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<div class="title">conversions.h</div> </div>
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<a href="conversions_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef conversions_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define conversions_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html">mrpt/topography/link_pragmas.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="data__types_8h.html">mrpt/topography/data_types.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {<span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** This namespace provides topography helper functions, coordinate transformations.</span>
<a name="l00042"></a>00042 <span class="comment"> * \ingroup mrpt_topography_grp</span>
<a name="l00043"></a>00043 <span class="comment"> */</span>
<a name="l00044"></a><a class="code" href="namespacemrpt_1_1topography.html">00044</a> <span class="keyword">namespace </span>topography
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>std;
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** \addtogroup mrpt_topography_grp</span>
<a name="l00050"></a>00050 <span class="comment"> * @{ */</span>
<a name="l00051"></a>00051 <span class="comment"></span>
<a name="l00052"></a>00052 <span class="comment"> /** @name Topography coordinate conversion functions</span>
<a name="l00053"></a>00053 <span class="comment"> @{ */</span>
<a name="l00054"></a>00054 <span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates</span>
<a name="l00056"></a>00056 <span class="comment"> * The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D</span>
<a name="l00057"></a>00057 <span class="comment"> * relative to some user-provided point, with local X axis being east-ward, Y north-ward, Z up-ward.</span>
<a name="l00058"></a>00058 <span class="comment"> * For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid</span>
<a name="l00059"></a>00059 <span class="comment"> * \sa coordinatesTransformation_WGS84_geocentric, ENU_axes_from_WGS84, ENUToGeocentric</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga658ce589d36752f4a08060a8aca54460" title="Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates Th...">geodeticToENU_WGS84</a>(
<a name="l00062"></a>00062 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &in_coords,
<a name="l00063"></a>00063 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &out_ENU_point,
<a name="l00064"></a>00064 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &in_coords_origin );
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** ENU to geocentric coordinates.</span>
<a name="l00067"></a>00067 <span class="comment"> * \sa geodeticToENU_WGS84</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gaa620f63d0daefa3eb9c21c2a69b593f2" title="ENU to geocentric coordinates.">ENUToGeocentric</a>(
<a name="l00070"></a>00070 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &in_ENU_point,
<a name="l00071"></a>00071 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &in_coords_origin,
<a name="l00072"></a>00072 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TGeocentricCoords</a> &out_coords,
<a name="l00073"></a>00073 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">TEllipsoid</a> &ellip );
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).</span>
<a name="l00076"></a>00076 <span class="comment"> * The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D</span>
<a name="l00077"></a>00077 <span class="comment"> * where the reference is the center of the Earth.</span>
<a name="l00078"></a>00078 <span class="comment"> * For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid</span>
<a name="l00079"></a>00079 <span class="comment"> * \sa geodeticToENU_WGS84</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gac17a3e827e4298a77fa98f0ed4123451" title="Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS...">geodeticToGeocentric_WGS84</a>(
<a name="l00082"></a>00082 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &in_coords,
<a name="l00083"></a>00083 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &out_point );
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid).</span>
<a name="l00086"></a>00086 <span class="comment"> * \sa geocentricToGeodetic</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga5855d66f65014cbfcbd0e547d9344a0b" title="Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an sp...">geodeticToGeocentric</a>(
<a name="l00089"></a>00089 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &in_coords,
