DUNE::Coordinates::WGS84 Class Reference

Detailed Description

Routines for WGS-84 coordinate manipulation.

Static Public Member Functions
template<typename Ta , typename Tb >
static Ta	distance (Ta lat1, Ta lon1, Tb hae1, Ta lat2, Ta lon2, Tb hae2)
template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >
static void	displacement (Ta rlat, Ta rlon, Tb rhae, Tc lat, Tc lon, Td hae, Te *n, Te *e, Te *d=NULL)
template<typename Ta , typename Tb , typename Tc , typename Td >
static void	displace (Ta n, Ta e, Tb d, Tc *lat, Tc *lon, Td *hae)
template<typename Ta , typename Tb >
static void	displace (Ta n, Ta e, Tb *lat, Tb *lon)
template<typename Ta , typename Tb >
static void	getNEBearingAndRange (Ta lat1, Ta lon1, Ta lat2, Ta lon2, Tb *bearing, Tb *range)
template<typename Ta , typename Tb , typename Tc >
static void	getAzimuthAndElevation (Ta lat1, Ta lon1, Tb hei1, Ta lat2, Ta lon2, Tb hei2, Tc *azimuth, Tc *elevation)
template<typename Ta , typename Tb , typename Tc >
static void	toECEF (Ta lat, Ta lon, Tb hae, Tc *x, Tc *y, Tc *z)
template<typename Ta , typename Tb , typename Tc , typename Td >
static void	fromECEF (Ta x, Ta y, Tb z, Tc *lat, Tc *lon, Td *hae)

Member Function Documentation

template<typename Ta , typename Tb , typename Tc , typename Td >

static void DUNE::Coordinates::WGS84::displace ( Ta  n, Ta  e, Tb  d, Tc *  lat, Tc *  lon, Td *  hae  )

inlinestatic

Displace a geodetic coordinate in the NED frame according to given offsets.

Parameters

[in]	n	North offset (m).
[in]	e	East offset (m).
[in]	d	Down offset (m).
[in,out]	lat	reference latitude on entry, displaced latitude on exit (rad).
[in,out]	lon	reference longitude entry, displaced longitude on exit (rad).
[in,out]	hae	reference height on entry, displaced height on exit (rad).

References fromECEF(), and toECEF().

Referenced by DUNE::Maneuvers::VehicleFormation::consume(), DUNE::Maneuvers::FollowTrajectory::desiredPath(), DUNE::Maneuvers::VehicleFormation::desiredPath(), displace(), DUNE::Maneuvers::FigureEight::FigureEight(), DUNE::Maneuvers::RowsStages::getDistance(), DUNE::Parsers::PlanConfigParser::parseCoordinate(), DUNE::Control::SlopeData::renderSlopeInvalid(), DUNE::Navigation::UsblTools::toFix(), and DUNE::Coordinates::toWGS84().

template<typename Ta , typename Tb >

static void DUNE::Coordinates::WGS84::displace ( Ta  n, Ta  e, Tb *  lat, Tb *  lon  )

inlinestatic

Displace a WGS-84 coordinate in the NED frame according to given offsets.

Parameters

[in]	n	North offset (m).
[in]	e	East offset (m).
[in,out]	lat	reference latitude on entry, displaced latitude on exit (rad).
[in,out]	lon	reference longitude entry, displaced longitude on exit (rad).

References displace().

template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >

static void DUNE::Coordinates::WGS84::displacement ( Ta  rlat, Ta  rlon, Tb  rhae, Tc  lat, Tc  lon, Td  hae, Te *  n, Te *  e, Te *  d = NULL  )

inlinestatic

Compute North-East-Down displacement between two WGS-84 coordinates.

Parameters

[in]	rlat	reference WGS-84 latitude (rad).
[in]	rlon	reference WGS-84 longitude (rad).
[in]	rhae	reference WGS-84 coordinate height (m).
[in]	lat	Offset coordinate WGS-84 latitude (rad).
[in]	lon	Offset coordinate WGS-84 longitude (rad).
[in]	hae	Offset coordinate height (m).
[out]	n	storage for North offset (x-coordinate in NED referential).
[out]	e	storage for East offset (y-coordinate in NED referential).
[out]	d	storage for Down offset (z-coordinate in NED referential).

References toECEF().

Referenced by DUNE::Navigation::StreamEstimator::consume(), DUNE::Navigation::BasicNavigation::consume(), DUNE::Maneuvers::FigureEight::FigureEight(), getNEBearingAndRange(), DUNE::Maneuvers::VehicleFormation::toLocalCoordinates(), and DUNE::Navigation::BasicTransponder::update().

template<typename Ta , typename Tb >

static Ta DUNE::Coordinates::WGS84::distance ( Ta  lat1, Ta  lon1, Tb  hae1, Ta  lat2, Ta  lon2, Tb  hae2  )

inlinestatic

Calculate distance between two WGS-84 coordinates.

Basically, a ECEF conversion of both WGS-84 coordinates is done then the ECEF distance is returned.

Note

This is the standard way of doing it and that NE distance is a different measure.

Parameters

[in]	lat1	WGS-84 latitude of first coordinate (rad).
[in]	lon1	WGS-84 longitude of first coordinate (rad).
[in]	hae1	height above WGS-84 ellipsoid of first coordinate (m).
[in]	lat2	WGS-84 latitude of second coordinate (rad).
[in]	lon2	WGS-84 longitude of second coordinate (rad).
[in]	hae2	height above WGS-84 ellipsoid of second coordinate (m).

Returns

distance between the two coordinates (m).

References toECEF().

Referenced by DUNE::Control::PathController::consume(), DUNE::Navigation::StreamEstimator::consume(), and DUNE::Maneuvers::FigureEight::FigureEight().

template<typename Ta , typename Tb , typename Tc , typename Td >

static void DUNE::Coordinates::WGS84::fromECEF ( Ta  x, Ta  y, Tb  z, Tc *  lat, Tc *  lon, Td *  hae  )

inlinestatic

Convert ECEF (x,y,z) to WGS-84 (lat, lon, hae) using non-iterative solution.

Parameters

[in]	x	ECEF x coordinate (m).
[in]	y	ECEF y coordinate (m).
[in]	z	ECEF z coordinate (m).
[out]	lat	WGS-84 latitude (rad).
[out]	lon	WGS-84 longitude (rad).
[out]	hae	height above WGS-84 ellipsoid (m).

Referenced by displace().

template<typename Ta , typename Tb , typename Tc >

static void DUNE::Coordinates::WGS84::getAzimuthAndElevation ( Ta  lat1, Ta  lon1, Tb  hei1, Ta  lat2, Ta  lon2, Tb  hei2, Tc *  azimuth, Tc *  elevation  )

inlinestatic

Get angles of Azimuth and Elevation between two latitude/longitude/height coordinates.

Parameters

[in]	lat1	WGS-84 latitude of first coordinate (rad).
[in]	lon1	WGS-84 longitude of first coordinate (rad).
[in]	hei1	WGS-84 height of first coordinate (m).
[in]	lat2	WGS-84 latitude of second coordinate (rad).
[in]	lon2	WGS-84 longitude of second coordinate (rad).
[in]	hei2	WGS-84 height of second coordinate (m).
[in,out]	azimuth	azimuth angle (rad).
[in,out]	elevation	elevation angle (rad).

References getNEBearingAndRange().

template<typename Ta , typename Tb >

static void DUNE::Coordinates::WGS84::getNEBearingAndRange ( Ta  lat1, Ta  lon1, Ta  lat2, Ta  lon2, Tb *  bearing, Tb *  range  )

inlinestatic

Get North-East bearing and range between two latitude/longitude coordinates.

Parameters

[in]	lat1	WGS-84 latitude of first coordinate (rad).
[in]	lon1	WGS-84 longitude of first coordinate (rad).
[in]	lat2	WGS-84 latitude of second coordinate (rad).
[in]	lon2	WGS-84 longitude of second coordinate (rad).
[in,out]	bearing	bearing (rad).
[in,out]	range	range (m).

References displacement().

Referenced by getAzimuthAndElevation(), and DUNE::Control::SlopeData::renderSlopeInvalid().

template<typename Ta , typename Tb , typename Tc >

static void DUNE::Coordinates::WGS84::toECEF ( Ta  lat, Ta  lon, Tb  hae, Tc *  x, Tc *  y, Tc *  z  )

inlinestatic

Convert WGS-84 coordinates to ECEF (Earch Center Earth Fixed) coordinates.

Parameters

[in]	lat	WGS-84 latitude (rad).
[in]	lon	WGS-84 longitude (rad).
[in]	hae	WGS-84 coordinate height (m).
[out]	x	storage for ECEF x coordinate (m).
[out]	y	storage for ECEF y coordinate (m).
[out]	z	storage for ECEF z coordinate (m).

Referenced by displace(), displacement(), and distance().

Collaboration diagram for DUNE::Coordinates::WGS84: