The MRPT project: conversions.h Source File

00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2010  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef  conversions_H
00029 #define  conversions_H
00030 
00031 #include <mrpt/utils/utils_defs.h>
00032 #include <mrpt/math/lightweight_geom_data.h>
00033 
00034 #include <mrpt/topography/link_pragmas.h>
00035 
00036 using namespace std;
00037 using namespace mrpt::utils;
00038 
00039 namespace mrpt
00040 {
00041         /** This namespace provides topography helper functions, coordinate transformations.
00042          */
00043         namespace topography
00044         {
00045 
00046         /** =======================================================================
00047            @name Data structures
00048            @{ */
00049 
00050                 struct TOPO_IMPEXP TCoords
00051                 {
00052                         inline TCoords( const int _deg, const int _min, const double _sec ) : degrees(_deg), minutes(_min), seconds(_sec) {}
00053                         inline TCoords( const double dec ) { setFromDecimal(dec); }
00054 
00055                         int degrees;
00056                         int minutes;
00057                         double seconds;
00058 
00059                         inline void setFromDecimal( const double dec )
00060                         {
00061                                 double aux = fabs(dec);
00062                                 degrees = (int)aux;
00063                                 minutes = (int)((aux - degrees)*60.0f);
00064                                 seconds = ((aux - degrees)*60.0f - minutes)*60.0f;
00065                                 if( dec<0 )
00066                                         degrees *= -1;
00067                         }
00068                         inline double getDecimalValue() const
00069                         {
00070                                 double aux = abs(degrees)+minutes/60.0f+seconds/3600.0f;
00071                                 if( degrees < 0 )
00072                                         aux *= -1;
00073                                 return aux;
00074                         }
00075                         inline operator double(void) const { return getDecimalValue(); }
00076                 };
00077 
00078                 inline std::ostream& operator<<( std::ostream& out, const TCoords &o )
00079                 {
00080                         out << o.degrees << "deg " << o.minutes << "' " << o.seconds << "''";
00081                         return out;
00082                 }
00083 
00084                         struct TOPO_IMPEXP TEllipsoid
00085                 {
00086                         inline TEllipsoid() : sa( 6378137.0 ), sb( 6356752.314245 ), name("WGS84") {}
00087                         inline TEllipsoid( const double _sa, const double _sb, const string _name ) : sa(_sa), sb(_sb), name(_name) {}
00088 
00089                         double sa;              //!< largest semiaxis of the reference ellipsoid (in meters)
00090                         double sb;              //!< smallest semiaxis of the reference ellipsoid (in meters)
00091                         string name;    //!< the ellipsoid name
00092                 };
00093 
00094                 inline TEllipsoid Ellipsoid_WGS84() {                                   return TEllipsoid( 6378137.000, 6356752.314245, "WGS84" ); }
00095                 inline TEllipsoid Ellipsoid_WGS72() {                                   return TEllipsoid( 6378135.000, 6356750.519915, "WGS72"  ); }
00096                 inline TEllipsoid Ellipsoid_WGS66() {                                   return TEllipsoid( 6378145.000, 6356759.769356, "WGS66"  ); }
00097                 inline TEllipsoid Ellipsoid_Walbeck_1817() {                    return TEllipsoid( 6376896.000, 6355834.846700, "Walbeck_1817"  ); }
00098                 inline TEllipsoid Ellipsoid_Sudamericano_1969() {               return TEllipsoid( 6378160.000, 6356774.720000, "Sudamericano_1969"  ); }
00099                 inline TEllipsoid Ellipsoid_Nuevo_Internacional_1967() {return TEllipsoid( 6378157.500, 6356772.200000, "Nuevo_Internacional_1967"  ); }
00100                 inline TEllipsoid Ellipsoid_Mercury_Modificado_1968() { return TEllipsoid( 6378150.000, 6356768.337303, "Mercury_Modificado_1968" ); }
00101                 inline TEllipsoid Ellipsoid_Mercury_1960() {                    return TEllipsoid( 6378166.000, 6356784.283666, "Mercury_1960"  ); }
