SphericalCoordinatesPrivate.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_SPHERICALCOORDINATES_PRIVATE_HH_
#define _GAZEBO_SPHERICALCOORDINATES_PRIVATE_HH_

#include <ignition/math/Angle.hh>
#include <ignition/math/Matrix3.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/SphericalCoordinates.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {
    class SphericalCoordinates;


    class GZ_COMMON_VISIBLE SphericalCoordinatesPrivate
    {
      public: SphericalCoordinates::SurfaceType surfaceType;

      public: ignition::math::Angle latitudeReference;

      public: ignition::math::Angle longitudeReference;

      public: double elevationReference;

      public: ignition::math::Angle headingOffset;

      public: double ellA;

      public: double ellB;

      public: double ellF;

      public: double ellE;

      public: double ellP;

      public: ignition::math::Matrix3d rotECEFToGlobal;

      public: ignition::math::Matrix3d rotGlobalToECEF;

      public: ignition::math::Vector3d origin;

      public: double cosHea;

      public: double sinHea;
    };
  }
}
#endif