Namespace inertialsim::geodesy

Namespace List > inertialsim > geodesy

Namespaces

Type	Name
namespace	ecef
namespace	ellipsoidal_harmonic
namespace	geodetic
namespace	spherical
namespace	topocentric

Classes

Type	Name
class	ConstantEarthRate Constant Earth rate model.
class	ConstantGravity Constant gravity model.
class	ConstantMagneticField Constant magnetic field model.
class	Coordinates 3-dimensional coordinates with respect to Earth.
class	EllipsoidalEarthRate Rotation rate model of Earth.
class	EllipsoidalGravity Ellipsoidal gravity model.
class	Field Interface class for geophysical field models.
struct	GeodeticDatum Geodetic datum.
class	GlobalPose Pose and velocity with respect to Earth.
class	Gravity Abstract base class for gravity models.
struct	LocalDatum Local datum.
struct	MagneticDatum World Magnetic Model (WMM) datum.
struct	TopocentricDatum Topocentric datum class.
struct	VehicleDatum Vehicle datum class.
class	WorldMagneticModel World Magnetic Model implementation.
class	ZeroEarthRate Zero Earth rate model.

Public Types

Type	Name
enum	CoordinateSystem Supported coordinate systems.
typedef Field	EarthRate Type alias for Earth rate models.
enum	LocalAxisOrder Supported axis orderings for local coordinate systems.
typedef Field	MagneticField Type alias for magnetic field models.
enum	TopocentricAxisOrder Supported topocentric or local level axis orderings.
enum	VehicleAxisOrder Supported axis orderings for vehicle coordinate systems.

Public Attributes

Type	Name
const geometry::Rotation	ROTATION_ENU_TO_NED Rotation from ENU to NED topocentric coordinates.
const geometry::Rotation	ROTATION_FLU_TO_FRD Rotation from FLU to FRD local coordinates.
const geometry::Rotation	ROTATION_FRD_TO_FLU Rotation from FRD to FLU local coordinates.
const geometry::Rotation	ROTATION_NED_TO_ENU Rotation from NED to ENU topocentric coordinates.
constexpr double	STANDARD_GRAVITY = 9.80665
std::set< CoordinateSystem > const	SupportedCoordinates = /* multi line expression */ Supported coordinate systems for GlobalPose .
const geometry::RigidTransform	TRANSFORM_ENU_TO_NED Rigid transform from ENU to NED topocentric coordinates.
const geometry::RigidTransform	TRANSFORM_FLU_TO_FRD Rigid transform from FLU to FRD local coordinates.
const geometry::RigidTransform	TRANSFORM_FRD_TO_FLU Rigid transform from FRD to FLU local coordinates.
const geometry::RigidTransform	TRANSFORM_NED_TO_ENU Rigid transform from NED to ENU topocentric coordinates.
const geometry::Translation	TRANSLATION_ENU_TO_NED Translation from ENU to NED topocentric coordinates (zero).
const geometry::Translation	TRANSLATION_FLU_TO_FRD Translation from FLU to FRD local coordinates (zero).
const geometry::Translation	TRANSLATION_FRD_TO_FLU Translation from FRD to FLU local coordinates (zero).
const geometry::Translation	TRANSLATION_NED_TO_ENU Translation from NED to ENU topocentric coordinates (zero).
const GeodeticDatum	WGS84 World Geodetic System (WGS84) defining parameters and derived constants.
const MagneticDatum	WMM2020 World Magnetic Model 2020 (WMM2020) defining constants.
const MagneticDatum	WMM2025 World Magnetic Model 2025 (WMM2025) defining constants.
std::set< CoordinateSystem > const	kCartesianCoordinateSystems = /* multi line expression */
std::set< CoordinateSystem > const	kCurvilinearCoordinateSystems = /* multi line expression */
std::set< CoordinateSystem > const	kGlobalCoordinateSystems = /* multi line expression */

Public Types Documentation

enum CoordinateSystem

Supported coordinate systems.

enum inertialsim::geodesy::CoordinateSystem {
    GEODETIC,
    ECEF,
    TOPOCENTRIC,
    SPHERICAL,
    ELLIPSOIDAL_HARMONIC,
    LOCAL,
    INERTIAL
};

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typedef EarthRate

Type alias for Earth rate models.

using inertialsim::geodesy::EarthRate = typedef Field;

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enum LocalAxisOrder

Supported axis orderings for local coordinate systems.

enum inertialsim::geodesy::LocalAxisOrder {
    FRD,
    FLU
};

Local coordinate systems support Forward, Right, Down (FRD) and Forward, Left, Up (FLU) orderings.

