Coverage for pygeodesy/ltp.py: 97%
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« prev ^ index » next coverage.py v7.2.2, created at 2023-04-12 11:45 -0400
2# -*- coding: utf-8 -*-
4u'''I{Local Tangent Plane} (LTP) and I{local} cartesian coordinates.
6I{Local cartesian} and I{local tangent plane} classes L{LocalCartesian}, approximations L{ChLVa}
7and L{ChLVe} and L{Ltp}, L{ChLV}, L{LocalError}, L{Attitude} and L{Frustum}.
9@see: U{Local tangent plane coordinates<https://WikiPedia.org/wiki/Local_tangent_plane_coordinates>}
10 and class L{LocalCartesian}, transcoded from I{Charles Karney}'s C++ classU{LocalCartesian
11 <https://GeographicLib.SourceForge.io/C++/doc/classGeographicLib_1_1LocalCartesian.html>}.
12'''
13# make sure int/int division yields float quotient, see .basics
14from __future__ import division as _; del _ # PYCHOK semicolon
16from pygeodesy.basics import isscalar, issubclassof, map1, _xargs_names
17from pygeodesy.constants import EPS, INT0, _umod_360, _0_0, _0_01, _0_5, _1_0, \
18 _2_0, _60_0, _90_0, _100_0, _180_0, _3600_0, \
19 _N_1_0 # PYCHOK used!
20from pygeodesy.datums import _WGS84, _xinstanceof
21from pygeodesy.ecef import _EcefBase, EcefKarney, _llhn4, _xyzn4
22from pygeodesy.errors import _NotImplementedError, _TypesError, _ValueError, _xkwds
23from pygeodesy.fmath import fabs, fdot, Fhorner
24from pygeodesy.fsums import _floor, Fsum, fsum_, fsum1_
25from pygeodesy.interns import NN, _0_, _COMMASPACE_, _DOT_, _ecef_, _height_, \
26 _invalid_, _lat0_, _lon0_, _ltp_, _M_, _name_, _too_
27# from pygeodesy.lazily import _ALL_LAZY # from vector3d
28from pygeodesy.ltpTuples import Attitude4Tuple, ChLVEN2Tuple, ChLV9Tuple, \
29 ChLVYX2Tuple, Footprint5Tuple, Local9Tuple, \
30 ChLVyx2Tuple, _XyzLocals4, _XyzLocals5, Xyz4Tuple
31from pygeodesy.named import _NamedBase, notOverloaded
32from pygeodesy.namedTuples import LatLon3Tuple, LatLon4Tuple, Vector3Tuple
33from pygeodesy.props import Property, Property_RO, property_doc_, property_RO, \
34 _update_all
35from pygeodesy.streprs import Fmt, strs, unstr
36from pygeodesy.units import Bearing, Degrees, Meter
37from pygeodesy.utily import cotd, sincos2d, sincos2d_, tand, tand_, wrap180, wrap360
38from pygeodesy.vector3d import _ALL_LAZY, Vector3d
40# from math import fabs, floor as _floor # from .fmath, .fsums
42__all__ = _ALL_LAZY.ltp
43__version__ = '23.03.19'
45_height0_ = _height_ + _0_
46_narrow_ = 'narrow'
47_wide_ = 'wide'
48_Xyz_ = 'Xyz'
51def _fov_2(**fov):
52 # Half a field-of-view angle in C{degrees}.
53 f = Degrees(Error=LocalError, **fov) * _0_5
54 if EPS < f < _90_0:
55 return f
56 t = _invalid_ if f < 0 else _too_(_wide_ if f > EPS else _narrow_)
57 raise LocalError(txt=t, **fov)
60class Attitude(_NamedBase):
61 '''The orientation of a plane or camera in space.
62 '''
63 _alt = Meter( alt =_0_0)
64 _roll = Degrees(roll=_0_0)
65 _tilt = Degrees(tilt=_0_0)
66 _yaw = Bearing(yaw =_0_0)
68 def __init__(self, alt_attitude=INT0, tilt=INT0, yaw=INT0, roll=INT0, name=NN):
69 '''New L{Attitude}.
71 @kwarg alt_attitude: An altitude (C{meter}) above earth or an attitude
72 (L{Attitude} or L{Attitude4Tuple}) with the
73 C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}.
74 @kwarg tilt: Pitch, elevation from horizontal (C{degrees180}), negative down
75 (clockwise rotation along and around the x- or East axis).
76 @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North
77 (counter-clockwise rotation along and around the z- or Up axis).
78 @kwarg roll: Roll, bank (C{degrees180}), positive to the right and down
79 (clockwise rotation along and around the y- or North axis).
80 @kwarg name: Optional name C{str}).
82 @raise AttitudeError: Invalid B{C{alt_attitude}}, B{C{tilt}}, B{C{yaw}} or
83 B{C{roll}}.
85 @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>} and
86 U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}.
87 '''
88 if isscalar(alt_attitude):
89 t = Attitude4Tuple(alt_attitude, tilt, yaw, roll)
90 else:
91 try:
92 t = alt_attitude.atyr
93 except AttributeError:
94 raise AttitudeError(alt=alt_attitude, tilt=tilt, yaw=yaw, rol=roll)
95 for n, v in t.items():
96 if v:
97 setattr(self, n, v)
98 n = name or t.name
99 if n:
100 self.name = n
102 @property_doc_(' altitude above earth in C{meter}.')
103 def alt(self):
104 return self._alt
106 @alt.setter # PYCHOK setter!
107 def alt(self, alt): # PYCHOK no cover
108 a = Meter(alt=alt, Error=AttitudeError)
109 if self._alt != a:
110 _update_all(self)
111 self._alt = a
113 altitude = alt
115 @Property_RO
116 def atyr(self):
117 '''Return this attitude's alt[itude], tilt, yaw and roll as an L{Attitude4Tuple}.
118 '''
119 return Attitude4Tuple(self.alt, self.tilt, self.yaw, self.roll, name=self.name)
121 @Property_RO
122 def matrix(self):
123 '''Get the 3x3 rotation matrix C{R(yaw)·R(tilt)·R(roll)}, aka I{ZYX} (C{float}, row-order).
125 @see: The matrix M of case 10 in U{Appendix A
126 <https://ntrs.NASA.gov/api/citations/19770019231/downloads/19770019231.pdf>}.
127 '''
128 def _5to3(x, y, _y, z, _z):
129 return x, fsum1_(y, _y), fsum1_(z, _z)
131 r0, r1, r2 = self._rows3
132 return _5to3(*r0), _5to3(*r1), r2
134 @property_doc_(' roll/bank in C{degrees180}, positive to the right and down.')
