gps_conversion.h

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/*
 * Copyright (c) 2012, Markus Achtelik, ASL, ETH Zurich, Switzerland
 * You can contact the author at <acmarkus at ethz dot ch>
 *
 * 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 GPS_CONVERSION_H_
#define GPS_CONVERSION_H_

#include <Eigen/Dense>
#include <msf_core/msf_types.hpp>

namespace msf_core {

class GPSConversion {
 private:
  msf_core::Quaternion ecef_ref_orientation_;
  msf_core::Vector3 ecef_ref_point_;
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  GPSConversion();
  void initReference(const double & latitude, const double & longitude,
                     const double & altitude);
  msf_core::Vector3 wgs84ToEcef(const double & latitude,
                                const double & longitude,
                                const double & altitude) const;
  msf_core::Vector3 ecefToEnu(const msf_core::Vector3 & ecef) const;
  void adjustReference(double z_corr);
};

}
#endif  // GPS_CONVERSION_H_