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typedef MagneticField

Type alias for magnetic field models.

using inertialsim::geodesy::MagneticField = typedef Field;

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enum TopocentricAxisOrder

Supported topocentric or local level axis orderings.

enum inertialsim::geodesy::TopocentricAxisOrder {
    NED,
    ENU
};

Topocentric coordinate systems support North, East, Down (NED) and East, North, Up (ENU) orderings.

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enum VehicleAxisOrder

Supported axis orderings for vehicle coordinate systems.

enum inertialsim::geodesy::VehicleAxisOrder {
    FRD,
    FLU
};

Local coordinate systems support Forward, Right, Down (FRD) and Forward, Left, Up (FLU) orderings.

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Public Attributes Documentation

variable ROTATION_ENU_TO_NED

Rotation from ENU to NED topocentric coordinates.

const geometry::Rotation inertialsim::geodesy::ROTATION_ENU_TO_NED;

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variable ROTATION_FLU_TO_FRD

Rotation from FLU to FRD local coordinates.

const geometry::Rotation inertialsim::geodesy::ROTATION_FLU_TO_FRD;

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variable ROTATION_FRD_TO_FLU

Rotation from FRD to FLU local coordinates.

const geometry::Rotation inertialsim::geodesy::ROTATION_FRD_TO_FLU;

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variable ROTATION_NED_TO_ENU

Rotation from NED to ENU topocentric coordinates.

const geometry::Rotation inertialsim::geodesy::ROTATION_NED_TO_ENU;

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variable STANDARD_GRAVITY

constexpr double inertialsim::geodesy::STANDARD_GRAVITY;

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variable SupportedCoordinates

Supported coordinate systems for GlobalPose .

std::set<CoordinateSystem> const inertialsim::geodesy::SupportedCoordinates;

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variable TRANSFORM_ENU_TO_NED

Rigid transform from ENU to NED topocentric coordinates.

const geometry::RigidTransform inertialsim::geodesy::TRANSFORM_ENU_TO_NED;

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variable TRANSFORM_FLU_TO_FRD

Rigid transform from FLU to FRD local coordinates.

const geometry::RigidTransform inertialsim::geodesy::TRANSFORM_FLU_TO_FRD;

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variable TRANSFORM_FRD_TO_FLU

Rigid transform from FRD to FLU local coordinates.

const geometry::RigidTransform inertialsim::geodesy::TRANSFORM_FRD_TO_FLU;

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variable TRANSFORM_NED_TO_ENU

Rigid transform from NED to ENU topocentric coordinates.

const geometry::RigidTransform inertialsim::geodesy::TRANSFORM_NED_TO_ENU;

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variable TRANSLATION_ENU_TO_NED

Translation from ENU to NED topocentric coordinates (zero).

const geometry::Translation inertialsim::geodesy::TRANSLATION_ENU_TO_NED;

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variable TRANSLATION_FLU_TO_FRD

Translation from FLU to FRD local coordinates (zero).

const geometry::Translation inertialsim::geodesy::TRANSLATION_FLU_TO_FRD;

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variable TRANSLATION_FRD_TO_FLU

Translation from FRD to FLU local coordinates (zero).

const geometry::Translation inertialsim::geodesy::TRANSLATION_FRD_TO_FLU;

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variable TRANSLATION_NED_TO_ENU

Translation from NED to ENU topocentric coordinates (zero).

const geometry::Translation inertialsim::geodesy::TRANSLATION_NED_TO_ENU;

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variable WGS84

World Geodetic System (WGS84) defining parameters and derived constants.

const GeodeticDatum inertialsim::geodesy::WGS84;

Version: G1762.

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variable WMM2020

World Magnetic Model 2020 (WMM2020) defining constants.

const MagneticDatum inertialsim::geodesy::WMM2020;

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variable WMM2025

World Magnetic Model 2025 (WMM2025) defining constants.

const MagneticDatum inertialsim::geodesy::WMM2025;

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variable kCartesianCoordinateSystems

std::set<CoordinateSystem> const inertialsim::geodesy::kCartesianCoordinateSystems;

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variable kCurvilinearCoordinateSystems

std::set<CoordinateSystem> const inertialsim::geodesy::kCurvilinearCoordinateSystems;

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variable kGlobalCoordinateSystems

std::set<CoordinateSystem> const inertialsim::geodesy::kGlobalCoordinateSystems;

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The documentation for this class was generated from the following file cpp/include/inertialsim/geodesy/coordinates.h