pose_estimation::GeographicProjection Class Reference

#include <GeographicProjection.hpp>

Inheritance diagram for pose_estimation::GeographicProjection:

Public Member Functions
	GeographicProjection (double latitude, double longitude, double x=0., double y=0.)
virtual	~GeographicProjection ()
bool	worldToNav (double latitude, double longitude, double &x, double &y)
bool	navToWorld (double x, double y, double &latitude, double &longitude)

Protected Attributes
OGRCoordinateTransformation *	world2nav
OGRCoordinateTransformation *	nav2world
Eigen::Vector2d	offset

Detailed Description

Helper class to project from GPS coordinates to a local plane in NWU coordinates and vice versa.

Constructor & Destructor Documentation

GeographicProjection::GeographicProjection	(	double	latitude,
		double	longitude,
		double	x = 0.,
		double	y = 0.
	)

GeographicProjection::~GeographicProjection ( )

virtual

Member Function Documentation

bool GeographicProjection::navToWorld	(	double	x,
		double	y,
		double &	latitude,
		double &	longitude
	)

bool GeographicProjection::worldToNav	(	double	latitude,
		double	longitude,
		double &	x,
		double &	y
	)

Member Data Documentation

OGRCoordinateTransformation* pose_estimation::GeographicProjection::nav2world

protected

Eigen::Vector2d pose_estimation::GeographicProjection::offset

protected

OGRCoordinateTransformation* pose_estimation::GeographicProjection::world2nav

protected

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

• /build/rock-master-18.09-slam-pose-estimation-0.20180607/src/GeographicProjection.hpp
• /build/rock-master-18.09-slam-pose-estimation-0.20180607/src/GeographicProjection.cpp