00102                 inline TEllipsoid Ellipsoid_Krasovsky_1940() {                  return TEllipsoid( 6378245.000, 6356863.018800, "Krasovsky_1940"  ); }
00103                 inline TEllipsoid Ellipsoid_Internacional_1924() {              return TEllipsoid( 6378388.000, 6356911.946130, "Internacional_1924"  ); }
00104                 inline TEllipsoid Ellipsoid_Internacional_1909() {              return TEllipsoid( 6378388.000, 6356911.946130, "Internacional_1909" ); }
00105                 inline TEllipsoid Ellipsoid_Hough_1960() {                              return TEllipsoid( 6378270.000, 6356794.343479, "Hough_1960"  ); }
00106                 inline TEllipsoid Ellipsoid_Helmert_1906() {                    return TEllipsoid( 6378200.000, 6356818.170000, "Helmert_1906"  ); }
00107                 inline TEllipsoid Ellipsoid_Hayford_1909() {                    return TEllipsoid( 6378388.000, 6356911.946130, "Hayford_1909"  ); }
00108                 inline TEllipsoid Ellipsoid_GRS80() {                                   return TEllipsoid( 6378137.000, 6356752.314140, "GRS80"  ); }
00109                 inline TEllipsoid Ellipsoid_Fischer_1968() {                    return TEllipsoid( 6378150.000, 6356768.330000, "Fischer_1968"  ); }
00110                 inline TEllipsoid Ellipsoid_Fischer_1960() {                    return TEllipsoid( 6378166.000, 6356784.280000, "Fischer_1960" ); }
00111                 inline TEllipsoid Ellipsoid_Clarke_1880() {                             return TEllipsoid( 6378249.145, 6356514.869550, "Clarke_1880"  ); }
00112                 inline TEllipsoid Ellipsoid_Clarke_1866() {                             return TEllipsoid( 6378206.400, 6356583.800000, "Clarke_1866"  ); }
00113                 inline TEllipsoid Ellipsoid_Bessel_1841() {                             return TEllipsoid( 6377397.155, 6356078.962840, "Bessel_1841"  ); }
00114                 inline TEllipsoid Ellipsoid_Airy_Modificado_1965() {    return TEllipsoid( 6377340.189, 6356034.447900, "Airy_Modificado_1965"  ); }
00115                 inline TEllipsoid Ellipsoid_Airy_1830() {                               return TEllipsoid( 6377563.396, 6356256.910000, "Airy_1830"  ); }
00116 
00117                 typedef mrpt::math::TPoint3D TUTMCoords;
00118                 typedef mrpt::math::TPoint3D TGeocentricCoords;
00119 
00120                 /**  A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically, WGS84)  */
00121                 struct TOPO_IMPEXP TGeodeticCoords
00122                 {
00123                         TGeodeticCoords() : lat(0),lon(0),height(0) {}
00124                         TGeodeticCoords(const double _lat, const double _lon, const double _height) : lat(_lat),lon(_lon),height(_height) {}
00125 
00126                         double lat;             //!< Latitude (in degrees)
00127                         double lon;             //!< Longitude (in degrees)
00128                         double height;  //!< Geodetic height (in meters)
00129                 };
00130 
00131                 /** Parameters for a topographic transfomation
00132                   * \sa TDatum10Params, transform7params
00133                   */
00134                 struct TOPO_IMPEXP TDatum7Params
00135                 {
00136                         double dX, dY, dZ;              //!< Deltas (X,Y,Z)
00137                         double Rx, Ry, Rz;              //!< Rotation components (in secs)
00138                         double dS;                              //!< Scale factor (in ppm) (Scale is 1+dS/1e6)
00139 
00140                         inline TDatum7Params(
00141                                 const double _dX, const double _dY, const double _dZ,
00142                                 const double _Rx, const double _Ry, const double _Rz,
00143                                 const double _dS ) :
00144                         dX(_dX), dY(_dY), dZ(_dZ)
00145                         {
00146                                 Rx = DEG2RAD(_Rx/60/60);
00147                                 Ry = DEG2RAD(_Ry/60/60);
00148                                 Rz = DEG2RAD(_Rz/60/60);
00149                                 dS = _dS*1e-6;
00150                         }
00151                 };
00152 
00153                 struct TOPO_IMPEXP TDatum7Params_TOPCON
00154                 {
00155                         double dX, dY, dZ;              //!< Deltas (X,Y,Z)
00156                         double m11, m12, m13, m21, m22, m23, m31, m32, m33;
00157                         double dS;                              //!< Scale factor (in ppm) (Scale is 1+dS/1e6)
00158 
00159                         inline TDatum7Params_TOPCON(
00160                                 const double _dX, const double _dY, const double _dZ,
00161                                 const double _m11, const double _m12, const double _m13,
00162                                 const double _m21, const double _m22, const double _m23,
00163                                 const double _m31, const double _m32, const double _m33,
00164                                 const double _dS ) :
00165                         dX(_dX), dY(_dY), dZ(_dZ), m11(_m11), m12(_m12), m13(_m13), m21(_m21), m22(_m22), m23(_m23), m31(_m31), m32(_m32), m33(_m33)
00166                         {
00167                                 dS = _dS*1e-6;
00168                         }
00169                 };
00170 
00171 
00172                 /** Parameters for a topographic transfomation
00173                   * \sa TDatum7Params, transform10params
00174                   */
00175                 struct TOPO_IMPEXP TDatum10Params
00176                 {
00177                         double dX, dY, dZ; //!< Deltas (X,Y,Z)
00178                         double Xp, Yp, Zp; //!< To be substracted to the input point
00179                         double Rx, Ry, Rz; //!< Rotation components
00180                         double dS; //!< Scale factor (Scale is 1+dS)
00181 
00182                         inline TDatum10Params(
00183                                 const double _dX, const double _dY, const double _dZ,
00184                                 const double _Xp, const double _Yp, const double _Zp,
00185                                 const double _Rx, const double _Ry, const double _Rz,
00186                                 const double _dS ) :
00187                         dX(_dX), dY(_dY), dZ(_dZ), Xp(_Xp), Yp(_Yp), Zp(_Zp)
00188                         {
00189                                 Rx = DEG2RAD(_Rx/60/60);
00190                                 Ry = DEG2RAD(_Ry/60/60);
00191                                 Rz = DEG2RAD(_Rz/60/60);
00192                                 dS = _dS*1e-6;
00193                         }
00194                 };
00195 
00196                 /** Parameters for a topographic transfomation
00197                   * \sa TDatumHelmert3D, transformHelmert2D
00198                   */
00199                 struct TOPO_IMPEXP TDatumHelmert2D
00200                 {
00201                         double dX, dY;          //!< Deltas [X,Y]
00202                         double alpha;           // The rotation about Z-axis (degrees)
00203                         double dS;                      // Scale factor (Scale is 1+dS)
00204                         double Xp, Yp;          // Coordinates of the rotation point
00205 
00206                         inline TDatumHelmert2D(
00207                                 const double _dX, const double _dY,
00208                                 const double _alpha, const double _dS,
00209                                 const double _Xp, const double _Yp ) :
00210                         dX(_dX), dY(_dY), Xp(_Xp), Yp(_Yp)
00211                         {
00212                                 alpha = DEG2RAD(_alpha);
00213                                 dS = _dS*1e-6;
00214                         }
00215                 };
00216 
00217                 struct TOPO_IMPEXP TDatumHelmert2D_TOPCON
00218                 {
00219                         double a,b,c,d;
00220 
00221                         inline TDatumHelmert2D_TOPCON(
00222                                 const double _a, const double _b,
00223                                 const double _c, const double _d ) :
00224                         a(_a), b(_b), c(_c), d(_d) {}
00225 
00226                 };
00227 
00228                 /** Parameters for a topographic transfomation
00229                   * \sa TDatumHelmert2D, transformHelmert3D
00230                   */
00231                 struct TOPO_IMPEXP TDatumHelmert3D
00232                 {
00233                         double dX, dY, dZ; //!< Deltas (X,Y,Z)
00234                         double Rx, Ry, Rz; //!< Rotation components
00235                         double dS; //!< Scale factor (Scale is 1+dS)
00236 
00237                         inline TDatumHelmert3D(
00238                                 const double _dX, const double _dY, const double _dZ,
00239                                 const double _Rx, const double _Ry, const double _Rz,
00240                                 const double _dS ) :
00241                         dX(_dX), dY(_dY), dZ(_dZ)
00242                         {
00243                                 Rx = DEG2RAD(_Rx/60/60);
00244                                 Ry = DEG2RAD(_Ry/60/60);
00245                                 Rz = DEG2RAD(_Rz/60/60);
00246                                 dS = _dS*1e-6;
00247                         }
00248                 };
00249 
00250                 /** Parameters for a topographic transfomation
00251                   * \sa TDatumHelmert2D, transformHelmert3D
00252                   */
00253                 struct TOPO_IMPEXP TDatumHelmert3D_TOPCON
00254                 {
00255                         double a,b,c,d,e,f,g;
00256 
00257                         inline TDatumHelmert3D_TOPCON(
00258                                 const double _a, const double _b, const double _c,
00259                                 const double _d, const double _e, const double _f, const double _g ) :
00260                         a(_a), b(_b), c(_c), d(_d), e(_e), f(_f), g(_g) { }
00261                 };
00262 
00263                 /** Parameters for a topographic transfomation
00264                   * \sa transform1D
00265                   */
00266                 struct TOPO_IMPEXP TDatum1DTransf
00267                 {
00268                         double dX, dY, DZ; //!< Deltas (X,Y,Z)
00269                         double dS; //!< Scale factor (Scale is 1+dS)
00270 
00271                         inline TDatum1DTransf(
00272                                 const double _dX, const double _dY, const double _DZ,
00273                                 const double _dS ) :
00274                         dX(_dX), dY(_dY), DZ(_DZ)
00275                         {
00276                                 dS = _dS*1e-6;
00277                         }
00278                 };
00279 
00280                 /** Parameters for a topographic transfomation
00281                   * \sa transform1D
00282                   */
00283                 struct TOPO_IMPEXP TDatumTransfInterpolation
00284                 {
00285                         double dX, dY;          //!< Deltas (X,Y,Z)
00286                         double dSx, dSy;        //!< Scale factor in X and Y
00287                         double beta;            //!< Distortion angle
00288 
00289                         inline TDatumTransfInterpolation(
00290                                 const double _dX, const double _dY,
00291                                 const double _dSx, const double _dSy, const double _beta ) :
00292                         dX(_dX), dY(_dY)
00293                         {
00294                                 dSx = _dSx*1e-6;
00295                                 dSy = _dSy*1e-6;
00296                                 beta = DEG2RAD(_beta/60/60);
00297                         }
00298                 };
00299 
00300                 /** @}
00301             ======================================================================= */
00302 
00303 
00304         /** =======================================================================
00305                    @name Topography coordinate conversion functions
00306                    @{ */
00307 
00308                 /** Coordinates transformation from longitude/latitude/height to ENU (East-North-Up)  X/Y/Z coordinates
00309                   *  The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D
00310                   *   relative to some user-provided point, with local X axis being east-ward, Y north-ward, Z up-ward.
00311                   *  For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid
00312                   * \sa coordinatesTransformation_WGS84_geocentric, ENU_axes_from_WGS84
00313                   */
00314                 void  TOPO_IMPEXP geodeticToENU_WGS84(
00315                         const TGeodeticCoords           &in_coords,
00316                         mrpt::math::TPoint3D    &out_ENU_point,
00317                         const TGeodeticCoords           &in_coords_origin );
00318 
00319                 /** Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).
00320                   *  The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D
00321                   *   where the reference is the center of the Earth.
00322                   *  For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid
00323                   * \sa geodeticToENU_WGS84
00324                   */
00325                 void  TOPO_IMPEXP geodeticToGeocentric_WGS84(
00326                         const TGeodeticCoords           &in_coords,
00327                         mrpt::math::TPoint3D  &out_point );
00328 
00329                 /** Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid).
00330                   * \sa geocentricToGeodetic
00331                   */
00332                 void  TOPO_IMPEXP geodeticToGeocentric(
00333                         const TGeodeticCoords   &in_coords,
00334                         TGeocentricCoords               &out_point,
00335                         const TEllipsoid                &ellip );
00336 
00337                 /** Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.
00338                   * \sa geodeticToGeocentric
00339                   */
00340                 void  TOPO_IMPEXP geocentricToGeodetic(
00341                         const TGeocentricCoords         &in_point,
00342                         TGeodeticCoords                         &out_coords,
00343                         const TEllipsoid                        &ellip = Ellipsoid_WGS84() );
00344 
00345                 /**  7-parameter Bursa-Wolf transformation:
00346                   *   [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local
00347                   * \sa transform10params
00348                   */
00349                 void  TOPO_IMPEXP transform7params(
00350                         const mrpt::math::TPoint3D      &in_point,
00351                         const TDatum7Params                     &in_datum,
00352                         mrpt::math::TPoint3D            &out_point);
00353 
00354                 void  TOPO_IMPEXP transform7params_TOPCON(
00355                         const mrpt::math::TPoint3D      &in_point,
00356                         const TDatum7Params_TOPCON      &in_datum,
00357                         mrpt::math::TPoint3D            &out_point);
00358 
00359                 /**  10-parameter Molodensky-Badekas transformation:
00360                   *   [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X-Xp Y-Yp Z-Zp ]_local  + [Xp Yp Zp]
00361                   * \sa transform7params
00362                   */
00363                 void  TOPO_IMPEXP transform10params(
00364                         const mrpt::math::TPoint3D      &in_point,
00365                         const TDatum10Params            &in_datum,
00366                         mrpt::math::TPoint3D            &out_point);
00367 
00368                 /**  Helmert 2D transformation:
00369                   *   [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp]
00370                   * \sa transformHelmert3D
00371                   */
00372                 void  TOPO_IMPEXP transformHelmert2D(
00373                         const mrpt::math::TPoint2D      &p,
00374                         const TDatumHelmert2D           &d,
00375                         mrpt::math::TPoint2D            &o);
00376 
00377                 void  TOPO_IMPEXP transformHelmert2D_TOPCON(
00378                         const mrpt::math::TPoint2D              &p,
00379                         const TDatumHelmert2D_TOPCON    &d,
00380                         mrpt::math::TPoint2D                    &o);
00381 
00382                 /**  Helmert3D transformation:
00383                   *   [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local
00384                   * \sa transformHelmert2D
00385                   */
00386                 void  TOPO_IMPEXP transformHelmert3D(
00387                         const mrpt::math::TPoint3D      &p,
00388                         const TDatumHelmert3D           &d,
00389                         mrpt::math::TPoint3D            &o);
00390 
00391                 void  TOPO_IMPEXP transformHelmert3D_TOPCON(
00392                         const mrpt::math::TPoint3D              &p,
00393                         const TDatumHelmert3D_TOPCON    &d,
00394                         mrpt::math::TPoint3D                    &o);
00395 
00396                 /**  1D transformation:
00397                   *   [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ
00398                   */
00399                 void  TOPO_IMPEXP transform1D(
00400                         const mrpt::math::TPoint3D      &p,
00401                         const TDatum1DTransf            &d,
00402                         mrpt::math::TPoint3D            &o);
00403 
00404                 /**  Interpolation:
00405                   *   [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ
00406                   */
00407                 void  TOPO_IMPEXP transfInterpolation(
00408                         const mrpt::math::TPoint3D              &p,
00409                         const TDatumTransfInterpolation &d,
00410                         mrpt::math::TPoint3D                    &o);
00411 
00412                 /** Returns the Geodetic coordinates of the UTM input point.
00413                   * \param X: East coordinate of the input point.
00414                   * \param Y: North coordinate of the input point.
00415                   * \param zone: time zone (Spanish: "huso").
00416                   * \param hem: hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
00417                   * \param ellip: the reference ellipsoid used for the transformation (default: WGS84)
00418                   * \param out_lat  Out latitude, in degrees.
00419                   * \param out_lon  Out longitude, in degrees.
00420                   */
00421                 void TOPO_IMPEXP UTMToGeodetic(
00422                         double          X,
00423                         double          Y,
00424                         int                     zone,
00425                         char            hem,
00426                         double          &out_lon /*degrees*/,
00427                         double          &out_lat /*degrees*/,
00428                         TEllipsoid      ellip = Ellipsoid_WGS84() );
00429 
00430                 /** Returns the Geodetic coordinates of the UTM input point.
00431                   * \param UTMCoords: UTM input coordinates.
00432                   * \param zone: time zone (Spanish: "huso").
00433                   * \param hem: hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
00434                   * \param GeodeticCoords: Out geodetic coordinates.
00435                   * \param ellip: the reference ellipsoid used for the transformation (default: WGS84)
00436                   */
00437                 inline void TOPO_IMPEXP UTMToGeodetic(
00438                         const TUTMCoords        &UTMCoords,
00439                         const int                       &zone,
00440                         const char                      &hem,
00441                         TGeodeticCoords         &GeodeticCoords,
00442                         TEllipsoid      ellip = Ellipsoid_WGS84() )
00443                 {
00444                         UTMToGeodetic( UTMCoords.x, UTMCoords.y, zone, hem, GeodeticCoords.lon, GeodeticCoords.lat, ellip );
00445                         GeodeticCoords.height = UTMCoords.z;
00446                 }
00447 
00448                 /** Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.
00449                   *   This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios.
00450                   *   Example:
00451                   *   \code
00452                   *   Input:
00453                   *    Lat=40.3154333    Lon=-3.4857166
00454                   *   Output:
00455                   *    x = 458731
00456                   *    y = 4462881
00457                   *    utm_zone = 30
00458                   *    utm_band = T
00459                   *   \endcode
00460                   *   \sa http://www.mathworks.com/matlabcentral/fileexchange/10915
00461                  */
00462                 void  TOPO_IMPEXP GeodeticToUTM(
00463                         double          in_latitude_degrees,
00464                         double          in_longitude_degrees,
00465                         double          &out_UTM_x,
00466                         double          &out_UTM_y,
00467                         int             &out_UTM_zone,
00468                         char            &out_UTM_latitude_band,
00469                         TEllipsoid      ellip = Ellipsoid_WGS84());
00470 
00471                 void  TOPO_IMPEXP geodeticToUTM(
00472                         const TGeodeticCoords   &GeodeticCoords,
00473                         TUTMCoords                              &UTMCoords,
00474                         int                                     &UTMZone,
00475                         char                                    &UTMLatitudeBand,
00476                         TEllipsoid                              ellip = Ellipsoid_WGS84());
00477 
00478 
00479                 /** Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.
00480                   *   This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios.
