From 29262db5d63f0e5d65c2f00d4929991fb2e0d848 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 10 Jun 2020 11:35:45 -0700
Subject: [PATCH] add getter for LocalCoord transformation matrices

---
 common/transformations/coordinates.hpp     |  3 +--
 common/transformations/transformations.pxd |  3 +++
 common/transformations/transformations.pyx | 16 ++++++++++++++++
 3 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp
index be6fe2e7..d8beb59e 100644
--- a/common/transformations/coordinates.hpp
+++ b/common/transformations/coordinates.hpp
@@ -20,11 +20,10 @@ ECEF geodetic2ecef(Geodetic g);
 Geodetic ecef2geodetic(ECEF e);
 
 class LocalCoord {
-private:
+public:
   Eigen::Matrix3d ned2ecef_matrix;
   Eigen::Matrix3d ecef2ned_matrix;
   Eigen::Vector3d init_ecef;
-public:
   LocalCoord(Geodetic g, ECEF e);
   LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
   LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
index b0666d5e..cb3ee53b 100644
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@@ -55,6 +55,9 @@ cdef extern from "coordinates.cc":
   Geodetic ecef2geodetic(ECEF)
 
   cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
     LocalCoord_c(Geodetic, ECEF)
     LocalCoord_c(Geodetic)
     LocalCoord_c(ECEF)
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
index 2a4e8e67..194257e0 100644
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -120,6 +120,22 @@ cdef class LocalCoord:
         elif ecef is not None:
             self.lc = new LocalCoord_c(list2ecef(ecef))
 
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
     @classmethod
     def from_geodetic(cls, geodetic):
         return cls(geodetic=geodetic)