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refs #484 Revise CCoordinateGeodetic implementation to use n-vectors.

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This commit is contained in:
Mathew Sutcliffe
2015-10-19 23:24:33 +01:00
parent 7483195b47
commit bc9ff9f6b2
7 changed files with 139 additions and 75 deletions
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7
src/blackmisc/aviation/aircraftsituation.h
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@@ -77,10 +77,10 @@ namespace BlackMisc
void setPosition(const BlackMisc::Geo::CCoordinateGeodetic &position) { this->m_position = position; }
//! \copydoc ICoordinateGeodetic::latitude()
virtual const BlackMisc::Geo::CLatitude &latitude() const override { return this->m_position.latitude(); }
virtual BlackMisc::Geo::CLatitude latitude() const override { return this->m_position.latitude(); }
//! \copydoc ICoordinateGeodetic::longitude()
virtual const BlackMisc::Geo::CLongitude &longitude() const override { return this->m_position.longitude(); }
virtual BlackMisc::Geo::CLongitude longitude() const override { return this->m_position.longitude(); }
//! Guess if aircraft is "on ground"
virtual bool isOnGroundGuessed() const;
@@ -89,6 +89,9 @@ namespace BlackMisc
//! \remarks this should be used for elevation as depicted here: http://en.wikipedia.org/wiki/Altitude#mediaviewer/File:Vertical_distances.svg
const BlackMisc::PhysicalQuantities::CLength &geodeticHeight() const override { return this->m_position.geodeticHeight(); }
//! \copydoc ICoordinateGeodetic::normalVector
virtual QVector3D normalVector() const override { return this->m_position.normalVector(); }
//! Elevation
//! \sa geodeticHeight
const BlackMisc::PhysicalQuantities::CLength getElevation() const { return this->geodeticHeight(); }

7
src/blackmisc/aviation/airport.h
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@@ -85,17 +85,20 @@ namespace BlackMisc
bool hasValidIcaoCode() const { return !this->getIcao().isEmpty(); }
//! \copydoc ICoordinateGeodetic::latitude
virtual const BlackMisc::Geo::CLatitude &latitude() const override
virtual BlackMisc::Geo::CLatitude latitude() const override
{
return this->getPosition().latitude();
}
//! \copydoc ICoordinateGeodetic::longitude
virtual const BlackMisc::Geo::CLongitude &longitude() const override
virtual BlackMisc::Geo::CLongitude longitude() const override
{
return this->getPosition().longitude();
}
//! \copydoc ICoordinateGeodetic::normalVector
virtual QVector3D normalVector() const override { return this->getPosition().normalVector(); }
//! \copydoc CValueObject::propertyByIndex
CVariant propertyByIndex(const BlackMisc::CPropertyIndex &index) const;

9
src/blackmisc/aviation/atcstation.cpp
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@@ -318,12 +318,12 @@ namespace BlackMisc
}
}
const CLatitude &CAtcStation::latitude() const
CLatitude CAtcStation::latitude() const
{
return this->getPosition().latitude();
}
const CLongitude &CAtcStation::longitude() const
CLongitude CAtcStation::longitude() const
{
return this->getPosition().longitude();
}
@@ -333,6 +333,11 @@ namespace BlackMisc
return this->m_position.geodeticHeight();
}
QVector3D CAtcStation::normalVector() const
{
return this->m_position.normalVector();
}
CVariant CAtcStation::propertyByIndex(const BlackMisc::CPropertyIndex &index) const
{
if (index.isMyself()) { return CVariant::from(*this); }

7
src/blackmisc/aviation/atcstation.h
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@@ -221,15 +221,18 @@ namespace BlackMisc
void setBookedUntilUtc(const QDateTime &until) { this->m_bookedUntilUtc = until; }
//! \copydoc ICoordinateGeodetic::latitude
virtual const BlackMisc::Geo::CLatitude &latitude() const override;
virtual BlackMisc::Geo::CLatitude latitude() const override;
//! \copydoc ICoordinateGeodetic::longitude
virtual const BlackMisc::Geo::CLongitude &longitude() const override;
virtual BlackMisc::Geo::CLongitude longitude() const override;
//! \copydoc ICoordinateGeodetic::geodeticHeight
//! \remarks this should be used for elevation as depicted here: http://en.wikipedia.org/wiki/Altitude#mediaviewer/File:Vertical_distances.svg
const BlackMisc::PhysicalQuantities::CLength &geodeticHeight() const override;
//! \copydoc ICoordinateGeodetic::normalVector
virtual QVector3D normalVector() const override;
//! \copydoc CValueObject::propertyByIndex
CVariant propertyByIndex(const BlackMisc::CPropertyIndex &index) const;

123
src/blackmisc/geo/coordinategeodetic.cpp
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@@ -25,7 +25,7 @@ namespace BlackMisc
QString CCoordinateGeodetic::convertToQString(bool i18n) const
{
QString s = "Geodetic: {%1, %2, %3}";
return s.arg(this->m_latitude.valueRoundedWithUnit(6, i18n)).arg(this->m_longitude.valueRoundedWithUnit(6, i18n)).arg(this->m_geodeticHeight.valueRoundedWithUnit(6, i18n));
return s.arg(this->latitude().valueRoundedWithUnit(6, i18n)).arg(this->longitude().valueRoundedWithUnit(6, i18n)).arg(this->m_geodeticHeight.valueRoundedWithUnit(6, i18n));
}
CCoordinateGeodetic CCoordinateGeodetic::fromWgs84(const QString &latitudeWgs84, const QString &longitudeWgs84, const CLength &geodeticHeight)
@@ -37,52 +37,33 @@ namespace BlackMisc
PhysicalQuantities::CLength calculateGreatCircleDistance(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2)
{
// same coordinates results in 0 distance
if (coordinate1.latitude() == coordinate2.latitude() && coordinate1.longitude() == coordinate2.longitude())
{
return CLength(0, CLengthUnit::m());
}
// first, prelimary distance calculation
// http://www.movable-type.co.uk/scripts/latlong.html
double earthRadiusM = 6371000.8;
double lon1rad = coordinate1.longitude().value(CAngleUnit::rad());
double lon2rad = coordinate2.longitude().value(CAngleUnit::rad());
double lat1rad = coordinate1.latitude().value(CAngleUnit::rad());
double lat2rad = coordinate2.latitude().value(CAngleUnit::rad());
double dLat = lat2rad - lat1rad;
double dLon = lon2rad - lon1rad;
double a = qSin(dLat / 2.0) * qSin(dLat / 2.0) +
qCos(lat1rad) * qCos(lat2rad) * qSin(dLon / 2.0) * qSin(dLon / 2.0);
double c = 2.0 * qAtan(qSqrt(a) / qSqrt(1.0 - a));
double distance = earthRadiusM * c;
Q_ASSERT_X(distance >= 0, Q_FUNC_INFO, "distance should never calculate to negative values");
return CLength(distance, CLengthUnit::m());
static const float earthRadiusMeters = 6371000.8f;
const QVector3D v1 = coordinate1.normalVector();
const QVector3D v2 = coordinate2.normalVector();
const float d = earthRadiusMeters * std::atan2(QVector3D::crossProduct(v1, v2).length(), QVector3D::dotProduct(v1, v2));
return { d, PhysicalQuantities::CLengthUnit::m() };
}
PhysicalQuantities::CAngle calculateBearing(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2)
{
// same coordinate results in 0 distance
if (coordinate1.latitude() == coordinate2.latitude() && coordinate1.longitude() == coordinate2.longitude())
{
return CAngle(0, CAngleUnit::deg());
}
static const QVector3D northPole { 0, 0, 1 };
const QVector3D c1 = QVector3D::crossProduct(coordinate1.normalVector(), coordinate2.normalVector());
const QVector3D c2 = QVector3D::crossProduct(coordinate1.normalVector(), northPole);
const QVector3D cross = QVector3D::crossProduct(c1, c2);
const float sinTheta = std::copysign(cross.length(), QVector3D::dotProduct(cross, coordinate1.normalVector()));
const float cosTheta = QVector3D::dotProduct(c1, c2);
const float theta = std::atan2(sinTheta, cosTheta);
return { theta, PhysicalQuantities::CAngleUnit::rad() };
}
// http://www.yourhomenow.com/house/haversine.html
double lon1rad = coordinate1.longitude().value(CAngleUnit::rad());
double lon2rad = coordinate2.longitude().value(CAngleUnit::rad());
double lat1rad = coordinate1.latitude().value(CAngleUnit::rad());
double lat2rad = coordinate2.latitude().value(CAngleUnit::rad());
double dLon = lon1rad - lon2rad;
double y = qSin(dLon) * qCos(lat2rad);
double x = qCos(lat1rad) * qSin(lat2rad) -
qSin(lat1rad) * qCos(lat2rad) * qCos(dLon);
double bearing = qAtan2(y, x);
bearing = CMathUtils::rad2deg(bearing); // now in deg
bearing = CMathUtils::normalizeDegrees(bearing); // normalize
return CAngle(bearing, CAngleUnit::deg());
double calculateEuclideanDistance(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2)
{
return coordinate1.normalVector().distanceToPoint(coordinate2.normalVector());
