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  • AsyncGPUReadbackPluginNs
    • AsyncGPUReadbackPlugin
    • AsyncGPUReadbackPluginRequest
  • ZO
    • ZOMouseOrbitCamera
  • ZO.Controllers
    • ZO2FingerGripController
    • ZOLinearActuator
    • ZOLinearActuator.Axis
    • ZOServoMotorActuator
  • ZO.Document
    • ZOSerializationInterface
    • ZOSimDocumentRoot
    • ZOSimOccurrence
  • ZO.Math
    • ZOGaussianNoiseModel
    • ZOMathUtil
    • ZOMatrix4x4Util
    • ZORandom
  • ZO.Networking
    • ZOBinaryMessagePublisher
    • ZOBinaryMessageSubscriber
    • ZOJSONMessagePublisher
    • ZOJSONMessageSubscriber
    • ZOPubSubHeader
    • ZOTCPServer
  • ZO.Physics
    • ZOArticulatedBody
    • ZOFixedJoint
    • ZOHingeJoint
    • ZOJointInterface
    • ZOPIDController
    • ZOSpeedLimiter
  • ZO.ROS
    • ZOROSActionServer<TActionMessage, TGoalMessage>
    • ZOROSAPI
    • ZOROSBridgeConnection
    • ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler
    • ZOROSBridgeConnection.SerializationType
  • ZO.ROS.Controllers
    • ControllerStateEnum
    • ZOArmController
    • ZODifferentialDriveController
    • ZOROSControllerInterface
  • ZO.ROS.MessageTypes
    • ZOROSMessageInterface
  • ZO.ROS.MessageTypes.ActionLib
    • ActionStatusEnum
    • GoalIDMessage
    • GoalStatusArrayMessage
    • GoalStatusMessage
    • ZOROSActionGoalMessageInterface
    • ZOROSActionMessageInterface
  • ZO.ROS.MessageTypes.Control
    • FollowJointTrajectoryActionFeedback
    • FollowJointTrajectoryActionGoal
    • FollowJointTrajectoryActionMessage
    • FollowJointTrajectoryActionResult
    • FollowJointTrajectoryFeedback
    • FollowJointTrajectoryGoal
    • FollowJointTrajectoryResult
    • JointToleranceMessage
    • JointTrajectoryControllerStateMessage
  • ZO.ROS.MessageTypes.ControllerManager
    • ControllerStateMessage
    • HardwareInterfaceResourcesMessage
    • ListControllersResponse
    • ListControllerTypesServiceResponse
    • LoadControllerServiceRequest
    • LoadControllerServiceResponse
    • ReloadControllerLibrariesServiceRequest
    • ReloadControllerLibrariesServiceResponse
    • SwitchControllerServiceRequest
    • SwitchControllerServiceResponse
    • UnloadControllerServiceRequest
    • UnloadControllerServiceResponse
  • ZO.ROS.MessageTypes.Gazebo
    • SpawnModelServiceRequest
    • SpawnModelServiceResponse
  • ZO.ROS.MessageTypes.Geometry
    • PointMessage
    • PoseMessage
    • PoseWithCovarianceMessage
    • QuaternionMessage
    • TransformMessage
    • TransformStampedMessage
    • TwistMessage
    • TwistWithCovarianceMessage
