makVrv::DtCoordinateConverter Class Reference

DtCoordinateConverter is the base class for 'local (cig) to geocentric' converters. More...

Inheritance diagram for makVrv::DtCoordinateConverter:

Public Types
typedef DtCoordinateConverter *(*	CreatorFn )()
	Converts between generic Cartesian and geocentri.

Public Member Functions
virtual	~DtCoordinateConverter ()
	destructor
virtual const std::string &	type () const
	Get converter type - this base class type is NoOp.
virtual DtCoordinateConverter *	clone () const =0
	Clone the coordinate converter;.
virtual bool	init (const std::string &originstring)=0
	Initialize the converter based on the string.
virtual std::string	stringRep ()=0
	Convert to string.
virtual bool	zIsAlt () const
	get whether 3rd element corresponds to altitude in this coordinate system
virtual bool	usesOffsetFile () const
	get whether Warbreaker type file needed
virtual DtGeodeticCoord	databaseOrigin () const
	get database origin (cig) Origin is (latitude, longitude, alt) in degrees and meters (alt = 0 always)
virtual void	setGeocOriginOffset (const DtVector &offset)
	set origin offset (geoc cig origin)
virtual void	reset ()
	Reset the coordinate converter This function recalculates constants used for conversions.
virtual const DtDcm &	nedToCigDcm () const
	get ned to cig rotation matrix
virtual const DtDcm &	cigToNedDcm () const
	get cig to ned rotation matrix
virtual const DtDcm &	geocToCigDcm () const
	set/get geoc to cig rotation matrix
virtual const DtDcm &	cigToGeocDcm () const
	get cig to geoc rotation matrix NOTE: returns a static reference, non-reentrant
virtual const DtDcm &	geocToNedDcm () const
	set/get geoc to ned rotation matrix
virtual const DtDcm &	cigToEnuDcm () const
	get geoc to ned estimate rotation matrix virtual const DtDcm& geocToNedEstDcm() const;
virtual const DtDcm &	nedToGeocDcm () const
	get ned to geoc rotation matrix
virtual void	geocToCig (const DtVector &geoc, DtVector &out) const =0
	geoc coordinates to cig coordinates
virtual void	cigToGeoc (const DtVector &in, DtVector &geoc) const =0
	cig coordinates to geoc coordinates
virtual void	setupTopoFrame (const DtVector &truth)
	Update all our transformation matrices based on the current database position.
virtual void	cigToEnu_coordTrans (const DtVector &cigPos, DtVector &enuPos) const
	convert to Enu coordinates from Cig coordinates
virtual void	cigToEnu_vecTrans (const DtVector &cigVec, DtVector &enuVec) const
	convert to Enu vector from Cig vector
virtual void	enuToCig_coordTrans (const DtVector &enuPos, DtVector &cigPos) const
	convert to Cig coordinates from Enu coordinates
virtual void	enuToCig_vecTrans (const DtVector &enuVec, DtVector &cigVec) const
	convert to Cig vector from Enu vector NOTE: returns a static reference, non-reentrant
virtual DtVector &	enuToCig_vecTrans (const DtVector &origin, const DtVector &offset) const
	provide cig coordinates given enu offset from a cig coord
virtual const DtTaitBryan &	nedToCig_EulerTrans (const DtTaitBryan &topo) const
	provide cig euler angles from topo euler NOTE: returns a static reference, non-reentrant
virtual DtVector	up (const DtVector &orig) const
	provide 'up' vector
virtual void	topoSurface (const DtVector &o, DtVector &surface) const
	fill surface with topographic coords, alt 0
const DtDcm	nedToEnuDcm () const

Static Public Member Functions
static double	convertToDouble (const std::string &str)
static double	convertToDouble (const DtDegMinSec &dms)
static DtDegMinSec	convertToDmsLat (double deg)
static DtDegMinSec	convertToDmsLon (double deg)
static bool	isCoordinateSystemProjected (const std::string &csType)
	Is the specified coordinate system type a projected type?

