geodesy Namespace Reference

Classes
class	UTMPoint
class	UTMPose
Functions
template<class From , class To >
void	convert (const From &from, To &to)
template<class Same >
void	convert (const Same &from, Same &to)
static void	fromMsg (const geographic_msgs::GeoPoint &from, geographic_msgs::GeoPoint &to)
static void	fromMsg (const geographic_msgs::GeoPose &from, geographic_msgs::GeoPose &to)
void	fromMsg (const geographic_msgs::GeoPoint &from, UTMPoint &to)
void	fromMsg (const geographic_msgs::GeoPose &from, UTMPose &to)
static bool	is2D (const geographic_msgs::GeoPoint &pt)
static bool	is2D (const geographic_msgs::GeoPose &pose)
static bool	is2D (const UTMPoint &pt)
static bool	is2D (const UTMPose &pose)
static bool	isValid (const geographic_msgs::GeoPoint &pt)
static bool	isValid (const geographic_msgs::GeoPose &pose)
bool	isValid (const UTMPoint &pt)
bool	isValid (const UTMPose &pose)
static void	normalize (geographic_msgs::GeoPoint &pt)
static void	normalize (UTMPoint &pt)
static std::ostream &	operator<< (std::ostream &out, const UTMPoint &pt)
static std::ostream &	operator<< (std::ostream &out, const UTMPose &pose)
static bool	sameGridZone (const UTMPoint &pt1, const UTMPoint &pt2)
static bool	sameGridZone (const UTMPose &pose1, const UTMPose &pose2)
static geometry_msgs::Point	toGeometry (const UTMPoint &from)
static geometry_msgs::Pose	toGeometry (const UTMPose &from)
static geographic_msgs::GeoPoint	toMsg (double lat, double lon)
static geographic_msgs::GeoPoint	toMsg (double lat, double lon, double alt)
geographic_msgs::GeoPoint	toMsg (const UTMPoint &from)
geographic_msgs::GeoPose	toMsg (const UTMPose &from)
static geographic_msgs::GeoPoint	toMsg (const sensor_msgs::NavSatFix &fix)
static geographic_msgs::GeoPoint	toMsg (const geographic_msgs::GeoPoint &from)
static geographic_msgs::GeoPose	toMsg (const geographic_msgs::GeoPoint &pt, const geometry_msgs::Quaternion &q)
static geographic_msgs::GeoPose	toMsg (const sensor_msgs::NavSatFix &fix, const geometry_msgs::Quaternion &q)
static geographic_msgs::GeoPose	toMsg (const geographic_msgs::GeoPose &from)
static char	UTMBand (double Lat, double Lon)

---

Function Documentation

template<class From , class To >

void geodesy::convert	(	const From &	from,
		To &	to
	)

Convert any coordinate to any other via intermediate WGS 84 representation.

Author:

Tully Foote

Note:

Every coordinate type must implement fromMsg() and toMsg() functions for both points and poses.

Definition at line 75 of file wgs84.h.

template<class Same >

void geodesy::convert	(	const Same &	from,
		Same &	to
	)

Convert any coordinate to itself.

Definition at line 82 of file wgs84.h.

static void geodesy::fromMsg	(	const geographic_msgs::GeoPoint &	from,
		geographic_msgs::GeoPoint &	to
	)		[inline, static]

Convert one WGS 84 geodetic point to another.

Parameters:

from	WGS 84 point message.
to	another point.

Definition at line 93 of file wgs84.h.

static void geodesy::fromMsg	(	const geographic_msgs::GeoPose &	from,
		geographic_msgs::GeoPose &	to
	)		[inline, static]

Convert one WGS 84 geodetic pose to another.

Parameters:

from	WGS 84 pose message.
to	another pose.

Definition at line 104 of file wgs84.h.

void geodesy::fromMsg	(	const geographic_msgs::GeoPoint &	from,
		UTMPoint &	to
	)

Convert WGS 84 geodetic point to UTM point.

Equations from USGS Bulletin 1532

Parameters:

from	WGS 84 point message.
to	UTM point.

Definition at line 187 of file utm_conversions.cpp.

void geodesy::fromMsg	(	const geographic_msgs::GeoPose &	from,
		UTMPose &	to
	)

Convert WGS 84 geodetic pose to UTM pose.

Parameters:

from	WGS 84 pose message.
to	UTM pose.

Todo:

define the orientation transformation properly

Definition at line 295 of file utm_conversions.cpp.

static bool geodesy::is2D

(

const geographic_msgs::GeoPoint &

pt

)

[inline, static]

Returns:

true if no altitude specified.

Definition at line 111 of file wgs84.h.

static bool geodesy::is2D

(

const geographic_msgs::GeoPose &

pose

)

[inline, static]

Returns:

true if pose has no altitude.

Definition at line 117 of file wgs84.h.

static bool geodesy::is2D

(

const UTMPoint &

pt

)

[inline, static]

Returns:

true if no altitude specified.

Definition at line 185 of file utm.h.

static bool geodesy::is2D

(

const UTMPose &

pose

)

[inline, static]

Returns:

true if no altitude specified.

