Coverage for pygeodesy/ltpTuples.py: 95%
562 statements
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2# -*- coding: utf-8 -*-
4u'''Named, I{Local Tangent Plane} (LTP) tuples.
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}.
11@see: References in module L{ltp}.
12'''
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
36# from math import cos, radians # from .utily
38__all__ = _ALL_LAZY.ltpTuples
39__version__ = '24.07.25'
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'
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)
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
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
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)
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_)
114class _AbcBase(_NamedBase):
115 '''(INTERNAL) Base class for classes C{Aer} and C{Ned}.
116 '''
117 _ltp = None # local tangent plane (C{Ltp}), origin
119 @Property_RO
120 def ltp(self):
121 '''Get the I{local tangent plane} (L{Ltp}).
122 '''
123 return self._ltp
125 def toAer(self, Aer=None, **name_Aer_kwds):
126 '''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components.
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}.
133 @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an
134 L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}.
136 @raise TypeError: Invalid B{C{Aer}} or B{C{name_Aer_kwds}}.
137 '''
138 return self.xyz4._toXyz(Aer, name_Aer_kwds)
140 def toEnu(self, Enu=None, **name_Enu_kwds):
141 '''Get the I{local} I{East, North, Up} (ENU) components.
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}.
148 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an
149 L{Enu4Tuple}C{(east, north, up, ltp)}.
151 @raise TypeError: Invalid B{C{Enu}} or B{C{name_Enu_kwds}}.
152 '''
153 return self.xyz4._toXyz(Enu, name_Enu_kwds)
155 def toNed(self, Ned=None, **name_Ned_kwds):
156 '''Get the I{local} I{North, East, Down} (NED) components.
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}.
163 @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an
164 L{Ned4Tuple}C{(north, east, down, ltp)}.
166 @raise TypeError: Invalid B{C{Ned}} or B{C{name_Ned_kwds}}.
167 '''
168 return self.xyz4._toXyz(Ned, name_Ned_kwds)
170 def toXyz(self, Xyz=None, **name_Xyz_kwds):
171 '''Get the local I{X, Y, Z} (XYZ) components.
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}.
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)}.
182 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_Xyz_kwds}}.
183 '''
184 return self.xyz4._toXyz(Xyz, name_Xyz_kwds)
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
192 @property_RO
193 def xyz4(self): # PYCHOK no cover
194 '''I{Must be overloaded}.'''
195 self._notOverloaded()
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)
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
233 @property_RO
234 def xyzLocal(self): # PYCHOK no cover
235 '''I{Must be overloaded}.'''
236 self._notOverloaded()
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_
248 def __init__(self, azimuth_aer, elevation=0, slantrange=0, ltp=None, **name):
249 '''New L{Aer}.
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}).
264 @raise TypeError: Invalid B{C{azimuth_aer}} or B{C{ltp}}.
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)
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)
287 @Property_RO
288 def azimuth(self):
289 '''Get the Azimuth, bearing from North (C{degrees360}).
290 '''
291 return self._azimuth
293 @Property_RO
294 def down(self):
295 '''Get the Down component (C{meter}).
296 '''
297 return self.xyzLocal.down
299 @Property_RO
300 def east(self):
301 '''Get the East component (C{meter}).
302 '''
303 return self.xyzLocal.east
305 @Property_RO
306 def elevation(self):
307 '''Get the Elevation, tilt above horizon (C{degrees90}).
308 '''
309 return self._elevation
311 @Property_RO
312 def groundrange(self):
313 '''Get the I{ground range}, distance (C{meter}).
314 '''
315 return _er2gr(self._elevation, self._slantrange)
317 @Property_RO
318 def north(self):
319 '''Get the North component (C{meter}).
320 '''
321 return self.xyzLocal.north
323 @Property_RO
324 def slantrange(self):
325 '''Get the I{slant Range}, distance (C{meter}).
326 '''
327 return self._slantrange
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.
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}).
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)
345 def toStr(self, **prec_fmt_sep): # PYCHOK expected
346 '''Return a string representation of this AER.
