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ecef_to_ned_matrix row 3 sign fix #57

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ecef_to_ned_matrix row 3 sign fix #57

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10 changes: 5 additions & 5 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 @@ -113,7 +113,7 @@ class GeodeticConverter
ret = ecef_to_ned_matrix_ * vect;
*north = ret(0);
*east = ret(1);
*down = -ret(2);
*down = ret(2);
}

void ned2Ecef(const double north, const double east, const double down, double* x, double* y,
Expand All @@ -123,7 +123,7 @@ class GeodeticConverter
Eigen::Vector3d ned, ret;
ned(0) = north;
ned(1) = east;
ned(2) = -down;
ned(2) = down;
ret = ned_to_ecef_matrix_ * ned;
*x = ret(0) + initial_ecef_x_;
*y = ret(1) + initial_ecef_y_;
Expand Down Expand Up @@ -191,9 +191,9 @@ class GeodeticConverter
ret(1, 0) = -sLon;
ret(1, 1) = cLon;
ret(1, 2) = 0.0;
ret(2, 0) = cLat * cLon;
ret(2, 1) = cLat * sLon;
ret(2, 2) = sLat;
ret(2, 0) = -cLat * cLon;
ret(2, 1) = -cLat * sLon;
ret(2, 2) = -sLat;

return ret;
}
Expand Down