DIS_BPFL

DIS BPFL

DIS Blueprint Function Library. Houses functions for common geospatial conversions and for common PDU accessor functions.

class UDIS_BPFL
  : public UBlueprintFunctionLibrary

Includes

• glm/gtx/quaternion
• CoreMinimal
• DISEnumsAndStructs
• PDUMasterInclude
• Kismet/BlueprintFunctionLibrary
• GeoReferencingSystem

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Members

None

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Functions

Access		Return	Name	Description
Public	Static	void	ApplyHeadingPitchRollToNorthEastDownVector(const FHeadingPitchRoll HeadingPitchRollDegrees, const FNorthEastDown NorthEastDownVectors, FVector& OutX, FVector& OutY, FVector& OutZ)	Applies the given heading, pitch, and roll in degrees to the local East North Down vectors
Private	Static	void	ApplyHeadingPitchToNorthEastDownVector(const float HeadingDegrees, const float PitchDegrees, const FNorthEastDown NorthEastDownVectors, FVector& OutX, FVector& OutY, FVector& OutZ)	Rotates the given East, North, and Up vectors by the given Heading and Pitch
Private	Static	void	ApplyRollToNorthEastDownVector(const float RollDegrees, const FNorthEastDown NorthEastDownVectors, FVector& OutX, FVector& OutY, FVector& OutZ)	Rotates the given East, North, and Up vectors by the given Heading and Pitch
Public	Static	void	CalculateEcefXYZFromLatLonHeight(const FLatLonHeightDouble LatLonHeightDegreesMeters, FEarthCenteredEarthFixedDouble& OutEcef)	Converts Latitude, Longitude, and Height (LLH) to DIS X, Y, Z coordinates (ECEF) all in double (64-bit) precision
Public	Static	void	CalculateEcefXYZFromLatLonHeight(const FLatLonHeightFloat LatLonHeightDegreesMeters, FEarthCenteredEarthFixedFloat& OutECEF)	Converts Latitude, Longitude, and Height (LLH) to DIS X, Y, Z coordinates (ECEF) all in floating point (32-bit) precision
Public	Static	void	CalculateHeadingPitchRollDegreesFromPsiThetaPhiDegreesAtLatLon(const FPsiThetaPhi PsiThetaPhiDegrees, const float LatitudeDegrees, const float LongitudeDegrees, FHeadingPitchRoll& HeadingPitchRollDegrees)	Calculates the Heading, Pitch, and Roll in degrees from the given DIS orientation values Psi, Theta, and Phi in degrees at the given Latitude and Longitude
Public	Static	void	CalculateHeadingPitchRollDegreesFromPsiThetaPhiRadiansAtLatLon(const FPsiThetaPhi PsiThetaPhiRadians, const float LatitudeDegrees, const float LongitudeDegrees, FHeadingPitchRoll& HeadingPitchRollDegrees)	Calculates the Heading, Pitch, and Roll in degrees from the given DIS orientation values Psi, Theta, and Phi in radians at the given Latitude and Longitude
Public	Static	void	CalculateHeadingPitchRollRadiansFromPsiThetaPhiDegreesAtLatLon(const FPsiThetaPhi PsiThetaPhiDegrees, const float LatitudeDegrees, const float LongitudeDegrees, FHeadingPitchRoll& HeadingPitchRollRadians)	Calculates the Heading, Pitch, and Roll in radians from the given DIS orientation values Psi, Theta, and Phi in degrees at the given Latitude and Longitude
Public	Static	void	CalculateHeadingPitchRollRadiansFromPsiThetaPhiRadiansAtLatLon(const FPsiThetaPhi PsiThetaPhiRadians, const float LatitudeDegrees, const float LongitudeDegrees, FHeadingPitchRoll& HeadingPitchRollRadians)	Calculates the Heading, Pitch, and Roll in radians from the given DIS orientation values Psi, Theta, and Phi in radians at the given Latitude and Longitude
Public	Static	void	CalculateLatLonFromNorthEastDownVectors(FNorthEastDown NorthEastDownVectors, float& LatitudeDegrees, float& LongitudeDegrees)	Calculates the latitude and longitude at the given East, North, and Up vectors
Public	Static	void	CalculateLatLonHeightFromEcefXYZ(const FEarthCenteredEarthFixedDouble Ecef, FLatLonHeightDouble& OutLatLonHeightDegreesMeters)	Converts DIS X, Y, Z coordinates (ECEF) to Latitude, Longitude, and Height (LLH) all in double (64-bit) precision
Public	Static	void	CalculateLatLonHeightFromEcefXYZ(const FEarthCenteredEarthFixedFloat Ecef, FLatLonHeightFloat& OutLatLonHeightDegreesMeters)	Converts DIS X, Y, Z coordinates (ECEF) to Latitude, Longitude, and Height (LLH) all in double (32-bit) precision
Public	Static	void	CalculateNorthEastDownVectorsFromLatLon(const float LatitudeDegrees, const float LongitudeDegrees, FNorthEastDown& OutNorthEastDownVectors)	Calculates the East, North, and Up vectors at given latitude and longitude
Public	Static	void	CalculatePsiThetaPhiDegreesFromHeadingPitchRollDegreesAtLatLon(const FHeadingPitchRoll HeadingPitchRollDegrees, const float LatitudeDegrees, const float LongitudeDegrees, FPsiThetaPhi& PsiThetaPhiDegrees)	Calculates the DIS orientation values Psi, Theta, and Phi in degrees with the given Heading, Pitch, and Roll in degrees at the given Latitude and Longitude
