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

Function Documentation

template<typename T>
inline void setFromUTMPosition(T &reference_position, const gm::PointStamped &utm_position, const int zone, const bool northp)

Set the ReferencePosition 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:

  • reference_position – [out] ReferencePostion or ReferencePositionWithConfidence to set

  • 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)