00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef conversions_H 00029 #define conversions_H 00030 00031 #include <mrpt/utils/utils_defs.h> 00032 00033 namespace mrpt 00034 { 00035 /** This namespace provides topography helper functions, coordinate transformations. 00036 */ 00037 namespace topography 00038 { 00039 00040 /** Coordinates transformation from longitude/latitude/height to X/Y/Z coordinates 00041 * The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D 00042 * relative to some user-provided point, with local X axis being east-ward, Y north-ward, Z up-ward. 00043 * For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid 00044 * \sa coordinatesTransformation_WGS84_geocentric 00045 */ 00046 void MRPTDLLIMPEXP coordinatesTransformation_WGS84( 00047 double in_longitude_degrees, 00048 double in_latitude_degrees, 00049 double in_height_meters, 00050 double &out_x_meters, 00051 double &out_y_meters, 00052 double &out_z_meters, 00053 double in_longitude_reference_degrees, 00054 double in_latitude_reference_degrees, 00055 double in_height_reference_meters 00056 ); 00057 00058 /** Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates. 00059 * The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D 00060 * where the reference is the center of the Earth. 00061 * For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid 00062 * \sa coordinatesTransformation_WGS84 00063 */ 00064 void MRPTDLLIMPEXP coordinatesTransformation_WGS84_geocentric( 00065 double in_longitude_degrees, 00066 double in_latitude_degrees, 00067 double in_height_meters, 00068 double &out_x_meters, 00069 double &out_y_meters, 00070 double &out_z_meters 00071 ); 00072 00073 /** Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. 00074 * This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. 00075 * Example: 00076 \code 00077 Input: 00078 Lat=40.3154333 Lon=-3.4857166 00079 Output: 00080 x = 458731 00081 y = 4462881 00082 utm_zone = 30 00083 utm_band = T 00084 \endcode 00085 \sa http://www.mathworks.com/matlabcentral/fileexchange/10915 00086 */ 00087 void MRPTDLLIMPEXP LatLonToUTM( 00088 double in_latitude_degrees, 00089 double in_longitude_degrees, 00090 double &out_UTM_x, 00091 double &out_UTM_y, 00092 int &out_UTM_zone, 00093 char &out_UTM_latitude_band ); 00094 00095 } // End of namespace 00096 00097 } // End of namespace 00098 00099 #endif
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