UTMConverter.hpp

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#ifndef _GPS_BASE_UTMCONVERTER_HPP_
#define _GPS_BASE_UTMCONVERTER_HPP_

#include <base/samples/RigidBodyState.hpp>
#include <gps_base/BaseTypes.hpp>

class OGRCoordinateTransformation;

namespace gps_base
{
    class UTMConverter
    {
        private:
            int utm_zone;
            bool utm_north;
            base::Position origin;
            OGRCoordinateTransformation *coTransform;

            void createCoTransform();

        public:
            UTMConverter();

            void setUTMZone(int zone);

            void setUTMNorth(bool north);
            
            int getUTMZone() const;

            bool getUTMNorth() const;

            void setNWUOrigin(base::Position origin);

            base::Position getNWUOrigin() const;

            base::samples::RigidBodyState convertToUTM(const gps_base::Solution &solution) const;

            base::samples::RigidBodyState convertToNWU(const gps_base::Solution &solution) const;

            base::samples::RigidBodyState convertToNWU(const base::samples::RigidBodyState &solution) const;
    };

} // end namespace gps_base

#endif // _GPS_BASE_UTMCONVERTER_HPP_