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feat(windows): Windows/MSVC build support #4

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9f52a2b
feat: Windows MSVC build support (M_PI, sstream, _USE_MATH_DEFINES)
takaya-murakami-RF May 25, 2026
2929627
fix(windows): replace M_PI with std::numbers::pi, upgrade to C++20
takaya-murakami-RF May 29, 2026
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.14)
cmake_minimum_required(VERSION 3.15)
project(kml_generator)

find_package(ament_cmake_auto REQUIRED)
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2 changes: 2 additions & 0 deletions include/kml_generator/kml_generator.hpp
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Expand Up @@ -5,7 +5,9 @@
#include <string>
#include <iostream>
#include <fstream>
#include <sstream>
#include <iomanip>
#define _USE_MATH_DEFINES
#include <cmath>

#include "kml_generator/common.hpp"
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57 changes: 30 additions & 27 deletions src/kml_generator/coordinate_transformation.cpp
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@@ -1,24 +1,27 @@
#include <kml_generator/kml_generator.hpp>
// Ref:eagleye(BSD3 License)
// https://github.com/MapIV/eagleye/blob/main-ros1/eagleye_core/coordinate/src/llh2xyz.cpp
#include <cmath>
#include <numbers>

void KmlGenerator::llh2xyz(double llh_pos[3], double ecef_pos[3])
{
double semi_major_axis = 6378137.0000;
double semi_minor_axis = 6356752.3142;
double a1 = sqrt (1-pow((semi_minor_axis/semi_major_axis), 2.0));
double a1 = std::sqrt (1-std::pow((semi_minor_axis/semi_major_axis), 2.0));
double a2 = a1 * a1;

double phi = llh_pos[0];
double lam = llh_pos[1];
double hei = llh_pos[2];

double sin_phi = sin(phi);
double cos_phi = cos(phi);
double cos_lam = cos(lam);
double sin_lam = sin(lam);
double sin_phi = std::sin(phi);
double cos_phi = std::cos(phi);
double cos_lam = std::cos(lam);
double sin_lam = std::sin(lam);

double tmp1 = 1 - a2;
double tmp2 = sqrt(1 - a2*sin_phi*sin_phi);
double tmp2 = std::sqrt(1 - a2*sin_phi*sin_phi);

ecef_pos[0] = (semi_major_axis/tmp2 + hei)*cos_lam*cos_phi;
ecef_pos[1] = (semi_major_axis/tmp2 + hei)*sin_lam*cos_phi;
Expand All @@ -30,51 +33,51 @@ void KmlGenerator::xyz2enu(double ecef_pos[3], double ecef_base_pos[3], double e
{
double llh_base_pos[3];
ecef2llh(ecef_base_pos,llh_base_pos);
enu_pos[0] = ((-(sin(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
((cos(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) + (0 * (ecef_pos[2] - ecef_base_pos[2])));
enu_pos[1] = ((-(sin(llh_base_pos[0])) * (cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
(-(sin(llh_base_pos[0])) * (sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
((cos(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
enu_pos[2] = (((cos(llh_base_pos[0])) * (cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
((cos(llh_base_pos[0])) * (sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
((sin(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
enu_pos[0] = ((-(std::sin(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
((std::cos(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) + (0 * (ecef_pos[2] - ecef_base_pos[2])));
enu_pos[1] = ((-(std::sin(llh_base_pos[0])) * (std::cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
(-(std::sin(llh_base_pos[0])) * (std::sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
((std::cos(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
enu_pos[2] = (((std::cos(llh_base_pos[0])) * (std::cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
((std::cos(llh_base_pos[0])) * (std::sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
((std::sin(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
}

