makVrv::DtGeoReference Class Reference

The DtGeoReference class provides a mechanism to convert between geodetic coordinates and topocentric coordinates. By using geodetic location (and topocentric orientation), the class can be used independently of the coordinate system used by VR-Vantage. A common usage is to create a GeoReference at the location and orientation of an entity; then use the geodeticToTopo() method with the location and orientation of a second object to express that object in the first's topocentric system.

Public Member Functions
	DtGeoReference (const DtCoordinateSystem &coordinateSystem)
	DtGeoReference (const DtGeodeticCoord &location, const DtTaitBryan &orientation, const DtCoordinateSystem &coordinateSystem)
void	setLocationAndOrientation (const DtGeodeticCoord &geodeticLocation, const DtTaitBryan &topoOrientation)
void	setGeodeticLocation (const DtGeodeticCoord &geodeticLocation)
void	getGeodeticLocation (DtGeodeticCoord &geodeticLocation)
void	setTopoOrientation (const DtTaitBryan &orientation)
void	getTopoOrientation (DtTaitBryan &orientation)
void	geodeticToTopo (const DtGeodeticCoord &geodeticLocationIn, const DtTaitBryan &topoOrientationIn, DtVector &topoLocationOut, DtTaitBryan &topoOrientationOut)
void	topoToGeodetic (const DtVector &topoLocationIn, const DtTaitBryan &topoOrientationIn, DtGeodeticCoord &geodeticLocationOut, DtTaitBryan &topoOrientationOut)
void	refVecToTopoVec (const DtVector &inVec, DtVector &topoVec)
void	topoVecToRefVec (const DtVector &inVec, DtVector &refVec)

Protected Member Functions
void	calculateMatrices ()

Protected Attributes
DtTaitBryan	myTopoOrientation
DtVector	myReferenceBaseLocation
DtGeodeticCoord	myGeodeticLocation
const DtCoordinateSystem &	myCoordinateSystem
DtDcm	myReferenceToTopoDcm
DtDcm	myTopoToReferenceDcm

Private Member Functions
	DtGeoReference ()

Constructor & Destructor Documentation

makVrv::DtGeoReference::DtGeoReference

(

const DtCoordinateSystem &

coordinateSystem

)

makVrv::DtGeoReference::DtGeoReference	(	const DtGeodeticCoord &	location,
		const DtTaitBryan &	orientation,
		const DtCoordinateSystem &	coordinateSystem
	)

Location is in geocentric, orientation is in topocentric YPR (North East Down)

makVrv::DtGeoReference::DtGeoReference ( )

private

Member Function Documentation

void makVrv::DtGeoReference::setGeodeticLocation

(

const DtGeodeticCoord &

geodeticLocation

)

Set/get the location of the georeference; this calls setLocationAndOrientation with a topo orientation of 0,0,0.

void makVrv::DtGeoReference::getGeodeticLocation

(

DtGeodeticCoord &

geodeticLocation

)

Set/get the location of the georeference; this calls setLocationAndOrientation with a topo orientation of 0,0,0.

void makVrv::DtGeoReference::setTopoOrientation

(

const DtTaitBryan &

orientation

)

Set/get orientation Yaw / pitch/ roll (North East Down) based on a local coordinate system at the georeferenvce location; results are undefined if this is called before setLocation or setLocationAndOrientation has been called.

void makVrv::DtGeoReference::getTopoOrientation

(

DtTaitBryan &

orientation

)

Set/get orientation Yaw / pitch/ roll (North East Down) based on a local coordinate system at the georeferenvce location; results are undefined if this is called before setLocation or setLocationAndOrientation has been called.

void makVrv::DtGeoReference::setLocationAndOrientation	(	const DtGeodeticCoord &	geodeticLocation,
		const DtTaitBryan &	topoOrientation
	)

Set location and orientation together. This is a little faster than calling both setGeodeticLocation and setTopoOrientation both, since it can recalculate all the matrices once.

void makVrv::DtGeoReference::geodeticToTopo	(	const DtGeodeticCoord &	geodeticLocationIn,
		const DtTaitBryan &	topoOrientationIn,
		DtVector &	topoLocationOut,
		DtTaitBryan &	topoOrientationOut
	)

Convert location and orientation between the geodetic reference and the topocentric coordinate system positioned at the GeoReferenced location and orientation.

void makVrv::DtGeoReference::topoToGeodetic	(	const DtVector &	topoLocationIn,
		const DtTaitBryan &	topoOrientationIn,
		DtGeodeticCoord &	geodeticLocationOut,
		DtTaitBryan &	topoOrientationOut
	)

Convert location and orientation between the geodetic reference and the topocentric coordinate system positioned at the GeoReferenced location and orientation.

void makVrv::DtGeoReference::refVecToTopoVec	(	const DtVector &	inVec,
		DtVector &	topoVec
	)

Convert a vector between the geodetic reference and the topocentric coordinate system positioned at the GeoReferenced location and orientation.

void makVrv::DtGeoReference::topoVecToRefVec	(	const DtVector &	inVec,
		DtVector &	refVec
	)

Convert a vector between the geodetic reference and the topocentric coordinate system positioned at the GeoReferenced location and orientation.

void makVrv::DtGeoReference::calculateMatrices ( )

protected

Member Data Documentation

DtDcm makVrv::DtGeoReference::myReferenceToTopoDcm

protected

DCMs to rotate between topo and reference systems.

DtDcm makVrv::DtGeoReference::myTopoToReferenceDcm

protected

DCMs to rotate between topo and reference systems.

DtTaitBryan makVrv::DtGeoReference::myTopoOrientation

protected

DtVector makVrv::DtGeoReference::myReferenceBaseLocation

protected

DtGeodeticCoord makVrv::DtGeoReference::myGeodeticLocation

protected

const DtCoordinateSystem& makVrv::DtGeoReference::myCoordinateSystem

protected

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrvUtil/DtGeoReference.h