Function robot_localization::computeEarthToCartesian

• Defined in File navsat_transform.hpp

Function Documentation

tf2::Transform robot_localization::computeEarthToCartesian(double lat0_deg, double lon0_deg, double h0_m)

Computes the ECEF to ENU transform for a given geodetic origin.

Parameters:

• lat0_deg – Latitude of origin in degrees

• lon0_deg – Longitude of origin in degrees

• h0_m – Altitude of origin in meters

Returns:

Transform from ECEF (earth) frame to local ENU frame