mars::GpsConversion Class Reference

The GpsConversion class. More...

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/gps/gps_conversion.h>

Collaboration diagram for mars::GpsConversion:

Public Member Functions
	GpsConversion (mars::GpsCoordinates coordinates)
	GpsConversion ()=default
Eigen::Matrix< double, 3, 1 >	get_enu (mars::GpsCoordinates coordinates)
	get_enu get current GPS reference coordinates More...
mars::GpsCoordinates	get_gps_reference ()
	get_gps_reference More...
void	set_gps_reference (mars::GpsCoordinates coordinates)
	set_gps_reference More...

Private Member Functions
double	deg2rad (const double &deg)
	deg2rad More...
Eigen::Matrix< double, 3, 1 >	WGS84ToECEF (const mars::GpsCoordinates &coordinates)
	WGS84ToECEF World Geodetic System 1984 model (WGS-84) to Earth-Centered-Earth-Fixed (ECEF) More...
Eigen::Matrix< double, 3, 1 >	ECEFToENU (const Eigen::Matrix< double, 3, 1 > &ecef)
	ECEFToENU Earth-Centered-Earth-Fixed (ECEF) to East-North-Up (ENU) More...
Eigen::Matrix< double, 3, 1 >	WGS84ToENU (const mars::GpsCoordinates &coordinates)
	WGS84ToENU World Geodetic System 1984 model (WGS-84) to East-North-Up (ENU) based on given reference coordinates 'reference_'. More...

Private Attributes
GpsCoordinates	reference_
	GPS reference coordinates. More...
Eigen::Matrix3d	ecef_ref_orientation_
Eigen::Matrix< double, 3, 1 >	ecef_ref_point_
bool	reference_is_set { false }

Detailed Description

The GpsConversion class.

Note

Crassidis, J. L. (2006). Sigma-point Kalman filtering for integrated GPS and inertial navigation.

Constructor & Destructor Documentation

GpsConversion() [1/2]

mars::GpsConversion::GpsConversion

(

mars::GpsCoordinates

coordinates

)

GpsConversion() [2/2]

mars::GpsConversion::GpsConversion ( )

default

Member Function Documentation

get_enu()

Eigen::Matrix<double, 3, 1> mars::GpsConversion::get_enu

(

mars::GpsCoordinates

coordinates

)

get_enu get current GPS reference coordinates

Parameters

coordinates

GPS coordinates

Returns

ENU local position

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get_gps_reference()

mars::GpsCoordinates mars::GpsConversion::get_gps_reference

(

)

get_gps_reference

Returns

GPS reference coordinates

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set_gps_reference()

void mars::GpsConversion::set_gps_reference

(

mars::GpsCoordinates

coordinates

)

set_gps_reference

Parameters

coordinates

GPS coordinates

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deg2rad()

double mars::GpsConversion::deg2rad ( const double &  deg )

private

deg2rad

Parameters

deg

Returns

rad

WGS84ToECEF()

Eigen::Matrix<double, 3, 1> mars::GpsConversion::WGS84ToECEF ( const mars::GpsCoordinates &  coordinates )

private

WGS84ToECEF World Geodetic System 1984 model (WGS-84) to Earth-Centered-Earth-Fixed (ECEF)

Parameters

coordinates

GPS coordinates

Returns

ecef position

ECEFToENU()

Eigen::Matrix<double, 3, 1> mars::GpsConversion::ECEFToENU ( const Eigen::Matrix< double, 3, 1 > &  ecef )

private

ECEFToENU Earth-Centered-Earth-Fixed (ECEF) to East-North-Up (ENU)

Parameters

ecef	ecef reference

Returns

ENU local position

WGS84ToENU()

Eigen::Matrix<double, 3, 1> mars::GpsConversion::WGS84ToENU ( const mars::GpsCoordinates &  coordinates )

private

WGS84ToENU World Geodetic System 1984 model (WGS-84) to East-North-Up (ENU) based on given reference coordinates 'reference_'.

Parameters

coordinates

GPS coordinates

Returns

ENU local position

Member Data Documentation

reference_

GpsCoordinates mars::GpsConversion::reference_

private

GPS reference coordinates.

ecef_ref_orientation_

Eigen::Matrix3d mars::GpsConversion::ecef_ref_orientation_

private

ecef_ref_point_

Eigen::Matrix<double, 3, 1> mars::GpsConversion::ecef_ref_point_

private

reference_is_set

bool mars::GpsConversion::reference_is_set { false }

private

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The documentation for this class was generated from the following file:

• gps_conversion.h