# Coverage for pygeodesy/cartesianBase.py : 96%

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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 | # -*- 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}.. @newfield example: Example, Examples ''' from pygeodesy.basics import property_doc_, property_RO, \ _xinstanceof, _xkwds from pygeodesy.datums import Datum, Datums, _ellipsoidal_datum from pygeodesy.ecef import EcefKarney from pygeodesy.errors import _datum_datum, _IsnotError, _ValueError from pygeodesy.fmath import cbrt, fsum_, hypot_, hypot2 from pygeodesy.interns import EPS, NN, _COMMA_SPACE_, _ellipsoidal_, \ _spherical_, _SQUARE_, _1_0 # PYCHOK used! from pygeodesy.lazily import _ALL_DOCS from pygeodesy.namedTuples import LatLon4Tuple, Vector4Tuple from pygeodesy.vector3d import Vector3d, _xyzhdn6 from math import sqrt # hypot __all__ = () __version__ = '20.10.02' class CartesianBase(Vector3d): '''(INTERNAL) Base class for ellipsoidal and spherical C{Cartesian}. ''' _datum = None # L{Datum}, to be overriden _Ecef = EcefKarney # preferred C{Ecef...} class _e9t = None # cached toEcef (L{Ecef9Tuple}) _height = 0 # height (L{Height}) _v4t = None # cached toNvector (L{Vector4Tuple}) 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: self._height = h if d: self.datum = _ellipsoidal_datum(d, name=name) def _update(self, updated, *attrs): '''(INTERNAL) Zap cached attributes if updated. ''' if updated: Vector3d._update(self, updated, '_e9t', '_v4t', *attrs) def _applyHelmert(self, transform, inverse=False, **datum): '''(INTERNAL) Return a new cartesian by applying a Helmert transform to this cartesian. @arg transform: Transform to apply (L{Transform}). @kwarg inverse: Optionally, apply the inverse Helmert transform (C{bool}). @kwarg datum: Optional datum of the returned point, (C{B{datum}=}L{Datum}). @return: The transformed point (C{Cartesian}). @note: For C{B{inverse}=True} keyword B{C{datum}} must be C{B{datum}=}L{Datums.WGS84}. ''' xyz = transform.transform(self.x, self.y, self.z, inverse) return self._xnamed(self.classof(xyz, **datum)) def convertDatum(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) if datum not in (None, self.datum): c = self.convertDatum(datum) else: c = self i, d = False, c.datum if d == datum2: return c.copy() if c is self else c elif d == Datums.WGS84: d = datum2 # convert from WGS84 to datum2 elif datum2 == Datums.WGS84: i = True # convert to WGS84 by inverse transform else: # neither datum2 nor c.datum is WGS84, invert to WGS84 first c = c._applyHelmert(d.transform, True, datum=Datums.WGS84) d = datum2 return c._applyHelmert(d.transform, i, datum=datum2) @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}). @raise TypeError: The B{C{datum}} is not a L{Datum}. ''' _xinstanceof(Datum, datum=datum) 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 @property_RO def height(self): '''Get the height (C{meter}). ''' return self._height @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 Ecef(self): '''Get the ECEF I{class} (L{EcefKarney} or L{EcefVeness}). ''' return self._Ecef @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 _N_vector(self): '''(INTERNAL) Get the (C{nvectorBase._N_vector_}). ''' from pygeodesy.nvectorBase import _N_vector_ r = self._v4t or self.toNvector() return _N_vector_(r.x, r.y, r.z, h=r.h) @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 def to3llh(self, datum=None): # PYCHOK no cover '''DEPRECATED, use property C{latlonheightdatum} or property C{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 suggests. ''' t = self.toLatLon(datum=datum, LatLon=None) r = LatLon4Tuple(t.lat, t.lon, t.height, t.datum) return self._xnamed(r) # 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) # for n, v in pairs.items(): # setattr(r, n, v) # r = self._xnamed(r) # return r def toEcef(self): '''Convert this cartesian to 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. ''' if self._e9t is None: r = self.Ecef(self.datum).reverse(self, M=True) self._e9t = self._xnamed(r) return self._e9t def toLatLon(self, datum=None, LatLon=None, **LatLon_kwds): # see .ecef.Ecef9Tuple.convertDatum '''Convert this cartesian to a geodetic (lat-/longitude) point. @kwarg datum: Optional datum (L{Datum}, L{Ellipsoid}, L{Ellipsoid2} or L{a_f2Tuple}). @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}=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 = self.datum if datum in (None, d): r = self.toEcef() else: c = self.convertDatum(datum) d = c.datum r = c.Ecef(d).reverse(c, M=True) if LatLon is not None: # class or .classof r = LatLon(r.lat, r.lon, **_xkwds(LatLon_kwds, datum=r.datum, height=r.height)) _datum_datum(r.datum, d) return self._xnamed(r) def toNvector(self, Nvector=None, datum=None, **Nvector_kwds): # PYCHOK Datums.WGS84 '''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 B{C{Nvector=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 = _ellipsoidal_datum(datum or self.datum, name=self.name) r = self._v4t if r is None or d != self.datum: # <https://www.Movable-Type.co.UK/scripts/geodesy/docs/ # latlon-nvector-ellipsoidal.js.html#line309> E = d.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 s = (p * q * E.e4) / (4 * r**3) t = cbrt(fsum_(1, s, sqrt(s * (2 + s)))) u = r * fsum_(_1_0, t, _1_0 / t) v = sqrt(u**2 + E.e4 * q) w = E.e2 * fsum_(u, v, -q) / (2 * v) k = sqrt(fsum_(u, v, w**2)) - w if abs(k) < EPS: raise _ValueError(origin=self) e = k / (k + E.e2) # d = e * hypot(x, y) # tmp = 1 / hypot(d, z) == 1 / hypot(e * hypot(x, y), z) t = hypot_(e * x, e * y, z) # == 1 / tmp if t < EPS: raise _ValueError(origin=self) h = fsum_(k, E.e2, -_1_0) / k * t s = e / t # == e * tmp r = Vector4Tuple(x * s, y * s, z / t, h) self._v4t = r if d == self.datum else None if Nvector is not None: r = Nvector(r.x, r.y, r.z, h=r.h, datum=d, **Nvector_kwds) return self._xnamed(r) def toStr(self, prec=3, fmt=_SQUARE_, sep=_COMMA_SPACE_): # 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}=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)) __all__ += _ALL_DOCS(CartesianBase) # xyz = Vector3d.xyz # '''Get this cartesian's X, Y and Z components (L{Vector3Tuple}C{(x, y, z)}). # ''' # **) MIT License # # Copyright (C) 2016-2020 -- 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.