Static Public Attributes
static const char *	NoOp
static const char *	Geocentric
	Does no conversion.
static const char *	UTM
	Converts between geocentric database coords and.
static const char *	Lambert
	Converts between UTM and geocentric.
static const char *	FlatEarth
	Converts between Lambert and geocentric.
static const char *	Cartesian
	Converts between Flat Earth and geocentric.

Protected Member Functions
	DtCoordinateConverter (const std::string &t)
	constructor
std::string	polarDirectionToStr (int dir)
	Helper for converting polar direction to string representations.
std::string	parseLatLng (const DtDegMinSec &lat, const DtDegMinSec &lng)
	Return string from lat long.

Protected Attributes
std::string	myType
	flags
bool	myUsesWarbreaker
bool	myZAlt
DtGeodeticCoord	myGeodOrigin
	initializing system
DtDcm	myNedToGeocDcm
	topo frame DCM's
DtDcm	myGeocToNedDcm
DtDcm	myNedToCigDcm
DtDcm	myCigToNedDcm
DtDcm	myGeocToCigDcm
DtDcm	myCigToGeocDcm
DtDcm	myCigToEnuDcm
const DtDcm	myNedToEnuDcm
DtDcm	myNed2CigEulerDcm
	to-euler DCM's
DtVector	myLastLocation
	DtCoordTransform myGeocToNedTransform;.

Private Member Functions
	DtCoordinateConverter (const DtCoordinateConverter &orig)
	copy constructor
DtCoordinateConverter &	operator= (const DtCoordinateConverter &orig)
	assignment operator

Detailed Description

DtCoordinateConverter is the base class for 'local (cig) to geocentric' converters.

Member Typedef Documentation

typedef DtCoordinateConverter*(* makVrv::DtCoordinateConverter::CreatorFn)()

Converts between generic Cartesian and geocentri.

Constructor & Destructor Documentation

virtual makVrv::DtCoordinateConverter::~DtCoordinateConverter ( )

virtual

destructor

makVrv::DtCoordinateConverter::DtCoordinateConverter ( const std::string &  t )

protected

constructor

makVrv::DtCoordinateConverter::DtCoordinateConverter ( const DtCoordinateConverter &  orig )

private

copy constructor

Member Function Documentation

virtual const std::string& makVrv::DtCoordinateConverter::type ( ) const

virtual

Get converter type - this base class type is NoOp.

virtual DtCoordinateConverter* makVrv::DtCoordinateConverter::clone ( ) const

pure virtual

Clone the coordinate converter;.

Implemented in makVrv::DtCartesianCoordinateConverter, makVrv::DtLambertCoordinateConverter, makVrv::DtFlatEarthCoordinateConverter, makVrv::DtNoOpCoordinateConverter, makVrv::DtUtmCoordinateConverter, and makVrv::DtGeocentricCoordinateConverter.

virtual bool makVrv::DtCoordinateConverter::init ( const std::string &  originstring )

pure virtual

Initialize the converter based on the string.

Implemented in makVrv::DtUtmCoordinateConverter, makVrv::DtCartesianCoordinateConverter, makVrv::DtLambertCoordinateConverter, makVrv::DtFlatEarthCoordinateConverter, makVrv::DtGeocentricCoordinateConverter, and makVrv::DtNoOpCoordinateConverter.

virtual std::string makVrv::DtCoordinateConverter::stringRep ( )

pure virtual

Convert to string.

Implemented in makVrv::DtUtmCoordinateConverter, makVrv::DtCartesianCoordinateConverter, makVrv::DtLambertCoordinateConverter, makVrv::DtFlatEarthCoordinateConverter, makVrv::DtGeocentricCoordinateConverter, and makVrv::DtNoOpCoordinateConverter.

virtual bool makVrv::DtCoordinateConverter::zIsAlt ( ) const

virtual

get whether 3rd element corresponds to altitude in this coordinate system

virtual bool makVrv::DtCoordinateConverter::usesOffsetFile ( ) const

virtual

get whether Warbreaker type file needed

virtual DtGeodeticCoord makVrv::DtCoordinateConverter::databaseOrigin ( ) const

virtual

get database origin (cig) Origin is (latitude, longitude, alt) in degrees and meters (alt = 0 always)

virtual void makVrv::DtCoordinateConverter::setGeocOriginOffset ( const DtVector &  offset )

inlinevirtual

set origin offset (geoc cig origin)

virtual void makVrv::DtCoordinateConverter::reset ( )

virtual

Reset the coordinate converter This function recalculates constants used for conversions.