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}).
354 @return: This AER as "[degrees360, degrees90, meter]" (C{str}).
355 '''
356 _, t = _toStr2(self, **prec_fmt_sep)
357 return t
359 @Property_RO
360 def up(self):
361 '''Get the Up component (C{meter}).
362 '''
363 return self.xyzLocal.up
365 @Property_RO
366 def x(self):
367 '''Get the X component (C{meter}).
368 '''
369 return self.xyz4.x
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)
380 @Property_RO
381 def y(self):
382 '''Get the Y component (C{meter}).
383 '''
384 return self.xyz4.y
386 @Property_RO
387 def z(self):
388 '''Get the Z component (C{meter}).
389 '''
390 return self.xyz4.z
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)
400 def _toAer(self, Cls, Cls_kwds):
401 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance.
402 '''
403 return self._2Cls(Aer, Cls, Cls_kwds)
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
411 @Property_RO
412 def xyzLocal(self):
413 '''Get this L{Aer4Tuple} as an L{XyzLocal}.
414 '''
415 return Aer(self).xyzLocal
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)
426 @Property_RO
427 def atyr(self):
428 '''Return this attitude (L{Attitude4Tuple}).
429 '''
430 return self
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
439class Ned(_AbcBase):
440 '''Local C{North-Eeast-Down} (NED) location in a I{local tangent plane}.
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_
450 def __init__(self, north_ned, east=0, down=0, ltp=None, **name):
451 '''New L{Ned} vector.
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}).
466 @raise TypeError: Invalid B{C{north_ned}} or B{C{ltp}}.
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)
482 @Property_RO
483 def aer4(self):
484 '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}).
485 '''
486 return _xyz2aer4(self)
488 @Property_RO
489 def azimuth(self):
490 '''Get the Azimuth, bearing from North (C{degrees360}).
491 '''
492 return self.aer4.azimuth
494 @deprecated_Property_RO
495 def bearing(self):
496 '''DEPRECATED, use C{azimuth}.'''
497 return self.azimuth
499 @Property_RO
500 def down(self):
501 '''Get the Down component (C{meter}).
502 '''
503 return self._down
505 @Property_RO
506 def east(self):
507 '''Get the East component (C{meter}).
508 '''
509 return self._east
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))))
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))
523 @deprecated_Property_RO
524 def length(self):
525 '''DEPRECATED, use C{slantrange}.'''
526 return self.slantrange
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)
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)
539 @Property_RO
540 def north(self):
541 '''Get the North component (C{meter}).
542 '''
543 return self._north
545 @Property_RO
546 def slantrange(self):
547 '''Get the I{slant Range}, distance (C{meter}).
548 '''
549 return self.aer4.slantrange
551 @deprecated_method
552 def to3ned(self): # PYCHOK no cover
553 '''DEPRECATED, use property L{ned4}.'''
554 return self.ned # XXX deprecated too
556 def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected
557 '''Return a string representation of this NED.
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}).
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)
568 def toStr(self, **prec_fmt_sep): # PYCHOK expected
569 '''Return a string representation of this NED.
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}).
577 @return: This NED as "[meter, meter, meter]" (C{str}).
578 '''
579 _, t = _toStr2(self, **prec_fmt_sep)
580 return t
582 @deprecated_method
583 def toVector3d(self):
584 '''DEPRECATED, use property L{xyz}.'''
585 return self.xyz
587 @Property_RO
588 def up(self):
589 '''Get the Up component (C{meter}).
590 '''
591 return Meter(up=-self._down) # negated
593 @Property_RO
594 def x(self):
595 '''Get the X component (C{meter}).
596 '''
597 return Meter(x=self._east) # 2nd arg, E
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)
605 @Property_RO
606 def y(self):
607 '''Get the Y component (C{meter}).
608 '''
609 return Meter(y=self._north) # 1st arg N
611 @Property_RO
612 def z(self):
613 '''Get the Z component (C{meter}).
