RobotLocalization::NavsatConversions Namespace Reference

Functions
static void	LLtoUTM (const double Lat, const double Long, double &UTMNorthing, double &UTMEasting, std::string &UTMZone)
static void	UTM (double lat, double lon, double *x, double *y)
static char	UTMLetterDesignator (double Lat)
static void	UTMtoLL (const double UTMNorthing, const double UTMEasting, const std::string &UTMZone, double &Lat, double &Long)
Variables
const double	DEGREES_PER_RADIAN = 180.0/M_PI
const double	grid_size = 100000.0
const double	RADIANS_PER_DEGREE = M_PI/180.0

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Function Documentation

static void RobotLocalization::NavsatConversions::LLtoUTM	(	const double	Lat,
		const double	Long,
		double &	UTMNorthing,
		double &	UTMEasting,
		std::string &	UTMZone
	)		[inline, static]

Convert lat/long to UTM coords. Equations from USGS Bulletin 1532

East Longitudes are positive, West longitudes are negative. North latitudes are positive, South latitudes are negative Lat and Long are in fractional degrees

Written by Chuck Gantz- chuck.gantz@globalstar.com

Definition at line 182 of file navsat_conversions.h.

static void RobotLocalization::NavsatConversions::UTM	(	double	lat,
		double	lon,
		double *	x,
		double *	y
	)		[inline, static]

Utility function to convert geodetic to UTM position

Units in are floating point degrees (sign for east/west)

Units out are meters

Todo:

deprecate this interface in favor of LLtoUTM()

Definition at line 91 of file navsat_conversions.h.

static char RobotLocalization::NavsatConversions::UTMLetterDesignator

(

double

Lat

)

[inline, static]

Determine the correct UTM letter designator for the given latitude

Returns:

'Z' if latitude is outside the UTM limits of 84N to 80S

Written by Chuck Gantz- chuck.gantz@globalstar.com

Definition at line 144 of file navsat_conversions.h.

static void RobotLocalization::NavsatConversions::UTMtoLL	(	const double	UTMNorthing,
		const double	UTMEasting,
		const std::string &	UTMZone,
		double &	Lat,
		double &	Long
	)		[inline, static]

Converts UTM coords to lat/long. Equations from USGS Bulletin 1532

East Longitudes are positive, West longitudes are negative. North latitudes are positive, South latitudes are negative Lat and Long are in fractional degrees.

Written by Chuck Gantz- chuck.gantz@globalstar.com

Definition at line 265 of file navsat_conversions.h.

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Variable Documentation

const double RobotLocalization::NavsatConversions::DEGREES_PER_RADIAN = 180.0/M_PI

Definition at line 60 of file navsat_conversions.h.

const double RobotLocalization::NavsatConversions::grid_size = 100000.0

Definition at line 63 of file navsat_conversions.h.

const double RobotLocalization::NavsatConversions::RADIANS_PER_DEGREE = M_PI/180.0

Definition at line 59 of file navsat_conversions.h.