# Coverage for pygeodesy/ltp.py : 97%

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I{Local cartesian} and I{local tangent plane} classes L{LocalCartesian}, approximations L{ChLVa} and L{ChLVe} and L{Ltp}, L{ChLV}, L{LocalError}, L{Attitude} and L{Frustum}. @see: U{Local tangent plane coordinates<https://WikiPedia.org/wiki/Local_tangent_plane_coordinates>} and class L{LocalCartesian}, transcoded from I{Charles Karney}'s C++ classU{LocalCartesian <https://GeographicLib.SourceForge.io/C++/doc/classGeographicLib_1_1LocalCartesian.html>}. ''' from pygeodesy.basics import isscalar, issubclassof, map1, _xargs_names from pygeodesy.constants import EPS, INT0, _umod_360, _0_0, _0_01, _0_0001, _0_5, \ _2_0, _60_0, _90_0, _100_0, _180_0, _3600_0, \ _N_1_0 # PYCHOK used! from pygeodesy.datums import _WGS84, _xinstanceof from pygeodesy.ecef import _EcefBase, EcefKarney, _llhn4, _xyzn4 from pygeodesy.errors import _NotImplementedError, _TypesError, _ValueError, _xkwds from pygeodesy.fmath import fdot, Fhorner from pygeodesy.fsums import _floor, Fsum, fsum_, fsum1_ from pygeodesy.interns import NN, _0_, _COMMASPACE_, _DOT_, _ecef_, _height_, \ _invalid_, _lat0_, _lon0_, _ltp_, _M_, _name_, _too_ # from pygeodesy.lazily import _ALL_LAZY # from vector3d from pygeodesy.ltpTuples import Attitude4Tuple, ChLVEN2Tuple, ChLV9Tuple, \ ChLVYX2Tuple, Footprint5Tuple, Local9Tuple, \ ChLVyx2Tuple, _XyzLocals4, _XyzLocals5, Xyz4Tuple from pygeodesy.named import _NamedBase, notOverloaded from pygeodesy.namedTuples import LatLon3Tuple, LatLon4Tuple, Vector3Tuple from pygeodesy.props import Property, Property_RO, property_doc_, property_RO, \ _update_all from pygeodesy.streprs import Fmt, strs, unstr from pygeodesy.units import Bearing, Degrees, Meter from pygeodesy.utily import cotd, sincos2d, sincos2d_, tand, tand_, wrap180, wrap360 from pygeodesy.vector3d import _ALL_LAZY, Vector3d # from math import floor as _floor # from .fsums __all__ = _ALL_LAZY.ltp __version__ = '22.10.01' _height0_ = _height_ + _0_ _narrow_ = 'narrow' _wide_ = 'wide' _Xyz_ = 'Xyz' def _fov_2(**fov): # Half a field-of-view angle in C{degrees}. f = Degrees(Error=LocalError, **fov) * _0_5 if EPS < f < _90_0: return f t = _invalid_ if f < 0 else _too_(_wide_ if f > EPS else _narrow_) raise LocalError(txt=t, **fov) class Attitude(_NamedBase): '''The orientation of a plane or camera in space. ''' _alt = Meter( alt =_0_0) _roll = Degrees(roll=_0_0) _tilt = Degrees(tilt=_0_0) _yaw = Bearing(yaw =_0_0) def __init__(self, alt_attitude=INT0, tilt=INT0, yaw=INT0, roll=INT0, name=NN): '''New L{Attitude}. @kwarg alt_attitude: An altitude (C{meter}) above earth or an attitude (L{Attitude} or L{Attitude4Tuple}) with the C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}. @kwarg tilt: Pitch, elevation from horizontal (C{degrees180}), negative down (clockwise rotation along and around the x- or East axis). @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North (counter-clockwise rotation along and around the z- or Up axis). @kwarg roll: Roll, bank (C{degrees180}), positive to the right and down (clockwise rotation along and around the y- or North axis). @kwarg name: Optional name C{str}). @raise AttitudeError: Invalid B{C{alt_attitude}}, B{C{tilt}}, B{C{yaw}} or B{C{roll}}. @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>} and U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>}. ''' if isscalar(alt_attitude): t = Attitude4Tuple(alt_attitude, tilt, yaw, roll) else: try: t = alt_attitude.atyr except AttributeError: raise AttitudeError(alt=alt_attitude, tilt=tilt, yaw=yaw, rol=roll) for n, v in t.items(): if v: setattr(self, n, v) n = name or t.name if n: self.name = n @property_doc_(' altitude above earth in C{meter}.') def alt(self): return self._alt @alt.setter # PYCHOK setter! def alt(self, alt): # PYCHOK no cover a = Meter(alt=alt, Error=AttitudeError) if self._alt != a: _update_all(self) self._alt = a altitude = alt @Property_RO def atyr(self): '''Return this attitude's alt[itude], tilt, yaw and roll as an L{Attitude4Tuple}. ''' return Attitude4Tuple(self.alt, self.tilt, self.yaw, self.roll, name=self.name) @Property_RO def matrix(self): '''Get the 3x3 rotation matrix C{R(yaw)·R(tilt)·R(roll)}, aka I{ZYX} (C{float}, row-order). @see: The matrix M of case 10 in U{Appendix A <https://ntrs.NASA.gov/api/citations/19770019231/downloads/19770019231.pdf>}. ''' def _5to3(x, y, _y, z, _z): return x, fsum1_(y, _y), fsum1_(z, _z) r0, r1, r2 = self._rows3 return _5to3(*r0), _5to3(*r1), r2 @property_doc_(' roll/bank in C{degrees180}, positive to the right and down.') def roll(self): return self._roll @roll.setter # PYCHOK setter! def roll(self, roll): r = Degrees(roll=roll, wrap=wrap180, Error=AttitudeError) if self._roll != r: _update_all(self) self._roll = r bank = roll @Property_RO def _rows3(self): # to follow the definitions of rotation angles alpha, beta and gamma: # negate yaw since yaw is counter-clockwise around the z-axis, swap # tilt and roll since tilt is around the x- and roll around the y-axis sa, ca, sb, cb, sg, cg = sincos2d_(-self.yaw, self.roll, self.tilt) return ((ca * cb, ca * sb * sg, -sa * cg, ca * sb * cg, sa * sg), (sa * cb, sa * sb * sg, ca * cg, sa * sb * cg, -ca * sg), ( -sb, cb * sg, cb * cg)) def rotate(self, x_xyz, y=None, z=None, Vector=None, **Vector_kwds): '''Transform a (local) cartesian by this attitude's matrix. @arg x_xyz: X component of vector (C{scalar}) or (3-D) vector (C{Cartesian}, L{Vector3d} or L{Vector3Tuple}). @kwarg y: Y component of vector (C{scalar}), same units as B{C{x}}. @kwarg z: Z component of vector (C{scalar}), same units as B{C{x}}. @kwarg Vector: Class to return transformed point (C{Cartesian}, L{Vector3d} or C{Vector3Tuple}) or C{None}. @kwarg Vector_kwds: Optional, additional B{C{Vector}} keyword arguments, ignored if C{B{Vector} is None}. @return: A B{C{Vector}} instance or a L{Vector3Tuple}C{(x, y, z)} if C{B{Vector}=None}. @see: U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>}. ''' try: x, y, z = map( float, x_xyz.xyz) except AttributeError: x, y, z = map1(float, x_xyz, y, z) r0, r1, r2 = self._rows3 X = fdot(r0, x, y, y, z, z) Y = fdot(r1, x, y, y, z, z) Z = fdot(r2, x, y, z) return Vector3Tuple(X, Y, Z, name=self.name) if Vector is None else \ Vector(X, Y, Z, **_xkwds(Vector_kwds, name=self.name)) @property_doc_(' tilt/pitch/elevation from horizontal in C{degrees180}, negative down.') def tilt(self): return self._tilt @tilt.setter # PYCHOK setter! def tilt(self, tilt): t = Degrees(tilt=tilt, wrap=wrap180, Error=AttitudeError) if self._tilt != t: _update_all(self) self._tilt = t elevation = pitch = tilt def toStr(self, prec=6, sep=_COMMASPACE_, **unused): # PYCHOK signature '''Format this attitude as string. @kwarg prec: The C{float} precision, number of decimal digits (0..9). Trailing zero decimals are stripped for B{C{prec}} values of 1 and above, but kept for negative B{C{prec}} values. @kwarg sep: Separator to join (C{str}). @return: This attitude (C{str}). ''' return self.atyr.toStr(prec=prec, sep=sep) @Property_RO def tyr3d(self): '''Get this attitude's (3-D) directional vector (L{Vector3d}). @see: U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>}. ''' def _r2d(r): return fsum_(_N_1_0, *r) return Vector3d(*map1(_r2d, *self._rows3), name=tyr3d.__name__) @property_doc_(' yaw/bearing/heading in compass C{degrees360}, clockwise from North.') def yaw(self): return self._yaw @yaw.setter # PYCHOK setter! def yaw(self, yaw): y = Bearing(yaw=yaw, Error=AttitudeError) if self._yaw != y: _update_all(self) self._yaw = y bearing = heading = yaw class AttitudeError(_ValueError): '''An L{Attitude} or L{Attitude4Tuple} issue. ''' pass class Frustum(_NamedBase): '''A rectangular pyramid, typically representing a camera's I{field-of-view} (fov) and the intersection with (or projection to) a I{local tangent plane}. @see: U{Viewing frustum<https://WikiPedia.org/wiki/Viewing_frustum>}. ''' _h_2 = _0_0 # half hfov in degrees _ltp = None # local tangent plane _tan_h_2 = _0_0 # tan(_h_2) _v_2 = _0_0 # half vfov in degrees def __init__(self, hfov, vfov, ltp=None): '''New L{Frustum}. @arg hfov: Horizontal field-of-view (C{degrees180}). @arg vfov: Vertical field-of-view (C{degrees180}). @kwarg ltp: Optional I{local tangent plane} (L{Ltp}). @raise LocalError: Invalid B{C{hfov}} or B{C{vfov}}. ''' self._h_2 = h = _fov_2(hfov=hfov) self._v_2 = _fov_2(vfov=vfov) self._tan_h_2 = tand(h, fov_2=h) if ltp: self._ltp = _xLtp(ltp) def footprint5(self, alt_attitude, tilt=0, yaw=0, roll=0, z=_0_0, ltp=None): # MCCABE 15 '''Compute the center and corners of the intersection with (or projection to) the I{local tangent plane} (LTP). @arg alt_attitude: An altitude (C{meter}) above I{local tangent plane} or an attitude (L{Attitude} or L{Attitude4Tuple}) with the C{B{alt}itude}, B{C{tilt}}, B{C{yaw}} and B{C{roll}}. @kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down (clockwise rotation along and around the x- or East axis). @kwarg yaw: Bearing, heading (compass C{degrees}), clockwise from North (counter-clockwise rotation along and around the z- or Up axis). @kwarg roll: Roll, bank (C{degrees}), positive to the right and down (clockwise rotation along and around the y- or North axis). @kwarg z: Optional height of the footprint (C{meter}) above I{local tangent plane}. @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding this frustum's C{ltp}. @return: A L{Footprint5Tuple}C{(center, upperleft, upperight, loweright, lowerleft)} with the C{center} and 4 corners, each an L{Xyz4Tuple}. @raise TypeError: Invalid B{C{ltp}}. @raise UnitError: Invalid B{C{altitude}}, B{C{tilt}}, B{C{roll}} or B{C{z}}. @raise ValueError: If B{C{altitude}} too low, B{C{z}} too high or B{C{tilt}} or B{C{roll}} -including B{C{vfov}} respectively B{C{hfov}}- over the horizon. @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>}. ''' def _xy2(a, e, h_2, tan_h_2, r): # left and right corners, or swapped if r < EPS: # no roll r = a * tan_h_2 l = -r # PYCHOK l is ell else: # roll r, l = tand_(r - h_2, r + h_2, roll_hfov=r) # PYCHOK l is ell r *= -a # negate right positive l *= -a # PYCHOK l is ell y = a * cotd(e, tilt_vfov=e) return (l, y), (r, y) def _xyz5(b, xy5, z, ltp): # rotate (x, y)'s by bearing, clockwise s, c = sincos2d(b) for x, y in xy5: yield Xyz4Tuple(fsum1_(x * c, y * s), fsum1_(y * c, -x * s), z, ltp) try: a, t, y, r = alt_attitude.atyr except AttributeError: a, t, y, r = alt_attitude, tilt, yaw, roll a = Meter(altitude=a) if a < EPS: # too low raise _ValueError(altitude=a) if z: # PYCHOK no cover z = Meter(z=z) a -= z if a < EPS: # z above a raise _ValueError(altitude_z=a) else: z = _0_0 b = Degrees(yaw=y, wrap=wrap360) # bearing e = -Degrees(tilt=t, wrap=wrap180) # elevation, pitch if not EPS < e < _180_0: raise _ValueError(tilt=t) if e > _90_0: e = _180_0 - e b = _umod_360(b + _180_0) r = Degrees(roll=r, wrap=wrap180) # roll center x = (-a * tand(r, roll=r)) if r else _0_0 y = a * cotd(e, tilt=t) # ground range if abs(y) < EPS: y = _0_0 # center and corners, clockwise from upperleft, rolled xy5 = ((x, y),) + _xy2(a, e - self._v_2, self._h_2, self._tan_h_2, r) \ + _xy2(a, e + self._v_2, -self._h_2, -self._tan_h_2, r) # swapped # turn center and corners by yaw, clockwise p = self.ltp if ltp is None else ltp # None OK return Footprint5Tuple(_xyz5(b, xy5, z, p)) # *_xyz5 @Property_RO def hfov(self): '''Get the horizontal C{fov} (C{degrees}). ''' return Degrees(hfov=self._h_2 * _2_0) @Property_RO def ltp(self): '''Get the I{local tangent plane} (L{Ltp}) or C{None}. ''' return self._ltp def toStr(self, prec=3, fmt=Fmt.F, sep=_COMMASPACE_): # PYCHOK signature '''Convert this frustum to a "hfov, vfov, ltp" string. @kwarg prec: Number of (decimal) digits, unstripped (0..8 or C{None}). @kwarg fmt: Optional, C{float} format (C{str}). @kwarg sep: Separator to join (C{str}). @return: Frustum in the specified form (C{str}). ''' t = self.hfov, self.vfov if self.ltp: t += self.ltp, t = strs(t, prec=prec, fmt=fmt) return sep.join(t) if sep else t @Property_RO def vfov(self): '''Get the vertical C{fov} (C{degrees}). ''' return Degrees(vfov=self._v_2 * _2_0) class LocalError(_ValueError): '''A L{LocalCartesian} or L{Ltp} related issue. ''' pass class LocalCartesian(_NamedBase): '''Conversion between geodetic C{(lat, lon, height)} and I{local cartesian} C{(x, y, z)} coordinates with I{geodetic} origin C{(lat0, lon0, height0)}, transcoded from I{Karney}'s C++ class U{LocalCartesian <https://GeographicLib.SourceForge.io/C++/doc/classGeographicLib_1_1LocalCartesian.html>}. The C{z} axis is normal to the ellipsoid, the C{y} axis points due North. The plane C{z = -height0} is tangent to the ellipsoid. The conversions all take place via geocentric coordinates using a geocentric L{EcefKarney}, by default the WGS84 datum/ellipsoid. @see: Class L{Ltp}. ''' _ecef = EcefKarney(_WGS84) _t0 = None # origin (..., lat0, lon0, height0, ...) L{Ecef9Tuple} _9Tuple = Local9Tuple def __init__(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, name=NN): '''New L{LocalCartesian} converter. @kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple}, L{Ltp} or L{Ecef9Tuple}) or latitude of the (goedetic) origin (C{degrees}). @kwarg lon0: Optional longitude of the (goedetic) origin for C{scalar} B{C{latlonh0}} and B{C{height0}} (C{degrees}). @kwarg height0: Optional origin height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg ecef: An ECEF converter (L{EcefKarney} I{only}). @kwarg name: Optional name (C{str}). @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple}, L{Ltp} or L{Ecef9Tuple} or B{C{latlonh0}}, B{C{lon0}} or B{C{height0}} invalid, non-C{scalar}. @raise TypeError: Invalid B{C{ecef}} or not L{EcefKarney}. @note: If BC{latlonh0} is an L{Ltp}, only the lat-, longitude and height are duplicated, I{not} the ECEF converter. ''' if isinstance(latlonh0, LocalCartesian): self._ecef = latlonh0.ecef self._t0 = latlonh0._t0 self.name = name or latlonh0.name else: self.reset(latlonh0, lon0, height0, name=name) if ecef: # PYCHOK no cover _xinstanceof(EcefKarney, ecef=ecef) self._ecef = ecef def __eq__(self, other): '''Compare this and an other instance. @arg other: The other ellipsoid (L{LocalCartesian} or L{Ltp}). @return: C{True} if equal, C{False} otherwise. ''' return other is self or (isinstance(other, self.__class__) and other.ecef == self.ecef and other._t0 == self._t0) @Property_RO def datum(self): '''Get the ECEF converter's datum (L{Datum}). ''' return self.ecef.datum @Property_RO def ecef(self): '''Get the ECEF converter (L{EcefKarney}). ''' return self._ecef def _ecef2local(self, ecef, Xyz, Xyz_kwds): '''(INTERNAL) Convert geocentric/geodetic to local, like I{forward}. @arg ecef: Geocentric (and geodetic) (L{Ecef9Tuple}). @arg Xyz: An L{XyzLocal}, L{Enu} or L{Ned} I{class} or C{None}. @arg Xyz_kwds: B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. @return: An C{B{Xyz}(x, y, z, ltp, **B{Xyz_kwds}} instance or if C{B{Xyz} is None}, an L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with this C{ltp}, B{C{ecef}} (L{Ecef9Tuple}) converted to this C{datum} and C{M=None}, always. ''' ltp = self if ecef.datum != ltp.datum: ecef = ecef.toDatum(ltp.datum) x, y, z = self.M.rotate(ecef.xyz, *ltp._xyz0) r = Local9Tuple(x, y, z, ecef.lat, ecef.lon, ecef.height, ltp, ecef, None, name=ecef.name) if Xyz: if not issubclassof(Xyz, *_XyzLocals4): # Vector3d raise _TypesError(_Xyz_, Xyz, *_XyzLocals4) r = r.toXyz(Xyz=Xyz, **Xyz_kwds) return r def forward(self, latlonh, lon=None, height=0, M=False, name=NN): '''Convert I{geodetic} C{(lat, lon, height)} to I{local} cartesian C{(x, y, z)}. @arg latlonh: Either a C{LatLon}, a L{Ltp}, an L{Ecef9Tuple} or C{scalar} (geodetic) latitude (C{degrees}). @kwarg lon: Optional C{scalar} (geodetic) longitude for C{scalar} B{C{latlonh}} (C{degrees}). @kwarg height: Optional height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg M: Optionally, return the rotation L{EcefMatrix} (C{bool}). @kwarg name: Optional name (C{str}). @return: A L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, C{y}, C{z}, I{geodetic} C{(lat}, C{lon}, C{height}, this C{ltp}, C{ecef} (L{Ecef9Tuple}) with I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested. @raise LocalError: If B{C{latlonh}} not C{scalar}, C{LatLon}, L{Ltp}, L{Ecef9Tuple} or invalid or if B{C{lon}} not C{scalar} for C{scalar} B{C{latlonh}} or invalid or if B{C{height}} invalid. ''' lat, lon, h, n = _llhn4(latlonh, lon, height, Error=LocalError, name=name) t = self.ecef._forward(lat, lon, h, n, M=M) x, y, z = self.M.rotate(t.xyz, *self._xyz0) m = self.M.multiply(t.M) if M else None return self._9Tuple(x, y, z, lat, lon, h, self, t, m, name=n or self.name) @Property_RO def height0(self): '''Get origin's height (C{meter}). ''' return self._t0.height @Property_RO def lat0(self): '''Get origin's latitude (C{degrees}). ''' return self._t0.lat @Property_RO def latlonheight0(self): '''Get the origin's lat-, longitude and height (L{LatLon3Tuple}C{(lat, lon, height)}). ''' return LatLon3Tuple(self.lat0, self.lon0, self.height0, name=self.name) def _local2ecef(self, local, nine=False, M=False): '''(INTERNAL) Convert I{local} to geocentric/geodetic, like I{.reverse}. @arg local: Local (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer} or L{Local9Tuple}). @kwarg nine: Return 3- or 9-tuple (C{bool}). @kwarg M: Include the rotation matrix (C{bool}). @return: A I{geocentric} 3-tuple C{(x, y, z)} or if C{B{nine}=True}, an L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)}, optionally including rotation matrix C{M} or C{None}. ''' t = self.M.unrotate(local.xyz, *self._xyz0) if nine: t = self.ecef.reverse(*t, M=M) return t @Property_RO def lon0(self): '''Get origin's longitude (C{degrees}). ''' return self._t0.lon @Property_RO def M(self): '''Get the rotation matrix (C{EcefMatrix}). ''' return self._t0.M def reset(self, latlonh0=INT0, lon0=INT0, height0=INT0, name=NN): '''Reset the (geodetic) origin. @kwarg latlonh0: Either a C{LatLon}, an L{Ecef9Tuple} or C{scalar} latitude of the origin (C{degrees}). @kwarg lon0: Optional C{scalar} longitude of the origin for C{scalar} B{C{latlonh0}} (C{degrees}). @kwarg height0: Optional origin height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg name: Optional, new name (C{str}). @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{Ecef9Tuple}, C{scalar} or invalid or if B{C{lon0}} not C{scalar} for C{scalar} B{C{latlonh0}} or invalid or if B{C{height0}} invalid. ''' _update_all(self) # force reset lat0, lon0, height0, n = _llhn4(latlonh0, lon0, height0, suffix=_0_, Error=LocalError, name=name) if n: self.rename(n) else: n = self.name self._t0 = self.ecef._forward(lat0, lon0, height0, n, M=True) def reverse(self, xyz, y=None, z=None, M=False, name=NN): '''Convert I{local} C{(x, y, z)} to I{geodetic} C{(lat, lon, height)}. @arg xyz: A I{local} (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}, L{Local9Tuple}) or local C{x} coordinate (C{scalar}). @kwarg y: Local C{y} coordinate for C{scalar} B{C{xyz}} and B{C{z}} (C{meter}). @kwarg z: Local C{z} coordinate for C{scalar} B{C{xyz}} and B{C{y}} (C{meter}). @kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix}, I{iff avaialble} (C{bool}). @kwarg name: Optional name (C{str}). @return: An L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height}, this C{ltp}, an C{ecef} (L{Ecef9Tuple}) with the I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested. @raise LocalError: Invalid B{C{xyz}} or C{scalar} C{x} or B{C{y}} and/or B{C{z}} not C{scalar} for C{scalar} B{C{xyz}}. ''' x, y, z, n = _xyzn4(xyz, y, z, _XyzLocals5, Error=LocalError, name=name) c = self.M.unrotate((x, y, z), *self._xyz0) t = self.ecef.reverse(*c, M=M) m = self.M.multiply(t.M) if M else None return self._9Tuple(x, y, z, t.lat, t.lon, t.height, self, t, m, name=n or self.name) def toStr(self, prec=9, **unused): # PYCHOK signature '''Return this L{LocalCartesian} as a string. @kwarg prec: Precision, number of (decimal) digits (0..9). @return: This L{LocalCartesian} representation (C{str}). ''' return self.attrs(_lat0_, _lon0_, _height0_, _M_, _ecef_, _name_, prec=prec) @Property_RO def _xyz0(self): '''(INTERNAL) Get C{(x0, y0, z0)} as L{Vector3Tuple}. ''' return self._t0.xyz class Ltp(LocalCartesian): '''A I{local tangent plan} LTP, a sub-class of C{LocalCartesian} with configurable ECEF converter and without optional rotation matrix. ''' def __init__(self, latlonh0=0, lon0=0, height0=0, ecef=None, name=NN): '''New C{Ltp}. @kwarg latlonh0: The (geodetic) origin (C{LatLon}, L{LatLon4Tuple}, L{Ltp} or L{Ecef9Tuple}) or latitude of the (goedetic) origin (C{degrees}). @kwarg lon0: Optional longitude of the (goedetic) origin for C{scalar} B{C{latlonh0}} and B{C{height0}} (C{degrees}). @kwarg height0: Optional origin height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg ecef: Optional ECEF converter (L{EcefKarney}, L{EcefFarrell21}, L{EcefFarrell22}, L{EcefSudano}, L{EcefVeness} or L{EcefYou} I{instance}), overriding the default L{EcefKarney}C{(datum=Datums.WGS84)}. @kwarg name: Optional name (C{str}). @return: New instance (C{Ltp}). @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{LatLon4Tuple}, L{Ltp} or L{Ecef9Tuple} or B{C{latlonh0}}, B{C{lon0}} or B{C{height0}} invalid, non-C{scalar}. @raise TypeError: Invalid B{C{ecef}}. @note: If BC{latlonh0} is an L{Ltp}, only the lat-, longitude and height are duplicated, I{not} the ECEF converter. ''' LocalCartesian.__init__(self, latlonh0, lon0=lon0, height0=height0, name=name) if ecef: self.ecef = ecef @Property def ecef(self): '''Get this LTP's ECEF converter (C{Ecef...} I{instance}). ''' return self._ecef @ecef.setter # PYCHOK setter! def ecef(self, ecef): '''Set this LTP's ECEF converter (C{Ecef...} I{instance}). @raise TypeError: Invalid B{C{ecef}}. ''' _xinstanceof(_EcefBase, ecef=ecef) if ecef != self._ecef: # PYCHOK no cover self.reset(self._t0) self._ecef = ecef class _ChLV(object): '''(INTERNAL) Base class for C{ChLV*} classes. ''' _03_falsing = ChLVyx2Tuple(0.6e6, 0.2e6) # _92_falsing = ChLVYX2Tuple(2.0e6, 1.0e6) # _95_ - _03_ _95_falsing = ChLVEN2Tuple(2.6e6, 1.2e6) def _ChLV9Tuple(self, fw, M, name, *Y_X_h_lat_lon_h): '''(INTERNAL) Helper for C{ChLVa/e.forward} and C{.reverse}. ''' if M is not None: # PYCHOK no cover m = self.forward if fw else self.reverse # PYCHOK attr n = _DOT_(self.