# Coverage for pygeodesy/ltp.py : 98%

## 251 statements 245 run 6 missing 27 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 | # -*- coding: utf-8 -*- u'''I{Local Tangent Plane} (LTP) and I{local} cartesian coordinates. I{Local cartesian} and I{local tangent plane} classes L{LocalCartesian} and L{Ltp}, L{LocalError} and 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, _umod_360 from pygeodesy.datums import _WGS84, _xinstanceof from pygeodesy.ecef import _EcefBase, EcefKarney, _llhn4, _xyzn4 from pygeodesy.errors import _TypesError, _ValueError, _xkwds # from pygeodesy.fmath import fdot # from .vector3d from pygeodesy.fsums import fsum_, fsum1_ from pygeodesy.interns import EPS, INT0, NN, _COMMASPACE_, _ecef_, _height_, \ _invalid_, _lat0_, _lon0_, _ltp_, _M_, _name_, \ _too_, _0_, _0_0, _0_5, _2_0, _90_0, _180_0, \ _N_1_0 # PYCHOK used! # from pygeodesy.lazily import _ALL_LAZY # from .streprs from pygeodesy.ltpTuples import Attitude4Tuple, Footprint5Tuple, Local9Tuple, \ _NamedBase, _XyzLocals4, _XyzLocals5, Xyz4Tuple # from pygeodesy.named import _NamedBase # from .ltpTuples # from pygeodesy.namedTuples import Vector3Tuple # from .vector3d from pygeodesy.props import Property, property_doc_, Property_RO, _update_all from pygeodesy.streprs import _ALL_LAZY, Fmt, strs from pygeodesy.units import Bearing, Degrees, Meter from pygeodesy.utily import cotd, sincos2d, sincos2d_, tand, tand_, wrap180, wrap360 from pygeodesy.vector3d import fdot, Vector3d, Vector3Tuple __all__ = _ALL_LAZY.ltp __version__ = '22.06.24' _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 _xLtp(ltp) 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} def __init__(self, latlonh0=INT0, lon0=INT0, height0=INT0, ecef=None, name=NN): '''New L{LocalCartesian} converter. @kwarg latlonh0: Either a C{LatLon}, L{Ltp}, L{Ecef9Tuple} or C{scalar} latitude of the (goedetic) origin (C{degrees}). @kwarg lon0: Optional C{scalar} longitude of the (goedetic) origin C{scalar} B{C{latlonh0}} (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}). @kwarg name: Optional 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. @raise TypeError: Invalid B{C{ecef}}, not L{EcefKarney}. @note: If BC{latlonh0} is 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 self.ecef == other.ecef and self._t0 == other._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 Local9Tuple(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 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 Local9Tuple(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: Either a C{LatLon}, L{Ltp}, L{Ecef9Tuple} or C{scalar} latitude of the (goedetic) origin (C{degrees}). @kwarg lon0: Optional C{scalar} longitude of the (goedetic) 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 ecef: Optional ECEF converter (L{EcefKarney}, l{EcefFarrell21}, L{EcefFarrell22}, L{EcefSudano}, L{EcefVeness} or L{EcefYou} I{instance}), overriding 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{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. @raise TypeError: Invalid B{C{ecef}}. ''' 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._ecef = ecef self.reset(self._t0) 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): '''(INTERNAL) Validate B{C{ltp}}. ''' 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.