geodesic.hpp

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#pragma once
 
#include <Eigen/Eigen>
#include <auterion_sdk/auterion.hpp>
#include <memory>
 
namespace auterion {
class MapProjectionImpl;
 
class MapProjection {
   public:
    explicit MapProjection(SDK& sdk);
 
    ~MapProjection();
 
    bool isInitialized() const;
 
    Eigen::Vector2f globalToLocal(const Eigen::Vector2d& global_position) const;
 
    Eigen::Vector3f globalToLocal(const Eigen::Vector3d& global_position) const;
 
    Eigen::Vector2d localToGlobal(const Eigen::Vector2f& local_position_en) const;
 
    Eigen::Vector3d localToGlobal(const Eigen::Vector3f& local_position_enu) const;
 
   private:
    std::unique_ptr<MapProjectionImpl> _impl;
};
 
float horizontalDistanceToGlobalPosition(const Eigen::Vector2d& global_position_now,
                                         const Eigen::Vector2d& global_position_next);
 
float horizontalDistanceToGlobalPosition(const Eigen::Vector3d& global_position_now,
                                         const Eigen::Vector3d& global_position_next);
 
float distanceToGlobalPosition(const Eigen::Vector3d& global_position_now,
                               const Eigen::Vector3d& global_position_next);
 
float headingToGlobalPosition(const Eigen::Vector2d& global_position_now,
                              const Eigen::Vector2d& global_position_next);
 
float headingToGlobalPosition(const Eigen::Vector3d& global_position_now,
                              const Eigen::Vector3d& global_position_next);
 
Eigen::Vector2f vectorToGlobalPosition(const Eigen::Vector2d& global_position_now,
                                       const Eigen::Vector2d& global_position_next);
 
Eigen::Vector3f vectorToGlobalPosition(const Eigen::Vector3d& global_position_now,
                                       const Eigen::Vector3d& global_position_next);
 
Eigen::Vector2d globalPositionFromLineAndDist(const Eigen::Vector2d& global_position_line_start,
                                              const Eigen::Vector2d& global_position_line_end,
                                              float dist_from_start);
 
Eigen::Vector2d globalPositionFromHeadingAndDist(const Eigen::Vector2d& global_position_now,
                                                 float heading, float dist);
 
Eigen::Vector3d globalPositionFromHeadingAndDist(const Eigen::Vector3d& global_position_now,
                                                 float heading, float dist);
 
Eigen::Vector2d addVectorToGlobalPosition(const Eigen::Vector2d& global_position,
                                          const Eigen::Vector2f& vector_enu);
 
Eigen::Vector3d addVectorToGlobalPosition(const Eigen::Vector3d& global_position,
                                          const Eigen::Vector3f& vector_enu);
 
}  // namespace auterion