SphericalCoordinates.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef _GAZEBO_SPHERICALCOORDINATES_HH_
18 #define _GAZEBO_SPHERICALCOORDINATES_HH_
19 
20 #include <string>
21 
22 #include <ignition/math/Angle.hh>
23 #include <ignition/math/Vector3.hh>
24 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace common
31  {
32  class SphericalCoordinatesPrivate;
33 
36 
39  class GZ_COMMON_VISIBLE SphericalCoordinates
40  {
43  public: enum SurfaceType
44  {
47  EARTH_WGS84 = 1
48  };
49 
52  public: enum CoordinateType
53  {
55  SPHERICAL = 1,
56 
58  ECEF = 2,
59 
61  GLOBAL = 3,
62 
64  LOCAL = 4
65  };
66 
68  public: SphericalCoordinates();
69 
72  public: SphericalCoordinates(const SurfaceType _type);
73 
80  public: SphericalCoordinates(const SurfaceType _type,
81  const ignition::math::Angle &_latitude,
82  const ignition::math::Angle &_longitude,
83  double _elevation,
84  const ignition::math::Angle &_heading);
85 
87  public: ~SphericalCoordinates();
88 
93  public: ignition::math::Vector3d SphericalFromLocal(
94  const ignition::math::Vector3d &_xyz) const;
95 
100  public: ignition::math::Vector3d GlobalFromLocal(
101  const ignition::math::Vector3d &_xyz) const;
102 
106  public: static SurfaceType Convert(const std::string &_str);
107 
117  public: static double Distance(const ignition::math::Angle &_latA,
118  const ignition::math::Angle &_lonA,
119  const ignition::math::Angle &_latB,
120  const ignition::math::Angle &_lonB);
121 
124  public: SurfaceType GetSurfaceType() const;
125 
128  public: ignition::math::Angle LatitudeReference() const;
129 
132  public: ignition::math::Angle LongitudeReference() const;
133 
136  public: double GetElevationReference() const;
137 
142  public: ignition::math::Angle HeadingOffset() const;
143 
146  public: void SetSurfaceType(const SurfaceType &_type);
147 
150  public: void SetLatitudeReference(const ignition::math::Angle &_angle);
151 
154  public: void SetLongitudeReference(const ignition::math::Angle &_angle);
155 
158  public: void SetElevationReference(double _elevation);
159 
162  public: void SetHeadingOffset(const ignition::math::Angle &_angle);
163 
167  public: ignition::math::Vector3d LocalFromSpherical(
168  const ignition::math::Vector3d &_xyz) const;
169 
174  public: ignition::math::Vector3d LocalFromGlobal(
175  const ignition::math::Vector3d &_xyz) const;
176 
178  public: void UpdateTransformationMatrix();
179 
185  public: ignition::math::Vector3d
186  PositionTransform(const ignition::math::Vector3d &_pos,
187  const CoordinateType &_in, const CoordinateType &_out) const;
188 
194  public: ignition::math::Vector3d VelocityTransform(
195  const ignition::math::Vector3d &_vel,
196  const CoordinateType &_in, const CoordinateType &_out) const;
197 
200  private: SphericalCoordinatesPrivate *dataPtr;
201  };
203  }
204 }
205 #endif
Convert spherical coordinates for planetary surfaces.
Definition: SphericalCoordinates.hh:39
Forward declarations for the common classes.
Definition: Animation.hh:33
CoordinateType
Unique identifiers for coordinate types.
Definition: SphericalCoordinates.hh:52
SurfaceType
Unique identifiers for planetary surface models.
Definition: SphericalCoordinates.hh:43
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::math::Vector3 to a msgs::Vector3d.