__class__.__name__, m.__name__) raise _NotImplementedError(unstr(n, M=M), txt=None) t = Y_X_h_lat_lon_h + (self, self._t0, M) # PYCHOK _t0 return ChLV9Tuple(t, name=name) @property_RO def _enh_n_h(self): '''(INTERNAL) Get C{ChLV*.reverse} args[1:4] names, I{once}. ''' t = _xargs_names(_ChLV.reverse)[1:4] _ChLV._enh_n_h = t # overwrite this property_RO # assert _xargs_names( ChLV.reverse)[1:4] == t # assert _xargs_names(ChLVa.reverse)[1:4] == t # assert _xargs_names(ChLVe.reverse)[1:4] == t return t def forward(self, latlonh, lon=None, height=0, M=None, name=NN): '''Convert WGS84 geodetic to I{Swiss} projection coordinates. @arg latlonh: Either a C{LatLon}, L{Ltp} or C{scalar} (geodetic) latitude (C{degrees}). @kwarg lon: Optional, C{scalar} (geodetic) longitude for C{scalar} B{C{latlonh}} (C{degrees}). @kwarg height: Optional, height, vertically above (or below) the surface of the ellipsoid (C{meter}) for C{scalar} B{C{latlonh}} and B{C{lon}}. @kwarg M: Optionally (C{bool}), return the I{concatenated} rotation L{EcefMatrix} iff available for C{ChLV} only, C{None} otherwise. @kwarg name: Optional name (C{str}). @return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat}, C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV}, C{ChLVa} or C{ChLVe} instance. @raise LocalError: Invalid or non-C{scalar} B{C{latlonh}}, B{C{lon}} or B{C{height}}. ''' notOverloaded(self, latlonh, lon=lon, height=height, M=M, name=name) def reverse(self, enh_, n=None, h_=0, M=None, name=NN): '''Convert I{Swiss} projection to WGS84 geodetic coordinates. @arg enh_: A Swiss projection (L{ChLV9Tuple}) or the C{scalar}, falsed I{Swiss E_LV95} or I{y_LV03} easting (C{meter}). @kwarg n: Falsed I{Swiss N_LV85} or I{x_LV03} northing for C{scalar} B{C{enh_}} and B{C{h_}} (C{meter}). @kwarg h_: I{Swiss h'} height for C{scalar} B{C{enh_}} and B{C{n}} (C{meter}). @kwarg M: Optionally (C{bool}), return the I{concatenated} rotation L{EcefMatrix} iff available for C{ChLV} only, C{None} otherwise. @kwarg name: Optional name (C{str}). @return: A L{ChLV9Tuple}C{(Y, X, h_, lat, lon, height, ltp, ecef, M)} with the unfalsed I{Swiss Y, X} coordinates, I{Swiss h_} height, the given I{geodetic} C{lat}, C{lon} and C{height}, this C{ChLV*} instance and C{ecef} (L{Ecef9Tuple}) at I{Bern, Ch} and rotation matrix C{M}. The returned C{ltp} is this C{ChLV}, C{ChLVa} or C{ChLVe} instance. @raise LocalError: Invalid or non-C{scalar} B{C{enh_}}, B{C{n}} or B{C{h_}}. ''' notOverloaded(self, enh_, n=n, h_=h_, M=M, name=name) @staticmethod def _falsing2(LV95): '''(INTERNAL) Get the C{LV95} or C{LV03} falsing. ''' return _ChLV._95_falsing if LV95 in (True, 95) else ( _ChLV._03_falsing if LV95 in (False, 3) else ChLVYX2Tuple(0, 0)) @staticmethod def _llh2abh_3(lat, lon, h): '''(INTERNAL) Helper for C{ChLVa/e.forward}. ''' def _deg2ab(deg, sLL): # convert degrees to arc-seconds def _dms(ds, p, q, swap): d = _floor(ds) t = (ds - d) * p m = _floor(t) s = (t - m) * p if swap: d, s = s, d return d + (m + s * q) * q s = _dms(deg, _60_0, _0_01, False) # deg2sexag s = _dms( s, _100_0, _60_0, True) # sexag2asec return (s - sLL) * _0_0001 a = _deg2ab(lat, ChLV._sLat) # phi', lat_aux b = _deg2ab(lon, ChLV._sLon) # lam', lng_aux h_ = fsum_(h, -ChLV.Bern.height, 2.73 * b, 6.94 * a) return a, b, h_ @staticmethod def _YXh_2abh3(Y, X, h_): '''(INTERNAL) Helper for C{ChLVa/e.reverse}. ''' def _YX2ab(YX): return YX * ChLV._ab_m a, b = map1(_YX2ab, Y, X) h = fsum_(h_, ChLV.Bern.height, -12.6 * a, -22.64 * b) return a, b, h def _YXh_n4(self, enh_, n, h_, name): '''(INTERNAL) Helper for C{ChLV*.reverse}. ''' Y, X, h_, name = _xyzn4(enh_, n, h_, ChLV9Tuple, name=name, _xyz_y_z_names=self._enh_n_h) if isinstance(enh_, ChLV9Tuple): Y, X = enh_.Y, enh_.X else: # isscalar(enh_) Y, X = ChLV.unfalse2(Y, X) # PYCHOK ChLVYX2Tuple return Y, X, h_, name class ChLV(_ChLV, Ltp): '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates using L{pygeodesy.EcefKarney}'s Earth-Centered, Earth-Fixed (ECEF) methods. @see: U{Swiss projection formulas<<https://www.SwissTopo.admin.CH/en/ maps-data-online/calculation-services.html>}, pp 7-9. ''' _9Tuple = ChLV9Tuple _ab_d = 0.36 # a, b units per degree _ab_m = 1.0e-6 # a, b units per meter _s_d = _3600_0 # arc-seconds per degree ... # _s_ab = _s_d / _ab_d # ... and per a, b unit _sLat = 169028.66 # Bern, Ch in ... _sLon = 26782.5 # ... arc-seconds ... # _aLat = _sLat / _s_ab # ... and a, ... # _bLon = _sLon / _s_ab # ... b units # lat, lon, height == 46°57'08.66", 7°26'22.50", 49.55m ("new" 46°57'07.89", 7°26'22.335") Bern = LatLon4Tuple(_sLat / _s_d, _sLon / _s_d, 49.55, _WGS84, name='Bern') def __init__(self, latlonh0=Bern, **other_Ltp_kwds): '''New ECEF-based I{WGS84-Swiss} L{ChLV} converter, centered at I{Bern, Ch}. @kwarg latlonh0: The I{geodetic} origin and height, overriding C{Bern, Ch}. @kwarg other_Ltp_kwds: Optional, other L{Ltp.__init__} keyword arguments. @see: L{Ltp.__init__} for more information. ''' Ltp.__init__(self, latlonh0, **_xkwds(other_Ltp_kwds, ecef=None, name=ChLV.Bern.name)) def forward(self, latlonh, lon=None, height=0, M=None, name=NN): # PYCHOK unused M # overloaded for the _ChLV.forward.__doc__ return Ltp.forward(self, latlonh, lon=lon, height=height, M=M, name=name) def reverse(self, enh_, n=None, h_=0, M=None, name=NN): # overloaded for the _ChLV.reverse.__doc__ Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name) return Ltp.reverse(self, Y, X, h_, M=M, name=name) @staticmethod def false2(Y, X, LV95=True, name=NN): '''Add the I{Swiss LV95} or I{LV03} falsing. @arg Y: Unfalsed I{Swiss Y} easting (C{meter}). @arg X: Unfalsed I{Swiss X} northing (C{meter}). @kwarg LV95: If C{True} add C{LV95} falsing, if C{False} add C{LV03} falsing, otherwise leave unfalsed. @kwarg name: Optional name (C{str}). @return: A L{ChLVEN2Tuple}C{(E_LV95, N_LV95)} or a L{ChLVyx2Tuple}C{(y_LV03, x_LV03)} with falsed B{C{Y}} and B{C{X}}, otherwise a L{ChLVYX2Tuple}C{(Y, X)} with B{C{Y}} and B{C{X}} as-is. ''' e, n = t = _ChLV._falsing2(LV95) return t.classof(e + Y, n + X, name=name) @staticmethod def isLV03(e, n): '''Is C{(B{e}, B{n})} a valid I{Swiss LV03} projection? @arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}). @arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}). @return: C{True} if C{(B{e}, B{n})} is a valid, falsed I{Swiss LV03}, projection C{False} otherwise. ''' # @see: U{Map<https://www.SwissTopo.admin.CH/en/knowledge-facts/ # surveying-geodesy/reference-frames/local/lv95.html>} return 400.e3 < e < 900.e3 and 40.e3 < n < 400.e3 @staticmethod def isLV95(e, n, raiser=True): '''Is C{(B{e}, B{n})} a valid I{Swiss LV95} or I{LV03} projection? @arg e: Falsed (or unfalsed) I{Swiss} easting (C{meter}). @arg n: Falsed (or unfalsed) I{Swiss} northing (C{meter}). @kwarg raiser: If C{True}, throw a L{LocalError} if B{C{e}} and B{C{n}} are invalid I{Swiss LV95} nor I{LV03}. @return: C{True} or C{False} if C{(B{e}, B{n})} is a valid I{Swiss LV95} respectively I{LV03} projection, C{None} otherwise. ''' if ChLV.isLV03(e, n): return False elif ChLV.isLV03(e - 2.e6, n - 1.e6): # _92_falsing = _95_ - _03_ return True elif raiser: # PYCHOK no cover t = unstr(ChLV.isLV95.__name__, e=e, n=n) raise LocalError(t) return None @staticmethod def unfalse2(e, n, LV95=None, name=NN): '''Remove the I{Swiss LV95} or I{LV03} falsing. @arg e: Falsed I{Swiss E_LV95} or I{y_LV03} easting (C{meter}). @arg n: Falsed I{Swiss N_LV95} or I{x_LV03} northing (C{meter}). @kwarg LV95: If C{True} remove I{LV95} falsing, if C{False} remove I{LV03} falsing, otherwise use method C{isLV95(B{e}, B{n})}. @kwarg name: Optional name (C{str}). @return: A L{ChLVYX2Tuple}C{(Y, X)} with the unfalsed B{C{e}} respectively B{C{n}}. ''' Y, X = _ChLV._falsing2(ChLV.isLV95(e, n) if LV95 is None else LV95) return ChLVYX2Tuple(e - Y, n - X, name=name) class ChLVa(_ChLV, LocalCartesian): '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates using the U{Approximate<https://www.SwissTopo.admin.CH/en/maps-data-online/ calculation-services.html>} formulas, pp 13-14. @see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}. ''' def __init__(self, name=ChLV.Bern.name): '''New I{Approximate WGS84-Swiss} L{ChLVa} converter, centered at I{Bern, Ch}. @kwarg name: Optional name (C{str}), overriding C{Bern.name}. ''' LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name) def forward(self, latlonh, lon=None, height=0, M=None, name=NN): # overloaded for the _ChLV.forward.__doc__ lat, lon, h, name = _llhn4(latlonh, lon, height, name=name) a, b, h_ = _ChLV._llh2abh_3(lat, lon, h) a2, b2 = a**2, b**2 Y = fsum_( 72.37, 211455.93 * b, -10938.51 * b * a, -0.36 * b * a2, -44.54 * b * b2) # + 600_000 X = fsum_(147.07, 308807.95 * a, 3745.25 * b2, 76.63 * a2, -194.56 * b2 * a, 119.79 * a2 * a) # + 200_000 return self._ChLV9Tuple(True, M, name, Y, X, h_, lat, lon, h) def reverse(self, enh_, n=None, h_=0, M=None, name=NN): # overloaded for the _ChLV.reverse.