Holds geographic reference position information. More...
Functions | |
GeoPose () | |
Default constructor. More... | |
GeoPose (const GeoPose &geopose) | |
Copy constructor. More... | |
Attributes | |
sl::Transform | pose_data |
The 4x4 matrix defining the pose in the East-North-Up (ENU) coordinate system. More... | |
float | pose_covariance [36] |
The pose covariance matrix in ENU. More... | |
double | horizontal_accuracy |
The horizontal accuracy of the pose in meters. More... | |
double | vertical_accuracy |
The vertical accuracy of the pose in meters. More... | |
sl::LatLng | latlng_coordinates |
The latitude, longitude, and altitude coordinates of the pose. More... | |
double | heading |
The heading (orientation) of the pose in radians. It indicates the direction in which the object or observer is facing, with 0 degrees corresponding to North and increasing in a counter-clockwise direction. More... | |
sl::Timestamp | timestamp |
The timestamp associated with the GeoPose. More... | |
Holds geographic reference position information.
This class represents a geographic pose, including position, orientation, and accuracy information. It is used for storing and manipulating geographic data, such as latitude, longitude, altitude, pose matrices, covariances, and timestamps.
The pose data is defined in the East-North-Up (ENU) reference frame. The ENU frame is a local Cartesian coordinate system commonly used in geodetic applications. In this frame, the X-axis points towards the East, the Y-axis points towards the North, and the Z-axis points upwards.
GeoPose | ( | ) |
Default constructor.
Copy constructor.
geopose | The GeoPose object to copy from. |
sl::Transform pose_data |
The 4x4 matrix defining the pose in the East-North-Up (ENU) coordinate system.
float pose_covariance[36] |
The pose covariance matrix in ENU.
double horizontal_accuracy |
The horizontal accuracy of the pose in meters.
double vertical_accuracy |
The vertical accuracy of the pose in meters.
sl::LatLng latlng_coordinates |
The latitude, longitude, and altitude coordinates of the pose.
double heading |
The heading (orientation) of the pose in radians. It indicates the direction in which the object or observer is facing, with 0 degrees corresponding to North and increasing in a counter-clockwise direction.
sl::Timestamp timestamp |
The timestamp associated with the GeoPose.