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GeoPos Class Reference
[Data classes]

Position class using ECEF coordinates. More...

#include <GeoPos.h>

Inheritance diagram for GeoPos:

List of all members.


Public Methods
	GeoPos ()
	Default constructor.
	GeoPos (Vector3 const &v)
	Copy constructor from a standard vector.
	GeoPos (GeoPos const &g)
	Copy constructor.
const GeoPos &	operator= (Vector3 const &v)
	Copy operator.
const GeoPos &	operator= (GeoPos const &g)
	Copy operator.
virtual	~GeoPos ()
	Destructor.
double	getSlantRange (GeoPos const &) const
	Get the absolute distance between two points in ECEF coordinates.
void	getSurfaceDistance (GeoPos const &, double &distance, double &bearing) const
	Get the distance between to points along the surface of the reference ellipsoid.
void	getShellDistance (GeoPos const &, double &distance, double &bearing) const
	Get the distance between two points along the surface of the reference ellipsoid, including altitude.
void	getLocalFrame (Vector3 &localX, Vector3 &localY, Vector3 &localZ) const
	Get a local cartesian coordinate frame.
void	getLLA (double &lat, double &lon, double &alt) const
	Get the current latitude, longitude, and altitude relative to the reference ellipsoid.
void	setLLA (double lat, double lon, double alt=0.0)
	Set the position using latitude, longitude, and altitude.
double	getLongitude () const
	Get the current latitude.
double	getLatitude () const
	Get the current longitude.
double	getAltitude () const
	Get the current altitude.
void	_updateLLA () const
	Internal method to update latitude, longitude, and altitude.
void	getUTM (double &northing, double &easting, char &zone, char &designator) const
	Get the current position in UTM coordinates.
void	setUTM (double northing, double easting, char zone, char designator, double alt=0.0)
	Set the current position from UTM coordinates.
void	setUTM (double northing, double easting, const char *zone, double alt=0.0)
	Set the current position from UTM coordinates.
double	getNorthing () const
	Get the UTM northing coordinate for the current position.
double	getEasting () const
	Get the UTM easting coordinate for the current position.
int	getZoneNumber () const
	Get the UTM zone number for the current position.
char	getZoneLetter () const
	Get the UTM zone letter for the current position.
void	_updateUTM () const
	Internal method to update UTM northing, easting, and zone.
void	setReferenceEllipsoid (ReferenceEllipsoid const &=GeoRef::WGS84)
	Set the reference ellipsoid used for LLA and UTM conversions.
ReferenceEllipsoid const &	getReferenceEllipsoid () const
	Get the current reference ellipsoid.
void	setDirty ()
	Set flags to indicate that the underlying ECEF vector has changed.
virtual std::string	asString () const
	String representation.
virtual std::string	typeString () const
	Return a string representation of the type.
void	parseXML (const char *)
	Set the current position from XML character data.
virtual void	serialize (Archive &)
	Serialize to or from a data archive.
bool	operator== (const Vector3 &v) const
	Test for equality with another vectors.
bool	operator!= (const Vector3 &v) const
	Test for inequality with another vectors.
void	set (double x_, double y_, double z_)
	Set the vector components.
double &	operator[] (int i)
	Get a reference to vector component by numeric index.
double	operator[] (int i) const
	Get the value of a vector component by numeric index.
double &	x ()
	Get a reference to the x-component.
double	x () const
	Get the value of the x-component.
double &	y ()
	Get a reference to the y-component.
double	y () const
	Get the value of the y-component.
double &	z ()
	Get a reference to the z-component.
double	z () const
	Get the value of the z-component.
bool	valid () const
	Test if all components are valid floating point values.
bool	isNaN () const
	Test if any components are NaN (not-a-number).
bool	isZero () const
double	operator * (const Vector3 &rhs) const
	Compute the dot product with another vector.
const Vector3	operator * (double rhs) const
	Multiply by a scalar.
const Vector3	operator^ (const Vector3 &rhs) const
	Compute the cross product with another vector.
Vector3 &	operator *= (double rhs)
	Unary multiply by a scalar.
const Vector3	operator/ (double rhs) const
	Divide by a scalar.
Vector3 &	operator/= (double rhs)
	Unary divide by a scalar.
const Vector3	operator+ (const Vector3 &rhs) const
	Binary vector addition.
Vector3 &	operator+= (const Vector3 &rhs)
	Unary vector addition.
const Vector3	operator- (const Vector3 &rhs) const
	Binary vector subtraction.
const Vector3	operator- () const
	Negation operator; returns the negative of the vector.
Vector3 &	operator-= (const Vector3 &rhs)
	Unary vector subtraction.
double	length () const
	Get the length of the vector = sqrt(vv).*
double	length2 () const
	Get the length squared of the vector = vv.*
double	normalize ()
	Normalize the vector so that it has length unity.
const Vector3	normalized () const
	Get a unit vector in the direction of this vector.
Matrix3	starMatrix () const
	Compute the star matrix of this vector.
void	bound (Vector3 &min, Vector3 &max)
	Update bounding vectors.
std::vector< double >	getElements () const
	Get the components of this vector as a std::vector<double>.
void	setElements (std::vector< double > const &v)
	Set the components of this vector from a std::vector<double>.
virtual void	convertXML ()
	Convert XML data to internal format prior to serialization.
Static Public Methods
char	_getUTMDesignator (double lat)
	Internal class method to get the UTM zone letter for a given latitude.
Static Public Attributes
const Vector3	ZERO
	Null vector.
const Vector3	XAXIS
	Unit vector along the x-axis.
const Vector3	YAXIS
	Unit vector along the y-axis.
const Vector3	ZAXIS
	Unit vector along the z-axis.
Protected Methods
void	iterateECEF (double p, double z, double x, double y, int iter=0) const
	Compute ECEF from LLA.
Protected Attributes
double	_lat
	geodetic latitude
double	_lon
	longitude
double	_alt
	altitude above reference ellipse
bool	_stale_lla
	lla needs update
bool	_stale_utm
	utm needs update
double	_northing
	utm northing
double	_easting
	utm easting
char	_zone
	utm zone
char	_designator
	utm designator
ReferenceEllipsoid const *	_ref
	reference ellipsoid
double	_x
	The x component.
double	_y
	The y component.
double	_z
	The z component.
Friends
Vector3	operator * (double lhs, const Vector3 &rhs)
	Multiply a vector by a scalar on the left.
double	dot (const Vector3 &a, const Vector3 &b)
	Compute the dot product of two vectors.
const Vector3	cross (const Vector3 &a, const Vector3 &b)
	Compute the cross product of two vectors.
SIMDATA_EXPORT std::ostream &	operator<< (std::ostream &output, const Vector3 &vec)
	Format to an output string.

