geoops Namespace Reference

Namespace containing functions related to operations on global position number systems and other datatypes. More...

Classes
struct	GeoMeasurement
	This struct is used to store the distance, arc length, and relative bearing for a calculated geodesic between two points. Storing these values in a struct allows for easy handling and access to said variables. More...
struct	GPSCoordinate
	This struct stores/contains information about a GPS data. More...
struct	IMUData
	This struct stores/contains information about orientation. More...
struct	RoverPose
	This struct is used by the WaypointHandler to provide an easy way to store all pose data about the rover. More...
struct	UTMCoordinate
	This struct stores/contains information about a UTM coordinate. More...
struct	Waypoint
	This struct is used by the WaypointHandler class to store location, size, and type information about a given location of interest of waypoint. More...

Enumerations
enum class	WaypointType {   eNavigationWaypoint , eTagWaypoint , eMalletWaypoint , eWaterBottleWaypoint ,   eObjectWaypoint , eObstacleWaypoint , eUNKNOWN }
enum class	PositionFixType {   eNoFix , eDeadReckoning , eFix2D , eFix3D ,   eGNSSDeadReckoningCombined , eTimeOnly , eUNKNOWN }

Functions
UTMCoordinate	ConvertGPSToUTM (const GPSCoordinate &stGPSCoord)
	Given a GPS coordinate, convert to UTM and create a new UTMCoordinate object.
GPSCoordinate	ConvertUTMToGPS (const UTMCoordinate &stUTMCoord)
	Given a UTM coordinate, convert to GPS and create a new GPSCoordinate object.
GeoMeasurement	CalculateGeoMeasurement (const GPSCoordinate &stCoord1, const GPSCoordinate &stCoord2)
	The shortest path between two points on an ellipsoid at (lat1, lon1) and (lat2, lon2) is called the geodesic. Given those two points create an ellipsoid with earth's characteristics and find the distance between them.
GeoMeasurement	CalculateGeoMeasurement (const UTMCoordinate &stCoord1, const UTMCoordinate &stCoord2)
	The shortest path between two points on an ellipsoid at (easting1, northing1) and (easting2, northing2) is called the geodesic. Given those two points create an ellipsoid with earth's characteristics and find the distance between them.

Detailed Description

Namespace containing functions related to operations on global position number systems and other datatypes.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-09-30

Enumeration Type Documentation

WaypointType

enum class geoops::WaypointType

strong

    {
        eNavigationWaypoint,
        eTagWaypoint,
        eMalletWaypoint,
        eWaterBottleWaypoint,
        eObjectWaypoint,    // Used to represent either Mallet or WaterBottle waypoint.
        eObstacleWaypoint,
        eUNKNOWN
    };

PositionFixType

enum class geoops::PositionFixType

strong

    {
        eNoFix,
        eDeadReckoning,
        eFix2D,
        eFix3D,
        eGNSSDeadReckoningCombined,
        eTimeOnly,
        eUNKNOWN
    };

Function Documentation

ConvertGPSToUTM()

UTMCoordinate geoops::ConvertGPSToUTM ( const GPSCoordinate &  stGPSCoord )

inline

Given a GPS coordinate, convert to UTM and create a new UTMCoordinate object.

Parameters

stGPSCoord

- The struct containing the GPS coordinate data.

Returns

UTMCoordinate - The UTM coordinate corresponding to the given GPS coordinate.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-12

    {
        // Create instance variables.
        UTMCoordinate stConvertCoord;
 
        // Get data out of the GPS coord and repackage it into the UTM struct.
        stConvertCoord.d2DAccuracy                = stGPSCoord.d2DAccuracy;
        stConvertCoord.d3DAccuracy                = stGPSCoord.d3DAccuracy;
        stConvertCoord.dAltitude                  = stGPSCoord.dAltitude;
        stConvertCoord.eCoordinateAccuracyFixType = stGPSCoord.eCoordinateAccuracyFixType;
        stConvertCoord.bIsDifferential            = stGPSCoord.bIsDifferential;
        stConvertCoord.tmTimestamp                = stGPSCoord.tmTimestamp;
 
