mrpt::topography Namespace Reference

This namespace provides topography helper functions, coordinate transformations. More...

Classes
struct	TCoords
struct	TEllipsoid
struct	TGeodeticCoords
	A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically, WGS84). More...
struct	TDatum7Params
	Parameters for a topographic transfomation. More...
struct	TDatum7Params_TOPCON
struct	TDatum10Params
	Parameters for a topographic transfomation. More...
struct	TDatumHelmert2D
	Parameters for a topographic transfomation. More...
struct	TDatumHelmert2D_TOPCON
struct	TDatumHelmert3D
	Parameters for a topographic transfomation. More...
struct	TDatumHelmert3D_TOPCON
	Parameters for a topographic transfomation. More...
struct	TDatum1DTransf
	Parameters for a topographic transfomation. More...
struct	TDatumTransfInterpolation
	Parameters for a topographic transfomation. More...
struct	TPathFromRTKInfo
	Used to return optional information from mrpt::topography::path_from_rtk_gps. More...
Functions
void TOPO_IMPEXP	path_from_rtk_gps (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)
	Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
Topography coordinate conversion functions
======================================================================= =======================================================================
void TOPO_IMPEXP	geodeticToENU_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPoint3D &out_ENU_point, const TGeodeticCoords &in_coords_origin)
	Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation.
void TOPO_IMPEXP	geodeticToGeocentric_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPoint3D &out_point)
	Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).
void TOPO_IMPEXP	geodeticToGeocentric (const TGeodeticCoords &in_coords, TGeocentricCoords &out_point, const TEllipsoid &ellip)
	Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid).
void TOPO_IMPEXP	geocentricToGeodetic (const TGeocentricCoords &in_point, TGeodeticCoords &out_coords, const TEllipsoid &ellip=Ellipsoid_WGS84())
	Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.
void TOPO_IMPEXP	transform7params (const mrpt::math::TPoint3D &in_point, const TDatum7Params &in_datum, mrpt::math::TPoint3D &out_point)
	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
void TOPO_IMPEXP	transform7params_TOPCON (const mrpt::math::TPoint3D &in_point, const TDatum7Params_TOPCON &in_datum, mrpt::math::TPoint3D &out_point)
void TOPO_IMPEXP	transform10params (const mrpt::math::TPoint3D &in_point, const TDatum10Params &in_datum, mrpt::math::TPoint3D &out_point)
	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]
void TOPO_IMPEXP	transformHelmert2D (const mrpt::math::TPoint2D &p, const TDatumHelmert2D &d, mrpt::math::TPoint2D &o)
	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].
void TOPO_IMPEXP	transformHelmert2D_TOPCON (const mrpt::math::TPoint2D &p, const TDatumHelmert2D_TOPCON &d, mrpt::math::TPoint2D &o)
void TOPO_IMPEXP	transformHelmert3D (const mrpt::math::TPoint3D &p, const TDatumHelmert3D &d, mrpt::math::TPoint3D &o)
	Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local.
void TOPO_IMPEXP	transformHelmert3D_TOPCON (const mrpt::math::TPoint3D &p, const TDatumHelmert3D_TOPCON &d, mrpt::math::TPoint3D &o)
void TOPO_IMPEXP	transform1D (const mrpt::math::TPoint3D &p, const TDatum1DTransf &d, mrpt::math::TPoint3D &o)
	1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ
void TOPO_IMPEXP	transfInterpolation (const mrpt::math::TPoint3D &p, const TDatumTransfInterpolation &d, mrpt::math::TPoint3D &o)
	Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ.
void TOPO_IMPEXP	UTMToGeodetic (double X, double Y, int zone, char hem, double &out_lon, double &out_lat, TEllipsoid ellip=Ellipsoid_WGS84())
	Returns the Geodetic coordinates of the UTM input point.
void TOPO_IMPEXP	UTMToGeodetic (const TUTMCoords &UTMCoords, const int &zone, const char &hem, TGeodeticCoords &GeodeticCoords, TEllipsoid ellip=Ellipsoid_WGS84())
	Returns the Geodetic coordinates of the UTM input point.
void TOPO_IMPEXP	GeodeticToUTM (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=Ellipsoid_WGS84())
	Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.
void TOPO_IMPEXP	geodeticToUTM (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, TEllipsoid ellip=Ellipsoid_WGS84())
void TOPO_IMPEXP	GeodeticToUTM (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, TEllipsoid ellip=Ellipsoid_WGS84())
	Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.
DEPRECATED topography coordinate conversion functions
======================================================================= =======================================================================
	MRPT_DECLARE_DEPRECATED_FUNCTION ("DEPRECATED Use geodeticToENU_WGS84 instead", void TOPO_IMPEXP coordinatesTransformation_WGS84(doublein_longitude_degrees, doublein_latitude_degrees, doublein_height_meters, double &out_x_meters, double &out_y_meters, double &out_z_meters, doublein_longitude_reference_degrees, doublein_latitude_reference_degrees, doublein_height_reference_meters))
	Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation.
	MRPT_DECLARE_DEPRECATED_FUNCTION ("DEPRECATED Use geodeticToENU_WGS84 instead", void TOPO_IMPEXP coordinatesTransformation_WGS84_geocentric(doublein_longitude_degrees, doublein_latitude_degrees, doublein_height_meters, double &out_x_meters, double &out_y_meters, double &out_z_meters))
	Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).
Miscellaneous
======================================================================= =======================================================================
void TOPO_IMPEXP	ENU_axes_from_WGS84 (double in_longitude_reference_degrees, double in_latitude_reference_degrees, double in_height_reference_meters, mrpt::math::TPose3D &out_ENU, bool only_angles=false)
	Returns the East-North-Up (ENU) coordinate system associated to the given point.
void	ENU_axes_from_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPose3D &out_ENU, bool only_angles=false)
	Returns the East-North-Up (ENU) coordinate system associated to the given point.
Data structures
=======================================================================
typedef mrpt::math::TPoint3D	TUTMCoords
typedef mrpt::math::TPoint3D	TGeocentricCoords
std::ostream &	operator<< (std::ostream &out, const TCoords &o)
TEllipsoid	Ellipsoid_WGS84 ()
TEllipsoid	Ellipsoid_WGS72 ()
TEllipsoid	Ellipsoid_WGS66 ()
TEllipsoid	Ellipsoid_Walbeck_1817 ()
TEllipsoid	Ellipsoid_Sudamericano_1969 ()
TEllipsoid	Ellipsoid_Nuevo_Internacional_1967 ()
TEllipsoid	Ellipsoid_Mercury_Modificado_1968 ()
TEllipsoid	Ellipsoid_Mercury_1960 ()
TEllipsoid	Ellipsoid_Krasovsky_1940 ()
TEllipsoid	Ellipsoid_Internacional_1924 ()
TEllipsoid	Ellipsoid_Internacional_1909 ()
TEllipsoid	Ellipsoid_Hough_1960 ()
TEllipsoid	Ellipsoid_Helmert_1906 ()
TEllipsoid	Ellipsoid_Hayford_1909 ()
TEllipsoid	Ellipsoid_GRS80 ()
TEllipsoid	Ellipsoid_Fischer_1968 ()
TEllipsoid	Ellipsoid_Fischer_1960 ()
TEllipsoid	Ellipsoid_Clarke_1880 ()
TEllipsoid	Ellipsoid_Clarke_1866 ()
TEllipsoid	Ellipsoid_Bessel_1841 ()
TEllipsoid	Ellipsoid_Airy_Modificado_1965 ()
TEllipsoid	Ellipsoid_Airy_1830 ()

Detailed Description

This namespace provides topography helper functions, coordinate transformations.

Typedef Documentation

typedef mrpt::math::TPoint3D mrpt::topography::TGeocentricCoords

Definition at line 118 of file conversions.h.

typedef mrpt::math::TPoint3D mrpt::topography::TUTMCoords

Definition at line 117 of file conversions.h.

Function Documentation

TEllipsoid mrpt::topography::Ellipsoid_Airy_1830 ( ) [inline]

Definition at line 115 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Airy_Modificado_1965 ( ) [inline]

Definition at line 114 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Bessel_1841 ( ) [inline]

Definition at line 113 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Clarke_1866 ( ) [inline]

Definition at line 112 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Clarke_1880 ( ) [inline]

Definition at line 111 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Fischer_1960 ( ) [inline]

Definition at line 110 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Fischer_1968 ( ) [inline]

Definition at line 109 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_GRS80 ( ) [inline]

Definition at line 108 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Hayford_1909 ( ) [inline]

Definition at line 107 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Helmert_1906 ( ) [inline]

Definition at line 106 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Hough_1960 ( ) [inline]

Definition at line 105 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Internacional_1909 ( ) [inline]

Definition at line 104 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Internacional_1924 ( ) [inline]

Definition at line 103 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Krasovsky_1940 ( ) [inline]

Definition at line 102 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Mercury_1960 ( ) [inline]

Definition at line 101 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Mercury_Modificado_1968 ( ) [inline]

Definition at line 100 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Nuevo_Internacional_1967 ( ) [inline]

Definition at line 99 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Sudamericano_1969 ( ) [inline]

Definition at line 98 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_Walbeck_1817 ( ) [inline]

Definition at line 97 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_WGS66 ( ) [inline]

Definition at line 96 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_WGS72 ( ) [inline]

Definition at line 95 of file conversions.h.

TEllipsoid mrpt::topography::Ellipsoid_WGS84 ( ) [inline]

Definition at line 94 of file conversions.h.

void mrpt::topography::ENU_axes_from_WGS84	(	const TGeodeticCoords &	in_coords,
		mrpt::math::TPose3D &	out_ENU,
		bool	only_angles = `false`
	)			`[inline]`

Returns the East-North-Up (ENU) coordinate system associated to the given point.

This is the reference employed in coordinatesTransformation_WGS84

Parameters:

only_angles

If set to true, the (x,y,z) fields will be left zeroed.

See also:: geodeticToENU_WGS84

Definition at line 575 of file conversions.h.

References ENU_axes_from_WGS84(), mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, and mrpt::topography::TGeodeticCoords::lon.

void TOPO_IMPEXP mrpt::topography::ENU_axes_from_WGS84	(	double	in_longitude_reference_degrees,
		double	in_latitude_reference_degrees,
		double	in_height_reference_meters,
		mrpt::math::TPose3D &	out_ENU,
		bool	only_angles = `false`
	)

Returns the East-North-Up (ENU) coordinate system associated to the given point.

This is the reference employed in geodeticToENU_WGS84

Parameters:

only_angles

If set to true, the (x,y,z) fields will be left zeroed.

See also:: geodeticToENU_WGS84

Referenced by ENU_axes_from_WGS84().

void TOPO_IMPEXP mrpt::topography::geocentricToGeodetic	(	const TGeocentricCoords &	in_point,
		TGeodeticCoords &	out_coords,
		const TEllipsoid &	ellip = `Ellipsoid_WGS84()`
	)

Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.

See also:: geodeticToGeocentric

void TOPO_IMPEXP mrpt::topography::geodeticToENU_WGS84	(	const TGeodeticCoords &	in_coords,
		mrpt::math::TPoint3D &	out_ENU_point,
		const TGeodeticCoords &	in_coords_origin
	)

Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation.

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 http://en.wikipedia.org/wiki/Reference_ellipsoid

See also:: coordinatesTransformation_WGS84_geocentric, ENU_axes_from_WGS84

void TOPO_IMPEXP mrpt::topography::geodeticToGeocentric	(	const TGeodeticCoords &	in_coords,
		TGeocentricCoords &	out_point,
		const TEllipsoid &	ellip
	)

Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid).

