Transformation utilities. More...

Classes
class	Transformer
	"Universal" coordinate transformer, backed by PROJ More...

Functions
Eigen::Matrix3d	RotEnuEcef (const double lat, const double lon)
	Calculate the rotation matrix from ECEF to ENU for a given reference latitude/longitude.
Eigen::Matrix3d	RotEnuEcef (const Eigen::Vector3d &ecef)
	Calculate the rotation matrix from ECEF to ENU for a given reference position.
Eigen::Matrix3d	RotNedEnu ()
	Returns rotation matrix between NED and ENU.
Eigen::Matrix3d	RotNedEcef (const double lat, const double lon)
	Calculate the rotation matrix from ECEF to NED for a given reference latitude/longitude.
Eigen::Matrix3d	RotNedEcef (const Eigen::Vector3d &ecef)
	Calculate the rotation matrix from ECEF to NED for a given reference origin.
Eigen::Vector3d	TfEnuEcef (const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref)
	Transform ECEF coordinate to ENU with specified ENU-origin.
Eigen::Vector3d	TfEcefEnu (const Eigen::Vector3d &enu, const Eigen::Vector3d &wgs84llh_ref)
	Transform ENU coordinate to ECEF with specified ENU-origin.
Eigen::Vector3d	TfNedEcef (const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref)
	Convert ECEF coordinates to ENU with specified ENU origin.
Eigen::Vector3d	TfEcefNed (const Eigen::Vector3d &ned, const Eigen::Vector3d &wgs84llh_ref)
Eigen::Vector3d	TfEcefWgs84Llh (const Eigen::Vector3d &wgs84llh)
	Convert geodetic coordinates (latitude, longitude, height) to ECEF (x, y, z).
Eigen::Vector3d	TfWgs84LlhEcef (const Eigen::Vector3d &ecef)
	Convert ECEF (x, y, z) coordinates to geodetic coordinates (latitude, longitude, height)
Eigen::Vector3d	EcefPoseToEnuEul (const Eigen::Vector3d &ecef_p, const Eigen::Matrix3d &ecef_r)
	Calculate yaw, pitch and roll in ENU from a given pose in ECEF.
Eigen::Vector3d	QuatToEul (const Eigen::Quaterniond &quat)
	Vector4 quaternion to intrinsic Euler angles in ZYX (yaw, pitch, roll)
Eigen::Vector3d	RotToEul (const Eigen::Matrix3d &rot)
	Rotation Matrix to intrinsic Euler angles in ZYX (yaw, pitch, roll) order in radian.
Eigen::Vector3d	LlhDegToRad (const Eigen::Vector3d &llh_deg)
	Convert llh from deg to rad, height component unchanged.
Eigen::Vector3d	LlhRadToDeg (const Eigen::Vector3d &llh_rad)
	Convert llh from rad to deg, height component unchanged.

Variables
WGS-84 constants
https://en.wikipedia.org/wiki/World_Geodetic_System#Defining_Parameters
static constexpr double	WGS84_A = 6378137.0
	WGS-84 Earth radius major axis [m].
static constexpr double	WGS84_B = 6356752.314245
	WGS-84 Earth radius minor axis [m].
static constexpr double	WGS84_C = 40075016.6855785
	Circumference at equator (= 2π * WGS84_A) [m].
static constexpr double	WGS84_1F = 298.257223563
	WGS-84 1/f inverse of flattening parameter.
static constexpr double	WGS84_E2 = 6.69437999014e-3
	WGS-84 first eccentricity squared.
static constexpr double	WGS84_A2 = WGS84_A * WGS84_A
	WGS-84 a^2.
static constexpr double	WGS84_B2 = WGS84_B * WGS84_B
	WGS-84 b^2.
static constexpr double	WGS84_EE2 = (WGS84_A2 / WGS84_B2) - 1.0
	WGS-84 e'^2 second eccentricity squared.

Detailed Description

Transformation utilities.

Function Documentation

◆ RotEnuEcef() [1/2]

Eigen::Matrix3d fpsdk::common::trafo::RotEnuEcef	(	const double	lat,
		const double	lon )

Calculate the rotation matrix from ECEF to ENU for a given reference latitude/longitude.

