GeographicLib  1.50.1
LocalCartesian.cpp
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1 /**
2  * \file LocalCartesian.cpp
3  * \brief Implementation for GeographicLib::LocalCartesian class
4  *
5  * Copyright (c) Charles Karney (2008-2015) <charles@karney.com> and licensed
6  * under the MIT/X11 License. For more information, see
7  * https://geographiclib.sourceforge.io/
8  **********************************************************************/
9 
11 
12 namespace GeographicLib {
13 
14  using namespace std;
15 
16  void LocalCartesian::Reset(real lat0, real lon0, real h0) {
17  _lat0 = Math::LatFix(lat0);
18  _lon0 = Math::AngNormalize(lon0);
19  _h0 = h0;
20  _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0);
21  real sphi, cphi, slam, clam;
22  Math::sincosd(_lat0, sphi, cphi);
23  Math::sincosd(_lon0, slam, clam);
24  Geocentric::Rotation(sphi, cphi, slam, clam, _r);
25  }
26 
27  void LocalCartesian::MatrixMultiply(real M[dim2_]) const {
28  // M = r' . M
29  real t[dim2_];
30  copy(M, M + dim2_, t);
31  for (size_t i = 0; i < dim2_; ++i) {
32  size_t row = i / dim_, col = i % dim_;
33  M[i] = _r[row] * t[col] + _r[row+3] * t[col+3] + _r[row+6] * t[col+6];
34  }
35  }
36 
37  void LocalCartesian::IntForward(real lat, real lon, real h,
38  real& x, real& y, real& z,
39  real M[dim2_]) const {
40  real xc, yc, zc;
41  _earth.IntForward(lat, lon, h, xc, yc, zc, M);
42  xc -= _x0; yc -= _y0; zc -= _z0;
43  x = _r[0] * xc + _r[3] * yc + _r[6] * zc;
44  y = _r[1] * xc + _r[4] * yc + _r[7] * zc;
45  z = _r[2] * xc + _r[5] * yc + _r[8] * zc;
46  if (M)
47  MatrixMultiply(M);
48  }
49 
50  void LocalCartesian::IntReverse(real x, real y, real z,
51  real& lat, real& lon, real& h,
52  real M[dim2_]) const {
53  real
54  xc = _x0 + _r[0] * x + _r[1] * y + _r[2] * z,
55  yc = _y0 + _r[3] * x + _r[4] * y + _r[5] * z,
56  zc = _z0 + _r[6] * x + _r[7] * y + _r[8] * z;
57  _earth.IntReverse(xc, yc, zc, lat, lon, h, M);
58  if (M)
59  MatrixMultiply(M);
60  }
61 
62 } // namespace GeographicLib
static T AngNormalize(T x)
Definition: Math.hpp:383
void Reset(real lat0, real lon0, real h0=0)
Header for GeographicLib::LocalCartesian class.
GeographicLib::Math::real real
Definition: GeodSolve.cpp:31
static T LatFix(T x)
Definition: Math.hpp:395
Namespace for GeographicLib.
Definition: Accumulator.cpp:12
static void sincosd(T x, T &sinx, T &cosx)
Definition: Math.cpp:250