See also:: geocentricToGeodetic

void TOPO_IMPEXP mrpt::topography::geodeticToGeocentric_WGS84	(	const TGeodeticCoords &	in_coords,
		mrpt::math::TPoint3D &	out_point
	)

Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).

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 http://en.wikipedia.org/wiki/Reference_ellipsoid

See also:: geodeticToENU_WGS84

void TOPO_IMPEXP mrpt::topography::GeodeticToUTM	(	const TGeodeticCoords &	GeodeticCoords,
		TUTMCoords &	UTMCoords,
		int &	UTMZone,
		char &	UTMLatitudeBand,
		TEllipsoid	ellip = `Ellipsoid_WGS84()`
	)			`[inline]`

Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.

This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. Example:

   Input:
    Lat=40.3154333    Lon=-3.4857166
   Output:
    x = 458731
    y = 4462881
    utm_zone = 30
    utm_band = T

See also:: http://www.mathworks.com/matlabcentral/fileexchange/10915

Definition at line 493 of file conversions.h.

References GeodeticToUTM(), mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void TOPO_IMPEXP mrpt::topography::geodeticToUTM	(	const TGeodeticCoords &	GeodeticCoords,
		TUTMCoords &	UTMCoords,
		int &	UTMZone,
		char &	UTMLatitudeBand,
		TEllipsoid	ellip = `Ellipsoid_WGS84()`
	)

void TOPO_IMPEXP mrpt::topography::GeodeticToUTM	(	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 = `Ellipsoid_WGS84()`
	)

Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.

This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. Example:

   Input:
    Lat=40.3154333    Lon=-3.4857166
   Output:
    x = 458731
    y = 4462881
    utm_zone = 30
    utm_band = T

See also:: http://www.mathworks.com/matlabcentral/fileexchange/10915

Referenced by GeodeticToUTM().

mrpt::topography::MRPT_DECLARE_DEPRECATED_FUNCTION	(	"DEPRECATED Use geodeticToENU_WGS84 instead"	,
		void TOPO_IMPEXP	coordinatesTransformation_WGS84_geocentricdoublein_longitude_degrees, doublein_latitude_degrees, doublein_height_meters, double &out_x_meters, double &out_y_meters, double &out_z_meters
	)

Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).

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 http://en.wikipedia.org/wiki/Reference_ellipsoid

See also:: geodeticToENU_WGS84

mrpt::topography::MRPT_DECLARE_DEPRECATED_FUNCTION	(	"DEPRECATED Use geodeticToENU_WGS84 instead"	,
		void TOPO_IMPEXP	coordinatesTransformation_WGS84doublein_longitude_degrees, doublein_latitude_degrees, doublein_height_meters, double &out_x_meters, double &out_y_meters, double &out_z_meters, doublein_longitude_reference_degrees, doublein_latitude_reference_degrees, doublein_height_reference_meters
	)

Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation.

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 http://en.wikipedia.org/wiki/Reference_ellipsoid

See also:: coordinatesTransformation_WGS84_geocentric, ENU_axes_from_WGS84

std::ostream& mrpt::topography::operator<<	(	std::ostream &	out,
		const TCoords &	o
	)			`[inline]`

Definition at line 78 of file conversions.h.

References mrpt::topography::TCoords::degrees, mrpt::topography::TCoords::minutes, and mrpt::topography::TCoords::seconds.

void TOPO_IMPEXP mrpt::topography::path_from_rtk_gps	(	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`
	)

Reconstruct the path of a vehicle equipped with 3 RTK GPSs.

Parameters:

	robot_path	[OUT] The reconstructed vehicle path
	rawlog	[IN] The dataset
	rawlog_first	[IN] The index of the first entry to process (first=0)
	rawlog_last	[IN] The index of the last entry to process
	isGUI	[IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets).
	disableGPSInterp	[IN] Whether to interpolate missing GPS readings between very close datums.
	path_smooth_filter_size	[IN] Size of the window in the pitch & roll noise filtering.
	outInfo	[OUT] Optional output: additional information from the optimization

For more details on the method, refer to the paper: (...)

