wgs84.h File Reference

WGS 84 geodetic system for ROS latitude and longitude messages. More...

#include <limits>
#include <ctype.h>
#include <ros/ros.h>
#include <geographic_msgs/GeoPoint.h>
#include <geographic_msgs/GeoPose.h>
#include <sensor_msgs/NavSatFix.h>
#include <tf/tf.h>

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Namespaces
namespace	geodesy
Functions
template<class From , class To >
void	geodesy::convert (const From &from, To &to)
template<class Same >
void	geodesy::convert (const Same &from, Same &to)
static void	geodesy::fromMsg (const geographic_msgs::GeoPoint &from, geographic_msgs::GeoPoint &to)
static void	geodesy::fromMsg (const geographic_msgs::GeoPose &from, geographic_msgs::GeoPose &to)
static bool	geodesy::is2D (const geographic_msgs::GeoPoint &pt)
static bool	geodesy::is2D (const geographic_msgs::GeoPose &pose)
static bool	geodesy::isValid (const geographic_msgs::GeoPoint &pt)
static bool	geodesy::isValid (const geographic_msgs::GeoPose &pose)
static void	geodesy::normalize (geographic_msgs::GeoPoint &pt)
static geographic_msgs::GeoPoint	geodesy::toMsg (double lat, double lon)
static geographic_msgs::GeoPoint	geodesy::toMsg (double lat, double lon, double alt)
static geographic_msgs::GeoPoint	geodesy::toMsg (const sensor_msgs::NavSatFix &fix)
static geographic_msgs::GeoPoint	geodesy::toMsg (const geographic_msgs::GeoPoint &from)
static geographic_msgs::GeoPose	geodesy::toMsg (const geographic_msgs::GeoPoint &pt, const geometry_msgs::Quaternion &q)
static geographic_msgs::GeoPose	geodesy::toMsg (const sensor_msgs::NavSatFix &fix, const geometry_msgs::Quaternion &q)
static geographic_msgs::GeoPose	geodesy::toMsg (const geographic_msgs::GeoPose &from)

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Detailed Description

WGS 84 geodetic system for ROS latitude and longitude messages.

Standard ROS latitude and longitude coordinates are defined in terms of the World Geodetic System (WGS 84) ellipsoid used by most navigation satellite receivers.

Many other geodetic coordinate systems can be defined. They should always be converted to WGS 84 when publishing ROS messages to avoid confusion among subscribers.

Author:

Jack O'Quin

Definition in file wgs84.h.