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# -*- coding: utf-8 -*- 

 

u'''I{Local Tangent Plane} (LTP) and I{local} cartesian coordinates. 

 

I{Local cartesian} and I{local tangent plane} classes L{LocalCartesian}, approximations L{ChLVa} 

and L{ChLVe} and L{Ltp}, L{ChLV}, L{LocalError}, L{Attitude} and L{Frustum}. 

 

@see: U{Local tangent plane coordinates<https://WikiPedia.org/wiki/Local_tangent_plane_coordinates>} 

and class L{LocalCartesian}, transcoded from I{Charles Karney}'s C++ classU{LocalCartesian 

<https://GeographicLib.SourceForge.io/C++/doc/classGeographicLib_1_1LocalCartesian.html>}. 

''' 

# make sure int/int division yields float quotient, see .basics 

from __future__ import division as _; del _ # PYCHOK semicolon 

 

from pygeodesy.basics import isscalar, issubclassof, map1, _xargs_names 

from pygeodesy.constants import EPS, INT0, _umod_360, _0_0, _0_01, _0_5, _1_0, \ 

_2_0, _60_0, _90_0, _100_0, _180_0, _3600_0, \ 

_N_1_0 # PYCHOK used! 

from pygeodesy.datums import _WGS84, _xinstanceof 

from pygeodesy.ecef import _EcefBase, EcefKarney, _llhn4, _xyzn4 

from pygeodesy.errors import _NotImplementedError, _TypesError, _ValueError, _xkwds 

from pygeodesy.fmath import fdot, Fhorner 

from pygeodesy.fsums import _floor, Fsum, fsum_, fsum1_ 

from pygeodesy.interns import NN, _0_, _COMMASPACE_, _DOT_, _ecef_, _height_, \ 

_invalid_, _lat0_, _lon0_, _ltp_, _M_, _name_, _too_ 

# from pygeodesy.lazily import _ALL_LAZY # from vector3d 

from pygeodesy.ltpTuples import Attitude4Tuple, ChLVEN2Tuple, ChLV9Tuple, \ 

ChLVYX2Tuple, Footprint5Tuple, Local9Tuple, \ 

ChLVyx2Tuple, _XyzLocals4, _XyzLocals5, Xyz4Tuple 

from pygeodesy.named import _NamedBase, notOverloaded 

from pygeodesy.namedTuples import LatLon3Tuple, LatLon4Tuple, Vector3Tuple 

from pygeodesy.props import Property, Property_RO, property_doc_, property_RO, \ 

_update_all 

from pygeodesy.streprs import Fmt, strs, unstr 

from pygeodesy.units import Bearing, Degrees, Meter 

from pygeodesy.utily import cotd, sincos2d, sincos2d_, tand, tand_, wrap180, wrap360 

from pygeodesy.vector3d import _ALL_LAZY, Vector3d 

 

# from math import floor as _floor # from .fsums 

 

__all__ = _ALL_LAZY.ltp 

__version__ = '22.10.18' 

 

_height0_ = _height_ + _0_ 

_narrow_ = 'narrow' 

_wide_ = 'wide' 

_Xyz_ = 'Xyz' 

 

 

def _fov_2(**fov): 

# Half a field-of-view angle in C{degrees}. 

f = Degrees(Error=LocalError, **fov) * _0_5 

if EPS < f < _90_0: 

return f 

t = _invalid_ if f < 0 else _too_(_wide_ if f > EPS else _narrow_) 

raise LocalError(txt=t, **fov) 

 

 

class Attitude(_NamedBase): 

'''The orientation of a plane or camera in space. 

''' 

_alt = Meter( alt =_0_0) 

_roll = Degrees(roll=_0_0) 

_tilt = Degrees(tilt=_0_0) 

_yaw = Bearing(yaw =_0_0) 

 

def __init__(self, alt_attitude=INT0, tilt=INT0, yaw=INT0, roll=INT0, name=NN): 

'''New L{Attitude}. 

 

@kwarg alt_attitude: An altitude (C{meter}) above earth or an attitude 

(L{Attitude} or L{Attitude4Tuple}) with the 

C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}. 

@kwarg tilt: Pitch, elevation from horizontal (C{degrees180}), negative down 

(clockwise rotation along and around the x- or East axis). 

@kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North 

(counter-clockwise rotation along and around the z- or Up axis). 

@kwarg roll: Roll, bank (C{degrees180}), positive to the right and down 

(clockwise rotation along and around the y- or North axis). 

@kwarg name: Optional name C{str}). 

 

@raise AttitudeError: Invalid B{C{alt_attitude}}, B{C{tilt}}, B{C{yaw}} or 

B{C{roll}}. 

 

@see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>} and 

U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>}. 

''' 

if isscalar(alt_attitude): 

t = Attitude4Tuple(alt_attitude, tilt, yaw, roll) 

else: 

try: 

t = alt_attitude.atyr 

except AttributeError: 

raise AttitudeError(alt=alt_attitude, tilt=tilt, yaw=yaw, rol=roll) 

for n, v in t.items(): 

if v: 

setattr(self, n, v) 

n = name or t.name 

if n: 

self.name = n 

 

@property_doc_(' altitude above earth in C{meter}.') 

def alt(self): 

return self._alt 

 

@alt.setter # PYCHOK setter! 

def alt(self, alt): # PYCHOK no cover 

a = Meter(alt=alt, Error=AttitudeError) 

if self._alt != a: 

_update_all(self) 

self._alt = a 

 

altitude = alt 

 

@Property_RO 

def atyr(self): 

'''Return this attitude's alt[itude], tilt, yaw and roll as an L{Attitude4Tuple}. 

''' 

return Attitude4Tuple(self.alt, self.tilt, self.yaw, self.roll, name=self.name) 

 

@Property_RO 

def matrix(self): 

'''Get the 3x3 rotation matrix C{R(yaw)·R(tilt)·R(roll)}, aka I{ZYX} (C{float}, row-order). 

 

@see: The matrix M of case 10 in U{Appendix A 

<https://ntrs.NASA.gov/api/citations/19770019231/downloads/19770019231.pdf>}. 

