GravitationalModel.hpp

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#ifndef _POSE_ESTIMATION_GRAVITATIONAL_MODEL_HPP
#define _POSE_ESTIMATION_GRAVITATIONAL_MODEL_HPP

#include <math.h>

namespace pose_estimation
{

static const double EQUATORIAL_RADIUS = 6378137.0; 
static const double ECC = 0.0818191908426; 
static const double GRAVITY = 9.79766542; 
static const double GRAVITY_SI = 9.80665; 
static const double GWGS0 = 9.7803267714; 
static const double GWGS1 = 0.00193185138639; 
static const double EARTHW = ((2.0*M_PI)/86164.0); //7.292115e-05; /** Earth angular velocity in rad/s **/


class GravitationalModel
{
public:
    static double WGS_84(double latitude, double altitude)
    {
        double g; 
        g = GWGS0*((1+GWGS1*pow(sin(latitude),2))/sqrt(1-pow(ECC,2)*pow(sin(latitude),2)));

        g = g*pow(EQUATORIAL_RADIUS/(EQUATORIAL_RADIUS+altitude), 2);

        return g;
    }
};

}

#endif