geodetic.hpp

Go to the documentation of this file.

// Copyright 2023 Leidos
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef CARMA_COOPERATIVE_PERCEPTION__GEODETIC_HPP_
#define CARMA_COOPERATIVE_PERCEPTION__GEODETIC_HPP_
 
#include <units.h>
 
#include "carma_cooperative_perception/utm_zone.hpp"
 
namespace carma_cooperative_perception
{
struct Wgs84Coordinate
{
  units::angle::degree_t latitude;  
  units::angle::degree_t longitude; 
  units::length::meter_t elevation; 
};
 
struct MapCoordinate
{
  units::length::meter_t easting;
  units::length::meter_t northing;
  units::length::meter_t elevation;
};
 
struct UtmCoordinate
{
  UtmZone utm_zone;
  units::length::meter_t easting;
  units::length::meter_t northing;
  units::length::meter_t elevation; 
};
 
struct UtmDisplacement
{
  units::length::meter_t easting;
  units::length::meter_t northing;
  units::length::meter_t elevation;
};
 
inline constexpr auto operator+=(UtmCoordinate & coordinate, const UtmDisplacement & displacement)
  -> UtmCoordinate &
{
  coordinate.easting += displacement.easting;
  coordinate.northing += displacement.northing;
  coordinate.elevation += displacement.elevation;
 
  return coordinate;
}
 
inline constexpr auto operator+(UtmCoordinate coordinate, const UtmDisplacement & displacement)
  -> UtmCoordinate
{
  return coordinate += displacement;
}
 
inline constexpr auto operator+(const UtmDisplacement & displacement, UtmCoordinate coordinate)
  -> UtmCoordinate
{
  return coordinate += displacement;
}
 
inline constexpr auto operator-=(UtmCoordinate & coordinate, const UtmDisplacement & displacement)
  -> UtmCoordinate &
{
  coordinate.easting += displacement.easting;
  coordinate.northing += displacement.northing;
  coordinate.elevation += displacement.elevation;
 
  return coordinate;
}
 
inline constexpr auto operator-(UtmCoordinate coordinate, const UtmDisplacement & displacement)
  -> UtmCoordinate
{
  return coordinate -= displacement;
}
 
inline constexpr auto operator-(const UtmDisplacement & displacement, UtmCoordinate coordinate)
  -> UtmCoordinate
{
  return coordinate -= displacement;
}
 
auto calculate_utm_zone(const Wgs84Coordinate & coordinate) -> UtmZone;
 
auto project_to_carma_map(const Wgs84Coordinate & coordinate, std::string_view proj_string)
  -> MapCoordinate;
 
auto project_to_utm(const Wgs84Coordinate & coordinate) -> UtmCoordinate;
 
auto calculate_grid_convergence(const Wgs84Coordinate & position, const UtmZone & zone)
  -> units::angle::degree_t;
 
auto calculate_grid_convergence(const Wgs84Coordinate & position, std::string_view georeference)
  -> units::angle::degree_t;
 
}  // namespace carma_cooperative_perception
 
#endif  // CARMA_COOPERATIVE_PERCEPTION__GEODETIC_HPP_