''' 

def _5to3(x, y, _y, z, _z): 

return x, fsum1_(y, _y), fsum1_(z, _z) 

 

r0, r1, r2 = self._rows3 

return _5to3(*r0), _5to3(*r1), r2 

 

@property_doc_(' roll/bank in C{degrees180}, positive to the right and down.') 

def roll(self): 

return self._roll 

 

@roll.setter # PYCHOK setter! 

def roll(self, roll): 

r = Degrees(roll=roll, wrap=wrap180, Error=AttitudeError) 

if self._roll != r: 

_update_all(self) 

self._roll = r 

 

bank = roll 

 

@Property_RO 

def _rows3(self): 

# to follow the definitions of rotation angles alpha, beta and gamma: 

# negate yaw since yaw is counter-clockwise around the z-axis, swap 

# tilt and roll since tilt is around the x- and roll around the y-axis 

sa, ca, sb, cb, sg, cg = sincos2d_(-self.yaw, self.roll, self.tilt) 

return ((ca * cb, ca * sb * sg, -sa * cg, ca * sb * cg, sa * sg), 

(sa * cb, sa * sb * sg, ca * cg, sa * sb * cg, -ca * sg), 

( -sb, cb * sg, cb * cg)) 

 

def rotate(self, x_xyz, y=None, z=None, Vector=None, **Vector_kwds): 

'''Transform a (local) cartesian by this attitude's matrix. 

 

@arg x_xyz: X component of vector (C{scalar}) or (3-D) vector 

(C{Cartesian}, L{Vector3d} or L{Vector3Tuple}). 

@kwarg y: Y component of vector (C{scalar}), same units as B{C{x}}. 

@kwarg z: Z component of vector (C{scalar}), same units as B{C{x}}. 

@kwarg Vector: Class to return transformed point (C{Cartesian}, 

L{Vector3d} or C{Vector3Tuple}) or C{None}. 

@kwarg Vector_kwds: Optional, additional B{C{Vector}} keyword arguments, 

ignored if C{B{Vector} is None}. 

 

@return: A B{C{Vector}} instance or a L{Vector3Tuple}C{(x, y, z)} if 

C{B{Vector}=None}. 

 

@see: U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>}. 

''' 

try: 

x, y, z = map( float, x_xyz.xyz) 

except AttributeError: 

x, y, z = map1(float, x_xyz, y, z) 

 

r0, r1, r2 = self._rows3 

X = fdot(r0, x, y, y, z, z) 

Y = fdot(r1, x, y, y, z, z) 

Z = fdot(r2, x, y, z) 

return Vector3Tuple(X, Y, Z, name=self.name) if Vector is None else \ 

Vector(X, Y, Z, **_xkwds(Vector_kwds, name=self.name)) 

 

@property_doc_(' tilt/pitch/elevation from horizontal in C{degrees180}, negative down.') 

def tilt(self): 

return self._tilt 

 

@tilt.setter # PYCHOK setter! 

def tilt(self, tilt): 

t = Degrees(tilt=tilt, wrap=wrap180, Error=AttitudeError) 

if self._tilt != t: 

_update_all(self) 

self._tilt = t 

 

elevation = pitch = tilt 

 

def toStr(self, prec=6, sep=_COMMASPACE_, **unused): # PYCHOK signature 

'''Format this attitude as string. 

 

@kwarg prec: The C{float} precision, number of decimal digits (0..9). 

Trailing zero decimals are stripped for B{C{prec}} values 

of 1 and above, but kept for negative B{C{prec}} values. 

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

 

@return: This attitude (C{str}). 

''' 

return self.atyr.toStr(prec=prec, sep=sep) 

 

@Property_RO 

def tyr3d(self): 

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

 

@see: U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>}. 

''' 

def _r2d(r): 

return fsum_(_N_1_0, *r) 

 

return Vector3d(*map1(_r2d, *self._rows3), name=tyr3d.__name__) 

 

@property_doc_(' yaw/bearing/heading in compass C{degrees360}, clockwise from North.') 

def yaw(self): 

return self._yaw 

 

@yaw.setter # PYCHOK setter! 

def yaw(self, yaw): 

y = Bearing(yaw=yaw, Error=AttitudeError) 

if self._yaw != y: 

_update_all(self) 

self._yaw = y 

 

bearing = heading = yaw 

 

 

class AttitudeError(_ValueError): 

'''An L{Attitude} or L{Attitude4Tuple} issue. 

''' 

pass 

 

 

class Frustum(_NamedBase): 

'''A rectangular pyramid, typically representing a camera's I{field-of-view} 

(fov) and the intersection with (or projection to) a I{local tangent plane}. 

 

@see: U{Viewing frustum<https://WikiPedia.org/wiki/Viewing_frustum>}. 

''' 

_h_2 = _0_0 # half hfov in degrees 

_ltp = None # local tangent plane 

_tan_h_2 = _0_0 # tan(_h_2) 

_v_2 = _0_0 # half vfov in degrees 

 

def __init__(self, hfov, vfov, ltp=None): 

'''New L{Frustum}. 

 

@arg hfov: Horizontal field-of-view (C{degrees180}). 

@arg vfov: Vertical field-of-view (C{degrees180}). 

@kwarg ltp: Optional I{local tangent plane} (L{Ltp}). 

 

@raise LocalError: Invalid B{C{hfov}} or B{C{vfov}}. 

''' 

self._h_2 = h = _fov_2(hfov=hfov) 

self._v_2 = _fov_2(vfov=vfov) 

 

self._tan_h_2 = tand(h, fov_2=h) 

 

if ltp: 

self._ltp = _xLtp(ltp) 

 

def footprint5(self, alt_attitude, tilt=0, yaw=0, roll=0, z=_0_0, ltp=None): # MCCABE 15 

'''Compute the center and corners of the intersection with (or projection 

to) the I{local tangent plane} (LTP). 

 

@arg alt_attitude: An altitude (C{meter}) above I{local tangent plane} or 

an attitude (L{Attitude} or L{Attitude4Tuple}) with the 

C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}. 

@kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down 

(clockwise rotation along and around the x- or East axis). 

@kwarg yaw: Bearing, heading (compass C{degrees}), clockwise from North 

(counter-clockwise rotation along and around the z- or Up axis). 

@kwarg roll: Roll, bank (C{degrees}), positive to the right and down 

(clockwise rotation along and around the y- or North axis). 

@kwarg z: Optional height of the footprint (C{meter}) above I{local tangent plane}. 

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

frustum's C{ltp}. 

 

@return: A L{Footprint5Tuple}C{(center, upperleft, upperight, loweright, 

lowerleft)} with the C{center} and 4 corners, each an L{Xyz4Tuple}. 

 

@raise TypeError: Invalid B{C{ltp}}. 

 

@raise UnitError: Invalid B{C{altitude}}, B{C{tilt}}, B{C{roll}} or B{C{z}}. 

 

@raise ValueError: If B{C{altitude}} too low, B{C{z}} too high or B{C{tilt}} 

or B{C{roll}} -including B{C{vfov}} respectively B{C{hfov}}- 

over the horizon. 

 

@see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>}. 

''' 

def _xy2(a, e, h_2, tan_h_2, r): 

# left and right corners, or swapped 

if r < EPS: # no roll 

r = a * tan_h_2 

l = -r # PYCHOK l is ell 

else: # roll 

r, l = tand_(r - h_2, r + h_2, roll_hfov=r) # PYCHOK l is ell 

r *= -a # negate right positive 

l *= -a # PYCHOK l is ell 

y = a * cotd(e, tilt_vfov=e) 

return (l, y), (r, y) 

 

def _xyz5(b, xy5, z, ltp): 

# rotate (x, y)'s by bearing, clockwise 

s, c = sincos2d(b) 

for x, y in xy5: 

yield Xyz4Tuple(fsum1_(x * c, y * s), 

fsum1_(y * c, -x * s), z, ltp) 

 

try: 

a, t, y, r = alt_attitude.atyr 

except AttributeError: 

a, t, y, r = alt_attitude, tilt, yaw, roll 

 

a = Meter(altitude=a) 

if a < EPS: # too low 

raise _ValueError(altitude=a) 

if z: # PYCHOK no cover 

z = Meter(z=z) 

a -= z 

if a < EPS: # z above a 

raise _ValueError(altitude_z=a) 

else: 

z = _0_0 

 

b = Degrees(yaw=y, wrap=wrap360) # bearing 

e = -Degrees(tilt=t, wrap=wrap180) # elevation, pitch 

if not EPS < e < _180_0: 

raise _ValueError(tilt=t) 

if e > _90_0: 

e = _180_0 - e 

b = _umod_360(b + _180_0) 

 

r = Degrees(roll=r, wrap=wrap180) # roll center 

x = (-a * tand(r, roll=r)) if r else _0_0 

y = a * cotd(e, tilt=t) # ground range 

if abs(y) < EPS: 

y = _0_0 

 

# center and corners, clockwise from upperleft, rolled 

xy5 = ((x, y),) + _xy2(a, e - self._v_2, self._h_2, self._tan_h_2, r) \ 

+ _xy2(a, e + self._v_2, -self._h_2, -self._tan_h_2, r) # swapped 

# turn center and corners by yaw, clockwise 

p = self.ltp if ltp is None else ltp # None OK 

return Footprint5Tuple(_xyz5(b, xy5, z, p)) # *_xyz5 

 

@Property_RO 

def hfov(self): 

'''Get the horizontal C{fov} (C{degrees}). 

''' 

return Degrees(hfov=self._h_2 * _2_0) 

 

@Property_RO 

def ltp(self): 

'''Get the I{local tangent plane} (L{Ltp}) or C{None}. 

''' 

return self._ltp 

 

def toStr(self, prec=3, fmt=Fmt.F, sep=_COMMASPACE_): # PYCHOK signature 

'''Convert this frustum to a "hfov, vfov, ltp" string. 

 

@kwarg prec: Number of (decimal) digits, unstripped (0..8 or C{None}). 

@kwarg fmt: Optional, C{float} format (C{str}). 

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

 

@return: Frustum in the specified form (C{str}). 

''' 

t = self.hfov, self.vfov 

if self.ltp: 

t += self.ltp, 

t = strs(t, prec=prec, fmt=fmt) 

return sep.join(t) if sep else t 

 

@Property_RO 

def vfov(self): 

'''Get the vertical C{fov} (C{degrees}). 

''' 

return Degrees(vfov=self._v_2 * _2_0) 

 

 

class LocalError(_ValueError): 

'''A L{LocalCartesian} or L{Ltp} related issue. 

''' 

pass 

 

 

class LocalCartesian(_NamedBase): 

'''Conversion between geodetic C{(lat, lon, height)} and I{local cartesian} 

C{(x, y, z)} coordinates with I{geodetic} origin C{(lat0, lon0, height0)}, 

transcoded from I{Karney}'s C++ class U{LocalCartesian 

<https://GeographicLib.SourceForge.io/C++/doc/classGeographicLib_1_1LocalCartesian.html>}. 

 

The C{z} axis is normal to the ellipsoid, the C{y} axis points due 

North. The plane C{z = -height0} is tangent to the ellipsoid. 

 

The conversions all take place via geocentric coordinates using a 

geocentric L{EcefKarney}, by default the WGS84 datum/ellipsoid. 

 

@see: Class L{Ltp}. 

''' 

_ecef = EcefKarney(_WGS84) 

_t0 = None # origin (..., lat0, lon0, height0, ...) L{Ecef9Tuple} 

_9Tuple = Local9Tuple 

 

def __init__(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, name=NN): 

'''New L{LocalCartesian} converter. 

 

@kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple}, 

L{Ltp} or L{Ecef9Tuple}) or latitude of the 

(goedetic) origin (C{degrees}). 

@kwarg lon0: Optional longitude of the (goedetic) origin for 

C{scalar} B{C{latlonh0}} and B{C{height0}} (C{degrees}). 

@kwarg height0: Optional origin height (C{meter}), vertically 

above (or below) the surface of the ellipsoid. 

@kwarg ecef: An ECEF converter (L{EcefKarney} I{only}). 

@kwarg name: Optional name (C{str}). 

 

@raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple}, 

L{Ltp} or L{Ecef9Tuple} or B{C{latlonh0}}, B{C{lon0}} 

or B{C{height0}} invalid, non-C{scalar}. 

 

@raise TypeError: Invalid B{C{ecef}} or not L{EcefKarney}. 

 

@note: If BC{latlonh0} is an L{Ltp}, only the lat-, longitude and 

height are duplicated, I{not} the ECEF converter. 

''' 

if isinstance(latlonh0, LocalCartesian): 

self._ecef = latlonh0.ecef 

self._t0 = latlonh0._t0 

self.name = name or latlonh0.name 

else: 

self.reset(latlonh0, lon0, height0, name=name) 

if ecef: # PYCHOK no cover 

_xinstanceof(EcefKarney, ecef=ecef) 

self._ecef = ecef 

 

def __eq__(self, other): 

'''Compare this and an other instance. 

 

@arg other: The other ellipsoid (L{LocalCartesian} or L{Ltp}). 

 

@return: C{True} if equal, C{False} otherwise. 

''' 

return other is self or (isinstance(other, self.__class__) and 

other.ecef == self.ecef and 

other._t0 == self._t0) 

 

@Property_RO 

def datum(self): 

'''Get the ECEF converter's datum (L{Datum}). 

''' 

return self.ecef.datum 

 

@Property_RO 

def ecef(self): 

'''Get the ECEF converter (L{EcefKarney}). 

''' 

return self._ecef 

 

def _ecef2local(self, ecef, Xyz, Xyz_kwds): 

'''(INTERNAL) Convert geocentric/geodetic to local, like I{forward}. 

 

@arg ecef: Geocentric (and geodetic) (L{Ecef9Tuple}). 

@arg Xyz: An L{XyzLocal}, L{Enu} or L{Ned} I{class} or C{None}. 

@arg Xyz_kwds: B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. 

 

@return: An C{B{Xyz}(x, y, z, ltp, **B{Xyz_kwds}} instance or if 

C{B{Xyz} is None}, a L{Local9Tuple}C{(x, y, z, lat, lon, 

height, ltp, ecef, M)} with this C{ltp}, B{C{ecef}} 

(L{Ecef9Tuple}) converted to this C{datum} and C{M=None}, 

always. 

''' 

ltp = self 

if ecef.datum != ltp.datum: 

ecef = ecef.toDatum(ltp.datum) 

x, y, z = self.M.rotate(ecef.xyz, *ltp._xyz0) 

r = Local9Tuple(x, y, z, ecef.lat, ecef.lon, ecef.height, 

ltp, ecef, None, name=ecef.name) 

if Xyz: 

if not issubclassof(Xyz, *_XyzLocals4): # Vector3d 

raise _TypesError(_Xyz_, Xyz, *_XyzLocals4) 

r = r.toXyz(Xyz=Xyz, **Xyz_kwds) 

return r 

 

def forward(self, latlonh, lon=None, height=0, M=False, name=NN): 

'''Convert I{geodetic} C{(lat, lon, height)} to I{local} cartesian 

C{(x, y, z)}. 

 

@arg latlonh: Either a C{LatLon}, a L{Ltp}, an L{Ecef9Tuple} or 

C{scalar} (geodetic) latitude (C{degrees}). 

@kwarg lon: Optional C{scalar} (geodetic) longitude for C{scalar} 

B{C{latlonh}} (C{degrees}). 

@kwarg height: Optional height (C{meter}), vertically above (or below) 

the surface of the ellipsoid. 

@kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix}, 

iff available (C{bool}). 

@kwarg name: Optional name (C{str}). 

 

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

with I{local} C{x}, C{y}, C{z}, I{geodetic} C{(lat}, C{lon}, 

C{height}, this C{ltp}, C{ecef} (L{Ecef9Tuple}) with 

I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat}, 

C{lon}, C{height}) and the I{concatenated} rotation matrix 

C{M} (L{EcefMatrix}) if requested. 

 

@raise LocalError: If B{C{latlonh}} not C{scalar}, C{LatLon}, L{Ltp}, 

L{Ecef9Tuple} or invalid or if B{C{lon}} not 

C{scalar} for C{scalar} B{C{latlonh}} or invalid 

or if B{C{height}} invalid. 

''' 

lat, lon, h, n = _llhn4(latlonh, lon, height, Error=LocalError, name=name) 

t = self.ecef._forward(lat, lon, h, n, M=M) 

x, y, z = self.M.rotate(t.xyz, *self._xyz0) 

m = self.M.multiply(t.M) if M else None 

return self._9Tuple(x, y, z, lat, lon, h, self, t, m, name=n or self.name) 

 

@Property_RO 

def height0(self): 

'''Get origin's height (C{meter}). 

''' 

return self._t0.height 

 

@Property_RO 

def lat0(self): 

'''Get origin's latitude (C{degrees}). 

''' 

return self._t0.lat 

 

@Property_RO 

def latlonheight0(self): 

'''Get the origin's lat-, longitude and height (L{LatLon3Tuple}C{(lat, lon, height)}). 

''' 

return LatLon3Tuple(self.lat0, self.lon0, self.height0, name=self.name) 

 

def _local2ecef(self, local, nine=False, M=False): 

'''(INTERNAL) Convert I{local} to geocentric/geodetic, like I{.reverse}. 

 

@arg local: Local (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer} or L{Local9Tuple}). 

@kwarg nine: Return 3- or 9-tuple (C{bool}). 

@kwarg M: Include the rotation matrix (C{bool}). 

 

@return: A I{geocentric} 3-tuple C{(x, y, z)} or if C{B{nine}=True}, 

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

optionally including rotation matrix C{M} or C{None}. 

''' 

t = self.M.unrotate(local.xyz, *self._xyz0) 

if nine: 

t = self.ecef.reverse(*t, M=M) 

return t 

 

@Property_RO 

def lon0(self): 

'''Get origin's longitude (C{degrees}). 

''' 

return self._t0.lon 

 

@Property_RO 

def M(self): 

'''Get the rotation matrix (C{EcefMatrix}). 

''' 

return self._t0.M 

 

def reset(self, latlonh0=INT0, lon0=INT0, height0=INT0, name=NN): 

'''Reset the (geodetic) origin. 

 

@kwarg latlonh0: Either a C{LatLon}, an L{Ecef9Tuple} or C{scalar} 

latitude of the origin (C{degrees}). 

@kwarg lon0: Optional C{scalar} longitude of the origin for 

C{scalar} B{C{latlonh0}} (C{degrees}). 

@kwarg height0: Optional origin height (C{meter}), vertically 

above (or below) the surface of the ellipsoid. 

@kwarg name: Optional, new name (C{str}). 

 

@raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{Ecef9Tuple}, 

C{scalar} or invalid or if B{C{lon0}} not 

C{scalar} for C{scalar} B{C{latlonh0}} or 

invalid or if B{C{height0}} invalid. 

''' 

_update_all(self) # force reset 

 

lat0, lon0, height0, n = _llhn4(latlonh0, lon0, height0, 

suffix=_0_, Error=LocalError, name=name) 

if n: 

self.rename(n) 

else: 

n = self.name 

self._t0 = self.ecef._forward(lat0, lon0, height0, n, M=True) 

 

def reverse(self, xyz, y=None, z=None, M=False, name=NN): 

'''Convert I{local} C{(x, y, z)} to I{geodetic} C{(lat, lon, height)}. 

 

@arg xyz: A I{local} (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}, L{Local9Tuple}) or 

local C{x} coordinate (C{scalar}). 

@kwarg y: Local C{y} coordinate for C{scalar} B{C{xyz}} and B{C{z}} (C{meter}). 

@kwarg z: Local C{z} coordinate for C{scalar} B{C{xyz}} and B{C{y}} (C{meter}). 

@kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix}, iff 

available (C{bool}). 

@kwarg name: Optional name (C{str}). 

 

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

I{local} C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height}, 

this C{ltp}, an C{ecef} (L{Ecef9Tuple}) with the I{geocentric} C{x}, 

C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the 

I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested. 

 

@raise LocalError: Invalid B{C{xyz}} or C{scalar} C{x} or B{C{y}} and/or B{C{z}} 

not C{scalar} for C{scalar} B{C{xyz}}. 

''' 

x, y, z, n = _xyzn4(xyz, y, z, _XyzLocals5, Error=LocalError, name=name) 

c = self.M.unrotate((x, y, z), *self._xyz0) 

t = self.ecef.reverse(*c, M=M) 

m = self.M.multiply(t.M) if M else None 

return self._9Tuple(x, y, z, t.lat, t.lon, t.height, self, t, m, name=n or self.name) 

 

def toStr(self, prec=9, **unused): # PYCHOK signature 

'''Return this L{LocalCartesian} as a string. 

 

@kwarg prec: Precision, number of (decimal) digits (0..9). 

 

@return: This L{LocalCartesian} representation (C{str}). 

''' 

return self.attrs(_lat0_, _lon0_, _height0_, _M_, _ecef_, _name_, prec=prec) 

 

@Property_RO 

def _xyz0(self): 

'''(INTERNAL) Get C{(x0, y0, z0)} as L{Vector3Tuple}. 

''' 

return self._t0.xyz 

 

 

class Ltp(LocalCartesian): 

'''A I{local tangent plan} LTP, a sub-class of C{LocalCartesian} with 

configurable ECEF converter and without optional rotation matrix. 

''' 

def __init__(self, latlonh0=0, lon0=0, height0=0, ecef=None, name=NN): 

'''New C{Ltp}. 

 

@kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple}, 

L{Ltp} or L{Ecef9Tuple}) or latitude of the 

(goedetic) origin (C{degrees}). 

@kwarg lon0: Optional longitude of the (goedetic) origin for 

C{scalar} B{C{latlonh0}} and B{C{height0}} (C{degrees}). 

@kwarg height0: Optional origin height (C{meter}), vertically 

above (or below) the surface of the ellipsoid. 

@kwarg ecef: Optional ECEF converter (L{EcefKarney}, L{EcefFarrell21}, 

L{EcefFarrell22}, L{EcefSudano}, L{EcefVeness} or 

L{EcefYou} I{instance}), overriding the default 

L{EcefKarney}C{(datum=Datums.WGS84)}. 

@kwarg name: Optional name (C{str}). 

 

@return: New instance (C{Ltp}). 

 

@raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple}, 

L{Ltp} or L{Ecef9Tuple} or B{C{latlonh0}}, B{C{lon0}} 

or B{C{height0}} invalid, non-C{scalar}. 

 

@raise TypeError: Invalid B{C{ecef}}. 

 

@note: If BC{latlonh0} is an L{Ltp}, only the lat-, longitude and 

height are duplicated, I{not} the ECEF converter. 

''' 

LocalCartesian.__init__(self, latlonh0, lon0=lon0, height0=height0, name=name) 

if ecef: 

self.ecef = ecef 

 

@Property 

def ecef(self): 

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

''' 

return self._ecef 

 

@ecef.setter # PYCHOK setter! 

def ecef(self, ecef): 

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

 

@raise TypeError: Invalid B{C{ecef}}. 

''' 

_xinstanceof(_EcefBase, ecef=ecef) 

if ecef != self._ecef: # PYCHOK no cover 

self.reset(self._t0) 

self._ecef = ecef 

 

 

class _ChLV(object): 

'''(INTERNAL) Base class for C{ChLV*} classes. 

''' 

_03_falsing = ChLVyx2Tuple(0.6e6, 0.2e6) 

# _92_falsing = ChLVYX2Tuple(2.0e6, 1.0e6) # _95_ - _03_ 

_95_falsing = ChLVEN2Tuple(2.6e6, 1.2e6) 

 

def _ChLV9Tuple(self, fw, M, name, *Y_X_h_lat_lon_h): 

'''(INTERNAL) Helper for C{ChLVa/e.forward} and C{.reverse}. 

''' 

if bool(M): # PYCHOK no cover 

m = self.forward if fw else self.reverse # PYCHOK attr 

n = _DOT_(self.__class__.__name__, m.__name__) 

raise _NotImplementedError(unstr(n, M=M), txt=None) 

t = Y_X_h_lat_lon_h + (self, self._t0, None) # PYCHOK _t0 

return ChLV9Tuple(t, name=name) 

 

@property_RO 

def _enh_n_h(self): 

'''(INTERNAL) Get C{ChLV*.reverse} args[1:4] names, I{once}. 

''' 

t = _xargs_names(_ChLV.reverse)[1:4] 

_ChLV._enh_n_h = t # overwrite this property_RO 

# assert _xargs_names( ChLV.reverse)[1:4] == t 

# assert _xargs_names(ChLVa.reverse)[1:4] == t 

# assert _xargs_names(ChLVe.reverse)[1:4] == t 

return t 

 

def forward(self, latlonh, lon=None, height=0, M=None, name=NN): 

'''Convert WGS84 geodetic to I{Swiss} projection coordinates. 

 

@arg latlonh: Either a C{LatLon}, L{Ltp} or C{scalar} (geodetic) latitude (C{degrees}). 

@kwarg lon: Optional, C{scalar} (geodetic) longitude for C{scalar} B{C{latlonh}} (C{degrees}). 

@kwarg height: Optional, height, vertically above (or below) the surface of the ellipsoid 

(C{meter}) for C{scalar} B{C{latlonh}} and B{C{lon}}. 

@kwarg M: If C{True}, return the I{concatenated} rotation L{EcefMatrix} iff available 

for C{ChLV} only, C{None} otherwise (C{bool}). 

@kwarg name: Optional name (C{str}). 

 

@return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed 

I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat}, 

C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at 

I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV}, 

C{ChLVa} or C{ChLVe} instance. 

 

@raise LocalError: Invalid or non-C{scalar} B{C{latlonh}}, B{C{lon}} or B{C{height}}. 

''' 

notOverloaded(self, latlonh, lon=lon, height=height, M=M, name=name) 

 

def reverse(self, enh_, n=None, h_=0, M=None, name=NN): 

'''Convert I{Swiss} projection to WGS84 geodetic coordinates. 

 

@arg enh_: A Swiss projection (L{ChLV9Tuple}) or the C{scalar}, falsed I{Swiss E_LV95} 

or I{y_LV03} easting (C{meter}). 

@kwarg n: Falsed I{Swiss N_LV85} or I{x_LV03} northing for C{scalar} B{C{enh_}} and 

B{C{h_}} (C{meter}). 

@kwarg h_: I{Swiss h'} height for C{scalar} B{C{enh_}} and B{C{n}} (C{meter}). 

@kwarg M: If C{True}, return the I{concatenated} rotation L{EcefMatrix} iff available 

for C{ChLV} only, C{None} otherwise (C{bool}). 

@kwarg name: Optional name (C{str}). 

 

@return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed 

I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat}, 

C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at 

I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV}, 

C{ChLVa} or C{ChLVe} instance. 

 

@raise LocalError: Invalid or non-C{scalar} B{C{enh_}}, B{C{n}} or B{C{h_}}. 

''' 

notOverloaded(self, enh_, n=n, h_=h_, M=M, name=name) 

 

@staticmethod 

def _falsing2(LV95): 

'''(INTERNAL) Get the C{LV95} or C{LV03} falsing. 

''' 

return _ChLV._95_falsing if LV95 in (True, 95) else ( 

_ChLV._03_falsing if LV95 in (False, 3) else ChLVYX2Tuple(0, 0)) 

 

@staticmethod 

def _llh2abh_3(lat, lon, h): 

'''(INTERNAL) Helper for C{ChLVa/e.forward}. 

''' 

def _deg2ab(deg, sLL): 

# convert degrees to arc-seconds 

def _dms(ds, p, q, swap): 

d = _floor(ds) 

t = (ds - d) * p 

m = _floor(t) 

s = (t - m) * p 

if swap: 

d, s = s, d 

return d + (m + s * q) * q 

 

s = _dms(deg, _60_0, _0_01, False) # deg2sexag 

s = _dms( s, _100_0, _60_0, True) # sexag2asec 

return (s - sLL) / ChLV._s_ab 

 

a = _deg2ab(lat, ChLV._sLat) # phi', lat_aux 

b = _deg2ab(lon, ChLV._sLon) # lam', lng_aux 

h_ = fsum_(h, -ChLV.Bern.height, 2.73 * b, 6.94 * a) 

return a, b, h_ 

 

@staticmethod 

def _YXh_2abh3(Y, X, h_): 

'''(INTERNAL) Helper for C{ChLVa/e.reverse}. 

''' 

def _YX2ab(YX): 

return YX * ChLV._ab_m 

 

a, b = map1(_YX2ab, Y, X) 

h = fsum_(h_, ChLV.Bern.height, -12.6 * a, -22.64 * b) 

return a, b, h 

 

def _YXh_n4(self, enh_, n, h_, name): 

'''(INTERNAL) Helper for C{ChLV*.reverse}. 

''' 

Y, X, h_, name = _xyzn4(enh_, n, h_, ChLV9Tuple, name=name, 

_xyz_y_z_names=self._enh_n_h) 

if isinstance(enh_, ChLV9Tuple): 

Y, X = enh_.Y, enh_.X 

else: # isscalar(enh_) 

Y, X = ChLV.unfalse2(Y, X) # PYCHOK ChLVYX2Tuple 

return Y, X, h_, name 

 

 

class ChLV(_ChLV, Ltp): 

'''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates using 

L{pygeodesy.EcefKarney}'s Earth-Centered, Earth-Fixed (ECEF) methods. 

 

@see: U{Swiss projection formulas<https://www.SwissTopo.admin.CH/en/maps-data-online/ 

calculation-services.html>}, page 7ff, U{NAVREF<https://www.SwissTopo.admin.CH/en/ 

maps-data-online/calculation-services/navref.html>}, U{REFRAME<https://www.SwissTopo.admin.CH/ 

en/maps-data-online/calculation-services/reframe.html>} and U{SwissTopo Scripts GPS WGS84 

<-> LV03<https://GitHub.com/ValentinMinder/Swisstopo-WGS84-LV03>}. 

''' 

_9Tuple = ChLV9Tuple 

 

_ab_d = 0.36 # a, b units per degree, ... 

_ab_m = 1.0e-6 # ... per meter and ... 

_ab_M = _1_0 # ... per 1000 kilometer 

_s_d = _3600_0 # arc-seconds per degree ... 

_s_ab = _s_d / _ab_d # ... and per a, b unit 

_sLat = 169028.66 # Bern, Ch in ... 

_sLon = 26782.5 # ... arc-seconds ... 

# lat, lon, height == 46°57'08.66", 7°26'22.50", 49.55m ("new" 46°57'07.89", 7°26'22.335") 

Bern = LatLon4Tuple(_sLat / _s_d, _sLon / _s_d, 49.55, _WGS84, name='Bern') 

 

def __init__(self, latlonh0=Bern, **other_Ltp_kwds): 

'''New ECEF-based I{WGS84-Swiss} L{ChLV} converter, centered at I{Bern, Ch}. 

 

@kwarg latlonh0: The I{geodetic} origin and height, overriding C{Bern, Ch}. 

@kwarg other_Ltp_kwds: Optional, other L{Ltp.__init__} keyword arguments. 

 

@see: L{Ltp.__init__} for more information. 

