rtabmap::GeodeticCoords Class Reference

WGS84 geodetic latitude, longitude and altitude with coordinate conversions. More...

#include <GeodeticCoords.h>

Public Member Functions
	GeodeticCoords ()
	Default-constructs coordinates at (0°, 0°, 0 m).
	GeodeticCoords (double latitude, double longitude, double altitude)
	Constructs geodetic coordinates.
const double &	latitude () const
const double &	longitude () const
const double &	altitude () const
void	setLatitude (const double &value)
	Sets latitude in decimal degrees.
void	setLongitude (const double &value)
	Sets longitude in decimal degrees.
void	setAltitude (const double &value)
	Sets altitude in meters.
cv::Point3d	toGeocentric_WGS84 () const
cv::Point3d	toENU_WGS84 (const GeodeticCoords &origin) const
void	fromGeocentric_WGS84 (const cv::Point3d &geocentric)
	Sets this point from ECEF geocentric geocentric coordinates.
void	fromENU_WGS84 (const cv::Point3d &enu, const GeodeticCoords &origin)
	Sets this point from an ENU offset relative to origin.

Static Public Member Functions
static cv::Point3d	ENU_WGS84ToGeocentric_WGS84 (const cv::Point3d &enu, const GeodeticCoords &origin)
static cv::Point3d	Geocentric_WGS84ToENU_WGS84 (const cv::Point3d &geocentric_WGS84, const cv::Point3d &origin_geocentric_WGS84, const GeodeticCoords &origin)

Detailed Description

WGS84 geodetic latitude, longitude and altitude with coordinate conversions.

Conversions follow the WGS84 reference ellipsoid (MRPT-derived implementation). ENU frames use east = X, north = Y, up = Z relative to a local origin.

See also

GPS::toGeodeticCoords()

Definition at line 61 of file GeodeticCoords.h.

Constructor & Destructor Documentation

GeodeticCoords()

rtabmap::GeodeticCoords::GeodeticCoords	(	double	latitude,
		double	longitude,
		double	altitude
	)

Constructs geodetic coordinates.

Parameters

latitude	Latitude in decimal degrees (DD, north positive).
longitude	Longitude in decimal degrees (DD, east positive).
altitude	Altitude in meters above the WGS84 ellipsoid.

Member Function Documentation

latitude()

const double & rtabmap::GeodeticCoords::latitude ( ) const

inline

Returns

Latitude in decimal degrees.

Definition at line 75 of file GeodeticCoords.h.

longitude()

const double & rtabmap::GeodeticCoords::longitude ( ) const

inline

Returns

Longitude in decimal degrees.

Definition at line 77 of file GeodeticCoords.h.

altitude()

const double & rtabmap::GeodeticCoords::altitude ( ) const

inline

Returns

Altitude in meters.

Definition at line 79 of file GeodeticCoords.h.

setLatitude()

void rtabmap::GeodeticCoords::setLatitude ( const double &  value )

inline

Sets latitude in decimal degrees.

Definition at line 82 of file GeodeticCoords.h.

setLongitude()

void rtabmap::GeodeticCoords::setLongitude ( const double &  value )

inline

Sets longitude in decimal degrees.

Definition at line 84 of file GeodeticCoords.h.

setAltitude()

void rtabmap::GeodeticCoords::setAltitude ( const double &  value )

inline

Sets altitude in meters.

Definition at line 86 of file GeodeticCoords.h.

toGeocentric_WGS84()

cv::Point3d rtabmap::GeodeticCoords::toGeocentric_WGS84

(

)

const

Returns

ECEF geocentric coordinates (meters) in the WGS84 frame.

toENU_WGS84()

cv::Point3d rtabmap::GeodeticCoords::toENU_WGS84

(

const GeodeticCoords &

origin

)

const

Returns

ENU offset (meters) from origin to this point. East = X, north = Y, up = Z.

ENU_WGS84ToGeocentric_WGS84()

static cv::Point3d rtabmap::GeodeticCoords::ENU_WGS84ToGeocentric_WGS84 ( const cv::Point3d &  enu, const GeodeticCoords &  origin  )

static

Returns

ECEF geocentric coordinates of ENU point enu relative to origin.

Geocentric_WGS84ToENU_WGS84()

static cv::Point3d rtabmap::GeodeticCoords::Geocentric_WGS84ToENU_WGS84 ( const cv::Point3d &  geocentric_WGS84, const cv::Point3d &  origin_geocentric_WGS84, const GeodeticCoords &  origin  )

static

Returns

ENU offset from geocentric origin_geocentric_WGS84 to geocentric_WGS84.

Parameters

origin

Geodetic origin used to define the local ENU basis.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/GeodeticCoords.h