/*

* This file is part of the CoverageControl library

*

* Author: Saurav Agarwal

* Contact: [email protected], [email protected]

* Repository: https://github.com/KumarRobotics/CoverageControl

*

* Copyright (c) 2024, Saurav Agarwal

*

* The CoverageControl library is free software: you can redistribute it and/or

* modify it under the terms of the GNU General Public License as published by

* the Free Software Foundation, either version 3 of the License, or (at your

* option) any later version.

*

* The CoverageControl library is distributed in the hope that it will be

* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General

* Public License for more details.

*

* You should have received a copy of the GNU General Public License along with

* CoverageControl library. If not, see <https://www.gnu.org/licenses/>.

*/

#include <CoverageControl/geographiclib_wrapper.h>

#include <cstdlib>

#include <iomanip>

#include <iostream>

#include <random>

#include <string>

#include <GeographicLib/LocalCartesian.hpp>

int main(int argc, char** argv) {

CoverageControl::GeoLocalTransform geo_transform(40.74050005471615,

-74.1759877275644, 0);

auto lla = geo_transform.Reverse(100, 100, 0);

std::cout << "lat: " << lla[0] << std::endl;

std::cout << "lon: " << lla[1] << std::endl;

std::cout << "hgt: " << lla[2] << std::endl;

auto xyz = geo_transform.Forward(lla[0], lla[1], lla[2]);

std::cout << "x: " << xyz[0] << std::endl;

std::cout << "y: " << xyz[1] << std::endl;

std::cout << "z: " << xyz[2] << std::endl;

GeographicLib::LocalCartesian geo_transform1(40.74050005471615,

-74.1759877275644);

geo_transform1.Forward(lla[0], lla[1], lla[2], xyz[0], xyz[1], xyz[2]);

std::cout << "x: " << xyz[0] << std::endl;

std::cout << "y: " << xyz[1] << std::endl;

std::cout << "z: " << xyz[2] << std::endl;

return 0;

}