HelmertTransformer.hpp

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//==============================================================================
//
//  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
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//  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
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//==============================================================================
 
//==============================================================================
//
//  This software was developed by Applied Research Laboratories at the
//  University of Texas at Austin, under contract to an agency or agencies
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#ifndef GNSSTK_HELMERTTRANSFORMER_HPP
#define GNSSTK_HELMERTTRANSFORMER_HPP
 
#include "Transformer.hpp"
#include "Matrix.hpp"
 
namespace gnsstk
{
 
 
   class HelmertTransformer : public Transformer
   {
   public:
      HelmertTransformer();
 
      HelmertTransformer(const RefFrame& from, const RefFrame& to,
                         double irx, double iry, double irz,
                         double itx, double ity, double itz,
                         double sc, const std::string& desc,
                         const CommonTime& refEpoch);
      bool transform(const Position& fromPos, Position& toPos)
         const noexcept override;
      bool transform(const Xvt& fromPos, Xvt& toPos)
         const noexcept override;
      bool transform(const Vector<double>& fromPos,
                     const RefFrame& srcFrame,
                     Vector<double>& toPos)
         const noexcept override;
      bool transform(const Triple& fromPos,
                     const RefFrame& srcFrame,
                     Triple& toPos)
         const noexcept override;
      bool transform(double fx, double fy, double fz,
                     const RefFrame& srcFrame,
                     double& tx, double& ty, double& tz)
         const noexcept override;
 
      std::string description;
 
   protected:
      Matrix<double> rotation;
      Vector<double> translation;
      double scale;
   }; // class HelmertTransformer
 
 
} // namespace gnsstk
 
#endif // GNSSTK_HELMERTTRANSFORMER_HPP