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<div class="title">[mrpt-topography]</div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<p><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html">See all modules</a> </small> <br/>
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<h2>Library <code>mrpt-topography</code></h2>
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<p>Conversion and useful data structures to handle topographic data, perform geoid transformations, geocentric coordinates, etc...</p>
<p>See <a class="el" href="namespacemrpt_1_1topography.html" title="This namespace provides topography helper functions, coordinate transformations.">mrpt::topography</a> </p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_coords.html">mrpt::topography::TCoords</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A coordinate that is stored as a simple "decimal" angle in degrees, but can be retrieved/set in the form of DEGREES + arc-MINUTES + arc-SECONDS. <a href="structmrpt_1_1topography_1_1_t_coords.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_ellipsoid.html">mrpt::topography::TEllipsoid</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html">mrpt::topography::TGeodeticCoords</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically, WGS84) <a href="structmrpt_1_1topography_1_1_t_geodetic_coords.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum7_params.html">mrpt::topography::TDatum7Params</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum7_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum7_params___t_o_p_c_o_n.html">mrpt::topography::TDatum7Params_TOPCON</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum10_params.html">mrpt::topography::TDatum10Params</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum10_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum_helmert2_d.html">mrpt::topography::TDatumHelmert2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum_helmert2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum_helmert2_d___t_o_p_c_o_n.html">mrpt::topography::TDatumHelmert2D_TOPCON</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum_helmert3_d.html">mrpt::topography::TDatumHelmert3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum_helmert3_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum_helmert3_d___t_o_p_c_o_n.html">mrpt::topography::TDatumHelmert3D_TOPCON</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum_helmert3_d___t_o_p_c_o_n.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum1_d_transf.html">mrpt::topography::TDatum1DTransf</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum1_d_transf.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_datum_transf_interpolation.html">mrpt::topography::TDatumTransfInterpolation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for a topographic transfomation. <a href="structmrpt_1_1topography_1_1_t_datum_transf_interpolation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html">mrpt::topography::TPathFromRTKInfo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to return optional information from <a class="el" href="group__mrpt__topography__grp.html#ga9c017d0f875ed7f8cd455ec0c5d7fe56" title="Reconstruct the path of a vehicle equipped with 3 RTK GPSs.">mrpt::topography::path_from_rtk_gps</a>. <a href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#details">More...</a><br/></td></tr>
<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_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 class="memItemLeft" align="right" valign="top">void TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga9c017d0f875ed7f8cd455ec0c5d7fe56">mrpt::topography::path_from_rtk_gps</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_interpolator.html">mrpt::poses::CPose3DInterpolator</a> &robot_path, const <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html">mrpt::slam::CRawlog</a> &rawlog, size_t rawlog_first, size_t rawlog_last, bool isGUI=false, bool disableGPSInterp=false, int path_smooth_filter_size=2, TPathFromRTKInfo *outInfo=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reconstruct the path of a vehicle equipped with 3 RTK GPSs. <a href="#ga9c017d0f875ed7f8cd455ec0c5d7fe56"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Topography coordinate conversion functions</h2></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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#ga8fbdb1766d7f7e63e248d4a4e59760f6"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Miscellaneous</h2></td></tr>
<tr><td class="ititle" colspan="2"><p><a class="anchor" id="amgrp387baf0199e7c9cc944fae94e96448fa"></a>=======================================================================</p>
<p>======================================================================= </p>
