Function setFromUTMPosition(CAM&, const gm::PointStamped&, const int&, const bool&)

• Defined in File cam_setters_common.h

Function Documentation

inline void setFromUTMPosition(CAM &cam, const gm::PointStamped &utm_position, const int &zone, const bool &northp)

Set the ReferencePosition of a CAM from a given UTM-Position.

The position is transformed to latitude and longitude by using GeographicLib::UTMUPS The z-Coordinate is directly used as altitude value The frame_id of the given utm_position must be set to ‘utm_<zone><N/S>’

Parameters:

• cam – [out] CAM for which to set the ReferencePosition

• utm_position – [in] geometry_msgs::PointStamped describing the given utm position

• zone – [in] the UTM zone (zero means UPS) of the given position

• northp – [in] hemisphere (true means north, false means south)