Parameters

[in]	lat	Reference latitude [rad]
[in]	lon	Reference longitude [rad]

Returns: the rotation matrix from ECEF to ENU

Reference https://gssc.esa.int/navipedia/index.php/Transformations_between_ECEF_and_ENU_coordinates

◆ RotEnuEcef() [2/2]

Eigen::Matrix3d fpsdk::common::trafo::RotEnuEcef ( const Eigen::Vector3d & ecef )

Calculate the rotation matrix from ECEF to ENU for a given reference position.

Note: The reference position is projected to the WGS84 ellipsoid

Parameters

[in] ecef Reference position in ECEF [m]

Returns: the rotation matrix from ECEF to ENU

◆ RotNedEnu()

Eigen::Matrix3d fpsdk::common::trafo::RotNedEnu ( )

Returns rotation matrix between NED and ENU.

| 0,  1,  0 |
| 1,  0,  0 |
| 0,  0, -1 |

Returns: the rotation matrix between NED and ENU

◆ RotNedEcef() [1/2]

Eigen::Matrix3d fpsdk::common::trafo::RotNedEcef	(	const double	lat,
		const double	lon )

Calculate the rotation matrix from ECEF to NED for a given reference latitude/longitude.

Parameters

[in]	lat	Reference latitude [rad]
[in]	lon	Reference longitude [rad]

Returns: the rotation matrix from ECEF to NED

◆ RotNedEcef() [2/2]

Eigen::Matrix3d fpsdk::common::trafo::RotNedEcef ( const Eigen::Vector3d & ecef )

Calculate the rotation matrix from ECEF to NED for a given reference origin.

Note: The reference position is projected to the WGS84 ellipsoid

Parameters

[in] ecef Reference position in ECEF [m]

Returns: the rRotation matrix from ECEF to NED

◆ TfEnuEcef()

Eigen::Vector3d fpsdk::common::trafo::TfEnuEcef	(	const Eigen::Vector3d &	ecef,
		const Eigen::Vector3d &	wgs84llh_ref )

Transform ECEF coordinate to ENU with specified ENU-origin.

Parameters

[in]	ecef	ECEF position to be transformed [m]
[in]	wgs84llh_ref	ENU-origin in geodetic coordinates (lat [rad], lon [rad], height [m])

Returns: the position in ENU coordinates

◆ TfEcefEnu()

Eigen::Vector3d fpsdk::common::trafo::TfEcefEnu	(	const Eigen::Vector3d &	enu,
		const Eigen::Vector3d &	wgs84llh_ref )

Transform ENU coordinate to ECEF with specified ENU-origin.

Parameters

[in]	enu	ENU position to be transformed [m]
[in]	wgs84llh_ref	ENU-origin in geodetic coordinates (lat [rad], lon [rad], height [m])

Returns

Todo: documentation

◆ TfNedEcef()

Eigen::Vector3d fpsdk::common::trafo::TfNedEcef	(	const Eigen::Vector3d &	ecef,
		const Eigen::Vector3d &	wgs84llh_ref )

Convert ECEF coordinates to ENU with specified ENU origin.

Parameters

[in]	ecef	ECEF position to be converted
[in]	wgs84llh_ref	ENU-origin input given in geodetic coordinates

Returns: the position in ENU coordinates

◆ TfEcefNed()

Eigen::Vector3d fpsdk::common::trafo::TfEcefNed	(	const Eigen::Vector3d &	ned,
		const Eigen::Vector3d &	wgs84llh_ref )

Todo: documentation

◆ TfEcefWgs84Llh()

Eigen::Vector3d fpsdk::common::trafo::TfEcefWgs84Llh ( const Eigen::Vector3d & wgs84llh )

Convert geodetic coordinates (latitude, longitude, height) to ECEF (x, y, z).

Parameters

[in] wgs84llh Geodetic coordinates (lat [rad], lon [rad], height [m])

Returns: the ECEF coordinates [m]

◆ TfWgs84LlhEcef()

Eigen::Vector3d fpsdk::common::trafo::TfWgs84LlhEcef ( const Eigen::Vector3d & ecef )

Convert ECEF (x, y, z) coordinates to geodetic coordinates (latitude, longitude, height)

Parameters

[in] ecef ECEF coordinates [m]

Returns: the geodetic coordinates (lat [rad], lon [rad], height [m])

◆ EcefPoseToEnuEul()

Eigen::Vector3d fpsdk::common::trafo::EcefPoseToEnuEul	(	const Eigen::Vector3d &	ecef_p,
		const Eigen::Matrix3d &	ecef_r )

Calculate yaw, pitch and roll in ENU from a given pose in ECEF.

Yaw is -Pi/2 when X points North, because ENU starts with East

Parameters

[in]	ecef_p	3D position vector in ECEF
[in]	ecef_r	3x3 rotation matrix representing rotation from body to ECEF

Returns: yaw, pitch and roll in ENU

◆ QuatToEul()

Eigen::Vector3d fpsdk::common::trafo::QuatToEul ( const Eigen::Quaterniond & quat )

Vector4 quaternion to intrinsic Euler angles in ZYX (yaw, pitch, roll)

Parameters

[in] quat Quaternion (w, i, j, k)

Returns: the intrinsic Euler angles in ZYX (yaw, pitch, roll) order

◆ RotToEul()

Eigen::Vector3d fpsdk::common::trafo::RotToEul ( const Eigen::Matrix3d & rot )

Rotation Matrix to intrinsic Euler angles in ZYX (yaw, pitch, roll) order in radian.

Parameters

[in] rot Eigen::Matrix3d

Returns: intrinsic euler angle in ZYX (Yaw-Pitch-Roll) order in radian

◆ LlhDegToRad()

Eigen::Vector3d fpsdk::common::trafo::LlhDegToRad ( const Eigen::Vector3d & llh_deg )

Convert llh from deg to rad, height component unchanged.

Parameters

[in] llh_deg llh in degrees

Returns: llh in radian

◆ LlhRadToDeg()

Eigen::Vector3d fpsdk::common::trafo::LlhRadToDeg ( const Eigen::Vector3d & llh_rad )

Convert llh from rad to deg, height component unchanged.

Parameters

[in] llh_rad llh in radian

Returns: llh in degrees

Variable Documentation

◆ WGS84_A

double fpsdk::common::trafo::WGS84_A = 6378137.0

staticconstexpr

WGS-84 Earth radius major axis [m].

Definition at line 47 of file trafo.hpp.

◆ WGS84_B

double fpsdk::common::trafo::WGS84_B = 6356752.314245

staticconstexpr

WGS-84 Earth radius minor axis [m].

Definition at line 48 of file trafo.hpp.

◆ WGS84_C

double fpsdk::common::trafo::WGS84_C = 40075016.6855785

staticconstexpr

Circumference at equator (= 2π * WGS84_A) [m].

Definition at line 49 of file trafo.hpp.

◆ WGS84_1F

double fpsdk::common::trafo::WGS84_1F = 298.257223563

staticconstexpr

WGS-84 1/f inverse of flattening parameter.

Definition at line 50 of file trafo.hpp.

◆ WGS84_E2

double fpsdk::common::trafo::WGS84_E2 = 6.69437999014e-3

staticconstexpr

WGS-84 first eccentricity squared.

Definition at line 51 of file trafo.hpp.

◆ WGS84_A2

double fpsdk::common::trafo::WGS84_A2 = WGS84_A * WGS84_A

staticconstexpr

WGS-84 a^2.

Definition at line 52 of file trafo.hpp.

◆ WGS84_B2

double fpsdk::common::trafo::WGS84_B2 = WGS84_B * WGS84_B

staticconstexpr

WGS-84 b^2.

Definition at line 53 of file trafo.hpp.

◆ WGS84_EE2

double fpsdk::common::trafo::WGS84_EE2 = (WGS84_A2 / WGS84_B2) - 1.0

staticconstexpr

WGS-84 e'^2 second eccentricity squared.

Definition at line 54 of file trafo.hpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ RotEnuEcef() [1/2]

◆ RotEnuEcef() [2/2]

◆ RotNedEnu()

◆ RotNedEcef() [1/2]

◆ RotNedEcef() [2/2]

◆ TfEnuEcef()

◆ TfEcefEnu()

◆ TfNedEcef()

◆ TfEcefNed()

◆ TfEcefWgs84Llh()

◆ TfWgs84LlhEcef()

◆ EcefPoseToEnuEul()

◆ QuatToEul()

◆ RotToEul()

◆ LlhDegToRad()

◆ LlhRadToDeg()

Variable Documentation

◆ WGS84_A

◆ WGS84_B

◆ WGS84_C

◆ WGS84_1F

◆ WGS84_E2

◆ WGS84_A2

◆ WGS84_B2

◆ WGS84_EE2