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.

	SphericalCoordinates (const SphericalCoordinates &_sc)
	Copy constructor.

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

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

	~SphericalCoordinates ()
	Destructor.

double	ElevationReference () const
	Get reference elevation in meters.

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

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

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

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

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

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

bool	operator!= (const SphericalCoordinates &_sc) const
	Inequality.

SphericalCoordinates &	operator= (const SphericalCoordinates &_sc)
	Assignment operator.

bool	operator== (const SphericalCoordinates &_sc) const
	Equality operator, result = this == _sc.

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.

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

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

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

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

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

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

SurfaceType	Surface () const
	Get SurfaceType currently in use.

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.

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

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.

Detailed Description

Convert spherical coordinates for planetary surfaces.

Member Enumeration Documentation

◆ CoordinateType

enum ignition::math::IGNITION_MATH_VERSION_NAMESPACE::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)

◆ SurfaceType

enum ignition::math::IGNITION_MATH_VERSION_NAMESPACE::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

◆ SphericalCoordinates() [1/4]

ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SphericalCoordinates ( )

Constructor.

Referenced by SphericalCoordinates(), operator!=(), operator=(), and operator==().

◆ SphericalCoordinates() [2/4]

ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SphericalCoordinates ( const SurfaceType _type )

explicit

Constructor with surface type input.

Parameters

[in] _type SurfaceType specification.

◆ SphericalCoordinates() [3/4]

ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SphericalCoordinates	(	const SurfaceType	_type,
		const ignition::math::Angle &	_latitude,
		const ignition::math::Angle &	_longitude,
		const 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() [4/4]

ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SphericalCoordinates ( const SphericalCoordinates & _sc )

Copy constructor.

Parameters

[in] _sc Spherical coordinates to copy.

References SphericalCoordinates().

◆ ~SphericalCoordinates()

ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::~SphericalCoordinates ( )

Destructor.

Member Function Documentation

◆ Convert()

static SurfaceType ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::Convert ( const std::string & _str )

static

Convert a string to a SurfaceType.

Allowed values: ["EARTH_WGS84"].

Parameters

[in] _str String to convert.

Returns: Conversion to SurfaceType.

◆ Distance()

static double ignition::math::IGNITION_MATH_VERSION_NAMESPACE::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.

◆ ElevationReference()

double ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::ElevationReference ( ) const

Get reference elevation in meters.

Returns: Reference elevation.

◆ GlobalFromLocalVelocity()

ignition::math::Vector3d ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::GlobalFromLocalVelocity ( const ignition::math::Vector3d & _xyz ) const

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

Parameters

[in] _xyz Cartesian velocity vector in the world frame.

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

◆ HeadingOffset()

ignition::math::Angle ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::HeadingOffset ( ) const

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

Returns: Heading offset of reference frame.

◆ LatitudeReference()

ignition::math::Angle ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::LatitudeReference ( ) const

Get reference geodetic latitude.

Returns: Reference geodetic latitude.

◆ LocalFromGlobalVelocity()

ignition::math::Vector3d ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::LocalFromGlobalVelocity ( const ignition::math::Vector3d & _xyz ) const

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

Parameters

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

Returns: Cartesian vector in the world frame.

◆ LocalFromSphericalPosition()

ignition::math::Vector3d ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::LocalFromSphericalPosition ( 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 position vector in the world frame

◆ LongitudeReference()

ignition::math::Angle ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::LongitudeReference ( ) const

Get reference longitude.

Returns: Reference longitude.

◆ operator!=()

bool ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::operator!= ( const SphericalCoordinates & _sc ) const

Inequality.

Parameters

[in] _sc Spherical coordinates to check for inequality

Returns: true if this != _sc

References SphericalCoordinates().

◆ operator=()

SphericalCoordinates & ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::operator= ( const SphericalCoordinates & _sc )

Assignment operator.

Parameters

[in] _sc The spherical coordinates to copy from.

Returns: this

References SphericalCoordinates().

◆ operator==()

bool ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::operator== ( const SphericalCoordinates & _sc ) const

Equality operator, result = this == _sc.

Parameters

[in] _sc Spherical coordinates to check for equality

Returns: true if this == _sc

References SphericalCoordinates().

◆ PositionTransform()

ignition::math::Vector3d ignition::math::IGNITION_MATH_VERSION_NAMESPACE::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

◆ SetElevationReference()

void ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SetElevationReference ( const double _elevation )

Set reference elevation above sea level in meters.

Parameters

[in] _elevation Reference elevation.

◆ SetHeadingOffset()

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

Set heading angle offset for the frame.

Parameters

[in] _angle Heading offset for the frame.

◆ SetLatitudeReference()

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

Set reference geodetic latitude.

Parameters

[in] _angle Reference geodetic latitude.

◆ SetLongitudeReference()

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

Set reference longitude.

Parameters

[in] _angle Reference longitude.

◆ SetSurface()

void ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SetSurface ( const SurfaceType & _type )

Set SurfaceType for planetary surface model.

Parameters

[in] _type SurfaceType value.

◆ SphericalFromLocalPosition()

ignition::math::Vector3d ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::SphericalFromLocalPosition ( const ignition::math::Vector3d & _xyz ) const

Convert a Cartesian position vector to geodetic coordinates.

Parameters

[in] _xyz Cartesian position vector in the world frame.

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

◆ Surface()

SurfaceType ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::Surface ( ) const

Get SurfaceType currently in use.

Returns: Current SurfaceType value.

◆ UpdateTransformationMatrix()

void ignition::math::IGNITION_MATH_VERSION_NAMESPACE::SphericalCoordinates::UpdateTransformationMatrix ( )

Update coordinate transformation matrix with reference location.

◆ VelocityTransform()

ignition::math::Vector3d ignition::math::IGNITION_MATH_VERSION_NAMESPACE::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]	_vel	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

◆ CoordinateType

◆ SurfaceType

Constructor & Destructor Documentation

◆ SphericalCoordinates() [1/4]

◆ SphericalCoordinates() [2/4]

◆ SphericalCoordinates() [3/4]

◆ SphericalCoordinates() [4/4]

◆ ~SphericalCoordinates()

Member Function Documentation

◆ Convert()

◆ Distance()

◆ ElevationReference()

◆ GlobalFromLocalVelocity()

◆ HeadingOffset()

◆ LatitudeReference()

◆ LocalFromGlobalVelocity()

◆ LocalFromSphericalPosition()

◆ LongitudeReference()

◆ operator!=()

◆ operator=()

◆ operator==()

◆ PositionTransform()

◆ SetElevationReference()

◆ SetHeadingOffset()

◆ SetLatitudeReference()

◆ SetLongitudeReference()

◆ SetSurface()

◆ SphericalFromLocalPosition()

◆ Surface()

◆ UpdateTransformationMatrix()

◆ VelocityTransform()