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<div class="headertitle"><div class="title">GeodeticCoords.h</div></div>
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<div class="contents">
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * The methods in this file were modified from the originals of the MRPT toolkit (see notice below):</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * https://github.com/MRPT/mrpt/blob/master/libs/topography/src/conversions.cpp</span></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> */</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment">/* +---------------------------------------------------------------------------+</span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="comment"> | Mobile Robot Programming Toolkit (MRPT) |</span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment"> | http://www.mrpt.org/ |</span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment"> | |</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment"> | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |</span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="comment"> | See: http://www.mrpt.org/Authors - All rights reserved. |</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="comment"> | Released under BSD License. See details in http://www.mrpt.org/License |</span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="comment"> +---------------------------------------------------------------------------+ */</span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#ifndef GEODETICCOORDS_H_</span></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#define GEODETICCOORDS_H_</span></div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <rtabmap/core/rtabmap_core_export.h></span></div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
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<div class="foldopen" id="foldopen00061" data-start="{" data-end="};">
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html"> 61</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a></div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>{</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a41294c28a20d82ca1cee7f7038255d64"> 65</a></span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a41294c28a20d82ca1cee7f7038255d64">GeodeticCoords</a>();</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a0e70bc5a1464b930fafc579322912a68"> 72</a></span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a0e70bc5a1464b930fafc579322912a68">GeodeticCoords</a>(<span class="keywordtype">double</span> latitude, <span class="keywordtype">double</span> longitude, <span class="keywordtype">double</span> altitude);</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#ac6f662384e5b4ac613d5678307eb95a7"> 75</a></span> <span class="keyword">const</span> <span class="keywordtype">double</span> & <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#ac6f662384e5b4ac613d5678307eb95a7">latitude</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> latitude_;}</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a68e16e48c8ede571e20e9889547fd509"> 77</a></span> <span class="keyword">const</span> <span class="keywordtype">double</span> & <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a68e16e48c8ede571e20e9889547fd509">longitude</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> longitude_;}</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a3a0d110deb25400137d4fe552742970a"> 79</a></span> <span class="keyword">const</span> <span class="keywordtype">double</span> & <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a3a0d110deb25400137d4fe552742970a">altitude</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> altitude_;}</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a9113dd2d169f83e68b1dd0b12f8f24da"> 82</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a9113dd2d169f83e68b1dd0b12f8f24da">setLatitude</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> & value) {latitude_ = value;}</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#aac1f8d7bcf0aff48aa8c7aefa91c72d3"> 84</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#aac1f8d7bcf0aff48aa8c7aefa91c72d3">setLongitude</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> & value) {longitude_ = value;}</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e"> 86</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e">setAltitude</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> & value) {altitude_ = value;}</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#ae92c7ff2c0b5c5a41902bdfd589d5c10"> 89</a></span> cv::Point3d <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#ae92c7ff2c0b5c5a41902bdfd589d5c10">toGeocentric_WGS84</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#aedf48d8bfb2c8c181b1382919bf7b44c"> 94</a></span> cv::Point3d <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#aedf48d8bfb2c8c181b1382919bf7b44c">toENU_WGS84</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> & origin) <span class="keyword">const</span>; <span class="comment">// East=X, North=Y</span></div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#ae37435ee904b9782fcddbf0f72f388bd"> 97</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#ae37435ee904b9782fcddbf0f72f388bd">fromGeocentric_WGS84</a>(<span class="keyword">const</span> cv::Point3d& geocentric);</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#abc69e5c7f8e473fe6788042237992d43"> 99</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#abc69e5c7f8e473fe6788042237992d43">fromENU_WGS84</a>(<span class="keyword">const</span> cv::Point3d & enu, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> & origin);</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a7f8066cd690d20fc02ad19bf96d9215b"> 102</a></span> <span class="keyword">static</span> cv::Point3d <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a7f8066cd690d20fc02ad19bf96d9215b">ENU_WGS84ToGeocentric_WGS84</a>(<span class="keyword">const</span> cv::Point3d & enu, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> & origin);</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GeodeticCoords.html#a76c33e9f988c743e429b0a04d18e258d"> 107</a></span> <span class="keyword">static</span> cv::Point3d <a class="code hl_function" href="classrtabmap_1_1GeodeticCoords.html#a76c33e9f988c743e429b0a04d18e258d">Geocentric_WGS84ToENU_WGS84</a>(</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keyword">const</span> cv::Point3d & geocentric_WGS84,</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keyword">const</span> cv::Point3d & origin_geocentric_WGS84,</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> & origin);</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">double</span> latitude_; <span class="comment">// deg</span></div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">double</span> longitude_; <span class="comment">// deg</span></div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">double</span> altitude_; <span class="comment">// m</span></div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span>};</div>
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</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span>}</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span><span class="preprocessor">#endif </span><span class="comment">/* GEODETICCOORDS_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html">rtabmap::GeodeticCoords</a></div><div class="ttdoc">WGS84 geodetic latitude, longitude and altitude with coordinate conversions.</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00061">GeodeticCoords.h:62</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a0e70bc5a1464b930fafc579322912a68"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a0e70bc5a1464b930fafc579322912a68">rtabmap::GeodeticCoords::GeodeticCoords</a></div><div class="ttdeci">GeodeticCoords(double latitude, double longitude, double altitude)</div><div class="ttdoc">Constructs geodetic coordinates.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a3a0d110deb25400137d4fe552742970a"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a3a0d110deb25400137d4fe552742970a">rtabmap::GeodeticCoords::altitude</a></div><div class="ttdeci">const double & altitude() const</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00079">GeodeticCoords.h:79</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a41294c28a20d82ca1cee7f7038255d64"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a41294c28a20d82ca1cee7f7038255d64">rtabmap::GeodeticCoords::GeodeticCoords</a></div><div class="ttdeci">GeodeticCoords()</div><div class="ttdoc">Default-constructs coordinates at (0°, 0°, 0 m).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a68e16e48c8ede571e20e9889547fd509"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a68e16e48c8ede571e20e9889547fd509">rtabmap::GeodeticCoords::longitude</a></div><div class="ttdeci">const double & longitude() const</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00077">GeodeticCoords.h:77</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a76c33e9f988c743e429b0a04d18e258d"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a76c33e9f988c743e429b0a04d18e258d">rtabmap::GeodeticCoords::Geocentric_WGS84ToENU_WGS84</a></div><div class="ttdeci">static cv::Point3d Geocentric_WGS84ToENU_WGS84(const cv::Point3d &geocentric_WGS84, const cv::Point3d &origin_geocentric_WGS84, const GeodeticCoords &origin)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a7f8066cd690d20fc02ad19bf96d9215b"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a7f8066cd690d20fc02ad19bf96d9215b">rtabmap::GeodeticCoords::ENU_WGS84ToGeocentric_WGS84</a></div><div class="ttdeci">static cv::Point3d ENU_WGS84ToGeocentric_WGS84(const cv::Point3d &enu, const GeodeticCoords &origin)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_a9113dd2d169f83e68b1dd0b12f8f24da"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#a9113dd2d169f83e68b1dd0b12f8f24da">rtabmap::GeodeticCoords::setLatitude</a></div><div class="ttdeci">void setLatitude(const double &value)</div><div class="ttdoc">Sets latitude in decimal degrees.</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00082">GeodeticCoords.h:82</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_aac1f8d7bcf0aff48aa8c7aefa91c72d3"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#aac1f8d7bcf0aff48aa8c7aefa91c72d3">rtabmap::GeodeticCoords::setLongitude</a></div><div class="ttdeci">void setLongitude(const double &value)</div><div class="ttdoc">Sets longitude in decimal degrees.</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00084">GeodeticCoords.h:84</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_abc69e5c7f8e473fe6788042237992d43"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#abc69e5c7f8e473fe6788042237992d43">rtabmap::GeodeticCoords::fromENU_WGS84</a></div><div class="ttdeci">void fromENU_WGS84(const cv::Point3d &enu, const GeodeticCoords &origin)</div><div class="ttdoc">Sets this point from an ENU offset relative to origin.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_ac6f662384e5b4ac613d5678307eb95a7"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#ac6f662384e5b4ac613d5678307eb95a7">rtabmap::GeodeticCoords::latitude</a></div><div class="ttdeci">const double & latitude() const</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00075">GeodeticCoords.h:75</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_ae37435ee904b9782fcddbf0f72f388bd"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#ae37435ee904b9782fcddbf0f72f388bd">rtabmap::GeodeticCoords::fromGeocentric_WGS84</a></div><div class="ttdeci">void fromGeocentric_WGS84(const cv::Point3d &geocentric)</div><div class="ttdoc">Sets this point from ECEF geocentric geocentric coordinates.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_ae92c7ff2c0b5c5a41902bdfd589d5c10"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#ae92c7ff2c0b5c5a41902bdfd589d5c10">rtabmap::GeodeticCoords::toGeocentric_WGS84</a></div><div class="ttdeci">cv::Point3d toGeocentric_WGS84() const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_aedf48d8bfb2c8c181b1382919bf7b44c"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#aedf48d8bfb2c8c181b1382919bf7b44c">rtabmap::GeodeticCoords::toENU_WGS84</a></div><div class="ttdeci">cv::Point3d toENU_WGS84(const GeodeticCoords &origin) const</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_afe3c631b5f01246840f8591fc8dc834e"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e">rtabmap::GeodeticCoords::setAltitude</a></div><div class="ttdeci">void setAltitude(const double &value)</div><div class="ttdoc">Sets altitude in meters.</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00086">GeodeticCoords.h:86</a></div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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