1 // Copyright (C) 2006 Mathias Froehlich - Mathias.Froehlich@web.de
3 // This library is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU Library General Public
5 // License as published by the Free Software Foundation; either
6 // version 2 of the License, or (at your option) any later version.
8 // This library is distributed in the hope that it will be useful,
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // Library General Public License for more details.
13 // You should have received a copy of the GNU General Public License
14 // along with this program; if not, write to the Free Software
15 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
21 #include <simgear/constants.h>
23 #ifndef NO_OPENSCENEGRAPH_INTERFACE
27 // #define SG_GEOD_NATIVE_DEGREE
29 /// Class representing a geodetic location
32 /// Default constructor, initializes the instance to lat = lon = elev = 0
35 /// Factory from angular values in radians and elevation is 0
36 static SGGeod fromRad(double lon, double lat);
37 /// Factory from angular values in degrees and elevation is 0
38 static SGGeod fromDeg(double lon, double lat);
39 /// Factory from angular values in radians and elevation in ft
40 static SGGeod fromRadFt(double lon, double lat, double elevation);
41 /// Factory from angular values in degrees and elevation in ft
42 static SGGeod fromDegFt(double lon, double lat, double elevation);
43 /// Factory from angular values in radians and elevation in m
44 static SGGeod fromRadM(double lon, double lat, double elevation);
45 /// Factory from angular values in degrees and elevation in m
46 static SGGeod fromDegM(double lon, double lat, double elevation);
47 /// Factory from an other SGGeod and a different elevation in m
48 static SGGeod fromGeodM(const SGGeod& geod, double elevation);
49 /// Factory from an other SGGeod and a different elevation in ft
50 static SGGeod fromGeodFt(const SGGeod& geod, double elevation);
51 /// Factory to convert position from a cartesian position assumed to be
52 /// in wgs84 measured in meters
53 /// Note that this conversion is relatively expensive to compute
54 static SGGeod fromCart(const SGVec3<double>& cart);
55 /// Factory to convert position from a geocentric position
56 /// Note that this conversion is relatively expensive to compute
57 static SGGeod fromGeoc(const SGGeoc& geoc);
59 /// Return the geodetic longitude in radians
60 double getLongitudeRad(void) const;
61 /// Set the geodetic longitude from the argument given in radians
62 void setLongitudeRad(double lon);
64 /// Return the geodetic longitude in degrees
65 double getLongitudeDeg(void) const;
66 /// Set the geodetic longitude from the argument given in degrees
67 void setLongitudeDeg(double lon);
69 /// Return the geodetic latitude in radians
70 double getLatitudeRad(void) const;
71 /// Set the geodetic latitude from the argument given in radians
72 void setLatitudeRad(double lat);
74 /// Return the geodetic latitude in degrees
75 double getLatitudeDeg(void) const;
76 /// Set the geodetic latitude from the argument given in degrees
77 void setLatitudeDeg(double lat);
79 /// Return the geodetic elevation in meters
80 double getElevationM(void) const;
81 /// Set the geodetic elevation from the argument given in meters
82 void setElevationM(double elevation);
84 /// Return the geodetic elevation in feet
85 double getElevationFt(void) const;
86 /// Set the geodetic elevation from the argument given in feet
87 void setElevationFt(double elevation);
89 // Compare two geodetic positions for equality
90 bool operator == ( const SGGeod & other ) const;
92 #ifndef NO_OPENSCENEGRAPH_INTERFACE
93 // Create a local coordinate frame in the earth-centered frame of
94 // reference. X points north, Z points down.
95 // makeSimulationFrameRelative() only includes rotation.
96 osg::Matrix makeSimulationFrameRelative() const;
97 osg::Matrix makeSimulationFrame() const;
99 // Create a Z-up local coordinate frame in the earth-centered frame
100 // of reference. This is what scenery models, etc. expect.
101 // makeZUpFrameRelative() only includes rotation.
102 osg::Matrix makeZUpFrameRelative() const;
103 osg::Matrix makeZUpFrame() const;
106 /// This one is private since construction is not unique if you do
107 /// not know the units of the arguments. Use the factory methods for
109 SGGeod(double lon, double lat, double elevation);
111 //// FIXME: wrong comment!
112 /// The actual data, angles in degrees, elevation in meters
113 /// The rationale for storing the values in degrees is that most code places
114 /// in flightgear/terragear use degrees as a nativ input and output value.
115 /// The places where it makes sense to use radians is when we convert
116 /// to other representations or compute rotation matrices. But both tasks
117 /// are computionally intensive anyway and that additional 'toRadian'
118 /// conversion does not hurt too much
125 SGGeod::SGGeod(void) :
126 _lon(0), _lat(0), _elevation(0)
131 SGGeod::SGGeod(double lon, double lat, double elevation) :
132 _lon(lon), _lat(lat), _elevation(elevation)
138 SGGeod::fromRad(double lon, double lat)
140 #ifdef SG_GEOD_NATIVE_DEGREE
141 return SGGeod(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES, 0);
143 return SGGeod(lon, lat, 0);
149 SGGeod::fromDeg(double lon, double lat)
151 #ifdef SG_GEOD_NATIVE_DEGREE
152 return SGGeod(lon, lat, 0);
154 return SGGeod(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS, 0);
160 SGGeod::fromRadFt(double lon, double lat, double elevation)
162 #ifdef SG_GEOD_NATIVE_DEGREE
163 return SGGeod(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES,
164 elevation*SG_FEET_TO_METER);
166 return SGGeod(lon, lat, elevation*SG_FEET_TO_METER);
172 SGGeod::fromDegFt(double lon, double lat, double elevation)
174 #ifdef SG_GEOD_NATIVE_DEGREE
175 return SGGeod(lon, lat, elevation*SG_FEET_TO_METER);
177 return SGGeod(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS,
178 elevation*SG_FEET_TO_METER);
184 SGGeod::fromRadM(double lon, double lat, double elevation)
186 #ifdef SG_GEOD_NATIVE_DEGREE
187 return SGGeod(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES,
190 return SGGeod(lon, lat, elevation);
196 SGGeod::fromDegM(double lon, double lat, double elevation)
198 #ifdef SG_GEOD_NATIVE_DEGREE
199 return SGGeod(lon, lat, elevation);
201 return SGGeod(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS,
208 SGGeod::fromGeodM(const SGGeod& geod, double elevation)
210 return SGGeod(geod._lon, geod._lat, elevation);
215 SGGeod::fromGeodFt(const SGGeod& geod, double elevation)
217 return SGGeod(geod._lon, geod._lat, elevation*SG_FEET_TO_METER);
222 SGGeod::fromCart(const SGVec3<double>& cart)
225 SGGeodesy::SGCartToGeod(cart, geod);
231 SGGeod::fromGeoc(const SGGeoc& geoc)
234 SGGeodesy::SGGeocToCart(geoc, cart);
236 SGGeodesy::SGCartToGeod(cart, geod);
242 SGGeod::getLongitudeRad(void) const
244 #ifdef SG_GEOD_NATIVE_DEGREE
245 return _lon*SGD_DEGREES_TO_RADIANS;
253 SGGeod::setLongitudeRad(double lon)
255 #ifdef SG_GEOD_NATIVE_DEGREE
256 _lon = lon*SGD_RADIANS_TO_DEGREES;
264 SGGeod::getLongitudeDeg(void) const
266 #ifdef SG_GEOD_NATIVE_DEGREE
269 return _lon*SGD_RADIANS_TO_DEGREES;
275 SGGeod::setLongitudeDeg(double lon)
277 #ifdef SG_GEOD_NATIVE_DEGREE
280 _lon = lon*SGD_DEGREES_TO_RADIANS;
286 SGGeod::getLatitudeRad(void) const
288 #ifdef SG_GEOD_NATIVE_DEGREE
289 return _lat*SGD_DEGREES_TO_RADIANS;
297 SGGeod::setLatitudeRad(double lat)
299 #ifdef SG_GEOD_NATIVE_DEGREE
300 _lat = lat*SGD_RADIANS_TO_DEGREES;
308 SGGeod::getLatitudeDeg(void) const
310 #ifdef SG_GEOD_NATIVE_DEGREE
313 return _lat*SGD_RADIANS_TO_DEGREES;
319 SGGeod::setLatitudeDeg(double lat)
321 #ifdef SG_GEOD_NATIVE_DEGREE
324 _lat = lat*SGD_DEGREES_TO_RADIANS;
330 SGGeod::getElevationM(void) const
337 SGGeod::setElevationM(double elevation)
339 _elevation = elevation;
344 SGGeod::getElevationFt(void) const
346 return _elevation*SG_METER_TO_FEET;
351 SGGeod::setElevationFt(double elevation)
353 _elevation = elevation*SG_FEET_TO_METER;
358 SGGeod::operator == ( const SGGeod & other ) const
360 return _lon == other._lon &&
361 _lat == other._lat &&
362 _elevation == other._elevation;
365 /// Output to an ostream
366 template<typename char_type, typename traits_type>
368 std::basic_ostream<char_type, traits_type>&
369 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGGeod& g)
371 return s << "lon = " << g.getLongitudeDeg()
372 << "deg, lat = " << g.getLatitudeDeg()
373 << "deg, elev = " << g.getElevationM()