GeodeticCoords.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#ifndef GEODETICCOORDS_H_
#define GEODETICCOORDS_H_

#include <rtabmap/core/RtabmapExp.h>

#include <opencv2/core/core.hpp>

namespace rtabmap {

class RTABMAP_EXP GeodeticCoords
{
public:
        GeodeticCoords();
        GeodeticCoords(double latitude, double longitude, double altitude);

        const double & latitude() const {return latitude_;}
        const double & longitude() const {return longitude_;}
        const double & altitude() const {return altitude_;}

        void setLatitude(const double & value) {latitude_ = value;}
        void setLongitude(const double & value) {longitude_ = value;}
        void setAltitude(const double & value) {altitude_ = value;}

        cv::Point3d toGeocentric_WGS84() const;
        cv::Point3d toENU_WGS84(const GeodeticCoords & origin) const; // East=X, North=Y

private:
        double latitude_;  // deg
        double longitude_; // deg
        double altitude_;  // m
};

}

#endif /* GEODETICCOORDS_H_ */