MOOS

CMOOSGeodesy Class Reference

Implements simple geodesy calculations. More...

#include <MOOSGeodesy.h>

List of all members.

Public Member Functions
double	GetOriginNorthing ()
double	GetOriginEasting ()
bool	LatLong2LocalUTM (double lat, double lon, double &MetersNorth, double &MetersEast)
char *	GetUTMZone ()
int	GetRefEllipsoid ()
double	GetMetersEast ()
double	GetMetersNorth ()
double	GetOriginLatitude ()
double	GetOriginLongitude ()
bool	Initialise (double lat, double lon)
double	GetLocalGridY ()
double	GetLocalGridX ()
bool	LatLong2LocalGrid (double lat, double lon, double &MetersNorth, double &MetersEast)
double	DMS2DecDeg (double dfVal)
Classes
class	CEllipsoid

---

Detailed Description

Implements simple geodesy calculations.

---

Member Function Documentation

bool CMOOSGeodesy::Initialise (  double  lat, double  lon )

This method is called to set the Origins of the Coordinate system being used by the vehicle for a mission. This class will store the vehicle's position in Northings and Eastings. This allows for tracking the vehicle as if it were operating on a grid. Parameters: lat  the Latitude of where the vehicle is as it begins a mission lon  the Longitude of where the vehicle is as it begins a mission Returns: only returns true at the moment, no reason as to why it should fail perhaps some way of checking UTM zones vs a list of some sort?

bool CMOOSGeodesy::LatLong2LocalUTM (  double  lat, double  lon, double &  MetersNorth, double &  MetersEast )

This method is the interface to this class and allows the client to query the amount of ground covered with respect to the origin where the origin is defined as a point in the UTM grid where we got an initial GPS fix that we defined to be the origin. What this method does not take into account is the curvature of the reference ellipsoid at a particular Lat/Lon value. Curvature influences the deltaX and deltaY that this method calculates for determining the overall distance traveled wrt the origin. Therefore, at Lat/Lon values that are significantly far enough (~300km) away from the origin of the UTM grid (0,0), a shift in one dimension, i.e. just along Latitude, or just along Longitude, does not map to a corresponding one dimensional shift in our "local" grid where we should be seeing just a deltaX or deltaY result in moving in only one direction. Instead, we have observed that moving just .0001 degrees in Longitude (~1m in local) results in both a deltaX that is coupled to a deltaY. Parameters: lat  The current Latitude the vehicle is at lon  The current Longitude the vehicle is at MetersNorth  The distance in meters traveled North wrt to Origin MetersEast  The distance in meters traveled East wrt to Origin

---

The documentation for this class was generated from the following files:

• /home/pnewman/code/MOOS/trunk/Core/MOOSGenLib/MOOSGeodesy.h
• /home/pnewman/code/MOOS/trunk/Core/MOOSGenLib/MOOSGeodesy.cpp

---