</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#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="#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="#gaadbc6c67aa6206478cf6042776ea4df7"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Data structures</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#ga38457e1c9ec44c1271c6c7afb478f201">mrpt::topography::TUTMCoords</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gabc281d346723b5e717d5827e01a88960">mrpt::topography::TGeocentricCoords</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaf61e2274399766aa74627f4927daccc2">mrpt::topography::operator==</a> (const TCoords &a, const TCoords &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaa12f5e3bab9e75909a0ddf85cbdbe0da">mrpt::topography::operator!=</a> (const TCoords &a, const TCoords &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> TOPO_IMPEXP & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaded63eaeccae782eef8c459fe3c1afe6">mrpt::topography::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &out, const TCoords &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gab88eddbc83676af4a1872ab877b1910c">mrpt::topography::operator==</a> (const TGeodeticCoords &a, const TGeodeticCoords &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool TOPO_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__topography__grp.html#gaecd5861be602c8f1a8cf33621d1df175">mrpt::topography::operator!=</a> (const TGeodeticCoords &a, const TGeodeticCoords &o)</td></tr>
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<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="gabc281d346723b5e717d5827e01a88960"></a><!-- doxytag: member="mrpt::topography::TGeocentricCoords" ref="gabc281d346723b5e717d5827e01a88960" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> <a class="el" href="group__mrpt__topography__grp.html#gabc281d346723b5e717d5827e01a88960">mrpt::topography::TGeocentricCoords</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="data__types_8h_source.html#l00141">141</a> of file <a class="el" href="data__types_8h_source.html">data_types.h</a>.</p>
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<a class="anchor" id="ga38457e1c9ec44c1271c6c7afb478f201"></a><!-- doxytag: member="mrpt::topography::TUTMCoords" ref="ga38457e1c9ec44c1271c6c7afb478f201" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> <a class="el" href="group__mrpt__topography__grp.html#ga38457e1c9ec44c1271c6c7afb478f201">mrpt::topography::TUTMCoords</a></td>
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<p>Definition at line <a class="el" href="data__types_8h_source.html#l00140">140</a> of file <a class="el" href="data__types_8h_source.html">data_types.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="gaf25c60e9571ef89dff7316ea87984f36"></a><!-- doxytag: member="mrpt::topography::ENU_axes_from_WGS84" ref="gaf25c60e9571ef89dff7316ea87984f36" args="(double in_longitude_reference_degrees, double in_latitude_reference_degrees, double in_height_reference_meters, mrpt::math::TPose3D &out_ENU, bool only_angles=false)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::ENU_axes_from_WGS84 </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>in_longitude_reference_degrees</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>in_latitude_reference_degrees</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>in_height_reference_meters</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">mrpt::math::TPose3D</a> & </td>
<td class="paramname"><em>out_ENU</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>only_angles</em> = <code>false</code> </td>
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<p>Returns the East-North-Up (ENU) coordinate system associated to the given point. </p>
<p>This is the reference employed in geodeticToENU_WGS84 </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">only_angles</td><td>If set to true, the (x,y,z) fields will be left zeroed. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
<p>Referenced by <a class="el" href="conversions_8h_source.html#l00286">mrpt::topography::ENU_axes_from_WGS84()</a>.</p>
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<a class="anchor" id="gaadbc6c67aa6206478cf6042776ea4df7"></a><!-- doxytag: member="mrpt::topography::ENU_axes_from_WGS84" ref="gaadbc6c67aa6206478cf6042776ea4df7" args="(const TGeodeticCoords &in_coords, mrpt::math::TPose3D &out_ENU, bool only_angles=false)" -->
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<td class="memname">void mrpt::topography::ENU_axes_from_WGS84 </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>in_coords</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">mrpt::math::TPose3D</a> & </td>
<td class="paramname"><em>out_ENU</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>only_angles</em> = <code>false</code> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Returns the East-North-Up (ENU) coordinate system associated to the given point. </p>
<p>This is the reference employed in coordinatesTransformation_WGS84 </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">only_angles</td><td>If set to true, the (x,y,z) fields will be left zeroed. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
<p>Definition at line <a class="el" href="conversions_8h_source.html#l00286">286</a> of file <a class="el" href="conversions_8h_source.html">conversions.h</a>.</p>
