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14 # pragma warning (disable: 4127)
34 _f = geometricp ? f_J2 : J2ToFlattening(_a, _GM, _omega, f_J2);
38 _J2 = geometricp ? FlatteningToJ2(_a, _GM, _omega, f_J2) : f_J2;
40 _ep2 = _e2 / (1 - _e2);
41 real ex2 = _f < 0 ? -_e2 : _ep2;
42 _Q0 = Qf(ex2, _f < 0);
46 _U0 = _GM * atanzz(ex2, _f < 0) / _b + _aomega2 / 3;
47 real P = Hf(ex2, _f < 0) / (6 * _Q0);
49 _gammae = _GM / (_a * _b) - (1 +
P) * _a * _omega2;
51 _gammap = _GM / (_a * _a) + 2 *
P * _b * _omega2;
54 _k = -_e2 * _GM / (_a * _b) +
55 _omega2 * (
P * (_a + 2 * _b * (1 - _f)) + _a);
57 _fstar = (-_f * _GM / (_a * _b) + _omega2 * (
P * (_a + 2 * _b) + _a)) /
63 Initialize(
a,
GM,
omega, f_J2, geometricp);
68 throw GeographicErr(
"Gravitational constant is not positive");
70 if (!(
omega == 0 &&
f == 0 && J2 == 0)) {
80 Initialize(
a,
GM,
omega, geometricp ?
f : J2, geometricp);
105 static const real lg2eps_ =
127 return 1/
real(5) +
x * atan7series(
x);
136 return !(4 *
abs(
y) < 1) ?
137 ((1 + 3/
y) * atanzz(
x, alt) - 3/
y) / (2 *
y) :
138 (3 * (3 +
y) * atan5series(
y) - 1) / 6;
148 return !(4 *
abs(
y) < 1) ?
149 (3 * (1 + 1/
y) * (1 - atanzz(
x, alt)) - 1) /
y :
150 1 - 3 * (1 +
y) * atan5series(
y);
160 return !(4 *
abs(
y) < 1) ?
161 ((9 + 15/
y) * atanzz(
x, alt) - 4 - 15/
y) / (6 *
Math::sq(
y)) :
162 ((25 + 15*
y) * atan7series(
y) + 3)/10;
171 for (
int j =
n;
j--;)
174 -3 * e2n * ((1 -
n) + 5 *
n * _J2 / _e2) / ((2 *
n + 1) * (2 *
n + 3));
189 clam =
p != 0 ?
X/
p : 1,
190 slam =
p != 0 ?
Y/
p : 0,
199 u =
sqrt((
Q >= 0 ? (
Q + disc) : t2 / (disc -
Q)) / 2),
203 cbet = u != 0 ?
p * u :
p,
205 sbet =
s != 0 ? sbet/
s : 1;
206 cbet =
s != 0 ? cbet/
s : 0;
217 bu = _b / (u != 0 || _f < 0 ? u : _E),
219 q = ((u != 0 || _f < 0 ? Qf(
z2, _f < 0) :
Math::pi() / 4) / _Q0) *
221 qp = _b *
Math::sq(bu) * (u != 0 || _f < 0 ? Hf(
z2, _f < 0) : 2) / _Q0,
224 Vres = _GM * (u != 0 || _f < 0 ?
225 atanzz(
z2, _f < 0) / u :
226 Math::pi() / (2 * _E)) + _aomega2 *
q * ang,
228 gamu = - (_GM + (_aomega2 * qp * ang)) * invw /
Math::sq(uE),
229 gamb = _aomega2 *
q * sbet * cbet * invw / uE,
231 gamp =
t * cbet * gamu - invw * sbet * gamb;
233 GammaX = gamp * clam;
234 GammaY = gamp * slam;
235 GammaZ = invw * sbet * gamu +
t * cbet * gamb;
249 real Ures =
V0(
X,
Y,
Z, gammaX, gammaY, gammaZ) + Phi(
X,
Y, fX, fY);
259 _earth.IntForward(
lat, 0,
h,
X,
Y,
Z,
M);
260 real gammaX, gammaY, gammaZ,
261 Ures =
U(
X,
Y,
Z, gammaX, gammaY, gammaZ);
263 gammay =
M[1] * gammaX +
M[4] * gammaY +
M[7] * gammaZ;
264 gammaz =
M[2] * gammaX +
M[5] * gammaY +
M[8] * gammaZ;
281 if (J2 == J0)
return 1;
289 e2 =
min(ep2 / (1 + ep2), maxe_);
292 e2a = e2, ep2a = ep2,
295 Q0 = Qf(e2 < 0 ? -e2 : ep2, e2 < 0),
297 dh = 1 - 3 *
f1 *
K * QH3f(e2 < 0 ? -e2 : ep2, e2 < 0) /
299 e2 =
min(e2a -
h / dh, maxe_);
300 ep2 =
max(e2 / (1 - e2), -maxe_);
301 if (
abs(
h) < eps2_ || e2 == e2a || ep2 == ep2a)
304 return e2 / (1 +
sqrt(1 - e2));
315 return (e2 -
K *
f1 *
f2 / Qf(
f < 0 ? -e2 : e2 /
f2,
f < 0)) / 3;
const Vector3 V0(0, 0, 0)
static real Hf(real x, bool alt)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
static T copysign(T x, T y)
Namespace for GeographicLib.
GaussianFactorGraphValuePair Y
static bool isfinite(T x)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
static real atan7series(real x)
double f2(const Vector2 &x)
const EIGEN_DEVICE_FUNC LogReturnType log() const
Exception handling for GeographicLib.
static real atan5series(real x)
The normal gravity of the earth.
#define GEOGRAPHICLIB_PANIC
EIGEN_DEVICE_FUNC const Scalar & q
static Math::real J2ToFlattening(real a, real GM, real omega, real J2)
static const NormalGravity & WGS84()
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
static const size_t dim2_
void Initialize(real a, real GM, real omega, real f_J2, bool geometricp)
The quaternion class used to represent 3D orientations and rotations.
Math::real Phi(real X, real Y, real &fX, real &fY) const
static const NormalGravity & GRS80()
static real QH3f(real x, bool alt)
Array< int, Dynamic, 1 > v
const EIGEN_DEVICE_FUNC CeilReturnType ceil() const
Header for GeographicLib::NormalGravity class.
static real Qf(real x, bool alt)
Math::real SurfaceGravity(real lat) const
Math::real V0(real X, real Y, real Z, real &GammaX, real &GammaY, real &GammaZ) const
static Math::real FlatteningToJ2(real a, real GM, real omega, real f)
int EIGEN_BLAS_FUNC() swap(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy)
Math::real Gravity(real lat, real h, real &gammay, real &gammaz) const
Jet< T, N > sqrt(const Jet< T, N > &f)
Math::real U(real X, real Y, real Z, real &gammaX, real &gammaY, real &gammaZ) const
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:51