Convert spherical coordinates for planetary surfaces. More...

#include <commmon/common.hh>

Public Types
enum	CoordinateType { SPHERICAL = 1, ECEF = 2, GLOBAL = 3, LOCAL = 4 }
	Unique identifiers for coordinate types. More...

enum	SurfaceType { EARTH_WGS84 = 1 }
	Unique identifiers for planetary surface models. More...

Public Member Functions
	SphericalCoordinates ()
	Constructor. More...

	SphericalCoordinates (const SurfaceType _type)
	Constructor with surface type input. More...

	SphericalCoordinates (const SurfaceType _type, const ignition::math::Angle &_latitude, const ignition::math::Angle &_longitude, double _elevation, const ignition::math::Angle &_heading)
	Constructor with surface type, angle, and elevation inputs. More...

	~SphericalCoordinates ()
	Destructor. More...

double	GetElevationReference () const
	Get reference elevation in meters. More...

SurfaceType	GetSurfaceType () const
	Get SurfaceType currently in use. More...

ignition::math::Vector3d	GlobalFromLocal (const ignition::math::Vector3d &_xyz) const
	Convert a Cartesian velocity vector in the local gazebo frame to a global Cartesian frame with components East, North, Up. More...

ignition::math::Angle	HeadingOffset () const
	Get heading offset for gazebo reference frame, expressed as angle from East to gazebo x-axis, or equivalently from North to gazebo y-axis. More...

ignition::math::Angle	LatitudeReference () const
	Get reference geodetic latitude. More...

ignition::math::Vector3d	LocalFromGlobal (const ignition::math::Vector3d &_xyz) const
	Convert a Cartesian vector with components East, North, Up to a local Gazebo cartesian frame vector XYZ. More...

ignition::math::Vector3d	LocalFromSpherical (const ignition::math::Vector3d &_xyz) const
	Convert a geodetic position vector to Cartesian coordinates. More...

ignition::math::Angle	LongitudeReference () const
	Get reference longitude. More...

ignition::math::Vector3d	PositionTransform (const ignition::math::Vector3d &_pos, const CoordinateType &_in, const CoordinateType &_out) const
	Convert between positions in SPHERICAL/ECEF/LOCAL/GLOBAL frame. More...

void	SetElevationReference (double _elevation)
	Set reference elevation above sea level in meters. More...

void	SetHeadingOffset (const ignition::math::Angle &_angle)
	Set heading angle offset for gazebo frame. More...

void	SetLatitudeReference (const ignition::math::Angle &_angle)
	Set reference geodetic latitude. More...

void	SetLongitudeReference (const ignition::math::Angle &_angle)
	Set reference longitude. More...

void	SetSurfaceType (const SurfaceType &_type)
	Set SurfaceType for planetary surface model. More...

ignition::math::Vector3d	SphericalFromLocal (const ignition::math::Vector3d &_xyz) const
	Convert a Cartesian position vector to geodetic coordinates. More...

void	UpdateTransformationMatrix ()
	Update coordinate transformation matrix with reference location. More...

ignition::math::Vector3d	VelocityTransform (const ignition::math::Vector3d &_vel, const CoordinateType &_in, const CoordinateType &_out) const
	Convert between velocity in SPHERICAL/ECEF/LOCAL/GLOBAL frame. More...

Static Public Member Functions
static SurfaceType	Convert (const std::string &_str)
	Convert a string to a SurfaceType. More...

static double	Distance (const ignition::math::Angle &_latA, const ignition::math::Angle &_lonA, const ignition::math::Angle &_latB, const ignition::math::Angle &_lonB)
	Get the distance between two points expressed in geographic latitude and longitude. More...

Detailed Description

Convert spherical coordinates for planetary surfaces.

Member Enumeration Documentation

enum gazebo::common::SphericalCoordinates::CoordinateType

Unique identifiers for coordinate types.

Enumerator
SPHERICAL	Latitude, Longitude and Altitude by SurfaceType.
ECEF	Earth centered, earth fixed Cartesian.
GLOBAL	Local tangent plane (East, North, Up)
LOCAL	Heading-adjusted tangent plane (X, Y, Z)

enum gazebo::common::SphericalCoordinates::SurfaceType

Unique identifiers for planetary surface models.

Enumerator

EARTH_WGS84

Model of reference ellipsoid for earth, based on WGS 84 standard.

see wikipedia: World_Geodetic_System

Constructor & Destructor Documentation

gazebo::common::SphericalCoordinates::SphericalCoordinates ( )

Constructor.

gazebo::common::SphericalCoordinates::SphericalCoordinates ( const SurfaceType _type )

Constructor with surface type input.

Parameters

[in] _type SurfaceType specification.

gazebo::common::SphericalCoordinates::SphericalCoordinates	(	const SurfaceType	_type,
		const ignition::math::Angle &	_latitude,
		const ignition::math::Angle &	_longitude,
		double	_elevation,
		const ignition::math::Angle &	_heading
	)

Constructor with surface type, angle, and elevation inputs.

Parameters

[in]	_type	SurfaceType specification.
[in]	_latitude	Reference latitude.
[in]	_longitude	Reference longitude.
[in]	_elevation	Reference elevation.
[in]	_heading	Heading offset.

gazebo::common::SphericalCoordinates::~SphericalCoordinates ( )

Destructor.

Member Function Documentation

static SurfaceType gazebo::common::SphericalCoordinates::Convert ( const std::string & _str )

static

Convert a string to a SurfaceType.

