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Completed transformation class and created samples for this class

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This commit is contained in:
Klaus Basan
2013-04-20 01:49:50 +02:00
parent f98ec80680
commit 7b0468d300
11 changed files with 161 additions and 83 deletions
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42
src/blackmisc/coordinatetransformation.cpp
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@@ -60,13 +60,49 @@ CCoordinateEcef CCoordinateTransformation::toEcef(const CCoordinateNed &ned)
}
/*
* Convert to NED
* Geodetic to ECEF
*/
CCoordinateNed toNed(const CCoordinateEcef &ecef, const CCoordinateGeodetic &geo)
CCoordinateEcef CCoordinateTransformation::toEcef(const CCoordinateGeodetic &geo)
{
// TODO: Clarify the comparions with fixed angles (==90, ==180) -> what happens here
CLatitude lat = geo.latitude();
CLongitude lon = geo.longitude();
qreal latDeg = lat.value(CAngleUnit::deg());
qreal lonDeg = lon.value(CAngleUnit::deg());
double phi = lat.value(CAngleUnit::rad());
double lambdaRad = lon.value(CAngleUnit::rad());
double sphi = sin(phi);
double cphi = 0;
if (abs(latDeg) != 90) cphi = cos(phi);
double n = EarthRadiusMeters() / sqrt(1 - e2() * CMath::square(sphi));
double slambda = 0;
if (lonDeg != -180) slambda = sin(lambdaRad);
double clambda = 0;
if (abs(lonDeg) != 90) clambda = cos(lambdaRad);
double h = geo.height().convertedSiValueToDouble();
double X = (n + h) * cphi;
double Y = X * slambda;
X *= clambda;
double Z = (e2m() * n + h) * sphi;
CCoordinateEcef result(X, Y, Z);
return result;
}
/*
* Convert to NED
*/
CCoordinateNed CCoordinateTransformation::toNed(const CCoordinateEcef &ecef, const CCoordinateGeodetic &referencePosition)
{
CLatitude lat = referencePosition.latitude();
CLongitude lon = referencePosition.longitude();
double angleRad = - (lat.value(CAngleUnit::rad())) - BlackMisc::Math::PI / 2;
CMatrix3x3 dcm1;
@@ -91,7 +127,7 @@ CCoordinateNed toNed(const CCoordinateEcef &ecef, const CCoordinateGeodetic &geo
dcm = dcm1 * dcm2 * dcm3;
CVector3D tempResult = dcm * ecef.toMathVector(); // to generic vector
CCoordinateNed result(geo, tempResult);
CCoordinateNed result(referencePosition, tempResult);
return result;
}