Unigine::Plugins::IG::Converter Class
| Header: | #include <plugins/Unigine/IG/UnigineIG.h> |
This utility class is used to perform conversions between different coordinate systems for the IG (e.g. ENU <-> NED, Euler rotation <-> quaternion, etc.).
Notice
IG plugin must be loaded.
Converter Class
Enums
COORDINATE_SYSTEM#
Members
Math::dvec3 worldToGeodetic ( const Math::dvec3& world_pos ) #
Returns geodetic coordinates of a point with the specified world coordinates.Arguments
- const Math::dvec3& world_pos - World coordinates of the point to be converted (X, Y, Z).
Return value
Geodetic coordinates of the point (lat, lon, alt).Math::dvec3 geodeticToWorld ( const Math::dvec3& geo_pos ) const#
Returns world coordinates of a point with the specified geodetic coordinates.Arguments
- const Math::dvec3& geo_pos - Geodetic coordinates of the point to be converted (lat, lon, alt).
Return value
World coordinates of the point (X, Y, Z).Math::dvec3 ENUtoNED ( const Math::dvec3& enu_pos ) const#
Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).Arguments
- const Math::dvec3& 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.Math::dvec3 NEDtoENU ( const Math::dvec3& ned_pos ) const#
Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).Arguments
- const Math::dvec3& 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.Math::dvec3 IGtoENU ( const Math::dvec3& ig_pos ) const#
Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).Arguments
- const Math::dvec3& ig_pos - Coordinates of the point in the IG system.
Return value
Coordinates of a point in the ENU (East-North-Up) system.Math::dvec3 ENUtoIG ( const Math::dvec3& enu_pos ) const#
Converts the coordinates of a point specified in the ENU (East-North-Up) system to IG.Arguments
- const Math::dvec3& enu_pos - Coordinates of a point in the ENU (East-North-Up) system.
Return value
Coordinates of the point in the IG system.Math::vec3 ENUtoNED ( const Math::vec3& enu_pos ) const#
Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).Arguments
- const Math::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.Math::vec3 NEDtoENU ( const Math::vec3& ned_pos ) const#
Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).Arguments
- const Math::vec3& ned_pos - Coordinates of the point in the NED (North-East-Down) system.
Return value
Coordinates of a point in the ENU (East-North-Up) system.Math::vec3 IGtoENU ( const Math::vec3& ig_pos ) const#
Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).Arguments
- const Math::vec3& ig_pos - Coordinates of the point in the IG system.
Return value
Coordinates of a point in the ENU (East-North-Up) system.Math::vec3 ENUtoIG ( const Math::vec3& enu_pos ) const#
Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).Arguments
- const Math::vec3& enu_pos - Coordinates of a point in the ENU (East-North-Up) system.
Return value
Coordinates of the point in the IG system.Math::quat getZeroRotation ( const Math::dvec3& geo_pos ) const#
Returns the zero-rotation for the specified target geodetic position.Notice
Unigine uses ENU orientation!
- final_rotation = zero_rotation * entity_local_rotation
- entity_local_rotation = final_rotation * inverse(zero_rotation)
Arguments
- const Math::dvec3& geo_pos - Target geodetic position coordinates (lat, lon, alt).
Return value
Zero-rotation quaternion for the specified target geodetic position.Math::vec3& getZeroUpDirection ( const Math::dvec3& geo_pos ) const#
Returns the zero "up"-vector coordinates for the specified target geodetic position.Arguments
- const Math::dvec3& geo_pos - Target geodetic position coordinates (lat, lon, alt).
Return value
Zero "up"-vector coordinates for the specified target geodetic position.Math::dmat4 getZeroBasis ( const Math::dvec3& geo_pos ) const#
Returns the whole zero basis for the specified target geodetic position.Arguments
- const Math::dvec3& geo_pos - Target geodetic position coordinates (lat, lon, alt).
Return value
Zero basis for the specified target geodetic position.Math::quat eulerENUToRotation ( const Math::vec3& euler ) const#
Converts the specified Euler rotation vector in ENU (East-North-Up) coordinates to a rotation quaternion.Notice
Unigine uses ENU orientation!
Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)
- final_rotation = zero_rotation * entity_local_rotation
- entity_local_rotation = final_rotation * inverse(zero_rotation)
Arguments
- const Math::vec3& euler - Vector representing rotation (roll, pitch, yaw) in ENU (East-North-Up) coordinates.
Return value
Rotation quaternion.Math::quat eulerNEDToRotation ( const Math::vec3& euler ) const#
Converts the specified Euler rotation vector in NED (North-East-Down) coordinates to a rotation quaternion.Notice
Unigine uses ENU orientation!
Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)
- final_rotation = zero_rotation * entity_local_rotation
- entity_local_rotation = final_rotation * inverse(zero_rotation)
Arguments
- const Math::vec3& euler - Vector representing Euler rotation (roll, pitch, yaw) in NED (North-East-Down) coordinates.
Return value
Rotation quaternion.Math::quat eulerIGToRotation ( const Math::vec3& euler ) const#
Converts the specified Euler rotation vector in IG coordinates to a rotation quaternion.Arguments
- const Math::vec3& euler - Vector representing Euler rotation (roll, pitch, yaw) in IG coordinates.
Return value
Rotation quaternion.Math::vec3 rotationToEulerENU ( const Math::quat& rotation ) const#
Converts the specified rotation quaternion to Euler rotation vector in ENU (East-North-Up) coordinates.Notice
Unigine uses ENU orientation!
Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)
- final_rotation = zero_rotation * entity_local_rotation
- entity_local_rotation = final_rotation * inverse(zero_rotation)
Arguments
- const Math::quat& rotation - Rotation quaternion.
Return value
Vector representing rotation (roll, pitch, yaw) in ENU (East-North-Up) coordinates.Math::vec3 rotationToEulerNED ( const Math::quat& rotation ) const#
Converts the specified rotation quaternion to Euler rotation vector in NED (North-East-Down) coordinates.Notice
Unigine uses ENU orientation!
Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)
- final_rotation = zero_rotation * entity_local_rotation
- entity_local_rotation = final_rotation * inverse(zero_rotation)
Arguments
- const Math::quat& rotation - Rotation quaternion.
Return value
Vector representing Euler rotation (roll, pitch, yaw) in NED (North-East-Down) coordinates.Math::vec3 rotationToEulerIG ( const Math::quat& rotation ) const#
Converts the specified rotation quaternion to Euler rotation vector in IG coordinates.Arguments
- const Math::quat& rotation - Rotation quaternion.
Return value
Vector representing Euler rotation (roll, pitch, yaw) in IG coordinates.void setCoordinateSystem ( Converter::COORDINATE_SYSTEM coord_system ) #
Sets the specified coordinate system to be used.Arguments
- Converter::COORDINATE_SYSTEM coord_system - Coordinate system to be set. One of the COORDINATE_SYSTEM::* values.
Converter::COORDINATE_SYSTEM getCoordinateSystem ( ) const#
Returns the currently used coordinate system.Return value
Coordinate system currently used.Last update:
2023-03-15
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