Class that encapsulates various coordinate transformations. More...

#include <ad/map/point/CoordinateTransform.hpp>

Public Types
typedef std::shared_ptr< CoordinateTransform >	Ptr
	Smart pointer to the object.

typedef std::shared_ptr< CoordinateTransform const >	ConstPtr
	Smart pointer to the object.

Public Member Functions
	CoordinateTransform ()

	~CoordinateTransform ()

bool	setGeoProjection (std::string const &geo_projection)
	Set the method for ENU coordinate system conversion via projection string (e.g. from OpenDrive file). Increases ENU reference point counter. Be aware: when configured via the projection string, calls to setENUReferencePoint() will have no effect. More...

void	setENUReferencePoint (const GeoPoint &enu_ref_point)
	Set the reference point for the ENU coordinate system. Increases ENU reference point counter. More...

const GeoPoint &	getENUReferencePoint () const

bool	isENUValid () const

size_t	getENURef () const

ENUPoint	Geo2ENU (const GeoPoint &pt) const
	Convert point between coordinate systems. More...

GeoPoint	ENU2Geo (const ENUPoint &pt) const
	Convert point between coordinate systems. More...

ECEFPoint	Geo2ECEF (const GeoPoint &pt) const
	Convert point between coordinate systems. More...

GeoPoint	ECEF2Geo (const ECEFPoint &pt) const
	Convert point between coordinate systems. More...

ECEFPoint	ENU2ECEF (const ENUPoint &pt) const
	Convert point between coordinate systems. More...

ENUPoint	ECEF2ENU (const ECEFPoint &pt) const
	Convert point between coordinate systems. More...

void	convert (const GeoPoint &x, ENUPoint &y) const
	Convert point between coordinate systems. More...

void	convert (const ENUPoint &x, GeoPoint &y) const
	Convert point between coordinate systems. More...

void	convert (const GeoPoint &x, ECEFPoint &y) const
	Convert point between coordinate systems. More...

void	convert (const ECEFPoint &x, GeoPoint &y) const
	Convert point between coordinate systems. More...

void	convert (const ECEFPoint &x, ENUPoint &y) const
	Convert point between coordinate systems. More...

void	convert (const ENUPoint &x, ECEFPoint &y) const
	Convert point between coordinate systems. More...

template<typename SourceC , typename TargetC >
void	convert (const std::vector< SourceC > &xs, std::vector< TargetC > &ys) const
	Convert points between coordinate systems. More...

Static Public Member Functions
static physics::Distance	WGS84_R (const Latitude &lat)
	Calculates Earth Radius at specific latitude. More...

static double	geocentricLatitude (const Latitude &lat)
	Convert geodetic latitude to a geocentric latitude. More...

Detailed Description

Class that encapsulates various coordinate transformations.

Constructor & Destructor Documentation

◆ CoordinateTransform()

ad::map::point::CoordinateTransform::CoordinateTransform ( )

Constructor. Initialize working variables.

◆ ~CoordinateTransform()

ad::map::point::CoordinateTransform::~CoordinateTransform ( )

Destructor. Does nothing.

Member Function Documentation

◆ convert() [1/7]

void ad::map::point::CoordinateTransform::convert	(	const ECEFPoint &	x,
		ENUPoint &	y
	)		const

inline

Convert point between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	x	Source point.
[out]	y	Target point.

◆ convert() [2/7]

void ad::map::point::CoordinateTransform::convert	(	const ECEFPoint &	x,
		GeoPoint &	y
	)		const

inline

Convert point between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	x	Source point.
[out]	y	Target point.

◆ convert() [3/7]

void ad::map::point::CoordinateTransform::convert	(	const ENUPoint &	x,
		ECEFPoint &	y
	)		const

inline

Convert point between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	x	Source point.
[out]	y	Target point.

◆ convert() [4/7]

void ad::map::point::CoordinateTransform::convert	(	const ENUPoint &	x,
		GeoPoint &	y
	)		const

inline

Convert point between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	x	Source point.
[out]	y	Target point.

◆ convert() [5/7]

void ad::map::point::CoordinateTransform::convert	(	const GeoPoint &	x,
		ECEFPoint &	y
	)		const

inline

Convert point between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	x	Source point.
[out]	y	Target point.

◆ convert() [6/7]

void ad::map::point::CoordinateTransform::convert	(	const GeoPoint &	x,
		ENUPoint &	y
	)		const

inline

Convert point between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	x	Source point.
[out]	y	Target point.

◆ convert() [7/7]

template<typename SourceC , typename TargetC >

void ad::map::point::CoordinateTransform::convert	(	const std::vector< SourceC > &	xs,
		std::vector< TargetC > &	ys
	)		const

inline

Convert points between coordinate systems.

Template Parameters

SourceC	Source coordinate system.
TargetC	Target coordinate system.

Parameters

[in]	xs	Source points.
[out]	ys	Target points.

