|
ICAROUS
|
|
ICAROUS
|
#include <SimpleProjection.h>
Public Member Functions | |
| SimpleProjection () | |
| SimpleProjection (const LatLonAlt &lla) | |
| SimpleProjection (double lat, double lon, double alt) | |
| ~SimpleProjection () | |
| SimpleProjection | makeNew (const LatLonAlt &lla) const |
| SimpleProjection | makeNew (double lat, double lon, double alt) const |
| double | conflictRange (double latitude, double accuracy) const |
| double | maxRange () const |
| LatLonAlt | getProjectionPoint () const |
| bool | isPolar () 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 |
Static Public Member Functions | |
| static Vect2 | projectXY (double lat0, double lon0, double lat1, double lon1) |
| static Vect3 | projectXYZ (const LatLonAlt &p0, const LatLonAlt &p1) |
| static Vect2 | polar_xy (const LatLonAlt &lla, bool north) |
| static LatLonAlt | polar_inverse (const Vect2 &v, double alt, bool north) |
Private Attributes | |
| double | projLat |
| double | projLon |
| double | projAlt |
| bool | projNorth |
This class creates a local Euclidean projection around a given point. This projection may be used to transform geodesic coordinates (LatLonAlt objects) into this Euclidean frame, using the project() method. Also points within this frame, may be found in geodesic coordinates with the inverse() method. As long as the points are close to the projection point, the errors will be very small.
This projection has the property that the Euclidean distance in the XY frame is equal to the great circle distance in the lat/lon frame. In addition, the course from the origin to the returned x,y point is the same as the course at the mid point on the great circle arc.
This projection has special code for when positions are near the poles.
Note: projection objects should never be made directly, and instead should be retrieved via Projection.getProjection()
| larcfm::SimpleProjection::SimpleProjection | ( | ) |
Default constructor.
| larcfm::SimpleProjection::SimpleProjection | ( | const LatLonAlt & | lla | ) |
Create a projection around the given reference point.
| lla | reference point |
| larcfm::SimpleProjection::SimpleProjection | ( | 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 |
|
inline |
Destructor
| double larcfm::SimpleProjection::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::SimpleProjection::getProjectionPoint | ( | ) | const |
Get the projection point for this projection
Return a LatLonAlt value corresponding to the given Euclidean position
| std::pair< Position, Velocity > larcfm::SimpleProjection::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::SimpleProjection::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
| bool larcfm::SimpleProjection::isPolar | ( | ) | const |
Is the reference point near a pole?
| SimpleProjection larcfm::SimpleProjection::makeNew | ( | const LatLonAlt & | lla | ) | const |
Return a new projection with the given reference point
| SimpleProjection larcfm::SimpleProjection::makeNew | ( | double | lat, |
| double | lon, | ||
| double | alt | ||
| ) | const |
Return a new projection with the given reference point
| double larcfm::SimpleProjection::maxRange | ( | ) | const |
What is the maximum effective horizontal range of this projection? [m]
|
static |
Invert a projection, using the pole as a reference point.
| v | point in projected space |
| alt | altitude in projected space |
| north | true, if north pole |
Return a projection with the pole as a reference point.
| lla | geodetic position |
| north | true, if north pole |
Return a projection of a lat/lon(/alt) point in Euclidean 3-space
| std::pair< Vect3, Velocity > larcfm::SimpleProjection::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)
| Velocity larcfm::SimpleProjection::projectVelocity | ( | const LatLonAlt & | lla, |
| const Velocity & | v | ||
| ) | const |
Given a velocity from a point in geodetic coordinates, return a projection of this velocity in Euclidean 3-space
| Velocity larcfm::SimpleProjection::projectVelocity | ( | const Position & | ss, |
| const Velocity & | v | ||
| ) | const |
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)
|
static |
This method performs a particular projection from a spherical Earth latitude/longitude coordinate system to Euclidean (XY) one. Lat/long #0 are placed at the origin of the XY coordinate system. The returned value is an XY position of point #1 relative to point #0.
This projection has the property that the Euclidean distance in the XY frame is equal to the great circle distance in the lat/lon frame. In addition, the course from the origin to the returned x,y point is the same as the course at the mid point on the great circle arc.
This transform has a symmetric correspondence, that is, it doesn't matter which point is the origin: projectXY(lat0,lon0,lat1,lon1) = -projectXY(lat1,lon1,lat0,lon0)
| lat0 | latitude of first point |
| lon0 | longitude of first point |
| lat1 | latitude of second point |
| lon1 | longitude of second point |
This method performs a particular projection from a spherical Earth latitude/longitude coordinate system to Euclidean (XYZ) one. Lat/long #0 are placed at the origin of the Euclidean coordinate system. The returned value is the position of point #1 relative to point #0.
This projection has the property that the Euclidean distance in the XY frame is equal to the great circle distance in the lat/lon frame. In addition, the course from the origin to the returned x,y point is the same as the course at the mid point on the great circle arc.
This transform has a symmetric correspondence, that is, it doesn't matter which point is the origin: projectXY(lat0,lon0,lat1,lon1) = -projectXY(lat1,lon1,lat0,lon0)
| p0 | position one |
| p1 | position two |
|
inline |
String representation
1.9.2
