/usr/include/GeographicLib/LocalCartesian.hpp is in libgeographiclib-dev 1.8-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* \file LocalCartesian.hpp
* \brief Header for GeographicLib::LocalCartesian class
*
* Copyright (c) Charles Karney (2008, 2009, 2010) <charles@karney.com>
* and licensed under the LGPL. For more information, see
* http://geographiclib.sourceforge.net/
**********************************************************************/
#if !defined(GEOGRAPHICLIB_LOCALCARTESIAN_HPP)
#define GEOGRAPHICLIB_LOCALCARTESIAN_HPP "$Id: LocalCartesian.hpp 6952 2011-02-14 20:26:44Z karney $"
#include "GeographicLib/Geocentric.hpp"
#include "GeographicLib/Constants.hpp"
namespace GeographicLib {
/**
* \brief Local Cartesian coordinates
*
* Convert between geodetic coordinates latitude = \e lat, longitude = \e
* lon, height = \e h (measured vertically from the surface of the ellipsoid)
* to local cartesian coordinates (\e x, \e y, \e z). The origin of local
* cartesian coordinate system is at \e lat = \e lat0, \e lon = \e lon0, \e h
* = \e h0. The \e z axis is normal to the ellipsoid; the \e y axis points
* due north. The plane \e z = - \e h0 is tangent to the ellipsoid.
*
* The conversions all take place via geocentric coordinates using a
* Geocentric object (by default Geocentric::WGS84).
**********************************************************************/
class LocalCartesian {
private:
typedef Math::real real;
static const size_t dim = 3, dim2 = dim * dim;
const Geocentric _earth;
real _lat0, _lon0, _h0;
real _x0, _y0, _z0, _r[dim2];
void IntForward(real lat, real lon, real h, real& x, real& y, real& z,
real M[dim2]) const throw();
void IntReverse(real x, real y, real z, real& lat, real& lon, real& h,
real M[dim2]) const throw();
void MatrixMultiply(real M[dim2]) const throw();
public:
/**
* Constructor setting the origin.
*
* @param[in] lat0 latitude at origin (degrees).
* @param[in] lon0 longitude at origin (degrees).
* @param[in] h0 height above ellipsoid at origin (meters); default 0.
* @param[in] earth Geocentric object for the transformation; default
* Geocentric::WGS84.
**********************************************************************/
LocalCartesian(real lat0, real lon0, real h0 = 0,
const Geocentric& earth = Geocentric::WGS84) throw()
: _earth(earth)
{ Reset(lat0, lon0, h0); }
/**
* Default constructor.
*
* @param[in] earth Geocentric object for the transformation; default
* Geocentric::WGS84.
*
* Sets \e lat0 = 0, \e lon0 = 0, \e h0 = 0.
**********************************************************************/
explicit LocalCartesian(const Geocentric& earth = Geocentric::WGS84)
throw()
: _earth(earth)
{ Reset(real(0), real(0), real(0)); }
/**
* Reset the origin.
*
* @param[in] lat0 latitude at origin (degrees).
* @param[in] lon0 longitude at origin (degrees).
* @param[in] h0 height above ellipsoid at origin (meters); default 0.
**********************************************************************/
void Reset(real lat0, real lon0, real h0 = 0)
throw();
/**
* Convert from geodetic to local cartesian coordinates.
*
* @param[in] lat latitude of point (degrees).
* @param[in] lon longitude of point (degrees).
* @param[in] h height of point above the ellipsoid (meters).
* @param[out] x local cartesian coordinate (meters).
* @param[out] y local cartesian coordinate (meters).
* @param[out] z local cartesian coordinate (meters).
*
* \e lat should be in the range [-90, 90]; \e lon and \e lon0 should be in
* the range [-180, 360].
**********************************************************************/
void Forward(real lat, real lon, real h, real& x, real& y, real& z)
const throw() {
IntForward(lat, lon, h, x, y, z, NULL);
}
/**
* Convert from geodetic to local cartesian coordinates and return rotation
* matrix.
*
* @param[in] lat latitude of point (degrees).
* @param[in] lon longitude of point (degrees).
* @param[in] h height of point above the ellipsoid (meters).
* @param[out] x local cartesian coordinate (meters).
* @param[out] y local cartesian coordinate (meters).
* @param[out] z local cartesian coordinate (meters).
* @param[out] M if the length of the vector is 9, fill with the rotation
* matrix in row-major order.
*
* Pre-multiplying a unit vector in local cartesian coordinates at (lat,
* lon, h) by \e M transforms the vector to local cartesian coordinates at
* (lat0, lon0, h0).
**********************************************************************/
void Forward(real lat, real lon, real h, real& x, real& y, real& z,
std::vector<real>& M)
const throw() {
real t[dim2];
IntForward(lat, lon, h, x, y, z, t);
if (M.end() == M.begin() + dim2)
copy(t, t + dim2, M.begin());
}
/**
* Convert from local cartesian to geodetic coordinates.
*
* @param[in] x local cartesian coordinate (meters).
* @param[in] y local cartesian coordinate (meters).
* @param[in] z local cartesian coordinate (meters).
* @param[out] lat latitude of point (degrees).
* @param[out] lon longitude of point (degrees).
* @param[out] h height of point above the ellipsoid (meters).
*
* The value of \e lon returned is in the range [-180, 180).
**********************************************************************/
void Reverse(real x, real y, real z, real& lat, real& lon, real& h)
const throw() {
IntReverse(x, y, z, lat, lon, h, NULL);
}
/**
* Convert from local cartesian to geodetic coordinates and return rotation
* matrix.
*
* @param[in] x local cartesian coordinate (meters).
* @param[in] y local cartesian coordinate (meters).
* @param[in] z local cartesian coordinate (meters).
* @param[out] lat latitude of point (degrees).
* @param[out] lon longitude of point (degrees).
* @param[out] h height of point above the ellipsoid (meters).
* @param[out] M if the length of the vector is 9, fill with the rotation
* matrix in row-major order.
*
* Pre-multiplying a unit vector in local cartesian coordinates at (lat0,
* lon0, h0) by the transpose of \e M transforms the vector to local
* cartesian coordinates at (lat, lon, h).
**********************************************************************/
void Reverse(real x, real y, real z, real& lat, real& lon, real& h,
std::vector<real>& M)
const throw() {
real t[dim2];
IntReverse(x, y, z, lat, lon, h, t);
if (M.end() == M.begin() + dim2)
copy(t, t + dim2, M.begin());
}
/** \name Inspector functions
**********************************************************************/
///@{
/**
* @return latitude of the origin (degrees).
**********************************************************************/
Math::real LatitudeOrigin() const throw() { return _lat0; }
/**
* @return longitude of the origin (degrees).
**********************************************************************/
Math::real LongitudeOrigin() const throw() { return _lon0; }
/**
* @return height of the origin (meters).
**********************************************************************/
Math::real HeightOrigin() const throw() { return _h0; }
/**
* @return \e a the equatorial radius of the ellipsoid (meters). This is
* the value of \e a inherited from the Geocentric object used in the
* constructor.
**********************************************************************/
Math::real MajorRadius() const throw() { return _earth.MajorRadius(); }
/**
* @return \e r the inverse flattening of the ellipsoid. This is the
* value of \e r inherited from the Geocentric object used in the
* constructor. A value of 0 is returned for a sphere (infinite inverse
* flattening).
**********************************************************************/
Math::real InverseFlattening() const throw()
{ return _earth.InverseFlattening(); }
///@}
};
} // namespace GeographicLib
#endif
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