Coverage for pygeodesy/ltpTuples.py: 95%

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1 

2# -*- coding: utf-8 -*- 

3 

4u'''Named, I{Local Tangent Plane} (LTP) tuples. 

5 

6Local coordinate classes L{XyzLocal}, L{Enu}, L{Ned} and L{Aer} 

7and local coordinate tuples L{Local9Tuple}, L{Xyz4Tuple}, L{Enu4Tuple}, 

8L{Ned4Tuple}, L{Aer4Tuple}, L{ChLV9Tuple}, L{ChLVEN2Tuple}, 

9L{ChLVYX2Tuple}, L{ChLVyx2Tuple} and L{Footprint5Tuple}. 

10 

11@see: References in module L{ltp}. 

12''' 

13 

14# from pygeodesy.basics import issubclassof # _MODS 

15from pygeodesy.constants import _0_0, _1_0, _90_0, _N_90_0 

16# from pygeodesy.dms import F_D, toDMS # _MODS 

17from pygeodesy.errors import _TypeError, _TypesError, _xattr, _xkwds, \ 

18 _xkwds_item2 

19from pygeodesy.fmath import hypot, hypot_ 

20from pygeodesy.interns import NN, _4_, _azimuth_, _center_, _COMMASPACE_, \ 

21 _ecef_, _elevation_, _height_, _lat_, _lon_, \ 

22 _ltp_, _M_, _name_, _up_, _X_, _x_, _xyz_, \ 

23 _Y_, _y_, _z_ 

24from pygeodesy.lazily import _ALL_DOCS, _ALL_LAZY, _ALL_MODS as _MODS 

25from pygeodesy.named import _name__, _name1__, _name2__, _NamedBase, \ 

26 _NamedTuple, _Pass, _xnamed 

27from pygeodesy.namedTuples import LatLon2Tuple, PhiLam2Tuple, Vector3Tuple 

28from pygeodesy.props import deprecated_method, deprecated_Property_RO, \ 

29 Property_RO, property_RO 

30from pygeodesy.streprs import Fmt, fstr, strs, _xzipairs 

31from pygeodesy.units import Azimuth, Bearing, Degrees, Degrees_, Height, \ 

32 _isDegrees, _isMeter, Lat, Lon, Meter, Meter_ 

33from pygeodesy.utily import atan2d, atan2b, sincos2_, sincos2d_, cos, radians 

34from pygeodesy.vector3d import Vector3d 

35 

36# from math import cos, radians # from .utily 

37 

38__all__ = _ALL_LAZY.ltpTuples 

39__version__ = '24.07.25' 

40 

41_aer_ = 'aer' 

42_alt_ = 'alt' 

43_down_ = 'down' 

44_east_ = 'east' 

45_enu_ = 'enu' 

46_h__ = 'h_' 

47_ltp = _MODS.into(ltp=__name__) 

48_ned_ = 'ned' 

49_north_ = 'north' 

50_local_ = 'local' 

51_roll_ = 'roll' 

52_slantrange_ = 'slantrange' 

53_tilt_ = 'tilt' 

54_uvw_ = 'uvw' 

55_yaw_ = 'yaw' 

56 

57 

58def _er2gr(e, r): 

59 '''(INTERNAL) Elevation and slant range to ground range. 

60 ''' 

61 c = cos(radians(e)) 

62 return Meter_(groundrange=r * c) 

63 

64 

65def _init(inst, abc, ltp, name): 

66 '''(INTERNAL) Complete C{__init__}. 

67 ''' 

68 if abc is None: 

69 n = _name__(**name) 

70 else: 

71 n = abc._name__(name) 

72 ltp = _xattr(abc, ltp=ltp) 

73 if ltp: 

74 inst._ltp = _ltp._xLtp(ltp) 

75 if n: 

76 inst.name = n 

77 

78 

79def _toStr2(inst, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_): 

80 '''(INTERNAL) Get attribute name and value strings, joined and bracketed. 

81 ''' 

82 a = inst._toStr # 'aer', 'enu', 'ned', 'xyz' 

83 t = getattr(inst, a + _4_, ())[:len(a)] or getattr(inst, a) 

84 t = strs(t, prec=3 if prec is None else prec) 

85 if sep: 

86 t = sep.join(t) 

87 if fmt: 

88 t = fmt(t) 

89 return a, t 

90 

91 

92def _xyz2aer4(inst): 

93 '''(INTERNAL) Convert C{(x, y, z}) to C{(A, E, R)}. 

94 ''' 

95 x, y, z, _ = inst.xyz4 

96 A = Azimuth(atan2b(x, y)) 

97 E = Degrees(elevation=atan2d(z, hypot(x, y))) 

98 R = Meter(slantrange=hypot_(x, y, z)) 

99 return Aer4Tuple(A, E, R, inst.ltp, name=inst.name) 

100 

101 

102def _xyzLocal(*Types, **name_inst): 

103 '''(INTERNAL) Get C{inst} or C{inst.xyzLocal}. 

104 ''' 

105 n, inst = _xkwds_item2(name_inst) 

106 if isinstance(inst, Types): 

107 return None 

108 try: 

109 return inst.xyzLocal 

110 except (AttributeError, TypeError): 

111 raise _TypeError(n, inst, txt_not_=_local_) 

112 

113 

114class _AbcBase(_NamedBase): 

115 '''(INTERNAL) Base class for classes C{Aer} and C{Ned}. 

116 ''' 

117 _ltp = None # local tangent plane (C{Ltp}), origin 

118 

119 @Property_RO 

120 def ltp(self): 

121 '''Get the I{local tangent plane} (L{Ltp}). 

122 ''' 

123 return self._ltp 

124 

125 def toAer(self, Aer=None, **name_Aer_kwds): 

126 '''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components. 

127 

128 @kwarg Aer: Class to return AER (L{Aer}) or C{None}. 

129 @kwarg name_Aer_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

130 additional B{L{Aer}} keyword arguments, ignored if 

131 C{B{Aer} is None}. 

132 

133 @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an 

134 L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. 

135 

136 @raise TypeError: Invalid B{C{Aer}} or B{C{name_Aer_kwds}}. 

137 ''' 

138 return self.xyz4._toXyz(Aer, name_Aer_kwds) 

139 

140 def toEnu(self, Enu=None, **name_Enu_kwds): 

141 '''Get the I{local} I{East, North, Up} (ENU) components. 

142 

143 @kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

144 @kwarg name_Enu_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

145 additional B{L{Enu}} keyword arguments, ignored if 

146 C{B{Enu} is None}. 

147 

148 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an 

149 L{Enu4Tuple}C{(east, north, up, ltp)}. 

150 

151 @raise TypeError: Invalid B{C{Enu}} or B{C{name_Enu_kwds}}. 

152 ''' 

153 return self.xyz4._toXyz(Enu, name_Enu_kwds) 

154 

155 def toNed(self, Ned=None, **name_Ned_kwds): 

156 '''Get the I{local} I{North, East, Down} (NED) components. 

157 

158 @kwarg Ned: Class to return NED (L{Ned}) or C{None}. 

159 @kwarg name_Ned_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

160 additional B{L{Ned}} keyword arguments, ignored if 

161 C{B{Ned} is None}. 

162 

163 @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an 

164 L{Ned4Tuple}C{(north, east, down, ltp)}. 

165 

166 @raise TypeError: Invalid B{C{Ned}} or B{C{name_Ned_kwds}}. 

167 ''' 

168 return self.xyz4._toXyz(Ned, name_Ned_kwds) 

169 

170 def toXyz(self, Xyz=None, **name_Xyz_kwds): 

171 '''Get the local I{X, Y, Z} (XYZ) components. 

172 

173 @kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}) 

174 or C{None}. 

175 @kwarg name_Xyz_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

176 additional B{C{Xyz}} keyword arguments, ignored if 

177 C{B{Xyz} is None}. 

178 

179 @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, an 

180 L{Xyz4Tuple}C{(x, y, z, ltp)}. 

181 

182 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_Xyz_kwds}}. 

183 ''' 

184 return self.xyz4._toXyz(Xyz, name_Xyz_kwds) 

185 

186 @Property_RO 

187 def xyz(self): 

188 '''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). 

189 ''' 

190 return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz 

191 

192 @property_RO 

193 def xyz4(self): # PYCHOK no cover 

194 '''I{Must be overloaded}.''' 

195 self._notOverloaded() 

196 

197 @Property_RO 

198 def xyzLocal(self): 

199 '''Get this AER or NED as an L{XyzLocal}. 

200 ''' 

201 return XyzLocal(self.xyz4, name=self.name) 

202 

203 

204class _Abc4Tuple(_NamedTuple): 

205 '''(INTERNAL) Base class for C{Aer4Tuple}, C{Enu4Tuple}, 

206 C{Ned4Tuple} and C{Xyz4Tuple}. 

207 ''' 

208 def _2Cls(self, Abc, Cls, Cls_kwds): 

209 '''(INTERNAL) Convert 4-Tuple to C{Cls} instance. 

210 ''' 

211 kwds = _name1__(Cls_kwds, _or_nameof=self) 

212 _is = _MODS.basics.issubclassof 

213 if Cls is None: 

214 n, _ = _name2__(Cls_kwds) 

215 r = self.copy(name=n) if n else self 

216 elif _is(Cls, Abc): 

217 r = Cls(*self, **kwds) 

218 elif _is(Cls, Aer): 

219 r = self.xyzLocal.toAer(**_xkwds(kwds, Aer=Cls)) 

220 elif _is(Cls, Enu): # PYCHOK no cover 

221 r = self.xyzLocal.toEnu(**_xkwds(kwds, Enu=Cls)) 

222 elif _is(Cls, Ned): 

223 r = self.xyzLocal.toNed(**_xkwds(kwds, Ned=Cls)) 

224 elif _is(Cls, XyzLocal): # PYCHOK no cover 

225 r = self.xyzLocal.toXyz(**_xkwds(kwds, Xyz=Cls)) 

226 elif Cls is Local9Tuple: # PYCHOK no cover 

227 r = self.xyzLocal.toLocal9Tuple(**kwds) 

228 else: # PYCHOK no cover 

229 n = Abc.__name__[:3] 

230 raise _TypesError(n, Cls, Aer, Enu, Ned, XyzLocal) 

231 return r 

232 

233 @property_RO 

234 def xyzLocal(self): # PYCHOK no cover 

235 '''I{Must be overloaded}.''' 

236 self._notOverloaded() 

237 

238 

239class Aer(_AbcBase): 

240 '''Local C{Azimuth-Elevation-Range} (AER) in a I{local tangent plane}. 

241 ''' 

242 _azimuth = _0_0 # bearing from North (C{degrees360}) 

243 _elevation = _0_0 # tilt, pitch from horizon (C{degrees}). 

244# _ltp = None # local tangent plane (C{Ltp}), origin 

245 _slantrange = _0_0 # distance (C{Meter}) 

246 _toStr = _aer_ 

247 

248 def __init__(self, azimuth_aer, elevation=0, slantrange=0, ltp=None, **name): 

249 '''New L{Aer}. 

250 

251 @arg azimuth_aer: Scalar azimuth, bearing from North (compass C{degrees}) 

252 or a previous I{local} instance (L{Aer}, L{Aer4Tuple}, 

253 L{Enu}, L{Enu4Tuple}, L{Local9Tuple}, L{Ned}, 

254 L{Ned4Tuple}, L{XyzLocal} or L{Xyz4Tuple}). 

255 @kwarg elevation: Scalar angle I{above} the horizon, I{above} B{C{ltp}} 

256 (C{degrees}, horizon is 0, zenith +90 and nadir -90), 

257 only used with scalar B{C{azimuth_aer}}. 

258 @kwarg slantrange: Scalar distance (C{meter}), only used with scalar 

259 B{C{azimuth_aer}}. 

260 @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

261 L{LocalCartesian}). 

262 @kwarg name: Optional C{B{name}=NN} (C{str}). 

263 

264 @raise TypeError: Invalid B{C{azimuth_aer}} or B{C{ltp}}. 

265 

266 @raise UnitError: Invalid B{C{azimuth_aer}}, B{C{elevation}} or 

267 or B{C{slantrange}}. 

268 ''' 

269 if _isDegrees(azimuth_aer): 

270 aer = None 

271 t = (Azimuth(azimuth_aer), 

272 Degrees_(elevation=elevation, low=_N_90_0, high=_90_0), 

273 Meter_(slantrange=slantrange), ltp) 

274 else: # PYCHOK no cover 

275 p = _xyzLocal(Aer, Aer4Tuple, Ned, azimuth_aer=azimuth_aer) 

276 aer = p.toAer() if p else azimuth_aer 

277 t = aer.aer4 

278 self._azimuth, self._elevation, self._slantrange, _ = t 

279 _init(self, aer, ltp, name) 

280 

281 @Property_RO 

282 def aer4(self): 

283 '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). 

284 ''' 

285 return Aer4Tuple(self.azimuth, self.elevation, self.slantrange, self.ltp, name=self.name) 

286 

287 @Property_RO 

288 def azimuth(self): 

289 '''Get the Azimuth, bearing from North (C{degrees360}). 

290 ''' 

291 return self._azimuth 

292 

293 @Property_RO 

294 def down(self): 

295 '''Get the Down component (C{meter}). 

296 ''' 

297 return self.xyzLocal.down 

298 

299 @Property_RO 

300 def east(self): 

301 '''Get the East component (C{meter}). 

302 ''' 

303 return self.xyzLocal.east 

304 

305 @Property_RO 

306 def elevation(self): 

307 '''Get the Elevation, tilt above horizon (C{degrees90}). 

308 ''' 

309 return self._elevation 

310 

311 @Property_RO 

312 def groundrange(self): 

313 '''Get the I{ground range}, distance (C{meter}). 

314 ''' 

315 return _er2gr(self._elevation, self._slantrange) 

316 

317 @Property_RO 

318 def north(self): 

319 '''Get the North component (C{meter}). 

320 ''' 

321 return self.xyzLocal.north 

322 

323 @Property_RO 

324 def slantrange(self): 

325 '''Get the I{slant Range}, distance (C{meter}). 

326 ''' 

327 return self._slantrange 

328 

329 def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected 

330 '''Return a string representation of this AER as azimuth 

331 (bearing), elevation and slant range. 

332 

333 @kwarg prec: Number of (decimal) digits, unstripped (C{int}). 

334 @kwarg fmt: Enclosing backets format (C{str}). 

335 @kwarg sep: Optional separator between AERs (C{str}). 

336 

337 @return: This AER as "[A:degrees360, E:degrees90, R:meter]" (C{str}). 

338 ''' 

339 m = _MODS.dms 

340 t = (m.toDMS(self.azimuth, form=m.F_D, prec=prec, ddd=0), 

341 m.toDMS(self.elevation, form=m.F_D, prec=prec, ddd=0), 

342 fstr( self.slantrange, prec=3 if prec is None else prec)) 

343 return _xzipairs(self._toStr.upper(), t, sep=sep, fmt=fmt) 

344 

345 def toStr(self, **prec_fmt_sep): # PYCHOK expected 

346 '''Return a string representation of this AER. 

347 

348 @kwarg prec_fmt_sep: Keyword arguments C{B{prec}=3} for the 

349 number of (decimal) digits, unstripped 

350 (C{int}), C{B{fmt}='[]'} the enclosing 

351 backets format (C{str}) and separator 

352 C{B{sep}=", "} to join (C{str}). 

353 

354 @return: This AER as "[degrees360, degrees90, meter]" (C{str}). 

355 ''' 

356 _, t = _toStr2(self, **prec_fmt_sep) 

357 return t 

358 

359 @Property_RO 

360 def up(self): 

361 '''Get the Up component (C{meter}). 

362 ''' 

363 return self.xyzLocal.up 

364 

365 @Property_RO 

366 def x(self): 

367 '''Get the X component (C{meter}). 

368 ''' 

369 return self.xyz4.x 

370 

371 @Property_RO 

372 def xyz4(self): 

373 '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

374 ''' 

375 sA, cA, sE, cE = sincos2d_(self._azimuth, self._elevation) 

376 R = self._slantrange 

377 r = cE * R # ground range 

378 return Xyz4Tuple(sA * r, cA * r, sE * R, self.ltp, name=self.name) 

379 

380 @Property_RO 

381 def y(self): 

382 '''Get the Y component (C{meter}). 

383 ''' 

384 return self.xyz4.y 

385 

386 @Property_RO 

387 def z(self): 

388 '''Get the Z component (C{meter}). 

389 ''' 

390 return self.xyz4.z 

391 

392 

393class Aer4Tuple(_Abc4Tuple): 

394 '''4-Tuple C{(azimuth, elevation, slantrange, ltp)}, 

395 all in C{meter} except C{ltp}. 

396 ''' 

397 _Names_ = (_azimuth_, _elevation_, _slantrange_, _ltp_) 

398 _Units_ = ( Meter, Meter, Meter, _Pass) 

399 

400 def _toAer(self, Cls, Cls_kwds): 

401 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

402 ''' 

403 return self._2Cls(Aer, Cls, Cls_kwds) 

404 

405 @Property_RO 

406 def groundrange(self): 

407 '''Get the I{ground range}, distance (C{meter}). 

408 ''' 

409 return _er2gr(self.elevation, self.slantrange) # PYCHOK _Tuple 

410 

411 @Property_RO 

412 def xyzLocal(self): 

413 '''Get this L{Aer4Tuple} as an L{XyzLocal}. 

414 ''' 

415 return Aer(self).xyzLocal 

416 

417 

418class Attitude4Tuple(_NamedTuple): 

419 '''4-Tuple C{(alt, tilt, yaw, roll)} with C{altitude} in (positive) 

420 C{meter} and C{tilt}, C{yaw} and C{roll} in C{degrees} representing 

421 the attitude of a plane or camera. 

422 ''' 

423 _Names_ = (_alt_, _tilt_, _yaw_, _roll_) 

424 _Units_ = ( Meter, Degrees, Bearing, Degrees) 

425 

426 @Property_RO 

427 def atyr(self): 

428 '''Return this attitude (L{Attitude4Tuple}). 

429 ''' 

430 return self 

431 

432 @Property_RO 

433 def tyr3d(self): 

434 '''Get this attitude's (3-D) directional vector (L{Vector3d}). 

435 ''' 

436 return _ltp.Attitude(self).tyr3d 

437 

438 

439class Ned(_AbcBase): 

440 '''Local C{North-Eeast-Down} (NED) location in a I{local tangent plane}. 

441 

442 @see: L{Enu} and L{Ltp}. 

443 ''' 

444 _down = _0_0 # down, -XyzLocal.z (C{meter}). 

445 _east = _0_0 # east, XyzLocal.y (C{meter}). 

446# _ltp = None # local tangent plane (C{Ltp}), origin 

447 _north = _0_0 # north, XyzLocal.x (C{meter}) 

448 _toStr = _ned_ 

449 

450 def __init__(self, north_ned, east=0, down=0, ltp=None, **name): 

451 '''New L{Ned} vector. 

452 

453 @arg north_ned: Scalar North component (C{meter}) or a previous 

454 I{local} instance (L{Ned}, L{Ned4Tuple}, L{Aer}, 

455 L{Aer4Tuple}, L{Enu}, L{Enu4Tuple}, L{Local9Tuple}, 

456 L{XyzLocal} or L{Xyz4Tuple}). 

457 @kwarg east: Scalar East component (C{meter}), only used with 

458 scalar B{C{north_ned}}. 

459 @kwarg down: Scalar Down component, normal to I{inside} surface 

460 of the ellipsoid or sphere (C{meter}), only used with 

461 scalar B{C{north_ned}}. 

462 @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

463 L{LocalCartesian}). 

464 @kwarg name: Optional C{B{name}=NN} (C{str}). 

465 

466 @raise TypeError: Invalid B{C{north_ned}} or B{C{ltp}}. 

467 

468 @raise UnitError: Invalid B{C{north_ned}}, B{C{east}} or B{C{down}}. 

469 ''' 

470 if _isMeter(north_ned): 

471 ned = None 

472 t = (Meter(north=north_ned or _0_0), 

473 Meter(east=east or _0_0), 

474 Meter(down=down or _0_0), ltp) 

475 else: # PYCHOK no cover 

476 p = _xyzLocal(Ned, Ned4Tuple, Aer, north_ned=north_ned) 

477 ned = p.toNed() if p else north_ned 

478 t = ned.ned4 

479 self._north, self._east, self._down, _ = t 

480 _init(self, ned, ltp, name) 

481 

482 @Property_RO 

483 def aer4(self): 

484 '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). 

485 ''' 

486 return _xyz2aer4(self) 

487 

488 @Property_RO 

489 def azimuth(self): 

490 '''Get the Azimuth, bearing from North (C{degrees360}). 

491 ''' 

492 return self.aer4.azimuth 

493 

494 @deprecated_Property_RO 

495 def bearing(self): 

496 '''DEPRECATED, use C{azimuth}.''' 

497 return self.azimuth 

498 

499 @Property_RO 

500 def down(self): 

501 '''Get the Down component (C{meter}). 

502 ''' 

503 return self._down 

504 

505 @Property_RO 

506 def east(self): 

507 '''Get the East component (C{meter}). 

508 ''' 

509 return self._east 

510 

511 @Property_RO 

512 def elevation(self): 

513 '''Get the Elevation, tilt above horizon (C{degrees90}). 

514 ''' 

515 return self.aer4.elevation # neg(degrees90(asin1(self.down / self.length)))) 

516 

517 @Property_RO 

518 def groundrange(self): 

519 '''Get the I{ground range}, distance (C{meter}). 

520 ''' 

521 return Meter(groundrange=hypot(self.north, self.east)) 

522 

523 @deprecated_Property_RO 

524 def length(self): 

525 '''DEPRECATED, use C{slantrange}.''' 

526 return self.slantrange 

527 

528 @deprecated_Property_RO 

529 def ned(self): 

530 '''DEPRECATED, use property C{ned4}.''' 

531 return _MODS.deprecated.classes.Ned3Tuple(self.north, self.east, self.down, name=self.name) 

532 

533 @Property_RO 

534 def ned4(self): 

535 '''Get the C{(north, east, down, ltp)} components (L{Ned4Tuple}). 

536 ''' 

537 return Ned4Tuple(self.north, self.east, self.down, self.ltp, name=self.name) 

538 

539 @Property_RO 

540 def north(self): 

541 '''Get the North component (C{meter}). 

542 ''' 

543 return self._north 

544 

545 @Property_RO 

546 def slantrange(self): 

547 '''Get the I{slant Range}, distance (C{meter}). 

548 ''' 

549 return self.aer4.slantrange 

550 

551 @deprecated_method 

552 def to3ned(self): # PYCHOK no cover 

553 '''DEPRECATED, use property L{ned4}.''' 

554 return self.ned # XXX deprecated too 

555 

556 def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected 

557 '''Return a string representation of this NED. 

558 

559 @kwarg prec: Number of (decimal) digits, unstripped (C{int}). 

560 @kwarg fmt: Enclosing backets format (C{str}). 

561 @kwarg sep: Separator to join (C{str}). 

562 

563 @return: This NED as "[N:meter, E:meter, D:meter]" (C{str}). 

564 ''' 

565 a, t = _toStr2(self, prec=prec, fmt=NN, sep=NN) 

566 return _xzipairs(a.upper(), t, sep=sep, fmt=fmt) 

567 

568 def toStr(self, **prec_fmt_sep): # PYCHOK expected 

569 '''Return a string representation of this NED. 

570 

571 @kwarg prec_fmt_sep: Keyword arguments C{B{prec}=3} for the 

572 number of (decimal) digits, unstripped 

573 (C{int}), C{B{fmt}='[]'} the enclosing 

574 backets format (C{str}) and separator 

575 C{B{sep}=", "} to join (C{str}). 

576 

577 @return: This NED as "[meter, meter, meter]" (C{str}). 

578 ''' 

579 _, t = _toStr2(self, **prec_fmt_sep) 

580 return t 

581 

582 @deprecated_method 

583 def toVector3d(self): 

584 '''DEPRECATED, use property L{xyz}.''' 

585 return self.xyz 

586 

587 @Property_RO 

588 def up(self): 

589 '''Get the Up component (C{meter}). 

590 ''' 

591 return Meter(up=-self._down) # negated 

592 

593 @Property_RO 

594 def x(self): 

595 '''Get the X component (C{meter}). 

596 ''' 

597 return Meter(x=self._east) # 2nd arg, E 

598 

599 @Property_RO 

600 def xyz4(self): 

601 '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

602 ''' 

603 return Xyz4Tuple(self.x, self.y, self.z, self.ltp, name=self.name) 

604 

605 @Property_RO 

606 def y(self): 

607 '''Get the Y component (C{meter}). 

608 ''' 

609 return Meter(y=self._north) # 1st arg N 

610 

611 @Property_RO 

612 def z(self): 

613 '''Get the Z component (C{meter}). 

614 ''' 

615 return Meter(z=-self._down) # negated 

616 

617 

618class Ned4Tuple(_Abc4Tuple): 

619 '''4-Tuple C{(north, east, down, ltp)}, all in C{meter} except C{ltp}. 

620 ''' 

621 _Names_ = (_north_, _east_, _down_, _ltp_) 

622 _Units_ = ( Meter, Meter, Meter, _Pass) 

623 

624 def _toNed(self, Cls, Cls_kwds): 

625 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

626 ''' 

627 return self._2Cls(Ned, Cls, Cls_kwds) 

628 

629 @Property_RO 

630 def xyzLocal(self): 

631 '''Get this L{Ned4Tuple} as an L{XyzLocal}. 

632 ''' 

633 return Ned(self).xyzLocal 

634 

635 

636class _Vector3d(Vector3d): 

637 

638 _toStr = _xyz_ 

639 

640 def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected 

641 '''Return a string representation of this ENU/NED/XYZ. 

642 

643 @kwarg prec: Number of (decimal) digits, unstripped (C{int}). 

644 @kwarg fmt: Enclosing backets format (C{str}). 

645 @kwarg sep: Separator to join (C{str}). 

646 

647 @return: This XYZ/ENU as "[E:meter, N:meter, U:meter]", 

648 "[N:meter, E:meter, D:meter]", 

649 "[U:meter, V:meter, W:meter]" respectively 

650 "[X:meter, Y:meter, Z:meter]" (C{str}). 

651 ''' 

652 a, t = _toStr2(self, prec=prec, fmt=NN, sep=NN) 

653 return _xzipairs(a.upper(), t, sep=sep, fmt=fmt) 

654 

655 def toStr(self, **prec_fmt_sep): # PYCHOK expected 

656 '''Return a string representation of this XYZ. 

657 

658 @kwarg prec_fmt_sep: Keyword arguments C{B{prec}=3} for the 

659 number of (decimal) digits, unstripped 

660 (C{int}), C{B{fmt}='[]'} the enclosing 

661 backets format (C{str}) and separator 

662 C{B{sep}=", "} to join (C{str}). 

663 

664 @return: This XYZ as "[meter, meter, meter]" (C{str}). 

665 ''' 

666 _, t = _toStr2(self, **prec_fmt_sep) 

667 return t 

668 

669 

670class XyzLocal(_Vector3d): 

671 '''Local C{(x, y, z)} in a I{local tangent plane} (LTP), 

672 also base class for local L{Enu}. 

673 ''' 

674 _ltp = None # local tangent plane (C{Ltp}), origin 

675 

676 def __init__(self, x_xyz, y=0, z=0, ltp=None, **name): 

677 '''New L{XyzLocal}. 

678 

679 @arg x_xyz: Scalar X component (C{meter}), C{positive east} or a 

680 previous I{local} instance (L{XyzLocal}, L{Xyz4Tuple}, 

681 L{Aer}, L{Aer4Tuple}, L{Enu}, L{Enu4Tuple}, 

682 L{Local9Tuple}, L{Ned} or L{Ned4Tuple}). 

683 @kwarg y: Scalar Y component (C{meter}), only used with scalar 

684 B{C{x_xyz}}, C{positive north}. 

685 @kwarg z: Scalar Z component, normal C{positive up} from the 

686 surface of the ellipsoid or sphere (C{meter}), only 

687 used with scalar B{C{x_xyz}}. 

688 @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

689 L{LocalCartesian}). 

690 @kwarg name: Optional C{B{name}=NN} (C{str}). 

691 

692 @raise TypeError: Invalid B{C{x_xyz}} or B{C{ltp}}. 

693 

694 @raise UnitError: Invalid scalar B{C{x_xyz}}, B{C{y}} or B{C{z}}. 

695 ''' 

696 if _isMeter(x_xyz): 

697 xyz = None 

698 t = (Meter(x=x_xyz or _0_0), 

699 Meter(y=y or _0_0), 

700 Meter(z=z or _0_0), ltp) 

701 else: 

702 xyz = _xyzLocal(XyzLocal, Xyz4Tuple, Local9Tuple, x_xyz=x_xyz) or x_xyz 

703 t = xyz.xyz4 # xyz.x, xyz.y, xyz.z, xyz.ltp 

704 self._x, self._y, self._z, _ = t 

705 _init(self, xyz, ltp, name) 

706 

707 def __str__(self): 

708 return self.toStr() 

709 

710 @Property_RO 

711 def aer4(self): 

712 '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). 

713 ''' 

714 return _xyz2aer4(self) 

715 

716 @Property_RO 

717 def azimuth(self): 

718 '''Get the Azimuth, bearing from North (C{degrees360}). 

719 

720 @see: U{Azimuth<https://GSSC.ESA.int/navipedia/index.php/ 

721 Transformations_between_ECEF_and_ENU_coordinates>}. 

722 ''' 

723 return self.aer4.azimuth 

724 

725 def classof(self, *args, **kwds): # PYCHOK no cover 

726 '''Create another instance of this very class. 

727 

728 @arg args: Optional, positional arguments. 

729 @kwarg kwds: Optional, keyword arguments. 

730 

731 @return: New instance (C{self.__class__}). 

732 ''' 

733 kwds = _name1__(kwds, _or_nameof=self) 

734 return self.__class__(*args, **_xkwds(kwds, ltp=self.ltp)) 

735 

736 @Property_RO 

737 def down(self): 

738 '''Get the Down component (C{meter}). 

739 ''' 

740 return Meter(down=-self.z) 

741 

742 @property_RO 

743 def ecef(self): 

744 '''Get this LTP's ECEF converter (C{Ecef...} I{instance}). 

745 ''' 

746 return self.ltp.ecef 

747 

748 @Property_RO 

749 def east(self): 

750 '''Get the East component (C{meter}). 

751 ''' 

752 return Meter(east=self.x) 

753 

754 @Property_RO 

755 def elevation(self): 

756 '''Get the Elevation, tilt above horizon (C{degrees90}). 

757 

758 @see: U{Elevation<https://GSSC.ESA.int/navipedia/index.php/ 

759 Transformations_between_ECEF_and_ENU_coordinates>}. 

760 ''' 

761 return self.aer4.elevation # neg(degrees90(asin1(self.down / self.length)))) 

762 

763 @Property_RO 

764 def enu4(self): 

765 '''Get the C{(east, north, up, ltp)} components (L{Enu4Tuple}). 

766 ''' 

767 return Enu4Tuple(self.east, self.north, self.up, self.ltp, name=self.name) 

768 

769 @Property_RO 

770 def groundrange(self): 

771 '''Get the I{ground range}, distance (C{meter}). 

772 ''' 

773 return Meter(groundrange=hypot(self.x, self.y)) 

774 

775 @Property_RO 

776 def ltp(self): 

777 '''Get the I{local tangent plane} (L{Ltp}). 

778 ''' 

779 return self._ltp 

780 

781 def _ltp_kwds_name3(self, ltp, kwds): 

782 '''(INTERNAL) Helper for methods C{toCartesian} and C{toLatLon}. 

783 ''' 

784 ltp = _ltp._xLtp(ltp, self.ltp) 

785 kwds = _name1__(kwds, _or_nameof=self) 

786 kwds = _name1__(kwds, _or_nameof=ltp) 

787 return ltp, kwds, kwds.get(_name_, NN) 

788 

789 @Property_RO 

790 def ned4(self): 

791 '''Get the C{(north, east, down, ltp)} components (L{Ned4Tuple}). 

792 ''' 

793 return Ned4Tuple(self.north, self.east, self.down, self.ltp, name=self.name) 

794 

795 @Property_RO 

796 def north(self): 

797 '''Get the North component (C{meter}). 

798 ''' 

799 return Meter(north=self.y) 

800 

801 @Property_RO 

802 def slantrange(self): 

803 '''Get the I{slant Range}, distance (C{meter}). 

804 ''' 

805 return self.aer4.slantrange 

806 

807 def toAer(self, Aer=None, **name_Aer_kwds): 

808 '''Get the local I{Azimuth, Elevation, slant Range} components. 

809 

810 @kwarg Aer: Class to return AER (L{Aer}) or C{None}. 

811 @kwarg name_Aer_kwds: Optional C{B{name}=NN} (C{str}) and 

812 optional, additional B{C{Aer}} keyword arguments, 

813 ignored if C{B{Aer} is None}. 

814 

815 @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an 

816 L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. 

817 

818 @raise TypeError: Invalid B{C{Aer}} or B{C{name_Aer_kwds}}. 

819 ''' 

820 return self.aer4._toAer(Aer, name_Aer_kwds) 

821 

822 def toCartesian(self, Cartesian=None, ltp=None, **name_Cartesian_kwds): 

823 '''Get the geocentric C{(x, y, z)} (ECEF) coordinates of this local. 

824 

825 @kwarg Cartesian: Optional class to return C{(x, y, z)} (C{Cartesian}) 

826 or C{None}. 

827 @kwarg ltp: Optional I{local tangent plane} (LTP) (L{Ltp}), overriding 

828 this C{ltp}. 

829 @kwarg name_Cartesian_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

830 additional B{C{Cartesian}} keyword arguments, ignored if 

831 C{B{Cartesian} is None}. 

832 

833 @return: A B{C{Cartesian}} instance of if C{B{Cartesian} is None}, an 

834 L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with 

835 C{M=None}, always. 

836 

837 @raise TypeError: Invalid B{C{ltp}}, B{C{Cartesian}} or B{C{name_Cartesian_kwds}}. 

838 ''' 

839 ltp, kwds, n = self._ltp_kwds_name3(ltp, name_Cartesian_kwds) 

840 if Cartesian is None: 

841 t = ltp._local2ecef(self, nine=True) 

842 r = _xnamed(t, n) if n else t 

843 else: 

844 kwds = _xkwds(kwds, datum=ltp.datum) 

845 xyz = ltp._local2ecef(self) # [:3] 

846 r = Cartesian(*xyz, **kwds) 

847 return r 

848 

849 def toEnu(self, Enu=None, **name_Enu_kwds): 

850 '''Get the local I{East, North, Up} (ENU) components. 

851 

852 @kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

853 @kwarg name_Enu_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

854 additional B{C{Enu}} keyword arguments, ignored if 

855 C{B{Enu} is None}. 

856 

857 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an 

858 L{Enu4Tuple}C{(east, north, up, ltp)}. 

859 

860 @raise TypeError: Invalid B{C{Enu}} or B{C{name_Enu_kwds}}. 

861 ''' 

862 return self.enu4._toEnu(Enu, name_Enu_kwds) 

863 

864 def toLatLon(self, LatLon=None, ltp=None, **name_LatLon_kwds): 

865 '''Get the geodetic C{(lat, lon, height)} coordinates if this local. 

866 

867 @kwarg LatLon: Optional class to return C{(x, y, z)} (C{LatLon}) or 

868 C{None}. 

869 @kwarg ltp: Optional I{local tangent plane} (LTP) (L{Ltp}), overriding 

870 this ENU/NED/AER/XYZ's LTP. 

871 @kwarg name_LatLon_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

872 additional B{C{LatLon}} keyword arguments, ignored if 

873 C{B{LatLon} is None}. 

874 

875 @return: An B{C{LatLon}} instance of if C{B{LatLon} is None}, an 

876 L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with 

877 C{M=None}, always. 

878 

879 @raise TypeError: Invalid B{C{LatLon}}, B{C{ltp}} or B{C{name_LatLon_kwds}}. 

880 ''' 

881 ltp, kwds, n = self._ltp_kwds_name3(ltp, name_LatLon_kwds) 

882 t = ltp._local2ecef(self, nine=True) 

883 if LatLon is None: 

884 r = _xnamed(t, n) if n else t 

885 else: 

886 kwds = _xkwds(kwds, height=t.height, datum=t.datum) 

887 r = LatLon(t.lat, t.lon, **kwds) # XXX ltp? 

888 return r 

889 

890 def toLocal9Tuple(self, M=False, **name): 

891 '''Get this local as a C{Local9Tuple}. 

892 

893 @kwarg M: Optionally include the rotation matrix (C{bool}). 

894 @kwarg name: Optional C{B{name}=NN} (C{str}). 

895 

896 @return: L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} 

897 with C{ltp} this C{Ltp}, C{ecef} an L{Ecef9Tuple} and C{M} 

898 an L{EcefMatrix} or C{None}. 

899 ''' 

900 ltp = self.ltp # see C{self.toLatLon} 

901 t = ltp._local2ecef(self, nine=True, M=M) 

902 return Local9Tuple(self.x, self.y, self.z, 

903 t.lat, t.lon, t.height, 

904 ltp, t, t.M, name=t._name__(name)) 

905 

906 def toNed(self, Ned=None, **name_Ned_kwds): 

907 '''Get the local I{North, East, Down} (Ned) components. 

908 

909 @kwarg Ned: Class to return NED (L{Ned}) or C{None}. 

910 @kwarg name_Ned_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

911 additional B{C{Ned}} keyword arguments, ignored if 

912 C{B{Ned} is None}. 

913 

914 @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an 

915 L{Ned4Tuple}C{(north, east, down, ltp)}. 

916 

917 @raise TypeError: Invalid B{C{Ned}} or B{C{name_Ned_kwds}}. 

918 ''' 

919 return self.ned4._toNed(Ned, name_Ned_kwds) 

920 

921 def toXyz(self, Xyz=None, **name_Xyz_kwds): 

922 '''Get the local I{X, Y, Z} (XYZ) components. 

923 

924 @kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}) 

925 or C{None}. 

926 @kwarg name_Xyz_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

927 additional B{C{Xyz}} keyword arguments, ignored if 

928 C{B{Xyz} is None}. 

929 

930 @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, an 

931 L{Xyz4Tuple}C{(x, y, z, ltp)}. 

932 

933 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_EXyz_kwds}}. 

934 ''' 

935 return self.xyz4._toXyz(Xyz, name_Xyz_kwds) 

936 

937 @Property_RO 

938 def up(self): 

939 '''Get the Up component (C{meter}). 

940 ''' 

941 return Meter(up=self.z) 

942 

943# @Property_RO 

944# def x(self): # see: Vector3d.x 

945# '''Get the X component (C{meter}). 

946# ''' 

947# return self._x 

948 

949# @Property_RO 

950# def xyz(self): # see: Vector3d.xyz 

951# '''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). 

952# ''' 

953# return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz 

954 

955 @Property_RO 

956 def xyz4(self): 

957 '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

958 ''' 

959 return Xyz4Tuple(self.x, self.y, self.z, self.ltp, name=self.name) 

960 

961 @Property_RO 

962 def xyzLocal(self): 

963 '''Get this L{XyzLocal}. 

964 ''' 

965 return self 

966 

967# @Property_RO 

968# def y(self): # see: Vector3d.y 

969# '''Get the Y component (C{meter}). 

970# ''' 

971# return self._y 

972 

973# @Property_RO 

974# def z(self): # see: Vector3d.z 

975# '''Get the Z component (C{meter}). 

976# ''' 

977# return self._z 

978 

979 

980class Xyz4Tuple(_Abc4Tuple): 

981 '''4-Tuple C{(x, y, z, ltp)}, all in C{meter} except C{ltp}. 

982 ''' 

983 _Names_ = (_x_, _y_, _z_, _ltp_) 

984 _Units_ = ( Meter, Meter, Meter, _Pass) 

985 

986 def _toXyz(self, Cls, Cls_kwds): 

987 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

988 ''' 

989 return self._2Cls(XyzLocal, Cls, Cls_kwds) 

990 

991 @property_RO 

992 def xyz4(self): 

993 '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

994 ''' 

995 return self 

996 

997 @Property_RO 

998 def xyzLocal(self): 

999 '''Get this L{Xyz4Tuple} as an L{XyzLocal}. 

1000 ''' 

1001 return XyzLocal(*self, name=self.name) 

1002 

1003 

1004class Enu(XyzLocal): 

1005 '''Local C{Eeast-North-Up} (ENU) location in a I{local tangent plane}. 

1006 

1007 @see: U{East, North, Up (ENU)<https://GSSC.ESA.int/navipedia/index.php/ 

1008 Transformations_between_ECEF_and_ENU_coordinates>} coordinates. 

1009 ''' 

1010 _toStr = _enu_ 

1011 

1012 def __init__(self, east_enu, north=0, up=0, ltp=None, **name): 

1013 '''New L{Enu}. 

1014 

1015 @arg east_enu: Scalar East component (C{meter}) or a previous 

1016 I{local} instance (L{Enu}, L{Enu4Tuple}, L{Aer}, 

1017 L{Aer4Tuple}, L{Local9Tuple}, L{Ned}, L{Ned4Tuple}, 

1018 L{XyzLocal} or L{Xyz4Tuple}). 

1019 @kwarg north: Scalar North component (C{meter}) only used with 

1020 scalar B{C{east_enu}}. 

1021 @kwarg up: Scalar Up component only used with scalar B{C{east_enu}}, 

1022 normal from the surface of the ellipsoid or sphere (C{meter}). 

1023 @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

1024 L{LocalCartesian}). 

1025 @kwarg name: Optional C{B{name}=NN} (C{str}). 

1026 

1027 @raise TypeError: Invalid B{C{east_enu}} or B{C{ltp}}. 

1028 

1029 @raise UnitError: Invalid B{C{east_enu}}, B{C{north}} or B{C{up}}. 

1030 ''' 

1031 XyzLocal.__init__(self, east_enu, north, up, ltp=ltp, **name) 

1032 

1033 def toUvw(self, location, Uvw=None, **name_Uvw_kwds): 

1034 '''Get the I{u, v, w} (UVW) components at a location. 

1035 

1036 @arg location: The geodetic (C{LatLon}) or geocentric (C{Cartesian}, 

1037 L{Vector3d}) location, like a Point-Of-View. 

1038 @kwarg Uvw: Class to return UWV (L{Uvw}) or C{None}. 

1039 @kwarg name_Uvw_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1040 additional B{L{Uvw}} keyword arguments, ignored if 

1041 C{B{Uvw} is None}. 

1042 

1043 @return: UVW as a L{Uvw} instance or if C{B{Uvw} is None}, a 

1044 L{Uvw3Tuple}C{(u, v, w)}. 

1045 

1046 @raise TypeError: Invalid B{C{location}} or B{C{name_Uvw_kwds}}. 

1047 

1048 @see: Function U{lookAtSpheroid<https://PyPI.org/project/pymap3d>}. 

1049 ''' 

1050 try: 

1051 sa, ca, sb, cb = sincos2_(*location.philam) 

1052 except Exception as x: 

1053 raise _TypeError(location=location, cause=x) 

1054 e, n, u, _ = self.enu4 

1055 

1056 t = ca * u - sa * n 

1057 U = cb * t - sb * e 

1058 V = cb * e + sb * t 

1059 W = ca * n + sa * u 

1060 

1061 n, kwds = _name2__(name_Uvw_kwds, _or_nameof=self) 

1062 return Uvw3Tuple(U, V, W, name=n) if Uvw is None else \ 

1063 Uvw(U, V, W, name=n, **kwds) 

1064 

1065 @Property_RO 

1066 def xyzLocal(self): 

1067 '''Get this ENU as an L{XyzLocal}. 

1068 ''' 

1069 return XyzLocal(*self.xyz4, name=self.name) 

1070 

1071 

1072class Enu4Tuple(_Abc4Tuple): 

1073 '''4-Tuple C{(east, north, up, ltp)}, in C{meter} except C{ltp}. 

1074 ''' 

1075 _Names_ = (_east_, _north_, _up_, _ltp_) 

1076 _Units_ = ( Meter, Meter, Meter, _Pass) 

1077 

1078 def _toEnu(self, Cls, Cls_kwds): 

1079 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

1080 ''' 

1081 return self._2Cls(Enu, Cls, Cls_kwds) 

1082 

1083 @Property_RO 

1084 def xyzLocal(self): 

1085 '''Get this L{Enu4Tuple} as an L{XyzLocal}. 

1086 ''' 

1087 return XyzLocal(*self, name=self.name) 

1088 

1089 

1090class Local9Tuple(_NamedTuple): 

1091 '''9-Tuple C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, 

1092 C{y}, C{z} all in C{meter}, I{geodetic} C{lat}, C{lon}, C{height}, I{local 

1093 tangent plane} C{ltp} (L{Ltp}), C{ecef} (L{Ecef9Tuple}) with I{geocentric} 

1094 C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height} and I{concatenated} 

1095 rotation matrix C{M} (L{EcefMatrix}) or C{None}. 

1096 ''' 

1097 _Names_ = (_x_, _y_, _z_, _lat_, _lon_, _height_, _ltp_, _ecef_, _M_) 

1098 _Units_ = ( Meter, Meter, Meter, Lat, Lon, Height, _Pass, _Pass, _Pass) 

1099 

1100 @Property_RO 

1101 def azimuth(self): 

1102 '''Get the I{local} Azimuth, bearing from North (C{degrees360}). 

1103 ''' 

1104 return self.xyzLocal.aer4.azimuth 

1105 

1106 @Property_RO 

1107 def down(self): 

1108 '''Get the I{local} Down, C{-z} component (C{meter}). 

1109 ''' 

1110 return -self.z 

1111 

1112 @Property_RO 

1113 def east(self): 

1114 '''Get the I{local} East, C{x} component (C{meter}). 

1115 ''' 

1116 return self.x 

1117 

1118 @Property_RO 

1119 def elevation(self): 

1120 '''Get the I{local} Elevation, tilt I{above} horizon (C{degrees90}). 

1121 ''' 

1122 return self.xyzLocal.aer4.elevation 

1123 

1124 @Property_RO 

1125 def groundrange(self): 

1126 '''Get the I{local} ground range, distance (C{meter}). 

1127 ''' 

1128 return self.xyzLocal.aer4.groundrange 

1129 

1130 @Property_RO 

1131 def lam(self): 

1132 '''Get the I{geodetic} longitude in C{radians} (C{float}). 

1133 ''' 

1134 return self.philam.lam 

1135 

1136 @Property_RO 

1137 def latlon(self): 

1138 '''Get the I{geodetic} lat-, longitude in C{degrees} (L{LatLon2Tuple}C{(lat, lon)}). 

1139 ''' 

1140 return LatLon2Tuple(self.lat, self.lon, name=self.name) 

1141 

1142 @Property_RO 

1143 def latlonheight(self): 

1144 '''Get the I{geodetic} lat-, longitude in C{degrees} and height (L{LatLon3Tuple}C{(lat, lon, height)}). 

1145 ''' 

1146 return self.latlon.to3Tuple(self.height) 

1147 

1148 @Property_RO 

1149 def north(self): 

1150 '''Get the I{local} North, C{y} component (C{meter}). 

1151 ''' 

1152 return self.y 

1153 

1154 @Property_RO 

1155 def phi(self): 

1156 '''Get the I{geodetic} latitude in C{radians} (C{float}). 

1157 ''' 

1158 return self.philam.phi 

1159 

1160 @Property_RO 

1161 def philam(self): 

1162 '''Get the I{geodetic} lat-, longitude in C{radians} (L{PhiLam2Tuple}C{(phi, lam)}). 

1163 ''' 

1164 return PhiLam2Tuple(radians(self.lat), radians(self.lon), name=self.name) 

1165 

1166 @Property_RO 

1167 def philamheight(self): 

1168 '''Get the I{geodetic} lat-, longitude in C{radians} and height (L{PhiLam3Tuple}C{(phi, lam, height)}). 

1169 ''' 

1170 return self.philam.to3Tuple(self.height) 

1171 

1172 @Property_RO 

1173 def slantrange(self): 

1174 '''Get the I{local} slant Range, distance (C{meter}). 

1175 ''' 

1176 return self.xyzLocal.aer4.slantrange 

1177 

1178 def toAer(self, Aer=None, **name_Aer_kwds): 

1179 '''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components. 

1180 

1181 @kwarg Aer: Class to return AER (L{Aer}) or C{None}. 

1182 @kwarg name_Aer_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1183 additional B{L{Aer}} keyword arguments, ignored if 

1184 C{B{Aer} is None}. 

1185 

1186 @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an 

1187 L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. 

1188 

1189 @raise TypeError: Invalid B{C{Aer}} or B{C{name_Aer_kwds}}. 

1190 ''' 

1191 return self.xyzLocal.toAer(Aer=Aer, **name_Aer_kwds) 

1192 

1193 def toCartesian(self, Cartesian=None, **name_Cartesian_kwds): 

1194 '''Convert this I{local} to I{geocentric} C{(x, y, z)} (ECEF). 

1195 

1196 @kwarg Cartesian: Optional class to return C{(x, y, z)} (C{Cartesian}) 

1197 or C{None}. 

1198 @kwarg name_Cartesian_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1199 additional B{C{Cartesian}} keyword arguments, ignored if 

1200 C{B{Cartesian} is None}. 

1201 

1202 @return: A C{B{Cartesian}(x, y, z, **B{Cartesian_kwds})} instance or 

1203 if C{B{Cartesian} is None}, a L{Vector4Tuple}C{(x, y, z, h)} . 

1204 

1205 @raise TypeError: Invalid B{C{Cartesian}} or B{C{name_Cartesian_kwds}}. 

1206 ''' 

1207 return self.ecef.toCartesian(Cartesian=Cartesian, **name_Cartesian_kwds) # PYCHOK _Tuple 

1208 

1209 def toEnu(self, Enu=None, **name_Enu_kwds): 

1210 '''Get the I{local} I{East, North, Up} (ENU) components. 

1211 

1212 @kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

1213 @kwarg name_Enu_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1214 additional B{L{Enu}} keyword arguments, ignored if 

1215 C{B{Enu} is None}. 

1216 

1217 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an 

1218 L{Enu4Tuple}C{(east, north, up, ltp)}. 

1219 

1220 @raise TypeError: Invalid B{C{Enu}} or B{C{name_Enu_kwds}}. 

1221 ''' 

1222 return self.xyzLocal.toEnu(Enu=Enu, **name_Enu_kwds) 

1223 

1224 def toLatLon(self, LatLon=None, **name_LatLon_kwds): 

1225 '''Convert this I{local} to I{geodetic} C{(lat, lon, height)}. 

1226 

1227 @kwarg LatLon: Optional class to return C{(lat, lon, height)} 

1228 (C{LatLon}) or C{None}. 

1229 @kwarg name_LatLon_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1230 additional B{C{LatLon}} keyword arguments, ignored if 

1231 C{B{LatLon} is None}. 

1232 

1233 @return: An instance of C{B{LatLon}(lat, lon, **B{LatLon_kwds})} 

1234 or if C{B{LatLon} is None}, a L{LatLon3Tuple}C{(lat, lon, 

1235 height)} respectively L{LatLon4Tuple}C{(lat, lon, height, 

1236 datum)} depending on whether C{datum} is un-/specified. 

1237 

1238 @raise TypeError: Invalid B{C{LatLon}} or B{C{name_LatLon_kwds}}. 

1239 ''' 

1240 return self.ecef.toLatLon(LatLon=LatLon, **name_LatLon_kwds) # PYCHOK _Tuple 

1241 

1242 def toNed(self, Ned=None, **name_Ned_kwds): 

1243 '''Get the I{local} I{North, East, Down} (NED) components. 

1244 

1245 @kwarg Ned: Class to return NED (L{Ned}) or C{None}. 

1246 @kwarg name_Ned_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1247 additional B{L{Ned}} keyword arguments, ignored if 

1248 C{B{Ned} is None}. 

1249 

1250 @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an 

1251 L{Ned4Tuple}C{(north, east, down, ltp)}. 

1252 

1253 @raise TypeError: Invalid B{C{Ned}} or B{C{name_Ned_kwds}}. 

1254 ''' 

1255 return self.xyzLocal.toNed(Ned=Ned, **name_Ned_kwds) 

1256 

1257 def toXyz(self, Xyz=None, **name_Xyz_kwds): 

1258 '''Get the I{local} I{X, Y, Z} (XYZ) components. 

1259 

1260 @kwarg Xyz: Class to return XYZ (L{XyzLocal}) or C{None}. 

1261 @kwarg name_Xyz_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1262 additional B{C{Xyz}} keyword arguments, ignored if 

1263 C{B{Xyz} is None}. 

1264 

1265 @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, 

1266 an L{Xyz4Tuple}C{(x, y, z, ltp)}. 

1267 

1268 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_Xyz_kwds}}. 

1269 ''' 

1270 return self.xyzLocal.toXyz(Xyz=Xyz, **name_Xyz_kwds) 

1271 

1272 @Property_RO 

1273 def up(self): 

1274 '''Get the I{local} Up, C{z} component (C{meter}). 

1275 ''' 

1276 return self.z 

1277 

1278 @Property_RO 

1279 def xyz(self): 

1280 '''Get the I{local} C{(X, Y, Z)} components (L{Vector3Tuple}C{(x, y, z)}). 

1281 ''' 

1282 return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz 

1283 

1284 @Property_RO 

1285 def xyzLocal(self): 

1286 '''Get this L{Local9Tuple} as an L{XyzLocal}. 

1287 ''' 

1288 return XyzLocal(*self.xyz, ltp=self.ltp, name=self.name) # PYCHOK .ltp 

1289 

1290 

1291_XyzLocals4 = XyzLocal, Enu, Ned, Aer # PYCHOK in .ltp 

1292_XyzLocals5 = _XyzLocals4 + (Local9Tuple,) # PYCHOK in .ltp 

1293 

1294 

1295class Uvw(_Vector3d): 

1296 '''3-D C{u-v-w} (UVW) components. 

1297 ''' 

1298 _toStr = _uvw_ 

1299 

1300 def __init__(self, u_uvw, v=0, w=0, **name): 

1301 '''New L{Uvw}. 

1302 

1303 @arg u_uvw: Scalar U component (C{meter}) or a previous instance 

1304 (L{Uvw}, L{Uvw3Tuple}, L{Vector3d}). 

1305 @kwarg v: V component (C{meter}) only used with scalar B{C{u_uvw}}. 

1306 @kwarg w: W component (C{meter}) only used with scalar B{C{u_uvw}}. 

1307 @kwarg name: Optional C{B{name}=NN} (C{str}). 

1308 

1309 @raise TypeError: Invalid B{C{east_enu}}. 

1310 

1311 @raise UnitError: Invalid B{C{east_enu}}, B{C{v}} or B{C{w}}. 

1312 ''' 

1313 Vector3d.__init__(self, u_uvw, v, w, **name) 

1314 

1315 def toEnu(self, location, Enu=Enu, **name_Enu_kwds): 

1316 '''Get the I{East, North, Up} (ENU) components at a location. 

1317 

1318 @arg location: The geodetic (C{LatLon}) or geocentric (C{Cartesian}, 

1319 L{Vector3d}) location from where to cast the L{Los}. 

1320 @kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

1321 @kwarg name_Enu_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1322 additional B{L{Enu}} keyword arguments, ignored if 

1323 C{B{Enu} is None}. 

1324 

1325 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an 

1326 L{Enu4Tuple}C{(east, north, up, ltp)} with C{ltp=None}. 

1327 

1328 @raise TypeError: Invalid B{C{location}} or B{C{name_Enu_kwds}}. 

1329 

1330 @see: Function U{lookAtSpheroid<https://PyPI.org/project/pymap3d>}. 

1331 ''' 

1332 try: 

1333 sa, ca, sb, cb = sincos2_(*location.philam) 

1334 except Exception as x: 

1335 raise _TypeError(location=location, cause=x) 

1336 u, v, w = self.uvw 

1337 

1338 t = cb * u + sb * v 

1339 E = cb * v - sb * u 

1340 N = ca * w - sa * t 

1341 U = ca * t + sa * w 

1342 

1343 n, kwds = _name2__(name_Enu_kwds, _or_nameof=self) 

1344 return Enu4Tuple(E, N, U, name=n) if Enu is None else \ 

1345 Enu(E, N, U, name=n, **kwds) 

1346 

1347 u = Vector3d.x 

1348 

1349 @Property_RO 

1350 def uvw(self): 

1351 '''Get the C{(U, V, W)} components (L{Uvw3Tuple}C{(u, v, w)}). 

1352 ''' 

1353 return Uvw3Tuple(self.u, self.v, self.w, name=self.name) 

1354 

1355 v = Vector3d.y 

1356 w = Vector3d.z 

1357 

1358 

1359class Uvw3Tuple(_NamedTuple): 

1360 '''3-Tuple C{(u, v, w)}, in C{meter}. 

1361 ''' 

1362 _Names_ = ('u', 'v', 'w') 

1363 _Units_ = ( Meter, Meter, Meter) 

1364 

1365 

1366class Los(Aer): 

1367 '''A Line-Of-Sight (LOS) from a C{LatLon} or C{Cartesian} location. 

1368 ''' 

1369 

1370 def __init__(self, azimuth_aer, elevation=0, **name): 

1371 '''New L{Los}. 

1372 

1373 @arg azimuth_aer: Scalar azimuth, bearing from North (compass C{degrees}) 

1374 or a previous instance (L{Aer}, L{Aer4Tuple}, L{Enu}, 

1375 L{Enu4Tuple} or L{Los}). 

1376 @kwarg elevation: Scalar angle I{above} the horizon (C{degrees}, horizon 

1377 is 0, zenith +90, nadir -90), only used with scalar 

1378 B{C{azimuth_aer}}. 

1379 @kwarg name: Optional C{B{name}=NN} (C{str}). 

1380 

1381 @raise TypeError: Invalid B{C{azimuth_aer}}. 

1382 

1383 @raise UnitError: Invalid B{C{azimuth_aer}} or B{C{elevation}}. 

1384 ''' 

1385 t = Aer(azimuth_aer, elevation) 

1386 Aer.__init__(self, t.azimuth, t.elevation, slantrange=_1_0, **name) 

1387 

1388 def toUvw(self, location, Uvw=Uvw, **name_Uvw_kwds): 

1389 '''Get this LOS' I{target} (UVW) components from a location. 

1390 

1391 @arg location: The geodetic (C{LatLon}) or geocentric (C{Cartesian}, 

1392 L{Vector3d}) location from where to cast this LOS. 

1393 

1394 @see: Method L{Enu.toUvw} for further details. 

1395 ''' 

1396 return self.toEnu().toUvw(location, Uvw=Uvw, **name_Uvw_kwds) 

1397 

1398 def toEnu(self, Enu=Enu, **name_Enu_kwds): 

1399 '''Get this LOS as I{East, North, Up} (ENU) components. 

1400 

1401 @see: Method L{Aer.toEnu} for further details. 

1402 ''' 

1403 return Aer.toEnu(self, Enu=Enu, **name_Enu_kwds) 

1404 

1405 

1406class ChLV9Tuple(Local9Tuple): 

1407 '''9-Tuple C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with I{B{unfalsed} Swiss 

1408 (Y, X, h_)} coordinates and height, all in C{meter}, C{ltp} either a L{ChLV}, 

1409 L{ChLVa} or L{ChLVe} instance and C{ecef} (L{EcefKarney} I{at Bern, Ch}), 

1410 otherwise like L{Local9Tuple}. 

1411 ''' 

1412 _Names_ = (_Y_, _X_, _h__) + Local9Tuple._Names_[3:] 

1413 

1414 @Property_RO 

1415 def E_LV95(self): 

1416 '''Get the B{falsed} I{Swiss E_LV95} easting (C{meter}). 

1417 ''' 

1418 return self.EN2_LV95.E_LV95 

1419 

1420 @Property_RO 

1421 def EN2_LV95(self): 

1422 '''Get the I{falsed Swiss (E_LV95, N_LV95)} easting and northing (L{ChLVEN2Tuple}). 

1423 ''' 

1424 return ChLVEN2Tuple(*_ltp.ChLV.false2(self.Y, self.X, True), name=self.name) 

1425 

1426 @Property_RO 

1427 def h_LV03(self): 

1428 '''Get the I{Swiss h_} height (C{meter}). 

1429 ''' 

1430 return self.h_ 

1431 

1432 @Property_RO 

1433 def h_LV95(self): 

1434 '''Get the I{Swiss h_} height (C{meter}). 

1435 ''' 

1436 return self.h_ 

1437 

1438 @property_RO 

1439 def isChLV(self): 

1440 '''Is this a L{ChLV}-generated L{ChLV9Tuple}?. 

1441 ''' 

1442 return self.ltp.__class__ is _ltp.ChLV 

1443 

1444 @property_RO 

1445 def isChLVa(self): 

1446 '''Is this a L{ChLVa}-generated L{ChLV9Tuple}?. 

1447 ''' 

1448 return self.ltp.__class__ is _ltp.ChLVa 

1449 

1450 @property_RO 

1451 def isChLVe(self): 

1452 '''Is this a L{ChLVe}-generated L{ChLV9Tuple}?. 

1453 ''' 

1454 return self.ltp.__class__ is _ltp.ChLVe 

1455 

1456 @Property_RO 

1457 def N_LV95(self): 

1458 '''Get the B{falsed} I{Swiss N_LV95} northing (C{meter}). 

1459 ''' 

1460 return self.EN2_LV95.N_LV95 

1461 

1462 @Property_RO 

1463 def x(self): 

1464 '''Get the I{local x, Swiss Y} easting (C{meter}). 

1465 ''' 

1466 return self.Y 

1467 

1468 @Property_RO 

1469 def x_LV03(self): 

1470 '''Get the B{falsed} I{Swiss x_LV03} northing (C{meter}). 

1471 ''' 

1472 return self.yx2_LV03.x_LV03 

1473 

1474 @Property_RO 

1475 def y(self): 

1476 '''Get the I{local y, Swiss X} northing (C{meter}). 

1477 ''' 

1478 return self.X 

1479 

1480 @Property_RO 

1481 def y_LV03(self): 

1482 '''Get the B{falsed} I{Swisss y_LV03} easting (C{meter}). 

1483 ''' 

1484 return self.yx2_LV03.y_LV03 

1485 

1486 @Property_RO 

1487 def YX(self): 

1488 '''Get the B{unfalsed} easting and northing (L{ChLVYX2Tuple}). 

1489 ''' 

1490 return ChLVYX2Tuple(self.Y, self.X, name=self.name) 

1491 

1492 @Property_RO 

1493 def yx2_LV03(self): 

1494 '''Get the B{falsed} I{Swiss (y_LV03, x_LV03)} easting and northing (L{ChLVyx2Tuple}). 

1495 ''' 

1496 return ChLVyx2Tuple(*_ltp.ChLV.false2(self.Y, self.X, False), name=self.name) 

1497 

1498 @Property_RO 

1499 def z(self): 

1500 '''Get the I{local z, Swiss h_} height (C{meter}). 

1501 ''' 

1502 return self.h_ 

1503 

1504 

1505class ChLVYX2Tuple(_NamedTuple): 

1506 '''2-Tuple C{(Y, X)} with B{unfalsed} I{Swiss LV95} easting and norting 

1507 in C{meter}. 

1508 ''' 

1509 _Names_ = (_Y_, _X_) 

1510 _Units_ = ( Meter, Meter) 

1511 

1512 def false2(self, LV95=True): 

1513 '''Return the falsed C{Swiss LV95} or C{LV03} version of the projection. 

1514 

1515 @see: Function L{ChLV.false2} for more information. 

1516 ''' 

1517 return _ltp.ChLV.false2(*self, LV95=LV95, name=self.name) 

1518 

1519 

1520class ChLVEN2Tuple(_NamedTuple): 

1521 '''2-Tuple C{(E_LV95, N_LV95)} with B{falsed} I{Swiss LV95} easting and 

1522 norting in C{meter (2_600_000, 1_200_000)} and origin at C{Bern, Ch}. 

1523 ''' 

1524 _Names_ = ('E_LV95', 'N_LV95') 

1525 _Units_ = ChLVYX2Tuple._Units_ 

1526 

1527 def unfalse2(self): 

1528 '''Return this projection as an B{unfalsed} L{ChLVYX2Tuple}. 

1529 

1530 @see: Function L{ChLV.unfalse2} for more information. 

1531 ''' 

1532 return _ltp.ChLV.unfalse2(*self, LV95=True, name=self.name) 

1533 

1534 

1535class ChLVyx2Tuple(_NamedTuple): 

1536 '''2-Tuple C{(y_LV03, x_LV03)} with B{falsed} I{Swiss LV03} easting and 

1537 norting in C{meter (600_000, 200_000)} and origin at C{Bern, Ch}. 

1538 ''' 

1539 _Names_ = ('y_LV03', 'x_LV03') 

1540 _Units_ = ChLVYX2Tuple._Units_ 

1541 

1542 def unfalse2(self): 

1543 '''Return this projection as an B{unfalsed} L{ChLVYX2Tuple}. 

1544 

1545 @see: Function L{ChLV.unfalse2} for more information. 

1546 ''' 

1547 return _ltp.ChLV.unfalse2(*self, LV95=False, name=self.name) 

1548 

1549 

1550class Footprint5Tuple(_NamedTuple): 

1551 '''5-Tuple C{(center, upperleft, upperight, loweright, lowerleft)} 

1552 with the C{center} and 4 corners of the I{local} projection of 

1553 a C{Frustum}, each an L{Xyz4Tuple}, L{XyzLocal}, C{LatLon}, etc. 

1554 

1555 @note: Misspelling of C{upperight} and C{loweright} is I{intentional}. 

1556 ''' 

1557 _Names_ = (_center_, 'upperleft', 'upperight', 'loweright', 'lowerleft') 

1558 _Units_ = (_Pass, _Pass, _Pass, _Pass, _Pass) 

1559 

1560 def toLatLon5(self, ltp=None, LatLon=None, **name_LatLon_kwds): 

1561 '''Convert this footprint's C{center} and 4 corners to I{geodetic} 

1562 C{LatLon(lat, lon, height)}s or C{LatLon3-} or C{-4Tuple}s. 

1563 

1564 @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding this 

1565 footprint's C{center} or C{frustrum} C{ltp}. 

1566 @kwarg LatLon: Optional I{geodetic} class (C{LatLon}) or C{None}. 

1567 @kwarg name_LatLon_kwds: Optional C{B{name}=NN} (C{str}) and optional, 

1568 additional B{C{LatLon}} keyword arguments, ignored if 

1569 C{B{LatLon} is None}. 

1570 

1571 @return: A L{Footprint5Tuple} of 5 C{B{LatLon}(lat, lon, 

1572 **B{name_LatLon_kwds})} instances or if C{B{LatLon} is None}, 

1573 5 L{LatLon3Tuple}C{(lat, lon, height)}s respectively 

1574 5 L{LatLon4Tuple}C{(lat, lon, height, datum)}s depending 

1575 on whether keyword argument C{datum} is un-/specified. 

1576 

1577 @raise TypeError: Invalid B{C{ltp}}, B{C{LatLon}} or B{C{name_LatLon_kwds}}. 

1578 

1579 @see: Methods L{XyzLocal.toLatLon} and L{Footprint5Tuple.xyzLocal5}. 

1580 ''' 

1581 ltp = _ltp._xLtp(ltp, self.center.ltp) # PYCHOK .center 

1582 kwds = _name1__(name_LatLon_kwds, _or_nameof=self) 

1583 kwds = _xkwds(kwds, ltp=ltp, LatLon=LatLon) 

1584 return Footprint5Tuple(t.toLatLon(**kwds) for t in self.xyzLocal5()) 

1585 

1586 def xyzLocal5(self, ltp=None): 

1587 '''Return this footprint's C{center} and 4 corners as 5 L{XyzLocal}s. 

1588 

1589 @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding 

1590 the {center} and corner C{ltp}s. 

1591 

1592 @return: A L{Footprint5Tuple} of 5 L{XyzLocal} instances. 

1593 

1594 @raise TypeError: Invalid B{C{ltp}}. 

1595 ''' 

1596 if ltp is None: 

1597 p = self 

1598 else: 

1599 p = _ltp._xLtp(ltp) 

1600 p = tuple(Xyz4Tuple(t.x, t.y, t.z, p) for t in self) 

1601 return Footprint5Tuple(t.xyzLocal for t in p) 

1602 

1603 

1604__all__ += _ALL_DOCS(_AbcBase) 

1605 

1606# **) MIT License 

1607# 

1608# Copyright (C) 2016-2024 -- mrJean1 at Gmail -- All Rights Reserved. 

1609# 

1610# Permission is hereby granted, free of charge, to any person obtaining a 

1611# copy of this software and associated documentation files (the "Software"), 

1612# to deal in the Software without restriction, including without limitation 

1613# the rights to use, copy, modify, merge, publish, distribute, sublicense, 

1614# and/or sell copies of the Software, and to permit persons to whom the 

1615# Software is furnished to do so, subject to the following conditions: 

1616# 

1617# The above copyright notice and this permission notice shall be included 

1618# in all copies or substantial portions of the Software. 

1619# 

1620# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 

1621# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 

1622# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 

1623# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR 

1624# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 

1625# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR 

1626# OTHER DEALINGS IN THE SOFTWARE.