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 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 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

SphericalCoordinates ( )

Constructor.

SphericalCoordinates ( const SurfaceType _type )

explicit

Constructor with surface type input.

Parameters

[in] _type SurfaceType specification.

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.

~SphericalCoordinates ( )

Destructor.

Member Function Documentation

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

static

Convert a string to a SurfaceType.

Parameters

[in] _str String to convert.

Returns: Conversion to SurfaceType.

static double 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 GetElevationReference ( ) const

Get reference elevation in meters.

Returns: Reference elevation.

SurfaceType GetSurfaceType ( ) const

Get SurfaceType currently in use.

Returns: Current SurfaceType value.

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.

Parameters

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

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

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.

Returns: Heading offset of gazebo reference frame.

ignition::math::Angle LatitudeReference ( ) const

Get reference geodetic latitude.

Returns: Reference geodetic latitude.

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.

Parameters

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

Returns: Cartesian vector in Gazebo's world frame.

ignition::math::Vector3d 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 LongitudeReference ( ) const

Get reference longitude.

Returns: Reference longitude.

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.

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 SetElevationReference ( double _elevation )

Set reference elevation above sea level in meters.

Parameters

[in] _elevation Reference elevation.

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

Set heading angle offset for gazebo frame.

Parameters

[in] _angle Heading offset for gazebo frame.

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

Set reference geodetic latitude.

Parameters

[in] _angle Reference geodetic latitude.

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

Set reference longitude.

Parameters

[in] _angle Reference longitude.

void SetSurfaceType ( const SurfaceType & _type )

Set SurfaceType for planetary surface model.

Parameters

[in] _type SurfaceType value.

ignition::math::Vector3d 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 UpdateTransformationMatrix ( )

Update coordinate transformation matrix with reference location.

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.

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