}
double calculateEuclideanDistanceSquared(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2)
{
return (coordinate1.normalVector() - coordinate2.normalVector()).lengthSquared();
}
CLength ICoordinateGeodetic::calculateGreatCircleDistance(const ICoordinateGeodetic &otherCoordinate) const
@@ -98,7 +79,7 @@ namespace BlackMisc
bool ICoordinateGeodetic::canHandleIndex(const CPropertyIndex &index)
{
int i = index.frontCasted<int>();
return (i >= static_cast<int>(IndexLatitude)) && (i <= static_cast<int>(IndexGeodeticHeightAsString));
return (i >= static_cast<int>(IndexLatitude)) && (i <= static_cast<int>(IndexNormalVector));
}
CVariant ICoordinateGeodetic::propertyByIndex(const BlackMisc::CPropertyIndex &index) const
@@ -120,6 +101,8 @@ namespace BlackMisc
return this->geodeticHeight().propertyByIndex(index.copyFrontRemoved());
case IndexGeodeticHeightAsString:
return CVariant(this->geodeticHeightAsString());
case IndexNormalVector:
return CVariant::fromValue(this->normalVector());
default:
break;
}
@@ -153,10 +136,10 @@ namespace BlackMisc
this->m_geodeticHeight.setPropertyByIndex(variant, index.copyFrontRemoved());
break;
case IndexLatitude:
this->m_latitude.setPropertyByIndex(variant, index.copyFrontRemoved());
this->setLatitude(variant.value<CLatitude>());
break;
case IndexLongitude:
this->m_longitude.setPropertyByIndex(variant, index.copyFrontRemoved());
this->setLongitude(variant.value<CLongitude>());
break;
case IndexLatitudeAsString:
this->setLatitude(CLatitude::fromWgs84(variant.toQString()));
@@ -167,17 +150,59 @@ namespace BlackMisc
case IndexGeodeticHeightAsString:
this->m_geodeticHeight.parseFromString(variant.toQString());
break;
case IndexNormalVector:
this->setNormalVector(variant.value<QVector3D>());
break;
default:
CValueObject::setPropertyByIndex(variant, index);
break;
}
}
CCoordinateGeodetic &CCoordinateGeodetic::switchUnit(const CAngleUnit &unit)
CCoordinateGeodetic::CCoordinateGeodetic(CLatitude latitude, CLongitude longitude, BlackMisc::PhysicalQuantities::CLength height) :
m_x(latitude.cos() * longitude.cos()),
m_y(latitude.cos() * longitude.sin()),
m_z(latitude.sin()),
m_geodeticHeight(height)
{}
CLatitude CCoordinateGeodetic::latitude() const
{
this->m_latitude.switchUnit(unit);
this->m_longitude.switchUnit(unit);
return *this;
const QVector3D v = this->normalVector();
return { std::atan2(v.z(), std::hypot(v.x(), v.y())), PhysicalQuantities::CAngleUnit::rad() };
}
CLongitude CCoordinateGeodetic::longitude() const
{
const QVector3D v = this->normalVector();
return { std::atan2(v.y(), v.x()), PhysicalQuantities::CAngleUnit::rad() };
}
QVector3D CCoordinateGeodetic::normalVector() const
{
return
{
static_cast<float>(this->m_x),
static_cast<float>(this->m_y),
static_cast<float>(this->m_z)
};
}
void CCoordinateGeodetic::setLatitude(const CLatitude &latitude)
{
this->setLatLong(latitude, this->longitude());
}
void CCoordinateGeodetic::setLongitude(const CLongitude &longitude)
{
this->setLatLong(this->latitude(), longitude);
}
void CCoordinateGeodetic::setLatLong(const CLatitude &latitude, const CLongitude &longitude)
{
this->m_x = latitude.cos() * longitude.cos();
this->m_y = latitude.cos() * longitude.sin();
this->m_z = latitude.sin();
}
CCoordinateGeodetic &CCoordinateGeodetic::switchUnit(const CLengthUnit &unit)

54
src/blackmisc/geo/coordinategeodetic.h
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@@ -17,6 +17,7 @@
#include "blackmisc/geo/longitude.h"
#include "blackmisc/pq/length.h"
#include "blackmisc/propertyindex.h"
#include <QVector3D>
namespace BlackMisc
{
@@ -38,17 +39,18 @@ namespace BlackMisc
IndexLatitudeAsString,
IndexLongitudeAsString,
IndexGeodeticHeight,
IndexGeodeticHeightAsString
IndexGeodeticHeightAsString,
IndexNormalVector
};
//! Destructor
virtual ~ICoordinateGeodetic() {}
//! Latitude
virtual const CLatitude &latitude() const = 0;
virtual CLatitude latitude() const = 0;
//! Longitude
virtual const CLongitude &longitude() const = 0;
virtual CLongitude longitude() const = 0;
//! Height, ellipsoidal or geodetic height (used in GPS)
//! This is approximately MSL (orthometric) height, aka elevation.
@@ -56,6 +58,11 @@ namespace BlackMisc
//! \sa http://www.esri.com/news/arcuser/0703/geoid1of3.html
virtual const BlackMisc::PhysicalQuantities::CLength &geodeticHeight() const = 0;
//! Normal vector
//! \sa https://en.wikipedia.org/wiki/N-vector
//! \sa http://www.movable-type.co.uk/scripts/latlong-vectors.html
virtual QVector3D normalVector() const = 0;
//! \copydoc CValueObject::propertyByIndex
CVariant propertyByIndex(const BlackMisc::CPropertyIndex &index) const;
@@ -85,6 +92,12 @@ namespace BlackMisc
//! Initial bearing
BLACKMISC_EXPORT BlackMisc::PhysicalQuantities::CAngle calculateBearing(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2);
//! Euclidean distance between normal vectors
BLACKMISC_EXPORT double calculateEuclideanDistance(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2);
//! Euclidean distance squared between normal vectors, use for more efficient sorting by distance
BLACKMISC_EXPORT double calculateEuclideanDistanceSquared(const ICoordinateGeodetic &coordinate1, const ICoordinateGeodetic &coordinate2);
//! Interface (actually more an abstract class) of coordinate and
//! relative position to own aircraft
class BLACKMISC_EXPORT ICoordinateWithRelativePosition : public ICoordinateGeodetic
@@ -131,44 +144,52 @@ namespace BlackMisc
//! Default constructor
CCoordinateGeodetic() = default;
//! Constructor by normal vector
CCoordinateGeodetic(const QVector3D &normal) : m_x(normal.x()), m_y(normal.y()), m_z(normal.z()) {}
//! Constructor by values
CCoordinateGeodetic(CLatitude latitude, CLongitude longitude, BlackMisc::PhysicalQuantities::CLength height) :
m_latitude(latitude), m_longitude(longitude), m_geodeticHeight(height) {}
CCoordinateGeodetic(CLatitude latitude, CLongitude longitude, BlackMisc::PhysicalQuantities::CLength height);
//! Constructor by values
CCoordinateGeodetic(double latitudeDegrees, double longitudeDegrees, double heightMeters) :
m_latitude(latitudeDegrees, BlackMisc::PhysicalQuantities::CAngleUnit::deg()), m_longitude(longitudeDegrees, BlackMisc::PhysicalQuantities::CAngleUnit::deg()), m_geodeticHeight(heightMeters, BlackMisc::PhysicalQuantities::CLengthUnit::m()) {}
CCoordinateGeodetic({ latitudeDegrees, BlackMisc::PhysicalQuantities::CAngleUnit::deg() }, { longitudeDegrees, BlackMisc::PhysicalQuantities::CAngleUnit::deg() }, { heightMeters, BlackMisc::PhysicalQuantities::CLengthUnit::m() }) {}
//! \copydoc ICoordinateGeodetic::latitude
virtual const CLatitude &latitude() const override { return this->m_latitude; }
virtual CLatitude latitude() const override;
//! \copydoc ICoordinateGeodetic::longitude
virtual const CLongitude &longitude() const override { return this->m_longitude; }
virtual CLongitude longitude() const override;
//! \copydoc ICoordinateGeodetic::geodeticHeight
virtual const BlackMisc::PhysicalQuantities::CLength &geodeticHeight() const override { return this->m_geodeticHeight; }
//! \copydoc ICoordinateGeodetic::normalVector
virtual QVector3D normalVector() const;
//! \copydoc CValueObject::propertyByIndex
CVariant propertyByIndex(const BlackMisc::CPropertyIndex &index) const;
//! \copydoc CValueObject::setPropertyByIndex
void setPropertyByIndex(const CVariant &variant, const BlackMisc::CPropertyIndex &index);
//! Switch unit of latitude / longitude