00481                   *   Example:
00482                   *   \code
00483                   *   Input:
00484                   *    Lat=40.3154333    Lon=-3.4857166
00485                   *   Output:
00486                   *    x = 458731
00487                   *    y = 4462881
00488                   *    utm_zone = 30
00489                   *    utm_band = T
00490                   *   \endcode
00491                   *   \sa http://www.mathworks.com/matlabcentral/fileexchange/10915
00492                  */
00493                 inline void  TOPO_IMPEXP GeodeticToUTM(
00494                         const TGeodeticCoords   &GeodeticCoords,
00495                         TUTMCoords                              &UTMCoords,
00496                         int                                     &UTMZone,
00497                         char                                    &UTMLatitudeBand,
00498                         TEllipsoid                              ellip = Ellipsoid_WGS84())
00499                 {
00500                         GeodeticToUTM( GeodeticCoords.lat, GeodeticCoords.lon, UTMCoords.x, UTMCoords.y, UTMZone, UTMLatitudeBand, ellip );
00501                         UTMCoords.z = GeodeticCoords.height;
00502                 }
00503 
00504 
00505         /** @}
00506             ======================================================================= */
00507 
00508 
00509         /** =======================================================================
00510            @name DEPRECATED topography coordinate conversion functions
00511            @{ */
00512 
00513                 /** Coordinates transformation from longitude/latitude/height to ENU (East-North-Up)  X/Y/Z coordinates
00514                   *  The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D
00515                   *   relative to some user-provided point, with local X axis being east-ward, Y north-ward, Z up-ward.
00516                   *  For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid
00517                   * \sa coordinatesTransformation_WGS84_geocentric, ENU_axes_from_WGS84
00518                   */
00519                 MRPT_DECLARE_DEPRECATED_FUNCTION("*DEPRECATED* Use geodeticToENU_WGS84 instead",
00520                 void TOPO_IMPEXP coordinatesTransformation_WGS84(
00521                         double          in_longitude_degrees,
00522                         double          in_latitude_degrees,
00523                         double          in_height_meters,
00524                         double          &out_x_meters,
00525                         double          &out_y_meters,
00526                         double          &out_z_meters,
00527                         double          in_longitude_reference_degrees,
00528                         double          in_latitude_reference_degrees,
00529                         double          in_height_reference_meters
00530                         ));
00531 
00532                 /** Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).
00533                   *  The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D
00534                   *   where the reference is the center of the Earth.
00535                   *  For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid
00536                   * \sa geodeticToENU_WGS84
00537                   */
00538                 MRPT_DECLARE_DEPRECATED_FUNCTION("*DEPRECATED* Use geodeticToENU_WGS84 instead",
00539                 void TOPO_IMPEXP coordinatesTransformation_WGS84_geocentric(
00540                         double          in_longitude_degrees,
00541                         double          in_latitude_degrees,
00542                         double          in_height_meters,
00543                         double          &out_x_meters,
00544                         double          &out_y_meters,
00545                         double          &out_z_meters
00546                         ) );
00547 
00548 
00549         /** @}
00550             ======================================================================= */
00551 
00552 
00553         /** =======================================================================
00554            @name Miscellaneous
00555            @{ */
00556 
00557                 /** Returns the East-North-Up (ENU) coordinate system associated to the given point.
00558                   * This is the reference employed in geodeticToENU_WGS84
00559                   * \param only_angles If set to true, the (x,y,z) fields will be left zeroed.
00560                   * \sa geodeticToENU_WGS84
00561                   */
00562                 void TOPO_IMPEXP ENU_axes_from_WGS84(
00563                         double          in_longitude_reference_degrees,
00564                         double          in_latitude_reference_degrees,
00565                         double          in_height_reference_meters,
00566                         mrpt::math::TPose3D &out_ENU,
00567                         bool            only_angles = false
00568                         );
00569 
00570                 /** Returns the East-North-Up (ENU) coordinate system associated to the given point.
00571                   * This is the reference employed in coordinatesTransformation_WGS84
00572                   * \param only_angles If set to true, the (x,y,z) fields will be left zeroed.
00573                   * \sa geodeticToENU_WGS84
00574                   */
00575                 inline void ENU_axes_from_WGS84(
00576                         const TGeodeticCoords           &in_coords,
00577                         mrpt::math::TPose3D &out_ENU,
00578                         bool            only_angles = false
00579                         )
00580                 {
00581                         ENU_axes_from_WGS84(in_coords.lon,in_coords.lat,in_coords.height, out_ENU,only_angles);
00582                 }
00583 
00584         /** @}
00585             ======================================================================= */
00586 
00587 
00588         } // End of namespace
00589 
00590 } // End of namespace
00591 
00592 #endif