SphericalCoordinates.hh

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/*
 * Copyright (C) 2012 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_HH_
#define _GAZEBO_SPHERICALCOORDINATES_HH_

#include <string>

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

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

namespace gazebo
{
  namespace common
  {
    class SphericalCoordinatesPrivate;


    class GZ_COMMON_VISIBLE SphericalCoordinates
    {
      public: enum SurfaceType
              {
                EARTH_WGS84 = 1
              };

      public: enum CoordinateType
              {
                SPHERICAL = 1,

                ECEF = 2,

                GLOBAL = 3,

                LOCAL = 4
              };

      public: SphericalCoordinates();

      public: explicit SphericalCoordinates(const SurfaceType _type);

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

      public: ~SphericalCoordinates();

      public: ignition::math::Vector3d SphericalFromLocal(
                  const ignition::math::Vector3d &_xyz) const;

      public: ignition::math::Vector3d GlobalFromLocal(
                  const ignition::math::Vector3d &_xyz) const;

      public: static SurfaceType Convert(const std::string &_str);

      public: static double Distance(const ignition::math::Angle &_latA,
                                     const ignition::math::Angle &_lonA,
                                     const ignition::math::Angle &_latB,
                                     const ignition::math::Angle &_lonB);

      public: SurfaceType GetSurfaceType() const;

      public: ignition::math::Angle LatitudeReference() const;

      public: ignition::math::Angle LongitudeReference() const;

      public: double GetElevationReference() const;

      public: ignition::math::Angle HeadingOffset() const;

      public: void SetSurfaceType(const SurfaceType &_type);

      public: void SetLatitudeReference(const ignition::math::Angle &_angle);

      public: void SetLongitudeReference(const ignition::math::Angle &_angle);

      public: void SetElevationReference(double _elevation);

      public: void SetHeadingOffset(const ignition::math::Angle &_angle);

      public: ignition::math::Vector3d LocalFromSpherical(
                  const ignition::math::Vector3d &_xyz) const;

      public: ignition::math::Vector3d LocalFromGlobal(
                  const ignition::math::Vector3d &_xyz) const;

      public: void UpdateTransformationMatrix();

      public: ignition::math::Vector3d
              PositionTransform(const ignition::math::Vector3d &_pos,
                  const CoordinateType &_in, const CoordinateType &_out) const;

      public: ignition::math::Vector3d VelocityTransform(
                  const ignition::math::Vector3d &_vel,
                  const CoordinateType &_in, const CoordinateType &_out) const;

      private: SphericalCoordinatesPrivate *dataPtr;
    };
  }
}
#endif