<a name="l00090"></a>00090 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TGeocentricCoords</a> &out_point,
<a name="l00091"></a>00091 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">TEllipsoid</a> &ellip );
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.</span>
<a name="l00094"></a>00094 <span class="comment"> * \sa geodeticToGeocentric</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gae9a7c4438991998711c423c71d4ddf79" title="Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.">geocentricToGeodetic</a>(
<a name="l00097"></a>00097 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TGeocentricCoords</a> &in_point,
<a name="l00098"></a>00098 <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &out_coords,
<a name="l00099"></a>00099 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">TEllipsoid</a> &ellip = <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html#a0a129c5a0dc1f4ad94f506e1481640f0">TEllipsoid::Ellipsoid_WGS84</a>() );
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** 7-parameter Bursa-Wolf transformation:</span>
<a name="l00102"></a>00102 <span class="comment"> * [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa transform10params</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga7d45229ea0629a3b9ba71e3e1f76bf47" title="7-parameter Bursa-Wolf transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 ...">transform7params</a>(
<a name="l00106"></a>00106 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &in_point,
<a name="l00107"></a>00107 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum7_params.html" title="Parameters for a topographic transfomation.">TDatum7Params</a> &in_datum,
<a name="l00108"></a>00108 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &out_point);
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gab49a82e24b3a2934eefd32b30abea17a">transform7params_TOPCON</a>(
<a name="l00111"></a>00111 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &in_point,
<a name="l00112"></a>00112 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum7_params___t_o_p_c_o_n.html">TDatum7Params_TOPCON</a> &in_datum,
<a name="l00113"></a>00113 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &out_point);
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** 10-parameter Molodensky-Badekas transformation:</span>
<a name="l00116"></a>00116 <span class="comment"> * [ 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]</span>
<a name="l00117"></a>00117 <span class="comment"> * \sa transform7params</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga9d5e2ab44c40aeaaeedc2bc4e4fac044" title="10-parameter Molodensky-Badekas transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -R...">transform10params</a>(
<a name="l00120"></a>00120 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &in_point,
<a name="l00121"></a>00121 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum10_params.html" title="Parameters for a topographic transfomation.">TDatum10Params</a> &in_datum,
<a name="l00122"></a>00122 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &out_point);
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Helmert 2D transformation:</span>
<a name="l00125"></a>00125 <span class="comment"> * [ 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]</span>
<a name="l00126"></a>00126 <span class="comment"> * \sa transformHelmert3D</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a>00128 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gac889fa4ce06f3e72f89fbcceccdcc1a8" title="Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha...">transformHelmert2D</a>(
<a name="l00129"></a>00129 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &p,
<a name="l00130"></a>00130 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum_helmert2_d.html" title="Parameters for a topographic transfomation.">TDatumHelmert2D</a> &d,
<a name="l00131"></a>00131 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &o);
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gacb89689da67b5d1cfd80cb8b0affeb85">transformHelmert2D_TOPCON</a>(
<a name="l00134"></a>00134 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &p,
<a name="l00135"></a>00135 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum_helmert2_d___t_o_p_c_o_n.html">TDatumHelmert2D_TOPCON</a> &d,
<a name="l00136"></a>00136 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &o);
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** Helmert3D transformation:</span>
<a name="l00139"></a>00139 <span class="comment"> * [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local</span>
