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00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_GLOBAL_REFERENCE_H 00030 #define HECTOR_POSE_ESTIMATION_GLOBAL_REFERENCE_H 00031 00032 #include <hector_pose_estimation/parameters.h> 00033 00034 namespace hector_pose_estimation { 00035 00036 class GlobalReference { 00037 public: 00038 struct Position { 00039 Position() : latitude(0.0), longitude(0.0), altitude(0.0) {} 00040 double latitude; 00041 double longitude; 00042 double altitude; 00043 }; 00044 00045 struct Heading { 00046 Heading() : value(0.0), cos(1.0), sin(0.0) {} 00047 double value; 00048 double cos; 00049 double sin; 00050 operator double() const { return value; } 00051 }; 00052 00053 struct Radius { 00054 Radius() : north(0.0), east(0.0) {} 00055 double north; 00056 double east; 00057 }; 00058 00059 const Position& position() const { return position_; } 00060 const Heading& heading() const { return heading_; } 00061 const Radius& radius() const { return radius_; } 00062 00063 GlobalReference& setPosition(double latitude, double longitude); 00064 GlobalReference& setHeading(double heading); 00065 GlobalReference& setAltitude(double altitude); 00066 00067 bool hasPosition() const { return has_position_; } 00068 bool hasHeading() const { return has_heading_; } 00069 bool hasAltitude() const { return has_altitude_; } 00070 00071 void fromWGS84(double latitude, double longitude, double &x, double &y); 00072 void toWGS84(double x, double y, double &latitude, double &longitude); 00073 void fromNorthEast(double north, double east, double &x, double &y); 00074 void toNorthEast(double x, double y, double &north, double &east); 00075 00076 GlobalReference(); 00077 ParameterList& parameters(); 00078 00079 void updated(); 00080 void reset(); 00081 00082 private: 00083 Position position_; 00084 Heading heading_; 00085 Radius radius_; 00086 00087 bool has_position_; 00088 bool has_heading_; 00089 bool has_altitude_; 00090 00091 ParameterList parameters_; 00092 }; 00093 00094 } // namespace hector_pose_estimation 00095 00096 #endif // HECTOR_POSE_ESTIMATION_GLOBAL_REFERENCE_H