Utility class for converting between WGS84 lat/lon and an ortho-rectified LocalXY coordinate system. More...

#include <local_xy_util.h>

Public Member Functions
std::string	Frame () const
	Return the TF frame ID corresponding to the local origin. More...

bool	Initialized () const
	Return whether the object has been initialized. More...

	LocalXyWgs84Util (double reference_latitude, double reference_longitude, double reference_angle=0, double reference_altitude=0)
	Initializing constructor. More...

	LocalXyWgs84Util ()
	Zero-argument constructor. More...

std::string	NormalizedFrame () const
	Return the TF frame ID corresponding to the local origin with a leading slash. More...

double	ReferenceAltitude () const
	Return the altitude coordinate of the local origin. More...

double	ReferenceAngle () const
	Return the reference angle in degrees ENU. More...

double	ReferenceLatitude () const
	Return the latitude coordinate of the local origin. More...

double	ReferenceLongitude () const
	Return the longitude coordinate of the local origin. More...

void	ResetInitialization ()
	Reset to "not Initialized". More...

bool	ToLocalXy (double latitude, double longitude, double &x, double &y) const
	Convert WGS84 latitude and longitude to LocalXY. More...

bool	ToWgs84 (double x, double y, double &latitude, double &longitude) const
	Convert LocalXY to WGS84 latitude and longitude. More...

Protected Member Functions
void	HandleOrigin (const topic_tools::ShapeShifter::ConstPtr origin)

void	Initialize ()

Protected Attributes
double	cos_angle_

std::string	frame_

bool	initialized_

ros::Subscriber	origin_sub_

double	reference_altitude_

double	reference_angle_

double	reference_latitude_

double	reference_longitude_

double	rho_lat_

double	rho_lon_

double	sin_angle_

Detailed Description

Utility class for converting between WGS84 lat/lon and an ortho-rectified LocalXY coordinate system.

To use this class, first construct it with a reference origin. The reference origin should be a latitude, longitude, angle, and altitude in WGS84 coordinates. Once initialized, a LocalXyWgs84Util can be used to convert WGS84 coordinates to and from an ortho-rectified frame with its origin at the reference origin. Because the earth is spherical, the error in the ortho-rectified frame will accumulate as the distance from the reference origin increases. For this reason, the reference origin should be chosen to be close to the region of interest (<10 km).

It is strongly recommended to use 0 degrees for the angle. This corresponds to the X-axis of the ortho-rectified frame pointing east.

Definition at line 100 of file local_xy_util.h.

Constructor & Destructor Documentation

swri_transform_util::LocalXyWgs84Util::LocalXyWgs84Util	(	double	reference_latitude,
		double	reference_longitude,
		double	reference_angle = `0`,
		double	reference_altitude = `0`
	)

Initializing constructor.

This constructor creates and initializes a LocalXyWgs84Util.

Parameters

[in]	reference_latitude	Reference latitude in degrees.
[in]	reference_longitude	Reference longitude in degrees.
[in]	reference_angle	Reference angle in degrees ENU.
[in]	reference_altitude	Reference altitude in meters.

swri_transform_util::LocalXyWgs84Util::LocalXyWgs84Util ( )

Zero-argument constructor.

This constructor creates an uninitialized LocalXyWgs84Util. This constructor is only used to create placeholder objects in containers that require a zero-argument constructor.

Member Function Documentation

std::string swri_transform_util::LocalXyWgs84Util::Frame ( ) const

inline

Return the TF frame ID corresponding to the local origin.

Returns: The TF frame ID corresponding to the local origin

Definition at line 175 of file local_xy_util.h.

void swri_transform_util::LocalXyWgs84Util::HandleOrigin ( const topic_tools::ShapeShifter::ConstPtr origin )

protected

void swri_transform_util::LocalXyWgs84Util::Initialize ( )

protected

bool swri_transform_util::LocalXyWgs84Util::Initialized ( ) const

inline

Return whether the object has been initialized.

The object is not usable unless it has been initialized (see the two constructors).

Returns: True if initialized, false otherwise.

Definition at line 136 of file local_xy_util.h.

std::string swri_transform_util::LocalXyWgs84Util::NormalizedFrame ( ) const

inline

Return the TF frame ID corresponding to the local origin with a leading slash.

Returns: The TF frame ID corresponding to the local origin with a leading slash

Definition at line 182 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::ReferenceAltitude ( ) const

Return the altitude coordinate of the local origin.

Returns: The WGS84 altitude coordinate of the local origin in meters

double swri_transform_util::LocalXyWgs84Util::ReferenceAngle ( ) const

Return the reference angle in degrees ENU.

double swri_transform_util::LocalXyWgs84Util::ReferenceLatitude ( ) const

Return the latitude coordinate of the local origin.

Returns: The WGS84 latitude coordinate of the local origin in degrees

double swri_transform_util::LocalXyWgs84Util::ReferenceLongitude ( ) const

Return the longitude coordinate of the local origin.

Returns: The WGS84 longitude coordinate of the local origin in degrees

void swri_transform_util::LocalXyWgs84Util::ResetInitialization ( )

Reset to "not Initialized".

Useful when the local_xy_origin changes and we want this class to be updated.

bool swri_transform_util::LocalXyWgs84Util::ToLocalXy	(	double	latitude,
		double	longitude,
		double &	x,
		double &	y
	)		const

Convert WGS84 latitude and longitude to LocalXY.

Parameters

[in]	latitude	Latitude value in degrees.
[in]	longitude	Longitude value in degrees.
[out]	x	X coordinate in meters from origin.
[out]	y	Y coordinate in meters from origin.

Returns: True if the conversion is possible.

bool swri_transform_util::LocalXyWgs84Util::ToWgs84	(	double	x,
		double	y,
		double &	latitude,
		double &	longitude
	)		const

Convert LocalXY to WGS84 latitude and longitude.

Parameters

[in]	x	X coordinate in meters from origin.
[in]	y	Y coordinate in meters from origin.
[out]	latitude	Latitude value in degrees.
[out]	longitude	Longitude value in degrees.

Returns: True if the conversion is possible.

Member Data Documentation

double swri_transform_util::LocalXyWgs84Util::cos_angle_

protected

Definition at line 224 of file local_xy_util.h.

std::string swri_transform_util::LocalXyWgs84Util::frame_

protected

Definition at line 227 of file local_xy_util.h.

bool swri_transform_util::LocalXyWgs84Util::initialized_

protected

Definition at line 230 of file local_xy_util.h.

ros::Subscriber swri_transform_util::LocalXyWgs84Util::origin_sub_

protected

Definition at line 229 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::reference_altitude_

protected

Definition at line 220 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::reference_angle_

protected

Definition at line 219 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::reference_latitude_

protected

Definition at line 217 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::reference_longitude_

protected

Definition at line 218 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::rho_lat_

protected

Definition at line 222 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::rho_lon_

protected

Definition at line 223 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::sin_angle_

protected

Definition at line 225 of file local_xy_util.h.

The documentation for this class was generated from the following file:

local_xy_util.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation