GeographicLib  1.38
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LocalCartesian.cpp
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1 /**
2  * \file LocalCartesian.cpp
3  * \brief Implementation for GeographicLib::LocalCartesian class
4  *
5  * Copyright (c) Charles Karney (2008-2011) <charles@karney.com> and licensed
6  * under the MIT/X11 License. For more information, see
7  * http://geographiclib.sourceforge.net/
8  **********************************************************************/
9 
11 
12 namespace GeographicLib {
13 
14  using namespace std;
15 
16  void LocalCartesian::Reset(real lat0, real lon0, real h0) {
17  _lat0 = lat0;
18  _lon0 = Math::AngNormalize(lon0);
19  _h0 = h0;
20  _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0);
21  real
22  phi = lat0 * Math::degree(),
23  sphi = sin(phi),
24  cphi = abs(_lat0) == 90 ? 0 : cos(phi),
25  lam = lon0 * Math::degree(),
26  slam = _lon0 == -180 ? 0 : sin(lam),
27  clam = abs(_lon0) == 90 ? 0 : cos(lam);
28  _earth.Rotation(sphi, cphi, slam, clam, _r);
29  }
30 
31  void LocalCartesian::MatrixMultiply(real M[dim2_]) const {
32  real t[dim2_];
33  copy(M, M + dim2_, t);
34  for (size_t i = 0; i < dim2_; ++i) {
35  size_t row = i / dim_, col = i % dim_;
36  M[i] = _r[row] * t[col] + _r[row+3] * t[col+3] + _r[row+6] * t[col+6];
37  }
38  }
39 
40  void LocalCartesian::IntForward(real lat, real lon, real h,
41  real& x, real& y, real& z,
42  real M[dim2_]) const {
43  real xc, yc, zc;
44  _earth.IntForward(lat, lon, h, xc, yc, zc, M);
45  xc -= _x0; yc -= _y0; zc -= _z0;
46  x = _r[0] * xc + _r[3] * yc + _r[6] * zc;
47  y = _r[1] * xc + _r[4] * yc + _r[7] * zc;
48  z = _r[2] * xc + _r[5] * yc + _r[8] * zc;
49  if (M)
50  MatrixMultiply(M);
51  }
52 
53  void LocalCartesian::IntReverse(real x, real y, real z,
54  real& lat, real& lon, real& h,
55  real M[dim2_]) const {
56  real
57  xc = _x0 + _r[0] * x + _r[1] * y + _r[2] * z,
58  yc = _y0 + _r[3] * x + _r[4] * y + _r[5] * z,
59  zc = _z0 + _r[6] * x + _r[7] * y + _r[8] * z;
60  _earth.IntReverse(xc, yc, zc, lat, lon, h, M);
61  if (M)
62  MatrixMultiply(M);
63  }
64 
65 } // namespace GeographicLib