lib/com.irurueta.android.navigation.inertial/ENUtoNEDConverter

ENUtoNEDConverter

object ENUtoNEDConverter

Converts between ENU (East, North, Up) coordinates system and NED (North, East, Down). It must be noticed that Android uses ENU coordinates system for its sensors. ENU is a RHS (Right Handed System) that matches the coordinate system used by OpenGL tod display 3D scenes. This converter can be used to convert from ENU to NED and conversely from NED to ENU.

Properties

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val conversionRotation: Quaternion

Obtains a rotation to convert from ENU to NED and from NED to ENU coordinate systems.

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val conversionRotationMatrix: Matrix

Obtains a matrix to convert from ENU to NED and from NED to ENU coordinate systems.

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val quaternionConversionJacobian: Matrix

Obtains jacobian resulting from ENU to NED quaternion conversion.

Functions

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fun conversionRotation(result: Rotation3D)

Obtains a rotation to convert from ENU to NED and from NED to ENU coordinate systems.

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fun conversionRotationMatrix(result: Matrix)

Obtains a matrix to convert from ENU to NED and from NED to ENU coordinate systems.

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fun <T : Triad<U, M>, U : Enum<*>, M : Measurement<U>> convert(input: T, output: T)
fun <T : Triad<U, M>, U : Enum<*>, M : Measurement<U>> convert(valueX: Double, valueY: Double, valueZ: Double, output: T)

Converts from ENU to NED or from NED to ENU.

fun convert(input: EuclideanTransformation3D, output: EuclideanTransformation3D)

Converts an euclidean 3D transformation from ENU to NED or from NED to ENU, taking into account that: Tenu = Chom * Tned * Chom Tned = Chom * Tenu * Chom

fun convert(input: Quaternion, output: Quaternion)

Converts a rotation from ENU to NED or from NED to ENU, taking into account that: Renu = CONVERSION_ROTATION * Rned * CONVERSION_ROTATION And also: Rned = CONVERSION_ROTATION * Renu * CONVERSION_ROTATION

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fun convertAndReturnNew(input: EuclideanTransformation3D): EuclideanTransformation3D

Converts an euclidean 3D transformation from ENU to NED or from NED to ENU, taking into account that: Tenu = Chom * Tned * Chom Tned = Chom * Tenu * Chom

fun convertAndReturnNew(value: Quaternion): Quaternion

Converts a rotation from ENU to NED or from NED to ENU, taking into account that: Renu = CONVERSION_ROTATION * Rned * CONVERSION_ROTATION And also: Rned = CONVERSION_ROTATION * Renu * CONVERSION_ROTATION

fun convertAndReturnNew(input: AccelerationTriad): AccelerationTriad

Converts provided acceleration triad from ENU to NED or from NED to ENU.

fun convertAndReturnNew(input: AngularSpeedTriad): AngularSpeedTriad

Converts provided angular speed triad from ENU to NED or from NED to ENU.

fun convertAndReturnNew(input: MagneticFluxDensityTriad): MagneticFluxDensityTriad

Converts provided magnetic flux density triad from ENU to NED or from NED to ENU.

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fun convertPoint(input: Point3D, output: Point3D)
fun convertPoint(input: DoubleArray, output: DoubleArray)
fun convertPoint(valueX: Double, valueY: Double, valueZ: Double, output: DoubleArray)

Converts 3D inhomogeneous point from ENU to NED or from NED to ENU.

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fun convertPointAndReturnNew(input: Point3D): InhomogeneousPoint3D
fun convertPointAndReturnNew(input: DoubleArray): DoubleArray

Converts 3D inhomogeneous point from ENU to NED or from NED to ENU.

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fun quaternionConversionJacobian(result: Matrix)

Computes jacobian resulting from ENU to NED quaternion conversion.