<a name="l00140"></a>00140 <span class="comment"> * \sa transformHelmert2D</span>
<a name="l00141"></a>00141 <span class="comment"> */</span>
<a name="l00142"></a>00142 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga4d679c0808c3d28595fc8b080828cf53" title="Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ...">transformHelmert3D</a>(
<a name="l00143"></a>00143 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &p,
<a name="l00144"></a>00144 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum_helmert3_d.html" title="Parameters for a topographic transfomation.">TDatumHelmert3D</a> &d,
<a name="l00145"></a>00145 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga00f0742b2aabb79574b5e1157bb9ef36">transformHelmert3D_TOPCON</a>(
<a name="l00148"></a>00148 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &p,
<a name="l00149"></a>00149 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum_helmert3_d___t_o_p_c_o_n.html" title="Parameters for a topographic transfomation.">TDatumHelmert3D_TOPCON</a> &d,
<a name="l00150"></a>00150 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o);
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** 1D transformation:</span>
<a name="l00153"></a>00153 <span class="comment"> * [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga05bea20ad438e682b41bf00022e7a20f" title="1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ">transform1D</a>(
<a name="l00156"></a>00156 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &p,
<a name="l00157"></a>00157 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum1_d_transf.html" title="Parameters for a topographic transfomation.">TDatum1DTransf</a> &d,
<a name="l00158"></a>00158 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o);
<a name="l00159"></a>00159 <span class="comment"></span>
<a name="l00160"></a>00160 <span class="comment"> /** Interpolation:</span>
<a name="l00161"></a>00161 <span class="comment"> * [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ</span>
<a name="l00162"></a>00162 <span class="comment"> */</span>
<a name="l00163"></a>00163 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gae3ce32bad43015ba93225d11186c3993" title="Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ.">transfInterpolation</a>(
<a name="l00164"></a>00164 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &p,
<a name="l00165"></a>00165 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_datum_transf_interpolation.html" title="Parameters for a topographic transfomation.">TDatumTransfInterpolation</a> &d,
<a name="l00166"></a>00166 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o);
<a name="l00167"></a>00167 <span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment"> /** Returns the Geodetic coordinates of the UTM input point.</span>
<a name="l00169"></a>00169 <span class="comment"> * \param X: East coordinate of the input point.</span>
<a name="l00170"></a>00170 <span class="comment"> * \param Y: North coordinate of the input point.</span>
<a name="l00171"></a>00171 <span class="comment"> * \param zone: time zone (Spanish: "huso").</span>
<a name="l00172"></a>00172 <span class="comment"> * \param hem: hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.</span>
<a name="l00173"></a>00173 <span class="comment"> * \param ellip: the reference ellipsoid used for the transformation (default: WGS84)</span>
<a name="l00174"></a>00174 <span class="comment"> * \param out_lat Out latitude, in degrees.</span>
<a name="l00175"></a>00175 <span class="comment"> * \param out_lon Out longitude, in degrees.</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a>00177 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga2459558b94a2cb06045d3949f2c30296" title="Returns the Geodetic coordinates of the UTM input point.">UTMToGeodetic</a>(
<a name="l00178"></a>00178 <span class="keywordtype">double</span> X,
<a name="l00179"></a>00179 <span class="keywordtype">double</span> Y,
<a name="l00180"></a>00180 <span class="keywordtype">int</span> zone,
<a name="l00181"></a>00181 <span class="keywordtype">char</span> hem,
<a name="l00182"></a>00182 <span class="keywordtype">double</span> &out_lon <span class="comment">/*degrees*/</span>,
<a name="l00183"></a>00183 <span class="keywordtype">double</span> &out_lat <span class="comment">/*degrees*/</span>,
<a name="l00184"></a>00184 <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">TEllipsoid</a> ellip = <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html#a0a129c5a0dc1f4ad94f506e1481640f0">TEllipsoid::Ellipsoid_WGS84</a>() );
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /** Returns the Geodetic coordinates of the UTM input point.</span>
<a name="l00187"></a>00187 <span class="comment"> * \param UTMCoords: UTM input coordinates.</span>
<a name="l00188"></a>00188 <span class="comment"> * \param zone: time zone (Spanish: "huso").</span>
<a name="l00189"></a>00189 <span class="comment"> * \param hem: hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.</span>
<a name="l00190"></a>00190 <span class="comment"> * \param GeodeticCoords: Out geodetic coordinates.</span>
<a name="l00191"></a>00191 <span class="comment"> * \param ellip: the reference ellipsoid used for the transformation (default: WGS84)</span>
<a name="l00192"></a>00192 <span class="comment"> */</span>
<a name="l00193"></a><a class="code" href="group__mrpt__topography__grp.html#ga85dbdd9df8fd3b6107daeed0de1530c1">00193</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__mrpt__topography__grp.html#ga2459558b94a2cb06045d3949f2c30296" title="Returns the Geodetic coordinates of the UTM input point.">UTMToGeodetic</a>(
<a name="l00194"></a>00194 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TUTMCoords</a> &UTMCoords,
<a name="l00195"></a>00195 <span class="keyword">const</span> <span class="keywordtype">int</span> &zone,
<a name="l00196"></a>00196 <span class="keyword">const</span> <span class="keywordtype">char</span> &hem,
<a name="l00197"></a>00197 <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &GeodeticCoords,
<a name="l00198"></a>00198 <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">TEllipsoid</a> ellip = <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html#a0a129c5a0dc1f4ad94f506e1481640f0">TEllipsoid::Ellipsoid_WGS84</a>() )
<a name="l00199"></a>00199 {
<a name="l00200"></a>00200 <a class="code" href="group__mrpt__topography__grp.html#ga2459558b94a2cb06045d3949f2c30296" title="Returns the Geodetic coordinates of the UTM input point.">UTMToGeodetic</a>( UTMCoords.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>, UTMCoords.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>, zone, hem, GeodeticCoords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a64c93978838ba4fe5bd1d72be9e89a4a" title="Longitude (in degrees)">lon</a>.<a class="code" href="structmrpt_1_1topography_1_1_t_coords.html#ad0c467f67e72d58c22426723f573b5d5" title="Also obtained directly through the double(void) operator using a TCoords anywhere were a double is ex...">decimal_value</a>, GeodeticCoords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a203cba91d2b4917a8489d14e4dc18c3a" title="Latitude (in degrees)">lat</a>.<a class="code" href="structmrpt_1_1topography_1_1_t_coords.html#ad0c467f67e72d58c22426723f573b5d5" title="Also obtained directly through the double(void) operator using a TCoords anywhere were a double is ex...">decimal_value</a>, ellip );
<a name="l00201"></a>00201 GeodeticCoords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a333a3818f01589b03c531c06a91f83fd" title="Geodetic height (in meters)">height</a> = UTMCoords.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>;
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203 <span class="comment"></span>
<a name="l00204"></a>00204 <span class="comment"> /** Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.</span>
<a name="l00205"></a>00205 <span class="comment"> * This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios.</span>
<a name="l00206"></a>00206 <span class="comment"> * Example:</span>
<a name="l00207"></a>00207 <span class="comment"> * \code</span>
<a name="l00208"></a>00208 <span class="comment"> * Input:</span>
<a name="l00209"></a>00209 <span class="comment"> * Lat=40.3154333 Lon=-3.4857166</span>
<a name="l00210"></a>00210 <span class="comment"> * Output:</span>
<a name="l00211"></a>00211 <span class="comment"> * x = 458731</span>
<a name="l00212"></a>00212 <span class="comment"> * y = 4462881</span>
<a name="l00213"></a>00213 <span class="comment"> * utm_zone = 30</span>
<a name="l00214"></a>00214 <span class="comment"> * utm_band = T</span>
<a name="l00215"></a>00215 <span class="comment"> * \endcode</span>
<a name="l00216"></a>00216 <span class="comment"> * \sa http://www.mathworks.com/matlabcentral/fileexchange/10915</span>
<a name="l00217"></a>00217 <span class="comment"> */</span>
<a name="l00218"></a>00218 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga13238e5f43b48b478a3be89f0e8e8499" title="Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone...">GeodeticToUTM</a>(
<a name="l00219"></a>00219 <span class="keywordtype">double</span> in_latitude_degrees,
<a name="l00220"></a>00220 <span class="keywordtype">double</span> in_longitude_degrees,
<a name="l00221"></a>00221 <span class="keywordtype">double</span> &out_UTM_x,
<a name="l00222"></a>00222 <span class="keywordtype">double</span> &out_UTM_y,
<a name="l00223"></a>00223 <span class="keywordtype">int</span> &out_UTM_zone,
<a name="l00224"></a>00224 <span class="keywordtype">char</span> &out_UTM_latitude_band,
<a name="l00225"></a>00225 TEllipsoid ellip = <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html#a0a129c5a0dc1f4ad94f506e1481640f0">TEllipsoid::Ellipsoid_WGS84</a>());
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gabe8518daca6be975917eddc5c7db9aa1">geodeticToUTM</a>(
<a name="l00228"></a>00228 <span class="keyword">const</span> TGeodeticCoords &GeodeticCoords,
<a name="l00229"></a>00229 <a class="code" href="group__mrpt__topography__grp.html#ga38457e1c9ec44c1271c6c7afb478f201">TUTMCoords</a> &UTMCoords,
<a name="l00230"></a>00230 <span class="keywordtype">int</span> &UTMZone,
<a name="l00231"></a>00231 <span class="keywordtype">char</span> &UTMLatitudeBand,
<a name="l00232"></a>00232 TEllipsoid ellip = <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html#a0a129c5a0dc1f4ad94f506e1481640f0">TEllipsoid::Ellipsoid_WGS84</a>());
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="comment"></span>
<a name="l00235"></a>00235 <span class="comment"> /** Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.</span>
<a name="l00236"></a>00236 <span class="comment"> * This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios.</span>
<a name="l00237"></a>00237 <span class="comment"> * Example:</span>
<a name="l00238"></a>00238 <span class="comment"> * \code</span>
<a name="l00239"></a>00239 <span class="comment"> * Input:</span>
<a name="l00240"></a>00240 <span class="comment"> * Lat=40.3154333 Lon=-3.4857166</span>
<a name="l00241"></a>00241 <span class="comment"> * Output:</span>
<a name="l00242"></a>00242 <span class="comment"> * x = 458731</span>
<a name="l00243"></a>00243 <span class="comment"> * y = 4462881</span>
<a name="l00244"></a>00244 <span class="comment"> * utm_zone = 30</span>
<a name="l00245"></a>00245 <span class="comment"> * utm_band = T</span>
<a name="l00246"></a>00246 <span class="comment"> * \endcode</span>
<a name="l00247"></a>00247 <span class="comment"> * \sa http://www.mathworks.com/matlabcentral/fileexchange/10915</span>
<a name="l00248"></a>00248 <span class="comment"> */</span>
<a name="l00249"></a><a class="code" href="group__mrpt__topography__grp.html#ga8fbdb1766d7f7e63e248d4a4e59760f6">00249</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__mrpt__topography__grp.html#ga13238e5f43b48b478a3be89f0e8e8499" title="Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone...">GeodeticToUTM</a>(
<a name="l00250"></a>00250 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &GeodeticCoords,
<a name="l00251"></a>00251 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TUTMCoords</a> &UTMCoords,
<a name="l00252"></a>00252 <span class="keywordtype">int</span> &UTMZone,
<a name="l00253"></a>00253 <span class="keywordtype">char</span> &UTMLatitudeBand,
<a name="l00254"></a>00254 <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">TEllipsoid</a> ellip = <a class="code" href="structmrpt_1_1topography_1_1_t_ellipsoid.html#a0a129c5a0dc1f4ad94f506e1481640f0">TEllipsoid::Ellipsoid_WGS84</a>())
<a name="l00255"></a>00255 {
<a name="l00256"></a>00256 <a class="code" href="group__mrpt__topography__grp.html#ga13238e5f43b48b478a3be89f0e8e8499" title="Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone...">GeodeticToUTM</a>( GeodeticCoords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a203cba91d2b4917a8489d14e4dc18c3a" title="Latitude (in degrees)">lat</a>, GeodeticCoords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a64c93978838ba4fe5bd1d72be9e89a4a" title="Longitude (in degrees)">lon</a>, UTMCoords.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>, UTMCoords.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>, UTMZone, UTMLatitudeBand, ellip );
<a name="l00257"></a>00257 UTMCoords.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a> = GeodeticCoords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a333a3818f01589b03c531c06a91f83fd" title="Geodetic height (in meters)">height</a>;
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a>00260 <span class="comment"> /** @}</span>
<a name="l00261"></a>00261 <span class="comment"> ======================================================================= */</span>
