local_xy_util.h

Go to the documentation of this file.

// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************
 
#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_