gnsstk: HelmertTransform.hpp Source File

Go to the documentation of this file.

 //==============================================================================
 //
 //  This file is part of GNSSTk, the ARL:UT GNSS Toolkit.
 //
 //  The GNSSTk is free software; you can redistribute it and/or modify
 //  it under the terms of the GNU Lesser General Public License as published
 //  by the Free Software Foundation; either version 3.0 of the License, or
 //  any later version.
 //
 //  The GNSSTk is distributed in the hope that it will be useful,
 //  but WITHOUT ANY WARRANTY; without even the implied warranty of
 //  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 //  GNU Lesser General Public License for more details.
 //
 //  You should have received a copy of the GNU Lesser General Public
 //  License along with GNSSTk; if not, write to the Free Software Foundation,
 //  Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA
 //
 //  This software was developed by Applied Research Laboratories at the
 //  University of Texas at Austin.
 //  Copyright 2004-2022, The Board of Regents of The University of Texas System
 //
 //==============================================================================
  
 //==============================================================================
 //
 //  This software was developed by Applied Research Laboratories at the
 //  University of Texas at Austin, under contract to an agency or agencies
 //  within the U.S. Department of Defense. The U.S. Government retains all
 //  rights to use, duplicate, distribute, disclose, or release this software.
 //
 //  Pursuant to DoD Directive 523024
 //
 //  DISTRIBUTION STATEMENT A: This software has been approved for public
 //                            release, distribution is unlimited.
 //
 //==============================================================================
  
 #ifndef GNSSTK_HELMERTTRANSFORM_HPP
 #define GNSSTK_HELMERTTRANSFORM_HPP
  
 #include <map>
 #include <string>
  
 #include "gnsstk_export.h"
 #include "Exception.hpp"
 #include "ReferenceFrame.hpp"
 #include "CommonTime.hpp"
 #include "Position.hpp"
 #include "Vector.hpp"
 #include "Matrix.hpp"
 #include "Xvt.hpp"
  
 namespace gnsstk
 {
    class HelmertTransform
    {
    public:
       HelmertTransform() noexcept;
  
       HelmertTransform(ReferenceFrame from, ReferenceFrame to,
                        double irx, double iry, double irz,
                        double itx, double ity, double itz,
                        double sc, const std::string& desc,
                        const CommonTime& refEpoch);
  
       std::string asString() const noexcept;
  
       void transform(const Position& pos, Position& result);
  
       void transform(const Vector<double>& vec, ReferenceFrame frame,
                      Vector<double>& result);
  
       void transform(const Triple& vec, ReferenceFrame frame, Triple& result);
  
       void transform(const Xvt& xvt, Xvt& result);
  
       void transform(double x, double y, double z,
                      ReferenceFrame frame,
                      double& rx, double& ry, double& rz);
  
       ReferenceFrame getFromFrame() const noexcept
       { return fromFrame; }
  
       ReferenceFrame getToFrame() const noexcept
       { return toFrame; }
  
       CommonTime getEpoch() const noexcept
       { return epoch; }
  
       GNSSTK_EXPORT static const CommonTime PZ90Epoch;
  
       GNSSTK_EXPORT static const int stdCount = 5; // equal to number listed in HelmertTransform.cpp
  
       GNSSTK_EXPORT static const HelmertTransform stdTransforms[stdCount];
  
    protected:
          // member data
  
          // this transformation takes fromFrame -> toFrame
       ReferenceFrame fromFrame;  
       ReferenceFrame toFrame;    
  
          // the 7 parameters that define the tranformation
       double rx;                 
       double ry;                 
       double rz;                 
       double tx;                 
       double ty;                 
       double tz;                 
       double scale;              
  
          // transform quantities derived from the 7 parameters
       Matrix<double> rotation;   
       Vector<double> translation;
  
       CommonTime epoch;
  
       std::string description;
  
    }; // end class HelmertTransform
  
 } // end namespace gnsstk
  
 #endif

page HOWTO subpage DoxygenGuide Documenting Your Code page DoxygenGuide Documenting Your Code todo Flesh out this document section doctips Tips for Documenting When defining make sure that the prototype is identical between the cpp and hpp including both the namespaces and the parameter names for you have std::string as the return type in the hpp file and string as the return type in the cpp Doxygen may get confused and autolink to the cpp version with no documentation If you don t use the same parameter names between the cpp and hpp that will also confuse Doxygen Don t put type information in return or param documentation It doesn t really add anything and will often cause Doxygen to complain and not produce the documentation< br > use note Do not put a comma after a param name unless you mean to document multiple parameters< br/> the output stream</code >< br/> y

Definition: DOCUMENTING.dox:15