void KmlGenerator::ecef2llh(double ecef_pos[3], double llh_pos[3])
{
double semi_major_axis = 6378137.0000;
double semi_minor_axis = 6356752.3142;
double a1 = sqrt(1 - pow(semi_minor_axis / semi_major_axis, 2.0));
double a2 = sqrt((ecef_pos[0] * ecef_pos[0]) + (ecef_pos[1] * ecef_pos[1]));
double a1 = std::sqrt(1 - std::pow(semi_minor_axis / semi_major_axis, 2.0));
double a2 = std::sqrt((ecef_pos[0] * ecef_pos[0]) + (ecef_pos[1] * ecef_pos[1]));
double a3 = 54 * (semi_minor_axis * semi_minor_axis) * (ecef_pos[2] * ecef_pos[2]);
double a4 = (a2 * a2) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]) - (a1 * a1) * (semi_major_axis * semi_major_axis - semi_minor_axis * semi_minor_axis);
double a5 = ((a1 * a1) * (a1 * a1) * a3 * (a2 * a2)) / (a4 * a4 * a4);
double a6 = pow((1 + a5 + sqrt(a5 * a5 + 2 * a5)), 1.0 / 3.0);
double a7 = a3 / (3 * pow((a6 + 1 / a6 + 1), 2.0) * a4 * a4);
double a8 = sqrt(1 + 2 * (a1 * a1) * (a1 * a1) * a7);
double a9 = -(a7 * (a1 * a1) * a2) / (1 + a8) + sqrt((semi_major_axis * semi_major_axis / 2) *
double a6 = std::pow((1 + a5 + std::sqrt(a5 * a5 + 2 * a5)), 1.0 / 3.0);
double a7 = a3 / (3 * std::pow((a6 + 1 / a6 + 1), 2.0) * a4 * a4);
double a8 = std::sqrt(1 + 2 * (a1 * a1) * (a1 * a1) * a7);
double a9 = -(a7 * (a1 * a1) * a2) / (1 + a8) + std::sqrt((semi_major_axis * semi_major_axis / 2) *
(1 + 1 / a8) - (a7 * (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2])) / (a8 * (1 + a8)) - a7 * (a2 * a2) / 2);
double a10 = sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (ecef_pos[2] * ecef_pos[2]));
double a11 = sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]));
double a10 = std::sqrt((std::pow((a2 - (a1 * a1) * a9), 2.0)) + (ecef_pos[2] * ecef_pos[2]));
double a11 = std::sqrt((std::pow((a2 - (a1 * a1) * a9), 2.0)) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]));
double a12 = ((semi_minor_axis * semi_minor_axis) * ecef_pos[2]) / (semi_major_axis * a11);
llh_pos[0] = atan((ecef_pos[2] + (a1 * (semi_major_axis / semi_minor_axis)) * (a1 * (semi_major_axis / semi_minor_axis)) * a12) / a2);
llh_pos[0] = std::atan((ecef_pos[2] + (a1 * (semi_major_axis / semi_minor_axis)) * (a1 * (semi_major_axis / semi_minor_axis)) * a12) / a2);
llh_pos[1] = 0;

if (ecef_pos[0] >= 0)
{
llh_pos[1] = (atan(ecef_pos[1] / ecef_pos[0]));
llh_pos[1] = (std::atan(ecef_pos[1] / ecef_pos[0]));
}
else
{
if (ecef_pos[0] < 0 && ecef_pos[1] >= 0)
{
llh_pos[1] = M_PI + (atan(ecef_pos[1] / ecef_pos[0]));
llh_pos[1] = std::numbers::pi + (std::atan(ecef_pos[1] / ecef_pos[0]));
}
else
{
llh_pos[1] = (atan(ecef_pos[1] / ecef_pos[0])) - M_PI;
llh_pos[1] = (std::atan(ecef_pos[1] / ecef_pos[0])) - std::numbers::pi;
}
}

llh_pos[2] = a10 * (1 - (semi_minor_axis * semi_minor_axis) / (semi_major_axis * a11));
}
}
3 changes: 2 additions & 1 deletion src/kml_generator/kml_generator_core.cpp
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@@ -1,4 +1,5 @@
#include <kml_generator/kml_generator.hpp>
#include <numbers>

namespace kml_utils
{
Expand Down Expand Up @@ -215,7 +216,7 @@ void KmlGenerator::LLH2StringInCondition(std::string& str, double& time_last, do
}
else if (interval_type_ == IntervalType::DISTANCE_INTERBAL)
{
double llh_pos[3] = { llh[0] * M_PI / 180, llh[1] * M_PI / 180, llh[2] * M_PI / 180 };
double llh_pos[3] = { llh[0] * std::numbers::pi / 180, llh[1] * std::numbers::pi / 180, llh[2] * std::numbers::pi / 180 };
llh2xyz(llh_pos, ecef_pose);

if (ecef_pose_last[0] == 0 && ecef_pose_last[1] == 0 && ecef_pose_last[2] == 0)
Expand Down