enu Namespace Reference

Functions
static void	fix_to_ecef (const sensor_msgs::NavSatFix &fix, double ecef[3])
void	fix_to_point (const sensor_msgs::NavSatFix &fix, const sensor_msgs::NavSatFix &datum, geometry_msgs::Point *point_ptr)
	Converts an LLH coordinate into the corresponding ENU coordinate.
void	point_to_fix (const geometry_msgs::Point &point, const sensor_msgs::NavSatFix &datum, sensor_msgs::NavSatFix *fix_ptr)
	Converts an ENU coordinate into the corresponding LLH coordinate Note that no population of the NavSatFix header occurs; that is the responsibility of the calling function.

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Function Documentation

static void enu::fix_to_ecef	(	const sensor_msgs::NavSatFix &	fix,
		double	ecef[3]
	)		[static]

Definition at line 62 of file enu.cpp.

void enu::fix_to_point	(	const sensor_msgs::NavSatFix &	fix,
		const sensor_msgs::NavSatFix &	datum,
		geometry_msgs::Point *	point_ptr
	)

Converts an LLH coordinate into the corresponding ENU coordinate.

Requires a datum (passed as a NavSatFix)

Parameters:

[in]	fix	NavSatFix with a valid latitude, longitude, and altitude representing the current position
[in]	datum	Datum point in LLH format
[out]	point_ptr	ENU of current position relative to datum

Definition at line 69 of file enu.cpp.

void enu::point_to_fix	(	const geometry_msgs::Point &	point,
		const sensor_msgs::NavSatFix &	datum,
		sensor_msgs::NavSatFix *	fix_ptr
	)

Converts an ENU coordinate into the corresponding LLH coordinate Note that no population of the NavSatFix header occurs; that is the responsibility of the calling function.

Requires a datum (passed as a NavSatFix)

Parameters:

[in]	point	ENU position with respect to datum point
[in]	datum	Datum point in LLH format
[out]	fix_ptr	LLH corresponding to ENU + datum combination

Definition at line 95 of file enu.cpp.