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All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#ifndef MODULES_LOCALIZATION_MSF_COMMON_FRAME_TRANSFORM_H_\n+#define MODULES_LOCALIZATION_MSF_COMMON_FRAME_TRANSFORM_H_\n+\n+#include <stdio.h>\n+#include <Eigen/Core>\n+#include <Eigen/Geometry>\n+\n+namespace apollo {\n+namespace localization {\n+namespace msf {\n+\n+/**@brief the UTM coordinate struct 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