mavsdk::geometry::CoordinateTransformation Class Reference

#include: geometry.h

This is a utility class for coordinate transformations.

The projections used to transform from global (lat/lon) to local (meter) coordinates are taken from: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html and inspired by the implementations in: https://github.com/PX4/ecl/blob/master/geo/geo.cpp

Data Structures

struct GlobalCoordinate

struct LocalCoordinate

Public Member Functions

Constructor & Destructor Documentation

CoordinateTransformation()

mavsdk::geometry::CoordinateTransformation::CoordinateTransformation()=delete

Default constructor not available.

CoordinateTransformation()

mavsdk::geometry::CoordinateTransformation::CoordinateTransformation(GlobalCoordinate reference)

Constructor to initialize projection reference.

Parameters

• GlobalCoordinate reference - Reference coordinate to project from.

~CoordinateTransformation()

mavsdk::geometry::CoordinateTransformation::~CoordinateTransformation()=default

Destructor.

Member Function Documentation

local_from_global()

LocalCoordinate mavsdk::geometry::CoordinateTransformation::local_from_global(GlobalCoordinate global_coordinate) const

Calculate local coordinates from global coordinates.

Parameters

• GlobalCoordinate global_coordinate - The global coordinate to project from.

Returns

 LocalCoordinate -

global_from_local()

GlobalCoordinate mavsdk::geometry::CoordinateTransformation::global_from_local(LocalCoordinate local_coordinate) const

Calculate global coordinates from local coordinates.

Parameters

• LocalCoordinate local_coordinate - The local coordinate to project from.

Returns

 GlobalCoordinate -