Namespace inertialsim::geodesy::geodetic¶

Namespace List > inertialsim > geodesy > geodetic

Public Functions¶

Type	Name
std::pair< Array3D, TransformMatrixArray >	FromEcef (const Vector3D & xyz, const GeodeticDatum & datum=WGS84) Geodetic coordinates from ECEF coordinates.
std::pair< Array3D, TransformMatrixArray >	FromGeodetic (const Array3D & lla) Geodetic coordinates from geodetic coordinates.
Scalar1D	GeocentricRadius (const Scalar1D & latitude, const GeodeticDatum & datum=WGS84) Calculate the geocentric radius of curvature.
Scalar1D	MeridianRadius (const Scalar1D & latitude, const GeodeticDatum & datum=WGS84) Calculate the meridian radius of curvature.
Scalar1D	NormalRadius (const Scalar1D & latitude, const GeodeticDatum & datum=WGS84) Calculate the normal radius of curvature.
Array3D	Validate (const Array3D & lla) Validates inputs meet geodetic coordinate conventions.

Public Functions Documentation¶

function FromEcef¶

Geodetic coordinates from ECEF coordinates.

std::pair< Array3D, TransformMatrixArray > inertialsim::geodesy::geodetic::FromEcef (
    const Vector3D & xyz,
    const GeodeticDatum & datum=WGS84
)

Uses the Vermeille algorithm (Reference [25]) for conversion. This algorithm is accurate for all points outside the evolute (~43km ball around Earth's center).

By convention, geodetic coordinates are specified with a latitude, longitude, altitude tuple. The local basis of these coordinates is a left-handed north-east-up frame. The transform returned is for the right-handed north-east-down (NED) local basis.

Parameters:

xyz Earth-centered, Earth-fixed (ECEF) cartesian coordinates.
datum A datum describing Earth's shape and gravity field.

Returns:

Tuple of (geodetic coordinates, NED-to-ECEF transform matrices).

Exception:

std::invalid_argument if any point is too close to Earth's center.

function FromGeodetic¶

Geodetic coordinates from geodetic coordinates.

std::pair< Array3D, TransformMatrixArray > inertialsim::geodesy::geodetic::FromGeodetic (
    const Array3D & lla
)

Validates the input coordinates and returns identity transforms.

Parameters:

lla Geodetic coordinates (latitude, longitude, altitude).

Returns:

Tuple of (validated lla coordinates, identity transform matrices).

function GeocentricRadius¶

Calculate the geocentric radius of curvature.

Scalar1D inertialsim::geodesy::geodetic::GeocentricRadius (
    const Scalar1D & latitude,
    const GeodeticDatum & datum=WGS84
)

Radius is calculated at the given geodetic latitude.

Parameters:

latitude Geodetic latitude in radians.
datum A datum describing Earth's shape and gravity field.

Returns:

Geocentric radius of curvature (meters).

function MeridianRadius¶

Calculate the meridian radius of curvature.

Scalar1D inertialsim::geodesy::geodetic::MeridianRadius (
    const Scalar1D & latitude,
    const GeodeticDatum & datum=WGS84
)

Radius is calculated at the given geodetic latitude.

Parameters:

latitude Geodetic latitude in radians.
datum A datum describing Earth's shape and gravity field.

Returns:

Meridian radius of curvature (meters).

function NormalRadius¶

Calculate the normal radius of curvature.

Scalar1D inertialsim::geodesy::geodetic::NormalRadius (
    const Scalar1D & latitude,
    const GeodeticDatum & datum=WGS84
)

Radius is calculated at the given geodetic latitude. The normal radius of curvature is also known as the prime vertical radius of curvature.

Parameters:

latitude Geodetic latitude in radians.
datum A datum describing Earth's shape and gravity field.

Returns:

Normal radius of curvature (meters).

function Validate¶

Validates inputs meet geodetic coordinate conventions.

Array3D inertialsim::geodesy::geodetic::Validate (
    const Array3D & lla
)

Inputs are validated for shape, size, and range. The input must be a 3xN matrix where N is the number of coordinate sets. Latitude must be in range [-pi/2, pi/2] (South Pole to North Pole). Longitude must be in range [-pi, 2*pi] and will be wrapped to (-pi, pi].

Parameters:

lla Geodetic coordinates (latitude, longitude, altitude).

Returns:

Validated coordinates with longitude wrapped to (-pi, pi].

Exception:

std::invalid_argument if shape or values are invalid.

The documentation for this class was generated from the following file cpp/include/inertialsim/geodesy/geodetic.h