[89] | 1 | // %pacpus:license{
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| 2 | // This file is part of the PACPUS framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %}
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| 5 | /// @file
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[208] | 6 | /// @author Marek Kurdej <firstname.surname@utc.fr>
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[162] | 7 | /// @author Jean Laneurit <firstname.surname@utc.fr>
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| 8 | /// @date April, 2010
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[89] | 9 | /// @version $Id: geodesie.h 75 2013-01-10 17:04:19Z kurdejma $
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| 10 | /// @copyright Copyright (c) UTC/CNRS Heudiasyc 2006 - 2013. All rights reserved.
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| 11 | /// @brief Brief description.
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| 12 | ///
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| 13 | /// Detailed description.
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| 14 |
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| 15 | #ifndef GEODESIE_H
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| 16 | #define GEODESIE_H
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| 17 |
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[198] | 18 | #include "PacpusToolsConfig.h"
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| 19 |
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[210] | 20 | #include <Pacpus/kernel/pacpus.h>
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| 21 |
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[208] | 22 | #include <boost/math/constants/constants.hpp>
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[89] | 23 | #include <cmath>
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| 24 | #include <iostream>
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| 25 | #include <vector>
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| 26 |
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[99] | 27 | #include <QMatrix4x4>
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| 28 | #include <QVector3D>
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| 29 |
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[209] | 30 | namespace Geodesy
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[208] | 31 | {
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[89] | 32 |
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| 33 | /// 9x9 matrix ???
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| 34 | ///
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| 35 | /// @todo Documentation
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| 36 | /// @todo Rewrite!
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[162] | 37 | struct PACPUSTOOLS_API Matrice
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[89] | 38 | {
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| 39 | /// Copy ctor
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[210] | 40 | Matrice(Matrice const& A);
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[89] | 41 | /// Ctor
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| 42 | Matrice();
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| 43 | /// @todo Documentation
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[210] | 44 | void Apply(double v0, double v1, double v2, double& Mv0, double& Mv1, double& Mv2);
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[89] | 45 |
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| 46 | /// @todo Documentation
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| 47 | double c0_l0;
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| 48 | /// @todo Documentation
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| 49 | double c1_l0;
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| 50 | /// @todo Documentation
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| 51 | double c2_l0;
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| 52 |
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| 53 | /// @todo Documentation
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| 54 | double c0_l1;
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| 55 | /// @todo Documentation
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| 56 | double c1_l1;
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| 57 | /// @todo Documentation
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| 58 | double c2_l1;
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| 59 |
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| 60 | /// @todo Documentation
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| 61 | double c0_l2;
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| 62 | /// @todo Documentation
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| 63 | double c1_l2;
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| 64 | /// @todo Documentation
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| 65 | double c2_l2;
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| 66 | };
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| 67 |
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[210] | 68 | PACPUSTOOLS_API Matrice TransMat(Matrice const& A);
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| 69 | PACPUSTOOLS_API Matrice ProdMat(Matrice const& A, Matrice const& B);
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| 70 | PACPUSTOOLS_API PACPUS_DEPRECATED_MSG(void Write(Matrice const& A, std::ostream& out), "use operator<<");
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| 71 | PACPUSTOOLS_API std::ostream& operator<<(std::ostream& os, Matrice const& A);
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[89] | 72 |
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| 73 | ////////////////////////////////////////////////////////////////////////
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| 74 | /// @todo Documentation
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[162] | 75 | class PACPUSTOOLS_API Raf98
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[89] | 76 | {
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| 77 | public:
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| 78 | /// Ctor of Raf98 class.
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[210] | 79 | Raf98();
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| 80 |
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[89] | 81 | /// Dtor of Raf98 class.
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| 82 | ~Raf98();
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[210] | 83 |
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[89] | 84 | /// @todo Documentation
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| 85 | /// @param s filepath
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[210] | 86 | bool Load(const std::string& s);
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| 87 |
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[89] | 88 | /// @todo Documentation
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| 89 | /// @param longitude [degrees]
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| 90 | /// @param latitude [degrees]
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| 91 | /// @param Hwgs84 Output: interpolated altitude using WGS84 geoid model [meters]
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[210] | 92 | bool Interpol(double longitude /*deg*/, double latitude /*deg*/, double* Hwgs84) const;
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| 93 |
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[89] | 94 | private:
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| 95 | std::vector<double> m_dvalues;
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[210] | 96 | double LitGrille(unsigned int c, unsigned int l) const;
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[89] | 97 | };
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| 98 |
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| 99 | ////////////////////////////////////////////////////////////////////////
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| 100 |
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| 101 | ////////////////////////////////////////////////////////////////////////
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[149] | 102 | inline double Deg2Rad(double deg)
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| 103 | {
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[208] | 104 | using namespace ::boost::math::constants;
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| 105 | return deg * pi<double>() / 180.0;
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[149] | 106 | }
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| 107 |
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| 108 | inline double Rad2Deg(double rad)
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| 109 | {
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[208] | 110 | using namespace ::boost::math::constants;
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| 111 | return rad * 180.0 / pi<double>();
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[149] | 112 | }
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| 113 |
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[89] | 114 | ////////////////////////////////////////////////////////////////////////
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| 115 |
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[210] | 116 | const double a_Lambert93 = 6378137;
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| 117 | const double f_Lambert93 = 1 / 298.257222101;
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| 118 | const double e_Lambert93 = sqrt(f_Lambert93 * (2 - f_Lambert93));
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| 119 | const double lambda0_Lambert93 = Deg2Rad(3.0); //degres
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| 120 | const double phi0_Lambert93 = Deg2Rad(46.5);
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| 121 | const double phi1_Lambert93 = Deg2Rad(44.0);
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| 122 | const double phi2_Lambert93 = Deg2Rad(49.0); //degres
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| 123 | const double X0_Lambert93 = 700000; //
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| 124 | const double Y0_Lambert93 = 6600000; //
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[89] | 125 | const double n_Lambert93 = 0.7256077650;
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| 126 | const double c_Lambert93 = 11754255.426;
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| 127 | const double xs_Lambert93 = 700000;
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| 128 | const double ys_Lambert93 = 12655612.050;
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| 129 |
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| 130 | const double GRS_a = 6378137;
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[210] | 131 | const double GRS_f = 1 / 298.257222101;
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| 132 | const double GRS_b = GRS_a * (1 - GRS_f);
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| 133 | const double GRS_e = sqrt((pow(GRS_a, 2) - pow(GRS_b, 2)) / pow(GRS_a, 2));
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[89] | 134 |
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| 135 | ////////////////////////////////////////////////////////////////////////
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[210] | 136 | PACPUSTOOLS_API void Geographique_2_Lambert93(const Raf98& raf98, double lambda, double phi, double he, Matrice in, double& E, double& N, double& h, Matrice& out);
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| 137 | PACPUSTOOLS_API void Geographique_2_Lambert93(const Raf98& raf98, double lambda, double phi, double he, double& E, double& N, double& h);
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| 138 | PACPUSTOOLS_API void Lambert93_2_Geographique(const Raf98& raf98, double E, double N, double h, double& lambda, double& phi, double& he);
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| 139 | PACPUSTOOLS_API void Lambert93_2_Geographique(const Raf98& raf98, double E, double N, double h, Matrice in, double& lambda, double& phi, double& he, Matrice& out);
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[89] | 140 | /** Convert from geographique to ECEF.
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| 141 | * @param[in] longitude Longitude in radian.
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| 142 | * @param[in] latitude Latitude in radian.
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| 143 | * @param[in] he Height in meter.
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| 144 | */
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[162] | 145 | PACPUSTOOLS_API void Geographique_2_ECEF(double longitude, double latitude, double he, double& x, double& y, double& z);
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[89] | 146 | /** Convert from ECEF two ENU.
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| 147 | * @param[in] lon0 Longitude of the origin in radian.
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| 148 | * @param[in] lat0 Latitude of the origin in radian.
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| 149 | * @param[in] he0 Height of the origin in radian.
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| 150 | */
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[210] | 151 | PACPUSTOOLS_API void ECEF_2_ENU(double x, double y, double z, double& e, double& n, double& u, double lon0, double lat0, double he0);
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[89] | 152 | ////////////////////////////////////////////////////////////////////////
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| 153 |
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| 154 | ///ALGO0001
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| 155 | /// @todo Rename
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[210] | 156 | PACPUSTOOLS_API double LatitueIsometrique(double latitude, double e);
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[89] | 157 | ///ALGO0002
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| 158 | /// @todo Rename
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[210] | 159 | PACPUSTOOLS_API double LatitueIsometrique2Lat(double latitude_iso, double e, double epsilon);
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[89] | 160 |
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| 161 | ///ALGO0003
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[162] | 162 | PACPUSTOOLS_API void Geo2ProjLambert(
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[210] | 163 | double lambda, double phi,
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| 164 | double n, double c, double e,
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| 165 | double lambdac, double xs, double ys,
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| 166 | double& X, double& Y);
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[89] | 167 | ///ALGO0004
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[162] | 168 | PACPUSTOOLS_API void Proj2GeoLambert(
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[210] | 169 | double X, double Y,
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| 170 | double n, double c, double e,
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| 171 | double lambdac, double xs, double ys,
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[89] | 172 | double epsilon,
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[210] | 173 | double& lambda, double& phi);
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[89] | 174 |
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[162] | 175 | PACPUSTOOLS_API double ConvMerApp(double longitude);
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[89] | 176 |
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| 177 | /**
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| 178 | Converts Cartesian (x, y) coordinates to polar coordinates (r, theta)
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| 179 | */
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| 180 | template <typename _T1, typename _T2>
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[210] | 181 | void cartesianToPolar(const _T1 x, const _T1 y, _T2& r, _T2& theta)
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| 182 | {
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| 183 | r = std::sqrt(x * x + y * y);
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[89] | 184 | theta = std::atan2(x, y);
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| 185 | }
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| 186 |
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| 187 | /**
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| 188 | Converts polar coordinates (r, theta) to Cartesian (x, y) coordinates
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| 189 | */
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| 190 | template <typename _T1, typename _T2>
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[210] | 191 | void polarToCartesian(const _T1 r, const _T1 theta, _T2& x, _T2& y)
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| 192 | {
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[89] | 193 | x = r * std::cos(theta);
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| 194 | y = r * std::sin(theta);
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| 195 | }
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| 196 |
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| 197 | /**
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| 198 | Converts Cartesian (x, y, z) coordinates to spherical coordinates (r, theta, phi)
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| 199 | Angles expressed in radians.
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| 200 | */
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| 201 | template <typename _T1, typename _T2>
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[210] | 202 | void cartesianToSpherical(const _T1 x, const _T1 y, const _T1 z, _T2& r, _T2& theta, _T2& phi)
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| 203 | {
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| 204 | r = std::sqrt(x * x + y * y + z * z);
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[89] | 205 | theta = std::acos(z / r);
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| 206 | phi = std::atan2(y, x);
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| 207 | }
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| 208 |
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| 209 | /**
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| 210 | Converts spherical coordinates (r, theta, phi) to Cartesian (x, y, z) coordinates.
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| 211 | Angles expressed in radians.
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| 212 | */
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| 213 | template <typename _T1, typename _T2>
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[210] | 214 | void sphericalToCartesian(const _T1 r, const _T1 theta, const _T1 phi, _T2& x, _T2& y, _T2& z)
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| 215 | {
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[89] | 216 | x = r * std::sin(theta) * std::cos(phi);
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| 217 | y = r * std::sin(theta) * std::sin(phi);
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| 218 | z = r * std::cos(theta);
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| 219 | }
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| 220 |
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[162] | 221 | PACPUSTOOLS_API QMatrix4x4 yprenuToMatrix(QVector3D angle, QVector3D position);
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[99] | 222 |
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[209] | 223 | } // namespace Geodesy
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| 224 |
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| 225 | namespace Geodesie
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| 226 | {
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[210] | 227 | using namespace Geodesy;
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[89] | 228 | } // namespace Geodesie
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| 229 |
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| 230 | #endif // GEODESIE_H
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