Detailed Description
Provide a class for transforming positions between datums using the Helmert 7-parameter transform.
Definition at line 52 of file HelmertTransformer.hpp.
#include <HelmertTransformer.hpp>
Public Member Functions | |
| HelmertTransformer () | |
| Initialize everything to invalid values. More... | |
| 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 Triple &fromPos, const RefFrame &srcFrame, Triple &toPos) const noexcept override |
| bool | transform (const Vector< double > &fromPos, const RefFrame &srcFrame, Vector< double > &toPos) const noexcept override |
| bool | transform (const Xvt &fromPos, Xvt &toPos) const noexcept override |
| bool | transform (double fx, double fy, double fz, const RefFrame &srcFrame, double &tx, double &ty, double &tz) const noexcept override |
 Public Member Functions inherited from gnsstk::Transformer | |
| const CommonTime & | getEpoch () const noexcept |
| const RefFrame & | getFromFrame () const noexcept |
| Return the RefFrame this Transformer will convert from. More... | |
| const RefFrame & | getToFrame () const noexcept |
| Return the RefFrame this Transformer will convert to. More... | |
| Transformer () | |
Public Attributes | |
| std::string | description |
Protected Attributes | |
| Matrix< double > | rotation |
| double | scale |
| Scale factor. Dimensionless. 0 = no scale. More... | |
| Vector< double > | translation |
| Protected Attributes inherited from gnsstk::Transformer | |
| CommonTime | epoch |
| When this Transformer was first applicable. More... | |
| RefFrame | fromFrame |
| The reference frame we can transform from. More... | |
| RefFrame | toFrame |
| The reference frame we can transform to. More... | |
Constructor & Destructor Documentation
◆ HelmertTransformer() [1/2]
| gnsstk::HelmertTransformer::HelmertTransformer | ( | ) |
Initialize everything to invalid values.
Definition at line 44 of file HelmertTransformer.cpp.
◆ HelmertTransformer() [2/2]
| gnsstk::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 | ||
| ) |
Explicit constructor, from the 7 parameters. All the inputs are unchanged.
This constructor and class are for data to be used with the transformation of the either of the two following forms (view via doxygen).
- Warning
- If the transformation parameters use the transposed version of the rotation matrix (i.e. the signs on the rotation angles are reversed from what is shown below), make sure to flip the sign on the irx,iry,irz parameters to the constructor.
![\[ \left[ {\begin{array}{c} X_{tgt} \\ Y_{tgt} \\ Z_{tgt} \\ \end{array} } \right] = \left[ {\begin{array}{c} T_x \\ T_y \\ T_z \\ \end{array} } \right] + (1 + S_c) \left[ {\begin{array}{ccc} 1 & R_z & -R_y \\ -R_z & 1 & R_x \\ R_y & -R_x & 1 \\ \end{array} } \right] \left[ {\begin{array}{c} X_{src} \\ Y_{src} \\ Z_{src} \\ \end{array} } \right] \]](form_1.png)
![\[ \left[ {\begin{array}{c} X_{tgt} \\ Y_{tgt} \\ Z_{tgt} \\ \end{array} } \right] = \left[ {\begin{array}{c} X_{src} \\ Y_{src} \\ Z_{src} \\ \end{array} } \right] + \left[ {\begin{array}{c} T_x \\ T_y \\ T_z \\ \end{array} } \right] + \left[ {\begin{array}{ccc} S_c & R_z & -R_y \\ -R_z & S_c & R_x \\ R_y & -R_x & S_c \\ \end{array} } \right] \left[ {\begin{array}{c} X_{src} \\ Y_{src} \\ Z_{src} \\ \end{array} } \right] \]](form_2.png)
- Parameters
-
[in] from Transform takes "from" -> "to" [in] to Transform takes "from" -> "to" [in] irx X axis rotation angle in degrees [in] iry Y axis rotation angle in degrees [in] irz Z axis rotation angle in degrees [in] itx X axis translation in meters [in] ity Y axis translation in meters [in] itz Z axis translation in meters [in] sc scale factor (dimensionless) [in] desc description of the transform, should include [in] refEpoch time when transform became applicable (default=BOT) reference frames and an indication of the source (e.g. literature citation).
- Exceptions
-
InvalidRequest if the transform is invalid.
- Note
- small angle approximation is used.
- by construction, transpose(rotation) == inverse(rotation) (given small angle approximation).
Definition at line 54 of file HelmertTransformer.cpp.
Member Function Documentation
◆ transform() [1/5]
|
overridevirtualnoexcept |
Implements gnsstk::Transformer.
Definition at line 111 of file HelmertTransformer.cpp.
◆ transform() [2/5]
|
overridevirtualnoexcept |
Implements gnsstk::Transformer.
Definition at line 205 of file HelmertTransformer.cpp.
◆ transform() [3/5]
|
overridevirtualnoexcept |
Implements gnsstk::Transformer.
Definition at line 173 of file HelmertTransformer.cpp.
◆ transform() [4/5]
|
overridevirtualnoexcept |
Implements gnsstk::Transformer.
Definition at line 153 of file HelmertTransformer.cpp.
◆ transform() [5/5]
|
overridevirtualnoexcept |
Implements gnsstk::Transformer.
Definition at line 236 of file HelmertTransformer.cpp.
Member Data Documentation
◆ description
| std::string gnsstk::HelmertTransformer::description |
An arbitrary string describing the transform. It should include the source.
Definition at line 159 of file HelmertTransformer.hpp.
◆ rotation
|
protected |
The matrix that applies a rotation to move from fromFrame to toFrame.
Definition at line 164 of file HelmertTransformer.hpp.
◆ scale
|
protected |
Scale factor. Dimensionless. 0 = no scale.
Definition at line 169 of file HelmertTransformer.hpp.
◆ translation
|
protected |
The matrix that applies a translation to move from fromFrame to toFrame.
Definition at line 167 of file HelmertTransformer.hpp.
The documentation for this class was generated from the following files: