source: flair-src/branches/mavlink/lib/FlairSensorActuator/src/geodesie.cpp@ 66

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#include <fstream>

#include "geodesie.h"

#ifdef _MSC_VER
#pragma warning(disable : 4244)
#endif //_MSC_VER

namespace Geodesie {
/// ////////////////////////////////////////////////////////////////////
Matrice::Matrice(const Matrice &A) {
  c0_l0 = A.c0_l0;
  c1_l0 = A.c1_l0;
  c2_l0 = A.c2_l0;
  c0_l1 = A.c0_l1;
  c1_l1 = A.c1_l1;
  c2_l1 = A.c2_l1;
  c0_l2 = A.c0_l2;
  c1_l2 = A.c1_l2;
  c2_l2 = A.c2_l2;
}
/// ////////////////////////////////////////////////////////////////////
Matrice::Matrice() {
  c0_l0 = 0.0;
  c1_l0 = 0.0;
  c2_l0 = 0.0;
  c0_l1 = 0.0;
  c1_l1 = 0.0;
  c2_l1 = 0.0;
  c0_l2 = 0.0;
  c1_l2 = 0.0;
  c2_l2 = 0.0;
}
/// ////////////////////////////////////////////////////////////////////
void Matrice::Apply(double v0, double v1, double v2, double &Mv0, double &Mv1,
                    double &Mv2) {
  Mv0 = c0_l0 * v0 + c1_l0 * v1 + c2_l0 * v2;
  Mv1 = c0_l1 * v0 + c1_l1 * v1 + c2_l1 * v2;
  Mv2 = c0_l2 * v0 + c1_l2 * v1 + c2_l2 * v2;
}
/// ////////////////////////////////////////////////////////////////////
Matrice ProdMat(const Matrice A, const Matrice B) {
  Matrice out;

  out.c0_l0 = A.c0_l0 * B.c0_l0 + A.c1_l0 * B.c0_l1 + A.c2_l0 * B.c0_l2;
  out.c1_l0 = A.c0_l0 * B.c1_l0 + A.c1_l0 * B.c1_l1 + A.c2_l0 * B.c1_l2;
  out.c2_l0 = A.c0_l0 * B.c2_l0 + A.c1_l0 * B.c2_l1 + A.c2_l0 * B.c2_l2;

  out.c0_l1 = A.c0_l1 * B.c0_l0 + A.c1_l1 * B.c0_l1 + A.c2_l1 * B.c0_l2;
  out.c1_l1 = A.c0_l1 * B.c1_l0 + A.c1_l1 * B.c1_l1 + A.c2_l1 * B.c1_l2;
  out.c2_l1 = A.c0_l1 * B.c2_l0 + A.c1_l1 * B.c2_l1 + A.c2_l1 * B.c2_l2;

  out.c0_l2 = A.c0_l2 * B.c0_l0 + A.c1_l2 * B.c0_l1 + A.c2_l2 * B.c0_l2;
  out.c1_l2 = A.c0_l2 * B.c1_l0 + A.c1_l2 * B.c1_l1 + A.c2_l2 * B.c1_l2;
  out.c2_l2 = A.c0_l2 * B.c2_l0 + A.c1_l2 * B.c2_l1 + A.c2_l2 * B.c2_l2;
  return out;
}

/// ////////////////////////////////////////////////////////////////////
Matrice TransMat(const Matrice A) {
  Matrice out;
  out.c0_l0 = A.c0_l0;
  out.c1_l0 = A.c0_l1;
  out.c2_l0 = A.c0_l2;
  out.c0_l1 = A.c1_l0;
  out.c1_l1 = A.c1_l1;
  out.c2_l1 = A.c1_l2;
  out.c0_l2 = A.c2_l0;
  out.c1_l2 = A.c2_l1;
  out.c2_l2 = A.c2_l2;
  return out;
}

/// ////////////////////////////////////////////////////////////////////
void Write(const Matrice A, std::ostream &out) {
  out << A.c0_l0 << "\t" << A.c1_l0 << "\t" << A.c2_l0 << "\n";
  out << A.c0_l1 << "\t" << A.c1_l1 << "\t" << A.c2_l1 << "\n";
  out << A.c0_l2 << "\t" << A.c1_l2 << "\t" << A.c2_l2 << "\n";
}

/// ////////////////////////////////////////////////////////////////////
Raf98::~Raf98() { m_dvalues.clear(); }

//-----------------------------------------------------------------------------
bool Raf98::Interpol(double longitude, double latitude, double *Hwgs84) const {
  *Hwgs84 = 0.0;
  if (m_dvalues.size() == 0)
    return false;
  const double longitude_min = -5.5;
  const double longitude_max = 8.5;
  if (longitude < longitude_min)
    return false;
  if (longitude > longitude_max)
    return false;

  const double latitude_min = 42;
  const double latitude_max = 51.5;
  if (latitude < latitude_min)
    return false;
  if (latitude > latitude_max)
    return false;

  // conversion en position
  double longPix = (longitude - longitude_min) * 30.;
  double latPix = (latitude_max - latitude) * 40.;

  double RestCol, RestLig;
  double ColIni, LigIni;
  RestCol = modf(longPix, &ColIni);
  RestLig = modf(latPix, &LigIni);

  double Zbd = (1.0 - RestCol) * (1.0 - RestLig) * LitGrille(ColIni, LigIni);
  Zbd += RestCol * (1.0 - RestLig) * LitGrille(ColIni + 1, LigIni);
  Zbd += (1.0 - RestCol) * RestLig * LitGrille(ColIni, LigIni + 1);
  Zbd += RestCol * RestLig * LitGrille(ColIni + 1, LigIni + 1);
  *Hwgs84 = Zbd;

  return true;
}
/// ////////////////////////////////////////////////////////////////////
double Raf98::LitGrille(unsigned int c, unsigned int l) const {
  const unsigned int w = 421;
  //    const unsigned int h=381;
  return m_dvalues.at(c + l * w);
}
/// ////////////////////////////////////////////////////////////////////
bool Raf98::Load(const std::string &sin) {
  std::ifstream in(sin.c_str());
  unsigned int w = 421;
  unsigned int h = 381;

  m_dvalues.reserve(w * h);

  char entete[1024]; // sur 3 lignes
  in.getline(entete, 1023);
  in.getline(entete, 1023);
  in.getline(entete, 1023);

  char bidon[1024];
  double val;
  for (unsigned int i = 0; i < h; ++i) {
    for (unsigned int j = 0; j < 52; ++j) {
      for (unsigned int k = 0; k < 8; ++k) {
        in >> val;
        m_dvalues.push_back(val);
      }
      in.getline(bidon, 1023);
    }
    for (unsigned int k = 0; k < 5; ++k) {
      in >> val;
      m_dvalues.push_back(val);
    }
    in.getline(bidon, 1023);
    if (!in.good()) {
      m_dvalues.clear();
      return false;
    }
  }
  return in.good();
}

} // namespace Geodesie

/// ////////////////////////////////////////////////////////////////////
/// ////////////////////////////////////////////////////////////////////

/// ////////////////////////////////////////////////////////////////////
// ALGO0001
double Geodesie::LatitueIsometrique(double latitude, double e) {
  double li;
  li = log(tan(M_PI_4 + latitude / 2.)) +
       e * log((1 - e * sin(latitude)) / (1 + e * sin(latitude))) / 2;
  return li;
}

/// ////////////////////////////////////////////////////////////////////
// ALGO0002
double Geodesie::LatitueIsometrique2Lat(double latitude_iso, double e,
                                        double epsilon) {
  double latitude_i = 2 * atan(exp(latitude_iso)) - M_PI_2;
  double latitude_ip1 = latitude_i + epsilon * 2;
  while (fabs(latitude_i - latitude_ip1) > epsilon) {
    latitude_i = latitude_ip1;
    latitude_ip1 = 2 * atan(exp(e * 0.5 * log((1 + e * sin(latitude_i)) /
                                              (1 - e * sin(latitude_i)))) *
                            exp(latitude_iso)) -
                   M_PI_2;
  }
  return latitude_ip1;
}
/// ////////////////////////////////////////////////////////////////////
void Geodesie::Geo2ProjLambert(double lambda, double phi, double n, double c,
                               double e, double lambdac, double xs, double ys,
                               double &X, double &Y) {
  double lat_iso = LatitueIsometrique(phi, e);
  X = xs + c * exp(-n * lat_iso) * sin(n * (lambda - lambdac));
  Y = ys - c * exp(-n * lat_iso) * cos(n * (lambda - lambdac));
}
/// ////////////////////////////////////////////////////////////////////
// ALGO0004
void Geodesie::Proj2GeoLambert(double X, double Y, double n, double c, double e,
                               double lambdac, double xs, double ys,
                               double epsilon, double &lambda, double &phi) {
  double X_xs = X - xs;
  double ys_Y = ys - Y;
  double R = sqrt(X_xs * X_xs + ys_Y * ys_Y);
  double gamma = atan(X_xs / ys_Y);
  lambda = lambdac + gamma / n;
  double lat_iso = -1 / n * log(fabs(R / c));
  phi = LatitueIsometrique2Lat(lat_iso, e, epsilon);
}
/// ////////////////////////////////////////////////////////////////////
double Geodesie::ConvMerApp(double longitude) {
  double phi0_Lambert93 = Deg2Rad(46.5);
  double lambda0_Lambert93 = Deg2Rad(3.0);
  double conv = -sin(phi0_Lambert93) * (longitude - lambda0_Lambert93);
  return conv;
}

////////////////////////////////////////////////////////////////////
void Geodesie::Geographique_2_Lambert93(const Raf98 &raf98, double lambda,
                                        double phi, double he, Matrice in,
                                        double &E, double &N, double &h,
                                        Matrice &out) {
  Matrice passage;
  double conv = Geodesie::ConvMerApp(lambda);
  double c_ = cos(conv);
  double s_ = sin(conv);

  passage.c0_l0 = c_;
  passage.c0_l1 = s_;
  passage.c0_l2 = 0.0;

  passage.c1_l0 = -s_;
  passage.c1_l1 = c_;
  passage.c1_l2 = 0.0;

  passage.c2_l0 = 0.0;
  passage.c2_l1 = 0.0;
  passage.c2_l2 = 1.0;

  out = ProdMat(passage, in);
  double diff_h;
  raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h);
  h = he - diff_h;

  Geodesie::Geo2ProjLambert(lambda, phi, n_Lambert93, c_Lambert93, e_Lambert93,
                            lambda0_Lambert93, xs_Lambert93, ys_Lambert93, E,
                            N);
}
////////////////////////////////////////////////////////////////////////
void Geodesie::Geographique_2_Lambert93(const Raf98 &raf98, double lambda,
                                        double phi, double he, double &E,
                                        double &N, double &h) {
  Geodesie::Geo2ProjLambert(lambda, phi, n_Lambert93, c_Lambert93, e_Lambert93,
                            lambda0_Lambert93, xs_Lambert93, ys_Lambert93, E,
                            N);

  double diff_h;
  raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h);
  h = he - diff_h;
}
/**
    Converts Lambert93 coordinates (East, North, Height) into geographical
   coordinates in radians (Longitude = Rad2Deg(lambda), Latitude = Rad2Deg(phi),
   Height)
*/
void Geodesie::Lambert93_2_Geographique(const Raf98 &raf98, double E, double N,
                                        double h, double &lambda, double &phi,
                                        double &he) {
  Geodesie::Proj2GeoLambert(E, N, n_Lambert93, c_Lambert93, e_Lambert93,
                            lambda0_Lambert93, xs_Lambert93, ys_Lambert93,
                            0.0000000000000001, lambda, phi);

  double diff_h;
  raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h);
  he = h + diff_h;
}
////////////////////////////////////////////////////////////////////////
void Geodesie::Lambert93_2_Geographique(const Raf98 &raf98, double E, double N,
                                        double h, Matrice in, double &lambda,
                                        double &phi, double &he, Matrice &out) {
  Geodesie::Proj2GeoLambert(E, N, n_Lambert93, c_Lambert93, e_Lambert93,
                            lambda0_Lambert93, xs_Lambert93, ys_Lambert93,
                            0.0000000000000001, lambda, phi);

  Matrice passage;
  double conv = Geodesie::ConvMerApp(lambda);
  double c_ = cos(conv);
  double s_ = sin(conv);

  passage.c0_l0 = c_;
  passage.c0_l1 = -s_;
  passage.c0_l2 = 0.0;

  passage.c1_l0 = s_;
  passage.c1_l1 = c_;
  passage.c1_l2 = 0.0;

  passage.c2_l0 = 0.0;
  passage.c2_l1 = 0.0;
  passage.c2_l2 = 1.0;

  out = ProdMat(passage, in);

  double diff_h;
  raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h);
  he = h + diff_h;
}

////////////////////////////////////////////////////////////////////////
void Geodesie::Geographique_2_ECEF(double longitude, double latitude, double he,
                                   double &x, double &y, double &z) {
  const double n = GRS_a / sqrt(1.0 - pow(GRS_e, 2) * pow(sin(latitude), 2));
  x = (n + he) * cos(latitude) * cos(longitude);
  y = (n + he) * cos(latitude) * sin(longitude);
  z = (n * (1.0 - pow(GRS_e, 2)) + he) * sin(latitude);
}

////////////////////////////////////////////////////////////////////////
void Geodesie::ECEF_2_ENU(double x, double y, double z, double &e, double &n,
                          double &u, double lon0, double lat0, double he0) {
  double slat = std::sin(lat0);
  double clat = std::cos(lat0);
  double slon = std::sin(lon0);
  double clon = std::cos(lon0);

  Geodesie::Matrice C;
  C.c0_l0 = -slon;
  C.c1_l0 = clon;

  C.c0_l1 = -clon * slat;
  C.c1_l1 = -slon * slat;
  C.c2_l1 = clat;

  C.c0_l2 = clon * clat;
  C.c1_l2 = slon * clat;
  C.c2_l2 = slat;

  double x0, y0, z0;
  Geographique_2_ECEF(lon0, lat0, he0, x0, y0, z0);

  x -= x0;
  y -= y0;
  z -= z0;

  C.Apply(x, y, z, e, n, u);
}