Coverage for pygeodesy/ltp.py: 95%
423 statements
« prev ^ index » next coverage.py v7.6.1, created at 2025-01-06 12:20 -0500
« prev ^ index » next coverage.py v7.6.1, created at 2025-01-06 12:20 -0500
2# -*- coding: utf-8 -*-
4u'''I{Local Tangent Plane} (LTP) and I{local} cartesian coordinates.
6I{Local cartesian} and I{local tangent plane} classes L{LocalCartesian}, approximations L{ChLVa}
7and L{ChLVe} and L{Ltp}, L{ChLV}, L{LocalError}, L{Attitude} and L{Frustum}.
9@see: U{Local tangent plane coordinates<https://WikiPedia.org/wiki/Local_tangent_plane_coordinates>}
10 and class L{LocalCartesian}, transcoded from I{Charles Karney}'s C++ classU{LocalCartesian
11 <https://GeographicLib.SourceForge.io/C++/doc/classGeographicLib_1_1LocalCartesian.html>}.
12'''
13# make sure int/int division yields float quotient, see .basics
14from __future__ import division as _; del _ # PYCHOK semicolon
16from pygeodesy.basics import _args_kwds_names, map1, map2, _xinstanceof, \
17 _xsubclassof # .datums
18from pygeodesy.constants import EPS, INT0, _umod_360, _0_0, _0_01, _0_5, _1_0, \
19 _2_0, _60_0, _90_0, _100_0, _180_0, _3600_0, \
20 _N_1_0 # PYCHOK used!
21# from pygeodesy.datums import _WGS84 # from .ecef
22from pygeodesy.ecef import _EcefBase, EcefKarney, Ecef9Tuple, _llhn4, \
23 _xyzn4, _WGS84
24from pygeodesy.errors import _NotImplementedError, _ValueError, _xattr, \
25 _xkwds, _xkwds_get, _xkwds_pop2
26from pygeodesy.fmath import fabs, fdot, fdot_, Fhorner
27from pygeodesy.fsums import _floor, fsumf_
28from pygeodesy.interns import _0_, _COMMASPACE_, _DOT_, _ecef_, _height_, _M_, \
29 _invalid_, _lat0_, _lon0_, _name_, _too_
30# from pygeodesy.lazily import _ALL_LAZY # from vector3d
31from pygeodesy.ltpTuples import Attitude4Tuple, ChLVEN2Tuple, ChLV9Tuple, \
32 ChLVYX2Tuple, Footprint5Tuple, Local9Tuple, \
33 ChLVyx2Tuple, _XyzLocals4, _XyzLocals5, Xyz4Tuple
34from pygeodesy.named import _name__, _name2__, _NamedBase, notOverloaded
35from pygeodesy.namedTuples import LatLon3Tuple, LatLon4Tuple, Vector3Tuple
36from pygeodesy.props import Property, Property_RO, property_doc_, \
37 property_ROver, _update_all
38from pygeodesy.streprs import Fmt, strs, unstr
39from pygeodesy.units import Bearing, Degrees, _isHeight, Meter
40from pygeodesy.utily import cotd, _loneg, sincos2d, sincos2d_, tand, tand_, \
41 wrap180, wrap360
42from pygeodesy.vector3d import _ALL_LAZY, Vector3d
44# from math import fabs, floor as _floor # from .fmath, .fsums
46__all__ = _ALL_LAZY.ltp
47__version__ = '24.12.12'
49_height0_ = _height_ + _0_
50_narrow_ = 'narrow'
51_wide_ = 'wide'
54class Attitude(_NamedBase):
55 '''The pose of a plane or camera in space.
56 '''
57 _alt = Meter( alt =_0_0)
58 _roll = Degrees(roll=_0_0)
59 _tilt = Degrees(tilt=_0_0)
60 _yaw = Bearing(yaw =_0_0)
62 def __init__(self, alt_attitude=INT0, tilt=INT0, yaw=INT0, roll=INT0, **name):
63 '''New L{Attitude}.
65 @kwarg alt_attitude: Altitude (C{meter}) above earth or previous attitude
66 (L{Attitude} or L{Attitude4Tuple}) with the C{B{alt}itude},
67 B{C{tilt}}, B{C{yaw}} and B{C{roll}}.
68 @kwarg tilt: Pitch, elevation from horizontal (C{degrees180}), negative down
69 (clockwise rotation along and around the x- or East axis).
70 @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North
71 (counter-clockwise rotation along and around the z- or Up axis).
72 @kwarg roll: Roll, bank (C{degrees180}), positive to the right and down
73 (clockwise rotation along and around the y- or North axis).
74 @kwarg name: Optional C{B{name}=NN} C{str}).
76 @raise AttitudeError: Invalid B{C{alt_attitude}}, B{C{tilt}}, B{C{yaw}} or
77 B{C{roll}}.
79 @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>} and
80 U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}.
81 '''
82 if _isHeight(alt_attitude):
83 t = Attitude4Tuple(alt_attitude, tilt, yaw, roll)
84 else:
85 try:
86 t = alt_attitude.atyr
87 except AttributeError:
88 raise AttitudeError(alt=alt_attitude, tilt=tilt, yaw=yaw, rol=roll)
89 for n, v in t.items():
90 if v:
91 setattr(self, n, v)
92 n = _name__(name, _or_nameof=t)
93 if n:
94 self.name = n
96 @property_doc_(' altitude above earth in C{meter}.')
97 def alt(self):
98 return self._alt
100 @alt.setter # PYCHOK setter!
101 def alt(self, alt): # PYCHOK no cover
102 a = Meter(alt=alt, Error=AttitudeError)
103 if self._alt != a:
104 _update_all(self)
105 self._alt = a
107 altitude = alt
109 @Property_RO
110 def atyr(self):
111 '''Return this attitude's alt[itude], tilt, yaw and roll as an L{Attitude4Tuple}.
112 '''
113 return Attitude4Tuple(self.alt, self.tilt, self.yaw, self.roll, name=self.name)
115 @Property_RO
116 def matrix(self):
117 '''Get the 3x3 rotation matrix C{R(yaw)·R(tilt)·R(roll)}, aka I{ZYX} (C{float}, row-order).
119 @see: Matrix M of case 10 in U{Appendix A
120 <https://ntrs.NASA.gov/api/citations/19770019231/downloads/19770019231.pdf>}.
121 '''
122 # to follow the definitions of rotation angles alpha, beta and gamma:
123 # negate yaw since yaw is counter-clockwise around the z-axis, swap
124 # tilt and roll since tilt is around the x- and roll around the y-axis
125 sa, ca, sb, cb, sg, cg = sincos2d_(-self.yaw, self.roll, self.tilt)
126 return ((ca * cb, fdot_(ca, sb * sg, -sa, cg), fdot_(ca, sb * cg, sa, sg)),
127 (sa * cb, fdot_(sa, sb * sg, ca, cg), fdot_(sa, sb * cg, -ca, sg)),
128 ( -sb, cb * sg, cb * cg))
130 @property_doc_(' roll/bank in C{degrees180}, positive to the right and down.')
131 def roll(self):
132 return self._roll
134 @roll.setter # PYCHOK setter!
135 def roll(self, roll):
136 r = Degrees(roll=roll, wrap=wrap180, Error=AttitudeError)
137 if self._roll != r:
138 _update_all(self)
139 self._roll = r
141 bank = roll
143 def rotate(self, x_xyz, y=None, z=None, Vector=None, **name_Vector_kwds):
144 '''Transform a (local) cartesian by this attitude's matrix.
146 @arg x_xyz: X component of vector (C{scalar}) or (3-D) vector (C{Cartesian},
147 L{Vector3d} or L{Vector3Tuple}).
148 @kwarg y: Y component of vector (C{scalar}), same units as B{C{x}}.
149 @kwarg z: Z component of vector (C{scalar}), same units as B{C{x}}.
150 @kwarg Vector: Class to return transformed point (C{Cartesian}, L{Vector3d}
151 or C{Vector3Tuple}) or C{None}.
152 @kwarg name_Vector_kwds: Optional C{B{name}=NN} (C{str}) and optionally,
153 additional B{C{Vector}} keyword arguments, ignored if C{B{Vector}
154 is None}.
156 @return: A named B{C{Vector}} instance or if C{B{Vector} is None},
157 a named L{Vector3Tuple}C{(x, y, z)}.
159 @raise AttitudeError: Invalid B{C{x_xyz}}, B{C{y}} or B{C{z}}.
161 @raise TypeError: Invalid B{C{Vector}} or B{C{name_Vector_kwds}} item.
163 @see: U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}.
164 '''
165 try:
166 try:
167 xyz = map2(float, x_xyz.xyz3)
168 except AttributeError:
169 xyz = map1(float, x_xyz, y, z)
170 except (TypeError, ValueError) as x:
171 raise AttitudeError(x_xyz=x_xyz, y=y, z=z, cause=x)
173 x, y, z = (fdot(r, *xyz) for r in self.matrix)
174 n, kwds = _name2__(name_Vector_kwds, _or_nameof=self)
175 return Vector3Tuple(x, y, z, name=n) if Vector is None else \
176 Vector(x, y, z, name=n, **kwds)
178 @property_doc_(' tilt/pitch/elevation from horizontal in C{degrees180}, negative down.')
179 def tilt(self):
180 return self._tilt
182 @tilt.setter # PYCHOK setter!
183 def tilt(self, tilt):
184 t = Degrees(tilt=tilt, wrap=wrap180, Error=AttitudeError)
185 if self._tilt != t:
186 _update_all(self)
187 self._tilt = t
189 elevation = pitch = tilt
191 def toStr(self, prec=6, sep=_COMMASPACE_, **unused): # PYCHOK signature
192 '''Format this attitude as string.
194 @kwarg prec: The C{float} precision, number of decimal digits (0..9).
195 Trailing zero decimals are stripped for B{C{prec}} values
196 of 1 and above, but kept for negative B{C{prec}} values.
197 @kwarg sep: Separator to join (C{str}).
199 @return: This attitude (C{str}).
200 '''
201 return self.atyr.toStr(prec=prec, sep=sep)
203 @Property_RO
204 def tyr3d(self):
205 '''Get this attitude's (3-D) directional vector (L{Vector3d}).
207 @see: U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}.
208 '''
209 def _r2d(r):
210 return fsumf_(_N_1_0, *r)
212 return Vector3d(*map(_r2d, self.matrix), name__=tyr3d)
214 @property_doc_(' yaw/bearing/heading in compass C{degrees360}, clockwise from North.')
215 def yaw(self):
216 return self._yaw
218 @yaw.setter # PYCHOK setter!
219 def yaw(self, yaw):
220 y = Bearing(yaw=yaw, Error=AttitudeError)
221 if self._yaw != y:
222 _update_all(self)
223 self._yaw = y
225 bearing = heading = yaw
228class AttitudeError(_ValueError):
229 '''An L{Attitude} or L{Attitude4Tuple} issue.
230 '''
231 pass
234class Frustum(_NamedBase):
235 '''A rectangular pyramid, typically representing a camera's I{field-of-view}
236 (fov) and the intersection with (or projection to) a I{local tangent plane}.
238 @see: U{Viewing frustum<https://WikiPedia.org/wiki/Viewing_frustum>}.
239 '''
240 _h_2 = _0_0 # half hfov in degrees
241 _ltp = None # local tangent plane
242 _tan_h_2 = _0_0 # tan(_h_2)
243 _v_2 = _0_0 # half vfov in degrees
245 def __init__(self, hfov, vfov, ltp=None, **name):
246 '''New L{Frustum}.
248 @arg hfov: Horizontal field-of-view (C{degrees180}).
249 @arg vfov: Vertical field-of-view (C{degrees180}).
250 @kwarg ltp: Optional I{local tangent plane} (L{Ltp}).
251 @kwarg name: Optional C{B{name}=NN} (C{str}).
253 @raise LocalError: Invalid B{C{hfov}} or B{C{vfov}}.
254 '''
255 self._h_2 = h = _fov_2(hfov=hfov)
256 self._v_2 = _fov_2(vfov=vfov)
258 self._tan_h_2 = tand(h, hfov_2=h)
260 if ltp:
261 self._ltp = _xLtp(ltp)
262 if name:
263 self.name # PYCHOK effect
265 def footprint5(self, alt_attitude, tilt=0, yaw=0, roll=0, z=_0_0, ltp=None, **name): # MCCABE 15
266 '''Compute the center and corners of the intersection with (or projection
267 to) the I{local tangent plane} (LTP).
269 @arg alt_attitude: An altitude (C{meter}) above I{local tangent plane} or
270 an attitude (L{Attitude} or L{Attitude4Tuple}) with the
271 C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}.
272 @kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down
273 (clockwise rotation along and around the x- or East axis).
274 @kwarg yaw: Bearing, heading (compass C{degrees}), clockwise from North
275 (counter-clockwise rotation along and around the z- or Up axis).
276 @kwarg roll: Roll, bank (C{degrees}), positive to the right and down
277 (clockwise rotation along and around the y- or North axis).
278 @kwarg z: Optional height of the footprint (C{meter}) above I{local tangent plane}.
279 @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding this
280 frustum's C{ltp}.
281 @kwarg name: Optional C{B{name}=NN} (C{str}).
283 @return: A L{Footprint5Tuple}C{(center, upperleft, upperight, loweright,
284 lowerleft)} with the C{center} and 4 corners, each an L{Xyz4Tuple}.
286 @raise TypeError: Invalid B{C{ltp}}.
288 @raise UnitError: Invalid B{C{altitude}}, B{C{tilt}}, B{C{roll}} or B{C{z}}.
290 @raise ValueError: If B{C{altitude}} too low, B{C{z}} too high or B{C{tilt}}
291 or B{C{roll}} -including B{C{vfov}} respectively B{C{hfov}}-
292 over the horizon.
294 @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>}.
295 '''
296 def _xy2(a, e, h_2, tan_h_2, r):
297 # left and right corners, or swapped
298 if r < EPS: # no roll
299 r = a * tan_h_2
300 l = -r # PYCHOK l is ell
301 else: # roll
302 r, l = tand_(r - h_2, r + h_2, roll_hfov=r) # PYCHOK l is ell
303 r *= -a # negate right positive
304 l *= -a # PYCHOK l is ell
305 y = a * cotd(e, tilt_vfov=e)
306 return (l, y), (r, y)
308 def _xyz5(b, xy5, z, ltp):
309 # rotate (x, y)'s by bearing, clockwise
310 sc = sincos2d(b)
311 for x, y in xy5:
312 yield Xyz4Tuple(fdot(sc, x, y),
313 fdot(sc, -x, y), z, ltp)
315 try:
316 a, t, y, r = alt_attitude.atyr
317 except AttributeError:
318 a, t, y, r = alt_attitude, tilt, yaw, roll
320 a = Meter(altitude=a)
321 if a < EPS: # too low
322 raise _ValueError(altitude=a)
323 if z: # PYCHOK no cover
324 z = Meter(z=z)
325 a -= z
326 if a < EPS: # z above a
327 raise _ValueError(altitude_z=a)
328 else:
329 z = _0_0
331 b = Degrees(yaw=y, wrap=wrap360) # bearing
332 e = -Degrees(tilt=t, wrap=wrap180) # elevation, pitch
333 if not EPS < e < _180_0:
334 raise _ValueError(tilt=t)
335 if e > _90_0:
336 e = _loneg(e)
337 b = _umod_360(b + _180_0)
339 r = Degrees(roll=r, wrap=wrap180) # roll center
340 x = (-a * tand(r, roll=r)) if r else _0_0
341 y = a * cotd(e, tilt=t) # ground range
342 if fabs(y) < EPS:
343 y = _0_0
345 v, h, t = self._v_2, self._h_2, self._tan_h_2
346 # center and corners, clockwise from upperleft, rolled
347 xy5 = ((x, y),) + _xy2(a, e - v, h, t, r) \
348 + _xy2(a, e + v, -h, -t, r) # swapped
349 # turn center and corners by yaw, clockwise
350 p = self.ltp if ltp is None else ltp # None OK
351 return Footprint5Tuple(_xyz5(b, xy5, z, p), **name) # *_xyz5
353 @Property_RO
354 def hfov(self):
355 '''Get the horizontal C{fov} (C{degrees}).
356 '''
357 return Degrees(hfov=self._h_2 * _2_0)
359 @Property_RO
360 def ltp(self):
361 '''Get the I{local tangent plane} (L{Ltp}) or C{None}.
362 '''
363 return self._ltp
365 def toStr(self, prec=3, fmt=Fmt.F, sep=_COMMASPACE_): # PYCHOK signature
366 '''Convert this frustum to a "hfov, vfov, ltp" string.
368 @kwarg prec: Number of (decimal) digits, unstripped (0..8 or C{None}).
369 @kwarg fmt: Optional, C{float} format (C{letter}).
370 @kwarg sep: Separator to join (C{str}).
372 @return: Frustum in the specified form (C{str}).
373 '''
374 t = self.hfov, self.vfov
375 if self.ltp:
376 t += self.ltp,
377 t = strs(t, prec=prec, fmt=fmt)
378 return sep.join(t) if sep else t
380 @Property_RO
381 def vfov(self):
382 '''Get the vertical C{fov} (C{degrees}).
383 '''
384 return Degrees(vfov=self._v_2 * _2_0)
387class LocalError(_ValueError):
388 '''A L{LocalCartesian} or L{Ltp} related issue.
389 '''
390 pass
393class LocalCartesian(_NamedBase):
394 '''Conversion between geodetic C{(lat, lon, height)} and I{local
395 cartesian} C{(x, y, z)} coordinates with I{geodetic} origin
396 C{(lat0, lon0, height0)}, transcoded from I{Karney}'s C++ class
397 U{LocalCartesian<https://GeographicLib.SourceForge.io/C++/doc/
398 classGeographicLib_1_1LocalCartesian.html>}.
400 The C{z} axis is normal to the ellipsoid, the C{y} axis points due
401 North. The plane C{z = -height0} is tangent to the ellipsoid.
403 The conversions all take place via geocentric coordinates using a
404 geocentric L{EcefKarney}, by default the WGS84 datum/ellipsoid.
406 @see: Class L{Ltp}.
407 '''
408 _ecef = EcefKarney(_WGS84)
409 _Ecef = EcefKarney
410 _lon00 = INT0 # self.lon0
411 _t0 = None # origin (..., lat0, lon0, height0, ...) L{Ecef9Tuple}
412 _9Tuple = Local9Tuple
414 def __init__(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, **lon00_name):
415 '''New L{LocalCartesian} converter.
417 @kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple}, L{Ltp}
418 L{LocalCartesian} or L{Ecef9Tuple}) or the C{scalar}
419 latitude of the (goedetic) origin (C{degrees}).
420 @kwarg lon0: Longitude of the (goedetic) origin (C{degrees}), required if
421 B{C{latlonh0}} is C{scalar}, ignored otherwise.
422 @kwarg height0: Optional height (C{meter}, conventionally) at the (goedetic)
423 origin perpendicular to and above (or below) the ellipsoid's
424 surface, like B{C{lon0}}.
425 @kwarg ecef: An ECEF converter (L{EcefKarney} I{only}), like B{C{lon0}}.
426 @kwarg lon00_name: Optional C{B{name}=NN} (C{str}) and keyword argument
427 C{B{lon00}=B{lon0}} for the arbitrary I{polar} longitude
428 (C{degrees}), see method C{reverse} and property C{lon00}
429 for further details.
431 @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple}, L{Ltp},
432 L{LocalCartesian} or L{Ecef9Tuple} or B{C{latlonh0}},
433 B{C{lon0}}, B{C{height0}} or B{C{lon00}} invalid.
435 @raise TypeError: Invalid B{C{ecef}} or not L{EcefKarney}.
437 @note: If BC{latlonh0} is an L{Ltp} or L{LocalCartesian}, only C{lat0}, C{lon0},
438 C{height0} and I{polar} C{lon00} are copied, I{not} the ECEF converter.
439 '''
440 self.reset(latlonh0, lon0=lon0, height0=height0, ecef=ecef, **lon00_name)
442 def __eq__(self, other):
443 '''Compare this and an other instance.
445 @arg other: The other ellipsoid (L{LocalCartesian} or L{Ltp}).
447 @return: C{True} if equal, C{False} otherwise.
448 '''
449 return other is self or (isinstance(other, self.__class__) and
450 other.ecef == self.ecef and
451 other._t0 == self._t0)
453 @Property_RO
454 def datum(self):
455 '''Get the ECEF converter's datum (L{Datum}).
456 '''
457 return self.ecef.datum
459 @Property_RO
460 def ecef(self):
461 '''Get the ECEF converter (L{EcefKarney}).
462 '''
463 return self._ecef
465 def _ecef2local(self, ecef, Xyz, name_Xyz_kwds):
466 '''(INTERNAL) Convert geocentric/geodetic to local, like I{forward}.
468 @arg ecef: Geocentric (and geodetic) (L{Ecef9Tuple}).
469 @arg Xyz: An L{XyzLocal}, L{Aer}, L{Enu} or L{Ned} I{class} or C{None}.
470 @arg name_Xyz_kwds: Optional C{B{name}=NN} (C{str}) and optionally,
471 additional B{C{Xyz}} keyword arguments, ignored if C{B{Xyz}
472 is None}.
474 @return: An C{B{Xyz}(x, y, z, ltp, **B{name_Xyz_kwds}} instance or
475 if C{B{Xyz} is None}, a L{Local9Tuple}C{(x, y, z, lat, lon,
476 height, ltp, ecef, M)} with this C{ltp}, B{C{ecef}}
477 (L{Ecef9Tuple}) converted to this C{datum} and C{M=None},
478 always.
480 @raise TypeError: Invalid B{C{Xyz}} or B{C{name_Xyz_kwds}} item.
481 '''
482 _xinstanceof(Ecef9Tuple, ecef=ecef)
483 if ecef.datum != self.datum:
484 ecef = ecef.toDatum(self.datum)
485 n, kwds = _name2__(name_Xyz_kwds, _or_nameof=ecef)
486 x, y, z = self.M.rotate(ecef.xyz, *self._t0_xyz)
487 r = Local9Tuple(x, y, z, ecef.lat, ecef.lon, ecef.height,
488 self, ecef, None, name=n)
489 if Xyz:
490 _xsubclassof(*_XyzLocals4, Xyz=Xyz) # Vector3d
491 r = r.toXyz(Xyz=Xyz, name=n, **kwds)
492 return r
494 @Property_RO
495 def ellipsoid(self):
496 '''Get the ECEF converter's ellipsoid (L{Ellipsoid}).
497 '''
498 return self.ecef.datum.ellipsoid
500 def forward(self, latlonh, lon=None, height=0, M=False, **name):
501 '''Convert I{geodetic} C{(lat, lon, height)} to I{local} cartesian
502 C{(x, y, z)}.
504 @arg latlonh: Either a C{LatLon}, L{Ltp}, L{Ecef9Tuple} or C{scalar}
505 (geodetic) latitude (C{degrees}).
506 @kwarg lon: Optional C{scalar} (geodetic) longitude for C{scalar}
507 B{C{latlonh}} (C{degrees}).
508 @kwarg height: Optional height (C{meter}, conventionally) perpendicular
509 to and above (or below) the ellipsoid's surface.
510 @kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix},
511 iff available (C{bool}).
512 @kwarg name: Optional C{B{name}=NN} (C{str}).
514 @return: A L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)}
515 with I{local} C{x}, C{y}, C{z}, I{geodetic} C{(lat}, C{lon},
516 C{height}, this C{ltp}, C{ecef} (L{Ecef9Tuple}) with
517 I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat},
518 C{lon}, C{height}) and the I{concatenated} rotation matrix
519 C{M} (L{EcefMatrix}) if requested.
521 @raise LocalError: If B{C{latlonh}} not C{scalar}, C{LatLon}, L{Ltp},
522 L{Ecef9Tuple} or invalid or if B{C{lon}} not
523 C{scalar} for C{scalar} B{C{latlonh}} or invalid
524 or if B{C{height}} invalid.
525 '''
526 lat, lon, h, n = _llhn4(latlonh, lon, height, Error=LocalError, **name)
527 t = self.ecef._forward(lat, lon, h, n, M=M)
528 x, y, z = self.M.rotate(t.xyz, *self._t0_xyz)
529 m = self.M.multiply(t.M) if M else None
530 return self._9Tuple(x, y, z, lat, lon, h, self, t, m, name=n or self.name)
532 @Property_RO
533 def height0(self):
534 '''Get the origin's height (C{meter}).
535 '''
536 return self._t0.height
538 @Property_RO
539 def lat0(self):
540 '''Get the origin's latitude (C{degrees}).
541 '''
542 return self._t0.lat
544 @Property_RO
545 def latlonheight0(self):
546 '''Get the origin's lat-, longitude and height (L{LatLon3Tuple}C{(lat, lon, height)}).
547 '''
548 return LatLon3Tuple(self.lat0, self.lon0, self.height0, name=self.name)
550 def _local2ecef(self, local, nine=False, M=False):
551 '''(INTERNAL) Convert I{local} to geocentric/geodetic, like I{.reverse}.
553 @arg local: Local (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer} or L{Local9Tuple}).
554 @kwarg nine: If C{True}, return a 9-, otherwise a 3-tuple (C{bool}).
555 @kwarg M: Include the rotation matrix (C{bool}).
557 @return: A I{geocentric} 3-tuple C{(x, y, z)} or if C{B{nine}=True}, an
558 L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with
559 rotation matrix C{M} (L{EcefMatrix}) if requested.
560 '''
561 _xinstanceof(*_XyzLocals5, local=local)
562 t = self.M.unrotate(local.xyz, *self._t0_xyz)
563 if nine:
564 t = self.ecef.reverse(*t, M=M)
565 return t
567 @Property_RO
568 def lon0(self):
569 '''Get the origin's longitude (C{degrees}).
570 '''
571 return self._t0.lon
573 @Property
574 def lon00(self):
575 '''Get the arbitrary, I{polar} longitude (C{degrees}).
576 '''
577 return self._lon00
579 @lon00.setter # PYCHOK setter!
580 def lon00(self, lon00):
581 '''Set the arbitrary, I{polar} longitude (C{degrees}).
582 '''
583 # lon00 <https://GitHub.com/mrJean1/PyGeodesy/issues/77>
584 self._lon00 = Degrees(lon00=lon00)
586 @Property_RO
587 def M(self):
588 '''Get the rotation matrix (C{EcefMatrix}).
589 '''
590 return self._t0.M
592 def reset(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, **lon00_name):
593 '''Reset this converter, see L{LocalCartesian.__init__} for more details.
594 '''
595 _, name = _xkwds_pop2(lon00_name, lon00=None) # PYCHOK get **name
596 if isinstance(latlonh0, LocalCartesian):
597 if self._t0:
598 _update_all(self)
599 self._ecef = latlonh0.ecef
600 self._lon00 = latlonh0.lon00
601 self._t0 = latlonh0._t0
602 n = _name__(name, _or_nameof=latlonh0)
603 else:
604 n = _name__(name, _or_nameof=self)
605 lat0, lon0, height0, n = _llhn4(latlonh0, lon0, height0, suffix=_0_,
606 Error=LocalError, name=n)
607 if ecef: # PYCHOK no cover
608 _xinstanceof(self._Ecef, ecef=ecef)
609 _update_all(self)
610 self._ecef = ecef
611 elif self._t0:
612 _update_all(self)
613 self._t0 = self.ecef._forward(lat0, lon0, height0, n, M=True)
614 self.lon00 = _xattr(latlonh0, lon00=_xkwds_get(lon00_name, lon00=lon0))
615 if n:
616 self.rename(n)
618 def reverse(self, xyz, y=None, z=None, M=False, **lon00_name):
619 '''Convert I{local} C{(x, y, z)} to I{geodetic} C{(lat, lon, height)}.
621 @arg xyz: A I{local} (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}, L{Local9Tuple}) or
622 local C{x} coordinate (C{scalar}).
623 @kwarg y: Local C{y} coordinate for C{scalar} B{C{xyz}} and B{C{z}} (C{meter}).
624 @kwarg z: Local C{z} coordinate for C{scalar} B{C{xyz}} and B{C{y}} (C{meter}).
625 @kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix}, iff
626 available (C{bool}).
627 @kwarg lon00_name: Optional C{B{name}=NN} (C{str}) and keyword argument
628 C{B{lon00}=B{lon0}} for the arbitrary I{polar} longitude
629 (C{degrees}), overriding see the property C{B{lon00}=B{lon0}}
630 value. The I{polar} longitude (C{degrees}) is returned with
631 I{polar} latitudes C{abs(B{lat0}) == 90} for local C{B{x}=0}
632 and C{B{y}=0} locations.
634 @return: An L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with
635 I{local} C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height},
636 this C{ltp}, an C{ecef} (L{Ecef9Tuple}) with the I{geocentric} C{x},
637 C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the
638 I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested.
640 @raise LocalError: Invalid B{C{xyz}} or C{scalar} C{x} or B{C{y}} and/or B{C{z}}
641 not C{scalar} for C{scalar} B{C{xyz}}.
642 '''
643 lon00, name =_xkwds_pop2(lon00_name, lon00=self.lon00)
644 x, y, z, n = _xyzn4(xyz, y, z, _XyzLocals5, Error=LocalError, name=name)
645 c = self.M.unrotate((x, y, z), *self._t0_xyz)
646 t = self.ecef.reverse(*c, M=M, lon00=lon00)
647 m = self.M.multiply(t.M) if M else None
648 return self._9Tuple(x, y, z, t.lat, t.lon, t.height, self, t, m, name=n or self.name)
650 @Property_RO
651 def _t0_xyz(self):
652 '''(INTERNAL) Get C{(x0, y0, z0)} as L{Vector3Tuple}.
653 '''
654 return self._t0.xyz
656 def toStr(self, prec=9, **unused): # PYCHOK signature
657 '''Return this L{LocalCartesian} as a string.
659 @kwarg prec: Precision, number of (decimal) digits (0..9).
661 @return: This L{LocalCartesian} representation (C{str}).
662 '''
663 return self.attrs(_lat0_, _lon0_, _height0_, _M_, _ecef_, _name_, prec=prec)
666class Ltp(LocalCartesian):
667 '''A I{local tangent plan} (LTP), a sub-class of C{LocalCartesian} with
668 (re-)configurable ECEF converter.
669 '''
670 _Ecef = _EcefBase
672 def __init__(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, **lon00_name):
673 '''New C{Ltp}, see L{LocalCartesian.__init__} for more details.
675 @kwarg ecef: Optional ECEF converter (L{EcefKarney}, L{EcefFarrell21},
676 L{EcefFarrell22}, L{EcefSudano}, L{EcefVeness} or
677 L{EcefYou} I{instance}), overriding the default
678 L{EcefKarney}C{(datum=Datums.WGS84)} for C{scalar}.
680 @see: Class L{LocalCartesian<LocalCartesian.__init__>} for further details.
682 @raise TypeError: Invalid B{C{ecef}}.
683 '''
684 LocalCartesian.reset(self, latlonh0, lon0=lon0, height0=height0,
685 ecef=ecef, **lon00_name)
687 @Property
688 def ecef(self):
689 '''Get this LTP's ECEF converter (C{Ecef...} I{instance}).
690 '''
691 return self._ecef
693 @ecef.setter # PYCHOK setter!
694 def ecef(self, ecef):
695 '''Set this LTP's ECEF converter (C{Ecef...} I{instance}).
697 @raise TypeError: Invalid B{C{ecef}}.
698 '''
699 _xinstanceof(_EcefBase, ecef=ecef)
700 if self._ecef != ecef: # PYCHOK no cover
701 self.reset(self._t0)
702 self._ecef = ecef
705class _ChLV(object):
706 '''(INTERNAL) Base class for C{ChLV*} classes.
707 '''
708 _03_falsing = ChLVyx2Tuple(0.6e6, 0.2e6)
709# _92_falsing = ChLVYX2Tuple(2.0e6, 1.0e6) # _95_ - _03_
710 _95_falsing = ChLVEN2Tuple(2.6e6, 1.2e6)
712 def _ChLV9Tuple(self, fw, M, name, *Y_X_h_lat_lon_h):
713 '''(INTERNAL) Helper for C{ChLVa/e.forward} and C{.reverse}.
714 '''
715 if bool(M): # PYCHOK no cover
716 m = self.forward if fw else self.reverse # PYCHOK attr
717 n = _DOT_(self.__class__.__name__, m.__name__)
718 raise _NotImplementedError(unstr(n, M=M), txt=None)
719 t = Y_X_h_lat_lon_h + (self, self._t0, None) # PYCHOK _t0
720 return ChLV9Tuple(t, name=name)
722 @property_ROver
723 def _enh_n_h(self):
724 '''(INTERNAL) Get C{ChLV*.reverse} args[1:4] names, I{once}.
725 '''
726 t = _args_kwds_names(_ChLV.reverse)[1:4]
727 # assert _args_kwds_names( ChLV.reverse)[1:4] == t
728 # assert _args_kwds_names(ChLVa.reverse)[1:4] == t
729 # assert _args_kwds_names(ChLVe.reverse)[1:4] == t
730 return t # overwrite property_ROver
732 def forward(self, latlonh, lon=None, height=0, M=None, **name): # PYCHOK no cover
733 '''Convert WGS84 geodetic to I{Swiss} projection coordinates. I{Must be overloaded}.
735 @arg latlonh: Either a C{LatLon}, L{Ltp} or C{scalar} (geodetic) latitude (C{degrees}).
736 @kwarg lon: Optional, C{scalar} (geodetic) longitude for C{scalar} B{C{latlonh}} (C{degrees}).
737 @kwarg height: Optional, height, vertically above (or below) the surface of the ellipsoid
738 (C{meter}) for C{scalar} B{C{latlonh}} and B{C{lon}}.
739 @kwarg M: If C{True}, return the I{concatenated} rotation L{EcefMatrix} iff available
740 for C{ChLV} only, C{None} otherwise (C{bool}).
741 @kwarg name: Optional C{B{name}=NN} (C{str}).
743 @return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed
744 I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat},
745 C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at
746 I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV},
747 C{ChLVa} or C{ChLVe} instance.
749 @raise LocalError: Invalid or non-C{scalar} B{C{latlonh}}, B{C{lon}} or B{C{height}}.
750 '''
751 notOverloaded(self, latlonh, lon=lon, height=height, M=M, **name)
753 def reverse(self, enh_, n=None, h_=0, M=None, **name): # PYCHOK no cover
754 '''Convert I{Swiss} projection to WGS84 geodetic coordinates.
756 @arg enh_: A Swiss projection (L{ChLV9Tuple}) or the C{scalar}, falsed I{Swiss E_LV95}
757 or I{y_LV03} easting (C{meter}).
758 @kwarg n: Falsed I{Swiss N_LV85} or I{x_LV03} northing for C{scalar} B{C{enh_}} and
759 B{C{h_}} (C{meter}).
760 @kwarg h_: I{Swiss h'} height for C{scalar} B{C{enh_}} and B{C{n}} (C{meter}).
761 @kwarg M: If C{True}, return the I{concatenated} rotation L{EcefMatrix} iff available
762 for C{ChLV} only, C{None} otherwise (C{bool}).
763 @kwarg name: Optional C{B{name}=NN} (C{str}).
765 @return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed
766 I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat},
767 C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at
768 I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV},
769 C{ChLVa} or C{ChLVe} instance.
771 @raise LocalError: Invalid or non-C{scalar} B{C{enh_}}, B{C{n}} or B{C{h_}}.
772 '''
773 notOverloaded(self, enh_, n=n, h_=h_, M=M, **name)
775 @staticmethod
776 def _falsing2(LV95):
777 '''(INTERNAL) Get the C{LV95} or C{LV03} falsing.
778 '''
779 return _ChLV._95_falsing if LV95 in (True, 95) else (
780 _ChLV._03_falsing if LV95 in (False, 3) else ChLVYX2Tuple(0, 0))
782 @staticmethod
783 def _llh2abh_3(lat, lon, h):
784 '''(INTERNAL) Helper for C{ChLVa/e.forward}.
785 '''
786 def _deg2ab(deg, sLL):
787 # convert degrees to arc-seconds
788 def _dms(ds, p, q, swap):
789 d = _floor(ds)
790 t = (ds - d) * p
791 m = _floor(t)
792 s = (t - m) * p
793 if swap:
794 d, s = s, d
795 return d + (m + s * q) * q
797 s = _dms(deg, _60_0, _0_01, False) # deg2sexag
798 s = _dms( s, _100_0, _60_0, True) # sexag2asec
799 return (s - sLL) / ChLV._s_ab
801 a = _deg2ab(lat, ChLV._sLat) # phi', lat_aux
802 b = _deg2ab(lon, ChLV._sLon) # lam', lng_aux
803 h_ = fsumf_(h, -ChLV.Bern.height, 2.73 * b, 6.94 * a)
804 return a, b, h_
806 @staticmethod
807 def _YXh_2abh3(Y, X, h_):
808 '''(INTERNAL) Helper for C{ChLVa/e.reverse}.
809 '''
810 def _YX2ab(YX):
811 return YX * ChLV._ab_m
813 a, b = map1(_YX2ab, Y, X)
814 h = fsumf_(h_, ChLV.Bern.height, -12.6 * a, -22.64 * b)
815 return a, b, h
817 def _YXh_n4(self, enh_, n, h_, **name):
818 '''(INTERNAL) Helper for C{ChLV*.reverse}.
819 '''
820 Y, X, h_, name = _xyzn4(enh_, n, h_, ChLV9Tuple,
821 _xyz_y_z_names=self._enh_n_h, **name)
822 if isinstance(enh_, ChLV9Tuple):
823 Y, X = enh_.Y, enh_.X
824 else: # isscalar(enh_)
825 Y, X = ChLV.unfalse2(Y, X) # PYCHOK ChLVYX2Tuple
826 return Y, X, h_, name
829class ChLV(_ChLV, Ltp):
830 '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates using
831 L{pygeodesy.EcefKarney}'s Earth-Centered, Earth-Fixed (ECEF) methods.
833 @see: U{Swiss projection formulas<https://www.SwissTopo.admin.CH/en/maps-data-online/
834 calculation-services.html>}, page 7ff, U{NAVREF<https://www.SwissTopo.admin.CH/en/
835 maps-data-online/calculation-services/navref.html>}, U{REFRAME<https://www.SwissTopo.admin.CH/
836 en/maps-data-online/calculation-services/reframe.html>} and U{SwissTopo Scripts GPS WGS84
837 <-> LV03<https://GitHub.com/ValentinMinder/Swisstopo-WGS84-LV03>}.
838 '''
839 _9Tuple = ChLV9Tuple
841 _ab_d = 0.36 # a, b units per degree, ...
842 _ab_m = 1.0e-6 # ... per meter and ...
843 _ab_M = _1_0 # ... per 1,000 Km or 1 Mm
844 _s_d = _3600_0 # arc-seconds per degree ...
845 _s_ab = _s_d / _ab_d # ... and per a, b unit
846 _sLat = 169028.66 # Bern, Ch in ...
847 _sLon = 26782.5 # ... arc-seconds ...
848 # lat, lon, height == 46°57'08.66", 7°26'22.50", 49.55m ("new" 46°57'07.89", 7°26'22.335")
849 Bern = LatLon4Tuple(_sLat / _s_d, _sLon / _s_d, 49.55, _WGS84, name='Bern')
851 def __init__(self, latlonh0=Bern, **other_Ltp_kwds):
852 '''New ECEF-based I{WGS84-Swiss} L{ChLV} converter, centered at I{Bern, Ch}.
854 @kwarg latlonh0: The I{geodetic} origin and height, overriding C{Bern, Ch}.
855 @kwarg other_Ltp_kwds: Optional, other L{Ltp.__init__} keyword arguments.
857 @see: L{Ltp.__init__} for more information.
858 '''
859 Ltp.__init__(self, latlonh0, **_xkwds(other_Ltp_kwds, ecef=None, name=ChLV.Bern.name))
861 def forward(self, latlonh, lon=None, height=0, M=None, **name): # PYCHOK unused M
862 # overloaded for the _ChLV.forward.__doc__
863 return Ltp.forward(self, latlonh, lon=lon, height=height, M=M, **name)
865 def reverse(self, enh_, n=None, h_=0, M=None, **name): # PYCHOK signature
866 # overloaded for the _ChLV.reverse.__doc__
867 Y, X, h_, n = self._YXh_n4(enh_, n, h_, **name)
868 return Ltp.reverse(self, Y, X, h_, M=M, name=n)
870 @staticmethod
871 def false2(Y, X, LV95=True, **name):
872 '''Add the I{Swiss LV95} or I{LV03} falsing.
874 @arg Y: Unfalsed I{Swiss Y} easting (C{meter}).
875 @arg X: Unfalsed I{Swiss X} northing (C{meter}).
876 @kwarg LV95: If C{True}, add C{LV95} falsing, if C{False} add
877 C{LV03} falsing, otherwise leave unfalsed.
878 @kwarg name: Optional C{B{name}=NN} (C{str}).
880 @return: A L{ChLVEN2Tuple}C{(E_LV95, N_LV95)} or a
881 L{ChLVyx2Tuple}C{(y_LV03, x_LV03)} with falsed B{C{Y}}
882 and B{C{X}}, otherwise a L{ChLVYX2Tuple}C{(Y, X)}
883 with B{C{Y}} and B{C{X}} as-is.
884 '''
885 e, n = t = _ChLV._falsing2(LV95)
886 return t.classof(e + Y, n + X, **name)
888 @staticmethod
889 def isLV03(e, n):
890 '''Is C{(B{e}, B{n})} a valid I{Swiss LV03} projection?
892 @arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}).
893 @arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}).
895 @return: C{True} if C{(B{e}, B{n})} is a valid, falsed I{Swiss
896 LV03}, projection C{False} otherwise.
897 '''
898 # @see: U{Map<https://www.SwissTopo.admin.CH/en/knowledge-facts/
899 # surveying-geodesy/reference-frames/local/lv95.html>}
900 return 400.0e3 < e < 900.0e3 and 40.0e3 < n < 400.0e3
902 @staticmethod
903 def isLV95(e, n, raiser=True):
904 '''Is C{(B{e}, B{n})} a valid I{Swiss LV95} or I{LV03} projection?
906 @arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}).
907 @arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}).
908 @kwarg raiser: If C{True}, throw a L{LocalError} if B{C{e}} and
909 B{C{n}} are invalid I{Swiss LV95} nor I{LV03}.
911 @return: C{True} or C{False} if C{(B{e}, B{n})} is a valid I{Swiss
912 LV95} respectively I{LV03} projection, C{None} otherwise.
913 '''
914 if ChLV.isLV03(e, n):
915 return False
916 elif ChLV.isLV03(e - 2.0e6, n - 1.0e6): # _92_falsing = _95_ - _03_
917 return True
918 elif raiser: # PYCHOK no cover
919 raise LocalError(unstr(ChLV.isLV95, e=e, n=n))
920 return None
922 @staticmethod
923 def unfalse2(e, n, LV95=None, **name):
924 '''Remove the I{Swiss LV95} or I{LV03} falsing.
926 @arg e: Falsed I{Swiss E_LV95} or I{y_LV03} easting (C{meter}).
927 @arg n: Falsed I{Swiss N_LV95} or I{x_LV03} northing (C{meter}).
928 @kwarg LV95: If C{True}, remove I{LV95} falsing, if C{False} remove
929 I{LV03} falsing, otherwise use method C{isLV95(B{e}, B{n})}.
930 @kwarg name: Optional C{B{name}=NN} (C{str}).
932 @return: A L{ChLVYX2Tuple}C{(Y, X)} with the unfalsed B{C{e}}
933 respectively B{C{n}}.
934 '''
935 Y, X = _ChLV._falsing2(ChLV.isLV95(e, n) if LV95 is None else LV95)
936 return ChLVYX2Tuple(e - Y, n - X, **name)
939class ChLVa(_ChLV, LocalCartesian):
940 '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates
941 using the U{Approximate<https://www.SwissTopo.admin.CH/en/maps-data-online/
942 calculation-services.html>} formulas, page 13.
944 @see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}.
945 '''
946 def __init__(self, name=ChLV.Bern.name):
947 '''New I{Approximate WGS84-Swiss} L{ChLVa} converter, centered at I{Bern, Ch}.
949 @kwarg name: Optional C{B{name}=Bern.name} (C{str}).
950 '''
951 LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name)
953 def forward(self, latlonh, lon=None, height=0, M=None, **name):
954 # overloaded for the _ChLV.forward.__doc__
955 lat, lon, h, n = _llhn4(latlonh, lon, height, **name)
956 a, b, h_ = _ChLV._llh2abh_3(lat, lon, h)
957 a2, b2 = a**2, b**2
959 Y = fdot_(211455.93, b,
960 -10938.51, b * a,
961 -0.36, b * a2,
962 -44.54, b * b2, start=72.37) # + 600_000
963 X = fdot_(308807.95, a,
964 3745.25, b2,
965 76.63, a2,
966 -194.56, b2 * a,
967 119.79, a2 * a, start=147.07) # + 200_000
968 return self._ChLV9Tuple(True, M, n, Y, X, h_, lat, lon, h)
970 def reverse(self, enh_, n=None, h_=0, M=None, **name): # PYCHOK signature
971 # overloaded for the _ChLV.reverse.__doc__
972 Y, X, h_, n = self._YXh_n4(enh_, n, h_, **name)
973 a, b, h = _ChLV._YXh_2abh3(Y, X, h_)
974 ab_d, a2, b2 = ChLV._ab_d, a**2, b**2
976 lat = fdot_(3.238272, b,
977 -0.270978, a2,
978 -0.002528, b2,
979 -0.0447, a2 * b,
980 -0.014, b2 * b, start=16.9023892) / ab_d
981 lon = fdot_(4.728982, a,
982 0.791484, a * b,
983 0.1306, a * b2,
984 -0.0436, a * a2, start=2.6779094) / ab_d
985 return self._ChLV9Tuple(False, M, n, Y, X, h_, lat, lon, h)
988class ChLVe(_ChLV, LocalCartesian):
989 '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates
990 using the U{Ellipsoidal approximate<https://www.SwissTopo.admin.CH/en/
991 maps-data-online/calculation-services.html>} formulas, pp 10-11 and U{Bolliger,
992 J.<https://eMuseum.GGGS.CH/literatur-lv/liste-Dateien/1967_Bolliger_a.pdf>}
993 pp 148-151 (also U{GGGS<https://eMuseum.GGGS.CH/literatur-lv/liste.htm>}).
995 @note: Methods L{ChLVe.forward} and L{ChLVe.reverse} have an additional keyword
996 argument C{B{gamma}=False} to approximate the I{meridian convergence}.
997 If C{B{gamma}=True} a 2-tuple C{(t, gamma)} is returned with C{t} the
998 usual result (C{ChLV9Tuple}) and C{gamma}, the I{meridian convergence}
999 (decimal C{degrees}). To convert C{gamma} to C{grades} or C{gons},
1000 use function L{pygeodesy.degrees2grades}.
1002 @see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}.
1003 '''
1004 def __init__(self, name=ChLV.Bern.name):
1005 '''New I{Approximate WGS84-Swiss} L{ChLVe} converter, centered at I{Bern, Ch}.
1007 @kwarg name: Optional C{B{name}=Bern.name} (C{str}).
1008 '''
1009 LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name)
1011 def forward(self, latlonh, lon=None, height=0, M=None, gamma=False, **name): # PYCHOK gamma
1012 # overloaded for the _ChLV.forward.__doc__
1013 lat, lon, h, n = _llhn4(latlonh, lon, height, **name)
1014 a, b, h_ = _ChLV._llh2abh_3(lat, lon, h)
1015 ab_M, z, _H = ChLV._ab_M, 0, Fhorner
1017 B1 = _H(a, 211428.533991, -10939.608605, -2.658213, -8.539078, -0.00345, -0.007992)
1018 B3 = _H(a, -44.232717, 4.291740, -0.309883, 0.013924)
1019 B5 = _H(a, 0.019784, -0.004277)
1020 Y = _H(b, z, B1, z, B3, z, B5).fover(ab_M) # 1,000 Km!
1022 B0 = _H(a, z, 308770.746371, 75.028131, 120.435227, 0.009488, 0.070332, -0.00001)
1023 B2 = _H(a, 3745.408911, -193.792705, 4.340858, -0.376174, 0.004053)
1024 B4 = _H(a, -0.734684, 0.144466, -0.011842)
1025 X = _H(b, B0, z, B2, z, B4, z, 0.000488).fover(ab_M) # 1,000 Km!
1027 t = self._ChLV9Tuple(True, M, n, Y, X, h_, lat, lon, h)
1028 if gamma:
1029 U1 = _H(a, 2255515.207166, 2642.456961, 1.284180, 2.577486, 0.001165)
1030 U3 = _H(a, -412.991934, 64.106344, -2.679566, 0.123833)
1031 U5 = _H(a, 0.204129, -0.037725)
1032 g = _H(b, z, U1, z, U3, z, U5).fover(ChLV._ab_m) # * ChLV._ab_d degrees?
1033 t = t, g
1034 return t
1036 def reverse(self, enh_, n=None, h_=0, M=None, gamma=False, **name): # PYCHOK gamma
1037 # overloaded for the _ChLV.reverse.__doc__
1038 Y, X, h_, n = self._YXh_n4(enh_, n, h_, **name)
1039 a, b, h = _ChLV._YXh_2abh3(Y, X, h_)
1040 s_d, _H, z = ChLV._s_d, Fhorner, 0
1042 A0 = _H(b, ChLV._sLat, 32386.4877666, -25.486822, -132.457771, 0.48747, 0.81305, -0.0069)
1043 A2 = _H(b, -2713.537919, -450.442705, -75.53194, -14.63049, -2.7604)
1044 A4 = _H(b, 24.42786, 13.20703, 4.7476)
1045 lat = _H(a, A0, z, A2, z, A4, z, -0.4249).fover(s_d)
1047 A1 = _H(b, 47297.3056722, 7925.714783, 1328.129667, 255.02202, 48.17474, 9.0243)
1048 A3 = _H(b, -442.709889, -255.02202, -96.34947, -30.0808)
1049 A5 = _H(b, 9.63495, 9.0243)
1050 lon = _H(a, ChLV._sLon, A1, z, A3, z, A5).fover(s_d)
1051 # == (ChLV._sLon + a * (A1 + a**2 * (A3 + a**2 * A5))) / s_d
1053 t = self._ChLV9Tuple(False, M, n, Y, X, h_, lat, lon, h)
1054 if gamma:
1055 U1 = _H(b, 106679.792202, 17876.57022, 4306.5241, 794.87772, 148.1545, 27.8725)
1056 U3 = _H(b, -1435.508, -794.8777, -296.309, -92.908)
1057 U5 = _H(b, 29.631, 27.873)
1058 g = _H(a, z, U1, z, U3, z, U5).fover(ChLV._s_ab) # degrees
1059 t = t, g
1060 return t
1063def _fov_2(**fov):
1064 # Half a field-of-view angle in C{degrees}.
1065 f = Degrees(Error=LocalError, **fov) * _0_5
1066 if EPS < f < _90_0:
1067 return f
1068 t = _invalid_ if f < 0 else _too_(_wide_ if f > EPS else _narrow_)
1069 raise LocalError(txt=t, **fov)
1072def _toLocal(inst, ltp, Xyz, Xyz_kwds):
1073 '''(INTERNAL) Helper for C{CartesianBase.toAer}, C{CartesianBase.toEnu},
1074 C{CartesianBase.toLocal}, C{CartesianBase.toNed} and C{latLonBase.toLocal}.
1075 '''
1076 return _xLtp(ltp, inst._Ltp)._ecef2local(inst._ecef9, Xyz, Xyz_kwds)
1079def _toLtp(inst, Ecef, ecef9, name):
1080 '''(INTERNAL) Helper for C{CartesianBase.toLtp}, C{ecef.toLtp} and C{latLonBase.toLtp}.
1081 '''
1082 return inst._Ltp if (not name) and Ecef in (None, inst.Ecef) else \
1083 Ltp(ecef9, ecef=Ecef(inst.datum), name=inst._name__(name))
1086def tyr3d(tilt=INT0, yaw=INT0, roll=INT0, Vector=Vector3d, **name_Vector_kwds):
1087 '''Convert an attitude pose into a (3-D) direction vector.
1089 @kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down
1090 (clockwise rotation along and around the x-axis).
1091 @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North
1092 (counter-clockwise rotation along and around the z-axis).
1093 @kwarg roll: Roll, bank (C{degrees}), positive to the right and down
1094 (clockwise rotation along and around the y-axis).
1095 @kwarg Vector: Class to return the direction vector (C{Cartesian},
1096 L{Vector3d} or C{Vector3Tuple}) or C{None}.
1097 @kwarg name_Vector_kwds: Optional C{B{name}=NN} (C{str}) and optionally,
1098 additional B{C{Vector}} keyword arguments, ignored if C{B{Vector}
1099 is None}.
1101 @return: A named B{C{Vector}} instance or if C{B{Vector} is None},
1102 a named L{Vector3Tuple}C{(x, y, z)}.
1104 @raise AttitudeError: Invalid B{C{tilt}}, B{C{yaw}} or B{C{roll}}.
1106 @raise TypeError: Invalid B{C{Vector}} or B{C{name_Vector_kwds}}.
1108 @see: U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}
1109 and function L{pygeodesy.hartzell} argument C{los}, Line-Of-Sight.
1110 '''
1111 v = Attitude4Tuple(_0_0, tilt, yaw, roll).tyr3d
1112 if Vector is not type(v):
1113 n, kwds = _name2__(name_Vector_kwds, name__=tyr3d)
1114 v = Vector3Tuple(v.x, v.y, v.z, name=n) if Vector is None else \
1115 Vector(v.x, v.y, v.z, name=n, **kwds)
1116 elif name_Vector_kwds:
1117 n, _ = _name2__(name_Vector_kwds)
1118 if n:
1119 v = v.copy(name=n)
1120 return v
1123def _xLtp(ltp, *dflt):
1124 '''(INTERNAL) Validate B{C{ltp}} if not C{None} else B{C{dflt}}.
1125 '''
1126 if dflt and ltp is None:
1127 ltp = dflt[0]
1128 _xinstanceof(Ltp, LocalCartesian, ltp=ltp)
1129 return ltp
1131# **) MIT License
1132#
1133# Copyright (C) 2016-2025 -- mrJean1 at Gmail -- All Rights Reserved.
1134#
1135# Permission is hereby granted, free of charge, to any person obtaining a
1136# copy of this software and associated documentation files (the "Software"),
1137# to deal in the Software without restriction, including without limitation
1138# the rights to use, copy, modify, merge, publish, distribute, sublicense,
1139# and/or sell copies of the Software, and to permit persons to whom the
1140# Software is furnished to do so, subject to the following conditions:
1141#
1142# The above copyright notice and this permission notice shall be included
1143# in all copies or substantial portions of the Software.
1144#
1145# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
1146# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
1147# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
1148# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
1149# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
1150# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
1151# OTHER DEALINGS IN THE SOFTWARE.