Detailed Description

Coordinate manipulation routines and classes.

Classes
class	BodyFixedFrame

class	UTM

class	UTMPoint

class	WGS84

class	WMM

struct	WMMData

Functions
void	toWGS84 (const IMC::EstimatedState &estate, double &lat, double &lon, float &hae)

void	toWGS84 (const IMC::EstimatedState &estate, double &lat, double &lon)

void	toWGS84 (const IMC::SimulatedState &estate, double &lat, double &lon, float &hae)

void	toWGS84 (const IMC::SimulatedState &estate, double &lat, double &lon)

std::string	latitudeToNMEA (double latitude)

std::string	longitudeToNMEA (double longitude)

void	toPolar (double x, double y, double angle, double norm)

template<typename A >
void	toPolar (const A &coord, double angle, double norm)

template<typename A , typename B >
void	getBearingAndRange (const A &origin, const B &point, double bearing, double range)

template<typename A >
void	displace (A &point, double bearing, double range)

template<typename A , typename B >
void	setBearingAndRange (const A &origin, double bearing, double range, B &point)

template<typename A , typename B >
double	getRange (const A &a, const B &b)

template<typename A , typename B >
double	getBearing (const A &origin, const B &point)

template<typename A , typename B >
void	getTrackPosition (const A &origin, double orientation, const B &point, double x, double y=0)

Math::Matrix	sphericalToCartesian (double r, double az, double el)

Variables
class DUNE_DLL_SYM	BodyFixedFrame

class DUNE_DLL_SYM	UTM

class DUNE_DLL_SYM	UTMPoint

class DUNE_DLL_SYM	WGS84

class DUNE_DLL_SYM	WMM

Function Documentation

template<typename A >

void DUNE::Coordinates::displace	(	A &	point,
		double	bearing,
		double	range
	)

Displace a XY coordinate according to given bearing and range.

Parameters

point	point
bearing	bearing
range	range

References displace().

Referenced by DUNE::Maneuvers::VehicleFormation::consume(), displace(), DUNE::Maneuvers::FigureEight::FigureEight(), and DUNE::Maneuvers::VehicleFormation::point().

template<typename A , typename B >

double DUNE::Coordinates::getBearing	(	const A &	origin,
		const B &	point
	)

Get bearing of a point in relation to an origin.

Parameters

origin	Origin
point	point for which offset is to be obtained

Returns: bearing from origin to point

References getBearing().

Referenced by DUNE::Maneuvers::FigureEight::FigureEight(), getBearing(), DUNE::Control::PathController::loiter(), DUNE::Maneuvers::VehicleFormation::point(), Control::Path::VectorField::Task::step(), and Control::Path::ILOS::Task::step().

template<typename A , typename B >

void DUNE::Coordinates::getBearingAndRange	(	const A &	origin,
		const B &	point,
		double *	bearing,
		double *	range
	)

inline

Get bearing and range of a point in relation to an origin.

Parameters

origin	Origin
point	point for which offset is to be obtained
bearing	pointer to output bearing data
range	pointer to output range data

References getBearingAndRange(), and toPolar().

Referenced by DUNE::Control::PathController::consume(), getBearingAndRange(), and getTrackPosition().

template<typename A , typename B >

double DUNE::Coordinates::getRange	(	const A &	a,
		const B &	b
	)

Get range between two points.

Parameters

a	Waypoint 1
b	Waypoint 2

Returns: bearing from origin to point

References getRange().

Referenced by DUNE::Control::PathController::consume(), DUNE::Maneuvers::RowsStages::getDistance(), and getRange().

template<typename A , typename B >

void DUNE::Coordinates::getTrackPosition	(	const A &	origin,
		double	orientation,
		const B &	point,
		double *	x,
		double *	y = `0`
	)

Get along and cross track positions of a 2D point for a track defined by an origin and an orientation.

Parameters

origin	origin
orientation	orientation
point	point for which track positions are required
x	along-track position on exit
y	optional cross-track position on exit

References getBearingAndRange(), and getTrackPosition().

Referenced by getTrackPosition(), and DUNE::Control::PathController::sourceFilter().

std::string DUNE::Coordinates::latitudeToNMEA ( double latitude )

Convert latitude to the format used in NMEA sentences.

Parameters

latitude latitude in radian.

Returns: NMEA formatted latitude.

References DUNE::Math::Angles::convertDecimalToDM(), DUNE::Math::Angles::degrees(), and DUNE::Utils::String::str().

Referenced by Sensors::EmulatedGPS::Task::createRMC(), and sphericalToCartesian().

std::string DUNE::Coordinates::longitudeToNMEA ( double longitude )

Convert longitude to the format used in NMEA sentences.

Parameters

longitude longitude in radian.

Returns: NMEA formatted longitude.

References DUNE::Math::Angles::convertDecimalToDM(), DUNE::Math::Angles::degrees(), and DUNE::Utils::String::str().