Public	Static	void	CalculatePsiThetaPhiDegreesFromHeadingPitchRollRadiansAtLatLon(const FHeadingPitchRoll HeadingPitchRollRadians, const float LatitudeDegrees, const float LongitudeDegrees, FPsiThetaPhi& PsiThetaPhiDegrees)	Calculates the DIS orientation values Psi, Theta, and Phi in degrees with the given Heading, Pitch, and Roll in radians at the given Latitude and Longitude
Public	Static	void	CalculatePsiThetaPhiRadiansFromHeadingPitchRollDegreesAtLatLon(const FHeadingPitchRoll HeadingPitchRollDegrees, const float LatitudeDegrees, const float LongitudeDegrees, FPsiThetaPhi& PsiThetaPhiRadians)	Calculates the DIS orientation values Psi, Theta, and Phi in radians with the given Heading, Pitch, and Roll in degrees at the given Latitude and Longitude
Public	Static	void	CalculatePsiThetaPhiRadiansFromHeadingPitchRollRadiansAtLatLon(const FHeadingPitchRoll HeadingPitchRollRadians, const float LatitudeDegrees, const float LongitudeDegrees, FPsiThetaPhi& PsiThetaPhiRadians)	Calculates the DIS orientation values Psi, Theta, and Phi in radians with the given Heading, Pitch, and Roll in radians at the given Latitude and Longitude
Public	Static	FMatrix	ConvertNedAndEnu(FMatrix StartingVectors)	Convert between North, East, Down and East, North, Up orientation representation using double values
Public	Static	glm::dmat3	ConvertNedAndEnu(glm::dmat3 StartingVectors)	Convert between North, East, Down and East, North, Up orientation representation using double values
Public	Static	FMatrix	CreateNCrossXMatrix(FVector NVector)	Creates a 4x4 n^x matrix used for creating a rotation matrix
Public	Static	glm::dmat3	CreateNCrossXMatrix(glm::dvec3 NVector)	Creates a 3x3 n^x matrix used for creating a rotation matrix
Private	Static	void	FMatrixCreateRotationMatrix(FVector AxisVector, float ThetaRadians, FMatrix& OutRotationMatrix)	Creates a 4x4 rotation matrix around the given axis of rotation rotating by Theta radians
Private	Static	void	glm::dmat3CreateRotationMatrix(glm::dvec3 AxisVector, float ThetaRadians, glm::dmat3& OutRotationMatrix)	Creates a 3x3 rotation matrix around the given axis of rotation rotating by Theta radians
Public	Static	void	GetEastNorthUpVectorsFromNorthEastDownVectors(FNorthEastDown NorthEastDownVectors, FEastNorthUp& EastNorthUpVectors)	Get the East, North, and Up vectors from the North, East, and Down vector struct
Public	Statc	void	GetEastNorthUpVectorsFromUnrealLocation(FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FEastNorthUp EastNorthUpVectors)	Gets the East, North, and Up vector representation of the given Unreal location
Public	Static	void	GetEcefXYZAndPsiThetaPhiDegreesFromUnreal(const FRotator UnrealRotation, FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FEarthCenteredEarthFixedFloat& EcefXYZ, FPsiThetaPhi& PsiThetaPhiDegrees)	Gets the ECEF location and the Psi (Yaw), Theta (Pitch), and Phi (Roll) in degrees of the given Unreal rotation at the given Unreal location
Public	Static	void	GetEcefXYZAndPsiThetaPhiRadiansFromUnreal(const FRotator UnrealRotation, const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FEarthCenteredEarthFixedFloat& EcefXYZ, FPsiThetaPhi& PsiThetaPhiRadians)	Gets the ECEF location and the Psi (Yaw), Theta (Pitch), and Phi (Roll) in radians of the given Unreal rotation at the given Unreal location
Public	Static	void	GetEcefXYZFromUnrealLocation(const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FEarthCenteredEarthFixedFloat& ECEF)	Calculate the ECEF location of the given Unreal location
Public	Static	void	GetHeadingPitchRollFromUnrealRotation(const FRotator UnrealRotation, const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FHeadingPitchRoll& HeadingPitchRollDegrees)	Gets the Heading, Pitch, and Roll in degrees of the given Unreal rotation at the given Unreal location
Public	Static	void	GetLatLonHeightFromUnrealLocation(const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FLatLonHeightFloat& LatLonHeightDegreesMeters)	Calculate the latitude in degrees, longitude in degrees, and height in meters of the given Unreal location
Public	Static	void	GetNorthEastDownVectorsFromEastNorthUpVectors(FEastNorthUp EastNorthUpVectors, FNorthEastDown& NorthEastDownVectors)	Get the North, East, and Down vectors from the East, North, and Up vector struct
Public	Static	void	GetNorthEastDownVectorsFromUnrealLocation(FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FNorthEastDown& NorthEastDownVectors)	Gets the North, East, and Down vector representation of the given Unreal location
Public	Static	void	GetPsiThetaPhiDegreesFromUnrealRotation(const FRotator UnrealRotation, const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FPsiThetaPhi& PsiThetaPhiDegrees)	Gets the Psi (Yaw), Theta (Pitch), and Phi (Roll) in degrees of the given Unreal rotation at the given Unreal location
Public	Static	void	GetPsiThetaPhiRadiansFromUnrealRotation(const FRotator UnrealRotation, const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FPsiThetaPhi& PsiThetaPhiRadians)	Gets the Psi (Yaw), Theta (Pitch), and Phi (Roll) in radians of the given Unreal rotation at the given Unreal location
Public	Static	void	GetUnrealLocationAndOrientationFromEntityStatePdu(const FEntityStatePDU EntityStatePdu, AGeoReferencingSystem* GeoReferencingSystem, FVector& UnrealLocation, FRotator& UnrealRotation)	Gets the Unreal X, Y, Z coordinates and rotation from a DIS entity state PDU. Location values returned change depending on if GeoReferencing Subsystem is set to Flat Earth or Round Earth
Public	Static	void	GetUnrealLocationFromEcefXYZ(const FEarthCenteredEarthFixedDouble EcefXYZ, AGeoReferencingSystem* GeoReferencingSystem, FVector& UnrealLocation)	Get the Unreal location from the given ECEF XYZ location
Public	Static	void	GetUnrealLocationFromEcefXYZ(const FEarthCenteredEarthFixedFloat EcefXYZ, AGeoReferencingSystem* GeoReferencingSystem, FVector& UnrealLocation)	Get the Unreal location from the given ECEF XYZ location
Public	Static	void	GetUnrealLocationFromEntityStatePdu(const FEntityStatePDU EntityStatePdu, AGeoReferencingSystem* GeoReferencingSystem, FVector& UnrealLocation)	Gets the Unreal X, Y, Z coordinates of the entity from the given ECEF values in the DIS entity state pdu. Values returned change depending on if GeoReferencing Subsystem is set to Flat Earth or Round Earth
Public	Static	void	GetUnrealLocationFromLatLonHeight(const FLatLonHeightFloat LatLonHeightDegreesMeters, AGeoReferencingSystem* GeoReferencingSystem, FVector& UnrealLocation)	Get the Unreal location from the given latitude in degrees, longitude in degrees, and height in meters location
Public	Static	void	GetUnrealRotationFromEntityStatePdu(const FEntityStatePDU EntityStatePdu, AGeoReferencingSystem* GeoReferencingSystem, FRotator& UnrealRotation)	Gets Unreal rotation from a DIS entity state PDU
Public	Static	void	GetUnrealRotationFromHeadingPitchRollDegreesAtLatLon(const FHeadingPitchRoll HeadingPitchRollDegrees, const float LatitudeDegrees, const float LongitudeDegrees, AGeoReferencingSystem* GeoReferencingSystem, FRotator& UnrealRotation)	Get the Unreal rotation from the given Heading, Pitch, Roll rotation in degrees
Public	Static	void	GetUnrealRotationFromHeadingPitchRollRadiansAtLatLon(const FHeadingPitchRoll HeadingPitchRollRadians, const float LatitudeDegrees, const float LongitudeDegrees, AGeoReferencingSystem* GeoReferencingSystem, FRotator& UnrealRotation)	Get the Unreal rotation from the given Heading, Pitch, Roll rotation in radians
Public	Static	void	GetUnrealRotationFromPsiThetaPhiDegreesAtLatLon(const FPsiThetaPhi PsiThetaPhiDegrees, const float LatitudeDegrees, const float LongitudeDegrees, AGeoReferencingSystem* GeoReferencingSystem, FRotator& UnrealRotation)	Get the Unreal rotation from the given Psi, Theta, Phi rotation in degrees
Public	Static	void	GetUnrealRotationFromPsiThetaPhiRadiansAtLatLon(const FPsiThetaPhi PsiThetaPhiRadians, const float LatitudeDegrees, const float LongitudeDegrees, AGeoReferencingSystem* GeoReferencingSystem, FRotator& UnrealRotation)	Get the Unreal rotation from the given Psi, Theta, Phi rotation in radians
Public	Static	void	RotateVectorAroundAxisByDegrees(FVector VectorToRotate, float ThetaDegrees, FVector AxisVector, FVector& OutRotatedVector)	Rotates the vector VectorToRotate around given axis AxisVector by Theta degrees
Public	Static	void	RotateVectorAroundAxisByDegrees(glm::dvec3 VectorToRotate, float ThetaDegrees,glm::dvec3 AxisVector, glm::dvec3& OutRotatedVector)	Rotates the vector VectorToRotate around given axis AxisVector by Theta degrees
Public	Static	void	RotateVectorAroundAxisByRadians(FVector VectorToRotate, float ThetaRadians, FVector AxisVector, FVector& OutRotatedVector)	Rotates the vector VectorToRotate around given axis AxisVector by Theta radians
Public	Static	void	RotateVectorAroundAxisByRadians(glm::dvec3 VectorToRotate, double ThetaRadians, glm::dvec3 AxisVector, glm::dvec3& OutRotatedVector)	Rotates the vector VectorToRotate around given axis AxisVector by Theta radians

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Details

ApplyHeadingPitchRollToNorthEastDownVector

public static void ApplyHeadingPitchRollToNorthEastDownVector
(
    const FHeadingPitchRoll HeadingPitchRollDegrees,
    const FNorthEastDown NorthEastDownVectors,
    FVector& OutX,
    FVector& OutY,
    FVector& OutZ
)

Applies the given heading, pitch, and roll in degrees to the local East North Down vectors.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollDegrees	The degrees from North of the facing direction (heading), the degrees rotated about the local Y axis (pitch), and the degrees rotated about the local X axis (roll)
NorthEastDownVectors	The vectors pointing to the North, to the East, and toward the center of the Earth
OutX	The x axis (forward) vector with the heading and pitch applied
OutY	The y axis (right) vector with the heading and pitch applied
OutZ	The z axis (down) vector with the heading and pitch applied

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ApplyHeadingPitchToNorthEastDownVector

private static void pplyHeadingPitchToNorthEastDownVector
(
    const float HeadingDegrees,
    const float PitchDegrees,
    const FNorthEastDown NorthEastDownVectors,
    FVector& OutX,
    FVector& OutY,
    FVector& OutZ
)

Rotates the given East, North, and Up vectors by the given Heading and Pitch.

Parameter	Description
HeadingDegrees	The degrees from North of the facing direction (spin left and right)
PitchDegrees	The degrees rotated about the local Y axis (front tip up and down)
NorthEastDownVectors	The vectors pointing to the North, to the East, and toward the center of the Earth
OutX	The x axis (forward) vector with the heading and pitch applied
OutY	The y axis (right) vector with the heading and pitch applied
OutZ	the z axis (up) vector with the heading and pitch applied

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ApplyRollToNorthEastDownVector

private static void ApplyRollToNorthEastDownVector
(
    const float RollDegrees,
    const FNorthEastDown NorthEastDownVectors,
    FVector& OutX,
    FVector& OutY,
    FVector& OutZ
)

Rotates the given East, North, and Up vectors by the given Heading and Pitch.

Parameter	Description
RollDegrees	The degrees rotated about the local X axis (tilt left and right)
NorthEastDownVectors	The vectors pointing to the North, to the East, and toward the center of the Earth
OutX	The x axis (forward) vector with the heading and pitch applied
OutY	The y axis (right) vector with the heading and pitch applied
OutZ	the z axis (up) vector with the heading and pitch applied

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CalculateEcefXYZFromLatLonHeight

public static void CalculateEcefXYZFromLatLonHeight
(
    const FLatLonHeightDouble LatLonHeightDegreesMeters,
    FEarthCenteredEarthFixedDouble& OutEcef
)

Converts Latitude, Longitude, and Height (LLH) to DIS X, Y, Z coordinates (ECEF) all in double (64-bit) precision.

Parameter	Description
LatLonHeightDegreesMeters	The latitude in degrees, longitude in degrees, and height in meters
OutEcef	The converted ECEF location

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CalculateEcefXYZFromLatLonHeight

public static void CalculateEcefXYZFromLatLonHeight
(
    const FLatLonHeightFloat LatLonHeightDegreesMeters,
    FEarthCenteredEarthFixedFloat& OutECEF
)

Converts Latitude, Longitude, and Height (LLH) to DIS X, Y, Z coordinates (ECEF) all in floating point (32-bit) precision.

Category: GRILL DIS|Unit Conversions

Parameter	Description
LatLonHeightDegreesMeters	The latitude in degrees, longitude in degrees, and height in meters
OutECEF	The converted ECEF location in double

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CalculateHeadingPitchRollDegreesFromPsiThetaPhiDegreesAtLatLon

public static void CalculateHeadingPitchRollDegreesFromPsiThetaPhiDegreesAtLatLon
(
    const FPsiThetaPhi PsiThetaPhiDegrees,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FHeadingPitchRoll& HeadingPitchRollDegrees
)

Calculates the Heading, Pitch, and Roll in degrees from the given DIS orientation values Psi, Theta, and Phi in degrees at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
PsiThetaPhiDegrees	The rotation about the Z axis in degrees (Psi),the rotation about the Y axis in degrees (Theta), the rotation about the X axis in degrees (Phi)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
HeadingPitchRollDegrees	The degrees from North of the facing direction (heading), the degrees rotated about the local Y axis (pitch), and the degrees rotated about the local X axis (roll)

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CalculateHeadingPitchRollDegreesFromPsiThetaPhiRadiansAtLatLon

public static void CalculateHeadingPitchRollDegreesFromPsiThetaPhiRadiansAtLatLon
(
    const FPsiThetaPhi PsiThetaPhiRadians,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FHeadingPitchRoll& HeadingPitchRollDegrees
)

Calculates the Heading, Pitch, and Roll in degrees from the given DIS orientation values Psi, Theta, and Phi in radians at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
PsiThetaPhiRadians	The rotation about the Z axis in radians (Psi),the rotation about the Y axis in radians (Theta), the rotation about the X axis in radians (Phi)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
HeadingPitchRollDegrees	The degrees from North of the facing direction (heading), the degrees rotated about the local Y axis (pitch), and the degrees rotated about the local X axis (roll)

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CalculateHeadingPitchRollRadiansFromPsiThetaPhiDegreesAtLatLon

public static void CalculateHeadingPitchRollRadiansFromPsiThetaPhiDegreesAtLatLon
(
    const FPsiThetaPhi PsiThetaPhiDegrees,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FHeadingPitchRoll& HeadingPitchRollRadians
)

Calculates the Heading, Pitch, and Roll in radians from the given DIS orientation values Psi, Theta, and Phi in degrees at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
PsiThetaPhiDegrees	The rotation about the Z axis in degrees (Psi),the rotation about the Y axis in degrees (Theta), the rotation about the X axis in degrees (Phi)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
HeadingPitchRollRadians	The radians from North of the facing direction (heading), the radians rotated about the local Y axis (pitch), and the radians rotated about the local X axis (roll)

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CalculateHeadingPitchRollRadiansFromPsiThetaPhiRadiansAtLatLon

public static void CalculateHeadingPitchRollRadiansFromPsiThetaPhiRadiansAtLatLon
(
    const FPsiThetaPhi PsiThetaPhiRadians,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FHeadingPitchRoll& HeadingPitchRollRadians
)

Calculates the Heading, Pitch, and Roll in radians from the given DIS orientation values Psi, Theta, and Phi in radians at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
PsiThetaPhiRadians	The rotation about the Z axis in radians (Psi),the rotation about the Y axis in radians (Theta), the rotation about the X axis in radians (Phi)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
HeadingPitchRollRadians	The radians from North of the facing direction (heading), the radians rotated about the local Y axis (pitch), and the radians rotated about the local X axis (roll)

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CalculateLatLonFromNorthEastDownVectors

public static void CalculateLatLonFromNorthEastDownVectors
(
    FNorthEastDown NorthEastDownVectors,
    float& LatitudeDegrees,
    float& LongitudeDegrees
)

Calculates the latitude and longitude at the given East, North, and Up vectors.

Category: GRILL DIS|Unit Conversions

Parameter	Description
NorthEastDownVectors	The vectors pointing to the North, to the East, and toward the center of the Earth
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees

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CalculateLatLonHeightFromEcefXYZ

public static void CalculateLatLonHeightFromEcefXYZ
(
    const FEarthCenteredEarthFixedDouble Ecef,
    FLatLonHeightDouble& OutLatLonHeightDegreesMeters
)

Converts DIS X, Y, Z coordinates (ECEF) to Latitude, Longitude, and Height (LLH) all in double (64-bit) precision.

Parameter	Description
Ecef	The ECEF location
OutLatLonHeightDegreesMeters	The converted latitude in degrees, longitude in degrees, and height in meters

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CalculateLatLonHeightFromEcefXYZ

public static void CalculateLatLonHeightFromEcefXYZ
(
    const FEarthCenteredEarthFixedFloat Ecef,
    FLatLonHeightFloat& OutLatLonHeightDegreesMeters
)

Converts DIS X, Y, Z coordinates (ECEF) to Latitude, Longitude, and Height (LLH) all in double (32-bit) precision.

Category: GRILL DIS|Unit Conversions

Parameter	Description
Ecef	The ECEF location
OutLatLonHeightDegreesMeters	The converted latitude in degrees, longitude in degrees, and height in meters

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CalculateNorthEastDownVectorsFromLatLon

public static void CalculateNorthEastDownVectorsFromLatLon
(
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FNorthEastDown& OutNorthEastDownVectors
)

Calculates the East, North, and Up vectors at given latitude and longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
OutNorthEastDownVectors	The local vectors pointing North, pointing East, and toward the center of the Earth at the given latitude and longitude

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CalculatePsiThetaPhiDegreesFromHeadingPitchRollDegreesAtLatLon

public static void CalculatePsiThetaPhiDegreesFromHeadingPitchRollDegreesAtLatLon
(
    const FHeadingPitchRoll HeadingPitchRollDegrees,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FPsiThetaPhi& PsiThetaPhiDegrees
)

Calculates the DIS orientation values Psi, Theta, and Phi in degrees with the given Heading, Pitch, and Roll in degrees at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollDegrees	The degrees from North of the facing direction (heading), the degrees rotated about the local Y axis (pitch), and the degrees rotated about the local X axis (roll)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
PsiThetaPhiDegrees	The rotation about the Z axis in degrees (Psi),the rotation about the Y axis in degrees (Theta), the rotation about the X axis in degrees (Phi)

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CalculatePsiThetaPhiDegreesFromHeadingPitchRollRadiansAtLatLon

public static void CalculatePsiThetaPhiDegreesFromHeadingPitchRollRadiansAtLatLon
(
    const FHeadingPitchRoll HeadingPitchRollRadians,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FPsiThetaPhi& PsiThetaPhiDegrees
)

Calculates the DIS orientation values Psi, Theta, and Phi in degrees with the given Heading, Pitch, and Roll in radians at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollRadians	The radians from North of the facing direction (heading), the radians rotated about the local Y axis (pitch), and the radians rotated about the local X axis (roll)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
PsiThetaPhiDegrees	The rotation about the Z axis in degrees (Psi),the rotation about the Y axis in degrees (Theta), the rotation about the X axis in degrees (Phi)

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CalculatePsiThetaPhiRadiansFromHeadingPitchRollDegreesAtLatLon

public static void CalculatePsiThetaPhiRadiansFromHeadingPitchRollDegreesAtLatLon
(
    const FHeadingPitchRoll HeadingPitchRollDegrees,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FPsiThetaPhi& PsiThetaPhiRadians
)

Calculates the DIS orientation values Psi, Theta, and Phi in radians with the given Heading, Pitch, and Roll in degrees at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollDegrees	The degrees from North of the facing direction (heading), the degrees rotated about the local Y axis (pitch), and the degrees rotated about the local X axis (roll)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
PsiThetaPhiRadians	The rotation about the Z axis in radians (Psi),the rotation about the Y axis in radians (Theta), the rotation about the X axis in radians (Phi)

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CalculatePsiThetaPhiRadiansFromHeadingPitchRollRadiansAtLatLon

public static void CalculatePsiThetaPhiRadiansFromHeadingPitchRollRadiansAtLatLon
(
    const FHeadingPitchRoll HeadingPitchRollRadians,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    FPsiThetaPhi& PsiThetaPhiRadians
)

Calculates the DIS orientation values Psi, Theta, and Phi in radians with the given Heading, Pitch, and Roll in radians at the given Latitude and Longitude.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollRadians	The radians from North of the facing direction (heading), the radians rotated about the local Y axis (pitch), and the radians rotated about the local X axis (roll)
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
PsiThetaPhiRadians	The rotation about the Z axis in radians (Psi),the rotation about the Y axis in radians (Theta), the rotation about the X axis in radians (Phi)

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ConvertNedAndEnu

public static FMatrix ConvertNedAndEnu
(
    FMatrix StartingVectors
)

Convert between North, East, Down and East, North, Up orientation representation using double values.

Parameter	Description
StartingVectors	The matrix representation of the starting vectors (each vector is a column and the final vector is 0)

Returns
The resulting conversion of swapping the first two vectors and negating the third

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ConvertNedAndEnu

public static glm::dmat3 ConvertNedAndEnu
(
    glm::dmat3 StartingVectors
)

Convert between North, East, Down and East, North, Up orientation representation using double values.

Parameter	Description
StartingVectors	The matrix representation of the starting vectors (each vector is a column)

Returns
The resulting conversion of swapping the first two vectors and negating the last

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CreateNCrossXMatrix

public static FMatrix CreatNCrossXMatrix
(
    FVector NVector
)

Creates a 4x4 n^x matrix used for creating a rotation matrix.

Parameter	Description
NVector	A 3x1 vector representing the axis of rotation

Returns
A 4x4 n^x matrix used for creating a rotation matrix

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CreateNCrossXMatrix

public static glm::dmat3 CreateNCrossXMatrix
(
    glm::dvec3 NVector
)

Creates a 3x3 n^x matrix used for creating a rotation matrix

Parameter	Description
NVector	A 3x1 vector representing the axis of rotation

Returns
A 3x3 n^x matrix used for creating a rotation matrix

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CreateRotationMatrix

private static void CreateRotationMatrix
(
    FVector AxisVector,
    float ThetaRadians,
    FMatrix& OutRotationMatrix
)

Creates a 4x4 rotation matrix around the given axis of rotation rotating by Theta radians.

Parameter	Description
AxisVector	A 3x1 vector representing the axis of rotation
ThetaRadians	The amount to rotate given in radians
OutRotationMatrix	The resultant rotation matrix to rotate Theta radians around axis AxisVector

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CreateRotationMatrix

private static void CreateRotationMatrix
(
    glm::dvec3 AxisVector,
    float ThetaRadians,
    glm::dmat3& OutRotationMatrix
)

Creates a 3x3 rotation matrix around the given axis of rotation rotating by Theta radians.

Parameter	Description
AxisVector	A 3x1 vector representing the axis of rotation
ThetaRadians	The amount to rotate given in radians
OutRotationMatrix	The resultant rotation matrix to rotate Theta radians around axis AxisVector

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GetEastNorthUpVectorsFromNorthEastDownVectors

public static void GetEastNorthUpVectorsFromNorthEastDownVectors
(
    FNorthEastDown NorthEastDownVectors,
    FEastNorthUp& EastNorthUpVectors
)

Get the East, North, and Up vectors from the North, East, and Down vector struct.

Category: GRILL DIS|Unit Conversions

Parameter	Description
NorthEastDownVectors	The North, East, and Down vectors representing the current orientation
EastNorthUpVectors	The resulting East, North, and Up vectors representing the current orientation

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GetEastNorthUpVectorsFromUnrealLocation

public static void GetEastNorthUpVectorsFromUnrealLocation
(
    FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FEastNorthUp& EastNorthUpVectors
)

Gets the East, North, and Up vector representation of the given Unreal location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealLocation	The location in Unreal units
GeoReferencingSystem	The GeoReferencing Subsystem reference
EastNorthUpVectors	The East, North, and Up vectors for the given Unreal location

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GetEcefXYZAndPsiThetaPhiDegreesFromUnreal

public static void GetEcefXYZAndPsiThetaPhiDegreesFromUnreal
(
    const FRotator UnrealRotation,
    const FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FEarthCenteredEarthFixedFloat& EcefXYZ,
    FPsiThetaPhi& PsiThetaPhiDegrees
)

Gets the ECEF location and the Psi (Yaw), Theta (Pitch), and Phi (Roll) in degrees of the given Unreal rotation at the given Unreal location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealRotation	The Unreal rotation in world space
UnrealLocation	The Unreal location in world space
GeoReferencingSystem	The GeoReferencing Subsystem reference
EcefXYZ	The ECEF location of the given Unreal location
PsiThetaPhiDegrees	The Psi (Yaw), Theta (Pitch), and Phi (Roll) in degrees

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GetEcefXYZAndPsiThetaPhiRadiansFromUnreal

public static void GetEcefXYZAndPsiThetaPhiRadiansFromUnreal
(
    const FRotator UnrealRotation,
    const FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FEarthCenteredEarthFixedFloat& EcefXYZ,
    FPsiThetaPhi& PsiThetaPhiRadians
)

Gets the ECEF location and the Psi (Yaw), Theta (Pitch), and Phi (Roll) in radians of the given Unreal rotation at the given Unreal location

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealRotation	The Unreal rotation in world space
UnrealLocation	The Unreal location in world space
GeoReferencingSystem	The GeoReferencing Subsystem reference
EcefXYZ	The ECEF location of the given Unreal location
PsiThetaPhiRadians	The Psi (Yaw), Theta (Pitch), and Phi (Roll) in radians

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GetEcefXYZFromUnrealLocation

static void GetEcefXYZFromUnrealLocation
(
    const FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FEarthCenteredEarthFixedFloat& ECEF
) 

Calculate the ECEF location of the given Unreal location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealLocation	The Unreal location to convert to ECEF
GeoReferencingSystem	The GeoReferencing Subsystem reference
ECEF	The ECEF location of the given Unreal location

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GetHeadingPitchRollFromUnrealRotation

public static void GetHeadingPitchRollFromUnrealRotation
(
    const FRotator UnrealRotation,
    const FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FHeadingPitchRoll& HeadingPitchRollDegrees
)

Gets the Heading, Pitch, and Roll in degrees of the given Unreal rotation at the given Unreal location

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealRotation	The Unreal rotation in world space
UnrealLocation	The Unreal location in world space
GeoReferencingSystem	The GeoReferencing Subsystem reference
HeadingPitchRollDegrees	The heading from North, pitch, and roll in degrees

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GetLatLonHeightFromUnrealLocation

public static void GetLatLonHeightFromUnrealLocation
(
    const FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FLatLonHeightFloat& LatLonHeightDegreesMeters
)

Calculate the latitude in degrees, longitude in degrees, and height in meters of the given Unreal location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealLocation	The Unreal location to convert to latitude, longitude, height
GeoReferencingSystem	The GeoReferencing Subsystem reference
LatLonHeightDegreesMeters	The latitude in degrees, longitude in degrees, and height in meters of the given Unreal location

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GetNorthEastDownVectorsFromEastNorthUpVectors

public static void GetNorthEastDownVectorsFromEastNorthUpVectors
(
    FEastNorthUp EastNorthUpVectors,
    FNorthEastDown& NorthEastDownVectors
)

Get the North, East, and Down vectors from the East, North, and Up vector struct.

