Changeset 15 in flairsrc for trunk/lib/FlairSensorActuator/src/geodesie.cpp
 Timestamp:
 Apr 8, 2016, 3:40:57 PM (6 years ago)
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trunk/lib/FlairSensorActuator/src/geodesie.cpp
r3 r15 8 8 9 9 #ifdef _MSC_VER 10 # pragma warning(disable:4244)10 #pragma warning(disable : 4244) 11 11 #endif //_MSC_VER 12 12 13 13 namespace Geodesie { 14 14 /// //////////////////////////////////////////////////////////////////// 15 Matrice::Matrice(const Matrice & A) { 16 c0_l0=A.c0_l0;c1_l0=A.c1_l0;c2_l0=A.c2_l0; 17 c0_l1=A.c0_l1;c1_l1=A.c1_l1;c2_l1=A.c2_l1; 18 c0_l2=A.c0_l2;c1_l2=A.c1_l2;c2_l2=A.c2_l2; 15 Matrice::Matrice(const Matrice &A) { 16 c0_l0 = A.c0_l0; 17 c1_l0 = A.c1_l0; 18 c2_l0 = A.c2_l0; 19 c0_l1 = A.c0_l1; 20 c1_l1 = A.c1_l1; 21 c2_l1 = A.c2_l1; 22 c0_l2 = A.c0_l2; 23 c1_l2 = A.c1_l2; 24 c2_l2 = A.c2_l2; 19 25 } 20 26 /// //////////////////////////////////////////////////////////////////// 21 27 Matrice::Matrice() { 22 c0_l0=0.0;c1_l0=0.0;c2_l0=0.0; 23 c0_l1=0.0;c1_l1=0.0;c2_l1=0.0; 24 c0_l2=0.0;c1_l2=0.0;c2_l2=0.0; 25 } 26 /// //////////////////////////////////////////////////////////////////// 27 void Matrice::Apply(double v0,double v1,double v2, double& Mv0,double& Mv1,double& Mv2) { 28 Mv0 = c0_l0*v0 + c1_l0*v1 + c2_l0*v2; 29 Mv1 = c0_l1*v0 + c1_l1*v1 + c2_l1*v2; 30 Mv2 = c0_l2*v0 + c1_l2*v1 + c2_l2*v2; 28 c0_l0 = 0.0; 29 c1_l0 = 0.0; 30 c2_l0 = 0.0; 31 c0_l1 = 0.0; 32 c1_l1 = 0.0; 33 c2_l1 = 0.0; 34 c0_l2 = 0.0; 35 c1_l2 = 0.0; 36 c2_l2 = 0.0; 37 } 38 /// //////////////////////////////////////////////////////////////////// 39 void Matrice::Apply(double v0, double v1, double v2, double &Mv0, double &Mv1, 40 double &Mv2) { 41 Mv0 = c0_l0 * v0 + c1_l0 * v1 + c2_l0 * v2; 42 Mv1 = c0_l1 * v0 + c1_l1 * v1 + c2_l1 * v2; 43 Mv2 = c0_l2 * v0 + c1_l2 * v1 + c2_l2 * v2; 31 44 } 32 45 /// //////////////////////////////////////////////////////////////////// 33 46 Matrice ProdMat(const Matrice A, const Matrice B) { 34 35 36 out.c0_l0=A.c0_l0 * B.c0_l0 + A.c1_l0 * B.c0_l1 + A.c2_l0 * B.c0_l2;37 out.c1_l0=A.c0_l0 * B.c1_l0 + A.c1_l0 * B.c1_l1 + A.c2_l0 * B.c1_l2;38 out.c2_l0=A.c0_l0 * B.c2_l0 + A.c1_l0 * B.c2_l1 + A.c2_l0 * B.c2_l2;39 40 out.c0_l1=A.c0_l1 * B.c0_l0 + A.c1_l1 * B.c0_l1 + A.c2_l1 * B.c0_l2;41 out.c1_l1=A.c0_l1 * B.c1_l0 + A.c1_l1 * B.c1_l1 + A.c2_l1 * B.c1_l2;42 out.c2_l1=A.c0_l1 * B.c2_l0 + A.c1_l1 * B.c2_l1 + A.c2_l1 * B.c2_l2;43 44 out.c0_l2=A.c0_l2 * B.c0_l0 + A.c1_l2 * B.c0_l1 + A.c2_l2 * B.c0_l2;45 out.c1_l2=A.c0_l2 * B.c1_l0 + A.c1_l2 * B.c1_l1 + A.c2_l2 * B.c1_l2;46 out.c2_l2=A.c0_l2 * B.c2_l0 + A.c1_l2 * B.c2_l1 + A.c2_l2 * B.c2_l2;47 47 Matrice out; 48 49 out.c0_l0 = A.c0_l0 * B.c0_l0 + A.c1_l0 * B.c0_l1 + A.c2_l0 * B.c0_l2; 50 out.c1_l0 = A.c0_l0 * B.c1_l0 + A.c1_l0 * B.c1_l1 + A.c2_l0 * B.c1_l2; 51 out.c2_l0 = A.c0_l0 * B.c2_l0 + A.c1_l0 * B.c2_l1 + A.c2_l0 * B.c2_l2; 52 53 out.c0_l1 = A.c0_l1 * B.c0_l0 + A.c1_l1 * B.c0_l1 + A.c2_l1 * B.c0_l2; 54 out.c1_l1 = A.c0_l1 * B.c1_l0 + A.c1_l1 * B.c1_l1 + A.c2_l1 * B.c1_l2; 55 out.c2_l1 = A.c0_l1 * B.c2_l0 + A.c1_l1 * B.c2_l1 + A.c2_l1 * B.c2_l2; 56 57 out.c0_l2 = A.c0_l2 * B.c0_l0 + A.c1_l2 * B.c0_l1 + A.c2_l2 * B.c0_l2; 58 out.c1_l2 = A.c0_l2 * B.c1_l0 + A.c1_l2 * B.c1_l1 + A.c2_l2 * B.c1_l2; 59 out.c2_l2 = A.c0_l2 * B.c2_l0 + A.c1_l2 * B.c2_l1 + A.c2_l2 * B.c2_l2; 60 return out; 48 61 } 49 62 50 63 /// //////////////////////////////////////////////////////////////////// 51 64 Matrice TransMat(const Matrice A) { 52 Matrice out; 53 out.c0_l0=A.c0_l0 ; out.c1_l0 = A.c0_l1 ; out.c2_l0 = A.c0_l2 ; 54 out.c0_l1=A.c1_l0 ; out.c1_l1 = A.c1_l1 ; out.c2_l1 = A.c1_l2 ; 55 out.c0_l2=A.c2_l0 ; out.c1_l2 = A.c2_l1 ; out.c2_l2 = A.c2_l2 ; 56 return out; 57 } 58 59 /// //////////////////////////////////////////////////////////////////// 60 void Write(const Matrice A,std::ostream& out) { 61 out<< A.c0_l0<<"\t"<< A.c1_l0<<"\t"<< A.c2_l0<<"\n"; 62 out<< A.c0_l1<<"\t"<< A.c1_l1<<"\t"<< A.c2_l1<<"\n"; 63 out<< A.c0_l2<<"\t"<< A.c1_l2<<"\t"<< A.c2_l2<<"\n"; 64 } 65 66 /// //////////////////////////////////////////////////////////////////// 67 Raf98::~Raf98() { 68 m_dvalues.clear(); 69 } 65 Matrice out; 66 out.c0_l0 = A.c0_l0; 67 out.c1_l0 = A.c0_l1; 68 out.c2_l0 = A.c0_l2; 69 out.c0_l1 = A.c1_l0; 70 out.c1_l1 = A.c1_l1; 71 out.c2_l1 = A.c1_l2; 72 out.c0_l2 = A.c2_l0; 73 out.c1_l2 = A.c2_l1; 74 out.c2_l2 = A.c2_l2; 75 return out; 76 } 77 78 /// //////////////////////////////////////////////////////////////////// 79 void Write(const Matrice A, std::ostream &out) { 80 out << A.c0_l0 << "\t" << A.c1_l0 << "\t" << A.c2_l0 << "\n"; 81 out << A.c0_l1 << "\t" << A.c1_l1 << "\t" << A.c2_l1 << "\n"; 82 out << A.c0_l2 << "\t" << A.c1_l2 << "\t" << A.c2_l2 << "\n"; 83 } 84 85 /// //////////////////////////////////////////////////////////////////// 86 Raf98::~Raf98() { m_dvalues.clear(); } 70 87 71 88 // 72 bool Raf98::Interpol(double longitude, double latitude, double* Hwgs84) const { 73 *Hwgs84 = 0.0; 74 if (m_dvalues.size()==0) 75 return false; 76 const double longitude_min = 5.5; 77 const double longitude_max = 8.5; 78 if (longitude < longitude_min) 79 return false; 80 if (longitude > longitude_max) 81 return false; 82 83 const double latitude_min = 42; 84 const double latitude_max = 51.5; 85 if (latitude < latitude_min) 86 return false; 87 if (latitude > latitude_max) 88 return false; 89 90 //conversion en position 91 double longPix = (longitude  longitude_min) * 30.; 92 double latPix = (latitude_max  latitude) * 40.; 93 94 double RestCol,RestLig; 95 double ColIni,LigIni; 96 RestCol = modf(longPix,&ColIni); 97 RestLig = modf(latPix,&LigIni); 98 99 100 double Zbd = (1.0RestCol) * (1.0RestLig) * LitGrille(ColIni , LigIni ); 101 Zbd += RestCol * (1.0RestLig) * LitGrille(ColIni+1, LigIni ); 102 Zbd += (1.0RestCol) * RestLig * LitGrille(ColIni , LigIni+1); 103 Zbd += RestCol * RestLig * LitGrille(ColIni+1, LigIni+1); 104 *Hwgs84 = Zbd; 105 106 107 return true; 108 } 109 /// //////////////////////////////////////////////////////////////////// 110 double Raf98::LitGrille(unsigned int c,unsigned int l) const{ 111 const unsigned int w=421; 112 // const unsigned int h=381; 113 return m_dvalues.at(c+l*w); 114 } 115 /// //////////////////////////////////////////////////////////////////// 116 bool Raf98::Load(const std::string & sin) { 117 std::ifstream in(sin.c_str()); 118 unsigned int w = 421; 119 unsigned int h = 381; 120 121 m_dvalues.reserve(w*h); 122 123 char entete[1024];//sur 3 lignes 124 in.getline(entete,1023); 125 in.getline(entete,1023); 126 in.getline(entete,1023); 127 128 char bidon[1024]; 129 double val; 130 for (unsigned int i=0; i< h; ++i) { 131 for (unsigned int j=0; j< 52; ++j) { 132 for (unsigned int k=0; k< 8; ++k) { 133 in >> val; 134 m_dvalues.push_back( val ); 135 } 136 in.getline(bidon,1023); 137 } 138 for (unsigned int k=0; k< 5; ++k) { 139 in >> val; 140 m_dvalues.push_back( val ); 141 } 142 in.getline(bidon,1023); 143 if (!in.good()) { 144 m_dvalues.clear(); 145 return false; 146 } 89 bool Raf98::Interpol(double longitude, double latitude, double *Hwgs84) const { 90 *Hwgs84 = 0.0; 91 if (m_dvalues.size() == 0) 92 return false; 93 const double longitude_min = 5.5; 94 const double longitude_max = 8.5; 95 if (longitude < longitude_min) 96 return false; 97 if (longitude > longitude_max) 98 return false; 99 100 const double latitude_min = 42; 101 const double latitude_max = 51.5; 102 if (latitude < latitude_min) 103 return false; 104 if (latitude > latitude_max) 105 return false; 106 107 // conversion en position 108 double longPix = (longitude  longitude_min) * 30.; 109 double latPix = (latitude_max  latitude) * 40.; 110 111 double RestCol, RestLig; 112 double ColIni, LigIni; 113 RestCol = modf(longPix, &ColIni); 114 RestLig = modf(latPix, &LigIni); 115 116 double Zbd = (1.0  RestCol) * (1.0  RestLig) * LitGrille(ColIni, LigIni); 117 Zbd += RestCol * (1.0  RestLig) * LitGrille(ColIni + 1, LigIni); 118 Zbd += (1.0  RestCol) * RestLig * LitGrille(ColIni, LigIni + 1); 119 Zbd += RestCol * RestLig * LitGrille(ColIni + 1, LigIni + 1); 120 *Hwgs84 = Zbd; 121 122 return true; 123 } 124 /// //////////////////////////////////////////////////////////////////// 125 double Raf98::LitGrille(unsigned int c, unsigned int l) const { 126 const unsigned int w = 421; 127 // const unsigned int h=381; 128 return m_dvalues.at(c + l * w); 129 } 130 /// //////////////////////////////////////////////////////////////////// 131 bool Raf98::Load(const std::string &sin) { 132 std::ifstream in(sin.c_str()); 133 unsigned int w = 421; 134 unsigned int h = 381; 135 136 m_dvalues.reserve(w * h); 137 138 char entete[1024]; // sur 3 lignes 139 in.getline(entete, 1023); 140 in.getline(entete, 1023); 141 in.getline(entete, 1023); 142 143 char bidon[1024]; 144 double val; 145 for (unsigned int i = 0; i < h; ++i) { 146 for (unsigned int j = 0; j < 52; ++j) { 147 for (unsigned int k = 0; k < 8; ++k) { 148 in >> val; 149 m_dvalues.push_back(val); 150 } 151 in.getline(bidon, 1023); 147 152 } 148 return in.good(); 153 for (unsigned int k = 0; k < 5; ++k) { 154 in >> val; 155 m_dvalues.push_back(val); 156 } 157 in.getline(bidon, 1023); 158 if (!in.good()) { 159 m_dvalues.clear(); 160 return false; 161 } 162 } 163 return in.good(); 149 164 } 150 165 … … 155 170 156 171 /// //////////////////////////////////////////////////////////////////// 157 //ALGO0001 158 double Geodesie::LatitueIsometrique(double latitude,double e) { 159 double li; 160 li = log(tan(M_PI_4 + latitude/2.)) + e*log( (1e*sin(latitude))/(1+e*sin(latitude)) )/2; 161 return li; 162 } 163 164 /// //////////////////////////////////////////////////////////////////// 165 //ALGO0002 166 double Geodesie::LatitueIsometrique2Lat(double latitude_iso,double e,double epsilon) { 167 double latitude_i=2*atan(exp(latitude_iso))  M_PI_2; 168 double latitude_ip1=latitude_i+epsilon*2; 169 while (fabs(latitude_ilatitude_ip1)>epsilon) { 170 latitude_i=latitude_ip1; 171 latitude_ip1=2*atan( 172 exp(e*0.5* 173 log( 174 (1+e*sin(latitude_i))/(1e*sin(latitude_i)) 175 ) 176 ) 177 *exp(latitude_iso) 178 )  M_PI_2; 179 } 180 return latitude_ip1; 181 } 182 /// //////////////////////////////////////////////////////////////////// 183 void Geodesie::Geo2ProjLambert( 184 double lambda,double phi, 185 double n, double c,double e, 186 double lambdac,double xs,double ys, 187 double& X,double& Y) 188 { 189 double lat_iso=LatitueIsometrique(phi,e); 190 X=xs+c*exp(n*lat_iso)*sin(n*(lambdalambdac)); 191 Y=ysc*exp(n*lat_iso)*cos(n*(lambdalambdac)); 192 } 193 /// //////////////////////////////////////////////////////////////////// 194 //ALGO0004 195 void Geodesie::Proj2GeoLambert( 196 double X,double Y, 197 double n, double c,double e, 198 double lambdac,double xs,double ys, 199 double epsilon, 200 double& lambda,double& phi) 201 { 202 double X_xs=Xxs; 203 double ys_Y=ysY; 204 double R=sqrt(X_xs*X_xs+ys_Y*ys_Y); 205 double gamma=atan(X_xs/ys_Y); 206 lambda=lambdac+gamma/n; 207 double lat_iso=1/n*log(fabs(R/c)); 208 phi=LatitueIsometrique2Lat(lat_iso,e,epsilon); 172 // ALGO0001 173 double Geodesie::LatitueIsometrique(double latitude, double e) { 174 double li; 175 li = log(tan(M_PI_4 + latitude / 2.)) + 176 e * log((1  e * sin(latitude)) / (1 + e * sin(latitude))) / 2; 177 return li; 178 } 179 180 /// //////////////////////////////////////////////////////////////////// 181 // ALGO0002 182 double Geodesie::LatitueIsometrique2Lat(double latitude_iso, double e, 183 double epsilon) { 184 double latitude_i = 2 * atan(exp(latitude_iso))  M_PI_2; 185 double latitude_ip1 = latitude_i + epsilon * 2; 186 while (fabs(latitude_i  latitude_ip1) > epsilon) { 187 latitude_i = latitude_ip1; 188 latitude_ip1 = 2 * atan(exp(e * 0.5 * log((1 + e * sin(latitude_i)) / 189 (1  e * sin(latitude_i)))) * 190 exp(latitude_iso))  191 M_PI_2; 192 } 193 return latitude_ip1; 194 } 195 /// //////////////////////////////////////////////////////////////////// 196 void Geodesie::Geo2ProjLambert(double lambda, double phi, double n, double c, 197 double e, double lambdac, double xs, double ys, 198 double &X, double &Y) { 199 double lat_iso = LatitueIsometrique(phi, e); 200 X = xs + c * exp(n * lat_iso) * sin(n * (lambda  lambdac)); 201 Y = ys  c * exp(n * lat_iso) * cos(n * (lambda  lambdac)); 202 } 203 /// //////////////////////////////////////////////////////////////////// 204 // ALGO0004 205 void Geodesie::Proj2GeoLambert(double X, double Y, double n, double c, double e, 206 double lambdac, double xs, double ys, 207 double epsilon, double &lambda, double &phi) { 208 double X_xs = X  xs; 209 double ys_Y = ys  Y; 210 double R = sqrt(X_xs * X_xs + ys_Y * ys_Y); 211 double gamma = atan(X_xs / ys_Y); 212 lambda = lambdac + gamma / n; 213 double lat_iso = 1 / n * log(fabs(R / c)); 214 phi = LatitueIsometrique2Lat(lat_iso, e, epsilon); 209 215 } 210 216 /// //////////////////////////////////////////////////////////////////// 211 217 double Geodesie::ConvMerApp(double longitude) { 212 213 214 double conv=sin(phi0_Lambert93)*(longitudelambda0_Lambert93);215 returnconv;218 double phi0_Lambert93 = Deg2Rad(46.5); 219 double lambda0_Lambert93 = Deg2Rad(3.0); 220 double conv = sin(phi0_Lambert93) * (longitude  lambda0_Lambert93); 221 return conv; 216 222 } 217 223 218 224 //////////////////////////////////////////////////////////////////// 219 void Geodesie::Geographique_2_Lambert93(const Raf98& raf98,double lambda,double phi,double he,Matrice in,double& E,double& N,double& h,Matrice& out) { 220 Matrice passage; 221 double conv=Geodesie::ConvMerApp(lambda); 222 double c_=cos(conv); 223 double s_=sin(conv); 224 225 passage.c0_l0 = c_; 226 passage.c0_l1 = s_; 227 passage.c0_l2 = 0.0; 228 229 passage.c1_l0 = s_; 230 passage.c1_l1 = c_; 231 passage.c1_l2 = 0.0; 232 233 passage.c2_l0 = 0.0; 234 passage.c2_l1 = 0.0; 235 passage.c2_l2 = 1.0; 236 237 out=ProdMat(passage,in); 238 double diff_h; 239 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h); 240 h=hediff_h; 241 242 Geodesie::Geo2ProjLambert( 243 lambda,phi, 244 n_Lambert93,c_Lambert93,e_Lambert93, 245 lambda0_Lambert93,xs_Lambert93,ys_Lambert93, 246 E,N); 225 void Geodesie::Geographique_2_Lambert93(const Raf98 &raf98, double lambda, 226 double phi, double he, Matrice in, 227 double &E, double &N, double &h, 228 Matrice &out) { 229 Matrice passage; 230 double conv = Geodesie::ConvMerApp(lambda); 231 double c_ = cos(conv); 232 double s_ = sin(conv); 233 234 passage.c0_l0 = c_; 235 passage.c0_l1 = s_; 236 passage.c0_l2 = 0.0; 237 238 passage.c1_l0 = s_; 239 passage.c1_l1 = c_; 240 passage.c1_l2 = 0.0; 241 242 passage.c2_l0 = 0.0; 243 passage.c2_l1 = 0.0; 244 passage.c2_l2 = 1.0; 245 246 out = ProdMat(passage, in); 247 double diff_h; 248 raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h); 249 h = he  diff_h; 250 251 Geodesie::Geo2ProjLambert(lambda, phi, n_Lambert93, c_Lambert93, e_Lambert93, 252 lambda0_Lambert93, xs_Lambert93, ys_Lambert93, E, 253 N); 247 254 } 248 255 //////////////////////////////////////////////////////////////////////// 249 void Geodesie::Geographique_2_Lambert93(const Raf98 & raf98,double lambda,double phi,double he,double& E,double& N,double& h) {250 Geodesie::Geo2ProjLambert(251 lambda,phi,252 n_Lambert93,c_Lambert93,e_Lambert93,253 lambda0_Lambert93,xs_Lambert93,ys_Lambert93,254 E,N);255 256 257 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h);258 h=hediff_h;256 void Geodesie::Geographique_2_Lambert93(const Raf98 &raf98, double lambda, 257 double phi, double he, double &E, 258 double &N, double &h) { 259 Geodesie::Geo2ProjLambert(lambda, phi, n_Lambert93, c_Lambert93, e_Lambert93, 260 lambda0_Lambert93, xs_Lambert93, ys_Lambert93, E, 261 N); 262 263 double diff_h; 264 raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h); 265 h = he  diff_h; 259 266 } 260 267 /** 261 Converts Lambert93 coordinates (East, North, Height) into geographical coordinates in radians (Longitude = Rad2Deg(lambda), Latitude = Rad2Deg(phi), Height) 268 Converts Lambert93 coordinates (East, North, Height) into geographical 269 coordinates in radians (Longitude = Rad2Deg(lambda), Latitude = Rad2Deg(phi), 270 Height) 262 271 */ 263 void Geodesie::Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,double& lambda,double& phi,double& he) { 264 Geodesie::Proj2GeoLambert( 265 E,N, 266 n_Lambert93,c_Lambert93,e_Lambert93, 267 lambda0_Lambert93,xs_Lambert93,ys_Lambert93, 268 0.0000000000000001, 269 lambda,phi); 270 271 double diff_h; 272 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h); 273 he=h+diff_h; 272 void Geodesie::Lambert93_2_Geographique(const Raf98 &raf98, double E, double N, 273 double h, double &lambda, double &phi, 274 double &he) { 275 Geodesie::Proj2GeoLambert(E, N, n_Lambert93, c_Lambert93, e_Lambert93, 276 lambda0_Lambert93, xs_Lambert93, ys_Lambert93, 277 0.0000000000000001, lambda, phi); 278 279 double diff_h; 280 raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h); 281 he = h + diff_h; 274 282 } 275 283 //////////////////////////////////////////////////////////////////////// 276 void Geodesie::Lambert93_2_Geographique(const Raf98& raf98,double E,double N,double h,Matrice in,double& lambda,double& phi,double& he,Matrice& out) { 277 Geodesie::Proj2GeoLambert( 278 E,N, 279 n_Lambert93,c_Lambert93,e_Lambert93, 280 lambda0_Lambert93,xs_Lambert93,ys_Lambert93, 281 0.0000000000000001, 282 lambda,phi); 283 284 Matrice passage; 285 double conv=Geodesie::ConvMerApp(lambda); 286 double c_=cos(conv); 287 double s_=sin(conv); 288 289 passage.c0_l0 = c_; 290 passage.c0_l1 = s_; 291 passage.c0_l2 = 0.0; 292 293 passage.c1_l0 = s_; 294 passage.c1_l1 = c_; 295 passage.c1_l2 = 0.0; 296 297 passage.c2_l0 = 0.0; 298 passage.c2_l1 = 0.0; 299 passage.c2_l2 = 1.0; 300 301 out=ProdMat(passage,in); 302 303 double diff_h; 304 raf98.Interpol(Rad2Deg(lambda),Rad2Deg(phi),&diff_h); 305 he=h+diff_h; 284 void Geodesie::Lambert93_2_Geographique(const Raf98 &raf98, double E, double N, 285 double h, Matrice