Referenced by Sensors::EmulatedGPS::Task::createRMC(), and sphericalToCartesian().

template<typename A , typename B >

void DUNE::Coordinates::setBearingAndRange	(	const A &	origin,
		double	bearing,
		double	range,
		B &	point
	)

Calculate waypoint given waypoint origin, target bearing and range.

Parameters

origin	Origin
bearing	Target bearing
range	Target range
point	output point

References setBearingAndRange().

Referenced by DUNE::Control::PathController::consume(), DUNE::Control::PathController::loiter(), and setBearingAndRange().

Math::Matrix DUNE::Coordinates::sphericalToCartesian	(	double	r,
		double	az,
		double	el
	)

inline

Convert a three-dimensional vector from spherical coordinates (R,Az,El) to cartesian coordinates.

Parameters

r	vector norm.
az	azimuth angle in radians.
el	elevation angle in radians.

References latitudeToNMEA(), longitudeToNMEA(), DUNE::Math::Matrix, sphericalToCartesian(), and toWGS84().

Referenced by sphericalToCartesian().

void DUNE::Coordinates::toPolar	(	double	x,
		double	y,
		double *	angle,
		double *	norm
	)

inline

Get polar coordinates corresponding to given XY coordinates.

Parameters

x	X coordinate
y	Y coordinate
angle	pointer to output angle
norm	pointer to output norm

References toPolar().

Referenced by DUNE::Maneuvers::VehicleFormation::consume(), getBearingAndRange(), DUNE::Maneuvers::VehicleFormation::point(), DUNE::Maneuvers::StationKeep::StationKeep(), and toPolar().

template<typename A >

void DUNE::Coordinates::toPolar	(	const A &	coord,
		double *	angle,
		double *	norm
	)

inline

Get polar coordinates corresponding to given XY coordinates.

Parameters

coord	XY coordinates
angle	pointer to output angle
norm	pointer to output norm

References toPolar().

void DUNE::Coordinates::toWGS84	(	const IMC::EstimatedState &	estate,
		double &	lat,
		double &	lon,
		float &	hae
	)

Convert the position in an estimated state message to WGS84 coordinates.

Parameters

[in]	estate	estimated state message.
[out]	lat	WGS84 latitude.
[out]	lon	WGS84 longitude.
[out]	hae	height above WGS84 ellipsoid.

References DUNE::Coordinates::WGS84::displace(), DUNE::IMC::EstimatedState::height, DUNE::IMC::EstimatedState::lat, DUNE::IMC::EstimatedState::lon, DUNE::IMC::EstimatedState::x, DUNE::IMC::EstimatedState::y, and DUNE::IMC::EstimatedState::z.

Referenced by DUNE::Navigation::StreamEstimator::consume(), DUNE::Control::PathController::consume(), DUNE::Utils::Codecs::CodedEstimatedState::encode(), DUNE::Maneuvers::FigureEight::FigureEight(), DUNE::Control::SlopeData::renderSlopeInvalid(), sphericalToCartesian(), DUNE::Maneuvers::StationKeep::StationKeep(), DUNE::Navigation::UsblTools::toFix(), and toWGS84().

void DUNE::Coordinates::toWGS84	(	const IMC::EstimatedState &	estate,
		double &	lat,
		double &	lon
	)

Convert the position in an estimated state message to WGS84 coordinates.

Parameters

[in]	estate	estimated state message.
[out]	lat	WGS84 latitude.
[out]	lon	WGS84 longitude.

References DUNE::IMC::EstimatedState::height, and toWGS84().

void DUNE::Coordinates::toWGS84	(	const IMC::SimulatedState &	estate,
		double &	lat,
		double &	lon,
		float &	hae
	)

Convert the position in a simulated state message to WGS84 coordinates.

Parameters

[in]	estate	simulated state message.
[out]	lat	WGS84 latitude.
[out]	lon	WGS84 longitude.
[out]	hae	height above WGS84 ellipsoid.

References DUNE::Coordinates::WGS84::displace(), DUNE::IMC::SimulatedState::height, DUNE::IMC::SimulatedState::lat, DUNE::IMC::SimulatedState::lon, DUNE::IMC::SimulatedState::x, DUNE::IMC::SimulatedState::y, and DUNE::IMC::SimulatedState::z.

void DUNE::Coordinates::toWGS84	(	const IMC::SimulatedState &	estate,
		double &	lat,
		double &	lon
	)

Convert the position in a simulated state message to WGS84 coordinates.

Parameters

[in]	estate	simulated state message.
[out]	lat	WGS84 latitude.
[out]	lon	WGS84 longitude.

References DUNE::IMC::SimulatedState::height, and toWGS84().

Variable Documentation

class DUNE_DLL_SYM DUNE::Coordinates::BodyFixedFrame

class DUNE_DLL_SYM DUNE::Coordinates::UTM

class DUNE_DLL_SYM DUNE::Coordinates::UTMPoint

class DUNE_DLL_SYM DUNE::Coordinates::WGS84

class DUNE_DLL_SYM DUNE::Coordinates::WMM

Detailed Description

Classes

Functions

Variables

Function Documentation

Variable Documentation