Utility class for converting between WGS84 lat/lon and an ortho-rectified LocalXY coordinate system. More...

#include <local_xy_util.h>

Public Member Functions
std::string	Frame () const
	Return the TF frame ID corresponding to the local origin.
bool	Initialized () const
	Return whether the object has been initialized.
	LocalXyWgs84Util (double reference_latitude, double reference_longitude, double reference_angle=0, double reference_altitude=0)
	Initializing constructor.
	LocalXyWgs84Util ()
	Zero-argument constructor.
double	ReferenceAltitude () const
	Return the altitude coordinate of the local origin.
double	ReferenceAngle () const
	Return the reference angle in degrees ENU.
double	ReferenceLatitude () const
	Return the latitude coordinate of the local origin.
double	ReferenceLongitude () const
	Return the longitude coordinate of the local origin.
bool	ToLocalXy (double latitude, double longitude, double &x, double &y) const
	Convert WGS84 latitude and longitude to LocalXY.
bool	ToWgs84 (double x, double y, double &latitude, double &longitude) const
	Convert LocalXY to WGS84 latitude and longitude.
Protected Member Functions
void	HandleOrigin (const topic_tools::ShapeShifter::ConstPtr origin)
void	Initialize ()
Protected Attributes
double	cos_angle_
std::string	frame_
bool	initialized_
ros::Subscriber	origin_sub_
double	reference_altitude_
double	reference_angle_
double	reference_latitude_
double	reference_longitude_
double	rho_lat_
double	rho_lon_
double	sin_angle_

Detailed Description

Utility class for converting between WGS84 lat/lon and an ortho-rectified LocalXY coordinate system.

To use this class, first construct it with a reference origin. The reference origin should be a latitude, longitude, angle, and altitude in WGS84 coordinates. Once initialized, a LocalXyWgs84Util can be used to convert WGS84 coordinates to and from an ortho-rectified frame with its origin at the reference origin. Because the earth is spherical, the error in the ortho-rectified frame will accumulate as the distance from the reference origin increases. For this reason, the reference origin should be chosen to be close to the region of interest (<10 km).

It is strongly recommended to use 0 degrees for the angle. This corresponds to the X-axis of the ortho-rectified frame pointing east.

Definition at line 99 of file local_xy_util.h.

Constructor & Destructor Documentation

swri_transform_util::LocalXyWgs84Util::LocalXyWgs84Util	(	double	reference_latitude,
		double	reference_longitude,
		double	reference_angle = `0`,
		double	reference_altitude = `0`
	)

Initializing constructor.

This constructor creates and initializes a LocalXyWgs84Util.

Parameters:

[in]	reference_latitude	Reference latitude in degrees.
[in]	reference_longitude	Reference longitude in degrees.
[in]	reference_angle	Reference angle in degrees ENU.
[in]	reference_altitude	Reference altitude in meters.

swri_transform_util::LocalXyWgs84Util::LocalXyWgs84Util ( )

Zero-argument constructor.

This constructor creates an uninitialized LocalXyWgs84Util. This constructor is only used to create placeholder objects in containers that require a zero-argument constructor.

Member Function Documentation

std::string swri_transform_util::LocalXyWgs84Util::Frame ( ) const [inline]

Return the TF frame ID corresponding to the local origin.

Returns:: The TF frame ID corresponding to the local origin

Definition at line 168 of file local_xy_util.h.

void swri_transform_util::LocalXyWgs84Util::HandleOrigin ( const topic_tools::ShapeShifter::ConstPtr origin ) [protected]

void swri_transform_util::LocalXyWgs84Util::Initialize ( ) [protected]

bool swri_transform_util::LocalXyWgs84Util::Initialized ( ) const [inline]

Return whether the object has been initialized.

The object is not usable unless it has been initialized (see the two constructors).

Returns:: True if initialized, false otherwise.

Definition at line 135 of file local_xy_util.h.

double swri_transform_util::LocalXyWgs84Util::ReferenceAltitude ( ) const

Return the altitude coordinate of the local origin.

Returns:: The WGS84 altitude coordinate of the local origin in meters

double swri_transform_util::LocalXyWgs84Util::ReferenceAngle ( ) const

Return the reference angle in degrees ENU.

double swri_transform_util::LocalXyWgs84Util::ReferenceLatitude ( ) const

Return the latitude coordinate of the local origin.

Returns:: The WGS84 latitude coordinate of the local origin in degrees

double swri_transform_util::LocalXyWgs84Util::ReferenceLongitude ( ) const

Return the longitude coordinate of the local origin.

Returns:: The WGS84 longitude coordinate of the local origin in degrees

bool swri_transform_util::LocalXyWgs84Util::ToLocalXy	(	double	latitude,
		double	longitude,
		double &	x,
		double &	y
	)		const

Convert WGS84 latitude and longitude to LocalXY.

Parameters:

[in]	latitude	Latitude value in degrees.
[in]	longitude	Longitude value in degrees.
[out]	x	X coordinate in meters from origin.
[out]	y	Y coordinate in meters from origin.

Returns:: True if the conversion is possible.

bool swri_transform_util::LocalXyWgs84Util::ToWgs84	(	double	x,
		double	y,
		double &	latitude,
		double &	longitude
	)		const

Convert LocalXY to WGS84 latitude and longitude.

Parameters:

[in]	x	X coordinate in meters from origin.
[in]	y	Y coordinate in meters from origin.
[out]	latitude	Latitude value in degrees.
[out]	longitude	Longitude value in degrees.