See also:: mrpt::topography

void TOPO_IMPEXP mrpt::topography::transfInterpolation	(	const mrpt::math::TPoint3D &	p,
		const TDatumTransfInterpolation &	d,
		mrpt::math::TPoint3D &	o
	)

Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ.

void TOPO_IMPEXP mrpt::topography::transform10params	(	const mrpt::math::TPoint3D &	in_point,
		const TDatum10Params &	in_datum,
		mrpt::math::TPoint3D &	out_point
	)

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]

See also:: transform7params

void TOPO_IMPEXP mrpt::topography::transform1D	(	const mrpt::math::TPoint3D &	p,
		const TDatum1DTransf &	d,
		mrpt::math::TPoint3D &	o
	)

1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ

void TOPO_IMPEXP mrpt::topography::transform7params	(	const mrpt::math::TPoint3D &	in_point,
		const TDatum7Params &	in_datum,
		mrpt::math::TPoint3D &	out_point
	)

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

See also:: transform10params

void TOPO_IMPEXP mrpt::topography::transform7params_TOPCON	(	const mrpt::math::TPoint3D &	in_point,
		const TDatum7Params_TOPCON &	in_datum,
		mrpt::math::TPoint3D &	out_point
	)

void TOPO_IMPEXP mrpt::topography::transformHelmert2D	(	const mrpt::math::TPoint2D &	p,
		const TDatumHelmert2D &	d,
		mrpt::math::TPoint2D &	o
	)

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].

See also:: transformHelmert3D

void TOPO_IMPEXP mrpt::topography::transformHelmert2D_TOPCON	(	const mrpt::math::TPoint2D &	p,
		const TDatumHelmert2D_TOPCON &	d,
		mrpt::math::TPoint2D &	o
	)

void TOPO_IMPEXP mrpt::topography::transformHelmert3D	(	const mrpt::math::TPoint3D &	p,
		const TDatumHelmert3D &	d,
		mrpt::math::TPoint3D &	o
	)

Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local.

See also:: transformHelmert2D

void TOPO_IMPEXP mrpt::topography::transformHelmert3D_TOPCON	(	const mrpt::math::TPoint3D &	p,
		const TDatumHelmert3D_TOPCON &	d,
		mrpt::math::TPoint3D &	o
	)

void TOPO_IMPEXP mrpt::topography::UTMToGeodetic	(	const TUTMCoords &	UTMCoords,
		const int &	zone,
		const char &	hem,
		TGeodeticCoords &	GeodeticCoords,
		TEllipsoid	ellip = `Ellipsoid_WGS84()`
	)			`[inline]`

Returns the Geodetic coordinates of the UTM input point.

Parameters:

	UTMCoords,:	UTM input coordinates.
	zone,:	time zone (Spanish: "huso").
	hem,:	hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
	GeodeticCoords,:	Out geodetic coordinates.
	ellip,:	the reference ellipsoid used for the transformation (default: WGS84)

Definition at line 437 of file conversions.h.

References mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, UTMToGeodetic(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void TOPO_IMPEXP mrpt::topography::UTMToGeodetic	(	double	X,
		double	Y,
		int	zone,
		char	hem,
		double &	out_lon,
		double &	out_lat,
		TEllipsoid	ellip = `Ellipsoid_WGS84()`
	)

Returns the Geodetic coordinates of the UTM input point.

Parameters:

	X,:	East coordinate of the input point.
	Y,:	North coordinate of the input point.
	zone,:	time zone (Spanish: "huso").
	hem,:	hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
	ellip,:	the reference ellipsoid used for the transformation (default: WGS84)
	out_lat	Out latitude, in degrees.
	out_lon	Out longitude, in degrees.

Referenced by UTMToGeodetic().

mrpt::topography Namespace Reference

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