614 '''
615 return Meter(z=-self._down) # negated
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)
624 def _toNed(self, Cls, Cls_kwds):
625 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance.
626 '''
627 return self._2Cls(Ned, Cls, Cls_kwds)
629 @Property_RO
630 def xyzLocal(self):
631 '''Get this L{Ned4Tuple} as an L{XyzLocal}.
632 '''
633 return Ned(self).xyzLocal
636class _Vector3d(Vector3d):
638 _toStr = _xyz_
640 def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected
641 '''Return a string representation of this ENU/NED/XYZ.
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}).
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)
655 def toStr(self, **prec_fmt_sep): # PYCHOK expected
656 '''Return a string representation of this XYZ.
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}).
664 @return: This XYZ as "[meter, meter, meter]" (C{str}).
665 '''
666 _, t = _toStr2(self, **prec_fmt_sep)
667 return t
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
676 def __init__(self, x_xyz, y=0, z=0, ltp=None, **name):
677 '''New L{XyzLocal}.
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}).
692 @raise TypeError: Invalid B{C{x_xyz}} or B{C{ltp}}.
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)
707 def __str__(self):
708 return self.toStr()
710 @Property_RO
711 def aer4(self):
712 '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}).
713 '''
714 return _xyz2aer4(self)
716 @Property_RO
717 def azimuth(self):
718 '''Get the Azimuth, bearing from North (C{degrees360}).
720 @see: U{Azimuth<https://GSSC.ESA.int/navipedia/index.php/
721 Transformations_between_ECEF_and_ENU_coordinates>}.
722 '''
723 return self.aer4.azimuth
725 def classof(self, *args, **kwds): # PYCHOK no cover
726 '''Create another instance of this very class.
728 @arg args: Optional, positional arguments.
729 @kwarg kwds: Optional, keyword arguments.
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))
736 @Property_RO
737 def down(self):
738 '''Get the Down component (C{meter}).
739 '''
740 return Meter(down=-self.z)
742 @property_RO
743 def ecef(self):
744 '''Get this LTP's ECEF converter (C{Ecef...} I{instance}).
745 '''
746 return self.ltp.ecef
748 @Property_RO
749 def east(self):
750 '''Get the East component (C{meter}).
751 '''
752 return Meter(east=self.x)
754 @Property_RO
755 def elevation(self):
756 '''Get the Elevation, tilt above horizon (C{degrees90}).
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))))
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)
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))
775 @Property_RO
776 def ltp(self):
777 '''Get the I{local tangent plane} (L{Ltp}).
778 '''
779 return self._ltp
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)
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)
795 @Property_RO
796 def north(self):
797 '''Get the North component (C{meter}).
798 '''
799 return Meter(north=self.y)
801 @Property_RO
802 def slantrange(self):
803 '''Get the I{slant Range}, distance (C{meter}).
804 '''
805 return self.aer4.slantrange
807 def toAer(self, Aer=None, **name_Aer_kwds):
808 '''Get the local I{Azimuth, Elevation, slant Range} components.
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}.
815 @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an
816 L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}.
818 @raise TypeError: Invalid B{C{Aer}} or B{C{name_Aer_kwds}}.
819 '''
820 return self.aer4._toAer(Aer, name_Aer_kwds)
822 def toCartesian(self, Cartesian=None, ltp=None, **name_Cartesian_kwds):
823 '''Get the geocentric C{(x, y, z)} (ECEF) coordinates of this local.
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}.
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.
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
849 def toEnu(self, Enu=None, **name_Enu_kwds):
850 '''Get the local I{East, North, Up} (ENU) components.
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}.
857 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an
858 L{Enu4Tuple}C{(east, north, up, ltp)}.
860 @raise TypeError: Invalid B{C{Enu}} or B{C{name_Enu_kwds}}.
861 '''
862 return self.enu4._toEnu(Enu, name_Enu_kwds)
864 def toLatLon(self, LatLon=None, ltp=None, **name_LatLon_kwds):
865 '''Get the geodetic C{(lat, lon, height)} coordinates if this local.
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}.
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.
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
890 def toLocal9Tuple(self, M=False, **name):
891 '''Get this local as a C{Local9Tuple}.
893 @kwarg M: Optionally include the rotation matrix (C{bool}).
894 @kwarg name: Optional C{B{name}=NN} (C{str}).
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))
906 def toNed(self, Ned=None, **name_Ned_kwds):
907 '''Get the local I{North, East, Down} (Ned) components.
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}.
914 @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an
915 L{Ned4Tuple}C{(north, east, down, ltp)}.
917 @raise TypeError: Invalid B{C{Ned}} or B{C{name_Ned_kwds}}.
918 '''
919 return self.ned4._toNed(Ned, name_Ned_kwds)
921 def toXyz(self, Xyz=None, **name_Xyz_kwds):
922 '''Get the local I{X, Y, Z} (XYZ) components.
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}.
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)}.
933 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_EXyz_kwds}}.
934 '''
935 return self.xyz4._toXyz(Xyz, name_Xyz_kwds)
937 @Property_RO
938 def up(self):
939 '''Get the Up component (C{meter}).
940 '''
941 return Meter(up=self.z)
943# @Property_RO
944# def x(self): # see: Vector3d.x
945# '''Get the X component (C{meter}).
946# '''
947# return self._x
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
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)
961 @Property_RO
962 def xyzLocal(self):
963 '''Get this L{XyzLocal}.
964 '''
965 return self
967# @Property_RO
968# def y(self): # see: Vector3d.y
969# '''Get the Y component (C{meter}).
970# '''
971# return self._y
973# @Property_RO
974# def z(self): # see: Vector3d.z
975# '''Get the Z component (C{meter}).
976# '''
977# return self._z
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)
986 def _toXyz(self, Cls, Cls_kwds):
987 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance.
988 '''
989 return self._2Cls(XyzLocal, Cls, Cls_kwds)
991 @property_RO
992 def xyz4(self):
993 '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}).
994 '''
995 return self
997 @Property_RO
998 def xyzLocal(self):
999 '''Get this L{Xyz4Tuple} as an L{XyzLocal}.
1000 '''
1001 return XyzLocal(*self, name=self.name)
1004class Enu(XyzLocal):
1005 '''Local C{Eeast-North-Up} (ENU) location in a I{local tangent plane}.
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_
1012 def __init__(self, east_enu, north=0, up=0, ltp=None, **name):
1013 '''New L{Enu}.
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}).
1027 @raise TypeError: Invalid B{C{east_enu}} or B{C{ltp}}.
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)
1033 def toUvw(self, location, Uvw=None, **name_Uvw_kwds):
1034 '''Get the I{u, v, w} (UVW) components at a location.
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}.
1043 @return: UVW as a L{Uvw} instance or if C{B{Uvw} is None}, a
1044 L{Uvw3Tuple}C{(u, v, w)}.
1046 @raise TypeError: Invalid B{C{location}} or B{C{name_Uvw_kwds}}.
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
1056 t = ca * u - sa * n
1057 U = cb * t - sb * e
1058 V = cb * e + sb * t
1059 W = ca * n + sa * u
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)
1065 @Property_RO
1066 def xyzLocal(self):
1067 '''Get this ENU as an L{XyzLocal}.
1068 '''
1069 return XyzLocal(*self.xyz4, name=self.name)
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)
1078 def _toEnu(self, Cls, Cls_kwds):
1079 '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance.
1080 '''
1081 return self._2Cls(Enu, Cls, Cls_kwds)
1083 @Property_RO
1084 def xyzLocal(self):
1085 '''Get this L{Enu4Tuple} as an L{XyzLocal}.
1086 '''
1087 return XyzLocal(*self, name=self.name)
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)
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
1106 @Property_RO
1107 def down(self):
1108 '''Get the I{local} Down, C{-z} component (C{meter}).
1109 '''
1110 return -self.z
1112 @Property_RO
1113 def east(self):
1114 '''Get the I{local} East, C{x} component (C{meter}).