        // Catch errors from GeographicLib.
        try
        {
            // Forward solve for the UTM coord.
            GeographicLib::UTMUPS::Forward(stGPSCoord.dLatitude,
                                           stGPSCoord.dLongitude,
                                           stConvertCoord.nZone,
                                           stConvertCoord.bWithinNorthernHemisphere,
                                           stConvertCoord.dEasting,
                                           stConvertCoord.dNorthing,
                                           stConvertCoord.dMeridianConvergence,
                                           stConvertCoord.dScale);
        }
        catch (const GeographicLib::GeographicErr::exception& geError)
        {
            // Submit logger message.
            LOG_ERROR(logging::g_qSharedLogger, "Unable to forward solve a GPSCoordinate to UTMCoordinate. GeographicLib error is: {}", geError.what());
        }
 
        // Return the converted UTM coordinate.
        return stConvertCoord;
    }

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ConvertUTMToGPS()

GPSCoordinate geoops::ConvertUTMToGPS ( const UTMCoordinate &  stUTMCoord )

inline

Given a UTM coordinate, convert to GPS and create a new GPSCoordinate object.

Parameters

stUTMCoord

- The struct containing the UTM coordinate data.

Returns

GPSCoordinate - The GPS coordinate corresponding to the given UTM coordinate.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-12

    {
        // Create instance variables.
        GPSCoordinate stConvertCoord;
 
        // Get data out of the UTM coord and repackage it into the GPS struct.
        stConvertCoord.d2DAccuracy                = stUTMCoord.d2DAccuracy;
        stConvertCoord.d3DAccuracy                = stUTMCoord.d3DAccuracy;
        stConvertCoord.dAltitude                  = stUTMCoord.dAltitude;
        stConvertCoord.eCoordinateAccuracyFixType = stUTMCoord.eCoordinateAccuracyFixType;
        stConvertCoord.bIsDifferential            = stUTMCoord.bIsDifferential;
        stConvertCoord.tmTimestamp                = stUTMCoord.tmTimestamp;
 
        // Catch errors from GeographicLib.
        try
        {
            // Reverse solve for the UTM coord.
            GeographicLib::UTMUPS::Reverse(stUTMCoord.nZone,
                                           stUTMCoord.bWithinNorthernHemisphere,
                                           std::fabs(stUTMCoord.dEasting),
                                           stUTMCoord.dNorthing,
                                           stConvertCoord.dLatitude,
                                           stConvertCoord.dLongitude,
                                           stConvertCoord.dMeridianConvergence,
                                           stConvertCoord.dScale);
        }
        catch (const GeographicLib::GeographicErr::exception& geError)
        {
            // Submit logger message.
            LOG_ERROR(logging::g_qSharedLogger, "Unable to reverse solve a UTMCoordinate to GPSCoordinate. GeographicLib error is: {}", geError.what());
        }
 
        // Return the converted UTM coordinate.
        return stConvertCoord;
    }

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CalculateGeoMeasurement() [1/2]

GeoMeasurement geoops::CalculateGeoMeasurement ( const GPSCoordinate &  stCoord1, const GPSCoordinate &  stCoord2  )

inline

The shortest path between two points on an ellipsoid at (lat1, lon1) and (lat2, lon2) is called the geodesic. Given those two points create an ellipsoid with earth's characteristics and find the distance between them.

Parameters

stCoord1	- The first GPS coordinate.
stCoord2	- The second GPS coordinate.

Returns

GeoMeasurement - Struct containing the distance in meters and arc length degrees, plus the bearing relative to the first point and second point.

See also

https://geographiclib.sourceforge.io/C++/doc/classGeographicLib_1_1Geodesic.html#ae66c9cecfcbbcb1da52cb408e69f65de

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-13

    {
        // Create instance variables.
        GeoMeasurement stMeasurements;
 
        // Construct a geodesic with earth characteristics. (Radius and flattening)
        // The WGS84 standard is widely used and aligns with Google Maps.
        GeographicLib::Geodesic geGeodesic = GeographicLib::Geodesic::WGS84();
 
        // Solve the inverse geodesic for distance and arc length degrees at the center of the globe, and relative bearings.
        stMeasurements.dArcLengthDegrees = geGeodesic.Inverse(stCoord1.dLatitude,
                                                              stCoord1.dLongitude,
                                                              stCoord2.dLatitude,
                                                              stCoord2.dLongitude,
                                                              stMeasurements.dDistanceMeters,
                                                              stMeasurements.dStartRelativeBearing,
                                                              stMeasurements.dEndRelativeBearing);
 
