Changeset 75 in pacpusframework
- Timestamp:
- Jan 10, 2013, 6:04:19 PM (12 years ago)
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trunk/include/Pacpus/PacpusTools/geodesie.h
r73 r75 1 1 // %pacpus:license{ 2 // This file is part of the PACPUS framework distributed under the 3 // CECILL-C License, Version 1.0. 4 // %} 5 /// @file 6 /// @author Firstname Surname <firstname.surname@utc.fr> 7 /// @date Month, Year 8 /// @version $Id$ 9 /// @copyright Copyright (c) UTC/CNRS Heudiasyc 2006 - 2013. All rights reserved. 10 /// @brief Brief description. 11 /// 12 /// Detailed description. 13 14 #ifndef GEODESIE_H 15 #define GEODESIE_H 16 17 #include <cmath> 18 #include <iostream> 19 #include <vector> 20 21 namespace Geodesie { 22 23 #ifndef M_PI 24 # define M_PI 3.14159265358979323846 25 #endif 26 #ifndef M_PI_2 27 # define M_PI_2 1.57079632679489661923 28 #endif 29 #ifndef M_PI_4 30 # define M_PI_4 0.78539816339744830962 31 #endif 32 33 /// 9x9 matrix ??? 34 /// 35 /// @todo Documentation 36 /// @todo Rewrite! 37 struct Matrice 38 { 39 /// Copy ctor 40 Matrice(const Matrice & A); 41 /// Ctor 42 Matrice(); 43 /// @todo Documentation 44 void Apply(double v0, double v1, double v2, double & Mv0, double & Mv1, double & Mv2); 45 46 /// @todo Documentation 47 double c0_l0; 48 /// @todo Documentation 49 double c1_l0; 50 /// @todo Documentation 51 double c2_l0; 52 53 /// @todo Documentation 54 double c0_l1; 55 /// @todo Documentation 56 double c1_l1; 57 /// @todo Documentation 58 double c2_l1; 59 60 /// @todo Documentation 61 double c0_l2; 62 /// @todo Documentation 63 double c1_l2; 64 /// @todo Documentation 65 double c2_l2; 66 }; 67 68 Matrice TransMat(const Matrice A); 69 70 Matrice ProdMat(const Matrice A,const Matrice B); 71 void Write(const Matrice A,std::ostream& out); 72 73 //////////////////////////////////////////////////////////////////////// 74 /// @todo Documentation 75 class Raf98 76 { 77 public: 78 /// Ctor of Raf98 class. 79 Raf98() {} 80 /// Dtor of Raf98 class. 81 ~Raf98(); 82 83 /// @todo Documentation 84 /// @param s filepath 85 bool Load(const std::string & s); 86 87 /// @todo Documentation 88 /// @param longitude [degrees] 89 /// @param latitude [degrees] 90 /// @param Hwgs84 Output: interpolated altitude using WGS84 geoid model [meters] 91 bool Interpol(double longitude/*deg*/, double latitude/*deg*/, double* Hwgs84) const; 92 93 private: 94 std::vector<double> m_dvalues; 95 double LitGrille(unsigned int c,unsigned int l) const; 96 }; 97 98 //////////////////////////////////////////////////////////////////////// 99 100 //////////////////////////////////////////////////////////////////////// 101 inline double Deg2Rad(double deg) {return deg*M_PI/180.0;} 102 inline double Rad2Deg(double rad) {return rad*180.0/M_PI;} 103 //////////////////////////////////////////////////////////////////////// 104 105 const double a_Lambert93=6378137; 106 const double f_Lambert93=1 / 298.257222101; 107 const double e_Lambert93=sqrt(f_Lambert93*(2-f_Lambert93)); 108 const double lambda0_Lambert93=Deg2Rad(3.0);//degres 109 const double phi0_Lambert93=Deg2Rad(46.5); 110 const double phi1_Lambert93=Deg2Rad(44.0); 111 const double phi2_Lambert93=Deg2Rad(49.0);//degres 112 const double X0_Lambert93=700000;// 113 const double Y0_Lambert93=6600000;// 114 const double n_Lambert93 = 0.7256077650; 115 const double c_Lambert93 = 11754255.426; 116 const double xs_Lambert93 = 700000; 117 const double ys_Lambert93 = 12655612.050; 118 119 const double GRS_a = 6378137; 120 const double GRS_f = 1/298.257222101; 121 const double GRS_b = GRS_a*(1-GRS_f); 122 const double GRS_e = sqrt((pow(GRS_a,2) - pow(GRS_b,2)) / pow(GRS_a,2)); 123 124 //////////////////////////////////////////////////////////////////////// 125 void Geographique_2_Lambert93(const Raf98& raf98,double lambda,double phi,double he,Matrice in,double& E,double& N,double& h,Matrice& out); 126 void Geographique_2_Lambert93(const Raf98& raf98,double lambda,double phi,double he,double& E,double& N,double& h); 127 void Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,double& lambda,double& phi,double& he); 128 void Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,Matrice in,double& lambda,double& phi,double& he,Matrice& out); 129 /** Convert from geographique to ECEF. 130 * @param[in] longitude Longitude in radian. 131 * @param[in] latitude Latitude in radian. 132 * @param[in] he Height in meter. 133 */ 134 void Geographique_2_ECEF(double longitude, double latitude, double he, double& x, double& y, double& z); 135 /** Convert from ECEF two ENU. 136 * @param[in] lon0 Longitude of the origin in radian. 137 * @param[in] lat0 Latitude of the origin in radian. 138 * @param[in] he0 Height of the origin in radian. 139 */ 140 void ECEF_2_ENU(double x,double y,double z,double& e,double& n,double& u,double lon0,double lat0,double he0); 141 //////////////////////////////////////////////////////////////////////// 142 143 ///ALGO0001 144 /// @todo Rename 145 double LatitueIsometrique(double latitude,double e); 146 ///ALGO0002 147 /// @todo Rename 148 double LatitueIsometrique2Lat(double latitude_iso,double e,double epsilon); 149 150 ///ALGO0003 151 void Geo2ProjLambert( 152 double lambda,double phi, 153 double n, double c,double e, 154 double lambdac,double xs,double ys, 155 double& X,double& Y); 156 ///ALGO0004 157 void Proj2GeoLambert( 158 double X,double Y, 159 double n, double c,double e, 160 double lambdac,double xs,double ys, 161 double epsilon, 162 double& lambda,double& phi); 163 164 double ConvMerApp(double longitude); 165 166 /** 167 Converts Cartesian (x, y) coordinates to polar coordinates (r, theta) 168 */ 169 template <typename _T1, typename _T2> 170 void cartesianToPolar(const _T1 x, const _T1 y, _T2 & r, _T2 & theta) { 171 r = std::sqrt(x*x + y*y); 172 theta = std::atan2(x, y); 173 } 174 175 /** 176 Converts polar coordinates (r, theta) to Cartesian (x, y) coordinates 177 */ 178 template <typename _T1, typename _T2> 179 void polarToCartesian(const _T1 r, const _T1 theta, _T2 & x, _T2 & y) { 180 x = r * std::cos(theta); 181 y = r * std::sin(theta); 182 } 183 184 /** 185 Converts Cartesian (x, y, z) coordinates to spherical coordinates (r, theta, phi) 186 Angles expressed in radians. 187 */ 188 template <typename _T1, typename _T2> 189 void cartesianToSpherical(const _T1 x, const _T1 y, const _T1 z, _T2 & r, _T2 & theta, _T2 & phi) { 190 r = std::sqrt(x*x + y*y + z*z); 191 theta = std::acos(z / r); 192 phi = std::atan2(y, x); 193 } 194 195 /** 196 Converts spherical coordinates (r, theta, phi) to Cartesian (x, y, z) coordinates. 197 Angles expressed in radians. 198 */ 199 template <typename _T1, typename _T2> 200 void sphericalToCartesian(const _T1 r, const _T1 theta, const _T1 phi, _T2 & x, _T2 & y, _T2 & z) { 201 x = r * std::sin(theta) * std::cos(phi); 202 y = r * std::sin(theta) * std::sin(phi); 203 z = r * std::cos(theta); 204 } 205 206 } // namespace Geodesie 207 208 #endif // GEODESIE_H
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