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gtsam/gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geocentric.h

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/**
* \file NETGeographicLib/Geocentric.h
* \brief Header for NETGeographicLib::Geocentric class
*
* NETGeographicLib is copyright (c) Scott Heiman (2013)
* GeographicLib is Copyright (c) Charles Karney (2010-2012)
* <charles@karney.com> and licensed under the MIT/X11 License.
* For more information, see
* http://geographiclib.sourceforge.net/
**********************************************************************/
#pragma once
namespace NETGeographicLib
{
/**
* \brief .NET wrapper for GeographicLib::Geocentric.
*
* This class allows .NET applications to access GeographicLib::Geocentric.
*
* Convert between geodetic coordinates latitude = \e lat, longitude = \e
* lon, height = \e h (measured vertically from the surface of the ellipsoid)
* to geocentric coordinates (\e X, \e Y, \e Z). The origin of geocentric
* coordinates is at the center of the earth. The \e Z axis goes thru the
* north pole, \e lat = 90&deg;. The \e X axis goes thru \e lat = 0,
* \e lon = 0. %Geocentric coordinates are also known as earth centered,
* earth fixed (ECEF) coordinates.
*
* The conversion from geographic to geocentric coordinates is
* straightforward. For the reverse transformation we use
* - H. Vermeille,
* <a href="http://dx.doi.org/10.1007/s00190-002-0273-6"> Direct
* transformation from geocentric coordinates to geodetic coordinates</a>,
* J. Geodesy 76, 451--454 (2002).
* .
* Several changes have been made to ensure that the method returns accurate
* results for all finite inputs (even if \e h is infinite). The changes are
* described in Appendix B of
* - C. F. F. Karney,
* <a href="http://arxiv.org/abs/1102.1215v1">Geodesics
* on an ellipsoid of revolution</a>,
* Feb. 2011;
* preprint
* <a href="http://arxiv.org/abs/1102.1215v1">arxiv:1102.1215v1</a>.
* .
* See \ref geocentric for more information.
*
* The errors in these routines are close to round-off. Specifically, for
* points within 5000 km of the surface of the ellipsoid (either inside or
* outside the ellipsoid), the error is bounded by 7 nm (7 nanometers) for
* the WGS84 ellipsoid. See \ref geocentric for further information on the
* errors.
*
* C# Example:
* \include example-Geocentric.cs
* Managed C++ Example:
* \include example-Geocentric.cpp
* Visual Basic Example:
* \include example-Geocentric.vb
*
* <B>INTERFACE DIFFERENCES:</B><BR>
* A default constructor is provided that assumes WGS84 parameters.
*
* The MajorRadius and Flattening functions are implemented as properties.
*
* The Forward and Reverse functions return rotation matrices as 2D,
* 3 &times; 3 arrays rather than vectors.
**********************************************************************/
public ref class Geocentric
{
private:
// pointer to the unmanaged GeographicLib::Geocentric
const GeographicLib::Geocentric* m_pGeocentric;
// The finalizer frees unmanaged memory when the object is destroyed.
!Geocentric();
public:
/**
* Constructor for a ellipsoid with
*
* @param[in] a equatorial radius (meters).
* @param[in] f flattening of ellipsoid. Setting \e f = 0 gives a sphere.
* Negative \e f gives a prolate ellipsoid. If \e f > 1, set flattening
* to 1/\e f.
* @exception GeographicErr if \e a or (1 &minus; \e f ) \e a is not
* positive.
**********************************************************************/
Geocentric(double a, double f);
/**
* A default constructor which assumes WGS84.
**********************************************************************/
Geocentric();
/**
* A constructor that is initialized from an unmanaged
* GeographicLib::Geocentric. For internal use only.
* @param[in] g An existing GeographicLib::Geocentric.
**********************************************************************/
Geocentric( const GeographicLib::Geocentric& g );
/**
* The destructor calls the finalizer.
**********************************************************************/
~Geocentric()
{ this->!Geocentric(); }
/**
* Convert from geodetic to geocentric 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 geocentric coordinate (meters).
* @param[out] Y geocentric coordinate (meters).
* @param[out] Z geocentric coordinate (meters).
*
* \e lat should be in the range [&minus;90&deg;, 90&deg;]; \e lon
* should be in the range [&minus;540&deg;, 540&deg;).
**********************************************************************/
void Forward(double lat, double lon, double h,
[System::Runtime::InteropServices::Out] double% X,
[System::Runtime::InteropServices::Out] double% Y,
[System::Runtime::InteropServices::Out] double% Z);
/**
* Convert from geodetic to geocentric 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 geocentric coordinate (meters).
* @param[out] Y geocentric coordinate (meters).
* @param[out] Z geocentric coordinate (meters).
* @param[out] M a 3 &times; 3 rotation matrix.
*
* Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can
* express \e v as \e column vectors in one of two ways
* - in east, north, up coordinates (where the components are relative to a
* local coordinate system at (\e lat, \e lon, \e h)); call this
* representation \e v1.
* - in geocentric \e X, \e Y, \e Z coordinates; call this representation
* \e v0.
* .
* Then we have \e v0 = \e M &sdot; \e v1.
**********************************************************************/
void Forward(double lat, double lon, double h,
[System::Runtime::InteropServices::Out] double% X,
[System::Runtime::InteropServices::Out] double% Y,
[System::Runtime::InteropServices::Out] double% Z,
[System::Runtime::InteropServices::Out] array<double,2>^% M);
/**
* Convert from geocentric to geodetic to coordinates.
*
* @param[in] X geocentric coordinate (meters).
* @param[in] Y geocentric coordinate (meters).
* @param[in] Z geocentric 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).
*
* In general there are multiple solutions and the result which maximizes
* \e h is returned. If there are still multiple solutions with different
* latitudes (applies only if \e Z = 0), then the solution with \e lat > 0
* is returned. If there are still multiple solutions with different
* longitudes (applies only if \e X = \e Y = 0) then \e lon = 0 is
* returned. The value of \e h returned satisfies \e h &ge; &minus; \e a
* (1 &minus; <i>e</i><sup>2</sup>) / sqrt(1 &minus; <i>e</i><sup>2</sup>
* sin<sup>2</sup>\e lat). The value of \e lon returned is in the range
* [&minus;180&deg;, 180&deg;).
**********************************************************************/
void Reverse(double X, double Y, double Z,
[System::Runtime::InteropServices::Out] double% lat,
[System::Runtime::InteropServices::Out] double% lon,
[System::Runtime::InteropServices::Out] double% h);
/**
* Convert from geocentric to geodetic to coordinates.
*
* @param[in] X geocentric coordinate (meters).
* @param[in] Y geocentric coordinate (meters).
* @param[in] Z geocentric 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 a 3 &times; 3 rotation matrix.
*
* Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can
* express \e v as \e column vectors in one of two ways
* - in east, north, up coordinates (where the components are relative to a
* local coordinate system at (\e lat, \e lon, \e h)); call this
* representation \e v1.
* - in geocentric \e X, \e Y, \e Z coordinates; call this representation
* \e v0.
* .
* Then we have \e v1 = \e M<sup>T</sup> &sdot; \e v0, where \e
* M<sup>T</sup> is the transpose of \e M.
**********************************************************************/
void Reverse(double X, double Y, double Z,
[System::Runtime::InteropServices::Out] double% lat,
[System::Runtime::InteropServices::Out] double% lon,
[System::Runtime::InteropServices::Out] double% h,
[System::Runtime::InteropServices::Out] array<double,2>^% M);
/** \name Inspector functions
**********************************************************************/
///@{
/**
* @return a pointer to the unmanaged GeographicLib::Geocentric.
**********************************************************************/
System::IntPtr^ GetUnmanaged();
/**
* @return \e a the equatorial radius of the ellipsoid (meters). This is
* the value used in the constructor.
**********************************************************************/
property double MajorRadius { double get(); }
/**
* @return \e f the flattening of the ellipsoid. This is the
* value used in the constructor.
**********************************************************************/
property double Flattening { double get(); }
///@}
};
} // namespace NETGeographicLib
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