<p>References <a class="el" href="group__mrpt__topography__grp.html#gaf25c60e9571ef89dff7316ea87984f36">mrpt::topography::ENU_axes_from_WGS84()</a>, <a class="el" href="data__types_8h_source.html#l00152">mrpt::topography::TGeodeticCoords::lon</a>, <a class="el" href="data__types_8h_source.html#l00151">mrpt::topography::TGeodeticCoords::lat</a>, and <a class="el" href="data__types_8h_source.html#l00153">mrpt::topography::TGeodeticCoords::height</a>.</p>
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<a class="anchor" id="gaa620f63d0daefa3eb9c21c2a69b593f2"></a><!-- doxytag: member="mrpt::topography::ENUToGeocentric" ref="gaa620f63d0daefa3eb9c21c2a69b593f2" args="(const mrpt::math::TPoint3D &in_ENU_point, const TGeodeticCoords &in_coords_origin, TGeocentricCoords &out_coords, const TEllipsoid &ellip)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::ENUToGeocentric </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>in_ENU_point</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>in_coords_origin</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">TGeocentricCoords & </td>
<td class="paramname"><em>out_coords</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const TEllipsoid & </td>
<td class="paramname"><em>ellip</em> </td>
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<p>ENU to geocentric coordinates. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="gae9a7c4438991998711c423c71d4ddf79"></a><!-- doxytag: member="mrpt::topography::geocentricToGeodetic" ref="gae9a7c4438991998711c423c71d4ddf79" args="(const TGeocentricCoords &in_point, TGeodeticCoords &out_coords, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::geocentricToGeodetic </td>
<td>(</td>
<td class="paramtype">const TGeocentricCoords & </td>
<td class="paramname"><em>in_point</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TGeodeticCoords & </td>
<td class="paramname"><em>out_coords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TEllipsoid & </td>
<td class="paramname"><em>ellip</em> = <code>TEllipsoid::Ellipsoid_WGS84()</code> </td>
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<p>Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="ga658ce589d36752f4a08060a8aca54460"></a><!-- doxytag: member="mrpt::topography::geodeticToENU_WGS84" ref="ga658ce589d36752f4a08060a8aca54460" args="(const TGeodeticCoords &in_coords, mrpt::math::TPoint3D &out_ENU_point, const TGeodeticCoords &in_coords_origin)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::geodeticToENU_WGS84 </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>in_coords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>out_ENU_point</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>in_coords_origin</em> </td>
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<p>Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation. </p>
<p>The coordinates are in 3D relative to some user-provided point, with local X axis being east-ward, Y north-ward, Z up-ward. For an explanation, refer to <a href="http://en.wikipedia.org/wiki/Reference_ellipsoid">http://en.wikipedia.org/wiki/Reference_ellipsoid</a> </p>
<dl class="see"><dt><b>See also:</b></dt><dd>coordinatesTransformation_WGS84_geocentric, <a class="el" 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 class="el" href="group__mrpt__topography__grp.html#gaa620f63d0daefa3eb9c21c2a69b593f2" title="ENU to geocentric coordinates.">ENUToGeocentric</a> </dd></dl>
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<a class="anchor" id="ga5855d66f65014cbfcbd0e547d9344a0b"></a><!-- doxytag: member="mrpt::topography::geodeticToGeocentric" ref="ga5855d66f65014cbfcbd0e547d9344a0b" args="(const TGeodeticCoords &in_coords, TGeocentricCoords &out_point, const TEllipsoid &ellip)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::geodeticToGeocentric </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>in_coords</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">TGeocentricCoords & </td>
<td class="paramname"><em>out_point</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TEllipsoid & </td>
<td class="paramname"><em>ellip</em> </td>
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<p>Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__mrpt__topography__grp.html#gae9a7c4438991998711c423c71d4ddf79" title="Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.">geocentricToGeodetic</a> </dd></dl>
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<a class="anchor" id="gac17a3e827e4298a77fa98f0ed4123451"></a><!-- doxytag: member="mrpt::topography::geodeticToGeocentric_WGS84" ref="gac17a3e827e4298a77fa98f0ed4123451" args="(const TGeodeticCoords &in_coords, mrpt::math::TPoint3D &out_point)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::geodeticToGeocentric_WGS84 </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>in_coords</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>out_point</em> </td>
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<p>Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid). </p>
<p>The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D where the reference is the center of the Earth. For an explanation, refer to <a href="http://en.wikipedia.org/wiki/Reference_ellipsoid">http://en.wikipedia.org/wiki/Reference_ellipsoid</a> </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="ga13238e5f43b48b478a3be89f0e8e8499"></a><!-- doxytag: member="mrpt::topography::GeodeticToUTM" ref="ga13238e5f43b48b478a3be89f0e8e8499" args="(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())" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::GeodeticToUTM </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>in_latitude_degrees</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>in_longitude_degrees</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>out_UTM_x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>out_UTM_y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"><em>out_UTM_zone</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char & </td>
<td class="paramname"><em>out_UTM_latitude_band</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TEllipsoid </td>
<td class="paramname"><em>ellip</em> = <code>TEllipsoid::Ellipsoid_WGS84()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. </p>
<p>This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. Example: </p>
<div class="fragment"><pre class="fragment"> Input:
Lat=40.3154333 Lon=-3.4857166
Output:
x = 458731
<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> = 4462881
utm_zone = 30
utm_band = T
</pre></div> <dl class="see"><dt><b>See also:</b></dt><dd><a href="http://www.mathworks.com/matlabcentral/fileexchange/10915">http://www.mathworks.com/matlabcentral/fileexchange/10915</a> </dd></dl>
<p>Referenced by <a class="el" href="conversions_8h_source.html#l00249">mrpt::topography::GeodeticToUTM()</a>.</p>
</div>
</div>
<a class="anchor" id="gabe8518daca6be975917eddc5c7db9aa1"></a><!-- doxytag: member="mrpt::topography::geodeticToUTM" ref="gabe8518daca6be975917eddc5c7db9aa1" args="(const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::geodeticToUTM </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>GeodeticCoords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TUTMCoords & </td>
<td class="paramname"><em>UTMCoords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"><em>UTMZone</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char & </td>
<td class="paramname"><em>UTMLatitudeBand</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TEllipsoid </td>
<td class="paramname"><em>ellip</em> = <code>TEllipsoid::Ellipsoid_WGS84()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ga8fbdb1766d7f7e63e248d4a4e59760f6"></a><!-- doxytag: member="mrpt::topography::GeodeticToUTM" ref="ga8fbdb1766d7f7e63e248d4a4e59760f6" args="(const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">void mrpt::topography::GeodeticToUTM </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>GeodeticCoords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TUTMCoords & </td>
<td class="paramname"><em>UTMCoords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"><em>UTMZone</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char & </td>
<td class="paramname"><em>UTMLatitudeBand</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TEllipsoid </td>
<td class="paramname"><em>ellip</em> = <code>TEllipsoid::Ellipsoid_WGS84()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. </p>
<p>This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. Example: </p>
<div class="fragment"><pre class="fragment"> Input:
Lat=40.3154333 Lon=-3.4857166
Output:
x = 458731
<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> = 4462881
utm_zone = 30
utm_band = T
</pre></div> <dl class="see"><dt><b>See also:</b></dt><dd><a href="http://www.mathworks.com/matlabcentral/fileexchange/10915">http://www.mathworks.com/matlabcentral/fileexchange/10915</a> </dd></dl>
<p>Definition at line <a class="el" href="conversions_8h_source.html#l00249">249</a> of file <a class="el" href="conversions_8h_source.html">conversions.h</a>.</p>
<p>References <a class="el" href="group__mrpt__topography__grp.html#ga13238e5f43b48b478a3be89f0e8e8499">mrpt::topography::GeodeticToUTM()</a>, <a class="el" href="data__types_8h_source.html#l00151">mrpt::topography::TGeodeticCoords::lat</a>, <a class="el" href="data__types_8h_source.html#l00152">mrpt::topography::TGeodeticCoords::lon</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00293">mrpt::math::TPoint3D::x</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00294">mrpt::math::TPoint3D::y</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00295">mrpt::math::TPoint3D::z</a>, and <a class="el" href="data__types_8h_source.html#l00153">mrpt::topography::TGeodeticCoords::height</a>.</p>
</div>
</div>
<a class="anchor" id="gaa12f5e3bab9e75909a0ddf85cbdbe0da"></a><!-- doxytag: member="mrpt::topography::operator!=" ref="gaa12f5e3bab9e75909a0ddf85cbdbe0da" args="(const TCoords &a, const TCoords &o)" -->
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<td class="memname">bool TOPO_IMPEXP mrpt::topography::operator!= </td>
<td>(</td>
<td class="paramtype">const TCoords & </td>
<td class="paramname"><em>a</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TCoords & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
</div>
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<a class="anchor" id="gaecd5861be602c8f1a8cf33621d1df175"></a><!-- doxytag: member="mrpt::topography::operator!=" ref="gaecd5861be602c8f1a8cf33621d1df175" args="(const TGeodeticCoords &a, const TGeodeticCoords &o)" -->
<div class="memitem">
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<td class="memname">bool TOPO_IMPEXP mrpt::topography::operator!= </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>a</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="gaded63eaeccae782eef8c459fe3c1afe6"></a><!-- doxytag: member="mrpt::topography::operator<<" ref="gaded63eaeccae782eef8c459fe3c1afe6" args="(std::ostream &out, const TCoords &o)" -->
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<td class="memname"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> TOPO_IMPEXP& mrpt::topography::operator<< </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TCoords & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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</div>
</div>
<a class="anchor" id="gaf61e2274399766aa74627f4927daccc2"></a><!-- doxytag: member="mrpt::topography::operator==" ref="gaf61e2274399766aa74627f4927daccc2" args="(const TCoords &a, const TCoords &o)" -->
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<td class="memname">bool TOPO_IMPEXP mrpt::topography::operator== </td>
<td>(</td>
<td class="paramtype">const TCoords & </td>
<td class="paramname"><em>a</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TCoords & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
</div>
</div>
<a class="anchor" id="gab88eddbc83676af4a1872ab877b1910c"></a><!-- doxytag: member="mrpt::topography::operator==" ref="gab88eddbc83676af4a1872ab877b1910c" args="(const TGeodeticCoords &a, const TGeodeticCoords &o)" -->
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<table class="memname">
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<td class="memname">bool TOPO_IMPEXP mrpt::topography::operator== </td>
<td>(</td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>a</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TGeodeticCoords & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ga9c017d0f875ed7f8cd455ec0c5d7fe56"></a><!-- doxytag: member="mrpt::topography::path_from_rtk_gps" ref="ga9c017d0f875ed7f8cd455ec0c5d7fe56" args="(mrpt::poses::CPose3DInterpolator &robot_path, const mrpt::slam::CRawlog &rawlog, size_t rawlog_first, size_t rawlog_last, bool isGUI=false, bool disableGPSInterp=false, int path_smooth_filter_size=2, TPathFromRTKInfo *outInfo=NULL)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::path_from_rtk_gps </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_interpolator.html">mrpt::poses::CPose3DInterpolator</a> & </td>
<td class="paramname"><em>robot_path</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html">mrpt::slam::CRawlog</a> & </td>
<td class="paramname"><em>rawlog</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>rawlog_first</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>rawlog_last</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>isGUI</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>disableGPSInterp</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>path_smooth_filter_size</em> = <code>2</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TPathFromRTKInfo * </td>
<td class="paramname"><em>outInfo</em> = <code>NULL</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<div class="memdoc">
<p>Reconstruct the path of a vehicle equipped with 3 RTK GPSs. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">robot_path</td><td>[OUT] The reconstructed vehicle path </td></tr>
<tr><td class="paramname">rawlog</td><td>[IN] The dataset </td></tr>
<tr><td class="paramname">rawlog_first</td><td>[IN] The index of the first entry to process (first=0) </td></tr>
<tr><td class="paramname">rawlog_last</td><td>[IN] The index of the last entry to process </td></tr>
<tr><td class="paramname">isGUI</td><td>[IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets). </td></tr>
<tr><td class="paramname">disableGPSInterp</td><td>[IN] Whether to interpolate missing GPS readings between very close datums. </td></tr>
<tr><td class="paramname">path_smooth_filter_size</td><td>[IN] Size of the window in the pitch & roll noise filtering. </td></tr>
<tr><td class="paramname">outInfo</td><td>[OUT] Optional output: additional information from the optimization</td></tr>
</table>
</dd>
</dl>
<p>For more details on the method, refer to the paper: (...) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1topography.html" title="This namespace provides topography helper functions, coordinate transformations.">mrpt::topography</a> </dd></dl>
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<a class="anchor" id="gae3ce32bad43015ba93225d11186c3993"></a><!-- doxytag: member="mrpt::topography::transfInterpolation" ref="gae3ce32bad43015ba93225d11186c3993" args="(const mrpt::math::TPoint3D &p, const TDatumTransfInterpolation &d, mrpt::math::TPoint3D &o)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transfInterpolation </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TDatumTransfInterpolation & </td>
<td class="paramname"><em>d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ. </p>
</div>
</div>
