data_types.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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
{
namespace 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
 
}  // End of namespace
 
}  // End of namespace
 
#endif