135 def roll(self):
136 return self._roll
138 @roll.setter # PYCHOK setter!
139 def roll(self, roll):
140 r = Degrees(roll=roll, wrap=wrap180, Error=AttitudeError)
141 if self._roll != r:
142 _update_all(self)
143 self._roll = r
145 bank = roll
147 @Property_RO
148 def _rows3(self):
149 # to follow the definitions of rotation angles alpha, beta and gamma:
150 # negate yaw since yaw is counter-clockwise around the z-axis, swap
151 # tilt and roll since tilt is around the x- and roll around the y-axis
152 sa, ca, sb, cb, sg, cg = sincos2d_(-self.yaw, self.roll, self.tilt)
153 return ((ca * cb, ca * sb * sg, -sa * cg, ca * sb * cg, sa * sg),
154 (sa * cb, sa * sb * sg, ca * cg, sa * sb * cg, -ca * sg),
155 ( -sb, cb * sg, cb * cg))
157 def rotate(self, x_xyz, y=None, z=None, Vector=None, **Vector_kwds):
158 '''Transform a (local) cartesian by this attitude's matrix.
160 @arg x_xyz: X component of vector (C{scalar}) or (3-D) vector
161 (C{Cartesian}, L{Vector3d} or L{Vector3Tuple}).
162 @kwarg y: Y component of vector (C{scalar}), same units as B{C{x}}.
163 @kwarg z: Z component of vector (C{scalar}), same units as B{C{x}}.
164 @kwarg Vector: Class to return transformed point (C{Cartesian},
165 L{Vector3d} or C{Vector3Tuple}) or C{None}.
166 @kwarg Vector_kwds: Optional, additional B{C{Vector}} keyword arguments,
167 ignored if C{B{Vector} is None}.
169 @return: A B{C{Vector}} instance or a L{Vector3Tuple}C{(x, y, z)} if
170 C{B{Vector}=None}.
172 @see: U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}.
173 '''
174 try:
175 x, y, z = map( float, x_xyz.xyz)
176 except AttributeError:
177 x, y, z = map1(float, x_xyz, y, z)
179 r0, r1, r2 = self._rows3
180 X = fdot(r0, x, y, y, z, z)
181 Y = fdot(r1, x, y, y, z, z)
182 Z = fdot(r2, x, y, z)
183 return Vector3Tuple(X, Y, Z, name=self.name) if Vector is None else \
184 Vector(X, Y, Z, **_xkwds(Vector_kwds, name=self.name))
186 @property_doc_(' tilt/pitch/elevation from horizontal in C{degrees180}, negative down.')
187 def tilt(self):
188 return self._tilt
190 @tilt.setter # PYCHOK setter!
191 def tilt(self, tilt):
192 t = Degrees(tilt=tilt, wrap=wrap180, Error=AttitudeError)
193 if self._tilt != t:
194 _update_all(self)
195 self._tilt = t
197 elevation = pitch = tilt
199 def toStr(self, prec=6, sep=_COMMASPACE_, **unused): # PYCHOK signature
200 '''Format this attitude as string.
202 @kwarg prec: The C{float} precision, number of decimal digits (0..9).
203 Trailing zero decimals are stripped for B{C{prec}} values
204 of 1 and above, but kept for negative B{C{prec}} values.
205 @kwarg sep: Separator to join (C{str}).
207 @return: This attitude (C{str}).
208 '''
209 return self.atyr.toStr(prec=prec, sep=sep)
211 @Property_RO
212 def tyr3d(self):
213 '''Get this attitude's (3-D) directional vector (L{Vector3d}).
215 @see: U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}.
216 '''
217 def _r2d(r):
218 return fsum_(_N_1_0, *r)
220 return Vector3d(*map1(_r2d, *self._rows3), name=tyr3d.__name__)
222 @property_doc_(' yaw/bearing/heading in compass C{degrees360}, clockwise from North.')
223 def yaw(self):
224 return self._yaw
226 @yaw.setter # PYCHOK setter!
227 def yaw(self, yaw):
228 y = Bearing(yaw=yaw, Error=AttitudeError)
229 if self._yaw != y:
230 _update_all(self)
231 self._yaw = y
233 bearing = heading = yaw
236class AttitudeError(_ValueError):
237 '''An L{Attitude} or L{Attitude4Tuple} issue.
238 '''
239 pass
242class Frustum(_NamedBase):
243 '''A rectangular pyramid, typically representing a camera's I{field-of-view}
244 (fov) and the intersection with (or projection to) a I{local tangent plane}.
246 @see: U{Viewing frustum<https://WikiPedia.org/wiki/Viewing_frustum>}.
247 '''
248 _h_2 = _0_0 # half hfov in degrees
249 _ltp = None # local tangent plane
250 _tan_h_2 = _0_0 # tan(_h_2)
251 _v_2 = _0_0 # half vfov in degrees
253 def __init__(self, hfov, vfov, ltp=None):
254 '''New L{Frustum}.
256 @arg hfov: Horizontal field-of-view (C{degrees180}).
257 @arg vfov: Vertical field-of-view (C{degrees180}).
258 @kwarg ltp: Optional I{local tangent plane} (L{Ltp}).
260 @raise LocalError: Invalid B{C{hfov}} or B{C{vfov}}.
261 '''
262 self._h_2 = h = _fov_2(hfov=hfov)
263 self._v_2 = _fov_2(vfov=vfov)
265 self._tan_h_2 = tand(h, fov_2=h)
267 if ltp:
268 self._ltp = _xLtp(ltp)
270 def footprint5(self, alt_attitude, tilt=0, yaw=0, roll=0, z=_0_0, ltp=None): # MCCABE 15
271 '''Compute the center and corners of the intersection with (or projection
272 to) the I{local tangent plane} (LTP).
274 @arg alt_attitude: An altitude (C{meter}) above I{local tangent plane} or
275 an attitude (L{Attitude} or L{Attitude4Tuple}) with the
276 C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}.
277 @kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down
278 (clockwise rotation along and around the x- or East axis).
279 @kwarg yaw: Bearing, heading (compass C{degrees}), clockwise from North
280 (counter-clockwise rotation along and around the z- or Up axis).
281 @kwarg roll: Roll, bank (C{degrees}), positive to the right and down
282 (clockwise rotation along and around the y- or North axis).
283 @kwarg z: Optional height of the footprint (C{meter}) above I{local tangent plane}.
284 @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding this
285 frustum's C{ltp}.
287 @return: A L{Footprint5Tuple}C{(center, upperleft, upperight, loweright,
288 lowerleft)} with the C{center} and 4 corners, each an L{Xyz4Tuple}.
290 @raise TypeError: Invalid B{C{ltp}}.
292 @raise UnitError: Invalid B{C{altitude}}, B{C{tilt}}, B{C{roll}} or B{C{z}}.
294 @raise ValueError: If B{C{altitude}} too low, B{C{z}} too high or B{C{tilt}}
295 or B{C{roll}} -including B{C{vfov}} respectively B{C{hfov}}-
296 over the horizon.
298 @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>}.
299 '''
300 def _xy2(a, e, h_2, tan_h_2, r):
301 # left and right corners, or swapped
302 if r < EPS: # no roll
303 r = a * tan_h_2
304 l = -r # PYCHOK l is ell
305 else: # roll
306 r, l = tand_(r - h_2, r + h_2, roll_hfov=r) # PYCHOK l is ell
307 r *= -a # negate right positive
308 l *= -a # PYCHOK l is ell
309 y = a * cotd(e, tilt_vfov=e)
310 return (l, y), (r, y)
312 def _xyz5(b, xy5, z, ltp):
313 # rotate (x, y)'s by bearing, clockwise
314 s, c = sincos2d(b)
315 for x, y in xy5:
316 yield Xyz4Tuple(fsum1_(x * c, y * s),
317 fsum1_(y * c, -x * s), z, ltp)
319 try:
320 a, t, y, r = alt_attitude.atyr
321 except AttributeError:
322 a, t, y, r = alt_attitude, tilt, yaw, roll
324 a = Meter(altitude=a)
325 if a < EPS: # too low
326 raise _ValueError(altitude=a)
327 if z: # PYCHOK no cover
328 z = Meter(z=z)
329 a -= z
330 if a < EPS: # z above a
331 raise _ValueError(altitude_z=a)
332 else:
333 z = _0_0
335 b = Degrees(yaw=y, wrap=wrap360) # bearing
336 e = -Degrees(tilt=t, wrap=wrap180) # elevation, pitch
337 if not EPS < e < _180_0:
338 raise _ValueError(tilt=t)
339 if e > _90_0:
340 e = _180_0 - e
341 b = _umod_360(b + _180_0)
343 r = Degrees(roll=r, wrap=wrap180) # roll center
344 x = (-a * tand(r, roll=r)) if r else _0_0
345 y = a * cotd(e, tilt=t) # ground range
346 if fabs(y) < EPS:
347 y = _0_0
349 # center and corners, clockwise from upperleft, rolled
350 xy5 = ((x, y),) + _xy2(a, e - self._v_2, self._h_2, self._tan_h_2, r) \
351 + _xy2(a, e + self._v_2, -self._h_2, -self._tan_h_2, r) # swapped
352 # turn center and corners by yaw, clockwise
353 p = self.ltp if ltp is None else ltp # None OK
354 return Footprint5Tuple(_xyz5(b, xy5, z, p)) # *_xyz5
356 @Property_RO
357 def hfov(self):
358 '''Get the horizontal C{fov} (C{degrees}).
359 '''
360 return Degrees(hfov=self._h_2 * _2_0)
362 @Property_RO
363 def ltp(self):
364 '''Get the I{local tangent plane} (L{Ltp}) or C{None}.
365 '''
366 return self._ltp
368 def toStr(self, prec=3, fmt=Fmt.F, sep=_COMMASPACE_): # PYCHOK signature
369 '''Convert this frustum to a "hfov, vfov, ltp" string.
371 @kwarg prec: Number of (decimal) digits, unstripped (0..8 or C{None}).
372 @kwarg fmt: Optional, C{float} format (C{str}).
373 @kwarg sep: Separator to join (C{str}).
375 @return: Frustum in the specified form (C{str}).
376 '''
377 t = self.hfov, self.vfov
378 if self.ltp:
379 t += self.ltp,
380 t = strs(t, prec=prec, fmt=fmt)
381 return sep.join(t) if sep else t
383 @Property_RO
384 def vfov(self):
385 '''Get the vertical C{fov} (C{degrees}).
386 '''
387 return Degrees(vfov=self._v_2 * _2_0)
390class LocalError(_ValueError):
391 '''A L{LocalCartesian} or L{Ltp} related issue.
392 '''
393 pass
396class LocalCartesian(_NamedBase):
397 '''Conversion between geodetic C{(lat, lon, height)} and I{local
398 cartesian} C{(x, y, z)} coordinates with I{geodetic} origin
399 C{(lat0, lon0, height0)}, transcoded from I{Karney}'s C++ class
400 U{LocalCartesian<https://GeographicLib.SourceForge.io/C++/doc/
401 classGeographicLib_1_1LocalCartesian.html>}.
403 The C{z} axis is normal to the ellipsoid, the C{y} axis points due
404 North. The plane C{z = -height0} is tangent to the ellipsoid.
406 The conversions all take place via geocentric coordinates using a
407 geocentric L{EcefKarney}, by default the WGS84 datum/ellipsoid.
409 @see: Class L{Ltp}.
410 '''
411 _ecef = EcefKarney(_WGS84)
412 _t0 = None # origin (..., lat0, lon0, height0, ...) L{Ecef9Tuple}
413 _9Tuple = Local9Tuple
415 def __init__(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, name=NN):
416 '''New L{LocalCartesian} converter.
418 @kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple},
419 L{Ltp} or L{Ecef9Tuple}) or latitude of the
420 (goedetic) origin (C{degrees}).
421 @kwarg lon0: Optional longitude of the (goedetic) origin for
422 C{scalar} B{C{latlonh0}} and B{C{height0}} (C{degrees}).
423 @kwarg height0: Optional origin height (C{meter}), vertically
424 above (or below) the surface of the ellipsoid.
425 @kwarg ecef: An ECEF converter (L{EcefKarney} I{only}).
426 @kwarg name: Optional name (C{str}).
428 @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple},
429 L{Ltp} or L{Ecef9Tuple} or B{C{latlonh0}}, B{C{lon0}}
430 or B{C{height0}} invalid, non-C{scalar}.
432 @raise TypeError: Invalid B{C{ecef}} or not L{EcefKarney}.
434 @note: If BC{latlonh0} is an L{Ltp}, only the lat-, longitude and
435 height are duplicated, I{not} the ECEF converter.
436 '''
437 if isinstance(latlonh0, LocalCartesian):
438 self._ecef = latlonh0.ecef
439 self._t0 = latlonh0._t0
440 self.name = name or latlonh0.name
441 else:
442 self.reset(latlonh0, lon0, height0, name=name)
443 if ecef: # PYCHOK no cover
444 _xinstanceof(EcefKarney, ecef=ecef)
445 self._ecef = ecef
447 def __eq__(self, other):
448 '''Compare this and an other instance.
450 @arg other: The other ellipsoid (L{LocalCartesian} or L{Ltp}).
452 @return: C{True} if equal, C{False} otherwise.
453 '''
454 return other is self or (isinstance(other, self.__class__) and
455 other.ecef == self.ecef and
456 other._t0 == self._t0)
458 @Property_RO
459 def datum(self):
460 '''Get the ECEF converter's datum (L{Datum}).
461 '''
462 return self.ecef.datum
464 @Property_RO
465 def ecef(self):
466 '''Get the ECEF converter (L{EcefKarney}).
467 '''
468 return self._ecef
470 def _ecef2local(self, ecef, Xyz, Xyz_kwds):
471 '''(INTERNAL) Convert geocentric/geodetic to local, like I{forward}.
473 @arg ecef: Geocentric (and geodetic) (L{Ecef9Tuple}).
474 @arg Xyz: An L{XyzLocal}, L{Enu} or L{Ned} I{class} or C{None}.
475 @arg Xyz_kwds: B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}.
477 @return: An C{B{Xyz}(x, y, z, ltp, **B{Xyz_kwds}} instance or if
478 C{B{Xyz} is None}, a L{Local9Tuple}C{(x, y, z, lat, lon,
479 height, ltp, ecef, M)} with this C{ltp}, B{C{ecef}}
480 (L{Ecef9Tuple}) converted to this C{datum} and C{M=None},
481 always.
482 '''
483 ltp = self
484 if ecef.datum != ltp.datum:
485 ecef = ecef.toDatum(ltp.datum)
486 x, y, z = self.M.rotate(ecef.xyz, *ltp._xyz0)
487 r = Local9Tuple(x, y, z, ecef.lat, ecef.lon, ecef.height,
488 ltp, ecef, None, name=ecef.name)
489 if Xyz:
490 if not issubclassof(Xyz, *_XyzLocals4): # Vector3d
491 raise _TypesError(_Xyz_, Xyz, *_XyzLocals4)
492 r = r.toXyz(Xyz=Xyz, **Xyz_kwds)
493 return r
495 def forward(self, latlonh, lon=None, height=0, M=False, name=NN):
496 '''Convert I{geodetic} C{(lat, lon, height)} to I{local} cartesian
497 C{(x, y, z)}.
499 @arg latlonh: Either a C{LatLon}, an L{Ltp}, an L{Ecef9Tuple} or
500 C{scalar} (geodetic) latitude (C{degrees}).
501 @kwarg lon: Optional C{scalar} (geodetic) longitude for C{scalar}
502 B{C{latlonh}} (C{degrees}).
503 @kwarg height: Optional height (C{meter}), vertically above (or below)
504 the surface of the ellipsoid.
505 @kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix},
506 iff available (C{bool}).
507 @kwarg name: Optional name (C{str}).
509 @return: A L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)}
510 with I{local} C{x}, C{y}, C{z}, I{geodetic} C{(lat}, C{lon},
511 C{height}, this C{ltp}, C{ecef} (L{Ecef9Tuple}) with
512 I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat},
513 C{lon}, C{height}) and the I{concatenated} rotation matrix
514 C{M} (L{EcefMatrix}) if requested.
516 @raise LocalError: If B{C{latlonh}} not C{scalar}, C{LatLon}, L{Ltp},
517 L{Ecef9Tuple} or invalid or if B{C{lon}} not
518 C{scalar} for C{scalar} B{C{latlonh}} or invalid
519 or if B{C{height}} invalid.
520 '''
521 lat, lon, h, n = _llhn4(latlonh, lon, height, Error=LocalError, name=name)
522 t = self.ecef._forward(lat, lon, h, n, M=M)
523 x, y, z = self.M.rotate(t.xyz, *self._xyz0)
524 m = self.M.multiply(t.M) if M else None
525 return self._9Tuple(x, y, z, lat, lon, h, self, t, m, name=n or self.name)
527 @Property_RO
528 def height0(self):
529 '''Get origin's height (C{meter}).
530 '''
531 return self._t0.height
533 @Property_RO
534 def lat0(self):
535 '''Get origin's latitude (C{degrees}).
536 '''
537 return self._t0.lat
539 @Property_RO
540 def latlonheight0(self):
541 '''Get the origin's lat-, longitude and height (L{LatLon3Tuple}C{(lat, lon, height)}).
542 '''
543 return LatLon3Tuple(self.lat0, self.lon0, self.height0, name=self.name)
545 def _local2ecef(self, local, nine=False, M=False):
546 '''(INTERNAL) Convert I{local} to geocentric/geodetic, like I{.reverse}.
548 @arg local: Local (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer} or L{Local9Tuple}).
549 @kwarg nine: Return 3- or 9-tuple (C{bool}).
550 @kwarg M: Include the rotation matrix (C{bool}).
552 @return: A I{geocentric} 3-tuple C{(x, y, z)} or if C{B{nine}=True},
553 an L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)},
554 optionally including rotation matrix C{M} or C{None}.
555 '''
556 t = self.M.unrotate(local.xyz, *self._xyz0)
557 if nine:
558 t = self.ecef.reverse(*t, M=M)
559 return t
561 @Property_RO
562 def lon0(self):
563 '''Get origin's longitude (C{degrees}).
564 '''
565 return self._t0.lon
567 @Property_RO
568 def M(self):
569 '''Get the rotation matrix (C{EcefMatrix}).
570 '''
571 return self._t0.M
573 def reset(self, latlonh0=INT0, lon0=INT0, height0=INT0, name=NN):
574 '''Reset the (geodetic) origin.
576 @kwarg latlonh0: Either a C{LatLon}, an L{Ecef9Tuple} or C{scalar}
577 latitude of the origin (C{degrees}).
578 @kwarg lon0: Optional C{scalar} longitude of the origin for
579 C{scalar} B{C{latlonh0}} (C{degrees}).
580 @kwarg height0: Optional origin height (C{meter}), vertically
581 above (or below) the surface of the ellipsoid.
582 @kwarg name: Optional, new name (C{str}).
584 @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{Ecef9Tuple},
585 C{scalar} or invalid or if B{C{lon0}} not
586 C{scalar} for C{scalar} B{C{latlonh0}} or
587 invalid or if B{C{height0}} invalid.
588 '''
589 _update_all(self) # force reset
591 lat0, lon0, height0, n = _llhn4(latlonh0, lon0, height0,
592 suffix=_0_, Error=LocalError, name=name)
593 if n:
594 self.rename(n)
595 else:
596 n = self.name
597 self._t0 = self.ecef._forward(lat0, lon0, height0, n, M=True)
599 def reverse(self, xyz, y=None, z=None, M=False, name=NN):
600 '''Convert I{local} C{(x, y, z)} to I{geodetic} C{(lat, lon, height)}.
602 @arg xyz: A I{local} (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}, L{Local9Tuple}) or
603 local C{x} coordinate (C{scalar}).
604 @kwarg y: Local C{y} coordinate for C{scalar} B{C{xyz}} and B{C{z}} (C{meter}).
605 @kwarg z: Local C{z} coordinate for C{scalar} B{C{xyz}} and B{C{y}} (C{meter}).
606 @kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix}, iff
607 available (C{bool}).
608 @kwarg name: Optional name (C{str}).
610 @return: An L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with
611 I{local} C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height},
612 this C{ltp}, an C{ecef} (L{Ecef9Tuple}) with the I{geocentric} C{x},
613 C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the
614 I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested.
616 @raise LocalError: Invalid B{C{xyz}} or C{scalar} C{x} or B{C{y}} and/or B{C{z}}
617 not C{scalar} for C{scalar} B{C{xyz}}.
618 '''
619 x, y, z, n = _xyzn4(xyz, y, z, _XyzLocals5, Error=LocalError, name=name)
620 c = self.M.unrotate((x, y, z), *self._xyz0)
621 t = self.ecef.reverse(*c, M=M)
622 m = self.M.multiply(t.M) if M else None
623 return self._9Tuple(x, y, z, t.lat, t.lon, t.height, self, t, m, name=n or self.name)
625 def toStr(self, prec=9, **unused): # PYCHOK signature
626 '''Return this L{LocalCartesian} as a string.
628 @kwarg prec: Precision, number of (decimal) digits (0..9).
630 @return: This L{LocalCartesian} representation (C{str}).
631 '''
632 return self.attrs(_lat0_, _lon0_, _height0_, _M_, _ecef_, _name_, prec=prec)
634 @Property_RO
635 def _xyz0(self):
636 '''(INTERNAL) Get C{(x0, y0, z0)} as L{Vector3Tuple}.
637 '''
638 return self._t0.xyz
641class Ltp(LocalCartesian):
642 '''A I{local tangent plan} LTP, a sub-class of C{LocalCartesian} with
643 configurable ECEF converter and without optional rotation matrix.
644 '''
645 def __init__(self, latlonh0=0, lon0=0, height0=0, ecef=None, name=NN):
646 '''New C{Ltp}.
648 @kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple},
649 L{Ltp} or L{Ecef9Tuple}) or latitude of the
650 (goedetic) origin (C{degrees}).
651 @kwarg lon0: Optional longitude of the (goedetic) origin for
652 C{scalar} B{C{latlonh0}} and B{C{height0}} (C{degrees}).
653 @kwarg height0: Optional origin height (C{meter}), vertically
654 above (or below) the surface of the ellipsoid.
655 @kwarg ecef: Optional ECEF converter (L{EcefKarney}, L{EcefFarrell21},
656 L{EcefFarrell22}, L{EcefSudano}, L{EcefVeness} or
657 L{EcefYou} I{instance}), overriding the default
658 L{EcefKarney}C{(datum=Datums.WGS84)}.
659 @kwarg name: Optional name (C{str}).
661 @return: New instance (C{Ltp}).
663 @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple},
664 L{Ltp} or L{Ecef9Tuple} or B{C{latlonh0}}, B{C{lon0}}
665 or B{C{height0}} invalid, non-C{scalar}.
667 @raise TypeError: Invalid B{C{ecef}}.
669 @note: If BC{latlonh0} is an L{Ltp}, only the lat-, longitude and
670 height are duplicated, I{not} the ECEF converter.
671 '''
672 LocalCartesian.__init__(self, latlonh0, lon0=lon0, height0=height0, name=name)
673 if ecef:
674 self.ecef = ecef
676 @Property
677 def ecef(self):
678 '''Get this LTP's ECEF converter (C{Ecef...} I{instance}).
679 '''
680 return self._ecef
682 @ecef.setter # PYCHOK setter!
683 def ecef(self, ecef):
684 '''Set this LTP's ECEF converter (C{Ecef...} I{instance}).
686 @raise TypeError: Invalid B{C{ecef}}.
687 '''
688 _xinstanceof(_EcefBase, ecef=ecef)
689 if ecef != self._ecef: # PYCHOK no cover
690 self.reset(self._t0)
691 self._ecef = ecef
694class _ChLV(object):
695 '''(INTERNAL) Base class for C{ChLV*} classes.
696 '''
697 _03_falsing = ChLVyx2Tuple(0.6e6, 0.2e6)
698# _92_falsing = ChLVYX2Tuple(2.0e6, 1.0e6) # _95_ - _03_
699 _95_falsing = ChLVEN2Tuple(2.6e6, 1.2e6)
701 def _ChLV9Tuple(self, fw, M, name, *Y_X_h_lat_lon_h):
702 '''(INTERNAL) Helper for C{ChLVa/e.forward} and C{.reverse}.
703 '''
704 if bool(M): # PYCHOK no cover
705 m = self.forward if fw else self.reverse # PYCHOK attr
706 n = _DOT_(self.__class__.__name__, m.__name__)
707 raise _NotImplementedError(unstr(n, M=M), txt=None)
708 t = Y_X_h_lat_lon_h + (self, self._t0, None) # PYCHOK _t0
709 return ChLV9Tuple(t, name=name)
711 @property_RO
712 def _enh_n_h(self):
713 '''(INTERNAL) Get C{ChLV*.reverse} args[1:4] names, I{once}.
714 '''
715 t = _xargs_names(_ChLV.reverse)[1:4]
716 _ChLV._enh_n_h = t # overwrite this property_RO
717 # assert _xargs_names( ChLV.reverse)[1:4] == t
718 # assert _xargs_names(ChLVa.reverse)[1:4] == t
719 # assert _xargs_names(ChLVe.reverse)[1:4] == t
720 return t
722 def forward(self, latlonh, lon=None, height=0, M=None, name=NN):
723 '''Convert WGS84 geodetic to I{Swiss} projection coordinates.
725 @arg latlonh: Either a C{LatLon}, L{Ltp} or C{scalar} (geodetic) latitude (C{degrees}).
726 @kwarg lon: Optional, C{scalar} (geodetic) longitude for C{scalar} B{C{latlonh}} (C{degrees}).
727 @kwarg height: Optional, height, vertically above (or below) the surface of the ellipsoid
728 (C{meter}) for C{scalar} B{C{latlonh}} and B{C{lon}}.
729 @kwarg M: If C{True}, return the I{concatenated} rotation L{EcefMatrix} iff available
730 for C{ChLV} only, C{None} otherwise (C{bool}).
731 @kwarg name: Optional name (C{str}).
733 @return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed
734 I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat},
735 C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at
736 I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV},
737 C{ChLVa} or C{ChLVe} instance.
739 @raise LocalError: Invalid or non-C{scalar} B{C{latlonh}}, B{C{lon}} or B{C{height}}.
740 '''
741 notOverloaded(self, latlonh, lon=lon, height=height, M=M, name=name)
743 def reverse(self, enh_, n=None, h_=0, M=None, name=NN):
744 '''Convert I{Swiss} projection to WGS84 geodetic coordinates.
746 @arg enh_: A Swiss projection (L{ChLV9Tuple}) or the C{scalar}, falsed I{Swiss E_LV95}
747 or I{y_LV03} easting (C{meter}).
748 @kwarg n: Falsed I{Swiss N_LV85} or I{x_LV03} northing for C{scalar} B{C{enh_}} and
749 B{C{h_}} (C{meter}).
750 @kwarg h_: I{Swiss h'} height for C{scalar} B{C{enh_}} and B{C{n}} (C{meter}).
751 @kwarg M: If C{True}, return the I{concatenated} rotation L{EcefMatrix} iff available
752 for C{ChLV} only, C{None} otherwise (C{bool}).
753 @kwarg name: Optional name (C{str}).
755 @return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed
756 I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat},
757 C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at
758 I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV},
759 C{ChLVa} or C{ChLVe} instance.
761 @raise LocalError: Invalid or non-C{scalar} B{C{enh_}}, B{C{n}} or B{C{h_}}.
762 '''
763 notOverloaded(self, enh_, n=n, h_=h_, M=M, name=name)
765 @staticmethod
766 def _falsing2(LV95):
767 '''(INTERNAL) Get the C{LV95} or C{LV03} falsing.
768 '''
769 return _ChLV._95_falsing if LV95 in (True, 95) else (
770 _ChLV._03_falsing if LV95 in (False, 3) else ChLVYX2Tuple(0, 0))
772 @staticmethod
773 def _llh2abh_3(lat, lon, h):
774 '''(INTERNAL) Helper for C{ChLVa/e.forward}.
775 '''
776 def _deg2ab(deg, sLL):
777 # convert degrees to arc-seconds
778 def _dms(ds, p, q, swap):
779 d = _floor(ds)
780 t = (ds - d) * p
781 m = _floor(t)
782 s = (t - m) * p
783 if swap:
784 d, s = s, d
785 return d + (m + s * q) * q
787 s = _dms(deg, _60_0, _0_01, False) # deg2sexag
788 s = _dms( s, _100_0, _60_0, True) # sexag2asec
789 return (s - sLL) / ChLV._s_ab
791 a = _deg2ab(lat, ChLV._sLat) # phi', lat_aux
792 b = _deg2ab(lon, ChLV._sLon) # lam', lng_aux
793 h_ = fsum_(h, -ChLV.Bern.height, 2.73 * b, 6.94 * a)
794 return a, b, h_
796 @staticmethod
797 def _YXh_2abh3(Y, X, h_):
798 '''(INTERNAL) Helper for C{ChLVa/e.reverse}.
799 '''
800 def _YX2ab(YX):
801 return YX * ChLV._ab_m
803 a, b = map1(_YX2ab, Y, X)
804 h = fsum_(h_, ChLV.Bern.height, -12.6 * a, -22.64 * b)
805 return a, b, h
807 def _YXh_n4(self, enh_, n, h_, name):
808 '''(INTERNAL) Helper for C{ChLV*.reverse}.
809 '''
810 Y, X, h_, name = _xyzn4(enh_, n, h_, ChLV9Tuple, name=name,
811 _xyz_y_z_names=self._enh_n_h)
812 if isinstance(enh_, ChLV9Tuple):
813 Y, X = enh_.Y, enh_.X
814 else: # isscalar(enh_)
815 Y, X = ChLV.unfalse2(Y, X) # PYCHOK ChLVYX2Tuple
816 return Y, X, h_, name
819class ChLV(_ChLV, Ltp):
820 '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates using
821 L{pygeodesy.EcefKarney}'s Earth-Centered, Earth-Fixed (ECEF) methods.
823 @see: U{Swiss projection formulas<https://www.SwissTopo.admin.CH/en/maps-data-online/
824 calculation-services.html>}, page 7ff, U{NAVREF<https://www.SwissTopo.admin.CH/en/
825 maps-data-online/calculation-services/navref.html>}, U{REFRAME<https://www.SwissTopo.admin.CH/
826 en/maps-data-online/calculation-services/reframe.html>} and U{SwissTopo Scripts GPS WGS84
827 <-> LV03<https://GitHub.com/ValentinMinder/Swisstopo-WGS84-LV03>}.
828 '''
829 _9Tuple = ChLV9Tuple
831 _ab_d = 0.36 # a, b units per degree, ...
832 _ab_m = 1.0e-6 # ... per meter and ...
833 _ab_M = _1_0 # ... per 1000 kilometer
834 _s_d = _3600_0 # arc-seconds per degree ...
835 _s_ab = _s_d / _ab_d # ... and per a, b unit
836 _sLat = 169028.66 # Bern, Ch in ...
837 _sLon = 26782.5 # ... arc-seconds ...
838 # lat, lon, height == 46°57'08.66", 7°26'22.50", 49.55m ("new" 46°57'07.89", 7°26'22.335")
839 Bern = LatLon4Tuple(_sLat / _s_d, _sLon / _s_d, 49.55, _WGS84, name='Bern')
841 def __init__(self, latlonh0=Bern, **other_Ltp_kwds):
842 '''New ECEF-based I{WGS84-Swiss} L{ChLV} converter, centered at I{Bern, Ch}.
844 @kwarg latlonh0: The I{geodetic} origin and height, overriding C{Bern, Ch}.
845 @kwarg other_Ltp_kwds: Optional, other L{Ltp.__init__} keyword arguments.
847 @see: L{Ltp.__init__} for more information.