        // NOTE: Regarding azi1 vs azi2, azi1 is the direction measured at point 1 (your navigation aid) to point 2. azi2 is the direction measured at point 2 (your
        // location) away from point 1. (If you want the direction to point 1, add ±180° to azi2.)
        // Map the -180, 180 range of the azimuths to 0, 360, with both points zeroed at North.
        stMeasurements.dStartRelativeBearing = std::fmod((stMeasurements.dStartRelativeBearing + 360), 360);
        stMeasurements.dEndRelativeBearing   = std::fmod((stMeasurements.dEndRelativeBearing + 180), 360);
        // Ensure the result angle is positive.
        if (stMeasurements.dStartRelativeBearing < 0)
        {
            // Add 360 degrees.
            stMeasurements.dStartRelativeBearing += 360;
        }
        // Ensure the result angle is positive.
        if (stMeasurements.dEndRelativeBearing < 0)
        {
            // Add 360 degrees.
            stMeasurements.dEndRelativeBearing += 360;
        }
 
        // Return result distance.
        return stMeasurements;
    }

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CalculateGeoMeasurement() [2/2]

GeoMeasurement geoops::CalculateGeoMeasurement ( const UTMCoordinate &  stCoord1, const UTMCoordinate &  stCoord2  )

inline

The shortest path between two points on an ellipsoid at (easting1, northing1) and (easting2, northing2) is called the geodesic. Given those two points create an ellipsoid with earth's characteristics and find the distance between them.

Parameters

stCoord1	- The first UTM coordinate.
stCoord2	- The second UTM coordinate.

Returns

GeoMeasurement - Struct containing the distance in meters and arc length degrees, plus the bearing relative to the first point and second point.

See also

https://geographiclib.sourceforge.io/C++/doc/classGeographicLib_1_1Geodesic.html#ae66c9cecfcbbcb1da52cb408e69f65de

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-01-14

    {
        // Create instance variables.
        GeoMeasurement stMeasurements;
 
        // Construct a geodesic with earth characteristics. (Radius and flattening)
        // The WGS84 standard is widely used and aligns with Google Maps.
        GeographicLib::Geodesic geGeodesic = GeographicLib::Geodesic::WGS84();
 
        // Convert the given UTM coords into GPS coords for temporary use.
        GPSCoordinate stGPSCoord1 = ConvertUTMToGPS(stCoord1);
        GPSCoordinate stGPSCoord2 = ConvertUTMToGPS(stCoord2);
 
        // Solve the inverse geodesic.
        stMeasurements.dArcLengthDegrees = geGeodesic.Inverse(stGPSCoord1.dLatitude,
                                                              stGPSCoord1.dLongitude,
                                                              stGPSCoord2.dLatitude,
                                                              stGPSCoord2.dLongitude,
                                                              stMeasurements.dDistanceMeters,
                                                              stMeasurements.dStartRelativeBearing,
                                                              stMeasurements.dEndRelativeBearing);
 
        // NOTE: Regarding azi1 vs azi2, azi1 is the direction measured at point 1 (your navigation aid) to point 2. azi2 is the direction measured at point 2 (your
        // location) away from point 1. (If you want the direction to point 1, add ±180° to azi2.)
        // Map the -180, 180 range of the azimuths to 0, 360, with both points zeroed at North.
        stMeasurements.dStartRelativeBearing = std::fmod((stMeasurements.dStartRelativeBearing + 360), 360);
        stMeasurements.dEndRelativeBearing   = std::fmod((stMeasurements.dEndRelativeBearing + 180), 360);
        // Ensure the result angle is positive.
        if (stMeasurements.dStartRelativeBearing < 0)
        {
            // Add 360 degrees.
            stMeasurements.dStartRelativeBearing += 360;
        }
        // Ensure the result angle is positive.
        if (stMeasurements.dEndRelativeBearing < 0)
        {
            // Add 360 degrees.
            stMeasurements.dEndRelativeBearing += 360;
        }
 
        // Return result distance.
        return stMeasurements;
    }

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