[73] | 1 | // %pacpus:license{
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[75] | 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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| 6 | /// @author Firstname Surname <firstname.surname@utc.fr>
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| 7 | /// @date Month, Year
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| 8 | /// @version $Id: geodesie.h 75 2013-01-10 17:04:19Z kurdejma $
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| 9 | /// @copyright Copyright (c) UTC/CNRS Heudiasyc 2006 - 2013. All rights reserved.
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| 10 | /// @brief Brief description.
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| 11 | ///
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| 12 | /// Detailed description.
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| 13 |
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| 14 | #ifndef GEODESIE_H
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| 15 | #define GEODESIE_H
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| 16 |
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| 17 | #include <cmath>
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| 18 | #include <iostream>
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| 19 | #include <vector>
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| 20 |
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| 21 | namespace Geodesie {
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| 22 |
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| 23 | #ifndef M_PI
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| 24 | # define M_PI 3.14159265358979323846
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| 25 | #endif
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| 26 | #ifndef M_PI_2
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| 27 | # define M_PI_2 1.57079632679489661923
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| 28 | #endif
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| 29 | #ifndef M_PI_4
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| 30 | # define M_PI_4 0.78539816339744830962
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| 31 | #endif
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| 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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| 37 | struct Matrice
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| 38 | {
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| 39 | /// Copy ctor
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| 40 | Matrice(const Matrice & A);
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| 41 | /// Ctor
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| 42 | Matrice();
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| 43 | /// @todo Documentation
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| 44 | void Apply(double v0, double v1, double v2, double & Mv0, double & Mv1, double & Mv2);
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| 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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| 68 | Matrice TransMat(const Matrice A);
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| 69 |
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| 70 | Matrice ProdMat(const Matrice A,const Matrice B);
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| 71 | void Write(const Matrice A,std::ostream& out);
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| 72 |
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| 73 | ////////////////////////////////////////////////////////////////////////
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| 74 | /// @todo Documentation
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| 75 | class Raf98
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| 76 | {
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| 77 | public:
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| 78 | /// Ctor of Raf98 class.
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| 79 | Raf98() {}
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| 80 | /// Dtor of Raf98 class.
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| 81 | ~Raf98();
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| 82 |
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| 83 | /// @todo Documentation
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| 84 | /// @param s filepath
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| 85 | bool Load(const std::string & s);
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| 86 |
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| 87 | /// @todo Documentation
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| 88 | /// @param longitude [degrees]
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| 89 | /// @param latitude [degrees]
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| 90 | /// @param Hwgs84 Output: interpolated altitude using WGS84 geoid model [meters]
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| 91 | bool Interpol(double longitude/*deg*/, double latitude/*deg*/, double* Hwgs84) const;
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| 92 |
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| 93 | private:
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| 94 | std::vector<double> m_dvalues;
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| 95 | double LitGrille(unsigned int c,unsigned int l) const;
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| 96 | };
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| 97 |
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| 98 | ////////////////////////////////////////////////////////////////////////
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| 99 |
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| 100 | ////////////////////////////////////////////////////////////////////////
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| 101 | inline double Deg2Rad(double deg) {return deg*M_PI/180.0;}
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| 102 | inline double Rad2Deg(double rad) {return rad*180.0/M_PI;}
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| 103 | ////////////////////////////////////////////////////////////////////////
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| 104 |
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| 105 | const double a_Lambert93=6378137;
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| 106 | const double f_Lambert93=1 / 298.257222101;
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| 107 | const double e_Lambert93=sqrt(f_Lambert93*(2-f_Lambert93));
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| 108 | const double lambda0_Lambert93=Deg2Rad(3.0);//degres
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| 109 | const double phi0_Lambert93=Deg2Rad(46.5);
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| 110 | const double phi1_Lambert93=Deg2Rad(44.0);
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| 111 | const double phi2_Lambert93=Deg2Rad(49.0);//degres
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| 112 | const double X0_Lambert93=700000;//
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| 113 | const double Y0_Lambert93=6600000;//
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| 114 | const double n_Lambert93 = 0.7256077650;
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| 115 | const double c_Lambert93 = 11754255.426;
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| 116 | const double xs_Lambert93 = 700000;
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| 117 | const double ys_Lambert93 = 12655612.050;
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| 118 |
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| 119 | const double GRS_a = 6378137;
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| 120 | const double GRS_f = 1/298.257222101;
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| 121 | const double GRS_b = GRS_a*(1-GRS_f);
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| 122 | const double GRS_e = sqrt((pow(GRS_a,2) - pow(GRS_b,2)) / pow(GRS_a,2));
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| 123 |
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| 124 | ////////////////////////////////////////////////////////////////////////
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| 125 | 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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| 126 | void Geographique_2_Lambert93(const Raf98& raf98,double lambda,double phi,double he,double& E,double& N,double& h);
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| 127 | void Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,double& lambda,double& phi,double& he);
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| 128 | 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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| 129 | /** Convert from geographique to ECEF.
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| 130 | * @param[in] longitude Longitude in radian.
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| 131 | * @param[in] latitude Latitude in radian.
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| 132 | * @param[in] he Height in meter.
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| 133 | */
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| 134 | void Geographique_2_ECEF(double longitude, double latitude, double he, double& x, double& y, double& z);
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| 135 | /** Convert from ECEF two ENU.
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| 136 | * @param[in] lon0 Longitude of the origin in radian.
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| 137 | * @param[in] lat0 Latitude of the origin in radian.
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| 138 | * @param[in] he0 Height of the origin in radian.
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| 139 | */
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| 140 | 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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| 141 | ////////////////////////////////////////////////////////////////////////
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| 142 |
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| 143 | ///ALGO0001
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| 144 | /// @todo Rename
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| 145 | double LatitueIsometrique(double latitude,double e);
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| 146 | ///ALGO0002
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| 147 | /// @todo Rename
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| 148 | double LatitueIsometrique2Lat(double latitude_iso,double e,double epsilon);
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| 149 |
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| 150 | ///ALGO0003
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| 151 | void Geo2ProjLambert(
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| 152 | double lambda,double phi,
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| 153 | double n, double c,double e,
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| 154 | double lambdac,double xs,double ys,
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| 155 | double& X,double& Y);
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| 156 | ///ALGO0004
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| 157 | void Proj2GeoLambert(
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| 158 | double X,double Y,
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| 159 | double n, double c,double e,
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| 160 | double lambdac,double xs,double ys,
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| 161 | double epsilon,
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| 162 | double& lambda,double& phi);
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| 163 |
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| 164 | double ConvMerApp(double longitude);
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| 165 |
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| 166 | /**
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| 167 | Converts Cartesian (x, y) coordinates to polar coordinates (r, theta)
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| 168 | */
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| 169 | template <typename _T1, typename _T2>
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| 170 | void cartesianToPolar(const _T1 x, const _T1 y, _T2 & r, _T2 & theta) {
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| 171 | r = std::sqrt(x*x + y*y);
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| 172 | theta = std::atan2(x, y);
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| 173 | }
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| 174 |
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| 175 | /**
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| 176 | Converts polar coordinates (r, theta) to Cartesian (x, y) coordinates
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| 177 | */
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| 178 | template <typename _T1, typename _T2>
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| 179 | void polarToCartesian(const _T1 r, const _T1 theta, _T2 & x, _T2 & y) {
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| 180 | x = r * std::cos(theta);
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| 181 | y = r * std::sin(theta);
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| 182 | }
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| 183 |
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| 184 | /**
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| 185 | Converts Cartesian (x, y, z) coordinates to spherical coordinates (r, theta, phi)
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| 186 | Angles expressed in radians.
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| 187 | */
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| 188 | template <typename _T1, typename _T2>
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| 189 | void cartesianToSpherical(const _T1 x, const _T1 y, const _T1 z, _T2 & r, _T2 & theta, _T2 & phi) {
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| 190 | r = std::sqrt(x*x + y*y + z*z);
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| 191 | theta = std::acos(z / r);
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| 192 | phi = std::atan2(y, x);
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| 193 | }
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| 194 |
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| 195 | /**
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| 196 | Converts spherical coordinates (r, theta, phi) to Cartesian (x, y, z) coordinates.
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| 197 | Angles expressed in radians.
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| 198 | */
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| 199 | template <typename _T1, typename _T2>
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| 200 | void sphericalToCartesian(const _T1 r, const _T1 theta, const _T1 phi, _T2 & x, _T2 & y, _T2 & z) {
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| 201 | x = r * std::sin(theta) * std::cos(phi);
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| 202 | y = r * std::sin(theta) * std::sin(phi);
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| 203 | z = r * std::cos(theta);
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| 204 | }
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| 205 |
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| 206 | } // namespace Geodesie
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| 207 |
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| 208 | #endif // GEODESIE_H
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