Parameters

[in] _str String to convert.

Returns: Conversion to SurfaceType.

static double gazebo::common::SphericalCoordinates::Distance	(	const ignition::math::Angle &	_latA,
		const ignition::math::Angle &	_lonA,
		const ignition::math::Angle &	_latB,
		const ignition::math::Angle &	_lonB
	)

static

Get the distance between two points expressed in geographic latitude and longitude.

It assumes that both points are at sea level. Example: _latA = 38.0016667 and _lonA = -123.0016667) represents the point with latitude 38d 0'6.00"N and longitude 123d 0'6.00"W.

Parameters

[in]	_latA	Latitude of point A.
[in]	_longA	Longitude of point A.
[in]	_latB	Latitude of point B.
[in]	_longB	Longitude of point B.

Returns: Distance in meters.

double gazebo::common::SphericalCoordinates::GetElevationReference ( ) const

Get reference elevation in meters.

Returns: Reference elevation.

SurfaceType gazebo::common::SphericalCoordinates::GetSurfaceType ( ) const

Get SurfaceType currently in use.

Returns: Current SurfaceType value.

ignition::math::Vector3d gazebo::common::SphericalCoordinates::GlobalFromLocal ( const ignition::math::Vector3d & _xyz ) const

Convert a Cartesian velocity vector in the local gazebo frame to a global Cartesian frame with components East, North, Up.

Parameters

[in] _xyz Cartesian vector in gazebo's world frame.

Returns: Rotated vector with components (x,y,z): (East, North, Up).

ignition::math::Angle gazebo::common::SphericalCoordinates::HeadingOffset ( ) const

Get heading offset for gazebo reference frame, expressed as angle from East to gazebo x-axis, or equivalently from North to gazebo y-axis.

Returns: Heading offset of gazebo reference frame.

ignition::math::Angle gazebo::common::SphericalCoordinates::LatitudeReference ( ) const

Get reference geodetic latitude.

Returns: Reference geodetic latitude.

ignition::math::Vector3d gazebo::common::SphericalCoordinates::LocalFromGlobal ( const ignition::math::Vector3d & _xyz ) const

Convert a Cartesian vector with components East, North, Up to a local Gazebo cartesian frame vector XYZ.

Parameters

[in] Vector with components (x,y,z): (East, North, Up).

Returns: Cartesian vector in Gazebo's world frame.

ignition::math::Vector3d gazebo::common::SphericalCoordinates::LocalFromSpherical ( const ignition::math::Vector3d & _xyz ) const

Convert a geodetic position vector to Cartesian coordinates.

Parameters

[in] _xyz Geodetic position in the planetary frame of reference

Returns: Cartesian vector in Gazebo's world frame

ignition::math::Angle gazebo::common::SphericalCoordinates::LongitudeReference ( ) const

Get reference longitude.

Returns: Reference longitude.

ignition::math::Vector3d gazebo::common::SphericalCoordinates::PositionTransform	(	const ignition::math::Vector3d &	_pos,
		const CoordinateType &	_in,
		const CoordinateType &	_out
	)		const

Convert between positions in SPHERICAL/ECEF/LOCAL/GLOBAL frame.

Parameters

[in]	_pos	Position vector in frame defined by parameter _in
[in]	_in	CoordinateType for input
[in]	_out	CoordinateType for output

Returns: Transformed coordinate using cached orgin

void gazebo::common::SphericalCoordinates::SetElevationReference ( double _elevation )

Set reference elevation above sea level in meters.

Parameters

[in] _elevation Reference elevation.

void gazebo::common::SphericalCoordinates::SetHeadingOffset ( const ignition::math::Angle & _angle )

Set heading angle offset for gazebo frame.

Parameters

[in] _angle Heading offset for gazebo frame.

void gazebo::common::SphericalCoordinates::SetLatitudeReference ( const ignition::math::Angle & _angle )

Set reference geodetic latitude.

Parameters

[in] _angle Reference geodetic latitude.

void gazebo::common::SphericalCoordinates::SetLongitudeReference ( const ignition::math::Angle & _angle )

Set reference longitude.

Parameters

[in] _angle Reference longitude.

void gazebo::common::SphericalCoordinates::SetSurfaceType ( const SurfaceType & _type )

Set SurfaceType for planetary surface model.

Parameters

[in] _type SurfaceType value.

ignition::math::Vector3d gazebo::common::SphericalCoordinates::SphericalFromLocal ( const ignition::math::Vector3d & _xyz ) const

Convert a Cartesian position vector to geodetic coordinates.

Parameters

[in] _xyz Cartesian position vector in gazebo's world frame.

Returns: Cooordinates: geodetic latitude (deg), longitude (deg), altitude above sea level (m).

void gazebo::common::SphericalCoordinates::UpdateTransformationMatrix ( )

Update coordinate transformation matrix with reference location.

ignition::math::Vector3d gazebo::common::SphericalCoordinates::VelocityTransform	(	const ignition::math::Vector3d &	_vel,
		const CoordinateType &	_in,
		const CoordinateType &	_out
	)		const

Convert between velocity in SPHERICAL/ECEF/LOCAL/GLOBAL frame.

Parameters

[in]	_pos	Velocity vector in frame defined by parameter _in
[in]	_in	CoordinateType for input
[in]	_out	CoordinateType for output

Returns: Transformed velocity vector

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

SphericalCoordinates.hh

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation