[Refactor] Update gps to utm conveter utils for better clarity

ut-amrl · Nov 10, 2024 · f2f5f6a · f2f5f6a
1 parent 78fc399
commit f2f5f6a
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/math/conversion.h → math/gps_util.h b/math/conversion.h → math/gps_util.h
@@ -1,7 +1,11 @@
+#ifndef GPS_UTIL_H_
+#define GPS_UTIL_H_
+
 #include <math.h>
 #include <tuple>
 
-std::tuple<double, double, int> gpsToUTM(double lat, double lon) {
+namespace gps_util {
+inline std::tuple<double, double, int> gpsToUTM(double lat, double lon) {
     // Constants for UTM conversion
     constexpr double a = 6378137.0;           // WGS-84 major axis
     constexpr double f = 1 / 298.257223563;   // WGS-84 flattening
@@ -46,9 +50,12 @@ std::tuple<double, double, int> gpsToUTM(double lat, double lon) {
     return std::make_tuple(easting, northing, zone);
 }
 
-std::tuple<double, double> gpsToGlobalCoord(double lat0, double lon0, double lat1, double lon1) {
+inline std::tuple<double, double> gpsToGlobalCoord(double lat0, double lon0, double lat1, double lon1) {
     // Convert latitude and longitude to utm coordinates
     const auto& [e0, n0, zone0] = gpsToUTM(lat0, lon0);
     const auto& [e1, n1, zone1] = gpsToUTM(lat1, lon1);
     return {e1 - e0, n1 - n0};
 }
+}
+
+#endif