LocalCartesian.hpp

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#if !defined(GEOGRAPHICLIB_LOCALCARTESIAN_HPP)
#define GEOGRAPHICLIB_LOCALCARTESIAN_HPP 1

#include <GeographicLib/Geocentric.hpp>
#include <GeographicLib/Constants.hpp>

namespace GeographicLib {

  class GEOGRAPHICLIB_EXPORT LocalCartesian {
  private:
    typedef Math::real real;
    static const size_t dim_ = 3;
    static const size_t dim2_ = dim_ * dim_;
    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;
    void IntReverse(real x, real y, real z, real& lat, real& lon, real& h,
                    real M[dim2_]) const;
    void MatrixMultiply(real M[dim2_]) const;
  public:

    LocalCartesian(real lat0, real lon0, real h0 = 0,
                   const Geocentric& earth = Geocentric::WGS84())
      : _earth(earth)
    { Reset(lat0, lon0, h0); }

    explicit LocalCartesian(const Geocentric& earth = Geocentric::WGS84())
      : _earth(earth)
    { Reset(real(0), real(0), real(0)); }

    void Reset(real lat0, real lon0, real h0 = 0);

    void Forward(real lat, real lon, real h, real& x, real& y, real& z)
      const {
      IntForward(lat, lon, h, x, y, z, NULL);
    }

    void Forward(real lat, real lon, real h, real& x, real& y, real& z,
                 std::vector<real>& M)
      const  {
      if (M.end() == M.begin() + dim2_) {
        real t[dim2_];
        IntForward(lat, lon, h, x, y, z, t);
        std::copy(t, t + dim2_, M.begin());
      } else
        IntForward(lat, lon, h, x, y, z, NULL);
    }

    void Reverse(real x, real y, real z, real& lat, real& lon, real& h)
      const {
      IntReverse(x, y, z, lat, lon, h, NULL);
    }

    void Reverse(real x, real y, real z, real& lat, real& lon, real& h,
                 std::vector<real>& M)
      const {
      if (M.end() == M.begin() + dim2_) {
        real t[dim2_];
        IntReverse(x, y, z, lat, lon, h, t);
        std::copy(t, t + dim2_, M.begin());
      } else
        IntReverse(x, y, z, lat, lon, h, NULL);
    }


    Math::real LatitudeOrigin() const { return _lat0; }

    Math::real LongitudeOrigin() const { return _lon0; }

    Math::real HeightOrigin() const { return _h0; }

    Math::real MajorRadius() const { return _earth.MajorRadius(); }

    Math::real Flattening() const { return _earth.Flattening(); }

  };

} // namespace GeographicLib

#endif  // GEOGRAPHICLIB_LOCALCARTESIAN_HPP