# Coverage for pygeodesy/ltpTuples.py : 94%

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Local coordinate classes L{XyzLocal}, L{Enu}, L{Ned} and L{Aer} and local coordinate tuples L{Local9Tuple}, L{Xyz4Tuple}, L{Enu4Tuple}, L{Ned4Tuple}, L{Aer4Tuple} and L{Footprint5Tuple}. @see: References in module L{ltp}. ''' from pygeodesy.basics import issubclassof, _xinstanceof from pygeodesy.dms import F_D, toDMS from pygeodesy.errors import _TypesError, _xkwds from pygeodesy.fmath import fdot, hypot, hypot_ # PYCHOK shared from pygeodesy.interns import NN, _4_, _azimuth_, _COMMASPACE_, \ _down_, _east_, _ecef_, _elevation_, \ _height_, _lat_, _lon_, _ltp_, _M_, \ _name_, _north_, _up_, _x_, _xyz_, \ _y_, _z_, _0_0, _90_0, _N_90_0 from pygeodesy.lazily import _ALL_LAZY, _ALL_MODS as _MODS from pygeodesy.named import _NamedBase, _NamedTuple, _Pass, _xnamed from pygeodesy.namedTuples import LatLon2Tuple, PhiLam2Tuple, Vector3Tuple from pygeodesy.props import deprecated_class, deprecated_method, \ deprecated_Property_RO, Property_RO, property_RO from pygeodesy.streprs import Fmt, fstr, strs, _xzipairs from pygeodesy.units import Bearing, Degrees, Degrees_, Height, Lat, \ Lon, Meter, Meter_ from pygeodesy.utily import atan2d, atan2b, sincos2d_ from pygeodesy.vector3d import Vector3d from math import cos, radians __all__ = _ALL_LAZY.ltpTuples __version__ = '21.12.28' _aer_ = 'aer' _alt_ = 'alt' _roll_ = 'roll' _slantrange_ = 'slantrange' _tilt_ = 'tilt' _yaw_ = 'yaw' def _er2gr(e, r): '''(INTERNAL) Elevation and slant range to ground range. ''' c = cos(radians(e)) return Meter_(groundrange=r * c) def _4Tuple2Cls(inst, Cls, Cls_kwds): '''(INTERNAL) Convert 4-Tuple to C{Cls} instance. ''' if Cls is None: return inst elif issubclassof(Cls, Aer): return inst.xyzLocal.toAer(Aer=Cls, **Cls_kwds) elif issubclassof(Cls, Enu): return inst.xyzLocal.toEnu(Enu=Cls, **Cls_kwds) elif issubclassof(Cls, Ned): return inst.xyzLocal.toNed(Ned=Cls, **Cls_kwds) elif issubclassof(Cls, XyzLocal): return inst.xyzLocal.toXyz(Xyz=Cls, **Cls_kwds) elif Cls is Local9Tuple: return inst.xyzLocal.toLocal9Tuple(**Cls_kwds) n = inst.__class__.__name__[:3] raise _TypesError(n, Cls, Aer, Enu, Ned, XyzLocal) def _xyz2aer4(inst): '''(INTERNAL) Convert C{(x, y, z}) to C{(A, E, R)}. ''' x, y, z, _ = inst.xyz4 A = Bearing(azimuth=atan2b(x, y)) E = Degrees(elevation=atan2d(z, hypot(x, y))) R = Meter(slantrange=hypot_(x, y, z)) return Aer4Tuple(A, E, R, inst.ltp, name=inst.name) class Aer(_NamedBase): '''Local C{Azimuth-Elevation-Range} (AER) in a I{local tangent plane}. ''' _azimuth = _0_0 # bearing from North (C{degrees360}) _elevation = _0_0 # tilt, pitch from horizon (C{degrees}). _ltp = None # local tangent plane (C{Ltp}), origin _slantrange = _0_0 # distance (C{Meter}) _toStr = _aer_ def __init__(self, aer, elevation=_0_0, slantrange=_0_0, ltp=None, name=NN): '''New L{Aer}. @arg aer: Scalar azimuth, bearing from North (C{degrees360}) or local (L{Aer}, L{Aer4Tuple}). @kwarg elevation: Scalar angle I{above} horizon, I{above} B{C{ltp}} (C{degrees90}) if scalar B{C{aer}}. @kwarg slantrange: Scalar distance (C{meter}) if scalar B{C{aer}}. @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, L{LocalCartesian}). @kwarg name: Optional name (C{str}). @raise TypeError: Invalid B{C{ltp}}. @raise UnitError: Invalid B{C{azimuth}}, B{C{elevation}} or or B{C{slantrange}}. ''' try: self._azimuth, self._elevation, self._slantrange = \ aer.azimuth, aer.elevation, aer.slantrange _xinstanceof(Aer, Aer4Tuple, aer=aer) p = getattr(aer, _ltp_, ltp) n = getattr(aer, _name_, name) except AttributeError: self._azimuth = Bearing(azimuth=aer) self._elevation = Degrees_(elevation=elevation, low=_N_90_0, high=_90_0) self._slantrange = Meter_(slantrange=slantrange) p, n = ltp, name if p: self._ltp = _MODS.ltp._xLtp(p) if name: self.name = n @Property_RO def aer4(self): '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). ''' return Aer4Tuple(self._azimuth, self._elevation, self._slantrange, self.ltp, name=self.name) @Property_RO def azimuth(self): '''Get the Azimuth, bearing from North (C{degrees360}). ''' return self._azimuth @Property_RO def down(self): '''Get the Down component (C{meter}). ''' return self.xyzLocal.down @Property_RO def east(self): '''Get the East component (C{meter}). ''' return self.xyzLocal.east @Property_RO def elevation(self): '''Get the Elevation, tilt above horizon (C{degrees90}). ''' return self._elevation @Property_RO def groundrange(self): '''Get the I{ground range}, distance (C{meter}). ''' return _er2gr(self._elevation, self._slantrange) @Property_RO def ltp(self): '''Get the I{local tangent plane} (L{Ltp}). ''' return self._ltp @Property_RO def north(self): '''Get the North component (C{meter}). ''' return self.xyzLocal.north @Property_RO def slantrange(self): '''Get the I{slant Range}, distance (C{meter}). ''' return self._slantrange def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected '''Return a string representation of this AER as azimuth (bearing), elevation and slant range. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (C{str}). @kwarg sep: Optional separator between AERs (C{str}). @return: This AER as "[A:degrees360, E:degrees90, R:meter]" (C{str}). ''' t = (toDMS(self.azimuth, form=F_D, prec=prec, ddd=0), toDMS(self.elevation, form=F_D, prec=prec, ddd=0), fstr( self.slantrange, prec=3 if prec is None else prec)) return _xzipairs(self._toStr.upper(), t, sep=sep, fmt=fmt) def toStr(self, prec=3, fmt=Fmt.SQUARE, sep=_COMMASPACE_): # PYCHOK expected '''Return a string representation of this ENU/NED/AER. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (C{str}). @kwarg sep: Optional separator between NEDs (C{str}). @return: This AER as "[degrees360, degrees90, meter]" (C{str}). ''' a = self._toStr t = getattr(self, a + _4_)[:len(a)] return fmt(sep.join(strs(t, prec=prec))) def toXyz(self, Xyz=None, **Xyz_kwds): '''Get the local I{X, Y, Z} (XYZ) components. @kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}) or C{None}. @kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, an L{Xyz4Tuple}C{(x, y, z, ltp)}. @raise TypeError: Invalid B{C{Xyz}}. ''' return self.xyz4._toXyz(Xyz, Xyz_kwds) @Property_RO def up(self): '''Get the Up component (C{meter}). ''' return self.xyzLocal.up @Property_RO def x(self): '''Get the X component (C{meter}). ''' return self.xyz4.x @Property_RO def xyz(self): '''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). ''' return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz @Property_RO def xyz4(self): '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). ''' sA, cA, sE, cE = sincos2d_(self._azimuth, self._elevation) R = self._slantrange r = cE * R # ground range return Xyz4Tuple(sA * r, cA * r, sE * R, self.ltp, name=self.name) @Property_RO def xyzLocal(self): '''Get this AER as an L{XyzLocal}. ''' return XyzLocal(self.xyz4) @Property_RO def y(self): '''Get the Y component (C{meter}). ''' return self.xyz4.y @Property_RO def z(self): '''Get the Z component (C{meter}). ''' return self.xyz4.z class Aer4Tuple(_NamedTuple): '''4-Tuple C{(azimuth, elevation, slantrange, ltp)}, all in C{meter} except C{ltp}. ''' _Names_ = (_azimuth_, _elevation_, _slantrange_, _ltp_) _Units_ = ( Meter, Meter, Meter, _Pass) def _toAer(self, Cls, Cls_kwds): '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. ''' if issubclassof(Cls, Aer): return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) else: return _4Tuple2Cls(self, Cls, Cls_kwds) @Property_RO def groundrange(self): '''Get the I{ground range}, distance (C{meter}). ''' return _er2gr(self.elevation, self.slantrange) # PYCHOK _Tuple @Property_RO def xyzLocal(self): '''Get this L{Aer4Tuple} as an L{XyzLocal}. ''' return Aer(self).xyzLocal class Attitude4Tuple(_NamedTuple): '''4-Tuple C{(alt, tilt, yaw, roll)} with C{altitude} in (positive) C{meter} and C{tilt}, C{yaw} and C{roll} in C{degrees} representing the attitude of a plane or camera. ''' _Names_ = (_alt_, _tilt_, _yaw_, _roll_) _Units_ = ( Meter, Bearing, Degrees, Degrees) @Property_RO def atyr(self): '''Return this attitude (L{Attitude4Tuple}). ''' return self @Property_RO def tyr3d(self): '''Get this attitude's (3-D) directional vector (L{Vector3d}). ''' return _MODS.ltp.Attitude(self).tyr3d class Ned(_NamedBase): '''Local C{North-Eeast-Down} (NED) location in a I{local tangent plane}. @see: L{Enu} and L{Ltp}. ''' _down = _0_0 # down, -XyzLocal.z (C{meter}). _east = _0_0 # east, XyzLocal.y (C{meter}). _ltp = None # local tangent plane (C{Ltp}), origin _north = _0_0 # north, XyzLocal.x (C{meter}) _toStr = 'ned' def __init__(self, ned, east=_0_0, down=_0_0, ltp=None, name=NN): '''New L{Ned} vector. @arg ned: Scalar north component (C{meter}) or local NED (L{Ned}, L{Ned4Tuple}). @kwarg east: Scalar east component (C{meter}) if scalar B{C{ned}}. @kwarg down: Scalar down component, normal to I{inside} surface of the ellipsoid or sphere (C{meter}) if scalar B{C{ned}}. @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, L{LocalCartesian}). @kwarg name: Optional name (C{str}). @raise TypeError: Invalid B{C{ltp}}. @raise UnitError: Invalid B{C{north}}, B{C{east}} or B{C{down}}. ''' try: self._north, self._east, self._down = ned.north, ned.east, ned.down _xinstanceof(Ned, Ned4Tuple, ned=ned) p = getattr(ned, _ltp_, ltp) n = getattr(ned, _name_, name) except AttributeError: self._north = Meter(north=ned or _0_0) self._east = Meter(east=east or _0_0) self._down = Meter(down=down or _0_0) p, n = ltp, name if p: self._ltp = _MODS.ltp._xLtp(p) if n: self.name = n @Property_RO def aer4(self): '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). ''' return _xyz2aer4(self) @Property_RO def azimuth(self): '''Get the Azimuth, bearing from North (C{degrees360}). ''' return self.aer4.azimuth @deprecated_Property_RO def bearing(self): '''DEPRECATED, use C{azimuth}.''' return self.azimuth @Property_RO def down(self): '''Get the Down component (C{meter}). ''' return self._down @Property_RO def east(self): '''Get the East component (C{meter}). ''' return self._east @Property_RO def elevation(self): '''Get the Elevation, tilt above horizon (C{degrees90}). ''' return self.aer4.elevation # neg(degrees90(asin1(self.down / self.length)))) @Property_RO def groundrange(self): '''Get the I{ground range}, distance (C{meter}). ''' return Meter(groundrange=hypot(self.north, self.east)) @deprecated_Property_RO def length(self): '''DEPRECATED, use C{slantrange}.''' return self.slantrange @Property_RO def ltp(self): '''Get the I{local tangent plane} (L{Ltp}). ''' return self._ltp @deprecated_Property_RO def ned(self): '''DEPRECATED, use property C{ned4}.''' return Ned3Tuple(self.north, self.east, self.down, name=self.name) @Property_RO def ned4(self): '''Get the C{(north, east, down, ltp)} components (L{Ned4Tuple}). ''' return Ned4Tuple(self.north, self.east, self.down, self.ltp, name=self.name) @Property_RO def north(self): '''Get the North component (C{meter}). ''' return self._north @Property_RO def slantrange(self): '''Get the I{slant Range}, distance (C{meter}). ''' return self.aer4.slantrange @deprecated_method def to3ned(self): # PYCHOK no cover '''DEPRECATED, use property L{ned4}.''' return self.ned # XXX deprecated too def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected '''Return a string representation of this NED. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (C{str}). @kwarg sep: Optional separator between items (C{str}). @return: This NED as "[N:meter, E:meter, D:meter]" (C{str}). ''' a = self._toStr t = getattr(self, a + _4_)[:len(a)] t = strs(t, prec=3 if prec is None else prec) return _xzipairs(a.upper(), t, sep=sep, fmt=fmt) def toStr(self, prec=3, fmt=Fmt.SQUARE, sep=_COMMASPACE_): # PYCHOK expected '''Return a string representation of this NED. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (C{str}). @kwarg sep: Optional separator between NEDs (C{str}). @return: This NED as "[meter, meter, meter]" (C{str}). ''' a = self._toStr t = getattr(self, a + _4_)[:len(a)] return fmt(sep.join(strs(t, prec=prec))) @deprecated_method def toVector3d(self): '''DEPRECATED, use property L{xyz}.''' return self.xyz def toXyz(self, Xyz=None, **Xyz_kwds): '''Get the local I{X, Y, Z} (XYZ) components. @kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}) or C{None}. @kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, an L{Xyz4Tuple}C{(x, y, z, ltp)}. @raise TypeError: Invalid B{C{Xyz}}. ''' return self.xyz4._toXyz(Xyz, Xyz_kwds) @Property_RO def up(self): '''Get the Up component (C{meter}). ''' return Meter(up=-self._down) # negated @Property_RO def x(self): '''Get the X component (C{meter}). ''' return Meter(x=self._east) # 2nd arg, E @Property_RO def xyz(self): '''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). ''' return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz @Property_RO def xyz4(self): '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). ''' return Xyz4Tuple(self.x, self.y, self.z, self.ltp, name=self.name) @Property_RO def xyzLocal(self): '''Get this NED as an L{XyzLocal}. ''' return XyzLocal(self.xyz4) @Property_RO def y(self): '''Get the Y component (C{meter}). ''' return Meter(y=self._north) # 1st arg N @Property_RO def z(self): '''Get the Z component (C{meter}). ''' return Meter(z=-self._down) # negated class Ned3Tuple(_NamedTuple): # was in .ellipsoidalNvector '''3-Tuple C{(north, east, down)}. DEPRECATED, use L{pygeodesy.Ned4Tuple}. ''' _Names_ = (_north_, _east_, _down_) _Units_ = ( Meter, Meter, Meter) def __new__(cls, north, east, down, name=NN): deprecated_class(cls) return _NamedTuple.__new__(cls, north, east, down, name=name) class Ned4Tuple(_NamedTuple): '''4-Tuple C{(north, east, down, ltp)}, all in C{meter} except C{ltp}. ''' _Names_ = (_north_, _east_, _down_, _ltp_) _Units_ = ( Meter, Meter, Meter, _Pass) def _toNed(self, Cls, Cls_kwds): '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. ''' if issubclassof(Cls, Ned): return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) else: return _4Tuple2Cls(self, Cls, Cls_kwds) @Property_RO def xyzLocal(self): '''Get this L{Ned4Tuple} as an L{XyzLocal}. ''' return Ned(self).xyzLocal class XyzLocal(Vector3d): '''Local C{(x, y, z)} in a I{local tangent plane} (LTP) and base class for local L{Enu}, L{Ned} and L{Aer}. ''' _ltp = None # local tangent plane (C{Ltp}), origin _toStr = _xyz_ def __init__(self, xyz, y=_0_0, z=_0_0, ltp=None, name=NN): '''New L{XyzLocal}. @arg xyz: Scalar X component (C{meter}), C{east} or a local (L{XyzLocal}, L{Xyz4Tuple}, L{Enu}, L{Enu4Tuple}, L{Local9Tuple}). @kwarg y: Scalar Y component (C{meter}) if scalar B{C{xyz}}, C{north}. @kwarg z: Scalar Z component if scalar B{C{xyz}}, normal C{up} from the surface of the ellipsoid or sphere (C{meter}). @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, L{LocalCartesian}). @raise TypeError: Invalid B{C{xyz}}, B{C{ltp}}. @raise UnitError: Invalid B{C{x}}, B{C{y}} or B{C{z}}. ''' try: self._x, self._y, self._z = xyz.x, xyz.y, xyz.z _xinstanceof(XyzLocal, Xyz4Tuple, Enu, Enu4Tuple, Local9Tuple, Ned, **{self._toStr: xyz}) p = getattr(xyz, _ltp_, ltp) n = getattr(xyz, _name_, name) except AttributeError: self._x = Meter(x=xyz or _0_0) self._y = Meter(y=y or _0_0) self._z = Meter(z=z or _0_0) p, n = ltp, name if p: self._ltp = _MODS.ltp._xLtp(p) if n: self.name = n def __str__(self): return self.toStr() @Property_RO def aer4(self): '''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). ''' return _xyz2aer4(self) @Property_RO def azimuth(self): '''Get the Azimuth, bearing from North (C{degrees360}). @see: U{Azimuth<https://GSSC.ESA.int/navipedia/index.php/ Transformations_between_ECEF_and_ENU_coordinates>}. ''' return self.aer4.azimuth def classof(self, *args, **kwds): '''Create another instance of this very class. @arg args: Optional, positional arguments. @kwarg kwds: Optional, keyword arguments. @return: New instance (C{self.__class__}). ''' kwds = _xkwds(kwds, ltp=self.ltp, name=self.name) return self.__class__(*args, **kwds) @Property_RO def down(self): '''Get the Down component (C{meter}). ''' return Meter(down=-self.z) @property_RO def ecef(self): '''Get this LTP's ECEF converter (C{Ecef...} I{instance}). ''' return self.ltp.ecef @Property_RO def east(self): '''Get the East component (C{meter}). ''' return Meter(east=self.x) @Property_RO def elevation(self): '''Get the Elevation, tilt above horizon (C{degrees90}). @see: U{Elevation<https://GSSC.ESA.int/navipedia/index.php/ Transformations_between_ECEF_and_ENU_coordinates>}. ''' return self.aer4.elevation # neg(degrees90(asin1(self.down / self.length)))) @Property_RO def enu4(self): '''Get the C{(east, north, up, ltp)} components (L{Enu4Tuple}). ''' return Enu4Tuple(self.east, self.north, self.up, self.ltp, name=self.name) @Property_RO def groundrange(self): '''Get the I{ground range}, distance (C{meter}). ''' return Meter(groundrange=hypot(self.x, self.y)) @Property_RO def ltp(self): '''Get the I{local tangent plane} (L{Ltp}). ''' return self._ltp @Property_RO def ned4(self): '''Get the C{(north, east, down, ltp)} components (L{Ned4Tuple}). ''' return Ned4Tuple(self.north, self.east, self.down, self.ltp, name=self.name) @Property_RO def north(self): '''Get the North component (C{meter}). ''' return Meter(north=self.y) @Property_RO def slantrange(self): '''Get the I{slant Range}, distance (C{meter}). ''' return self.aer4.slantrange def toAer(self, Aer=None, **Aer_kwds): '''Get the local I{Azimuth, Elevation, slantRange} components. @kwarg Aer: Class to return AER (L{Aer}) or C{None}. @kwarg Aer_kwds: Optional, additional B{C{Aer}} keyword arguments, ignored if C{B{Aer} is None}. @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. @raise TypeError: Invalid B{C{Aer}}. ''' return self.aer4._toAer(Aer, Aer_kwds) def toCartesian(self, Cartesian=None, ltp=None, **Cartesian_kwds): '''Get the geocentric C{(x, y, z)} (ECEF) coordinates of this local. @kwarg Cartesian: Optional class to return C{(x, y, z)} (C{Cartesian}) or C{None}. @kwarg ltp: Optional I{local tangent plane} (LTP) (L{Ltp}), overriding this C{ltp}. @kwarg Cartesian_kwds: Optional, additional B{C{Cartesian}} keyword arguments, ignored if C{B{Cartesian} is None}. @return: A B{C{Cartesian}} instance of 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{ltp}}, B{C{Cartesian}} or B{C{Cartesian_kwds}} argument. ''' ltp = _MODS.ltp._xLtp(self.ltp if ltp is None else ltp) if Cartesian is None: r = ltp._local2ecef(self, nine=True) else: x, y, z = ltp._local2ecef(self) kwds = _xkwds(Cartesian_kwds, datum=ltp.datum) r = Cartesian(x, y, z, **kwds) return _xnamed(r, self.name or ltp.name) def toEnu(self, Enu=None, **Enu_kwds): '''Get the local I{East, North, Up} (ENU) components. @kwarg Enu: Class to return ENU (L{Enu}) or C{None}. @kwarg Enu_kwds: Optional, additional B{C{Enu}} keyword arguments, ignored if C{B{Enu} is None}. @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an L{Enu4Tuple}C{(east, north, up, ltp)}. ''' return self.enu4._toEnu(Enu, Enu_kwds) def toLatLon(self, LatLon=None, ltp=None, **LatLon_kwds): '''Get the geodetic C{(lat, lon, height)} coordinates if this local. @kwarg LatLon: Optional class to return C{(x, y, z)} (C{LatLon}) or C{None}. @kwarg ltp: Optional I{local tangent plane} (LTP) (L{Ltp}), overriding this ENU/NED/AER/XYZ's LTP. @kwarg LatLon_kwds: Optional, additional B{C{LatLon}} keyword arguments, ignored if C{B{LatLon} is None}. @return: An B{C{LatLon}} instance of if C{B{LatLon} 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{ltp}}, B{C{LatLon}} or B{C{LatLon_kwds}} argument. ''' ltp = _MODS.ltp._xLtp(self.ltp if ltp is None else ltp) r = ltp._local2ecef(self, nine=True) if LatLon is None: r = _xnamed(r, self.name or ltp.name) else: kwds = _xkwds(LatLon_kwds, height=r.height, datum=r.datum, name=self.name or ltp.name) r = LatLon(r.lat, r.lon, **kwds) # XXX ltp? return r def toLocal9Tuple(self, M=False, name=NN): '''Get this local as a C{Local9Tuple}. @kwarg M: Optionally include the rotation matrix (C{bool}). @kwarg name: Optional name (C{str}). @return: L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with C{ltp} this C{Ltp}, C{ecef} an L{Ecef9Tuple} and C{M} L{EcefMatrix} or C{None}. ''' ltp = self.ltp # see C{self.toLatLon} t = ltp._local2ecef(self, nine=True, M=M) return Local9Tuple(self.x, self.y, self.z, t.lat, t.lon, t.height, ltp, t, t.M, name=name or t.name) def toNed(self, Ned=None, **Ned_kwds): '''Get the local I{North, East, Down} (Ned) components. @kwarg Ned: Class to return NED (L{Ned}) or C{None}. @kwarg Ned_kwds: Optional, additional B{C{Ned}} keyword arguments, ignored if C{B{Ned} is None}. @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an L{Ned4Tuple}C{(north, east, down, ltp)}. ''' return self.ned4._toNed(Ned, Ned_kwds) def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected '''Return a string representation of this ENU/NED/XYZ. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (C{str}). @kwarg sep: Optional separator between items (C{str}). @return: This XYZ/ENU as "[E:meter, N:meter, U:meter]", "[N:meter, E:meter, D:meter]" respectively "[X:meter, Y:meter, Z:meter]" (C{str}). ''' a = self._toStr t = getattr(self, a + _4_)[:len(a)] t = strs(t, prec=3 if prec is None else prec) return _xzipairs(a.upper(), t, sep=sep, fmt=fmt) def toStr(self, prec=3, fmt=Fmt.SQUARE, sep=_COMMASPACE_): # PYCHOK expected '''Return a string representation of this ENU/XYZ. @kwarg prec: Optional number of decimals, unstripped (C{int}). @kwarg fmt: Optional enclosing backets format (C{str}). @kwarg sep: Optional separator between items (C{str}). @return: This XYZ/ENU as "[meter, meter, meter]" (C{str}). ''' a = self._toStr t = getattr(self, a + _4_)[:len(a)] return fmt(sep.join(strs(t, prec=prec))) def toXyz(self, Xyz=None, **Xyz_kwds): '''Get the local I{X, Y, Z} (XYZ) components. @kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}) or C{None}. @kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, an L{Xyz4Tuple}C{(x, y, z, ltp)}. ''' return self.xyz4._toXyz(Xyz, Xyz_kwds) @Property_RO def up(self): '''Get the Up component (C{meter}). ''' return Meter(up=self.z) # @Property_RO # def x(self): # see: Vector3d.x # '''Get the X component (C{meter}). # ''' # return self._x # @Property_RO # def xyz(self): # see: Vector3d.xyz # '''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). # ''' # return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz @Property_RO def xyz4(self): '''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). ''' return Xyz4Tuple(self.x, self.y, self.z, self.ltp, name=self.name) @Property_RO def xyzLocal(self): '''Get this L{XyzLocal}. ''' return self # @Property_RO # def y(self): # see: Vector3d.y # '''Get the Y component (C{meter}). # ''' # return self._y # # @Property_RO # def z(self): # see: Vector3d.z # '''Get the Z component (C{meter}). # ''' # return self._z class Xyz4Tuple(_NamedTuple): '''4-Tuple C{(x, y, z, ltp)}, all in C{meter} except C{ltp}. ''' _Names_ = (_x_, _y_, _z_, _ltp_) _Units_ = ( Meter, Meter, Meter, _Pass) def _toXyz(self, Cls, Cls_kwds): '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. ''' if issubclassof(Cls, XyzLocal): return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) else: return _4Tuple2Cls(self, Cls, Cls_kwds) @Property_RO def