local_xy_util.h

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#ifndef TRANSFORM_UTIL_LOCAL_XY_UTIL_H_
#define TRANSFORM_UTIL_LOCAL_XY_UTIL_H_

#include <string>

#include <boost/shared_ptr.hpp>

#include <ros/ros.h>
#include <swri_transform_util/transform_util.h>
#include <topic_tools/shape_shifter.h>

namespace swri_transform_util
{
  void LocalXyFromWgs84(
      double latitude,
      double longitude,
      double reference_latitude,
      double reference_longitude,
      double& x,
      double& y);

  void Wgs84FromLocalXy(
      double x,
      double y,
      double reference_latitude,
      double reference_longitude,
      double& latitude,
      double& longitude);

  class LocalXyWgs84Util
  {
  public:
    LocalXyWgs84Util(
        double reference_latitude,
        double reference_longitude,
        double reference_angle = 0,
        double reference_altitude = 0);

    LocalXyWgs84Util();

    bool Initialized() const { return initialized_; }

    void ResetInitialization();

    double ReferenceLongitude() const;

    double ReferenceLatitude() const;

    double ReferenceAngle() const;

    double ReferenceAltitude() const;

    std::string Frame() const { return frame_; }

    std::string NormalizedFrame() const { return NormalizeFrameId(frame_); }

    bool ToLocalXy(
        double latitude,
        double longitude,
        double& x,
        double& y) const;

    bool ToWgs84(
        double x,
        double y,
        double& latitude,
        double& longitude) const;

  protected:
    double reference_latitude_;   //< Reference latitude in radians.
    double reference_longitude_;  //< Reference longitude in radians.
    double reference_angle_;      //< Reference angle in radians ENU.
    double reference_altitude_;   //< Reference altitude in meters.

    double rho_lat_;
    double rho_lon_;
    double cos_angle_;
    double sin_angle_;

    std::string frame_;

    ros::Subscriber origin_sub_;
    bool initialized_;

    void Initialize();

    void HandleOrigin(const topic_tools::ShapeShifter::ConstPtr origin);
  };
  typedef boost::shared_ptr<LocalXyWgs84Util> LocalXyWgs84UtilPtr;
}

#endif  // TRANSFORM_UTIL_LOCAL_XY_UTIL_H_