Function confidenceEllipseFromWGSCovMatrix
Defined in File cdd_setters_common.h
Function Documentation
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inline std::tuple<double, double, double> confidenceEllipseFromWGSCovMatrix(const std::array<double, 4> &covariance_matrix)
Gets the values needed to set a confidence ellipse from a covariance matrix.
- Parameters:
covariance_matrix – The four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the WGS axes (x = North, y = East)
object_heading – The heading of the object in rad, with respect to WGS84
- Returns:
std::tuple<double, double, double> semi_major_axis [m], semi_minor_axis [m], orientation [deg], with respect to WGS84