Classes
class	px4_ros2::MapProjection
	Provides methods to convert between the geographical coordinate system ("global") and the local azimuthal equidistant plane ("local"). More...

float	px4_ros2::horizontalDistanceToGlobalPosition (const Eigen::Vector2d &global_position_now, const Eigen::Vector2d &global_position_next)
	Compute the horizontal distance between two global positions in meters. More...

static float	px4_ros2::horizontalDistanceToGlobalPosition (const Eigen::Vector3d &global_position_now, const Eigen::Vector3d &global_position_next)
	Compute the horizontal distance between two global positions in meters. More...

float	px4_ros2::distanceToGlobalPosition (const Eigen::Vector3d &global_position_now, const Eigen::Vector3d &global_position_next)
	Compute the distance between two global positions in meters. More...

float	px4_ros2::headingToGlobalPosition (const Eigen::Vector2d &global_position_now, const Eigen::Vector2d &global_position_next)
	Compute the heading to the next global position in radians. More...

static float	px4_ros2::headingToGlobalPosition (const Eigen::Vector3d &global_position_now, const Eigen::Vector3d &global_position_next)
	Compute the heading to the next global position in radians. More...

Eigen::Vector2f	px4_ros2::vectorToGlobalPosition (const Eigen::Vector2d &global_position_now, const Eigen::Vector2d &global_position_next)
	Compute the vector to the next global position in meters. More...

static Eigen::Vector3f	px4_ros2::vectorToGlobalPosition (const Eigen::Vector3d &global_position_now, const Eigen::Vector3d &global_position_next)
	Compute the vector to the next global position in meters. More...

Eigen::Vector2d	px4_ros2::globalPositionFromLineAndDist (const Eigen::Vector2d &global_position_line_start, const Eigen::Vector2d &global_position_line_end, float dist_from_start)
	Compute the global position on the line vector defined by two positions (start -> end) at a certain distance from global position 'start'. More...

Eigen::Vector2d	px4_ros2::globalPositionFromHeadingAndDist (const Eigen::Vector2d &global_position_now, float heading, float dist)
	Compute the global position given another global position, distance and heading see http://www.movable-type.co.uk/scripts/latlong.html. More...

static Eigen::Vector3d	px4_ros2::globalPositionFromHeadingAndDist (const Eigen::Vector3d &global_position_now, float heading, float dist)
	Compute the global position given another global position, distance and heading see http://www.movable-type.co.uk/scripts/latlong.html. More...

Eigen::Vector2d	px4_ros2::addVectorToGlobalPosition (const Eigen::Vector2d &global_position, const Eigen::Vector2f &vector_ne)
	Compute the global position from adding a local frame vector to the current global position. More...

static Eigen::Vector3d	px4_ros2::addVectorToGlobalPosition (const Eigen::Vector3d &global_position, const Eigen::Vector3f &vector_ned)
	Compute the global position from adding a local frame vector to the current global position. More...

Detailed Description

This group contains helper functions to convert points between the geographical coordinate system ("global") and the local azimuthal equidistant plane ("local"). Additionaly it provides methods for commonly used geodesic operations.

Latitude and longitude are in degrees (degrees: 8.1234567°, not 81234567°). Altitude is in meters in the above mean sea level (AMSL) frame. Heading is in radians starting North going clockwise.

Function Documentation

◆ addVectorToGlobalPosition() [1/2]

Eigen::Vector2d px4_ros2::addVectorToGlobalPosition	(	const Eigen::Vector2d &	global_position,
		const Eigen::Vector2f &	vector_ne
	)

Compute the global position from adding a local frame vector to the current global position.

Parameters

global_position	current lat [deg], lon [deg]
vector_ne	local vector to add [m^2] (NE)

Returns: the resulting global position from the addition

◆ addVectorToGlobalPosition() [2/2]

static Eigen::Vector3d px4_ros2::addVectorToGlobalPosition	(	const Eigen::Vector3d &	global_position,
		const Eigen::Vector3f &	vector_ned
	)

inlinestatic

Compute the global position from adding a local frame vector to the current global position.

Parameters

global_position	current lat [deg], lon [deg], alt AMSL [m]
vector_ned	local vector to add [m^3] (NED)

Returns: the resulting global position from the addition

◆ distanceToGlobalPosition()

float px4_ros2::distanceToGlobalPosition	(	const Eigen::Vector3d &	global_position_now,
		const Eigen::Vector3d &	global_position_next
	)

Compute the distance between two global positions in meters.

Parameters

global_position_now	current lat [deg], lon [deg]
global_position_next	next lat [deg], lon [deg]

Returns: the distance [m] between both positions

◆ globalPositionFromHeadingAndDist() [1/2]

Eigen::Vector2d px4_ros2::globalPositionFromHeadingAndDist	(	const Eigen::Vector2d &	global_position_now,
		float	heading,
		float	dist
	)

Compute the global position given another global position, distance and heading see http://www.movable-type.co.uk/scripts/latlong.html.