__doc__ Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name) a, b, h = _ChLV._YXh_2abh3(Y, X, h_) a2, b2 = a**2, b**2 lon = Fsum( 2.6779094, 4.728982 * a, 0.791484 * a * b, 0.1306 * a * b2, -0.0436 * a * a2).fover(ChLV._ab_d) lat = Fsum(16.9023892, 3.238272 * b, -0.270978 * a2, -0.002528 * b2, -0.0447 * a2 * b, -0.014 * b2 * b).fover(ChLV._ab_d) return self._ChLV9Tuple(False, M, name, Y, X, h_, lat, lon, h) class ChLVe(_ChLV, LocalCartesian): '''Conversion between I{WGS84 geodetic} and I{Swiss} projection coordinates using the U{Ellipsoidal approximate<https://www.SwissTopo.admin.CH/en/ maps-data-online/calculation-services.html>} formulas, pp 10-11. @see: Older U{references<https://GitHub.com/alphasldiallo/Swisstopo-WGS84-LV03>}. ''' def __init__(self, name=ChLV.Bern.name): '''New I{Approximate WGS84-Swiss} L{ChLVe} converter, centered at I{Bern, Ch}. @kwarg name: Optional name (C{str}), overriding C{Bern.name}. ''' LocalCartesian.__init__(self, latlonh0=ChLV.Bern, name=name) def forward(self, latlonh, lon=None, height=0, M=None, name=NN): # PYCHOK unused M # overloaded for the _ChLV.forward.__doc__ lat, lon, h, name = _llhn4(latlonh, lon, height, name=name) a, b, h_ = _ChLV._llh2abh_3(lat, lon, h) F = Fhorner y1 = F(a, 0.2114285339, -0.010939608, -0.000002658, -0.00000853) y3 = F(a, -0.0000442327, 0.000004291, -0.000000309) y5 = 0.0000000197 Y = F(b, 0, y1, 0, y3, 0, y5).fover(ChLV._ab_m) x0 = F(a, 0, 0.3087707463, 0.000075028, 0.000120435, 0, 0.00000007) x2 = F(a, 0.0037454089, -0.0001937927, 0.00000434, -0.000000376) x4 = F(a, -0.0000007346, 0.0000001444) X = F(b, x0, 0, x2, 0, x4).fover(ChLV._ab_m) return self._ChLV9Tuple(True, M, name, Y, X, h_, lat, lon, h) def reverse(self, enh_, n=None, h_=0, M=None, name=NN): # overloaded for the _ChLV.reverse.__doc__ Y, X, h_, name = self._YXh_n4(enh_, n, h_, name=name) a, b, h = _ChLV._YXh_2abh3(Y, X, h_) F = Fhorner a1 = F(b, 4.72973056, 0.7925714, 0.132812, 0.0255, 0.0048) a3 = F(b, -0.04427, -0.0255, -0.0096) a5 = 0.00096 lon = F(a, 2.67825, a1, 0, a3, 0, a5).fsum() # ChLV._bLon = 2.67825 b0 = F(b, 16.902866, 3.23864877, -0.0025486, -0.013245, 0.000048) b2 = F(b, -0.27135379, -0.0450442, -0.007553, -0.00146) b4 = F(b, 0.002442, 0.00132) lat = F(a, b0, 0, b2, 0, b4).fsum() # ChLV._aLat = 16.902866 return self._ChLV9Tuple(False, M, name, Y, X, h_, lat, lon, h) def tyr3d(tilt=INT0, yaw=INT0, roll=INT0, Vector=Vector3d, **Vector_kwds): '''Convert an attitude oriention into a (3-D) direction vector. @kwarg tilt: Pitch, elevation from horizontal (C{degrees}), negative down (clockwise rotation along and around the x-axis). @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North (counter-clockwise rotation along and around the z-axis). @kwarg roll: Roll, bank (C{degrees}), positive to the right and down (clockwise rotation along and around the y-axis). @return: A named B{C{Vector}} instance or if B{C{Vector}} is C{None}, a named L{Vector3Tuple}C{(x, y, z)}. @see: U{Yaw, pitch, and roll rotations<http://Planning.CS.UIUC.edu/node102.html>} and function L{pygeodesy.hartzell} argument C{los}. ''' d = Attitude4Tuple(_0_0, tilt, yaw, roll).tyr3d return d if Vector is type(d) else ( Vector3Tuple(d.x, d.y, d.z, name=d.name) if Vector is None else Vector(d.x, d.y, d.z, **_xkwds(Vector_kwds, name=d.name))) # PYCHOK indent def _xLtp(ltp, *dflt): '''(INTERNAL) Validate B{C{ltp}}. ''' if dflt and ltp is None: ltp = dflt[0] if isinstance(ltp, (LocalCartesian, Ltp)): return ltp raise _TypesError(_ltp_, ltp, Ltp, LocalCartesian) # **) MIT License # # Copyright (C) 2016-2022 -- mrJean1 at Gmail -- All Rights Reserved. # # Permission is hereby granted, free of charge, to any person obtaining a # copy of this software and associated documentation files (the "Software"), # to deal in the Software without restriction, including without limitation # the rights to use, copy, modify, merge, publish, distribute, sublicense, # and/or sell copies of the Software, and to permit persons to whom the # Software is furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included # in all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS # OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR # OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR # OTHER DEALINGS IN THE SOFTWARE.