Detailed Description

Position class using ECEF coordinates.

Extends a cartesian 3-vector to Earth-Centered, Earth-Fixed (ECEF) coordinates. Helper methods are provided for lazy conversion to and from Geodetic and UTM coordinates using a standard reference ellipsoid.

Due to subclassing of Vector3, modifications of the ECEF vector do not automatically set the dirty flags used for lazy evaluations of other coordinate representations. After calculations that modify the underlying ECEF vector, you *must* call setDirty() manually to ensure that subsequent conversions to Geodetic and UTM coordinates function properly.

Deprecated:: Use LLA, UTM, and/or ECEF instead.

Constructor & Destructor Documentation

GeoPos::GeoPos ( ) [inline]

Default constructor.
The WGS84 reference ellipsoid will be set implicity, and the position will be set to (0, 0, 0) --- the center of the Earth.

GeoPos::GeoPos ( Vector3 const & v ) [inline]

Copy constructor from a standard vector.
The WGS84 reference ellipsoid will be set implicity.

GeoPos::GeoPos ( GeoPos const & g ) [inline]

Copy constructor.
The new GeoPos will use the same reference ellipsoid as the source.

virtual GeoPos::~GeoPos ( ) [inline, virtual]

Destructor.

Member Function Documentation

char GeoPos::_getUTMDesignator ( double lat ) [static]

Internal class method to get the UTM zone letter for a given latitude.

Parameters:

lat latitude in radians

void GeoPos::_updateLLA ( )

Internal method to update latitude, longitude, and altitude.
You do not need to call this directly.

void GeoPos::_updateUTM ( )

Internal method to update UTM northing, easting, and zone.
You do not need to call this directly.

virtual std::string GeoPos::asString ( ) const [inline, virtual]

String representation.

Reimplemented from Vector3.

void Vector3::bound ( Vector3 & min,

Vector3 & max

) [inline, inherited]

Update bounding vectors.
The components of min and max are updated to contain the corresponding components of this vector.

void BaseType::convertXML ( ) [virtual, inherited]

Convert XML data to internal format prior to serialization.
This method is currently only called by the XML parser for Object classes. If another BaseType class requires this method, a call must be added to the appropriate XML handler in the parser.

double GeoPos::getAltitude ( ) const [inline]

Get the current altitude.

Returns:
altitude relative to the reference ellipse (in meters)

double GeoPos::getEasting ( ) const [inline]

Get the UTM easting coordinate for the current position.

std::vector<double> Vector3::getElements ( ) const [inline, inherited]

Get the components of this vector as a std::vector<double>.

double GeoPos::getLatitude ( ) const [inline]

Get the current longitude.

Returns:
longitude in radians

void GeoPos::getLLA ( double & lat,

double & lon,

double & alt

) const

Get the current latitude, longitude, and altitude relative to the reference ellipsoid.

Returns:
lat latitude in radians lon longitude in radians alt altitude relative to the reference ellipse (in meters)

void GeoPos::getLocalFrame ( Vector3 & localX,

Vector3 & localY,

Vector3 & localZ

) const

Get a local cartesian coordinate frame.

Returns:
localX a unit vector, tangent to the reference ellipsoid, pointing east localY a unit vector, tangent to the reference ellipsoid, pointing north localZ a nuti vector, normal to the reference ellipsoid

double GeoPos::getLongitude ( ) const [inline]

Get the current latitude.

Returns:
latitude in radians

double GeoPos::getNorthing ( ) const [inline]

Get the UTM northing coordinate for the current position.

ReferenceEllipsoid const& GeoPos::getReferenceEllipsoid ( ) const [inline]

Get the current reference ellipsoid.

void GeoPos::getShellDistance ( GeoPos const & ,

double & distance,

double & bearing

) const

Get the distance between two points along the surface of the reference ellipsoid, including altitude.
This method is very similar to getSurfaceDistance, but includes the altitude difference between the two points in an approximate way that can be used both at close range and globally.

Returns:
distance a combined geodesic and altitude distance bearing the bearing to the specified point (in radians relative to true north)

double GeoPos::getSlantRange ( GeoPos const & ) const

Get the absolute distance between two points in ECEF coordinates.
This is the normal cartesian distance between two points; the curvature of the ellipsoid is not involved.

void GeoPos::getSurfaceDistance ( GeoPos const & ,

double & distance,

double & bearing

) const

Get the distance between to points along the surface of the reference ellipsoid.
Both points are projected to altitude = 0, and the distance calculated along a geodesic path of the reference ellipsoid.

Returns:
distance the geodesic distance bearing the bearing to the specified point (in radians relative to true north)

void GeoPos::getUTM ( double & northing,

double & easting,

char & zone,

char & designator

) const

Get the current position in UTM coordinates.

Returns:
northing UTM northing easting UTM easting zone UTM zone designator UTM zone letter

char GeoPos::getZoneLetter ( ) const [inline]

Get the UTM zone letter for the current position.

int GeoPos::getZoneNumber ( ) const [inline]

Get the UTM zone number for the current position.

bool Vector3::isNaN ( ) const [inline, inherited]

Test if any components are NaN (not-a-number).

bool Vector3::isZero ( ) const [inline, inherited]

void GeoPos::iterateECEF ( double p,

double z,

double x,

double y,

int iter = 0

) const [protected]

Compute ECEF from LLA.

double Vector3::length ( ) const [inline, inherited]

Get the length of the vector = sqrt(v*v).

double Vector3::length2 ( ) const [inline, inherited]

Get the length squared of the vector = v*v.

double Vector3::normalize ( ) [inline, inherited]

Normalize the vector so that it has length unity.

Returns:
The original length of the vector.

const Vector3 Vector3::normalized ( ) const [inline, inherited]

Get a unit vector in the direction of this vector.

const Vector3 Vector3::operator * ( double rhs ) const [inline, inherited]

Multiply by a scalar.

double Vector3::operator * ( const Vector3 & rhs ) const [inline, inherited]

Compute the dot product with another vector.

Vector3& Vector3::operator *= ( double rhs ) [inline, inherited]

Unary multiply by a scalar.

bool Vector3::operator!= ( const Vector3 & v ) const [inline, inherited]

Test for inequality with another vectors.

const Vector3 Vector3::operator+ ( const Vector3 & rhs ) const [inline, inherited]

Binary vector addition.

Vector3& Vector3::operator+= ( const Vector3 & rhs ) [inline, inherited]

Unary vector addition.

const Vector3 Vector3::operator- ( ) const [inline, inherited]

Negation operator; returns the negative of the vector.

const Vector3 Vector3::operator- ( const Vector3 & rhs ) const [inline, inherited]

Binary vector subtraction.

Vector3& Vector3::operator-= ( const Vector3 & rhs ) [inline, inherited]

Unary vector subtraction.

const Vector3 Vector3::operator/ ( double rhs ) const [inline, inherited]

Divide by a scalar.

Vector3& Vector3::operator/= ( double rhs ) [inline, inherited]

Unary divide by a scalar.

GeoPos const & GeoPos::operator= ( GeoPos const & g )

Copy operator.
The reference ellipsoid is also copied.

GeoPos const & GeoPos::operator= ( Vector3 const & v )

Copy operator.
The reference ellipsoid will not be modified.
Reimplemented from Vector3.

bool Vector3::operator== ( const Vector3 & v ) const [inline, inherited]

Test for equality with another vectors.

double Vector3::operator[] ( int i ) const [inline, inherited]

Get the value of a vector component by numeric index.
The index starts at zero (=x), and an IndexException is thrown for invalid indices.

Returns:
The value of the specified component.

double& Vector3::operator[] ( int i ) [inline, inherited]

Get a reference to vector component by numeric index.
The index starts at zero (=x), and an IndexException is thrown for invalid indices.

Returns:
A reference to the specified component.

const Vector3 Vector3::operator^ ( const Vector3 & rhs ) const [inline, inherited]

Compute the cross product with another vector.

void GeoPos::parseXML ( const char * ) [virtual]

Set the current position from XML character data.

ECEF coordinate format (x, y, z): x.x x.x x.x

LLA coordinate format (lat, lon, alt): G x.x x.x x.x

LLA coordinate format 2 (lat, lon, alt): G x'x"x.x x'x"x.x x.x

UTM coordinate format (northing, easting, zone, alt): G x.x x.x zone x.x @n where 'zone' is an integer followed by a UTM latitude designator, such as "10T".
Note that the letters preceeding all formats other than ECEF are required.

Todo:

use different prefix letters for LLA and UTM
allow the source reference ellipsoid to be specified

Reimplemented from Vector3.

void GeoPos::serialize ( Archive & ) [virtual]

Serialize to or from a data archive.

Reimplemented from Vector3.

void Vector3::set ( double x_,

double y_,

double z_

) [inline, inherited]

Set the vector components.

void GeoPos::setDirty ( ) [inline]

Set flags to indicate that the underlying ECEF vector has changed.
Call this method after any computations that modify the ECEF vector to ensure that LLA and UTM coordinates will be updated correctly.

void Vector3::setElements ( std::vector< double > const & v ) [inline, inherited]

Set the components of this vector from a std::vector<double>.

void GeoPos::setLLA ( double lat,

double lon,

double alt = 0.0

)

Set the position using latitude, longitude, and altitude.

Parameters:

lat latitude in radians

lon longitude in radians

alt altitude in meters

void GeoPos::setReferenceEllipsoid ( ReferenceEllipsoid const & = GeoRef::WGS84 )

Set the reference ellipsoid used for LLA and UTM conversions.
The default ellipsoid is WGS-84. The reference ellipsoid can be specified independently for each GeoPos instance, but mixing results from different ellipsoids is not recommended.

void GeoPos::setUTM ( double northing,

double easting,

const char * zone,

double alt = 0.0

)

Set the current position from UTM coordinates.

Parameters:

northing UTM northing

easting UTM easting

zone UTM zone (e.g. "10T")

alt altitude above the reference ellipse (in meters)

void GeoPos::setUTM ( double northing,

double easting,

char zone,

char designator,

double alt = 0.0

)

Set the current position from UTM coordinates.

Parameters:

northing UTM northing

easting UTM easting

zone UTM zone

designator UTM zone letter

alt altitude above the reference ellipse (in meters)

Matrix3 Vector3::starMatrix ( ) [inherited]

Compute the star matrix of this vector.

virtual std::string GeoPos::typeString ( ) const [inline, virtual]

Return a string representation of the type.

Reimplemented from Vector3.

bool Vector3::valid ( ) const [inline, inherited]

Test if all components are valid floating point values.

double Vector3::x ( ) const [inline, inherited]

Get the value of the x-component.

double& Vector3::x ( ) [inline, inherited]

Get a reference to the x-component.

double Vector3::y ( ) const [inline, inherited]

Get the value of the y-component.

double& Vector3::y ( ) [inline, inherited]

Get a reference to the y-component.

double Vector3::z ( ) const [inline, inherited]

Get the value of the z-component.

double& Vector3::z ( ) [inline, inherited]

Get a reference to the z-component.

Friends And Related Function Documentation

const Vector3 cross ( const Vector3 & a,

const Vector3 & b

) [friend, inherited]

Compute the cross product of two vectors.

double dot ( const Vector3 & a,

const Vector3 & b

) [friend, inherited]

Compute the dot product of two vectors.

Vector3 operator * ( double lhs,

const Vector3 & rhs

) [friend, inherited]

Multiply a vector by a scalar on the left.

SIMDATA_EXPORT std::ostream& operator<< ( std::ostream & os,

const Vector3 & v

) [friend, inherited]

Format to an output string.

Member Data Documentation

double GeoPos::_alt [protected]

altitude above reference ellipse

char GeoPos::_designator [protected]

utm designator

double GeoPos::_easting [protected]

utm easting

double GeoPos::_lat [protected]

geodetic latitude

double GeoPos::_lon [protected]

longitude

double GeoPos::_northing [protected]

utm northing

ReferenceEllipsoid const* GeoPos::_ref [protected]

reference ellipsoid

bool GeoPos::_stale_lla [protected]

lla needs update

bool GeoPos::_stale_utm [protected]

utm needs update

double Vector3::_x [protected, inherited]

The x component.

double Vector3::_y [protected, inherited]

The y component.

double Vector3::_z [protected, inherited]

The z component.

char GeoPos::_zone [protected]

utm zone

const Vector3 Vector3::XAXIS [static, inherited]

Unit vector along the x-axis.

const Vector3 Vector3::YAXIS [static, inherited]

Unit vector along the y-axis.

const Vector3 Vector3::ZAXIS [static, inherited]

Unit vector along the z-axis.

NAMESPACE_SIMDATA const Vector3 Vector3::ZERO [static, inherited]

Null vector.

The documentation for this class was generated from the following files:

SimData version pre-0.4.0. For more information on SimData, visit the SimData Homepage.

Generated on Tue Oct 14 12:06:41 2003, using Doxygen 1.2.18.

GeoPos Class Reference [Data classes]

Public Methods

Static Public Methods

Static Public Attributes

Protected Methods