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Merged
rsasaki0109 merged 1 commit into from
Apr 6, 2026
Merged

Apply clang-format to all C++ source files #364

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4 changes: 1 addition & 3 deletions eagleye_core/coordinate/include/eagleye_coordinate/eagleye_coordinate.hpp
100755 → 100644
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Expand Up @@ -33,8 +33,7 @@
#include <GeographicLib/MGRS.hpp>
#include <GeographicLib/UTMUPS.hpp>

class ConvertHeight
{
class ConvertHeight {
public:
ConvertHeight();

Expand Down Expand Up @@ -65,5 +64,4 @@ extern double geoid_per_degree(double, double);
extern double geoid_per_minute(double, double, double**);
extern double** read_geoid_map();


#endif /*COORDINATE_H */
53 changes: 22 additions & 31 deletions eagleye_core/coordinate/src/convertheight.cpp
100755 → 100644
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Expand Up @@ -30,57 +30,48 @@

#include "eagleye_coordinate/eagleye_coordinate.hpp"

ConvertHeight::ConvertHeight()
{
}
ConvertHeight::ConvertHeight() {}

void ConvertHeight::setLLH(double latitude,double longitude,double height)
{
_latitude = latitude;
void ConvertHeight::setLLH(double latitude, double longitude, double height) {
_latitude = latitude;
_longitude = longitude;
_height = height;
_height = height;
}

double ConvertHeight::convert2altitude()
{
try
{
double ConvertHeight::convert2altitude() {
try {
GeographicLib::Geoid egm2008("egm2008-1");
converted_height = egm2008.ConvertHeight(_latitude, _longitude, _height, GeographicLib::Geoid::ELLIPSOIDTOGEOID);
}
catch (const GeographicLib::GeographicErr err)
{
std::cerr << "\033[31;1mError: Failed to convert height from Ellipsoid to Altitude. " << err.what() << std::endl;
converted_height =
egm2008.ConvertHeight(_latitude, _longitude, _height, GeographicLib::Geoid::ELLIPSOIDTOGEOID);
} catch (const GeographicLib::GeographicErr err) {
std::cerr << "\033[31;1mError: Failed to convert height from Ellipsoid to Altitude. "
<< err.what() << std::endl;
exit(4);
}

return converted_height;
}

double ConvertHeight::convert2ellipsoid()
{
try
{
double ConvertHeight::convert2ellipsoid() {
try {
GeographicLib::Geoid egm2008("egm2008-1");
converted_height = egm2008.ConvertHeight(_latitude, _longitude, _height, GeographicLib::Geoid::GEOIDTOELLIPSOID);
}
catch (const GeographicLib::GeographicErr err)
{
std::cerr << "\033[31;1mError: Failed to convert height from Ellipsoid to Altitude. " << err.what() << std::endl;
converted_height =
egm2008.ConvertHeight(_latitude, _longitude, _height, GeographicLib::Geoid::GEOIDTOELLIPSOID);
} catch (const GeographicLib::GeographicErr err) {
std::cerr << "\033[31;1mError: Failed to convert height from Ellipsoid to Altitude. "
<< err.what() << std::endl;
exit(4);
}

return converted_height;
}

double ConvertHeight::getGeoidPerDegree()
{
geoid = geoid_per_degree(_latitude,_longitude);
double ConvertHeight::getGeoidPerDegree() {
geoid = geoid_per_degree(_latitude, _longitude);
return geoid;
}

double ConvertHeight::getGeoidPerMinute()
{
geoid = geoid_per_minute(_latitude,_longitude,geoid_map_data);
double ConvertHeight::getGeoidPerMinute() {
geoid = geoid_per_minute(_latitude, _longitude, geoid_map_data);
return geoid;
}
33 changes: 16 additions & 17 deletions eagleye_core/coordinate/src/ecef2llh.cpp
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Expand Up @@ -26,38 +26,37 @@
#include "eagleye_coordinate/eagleye_coordinate.hpp"
#include <math.h>


void ecef2llh(double ecef_pos[3], double llh_pos[3])
{
void ecef2llh(double ecef_pos[3], double llh_pos[3]) {
double semi_major_axis = 6378137.0000;
double semi_minor_axis = 6356752.3142;
double a1 = sqrt(1 - pow(semi_minor_axis / semi_major_axis, 2.0));
double a2 = sqrt((ecef_pos[0] * ecef_pos[0]) + (ecef_pos[1] * ecef_pos[1]));
double a3 = 54 * (semi_minor_axis * semi_minor_axis) * (ecef_pos[2] * ecef_pos[2]);
double a4 = (a2 * a2) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]) - (a1 * a1) * (semi_major_axis * semi_major_axis - semi_minor_axis * semi_minor_axis);
double a4 = (a2 * a2) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]) -
(a1 * a1) * (semi_major_axis * semi_major_axis - semi_minor_axis * semi_minor_axis);
double a5 = ((a1 * a1) * (a1 * a1) * a3 * (a2 * a2)) / (a4 * a4 * a4);
double a6 = pow((1 + a5 + sqrt(a5 * a5 + 2 * a5)), 1.0 / 3.0);
double a7 = a3 / (3 * pow((a6 + 1 / a6 + 1), 2.0) * a4 * a4);
double a8 = sqrt(1 + 2 * (a1 * a1) * (a1 * a1) * a7);
double a9 = -(a7 * (a1 * a1) * a2) / (1 + a8) + sqrt((semi_major_axis * semi_major_axis / 2) * (1 + 1 / a8) - (a7 * (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2])) / (a8 * (1 + a8)) - a7 * (a2 * a2) / 2);
double a9 = -(a7 * (a1 * a1) * a2) / (1 + a8) +
sqrt((semi_major_axis * semi_major_axis / 2) * (1 + 1 / a8) -
(a7 * (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2])) / (a8 * (1 + a8)) -
a7 * (a2 * a2) / 2);
double a10 = sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (ecef_pos[2] * ecef_pos[2]));
double a11 = sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]));
double a11 =
sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]));
double a12 = ((semi_minor_axis * semi_minor_axis) * ecef_pos[2]) / (semi_major_axis * a11);
llh_pos[0] = atan((ecef_pos[2] + (a1 * (semi_major_axis / semi_minor_axis)) * (a1 * (semi_major_axis / semi_minor_axis)) * a12) / a2);
llh_pos[0] = atan((ecef_pos[2] + (a1 * (semi_major_axis / semi_minor_axis)) *
(a1 * (semi_major_axis / semi_minor_axis)) * a12) /
a2);
llh_pos[1] = 0;

