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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "classrtabmap_1_1GeodeticCoords-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::GeodeticCoords Class Reference</ div ></ div >
</ div > <!--header-->
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< p > WGS84 geodetic latitude, longitude and altitude with coordinate conversions.
< a href = "classrtabmap_1_1GeodeticCoords.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > > </ code ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a41294c28a20d82ca1cee7f7038255d64" id = "r_a41294c28a20d82ca1cee7f7038255d64" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a41294c28a20d82ca1cee7f7038255d64" name = "a41294c28a20d82ca1cee7f7038255d64" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > GeodeticCoords</ b > ()</ td ></ tr >
< tr class = "memdesc:a41294c28a20d82ca1cee7f7038255d64" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Default-constructs coordinates at (0°, 0°, 0 m). < br /></ td ></ tr >
< tr class = "separator:a41294c28a20d82ca1cee7f7038255d64" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0e70bc5a1464b930fafc579322912a68" id = "r_a0e70bc5a1464b930fafc579322912a68" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a0e70bc5a1464b930fafc579322912a68" > GeodeticCoords</ a > (double < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#ac6f662384e5b4ac613d5678307eb95a7" > latitude</ a > , double < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a68e16e48c8ede571e20e9889547fd509" > longitude</ a > , double < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a3a0d110deb25400137d4fe552742970a" > altitude</ a > )</ td ></ tr >
< tr class = "memdesc:a0e70bc5a1464b930fafc579322912a68" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs geodetic coordinates. < br /></ td ></ tr >
< tr class = "separator:a0e70bc5a1464b930fafc579322912a68" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac6f662384e5b4ac613d5678307eb95a7" id = "r_ac6f662384e5b4ac613d5678307eb95a7" >< td class = "memItemLeft" align = "right" valign = "top" > const double &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#ac6f662384e5b4ac613d5678307eb95a7" > latitude</ a > () const</ td ></ tr >
< tr class = "separator:ac6f662384e5b4ac613d5678307eb95a7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a68e16e48c8ede571e20e9889547fd509" id = "r_a68e16e48c8ede571e20e9889547fd509" >< td class = "memItemLeft" align = "right" valign = "top" > const double &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a68e16e48c8ede571e20e9889547fd509" > longitude</ a > () const</ td ></ tr >
< tr class = "separator:a68e16e48c8ede571e20e9889547fd509" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3a0d110deb25400137d4fe552742970a" id = "r_a3a0d110deb25400137d4fe552742970a" >< td class = "memItemLeft" align = "right" valign = "top" > const double &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a3a0d110deb25400137d4fe552742970a" > altitude</ a > () const</ td ></ tr >
< tr class = "separator:a3a0d110deb25400137d4fe552742970a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9113dd2d169f83e68b1dd0b12f8f24da" id = "r_a9113dd2d169f83e68b1dd0b12f8f24da" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a9113dd2d169f83e68b1dd0b12f8f24da" > setLatitude</ a > (const double & value)</ td ></ tr >
< tr class = "memdesc:a9113dd2d169f83e68b1dd0b12f8f24da" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets latitude in decimal degrees. < br /></ td ></ tr >
< tr class = "separator:a9113dd2d169f83e68b1dd0b12f8f24da" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aac1f8d7bcf0aff48aa8c7aefa91c72d3" id = "r_aac1f8d7bcf0aff48aa8c7aefa91c72d3" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#aac1f8d7bcf0aff48aa8c7aefa91c72d3" > setLongitude</ a > (const double & value)</ td ></ tr >
< tr class = "memdesc:aac1f8d7bcf0aff48aa8c7aefa91c72d3" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets longitude in decimal degrees. < br /></ td ></ tr >
< tr class = "separator:aac1f8d7bcf0aff48aa8c7aefa91c72d3" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afe3c631b5f01246840f8591fc8dc834e" id = "r_afe3c631b5f01246840f8591fc8dc834e" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e" > setAltitude</ a > (const double & value)</ td ></ tr >
< tr class = "memdesc:afe3c631b5f01246840f8591fc8dc834e" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets altitude in meters. < br /></ td ></ tr >
< tr class = "separator:afe3c631b5f01246840f8591fc8dc834e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae92c7ff2c0b5c5a41902bdfd589d5c10" id = "r_ae92c7ff2c0b5c5a41902bdfd589d5c10" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Point3d  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#ae92c7ff2c0b5c5a41902bdfd589d5c10" > toGeocentric_WGS84</ a > () const</ td ></ tr >
< tr class = "separator:ae92c7ff2c0b5c5a41902bdfd589d5c10" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aedf48d8bfb2c8c181b1382919bf7b44c" id = "r_aedf48d8bfb2c8c181b1382919bf7b44c" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Point3d  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#aedf48d8bfb2c8c181b1382919bf7b44c" > toENU_WGS84</ a > (const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > & origin) const</ td ></ tr >
< tr class = "separator:aedf48d8bfb2c8c181b1382919bf7b44c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae37435ee904b9782fcddbf0f72f388bd" id = "r_ae37435ee904b9782fcddbf0f72f388bd" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ae37435ee904b9782fcddbf0f72f388bd" name = "ae37435ee904b9782fcddbf0f72f388bd" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > fromGeocentric_WGS84</ b > (const cv::Point3d & geocentric)</ td ></ tr >
< tr class = "memdesc:ae37435ee904b9782fcddbf0f72f388bd" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets this point from ECEF geocentric < code > geocentric</ code > coordinates. < br /></ td ></ tr >
< tr class = "separator:ae37435ee904b9782fcddbf0f72f388bd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abc69e5c7f8e473fe6788042237992d43" id = "r_abc69e5c7f8e473fe6788042237992d43" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abc69e5c7f8e473fe6788042237992d43" name = "abc69e5c7f8e473fe6788042237992d43" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > fromENU_WGS84</ b > (const cv::Point3d & enu, const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > & origin)</ td ></ tr >
< tr class = "memdesc:abc69e5c7f8e473fe6788042237992d43" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets this point from an ENU offset relative to < code > origin</ code > . < br /></ td ></ tr >
< tr class = "separator:abc69e5c7f8e473fe6788042237992d43" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a7f8066cd690d20fc02ad19bf96d9215b" id = "r_a7f8066cd690d20fc02ad19bf96d9215b" >< td class = "memItemLeft" align = "right" valign = "top" > static cv::Point3d  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a7f8066cd690d20fc02ad19bf96d9215b" > ENU_WGS84ToGeocentric_WGS84</ a > (const cv::Point3d & enu, const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > & origin)</ td ></ tr >
< tr class = "separator:a7f8066cd690d20fc02ad19bf96d9215b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a76c33e9f988c743e429b0a04d18e258d" id = "r_a76c33e9f988c743e429b0a04d18e258d" >< td class = "memItemLeft" align = "right" valign = "top" > static cv::Point3d  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html#a76c33e9f988c743e429b0a04d18e258d" > Geocentric_WGS84ToENU_WGS84</ a > (const cv::Point3d & geocentric_WGS84, const cv::Point3d & origin_geocentric_WGS84, const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > & origin)</ td ></ tr >
< tr class = "separator:a76c33e9f988c743e429b0a04d18e258d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > WGS84 geodetic latitude, longitude and altitude with coordinate conversions. </ p >
< p > Conversions follow the WGS84 reference ellipsoid (MRPT-derived implementation). ENU frames use east = X, north = Y, up = Z relative to a local origin.</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1GPS.html#a2eeb2607721870789914f12688cbc375" > GPS::toGeodeticCoords()</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00061" > 61</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a0e70bc5a1464b930fafc579322912a68" name = "a0e70bc5a1464b930fafc579322912a68" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0e70bc5a1464b930fafc579322912a68" > ◆  </ a ></ span > GeodeticCoords()</ h2 >
< div class = "memitem" >
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< table class = "memname" >
< tr >
< td class = "memname" > rtabmap::GeodeticCoords::GeodeticCoords </ td >
< td > (</ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > latitude</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > longitude</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > altitude</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
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</ div >< div class = "memdoc" >
< p > Constructs geodetic coordinates. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > latitude</ td >< td > Latitude in decimal degrees (DD, north positive). </ td ></ tr >
< tr >< td class = "paramname" > longitude</ td >< td > Longitude in decimal degrees (DD, east positive). </ td ></ tr >
< tr >< td class = "paramname" > altitude</ td >< td > Altitude in meters above the WGS84 ellipsoid. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "ac6f662384e5b4ac613d5678307eb95a7" name = "ac6f662384e5b4ac613d5678307eb95a7" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac6f662384e5b4ac613d5678307eb95a7" > ◆  </ a ></ span > latitude()</ h2 >
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< td class = "memname" > const double & rtabmap::GeodeticCoords::latitude </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > Latitude in decimal degrees. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00075" > 75</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
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< a id = "a68e16e48c8ede571e20e9889547fd509" name = "a68e16e48c8ede571e20e9889547fd509" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a68e16e48c8ede571e20e9889547fd509" > ◆  </ a ></ span > longitude()</ h2 >
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< td class = "memname" > const double & rtabmap::GeodeticCoords::longitude </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Longitude in decimal degrees. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00077" > 77</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
</ div >
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< a id = "a3a0d110deb25400137d4fe552742970a" name = "a3a0d110deb25400137d4fe552742970a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a3a0d110deb25400137d4fe552742970a" > ◆  </ a ></ span > altitude()</ h2 >
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< td class = "memname" > const double & rtabmap::GeodeticCoords::altitude </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > Altitude in meters. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00079" > 79</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
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< a id = "a9113dd2d169f83e68b1dd0b12f8f24da" name = "a9113dd2d169f83e68b1dd0b12f8f24da" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9113dd2d169f83e68b1dd0b12f8f24da" > ◆  </ a ></ span > setLatitude()</ h2 >
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< td class = "memname" > void rtabmap::GeodeticCoords::setLatitude </ td >
< td > (</ td >
< td class = "paramtype" > const double &  </ td >
< td class = "paramname" >< em > value</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Sets latitude in decimal degrees. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00082" > 82</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
</ div >
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< a id = "aac1f8d7bcf0aff48aa8c7aefa91c72d3" name = "aac1f8d7bcf0aff48aa8c7aefa91c72d3" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aac1f8d7bcf0aff48aa8c7aefa91c72d3" > ◆  </ a ></ span > setLongitude()</ h2 >
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< table class = "memname" >
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< td class = "memname" > void rtabmap::GeodeticCoords::setLongitude </ td >
< td > (</ td >
< td class = "paramtype" > const double &  </ td >
< td class = "paramname" >< em > value</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< p > Sets longitude in decimal degrees. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00084" > 84</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
</ div >
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< a id = "afe3c631b5f01246840f8591fc8dc834e" name = "afe3c631b5f01246840f8591fc8dc834e" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#afe3c631b5f01246840f8591fc8dc834e" > ◆  </ a ></ span > setAltitude()</ h2 >
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< td class = "memname" > void rtabmap::GeodeticCoords::setAltitude </ td >
< td > (</ td >
< td class = "paramtype" > const double &  </ td >
< td class = "paramname" >< em > value</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
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</ div >< div class = "memdoc" >
< p > Sets altitude in meters. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GeodeticCoords_8h_source.html#l00086" > 86</ a > of file < a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a > .</ p >
</ div >
</ div >
< a id = "ae92c7ff2c0b5c5a41902bdfd589d5c10" name = "ae92c7ff2c0b5c5a41902bdfd589d5c10" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae92c7ff2c0b5c5a41902bdfd589d5c10" > ◆  </ a ></ span > toGeocentric_WGS84()</ h2 >
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< td class = "memname" > cv::Point3d rtabmap::GeodeticCoords::toGeocentric_WGS84 </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > ECEF geocentric coordinates (meters) in the WGS84 frame. </ dd ></ dl >
</ div >
</ div >
< a id = "aedf48d8bfb2c8c181b1382919bf7b44c" name = "aedf48d8bfb2c8c181b1382919bf7b44c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aedf48d8bfb2c8c181b1382919bf7b44c" > ◆  </ a ></ span > toENU_WGS84()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
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< td class = "memname" > cv::Point3d rtabmap::GeodeticCoords::toENU_WGS84 </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > &  </ td >
< td class = "paramname" >< em > origin</ em ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > ENU offset (meters) from < code > origin</ code > to this point. East = X, north = Y, up = Z. </ dd ></ dl >
</ div >
</ div >
< a id = "a7f8066cd690d20fc02ad19bf96d9215b" name = "a7f8066cd690d20fc02ad19bf96d9215b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7f8066cd690d20fc02ad19bf96d9215b" > ◆  </ a ></ span > ENU_WGS84ToGeocentric_WGS84()</ h2 >
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< table class = "mlabels" >
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< table class = "memname" >
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< td class = "memname" > static cv::Point3d rtabmap::GeodeticCoords::ENU_WGS84ToGeocentric_WGS84 </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Point3d &  </ td >
< td class = "paramname" >< em > enu</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > &  </ td >
< td class = "paramname" >< em > origin</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > static</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > ECEF geocentric coordinates of ENU point < code > enu</ code > relative to < code > origin</ code > . </ dd ></ dl >
</ div >
</ div >
< a id = "a76c33e9f988c743e429b0a04d18e258d" name = "a76c33e9f988c743e429b0a04d18e258d" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a76c33e9f988c743e429b0a04d18e258d" > ◆  </ a ></ span > Geocentric_WGS84ToENU_WGS84()</ h2 >
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< td class = "memname" > static cv::Point3d rtabmap::GeodeticCoords::Geocentric_WGS84ToENU_WGS84 </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Point3d &  </ td >
< td class = "paramname" >< em > geocentric_WGS84</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Point3d &  </ td >
< td class = "paramname" >< em > origin_geocentric_WGS84</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a > &  </ td >
< td class = "paramname" >< em > origin</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > static</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > ENU offset from geocentric < code > origin_geocentric_WGS84</ code > to < code > geocentric_WGS84</ code > . </ dd ></ dl >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > origin</ td >< td > Geodetic origin used to define the local ENU basis. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "GeodeticCoords_8h_source.html" > GeodeticCoords.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
</ div > <!-- doc-content -->
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< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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