Utils::CoordinateConversions Class Reference

#include <coordinateconversions.h>

Public Member Functions
	CoordinateConversions ()
int	NED2LLA_HomeECEF (double BaseECEF[3], double NED[3], double LLA[3])
int	NED2LLA_HomeLLA (double homeLLA[3], double NED[3], double LLA[3])
void	LLA2Rne (double LLA[3], double Rne[3][3])
void	LLA2ECEF (double LLA[3], double ECEF[3])
int	ECEF2LLA (double ECEF[3], double LLA[3])
void	LLA2NED_HomeECEF (double LLA[3], double homeECEF[3], double Rne[3][3], double NED[3])
void	LLA2NED_HomeLLA (double LLA[3], double homeLLA[3], double NED[3])
void	Quaternion2RPY (const float q[4], float rpy[3])
void	RPY2Quaternion (const float rpy[3], float q[4])
void	Quaternion2R (const float q[4], float Rbe[3][3])
void	R2Quaternion (float const Rbe[3][3], float q[4])

Detailed Description

Definition at line 36 of file coordinateconversions.h.

Constructor & Destructor Documentation

Utils::CoordinateConversions::CoordinateConversions

(

)

Definition at line 42 of file coordinateconversions.cpp.

Member Function Documentation

int Utils::CoordinateConversions::ECEF2LLA	(	double	ECEF[3],
		double	LLA[3]
	)

Convert from ECEF coordinates to LLA coordinates, using WGS84 ellipsoid

Parameters

[in]	ECEF[3]	location in ECEF coordinates
[out]	LLA[3]	latitude longitude alititude coordinates

Definition at line 93 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::LLA2ECEF	(	double	LLA[3],
		double	ECEF[3]
	)

Convert from LLA coordinates to ECEF coordinates, using WGS84 ellipsoid

Parameters

[in]	LLA[3]	latitude longitude alititude coordinates in
[out]	ECEF[3]	location in ECEF coordinates

Definition at line 70 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::LLA2NED_HomeECEF	(	double	LLA[3],
		double	BaseECEF[3],
		double	Rne[3][3],
		double	NED[3]
	)

Get the current location in NED

Parameters

[in]	LLA	the latitude, longitude, and altitude (in [m]) of the current location
[in]	BaseECEF	ECEF of the home location in meters
[in]	Rne[3][3]	Rotation matrix
[out]	NED	the offset from the home location (in [m])

Returns

• 0 success
• -1 for failure

Definition at line 188 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::LLA2NED_HomeLLA	(	double	LLA[3],
		double	homeLLA[3],
		double	NED[3]
	)

Get the current location in NED

Parameters

[in]	LLA	the latitude, longitude, and altitude (in [m]) of the current location, referenced to WGS84
[in]	homeLLA	latitude, longitude, and altitude (in [m]) of the home location, referenced to WGS84
[out]	NED	the offset from the home location (in [m])

Returns

• 0 success
• -1 for failure

Definition at line 213 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::LLA2Rne	(	double	LLA[3],
		double	Rne[3][3]
	)

Get rotation matrix from ECEF to NED for that LLA

Parameters

[in]	LLA	Longitude latitude altitude for this location
[out]	Rne[3][3]	Rotation matrix

Definition at line 52 of file coordinateconversions.cpp.

int Utils::CoordinateConversions::NED2LLA_HomeECEF	(	double	BaseECEF[3],
		double	NED[3],
		double	LLA[3]
	)

Get the current location in Longitude, Latitude Altitude (above WSG-84 ellipsoid)

Parameters

[in]	BaseECEF	ECEF of the home location in meters
[in]	NED	the offset from the home location (in m)
[out]	position	three element double for position in decimal degrees and altitude in meters

Returns

• 0 success
• -1 for failure

Definition at line 134 of file coordinateconversions.cpp.

int Utils::CoordinateConversions::NED2LLA_HomeLLA	(	double	homeLLA[3],
		double	NED[3],
		double	LLA[3]
	)

Get the current location in Longitude, Latitude, Altitude (above WSG-84 ellipsoid)

Parameters

[in]	homeLLA	the latitude, longitude, and altitude (in [m]) of the home location
[in]	NED	the offset from the home location (in [m])
[out]	position	three element double for position in decimal degrees and altitude in meters

Returns

• 0 success
• -1 for failure

Definition at line 163 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::Quaternion2R	(	const float	q[4],
		float	Rbe[3][3]
	)

Definition at line 285 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::Quaternion2RPY	(	const float	q[4],
		float	rpy[3]
	)

Definition at line 234 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::R2Quaternion	(	float const	Rbe[3][3],
		float	q[4]
	)

Definition at line 302 of file coordinateconversions.cpp.

void Utils::CoordinateConversions::RPY2Quaternion	(	const float	rpy[3],
		float	q[4]
	)

Definition at line 256 of file coordinateconversions.cpp.

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

• ground/gcs/src/libs/utils/coordinateconversions.h
• ground/gcs/src/libs/utils/coordinateconversions.cpp