Function common::ecefToLlh¶
Defined in File global-coordinate-tools.h
Function Documentation¶
-
void
common
::
ecefToLlh
(const Eigen::Vector3d &earth_centered_fixed, Eigen::Vector3d *latitude_longitude_height)¶ Converts from WGS84 earth centered, earth fixed cartesian (ECEF) coordinates (x, y, z) into WGS84 geodetic coordinates (latitude, longitude and height). Analytically closed approach. Reference: “Integrierte Navigationssysteme: Sensordatenfusion, GPS und Inertiale Navigation”, Jan Wendel, 2007, Oldenbourg.
- Parameters
[in] earth_centered_earth_fixed
: Cartesian coordinates (x, y, z) in meter to be converted.[out] latitude_longitude_height
: Converted geodetic coordinates, passed as (latitude, longitude, height) in [decimal degree, decimal degree, meter].