From 62d6baf5f20c2a2ae01ba40f456a8f4de7d88ec3 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 28 Apr 2025 10:53:26 +0200
Subject: [PATCH] undef PI of RTKLIB to avoid conflicts with other libraries
---
include/gnss_utils/gnss_utils.h | 9 +--------
src/utils/transformations.cpp | 17 +++++++----------
2 files changed, 8 insertions(+), 18 deletions(-)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index 57c8526..86d0338 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -34,14 +34,6 @@ extern "C" {
// eigen
#include <Eigen/Dense>
-#ifndef RAD2DEG
-#define RAD2DEG 180.0 / 3.14159265358979323846
-#endif
-
-#ifndef DEG2RAD
-#define DEG2RAD 3.14159265358979323846 / 180.0
-#endif
-
namespace GnssUtils
{
@@ -226,5 +218,6 @@ enum Combination
};
+#undef PI // avoid conflict with other libraries that may define PI
}
diff --git a/src/utils/transformations.cpp b/src/utils/transformations.cpp
index 0cfd24a..3c9b119 100644
--- a/src/utils/transformations.cpp
+++ b/src/utils/transformations.cpp
@@ -29,25 +29,22 @@ namespace GnssUtils
Eigen::Vector3d ecefToLatLonAlt(const Eigen::Vector3d& _ecef, bool in_rads)
{
Eigen::Vector3d latlonalt;
- ecef2pos(_ecef.data(), latlonalt.data());
+ ecef2pos(_ecef.data(), latlonalt.data()); // in rads
+
+ if (not in_rads) // requested in degrees
+ latlonalt.head<2>() *= 180.0 / M_PI;
- if (not in_rads)
- {
- latlonalt(0) = RAD2DEG * latlonalt(0);
- latlonalt(1) = RAD2DEG * latlonalt(1);
- }
return latlonalt;
}
Eigen::Vector3d latLonAltToEcef(const Eigen::Vector3d& _latlon, bool in_rads)
{
Eigen::Vector3d ecef;
- if (not in_rads)
+ if (not in_rads) // provided in degrees
{
Eigen::Vector3d latlon_rads = _latlon;
- latlon_rads(0) = DEG2RAD * _latlon(0);
- latlon_rads(1) = DEG2RAD * _latlon(1);
- latlon_rads(2) = _latlon(2);
+ latlon_rads.head<2>() *= M_PI / 180.0;
+
pos2ecef(latlon_rads.data(), ecef.data());
}
else
--
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