Universal Transverse Mercator transforms. More...

#include <ros/ros.h>
#include <angles/angles.h>
#include <geodesy/utm.h>

Include dependency graph for utm_conversions.cpp:

Namespaces
	geodesy

Macros
#define	UTM_E2 (WGS84_E*WGS84_E)

#define	UTM_E4 (UTM_E2*UTM_E2)

#define	UTM_E6 (UTM_E4*UTM_E2)

#define	UTM_EP2 (UTM_E2/(1-UTM_E2))

#define	UTM_FE 500000.0

#define	UTM_FN_N 0.0

#define	UTM_FN_S 10000000.0

#define	UTM_K0 0.9996

#define	WGS84_A 6378137.0

#define	WGS84_B 6356752.31424518

#define	WGS84_E 0.0818191908

#define	WGS84_EP 0.0820944379

#define	WGS84_F 0.0033528107

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)

bool	geodesy::isValid (const UTMPoint &pt)

bool	geodesy::isValid (const UTMPose &pose)

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

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

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

Detailed Description

Universal Transverse Mercator transforms.

Functions to convert WGS 84 (ellipsoidal) latitude and longitude to and from (Euclidean) UTM coordinates.

Todo:: handle Universal Polar Stereographic (UPS) zones

Author: Chuck Gantz, Globalstar, Inc.; Jack O'Quin, for ROS interface

Definition in file utm_conversions.cpp.

Macro Definition Documentation

◆ UTM_E2

#define UTM_E2 (WGS84_E*WGS84_E)

Definition at line 70 of file utm_conversions.cpp.

◆ UTM_E4

#define UTM_E4 (UTM_E2*UTM_E2)

Definition at line 71 of file utm_conversions.cpp.

◆ UTM_E6

#define UTM_E6 (UTM_E4*UTM_E2)

Definition at line 72 of file utm_conversions.cpp.

◆ UTM_EP2

#define UTM_EP2 (UTM_E2/(1-UTM_E2))

Definition at line 73 of file utm_conversions.cpp.

◆ UTM_FE

#define UTM_FE 500000.0

Definition at line 67 of file utm_conversions.cpp.

◆ UTM_FN_N

#define UTM_FN_N 0.0

Definition at line 68 of file utm_conversions.cpp.

◆ UTM_FN_S

#define UTM_FN_S 10000000.0

Definition at line 69 of file utm_conversions.cpp.

◆ UTM_K0

#define UTM_K0 0.9996

Definition at line 66 of file utm_conversions.cpp.

◆ WGS84_A

#define WGS84_A 6378137.0

Definition at line 59 of file utm_conversions.cpp.

◆ WGS84_B

#define WGS84_B 6356752.31424518

Definition at line 60 of file utm_conversions.cpp.

◆ WGS84_E

#define WGS84_E 0.0818191908

Definition at line 62 of file utm_conversions.cpp.

◆ WGS84_EP

#define WGS84_EP 0.0820944379

Definition at line 63 of file utm_conversions.cpp.

◆ WGS84_F

#define WGS84_F 0.0033528107

Definition at line 61 of file utm_conversions.cpp.

Namespaces

Macros

Functions