if (ecef_pos[0] >= 0)
{
if (ecef_pos[0] >= 0) {
llh_pos[1] = (atan(ecef_pos[1] / ecef_pos[0]));
}
else
{
if (ecef_pos[0] < 0 && ecef_pos[1] >= 0)
{
} else {
if (ecef_pos[0] < 0 && ecef_pos[1] >= 0) {
llh_pos[1] = M_PI + (atan(ecef_pos[1] / ecef_pos[0]));
}
else
{
} else {
llh_pos[1] = (atan(ecef_pos[1] / ecef_pos[0])) - M_PI;
}
}
Expand Down
20 changes: 13 additions & 7 deletions eagleye_core/coordinate/src/enu2llh.cpp
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Expand Up @@ -26,13 +26,19 @@
#include "eagleye_coordinate/eagleye_coordinate.hpp"
#include <math.h>

void enu2llh(double enu_pos[3], double ecef_base_pos[3], double llh_pos[3])
{
void enu2llh(double enu_pos[3], double ecef_base_pos[3], double llh_pos[3]) {
double llh_base_pos[3];
double ecef_pos[3];
ecef2llh(ecef_base_pos,llh_base_pos);
ecef_pos[0] = ecef_base_pos[0] + ((-(sin(llh_base_pos[1])) * enu_pos[0]) + (-(cos(llh_base_pos[1])) * (sin(llh_base_pos[0])) * enu_pos[1]) + ((cos(llh_base_pos[1])) * (cos(llh_base_pos[0])) * enu_pos[2]));
ecef_pos[1] = ecef_base_pos[1] + (((cos(llh_base_pos[1])) * enu_pos[0]) + (-(sin(llh_base_pos[1])) * (sin(llh_base_pos[0])) * enu_pos[1]) + ((sin(llh_base_pos[1])) * (cos(llh_base_pos[0])) * enu_pos[2]));
ecef_pos[2] = ecef_base_pos[2] + ((0 * enu_pos[0]) + ((cos(llh_base_pos[0])) * enu_pos[1]) + ((sin(llh_base_pos[0])) * enu_pos[2]));
ecef2llh(ecef_pos,llh_pos);
ecef2llh(ecef_base_pos, llh_base_pos);
ecef_pos[0] =
ecef_base_pos[0] + ((-(sin(llh_base_pos[1])) * enu_pos[0]) +
(-(cos(llh_base_pos[1])) * (sin(llh_base_pos[0])) * enu_pos[1]) +
((cos(llh_base_pos[1])) * (cos(llh_base_pos[0])) * enu_pos[2]));
ecef_pos[1] =
ecef_base_pos[1] + (((cos(llh_base_pos[1])) * enu_pos[0]) +
(-(sin(llh_base_pos[1])) * (sin(llh_base_pos[0])) * enu_pos[1]) +
((sin(llh_base_pos[1])) * (cos(llh_base_pos[0])) * enu_pos[2]));
ecef_pos[2] = ecef_base_pos[2] + ((0 * enu_pos[0]) + ((cos(llh_base_pos[0])) * enu_pos[1]) +
((sin(llh_base_pos[0])) * enu_pos[2]));
ecef2llh(ecef_pos, llh_pos);
}
6 changes: 3 additions & 3 deletions eagleye_core/coordinate/src/enu2xyz_vel.cpp
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Expand Up @@ -27,14 +27,14 @@
#include <GeographicLib/Geocentric.hpp>
#include <eigen3/Eigen/StdVector>

void enu2xyz_vel(double enu_vel[3], double ecef_base_pos[3], double xyz_vel[3])
{
void enu2xyz_vel(double enu_vel[3], double ecef_base_pos[3], double xyz_vel[3]) {
using namespace GeographicLib;
Geocentric earth(Constants::WGS84_a(), Constants::WGS84_f());

std::vector<double> rotation(9);
double llh[3];
earth.Reverse(ecef_base_pos[0], ecef_base_pos[1], ecef_base_pos[2], llh[0], llh[1], llh[2], rotation);
earth.Reverse(ecef_base_pos[0], ecef_base_pos[1], ecef_base_pos[2], llh[0], llh[1], llh[2],
rotation);

Eigen::Matrix3d R(rotation.data());
Eigen::Vector3d v_enu(enu_vel);
Expand Down
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