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