Definition at line 192 of file utm.h.

static bool geodesy::isValid

(

const geographic_msgs::GeoPoint &

pt

)

[inline, static]

Returns:

true if point is valid.

Definition at line 123 of file wgs84.h.

static bool geodesy::isValid

(

const geographic_msgs::GeoPose &

pose

)

[inline, static]

Returns:

true if pose is valid.

Definition at line 135 of file wgs84.h.

bool geodesy::isValid

(

const UTMPoint &

pt

)

Returns:

true if point is valid.

Definition at line 265 of file utm_conversions.cpp.

bool geodesy::isValid

(

const UTMPose &

pose

)

Returns:

true if pose is valid.

Definition at line 302 of file utm_conversions.cpp.

static void geodesy::normalize

(

geographic_msgs::GeoPoint &

pt

)

[inline, static]

Normalize a WGS 84 geodetic point.

Parameters:

pt	point to normalize.

Normalizes the longitude to [-180, 180). Clamps latitude to [-90, 90].

Definition at line 155 of file wgs84.h.

static void geodesy::normalize

(

UTMPoint &

pt

)

[inline, static]

Normalize UTM point.

Ensures the point is within its canonical grid zone.

Definition at line 205 of file utm.h.

static std::ostream& geodesy::operator<<	(	std::ostream &	out,
		const UTMPoint &	pt
	)		[inline, static]

Output stream operator for UTM point.

Definition at line 213 of file utm.h.

static std::ostream& geodesy::operator<<	(	std::ostream &	out,
		const UTMPose &	pose
	)		[inline, static]

Output stream operator for UTM pose.

Definition at line 222 of file utm.h.

static bool geodesy::sameGridZone	(	const UTMPoint &	pt1,
		const UTMPoint &	pt2
	)		[inline, static]

Returns:

true if two points have the same Grid Zone Designator

Definition at line 233 of file utm.h.

static bool geodesy::sameGridZone	(	const UTMPose &	pose1,
		const UTMPose &	pose2
	)		[inline, static]

Returns:

true if two poses have the same Grid Zone Designator

Definition at line 239 of file utm.h.

static geometry_msgs::Point geodesy::toGeometry

(

const UTMPoint &

from

)

[inline, static]

Returns:

a geometry Point corresponding to a UTM point.

Definition at line 245 of file utm.h.

static geometry_msgs::Pose geodesy::toGeometry

(

const UTMPose &

from

)

[inline, static]

Returns:

a geometry Pose corresponding to a UTM pose.

Definition at line 255 of file utm.h.

static geographic_msgs::GeoPoint geodesy::toMsg	(	double	lat,
		double	lon
	)		[inline, static]

Returns:

a 2D WGS 84 geodetic point message.

Definition at line 163 of file wgs84.h.

static geographic_msgs::GeoPoint geodesy::toMsg	(	double	lat,
		double	lon,
		double	alt
	)		[inline, static]

Returns:

a 3D WGS 84 geodetic point message.

Definition at line 174 of file wgs84.h.

geographic_msgs::GeoPoint geodesy::toMsg

(

const UTMPoint &

from

)

Convert UTM point to WGS 84 geodetic point.

Equations from USGS Bulletin 1532

Parameters:

from	WGS 84 point message.

Returns:

UTM point.

Definition at line 119 of file utm_conversions.cpp.

geographic_msgs::GeoPose geodesy::toMsg

(

const UTMPose &

from

)

static geographic_msgs::GeoPoint geodesy::toMsg

(

const sensor_msgs::NavSatFix &

fix

)

[inline, static]

Returns:

a WGS 84 geodetic point message from a NavSatFix.

Definition at line 185 of file wgs84.h.

static geographic_msgs::GeoPoint geodesy::toMsg

(

const geographic_msgs::GeoPoint &

from

)

[inline, static]

Returns:

a WGS 84 geodetic point message from another.

Definition at line 196 of file wgs84.h.

static geographic_msgs::GeoPose geodesy::toMsg	(	const geographic_msgs::GeoPoint &	pt,
		const geometry_msgs::Quaternion &	q
	)		[inline, static]

Returns:

a WGS 84 geodetic pose message from a point and a quaternion.

Definition at line 205 of file wgs84.h.

static geographic_msgs::GeoPose geodesy::toMsg	(	const sensor_msgs::NavSatFix &	fix,
		const geometry_msgs::Quaternion &	q
	)		[inline, static]

Returns:

a WGS 84 geodetic pose message from a NavSatFix and a quaternion.

Definition at line 218 of file wgs84.h.

static geographic_msgs::GeoPose geodesy::toMsg

(

const geographic_msgs::GeoPose &

from

)

[inline, static]

Returns:

a WGS 84 geodetic pose message from another.

Definition at line 229 of file wgs84.h.

static char geodesy::UTMBand	(	double	Lat,
		double	Lon
	)		[static]

Determine the correct UTM band letter for the given latitude. (Does not currently handle polar (UPS) zones: A, B, Y, Z).

Returns:

' ' if latitude is outside the UTM limits of +84 to -80

Definition at line 82 of file utm_conversions.cpp.