gz/math/SphericalCoordinates.hh
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@ GLOBAL
Local tangent plane (East, North, Up)
Definition: gz/math/SphericalCoordinates.hh:60
@ ECEF
Earth centered, earth fixed Cartesian.
Definition: gz/math/SphericalCoordinates.hh:57
SphericalCoordinates & operator=(const SphericalCoordinates &_sc)
Assignment operator.
Definition: gz/math/AdditivelySeparableScalarField3.hh:27
STL class.
Convert spherical coordinates for planetary surfaces.
Definition: gz/math/SphericalCoordinates.hh:38
double ElevationReference() const
Get reference elevation in meters.
void UpdateTransformationMatrix()
Update coordinate transformation matrix with reference location.
Vector3d GlobalFromLocalVelocity(const Vector3d &_xyz) const
Convert a Cartesian velocity vector in the local frame to a global Cartesian frame with components Ea...
@ SPHERICAL
Latitude, Longitude and Altitude by SurfaceType.
Definition: gz/math/SphericalCoordinates.hh:54
Angle LatitudeReference() const
Get reference geodetic latitude.
Angle LongitudeReference() const
Get reference longitude.
@ LOCAL2
Heading-adjusted tangent plane (X, Y, Z)
Definition: gz/math/SphericalCoordinates.hh:68
void SetHeadingOffset(const Angle &_angle)
Set heading angle offset for the frame.
Vector3d VelocityTransform(const Vector3d &_vel, const CoordinateType &_in, const CoordinateType &_out) const
Convert between velocity in SPHERICAL/ECEF/LOCAL/GLOBAL frame Spherical coordinates use radians,...
The Vector3 class represents the generic vector containing 3 elements. Since it's commonly used to ke...
Definition: gz/math/Vector3.hh:41
void SetLongitudeReference(const Angle &_angle)
Set reference longitude.
CoordinateType
Unique identifiers for coordinate types.
Definition: gz/math/SphericalCoordinates.hh:51
bool operator!=(const SphericalCoordinates &_sc) const
Inequality.
@ EARTH_WGS84
Model of reference ellipsoid for earth, based on WGS 84 standard. see wikipedia: World_Geodetic_Syste...
Definition: gz/math/SphericalCoordinates.hh:46
void SetLatitudeReference(const Angle &_angle)
Set reference geodetic latitude.
SurfaceType Surface() const
Get SurfaceType currently in use.
The Angle class is used to simplify and clarify the use of radians and degrees measurements....
Definition: gz/math/Angle.hh:61
static double Distance(const Angle &_latA, const Angle &_lonA, const Angle &_latB, const Angle &_lonB)
Get the distance between two points expressed in geographic latitude and longitude....
static SurfaceType Convert(const std::string &_str)
Convert a string to a SurfaceType. Allowed values: ["EARTH_WGS84"].
Vector3d SphericalFromLocalPosition(const Vector3d &_xyz) const
Convert a Cartesian position vector to geodetic coordinates. This performs a PositionTransform from L...
Vector3d LocalFromGlobalVelocity(const Vector3d &_xyz) const
Convert a Cartesian velocity vector with components East, North, Up to a local cartesian frame vector...
bool operator==(const SphericalCoordinates &_sc) const
Equality operator, result = this == _sc.
Angle HeadingOffset() const
Get heading offset for the reference frame, expressed as angle from East to x-axis,...
SurfaceType
Unique identifiers for planetary surface models.
Definition: gz/math/SphericalCoordinates.hh:42
Vector3d PositionTransform(const Vector3d &_pos, const CoordinateType &_in, const CoordinateType &_out) const
Convert between positions in SPHERICAL/ECEF/LOCAL/GLOBAL frame Spherical coordinates use radians,...
@ LOCAL
Heading-adjusted tangent plane (X, Y, Z) This has kept a bug for backwards compatibility,...
Definition: gz/math/SphericalCoordinates.hh:65
void SetSurface(const SurfaceType &_type)
Set SurfaceType for planetary surface model.
Vector3d LocalFromSphericalPosition(const Vector3d &_latLonEle) const
Convert a geodetic position vector to Cartesian coordinates. This performs a PositionTransform from S...
void SetElevationReference(const double _elevation)
Set reference elevation above sea level in meters.