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<a href="#pub-methods">Public Member Functions</a> &#124;
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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 &lt;<a class="el" href="GeodeticCoords_8h_source.html">GeodeticCoords.h</a>&gt;</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>
&#160;</td><td class="memItemRight" valign="bottom"><b>GeodeticCoords</b> ()</td></tr>
<tr class="memdesc:a41294c28a20d82ca1cee7f7038255d64"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default-constructs coordinates at (0°, 0°, 0 m). <br /></td></tr>
<tr class="separator:a41294c28a20d82ca1cee7f7038255d64"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e70bc5a1464b930fafc579322912a68" id="r_a0e70bc5a1464b930fafc579322912a68"><td class="memItemLeft" align="right" valign="top">&#160;</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">&#160;</td><td class="mdescRight">Constructs geodetic coordinates. <br /></td></tr>
<tr class="separator:a0e70bc5a1464b930fafc579322912a68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac6f662384e5b4ac613d5678307eb95a7" id="r_ac6f662384e5b4ac613d5678307eb95a7"><td class="memItemLeft" align="right" valign="top">const double &amp;&#160;</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">&#160;</td></tr>
<tr class="memitem:a68e16e48c8ede571e20e9889547fd509" id="r_a68e16e48c8ede571e20e9889547fd509"><td class="memItemLeft" align="right" valign="top">const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#a68e16e48c8ede571e20e9889547fd509">longitude</a> () const</td></tr>
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<tr class="memitem:a3a0d110deb25400137d4fe552742970a" id="r_a3a0d110deb25400137d4fe552742970a"><td class="memItemLeft" align="right" valign="top">const double &amp;&#160;</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">&#160;</td></tr>
<tr class="memitem:a9113dd2d169f83e68b1dd0b12f8f24da" id="r_a9113dd2d169f83e68b1dd0b12f8f24da"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#a9113dd2d169f83e68b1dd0b12f8f24da">setLatitude</a> (const double &amp;value)</td></tr>
<tr class="memdesc:a9113dd2d169f83e68b1dd0b12f8f24da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets latitude in decimal degrees. <br /></td></tr>
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<tr class="memitem:aac1f8d7bcf0aff48aa8c7aefa91c72d3" id="r_aac1f8d7bcf0aff48aa8c7aefa91c72d3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#aac1f8d7bcf0aff48aa8c7aefa91c72d3">setLongitude</a> (const double &amp;value)</td></tr>
<tr class="memdesc:aac1f8d7bcf0aff48aa8c7aefa91c72d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets longitude in decimal degrees. <br /></td></tr>
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<tr class="memitem:afe3c631b5f01246840f8591fc8dc834e" id="r_afe3c631b5f01246840f8591fc8dc834e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e">setAltitude</a> (const double &amp;value)</td></tr>
<tr class="memdesc:afe3c631b5f01246840f8591fc8dc834e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets altitude in meters. <br /></td></tr>
<tr class="separator:afe3c631b5f01246840f8591fc8dc834e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae92c7ff2c0b5c5a41902bdfd589d5c10" id="r_ae92c7ff2c0b5c5a41902bdfd589d5c10"><td class="memItemLeft" align="right" valign="top">cv::Point3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#ae92c7ff2c0b5c5a41902bdfd589d5c10">toGeocentric_WGS84</a> () const</td></tr>
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<tr class="memitem:aedf48d8bfb2c8c181b1382919bf7b44c" id="r_aedf48d8bfb2c8c181b1382919bf7b44c"><td class="memItemLeft" align="right" valign="top">cv::Point3d&#160;</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> &amp;origin) const</td></tr>
<tr class="separator:aedf48d8bfb2c8c181b1382919bf7b44c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae37435ee904b9782fcddbf0f72f388bd" id="r_ae37435ee904b9782fcddbf0f72f388bd"><td class="memItemLeft" align="right" valign="top"><a id="ae37435ee904b9782fcddbf0f72f388bd" name="ae37435ee904b9782fcddbf0f72f388bd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>fromGeocentric_WGS84</b> (const cv::Point3d &amp;geocentric)</td></tr>
<tr class="memdesc:ae37435ee904b9782fcddbf0f72f388bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets this point from ECEF geocentric <code>geocentric</code> coordinates. <br /></td></tr>
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<tr class="memitem:abc69e5c7f8e473fe6788042237992d43" id="r_abc69e5c7f8e473fe6788042237992d43"><td class="memItemLeft" align="right" valign="top"><a id="abc69e5c7f8e473fe6788042237992d43" name="abc69e5c7f8e473fe6788042237992d43"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>fromENU_WGS84</b> (const cv::Point3d &amp;enu, const <a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> &amp;origin)</td></tr>
<tr class="memdesc:abc69e5c7f8e473fe6788042237992d43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets this point from an ENU offset relative to <code>origin</code>. <br /></td></tr>
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</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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#a7f8066cd690d20fc02ad19bf96d9215b">ENU_WGS84ToGeocentric_WGS84</a> (const cv::Point3d &amp;enu, const <a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> &amp;origin)</td></tr>
<tr class="separator:a7f8066cd690d20fc02ad19bf96d9215b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76c33e9f988c743e429b0a04d18e258d" id="r_a76c33e9f988c743e429b0a04d18e258d"><td class="memItemLeft" align="right" valign="top">static cv::Point3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html#a76c33e9f988c743e429b0a04d18e258d">Geocentric_WGS84ToENU_WGS84</a> (const cv::Point3d &amp;geocentric_WGS84, const cv::Point3d &amp;origin_geocentric_WGS84, const <a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> &amp;origin)</td></tr>
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<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 &amp; Destructor Documentation</h2>
<a id="a0e70bc5a1464b930fafc579322912a68" name="a0e70bc5a1464b930fafc579322912a68"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0e70bc5a1464b930fafc579322912a68">&#9670;&#160;</a></span>GeodeticCoords()</h2>
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<td class="memname">rtabmap::GeodeticCoords::GeodeticCoords </td>
<td>(</td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>latitude</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>longitude</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>altitude</em>&#160;</td>
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<td>)</td>
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<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>
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="ac6f662384e5b4ac613d5678307eb95a7" name="ac6f662384e5b4ac613d5678307eb95a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac6f662384e5b4ac613d5678307eb95a7">&#9670;&#160;</a></span>latitude()</h2>
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<td class="memname">const double &amp; rtabmap::GeodeticCoords::latitude </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<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">&#9670;&#160;</a></span>longitude()</h2>
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<td class="memname">const double &amp; rtabmap::GeodeticCoords::longitude </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</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>
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<h2 class="memtitle"><span class="permalink"><a href="#a3a0d110deb25400137d4fe552742970a">&#9670;&#160;</a></span>altitude()</h2>
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<td class="memname">const double &amp; rtabmap::GeodeticCoords::altitude </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<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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<h2 class="memtitle"><span class="permalink"><a href="#a9113dd2d169f83e68b1dd0b12f8f24da">&#9670;&#160;</a></span>setLatitude()</h2>
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<td class="memname">void rtabmap::GeodeticCoords::setLatitude </td>
<td>(</td>
<td class="paramtype">const double &amp;&#160;</td>
<td class="paramname"><em>value</em></td><td>)</td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#aac1f8d7bcf0aff48aa8c7aefa91c72d3">&#9670;&#160;</a></span>setLongitude()</h2>
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<td class="memname">void rtabmap::GeodeticCoords::setLongitude </td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#afe3c631b5f01246840f8591fc8dc834e">&#9670;&#160;</a></span>setAltitude()</h2>
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<td class="memname">void rtabmap::GeodeticCoords::setAltitude </td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#ae92c7ff2c0b5c5a41902bdfd589d5c10">&#9670;&#160;</a></span>toGeocentric_WGS84()</h2>
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<td class="memname">cv::Point3d rtabmap::GeodeticCoords::toGeocentric_WGS84 </td>
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<dl class="section return"><dt>Returns</dt><dd>ECEF geocentric coordinates (meters) in the WGS84 frame. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aedf48d8bfb2c8c181b1382919bf7b44c">&#9670;&#160;</a></span>toENU_WGS84()</h2>
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<td class="memname">cv::Point3d rtabmap::GeodeticCoords::toENU_WGS84 </td>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a7f8066cd690d20fc02ad19bf96d9215b">&#9670;&#160;</a></span>ENU_WGS84ToGeocentric_WGS84()</h2>
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<td class="memname">static cv::Point3d rtabmap::GeodeticCoords::ENU_WGS84ToGeocentric_WGS84 </td>
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<td class="paramname"><em>enu</em>, </td>
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<dl class="section return"><dt>Returns</dt><dd>ECEF geocentric coordinates of ENU point <code>enu</code> relative to <code>origin</code>. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a76c33e9f988c743e429b0a04d18e258d">&#9670;&#160;</a></span>Geocentric_WGS84ToENU_WGS84()</h2>
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<td class="memname">static cv::Point3d rtabmap::GeodeticCoords::Geocentric_WGS84ToENU_WGS84 </td>
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<td class="paramname"><em>geocentric_WGS84</em>, </td>
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<td class="paramname"><em>origin_geocentric_WGS84</em>, </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> &amp;&#160;</td>
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<dl class="section return"><dt>Returns</dt><dd>ENU offset from geocentric <code>origin_geocentric_WGS84</code> to <code>geocentric_WGS84</code>. </dd></dl>
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<tr><td class="paramname">origin</td><td>Geodetic origin used to define the local ENU basis. </td></tr>
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<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>
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