xyzLocal(self): '''Get this L{Xyz4Tuple} as an L{XyzLocal}. ''' return XyzLocal(self) class Enu(XyzLocal): '''Local C{Eeast-North-Up} (ENU) location in a I{local tangent plane}. @see: U{East, North, Up (ENU)<https://GSSC.ESA.int/navipedia/index.php/ Transformations_between_ECEF_and_ENU_coordinates>} coordinates. ''' _toStr = 'enu' def __init__(self, enu, north=_0_0, up=_0_0, ltp=None, name=NN): '''New L{Enu}. @arg enu: Scalar East component (C{meter}) or a local (L{Enu}, (L{XyzLocal}, L{Local9Tuple}). @kwarg north: Scalar North component (C{meter}) if scalar B{C{enu}}. @kwarg up: Scalar Up component if scalar B{C{enu}}, normal from the surface of the ellipsoid or sphere (C{meter}). @kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, L{LocalCartesian}). @kwarg name: Optional name (C{str}). @raise TypeError: Invalid B{C{enu}} or B{C{ltp}}. @raise UnitError: Invalid B{C{east}}, B{C{north}} or B{C{up}}. ''' XyzLocal.__init__(self, enu, north, up, ltp=ltp, name=name) # @Property_RO # def xyzLocal(self): # return XyzLocal(self) class Enu4Tuple(_NamedTuple): '''4-Tuple C{(east, north, up, ltp)}, in C{meter} except C{ltp}. ''' _Names_ = (_east_, _north_, _up_, _ltp_) _Units_ = ( Meter, Meter, Meter, _Pass) def _toEnu(self, Cls, Cls_kwds): '''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. ''' if issubclassof(Cls, XyzLocal): return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) else: return _4Tuple2Cls(self, Cls, Cls_kwds) @Property_RO def xyzLocal(self): '''Get this L{Enu4Tuple} as an L{XyzLocal}. ''' return XyzLocal(*self, name=self.name) class Local9Tuple(_NamedTuple): '''9-Tuple C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, C{y}, C{z} all in C{meter}, I{geodetic} C{lat}, C{lon}, C{height}, I{local tangent plane} C{ltp} (L{Ltp}), C{ecef} (L{Ecef9Tuple}) with I{geocentric} C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height} and I{concatenated} rotation matrix C{M} (L{EcefMatrix}) or C{None}. ''' _Names_ = (_x_, _y_, _z_, _lat_, _lon_, _height_, _ltp_, _ecef_, _M_) _Units_ = ( Meter, Meter, Meter, Lat, Lon, Height, _Pass, _Pass, _Pass) @Property_RO def azimuth(self): '''Get the I{local} Azimuth, bearing from North (C{degrees360}). ''' return self.xyzLocal.aer4.azimuth @Property_RO def down(self): '''Get the I{local} Down, C{-z} component (C{meter}). ''' return -self.z @Property_RO def east(self): '''Get the I{local} East, C{x} component (C{meter}). ''' return self.x @Property_RO def elevation(self): '''Get the I{local} Elevation, tilt I{above} horizon (C{degrees90}). ''' return self.xyzLocal.aer4.elevation @Property_RO def groundrange(self): '''Get the I{local} ground range, distance (C{meter}). ''' return self.xyzLocal.aer4.groundrange @Property_RO def lam(self): '''Get the I{geodetic} longitude in C{radians} (C{float}). ''' return self.philam.lam @Property_RO def latlon(self): '''Get the I{geodetic} lat-, longitude in C{degrees} (L{LatLon2Tuple}C{(lat, lon)}). ''' return LatLon2Tuple(self.lat, self.lon, name=self.name) @Property_RO def latlonheight(self): '''Get the I{geodetic} lat-, longitude in C{degrees} and height (L{LatLon3Tuple}C{(lat, lon, height)}). ''' return self.latlon.to3Tuple(self.height) @Property_RO def north(self): '''Get the I{local} North, C{y} component (C{meter}). ''' return self.y @Property_RO def phi(self): '''Get the I{geodetic} latitude in C{radians} (C{float}). ''' return self.philam.phi @Property_RO def philam(self): '''Get the I{geodetic} lat-, longitude in C{radians} (L{PhiLam2Tuple}C{(phi, lam)}). ''' return PhiLam2Tuple(radians(self.lat), radians(self.lon), name=self.name) @Property_RO def philamheight(self): '''Get the I{geodetic} lat-, longitude in C{radians} and height (L{PhiLam3Tuple}C{(phi, lam, height)}). ''' return self.philam.to3Tuple(self.height) @Property_RO def slantrange(self): '''Get the I{local} slant Range, distance (C{meter}). ''' return self.xyzLocal.aer4.slantrange def toAer(self, Aer=None, **Aer_kwds): '''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components. @kwarg Aer: Class to return AER (L{Aer}) or C{None}. @kwarg Aer_kwds: Optional, additional B{L{Aer}} keyword arguments, ignored if B{C{Aer}} is C{None}. @return: AER as an L{Aer} instance or if C{B{Aer} is None}, an L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. ''' return self.xyzLocal.toAer(Aer=Aer, **Aer_kwds) def toCartesian(self, Cartesian=None, **Cartesian_kwds): '''Convert this I{local} to I{geocentric} C{(x, y, z)} (ECEF). @kwarg Cartesian: Optional class to return C{(x, y, z)} (C{Cartesian}) or C{None}. @kwarg Cartesian_kwds: Optional, additional B{C{Cartesian}} keyword arguments, ignored if C{B{Cartesian} is None}. @return: A C{B{Cartesian}(x, y, z, **B{Cartesian_kwds})} instance or a L{Vector4Tuple}C{(x, y, z, h)} if C{B{Cartesian} is None}. @raise TypeError: Invalid B{C{Cartesian}} or B{C{Cartesian_kwds}} argument. ''' return self.ecef.toCartesian(Cartesian=Cartesian, **Cartesian_kwds) # PYCHOK _Tuple def toEnu(self, Enu=None, **Enu_kwds): '''Get the I{local} I{East, North, Up} (ENU) components. @kwarg Enu: Class to return ENU (L{Enu}) or C{None}. @kwarg Enu_kwds: Optional, additional B{L{Enu}} keyword arguments, ignored if C{B{Enu} is None}. @return: ENU as an L{Enu} instance or if C{B{Enu} is None}, an L{Enu4Tuple}C{(east, north, up, ltp)}. ''' return self.xyzLocal.toEnu(Enu=Enu, **Enu_kwds) def toLatLon(self, LatLon=None, **LatLon_kwds): '''Convert this I{local} to I{geodetic} C{(lat, lon, height)}. @kwarg LatLon: Optional class to return C{(lat, lon, height)} (C{LatLon}) or C{None}. @kwarg LatLon_kwds: Optional, additional B{C{LatLon}} keyword arguments, ignored if C{B{LatLon} is None}. @return: An instance of C{B{LatLon}(lat, lon, **B{LatLon_kwds})} or if C{B{LatLon} is None}, a L{LatLon3Tuple}C{(lat, lon, height)} respectively L{LatLon4Tuple}C{(lat, lon, height, datum)} depending on whether C{datum} is un-/specified. @raise TypeError: Invalid B{C{LatLon}} or B{C{LatLon_kwds}} argument. ''' return self.ecef.toLatLon(LatLon=LatLon, **LatLon_kwds) # PYCHOK _Tuple def toNed(self, Ned=None, **Ned_kwds): '''Get the I{local} I{North, East, Down} (NED) components. @kwarg Ned: Class to return NED (L{Ned}) or C{None}. @kwarg Ned_kwds: Optional, additional B{L{Ned}} keyword arguments, ignored if B{C{Ned}} is C{None}. @return: NED as an L{Ned} instance or if C{B{Ned} is None}, an L{Ned4Tuple}C{(north, east, down, ltp)}. ''' return self.xyzLocal.toNed(Ned=Ned, **Ned_kwds) def toXyz(self, Xyz=None, **Xyz_kwds): '''Get the I{local} I{X, Y, Z} (XYZ) components. @kwarg Xyz: Class to return XYZ (L{XyzLocal}) or C{None}. @kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword arguments, ignored if C{B{Xyz} is None}. @return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, an L{Xyz4Tuple}C{(x, y, z, ltp)}. ''' return self.xyzLocal.toXyz(Xyz=Xyz, **Xyz_kwds) @Property_RO def up(self): '''Get the I{local} Up, C{z} component (C{meter}). ''' return self.z @Property_RO def xyz(self): '''Get the I{local} C{(X, Y, Z)} components (L{Vector3Tuple}C{(x, y, z)}). ''' return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz @Property_RO def xyzLocal(self): '''Get this L{Local9Tuple} as an L{XyzLocal}. ''' return XyzLocal(self) _XyzLocals4 = XyzLocal, Enu, Ned, Aer # PYCHOK in .ltp _XyzLocals5 = _XyzLocals4 + (Local9Tuple,) # PYCHOK in .ltp class Footprint5Tuple(_NamedTuple): '''5-Tuple C{(center, upperleft, upperight, loweright, lowerleft)} with the C{center} and 4 corners of a I{local} projection of a C{Frustum}, each an L{Xyz4Tuple}. @note: Misspelling of C{upperight} and C{loweright} is I{intentional}. ''' _Names_ = ('center', 'upperleft', 'upperight', 'loweright', 'lowerleft') _Units_ = (_Pass, _Pass, _Pass, _Pass, _Pass) # **) 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.