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Fix the bug of geodetic2Enu() #56

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Fix the bug of geodetic2Enu() #56

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5 changes: 3 additions & 2 deletions geodetic_utils/include/geodetic_utils/geodetic_conv.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@ class GeodeticConverter
// Compute ECEF to NED and NED to ECEF matrices
double phiP = atan2(initial_ecef_z_, sqrt(pow(initial_ecef_x_, 2) + pow(initial_ecef_y_, 2)));

ecef_to_ned_matrix_ = nRe(phiP, initial_longitude_);
// ecef_to_ned_matrix_ = nRe(phiP, initial_longitude_);
ecef_to_ned_matrix_ = nRe(initial_latitude_, initial_longitude_);
ned_to_ecef_matrix_ = nRe(initial_latitude_, initial_longitude_).transpose();

haveReference_ = true;
Expand Down Expand Up @@ -226,4 +227,4 @@ class GeodeticConverter
}; // class GeodeticConverter
}; // namespace geodetic_conv

#endif // GEODETIC_CONVERTER_H_
#endif // GEODETIC_CONVERTER_H_