''' 

Ltp.__init__(self, latlonh0, **_xkwds(other_Ltp_kwds, ecef=None, name=ChLV.Bern.name)) 

 

def forward(self, latlonh, lon=None, height=0, M=None, name=NN): # PYCHOK unused M 

# overloaded for the _ChLV.forward.__doc__ 

return Ltp.forward(self, latlonh, lon=lon, height=height, M=M, name=name) 

 

def reverse(self, enh_, n=None, h_=0, M=None, name=NN): 

# overloaded for the _ChLV.reverse.__doc__ 

Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name) 

return Ltp.reverse(self, Y, X, h_, M=M, name=name) 

 

@staticmethod 

def false2(Y, X, LV95=True, name=NN): 

'''Add the I{Swiss LV95} or I{LV03} falsing. 

 

@arg Y: Unfalsed I{Swiss Y} easting (C{meter}). 

@arg X: Unfalsed I{Swiss X} northing (C{meter}). 

@kwarg LV95: If C{True} add C{LV95} falsing, if C{False} add 

C{LV03} falsing, otherwise leave unfalsed. 

@kwarg name: Optional name (C{str}). 

 

@return: A L{ChLVEN2Tuple}C{(E_LV95, N_LV95)} or a 

L{ChLVyx2Tuple}C{(y_LV03, x_LV03)} with falsed B{C{Y}} 

and B{C{X}}, otherwise a L{ChLVYX2Tuple}C{(Y, X)} 

with B{C{Y}} and B{C{X}} as-is. 

''' 

e, n = t = _ChLV._falsing2(LV95) 

return t.classof(e + Y, n + X, name=name) 

 

@staticmethod 

def isLV03(e, n): 

'''Is C{(B{e}, B{n})} a valid I{Swiss LV03} projection? 

 

@arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}). 

@arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}). 

 

@return: C{True} if C{(B{e}, B{n})} is a valid, falsed I{Swiss 

LV03}, projection C{False} otherwise. 

''' 

# @see: U{Map<https://www.SwissTopo.admin.CH/en/knowledge-facts/ 

# surveying-geodesy/reference-frames/local/lv95.html>} 

return 400.e3 < e < 900.e3 and 40.e3 < n < 400.e3 

 

@staticmethod 

def isLV95(e, n, raiser=True): 

'''Is C{(B{e}, B{n})} a valid I{Swiss LV95} or I{LV03} projection? 

 

@arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}). 

@arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}). 

@kwarg raiser: If C{True}, throw a L{LocalError} if B{C{e}} and 

B{C{n}} are invalid I{Swiss LV95} nor I{LV03}. 

 

@return: C{True} or C{False} if C{(B{e}, B{n})} is a valid I{Swiss 

LV95} respectively I{LV03} projection, C{None} otherwise. 

''' 

if ChLV.isLV03(e, n): 

return False 

elif ChLV.isLV03(e - 2.e6, n - 1.e6): # _92_falsing = _95_ - _03_ 

return True 

elif raiser: # PYCHOK no cover 

raise LocalError(unstr(ChLV.isLV95, e=e, n=n)) 

return None 

 

@staticmethod 

def unfalse2(e, n, LV95=None, name=NN): 

'''Remove the I{Swiss LV95} or I{LV03} falsing. 

 

@arg e: Falsed I{Swiss E_LV95} or I{y_LV03} easting (C{meter}). 

@arg n: Falsed I{Swiss N_LV95} or I{x_LV03} northing (C{meter}). 

@kwarg LV95: If C{True} remove I{LV95} falsing, if C{False} remove 

I{LV03} falsing, otherwise use method C{isLV95(B{e}, 

B{n})}. 

@kwarg name: Optional name (C{str}). 

 

@return: A L{ChLVYX2Tuple}C{(Y, X)} with the unfalsed B{C{e}} 

respectively B{C{n}}. 

''' 

Y, X = _ChLV._falsing2(ChLV.isLV95(e, n) if LV95 is None else LV95) 

return ChLVYX2Tuple(e - Y, n - X, name=name) 

 

 

class ChLVa(_ChLV, LocalCartesian): 

'''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates 

using the U{Approximate<https://www.SwissTopo.admin.CH/en/maps-data-online/ 

calculation-services.html>} formulas, page 13. 

 

@see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}. 

''' 

def __init__(self, name=ChLV.Bern.name): 

'''New I{Approximate WGS84-Swiss} L{ChLVa} converter, centered at I{Bern, Ch}. 

 

@kwarg name: Optional name (C{str}), overriding C{Bern.name}. 

''' 

LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name) 

 

def forward(self, latlonh, lon=None, height=0, M=None, name=NN): 

# overloaded for the _ChLV.forward.__doc__ 

lat, lon, h, name = _llhn4(latlonh, lon, height, name=name) 

a, b, h_ = _ChLV._llh2abh_3(lat, lon, h) 

a2, b2 = a**2, b**2 

 

Y = fsum_( 72.37, 211455.93 * b, 

-10938.51 * b * a, 

-0.36 * b * a2, 

-44.54 * b * b2) # + 600_000 

X = fsum_(147.07, 308807.95 * a, 

3745.25 * b2, 

76.63 * a2, 

-194.56 * b2 * a, 

119.79 * a2 * a) # + 200_000 

return self._ChLV9Tuple(True, M, name, Y, X, h_, lat, lon, h) 

 

def reverse(self, enh_, n=None, h_=0, M=None, name=NN): 

# overloaded for the _ChLV.reverse.__doc__ 

Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name) 

a, b, h = _ChLV._YXh_2abh3(Y, X, h_) 

a2, b2 = a**2, b**2 

 

lon = Fsum( 2.6779094, 4.728982 * a, 

0.791484 * a * b, 

0.1306 * a * b2, 

-0.0436 * a * a2).fover(ChLV._ab_d) 

lat = Fsum(16.9023892, 3.238272 * b, 

-0.270978 * a2, 

-0.002528 * b2, 

-0.0447 * a2 * b, 

-0.014 * b2 * b).fover(ChLV._ab_d) 

return self._ChLV9Tuple(False, M, name, Y, X, h_, lat, lon, h) 

 

 

class ChLVe(_ChLV, LocalCartesian): 

'''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates 

using the U{Ellipsoidal approximate<https://www.SwissTopo.admin.CH/en/ 

maps-data-online/calculation-services.html>} formulas, pp 10-11 and U{Bolliger, 

J.<https://eMuseum.GGGS.CH/literatur-lv/liste-Dateien/1967_Bolliger_a.pdf>} 

pp 148-151 (also U{GGGS<https://eMuseum.GGGS.CH/literatur-lv/liste.htm>}). 

