Functions
template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	ecef2lla (const Eigen::MatrixBase< Derived > &e_position, double a, double b, double e_squared)
	Converts Earth-centered-Earth-fixed coordinates into latitude, longitude and altitude.
template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	lla2ecef (const Eigen::MatrixBase< Derived > &lla_position, double a, double e_squared)
	Converts latitude, longitude and altitude into Earth-centered-Earth-fixed coordinates.

Function Documentation

◆ ecef2lla()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::internal::ecef2lla	(	const Eigen::MatrixBase< Derived > &	e_position,
		double	a,
		double	b,
		double	e_squared )

Converts Earth-centered-Earth-fixed coordinates into latitude, longitude and altitude.

Parameters

[in]	e_position	Vector with coordinates in ECEF frame in [m]
[in]	a	Semi-major axis of the reference ellipsoid
[in]	b	Semi-minor axis of the reference ellipsoid
[in]	e_squared	Square of the first eccentricity of the ellipsoid

Returns: Vector containing [latitude 𝜙, longitude λ, altitude]^T in [rad, rad, m]

Note: See See S. Gleason (2009) - GNSS Applications and Methods: Software example 'Chapter6_GNSS_INS_1/wgsxyz2lla.m' (J.A. Farrel and M. Barth, 1999, GPS & Inertal Navigation. McGraw-Hill. pp. 29.)

Definition at line 85 of file CoordinateFrames.hpp.

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::internal::lla2ecef	(	const Eigen::MatrixBase< Derived > &	lla_position,
		double	a,
		double	e_squared )

Converts latitude, longitude and altitude into Earth-centered-Earth-fixed coordinates.

Parameters

[in]	lla_position	[𝜙 latitude, λ longitude, altitude]^T in [rad, rad, m]
[in]	a	Semi-major axis of the reference ellipsoid
[in]	e_squared	Square of the first eccentricity of the ellipsoid

Note: See C. Jekeli, 2001, Inertial Navigation Systems with Geodetic Applications. pp. 23

Definition at line 61 of file CoordinateFrames.hpp.