auterion::MapProjection Class Reference

Provides methods to convert between the geographical coordinate system ("global") and the ENU local azimuthal equidistant plane ("local"). More...

#include <auterion_sdk/utils/geodesic.hpp>

Public Member Functions
	MapProjection (SDK &sdk)
bool	isInitialized () const
Eigen::Vector2f	globalToLocal (const Eigen::Vector2d &global_position) const
	Transform a point in the geographic coordinate system to the local azimuthal equidistant plane using the projection. More...
Eigen::Vector3f	globalToLocal (const Eigen::Vector3d &global_position) const
	Transform a point in the geographic coordinate system to the local azimuthal equidistant plane using the projection. More...
Eigen::Vector2d	localToGlobal (const Eigen::Vector2f &local_position_en) const
	Transform a point in the local azimuthal equidistant plane to the geographic coordinate system using the projection. More...
Eigen::Vector3d	localToGlobal (const Eigen::Vector3f &local_position_enu) const
	Transform a point in the local azimuthal equidistant plane to the geographic coordinate system using the projection. More...

Detailed Description

Provides methods to convert between the geographical coordinate system ("global") and the ENU local azimuthal equidistant plane ("local").

The class is first initialized (automatically) to establish the reference point between the global reference frame and the vehicle's local frame

Member Function Documentation

globalToLocal() [1/2]

Eigen::Vector2f auterion::MapProjection::globalToLocal

(

const Eigen::Vector2d &

global_position

)

const

Transform a point in the geographic coordinate system to the local azimuthal equidistant plane using the projection.

Parameters

global_position

lat [deg], lon [deg]

Returns

the point in local coordinates as east, north [m]

globalToLocal() [2/2]

Eigen::Vector3f auterion::MapProjection::globalToLocal

(

const Eigen::Vector3d &

global_position

)

const

Transform a point in the geographic coordinate system to the local azimuthal equidistant plane using the projection.

Parameters

global_position

lat [deg], lon [deg], alt AMSL [m]

Returns

the point in local coordinates as east, north, up [m]

isInitialized()

bool auterion::MapProjection::isInitialized

(

)

const

Returns

true, if the map reference has been initialized

localToGlobal() [1/2]

Eigen::Vector2d auterion::MapProjection::localToGlobal

(

const Eigen::Vector2f &

local_position_en

)

const

Transform a point in the local azimuthal equidistant plane to the geographic coordinate system using the projection.

Parameters

local_position_en

east, north [m]

Returns

the point in geographic coordinates as lat [deg], lon [deg]

localToGlobal() [2/2]

Eigen::Vector3d auterion::MapProjection::localToGlobal

(

const Eigen::Vector3f &

local_position_enu

)

const

Transform a point in the local azimuthal equidistant plane to the geographic coordinate system using the projection.

Parameters

local_position_enu

east, north, up [m]

Returns

the point in geographic coordinates as lat [deg], lon [deg], alt AMSL [m]

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

• include/auterion_sdk/utils/geodesic.hpp