11 #ifndef GPS_CONVERSION_H
12 #define GPS_CONVERSION_H
14 #include <Eigen/Dense>
51 throw std::overflow_error(
"Divide by zero exception");
114 Eigen::Matrix<double, 3, 1>
ECEFToENU(
const Eigen::Matrix<double, 3, 1>& ecef);
The GpsConversion class.
Definition: gps_conversion.h:66
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 ...
GpsCoordinates reference_
GPS reference coordinates.
Definition: gps_conversion.h:91
void set_gps_reference(mars::GpsCoordinates coordinates)
set_gps_reference
mars::GpsCoordinates get_gps_reference()
get_gps_reference
Eigen::Matrix< double, 3, 1 > get_enu(mars::GpsCoordinates coordinates)
get_enu get current GPS reference coordinates
bool reference_is_set
Definition: gps_conversion.h:94
Eigen::Matrix3d ecef_ref_orientation_
Definition: gps_conversion.h:92
Eigen::Matrix< double, 3, 1 > WGS84ToECEF(const mars::GpsCoordinates &coordinates)
WGS84ToECEF World Geodetic System 1984 model (WGS-84) to Earth-Centered-Earth-Fixed (ECEF)
Eigen::Matrix< double, 3, 1 > ecef_ref_point_
Definition: gps_conversion.h:93
GpsConversion(mars::GpsCoordinates coordinates)
double deg2rad(const double °)
deg2rad
Eigen::Matrix< double, 3, 1 > ECEFToENU(const Eigen::Matrix< double, 3, 1 > &ecef)
ECEFToENU Earth-Centered-Earth-Fixed (ECEF) to East-North-Up (ENU)
The GpsCoordinates struct.
Definition: gps_conversion.h:22
double longitude_
Definition: gps_conversion.h:29
double altitude_
Definition: gps_conversion.h:30
double latitude_
Definition: gps_conversion.h:28
GpsCoordinates(double latitude, double longitude, double altitude)
Definition: gps_conversion.h:24
void operator+=(const GpsCoordinates &coordinates)
Definition: gps_conversion.h:40
friend std::ostream & operator<<(std::ostream &out, const GpsCoordinates &coordinates)
GpsCoordinates operator+(const GpsCoordinates &coordinates)
Definition: gps_conversion.h:34
void operator/=(const double &n)
Definition: gps_conversion.h:47