 

@note: Methods L{ChLVe.forward} and L{ChLVe.reverse} have an additional keyword 

argument C{B{gamma}=False} to approximate the I{meridian convergence}. 

If C{B{gamma}=True} a 2-tuple C{(t, gamma)} is returned with C{t} the 

usual result (C{ChLV9Tuple}) and C{gamma}, the I{meridian convergence} 

(decimal C{degrees}). To convert C{gamma} to C{grades} or C{gons}, 

use function L{pygeodesy.degrees2grades}. 

 

@see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}. 

''' 

def __init__(self, name=ChLV.Bern.name): 

'''New I{Approximate WGS84-Swiss} L{ChLVe} converter, centered at I{Bern, Ch}. 

 

@kwarg name: Optional name (C{str}), overriding C{Bern.name}. 

''' 

LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name) 

 

def forward(self, latlonh, lon=None, height=0, M=None, name=NN, gamma=False): # PYCHOK gamma 

# overloaded for the _ChLV.forward.__doc__ 

lat, lon, h, name = _llhn4(latlonh, lon, height, name=name) 

a, b, h_ = _ChLV._llh2abh_3(lat, lon, h) 

F = Fhorner 

 

B1 = F(a, 211428.533991, -10939.608605, -2.658213, -8.539078, -0.00345, -0.007992) 

B3 = F(a, -44.232717, 4.291740, -0.309883, 0.013924) 

B5 = F(a, 0.019784, -0.004277) 

Y = F(b, 0, B1, 0, B3, 0, B5).fover(ChLV._ab_M) # 1000 km! 

 

B0 = F(a, 0, 308770.746371, 75.028131, 120.435227, 0.009488, 0.070332, -0.00001) 

B2 = F(a, 3745.408911, -193.792705, 4.340858, -0.376174, 0.004053) 

B4 = F(a, -0.734684, 0.144466, -0.011842) 

B6 = 0.000488 

X = F(b, B0, 0, B2, 0, B4, 0, B6).fover(ChLV._ab_M) # 1000 km! 

 

t = self._ChLV9Tuple(True, M, name, Y, X, h_, lat, lon, h) 

if gamma: 

U1 = F(a, 2255515.207166, 2642.456961, 1.284180, 2.577486, 0.001165) 

U3 = F(a, -412.991934, 64.106344, -2.679566, 0.123833) 

U5 = F(a, 0.204129, -0.037725) 

t = t, F(b, 0, U1, 0, U3, 0, U5).fover(ChLV._ab_m) # * ChLV._ab_d degrees? 

return t 

 

def reverse(self, enh_, n=None, h_=0, M=None, name=NN, gamma=False): # PYCHOK gamma 

# overloaded for the _ChLV.reverse.__doc__ 

Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name) 

a, b, h = _ChLV._YXh_2abh3(Y, X, h_) 

F = Fhorner 

 

A1 = F(b, 47297.3056722, 7925.714783, 1328.129667, 255.02202, 48.17474, 9.0243) 

A3 = F(b, -442.709889, -255.02202, -96.34947, -30.0808) 

A5 = F(b, 9.63495, 9.0243) 

lon = F(a, ChLV._sLon, A1, 0, A3, 0, A5).fover(ChLV._s_d) 

# == (ChLV._sLon + a * (A1 + a**2 * (A3 + a**2 * A5))) / ChLV._s_d 

 

A0 = F(b, ChLV._sLat, 32386.4877666, -25.486822, -132.457771, 0.48747, 0.81305, -0.0069) 

A2 = F(b, -2713.537919, -450.442705, -75.53194, -14.63049, -2.7604) 

A4 = F(b, 24.42786, 13.20703, 4.7476) 

A6 = -0.4249 

lat = F(a, A0, 0, A2, 0, A4, 0, A6).fover(ChLV._s_d) 

 

t = self._ChLV9Tuple(False, M, name, Y, X, h_, lat, lon, h) 

if gamma: 

U1 = F(b, 106679.792202, 17876.57022, 4306.5241, 794.87772, 148.1545, 27.8725) 

U3 = F(b, -1435.508, -794.8777, -296.309, -92.908) 

U5 = F(b, 29.631, 27.873) 

t = t, F(a, 0, U1, 0, U3, 0, U5).fover(ChLV._s_ab) # degrees 

return t 

 

 

def tyr3d(tilt=INT0, yaw=INT0, roll=INT0, Vector=Vector3d, **Vector_kwds): 

'''Convert an attitude oriention into a (3-D) direction vector. 

 

@kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down 

(clockwise rotation along and around the x-axis). 

@kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North 

(counter-clockwise rotation along and around the z-axis). 

@kwarg roll: Roll, bank (C{degrees}), positive to the right and down 

(clockwise rotation along and around the y-axis). 

 

@return: A named B{C{Vector}} instance or if B{C{Vector}} is C{None}, 

a named L{Vector3Tuple}C{(x, y, z)}. 

 

@see: U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>} 

and function L{pygeodesy.hartzell} argument C{los}. 

''' 

d = Attitude4Tuple(_0_0, tilt, yaw, roll).tyr3d 

return d if Vector is type(d) else ( 

Vector3Tuple(d.x, d.y, d.z, name=d.name) if Vector is None else 

Vector(d.x, d.y, d.z, **_xkwds(Vector_kwds, name=d.name))) # PYCHOK indent 

 

 

def _xLtp(ltp, *dflt): 

'''(INTERNAL) Validate B{C{ltp}}. 

''' 

if dflt and ltp is None: 

ltp = dflt[0] 

if isinstance(ltp, (LocalCartesian, Ltp)): 

return ltp 

raise _TypesError(_ltp_, ltp, Ltp, LocalCartesian) 

 

# **) MIT License 

# 

# Copyright (C) 2016-2022 -- mrJean1 at Gmail -- All Rights Reserved. 

# 

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

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

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

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

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

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

# 

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

# in all copies or substantial portions of the Software. 

# 

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

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

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

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

# OTHER DEALINGS IN THE SOFTWARE.