trafo.hpp File Reference

Fixposition SDK: Transformation utilities. More...

#include <memory>
#include <string>
#include "fpsdk_common/ext/eigen_core.hpp"
#include "fpsdk_common/ext/eigen_geometry.hpp"
#include "types.hpp"

Include dependency graph for trafo.hpp:

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Classes
class	fpsdk::common::trafo::Transformer
	"Universal" coordinate transformer, backed by PROJ More...

Namespaces
namespace	fpsdk
	Fixposition SDK.
namespace	fpsdk::common
	Fixposition SDK: Common library.
namespace	fpsdk::common::trafo
	Transformation utilities.

Functions
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.
Eigen::Matrix3d	fpsdk::common::trafo::RotEnuEcef (const Eigen::Vector3d &ecef)
	Calculate the rotation matrix from ECEF to ENU for a given reference position.
Eigen::Matrix3d	fpsdk::common::trafo::RotNedEnu ()
	Returns rotation matrix between NED and ENU.
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.
Eigen::Matrix3d	fpsdk::common::trafo::RotNedEcef (const Eigen::Vector3d &ecef)
	Calculate the rotation matrix from ECEF to NED for a given reference origin.
Eigen::Vector3d	fpsdk::common::trafo::TfEnuEcef (const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref)
	Transform ECEF coordinate to ENU with specified ENU-origin.
Eigen::Vector3d	fpsdk::common::trafo::TfEcefEnu (const Eigen::Vector3d &enu, const Eigen::Vector3d &wgs84llh_ref)
	Transform ENU coordinate to ECEF with specified ENU-origin.
Eigen::Vector3d	fpsdk::common::trafo::TfNedEcef (const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref)
	Convert ECEF coordinates to ENU with specified ENU origin.
Eigen::Vector3d	fpsdk::common::trafo::TfEcefNed (const Eigen::Vector3d &ned, const Eigen::Vector3d &wgs84llh_ref)
Eigen::Vector3d	fpsdk::common::trafo::TfEcefWgs84Llh (const Eigen::Vector3d &wgs84llh)
	Convert geodetic coordinates (latitude, longitude, height) to ECEF (x, y, z).
Eigen::Vector3d	fpsdk::common::trafo::TfWgs84LlhEcef (const Eigen::Vector3d &ecef)
	Convert ECEF (x, y, z) coordinates to geodetic coordinates (latitude, longitude, height)
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.
Eigen::Vector3d	fpsdk::common::trafo::QuatToEul (const Eigen::Quaterniond &quat)
	Vector4 quaternion to intrinsic Euler angles in ZYX (yaw, pitch, roll)
Eigen::Vector3d	fpsdk::common::trafo::RotToEul (const Eigen::Matrix3d &rot)
	Rotation Matrix to intrinsic Euler angles in ZYX (yaw, pitch, roll) order in radian.
Eigen::Vector3d	fpsdk::common::trafo::LlhDegToRad (const Eigen::Vector3d &llh_deg)
	Convert llh from deg to rad, height component unchanged.
Eigen::Vector3d	fpsdk::common::trafo::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	fpsdk::common::trafo::WGS84_A = 6378137.0
	WGS-84 Earth radius major axis [m].
static constexpr double	fpsdk::common::trafo::WGS84_B = 6356752.314245
	WGS-84 Earth radius minor axis [m].
static constexpr double	fpsdk::common::trafo::WGS84_C = 40075016.6855785
	Circumference at equator (= 2π * WGS84_A) [m].
static constexpr double	fpsdk::common::trafo::WGS84_1F = 298.257223563
	WGS-84 1/f inverse of flattening parameter.
static constexpr double	fpsdk::common::trafo::WGS84_E2 = 6.69437999014e-3
	WGS-84 first eccentricity squared.
static constexpr double	fpsdk::common::trafo::WGS84_A2 = WGS84_A * WGS84_A
	WGS-84 a^2.
static constexpr double	fpsdk::common::trafo::WGS84_B2 = WGS84_B * WGS84_B
	WGS-84 b^2.
static constexpr double	fpsdk::common::trafo::WGS84_EE2 = (WGS84_A2 / WGS84_B2) - 1.0
	WGS-84 e'^2 second eccentricity squared.

Detailed Description

Fixposition SDK: Transformation utilities.

* ___    ___
* \  \  /  /
*  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
*  /  /\  \   License: see the LICENSE file
* /__/  \__\
* 

Definition in file trafo.hpp.