1115 '''
1116 return self.x
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
1124 @Property_RO
1125 def groundrange(self):
1126 '''Get the I{local} ground range, distance (C{meter}).
1127 '''
1128 return self.xyzLocal.aer4.groundrange
1130 @Property_RO
1131 def lam(self):
1132 '''Get the I{geodetic} longitude in C{radians} (C{float}).
1133 '''
1134 return self.philam.lam
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)
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)
1148 @Property_RO
1149 def north(self):
1150 '''Get the I{local} North, C{y} component (C{meter}).
1151 '''
1152 return self.y
1154 @Property_RO
1155 def phi(self):
1156 '''Get the I{geodetic} latitude in C{radians} (C{float}).
1157 '''
1158 return self.philam.phi
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)
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)
1172 @Property_RO
1173 def slantrange(self):
1174 '''Get the I{local} slant Range, distance (C{meter}).
1175 '''
1176 return self.xyzLocal.aer4.slantrange
1178 def toAer(self, Aer=None, **name_Aer_kwds):
1179 '''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components.
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}.
1186 @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an
1187 L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}.
1189 @raise TypeError: Invalid B{C{Aer}} or B{C{name_Aer_kwds}}.
1190 '''
1191 return self.xyzLocal.toAer(Aer=Aer, **name_Aer_kwds)
1193 def toCartesian(self, Cartesian=None, **name_Cartesian_kwds):
1194 '''Convert this I{local} to I{geocentric} C{(x, y, z)} (ECEF).
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}.
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)} .
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
1209 def toEnu(self, Enu=None, **name_Enu_kwds):
1210 '''Get the I{local} I{East, North, Up} (ENU) components.
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}.
1217 @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an
1218 L{Enu4Tuple}C{(east, north, up, ltp)}.
1220 @raise TypeError: Invalid B{C{Enu}} or B{C{name_Enu_kwds}}.
1221 '''
1222 return self.xyzLocal.toEnu(Enu=Enu, **name_Enu_kwds)
1224 def toLatLon(self, LatLon=None, **name_LatLon_kwds):
1225 '''Convert this I{local} to I{geodetic} C{(lat, lon, height)}.
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}.
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.
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
1242 def toNed(self, Ned=None, **name_Ned_kwds):
1243 '''Get the I{local} I{North, East, Down} (NED) components.
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}.
1250 @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an
1251 L{Ned4Tuple}C{(north, east, down, ltp)}.
1253 @raise TypeError: Invalid B{C{Ned}} or B{C{name_Ned_kwds}}.
1254 '''
1255 return self.xyzLocal.toNed(Ned=Ned, **name_Ned_kwds)
1257 def toXyz(self, Xyz=None, **name_Xyz_kwds):
1258 '''Get the I{local} I{X, Y, Z} (XYZ) components.
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}.
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)}.
1268 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_Xyz_kwds}}.
1269 '''
1270 return self.xyzLocal.toXyz(Xyz=Xyz, **name_Xyz_kwds)
1272 @Property_RO
1273 def up(self):
1274 '''Get the I{local} Up, C{z} component (C{meter}).
1275 '''
1276 return self.z
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
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
1291_XyzLocals4 = XyzLocal, Enu, Ned, Aer # PYCHOK in .ltp
1292_XyzLocals5 = _XyzLocals4 + (Local9Tuple,) # PYCHOK in .ltp
1295class Uvw(_Vector3d):
1296 '''3-D C{u-v-w} (UVW) components.
1297 '''
1298 _toStr = _uvw_
1300 def __init__(self, u_uvw, v=0, w=0, **name):
1301 '''New L{Uvw}.
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}).
1309 @raise TypeError: Invalid B{C{east_enu}}.
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)
1315 def toEnu(self, location, Enu=Enu, **name_Enu_kwds):
1316 '''Get the I{East, North, Up} (ENU) components at a location.
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}.
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}.
1328 @raise TypeError: Invalid B{C{location}} or B{C{name_Enu_kwds}}.