in, double &lambda, 286 double &phi, double &he, Matrice &out) { 287 Geodesie::Proj2GeoLambert(E, N, n_Lambert93, c_Lambert93, e_Lambert93, 288 lambda0_Lambert93, xs_Lambert93, ys_Lambert93, 289 0.0000000000000001, lambda, phi); 290 291 Matrice passage; 292 double conv = Geodesie::ConvMerApp(lambda); 293 double c_ = cos(conv); 294 double s_ = sin(conv); 295 296 passage.c0_l0 = c_; 297 passage.c0_l1 = s_; 298 passage.c0_l2 = 0.0; 299 300 passage.c1_l0 = s_; 301 passage.c1_l1 = c_; 302 passage.c1_l2 = 0.0; 303 304 passage.c2_l0 = 0.0; 305 passage.c2_l1 = 0.0; 306 passage.c2_l2 = 1.0; 307 308 out = ProdMat(passage, in); 309 310 double diff_h; 311 raf98.Interpol(Rad2Deg(lambda), Rad2Deg(phi), &diff_h); 312 he = h + diff_h; 306 313 } 307 314 308 315 //////////////////////////////////////////////////////////////////////// 309 void Geodesie::Geographique_2_ECEF(double longitude,double latitude,double he,double& x,double& y,double& z) { 310 const double n = GRS_a / sqrt(1.0  pow(GRS_e,2) * pow(sin(latitude),2)); 311 x = (n + he) * cos(latitude) * cos(longitude); 312 y = (n + he) * cos(latitude) * sin(longitude); 313 z = (n * (1.0  pow(GRS_e,2)) + he) * sin(latitude); 316 void Geodesie::Geographique_2_ECEF(double longitude, double latitude, double he, 317 double &x, double &y, double &z) { 318 const double n = GRS_a / sqrt(1.0  pow(GRS_e, 2) * pow(sin(latitude), 2)); 319 x = (n + he) * cos(latitude) * cos(longitude); 320 y = (n + he) * cos(latitude) * sin(longitude); 321 z = (n * (1.0  pow(GRS_e, 2)) + he) * sin(latitude); 314 322 } 315 323 316 324 //////////////////////////////////////////////////////////////////////// 317 void Geodesie::ECEF_2_ENU(double x,double y,double z,double& e,double& n,double& u,double lon0,double lat0,double he0) { 318 double slat = std::sin(lat0); 319 double clat = std::cos(lat0); 320 double slon = std::sin(lon0); 321 double clon = std::cos(lon0); 322 323 Geodesie::Matrice C; 324 C.c0_l0 = slon; 325 C.c1_l0 = clon; 326 327 C.c0_l1 = clon * slat; 328 C.c1_l1 = slon * slat; 329 C.c2_l1 = clat; 330 331 C.c0_l2 = clon * clat; 332 C.c1_l2 = slon * clat; 333 C.c2_l2 = slat; 334 335 double x0, y0, z0; 336 Geographique_2_ECEF(lon0,lat0,he0, x0,y0,z0); 337 338 x = x0; 339 y = y0; 340 z = z0; 341 342 C.Apply(x,y,z, e,n,u); 343 } 325 void Geodesie::ECEF_2_ENU(double x, double y, double z, double &e, double &n, 326 double &u, double lon0, double lat0, double he0) { 327 double slat = std::sin(lat0); 328 double clat = std::cos(lat0); 329 double slon = std::sin(lon0); 330 double clon = std::cos(lon0); 331 332 Geodesie::Matrice C; 333 C.c0_l0 = slon; 334 C.c1_l0 = clon; 335 336 C.c0_l1 = clon * slat; 337 C.c1_l1 = slon * slat; 338 C.c2_l1 = clat; 339 340 C.c0_l2 = clon * clat; 341 C.c1_l2 = slon * clat; 342 C.c2_l2 = slat; 343 344 double x0, y0, z0; 345 Geographique_2_ECEF(lon0, lat0, he0, x0, y0, z0); 346 347 x = x0; 348 y = y0; 349 z = z0; 350 351 C.Apply(x, y, z, e, n, u); 352 }
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