undef PI of RTKLIB to avoid conflicts with other libraries

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
 
 }

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