114 lines
3.6 KiB
C++
114 lines
3.6 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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/** @example gpsCoordsTest.cpp : works the LLA2ENU and ENU2LLA coord transformations */
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#include "Aria.h"
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#include "ArGPSCoords.h"
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int main(int argc, char **argv)
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{
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// Initialize Aria and Arnl global information
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Aria::init();
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ArLLACoords originLatLon(42.805464, -71.574738, 64.0);
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ArMapGPSCoords mapGPSCoords(originLatLon);
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ArLog::log(ArLog::Normal, "Origin LLA is %.6f %.6f %g",
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originLatLon.getLatitude(),
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originLatLon.getLongitude(),
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originLatLon.getAltitude());
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// Line of points along longitude.
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for(int i = 0; i < 10; i++)
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{
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double di = (double) i * 1e-6;
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ArLLACoords lla(originLatLon.getLatitude(),
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originLatLon.getLongitude() + di,
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originLatLon.getAltitude());
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double ea, no, up;
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mapGPSCoords.convertLLA2MapCoords(lla.getLatitude(),
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lla.getLongitude(),
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lla.getAltitude(),
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ea, no, up);
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ArLog::log(ArLog::Normal,
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"LLA %.6f %.6f %g (deg deg m)-> ENU %.2f %.2f %.2f (mm)",
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lla.getLatitude(),
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lla.getLongitude(),
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lla.getAltitude(),
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ea, no, up);
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}
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// Line of points along latitude.
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for(int i = 0; i < 10; i++)
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{
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double di = (double) i * 1e-6;
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ArLLACoords lla(originLatLon.getLatitude() + di,
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originLatLon.getLongitude(),
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originLatLon.getAltitude());
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double ea, no, up;
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mapGPSCoords.convertLLA2MapCoords(lla.getLatitude(),
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lla.getLongitude(),
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lla.getAltitude(),
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ea, no, up);
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ArLog::log(ArLog::Normal,
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"LLA %.6f %.6f %g (deg deg m)-> ENU %.2f %.2f %.2f (mm)",
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lla.getLatitude(),
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lla.getLongitude(),
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lla.getAltitude(),
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ea, no, up);
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}
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// Line of points along east.
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for(int i = 0; i < 10; i++)
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{
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double di = (double) i * 1000.0;
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double lat, lon, alt;
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double ea=di, no=0.0, up=0.0;
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mapGPSCoords.convertMap2LLACoords(ea, no, up,
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lat, lon, alt);
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ArLog::log(ArLog::Normal,
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"ENU %g %g %g (mm) -> LLA %.6f %.6f %g (deg deg m)",
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ea, no, up, lat, lon, alt);
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}
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// Line of points along north.
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for(int i = 0; i < 10; i++)
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{
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double di = (double) i * 1000.0;
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double lat, lon, alt;
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double ea=0.0, no=di, up=0.0;
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mapGPSCoords.convertMap2LLACoords(ea, no, up,
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lat, lon, alt);
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ArLog::log(ArLog::Normal,
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"ENU %g %g %g (mm) -> LLA %.6f %.6f %g (deg deg m)",
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ea, no, up, lat, lon, alt);
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}
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Aria::exit(0);
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}
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