175 lines
8.7 KiB
C++
175 lines
8.7 KiB
C++
/*! \file pigeoposition.h
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* \brief Class for geo position storage and conversions
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*/
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/*
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PIP - Platform Independent Primitives
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Class for geo position storage and conversions
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Copyright (C) 2018 Andrey Bychkov work.a.b@yandex.ru
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef PIGEOPOSITION_H
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#define PIGEOPOSITION_H
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#include "piellipsoidmodel.h"
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#include "pimathvector.h"
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class PIP_EXPORT PIGeoPosition : public PIMathVectorT3d
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{
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public:
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enum CoordinateSystem
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{
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Unknown=0, /// Unknown coordinate system
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Geodetic, /// Geodetic latitude, longitude, and height above ellipsoid
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Geocentric, /// Geocentric (regular spherical coordinates)
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Cartesian, /// Cartesian (Earth-centered, Earth-fixed)
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Spherical /// Spherical coordinates (theta,phi,radius)
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};
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static const double one_cm_tolerance;/// One centimeter tolerance.
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static const double one_mm_tolerance;/// One millimeter tolerance.
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static const double one_um_tolerance;/// One micron tolerance.
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static double position_tolerance;/// Default tolerance (default 1mm)
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static double setPositionTolerance(const double tol) {position_tolerance = tol; return position_tolerance;}
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static double getPositionTolerance() {return position_tolerance;}
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PIGeoPosition();
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PIGeoPosition(double a, double b, double c, CoordinateSystem s = Cartesian, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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PIGeoPosition(PIMathVectorT3d v, CoordinateSystem s = Cartesian, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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PIGeoPosition &transformTo(CoordinateSystem sys);
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PIGeoPosition &asGeodetic() {transformTo(Geodetic); return *this; } /// Convert to geodetic coordinate
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PIGeoPosition &asGeodetic(const PIEllipsoidModel &ell) {setEllipsoidModel(ell); transformTo(Geodetic); return *this;} /// Convert to another ell, then to geodetic coordinates
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PIGeoPosition &asECEF() {transformTo(Cartesian); return *this; } /// Convert to cartesian coordinates
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double x() const;
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double y() const;
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double z() const;
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double latitudeGeodetic() const;
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double latitudeGeocentric() const;
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double longitude() const;
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double theta() const;
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double phi() const;
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double radius() const;
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double height() const;
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/// Set the ellipsoid values for this PIGeoPosition given a ellipsoid.
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void setEllipsoidModel(const PIEllipsoidModel &ell) {el = ell;}
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/// Set the \a PIGeoPosition given geodetic coordinates in degrees. \a CoordinateSystem is set to \a Geodetic.
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PIGeoPosition &setGeodetic(double lat, double lon, double ht, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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/// Set the \a PIGeoPosition given geocentric coordinates in degrees. \a CoordinateSystem is set to \a Geocentric
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PIGeoPosition &setGeocentric(double lat, double lon, double rad);
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/// Set the \a PIGeoPosition given spherical coordinates in degrees. \a CoordinateSystem is set to \a Spherical
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PIGeoPosition &setSpherical(double theta, double phi, double rad);
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/// Set the \a PIGeoPosition given ECEF coordinates in meeters. \a CoordinateSystem is set to \a Cartesian.
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PIGeoPosition &setECEF(double x, double y, double z);
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/// Fundamental conversion from spherical to cartesian coordinates.
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static void convertSphericalToCartesian(const PIMathVectorT3d &tpr, PIMathVectorT3d &xyz);
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/// Fundamental routine to convert cartesian to spherical coordinates.
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static void convertCartesianToSpherical(const PIMathVectorT3d &xyz, PIMathVectorT3d &tpr);
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/// Fundamental routine to convert ECEF (cartesian) to geodetic coordinates,
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static void convertCartesianToGeodetic(const PIMathVectorT3d &xyz, PIMathVectorT3d &llh, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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/// Fundamental routine to convert geodetic to ECEF (cartesian) coordinates,
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static void convertGeodeticToCartesian(const PIMathVectorT3d &llh, PIMathVectorT3d &xyz, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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/// Fundamental routine to convert cartesian (ECEF) to geocentric
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static void convertCartesianToGeocentric(const PIMathVectorT3d &xyz, PIMathVectorT3d &llr);
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/// Fundamental routine to convert geocentric to cartesian (ECEF)
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static void convertGeocentricToCartesian(const PIMathVectorT3d &llr, PIMathVectorT3d &xyz);
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/// Fundamental routine to convert geocentric to geodetic
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static void convertGeocentricToGeodetic(const PIMathVectorT3d &llr, PIMathVectorT3d &llh, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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/// Fundamental routine to convert geodetic to geocentric
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static void convertGeodeticToGeocentric(const PIMathVectorT3d &llh, PIMathVectorT3d &llr, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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/// Compute the radius of the ellipsoidal Earth, given the geodetic latitude.
