geographic_msgs::GeoPose	geodesy::toMsg (const UTMPose &from)

Detailed Description

Universal Transverse Mercator coordinates.

For outdoor robotics applications, Euclidean projections like UTM are easier to work with than latitude and longitude. This system is slightly more general than strict UTM. It is based on the Military Grid Reference System (MGRS), which can be extended to cover the poles, allowing well-defined transformations for every latitude and longitude.

Todo:

add Universal Polar Stereographic support

Author

Jack O'Quin

Definition in file utm.h.