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<div class="title">conversions.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="utils__defs_8h_source.html">mrpt/utils/utils_defs.h</a>></code><br/>
<code>#include <<a class="el" href="lightweight__geom__data_8h_source.html">mrpt/math/lightweight_geom_data.h</a>></code><br/>
<code>#include <<a class="el" href="topography_2include_2mrpt_2topography_2link__pragmas_8h_source.html">mrpt/topography/link_pragmas.h</a>></code><br/>
<code>#include <<a class="el" href="data__types_8h_source.html">mrpt/topography/data_types.h</a>></code><br/>
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Include dependency graph for conversions.h:</div>
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This graph shows which files directly or indirectly include this file:</div>
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<p><a href="conversions_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1topography.html">mrpt::topography</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This namespace provides topography helper functions, coordinate transformations. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Topography coordinate conversion functions</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga658ce589d36752f4a08060a8aca54460">mrpt::topography::geodeticToENU_WGS84</a> (const TGeodeticCoords &in_coords, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &out_ENU_point, const TGeodeticCoords &in_coords_origin)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation. <a href="group__mrpt__topography__grp.html#ga658ce589d36752f4a08060a8aca54460"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaa620f63d0daefa3eb9c21c2a69b593f2">mrpt::topography::ENUToGeocentric</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &in_ENU_point, const TGeodeticCoords &in_coords_origin, TGeocentricCoords &out_coords, const TEllipsoid &ellip)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">ENU to geocentric coordinates. <a href="group__mrpt__topography__grp.html#gaa620f63d0daefa3eb9c21c2a69b593f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gac17a3e827e4298a77fa98f0ed4123451">mrpt::topography::geodeticToGeocentric_WGS84</a> (const TGeodeticCoords &in_coords, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &out_point)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid). <a href="group__mrpt__topography__grp.html#gac17a3e827e4298a77fa98f0ed4123451"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga5855d66f65014cbfcbd0e547d9344a0b">mrpt::topography::geodeticToGeocentric</a> (const TGeodeticCoords &in_coords, TGeocentricCoords &out_point, const TEllipsoid &ellip)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid). <a href="group__mrpt__topography__grp.html#ga5855d66f65014cbfcbd0e547d9344a0b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gae9a7c4438991998711c423c71d4ddf79">mrpt::topography::geocentricToGeodetic</a> (const TGeocentricCoords &in_point, TGeodeticCoords &out_coords, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height. <a href="group__mrpt__topography__grp.html#gae9a7c4438991998711c423c71d4ddf79"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga7d45229ea0629a3b9ba71e3e1f76bf47">mrpt::topography::transform7params</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &in_point, const TDatum7Params &in_datum, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &out_point)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">7-parameter Bursa-Wolf transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local <a href="group__mrpt__topography__grp.html#ga7d45229ea0629a3b9ba71e3e1f76bf47"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gab49a82e24b3a2934eefd32b30abea17a">mrpt::topography::transform7params_TOPCON</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &in_point, const TDatum7Params_TOPCON &in_datum, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &out_point)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga9d5e2ab44c40aeaaeedc2bc4e4fac044">mrpt::topography::transform10params</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &in_point, const TDatum10Params &in_datum, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &out_point)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">10-parameter Molodensky-Badekas transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp] <a href="group__mrpt__topography__grp.html#ga9d5e2ab44c40aeaaeedc2bc4e4fac044"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gac889fa4ce06f3e72f89fbcceccdcc1a8">mrpt::topography::transformHelmert2D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> &p, const TDatumHelmert2D &d, <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp]. <a href="group__mrpt__topography__grp.html#gac889fa4ce06f3e72f89fbcceccdcc1a8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gacb89689da67b5d1cfd80cb8b0affeb85">mrpt::topography::transformHelmert2D_TOPCON</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> &p, const TDatumHelmert2D_TOPCON &d, <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga4d679c0808c3d28595fc8b080828cf53">mrpt::topography::transformHelmert3D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &p, const TDatumHelmert3D &d, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local. <a href="group__mrpt__topography__grp.html#ga4d679c0808c3d28595fc8b080828cf53"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga00f0742b2aabb79574b5e1157bb9ef36">mrpt::topography::transformHelmert3D_TOPCON</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &p, const TDatumHelmert3D_TOPCON &d, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga05bea20ad438e682b41bf00022e7a20f">mrpt::topography::transform1D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &p, const TDatum1DTransf &d, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ <a href="group__mrpt__topography__grp.html#ga05bea20ad438e682b41bf00022e7a20f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gae3ce32bad43015ba93225d11186c3993">mrpt::topography::transfInterpolation</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &p, const TDatumTransfInterpolation &d, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ. <a href="group__mrpt__topography__grp.html#gae3ce32bad43015ba93225d11186c3993"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga2459558b94a2cb06045d3949f2c30296">mrpt::topography::UTMToGeodetic</a> (double X, double Y, int zone, char hem, double &out_lon, double &out_lat, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the Geodetic coordinates of the UTM input point. <a href="group__mrpt__topography__grp.html#ga2459558b94a2cb06045d3949f2c30296"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga85dbdd9df8fd3b6107daeed0de1530c1">mrpt::topography::UTMToGeodetic</a> (const TUTMCoords &UTMCoords, const int &zone, const char &hem, TGeodeticCoords &GeodeticCoords, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the Geodetic coordinates of the UTM input point. <a href="group__mrpt__topography__grp.html#ga85dbdd9df8fd3b6107daeed0de1530c1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga13238e5f43b48b478a3be89f0e8e8499">mrpt::topography::GeodeticToUTM</a> (double in_latitude_degrees, double in_longitude_degrees, double &out_UTM_x, double &out_UTM_y, int &out_UTM_zone, char &out_UTM_latitude_band, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. <a href="group__mrpt__topography__grp.html#ga13238e5f43b48b478a3be89f0e8e8499"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gabe8518daca6be975917eddc5c7db9aa1">mrpt::topography::geodeticToUTM</a> (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga8fbdb1766d7f7e63e248d4a4e59760f6">mrpt::topography::GeodeticToUTM</a> (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. <a href="group__mrpt__topography__grp.html#ga8fbdb1766d7f7e63e248d4a4e59760f6"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Miscellaneous</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p>=======================================================================</p>
<p>======================================================================= </p>
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<tr><td class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaf25c60e9571ef89dff7316ea87984f36">mrpt::topography::ENU_axes_from_WGS84</a> (double in_longitude_reference_degrees, double in_latitude_reference_degrees, double in_height_reference_meters, <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">mrpt::math::TPose3D</a> &out_ENU, bool only_angles=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the East-North-Up (ENU) coordinate system associated to the given point. <a href="group__mrpt__topography__grp.html#gaf25c60e9571ef89dff7316ea87984f36"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaadbc6c67aa6206478cf6042776ea4df7">mrpt::topography::ENU_axes_from_WGS84</a> (const TGeodeticCoords &in_coords, <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">mrpt::math::TPose3D</a> &out_ENU, bool only_angles=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the East-North-Up (ENU) coordinate system associated to the given point. <a href="group__mrpt__topography__grp.html#gaadbc6c67aa6206478cf6042776ea4df7"></a><br/></td></tr>
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