.. _program_listing_file__tmp_ws_src_marti_common_swri_transform_util_include_swri_transform_util_transform_util.h:

Program Listing for File transform_util.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_marti_common_swri_transform_util_include_swri_transform_util_transform_util.h>` (``/tmp/ws/src/marti_common/swri_transform_util/include/swri_transform_util/transform_util.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef TRANSFORM_UTIL_TRANSFORM_UTIL_H_
   #define TRANSFORM_UTIL_TRANSFORM_UTIL_H_
   
   #include <string>
   #include <array>
   
   #include <tf2/transform_datatypes.h>
   #include <tf2/LinearMath/Transform.h>
   #include <tf2/LinearMath/Vector3.h>
   #include <tf2/LinearMath/Quaternion.h>
   #include <tf2/LinearMath/Matrix3x3.h>
   
   namespace swri_transform_util
   {
     tf2::Transform GetRelativeTransform(
         double latitude,
         double longitude,
         double yaw,
         double reference_latitude,
         double reference_longitude,
         double reference_yaw);
   
     double GreatCircleDistance(
         double src_latitude,
         double src_longitude,
         double dst_latitude,
         double dst_longitude);
   
     double GreatCircleDistance(const tf2::Vector3& src, const tf2::Vector3& dst);
   
     double GetBearing(
         double source_latitude,
         double source_longitude,
         double destination_latitude,
         double destination_longitude);
   
     void GetMidpointLatLon(
         double latitude1,
         double longitude1,
         double latitude2,
         double longitude2,
         double& mid_latitude,
         double& mid_longitude);
   
     double GetHeading(double src_x, double src_y, double dst_x, double dst_y);
   
     double ToHeading(double yaw);
   
     double ToYaw(double heading);
   
     tf2::Quaternion SnapToRightAngle(const tf2::Quaternion& rotation);
   
     tf2::Vector3 GetPrimaryAxis(const tf2::Vector3& vector);
   
     bool IsRotation(tf2::Matrix3x3 matrix);
   
     tf2::Matrix3x3 GetUpperLeft(const std::array<double, 36>& matrix);
   
     tf2::Matrix3x3 GetLowerRight(const std::array<double, 36>& matrix);
   
     tf2::Matrix3x3 Get3x3Cov(const std::array<double, 9>& matrix);
   
     void Set3x3Cov(const tf2::Matrix3x3& matrix_in,
                             std::array<double, 9>& matrix_out);
     void SetUpperLeft(
         const tf2::Matrix3x3& sub_matrix,
         std::array<double, 36>& matrix);
   
     void SetLowerRight(
         const tf2::Matrix3x3& sub_matrix,
         std::array<double, 36>& matrix);
   
     double LongitudeDegreesFromMeters(
       double latitude,
       double altitude,
       double arc_length);
   
     double LatitudeDegreesFromMeters(
       double altitude,
       double arc_length);
   
     std::string NormalizeFrameId(const std::string& frame_id);
   
     bool FrameIdsEqual(const std::string& frame1, const std::string& frame2);
   }
   
   #endif  // TRANSFORM_UTIL_TRANSFORM_UTIL_H_