source: flair-src/trunk/lib/FlairSensorActuator/src/geodesie.cpp@ 10

Last change on this file since 10 was 3, checked in by Sanahuja Guillaume, 8 years ago

sensoractuator
File size: 11.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5#include <fstream>
6
7#include "geodesie.h"
8
9#ifdef _MSC_VER
10# pragma warning(disable:4244)
11#endif //_MSC_VER
12
13namespace Geodesie {
14/// ////////////////////////////////////////////////////////////////////
15Matrice::Matrice(const Matrice & A) {
16 c0_l0=A.c0_l0;c1_l0=A.c1_l0;c2_l0=A.c2_l0;
17 c0_l1=A.c0_l1;c1_l1=A.c1_l1;c2_l1=A.c2_l1;
18 c0_l2=A.c0_l2;c1_l2=A.c1_l2;c2_l2=A.c2_l2;
19}
20/// ////////////////////////////////////////////////////////////////////
21Matrice::Matrice() {
22 c0_l0=0.0;c1_l0=0.0;c2_l0=0.0;
23 c0_l1=0.0;c1_l1=0.0;c2_l1=0.0;
24 c0_l2=0.0;c1_l2=0.0;c2_l2=0.0;
25}
26/// ////////////////////////////////////////////////////////////////////
27void Matrice::Apply(double v0,double v1,double v2, double& Mv0,double& Mv1,double& Mv2) {
28 Mv0 = c0_l0*v0 + c1_l0*v1 + c2_l0*v2;
29 Mv1 = c0_l1*v0 + c1_l1*v1 + c2_l1*v2;
30 Mv2 = c0_l2*v0 + c1_l2*v1 + c2_l2*v2;
31}
32/// ////////////////////////////////////////////////////////////////////
33Matrice ProdMat(const Matrice A, const Matrice B) {
34 Matrice out;
35
36 out.c0_l0=A.c0_l0 * B.c0_l0 + A.c1_l0 * B.c0_l1 + A.c2_l0 * B.c0_l2;
37 out.c1_l0=A.c0_l0 * B.c1_l0 + A.c1_l0 * B.c1_l1 + A.c2_l0 * B.c1_l2;
38 out.c2_l0=A.c0_l0 * B.c2_l0 + A.c1_l0 * B.c2_l1 + A.c2_l0 * B.c2_l2;
39
40 out.c0_l1=A.c0_l1 * B.c0_l0 + A.c1_l1 * B.c0_l1 + A.c2_l1 * B.c0_l2;
41 out.c1_l1=A.c0_l1 * B.c1_l0 + A.c1_l1 * B.c1_l1 + A.c2_l1 * B.c1_l2;
42 out.c2_l1=A.c0_l1 * B.c2_l0 + A.c1_l1 * B.c2_l1 + A.c2_l1 * B.c2_l2;
43
44 out.c0_l2=A.c0_l2 * B.c0_l0 + A.c1_l2 * B.c0_l1 + A.c2_l2 * B.c0_l2;
45 out.c1_l2=A.c0_l2 * B.c1_l0 + A.c1_l2 * B.c1_l1 + A.c2_l2 * B.c1_l2;
46 out.c2_l2=A.c0_l2 * B.c2_l0 + A.c1_l2 * B.c2_l1 + A.c2_l2 * B.c2_l2;
47 return out;
48}
49
50/// ////////////////////////////////////////////////////////////////////
51Matrice TransMat(const Matrice A) {
52 Matrice out;
53 out.c0_l0=A.c0_l0 ; out.c1_l0 = A.c0_l1 ; out.c2_l0 = A.c0_l2 ;
54 out.c0_l1=A.c1_l0 ; out.c1_l1 = A.c1_l1 ; out.c2_l1 = A.c1_l2 ;
55 out.c0_l2=A.c2_l0 ; out.c1_l2 = A.c2_l1 ; out.c2_l2 = A.c2_l2 ;
56 return out;
57}
58
59/// ////////////////////////////////////////////////////////////////////
60void Write(const Matrice A,std::ostream& out) {
61 out<< A.c0_l0<<"\t"<< A.c1_l0<<"\t"<< A.c2_l0<<"\n";
62 out<< A.c0_l1<<"\t"<< A.c1_l1<<"\t"<< A.c2_l1<<"\n";
63 out<< A.c0_l2<<"\t"<< A.c1_l2<<"\t"<< A.c2_l2<<"\n";
64}
65
66/// ////////////////////////////////////////////////////////////////////
67Raf98::~Raf98() {
68 m_dvalues.clear();
69}
70
71//-----------------------------------------------------------------------------
72bool Raf98::Interpol(double longitude, double latitude, double* Hwgs84) const {
73 *Hwgs84 = 0.0;
74 if (m_dvalues.size()==0)
75 return false;
76 const double longitude_min = -5.5;
77 const double longitude_max = 8.5;
78 if (longitude < longitude_min)
79 return false;
80 if (longitude > longitude_max)
81 return false;
82
83 const double latitude_min = 42;
84 const double latitude_max = 51.5;
85 if (latitude < latitude_min)
86 return false;
87 if (latitude > latitude_max)
88 return false;
89
90 //conversion en position
91 double longPix = (longitude - longitude_min) * 30.;
92 double latPix = (latitude_max - latitude) * 40.;
93
94 double RestCol,RestLig;
95 double ColIni,LigIni;
96 RestCol = modf(longPix,&ColIni);
97 RestLig = modf(latPix,&LigIni);
98
99
100 double Zbd = (1.0-RestCol) * (1.0-RestLig) * LitGrille(ColIni , LigIni );
101 Zbd += RestCol * (1.0-RestLig) * LitGrille(ColIni+1, LigIni );
102 Zbd += (1.0-RestCol) * RestLig * LitGrille(ColIni , LigIni+1);
103 Zbd += RestCol * RestLig * LitGrille(ColIni+1, LigIni+1);
104 *Hwgs84 = Zbd;
105
106
107 return true;
108}
109/// ////////////////////////////////////////////////////////////////////
110double Raf98::LitGrille(unsigned int c,unsigned int l) const{
111 const unsigned int w=421;
112 // const unsigned int h=381;
113 return m_dvalues.at(c+l*w);
114}
115/// ////////////////////////////////////////////////////////////////////
116bool Raf98::Load(const std::string & sin) {
117 std::ifstream in(sin.c_str());
118 unsigned int w = 421;
119 unsigned int h = 381;
120
121 m_dvalues.reserve(w*h);
122
123 char entete[1024];//sur 3 lignes
124 in.getline(entete,1023);
125 in.getline(entete,1023);
126 in.getline(entete,1023);
127
128 char bidon[1024];
129 double val;
130 for (unsigned int i=0; i< h; ++i) {
131 for (unsigned int j=0; j< 52; ++j) {
132 for (unsigned int k=0; k< 8; ++k) {
133 in >> val;
134 m_dvalues.push_back( val );
135 }
136 in.getline(bidon,1023);
137 }
138 for (unsigned int k=0; k< 5; ++k) {
139 in >> val;
140 m_dvalues.push_back( val );
141 }
142 in.getline(bidon,1023);
143 if (!in.good()) {
144 m_dvalues.clear();
145 return false;
146 }
147 }
148 return in.good();
149}
150
151} // namespace Geodesie
152
153/// ////////////////////////////////////////////////////////////////////
154/// ////////////////////////////////////////////////////////////////////
155
156/// ////////////////////////////////////////////////////////////////////
157//ALGO0001
158double Geodesie::LatitueIsometrique(double latitude,double e) {
159 double li;
160 li = log(tan(M_PI_4 + latitude/2.)) + e*log( (1-e*sin(latitude))/(1+e*sin(latitude)) )/2;
161 return li;
162}
163
164/// ////////////////////////////////////////////////////////////////////
165//ALGO0002
166double Geodesie::LatitueIsometrique2Lat(double latitude_iso,double e,double epsilon) {
167 double latitude_i=2*atan(exp(latitude_iso)) - M_PI_2;
168 double latitude_ip1=latitude_i+epsilon*2;
169 while (fabs(latitude_i-latitude_ip1)>epsilon) {
170 latitude_i=latitude_ip1;
171 latitude_ip1=2*atan(
172 exp(e*0.5*
173 log(
174 (1+e*sin(latitude_i))/(1-e*sin(latitude_i))
175 )
176 )
177 *exp(latitude_iso)
178 ) - M_PI_2;
179 }
180 return latitude_ip1;
181}
182/// ////////////////////////////////////////////////////////////////////
183void Geodesie::Geo2ProjLambert(
184 double lambda,double phi,
185 double n, double c,double e,
186 double lambdac,double xs,double ys,
187 double& X,double& Y)
188{
189 double lat_iso=LatitueIsometrique(phi,e);
190 X=xs+c*exp(-n*lat_iso)*sin(n*(lambda-lambdac));
191 Y=ys-c*exp(-n*lat_iso)*cos(n*(lambda-lambdac));
192}
193/// ////////////////////////////////////////////////////////////////////
194//ALGO0004
195void Geodesie::Proj2GeoLambert(
196 double X,double Y,
197 double n, double c,double e,
198 double lambdac,double xs,double ys,
199 double epsilon,
200 double& lambda,double& phi)
201{
202 double X_xs=X-xs;
203 double ys_Y=ys-Y;
204 double R=sqrt(X_xs*X_xs+ys_Y*ys_Y);
205 double gamma=atan(X_xs/ys_Y);
206 lambda=lambdac+gamma/n;
207 double lat_iso=-1/n*log(fabs(R/c));
208 phi=LatitueIsometrique2Lat(lat_iso,e,epsilon);
209}
210/// ////////////////////////////////////////////////////////////////////
211double Geodesie::ConvMerApp(double longitude) {
212 double phi0_Lambert93 = Deg2Rad(46.5);
213 double lambda0_Lambert93 = Deg2Rad(3.0);
214 double conv=-sin(phi0_Lambert93)*(longitude-lambda0_Lambert93);
215 return conv;
216}
217
218////////////////////////////////////////////////////////////////////
219void Geodesie::Geographique_2_Lambert93(const Raf98& raf98,double lambda,double phi,double he,Matrice in,double& E,double& N,double& h,Matrice& out) {
220 Matrice passage;
221 double conv=Geodesie::ConvMerApp(lambda);
222 double c_=cos(conv);
223 double s_=sin(conv);
224
225 passage.c0_l0 = c_;
226 passage.c0_l1 = s_;
227 passage.c0_l2 = 0.0;
228
229 passage.c1_l0 = -s_;
230 passage.c1_l1 = c_;
231 passage.c1_l2 = 0.0;
232
233 passage.c2_l0 = 0.0;
234 passage.c2_l1 = 0.0;
235 passage.c2_l2 = 1.0;
236
237 out=ProdMat(passage,in);
238 double diff_h;
239 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h);
240 h=he-diff_h;
241
242 Geodesie::Geo2ProjLambert(
243 lambda,phi,
244 n_Lambert93,c_Lambert93,e_Lambert93,
245 lambda0_Lambert93,xs_Lambert93,ys_Lambert93,
246 E,N);
247}
248////////////////////////////////////////////////////////////////////////
249void Geodesie::Geographique_2_Lambert93(const Raf98& raf98,double lambda,double phi,double he,double& E,double& N,double& h) {
250 Geodesie::Geo2ProjLambert(
251 lambda,phi,
252 n_Lambert93,c_Lambert93,e_Lambert93,
253 lambda0_Lambert93,xs_Lambert93,ys_Lambert93,
254 E,N);
255
256 double diff_h;
257 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h);
258 h=he-diff_h;
259}
260/**
261 Converts Lambert93 coordinates (East, North, Height) into geographical coordinates in radians (Longitude = Rad2Deg(lambda), Latitude = Rad2Deg(phi), Height)
262*/
263void Geodesie::Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,double& lambda,double& phi,double& he) {
264 Geodesie::Proj2GeoLambert(
265 E,N,
266 n_Lambert93,c_Lambert93,e_Lambert93,
267 lambda0_Lambert93,xs_Lambert93,ys_Lambert93,
268 0.0000000000000001,
269 lambda,phi);
270
271 double diff_h;
272 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h);
273 he=h+diff_h;
274}
275////////////////////////////////////////////////////////////////////////
276void Geodesie::Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,Matrice in,double& lambda,double& phi,double& he,Matrice& out) {
277 Geodesie::Proj2GeoLambert(
278 E,N,
279 n_Lambert93,c_Lambert93,e_Lambert93,
280 lambda0_Lambert93,xs_Lambert93,ys_Lambert93,
281 0.0000000000000001,
282 lambda,phi);
283
284 Matrice passage;
285 double conv=Geodesie::ConvMerApp(lambda);
286 double c_=cos(conv);
287 double s_=sin(conv);
288
289 passage.c0_l0 = c_;
290 passage.c0_l1 = -s_;
291 passage.c0_l2 = 0.0;
292
293 passage.c1_l0 = s_;
294 passage.c1_l1 = c_;
295 passage.c1_l2 = 0.0;
296
297 passage.c2_l0 = 0.0;
298 passage.c2_l1 = 0.0;
299 passage.c2_l2 = 1.0;
300
301 out=ProdMat(passage,in);
302
303 double diff_h;
304 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h);
305 he=h+diff_h;
306}
307
308////////////////////////////////////////////////////////////////////////
309void Geodesie::Geographique_2_ECEF(double longitude,double latitude,double he,double& x,double& y,double& z) {
310 const double n = GRS_a / sqrt(1.0 - pow(GRS_e,2) * pow(sin(latitude),2));
311 x = (n + he) * cos(latitude) * cos(longitude);
312 y = (n + he) * cos(latitude) * sin(longitude);
313 z = (n * (1.0 - pow(GRS_e,2)) + he) * sin(latitude);
314}
315
316////////////////////////////////////////////////////////////////////////
317void Geodesie::ECEF_2_ENU(double x,double y,double z,double& e,double& n,double& u,double lon0,double lat0,double he0) {
318 double slat = std::sin(lat0);
319 double clat = std::cos(lat0);
320 double slon = std::sin(lon0);
321 double clon = std::cos(lon0);
322
323 Geodesie::Matrice C;
324 C.c0_l0 = -slon;
325 C.c1_l0 = clon;
326
327 C.c0_l1 = -clon * slat;
328 C.c1_l1 = -slon * slat;
329 C.c2_l1 = clat;
330
331 C.c0_l2 = clon * clat;
332 C.c1_l2 = slon * clat;
333 C.c2_l2 = slat;
334
335 double x0, y0, z0;
336 Geographique_2_ECEF(lon0,lat0,he0, x0,y0,z0);
337
338 x -= x0;
339 y -= y0;
340 z -= z0;
341
342 C.Apply(x,y,z, e,n,u);
343}
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