92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _GAZEBO_SPHERICALCOORDINATES_PRIVATE_HH_
|
||
|
|
#define _GAZEBO_SPHERICALCOORDINATES_PRIVATE_HH_
|
||
|
|
|
||
|
|
#include <ignition/math/Angle.hh>
|
||
|
|
#include <ignition/math/Matrix3.hh>
|
||
|
|
#include <ignition/math/Vector3.hh>
|
||
|
|
|
||
|
|
#include "gazebo/common/SphericalCoordinates.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace common
|
||
|
|
{
|
||
|
|
class SphericalCoordinates;
|
||
|
|
|
||
|
|
/// \addtogroup gazebo_common
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \class SphericalCoordinatesPrivate SphericalCoordinatesPrivate.hh
|
||
|
|
/// commmon/common.hh
|
||
|
|
/// \brief Private data for the SphericalCoordinates class.
|
||
|
|
class GZ_COMMON_VISIBLE SphericalCoordinatesPrivate
|
||
|
|
{
|
||
|
|
/// \brief Type of surface being used.
|
||
|
|
public: SphericalCoordinates::SurfaceType surfaceType;
|
||
|
|
|
||
|
|
/// \brief Latitude of reference point.
|
||
|
|
public: ignition::math::Angle latitudeReference;
|
||
|
|
|
||
|
|
/// \brief Longitude of reference point.
|
||
|
|
public: ignition::math::Angle longitudeReference;
|
||
|
|
|
||
|
|
/// \brief Elevation of reference point relative to sea level in meters.
|
||
|
|
public: double elevationReference;
|
||
|
|
|
||
|
|
/// \brief Heading offset, expressed as angle from East to
|
||
|
|
/// gazebo x-axis, or equivalently from North to gazebo y-axis.
|
||
|
|
public: ignition::math::Angle headingOffset;
|
||
|
|
|
||
|
|
/// \brief Semi-major axis ellipse parameter
|
||
|
|
public: double ellA;
|
||
|
|
|
||
|
|
/// \brief Semi-minor axis ellipse parameter
|
||
|
|
public: double ellB;
|
||
|
|
|
||
|
|
/// \brief Flattening ellipse parameter
|
||
|
|
public: double ellF;
|
||
|
|
|
||
|
|
/// \brief First eccentricity ellipse parameter
|
||
|
|
public: double ellE;
|
||
|
|
|
||
|
|
/// \brief Second eccentricity ellipse parameter
|
||
|
|
public: double ellP;
|
||
|
|
|
||
|
|
/// \brief Rotation matrix that moves ECEF to GLOBAL
|
||
|
|
public: ignition::math::Matrix3d rotECEFToGlobal;
|
||
|
|
|
||
|
|
/// \brief Rotation matrix that moves GLOBAL to ECEF
|
||
|
|
public: ignition::math::Matrix3d rotGlobalToECEF;
|
||
|
|
|
||
|
|
/// \brief Cache the ECEF position of the the origin
|
||
|
|
public: ignition::math::Vector3d origin;
|
||
|
|
|
||
|
|
/// \brief Cache cosine head transform
|
||
|
|
public: double cosHea;
|
||
|
|
|
||
|
|
/// \brief Cache sine head transform
|
||
|
|
public: double sinHea;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|