Function common::ecefToNed

Function Documentation

void common::ecefToNed(const Eigen::Vector3d &earth_centered_earth_fixed, const Eigen::Vector3d &origin_earth_centered_earth_fixed, Eigen::Vector3d *north_east_down)

Converts from WGS84 earth centered, earth fixed cartesian (ECEF) coordinates (x, y, z) into local tangent plane where the origin is the origin in ECEF coordinates.

  • earth_centered_earth_fixed[in] Cartesian coordinates (x, y, z) in meter to be converted.

  • origin_earth_centered_earth_fixed[in] Origin in cartesian coordinates (x0, y0, z0) in meter.

  • north_east_down[out] Converted coordinates in (north, east, down).