Reimplemented in makVrv::DtLambertCoordinateConverter.

virtual const DtDcm& makVrv::DtCoordinateConverter::nedToCigDcm ( ) const

virtual

get ned to cig rotation matrix

virtual const DtDcm& makVrv::DtCoordinateConverter::cigToNedDcm ( ) const

virtual

get cig to ned rotation matrix

virtual const DtDcm& makVrv::DtCoordinateConverter::geocToCigDcm ( ) const

virtual

set/get geoc to cig rotation matrix

virtual const DtDcm& makVrv::DtCoordinateConverter::cigToGeocDcm ( ) const

virtual

get cig to geoc rotation matrix NOTE: returns a static reference, non-reentrant

virtual const DtDcm& makVrv::DtCoordinateConverter::geocToNedDcm ( ) const

virtual

set/get geoc to ned rotation matrix

Reimplemented in makVrv::DtGeocentricCoordinateConverter.

virtual const DtDcm& makVrv::DtCoordinateConverter::cigToEnuDcm ( ) const

virtual

get geoc to ned estimate rotation matrix virtual const DtDcm& geocToNedEstDcm() const;

get cig to enu rotation matrix

virtual const DtDcm& makVrv::DtCoordinateConverter::nedToGeocDcm ( ) const

virtual

get ned to geoc rotation matrix

Reimplemented in makVrv::DtGeocentricCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::geocToCig ( const DtVector &  geoc, DtVector &  out  ) const

pure virtual

geoc coordinates to cig coordinates

Implemented in makVrv::DtUtmCoordinateConverter, makVrv::DtLambertCoordinateConverter, makVrv::DtCartesianCoordinateConverter, makVrv::DtFlatEarthCoordinateConverter, makVrv::DtGeocentricCoordinateConverter, and makVrv::DtNoOpCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::cigToGeoc ( const DtVector &  in, DtVector &  geoc  ) const

pure virtual

cig coordinates to geoc coordinates

Implemented in makVrv::DtUtmCoordinateConverter, makVrv::DtLambertCoordinateConverter, makVrv::DtCartesianCoordinateConverter, makVrv::DtFlatEarthCoordinateConverter, makVrv::DtGeocentricCoordinateConverter, and makVrv::DtNoOpCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::setupTopoFrame ( const DtVector &  truth )

virtual

Update all our transformation matrices based on the current database position.

Reimplemented in makVrv::DtUtmCoordinateConverter, makVrv::DtCartesianCoordinateConverter, makVrv::DtGeocentricCoordinateConverter, and makVrv::DtNoOpCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::cigToEnu_coordTrans ( const DtVector &  cigPos, DtVector &  enuPos  ) const

virtual

convert to Enu coordinates from Cig coordinates

Reimplemented in makVrv::DtCartesianCoordinateConverter, and makVrv::DtGeocentricCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::cigToEnu_vecTrans ( const DtVector &  cigVec, DtVector &  enuVec  ) const

virtual

convert to Enu vector from Cig vector

Reimplemented in makVrv::DtCartesianCoordinateConverter, and makVrv::DtGeocentricCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::enuToCig_coordTrans ( const DtVector &  enuPos, DtVector &  cigPos  ) const

virtual

convert to Cig coordinates from Enu coordinates

Reimplemented in makVrv::DtCartesianCoordinateConverter, and makVrv::DtGeocentricCoordinateConverter.

virtual void makVrv::DtCoordinateConverter::enuToCig_vecTrans ( const DtVector &  enuVec, DtVector &  cigVec  ) const

virtual

convert to Cig vector from Enu vector NOTE: returns a static reference, non-reentrant