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
1338 t = cb * u + sb * v
1339 E = cb * v - sb * u
1340 N = ca * w - sa * t
1341 U = ca * t + sa * w
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)
1347 u = Vector3d.x
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)
1355 v = Vector3d.y
1356 w = Vector3d.z
1359class Uvw3Tuple(_NamedTuple):
1360 '''3-Tuple C{(u, v, w)}, in C{meter}.
1361 '''
1362 _Names_ = ('u', 'v', 'w')
1363 _Units_ = ( Meter, Meter, Meter)
1366class Los(Aer):
1367 '''A Line-Of-Sight (LOS) from a C{LatLon} or C{Cartesian} location.
1368 '''
1370 def __init__(self, azimuth_aer, elevation=0, **name):
1371 '''New L{Los}.
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}).
1381 @raise TypeError: Invalid B{C{azimuth_aer}}.
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)
1388 def toUvw(self, location, Uvw=Uvw, **name_Uvw_kwds):
1389 '''Get this LOS' I{target} (UVW) components from a location.
1391 @arg location: The geodetic (C{LatLon}) or geocentric (C{Cartesian},
1392 L{Vector3d}) location from where to cast this LOS.
1394 @see: Method L{Enu.toUvw} for further details.
1395 '''
1396 return self.toEnu().toUvw(location, Uvw=Uvw, **name_Uvw_kwds)
1398 def toEnu(self, Enu=Enu, **name_Enu_kwds):
1399 '''Get this LOS as I{East, North, Up} (ENU) components.
1401 @see: Method L{Aer.toEnu} for further details.
1402 '''
1403 return Aer.toEnu(self, Enu=Enu, **name_Enu_kwds)
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:]
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
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)
1426 @Property_RO
1427 def h_LV03(self):
1428 '''Get the I{Swiss h_} height (C{meter}).
1429 '''
1430 return self.h_
1432 @Property_RO
1433 def h_LV95(self):
1434 '''Get the I{Swiss h_} height (C{meter}).
1435 '''
1436 return self.h_
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
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
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
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
1462 @Property_RO
1463 def x(self):
1464 '''Get the I{local x, Swiss Y} easting (C{meter}).
1465 '''
1466 return self.Y
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
1474 @Property_RO
1475 def y(self):
1476 '''Get the I{local y, Swiss X} northing (C{meter}).
1477 '''
1478 return self.X
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
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)
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)
1498 @Property_RO
1499 def z(self):
1500 '''Get the I{local z, Swiss h_} height (C{meter}).
1501 '''
1502 return self.h_
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)
1512 def false2(self, LV95=True):
1513 '''Return the falsed C{Swiss LV95} or C{LV03} version of the projection.
1515 @see: Function L{ChLV.false2} for more information.
1516 '''
1517 return _ltp.ChLV.false2(*self, LV95=LV95, name=self.name)
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_
1527 def unfalse2(self):
1528 '''Return this projection as an B{unfalsed} L{ChLVYX2Tuple}.
1530 @see: Function L{ChLV.unfalse2} for more information.
1531 '''
1532 return _ltp.ChLV.unfalse2(*self, LV95=True, name=self.name)
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_
1542 def unfalse2(self):
1543 '''Return this projection as an B{unfalsed} L{ChLVYX2Tuple}.
1545 @see: Function L{ChLV.unfalse2} for more information.
1546 '''
1547 return _ltp.ChLV.unfalse2(*self, LV95=False, name=self.name)
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.
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)
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.
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}.
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.
1577 @raise TypeError: Invalid B{C{ltp}}, B{C{LatLon}} or B{C{name_LatLon_kwds}}.
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())
1586 def xyzLocal5(self, ltp=None):
1587 '''Return this footprint's C{center} and 4 corners as 5 L{XyzLocal}s.
1589 @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding
1590 the {center} and corner C{ltp}s.
1592 @return: A L{Footprint5Tuple} of 5 L{XyzLocal} instances.
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)
1604__all__ += _ALL_DOCS(_AbcBase)
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.