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static double radiusEarth(double geolat, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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double radiusEarth() const {
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PIGeoPosition p(*this);
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p.transformTo(PIGeoPosition::Geodetic);
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return PIGeoPosition::radiusEarth((*this)[0], p.el);
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}
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/// Compute the range in meters between two PIGeoPositions.
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static double range(const PIGeoPosition &a, const PIGeoPosition &b);
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double range(const PIGeoPosition &p) const {
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return range((*this), p);
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}
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/// Computes the elevation of the input (p) position as seen from this PIGeoPosition.
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double elevation(const PIGeoPosition &p) const;
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/// Computes the elevation of the input (p) position as seen from this PIGeoPosition, using a Geodetic (ellipsoidal) system.
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double elevationGeodetic(const PIGeoPosition &p) const;
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/// Computes the azimuth of the input (p) position as seen from this PIGeoPosition.
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double azimuth(const PIGeoPosition &p) const;
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/// Computes the azimuth of the input (p) position as seen from this PIGeoPosition, using a Geodetic (ellipsoidal) system.
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double azimuthGeodetic(const PIGeoPosition &p) const;
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/// Computes the radius of curvature of the meridian (Rm) corresponding to this PIGeoPosition.
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double getCurvMeridian() const;
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/// Computes the radius of curvature in the prime vertical (Rn) corresponding to this PIGeoPosition.
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double getCurvPrimeVertical() const;
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/// Returns as PIMathVectorT3d
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const PIMathVectorT3d & vector() const {return *this;}
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// PIGeoPosition &operator=(const PIGeoPosition & v);
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PIGeoPosition &operator=(const PIMathVectorT3d & v);
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PIGeoPosition &operator-=(const PIGeoPosition &right);
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PIGeoPosition &operator+=(const PIGeoPosition &right);
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friend PIGeoPosition operator-(const PIGeoPosition &left, const PIGeoPosition &right);
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friend PIGeoPosition operator+(const PIGeoPosition &left, const PIGeoPosition &right);
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friend PIGeoPosition operator*(const double &scale, const PIGeoPosition &right);
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friend PIGeoPosition operator*(const PIGeoPosition &left, const double &scale);
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friend PIGeoPosition operator*(const int &scale, const PIGeoPosition &right);
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friend PIGeoPosition operator*(const PIGeoPosition &left, const int &scale);
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bool operator==(const PIGeoPosition &right) const;
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bool operator!=(const PIGeoPosition &right) const {return !(operator==(right));}
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private:
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void initialize(PIMathVectorT3d v, CoordinateSystem sys = Cartesian, PIEllipsoidModel ell = PIEllipsoidModel::WGS84Ellipsoid());
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PIEllipsoidModel el;
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CoordinateSystem s;
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};
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inline PIGeoPosition operator-(const PIGeoPosition &left, const PIGeoPosition &right) {PIGeoPosition l(left),r(right); l.transformTo(PIGeoPosition::Cartesian); r.transformTo(PIGeoPosition::Cartesian); l -= r; return l;}
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inline PIGeoPosition operator+(const PIGeoPosition &left, const PIGeoPosition &right) {PIGeoPosition l(left),r(right); l.transformTo(PIGeoPosition::Cartesian); r.transformTo(PIGeoPosition::Cartesian); l += r; return l;}
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inline PIGeoPosition operator*(const double &scale, const PIGeoPosition &right) {PIMathVectorT3d tmp(right); tmp *= scale; return PIGeoPosition(tmp);}
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inline PIGeoPosition operator*(const PIGeoPosition &left, const double &scale) {return operator* (scale, left);}
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inline PIGeoPosition operator*(const int &scale, const PIGeoPosition &right) {return operator* (double(scale), right);}
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inline PIGeoPosition operator*(const PIGeoPosition &left, const int &scale) {return operator* (double(scale), left);}
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#endif // PIGEOPOSITION_H
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