Reimplemented in makVrv::DtCartesianCoordinateConverter, and makVrv::DtGeocentricCoordinateConverter.

virtual DtVector& makVrv::DtCoordinateConverter::enuToCig_vecTrans ( const DtVector &  origin, const DtVector &  offset  ) const

virtual

provide cig coordinates given enu offset from a cig coord

virtual const DtTaitBryan& makVrv::DtCoordinateConverter::nedToCig_EulerTrans ( const DtTaitBryan &  topo ) const

virtual

provide cig euler angles from topo euler NOTE: returns a static reference, non-reentrant

virtual DtVector makVrv::DtCoordinateConverter::up ( const DtVector &  orig ) const

virtual

provide 'up' vector

virtual void makVrv::DtCoordinateConverter::topoSurface ( const DtVector &  o, DtVector &  surface  ) const

virtual

fill surface with topographic coords, alt 0

const DtDcm makVrv::DtCoordinateConverter::nedToEnuDcm ( ) const

inline

static double makVrv::DtCoordinateConverter::convertToDouble ( const std::string &  str )

static

static double makVrv::DtCoordinateConverter::convertToDouble ( const DtDegMinSec &  dms )

static

static DtDegMinSec makVrv::DtCoordinateConverter::convertToDmsLat ( double  deg )

static

static DtDegMinSec makVrv::DtCoordinateConverter::convertToDmsLon ( double  deg )

static

static bool makVrv::DtCoordinateConverter::isCoordinateSystemProjected ( const std::string &  csType )

static

Is the specified coordinate system type a projected type?

std::string makVrv::DtCoordinateConverter::polarDirectionToStr ( int  dir )

protected

Helper for converting polar direction to string representations.

std::string makVrv::DtCoordinateConverter::parseLatLng ( const DtDegMinSec &  lat, const DtDegMinSec &  lng  )

protected

Return string from lat long.

DtCoordinateConverter& makVrv::DtCoordinateConverter::operator= ( const DtCoordinateConverter &  orig )

private

assignment operator

Member Data Documentation

const char* makVrv::DtCoordinateConverter::NoOp

static

const char* makVrv::DtCoordinateConverter::Geocentric

static

Does no conversion.

const char* makVrv::DtCoordinateConverter::UTM

static

Converts between geocentric database coords and.

geocentric network coords

const char* makVrv::DtCoordinateConverter::Lambert

static

Converts between UTM and geocentric.

const char* makVrv::DtCoordinateConverter::FlatEarth

static

Converts between Lambert and geocentric.

const char* makVrv::DtCoordinateConverter::Cartesian

static

Converts between Flat Earth and geocentric.

std::string makVrv::DtCoordinateConverter::myType

protected

flags

bool makVrv::DtCoordinateConverter::myUsesWarbreaker

protected

bool makVrv::DtCoordinateConverter::myZAlt

protected

DtGeodeticCoord makVrv::DtCoordinateConverter::myGeodOrigin

protected

initializing system

DtDcm makVrv::DtCoordinateConverter::myNedToGeocDcm

protected

topo frame DCM's

DtDcm makVrv::DtCoordinateConverter::myGeocToNedDcm

protected

DtDcm makVrv::DtCoordinateConverter::myNedToCigDcm

protected

DtDcm makVrv::DtCoordinateConverter::myCigToNedDcm

protected

DtDcm makVrv::DtCoordinateConverter::myGeocToCigDcm

protected

DtDcm makVrv::DtCoordinateConverter::myCigToGeocDcm

protected

DtDcm makVrv::DtCoordinateConverter::myCigToEnuDcm

protected

const DtDcm makVrv::DtCoordinateConverter::myNedToEnuDcm

protected

DtDcm makVrv::DtCoordinateConverter::myNed2CigEulerDcm

protected

to-euler DCM's

DtVector makVrv::DtCoordinateConverter::myLastLocation

protected

DtCoordTransform myGeocToNedTransform;.

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The documentation for this class was generated from the following file:

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.vrf4-3-branch/include/vrvUtil/DtCoordinateConverter.h