CCoordinateGeodetic &switchUnit(const BlackMisc::PhysicalQuantities::CAngleUnit &unit);
//! Switch unit of height
CCoordinateGeodetic &switchUnit(const BlackMisc::PhysicalQuantities::CLengthUnit &unit);
//! Set latitude
void setLatitude(const CLatitude &latitude) { this->m_latitude = latitude; }
void setLatitude(const CLatitude &latitude);
//! Set longitude
void setLongitude(const CLongitude &longitude) { this->m_longitude = longitude; }
void setLongitude(const CLongitude &longitude);
//! Set latitude and longitude
void setLatLong(const CLatitude &latitude, const CLongitude &longitude);
//! Set height (ellipsoidal or geodetic height)
void setGeodeticHeight(const BlackMisc::PhysicalQuantities::CLength &height) { this->m_geodeticHeight = height; }
//! Set normal vector
void setNormalVector(const QVector3D &normal) { this->m_x = normal.x(); this->m_y = normal.y(); this->m_z = normal.z(); }
//! Coordinate by WGS84 position data
static CCoordinateGeodetic fromWgs84(const QString &latitudeWgs84, const QString &longitudeWgs84, const BlackMisc::PhysicalQuantities::CLength &geodeticHeight = {});
@@ -177,15 +198,16 @@ namespace BlackMisc
private:
BLACK_ENABLE_TUPLE_CONVERSION(CCoordinateGeodetic)
BlackMisc::Geo::CLatitude m_latitude; //!< Latitude
BlackMisc::Geo::CLongitude m_longitude; //!< Longitude
double m_x = 0; //!< normal vector
double m_y = 0; //!< normal vector
double m_z = 0; //!< normal vector
BlackMisc::PhysicalQuantities::CLength m_geodeticHeight { 0, BlackMisc::PhysicalQuantities::CLengthUnit::nullUnit() }; //!< height, ellipsoidal or geodetic height
};
} // namespace
} // namespace
BLACK_DECLARE_TUPLE_CONVERSION(BlackMisc::Geo::CCoordinateGeodetic, (o.m_latitude, o.m_longitude, o.m_geodeticHeight))
BLACK_DECLARE_TUPLE_CONVERSION(BlackMisc::Geo::CCoordinateGeodetic, (o.m_x, o.m_y, o.m_z, o.m_geodeticHeight))
Q_DECLARE_METATYPE(BlackMisc::Geo::CCoordinateGeodetic)
#endif // guard

7
src/blackmisc/simulation/simulatedaircraft.h
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@@ -158,15 +158,18 @@ namespace BlackMisc
const BlackMisc::PhysicalQuantities::CSpeed &getGroundSpeed() const { return this->m_situation.getGroundSpeed(); }
//! \copydoc ICoordinateGeodetic::latitude
virtual const BlackMisc::Geo::CLatitude &latitude() const override { return this->m_situation.latitude(); }
virtual BlackMisc::Geo::CLatitude latitude() const override { return this->m_situation.latitude(); }
//! \copydoc ICoordinateGeodetic::longitude
virtual const BlackMisc::Geo::CLongitude &longitude() const override { return this->m_situation.longitude(); }
virtual BlackMisc::Geo::CLongitude longitude() const override { return this->m_situation.longitude(); }
//! \copydoc ICoordinateGeodetic::geodeticHeight
//! \remarks this should be used for elevation as depicted here: http://en.wikipedia.org/wiki/Altitude#mediaviewer/File:Vertical_distances.svg
const BlackMisc::PhysicalQuantities::CLength &geodeticHeight() const override { return this->m_situation.geodeticHeight(); }
//! \copydoc ICoordinateGeodetic::normalVector
virtual QVector3D normalVector() const override { return this->m_situation.normalVector(); }
//! Elevation
//! \sa geodeticHeight
const BlackMisc::PhysicalQuantities::CLength getElevation() const { return this->geodeticHeight(); }