    • Vector3Message
  • ZO.ROS.MessageTypes.Nav
    • OdometryMessage
  • ZO.ROS.MessageTypes.ROSAPI
    • GetParamNamesResponse
    • GetParamResponse
    • GetParamServiceRequest
    • HasParamResponse
    • HasParamServiceRequest
    • SetParamServiceRequest
  • ZO.ROS.MessageTypes.ROSGraph
    • ClockMessage
  • ZO.ROS.MessageTypes.Sensor
    • CameraInfoMessage
    • ImageMessage
    • ImuMessage
    • JointStateMessage
    • LaserScanMessage
    • RegionOfInterestMessage
  • ZO.ROS.MessageTypes.Std
    • DurationMessage
    • EmptyServiceRequest
    • EmptyServiceRespone
    • HeaderMessage
    • Int32Message
    • SetBoolServiceRequest
    • SetBoolServiceResponse
    • StringMessage
    • TimeMessage
  • ZO.ROS.MessageTypes.TF2
    • TFMessage
  • ZO.ROS.MessageTypes.Trajectory
    • JointTrajectoryMessage
    • JointTrajectoryPointMessage
  • ZO.ROS.MessageTypes.ZOSim
    • ZOSimDeleteModelRequest
    • ZOSimDeleteModelResponse
    • ZOSimPrefabSpawnRequest
    • ZOSimPrefabSpawnResponse
    • ZOSimSpawnServiceRequest
    • ZOSimSpawnServiceResponse
  • ZO.ROS.Publisher
    • ZOROSImagePublisher
    • ZOROSIMUPublisher
    • ZOROSIMUPublisher.CoordinateSystemEnum
    • ZOROSJointStatesPublisher
    • ZOROSLaserScanPublisher
    • ZOROSRGBDepthPublisher
    • ZOROSStereoImagePublisher
    • ZOROSTransformPublisher
  • ZO.ROS.Unity
    • ZOROSUnityGameObjectBase
    • ZOROSUnityInterface
    • ZOROSUnityManager
    • ZOROSUnityManager.ROSBridgeConnectionChangeHandler
  • ZO.ROS.Unity.Docker
    • ZOROSLaunchParameters
  • ZO.ROS.Unity.Service
    • ZOControllerManagerService
    • ZOSimDeleteModelService
    • ZOSimPrefabSpawnService
    • ZOSimResetSimulationService
    • ZOSimSpawnService
  • ZO.Sensors
    • ZOContactDetector
    • ZOContactSwitchDualChannel
    • ZOIMU
    • ZOLIDAR2D
    • ZOLIDAR3D
    • ZOLIDAR3D.ReferenceFrame
    • ZORaycastJobBatch
    • ZORGBCamera
    • ZORGBDepthCamera
    • ZORGBDepthCamera.FrameOutputType
  • ZO.Util
    • ZOCenterOfMass
    • ZOClock
    • ZODocker
    • ZODocker.VolumeMapEntry
    • ZODockerRunParameters
    • ZODrawArc
    • ZODrawCircle
    • ZOEarthUtils
    • ZOEarthUtils.GeoPoint
    • ZOEarthUtils.HomeGeoPoint
    • ZOFrequencyCounter
    • ZOFrequencyCounter.TimeSourceType
    • ZOGameObjectBase
    • ZOMagnetometer
    • ZOMoveTest
    • ZOMoveTest.MoveTypeEnum
    • ZORandomizePhysics
    • ZORandomizeTransform
    • ZOReadOnlyAttribute
    • ZOSystem
    • ZOTurnOffSelfCollision
  • ZO.Util.Extensions
    • ZOJSONExtensions
  • ZO.Util.Rendering
    • ZOAsyncGPUReadbackPlugin
    • ZOAsyncGPUReadbackPluginRequest

Class ZOEarthUtils

Inheritance
System.Object
ZOEarthUtils
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Namespace: ZO.Util
Assembly: Unity.ZeroSim.dll
Syntax
public static class ZOEarthUtils

Fields

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DistanceFromSun

Declaration
public static double DistanceFromSun
Field Value
Type Description
System.Double
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EARTH_RADIUS

Declaration
public static float EARTH_RADIUS
Field Value
Type Description
System.Single
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Gravity

Declaration
public static float Gravity
Field Value
Type Description
System.Single
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MagPoleLat

Declaration
public static double MagPoleLat
Field Value
Type Description
System.Double
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MagPoleLon

Declaration
public static double MagPoleLon
Field Value
Type Description
System.Double
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MeanMagField

Declaration
public static double MeanMagField
Field Value
Type Description
System.Double
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Obliquity

Declaration
public static float Obliquity
Field Value
Type Description
System.Single
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Perihelion

Declaration
public static double Perihelion
Field Value
Type Description
System.Double
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Radius

Declaration
public static float Radius
Field Value
Type Description
System.Single
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SeaLevelAirDensity

Declaration
public static float SeaLevelAirDensity
Field Value
Type Description
System.Single
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SeaLevelPressure

Declaration
public static float SeaLevelPressure
Field Value
Type Description
System.Single
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SpeedOfLight

Declaration
public static float SpeedOfLight
Field Value
Type Description
System.Single

Methods

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GeodeticToNedFast(ZOEarthUtils.GeoPoint, ZOEarthUtils.GeoPoint)

Declaration
public static Vector3 GeodeticToNedFast(ZOEarthUtils.GeoPoint geo, ZOEarthUtils.GeoPoint home)
Parameters
Type Name Description
ZOEarthUtils.GeoPoint geo
ZOEarthUtils.GeoPoint home
Returns
Type Description
UnityEngine.Vector3
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GetAirDensity(Single)

Declaration
public static float GetAirDensity(float altitude)
Parameters
Type Name Description
System.Single altitude
Returns
Type Description
System.Single
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GetAirDensity(Single, Single)

Declaration
public static float GetAirDensity(float std_pressure, float std_temperature)
Parameters
Type Name Description
System.Single std_pressure
System.Single std_temperature
Returns
Type Description
System.Single
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GetGeopotential(Single)

Declaration
public static float GetGeopotential(float altitude_km)
Parameters
Type Name Description
System.Single altitude_km
Returns
Type Description
System.Single
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GetGravity(Single)

Declaration
public static float GetGravity(float altitude)
Parameters
Type Name Description
System.Single altitude
Returns
Type Description
System.Single
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GetMagDeclination(Single, Single)

Declaration
public static float GetMagDeclination(float latitude, float longitude)
Parameters
Type Name Description
System.Single latitude
System.Single longitude
Returns
Type Description
System.Single
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GetMagField(ZOEarthUtils.GeoPoint)

Declaration
public static Vector3 GetMagField(ZOEarthUtils.GeoPoint geo_point)
Parameters
Type Name Description
ZOEarthUtils.GeoPoint geo_point
Returns
Type Description
UnityEngine.Vector3
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GetMagField(ZOEarthUtils.GeoPoint, Double, Double)

Declaration
public static Vector3 GetMagField(ZOEarthUtils.GeoPoint geo_point, double declination = 0, double inclination = 0)
Parameters
Type Name Description
ZOEarthUtils.GeoPoint geo_point
System.Double declination
System.Double inclination
Returns
Type Description
UnityEngine.Vector3
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GetSpeedofSound(Single)

Declaration
public static float GetSpeedofSound(float altitude)
Parameters
Type Name Description
System.Single altitude
Returns
Type Description
System.Single
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getStandardPressure(Single)

Declaration
public static float getStandardPressure(float altitude)
Parameters
Type Name Description
System.Single altitude
Returns
Type Description
System.Single
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GetStandardPressure(Single, Single)

Declaration
public static float GetStandardPressure(float geopot_height, float std_temperature)
Parameters
Type Name Description
System.Single geopot_height
System.Single std_temperature
Returns
Type Description
System.Single
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GetStandardTemperature(Single)

Declaration
public static float GetStandardTemperature(float geopot_height)
Parameters
Type Name Description
System.Single geopot_height
Returns
Type Description
System.Single
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NedToGeodetic(Vector3, ZOEarthUtils.HomeGeoPoint)

Declaration
public static ZOEarthUtils.GeoPoint NedToGeodetic(Vector3 v, ZOEarthUtils.HomeGeoPoint home_geo_point)
Parameters
Type Name Description
UnityEngine.Vector3 v
ZOEarthUtils.HomeGeoPoint home_geo_point
Returns
Type Description
ZOEarthUtils.GeoPoint
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NedToGeodeticFast(Vector3, ZOEarthUtils.GeoPoint)

Declaration
public static ZOEarthUtils.GeoPoint NedToGeodeticFast(Vector3 local, ZOEarthUtils.GeoPoint home)
Parameters
Type Name Description
UnityEngine.Vector3 local
ZOEarthUtils.GeoPoint home
Returns
Type Description
ZOEarthUtils.GeoPoint
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