Category: GRILL DIS|Unit Conversions

Parameter	Description
EastNorthUpVectors	The East, North, and Up vectors representing the current orientation
NorthEastDownVectors	The resulting North, East, and Down vectors representing the current orientation

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GetNorthEastDownVectorsFromUnrealLocation

public static void GetNorthEastDownVectorsFromUnrealLocation
(
    FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FNorthEastDown& NorthEastDownVectors
)

Gets the North, East, and Down vector representation of the given Unreal location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealLocation	The location in Unreal units
GeoReferencingSystem	The GeoReferencing Subsystem reference
NorthEastDownVectors	The North, East, and Down vectors for the given Unreal location

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GetPsiThetaPhiDegreesFromUnrealRotation

public static void GetPsiThetaPhiDegreesFromUnrealRotation
(
    const FRotator UnrealRotation, const FVector UnrealLocation, AGeoReferencingSystem* GeoReferencingSystem, FPsiThetaPhi& PsiThetaPhiDegrees
)

Gets the Psi (Yaw), Theta (Pitch), and Phi (Roll) in degrees of the given Unreal rotation at the given Unreal location

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealRotation	The Unreal rotation in world space
UnrealLocation	The Unreal location in world space
GeoReferencingSystem	The GeoReferencing Subsystem reference
PsiThetaPhiDegrees	The Psi (Yaw), Theta (Pitch), and Phi (Roll) in degrees

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GetPsiThetaPhiRadiansFromUnrealRotation

public static void GetPsiThetaPhiRadiansFromUnrealRotation
(
    const FRotator UnrealRotation,
    const FVector UnrealLocation,
    AGeoReferencingSystem* GeoReferencingSystem,
    FPsiThetaPhi& PsiThetaPhiRadians
)

Gets the Psi (Yaw), Theta (Pitch), and Phi (Roll) in radians of the given Unreal rotation at the given Unreal location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
UnrealRotation	The Unreal rotation in world space
UnrealLocation	The Unreal location in world space
GeoReferencingSystem	The GeoReferencing Subsystem reference
PsiThetaPhiDegrees	The Psi (Yaw), Theta (Pitch), and Phi (Roll) in radians

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GetUnrealLocationAndOrientationFromEntityStatePdu

public static void GetUnrealLocationAndOrientationFromEntityStatePdu
(
    const FEntityStatePDU EntityStatePdu,
    AGeoReferencingSystem* GeoReferencingSystem,
    FVector& UnrealLocation,
    FRotator& UnrealRotation
)

Gets the Unreal X, Y, Z coordinates and rotation from a DIS entity state PDU. Location values returned change depending on if GeoReferencing Subsystem is set to Flat Earth or Round Earth.

Category: GRILL DIS|Unit Conversions

Parameter	Description
EntityStatePdu	The DIS PDU struct indicating the current state of the DIS entity
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealLocation	The location of the entity in Unreal
UnrealRotation	The rotation of the entity in Unreal

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GetUnrealLocationFromEcefXYZ

public static void GetUnrealLocationFromEcefXYZ
(
    const FEarthCenteredEarthFixedDouble EcefXYZ,
    AGeoReferencingSystem* GeoReferencingSystem,
    FVector& UnrealLocation
)

Get the Unreal location from the given ECEF XYZ location.

Parameter	Description
EcefXYZ	The ECEF XYZ location to get the Unreal location from
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealLocation	The Unreal location of the given ECEF XYZ location

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GetUnrealLocationFromEcefXYZ

public static void GetUnrealLocationFromEcefXYZ
(
    const FEarthCenteredEarthFixedFloat EcefXYZ,
    AGeoReferencingSystem* GeoReferencingSystem,
    FVector& UnrealLocation
)

Get the Unreal location from the given ECEF XYZ location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
EcefXYZ	The ECEF XYZ location to get the Unreal location from
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealLocation	The Unreal location of the given ECEF XYZ location

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GetUnrealLocationFromEntityStatePdu

public static void GetUnrealLocationFromEntityStatePdu
(
    const FEntityStatePDU EntityStatePdu,
    AGeoReferencingSystem* GeoReferencingSystem,
    FVector& UnrealLocation
)

Gets the Unreal X, Y, Z coordinates of the entity from the given ECEF values in the DIS entity state pdu. Values returned change depending on if GeoReferencing Subsystem is set to Flat Earth or Round Earth.

Category: GRILL DIS|Unit Conversions

Parameter	Description
EntityStatePdu	The DIS PDU struct indicating the current state of the DIS entity
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealLocation	The resulting Unreal XYZ location of the entity in Unreal units

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GetUnrealLocationFromLatLonHeight

public static void GetUnrealLocationFromLatLonHeight
(
    const FLatLonHeightFloat LatLonHeightDegreesMeters,
    AGeoReferencingSystem* GeoReferencingSystem,
    FVector& UnrealLocation
)

Get the Unreal location from the given latitude in degrees, longitude in degrees, and height in meters location.

