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| cmake_minimum_required(VERSION 3.14) | ||
| project(geography_utils) | ||
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| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
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| # GeographicLib | ||
| find_package(PkgConfig) | ||
| find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h | ||
| PATH_SUFFIXES GeographicLib | ||
| ) | ||
| set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR}) | ||
| find_library(GeographicLib_LIBRARIES NAMES Geographic) | ||
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| ament_auto_add_library(geography_utils SHARED | ||
| src/height.cpp | ||
| ) | ||
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| target_link_libraries(geography_utils | ||
| ${GeographicLib_LIBRARIES} | ||
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_cmake_ros REQUIRED) | ||
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| file(GLOB_RECURSE test_files test/*.cpp) | ||
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| ament_add_ros_isolated_gtest(test_geography_utils ${test_files}) | ||
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| target_link_libraries(test_geography_utils | ||
| geography_utils | ||
| ) | ||
| endif() | ||
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| ament_auto_package() |
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| # geography_utils | ||
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| ## Purpose | ||
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| This package contains geography-related functions used by other packages, so please refer to them as needed. |
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef GEOGRAPHY_UTILS__HEIGHT_HPP_ | ||
| #define GEOGRAPHY_UTILS__HEIGHT_HPP_ | ||
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| #include <map> | ||
| #include <stdexcept> | ||
| #include <string> | ||
| #include <utility> | ||
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| namespace geography_utils | ||
| { | ||
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| typedef double (*HeightConversionFunction)( | ||
| const double height, const double latitude, const double longitude); | ||
| double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude); | ||
| double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude); | ||
| double convert_height( | ||
| const double height, const double latitude, const double longitude, | ||
| const std::string & source_vertical_datum, const std::string & target_vertical_datum); | ||
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| } // namespace geography_utils | ||
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| #endif // GEOGRAPHY_UTILS__HEIGHT_HPP_ |
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| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>geography_utils</name> | ||
| <version>0.1.0</version> | ||
| <description>The geography_utils package</description> | ||
| <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer> | ||
| <license>Apache License 2.0</license> | ||
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| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
| <buildtool_depend>autoware_cmake</buildtool_depend> | ||
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| <depend>geographiclib</depend> | ||
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| <test_depend>ament_cmake_ros</test_depend> | ||
| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>autoware_lint_common</test_depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include <GeographicLib/Geoid.hpp> | ||
| #include <geography_utils/height.hpp> | ||
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| #include <map> | ||
| #include <stdexcept> | ||
| #include <string> | ||
| #include <utility> | ||
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| namespace geography_utils | ||
| { | ||
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| double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude) | ||
| { | ||
| GeographicLib::Geoid egm2008("egm2008-1"); | ||
| // cSpell: ignore ELLIPSOIDTOGEOID | ||
| return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::ELLIPSOIDTOGEOID); | ||
| } | ||
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| double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude) | ||
| { | ||
| GeographicLib::Geoid egm2008("egm2008-1"); | ||
| // cSpell: ignore GEOIDTOELLIPSOID | ||
| return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::GEOIDTOELLIPSOID); | ||
| } | ||
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| double convert_height( | ||
| const double height, const double latitude, const double longitude, | ||
| const std::string & source_vertical_datum, const std::string & target_vertical_datum) | ||
| { | ||
| if (source_vertical_datum == target_vertical_datum) { | ||
| return height; | ||
| } | ||
| std::map<std::pair<std::string, std::string>, HeightConversionFunction> conversion_map; | ||
| conversion_map[{"WGS84", "EGM2008"}] = convert_wgs84_to_egm2008; | ||
| conversion_map[{"EGM2008", "WGS84"}] = convert_egm2008_to_wgs84; | ||
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| auto key = std::make_pair(source_vertical_datum, target_vertical_datum); | ||
| if (conversion_map.find(key) != conversion_map.end()) { | ||
| return conversion_map[key](height, latitude, longitude); | ||
| } else { | ||
| std::string error_message = | ||
| "Invalid conversion types: " + std::string(source_vertical_datum.c_str()) + " to " + | ||
| std::string(target_vertical_datum.c_str()); | ||
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| throw std::invalid_argument(error_message); | ||
| } | ||
| } | ||
|
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| } // namespace geography_utils |
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include <geography_utils/height.hpp> | ||
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| #include <gtest/gtest.h> | ||
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| #include <stdexcept> | ||
| #include <string> | ||
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| // Test case to verify if same source and target datums return original height | ||
| TEST(Tier4GeographyUtils, SameSourceTargetDatum) | ||
| { | ||
| const double height = 10.0; | ||
| const double latitude = 35.0; | ||
| const double longitude = 139.0; | ||
| const std::string datum = "WGS84"; | ||
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| double converted_height = | ||
| geography_utils::convert_height(height, latitude, longitude, datum, datum); | ||
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| EXPECT_DOUBLE_EQ(height, converted_height); | ||
| } | ||
|
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| // Test case to verify valid source and target datums | ||
| TEST(Tier4GeographyUtils, ValidSourceTargetDatum) | ||
| { | ||
| // Calculated with | ||
| // https://www.unavco.org/software/geodetic-utilities/geoid-height-calculator/geoid-height-calculator.html | ||
| const double height = 10.0; | ||
| const double latitude = 35.0; | ||
| const double longitude = 139.0; | ||
| const double target_height = -30.18; | ||
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| double converted_height = | ||
| geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008"); | ||
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| EXPECT_NEAR(target_height, converted_height, 0.1); | ||
| } | ||
|
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| // Test case to verify invalid source and target datums | ||
| TEST(Tier4GeographyUtils, InvalidSourceTargetDatum) | ||
| { | ||
| const double height = 10.0; | ||
| const double latitude = 35.0; | ||
| const double longitude = 139.0; | ||
|
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| EXPECT_THROW( | ||
| geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"), | ||
| std::invalid_argument); | ||
| } | ||
|
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| // Test case to verify invalid source datums | ||
| TEST(Tier4GeographyUtils, InvalidSourceDatum) | ||
| { | ||
| const double height = 10.0; | ||
| const double latitude = 35.0; | ||
| const double longitude = 139.0; | ||
|
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| EXPECT_THROW( | ||
| geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"), | ||
| std::invalid_argument); | ||
| } | ||
|
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| // Test case to verify invalid target datums | ||
| TEST(Tier4GeographyUtils, InvalidTargetDatum) | ||
| { | ||
| const double height = 10.0; | ||
| const double latitude = 35.0; | ||
| const double longitude = 139.0; | ||
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| EXPECT_THROW( | ||
| geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"), | ||
| std::invalid_argument); | ||
| } | ||
|
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| int main(int argc, char ** argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
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