#include <boost/array.hpp>
#include <tf/transform_datatypes.h>
#include <swri_transform_util/local_xy_util.h>
Go to the source code of this file.
Namespaces | |
namespace | swri_transform_util |
Functions | |
tf::Matrix3x3 | swri_transform_util::Get3x3Cov (const boost::array< double, 9 > &matrix) |
Converts the 3x3 covariance matrices from Imu messages to a Matrix3x3. | |
double | swri_transform_util::GetBearing (double source_latitude, double source_longitude, double destination_latitude, double destination_longitude) |
Calculates the bearing between two points. | |
double | swri_transform_util::GetHeading (double src_x, double src_y, double dst_x, double dst_y) |
Calculates the heading in degrees from a source and destination point in a north-oriented (+y = north, +x = east), ortho-rectified coordinate system. | |
tf::Matrix3x3 | swri_transform_util::GetLowerRight (const boost::array< double, 36 > &matrix) |
Gets the lower-right 3x3 sub-matrix of a 6x6 matrix. | |
void | swri_transform_util::GetMidpointLatLon (double latitude1, double longitude1, double latitude2, double longitude2, double &mid_latitude, double &mid_longitude) |
Find the midpoint on the arc between two lat/lon points. | |
tf::Vector3 | swri_transform_util::GetPrimaryAxis (const tf::Vector3 &vector) |
Return an axis aligned unit vector that is nearest the provided vector. | |
tf::Transform | swri_transform_util::GetRelativeTransform (double latitude, double longitude, double yaw, double reference_latitude, double reference_longitude, double reference_yaw) |
tf::Matrix3x3 | swri_transform_util::GetUpperLeft (const boost::array< double, 36 > &matrix) |
Gets the upper-left 3x3 sub-matrix of a 6x6 matrix. | |
double | swri_transform_util::GreatCircleDistance (double src_latitude, double src_longitude, double dst_latitude, double dst_longitude) |
Calculates the great circle distance between two points. | |
double | swri_transform_util::GreatCircleDistance (const tf::Vector3 &src, const tf::Vector3 &dst) |
Calculates the great circle distance between two points. | |
bool | swri_transform_util::IsRotation (tf::Matrix3x3 matrix) |
Validate that a 3x3 matrix is a rotation. | |
double | swri_transform_util::LatitudeDegreesFromMeters (double altitude, double arc_length) |
Calculate the subtending angle of an arc (aligned with the latitudinal coordinate axis at the specified altitude) with the specied arc length. | |
double | swri_transform_util::LongitudeDegreesFromMeters (double latitude, double altitude, double arc_length) |
Calculate the subtending angle of an arc (aligned with the longitudinal coordinate axis at the specified latitude and altitude) with the specied arc length. | |
void | swri_transform_util::Set3x3Cov (const tf::Matrix3x3 &matrix_in, boost::array< double, 9 > &matrix_out) |
Converts the Matrix3x3 matrix into a 9 element covariance matrix from Imu messages. | |
void | swri_transform_util::SetLowerRight (const tf::Matrix3x3 &sub_matrix, boost::array< double, 36 > &matrix) |
Sets the lower-right quadrant of a 6x6 matrix with the specified 3x3 sub-matrix. | |
void | swri_transform_util::SetUpperLeft (const tf::Matrix3x3 &sub_matrix, boost::array< double, 36 > &matrix) |
Sets the upper-left quadrant of a 6x6 matrix with the specified 3x3 sub-matrix. | |
tf::Quaternion | swri_transform_util::SnapToRightAngle (const tf::Quaternion &rotation) |
Snaps a quaternion rotation to the closest right angle rotation. | |
double | swri_transform_util::ToHeading (double yaw) |
Convert yaw to heading, where yaw is in radians, counter-clockwise, with 0 on the positive x-axis and heading is in degrees, clockwise, with 0 on the positive y-axis. | |
double | swri_transform_util::ToYaw (double heading) |
Convert heading to yaw, where yaw is in radians, counter-clockwise, with 0 on the positive x-axis and heading is in degrees, clockwise, with 0 on the positive y-axis. |