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20 , _e2m(
Math::sq(1 - _f))
38 real M[dim2_])
const {
39 real sphi, cphi, slam, clam;
53 real M[dim2_])
const {
56 slam =
R != 0 ?
Y /
R : 0,
57 clam =
R != 0 ?
X /
R : 1;
68 slam =
R != 0 ? (
Y/2) /
R : 0;
69 clam =
R != 0 ? (
X/2) /
R : 1;
73 }
else if (
_e4a == 0) {
78 sphi = (
h == 0 ? 1 :
Z) /
H;
89 if ( !(
_e4a *
q == 0 && r <= 0) ) {
96 disc =
S * (2 *
r3 +
S);
107 u +=
T + (
T != 0 ?
r2 /
T : 0);
113 u += 2 * r *
cos(ang / 3);
119 uv = u < 0 ?
_e4a *
q / (
v - u) : u +
v,
126 k2 =
_f >= 0 ? k +
_e2 : k,
145 if (
Z < 0) sphi = -sphi;
165 M[0] = -slam;
M[3] = clam;
M[6] = 0;
167 M[1] = -clam * sphi;
M[4] = -slam * sphi;
M[7] = cphi;
169 M[2] = clam * cphi;
M[5] = slam * cphi;
M[8] = sphi;
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void IntForward(real lat, real lon, real h, real &X, real &Y, real &Z, real M[dim2_]) const
static const double d[K][N]
Namespace for GeographicLib.
GaussianFactorGraphValuePair Y
static bool isfinite(T x)
static T atan2d(T y, T x)
void IntReverse(real X, real Y, real Z, real &lat, real &lon, real &h, real M[dim2_]) const
static void sincosd(T x, T &sinx, T &cosx)
static const Pose3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3))
Eigen::Triplet< double > T
Exception handling for GeographicLib.
Jet< T, N > cos(const Jet< T, N > &f)
Mathematical functions needed by GeographicLib.
Header for GeographicLib::Geocentric class.
EIGEN_DEVICE_FUNC const Scalar & q
AnnoyingScalar atan2(const AnnoyingScalar &y, const AnnoyingScalar &x)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Array< int, Dynamic, 1 > v
static void Rotation(real sphi, real cphi, real slam, real clam, real M[dim2_])
int EIGEN_BLAS_FUNC() swap(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy)
static const Geocentric & WGS84()
Jet< T, N > sqrt(const Jet< T, N > &f)
Rot2 R(Rot2::fromAngle(0.1))
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:37