848 '''
849 Ltp.__init__(self, latlonh0, **_xkwds(other_Ltp_kwds, ecef=None, name=ChLV.Bern.name))
851 def forward(self, latlonh, lon=None, height=0, M=None, name=NN): # PYCHOK unused M
852 # overloaded for the _ChLV.forward.__doc__
853 return Ltp.forward(self, latlonh, lon=lon, height=height, M=M, name=name)
855 def reverse(self, enh_, n=None, h_=0, M=None, name=NN):
856 # overloaded for the _ChLV.reverse.__doc__
857 Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name)
858 return Ltp.reverse(self, Y, X, h_, M=M, name=name)
860 @staticmethod
861 def false2(Y, X, LV95=True, name=NN):
862 '''Add the I{Swiss LV95} or I{LV03} falsing.
864 @arg Y: Unfalsed I{Swiss Y} easting (C{meter}).
865 @arg X: Unfalsed I{Swiss X} northing (C{meter}).
866 @kwarg LV95: If C{True} add C{LV95} falsing, if C{False} add
867 C{LV03} falsing, otherwise leave unfalsed.
868 @kwarg name: Optional name (C{str}).
870 @return: A L{ChLVEN2Tuple}C{(E_LV95, N_LV95)} or a
871 L{ChLVyx2Tuple}C{(y_LV03, x_LV03)} with falsed B{C{Y}}
872 and B{C{X}}, otherwise a L{ChLVYX2Tuple}C{(Y, X)}
873 with B{C{Y}} and B{C{X}} as-is.
874 '''
875 e, n = t = _ChLV._falsing2(LV95)
876 return t.classof(e + Y, n + X, name=name)
878 @staticmethod
879 def isLV03(e, n):
880 '''Is C{(B{e}, B{n})} a valid I{Swiss LV03} projection?
882 @arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}).
883 @arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}).
885 @return: C{True} if C{(B{e}, B{n})} is a valid, falsed I{Swiss
886 LV03}, projection C{False} otherwise.
887 '''
888 # @see: U{Map<https://www.SwissTopo.admin.CH/en/knowledge-facts/
889 # surveying-geodesy/reference-frames/local/lv95.html>}
890 return 400.e3 < e < 900.e3 and 40.e3 < n < 400.e3
892 @staticmethod
893 def isLV95(e, n, raiser=True):
894 '''Is C{(B{e}, B{n})} a valid I{Swiss LV95} or I{LV03} projection?
896 @arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}).
897 @arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}).
898 @kwarg raiser: If C{True}, throw a L{LocalError} if B{C{e}} and
899 B{C{n}} are invalid I{Swiss LV95} nor I{LV03}.
901 @return: C{True} or C{False} if C{(B{e}, B{n})} is a valid I{Swiss
902 LV95} respectively I{LV03} projection, C{None} otherwise.
903 '''
904 if ChLV.isLV03(e, n):
905 return False
906 elif ChLV.isLV03(e - 2.e6, n - 1.e6): # _92_falsing = _95_ - _03_
907 return True
908 elif raiser: # PYCHOK no cover
909 raise LocalError(unstr(ChLV.isLV95, e=e, n=n))
910 return None
912 @staticmethod
913 def unfalse2(e, n, LV95=None, name=NN):
914 '''Remove the I{Swiss LV95} or I{LV03} falsing.
916 @arg e: Falsed I{Swiss E_LV95} or I{y_LV03} easting (C{meter}).
917 @arg n: Falsed I{Swiss N_LV95} or I{x_LV03} northing (C{meter}).
918 @kwarg LV95: If C{True} remove I{LV95} falsing, if C{False} remove
919 I{LV03} falsing, otherwise use method C{isLV95(B{e},
920 B{n})}.
921 @kwarg name: Optional name (C{str}).
923 @return: A L{ChLVYX2Tuple}C{(Y, X)} with the unfalsed B{C{e}}
924 respectively B{C{n}}.
925 '''
926 Y, X = _ChLV._falsing2(ChLV.isLV95(e, n) if LV95 is None else LV95)
927 return ChLVYX2Tuple(e - Y, n - X, name=name)
930class ChLVa(_ChLV, LocalCartesian):
931 '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates
932 using the U{Approximate<https://www.SwissTopo.admin.CH/en/maps-data-online/
933 calculation-services.html>} formulas, page 13.
935 @see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}.
936 '''
937 def __init__(self, name=ChLV.Bern.name):
938 '''New I{Approximate WGS84-Swiss} L{ChLVa} converter, centered at I{Bern, Ch}.
940 @kwarg name: Optional name (C{str}), overriding C{Bern.name}.
941 '''
942 LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name)
944 def forward(self, latlonh, lon=None, height=0, M=None, name=NN):
945 # overloaded for the _ChLV.forward.__doc__
946 lat, lon, h, name = _llhn4(latlonh, lon, height, name=name)
947 a, b, h_ = _ChLV._llh2abh_3(lat, lon, h)
948 a2, b2 = a**2, b**2
950 Y = fsum_( 72.37, 211455.93 * b,
951 -10938.51 * b * a,
952 -0.36 * b * a2,
953 -44.54 * b * b2) # + 600_000
954 X = fsum_(147.07, 308807.95 * a,
955 3745.25 * b2,
956 76.63 * a2,
957 -194.56 * b2 * a,
958 119.79 * a2 * a) # + 200_000
959 return self._ChLV9Tuple(True, M, name, Y, X, h_, lat, lon, h)
961 def reverse(self, enh_, n=None, h_=0, M=None, name=NN):
962 # overloaded for the _ChLV.reverse.__doc__
963 Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name)
964 a, b, h = _ChLV._YXh_2abh3(Y, X, h_)
965 a2, b2 = a**2, b**2
967 lon = Fsum( 2.6779094, 4.728982 * a,
968 0.791484 * a * b,
969 0.1306 * a * b2,
970 -0.0436 * a * a2).fover(ChLV._ab_d)
971 lat = Fsum(16.9023892, 3.238272 * b,
972 -0.270978 * a2,
973 -0.002528 * b2,
974 -0.0447 * a2 * b,
975 -0.014 * b2 * b).fover(ChLV._ab_d)
976 return self._ChLV9Tuple(False, M, name, Y, X, h_, lat, lon, h)
979class ChLVe(_ChLV, LocalCartesian):
980 '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates
981 using the U{Ellipsoidal approximate<https://www.SwissTopo.admin.CH/en/
982 maps-data-online/calculation-services.html>} formulas, pp 10-11 and U{Bolliger,
983 J.<https://eMuseum.GGGS.CH/literatur-lv/liste-Dateien/1967_Bolliger_a.pdf>}
984 pp 148-151 (also U{GGGS<https://eMuseum.GGGS.CH/literatur-lv/liste.htm>}).
986 @note: Methods L{ChLVe.forward} and L{ChLVe.reverse} have an additional keyword
987 argument C{B{gamma}=False} to approximate the I{meridian convergence}.
988 If C{B{gamma}=True} a 2-tuple C{(t, gamma)} is returned with C{t} the
989 usual result (C{ChLV9Tuple}) and C{gamma}, the I{meridian convergence}
990 (decimal C{degrees}). To convert C{gamma} to C{grades} or C{gons},
991 use function L{pygeodesy.degrees2grades}.
993 @see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}.
994 '''
995 def __init__(self, name=ChLV.Bern.name):
996 '''New I{Approximate WGS84-Swiss} L{ChLVe} converter, centered at I{Bern, Ch}.
998 @kwarg name: Optional name (C{str}), overriding C{Bern.name}.
999 '''
1000 LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name)
1002 def forward(self, latlonh, lon=None, height=0, M=None, name=NN, gamma=False): # PYCHOK gamma
1003 # overloaded for the _ChLV.forward.__doc__
1004 lat, lon, h, name = _llhn4(latlonh, lon, height, name=name)
1005 a, b, h_ = _ChLV._llh2abh_3(lat, lon, h)
1006 F = Fhorner
1008 B1 = F(a, 211428.533991, -10939.608605, -2.658213, -8.539078, -0.00345, -0.007992)
1009 B3 = F(a, -44.232717, 4.291740, -0.309883, 0.013924)
1010 B5 = F(a, 0.019784, -0.004277)
1011 Y = F(b, 0, B1, 0, B3, 0, B5).fover(ChLV._ab_M) # 1000 km!
1013 B0 = F(a, 0, 308770.746371, 75.028131, 120.435227, 0.009488, 0.070332, -0.00001)
1014 B2 = F(a, 3745.408911, -193.792705, 4.340858, -0.376174, 0.004053)
1015 B4 = F(a, -0.734684, 0.144466, -0.011842)
1016 B6 = 0.000488
1017 X = F(b, B0, 0, B2, 0, B4, 0, B6).fover(ChLV._ab_M) # 1000 km!
1019 t = self._ChLV9Tuple(True, M, name, Y, X, h_, lat, lon, h)
1020 if gamma:
1021 U1 = F(a, 2255515.207166, 2642.456961, 1.284180, 2.577486, 0.001165)
1022 U3 = F(a, -412.991934, 64.106344, -2.679566, 0.123833)
1023 U5 = F(a, 0.204129, -0.037725)
1024 t = t, F(b, 0, U1, 0, U3, 0, U5).fover(ChLV._ab_m) # * ChLV._ab_d degrees?
1025 return t
1027 def reverse(self, enh_, n=None, h_=0, M=None, name=NN, gamma=False): # PYCHOK gamma
1028 # overloaded for the _ChLV.reverse.__doc__
1029 Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name)
1030 a, b, h = _ChLV._YXh_2abh3(Y, X, h_)
1031 F = Fhorner
1033 A1 = F(b, 47297.3056722, 7925.714783, 1328.129667, 255.02202, 48.17474, 9.0243)
1034 A3 = F(b, -442.709889, -255.02202, -96.34947, -30.0808)
1035 A5 = F(b, 9.63495, 9.0243)
1036 lon = F(a, ChLV._sLon, A1, 0, A3, 0, A5).fover(ChLV._s_d)
1037 # == (ChLV._sLon + a * (A1 + a**2 * (A3 + a**2 * A5))) / ChLV._s_d
1039 A0 = F(b, ChLV._sLat, 32386.4877666, -25.486822, -132.457771, 0.48747, 0.81305, -0.0069)
1040 A2 = F(b, -2713.537919, -450.442705, -75.53194, -14.63049, -2.7604)
1041 A4 = F(b, 24.42786, 13.20703, 4.7476)
1042 A6 = -0.4249
1043 lat = F(a, A0, 0, A2, 0, A4, 0, A6).fover(ChLV._s_d)
1045 t = self._ChLV9Tuple(False, M, name, Y, X, h_, lat, lon, h)
1046 if gamma:
1047 U1 = F(b, 106679.792202, 17876.57022, 4306.5241, 794.87772, 148.1545, 27.8725)
1048 U3 = F(b, -1435.508, -794.8777, -296.309, -92.908)
1049 U5 = F(b, 29.631, 27.873)
1050 t = t, F(a, 0, U1, 0, U3, 0, U5).fover(ChLV._s_ab) # degrees
1051 return t
1054def tyr3d(tilt=INT0, yaw=INT0, roll=INT0, Vector=Vector3d, **Vector_kwds):
1055 '''Convert an attitude oriention into a (3-D) direction vector.
1057 @kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down
1058 (clockwise rotation along and around the x-axis).
1059 @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North
1060 (counter-clockwise rotation along and around the z-axis).
1061 @kwarg roll: Roll, bank (C{degrees}), positive to the right and down
1062 (clockwise rotation along and around the y-axis).
1064 @return: A named B{C{Vector}} instance or if B{C{Vector}} is C{None},
1065 a named L{Vector3Tuple}C{(x, y, z)}.
1067 @see: U{Yaw, pitch, and roll rotations<http://MSL.CS.UIUC.edu/planning/node102.html>}
1068 and function L{pygeodesy.hartzell} argument C{los}.
1069 '''
1070 d = Attitude4Tuple(_0_0, tilt, yaw, roll).tyr3d
1071 return d if Vector is type(d) else (
1072 Vector3Tuple(d.x, d.y, d.z, name=d.name) if Vector is None else
1073 Vector(d.x, d.y, d.z, **_xkwds(Vector_kwds, name=d.name))) # PYCHOK indent
1076def _xLtp(ltp, *dflt):
1077 '''(INTERNAL) Validate B{C{ltp}}.
1078 '''
1079 if dflt and ltp is None:
1080 ltp = dflt[0]
1081 if isinstance(ltp, (LocalCartesian, Ltp)):
1082 return ltp
1083 raise _TypesError(_ltp_, ltp, Ltp, LocalCartesian)
1085# **) MIT License
1086#
1087# Copyright (C) 2016-2023 -- mrJean1 at Gmail -- All Rights Reserved.
1088#
1089# Permission is hereby granted, free of charge, to any person obtaining a
1090# copy of this software and associated documentation files (the "Software"),
1091# to deal in the Software without restriction, including without limitation
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1093# and/or sell copies of the Software, and to permit persons to whom the
1094# Software is furnished to do so, subject to the following conditions:
1095#
1096# The above copyright notice and this permission notice shall be included
1097# in all copies or substantial portions of the Software.
1098#
1099# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
1100# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
1101# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
1102# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
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1104# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
1105# OTHER DEALINGS IN THE SOFTWARE.