◆ ECEF2ENU()

ENUPoint ad::map::point::CoordinateTransform::ECEF2ENU ( const ECEFPoint & pt ) const

Convert point between coordinate systems.

Parameters

[in] pt Source point.

Returns: Point in the target coordinate system.

Note: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates

◆ ECEF2Geo()

GeoPoint ad::map::point::CoordinateTransform::ECEF2Geo ( const ECEFPoint & pt ) const

Convert point between coordinate systems.

Parameters

[in] pt Source point.

Returns: Point in the target coordinate system.

Note: Olson, D. K. (1996): Converting earth-Centered, Earth-Fixed Coordinates to Geodetic Coordinates, IEEE Transactions on Aerospace and Electronic Systems, Vol. 32, No. 1, January 1996, pp. 473-476.

◆ ENU2ECEF()

ECEFPoint ad::map::point::CoordinateTransform::ENU2ECEF ( const ENUPoint & pt ) const

Convert point between coordinate systems.

Parameters

[in] pt Source point.

Returns: Point in the target coordinate system.

Note: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates

◆ ENU2Geo()

GeoPoint ad::map::point::CoordinateTransform::ENU2Geo ( const ENUPoint & pt ) const

Convert point between coordinate systems.

Parameters

[in] pt Source point.

Returns: Point in the target coordinate system.

Note: http://digext6.defence.gov.au/dspace/bitstream/1947/3538/1/DSTO-TN-0432.pdf

◆ Geo2ECEF()

ECEFPoint ad::map::point::CoordinateTransform::Geo2ECEF ( const GeoPoint & pt ) const

Convert point between coordinate systems.

Parameters

[in] pt Source point.

Returns: Point in the target coordinate system.

Note: Olson, D. K. (1996): Converting earth-Centered, Earth-Fixed Coordinates to Geodetic Coordinates, IEEE Transactions on Aerospace and Electronic Systems, Vol. 32, No. 1, January 1996, pp. 473-476.

◆ Geo2ENU()

ENUPoint ad::map::point::CoordinateTransform::Geo2ENU ( const GeoPoint & pt ) const

Convert point between coordinate systems.

Parameters

[in] pt Source point.

Returns: Point in the target coordinate system.

Note: http://digext6.defence.gov.au/dspace/bitstream/1947/3538/1/DSTO-TN-0432.pdf

◆ geocentricLatitude()

static double ad::map::point::CoordinateTransform::geocentricLatitude ( const Latitude & lat )

static

Convert geodetic latitude to a geocentric latitude.

Parameters

[in] lat Geodetic latitude.

Returns: The angle measured from center of Earth between a point and the equator.

Note: https://en.wikipedia.org/wiki/Latitude#Geocentric_latitude

◆ getENURef()

size_t ad::map::point::CoordinateTransform::getENURef ( ) const

Returns: ENU Reference Point counter. To be used to mark what ENU system is used.

◆ getENUReferencePoint()

const GeoPoint& ad::map::point::CoordinateTransform::getENUReferencePoint ( ) const

Returns: ENU Reference Point.

◆ isENUValid()

bool ad::map::point::CoordinateTransform::isENUValid ( ) const

Returns: true if ENU conversion is possible.

◆ setENUReferencePoint()

void ad::map::point::CoordinateTransform::setENUReferencePoint ( const GeoPoint & enu_ref_point )

Set the reference point for the ENU coordinate system. Increases ENU reference point counter.

Parameters

[in] enu_ref_point ENU reference point.

◆ setGeoProjection()

bool ad::map::point::CoordinateTransform::setGeoProjection ( std::string const & geo_projection )

Set the method for ENU coordinate system conversion via projection string (e.g. from OpenDrive file). Increases ENU reference point counter. Be aware: when configured via the projection string, calls to setENUReferencePoint() will have no effect.

Parameters

[in] geo_projection projection string for Geo<->ENU conversion

◆ WGS84_R()

static physics::Distance ad::map::point::CoordinateTransform::WGS84_R ( const Latitude & lat )

static

Calculates Earth Radius at specific latitude.

Parameters

[in] lat Latitude of the position.

Returns: Earth Radius at specific latitude.

Note: https://en.wikipedia.org/wiki/Earth_radius

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

include/ad/map/point/CoordinateTransform.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CoordinateTransform()

◆ ~CoordinateTransform()

Member Function Documentation

◆ convert() [1/7]

◆ convert() [2/7]

◆ convert() [3/7]

◆ convert() [4/7]

◆ convert() [5/7]

◆ convert() [6/7]

◆ convert() [7/7]

◆ ECEF2ENU()

◆ ECEF2Geo()

◆ ENU2ECEF()

◆ ENU2Geo()

◆ Geo2ECEF()

◆ Geo2ENU()

◆ geocentricLatitude()

◆ getENURef()

◆ getENUReferencePoint()

◆ isENUValid()

◆ setENUReferencePoint()

◆ setGeoProjection()

◆ WGS84_R()