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20 _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0);
21 real sphi, cphi, slam, clam;
31 for (
size_t i = 0;
i < dim2_; ++
i) {
32 size_t row =
i / dim_,
col =
i % dim_;
39 real M[dim2_])
const {
41 _earth.IntForward(
lat,
lon,
h, xc, yc, zc,
M);
42 xc -= _x0; yc -= _y0; zc -= _z0;
43 x = _r[0] * xc + _r[3] * yc + _r[6] * zc;
44 y = _r[1] * xc + _r[4] * yc + _r[7] * zc;
45 z = _r[2] * xc + _r[5] * yc + _r[8] * zc;
52 real M[dim2_])
const {
54 xc = _x0 + _r[0] *
x + _r[1] *
y + _r[2] *
z,
55 yc = _y0 + _r[3] *
x + _r[4] *
y + _r[5] *
z,
56 zc = _z0 + _r[6] *
x + _r[7] *
y + _r[8] *
z;
57 _earth.IntReverse(xc, yc, zc,
lat,
lon,
h,
M);
static T AngNormalize(T x)
Namespace for GeographicLib.
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
static void sincosd(T x, T &sinx, T &cosx)
int EIGEN_BLAS_FUNC() copy(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy)
void IntReverse(real x, real y, real z, real &lat, real &lon, real &h, real M[dim2_]) const
void MatrixMultiply(real M[dim2_]) const
void Reset(real lat0, real lon0, real h0=0)
void IntForward(real lat, real lon, real h, real &x, real &y, real &z, real M[dim2_]) const
Header for GeographicLib::LocalCartesian class.
static void Rotation(real sphi, real cphi, real slam, real clam, real M[dim2_])
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:11:56