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ICAROUS
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ICAROUS
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#include <ENUProjection.h>
Public Member Functions | |
| ENUProjection () | |
| ENUProjection (const LatLonAlt &lla) | |
| ENUProjection (double lat, double lon, double alt) | |
| ~ENUProjection () | |
| ENUProjection | makeNew (const LatLonAlt &lla) const |
| ENUProjection | makeNew (double lat, double lon, double alt) const |
| double | conflictRange (double latitude, double accuracy) const |
| double | maxRange () const |
| LatLonAlt | getProjectionPoint () const |
| Vect2 | project2 (const LatLonAlt &lla) const |
| Vect3 | project (const LatLonAlt &lla) const |
| Vect3 | project (const Position &sip) const |
| Vect3 | projectPoint (const Position &sip) const |
| LatLonAlt | inverse (const Vect2 &xy, double alt) const |
| LatLonAlt | inverse (const Vect3 &xyz) const |
| Velocity | projectVelocity (const LatLonAlt &lla, const Velocity &v) const |
| Velocity | projectVelocity (const Position &ss, const Velocity &v) const |
| Velocity | inverseVelocity (const Vect3 &s, const Velocity &v, bool toLatLon) const |
| std::pair< Vect3, Velocity > | project (const Position &p, const Velocity &v) const |
| std::pair< Vect3, Velocity > | project (const LatLonAlt &p, const Velocity &v) const |
| std::pair< Position, Velocity > | inverse (const Vect3 &p, const Velocity &v, bool toLatLon) const |
| std::string | toString () const |
Private Attributes | |
| double | projAlt |
| Vect3 | ref |
| LatLonAlt | llaRef |
This class creates a local Euclidean projection around a given point. This projection may be used to transform geodetic coordinates (LatLonAlt objects) into this Euclidean frame, using the project() method. Also points within this frame, may be found in geodetic coordinates with the inverse() method. As long as the points are close to the projection point, the errors will be very small.
This is equivalent to a ENU (or geodetic tangent) projection (a form of orthographic projection). It distorts distances from the tangent point, compressing them more as the distance increases (similar to a picture of a planet from distant space).
Note that this projection should be considered to have a hard limit of GreatCircle.spherical_earth_radius as the maximum allowed distance from the tangent reference point, and significant distortion may occur at much smaller distances.
Note: projection objects should never be made directly, and instead should be retrieved via Projection.getProjection()
| larcfm::ENUProjection::ENUProjection | ( | ) |
Default constructor.
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explicit |
Create a projection around the given reference point.
| lla | reference point |
| larcfm::ENUProjection::ENUProjection | ( | double | lat, |
| double | lon, | ||
| double | alt | ||
| ) |
Create a projection around the given reference point.
| lat | latitude of reference point |
| lon | longitude of reference point |
| alt | altitude of reference point |
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inline |
Destructor
| double larcfm::ENUProjection::conflictRange | ( | double | latitude, |
| double | accuracy | ||
| ) | const |
Given an ownship latitude and desired accuracy, what is the longest distance to conflict this projection will support? [m]
| LatLonAlt larcfm::ENUProjection::getProjectionPoint | ( | ) | const |
Get the projection point for this projection
Return a LatLonAlt value corresponding to the given Euclidean position
| std::pair< Position, Velocity > larcfm::ENUProjection::inverse | ( | const Vect3 & | p, |
| const Velocity & | v, | ||
| bool | toLatLon | ||
| ) | const |
Given a velocity from a point in Euclidean 3-space, return a projection of this velocity and the point. If toLatLon is true, the point/velocity is projected into the geodetic coordinate space
Return a LatLonAlt value corresponding to the given Euclidean position
| Velocity larcfm::ENUProjection::inverseVelocity | ( | const Vect3 & | s, |
| const Velocity & | v, | ||
| bool | toLatLon | ||
| ) | const |
Given a velocity from a point in Euclidean 3-space, return a projection of this velocity. If toLatLon is true, the velocity is projected into the geodetic coordinate space
| ENUProjection larcfm::ENUProjection::makeNew | ( | const LatLonAlt & | lla | ) | const |
Return a new projection with the given reference point
| ENUProjection larcfm::ENUProjection::makeNew | ( | double | lat, |
| double | lon, | ||
| double | alt | ||
| ) | const |
Return a new projection with the given reference point
| double larcfm::ENUProjection::maxRange | ( | ) | const |
What is the maximum effective horizontal range of this projection? [m]
Return a projection of a lat/lon(/alt) point in Euclidean 3-space
| std::pair< Vect3, Velocity > larcfm::ENUProjection::project | ( | const Position & | p, |
| const Velocity & | v | ||
| ) | const |
Given a velocity from a point, return a projection of this velocity and the point in Euclidean 3-space. If the position is already in Euclidean coordinates, this acts as the idenitty function.
Return a projection of a Position in Euclidean 3-space (if already in Euclidian coordinate, this is the identity function)
Return a projection of a lat/lon(/alt) point in Euclidean 2-space
Return a projection of a Position in Euclidean 3-space (if already in Euclidian coordinate, this is the identity function)
Given a velocity from a point in geodetic coordinates, return a projection of this velocity in Euclidean 3-space Note that, due to the distortions introduced by this projection, the projected track and ground speed may change as distance from the projection point increases!
Given a velocity from a point, return a projection of this velocity in Euclidean 3-space (if already in Euclidian coordinate, this is the identity function) Note that, due to the distortions introduced by this projection, the projected track and ground speed may change as distance from the projection point increases!
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inline |
String representation
1.9.2
