data_types.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef data_types_H
#define data_types_H

#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt::topography
{
/** \addtogroup mrpt_topography_grp
  *  @{ */

/** @name Data structures
   @{ */

/** A coordinate that is stored as a simple "decimal" angle in degrees, but can
 * be retrieved/set in the form of DEGREES + arc-MINUTES + arc-SECONDS.
  */
struct TCoords
{
    // Only keep one of the possible representations:
    /** Also obtained directly through the double(void) operator using a TCoords
     * anywhere were a double is expected. */
    double decimal_value;

    inline TCoords(const int _deg, const int _min, const double _sec)
    {
        setDegMinSec(_deg, _min, _sec);
    }
    inline TCoords(const double dec) { setFromDecimal(dec); }
    inline TCoords() { setFromDecimal(0); }
    /** Automatic conversion to a double value (read-only) */
    inline operator double(void) const { return decimal_value; }
    /** Automatic conversion to a double value (read-only) */
    inline operator double&(void) { return decimal_value; }
    /** Set from a decimal value (XX.YYYYY) in degrees. */
    inline void setFromDecimal(const double dec) { decimal_value = dec; }
    /** Get the decimal value (XX.YYYYY), in degrees - you can also use the
     * automatic conversion between TCoords and a double.  */
    inline double getDecimalValue() const { return decimal_value; }
    /** Return the Deg Min' Sec'' representation of this value. */
    inline void getDegMinSec(int& degrees, int& minutes, double& seconds) const
    {
        double aux = std::abs(decimal_value);
        degrees = (int)aux;
        minutes = (int)((aux - degrees) * 60.0f);
        seconds = ((aux - degrees) * 60.0f - minutes) * 60.0f;
        if (decimal_value < 0) degrees = -degrees;
    }

    /** Set the coordinate from its Deg Min' Deg'' parts. */
    inline void setDegMinSec(
        const int degrees, const int minutes, const double seconds)
    {
        decimal_value = std::abs(degrees) + minutes / 60.0 + seconds / 3600.0;
        if (degrees < 0) decimal_value = -decimal_value;
    }

    /** Return a std::string in the format "DEGdeg MIN' SEC''" */
    inline std::string getAsString() const
    {
        int deg, min;
        double sec;
        getDegMinSec(deg, min, sec);
        return mrpt::format("%ddeg %d' %.04f''", deg, min, sec);
    }
};

bool operator==(const TCoords& a, const TCoords& o);
bool operator!=(const TCoords& a, const TCoords& o);

std::ostream& operator<<(std::ostream& out, const TCoords& o);

struct TEllipsoid
{
    inline TEllipsoid() : sa(6378137.0), sb(6356752.314245), name("WGS84") {}
    inline TEllipsoid(
        const double _sa, const double _sb, const std::string& _name)
        : sa(_sa), sb(_sb), name(_name)
    {
    }

    /** largest semiaxis of the reference ellipsoid (in meters) */
    double sa;
    /** smallest semiaxis of the reference ellipsoid (in meters) */
    double sb;
    /** the ellipsoid name */
    std::string name;

    static inline TEllipsoid Ellipsoid_WGS84()
    {
        return TEllipsoid(6378137.000, 6356752.314245, "WGS84");
    }
    static inline TEllipsoid Ellipsoid_WGS72()
    {
        return TEllipsoid(6378135.000, 6356750.519915, "WGS72");
    }
    static inline TEllipsoid Ellipsoid_WGS66()
    {
        return TEllipsoid(6378145.000, 6356759.769356, "WGS66");
    }
    static inline TEllipsoid Ellipsoid_Walbeck_1817()
    {
        return TEllipsoid(6376896.000, 6355834.846700, "Walbeck_1817");
    }
    static inline TEllipsoid Ellipsoid_Sudamericano_1969()
    {
        return TEllipsoid(6378160.000, 6356774.720000, "Sudamericano_1969");
    }
    static inline TEllipsoid Ellipsoid_Nuevo_Internacional_1967()
    {
        return TEllipsoid(
            6378157.500, 6356772.200000, "Nuevo_Internacional_1967");
    }
    static inline TEllipsoid Ellipsoid_Mercury_Modificado_1968()
    {
        return TEllipsoid(
            6378150.000, 6356768.337303, "Mercury_Modificado_1968");
    }
    static inline TEllipsoid Ellipsoid_Mercury_1960()
    {
        return TEllipsoid(6378166.000, 6356784.283666, "Mercury_1960");
    }
    static inline TEllipsoid Ellipsoid_Krasovsky_1940()
    {
        return TEllipsoid(6378245.000, 6356863.018800, "Krasovsky_1940");
    }
    static inline TEllipsoid Ellipsoid_Internacional_1924()
    {
        return TEllipsoid(6378388.000, 6356911.946130, "Internacional_1924");
    }
    static inline TEllipsoid Ellipsoid_Internacional_1909()
    {
        return TEllipsoid(6378388.000, 6356911.946130, "Internacional_1909");
    }
    static inline TEllipsoid Ellipsoid_Hough_1960()
    {
        return TEllipsoid(6378270.000, 6356794.343479, "Hough_1960");
    }
    static inline TEllipsoid Ellipsoid_Helmert_1906()
    {
        return TEllipsoid(6378200.000, 6356818.170000, "Helmert_1906");
    }
    static inline TEllipsoid Ellipsoid_Hayford_1909()
    {
        return TEllipsoid(6378388.000, 6356911.946130, "Hayford_1909");
    }
    static inline TEllipsoid Ellipsoid_GRS80()
    {
        return TEllipsoid(6378137.000, 6356752.314140, "GRS80");
    }
    static inline TEllipsoid Ellipsoid_Fischer_1968()
    {
        return TEllipsoid(6378150.000, 6356768.330000, "Fischer_1968");
    }
    static inline TEllipsoid Ellipsoid_Fischer_1960()
    {
        return TEllipsoid(6378166.000, 6356784.280000, "Fischer_1960");
    }
    static inline TEllipsoid Ellipsoid_Clarke_1880()
    {
        return TEllipsoid(6378249.145, 6356514.869550, "Clarke_1880");
    }
    static inline TEllipsoid Ellipsoid_Clarke_1866()
    {
        return TEllipsoid(6378206.400, 6356583.800000, "Clarke_1866");
    }
    static inline TEllipsoid Ellipsoid_Bessel_1841()
    {
        return TEllipsoid(6377397.155, 6356078.962840, "Bessel_1841");
    }
    static inline TEllipsoid Ellipsoid_Airy_Modificado_1965()
    {
        return TEllipsoid(6377340.189, 6356034.447900, "Airy_Modificado_1965");
    }
    static inline TEllipsoid Ellipsoid_Airy_1830()
    {
        return TEllipsoid(6377563.396, 6356256.910000, "Airy_1830");
    }
};

using TUTMCoords = mrpt::math::TPoint3D;
using TGeocentricCoords = mrpt::math::TPoint3D;

/**  A set of geodetic coordinates: latitude, longitude and height, defined over
 * a given geoid (typically, WGS84)  */
struct TGeodeticCoords
{
    TGeodeticCoords() : lat(0), lon(0), height(0) {}
    TGeodeticCoords(const double _lat, const double _lon, const double _height)
        : lat(_lat), lon(_lon), height(_height)
    {
    }

    inline bool isClear() const
    {
        return lat.getDecimalValue() == 0 && lon.getDecimalValue() == 0 &&
               height == 0;
    }

    /** Latitude (in degrees) */
    TCoords lat;
    /** Longitude (in degrees) */
    TCoords lon;
    /** Geodetic height (in meters) */
    double height;
};

bool operator==(const TGeodeticCoords& a, const TGeodeticCoords& o);
bool operator!=(const TGeodeticCoords& a, const TGeodeticCoords& o);

/** Parameters for a topographic transfomation
  * \sa TDatum10Params, transform7params
  */
struct TDatum7Params
{
    /** Deltas (X,Y,Z) */
    double dX, dY, dZ;
    /** Rotation components (in secs) */
    double Rx, Ry, Rz;
    /** Scale factor (in ppm) (Scale is 1+dS/1e6) */
    double dS;

    inline TDatum7Params(
        const double _dX, const double _dY, const double _dZ, const double _Rx,
        const double _Ry, const double _Rz, const double _dS)
        : dX(_dX), dY(_dY), dZ(_dZ)
    {
        Rx = mrpt::DEG2RAD(_Rx / 60 / 60);
        Ry = mrpt::DEG2RAD(_Ry / 60 / 60);
        Rz = mrpt::DEG2RAD(_Rz / 60 / 60);
        dS = _dS * 1e-6;
    }
};

struct TDatum7Params_TOPCON
{
    /** Deltas (X,Y,Z) */
    double dX, dY, dZ;
    double m11, m12, m13, m21, m22, m23, m31, m32, m33;
    /** Scale factor (in ppm) (Scale is 1+dS/1e6) */
    double dS;

    inline TDatum7Params_TOPCON(
        const double _dX, const double _dY, const double _dZ, const double _m11,
        const double _m12, const double _m13, const double _m21,
        const double _m22, const double _m23, const double _m31,
        const double _m32, const double _m33, const double _dS)
        : dX(_dX),
          dY(_dY),
          dZ(_dZ),
          m11(_m11),
          m12(_m12),
          m13(_m13),
          m21(_m21),
          m22(_m22),
          m23(_m23),
          m31(_m31),
          m32(_m32),
          m33(_m33)
    {
        dS = _dS * 1e-6;
    }
};

/** Parameters for a topographic transfomation
  * \sa TDatum7Params, transform10params
  */
struct TDatum10Params
{
    /** Deltas (X,Y,Z) */
    double dX, dY, dZ;
    /** To be substracted to the input point */
    double Xp, Yp, Zp;
    /** Rotation components */
    double Rx, Ry, Rz;
    /** Scale factor (Scale is 1+dS) */
    double dS;

    inline TDatum10Params(
        const double _dX, const double _dY, const double _dZ, const double _Xp,
        const double _Yp, const double _Zp, const double _Rx, const double _Ry,
        const double _Rz, const double _dS)
        : dX(_dX), dY(_dY), dZ(_dZ), Xp(_Xp), Yp(_Yp), Zp(_Zp)
    {
        Rx = mrpt::DEG2RAD(_Rx / 60 / 60);
        Ry = mrpt::DEG2RAD(_Ry / 60 / 60);
        Rz = mrpt::DEG2RAD(_Rz / 60 / 60);
        dS = _dS * 1e-6;
    }
};

/** Parameters for a topographic transfomation
  * \sa TDatumHelmert3D, transformHelmert2D
  */
struct TDatumHelmert2D
{
    /** Deltas [X,Y] */
    double dX, dY;
    double alpha;  // The rotation about Z-axis (degrees)
    double dS;  // Scale factor (Scale is 1+dS)
    double Xp, Yp;  // Coordinates of the rotation point

    inline TDatumHelmert2D(
        const double _dX, const double _dY, const double _alpha,
        const double _dS, const double _Xp, const double _Yp)
        : dX(_dX), dY(_dY), Xp(_Xp), Yp(_Yp)
    {
        alpha = mrpt::DEG2RAD(_alpha);
        dS = _dS * 1e-6;
    }
};

struct TDatumHelmert2D_TOPCON
{
    double a, b, c, d;

    inline TDatumHelmert2D_TOPCON(
        const double _a, const double _b, const double _c, const double _d)
        : a(_a), b(_b), c(_c), d(_d)
    {
    }
};

/** Parameters for a topographic transfomation
  * \sa TDatumHelmert2D, transformHelmert3D
  */
struct TDatumHelmert3D
{
    /** Deltas (X,Y,Z) */
    double dX, dY, dZ;
    /** Rotation components */
    double Rx, Ry, Rz;
    /** Scale factor (Scale is 1+dS) */
    double dS;

    inline TDatumHelmert3D(
        const double _dX, const double _dY, const double _dZ, const double _Rx,
        const double _Ry, const double _Rz, const double _dS)
        : dX(_dX), dY(_dY), dZ(_dZ)
    {
        Rx = mrpt::DEG2RAD(_Rx / 60 / 60);
        Ry = mrpt::DEG2RAD(_Ry / 60 / 60);
        Rz = mrpt::DEG2RAD(_Rz / 60 / 60);
        dS = _dS * 1e-6;
    }
};

/** Parameters for a topographic transfomation
  * \sa TDatumHelmert2D, transformHelmert3D
  */
struct TDatumHelmert3D_TOPCON
{
    double a, b, c, d, e, f, g;

    inline TDatumHelmert3D_TOPCON(
        const double _a, const double _b, const double _c, const double _d,
        const double _e, const double _f, const double _g)
        : a(_a), b(_b), c(_c), d(_d), e(_e), f(_f), g(_g)
    {
    }
};

/** Parameters for a topographic transfomation
  * \sa transform1D
  */
struct TDatum1DTransf
{
    /** Deltas (X,Y,Z) */
    double dX, dY, DZ;
    /** Scale factor (Scale is 1+dS) */
    double dS;

    inline TDatum1DTransf(
        const double _dX, const double _dY, const double _DZ, const double _dS)
        : dX(_dX), dY(_dY), DZ(_DZ)
    {
        dS = _dS * 1e-6;
    }
};

/** Parameters for a topographic transfomation
  * \sa transform1D
  */
struct TDatumTransfInterpolation
{
    /** Deltas (X,Y,Z) */
    double dX, dY;
    /** Scale factor in X and Y */
    double dSx, dSy;
    /** Distortion angle */
    double beta;

    inline TDatumTransfInterpolation(
        const double _dX, const double _dY, const double _dSx,
        const double _dSy, const double _beta)
        : dX(_dX), dY(_dY)
    {
        dSx = _dSx * 1e-6;
        dSy = _dSy * 1e-6;
        beta = mrpt::DEG2RAD(_beta / 60 / 60);
    }
};

/** @} */

/** @} */  // end of grouping

}
#endif