From 73b3748bc6efdd446934a5299b528d162e01972d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 25 Jan 2014 18:57:10 -0500 Subject: [PATCH] enu coordinates --- gtsam/navigation/tests/testGPSFactor.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp index 8c0711887..f6e030e4e 100644 --- a/gtsam/navigation/tests/testGPSFactor.cpp +++ b/gtsam/navigation/tests/testGPSFactor.cpp @@ -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); } // *************************************************************************