#include <Gnss.h>

Public Member Functions
	Gnss ()
virtual	~Gnss ()=default
void	setReference (const double &referenceLatitude, const double &referenceLongitude, const double &referenceAltitude, const double &referenceHeading)
void	setMercatorReferenceFrame (const Eigen::Vector3d newReferencePoint)
Eigen::Vector3d	gnssToCartesian (const double &latitudeInDegrees, const double &longitudeInDegrees, const double &altitude)
Eigen::Vector3d	cartesianToGps (const Eigen::Matrix< double, 3, 1 > position) const
Eigen::Vector3d	besselEllipsoidToMercator (const double &latitudeInRad, const double &longitudeInRad, const double &altitude)
Eigen::Vector3d	gnssToLv03Raw (const double latitude_in_degrees, const double longitude_in_degrees, const double altitude)
Eigen::Vector3d	gnssToLv03 (const double latitude_in_degrees, const double longitude_in_degrees, const double altitude)
double	wGStoCHx (double lat, double lng)
double	wGStoCHy (double lat, double lng)
double	decToSexAngle (double dec)
double	sexAngleToSeconds (double dms)
double	getReferenceLongitude () const
double	getReferenceLatitude () const
double	getReferenceAltitude () const
double	getReferenceHeading () const

Protected Member Functions
void	calculateConversionParameters ()

Protected Attributes
double	referenceLongitude_ = 7.43958
	Reference longitude of the GPS measurements [deg].
double	referenceLatitude_ = 46.95241
	Reference latitude of the GPS measurements [deg].
double	referenceAltitude_ = 0.0
	Reference altitude of the GPS measurements [m].
double	referenceHeading_ = 0.0
	Reference heading for the GPS measurements [rad].
Eigen::Vector3d	referencePointLv03_ = Eigen::Vector3d::Zero()
double	earthRadiusN_ = 0.0
double	earthRadiusE_ = 0.0
const double	equatorialRadius_ = 6378137.0
const double	flattening_ = 1.0 / 298.257223563
const double	excentricity2_ = 2 * flattening_ - flattening_ * flattening_
const double	a_ = 6377397.155
const double	e2_ = 0.006674372230614
const double	phi0_ = 46.95241 * M_PI / 180.0
const double	lambda0_ = 7.43958 * M_PI / 180.0
const double	r_ = a_ * sqrt(1 - e2_) / (1 - e2_ * sin(phi0_) * sin(phi0_))
const double	alpha_ = sqrt(1 + e2_ / (1 - e2_) * pow(cos(phi0_), 4))
const double	b0_ = asin(sin(phi0_) / alpha_)
const double	k_
Eigen::Vector3d	xyzOffset_ = Eigen::Vector3d::Zero()

Detailed Description

Definition at line 17 of file Gnss.h.

Constructor & Destructor Documentation

◆ Gnss()

holistic_fusion::Gnss::Gnss ( )

Definition at line 12 of file Gnss.cpp.

◆ ~Gnss()

virtual holistic_fusion::Gnss::~Gnss ( )

virtualdefault

Member Function Documentation

◆ besselEllipsoidToMercator()

Eigen::Vector3d holistic_fusion::Gnss::besselEllipsoidToMercator	(	const double &	latitudeInRad,
		const double &	longitudeInRad,
		const double &	altitude )

Definition at line 72 of file Gnss.cpp.

◆ calculateConversionParameters()

void holistic_fusion::Gnss::calculateConversionParameters ( )

protected

Definition at line 16 of file Gnss.cpp.

◆ cartesianToGps()

Eigen::Vector3d holistic_fusion::Gnss::cartesianToGps ( const Eigen::Matrix< double, 3, 1 > position ) const

Definition at line 61 of file Gnss.cpp.

◆ decToSexAngle()

double holistic_fusion::Gnss::decToSexAngle ( double dec )

Definition at line 133 of file Gnss.cpp.

◆ getReferenceAltitude()

double holistic_fusion::Gnss::getReferenceAltitude ( ) const

inline

Definition at line 43 of file Gnss.h.

◆ getReferenceHeading()

double holistic_fusion::Gnss::getReferenceHeading ( ) const

inline

Definition at line 44 of file Gnss.h.

◆ getReferenceLatitude()

double holistic_fusion::Gnss::getReferenceLatitude ( ) const

inline

Definition at line 42 of file Gnss.h.

◆ getReferenceLongitude()

double holistic_fusion::Gnss::getReferenceLongitude ( ) const

inline

Definition at line 41 of file Gnss.h.

◆ gnssToCartesian()

Eigen::Vector3d holistic_fusion::Gnss::gnssToCartesian	(	const double &	latitudeInDegrees,
		const double &	longitudeInDegrees,
		const double &	altitude )

Definition at line 45 of file Gnss.cpp.

◆ gnssToLv03()

Eigen::Vector3d holistic_fusion::Gnss::gnssToLv03	(	const double	latitude_in_degrees,
		const double	longitude_in_degrees,
		const double	altitude )

Definition at line 92 of file Gnss.cpp.

◆ gnssToLv03Raw()

Eigen::Vector3d holistic_fusion::Gnss::gnssToLv03Raw	(	const double	latitude_in_degrees,
		const double	longitude_in_degrees,
		const double	altitude )

Definition at line 102 of file Gnss.cpp.

◆ setMercatorReferenceFrame()

void holistic_fusion::Gnss::setMercatorReferenceFrame ( const Eigen::Vector3d newReferencePoint )

Definition at line 39 of file Gnss.cpp.

◆ setReference()

void holistic_fusion::Gnss::setReference	(	const double &	referenceLatitude,
		const double &	referenceLongitude,
		const double &	referenceAltitude,
		const double &	referenceHeading )

Definition at line 24 of file Gnss.cpp.

◆ sexAngleToSeconds()

double holistic_fusion::Gnss::sexAngleToSeconds ( double dms )

Definition at line 140 of file Gnss.cpp.

◆ wGStoCHx()

double holistic_fusion::Gnss::wGStoCHx	(	double	lat,
		double	lng )

Definition at line 108 of file Gnss.cpp.

◆ wGStoCHy()

double holistic_fusion::Gnss::wGStoCHy	(	double	lat,
		double	lng )

Definition at line 121 of file Gnss.cpp.

Member Data Documentation

◆ a_

const double holistic_fusion::Gnss::a_ = 6377397.155

protected

Definition at line 77 of file Gnss.h.

◆ alpha_

const double holistic_fusion::Gnss::alpha_ = sqrt(1 + e2_ / (1 - e2_) * pow(cos(phi0_), 4))

protected

Definition at line 87 of file Gnss.h.

◆ b0_

const double holistic_fusion::Gnss::b0_ = asin(sin(phi0_) / alpha_)

protected

Definition at line 89 of file Gnss.h.

◆ e2_

const double holistic_fusion::Gnss::e2_ = 0.006674372230614

protected

Definition at line 79 of file Gnss.h.

◆ earthRadiusE_

double holistic_fusion::Gnss::earthRadiusE_ = 0.0

protected

Definition at line 66 of file Gnss.h.

◆ earthRadiusN_

double holistic_fusion::Gnss::earthRadiusN_ = 0.0

protected

Definition at line 65 of file Gnss.h.

◆ equatorialRadius_

const double holistic_fusion::Gnss::equatorialRadius_ = 6378137.0

protected

Definition at line 69 of file Gnss.h.

◆ excentricity2_

const double holistic_fusion::Gnss::excentricity2_ = 2 * flattening_ - flattening_ * flattening_

protected

Definition at line 72 of file Gnss.h.

◆ flattening_

const double holistic_fusion::Gnss::flattening_ = 1.0 / 298.257223563

protected

Definition at line 70 of file Gnss.h.

◆ k_

const double holistic_fusion::Gnss::k_

protected

Initial value:

= log(tan(M_PI_4 + b0_ / 2.0)) - alpha_ * log(tan(M_PI_4 + phi0_ / 2.0)) +

alpha_ * sqrt(e2_) / 2.0 * log((1 + sqrt(e2_) * sin(phi0_)) / (1 - sqrt(e2_) * sin(phi0_)))

holistic_fusion::Gnss::alpha_

const double alpha_

Definition Gnss.h:87

holistic_fusion::Gnss::b0_

const double b0_

Definition Gnss.h:89

holistic_fusion::Gnss::e2_

const double e2_

Definition Gnss.h:79

holistic_fusion::Gnss::phi0_

const double phi0_

Definition Gnss.h:81

Definition at line 91 of file Gnss.h.

◆ lambda0_

const double holistic_fusion::Gnss::lambda0_ = 7.43958 * M_PI / 180.0

protected

Definition at line 83 of file Gnss.h.

◆ phi0_

const double holistic_fusion::Gnss::phi0_ = 46.95241 * M_PI / 180.0

protected

Definition at line 81 of file Gnss.h.

◆ r_

const double holistic_fusion::Gnss::r_ = a_ * sqrt(1 - e2_) / (1 - e2_ * sin(phi0_) * sin(phi0_))

protected

Definition at line 85 of file Gnss.h.

◆ referenceAltitude_

double holistic_fusion::Gnss::referenceAltitude_ = 0.0

protected

Reference altitude of the GPS measurements [m].

Definition at line 56 of file Gnss.h.

◆ referenceHeading_

double holistic_fusion::Gnss::referenceHeading_ = 0.0

protected

Reference heading for the GPS measurements [rad].

Definition at line 59 of file Gnss.h.

◆ referenceLatitude_

double holistic_fusion::Gnss::referenceLatitude_ = 46.95241

protected

Reference latitude of the GPS measurements [deg].

Definition at line 53 of file Gnss.h.

◆ referenceLongitude_

double holistic_fusion::Gnss::referenceLongitude_ = 7.43958

protected

Reference longitude of the GPS measurements [deg].

Definition at line 50 of file Gnss.h.

◆ referencePointLv03_

Eigen::Vector3d holistic_fusion::Gnss::referencePointLv03_ = Eigen::Vector3d::Zero()

protected

Definition at line 62 of file Gnss.h.

◆ xyzOffset_

Eigen::Vector3d holistic_fusion::Gnss::xyzOffset_ = Eigen::Vector3d::Zero()

protected

Definition at line 94 of file Gnss.h.

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

holistic_fusion/include/holistic_fusion/gnss/Gnss.h
holistic_fusion/src/lib/Gnss.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Gnss()

◆ ~Gnss()

Member Function Documentation

◆ besselEllipsoidToMercator()

◆ calculateConversionParameters()

◆ cartesianToGps()

◆ decToSexAngle()

◆ getReferenceAltitude()

◆ getReferenceHeading()

◆ getReferenceLatitude()

◆ getReferenceLongitude()

◆ gnssToCartesian()

◆ gnssToLv03()

◆ gnssToLv03Raw()

◆ setMercatorReferenceFrame()

◆ setReference()

◆ sexAngleToSeconds()

◆ wGStoCHx()

◆ wGStoCHy()

Member Data Documentation

◆ a_

◆ alpha_

◆ b0_

◆ e2_

◆ earthRadiusE_

◆ earthRadiusN_

◆ equatorialRadius_

◆ excentricity2_

◆ flattening_

◆ k_

◆ lambda0_

◆ phi0_

◆ r_

◆ referenceAltitude_

◆ referenceHeading_

◆ referenceLatitude_

◆ referenceLongitude_

◆ referencePointLv03_

◆ xyzOffset_