<a name="l00262"></a>00262
<a name="l00263"></a>00263 <span class="comment"></span>
<a name="l00264"></a>00264 <span class="comment"> /** =======================================================================</span>
<a name="l00265"></a>00265 <span class="comment"> @name Miscellaneous</span>
<a name="l00266"></a>00266 <span class="comment"> @{ */</span>
<a name="l00267"></a>00267 <span class="comment"></span>
<a name="l00268"></a>00268 <span class="comment"> /** Returns the East-North-Up (ENU) coordinate system associated to the given point.</span>
<a name="l00269"></a>00269 <span class="comment"> * This is the reference employed in geodeticToENU_WGS84</span>
<a name="l00270"></a>00270 <span class="comment"> * \param only_angles If set to true, the (x,y,z) fields will be left zeroed.</span>
<a name="l00271"></a>00271 <span class="comment"> * \sa geodeticToENU_WGS84</span>
<a name="l00272"></a>00272 <span class="comment"> */</span>
<a name="l00273"></a>00273 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#gaf25c60e9571ef89dff7316ea87984f36" title="Returns the East-North-Up (ENU) coordinate system associated to the given point.">ENU_axes_from_WGS84</a>(
<a name="l00274"></a>00274 <span class="keywordtype">double</span> in_longitude_reference_degrees,
<a name="l00275"></a>00275 <span class="keywordtype">double</span> in_latitude_reference_degrees,
<a name="l00276"></a>00276 <span class="keywordtype">double</span> in_height_reference_meters,
<a name="l00277"></a>00277 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">mrpt::math::TPose3D</a> &out_ENU,
<a name="l00278"></a>00278 <span class="keywordtype">bool</span> only_angles = <span class="keyword">false</span>
<a name="l00279"></a>00279 );
<a name="l00280"></a>00280 <span class="comment"></span>
<a name="l00281"></a>00281 <span class="comment"> /** Returns the East-North-Up (ENU) coordinate system associated to the given point.</span>
<a name="l00282"></a>00282 <span class="comment"> * This is the reference employed in coordinatesTransformation_WGS84</span>
<a name="l00283"></a>00283 <span class="comment"> * \param only_angles If set to true, the (x,y,z) fields will be left zeroed.</span>
<a name="l00284"></a>00284 <span class="comment"> * \sa geodeticToENU_WGS84</span>
<a name="l00285"></a>00285 <span class="comment"> */</span>
<a name="l00286"></a><a class="code" href="group__mrpt__topography__grp.html#gaadbc6c67aa6206478cf6042776ea4df7">00286</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__mrpt__topography__grp.html#gaf25c60e9571ef89dff7316ea87984f36" title="Returns the East-North-Up (ENU) coordinate system associated to the given point.">ENU_axes_from_WGS84</a>(
<a name="l00287"></a>00287 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">TGeodeticCoords</a> &in_coords,
<a name="l00288"></a>00288 <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">mrpt::math::TPose3D</a> &out_ENU,
<a name="l00289"></a>00289 <span class="keywordtype">bool</span> only_angles = <span class="keyword">false</span>
<a name="l00290"></a>00290 )
<a name="l00291"></a>00291 {
<a name="l00292"></a>00292 <a class="code" href="group__mrpt__topography__grp.html#gaf25c60e9571ef89dff7316ea87984f36" title="Returns the East-North-Up (ENU) coordinate system associated to the given point.">ENU_axes_from_WGS84</a>(in_coords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a64c93978838ba4fe5bd1d72be9e89a4a" title="Longitude (in degrees)">lon</a>,in_coords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a203cba91d2b4917a8489d14e4dc18c3a" title="Latitude (in degrees)">lat</a>,in_coords.<a class="code" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#a333a3818f01589b03c531c06a91f83fd" title="Geodetic height (in meters)">height</a>, out_ENU,only_angles);
<a name="l00293"></a>00293 }
<a name="l00294"></a>00294 <span class="comment"></span>
<a name="l00295"></a>00295 <span class="comment"> /** @}</span>
<a name="l00296"></a>00296 <span class="comment"> ======================================================================= */</span>
<a name="l00297"></a>00297 <span class="comment"></span>
<a name="l00298"></a>00298 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00299"></a>00299
<a name="l00300"></a>00300 } <span class="comment">// End of namespace</span>
<a name="l00301"></a>00301
<a name="l00302"></a>00302 } <span class="comment">// End of namespace</span>
<a name="l00303"></a>00303
<a name="l00304"></a>00304 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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