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enu coordinates

release/4.3a0
dellaert 2014-01-25 18:57:10 -05:00
parent 8e96f6a0d4
commit 73b3748bc6
1 changed files with 6 additions and 3 deletions
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9
gtsam/navigation/tests/testGPSFactor.cpp
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@ -27,9 +27,12 @@ using namespace gtsam;
TEST( GPSFactor, Constructors ) {
Key key(1);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25);
// TODO: convert from GPS to NED
Point3 gpsInNED;
GPSFactor factor1(key, gpsInNED, model);
// TODO: convert from GPS to UTM
// GPS: -84.30482,33.87071,274
// UTM: 45N 250694.42 3751090.08 (Eastings, Northings)
// We choose ENU coordinate system with origin 250000 3751000
Point3 enu(694.42, 90.08, 274);
GPSFactor factor1(key, enu, model);
}
// *************************************************************************