IG::Converter Class

Converter Class

Members

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dvec3 worldToGeodetic ( const NodePtr & node ) #

Returns the position of the specified node in geodetic coordinates.

Arguments

• const NodePtr & node - Node, for which a geodetic coordinates are to be obtained.

Return value

Node's position in geodetic coordinates (lat, lon, alt).

dvec3 worldToGeodetic ( const Vec3 & world_pos ) #

Returns geodetic coordinates of a point with the specified world coordinates.

Arguments

• const Vec3 & world_pos - World coordinates of the point to be converted (X, Y, Z).

Return value

Geodetic coordinates of the point (lat, lon, alt).

Vec3 geodeticToWorld ( const dvec3 & geo_pos ) #

Returns world coordinates of a point with the specified geodetic coordinates.

Arguments

• const dvec3 & geo_pos - Geodetic coordinates of the point to be converted (lat, lon, alt).

Return value

World coordinates of the point (X, Y, Z).

Vec3 ENUtoNED ( const Vec3 & enu_pos ) #

Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).

Arguments

• const Vec3 & enu_pos - Coordinates of a point in the ENU (East-North-Up) system.

Return value

Coordinates of the point in the NED (North-East-Down) system.

Vec3 NEDtoENU ( const Vec3 & ned_pos ) #

Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).

Arguments

• const Vec3 & ned_pos - Coordinates of a point in the NED (North-East-Down) system.

Return value

Coordinates of the point in the ENU (East-North-Up) system.

quat getZeroRotation ( const dvec3 & geo_pos ) #

Returns the zero-rotation for the specified target geodetic position.

Arguments

• const dvec3 & geo_pos - Target geodetic position coordinates (lat, lon, alt).

Return value

Zero-rotation quaternion for the specified target geodetic position.

void getZeroUpDirection ( const dvec3 & geo_pos, vec3 & up ) #

Returns the zero "up"-vector coordinates for the specified target geodetic position.

Arguments

• const dvec3 & geo_pos - Target geodetic position coordinates (lat, lon, alt).
• vec3 & up - Zero "up"-vector coordinates for the specified target geodetic position.

void getZeroDirections ( const dvec3 & geo_pos, vec3 & east, vec3 & north, vec3 & up ) #

Gets zero directions (east, north, up) for the specified target geodetic position and puts them to the specified vectors.

Arguments

• const dvec3 & geo_pos - Target geodetic position coordinates (lat, lon, alt).
• vec3 & east - Vector to which the east direction vector coordinates are to be put.
• vec3 & north - Vector to which the north direction vector coordinates are to be put.
• vec3 & up - Vector to which the up direction vector coordinates are to be put.

Mat4 getZeroBasis ( const dvec3 & geo_pos ) #

Returns the whole zero basis for the specified target geodetic position.

Arguments

• const dvec3 & geo_pos - Target geodetic position coordinates (lat, lon, alt).

Return value

Zero basis for the specified target geodetic position.

quat eulerENUToRotation ( const vec3 & euler ) #

Converts the specified Euler rotation vector in ENU (East-North-Up) coordinates to a rotation quaternion.

Arguments

• const vec3 & euler - Vector representing rotation (roll, pitch, yaw) in ENU (East-North-Up) coordinates.

Return value

Rotation quaternion.

quat eulerNEDToRotation ( const vec3 & euler ) #

Converts the specified Euler rotation vector in NED (North-East-Down) coordinates to a rotation quaternion.

Arguments

• const vec3 & euler - Vector representing Euler rotation (roll, pitch, yaw) in NED (North-East-Down) coordinates.

Return value

Rotation quaternion.

vec3 rotationToEulerENU ( const quat & rotation ) #

Converts the specified rotation quaternion to Euler rotation vector in ENU (East-North-Up) coordinates.

Arguments

• const quat & rotation - Rotation quaternion.

Return value

Vector representing rotation (roll, pitch, yaw) in ENU (East-North-Up) coordinates.

vec3 rotationToEulerNED ( const quat & rotation ) #

Converts the specified rotation quaternion to Euler rotation vector in NED (North-East-Down) coordinates.

Arguments

• const quat & rotation - Rotation quaternion.

Return value

Vector representing Euler rotation (roll, pitch, yaw) in NED (North-East-Down) coordinates.