Category: GRILL DIS|Unit Conversions

Parameter	Description
LatLonHeightDegreesMeters	The LLH location to get the Unreal location from
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealLocation	The Unreal location of the given LLH location

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GetUnrealRotationFromEntityStatePdu

public static void GetUnrealRotationFromEntityStatePdu
(
    const FEntityStatePDU EntityStatePdu,
    AGeoReferencingSystem* GeoReferencingSystem,
    FRotator& UnrealRotation
)

Gets Unreal rotation from a DIS entity state PDU.

Category: GRILL DIS|Unit Conversions

Parameter	Description
EntityStatePdu	The DIS PDU struct indicating the current state of the DIS entity
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealRotation	The rotation of the entity in Unreal

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GetUnrealRotationFromHeadingPitchRollDegreesAtLatLon

public static void GetUnrealRotationFromHeadingPitchRollDegreesAtLatLon
(
    const FHeadingPitchRoll HeadingPitchRollDegrees,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    AGeoReferencingSystem* GeoReferencingSystem,
    FRotator& UnrealRotation
)

Get the Unreal rotation from the given Heading, Pitch, Roll rotation in degrees.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollDegrees	The Heading, Pitch, Roll rotation in degrees to get the Unreal rotation from
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealRotation	The Unreal rotation of the given Heading, Pitch, Roll rotation

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GetUnrealRotationFromHeadingPitchRollRadiansAtLatLon

public static void GetUnrealRotationFromHeadingPitchRollRadiansAtLatLon
(
    const FHeadingPitchRoll HeadingPitchRollRadians,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    AGeoReferencingSystem* GeoReferencingSystem,
    FRotator& UnrealRotation
)

Get the Unreal rotation from the given Heading, Pitch, Roll rotation in radians.

Category: GRILL DIS|Unit Conversions

Parameter	Description
HeadingPitchRollRadians	The Heading, Pitch, Roll rotation in radians to get the Unreal rotation from
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealRotation	The Unreal rotation of the given Heading, Pitch, Roll rotation

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GetUnrealRotationFromPsiThetaPhiDegreesAtLatLon

public static void GetUnrealRotationFromPsiThetaPhiDegreesAtLatLon
(
    const FPsiThetaPhi PsiThetaPhiDegrees,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    AGeoReferencingSystem* GeoReferencingSystem,
    FRotator& UnrealRotation
)

Get the Unreal rotation from the given Psi, Theta, Phi rotation in degrees.

Category: GRILL DIS|Unit Conversions

Parameter	Description
PsiThetaPhiDegrees	The Psi, Theta, Phi rotation in degrees to get the Unreal rotation from
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealRotation	The Unreal rotation of the given Psi, Theta, Phi rotation

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GetUnrealRotationFromPsiThetaPhiRadiansAtLatLon

public static void GetUnrealRotationFromPsiThetaPhiRadiansAtLatLon
(
    const FPsiThetaPhi PsiThetaPhiRadians,
    const float LatitudeDegrees,
    const float LongitudeDegrees,
    AGeoReferencingSystem* GeoReferencingSystem,
    FRotator& UnrealRotation
)

Get the Unreal rotation from the given Psi, Theta, Phi rotation in radians.

Category: GRILL DIS|Unit Conversions

Parameter	Description
PsiThetaPhiRadians	The Psi, Theta, Phi rotation in radians to get the Unreal rotation from
LatitudeDegrees	The target latitude given in degrees
LongitudeDegrees	The target longitude given in degrees
GeoReferencingSystem	The GeoReferencing Subsystem reference
UnrealRotation	The Unreal rotation of the given Psi, Theta, Phi rotation

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RotateVectorAroundAxisByDegrees

public static void RotateVectorAroundAxisByDegrees
(
    FVector VectorToRotate,
    float ThetaDegrees,
    FVector AxisVector,
    FVector& OutRotatedVector
)

Rotates the vector VectorToRotate around given axis AxisVector by Theta degrees.

Category: GRILL DIS|Unit Conversions

Parameter	Description
VectorToRotate	The target vector to rotate
ThetaDegrees	The desired amount to rotation in degrees
AxisVector	The vector indicating the axis of rotation
OutRotatedVector	The resultant rotated vector

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RotateVectorAroundAxisByDegrees

public static void RotateVectorAroundAxisByDegrees
(
    glm::dvec3 VectorToRotate,
    float ThetaDegrees,
    glm::dvec3 AxisVector,
    glm::dvec3& OutRotatedVector
)

Rotates the vector VectorToRotate around given axis AxisVector by Theta degrees

Parameter	Description
VectorToRotate	The target vector to rotate
ThetaDegrees	The desired amount to rotation in degrees
AxisVector	The vector indicating the axis of rotation
OutRotatedVector	The resultant rotated vector

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RotateVectorAroundAxisByRadians

public static void RotateVectorAroundAxisByRadians
(
    FVector VectorToRotate,
    float ThetaRadians,
    FVector AxisVector,
    FVector& OutRotatedVector
)

Rotates the vector VectorToRotate around given axis AxisVector by Theta radians

Category: GRILL DIS|Unit Conversions

Parameter	Description
VectorToRotate	The target vector to rotate
ThetaRadians	The desired amount to rotation in radians
AxisVector	The vector indicating the axis of rotation
OutRotatedVector	The resultant rotated vector

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RotateVectorAroundAxisByRadians

public static void RotateVectorAroundAxisByRadians
(
    glm::dvec3 VectorToRotate,
    double ThetaRadians,
    glm::dvec3 AxisVector,
    glm::dvec3& OutRotatedVector
)

Rotates the vector VectorToRotate around given axis AxisVector by Theta radians.

Parameter	Description
VectorToRotate	The target vector to rotate
ThetaRadians	The desired amount to rotation in radians
AxisVector	The vector indicating the axis of rotation
OutRotatedVector	The resultant rotated vector

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