Template Function navtk::navutils::ecef_to_llh(const B&)

• Defined in File navigation.hpp

Function Documentation

template<typename B = Matrix, IfTensorOfDim<B, 2>* = nullptr>
Matrix navtk::navutils::ecef_to_llh(const B &ecef)

Batched version of ecef_to_llh.

See also

ecef_to_llh This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Warning

For simplicity, this version uses the closed-form Rey-Jer You method of computing the ECEF to LLH transformation, rather than the iterative approach used by the non-batch version. This may be slightly less accurate for very large or sub-surface altitudes, but otherwise yields millimeter-level accuracy. For guaranteed accuracy, use the non-batched overload of this function.

Parameters

ecef – Matrix of ECEF x, y, and z coordinates in meters, dim: (N, 3)

Returns

Matrix of latitude, longitude, and height values, dim: (N, 3), type: (radians, radians, meters)