<a class="anchor" id="ga9d5e2ab44c40aeaaeedc2bc4e4fac044"></a><!-- doxytag: member="mrpt::topography::transform10params" ref="ga9d5e2ab44c40aeaaeedc2bc4e4fac044" args="(const mrpt::math::TPoint3D &in_point, const TDatum10Params &in_datum, mrpt::math::TPoint3D &out_point)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transform10params </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>in_point</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TDatum10Params & </td>
<td class="paramname"><em>in_datum</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>out_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>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] </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="ga05bea20ad438e682b41bf00022e7a20f"></a><!-- doxytag: member="mrpt::topography::transform1D" ref="ga05bea20ad438e682b41bf00022e7a20f" args="(const mrpt::math::TPoint3D &p, const TDatum1DTransf &d, mrpt::math::TPoint3D &o)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transform1D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TDatum1DTransf & </td>
<td class="paramname"><em>d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>o</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ </p>
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<a class="anchor" id="ga7d45229ea0629a3b9ba71e3e1f76bf47"></a><!-- doxytag: member="mrpt::topography::transform7params" ref="ga7d45229ea0629a3b9ba71e3e1f76bf47" args="(const mrpt::math::TPoint3D &in_point, const TDatum7Params &in_datum, mrpt::math::TPoint3D &out_point)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transform7params </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>in_point</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TDatum7Params & </td>
<td class="paramname"><em>in_datum</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>out_point</em> </td>
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<p>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 </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="gab49a82e24b3a2934eefd32b30abea17a"></a><!-- doxytag: member="mrpt::topography::transform7params_TOPCON" ref="gab49a82e24b3a2934eefd32b30abea17a" args="(const mrpt::math::TPoint3D &in_point, const TDatum7Params_TOPCON &in_datum, mrpt::math::TPoint3D &out_point)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transform7params_TOPCON </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>in_point</em>, </td>
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<td class="paramtype">const TDatum7Params_TOPCON & </td>
<td class="paramname"><em>in_datum</em>, </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>out_point</em> </td>
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<a class="anchor" id="gac889fa4ce06f3e72f89fbcceccdcc1a8"></a><!-- doxytag: member="mrpt::topography::transformHelmert2D" ref="gac889fa4ce06f3e72f89fbcceccdcc1a8" args="(const mrpt::math::TPoint2D &p, const TDatumHelmert2D &d, mrpt::math::TPoint2D &o)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transformHelmert2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> & </td>
<td class="paramname"><em>p</em>, </td>
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<td class="paramtype">const TDatumHelmert2D & </td>
<td class="paramname"><em>d</em>, </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> & </td>
<td class="paramname"><em>o</em> </td>
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<p>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]. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="gacb89689da67b5d1cfd80cb8b0affeb85"></a><!-- doxytag: member="mrpt::topography::transformHelmert2D_TOPCON" ref="gacb89689da67b5d1cfd80cb8b0affeb85" args="(const mrpt::math::TPoint2D &p, const TDatumHelmert2D_TOPCON &d, mrpt::math::TPoint2D &o)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transformHelmert2D_TOPCON </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> & </td>
<td class="paramname"><em>p</em>, </td>
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<td class="paramtype">const TDatumHelmert2D_TOPCON & </td>
<td class="paramname"><em>d</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">mrpt::math::TPoint2D</a> & </td>
<td class="paramname"><em>o</em> </td>
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<td>)</td>
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<a class="anchor" id="ga4d679c0808c3d28595fc8b080828cf53"></a><!-- doxytag: member="mrpt::topography::transformHelmert3D" ref="ga4d679c0808c3d28595fc8b080828cf53" args="(const mrpt::math::TPoint3D &p, const TDatumHelmert3D &d, mrpt::math::TPoint3D &o)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transformHelmert3D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>p</em>, </td>
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<td class="paramtype">const TDatumHelmert3D & </td>
<td class="paramname"><em>d</em>, </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>o</em> </td>
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<p>Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<a class="anchor" id="ga00f0742b2aabb79574b5e1157bb9ef36"></a><!-- doxytag: member="mrpt::topography::transformHelmert3D_TOPCON" ref="ga00f0742b2aabb79574b5e1157bb9ef36" args="(const mrpt::math::TPoint3D &p, const TDatumHelmert3D_TOPCON &d, mrpt::math::TPoint3D &o)" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::transformHelmert3D_TOPCON </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>p</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TDatumHelmert3D_TOPCON & </td>
