apollo::localization::msf::FrameTransform类 参考

#include <frame_transform.h>

apollo::localization::msf::FrameTransform 的协作图:

静态 Public 成员函数
static bool	LatlonToUtmXY (double lon, double lat, UTMCoor *utm_xy)
static bool	UtmXYToLatlon (double x, double y, int zone, bool southhemi, WGS84Corr *latlon)
static bool	XYZToBlh (const Vector3d &xyz, Vector3d *blh)
static bool	BlhToXYZ (const Vector3d &blh, Vector3d *xyz)

详细描述

在文件 frame_transform.h 第 44 行定义.

成员函数说明

BlhToXYZ()

bool apollo::localization::msf::FrameTransform::BlhToXYZ ( const Vector3d &  blh, Vector3d *  xyz  )

static

在文件 frame_transform.cc 第 96 行定义.

                                                                {
  projPJ pj_xyz;
  projPJ pj_blh;
  std::string blh_src = "+proj=latlong +datum=WGS84";
  std::string xyz_dst = "+proj=geocent +datum=WGS84";
 
  if (!(pj_blh = pj_init_plus(blh_src.c_str()))) {
    return false;
  }
  if (!(pj_xyz = pj_init_plus(xyz_dst.c_str()))) {
    return false;
  }
  double longitude = blh[0];
  double latitude = blh[1];
  double height = blh[2];
  pj_transform(pj_blh, pj_xyz, 1, 1, &longitude, &latitude, &height);
  (*xyz)[0] = longitude;
  (*xyz)[1] = latitude;
  (*xyz)[2] = height;
  pj_free(pj_xyz);
  pj_free(pj_blh);
  return true;
}

LatlonToUtmXY()

bool apollo::localization::msf::FrameTransform::LatlonToUtmXY ( double  lon, double  lat, UTMCoor *  utm_xy  )

static

在文件 frame_transform.cc 第 27 行定义.

                                                    {
  projPJ pj_latlon;
  projPJ pj_utm;
  int zone = 0;
  zone = static_cast<int>((lon_rad * RAD_TO_DEG + 180) / 6) + 1;
  std::string latlon_src =
      "+proj=longlat +ellps=GRS80 +towgs84=0,0,0,0,0,0,0 +no_defs";
  std::string utm_dst =
      absl::StrCat("+proj=utm +zone=", zone, " +ellps=GRS80 +units=m +no_defs");
  if (!(pj_latlon = pj_init_plus(latlon_src.c_str()))) {
    return false;
  }
  if (!(pj_utm = pj_init_plus(utm_dst.c_str()))) {
    return false;
  }
  double longitude = lon_rad;
  double latitude = lat_rad;
  pj_transform(pj_latlon, pj_utm, 1, 1, &longitude, &latitude, nullptr);
  utm_xy->x = longitude;
  utm_xy->y = latitude;
  pj_free(pj_latlon);
  pj_free(pj_utm);
  return true;
}

UtmXYToLatlon()

bool apollo::localization::msf::FrameTransform::UtmXYToLatlon ( double  x, double  y, int  zone, bool  southhemi, WGS84Corr *  latlon  )

static

在文件 frame_transform.cc 第 52 行定义.

                                                      {
  projPJ pj_latlon;
  projPJ pj_utm;
  std::string latlon_src =
      "+proj=longlat +ellps=GRS80 +towgs84=0,0,0,0,0,0,0 +no_defs";
  std::string utm_dst =
      absl::StrCat("+proj=utm +zone=", zone, " +ellps=GRS80 +units=m +no_defs");
  if (!(pj_latlon = pj_init_plus(latlon_src.c_str()))) {
    return false;
  }
  if (!(pj_utm = pj_init_plus(utm_dst.c_str()))) {
    return false;
  }
  pj_transform(pj_utm, pj_latlon, 1, 1, &x, &y, nullptr);
  latlon->log = x;
  latlon->lat = y;
  pj_free(pj_latlon);
  pj_free(pj_utm);
  return true;
}

XYZToBlh()

bool apollo::localization::msf::FrameTransform::XYZToBlh ( const Vector3d &  xyz, Vector3d *  blh  )

static

在文件 frame_transform.cc 第 74 行定义.

                                                                {
  projPJ pj_xyz;
  projPJ pj_blh;
  std::string xyz_src = "+proj=geocent +datum=WGS84";
  std::string blh_dst = "+proj=latlong +datum=WGS84";
  if (!(pj_xyz = pj_init_plus(xyz_src.c_str()))) {
    return false;
  }
  if (!(pj_blh = pj_init_plus(blh_dst.c_str()))) {
    return false;
  }
  double x = xyz[0];
  double y = xyz[1];
  double z = xyz[2];
  pj_transform(pj_xyz, pj_blh, 1, 1, &x, &y, &z);
  (*blh)[0] = x;
  (*blh)[1] = y;
  (*blh)[2] = z;
  pj_free(pj_xyz);
  pj_free(pj_blh);
  return true;
}

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该类的文档由以下文件生成:

• modules/localization/msf/common/util/frame_transform.h
• modules/localization/msf/common/util/frame_transform.cc