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49 #include <geometry_msgs/Point.h>
50 #include <geometry_msgs/Pose.h>
104 UTMPoint(
const geographic_msgs::GeoPoint &pt);
107 UTMPoint(
double _easting,
double _northing, uint8_t _zone,
char _band):
110 altitude(
std::numeric_limits<double>::quiet_NaN()),
116 UTMPoint(
double _easting,
double _northing,
double _altitude,
117 uint8_t _zone,
char _band):
152 UTMPose(
const geographic_msgs::GeoPose &pose):
159 const geometry_msgs::Quaternion &q):
166 const geometry_msgs::Quaternion &q):
179 const bool& force_zone=
false,
const char& band=
'A',
const uint8_t& zone=0 );
181 const bool& force_zone=
false,
const char& band=
'A',
const uint8_t& zone=0 );
199 bool isValid(
const UTMPoint &pt);
200 bool isValid(
const UTMPose &pose);
208 geographic_msgs::GeoPoint ll(
toMsg(pt));
216 out <<
"(" << std::setprecision(10) << pt.
easting <<
", "
218 <<
" [" << (unsigned) pt.
zone << pt.
band <<
"])";
248 geometry_msgs::Point to;
258 geometry_msgs::Pose to;
UTMPoint(const UTMPoint &that)
double northing
northing within grid zone [meters]
void fromMsg(const geographic_msgs::GeoPoint &from, UTMPoint &to, const bool &force_zone=false, const char &band='A', const uint8_t &zone=0)
uint8_t zone
UTM longitude zone number.
double altitude
altitude above ellipsoid [meters] or NaN
geometry_msgs::Quaternion orientation
UTMPose(const UTMPose &that)
UTMPoint(double _easting, double _northing, uint8_t _zone, char _band)
UTMPose(const geographic_msgs::GeoPose &pose)
static bool sameGridZone(const UTMPoint &pt1, const UTMPoint &pt2)
static bool is2D(const UTMPoint &pt)
bool isValid(const UTMPoint &pt)
double easting
easting within grid zone [meters]
char band
MGRS latitude band letter.
static std::ostream & operator<<(std::ostream &out, const UTMPoint &pt)
static geometry_msgs::Point toGeometry(const UTMPoint &from)
UTMPose(UTMPoint pt, const geometry_msgs::Quaternion &q)
geographic_msgs::GeoPoint toMsg(const UTMPoint &from)
UTMPoint(double _easting, double _northing, double _altitude, uint8_t _zone, char _band)
static void normalize(UTMPoint &pt)
WGS 84 geodetic system for ROS latitude and longitude messages.
UTMPose(const geographic_msgs::GeoPoint &pt, const geometry_msgs::Quaternion &q)
geodesy
Author(s): Jack O'Quin
autogenerated on Wed Mar 2 2022 00:19:31