Parameters

global_position_now	current lat [deg], lon [deg]
heading	heading from the current position [rad] (clockwise)
dist	distance from the current position [m]

Returns: the target global position

◆ globalPositionFromHeadingAndDist() [2/2]

static Eigen::Vector3d px4_ros2::globalPositionFromHeadingAndDist	(	const Eigen::Vector3d &	global_position_now,
		float	heading,
		float	dist
	)

inlinestatic

Compute the global position given another global position, distance and heading see http://www.movable-type.co.uk/scripts/latlong.html.

Parameters

global_position_now	current lat [deg], lon [deg]
heading	heading from the current position [rad] (clockwise)
dist	distance from the current position [m]

Returns: the target global position

◆ globalPositionFromLineAndDist()

Eigen::Vector2d px4_ros2::globalPositionFromLineAndDist	(	const Eigen::Vector2d &	global_position_line_start,
		const Eigen::Vector2d &	global_position_line_end,
		float	dist_from_start
	)

Compute the global position on the line vector defined by two positions (start -> end) at a certain distance from global position 'start'.

Parameters

global_position_line_start	line start lat [deg], lon [deg]
global_position_line_end	line end lat [deg], lon [deg]
dist_from_start	distance [m] of target global position from position 'start' towards position 'end' (can be negative)

◆ headingToGlobalPosition() [1/2]

float px4_ros2::headingToGlobalPosition	(	const Eigen::Vector2d &	global_position_now,
		const Eigen::Vector2d &	global_position_next
	)

Compute the heading to the next global position in radians.

Parameters

global_position_now	current lat [deg], lon [deg]
global_position_next	next lat [deg], lon [deg]

Returns: the heading [rad] to the next global position (clockwise)

◆ headingToGlobalPosition() [2/2]

static float px4_ros2::headingToGlobalPosition	(	const Eigen::Vector3d &	global_position_now,
		const Eigen::Vector3d &	global_position_next
	)

inlinestatic

Compute the heading to the next global position in radians.

Parameters

global_position_now	current lat [deg], lon [deg], alt AMSL [m]
global_position_next	next lat [deg], lon [deg], alt AMSL [m]

Returns: the heading [rad] to the next global position (clockwise)

◆ horizontalDistanceToGlobalPosition() [1/2]

float px4_ros2::horizontalDistanceToGlobalPosition	(	const Eigen::Vector2d &	global_position_now,
		const Eigen::Vector2d &	global_position_next
	)

Compute the horizontal distance between two global positions in meters.

Parameters

global_position_now	current lat [deg], lon [deg]
global_position_next	next lat [deg], lon [deg]

Returns: the horizontal distance [m] between both positions

◆ horizontalDistanceToGlobalPosition() [2/2]

static float px4_ros2::horizontalDistanceToGlobalPosition	(	const Eigen::Vector3d &	global_position_now,
		const Eigen::Vector3d &	global_position_next
	)

inlinestatic

Compute the horizontal distance between two global positions in meters.

Parameters

global_position_now	current lat [deg], lon [deg], alt AMSL [m]
global_position_next	next lat [deg], lon [deg], alt AMSL [m]

Returns: the horizontal distance [m] between both positions

◆ vectorToGlobalPosition() [1/2]

Eigen::Vector2f px4_ros2::vectorToGlobalPosition	(	const Eigen::Vector2d &	global_position_now,
		const Eigen::Vector2d &	global_position_next
	)

Compute the vector to the next global position in meters.

Parameters

global_position_now	current lat [deg], lon [deg]
global_position_next	next lat [deg], lon [deg]

Returns: the vector [m^2] in local frame to the next global position (NE)

◆ vectorToGlobalPosition() [2/2]

static Eigen::Vector3f px4_ros2::vectorToGlobalPosition	(	const Eigen::Vector3d &	global_position_now,
		const Eigen::Vector3d &	global_position_next
	)

inlinestatic

Compute the vector to the next global position in meters.

Parameters

global_position_now	current lat [deg], lon [deg], alt AMSL [m]
global_position_next	next lat [deg], lon [deg], alt AMSL [m]

Returns: the vector [m^3] in local frame to the next global position (NED)

Classes

Detailed Description

Function Documentation

◆ addVectorToGlobalPosition() [1/2]

◆ addVectorToGlobalPosition() [2/2]

◆ distanceToGlobalPosition()

◆ globalPositionFromHeadingAndDist() [1/2]

◆ globalPositionFromHeadingAndDist() [2/2]

◆ globalPositionFromLineAndDist()

◆ headingToGlobalPosition() [1/2]

◆ headingToGlobalPosition() [2/2]

◆ horizontalDistanceToGlobalPosition() [1/2]

◆ horizontalDistanceToGlobalPosition() [2/2]

◆ vectorToGlobalPosition() [1/2]

◆ vectorToGlobalPosition() [2/2]