# Coverage for pygeodesy/cartesianBase.py : 92%

## 192 statements 176 run 16 missing 14 excluded

Hot-keys on this page

r m x p toggle line displays

j k next/prev highlighted chunk

0 (zero) top of page

1 (one) first highlighted chunk

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 | # -*- coding: utf-8 -*- u'''(INTERNAL) Base classes for elliposiodal, spherical and N-/vectorial C{Cartesian}s. After I{(C) Chris Veness 2011-2015} published under the same MIT Licence**, see U{https://www.Movable-Type.co.UK/scripts/latlong.html}, U{https://www.Movable-Type.co.UK/scripts/latlong-vectors.html} and U{https://www.Movable-Type.co.UK/scripts/geodesy/docs/latlon-ellipsoidal.js.html}.. ''' from pygeodesy.basics import isnear0, _xinstanceof from pygeodesy.datums import Datum, _spherical_datum, _WGS84 from pygeodesy.errors import _datum_datum, _IsnotError, \ _ValueError, _xkwds from pygeodesy.fmath import cbrt, fsum_, hypot_, hypot2 # hypot from pygeodesy.interns import EPS0, NN, _COMMASPACE_, _height_, _not_, \ _1_0, _2_0, _4_0, _6_0 from pygeodesy.interns import _ellipsoidal_, _spherical_ # PYCHOK used! from pygeodesy.lazily import _ALL_DOCS # from pygeodesy.named import _xnamed # from .namedTuples from pygeodesy.namedTuples import LatLon4Tuple, Vector4Tuple, _xnamed from pygeodesy.props import deprecated_method, Property, \ Property_RO, property_doc_ from pygeodesy.streprs import Fmt from pygeodesy.units import Height from pygeodesy.vector3d import Vector3d, _xyzhdn6 from math import sqrt __all__ = () __version__ = '21.08.27' class CartesianBase(Vector3d): '''(INTERNAL) Base class for ellipsoidal and spherical C{Cartesian}. ''' _datum = None # L{Datum}, to be overriden _height = None # height (L{Height}), set or approximated def __init__(self, xyz, y=None, z=None, datum=None, ll=None, name=NN): '''New C{Cartesian...}. @arg xyz: An L{Ecef9Tuple}, L{Vector3Tuple}, L{Vector4Tuple} or the C{X} coordinate (C{scalar}). @arg y: The C{Y} coordinate (C{scalar}) if B{C{xyz}} C{scalar}. @arg z: The C{Z} coordinate (C{scalar}) if B{C{xyz}} C{scalar}. @kwarg datum: Optional datum (L{Datum}, L{Ellipsoid}, L{Ellipsoid2} or L{a_f2Tuple}). @kwarg ll: Optional, original latlon (C{LatLon}). @kwarg name: Optional name (C{str}). @raise TypeError: Non-scalar B{C{xyz}}, B{C{y}} or B{C{z}} coordinate or B{C{xyz}} not an L{Ecef9Tuple}, L{Vector3Tuple} or L{Vector4Tuple}. ''' x, y, z, h, d, n = _xyzhdn6(xyz, y, z, None, datum, ll) Vector3d.__init__(self, x, y, z, ll=ll, name=name or n) if h is not None: self._height = Height(h) if d is not None: self.datum = d def _applyHelmert(self, transform, inverse=False, datum=None): '''(INTERNAL) Return a new cartesian by applying a Helmert transform to this cartesian. @arg transform: Transform to apply (L{Transform}). @kwarg inverse: Apply the inverse of the Helmert transform (C{bool}). @kwarg datum: Datum for the transformed point (L{Datum}), overriding this point's datum. @return: The transformed point (C{Cartesian}). @raise Valuerror: If C{B{inverse}=True} and B{C{datum}} is not L{Datums}C{.WGS84}. ''' d = datum or self.datum if inverse and d != _WGS84: raise _ValueError(inverse=inverse, datum=d, txt=_not_(_WGS84.name)) xyz = transform.transform(*self.xyz, inverse=inverse) return self.classof(xyz, datum=d) @property_doc_(''' this cartesian's datum (L{Datum}).''') def datum(self): '''Get this cartesian's datum (L{Datum}). ''' return self._datum @datum.setter # PYCHOK setter! def datum(self, datum): '''Set this cartesian's C{datum} I{without conversion}. @arg datum: New datum (L{Datum}), ellipsoidal or spherical. @raise TypeError: The B{C{datum}} is not a L{Datum}. ''' datum = _spherical_datum(datum, name=self.name) d = self.datum if d is not None: if d.isEllipsoidal and not datum.isEllipsoidal: raise _IsnotError(_ellipsoidal_, datum=datum) elif d.isSpherical and not datum.isSpherical: raise _IsnotError(_spherical_, datum=datum) self._update(datum != d) self._datum = datum def destinationXyz(self, delta, Cartesian=None, **Cartesian_kwds): '''Calculate the destination using a I{local} delta from this cartesian. @arg delta: Local delta to the destination (L{XyzLocal}, L{Enu}, L{Ned} or L{Local9Tuple}). @kwarg Cartesian: Optional (geocentric) class to return the destination or C{None}. @kwarg Cartesian_kwds: Optional, additional B{C{Cartesian}} keyword arguments, ignored if C{B{Cartesian} is None}. @return: Destination as a C{B{Cartesian}(x, y, z, **B{Cartesian_kwds})} instance or if C{B{Cartesian} is None}, an L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with C{M=None} always. @raise TypeError: Invalid B{C{delta}}, B{C{Cartesian}} or B{C{Cartesian_kwds}}. ''' if Cartesian is None: r = self._ltp._local2ecef(delta, nine=True) else: r = self._ltp._local2ecef(delta, nine=False) r = Cartesian(*r, **_xkwds(Cartesian_kwds, datum=self.datum)) return _xnamed(r, self.name) @Property_RO def Ecef(self): '''Get the ECEF I{class} (L{EcefKarney}), I{lazily}. ''' from pygeodesy.ecef import EcefKarney return EcefKarney # default @Property_RO def _ecef9(self): '''(INTERNAL) Helper for L{toEcef}, L{toLocal} and L{toLtp} (L{Ecef9Tuple}). ''' return self.Ecef(self.datum, name=self.name).reverse(self, M=True) def hartzell(self, los=None): '''Compute the intersection of a Line-Of-Sight from this certesian Point-Of-View (pov) with this C{datum}'s ellipsoid surface. @kwarg los: Line-Of-Sight, I{direction} to earth (L{Vector3d}) or C{None} to point to the ellipsoid's center. @return: The ellipsoid intersection (C{Cartesian}). @raise IntersectionError: Null C{pov} or B{C{los}} vector, this C{pov} is inside the ellipsoid or B{C{los}} points outside the ellipsoid or in an opposite direction. @raise TypeError: Invalid B{C{los}} or no B{C{datum}}. @see: Function C{hartzell} for further details. ''' from pygeodesy.formy import hartzell return hartzell(self, los=los, earth=self.datum) @Property def height(self): '''Get the height (C{meter}). ''' return self._height4.h if self._height is None else self._height @height.setter # PYCHOK setter! def height(self, height): '''Set the height. @arg height: New height (C{meter}). @raise TypeError: Invalid B{C{height}} C{type}. @raise ValueError: Invalid B{C{height}}. ''' h = Height(height) self._update(h != self.height) self._height = h @Property_RO def _height4(self): '''(INTERNAL) Get this C{height4}-tuple. ''' try: r = self.datum.ellipsoid.height4(self, normal=True) except (AttributeError, ValueError): # no datum, null cartesian, r = Vector4Tuple(self.x, self.y, self.z, 0, name=self.height4.__name__) return r def height4(self, earth=None, normal=True, Cartesian=None, **Cartesian_kwds): '''Compute the height of this cartesian above or below and the projection on this datum's ellipsoid surface. @kwarg earth: A datum, ellipsoid or earth radius I{overriding} this datum (L{Datum}, L{Ellipsoid}, L{Ellipsoid2}, L{a_f2Tuple} or C{meter}, conventionally). @kwarg normal: If C{True} the projection is the nearest point on the ellipsoid's surface, otherwise the intersection of the radial line to the center and the ellipsoid's surface. @kwarg Cartesian: Optional class to return the height and projection (C{Cartesian}) or C{None}. @kwarg Cartesian_kwds: Optional, additional B{C{Cartesian}} keyword arguments, ignored if C{B{Cartesian} is None}. @note: Use keyword argument C{height=0} to override C{B{Cartesian}.height} to {0} or any other C{scalar}, conventionally in C{meter}. @return: An instance of B{C{Cartesian}} or if C{B{Cartesian} is None}, a L{Vector4Tuple}C{(x, y, z, h)} with the I{projection} C{x}, C{y} and C{z} coordinates and height C{h} in C{meter}, conventionally. @raise TypeError: Invalid B{C{earth}}. @see: L{Ellipsoid.height4} for more information. ''' r = self._height4 if normal and earth in (None, self.datum) else \ _spherical_datum(earth).ellipsoid.height4(self, normal=normal) if Cartesian is not None: kwds = Cartesian_kwds.copy() h = kwds.pop(_height_, None) r = Cartesian(r, **kwds) if h is not None: r.height = Height(height=h) return r @Property_RO def isEllipsoidal(self): '''Check whether this cartesian is ellipsoidal (C{bool} or C{None} if unknown). ''' return self.datum.isEllipsoidal if self._datum else None @Property_RO def isSpherical(self): '''Check whether this cartesian is spherical (C{bool} or C{None} if unknown). ''' return self.datum.isSpherical if self._datum else None @Property_RO def latlon(self): '''Get this cartesian's (geodetic) lat- and longitude in C{degrees} (L{LatLon2Tuple}C{(lat, lon)}). ''' return self.toEcef().latlon @Property_RO def latlonheight(self): '''Get this cartesian's (geodetic) lat-, longitude in C{degrees} with height (L{LatLon3Tuple}C{(lat, lon, height)}). ''' return self.toEcef().latlonheight @Property_RO def latlonheightdatum(self): '''Get this cartesian's (geodetic) lat-, longitude in C{degrees} with height and datum (L{LatLon4Tuple}C{(lat, lon, height, datum)}). ''' return self.toEcef().latlonheightdatum @Property_RO def _ltp(self): '''(INTERNAL) Cache for L{toLtp}. ''' from pygeodesy.ltp import Ltp return Ltp(self._ecef9, ecef=self.Ecef(self.datum), name=self.name) @Property_RO def _N_vector(self): '''(INTERNAL) Get the (C{nvectorBase._N_vector_}). ''' from pygeodesy.nvectorBase import _N_vector_ x, y, z, h = self._n_xyzh4(self.datum) return _N_vector_(x, y, z, h=h, name=self.name) def _n_xyzh4(self, datum): '''(INTERNAL) Get the n-vector components as L{Vector4Tuple}. ''' _xinstanceof(Datum, datum=datum) # <https://www.Movable-Type.co.UK/scripts/geodesy/docs/ # latlon-nvector-ellipsoidal.js.html#line309>, # <https://GitHub.com/pbrod/nvector>/src/nvector/core.py> # _equation23 and <https://www.NavLab.net/nvector> E = datum.ellipsoid x, y, z = self.xyz # Kenneth Gade eqn 23 p = hypot2(x, y) * E.a2_ q = (z**2 * E.e12) * E.a2_ r = fsum_(p, q, -E.e4) / _6_0 s = (p * q * E.e4) / (_4_0 * r**3) t = cbrt(fsum_(_1_0, s, sqrt(s * (_2_0 + s)))) if isnear0(t): raise _ValueError(origin=self, txt=Fmt.EPS0(t)) u = r * fsum_(_1_0, t, _1_0 / t) v = sqrt(u**2 + E.e4 * q) t = v * _2_0 if t < EPS0: # isnear0 raise _ValueError(origin=self, txt=Fmt.EPS0(t)) w = E.e2 * fsum_(u, v, -q) / t k = sqrt(fsum_(u, v, w**2)) - w if isnear0(k): raise _ValueError(origin=self, txt=Fmt.EPS0(k)) t = k + E.e2 if isnear0(t): raise _ValueError(origin=self, txt=Fmt.EPS0(t)) e = k / t # d = e * hypot(x, y) # tmp = 1 / hypot(d, z) == 1 / hypot(e * hypot(x, y), z) t = hypot_(x * e, y * e, z) # == 1 / tmp if t < EPS0: # isnear0 raise _ValueError(origin=self, txt=Fmt.EPS0(t)) h = fsum_(k, E.e2, -_1_0) / k * t s = e / t # == e * tmp return Vector4Tuple(x * s, y * s, z / t, h, name=self.name) @Property_RO def philam(self): '''Get this cartesian's (geodetic) lat- and longitude in C{radians} (L{PhiLam2Tuple}C{(phi, lam)}). ''' return self.toEcef().philam @Property_RO def philamheight(self): '''Get this cartesian's (geodetic) lat-, longitude in C{radians} with height (L{PhiLam3Tuple}C{(phi, lam, height)}). ''' return self.toEcef().philamheight @Property_RO def philamheightdatum(self): '''Get this cartesian's (geodetic) lat-, longitude in C{radians} with height and datum (L{PhiLam4Tuple}C{(phi, lam, height, datum)}). ''' return self.toEcef().philamheightdatum @deprecated_method def to3llh(self, datum=None): # PYCHOK no cover '''DEPRECATED, use property L{latlonheightdatum} or L{latlonheight}. @return: A L{LatLon4Tuple}C{(lat, lon, height, datum)}. @note: This method returns a B{C{-4Tuple}} I{and not a} C{-3Tuple} as its name may suggest. ''' t = self.toLatLon(datum=datum, LatLon=None) return LatLon4Tuple(t.lat, t.lon, t.height, t.datum, name=self.name) # def _to3LLh(self, datum, LL, **pairs): # OBSOLETE # '''(INTERNAL) Helper for C{subclass.toLatLon} and C{.to3llh}. # ''' # r = self.to3llh(datum) # LatLon3Tuple # if LL is not None: # r = LL(r.lat, r.lon, height=r.height, datum=datum, name=self.name) # for n, v in pairs.items(): # setattr(r, n, v) # return r def toDatum(self, datum2, datum=None): '''Convert this cartesian from one datum to an other. @arg datum2: Datum to convert I{to} (L{Datum}). @kwarg datum: Datum to convert I{from} (L{Datum}). @return: The converted point (C{Cartesian}). @raise TypeError: B{C{datum2}} or B{C{datum}} invalid. ''' _xinstanceof(Datum, datum2=datum2) c = self if datum in (None, self.datum) else \ self.toDatum(datum) i, d = False, c.datum if d == datum2: return c.copy() if c is self else c elif d == _WGS84: d = datum2 # convert from WGS84 to datum2 elif datum2 == _WGS84: i = True # convert to WGS84 by inverse transformation else: # neither datum2 nor c.datum is WGS84, invert to WGS84 first c = c._applyHelmert(d.transform, inverse=True, datum=_WGS84) d = datum2 return c._applyHelmert(d.transform, inverse=i, datum=datum2) convertDatum = toDatum # for backward compatibility def toEcef(self): '''Convert this cartesian to I{geodetic} (lat-/longitude) coordinates. @return: An L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with C{C} and C{M} if available. @raise EcefError: A C{.datum} or an ECEF issue. ''' return self._ecef9 def toLatLon(self, datum=None, height=None, LatLon=None, **LatLon_kwds): # see .ecef.Ecef9Tuple.toDatum '''Convert this cartesian to a geodetic (lat-/longitude) point. @kwarg datum: Optional datum (L{Datum}, L{Ellipsoid}, L{Ellipsoid2} or L{a_f2Tuple}). @kwarg height: Optional height, overriding the converted height (C{meter}), iff B{C{LatLon}} is not C{None}. @kwarg LatLon: Optional class to return the geodetic point (C{LatLon}) or C{None}. @kwarg LatLon_kwds: Optional, additional B{C{LatLon}} keyword arguments, ignored if C{B{LatLon} is None}. @return: The geodetic point (B{C{LatLon}}) or if B{C{LatLon}} is C{None}, an L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with C{C} and C{M} if available. @raise TypeError: Invalid B{C{datum}} or B{C{LatLon_kwds}}. ''' d = _spherical_datum(datum or self.datum, name=self.name) if d == self.datum: r = self.toEcef() else: c = self.toDatum(d) r = c.Ecef(d, name=self.name).reverse(c, M=LatLon is None) if LatLon: # class or .classof h = r.height if height is None else Height(height) r = LatLon(r.lat, r.lon, datum=r.datum, height=h, **_xkwds(LatLon_kwds, name=r.name)) _datum_datum(r.datum, d) return r def toLocal(self, Xyz=None, ltp=None, **Xyz_kwds): '''Convert this I{geocentric} cartesian to I{local} C{X}, C{Y} and C{Z}. @kwarg Xyz: Optional class to return C{X}, C{Y} and C{Z} (L{XyzLocal}, L{Enu}, L{Ned}) or C{None}. @kwarg ltp: The I{local tangent plane} (LTP) to use, overriding this cartesian's LTP (L{Ltp}). @kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. @return: An B{C{Xyz}} instance or if C{B{Xyz} is None}, a L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with C{M=None} always. @raise TypeError: Invalid B{C{ltp}}. ''' p = self._ltp if ltp is None else self._xLtp(ltp) return p._ecef2local(self._ecef9, Xyz, Xyz_kwds) def toLtp(self, Ecef=None): '''Return the I{local tangent plane} (LTP) for this cartesian. @kwarg Ecef: Optional ECEF I{class} (L{EcefKarney}, ... L{EcefYou}), overriding this cartesian's C{Ecef}. ''' if Ecef in (None, self.Ecef): r = self._ltp else: from pygeodesy.ltp import Ltp r = Ltp(self._ecef9, ecef=Ecef(self.datum), name=self.name) return r def toNvector(self, Nvector=None, datum=None, **Nvector_kwds): '''Convert this cartesian to C{n-vector} components. @kwarg Nvector: Optional class to return the C{n-vector} components (C{Nvector}) or C{None}. @kwarg datum: Optional datum (L{Datum}, L{Ellipsoid}, L{Ellipsoid2} or L{a_f2Tuple}) overriding this cartesian's datum. @kwarg Nvector_kwds: Optional, additional B{C{Nvector}} keyword arguments, ignored if C{B{Nvector} is None}. @return: The C{unit, n-vector} components (B{C{Nvector}}) or a L{Vector4Tuple}C{(x, y, z, h)} if B{C{Nvector}} is C{None}. @raise TypeError: Invalid B{C{datum}}. @raise ValueError: The B{C{Cartesian}} at origin. @example: >>> c = Cartesian(3980581, 97, 4966825) >>> n = c.toNvector() # (x=0.622818, y=0.00002, z=0.782367, h=0.242887) ''' d = _spherical_datum(datum or self.datum, name=self.name) r = self._N_vector.xyzh if d == self.datum else self._n_xyzh4(d) if Nvector is not None: kwds = _xkwds(Nvector_kwds, h=r.h, datum=d) r = self._xnamed(Nvector(r.x, r.y, r.z, **kwds)) return r def toStr(self, prec=3, fmt=Fmt.SQUARE, sep=_COMMASPACE_): # PYCHOK expected '''Return the string representation of this cartesian. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (string). @kwarg sep: Optional separator to join (string). @return: Cartesian represented as "[x, y, z]" (string). ''' return Vector3d.toStr(self, prec=prec, fmt=fmt, sep=sep) def toVector(self, Vector=None, **Vector_kwds): '''Return this cartesian's components as vector. @kwarg Vector: Optional class to return the C{n-vector} components (L{Vector3d}) 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}} or an L{Vector3Tuple}C{(x, y, z)} if B{C{Vector}} is C{None}. @raise TypeError: Invalid B{C{Vector}} or B{C{Vector_kwds}}. ''' return self.xyz if Vector is None else self._xnamed( Vector(self.x, self.y, self.z, **Vector_kwds)) @Property_RO def _xLtp(self): '''(INTERNAL) Import and cache function C{ltp._xLtp}. ''' from pygeodesy.ltp import _xLtp return _xLtp __all__ += _ALL_DOCS(CartesianBase) # **) MIT License # # Copyright (C) 2016-2021 -- 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.