Class GpsHandler
Defined in File gps_utils.hpp
Inheritance Relationships
Base Type
private GeographicLib::LocalCartesian
Class Documentation
-
class GpsHandler : private GeographicLib::LocalCartesian
Public Functions
-
inline GpsHandler()
Construct a new Gps Handler object based on WGS84 ellipsoid.
-
inline GpsHandler(double lat0, double lon0, double h0 = 0)
Construct a new Gps Handler object based on WGS84 ellipsoid with a given origin.
- Parameters:
lat0 – Latitude at origin (degrees)
lon0 – Longitude at origin (degrees)
h0 – Altitude at origin (meters)
-
void setOrigin(const double &lat0, const double &lon0, const double &h0 = 0)
-
void setOrigin(const geographic_msgs::msg::GeoPoseStamped &gps)
-
void getOrigin(double &rLat, double &rLon, double &rH)
-
void getOrigin(geographic_msgs::msg::GeoPoseStamped &gps)
-
void LatLon2Local(const double &lat, const double &lon, const double &h, double &rX, double &rY, double &rZ)
-
void LatLon2Local(const geographic_msgs::msg::GeoPoseStamped &gps, double &rX, double &rY, double &rZ)
-
void LatLon2Local(const double &lat, const double &lon, const double &h, geometry_msgs::msg::PoseStamped &ps)
-
void LatLon2Local(const geographic_msgs::msg::GeoPoseStamped &gps, geometry_msgs::msg::PoseStamped &ps)
-
void Local2LatLon(const double &x, const double &y, const double &z, double &rLat, double &rLon, double &rH)
-
void Local2LatLon(const double &x, const double &y, const double &z, geographic_msgs::msg::GeoPoseStamped &gps)
-
void Local2LatLon(const geometry_msgs::msg::PoseStamped &ps, double &rLat, double &rLon, double &rH)
-
void Local2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)
Public Static Functions
-
static void LatLon2Ecef(const double &lat, const double &lon, const double &h, double &rX, double &rY, double &rZ)
-
static void LatLon2Ecef(const geographic_msgs::msg::GeoPoseStamped &gps, double &rX, double &rY, double &rZ)
-
static void LatLon2Ecef(const double &lat, const double &lon, const double &h, geometry_msgs::msg::PoseStamped &ps)
-
static void LatLon2Ecef(const geographic_msgs::msg::GeoPoseStamped &gps, geometry_msgs::msg::PoseStamped &ps)
-
static void Ecef2LatLon(const double &x, const double &y, const double &z, double &rLat, double &rLon, double &rH)
-
static void Ecef2LatLon(const double &x, const double &y, const double &z, geographic_msgs::msg::GeoPoseStamped &gps)
-
static void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, double &rLat, double &rLon, double &rH)
-
static void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)
-
inline GpsHandler()