Force a GeoPoint and GeoPose coordinate to be converted in a specific zonal frame c++ #42
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Given the default behavior stays the same, I'm inclined to merge this. However I also need you to cherry pick these updates to ROS2 branch as well to keep them synced. |
SteveMacenski
approved these changes
May 15, 2020
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Theres been a similar request #20 to do this in the python code. This pr does it for cpp. Basically it addresses the issue of smoothness when a vehicle transitions space that straddles two utm zones. Without this change, a jump across zones can cause a euclidean distance to be several hunreds of thousands of meters apart. This change ensures that the transition is as smooth as possible.
It gives the user the ability to force the conversion to use a specific zone and band. Test case is provided, but it is noted that forcing a specific band actually doesn't do anything or change the calculation done.