Coverage for pygeodesy/trf.py: 95%
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« prev ^ index » next coverage.py v7.2.2, created at 2024-03-03 11:31 -0500
2# -*- coding: utf-8 -*-
4u'''I{Veness}' Terrestrial Reference Frames (TRF).
6Classes L{RefFrame}, registry L{RefFrames} and L{TRFError}.
8Transcoded from I{Chris Veness'} (C) 2006-2022 JavaScript originals
9U{latlon-ellipsoidal-referenceframe.js<https://GitHub.com/ChrisVeness/geodesy/blob/master/
10latlon-ellipsoidal-referenceframe.js>} and U{latlon-ellipsoidal-referenceframe-txparams.js
11<https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe-txparams.js>}.
13Following is a copy of the comments in I{Veness}' U{latlon-ellipsoidal-referenceframe.js
14<https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe.js>}.
16Modern geodetic reference frames: a latitude/longitude point defines a geographic location on,
17above or below the earth’s surface, measured in degrees from the equator and the U{International
18Reference Meridian<https://WikiPedia.org/wiki/IERS_Reference_Meridian>} (IRM) and metres above
19the ellipsoid within a given I{Terrestrial Reference Frame} at a given I{epoch}.
21This is scratching the surface of complexities involved in high precision geodesy, but may
22be of interest and/or value to those with less demanding requirements. More information U{here
23<https://www.Movable-Type.co.UK/scripts/geodesy-library.html>} and U{here
24<https://www.Movable-Type.co.UK/scripts/geodesy-library.html#latlon-ellipsoidal-referenceframe>}.
26Note that I{ITRF solutions} do not directly use an ellipsoid, but are specified by Cartesian
27coordinates. The GRS80 ellipsoid is recommended for transformations to geographical coordinates.
29Note WGS84(G730/G873/G1150) are coincident with ITRF at 10-centimetre level, see also U{here
30<ftp://ITRF.ENSG.IGN.Fr/pub/itrf/WGS84.TXT>}. WGS84(G1674) and ITRF20014 / ITRF2008 I{"are likely
31to agree at the centimeter level"}, see also U{QPS/Qinsy<https://Confluence.QPS.NL/qinsy/
32en/how-to-deal-with-etrs89-datum-and-time-dependent-transformation-parameters-45353274.html>}.
34@var RefFrames.ETRF2000: RefFrame(name='ETRF2000', epoch=2005, datum=Datums.GRS80) .Xforms=(0, -14)
35@var RefFrames.ETRF2005: RefFrame(name='ETRF2005', epoch=2005, datum=Datums.GRS80) .Xforms=(0, -1)
36@var RefFrames.ETRF2008: RefFrame(name='ETRF2008', epoch=2008, datum=Datums.GRS80) .Xforms=(0, 0)
37@var RefFrames.ETRF2014: RefFrame(name='ETRF2014', epoch=2014, datum=Datums.GRS80) .Xforms=(0, -14)
38@var RefFrames.ETRF2020: RefFrame(name='ETRF2020', epoch=2020, datum=Datums.GRS80) .Xforms=(0, -14)
39@var RefFrames.ETRF88: RefFrame(name='ETRF88', epoch=1988, datum=Datums.GRS80) .Xforms=(0, 0)
40@var RefFrames.ETRF89: RefFrame(name='ETRF89', epoch=1989, datum=Datums.GRS80) .Xforms=(0, -1)
41@var RefFrames.ETRF90: RefFrame(name='ETRF90', epoch=1990, datum=Datums.GRS80) .Xforms=(0, -1)
42@var RefFrames.ETRF91: RefFrame(name='ETRF91', epoch=1991, datum=Datums.GRS80) .Xforms=(0, -1)
43@var RefFrames.ETRF92: RefFrame(name='ETRF92', epoch=1992, datum=Datums.GRS80) .Xforms=(0, -1)
44@var RefFrames.ETRF93: RefFrame(name='ETRF93', epoch=1993, datum=Datums.GRS80) .Xforms=(0, -1)
45@var RefFrames.ETRF94: RefFrame(name='ETRF94', epoch=1994, datum=Datums.GRS80) .Xforms=(0, -1)
46@var RefFrames.ETRF96: RefFrame(name='ETRF96', epoch=1996, datum=Datums.GRS80) .Xforms=(0, -1)
47@var RefFrames.ETRF97: RefFrame(name='ETRF97', epoch=1997, datum=Datums.GRS80) .Xforms=(0, -1)
48@var RefFrames.GDA2020: RefFrame(name='GDA2020', epoch=2020, datum=Datums.GRS80) .Xforms=(0, -4)
49@var RefFrames.GDA94: RefFrame(name='GDA94', epoch=1994, datum=Datums.GRS80) .Xforms=(0, -3)
50@var RefFrames.ITRF2000: RefFrame(name='ITRF2000', epoch=1997, datum=Datums.GRS80) .Xforms=(15, -5)
51@var RefFrames.ITRF2005: RefFrame(name='ITRF2005', epoch=2000, datum=Datums.GRS80) .Xforms=(8, -3)
52@var RefFrames.ITRF2008: RefFrame(name='ITRF2008', epoch=2005, datum=Datums.GRS80) .Xforms=(17, -2)
53@var RefFrames.ITRF2014: RefFrame(name='ITRF2014', epoch=2010, datum=Datums.GRS80) .Xforms=(16, -1)
54@var RefFrames.ITRF2020: RefFrame(name='ITRF2020', epoch=2015, datum=Datums.GRS80) .Xforms=(16, 0)
55@var RefFrames.ITRF88: RefFrame(name='ITRF88', epoch=1988, datum=Datums.GRS80) .Xforms=(3, -4)
56@var RefFrames.ITRF89: RefFrame(name='ITRF89', epoch=1989, datum=Datums.GRS80) .Xforms=(4, -4)
57@var RefFrames.ITRF90: RefFrame(name='ITRF90', epoch=1988, datum=Datums.GRS80) .Xforms=(6, -4)
58@var RefFrames.ITRF91: RefFrame(name='ITRF91', epoch=1988, datum=Datums.GRS80) .Xforms=(4, -4)
59@var RefFrames.ITRF92: RefFrame(name='ITRF92', epoch=1988, datum=Datums.GRS80) .Xforms=(4, -4)
60@var RefFrames.ITRF93: RefFrame(name='ITRF93', epoch=1988, datum=Datums.GRS80) .Xforms=(4, -4)
61@var RefFrames.ITRF94: RefFrame(name='ITRF94', epoch=1993, datum=Datums.GRS80) .Xforms=(4, -4)
62@var RefFrames.ITRF96: RefFrame(name='ITRF96', epoch=1997, datum=Datums.GRS80) .Xforms=(5, -5)
63@var RefFrames.ITRF97: RefFrame(name='ITRF97', epoch=1997, datum=Datums.GRS80) .Xforms=(5, -4)
64@var RefFrames.NAD83: RefFrame(name='NAD83', epoch=1997, datum=Datums.GRS80) .Xforms=(0, -6)
65@var RefFrames.NAD83cors96: RefFrame(name='NAD83cors96', epoch=1997, datum=Datums.GRS80) .Xforms=(1, 0)
66@var RefFrames.WGS84: RefFrame(name='WGS84', epoch=1984, datum=Datums.GRS80) .Xforms=(0, -1)
67@var RefFrames.WGS84g1150: RefFrame(name='WGS84g1150', epoch=2001, datum=Datums.GRS80) .Xforms=(1, 0)
68@var RefFrames.WGS84g1674: RefFrame(name='WGS84g1674', epoch=2005, datum=Datums.GRS80) .Xforms=(0, 0)
69@var RefFrames.WGS84g1762: RefFrame(name='WGS84g1762', epoch=2005, datum=Datums.GRS80) .Xforms=(0, 0)
70'''
72from pygeodesy.basics import map1, neg, isidentifier, isstr, _xinstanceof, _xisscalar
73from pygeodesy.constants import _float as _F, _0_0s, _0_0, _0_001, _0_5, _1_0, _N_1_0
74from pygeodesy.datums import Datums, _earth_datum, _equall, _GDA2020_, _Names7, \
75 _negstr, Transform, _S1_S, _WGS84, _EWGS84, _operator
76# from pygeodesy.ellipsoids import _EWGS84 # from .datums
77from pygeodesy.errors import TRFError, _xattr, _xellipsoidall, _xkwds, _xkwds_item2
78from pygeodesy.interns import MISSING, NN, _AT_, _COMMASPACE_, _conversion_, \
79 _datum_, _DOT_, _exists_, _invalid_, _MINUS_, \
80 _NAD83_, _no_, _PLUS_, _reframe_, _s_, _SPACE_, \
81 _STAR_, _to_, _vs_, _WGS84_, _x_, _intern as _i
82from pygeodesy.lazily import _ALL_LAZY, _ALL_MODS as _MODS
83from pygeodesy.named import ADict, classname, _lazyNamedEnumItem as _lazy, _Named, \
84 _NamedEnum, _NamedEnumItem, _NamedTuple, Fmt, unstr
85from pygeodesy.props import deprecated_method, property_doc_, Property_RO, property_RO
86# from pygeodesy.streprs import Fmt, unstr # from .named
87from pygeodesy.units import Epoch, Float
89from math import ceil as _ceil
90# import operator as _operator # from .datums
92__all__ = _ALL_LAZY.trf
93__version__ = '24.03.02'
95_EP0CH = Epoch(0, low=0)
96_Es = {_EP0CH: _EP0CH} # L{Epoch}s, deleted below
97_GRS80 = Datums.GRS80
98_inverse_ = 'inverse'
99_MAS = _MM = _PPB = Float # Units
100_MM2M = _0_001 # scale mm2m, ppb2ppM, mas2as
101_mDays = (0, 31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 0)
102_366_0 = _F(sum(_mDays))
103_rates_ = 'rates' # PYCHOK used!
104_Rs = {} # L{TRFXform7Tuple}s de-dup, deleted below
105_S_S1 = _N_1_0 / _S1_S # Transform.s for .s1 == 0
106_xform_ = 'xform' # PYCHOK used!
107_Xs = {} # L{TRFXform7Tuple}s de-dup, deleted below
109_ETRF88_ = _i('ETRF88')
110_ETRF89_ = _i('ETRF89')
111_ETRF90_ = _i('ETRF90')
112_ETRF91_ = _i('ETRF91')
113_ETRF92_ = _i('ETRF92')
114_ETRF93_ = _i('ETRF93')
115_ETRF94_ = _i('ETRF94')
116_ETRF96_ = _i('ETRF96')
117_ETRF97_ = _i('ETRF97')
118_ETRF2000_ = _i('ETRF2000')
119_ETRF2005_ = _i('ETRF2005')
120_ETRF2008_ = _i('ETRF2008')
121_ETRF2014_ = _i('ETRF2014')
122_ETRF2020_ = _i('ETRF2020')
123_GDA94_ = _i('GDA94')
124_ITRF_ = _i('ITRF')
125_ITRF88_ = _i('ITRF88')
126_ITRF89_ = _i('ITRF89')
127_ITRF90_ = _i('ITRF90')
128_ITRF91_ = _i('ITRF91')
129_ITRF92_ = _i('ITRF92')
130_ITRF93_ = _i('ITRF93')
131_ITRF94_ = _i('ITRF94')
132_ITRF96_ = _i('ITRF96')
133_ITRF97_ = _i('ITRF97')
134_ITRF2000_ = _i('ITRF2000')
135_ITRF2005_ = _i('ITRF2005')
136_ITRF2008_ = _i('ITRF2008')
137_ITRF2014_ = _i('ITRF2014')
138_ITRF2020_ = _i('ITRF2020')
139_NAD83cors96_ = _i('NAD83cors96')
140_WGS84g1150_ = _i('WGS84g1150')
141_WGS84g1674_ = _i('WGS84g1674')
142_WGS84g1762_ = _i('WGS84g1762')
145def _E(epoch): # deleted below
146 '''(INTERNAL) De-dup L{Epochs}s.
147 '''
148 e = Epoch(_F(epoch))
149 return _Es.setdefault(e, e) # PYCHOK del
152def _P(ps, name, _Ps): # deleted below
153 '''(INTERNAL) De-dup L{TRFXform7Tuple}s.
154 '''
155 t = TRFXform7Tuple(map(_F, ps), name=name)
156 return _Ps.setdefault(t, t)
159class RefFrame(_NamedEnumItem):
160 '''Terrestrial Reference Frame (TRF) parameters.
161 '''
162 _datum = _GRS80 # Datums.GRS80 or .WGS84 (L{Datum})
163 _epoch = _EP0CH # epoch, fractional year (L{Epoch})
165 def __init__(self, epoch, datum=_GRS80, name=NN):
166 '''New L{RefFrame}.
168 @arg epoch: Epoch, a fractional calendar year (C{scalar} or C{str}).
169 @arg datum: Datum or ellipsoid (L{Datum}, {Ellipsoid}, L{Ellipsoid2}
170 or L{a_f2Tuple}).
171 @kwarg name: Unique, non-empty name (C{str}).
173 @raise NameError: A L{RefFrame} with that B{C{name}} already exists.
175 @raise TRFError: Invalid B{C{epoch}}.
177 @raise TypeError: Invalid B{C{datum}}.
178 '''
179 if datum in (_GRS80, None):
180 pass
181 elif datum in (_WGS84, _EWGS84):
182 self._datum = _WGS84
183 else:
184 _earth_datum(self, datum, raiser=_datum_)
185 self._epoch = _Epoch(epoch)
186 self._Xto = {} # dict of Xforms
187 if name:
188 self._register(RefFrames, _stref(name=name))
190 def __eq__(self, other):
191 return isinstance(other, RefFrame) and other.epoch == self.epoch \
192 and other.datum == self.datum \
193 and other.name == self.name
195 def __lt__(self, other): # for sorting
196 return isinstance(other, RefFrame) and (self.name < other.name
197 or self.epoch < other.epoch)
199 @deprecated_method # PYCHOK Python 3.5+
200 def __matmul__(self, point):
201 '''DEPRECATED on 2024.02.16, use method C{B{point}.toRefFrame}.'''
202 return _toRefFrame(point, self)
204 @property_RO
205 def datum(self):
206 '''Get this reference frame's datum (L{Datum}).
207 '''
208 return self._datum
210 @property_RO
211 def ellipsoid(self):
212 '''Get this reference frame's ellipsoid (L{Ellipsoid} or L{Ellipsoid2}).
213 '''
214 return self._datum.ellipsoid
216 @Property_RO
217 def epoch(self):
218 '''Get this reference frame's epoch (C{Epoch}).
219 '''
220 return self._epoch
222 def toRefFrame(self, point, reframe2, **epoch2_epoch_name):
223 '''Convert an ellipsoidal point from this reframe and from C{epoch} to
224 an other C{reframe2} and C{epoch2 or epoch}.
226 @arg point: The point to convert (C{Cartesian} or C{LatLon}).
227 @arg reframe2: Reference frame to convert I{to} (L{RefFrame}).
228 @kwarg epoch2_epoch_name: Optional keyword arguments C{B{epoch2}=None},
229 C{B{epoch}=None} and C{B{name}=NN}.
231 @return: A copy of the B{C{point}}, converted or renamed.
233 @raise TypeError: Invalid B{C{point}}.
235 @note: The B{C{point}}'s C{reframe} and C{epoch} are overridden by
236 this reframe respectively B{C{epoch}} or this reframe's epoch.
238 @see: Ellipsoidal methods L{toRefFrame<ellipsoidalBase.LatLonEllipsoidalBase.toRefFrame>}
239 and L{toRefFrame<ellipsoidalBase.CartesianEllipsoidalBase.toRefFrame>}
240 for more details.
241 '''
242 return _toRefFrame(point, reframe2, reframe=self,
243 **_xkwds(epoch2_epoch_name, name=self.name))
245 def toStr(self, epoch=None, name=NN, **unused): # PYCHOK expected
246 '''Return this reference frame as a string.
248 @kwarg epoch: Override this reframe's epoch (C{scalar} or C{str}).
249 @kwarg name: Override name (C{str}) or C{None} to exclude the
250 reframe's name.
252 @return: This L{RefFrame}'s attributes (C{str}).
253 '''
254 D = self.datum
255 e = self.epoch if epoch is None else _Epoch(epoch)
256 t = (Fmt.EQUAL(name=repr(name or self.name)),
257 Fmt.EQUAL(epoch=e),
258 Fmt.EQUAL(datum=_DOT_(classname(D) + _s_, D.name)))
259 return _COMMASPACE_.join(t[int(name is None):])
261 def Xform(self, reframe2):
262 '''Get the converter Xform I{from} this reference frame I{to} C{reframe2}.
264 @arg reframe2: Destination frame to convert I{to} (L{RefFrame} or C{str}).
266 @return: The L{TRFXform} instance or C{None} if not available.
268 @raise TypeError: Invalid B{C{reframe2}}.
269 '''
270 _xinstanceof(RefFrame, str, reframe2=reframe2)
271 n2 = reframe2 if isstr(reframe2) else reframe2.name
272 return self._Xto.get(n2, None)
274 def Xforms(self, inverse=False):
275 '''Return all Xforms converting I{from} or I{to} this reference frame or both.
277 @kwarg inverse: If C{True}, get all I{inverse, to} Xforms un-inverted (C{bool})
278 or if C{B{inverse}=2} (C{int}) get all I{to} Xforms I{inverted}
279 plus all I{from} Xforms.
281 @return: An L{ADict} of C{name=}L{TRFXform}s I{from} this reframe or if
282 C{B{inverse}=True} I{to} this reframe or both if C{B{inverse}=2}.
283 '''
284 return self._Xforms(inverse, RefFrames)
286 def _Xforms(self, inverse, RFs):
287 '''(INTERNAL) Helper for _eXhaustives, .Xforms.
288 '''
289 i = inverse == 2
290 d = ADict(self._Xfrom(RFs, i) if inverse else self._Xto)
291 if i:
292 d.update(self._Xto) # to overrides from
293 return d
295 def _Xfrom(self, RFs, i):
296 '''(INTERNAL) Yield the re-/inversed items as 2-tuple (refName,
297 I{from} Xform) converting I{to} this reframe.
298 '''
299 n2 = self.name
300 for n1, r in RFs.items():
301 X = r._Xto.get(n2, None)
302 if X:
303 yield n1, (X.inverse() if i else X)
306class RefFrames(_NamedEnum):
307 '''(INTERNAL) L{RefFrame} registry, I{must} be a sub-class
308 to accommodate the L{_LazyNamedEnumItem} properties.
309 '''
310 def _Lazy(self, epoch, datum=_GRS80, name=NN):
311 '''(INTERNAL) Instantiate the L{RefFrame}.
312 '''
313 return RefFrame(epoch, datum, name=name)
315RefFrames = RefFrames(RefFrame) # PYCHOK singleton
316'''Some pre-defined L{RefFrame}s, all I{lazily} instantiated.'''
317# <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe.js>
318RefFrames._assert(
319 ETRF88 = _lazy(_ETRF88_, _E(1988)), # epoch, datum?
320 ETRF89 = _lazy(_ETRF89_, _E(1989)), # epoch, datum?
321 ETRF90 = _lazy(_ETRF90_, _E(1990)), # epoch, datum?
322 ETRF91 = _lazy(_ETRF91_, _E(1991)), # epoch, datum?
323 ETRF92 = _lazy(_ETRF92_, _E(1992)), # epoch, datum?
324 ETRF93 = _lazy(_ETRF93_, _E(1993)), # epoch, datum?
325 ETRF94 = _lazy(_ETRF94_, _E(1994)), # epoch, datum?
326 ETRF96 = _lazy(_ETRF96_, _E(1996)), # epoch, datum?
327 ETRF97 = _lazy(_ETRF97_, _E(1997)), # epoch, datum?
328 ETRF2000 = _lazy(_ETRF2000_, _E(2005)),
329 ETRF2005 = _lazy(_ETRF2005_, _E(2005)), # epoch, datum?
330 ETRF2008 = _lazy(_ETRF2008_, _E(2008)), # epoch, datum?
331 ETRF2014 = _lazy(_ETRF2014_, _E(2014)), # epoch, datum?
332 ETRF2020 = _lazy(_ETRF2020_, _E(2020)), # epoch, datum?
333 GDA94 = _lazy(_GDA94_, _E(1994)), # Australia
334 GDA2020 = _lazy(_GDA2020_, _E(2020)), # Australia
335 ITRF88 = _lazy(_ITRF88_, _E(1988)),
336 ITRF89 = _lazy(_ITRF89_, _E(1989)),
337 ITRF90 = _lazy(_ITRF90_, _E(1988)),
338 ITRF91 = _lazy(_ITRF91_, _E(1988)),
339 ITRF92 = _lazy(_ITRF92_, _E(1988)),
340 ITRF93 = _lazy(_ITRF93_, _E(1988)),
341 ITRF94 = _lazy(_ITRF94_, _E(1993)),
342 ITRF96 = _lazy(_ITRF96_, _E(1997)),
343 ITRF97 = _lazy(_ITRF97_, _E(1997)),
344 ITRF2000 = _lazy(_ITRF2000_, _E(1997)), # aka ITRF00
345 ITRF2005 = _lazy(_ITRF2005_, _E(2000)),
346 ITRF2008 = _lazy(_ITRF2008_, _E(2005)), # aka ITRF08
347 ITRF2014 = _lazy(_ITRF2014_, _E(2010)),
348 ITRF2020 = _lazy(_ITRF2020_, _E(2015)),
349 NAD83 = _lazy(_NAD83_, _E(1997)),
350 NAD83cors96 = _lazy(_NAD83cors96_, _E(1997)),
351 WGS84 = _lazy(_WGS84_, _E(1984), _WGS84),
352 WGS84g1150 = _lazy(_WGS84g1150_, _E(2001), _WGS84),
353 WGS84g1674 = _lazy(_WGS84g1674_, _E(2005), _WGS84),
354 WGS84g1762 = _lazy(_WGS84g1762_, _E(2005), _WGS84)) # same epoch
357class TransformXform(Transform):
358 '''Helmert transformation, extended with an C{Xform} TRF converter.
360 @see: L{Transform<datums.Transform>} and L{Xform<TRFXform>}.
361 '''
362 _Xform = None
364 def __init__(self, name=NN, **tx_ty_tz_s_sx_sy_sz): # PYCHOK signature
365 '''New L{TransformXform}.
367 @kwarg name: Optional name (C{str}), I{not registered}.
369 @see: L{Transform<datums.Transform>} for details.
371 @note: This L{TransformXform}'s name starts with C{"-"} iff
372 I{inversed}.
373 '''
374 Transform.__init__(self, **tx_ty_tz_s_sx_sy_sz)
375 if name:
376 self.name = name # unregistered
378 def __eq__(self, other):
379 return isinstance(other, TransformXform) and _equall(other, self)
381 def __hash__(self):
382 return Transform.__hash__(self)
384 def rename(self, name=NN):
385 '''Change this transform's name.
387 @arg name: New name (C{str}), overriding this transform's Xform's name.
389 @return: The previous name (C{str}).
390 '''
391 X = self.Xform
392 n = name or (X.toStr() if X else NN)
393 return Transform.rename(self, n)
395 def toRefFrame(self, point, name=NN): # PYCHOK signature
396 '''Convert an ellipsoidal point using this transform and Xform.
398 @arg point: The point to convert (C{Cartesian} or C{LatLon}).
400 @return: A copy of the B{C{point}}, converted I{directly} to
401 this transform's Xform's C{refName2} and C{epoch}.
403 @note: The B{C{point}}'s original C{reframe} and C{epoch} are
404 I{ignored}, its C{datum} and C{height} are preserved
405 but I{not} taken into account.
406 '''
407 _ = _xellipsoidall(point)
408 p = point.dup() if self.isunity else point.toTransform(self)
409 X = self.Xform
410 if X: # see _toRefFrame below
411 p._reframe = X.reframe2
412 p._epoch = X.epoch
413 p.rename(name or self.name)
414 return p
416 def toTransform(self, epoch1, **epoch2_inverse):
417 '''Return this transform observed at B{C{epoch1}} as a Helmert
418 L{TransformXform}, optionally at B{C{epoch2 or epoch1}}.
420 @arg epoch1: Epoch to observe I{from} (C{scalar}).
421 @kwarg epoch2_inverse: Optional C{B{epoch2}=None} to observe
422 I{to} and C{B{inverse}=False}, see method
423 L{toTransform<TRFXform.toTransform>} from
424 L{TRFXform}.
426 @return: The Helmert transform (L{TransformXform}).
428 @raise TRFError: Invalid B{C{epoch1}}, B{C{epoch2}} or
429 missing Xform.
430 '''
431 X = self.Xform
432 if X is None:
433 raise TRFError(Xform=X, txt=MISSING)
434 return X.toTransform(epoch1, **epoch2_inverse)
436 def velocities(self, factor=_MM2M, **Vector_and_kwds):
437 '''Compute the X, Y and Z I{velocities} of this transform.
439 @kwarg factor: Factor to scale this Xform's C{rates} (C{scalar}),
440 default from C{milli-meter-} to C{meter-per-year}.
441 @kwarg Vector_and_kwds: An optional, (3-D) C{B{Vector}=None} or
442 cartesian class and additional C{B{Vector}} keyword
443 arguments to return the I{velocities}.
445 @return: A L{Vector3Tuple}C{(x, y, z)} unless some B{C{Vector_and_kwds}}
446 are specified or C{None} if this transform's Xform is missing.
448 @raise TypeError: Non-scalar B{C{factor}}.
450 @see: Altamimi, Z. "EUREF-TN-1-Jan-31-2024", U{Appendix A, equation (3)
451 <http://ETRS89.ENSG.IGN.FR/pub/EUREF-TN-1-Jan-31-2024.pdf>}.
452 '''
453 v = X = self.Xform
454 if X is not None:
455 r = X.rates * factor # eq (3) ...
456 H = Transform(tx=r.sx, ty=r.sy, tz=r.sz, # Xyy-dot
457 s=_S_S1, name=NN(self.name, _vs_))
458 H.s1, H.rx, H.ry, H.rz = 0, self.rx, self.ry, self.rz
459 v = H.transform(r.tx, r.ty, r.tz, inverse=False, # Xyy
460 **Vector_and_kwds)
461 return v
463 @property_doc_(''' the Xform (L{TRFXform}).''')
464 def Xform(self):
465 '''Get this Helmert transform's Xform (L{TRFXform} or C{None}).
466 '''
467 return self._Xform
469 @Xform.setter # PYCHOK setter!
470 def Xform(self, Xform):
471 '''Set this Helmert transform's Xform (L{TRFXform}).
473 @raise TypeError: Invalid B{C{Xform}}.
474 '''
475 _xinstanceof(TRFXform, Xform=Xform)
476 self._Xform = Xform
479class TRFXform7Tuple(_NamedTuple):
480 '''7-Tuple C{(tx, ty, tz, s, sx, sy, sz)} of conversion parameters with
481 translations C{tx}, C{ty} and C{tz} in C{milli-meter}, scale C{s} in
482 C{ppb} and rates C{sx}, C{sy} and C{sz} in C{milli-arc-seconds-per-year}.
484 @note: The parameters are also named as C{(Tx, Ty, Tz, D, Rx, Ry, Rz)}
485 or C{(T1, T2, T3, D, R1, R2, R3)}.
487 @see: Class L{TransformXform}'s matching keyword argument names.
488 '''
489 _Names_ = _Names7 # ('tx', 'ty', 'tz', _s_, 'sx', 'sy', 'sz') == TransformXform.__init__
490 _Units_ = (_MM, _MM, _MM, _PPB, _MAS, _MAS, _MAS)
492 def __add__(self, other):
493 return self._add_sub(other, True)
495 def __eq__(self, other):
496 return isinstance(other, TRFXform7Tuple) and _equall(other, self)
497 # PYCHOK and self.name == other.name
499 def __hash__(self):
500 return _NamedTuple.__hash__(self)
502 def __mul__(self, factor):
503 _xisscalar(factor=factor)
504 return type(self)((x * factor for x in self), name=_STAR_) # .fsums._mul_op
506 def __neg__(self):
507 return self.inverse()
509 def __sub__(self, other):
510 return self._add_sub(other, False)
512 def _add_sub(self, other, p_):
513 '''(INTERNAL) Return C{this +/- other} L{TRFXform7Tuple}.
514 '''
515 _xinstanceof(TRFXform7Tuple, other=other)
516 op = _operator.add if p_ else _operator.sub
517 return type(self)(map(op, self, other), name=_PLUS_ if p_ else _MINUS_)
519 def inverse(self, name=NN):
520 '''Return the inverse of this transform.
522 @kwarg name: Optional name (C{str}).
524 @return: Inverse (L{TransformXform}).
525 '''
526 n = name or _negstr(self.name)
527 return type(self)(map(neg, self), name=n)
529 @Property_RO
530 def isunity(self):
531 '''Is this a C{unity, identity} transform (C{bool}).
532 '''
533 return not any(self)
536class TRFXform(_Named):
537 '''A Terrestrial Reference Frame (TRF) converter between two
538 reference frames observed at an C{epoch}.
539 '''
540 _epoch = _EP0CH
541 _epoch_d = _0_0
542 _indir_d = NN # refName
543 _inver_d = False
544 refName1 = \
545 refName2 = NN
546 rates = \
547 xform = None
549 def __init__(self, refName1, refName2, epoch=None, xform=None,
550 rates=None, name=NN):
551 '''New L{TRFXform} TRF converter.
553 @arg refName1: Source reframe (C{str}), converting I{from}.
554 @arg refName2: Destination reframe (C{str}), converting I{to}.
555 @kwarg epoch: Epoch, a fractional year (L{Epoch}, C{scalar} or C{str}).
556 @kwarg xform: I{Transform} parameters at B{C{epoch}} (L{TRFXform7Tuple}).
557 @kwarg rates: I{Rate} parameters (L{TRFXform7Tuple}), like B{C{xform}},
558 but in C{units-per-year}.
559 @kwarg name: Optional name (C{str}), overriding the default from method
560 L{toStr<TRFXform.toStr>}.
562 @raise TRFError: Invalid B{C{refName1}}, B{C{refName2}} or B{C{epoch}}.
564 @raise TypeError: Invalid B{C{xform}} or B{C{rates}}.
566 @see: Functions L{trfXform}, L{trfTransform0} and L{trfTransforms}.
567 '''
568 self.refName1 = _stref(refName1=refName1)
569 self.refName2 = _stref(refName2=refName2)
570 _xinstanceof(TRFXform7Tuple, xform=xform, rates=rates)
571 self.epoch = epoch
572 self.xform = xform
573 self.rates = rates
574 self.rename(name or self.toStr())
576 def __add__(self, other):
577 return self._add_sub(other, True)
579 def __eq__(self, other):
580 return isinstance(other, TRFXform) and other.epoch == self.epoch \
581 and other.xform == self.xform \
582 and other.rates == self.rates
584# def __hash__(self):
585# return hash((self.epoch, self.xform, self.rates))
587 def __lt__(self, other): # for sorting
588 return isinstance(other, TRFXform) and (self.refName1 < other.refName1
589 or self.refName2 < other.refName2
590 or self.epoch < other.epoch)
592 def __neg__(self):
593 return self.inverse()
595 def __repr__(self):
596 return self.toRepr()
598 def __str__(self):
599 return self.toStr()
601 def __sub__(self, other):
602 return self._add_sub(other, False)
604 def _add_sub(self, other, p_, *n1_n2_n): # in _indirects below
605 '''(INTERNAL) Summate C{this +/- other} Xform at C{this.epoch}.
607 @see: U{Appendix, Table 7, last column "Sum of the previous ..."
608 <https://Geodesy.NOAA.gov/TOOLS/Htdp/Pearson_Snay_2012.pdf">}
609 '''
610 _xinstanceof(TRFXform, other=other)
611 X1 = self
612 e1 = X1.epoch
613 X2 = other.toEpoch(e1) # if other.epoch != e1 else other
615 n1, n2, n = n1_n2_n or _n1_n2_n3(X1, X2)
617 X = type(X1)(n1, n2, epoch=e1, xform=X1.xform._add_sub(X2.xform, p_),
618 rates=X1.rates._add_sub(X2.rates, p_),
619 name=_sumstr(X1.name, X2.name, p_))
620 X._epoch_d = X1.epoched + X2.epoched # max, abs?
621 X._indir_d = n # reframe?
622 X._inver_d = X1.inversed and X2.inversed
623 return X
625 def _at(self, epoch):
626 '''(INTERNAL) Return C{"self.nameB{@}epoch"}.
627 '''
628 n = self.name
629 if epoch != self.epoch:
630 _e = _AT_(NN, epoch)
631 if not n.endswith(_e):
632 n = NN(n, _e)
633 return n
635 @property_doc_(''' the epoch, fractional year (L{Epoch}).''')
636 def epoch(self):
637 '''Get the epoch (L{Epoch}).
638 '''
639 return self._epoch
641 @epoch.setter # PYCHOK setter!
642 def epoch(self, epoch):
643 '''Set the epoch (L{Epoch}, C{scalar} or C{str}).
645 @raise TRFError: Invalid B{C{epoch}}.
646 '''
647 e = _Epoch(epoch)
648 if self._epoch != e:
649 self.rename(self._at(e))
650 self._epoch = e
652 @property_RO
653 def epoched(self):
654 '''Get this Xform's aggregate I{epoch} deltas (C{float}).
655 '''
656 return self._epoch_d
658 @property_RO
659 def indirected(self):
660 '''Is this an I{indirected} Xform? (C{str} of space-separated
661 refNames) or C{NN}.
662 '''
663 return self._indir_d
665 def inverse(self, name=NN):
666 '''Return this Xform {inversed}, C{refName1} and C{-2} swapped.
668 @return: The inverse (L{TRFXform}).
669 '''
670 n = name or _negstr(self.name)
671 X = self.dup(refName1=self.refName2, xform=-self.xform,
672 refName2=self.refName1, rates=-self.rates,
673 name=n, _inver_d=not self.inversed)
674# X = type(self)(self.refName2, self.refName1, epoch= self.epoch,
675# xform=-self.xform,
676# rates=-self.rates, name=n)
677# if self.epoched:
678# X._epoch_d = self.epoched
679# if self.indirected:
680# X._indir_d = self.indirected
681# if not self.inversed:
682# X._inver_d = True
683 return X
685 @property_RO
686 def inversed(self):
687 '''Is this an I{inversed} Xform? (C{bool}).
688 '''
689 return self._inver_d
691 def _reframe(self, name, datum=_GRS80):
692 '''(INTERNAL) Get an un-/registered frame.
693 '''
694 r = RefFrames.get(name)
695 if r is None or r.datum != datum:
696 r = RefFrame(self.epoch, datum)
697 r.name = name # unregistered
698 return r
700 @property_RO
701 def reframe1(self):
702 '''Get the un-/registered I{from} frame (C{RefFrame}).
703 '''
704 return self._reframe(self.refName1)
706 @property_RO
707 def reframe2(self):
708 '''Get the un-/registered I{to} frame (C{RefFrame}).
709 '''
710 return self._reframe(self.refName2)
712 def rename(self, name=NN):
713 '''Change this Xform's name.
715 @arg name: New name (C{str}), overriding the base
716 name C{"refName1B{@}epochB{x}refName2"}.
718 @return: The old name (C{str}).
719 '''
720 return _Named.rename(self, name or self.toStr())
722 def toEpoch(self, epoch):
723 '''Convert this Xform to B{C{epoch}}, if needed.
725 @arg epoch: Epoch, fractional year (C{Epoch}, C{scalar}
726 or C{str}).
728 @return: This Xform or a copy converted to B{C{epoch}}.
730 @raise TRFError: Invalid B{C{epoch}}.
731 '''
732 e = _Epoch(epoch)
733 X, d = self, e - self.epoch
734 if d:
735 t = X.xform + X.rates * d
736 X = X.dup(epoch=e, xform=t, name=X._at(e))
737 X._epoch_d += d # max, abs(d)?
738 return X
740 def toHelmert(self, factor=_MM2M):
741 '''Return the Helmert transform from this Xform scaled accordingly.
743 @kwarg factor: Scale to convert C{milli-meter} (C{scalar}).
745 @return: The Helmert transform (L{TransformXform}).
747 @note: By defaut, Translations are converted from C{milli-meter} to
748 C{meter}, rates from C{milli-arc-seconds} to C{arc-seconds}
749 and scale from C{ppb} to C{ppM}.
750 '''
751 h = self.xform * factor
752 H = TransformXform(name=self.name, **dict(h.items()))
753 H.Xform = self
754 return H
756 def toRefFrame(self, point, datum=_GRS80, **epoch_epoch2_name):
757 '''Convert an ellipsoidal point from this Xform's C{refName1} and
758 C{epoch} to this Xform's C{refName2} and C{epoch2 or epoch}.
760 @arg point: The point to convert (C{Cartesian} or C{LatLon}).
761 @kwarg datum: Optional datum to define a temporary L{RefFrame} from
762 this Xform's C{refName1} or C{refName2} (C{datum}).
763 @kwarg epoch_epoch2_name: Optional keyword arguments C{B{epoch}=None},
764 B{C{epoch2}=None} and C{B{name}=refName1}.
766 @return: A copy of the B{C{point}}, converted or renamed.
768 @see: Method L{RefFrame.toRefFrame} for more details.
769 '''
770 r1 = self._reframe(self.refName1, datum=datum)
771 r2 = self._reframe(self.refName2, datum=datum)
772 return _toRefFrame(point, r2, reframe=r1,
773 **_xkwds(epoch_epoch2_name, name=r1.name))
775 def toRepr(self, **unused): # PYCHOK signature
776 '''Return the represention of this Xform (C{str}).
777 '''
778 return unstr(self.classname, name=self.name, epoch=self.epoch)
780 def toStr(self, epoch=None, **unused): # PYCHOK signature
781 '''Return this Xform as C{"refName1B{@}epochB{x}refName2"} (C{str}).
783 @kwarg epoch: Epoch (C{Epoch}, C{scalar} or C{str}), overriding
784 this Xform's epoch.
785 '''
786 e = self.epoch if epoch is None else _Epoch(epoch)
787 return NN(_AT_(self.refName1, e), _x_, self.refName2)
789 def toTransform(self, epoch, epoch2=None, inverse=False):
790 '''Combine this Xform observed at B{C{epoch}} into a Helmert
791 L{TransformXform}, optionally at B{C{epoch2 or epoch}}.
793 @arg epoch: Epoch to observe I{from} (C{scalar}).
794 @kwarg epoch2: Optional epoch to observe I{to} (C{scalar}).
795 @kwarg inverse: Use the Xform's inverse (C{bool}).
797 @return: The Helmert transform (L{TransformXform}).
799 @raise TRFError: Invalid B{C{epoch}} or B{C{epoch2}}.
801 @see: Method L{toHelmert}.
802 '''
803 # X=self.toEpoch(epoch); if epoch2: X=X.toEpoch(epoch2)
804 e = epoch if epoch2 is None else Epoch(epoch2=epoch2)
805 X = self.toEpoch(e)
806 if inverse:
807 X = X.inverse()
808 return X.toHelmert()
811def date2epoch(year, month, day):
812 '''Return the C{epoch} for a calendar day.
814 @arg year: Year of the date (C{scalar}).
815 @arg month: Month in the B{C{year}} (C{scalar}, 1..12).
816 @arg day: Day in the B{C{month}} (C{scalar}, 1..31).
818 @return: Epoch, the fractional year (C{float}).
820 @raise TRFError: Invalid B{C{year}}, B{C{month}} or B{C{day}}.
822 @note: Any B{C{year}} is considered a leap year, i.e. having
823 29 days in February.
824 '''
825 try:
826 y, m, d = map1(int, year, month, day)
827 if y > 0 and 1 <= m <= 12 and 1 <= d <= _mDays[m]:
828 e = y + float(sum(_mDays[:m]) + d) / _366_0
829 return Epoch(e, low=0)
831 raise ValueError # _invalid_
832 except (TRFError, TypeError, ValueError) as x:
833 raise TRFError(year=year, month=month, day=day, cause=x)
836def _direct(n1, n2):
837 '''(INTERNAL) Get the C{n1} to C{n2} Xform or C{None}.
838 '''
839 r = RefFrames.get(n1)
840 return r._Xto.get(n2, None) if r else None
843def _Epoch(e, **kwds):
844 '''(INTERNAL) Get the C{Epoch(B{e})}.
845 '''
846 return e if isinstance(e, Epoch) and not kwds else Epoch(e, **kwds)
849def epoch2date(epoch):
850 '''Return the date for a reference frame C{epoch}.
852 @arg epoch: Fractional year (C{scalar}).
854 @return: 3-Tuple C{(year, month, day)}.
856 @raise TRFError: Invalid B{C{epoch}}.
858 @note: Any B{C{year}} is considered a leap year, i.e. having
859 29 days in February.
860 '''
861 e = Epoch(epoch, low=0)
862 y = int(e)
863 d = int(_ceil((e - y) * _366_0))
864 for m, n in enumerate(_mDays[1:]):
865 if d > n:
866 d -= n
867 else:
868 break
869 return y, (m + 1), max(1, d)
872def _eXhaustives(n1, n2):
873 '''(INTERNAL) Yield all I{possible} Xforms C{n1} to {n2} via
874 any number of intermediate reframe conversions.
875 '''
876 def _k2(item):
877 return -item[1].epoch # most recent first
879 R = dict(RefFrames)
880 r = R.pop(n1, None)
881 if r:
882 Xs = list(sorted(r._Xforms(2, R).items(), key=_k2))
883 while Xs:
884 n, X = Xs.pop(0)
885 if n == n2:
886 yield _npop(X)
887 else:
888 r = R.pop(n, None)
889 if r:
890 for n, x in r._Xforms(2, R).items():
891 Xs.append((n, X + x))
894def _indirects(n1, n2):
895 '''(INTERNAL) Yield all Xforms between C{n1} and C{n2} via
896 I{one} intermediate reframe C{n} conversions.
897 '''
898 def _X4(_Xto, n2):
899 _d = _direct
900 for n, X1 in _Xto.items():
901 X2 = _d(n, n2)
902 if X2:
903 yield X1, X2, n, True # +
904 X2 = _d(n2, n)
905 if X2:
906 yield X1, X2, n, False # -
908 r1 = RefFrames.get(n1)
909 if r1:
910 for X1, X2, n, p_ in _X4(r1._Xto, n2):
911 e1, e2 = X1.epoch, X2.epoch
912 if e1 < e2: # X1 to e2
913 X1 = X1.toEpoch(e2)
914# elif e1 > e2: # X2 to e1
915# X2 = X2.toEpoch(e1)
916 yield X1._add_sub(X2, p_, n1, n2, n)
919def _n1_n2_n3(X1, X2):
920 '''(INTERNAL) L{TRFXform._add_sub} helper.
921 '''
922 n = X1.indirected
923 n = _SPACE_(n, X1.refName2) if n else X1.refName2
924 return X1.refName1, X2.refName2, n
927def _npop(X):
928 '''(INTERNAL) Pop L{TRFXform.indirected}'s ends.
929 '''
930 n = X.indirected.split()
931 if n and n[-1] == X.refName2:
932 _ = n.pop()
933 if n and n[ 0] == X.refName1:
934 _ = n.pop(0)
935 X._indir_d = _SPACE_.join(n) if n else NN
936 return X
939def _reframe(**name_reframe):
940 '''(INTERNAL) Get a C{reframe}.
941 '''
942 _, r = _xkwds_item2(name_reframe)
943 if isstr(r) and r: # not NN
944 r = RefFrames.get(r)
945 if r and isinstance(r, RefFrame):
946 return r
947 raise TRFError(**name_reframe) # _invalid_
950def _stref(**name_refname):
951 '''(INTERNAL) Check a reference frame name.
952 '''
953 _, n = _xkwds_item2(name_refname)
954 if isstr(n) and isidentifier(n):
955 return str(n)
956 raise TRFError(**name_refname) # _invalid_
959def _sumstr(name1, name2, p_):
960 '''(INTERNAL) "Sum" of C{name1 + ('+' if p_ else '-') + name2}.
961 '''
962 if name2:
963 n = name2 if p_ else _negstr(name2)
964 p = NN if n.startswith(_MINUS_) or \
965 n.startswith(_PLUS_) else _PLUS_
966 name1 = NN(name1, p, n)
967 return name1
970def _toRefFrame(point, reframe2, reframe=None, epoch=None,
971 epoch2=None, name=NN, **LatLon_kwds):
972 '''(INTERNAL) Convert an ellipsoidal point to C{reframe2}
973 and C{epoch2 or epoch or pont.epoch or reframe.epoch}.
974 '''
975 ll = _xellipsoidall(point)
976 r1 = reframe or point.reframe
977 if not r1:
978 t = _SPACE_(_DOT_(repr(point), _reframe_), MISSING)
979 raise TRFError(_no_(_conversion_), txt=t)
981 _xinstanceof(RefFrame, reframe2=reframe2, reframe=r1)
983 e1 = _Epoch(epoch or point.epoch or r1.epoch)
984 e2 = e1 if epoch2 is None else Epoch(epoch2=epoch2)
985 t0 = _toTransform0(r1.name, e1, reframe2.name, e2)
986 if t0 is None:
987 t = _SPACE_(RefFrame.__name__, _AT_(r1.name, e1),
988 _to_, _AT_(reframe2.name, e2))
989 raise TRFError(_no_(_conversion_), txt=t)
991 if t0: # is not ()
992 if t0.isunity:
993 p = point.dup()
994 elif point.datum:
995 p = point.toCartesian() if ll else point
996 p = p.toDatum( r1.datum).toTransform(t0) \
997 .toDatum(reframe2.datum).toDatum(point.datum)
998 if ll:
999 p = p.toLatLon(LatLon=point.classof, **LatLon_kwds)
1000 elif ll: # and LatLon_kwds
1001 p = point.toTransform(t0, **LatLon_kwds)
1002 else:
1003 p = point.toTransform(t0)
1004 p._reframe = reframe2 # see TRFXform.toRefFrame above
1005 p._epoch = _xattr(t0.Xform, epoch=e2)
1006 p.rename(name or reframe2.name)
1007 else:
1008 p = point.dup(name=name) if name else point
1009 return p
1012def _toTransform0(n1, e1, n2, e2, **indirect_inverse):
1013 '''(INTERNAL) Return a L{TransformXform}, 0-tuple or C{None}.
1014 '''
1015 if n1 == n2 and e1 == e2:
1016 return () # unity?
1018 for X in _toTransforms(n1, e1, n2, e2, **indirect_inverse):
1019 return X # first OK?
1021 if (n1.startswith(_ITRF_) and n2.startswith(_WGS84_)) or \
1022 (n2.startswith(_ITRF_) and n1.startswith(_WGS84_)):
1023 return () # unity?
1025 return None
1028def _toTransforms(n1, e1, n2, e2, indirect=True, inverse=True, exhaust=False): # MCCABE 16
1029 '''(INTERNAL) Yield all possible Helmert transforms, if any.
1030 '''
1031 class Ts(list): # L{TransformXform}s de-dup
1032 def __call__(self, Xs, e1=e1, e2=e2, **inverse):
1033 for X in Xs:
1034 if X:
1035 T = X.toTransform(e1, epoch2=e2, **inverse)
1036 if T not in self:
1037 self.append(T)
1038 yield T
1040# def __contains__(self, T):
1041# _xinstanceof(TransformXform, T=T)
1042# return any(t == T for t in self)
1044 def _k(X):
1045 return -X.epoch # most recent first
1047 _Ts = Ts()
1049 for T in _Ts((_direct(n1, n2),), inverse=False):
1050 yield T
1051 if inverse:
1052 for T in _Ts((_direct(n2, n1),), inverse=True):
1053 yield T
1055 if indirect:
1056 for T in _Ts(sorted(_indirects(n1, n2), key=_k), inverse=False):
1057 yield T
1058 if inverse:
1059 for T in _Ts(sorted(_indirects(n2, n1), key=_k), inverse=True):
1060 yield T
1062 if exhaust:
1063 for T in _Ts(_eXhaustives(n1, n2), inverse=False):
1064 yield T
1065 for T in _Ts(_eXhaustives(n2, n1), inverse=True):
1066 yield T
1069def trfTransform0(reframe, reframe2, epoch=None, epoch2=None, indirect=True, inverse=True, exhaust=False):
1070 '''Get a Helmert transform to convert one C{reframe} observed at C{epoch}
1071 to an other C{reframe2} at observed at C{epoch2 or epoch}.
1073 @return: A L{TransformXform} instance, a C{0-tuple} for I{unity, identity} or
1074 C{None} if no conversion exists.
1076 @see: Function L{trfTransforms} for futher details.
1077 '''
1078 return _trfT0s(_toTransform0, reframe, reframe2, epoch, epoch2,
1079 indirect=indirect, inverse=inverse, exhaust=exhaust)
1082def trfTransforms(reframe, reframe2, epoch=None, epoch2=None, indirect=True, inverse=True, exhaust=False):
1083 '''Yield all Helmert transform to convert one C{reframe} observed at C{epoch}
1084 to an other C{reframe2} at observed at C{epoch2 or epoch}.
1086 @arg reframe: The frame to convert I{from} (L{RefFrame} or C{str}).
1087 @arg reframe2: The frame to convert I{to} (L{RefFrame} or C{str}).
1088 @arg epoch: Epoch to observe I{from} (L{Epoch}, C{scalar} or C{str}),
1089 otherwise C{B{reframe}}'s C{epoch}.
1090 @kwarg epoch2: Optional epoch to observe to observe I{to} (L{Epoch}, C{scalar} or
1091 C{str}), otherwise B{C{epoch}} or C{B{reframe}}'s C{epoch}.
1092 @kwarg indirect: If C{True}, include transforms via I{one} intermediate reframe,
1093 otherwise only I{direct} B{C{reframe}} to B{C{reframe2}}
1094 transforms (C{bool}).
1095 @kwarg inverse: If C{True}, include inverse, otherwise only forward transforms
1096 (C{bool}).
1097 @kwarg exhaust: If C{True}, exhaustively generate all transforms, forward and
1098 inverse and via any number of intermediate reframes (C{bool}).
1100 @return: A L{TransformXform} instance for each available conversion, without
1101 duplicates.
1103 @raise TRFError: Invalid B{C{reframe}}, B{C{reframe2}}, B{C{epoch}} or B{C{epoch2}}.
1105 @raise TypeError: Invalid B{C{reframe}} or B{C{reframe2}}.
1106 '''
1107 return _trfT0s(_toTransforms, reframe, reframe2, epoch, epoch2,
1108 indirect=indirect, inverse=inverse, exhaust=exhaust)
1111def _trfT0s(_toT0s, reframe, reframe2, epoch, epoch2, **indirect_inverse_exhaust):
1112 '''(INTERNAL) Handle C{trfTransforms0} and C{trfTransforms} calls.
1113 '''
1114 r1 = _reframe(reframe=reframe)
1115 e1 = r1.epoch if epoch is None else _Epoch(epoch)
1116 r2 = _reframe(reframe2=reframe2)
1117 e2 = e1 if epoch2 is None else Epoch(epoch2=epoch2)
1118 return _toT0s(r1.name, e1, r2.name, e2, **indirect_inverse_exhaust)
1121def trfXform(reframe1, reframe2, epoch=None, xform=None, rates=None, raiser=True):
1122 '''Define a new Terrestrial Reference Frame (TRF) converter or get an
1123 existing one.
1125 @arg reframe1: Source frame (L{RefFrame} or C{str}), converting I{from}.
1126 @arg reframe2: Destination frame (L{RefFrame} or C{str}), converting I{to}.
1127 @kwarg epoch: Epoch, a fractional year (L{Epoch}, C{scalar} or C{str})
1128 or C{None} for C{B{reframe2}}'s epoch.
1129 @kwarg xform: I{Transform} parameters (L{TRFXform7Tuple}).
1130 @kwarg rates: I{Rate} parameters (L{TRFXform7Tuple}), as B{C{xform}},
1131 but in C{units-per-year}.
1132 @kwarg raiser: If C{False}, do not raise an error if the converter
1133 exists, replace it (C{bool}).
1135 @return: The new TRF converter (L{TRFXform}) or if no B{C{epoch}},
1136 B{C{xform}} and B{C{rates}} are given, return the existing
1137 one (L{TRFXform}) or C{None} if not available.
1139 @raise TRFError: Invalid B{C{reframe1}}, B{C{reframe2}}, B{C{epoch}},
1140 B{C{xform}} or B{C{rates}} or the TRF converter
1141 already exists.
1142 '''
1143 try:
1144 r1 = _reframe(reframe1=reframe1)
1145 r2 = _reframe(reframe2=reframe2)
1146 if epoch is None:
1147 if xform is rates is None:
1148 return r1._Xto.get(r2.name, None)
1149 e = r2.epoch
1150 else:
1151 e = _Epoch(epoch)
1152 return _trfX(r1.name, r2.name, raiser=raiser, epoch=e,
1153 xform=xform, rates=rates)
1154 except (TypeError, ValueError) as x:
1155 t = unstr(trfXform, reframe1, reframe2, epoch=epoch)
1156 raise TRFError(t, cause=x)
1159def _trfX(n1, n2, raiser=True, **epoch_xform_rates):
1160 '''(INTERNAL) New, I{unique} L{TRFXform} converter.
1161 '''
1162 r1 = RefFrames.get(n1)
1163 if r1 is None:
1164 raise ValueError(_invalid_)
1165 r2 = RefFrames.get(n2)
1166 if r2 is None:
1167 raise ValueError(_invalid_)
1168 if raiser:
1169 if n2 in r1._Xto:
1170 raise ValueError(_exists_)
1171 if n1 in r2._Xto:
1172 raise ValueError(_SPACE_(_inverse_, _exists_))
1173 r1._Xto[n2] = X = TRFXform(n1, n2, **epoch_xform_rates)
1174 return X
1177def _X(*ps): # deleted below
1178 return _P(ps, _xform_, _Xs) # PYCHOK del
1181def _R(*ps): # deleted below
1182 return _P(ps, _rates_, _Rs) # PYCHOK del
1185_P_0_0s = TRFXform7Tuple(_0_0s(len(_Names7)), name='unity')
1187# TRF conversions specified as an epoch and 2 sets of 7 parameters. Most from Altamimi, Z. U{"EUREF Technical
1188# Note 1: Relationship and Transformation between the International and the European Terrestrial Reference
1189# Systems"<https://ERTS89.ENSG.IFN.Fr/pub/EUREF-TN-1-Jan-31-2024.pdf>} Appendix A, more at U{Quinsy QPS <https://
1190# confluence.QPS.NL/qinsy/files/latest/en/182618383/182618384/1/1579182881000/ITRF_Transformation_Parameters.xlsx>}.
1191# See also U{Quinsy International Terrestrial Reference Frame 2014 (ITRF2014)<https://confluence.QPS.NL/qinsy/latest/
1192# en/international-terrestrial-reference-frame-2014-itrf2014-182618383.html>}.
1193_trfX(_ITRF2020_, _ITRF2014_, epoch=_E(2015), # <https://ITRF.IGN.Fr/docs/solutions/itrf2020/Transfo-ITRF2020_TRFs.txt>
1194 xform=_X( -1.4, -0.9, 1.4, -0.42, _0_0, _0_0, _0_0),
1195 rates=_R( _0_0, -0.1, 0.2, _0_0, _0_0, _0_0, _0_0))
1196_trfX(_ITRF2020_, _ITRF2008_, epoch=_E(2015),
1197 xform=_X( 0.2, 1.0, 3.3, -0.29, _0_0, _0_0, _0_0),
1198 rates=_R( _0_0, -0.1, 0.1, 0.03, _0_0, _0_0, _0_0))
1199_trfX(_ITRF2020_, _ITRF2005_, epoch=_E(2015),
1200 xform=_X( 2.7, 0.1, -1.4, 0.65, _0_0, _0_0, _0_0),
1201 rates=_R( 0.3, -0.1, 0.1, 0.03, _0_0, _0_0, _0_0))
1202_trfX(_ITRF2020_, _ITRF2000_, epoch=_E(2015),
1203 xform=_X( -0.2, 0.8, -34.2, 2.25, _0_0, _0_0, _0_0),
1204 rates=_R( 0.1, _0_0, -1.7, 0.11, _0_0, _0_0, _0_0))
1205_trfX(_ITRF2020_, _ITRF97_, epoch=_E(2015),
1206 xform=_X( 6.5, -3.9, -77.9, 3.98, _0_0, _0_0, 0.36),
1207 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1208_trfX(_ITRF2020_, _ITRF96_, epoch=_E(2015),
1209 xform=_X( 6.5, -3.9, -77.9, 3.98, _0_0, _0_0, 0.36),
1210 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1211_trfX(_ITRF2020_, _ITRF94_, epoch=_E(2015),
1212 xform=_X( 6.5, -3.9, -77.9, 3.98, _0_0, _0_0, 0.36),
1213 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1214_trfX(_ITRF2020_, _ITRF93_, epoch=_E(2015),
1215 xform=_X( -65.8, 1.9, -71.3, 4.47, -3.36, -4.33, 0.75),
1216 rates=_R( -2.8, -0.2, -2.3, 0.12, -0.11, -0.19, 0.07))
1217_trfX(_ITRF2020_, _ITRF92_, epoch=_E(2015),
1218 xform=_X( 14.5, -1.9, -85.9, 3.27, _0_0, _0_0, 0.36),
1219 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1220_trfX(_ITRF2020_, _ITRF91_, epoch=_E(2015),
1221 xform=_X( 26.5, 12.1, -91.9, 4.67, _0_0, _0_0, 0.36),
1222 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1223_trfX(_ITRF2020_, _ITRF90_, epoch=_E(2015),
1224 xform=_X( 24.5, 8.1, -107.9, 4.97, _0_0, _0_0, 0.36),
1225 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1226_trfX(_ITRF2020_, _ITRF89_, epoch=_E(2015),
1227 xform=_X( 29.5, 32.1, -145.9, 8.37, _0_0, _0_0, 0.36),
1228 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1229_trfX(_ITRF2020_, _ITRF88_, epoch=_E(2015),
1230 xform=_X( 24.5, -3.9, -169.9, 11.47, 0.1, _0_0, 0.36),
1231 rates=_R( 0.1, -0.6, -3.1, 0.12, _0_0, _0_0, 0.02))
1233# see U{Transformation Parameters ITRF2014<http://ITRF.IGN.Fr/doc_ITRF/Transfo-ITRF2014_ITRFs.txt>} and
1234# Altamimi, Z. U{"EUREF Technical Note 1: Relationship and Transformation between the International and
1235# the European Terrestrial Reference Systems"<https://ERTS89.ENSG,IFN.Fr/pub/EUREF-TN-1.pdf>} Appendix A.
1236_trfX(_ITRF2014_, _ITRF2008_, epoch=(2010), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2014/tp_14-08.php>
1237 xform=_X( 1.6, 1.9, 2.4, -0.02, _0_0, _0_0, _0_0),
1238 rates=_R( _0_0, _0_0, -0.1, 0.03, _0_0, _0_0, _0_0))
1239_trfX(_ITRF2014_, _ITRF2005_, epoch=_E(2010),
1240 xform=_X( 2.6, _1_0, -2.3, 0.92, _0_0, _0_0, _0_0),
1241 rates=_R( 0.3, _0_0, -0.1, 0.03, _0_0, _0_0, _0_0))
1242_trfX(_ITRF2014_, _ITRF2000_, epoch=_E(2010),
1243 xform=_X( 0.7, 1.2, -26.1, 2.12, _0_0, _0_0, _0_0),
1244 rates=_R( 0.1, 0.1, -1.9, 0.11, _0_0, _0_0, _0_0))
1245_trfX(_ITRF2014_, _ITRF97_, epoch=_E(2010),
1246 xform=_X( 7.4, -0.5, -62.8, 3.8, _0_0, _0_0, 0.26),
1247 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1248_trfX(_ITRF2014_, _ITRF96_, epoch=_E(2010),
1249 xform=_X( 7.4, -0.5, -62.8, 3.8, _0_0, _0_0, 0.26),
1250 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1251_trfX(_ITRF2014_, _ITRF94_, epoch=_E(2010),
1252 xform=_X( 7.4, -0.5, -62.8, 3.8, _0_0, _0_0, 0.26),
1253 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1254_trfX(_ITRF2014_, _ITRF93_, epoch=_E(2010),
1255 xform=_X( -50.4, 3.3, -60.2, 4.29, -2.81, -3.38, 0.4),
1256 rates=_R( -2.8, -0.1, -2.5, 0.12, -0.11, -0.19, 0.07))
1257_trfX(_ITRF2014_, _ITRF92_, epoch=_E(2010),
1258 xform=_X( 15.4, 1.5, -70.8, 3.09, _0_0, _0_0, 0.26),
1259 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1260_trfX(_ITRF2014_, _ITRF91_, epoch=_E(2010),
1261 xform=_X( 27.4, 15.5, -76.8, 4.49, _0_0, _0_0, 0.26),
1262 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1263_trfX(_ITRF2014_, _ITRF90_, epoch=_E(2010),
1264 xform=_X( 25.4, 11.5, -92.8, 4.79, _0_0, _0_0, 0.26),
1265 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1266_trfX(_ITRF2014_, _ITRF89_, epoch=_E(2010),
1267 xform=_X( 30.4, 35.5, -130.8, 8.19, _0_0, _0_0, 0.26),
1268 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1269_trfX(_ITRF2014_, _ITRF88_, epoch=_E(2010),
1270 xform=_X( 25.4, -0.5, -154.8, 11.29, 0.1, _0_0, 0.26),
1271 rates=_R( 0.1, -0.5, -3.3, 0.12, _0_0, _0_0, 0.02))
1273# Pearson, C. & Snay, R. U{"Introducing HTDP 3.1 to transform coordinates across time and spatial reference
1274# frames"<https://Geodesy.NOAA.gov/TOOLS/Htdp/Pearson_Snay_2012.pdf> Table 7, 1st and 2nd column
1275_trfX(_ITRF2008_, _ITRF2005_, epoch=_E(2005),
1276 xform=_X( -0.5, -0.9, -4.7, 0.94, _0_0, _0_0, _0_0),
1277 rates=_R( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0))
1278# _trfX(_ITRF2008_, _ITRF2005_, epoch=_E(1997),
1279# xform=_X( -2.9, -0.9, -4.7, 0.94, _0_0, _0_0, _0_0),
1280# rates=_R( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0))
1281# see U{Transformation Parameters ITRF2008<http://ITRF.IGN.Fr/doc_ITRF/Transfo-ITRF2008_ITRFs.txt>}
1282# _trfX(_ITRF2008_, _ITRF2005_, epoch=_E(2000), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2008/tp_08-05.php>
1283# xform=_X( -2.0, -0.9, -4.7, 0.94, _0_0, _0_0, _0_0),
1284# rates=_R( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0))
1285_trfX(_ITRF2008_, _ITRF2000_, epoch=_E(2000),
1286 xform=_X( -1.9, -1.7, -10.5, 1.34, _0_0, _0_0, _0_0),
1287 rates=_R( 0.1, 0.1, -1.8, 0.08, _0_0, _0_0, _0_0))
1288_trfX(_ITRF2008_, _ITRF97_, epoch=_E(2000),
1289 xform=_X( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, 0.06),
1290 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1291_trfX(_ITRF2008_, _ITRF96_, epoch=_E(2000),
1292 xform=_X( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, 0.06),
1293 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1294_trfX(_ITRF2008_, _ITRF94_, epoch=_E(2000),
1295 xform=_X( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, 0.06),
1296 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1297_trfX(_ITRF2008_, _ITRF93_, epoch=_E(2000),
1298 xform=_X( -24.0, 2.4, -38.6, 3.41, -1.71, -1.48, -0.3),
1299 rates=_R( -2.8, -0.1, -2.4, 0.09, -0.11, -0.19, 0.07))
1300_trfX(_ITRF2008_, _ITRF92_, epoch=_E(2000),
1301 xform=_X( 12.8, 4.6, -41.2, 2.21, _0_0, _0_0, 0.06),
1302 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1303_trfX(_ITRF2008_, _ITRF91_, epoch=_E(2000),
1304 xform=_X( 24.8, 18.6, -47.2, 3.61, _0_0, _0_0, 0.06),
1305 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1306_trfX(_ITRF2008_, _ITRF90_, epoch=_E(2000),
1307 xform=_X( 22.8, 14.6, -63.2, 3.91, _0_0, _0_0, 0.06),
1308 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1309_trfX(_ITRF2008_, _ITRF89_, epoch=_E(2000),
1310 xform=_X( 27.8, 38.6, -101.2, 7.31, _0_0, _0_0, 0.06),
1311 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1312_trfX(_ITRF2008_, _ITRF88_, epoch=_E(2000),
1313 xform=_X( 22.8, 2.6, -125.2, 10.41, 0.1, _0_0, 0.06),
1314 rates=_R( 0.1, -0.5, -3.2, 0.09, _0_0, _0_0, 0.02))
1316# Pearson, C. & Snay, R. U{"Introducing HTDP 3.1 to transform coordinates across time and spatial reference
1317# frames"<https://Geodesy.NOAA.gov/TOOLS/Htdp/Pearson_Snay_2012.pdf> Table 7, 3rd column
1318# _trfX(_ITRF2005_, _ITRF2000_, epoch=_E(1997),
1319# xform=_X( 0.7, -1.1, -0.4, 0.16, -0.2, 0.1 -1.8),
1320# rates=_R( -0.2, 0.1, -1.8, 0.08, _0_0, _0_0, _0_0))
1321_trfX(_ITRF2005_, _ITRF2000_, epoch=_E(2000), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2005/tp_05-00.php>
1322 xform=_X( 0.1, -0.8, -5.8, 0.4, _0_0, _0_0, _0_0),
1323 rates=_R( -0.2, 0.1, -1.8, 0.08, _0_0, _0_0, _0_0))
1325_trfX(_ITRF2000_, _ITRF97_, epoch=_E(1997),
1326 xform=_X( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0),
1327 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, -0.02)) # 0.02?
1328_trfX(_ITRF2000_, _ITRF96_, epoch=_E(1997),
1329 xform=_X( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0),
1330 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, 0.02))
1331_trfX(_ITRF2000_, _ITRF94_, epoch=_E(1997),
1332 xform=_X( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0),
1333 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, 0.02))
1334_trfX(_ITRF2000_, _ITRF93_, epoch=_E(1988),
1335 xform=_X( 12.7, 6.5, -20.9, 1.95, -0.39, 0.8, -1.14),
1336 rates=_R( -2.9, -0.2, -0.6, 0.01, -0.11, -0.19, 0.07))
1337_trfX(_ITRF2000_, _ITRF92_, epoch=_E(1988),
1338 xform=_X( 1.47, 1.35, -1.39, 0.75, _0_0, _0_0, -0.18),
1339 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, 0.02))
1340_trfX(_ITRF2000_, _ITRF91_, epoch=_E(1988),
1341 xform=_X( 26.7, 27.5, -19.9, 2.15, _0_0, _0_0, -0.18),
1342 rates=_R( _0_0, -0.6, -1.4, 0.01, _0_0, _0_0, 0.02))
1343_trfX(_ITRF2000_, _ITRF90_, epoch=_E(1988),
1344 xform=_X( 2.47, 2.35, -3.59, 2.45, _0_0, _0_0, -0.18),
1345 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, 0.02))
1346_trfX(_ITRF2000_, _ITRF89_, epoch=_E(1988),
1347 xform=_X( 2.97, 4.75, -7.39, 5.85, _0_0, _0_0, -0.18),
1348 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, 0.02))
1349_trfX(_ITRF2000_, _ITRF88_, epoch=_E(1988),
1350 xform=_X( 2.47, 1.15, -9.79, 8.95, 0.1, _0_0, -0.18),
1351 rates=_R( _0_0, -0.06, -0.14, 0.01, _0_0, _0_0, 0.02))
1353# Soler, T .& Snay R.A. U{"Transforming Positions and Velocities between the International Terrestrial
1354# Reference Frame of 2000 and North American Datum of 1983"<https://www.ResearchGate.net/publication/245291390>},
1355# Pearson, C. & Snay, R. U{"Introducing HTDP 3.1 to transform coordinates across time and spatial reference
1356# frames"<https://Geodesy.NOAA.gov/TOOLS/Htdp/Pearson_Snay_2012.pdf> Table 7, 5th and 6th column
1357_trfX(_ITRF97_, _ITRF96_, epoch=_E(1997),
1358 xform=_X( -2.07, -0.21, 9.95, -0.93496, 0.1267, -0.22355, -0.06065,),
1359 rates=_R( 0.69, -0.1, 1.86, -0.19201, 0.01347, -0.01514, 0.00027))
1360_trfX(_ITRF96_, _NAD83_, epoch=_E(1997),
1361 xform=_X( 991.0, -190.72, -512.9, _0_0, 25.79, 9.65, 11.66,),
1362 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.0532, -0.7423, -0.0316,))
1364# see Altamimi, Z. U{"EUREF Technical Note 1: Relationship and Transformation between the International and
1365# the European Terrestrial Reference Systems"<https://ERTS89.ENSG.IFN.Fr/pub/EUREF-TN-1-Jan-31-2024.pdf>} Table 1.
1366# _trfX(_ITRF2020_, _ETRF2020_, epoch=_E(1989), # see Table 2 below
1367# xform=_P_0_0s,
1368# rates=_R( _0_0, _0_0, _0_0, _0_0, 0.086, 0.519, -0.753))
1369# _trfX(_ITRF2014_, _ETRF2014_, epoch=_E(1989), # see Table 3 below
1370# xform=_P_0_0s,
1371# rates=_R( _0_0, _0_0, _0_0, _0_0, 0.085, 0.531, -0.77))
1372_trfX(_ITRF2005_, _ETRF2005_, epoch=_E(1989),
1373 xform=_X( 56.0, 48.0, -37.0, _0_0, _0_0, _0_0, _0_0),
1374 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.054, 0.518, -0.781))
1375# _trfX(_ITRF2000_, _ETRF2000_, epoch=_E(1989), # see Table 4 below
1376# xform=_X( 54.0, 51.0, -48.0, _0_0, _0_0, _0_0, _0_0),
1377# rates=_R( _0_0, _0_0, _0_0, _0_0, 0.081, 0.49, -0.792))
1378_trfX(_ITRF97_, _ETRF97_, epoch=_E(1989),
1379 xform=_X( 41.0, 41.0, -49.0, _0_0, _0_0, _0_0, _0_0),
1380 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.2, 0.5, -0.65))
1381_trfX(_ITRF96_, _ETRF96_, epoch=_E(1989),
1382 xform=_X( 41.0, 41.0, -49.0, _0_0, _0_0, _0_0, _0_0),
1383 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.2, 0.5, -0.65))
1384_trfX(_ITRF94_, _ETRF94_, epoch=_E(1989),
1385 xform=_X( 41.0, 41.0, -49.0, _0_0, _0_0, _0_0, _0_0),
1386 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.2, 0.5, -0.65))
1387_trfX(_ITRF93_, _ETRF93_, epoch=_E(1989),
1388 xform=_X( 19.0, 53.0, -21.0, _0_0, _0_0, _0_0, _0_0),
1389 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.32, 0.78, -0.67))
1390_trfX(_ITRF92_, _ETRF92_, epoch=_E(1989),
1391 xform=_X( 38.0, 40.0, -37.0, 0.0, 0.0, 0.0, 0.0),
1392 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.21, 0.52, -0.68))
1393_trfX(_ITRF91_, _ETRF91_, epoch=_E(1989),
1394 xform=_X( 21.0, 25.0, -37.0, _0_0, _0_0, _0_0, _0_0),
1395 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.21, 0.52, -0.68))
1396_trfX(_ITRF90_, _ETRF90_, epoch=_E(1989),
1397 xform=_X( 19.0, 28.0, -23.0, _0_0, _0_0, _0_0, _0_0),
1398 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.11, 0.57, -0.71))
1399_trfX(_ITRF89_, _ETRF89_, epoch=_E(1989),
1400 xform=_P_0_0s,
1401 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.11, 0.57, -0.71))
1403# see Altamimi, Z. U{"EUREF Technical Note 1: Relationship and Transformation between the International and
1404# the European Terrestrial Reference Systems"<https://ERTS89.ENSG.IFN.Fr/pub/EUREF-TN-1-Jan-31-2024.pdf>} Table 2.
1405_trfX(_ITRF2020_, _ETRF2020_, epoch=_E(2015),
1406 xform=_X( _0_0, _0_0, _0_0, _0_0, 2.236, 13.494, -19.578),
1407 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.086, 0.519, -0.753))
1408_trfX(_ITRF2014_, _ETRF2020_, epoch=_E(2015),
1409 xform=_X( 1.4, 0.9, -1.4, 0.42, 2.236, 13.494, -19.578),
1410 rates=_R( _0_0, 0.1, -0.2, _0_0, 0.086, 0.519, -0.753))
1411_trfX(_ITRF2008_, _ETRF2020_, epoch=_E(2015),
1412 xform=_X( 3.0, 2.8, 0.5, 0.55, 2.236, 13.494, -19.578),
1413 rates=_R( _0_0, 0.1, -0.3, 0.03, 0.086, 0.519, -0.753))
1414_trfX(_ITRF2005_, _ETRF2020_, epoch=_E(2015),
1415 xform=_X( 5.5, 1.9, -4.2, 1.49, 2.236, 13.494, -19.578),
1416 rates=_R( 0.3, 0.1, -0.3, 0.03, 0.086, 0.519, -0.753))
1417_trfX(_ITRF2000_, _ETRF2020_, epoch=_E(2015),
1418 xform=_X( 2.6, 2.6, -37.0, 3.09, 2.236, 13.494, -19.578),
1419 rates=_R( 0.1, 0.2, -2.1, 0.11, 0.086, 0.519, -0.753))
1420_trfX(_ITRF97_, _ETRF2020_, epoch=_E(2015),
1421 xform=_X( 9.3, -2.1, -80.7, 4.82, 2.236, 13.494, -19.218),
1422 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1423_trfX(_ITRF96_, _ETRF2020_, epoch=_E(2015),
1424 xform=_X( 9.3, -2.1, -80.7, 4.82, 2.236, 13.494, -19.218),
1425 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1426_trfX(_ITRF94_, _ETRF2020_, epoch=_E(2015),
1427 xform=_X( 9.3, -2.1, -80.7, 4.82, 2.236, 13.494, -19.218),
1428 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1429_trfX(_ITRF93_, _ETRF2020_, epoch=_E(2015),
1430 xform=_X( -63.0, 3.7, -74.1, 5.31, -1.124, 9.164, -18.828),
1431 rates=_R( -2.8, _0_0, -2.7, 0.12, -0.024, 0.329, -0.683))
1432_trfX(_ITRF92_, _ETRF2020_, epoch=_E(2015),
1433 xform=_X( 17.3, -0.1, -88.7, 4.11, 2.236, 13.494, -19.218),
1434 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1435_trfX(_ITRF91_, _ETRF2020_, epoch=_E(2015),
1436 xform=_X( 29.3, 13.9, -94.7, 5.51, 2.236, 13.494, -19.218),
1437 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1438_trfX(_ITRF90_, _ETRF2020_, epoch=_E(2015),
1439 xform=_X( 27.3, 9.9, -110.7, 5.81, 2.236, 13.494, -19.218),
1440 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1441_trfX(_ITRF89_, _ETRF2020_, epoch=_E(2015),
1442 xform=_X( 32.3, 33.9, -148.7, 9.21, 2.236, 13.494, -19.218),
1443 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1444_trfX(_ITRF88_, _ETRF2020_, epoch=_E(2015),
1445 xform=_X( 27.3, -2.1, -172.7, 12.31, 2.336, 13.494, -19.218),
1446 rates=_R( 0.1, -0.4, -3.5, 0.12, 0.086, 0.519, -0.733))
1448# see Altamimi, Z. U{"EUREF Technical Note 1: Relationship and Transformation between the International and
1449# the European Terrestrial Reference Systems"<https://ERTS89.ENSG.IFN.Fr/pub/EUREF-TN-1-Jan-31-2024.pdf>} Table 3.
1450_trfX(_ITRF2020_, _ETRF2014_, epoch=_E(2015),
1451 xform=_X( -1.4, -0.9, 1.4, 0.42, 2.21, 13.806, -20.02),
1452 rates=_R( _0_0, -0.1, 0.2, _0_0, 0.085, 0.531, -0.77))
1453_trfX(_ITRF2014_, _ETRF2014_, epoch=_E(2015),
1454 xform=_X( _0_0, _0_0, _0_0, _0_0, 2.21, 13.806, -20.02),
1455 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.085, 0.531, -0.77))
1456_trfX(_ITRF2008_, _ETRF2014_, epoch=_E(2015),
1457 xform=_X( -1.6, -1.9, -1.9, -0.13, 2.21, 13.806, -20.02),
1458 rates=_R( _0_0, _0_0, 0.1, -0.03, 0.085, 0.531, -0.77))
1459_trfX(_ITRF2005_, _ETRF2014_, epoch=_E(2015),
1460 xform=_X( -4.1, -1.0, 2.8, -1.07, 2.21, 13.806, -20.02),
1461 rates=_R( -0.3, _0_0, 0.1, -0.03, 0.085, 0.531, -0.77))
1462_trfX(_ITRF2000_, _ETRF2014_, epoch=_E(2015),
1463 xform=_X( -1.2, -1.7, 35.6, -2.67, 2.21, 13.806, -20.02),
1464 rates=_R( -0.1, -0.1, 1.9, -0.11, 0.085, 0.531, -0.77))
1465_trfX(_ITRF97_, _ETRF2014_, epoch=_E(2015),
1466 xform=_X( -7.9, 3.0, 79.3, -4.40, 2.210, 13.806, -20.38),
1467 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1468_trfX(_ITRF96_, _ETRF2014_, epoch=_E(2015),
1469 xform=_X( -7.9, 3.0, 79.3, -4.40, 2.210, 13.806, -20.38),
1470 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1471_trfX(_ITRF94_, _ETRF2014_, epoch=_E(2015),
1472 xform=_X( -7.9, 3.0, 79.3, -4.40, 2.210, 13.806, -20.38),
1473 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1474_trfX(_ITRF93_, _ETRF2014_, epoch=_E(2015),
1475 xform=_X( 64.4, -2.8, 72.7, -4.89, 5.570, 18.136, -20.77),
1476 rates=_R( 2.8, 0.1, 2.5, -0.12, 0.195, 0.721, -0.84))
1477_trfX(_ITRF92_, _ETRF2014_, epoch=_E(2015),
1478 xform=_X( -15.9, 1.0, 87.3, -3.69, 2.21, 13.806, -20.38),
1479 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1480_trfX(_ITRF91_, _ETRF2014_, epoch=_E(2015),
1481 xform=_X( -27.9, -13.0, 93.3, -5.09, 2.21, 13.806, -20.38),
1482 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1483_trfX(_ITRF90_, _ETRF2014_, epoch=_E(2015),
1484 xform=_X( -25.9, -9.0, 109.3, -5.39, 2.21, 13.806, -20.38),
1485 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1486_trfX(_ITRF89_, _ETRF2014_, epoch=_E(2015),
1487 xform=_X( -30.9, -33.0, 147.3, -8.79, 2.21, 13.806, -20.38),
1488 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1489_trfX(_ITRF88_, _ETRF2014_, epoch=_E(2015),
1490 xform=_X( -25.9, 3.0, 171.3, -11.89, 2.11, 13.806, -20.38),
1491 rates=_R( -0.1, 0.5, 3.3, -0.12, 0.085, 0.531, -0.79))
1493# see U{Altamimi, Z. "EUREF Technical Note 1: Relationship and Transformation between the International and
1494# the European Terrestrial Reference Systems"<https://ERTS89.ENSG,IFN.Fr/pub/EUREF-TN-1-Jan-31-2024.pdf>} Table 4,
1495# U{Boucher, C. & Altamimi, Z. "Memo: Specifications for reference frame fixing in the analysis of a EUREF GPS
1496# campaign" (2011) <https://ETRS89.ENSG.IGN.Fr/memo-V8.pdf>} and U{Altamimi, Z. "Key results of ITRF2014 and
1497# implication to ETRS89 realization", EUREF2016<https://www.EUREF.EU/symposia/2016SanSebastian/01-02-Altamimi.pdf>}.
1498_trfX(_ITRF2020_, _ETRF2000_, epoch=_E(2015),
1499 xform=_X( 53.8, 51.8, -82.2, 2.25, 2.106, 12.74, -20.592),
1500 rates=_R( 0.1, _0_0, -1.7, 0.11, 0.081, 0.49, -0.792))
1501# _trfX(_ITRF2014_, _ETRF2000_, epoch=_E(2000),
1502# xform=_X( 53.7, 51.2, -55.1, 1.02, 0.891, 5.39, -8.712),
1503# rates=_R( 0.1, 0.1, -1.9, 0.11, 0.081, 0.49, -0.792))
1504_trfX(_ITRF2014_, _ETRF2000_, epoch=_E(2015),
1505 xform=_X( 55.2, 52.7, -83.6, 2.67, 2.106, 12.74, -20.592),
1506 rates=_R( 0.1, 0.1, -1.9, 0.11, 0.081, 0.49, -0.792))
1507# _trfX(_ITRF2008_, _ETRF2000_, epoch=_E(2000),
1508# xform=_X( 52.1, 49.3, -58.5, 1.34, 0.891, 5.39, -8.712),
1509# rates=_R( 0.1, 0.1, -1.8, 0.08, 0.081, 0.49, -0.792))
1510_trfX(_ITRF2008_, _ETRF2000_, epoch=_E(2015),
1511 xform=_X( 53.6, 50.8, -85.5, 2.54, 2.106, 12.74, -20.592),
1512 rates=_R( 0.1, 0.1, -1.8, 0.08, 0.081, 0.49, -0.792))
1513# _trfX(_ITRF2005_, _ETRF2000_, epoch=_E(2000),
1514# xform=_X( 54.1, 50.2, -53.8, 0.4, 0.891, 5.39, -8.712),
1515# rates=_R( -0.2, 0.1, -1.8, 0.08, 0.081, 0.49, -0.792))
1516_trfX(_ITRF2005_, _ETRF2000_, epoch=_E(2015),
1517 xform=_X( 51.1, 51.7, -80.8, 1.6, 2.106, 12.74, -20.592),
1518 rates=_R( -0.2, 0.1, -1.8, 0.08, 0.081, 0.49, -0.792))
1519# _trfX(_ITRF2000_, _ETRF2000_, epoch=_E(2000),
1520# xform=_X( 54.0, 51.0, -48.0, _0_0, 0.891, 5.39, -8.712),
1521# rates=_R( _0_0, _0_0, _0_0, _0_0, 0.081, 0.49, -0.792))
1522_trfX(_ITRF2000_, _ETRF2000_, epoch=_E(2015),
1523 xform=_X( 54.0, 51.0, -48.0, _0_0, 2.106, 12.74, -20.592),
1524 rates=_R( _0_0, _0_0, _0_0, _0_0, 0.081, 0.49, -0.792))
1525_trfX(_ITRF97_, _ETRF2000_, epoch=_E(2015),
1526 xform=_X( 47.3, 55.7, -4.3, -1.73, 2.106, 12.74, -20.952),
1527 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1528_trfX(_ITRF96_, _ETRF2000_, epoch=_E(2015),
1529 xform=_X( 47.3, 55.7, -4.3, -1.73, 2.106, 12.74, -20.952),
1530 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1531_trfX(_ITRF94_, _ETRF2000_, epoch=_E(2015),
1532 xform=_X( 47.3, 55.7, -4.3, -1.73, 2.106, 12.74, -20.952),
1533 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1534_trfX(_ITRF93_, _ETRF2000_, epoch=_E(2015),
1535 xform=_X( 119.6, 49.9, -10.9, -2.22, 5.466, 17.07, -21.342),
1536 rates=_R( 2.9, 0.2, 0.6, -0.01, 0.191, 0.68, -0.862))
1537_trfX(_ITRF92_, _ETRF2000_, epoch=_E(2015),
1538 xform=_X( 39.3, 53.7, 3.7, -1.02, 2.106, 12.74, -20.952),
1539 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1540_trfX(_ITRF91_, _ETRF2000_, epoch=_E(2015),
1541 xform=_X( 27.3, 39.7, 9.7, -2.42, 2.106, 12.74, -20.952),
1542 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1543_trfX(_ITRF90_, _ETRF2000_, epoch=_E(2015),
1544 xform=_X( 29.3, 43.7, 25.7, -2.72, 2.106, 12.74, -20.952),
1545 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1546_trfX(_ITRF89_, _ETRF2000_, epoch=_E(2015),
1547 xform=_X( 24.3, 19.7, 63.7, -6.12, 2.106, 12.74, -20.952),
1548 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1549_trfX(_ITRF88_, _ETRF2000_, epoch=_E(2015),
1550 xform=_X( 29.3, 55.7, 87.7, -9.22, 2.006, 12.74, -20.952),
1551 rates=_R( _0_0, 0.6, 1.4, -0.01, 0.081, 0.49, -0.812))
1553# GDA2020 "Geocentric Datum of Australia 2020 Technical Manual", v1.5, 2020-12-09, Table 3.3 and 3.4
1554# <https://www.ICSM.gov.AU/sites/default/files/2020-12/GDA2020%20Technical%20Manual%20V1.5_4.pdf>
1555# (the GDA2020 xforms are different but the rates are the same as GDA94, further below)
1556_trfX(_ITRF2014_, _GDA2020_, epoch=_E(2020),
1557 xform=_P_0_0s,
1558 rates=_R( _0_0, _0_0, _0_0, _0_0, 1.50379, 1.18346, 1.20716))
1559_trfX(_ITRF2008_, _GDA2020_, epoch=_E(2020),
1560 xform=_X( 13.79, 4.55, 15.22, 2.5, 0.2808, 0.2677, -0.4638),
1561 rates=_R( 1.42, 1.34, 0.9, 0.109, 1.5461, 1.182, 1.1551))
1562_trfX(_ITRF2005_, _GDA2020_, epoch=_E(2020),
1563 xform=_X( 40.32, -33.85, -16.72, 4.286, -1.2893, -0.8492, -0.3342),
1564 rates=_R( 2.25, -0.62, -0.56, 0.294, -1.4707, -1.1443, -1.1701))
1565_trfX(_ITRF2000_, _GDA2020_, epoch=_E(2020),
1566 xform=_X(-105.52, 51.58, 231.68, 3.55, 4.2175, 6.3941, 0.8617),
1567 rates=_R( -4.66, 3.55, 11.24, 0.249, 1.7454, 1.4868, 1.224))
1569# see Table 2 in U{Dawson, J. & Woods, A. "ITRF to GDA94 coordinate transformations", Journal of Applied
1570# Geodesy 4 (2010), 189-199<https://www.ResearchGate.net/publication/258401581_ITRF_to_GDA94_coordinate_transformations>}
1571# (note, sign of rotations for GDA94 reversed as "Australia assumes rotation to be of coordinate axes",
1572# rather than the more conventional "position around the coordinate axes")
1573_trfX(_ITRF2008_, _GDA94_, epoch=_E(1994),
1574 xform=_X( -84.68, -19.42, 32.01, 9.71, -0.4254, 2.2578, 2.4015),
1575 rates=_R( 1.42, 1.34, 0.9, 0.109, 1.5461, 1.182, 1.1551))
1576_trfX(_ITRF2005_, _GDA94_, epoch=_E(1994),
1577 xform=_X( -79.73, -6.86, 38.03, 6.636, 0.0351, -2.1211, -2.1411),
1578 rates=_R( 2.25, -0.62, -0.56, 0.294, -1.4707, -1.1443, -1.1701))
1579_trfX(_ITRF2000_, _GDA94_, epoch=_E(1994),
1580 xform=_X( -45.91, -29.85, -20.37, 7.07, -1.6705, 0.4594, 1.9356),
1581 rates=_R( -4.66, 3.55, 11.24, 0.249, 1.7454, 1.4868, 1.224))
1583# see U{Quinsy QPS<https://confluence.QPS.NL/qinsy/files/latest/en/182618383/182618384/1/1579182881000/
1584# ITRF_Transformation_Parameters.xlsx>}, sheets ITRF and NAD83 and Pearson, C. & Snay, R. U{"Introducing
1585# HTDP 3.1 to transform coordinates across time and spatial reference frames"<https://Geodesy.NOAA.gov/
1586# TOOLS/Htdp/Pearson_Snay_2012.pdf> Table 7, 7th column
1587_trfX(_ITRF2008_, _NAD83_, epoch=_E(1997),
1588 xform=_X( 993.43, -1903.31, -526.55, 1.71504, -25.91467, -9.42645, -11.59935),
1589 rates=_R( 0.79, -0.6, -1.34, -0.10201, -0.06667, 0.75744, 0.05133))
1590# see U{Quinsy QPS<https://confluence.QPS.NL/qinsy/files/latest/en/182618383/182618384/1/1579182881000/
1591# ITRF_Transformation_Parameters.xlsx>}, sheets ITRF and NAD83
1592_trfX(_ITRF2005_, _NAD83_, epoch=_E(1997),
1593 xform=_X( 996.3, -1902.4, -521.9, 0.775, -25.915, -9.426, -11.599),
1594 rates=_R( 0.5, -0.6, -1.3, -0.10201, -0.06667, 0.75744, 0.05133))
1595# see U{Solar, T. & Snay, R.A. "Transforming Positions and Velocities between the International Terrestrial Reference
1596# Frame of 2000 and North American Datum of 1983" (2004)<https://www.NGS.NOAA.gov/CORS/Articles/SolerSnayASCE.pdf>}
1597_trfX(_ITRF2000_, _NAD83_, epoch=_E(1997), # note NAD83(CORS96)
1598 xform=_X( 995.6, -1901.3, -521.5, 0.615, -25.915, -9.426, -11.599),
1599 rates=_R( 0.7, -0.7, _0_5, -0.182, -0.06667, 0.75744, 0.05133))
1600_trfX(_ITRF90_, _NAD83_, epoch=_E(1997),
1601 xform=_X( 973.0, -1919.2, -482.9, -0.9, -25.79, -9.65, -11.66),
1602 rates=_R( _0_0, _0_0, _0_0, _0_0, -0.053, 0.742, 0.032))
1603_trfX(_ITRF90_, _WGS84_, epoch=_E(1984), # coverage
1604 xform=_X( 60.0, -517.0, -223.0, -11.0, 18.3, -0.3, 7.0),
1605 rates=_P_0_0s)
1607# equivalents U{"Transformations Between NAD83 and WGS84"<https://www.NGS.NOAA.gov/CORS/Articles/WGS84NAD83.pdf>}
1608trfXform(_NAD83cors96_, _NAD83_, epoch=_E(1997), xform=_P_0_0s, rates=_P_0_0s)
1609trfXform(_WGS84g1150_, _ITRF2000_, epoch=_E(2004), xform=_P_0_0s, rates=_P_0_0s)
1611del _E, _Es, _i, _P, _P_0_0s, _R, _Rs, _X, _Xs
1613if __name__ == '__main__':
1615 def _main():
1616 from pygeodesy.interns import _COLONSPACE_,_COMMA_, _NL_, _NLATvar_, _vs_
1617 from pygeodesy.lazily import printf
1618 from time import localtime
1620 D = date2epoch.__name__
1621 E = epoch2date.__name__
1622 y = localtime()[0]
1623 for m in range(1, 13):
1624 for d in (1, 15, _mDays[m] - 1, _mDays[m]):
1625 f = '%s(%d,%3d,%3d)' % (D, y, m, d)
1626 e = date2epoch(y, m, d)
1627 t = epoch2date(e)
1628 x = NN if t == (y, m, d) else _STAR_
1629 e = '%.3f' % (e,)
1630 e = '%s, %s(%s)' % (e, E, e)
1631 t = '%d,%3d,%3d' % t
1632 printf('# %s = %s = %s %s', f, e, t, x)
1634 # __doc__ of this file, force all into registery
1635 def _RFs():
1636 yield NN
1637 for t in RefFrames.toRepr(all=True).split(_NL_):
1638 t = t.strip(_COMMA_)
1639 n = t.split(_COLONSPACE_)[0].split(_DOT_)[1]
1640 r = RefFrames.get(n)
1641 x = len(r.Xforms()), -len(r.Xforms(inverse=True))
1642 yield '%s .Xforms=%s' % (t, x)
1644 printf(_NLATvar_.join(sorted(_RFs())), nt=1)
1646 X, t = (), 0 # all form
1647 for r in RefFrames.values():
1648 X += tuple(r._Xto.values())
1649 for X in sorted(X):
1650 t += 1
1651 printf('#%4d %-24s xform=%r', t, X.name, X.xform)
1652 printf('#%29s rates=%r', _SPACE_, X.rates)
1654 t = _MODS.basics._args_kwds_names(Transform.__init__)
1655 for n in TRFXform7Tuple._Names_:
1656 if n not in t:
1657 raise AssertionError(_SPACE_(n, _vs_, t))
1659 _main()
1660 del _main
1662# **) MIT License
1663#
1664# Copyright (C) 2016-2024 -- mrJean1 at Gmail -- All Rights Reserved.
1665#
1666# Permission is hereby granted, free of charge, to any person obtaining a
1667# copy of this software and associated documentation files (the "Software"),
1668# to deal in the Software without restriction, including without limitation
1669# the rights to use, copy, modify, merge, publish, distribute, sublicense,
1670# and/or sell copies of the Software, and to permit persons to whom the
1671# Software is furnished to do so, subject to the following conditions:
1672#
1673# The above copyright notice and this permission notice shall be included
1674# in all copies or substantial portions of the Software.
1675#
1676# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
1677# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
1678# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
1679# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
1680# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
1681# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
1682# OTHER DEALINGS IN THE SOFTWARE.
1684# % python -m pygeodesy.trf
1685#
1686# date2epoch(2024, 1, 1) = 2024.003, epoch2date(2024.003) = 2024, 1, 1
1687# date2epoch(2024, 1, 15) = 2024.041, epoch2date(2024.041) = 2024, 1, 15
1688# date2epoch(2024, 1, 30) = 2024.082, epoch2date(2024.082) = 2024, 1, 30
1689# date2epoch(2024, 1, 31) = 2024.085, epoch2date(2024.085) = 2024, 1, 31
1690# date2epoch(2024, 2, 1) = 2024.087, epoch2date(2024.087) = 2024, 2, 2 *
1691# date2epoch(2024, 2, 15) = 2024.126, epoch2date(2024.126) = 2024, 2, 16 *
1692# date2epoch(2024, 2, 28) = 2024.161, epoch2date(2024.161) = 2024, 2, 28
1693# date2epoch(2024, 2, 29) = 2024.164, epoch2date(2024.164) = 2024, 3, 1 *
1694# date2epoch(2024, 3, 1) = 2024.167, epoch2date(2024.167) = 2024, 3, 2 *
1695# date2epoch(2024, 3, 15) = 2024.205, epoch2date(2024.205) = 2024, 3, 16 *
1696# date2epoch(2024, 3, 30) = 2024.246, epoch2date(2024.246) = 2024, 3, 31 *
1697# date2epoch(2024, 3, 31) = 2024.249, epoch2date(2024.249) = 2024, 4, 1 *
1698# date2epoch(2024, 4, 1) = 2024.251, epoch2date(2024.251) = 2024, 4, 1
1699# date2epoch(2024, 4, 15) = 2024.290, epoch2date(2024.290) = 2024, 4, 15
1700# date2epoch(2024, 4, 29) = 2024.328, epoch2date(2024.328) = 2024, 4, 29
1701# date2epoch(2024, 4, 30) = 2024.331, epoch2date(2024.331) = 2024, 4, 30
1702# date2epoch(2024, 5, 1) = 2024.333, epoch2date(2024.333) = 2024, 5, 1
1703# date2epoch(2024, 5, 15) = 2024.372, epoch2date(2024.372) = 2024, 5, 15
1704# date2epoch(2024, 5, 30) = 2024.413, epoch2date(2024.413) = 2024, 5, 30
1705# date2epoch(2024, 5, 31) = 2024.415, epoch2date(2024.415) = 2024, 6, 1 *
1706# date2epoch(2024, 6, 1) = 2024.418, epoch2date(2024.418) = 2024, 6, 2 *
1707# date2epoch(2024, 6, 15) = 2024.456, epoch2date(2024.456) = 2024, 6, 16 *
1708# date2epoch(2024, 6, 29) = 2024.495, epoch2date(2024.495) = 2024, 6, 30 *
1709# date2epoch(2024, 6, 30) = 2024.497, epoch2date(2024.497) = 2024, 7, 1 *
1710# date2epoch(2024, 7, 1) = 2024.500, epoch2date(2024.500) = 2024, 7, 1
1711# date2epoch(2024, 7, 15) = 2024.538, epoch2date(2024.538) = 2024, 7, 16 *
1712# date2epoch(2024, 7, 30) = 2024.579, epoch2date(2024.579) = 2024, 7, 30
1713# date2epoch(2024, 7, 31) = 2024.582, epoch2date(2024.582) = 2024, 7, 31
1714# date2epoch(2024, 8, 1) = 2024.585, epoch2date(2024.585) = 2024, 8, 1
1715# date2epoch(2024, 8, 15) = 2024.623, epoch2date(2024.623) = 2024, 8, 15
1716# date2epoch(2024, 8, 30) = 2024.664, epoch2date(2024.664) = 2024, 8, 31 *
1717# date2epoch(2024, 8, 31) = 2024.667, epoch2date(2024.667) = 2024, 9, 1 *
1718# date2epoch(2024, 9, 1) = 2024.669, epoch2date(2024.669) = 2024, 9, 2 *
1719# date2epoch(2024, 9, 15) = 2024.708, epoch2date(2024.708) = 2024, 9, 16 *
1720# date2epoch(2024, 9, 29) = 2024.746, epoch2date(2024.746) = 2024, 9, 30 *
1721# date2epoch(2024, 9, 30) = 2024.749, epoch2date(2024.749) = 2024, 10, 1 *
1722# date2epoch(2024, 10, 1) = 2024.751, epoch2date(2024.751) = 2024, 10, 1
1723# date2epoch(2024, 10, 15) = 2024.790, epoch2date(2024.790) = 2024, 10, 15
1724# date2epoch(2024, 10, 30) = 2024.831, epoch2date(2024.831) = 2024, 10, 30
1725# date2epoch(2024, 10, 31) = 2024.833, epoch2date(2024.833) = 2024, 10, 31
1726# date2epoch(2024, 11, 1) = 2024.836, epoch2date(2024.836) = 2024, 11, 1
1727# date2epoch(2024, 11, 15) = 2024.874, epoch2date(2024.874) = 2024, 11, 15
1728# date2epoch(2024, 11, 29) = 2024.913, epoch2date(2024.913) = 2024, 11, 29
1729# date2epoch(2024, 11, 30) = 2024.915, epoch2date(2024.915) = 2024, 12, 1 *
1730# date2epoch(2024, 12, 1) = 2024.918, epoch2date(2024.918) = 2024, 12, 2 *
1731# date2epoch(2024, 12, 15) = 2024.956, epoch2date(2024.956) = 2024, 12, 16 *
1732# date2epoch(2024, 12, 30) = 2024.997, epoch2date(2024.997) = 2024, 12, 31 *
1733# date2epoch(2024, 12, 31) = 2025.000, epoch2date(2025.000) = 2025, 1, 1 *
1735# 1 WGS84g1150@2004xITRF2000 xform=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1736# rates=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1737# 2 NAD83cors96@1997xNAD83 xform=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1738# rates=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1739# 3 ITRF88@2015xETRF2014 xform=xform(tx=-25.9, ty=3.0, tz=171.3, s=-11.89, sx=2.11, sy=13.806, sz=-20.38)
1740# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1741# 4 ITRF89@2015xETRF2000 xform=xform(tx=24.3, ty=19.7, tz=63.7, s=-6.12, sx=2.106, sy=12.74, sz=-20.952)
1742# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1743# 5 ITRF89@2015xETRF2014 xform=xform(tx=-30.9, ty=-33.0, tz=147.3, s=-8.79, sx=2.21, sy=13.806, sz=-20.38)
1744# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1745# 6 ITRF89@2015xETRF2020 xform=xform(tx=32.3, ty=33.9, tz=-148.7, s=9.21, sx=2.236, sy=13.494, sz=-19.218)
1746# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1747# 7 ITRF89@1989xETRF89 xform=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1748# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.11, sy=0.57, sz=-0.71)
1749# 8 ITRF90@1984xWGS84 xform=xform(tx=60.0, ty=-517.0, tz=-223.0, s=-11.0, sx=18.3, sy=-0.3, sz=7.0)
1750# rates=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1751# 9 ITRF90@2015xETRF2000 xform=xform(tx=29.3, ty=43.7, tz=25.7, s=-2.72, sx=2.106, sy=12.74, sz=-20.952)
1752# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1753# 10 ITRF90@1989xETRF90 xform=xform(tx=19.0, ty=28.0, tz=-23.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1754# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.11, sy=0.57, sz=-0.71)
1755# 11 ITRF90@1997xNAD83 xform=xform(tx=973.0, ty=-1919.2, tz=-482.9, s=-0.9, sx=-25.79, sy=-9.65, sz=-11.66)
1756# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=-0.053, sy=0.742, sz=0.032)
1757# 12 ITRF91@2015xETRF2000 xform=xform(tx=27.3, ty=39.7, tz=9.7, s=-2.42, sx=2.106, sy=12.74, sz=-20.952)
1758# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1759# 13 ITRF91@1989xETRF91 xform=xform(tx=21.0, ty=25.0, tz=-37.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1760# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.21, sy=0.52, sz=-0.68)
1761# 14 ITRF92@2015xETRF2000 xform=xform(tx=39.3, ty=53.7, tz=3.7, s=-1.02, sx=2.106, sy=12.74, sz=-20.952)
1762# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1763# 15 ITRF92@2015xETRF2014 xform=xform(tx=-15.9, ty=1.0, tz=87.3, s=-3.69, sx=2.21, sy=13.806, sz=-20.38)
1764# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1765# 16 ITRF92@2015xETRF2020 xform=xform(tx=17.3, ty=-0.1, tz=-88.7, s=4.11, sx=2.236, sy=13.494, sz=-19.218)
1766# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1767# 17 ITRF92@1989xETRF92 xform=xform(tx=38.0, ty=40.0, tz=-37.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1768# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.21, sy=0.52, sz=-0.68)
1769# 18 ITRF93@2015xETRF2000 xform=xform(tx=119.6, ty=49.9, tz=-10.9, s=-2.22, sx=5.466, sy=17.07, sz=-21.342)
1770# rates=rates(tx=2.9, ty=0.2, tz=0.6, s=-0.01, sx=0.191, sy=0.68, sz=-0.862)
1771# 19 ITRF93@2015xETRF2014 xform=xform(tx=64.4, ty=-2.8, tz=72.7, s=-4.89, sx=5.57, sy=18.136, sz=-20.77)
1772# rates=rates(tx=2.8, ty=0.1, tz=2.5, s=-0.12, sx=0.195, sy=0.721, sz=-0.84)
1773# 20 ITRF93@2015xETRF2020 xform=xform(tx=-63.0, ty=3.7, tz=-74.1, s=5.31, sx=-1.124, sy=9.164, sz=-18.828)
1774# rates=rates(tx=-2.8, ty=0.0, tz=-2.7, s=0.12, sx=-0.024, sy=0.329, sz=-0.683)
1775# 21 ITRF93@1989xETRF93 xform=xform(tx=19.0, ty=53.0, tz=-21.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1776# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.32, sy=0.78, sz=-0.67)
1777# 22 ITRF94@2015xETRF2000 xform=xform(tx=47.3, ty=55.7, tz=-4.3, s=-1.73, sx=2.106, sy=12.74, sz=-20.952)
1778# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1779# 23 ITRF94@2015xETRF2014 xform=xform(tx=-7.9, ty=3.0, tz=79.3, s=-4.4, sx=2.21, sy=13.806, sz=-20.38)
1780# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1781# 24 ITRF94@2015xETRF2020 xform=xform(tx=9.3, ty=-2.1, tz=-80.7, s=4.82, sx=2.236, sy=13.494, sz=-19.218)
1782# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1783# 25 ITRF94@1989xETRF94 xform=xform(tx=41.0, ty=41.0, tz=-49.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1784# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.2, sy=0.5, sz=-0.65)
1785# 26 ITRF96@1989xETRF96 xform=xform(tx=41.0, ty=41.0, tz=-49.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1786# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.2, sy=0.5, sz=-0.65)
1787# 27 ITRF97@1989xETRF97 xform=xform(tx=41.0, ty=41.0, tz=-49.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1788# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.2, sy=0.5, sz=-0.65)
1789# 28 ITRF2000@1994xGDA94 xform=xform(tx=-45.91, ty=-29.85, tz=-20.37, s=7.07, sx=-1.6705, sy=0.4594, sz=1.9356)
1790# rates=rates(tx=-4.66, ty=3.55, tz=11.24, s=0.249, sx=1.7454, sy=1.4868, sz=1.224)
1791# 29 ITRF2000@2015xETRF2000 xform=xform(tx=54.0, ty=51.0, tz=-48.0, s=0.0, sx=2.106, sy=12.74, sz=-20.592)
1792# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.081, sy=0.49, sz=-0.792)
1793# 30 ITRF88@2015xETRF2000 xform=xform(tx=29.3, ty=55.7, tz=87.7, s=-9.22, sx=2.006, sy=12.74, sz=-20.952)
1794# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1795# 31 ITRF88@2015xETRF2020 xform=xform(tx=27.3, ty=-2.1, tz=-172.7, s=12.31, sx=2.336, sy=13.494, sz=-19.218)
1796# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1797# 32 ITRF96@2015xETRF2000 xform=xform(tx=47.3, ty=55.7, tz=-4.3, s=-1.73, sx=2.106, sy=12.74, sz=-20.952)
1798# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1799# 33 ITRF97@2015xETRF2000 xform=xform(tx=47.3, ty=55.7, tz=-4.3, s=-1.73, sx=2.106, sy=12.74, sz=-20.952)
1800# rates=rates(tx=0.0, ty=0.6, tz=1.4, s=-0.01, sx=0.081, sy=0.49, sz=-0.812)
1801# 34 ITRF2000@2015xETRF2014 xform=xform(tx=-1.2, ty=-1.7, tz=35.6, s=-2.67, sx=2.21, sy=13.806, sz=-20.02)
1802# rates=rates(tx=-0.1, ty=-0.1, tz=1.9, s=-0.11, sx=0.085, sy=0.531, sz=-0.77)
1803# 35 ITRF90@2015xETRF2014 xform=xform(tx=-25.9, ty=-9.0, tz=109.3, s=-5.39, sx=2.21, sy=13.806, sz=-20.38)
1804# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1805# 36 ITRF90@2015xETRF2020 xform=xform(tx=27.3, ty=9.9, tz=-110.7, s=5.81, sx=2.236, sy=13.494, sz=-19.218)
1806# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1807# 37 ITRF91@2015xETRF2014 xform=xform(tx=-27.9, ty=-13.0, tz=93.3, s=-5.09, sx=2.21, sy=13.806, sz=-20.38)
1808# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1809# 38 ITRF96@2015xETRF2014 xform=xform(tx=-7.9, ty=3.0, tz=79.3, s=-4.4, sx=2.21, sy=13.806, sz=-20.38)
1810# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1811# 39 ITRF97@2015xETRF2014 xform=xform(tx=-7.9, ty=3.0, tz=79.3, s=-4.4, sx=2.21, sy=13.806, sz=-20.38)
1812# rates=rates(tx=-0.1, ty=0.5, tz=3.3, s=-0.12, sx=0.085, sy=0.531, sz=-0.79)
1813# 40 ITRF2000@2015xETRF2020 xform=xform(tx=2.6, ty=2.6, tz=-37.0, s=3.09, sx=2.236, sy=13.494, sz=-19.578)
1814# rates=rates(tx=0.1, ty=0.2, tz=-2.1, s=0.11, sx=0.086, sy=0.519, sz=-0.753)
1815# 41 ITRF91@2015xETRF2020 xform=xform(tx=29.3, ty=13.9, tz=-94.7, s=5.51, sx=2.236, sy=13.494, sz=-19.218)
1816# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1817# 42 ITRF96@2015xETRF2020 xform=xform(tx=9.3, ty=-2.1, tz=-80.7, s=4.82, sx=2.236, sy=13.494, sz=-19.218)
1818# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1819# 43 ITRF97@2015xETRF2020 xform=xform(tx=9.3, ty=-2.1, tz=-80.7, s=4.82, sx=2.236, sy=13.494, sz=-19.218)
1820# rates=rates(tx=0.1, ty=-0.4, tz=-3.5, s=0.12, sx=0.086, sy=0.519, sz=-0.733)
1821# 44 ITRF2000@2020xGDA2020 xform=xform(tx=-105.52, ty=51.58, tz=231.68, s=3.55, sx=4.2175, sy=6.3941, sz=0.8617)
1822# rates=rates(tx=-4.66, ty=3.55, tz=11.24, s=0.249, sx=1.7454, sy=1.4868, sz=1.224)
1823# 45 ITRF2000@1988xITRF88 xform=xform(tx=2.47, ty=1.15, tz=-9.79, s=8.95, sx=0.1, sy=0.0, sz=-0.18)
1824# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1825# 46 ITRF2000@1988xITRF89 xform=xform(tx=2.97, ty=4.75, tz=-7.39, s=5.85, sx=0.0, sy=0.0, sz=-0.18)
1826# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1827# 47 ITRF2000@1988xITRF90 xform=xform(tx=2.47, ty=2.35, tz=-3.59, s=2.45, sx=0.0, sy=0.0, sz=-0.18)
1828# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1829# 48 ITRF2000@1988xITRF91 xform=xform(tx=26.7, ty=27.5, tz=-19.9, s=2.15, sx=0.0, sy=0.0, sz=-0.18)
1830# rates=rates(tx=0.0, ty=-0.6, tz=-1.4, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1831# 49 ITRF2000@1988xITRF92 xform=xform(tx=1.47, ty=1.35, tz=-1.39, s=0.75, sx=0.0, sy=0.0, sz=-0.18)
1832# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1833# 50 ITRF2000@1988xITRF93 xform=xform(tx=12.7, ty=6.5, tz=-20.9, s=1.95, sx=-0.39, sy=0.8, sz=-1.14)
1834# rates=rates(tx=-2.9, ty=-0.2, tz=-0.6, s=0.01, sx=-0.11, sy=-0.19, sz=0.07)
1835# 51 ITRF2000@1997xITRF94 xform=xform(tx=0.67, ty=0.61, tz=-1.85, s=1.55, sx=0.0, sy=0.0, sz=0.0)
1836# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1837# 52 ITRF2000@1997xITRF96 xform=xform(tx=0.67, ty=0.61, tz=-1.85, s=1.55, sx=0.0, sy=0.0, sz=0.0)
1838# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=0.02)
1839# 53 ITRF97@1997xITRF96 xform=xform(tx=-2.07, ty=-0.21, tz=9.95, s=-0.93496, sx=0.1267, sy=-0.22355, sz=-0.06065)
1840# rates=rates(tx=0.69, ty=-0.1, tz=1.86, s=-0.19201, sx=0.01347, sy=-0.01514, sz=0.00027)
1841# 54 ITRF2000@1997xITRF97 xform=xform(tx=0.67, ty=0.61, tz=-1.85, s=1.55, sx=0.0, sy=0.0, sz=0.0)
1842# rates=rates(tx=0.0, ty=-0.06, tz=-0.14, s=0.01, sx=0.0, sy=0.0, sz=-0.02)
1843# 55 ITRF2000@1997xNAD83 xform=xform(tx=995.6, ty=-1901.3, tz=-521.5, s=0.615, sx=-25.915, sy=-9.426, sz=-11.599)
1844# rates=rates(tx=0.7, ty=-0.7, tz=0.5, s=-0.182, sx=-0.06667, sy=0.75744, sz=0.05133)
1845# 56 ITRF2005@2015xETRF2000 xform=xform(tx=51.1, ty=51.7, tz=-80.8, s=1.6, sx=2.106, sy=12.74, sz=-20.592)
1846# rates=rates(tx=-0.2, ty=0.1, tz=-1.8, s=0.08, sx=0.081, sy=0.49, sz=-0.792)
1847# 57 ITRF2005@1989xETRF2005 xform=xform(tx=56.0, ty=48.0, tz=-37.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1848# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.054, sy=0.518, sz=-0.781)
1849# 58 ITRF2005@1994xGDA94 xform=xform(tx=-79.73, ty=-6.86, tz=38.03, s=6.636, sx=0.0351, sy=-2.1211, sz=-2.1411)
1850# rates=rates(tx=2.25, ty=-0.62, tz=-0.56, s=0.294, sx=-1.4707, sy=-1.1443, sz=-1.1701)
1851# 59 ITRF2005@1997xNAD83 xform=xform(tx=996.3, ty=-1902.4, tz=-521.9, s=0.775, sx=-25.915, sy=-9.426, sz=-11.599)
1852# rates=rates(tx=0.5, ty=-0.6, tz=-1.3, s=-0.10201, sx=-0.06667, sy=0.75744, sz=0.05133)
1853# 60 ITRF2005@2015xETRF2014 xform=xform(tx=-4.1, ty=-1.0, tz=2.8, s=-1.07, sx=2.21, sy=13.806, sz=-20.02)
1854# rates=rates(tx=-0.3, ty=0.0, tz=0.1, s=-0.03, sx=0.085, sy=0.531, sz=-0.77)
1855# 61 ITRF2005@2015xETRF2020 xform=xform(tx=5.5, ty=1.9, tz=-4.2, s=1.49, sx=2.236, sy=13.494, sz=-19.578)
1856# rates=rates(tx=0.3, ty=0.1, tz=-0.3, s=0.03, sx=0.086, sy=0.519, sz=-0.753)
1857# 62 ITRF2005@2020xGDA2020 xform=xform(tx=40.32, ty=-33.85, tz=-16.72, s=4.286, sx=-1.2893, sy=-0.8492, sz=-0.3342)
1858# rates=rates(tx=2.25, ty=-0.62, tz=-0.56, s=0.294, sx=-1.4707, sy=-1.1443, sz=-1.1701)
1859# 63 ITRF2005@2000xITRF2000 xform=xform(tx=0.1, ty=-0.8, tz=-5.8, s=0.4, sx=0.0, sy=0.0, sz=0.0)
1860# rates=rates(tx=-0.2, ty=0.1, tz=-1.8, s=0.08, sx=0.0, sy=0.0, sz=0.0)
1861# 64 ITRF2008@1994xGDA94 xform=xform(tx=-84.68, ty=-19.42, tz=32.01, s=9.71, sx=-0.4254, sy=2.2578, sz=2.4015)
1862# rates=rates(tx=1.42, ty=1.34, tz=0.9, s=0.109, sx=1.5461, sy=1.182, sz=1.1551)
1863# 65 ITRF2008@1997xNAD83 xform=xform(tx=993.43, ty=-1903.31, tz=-526.55, s=1.71504, sx=-25.91467, sy=-9.42645, sz=-11.59935)
1864# rates=rates(tx=0.79, ty=-0.6, tz=-1.34, s=-0.10201, sx=-0.06667, sy=0.75744, sz=0.05133)
1865# 66 ITRF96@1997xNAD83 xform=xform(tx=991.0, ty=-190.72, tz=-512.9, s=0.0, sx=25.79, sy=9.65, sz=11.66)
1866# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0532, sy=-0.7423, sz=-0.0316)
1867# 67 ITRF2008@2015xETRF2000 xform=xform(tx=53.6, ty=50.8, tz=-85.5, s=2.54, sx=2.106, sy=12.74, sz=-20.592)
1868# rates=rates(tx=0.1, ty=0.1, tz=-1.8, s=0.08, sx=0.081, sy=0.49, sz=-0.792)
1869# 68 ITRF2008@2015xETRF2014 xform=xform(tx=-1.6, ty=-1.9, tz=-1.9, s=-0.13, sx=2.21, sy=13.806, sz=-20.02)
1870# rates=rates(tx=0.0, ty=0.0, tz=0.1, s=-0.03, sx=0.085, sy=0.531, sz=-0.77)
1871# 69 ITRF2008@2015xETRF2020 xform=xform(tx=3.0, ty=2.8, tz=0.5, s=0.55, sx=2.236, sy=13.494, sz=-19.578)
1872# rates=rates(tx=0.0, ty=0.1, tz=-0.3, s=0.03, sx=0.086, sy=0.519, sz=-0.753)
1873# 70 ITRF2008@2020xGDA2020 xform=xform(tx=13.79, ty=4.55, tz=15.22, s=2.5, sx=0.2808, sy=0.2677, sz=-0.4638)
1874# rates=rates(tx=1.42, ty=1.34, tz=0.9, s=0.109, sx=1.5461, sy=1.182, sz=1.1551)
1875# 71 ITRF2008@2000xITRF2000 xform=xform(tx=-1.9, ty=-1.7, tz=-10.5, s=1.34, sx=0.0, sy=0.0, sz=0.0)
1876# rates=rates(tx=0.1, ty=0.1, tz=-1.8, s=0.08, sx=0.0, sy=0.0, sz=0.0)
1877# 72 ITRF2008@2000xITRF88 xform=xform(tx=22.8, ty=2.6, tz=-125.2, s=10.41, sx=0.1, sy=0.0, sz=0.06)
1878# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1879# 73 ITRF2008@2000xITRF89 xform=xform(tx=27.8, ty=38.6, tz=-101.2, s=7.31, sx=0.0, sy=0.0, sz=0.06)
1880# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1881# 74 ITRF2008@2000xITRF90 xform=xform(tx=22.8, ty=14.6, tz=-63.2, s=3.91, sx=0.0, sy=0.0, sz=0.06)
1882# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1883# 75 ITRF2008@2000xITRF91 xform=xform(tx=24.8, ty=18.6, tz=-47.2, s=3.61, sx=0.0, sy=0.0, sz=0.06)
1884# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1885# 76 ITRF2008@2000xITRF92 xform=xform(tx=12.8, ty=4.6, tz=-41.2, s=2.21, sx=0.0, sy=0.0, sz=0.06)
1886# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1887# 77 ITRF2008@2000xITRF93 xform=xform(tx=-24.0, ty=2.4, tz=-38.6, s=3.41, sx=-1.71, sy=-1.48, sz=-0.3)
1888# rates=rates(tx=-2.8, ty=-0.1, tz=-2.4, s=0.09, sx=-0.11, sy=-0.19, sz=0.07)
1889# 78 ITRF2008@2000xITRF94 xform=xform(tx=4.8, ty=2.6, tz=-33.2, s=2.92, sx=0.0, sy=0.0, sz=0.06)
1890# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1891# 79 ITRF2008@2000xITRF96 xform=xform(tx=4.8, ty=2.6, tz=-33.2, s=2.92, sx=0.0, sy=0.0, sz=0.06)
1892# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1893# 80 ITRF2008@2000xITRF97 xform=xform(tx=4.8, ty=2.6, tz=-33.2, s=2.92, sx=0.0, sy=0.0, sz=0.06)
1894# rates=rates(tx=0.1, ty=-0.5, tz=-3.2, s=0.09, sx=0.0, sy=0.0, sz=0.02)
1895# 81 ITRF2008@2005xITRF2005 xform=xform(tx=-0.5, ty=-0.9, tz=-4.7, s=0.94, sx=0.0, sy=0.0, sz=0.0)
1896# rates=rates(tx=0.3, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1897# 82 ITRF2014@2015xETRF2000 xform=xform(tx=55.2, ty=52.7, tz=-83.6, s=2.67, sx=2.106, sy=12.74, sz=-20.592)
1898# rates=rates(tx=0.1, ty=0.1, tz=-1.9, s=0.11, sx=0.081, sy=0.49, sz=-0.792)
1899# 83 ITRF2014@2015xETRF2014 xform=xform(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=2.21, sy=13.806, sz=-20.02)
1900# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.085, sy=0.531, sz=-0.77)
1901# 84 ITRF2014@2015xETRF2020 xform=xform(tx=1.4, ty=0.9, tz=-1.4, s=0.42, sx=2.236, sy=13.494, sz=-19.578)
1902# rates=rates(tx=0.0, ty=0.1, tz=-0.2, s=0.0, sx=0.086, sy=0.519, sz=-0.753)
1903# 85 ITRF2014@2020xGDA2020 xform=unity(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1904# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=1.50379, sy=1.18346, sz=1.20716)
1905# 86 ITRF2014@2010xITRF2000 xform=xform(tx=0.7, ty=1.2, tz=-26.1, s=2.12, sx=0.0, sy=0.0, sz=0.0)
1906# rates=rates(tx=0.1, ty=0.1, tz=-1.9, s=0.11, sx=0.0, sy=0.0, sz=0.0)
1907# 87 ITRF2014@2010xITRF2005 xform=xform(tx=2.6, ty=1.0, tz=-2.3, s=0.92, sx=0.0, sy=0.0, sz=0.0)
1908# rates=rates(tx=0.3, ty=0.0, tz=-0.1, s=0.03, sx=0.0, sy=0.0, sz=0.0)
1909# 88 ITRF2014@2010xITRF2008 xform=xform(tx=1.6, ty=1.9, tz=2.4, s=-0.02, sx=0.0, sy=0.0, sz=0.0)
1910# rates=rates(tx=0.0, ty=0.0, tz=-0.1, s=0.03, sx=0.0, sy=0.0, sz=0.0)
1911# 89 ITRF2014@2010xITRF88 xform=xform(tx=25.4, ty=-0.5, tz=-154.8, s=11.29, sx=0.1, sy=0.0, sz=0.26)
1912# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1913# 90 ITRF2014@2010xITRF89 xform=xform(tx=30.4, ty=35.5, tz=-130.8, s=8.19, sx=0.0, sy=0.0, sz=0.26)
1914# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1915# 91 ITRF2014@2010xITRF90 xform=xform(tx=25.4, ty=11.5, tz=-92.8, s=4.79, sx=0.0, sy=0.0, sz=0.26)
1916# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1917# 92 ITRF2014@2010xITRF91 xform=xform(tx=27.4, ty=15.5, tz=-76.8, s=4.49, sx=0.0, sy=0.0, sz=0.26)
1918# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1919# 93 ITRF2014@2010xITRF92 xform=xform(tx=15.4, ty=1.5, tz=-70.8, s=3.09, sx=0.0, sy=0.0, sz=0.26)
1920# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1921# 94 ITRF2014@2010xITRF93 xform=xform(tx=-50.4, ty=3.3, tz=-60.2, s=4.29, sx=-2.81, sy=-3.38, sz=0.4)
1922# rates=rates(tx=-2.8, ty=-0.1, tz=-2.5, s=0.12, sx=-0.11, sy=-0.19, sz=0.07)
1923# 95 ITRF2014@2010xITRF94 xform=xform(tx=7.4, ty=-0.5, tz=-62.8, s=3.8, sx=0.0, sy=0.0, sz=0.26)
1924# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1925# 96 ITRF2014@2010xITRF96 xform=xform(tx=7.4, ty=-0.5, tz=-62.8, s=3.8, sx=0.0, sy=0.0, sz=0.26)
1926# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1927# 97 ITRF2014@2010xITRF97 xform=xform(tx=7.4, ty=-0.5, tz=-62.8, s=3.8, sx=0.0, sy=0.0, sz=0.26)
1928# rates=rates(tx=0.1, ty=-0.5, tz=-3.3, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1929# 98 ITRF2020@2015xETRF2000 xform=xform(tx=53.8, ty=51.8, tz=-82.2, s=2.25, sx=2.106, sy=12.74, sz=-20.592)
1930# rates=rates(tx=0.1, ty=0.0, tz=-1.7, s=0.11, sx=0.081, sy=0.49, sz=-0.792)
1931# 99 ITRF2020@2015xETRF2014 xform=xform(tx=-1.4, ty=-0.9, tz=1.4, s=0.42, sx=2.21, sy=13.806, sz=-20.02)
1932# rates=rates(tx=0.0, ty=-0.1, tz=0.2, s=0.0, sx=0.085, sy=0.531, sz=-0.77)
1933# 100 ITRF2020@2015xETRF2020 xform=xform(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=2.236, sy=13.494, sz=-19.578)
1934# rates=rates(tx=0.0, ty=0.0, tz=0.0, s=0.0, sx=0.086, sy=0.519, sz=-0.753)
1935# 101 ITRF2020@2015xITRF2000 xform=xform(tx=-0.2, ty=0.8, tz=-34.2, s=2.25, sx=0.0, sy=0.0, sz=0.0)
1936# rates=rates(tx=0.1, ty=0.0, tz=-1.7, s=0.11, sx=0.0, sy=0.0, sz=0.0)
1937# 102 ITRF2020@2015xITRF2005 xform=xform(tx=2.7, ty=0.1, tz=-1.4, s=0.65, sx=0.0, sy=0.0, sz=0.0)
1938# rates=rates(tx=0.3, ty=-0.1, tz=0.1, s=0.03, sx=0.0, sy=0.0, sz=0.0)
1939# 103 ITRF2020@2015xITRF2008 xform=xform(tx=0.2, ty=1.0, tz=3.3, s=-0.29, sx=0.0, sy=0.0, sz=0.0)
1940# rates=rates(tx=0.0, ty=-0.1, tz=0.1, s=0.03, sx=0.0, sy=0.0, sz=0.0)
1941# 104 ITRF2020@2015xITRF2014 xform=xform(tx=-1.4, ty=-0.9, tz=1.4, s=-0.42, sx=0.0, sy=0.0, sz=0.0)
1942# rates=rates(tx=0.0, ty=-0.1, tz=0.2, s=0.0, sx=0.0, sy=0.0, sz=0.0)
1943# 105 ITRF2020@2015xITRF88 xform=xform(tx=24.5, ty=-3.9, tz=-169.9, s=11.47, sx=0.1, sy=0.0, sz=0.36)
1944# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1945# 106 ITRF2020@2015xITRF89 xform=xform(tx=29.5, ty=32.1, tz=-145.9, s=8.37, sx=0.0, sy=0.0, sz=0.36)
1946# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1947# 107 ITRF2020@2015xITRF90 xform=xform(tx=24.5, ty=8.1, tz=-107.9, s=4.97, sx=0.0, sy=0.0, sz=0.36)
1948# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1949# 108 ITRF2020@2015xITRF91 xform=xform(tx=26.5, ty=12.1, tz=-91.9, s=4.67, sx=0.0, sy=0.0, sz=0.36)
1950# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1951# 109 ITRF2020@2015xITRF92 xform=xform(tx=14.5, ty=-1.9, tz=-85.9, s=3.27, sx=0.0, sy=0.0, sz=0.36)
1952# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1953# 110 ITRF2020@2015xITRF93 xform=xform(tx=-65.8, ty=1.9, tz=-71.3, s=4.47, sx=-3.36, sy=-4.33, sz=0.75)
1954# rates=rates(tx=-2.8, ty=-0.2, tz=-2.3, s=0.12, sx=-0.11, sy=-0.19, sz=0.07)
1955# 111 ITRF2020@2015xITRF94 xform=xform(tx=6.5, ty=-3.9, tz=-77.9, s=3.98, sx=0.0, sy=0.0, sz=0.36)
1956# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1957# 112 ITRF2020@2015xITRF96 xform=xform(tx=6.5, ty=-3.9, tz=-77.9, s=3.98, sx=0.0, sy=0.0, sz=0.36)
1958# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)
1959# 113 ITRF2020@2015xITRF97 xform=xform(tx=6.5, ty=-3.9, tz=-77.9, s=3.98, sx=0.0, sy=0.0, sz=0.36)
1960# rates=rates(tx=0.1, ty=-0.6, tz=-3.1, s=0.12, sx=0.0, sy=0.0, sz=0.02)