<td class="paramname"><em>d</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
<td class="paramname"><em>o</em> </td>
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<td>)</td>
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<a class="anchor" id="ga2459558b94a2cb06045d3949f2c30296"></a><!-- doxytag: member="mrpt::topography::UTMToGeodetic" ref="ga2459558b94a2cb06045d3949f2c30296" args="(double X, double Y, int zone, char hem, double &out_lon, double &out_lat, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())" -->
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<td class="memname">void TOPO_IMPEXP mrpt::topography::UTMToGeodetic </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>Y</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>zone</em>, </td>
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<td class="paramtype">char </td>
<td class="paramname"><em>hem</em>, </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>out_lon</em>, </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>out_lat</em>, </td>
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<td class="paramtype">TEllipsoid </td>
<td class="paramname"><em>ellip</em> = <code>TEllipsoid::Ellipsoid_WGS84()</code> </td>
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<p>Returns the Geodetic coordinates of the UTM input point. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">X,:</td><td>East coordinate of the input point. </td></tr>
<tr><td class="paramname">Y,:</td><td>North coordinate of the input point. </td></tr>
<tr><td class="paramname">zone,:</td><td>time zone (Spanish: "huso"). </td></tr>
<tr><td class="paramname">hem,:</td><td>hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value. </td></tr>
<tr><td class="paramname">ellip,:</td><td>the reference ellipsoid used for the transformation (default: WGS84) </td></tr>
<tr><td class="paramname">out_lat</td><td>Out latitude, in degrees. </td></tr>
<tr><td class="paramname">out_lon</td><td>Out longitude, in degrees. </td></tr>
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</dd>
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<p>Referenced by <a class="el" href="conversions_8h_source.html#l00193">mrpt::topography::UTMToGeodetic()</a>.</p>
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<a class="anchor" id="ga85dbdd9df8fd3b6107daeed0de1530c1"></a><!-- doxytag: member="mrpt::topography::UTMToGeodetic" ref="ga85dbdd9df8fd3b6107daeed0de1530c1" args="(const TUTMCoords &UTMCoords, const int &zone, const char &hem, TGeodeticCoords &GeodeticCoords, TEllipsoid ellip=TEllipsoid::Ellipsoid_WGS84())" -->
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<td class="memname">void mrpt::topography::UTMToGeodetic </td>
<td>(</td>
<td class="paramtype">const TUTMCoords & </td>
<td class="paramname"><em>UTMCoords</em>, </td>
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<td class="paramtype">const int & </td>
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<td class="paramtype">const char & </td>
<td class="paramname"><em>hem</em>, </td>
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<td class="paramname"><em>GeodeticCoords</em>, </td>
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<td class="paramtype">TEllipsoid </td>
<td class="paramname"><em>ellip</em> = <code>TEllipsoid::Ellipsoid_WGS84()</code> </td>
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<p>Returns the Geodetic coordinates of the UTM input point. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">UTMCoords,:</td><td>UTM input coordinates. </td></tr>
<tr><td class="paramname">zone,:</td><td>time zone (Spanish: "huso"). </td></tr>
<tr><td class="paramname">hem,:</td><td>hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value. </td></tr>
<tr><td class="paramname">GeodeticCoords,:</td><td>Out geodetic coordinates. </td></tr>
<tr><td class="paramname">ellip,:</td><td>the reference ellipsoid used for the transformation (default: WGS84) </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="conversions_8h_source.html#l00193">193</a> of file <a class="el" href="conversions_8h_source.html">conversions.h</a>.</p>
<p>References <a class="el" href="group__mrpt__topography__grp.html#ga2459558b94a2cb06045d3949f2c30296">mrpt::topography::UTMToGeodetic()</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00293">mrpt::math::TPoint3D::x</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00294">mrpt::math::TPoint3D::y</a>, <a class="el" href="data__types_8h_source.html#l00152">mrpt::topography::TGeodeticCoords::lon</a>, <a class="el" href="data__types_8h_source.html#l00054">mrpt::topography::TCoords::decimal_value</a>, <a class="el" href="data__types_8h_source.html#l00151">mrpt::topography::TGeodeticCoords::lat</a>, <a class="el" href="data__types_8h_source.html#l00153">mrpt::topography::TGeodeticCoords::height</a>, and <a class="el" href="lightweight__geom__data_8h_source.html#l00295">mrpt::math::TPoint3D::z</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
