SphericalCoordinates.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_SPHERICALCOORDINATES_HH_
#define GZ_MATH_SPHERICALCOORDINATES_HH_
 
#include <optional>
#include <string>
 
#include <gz/math/Angle.hh>
#include <gz/math/CoordinateVector3.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/Helpers.hh>
#include <gz/math/config.hh>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
 
  class GZ_MATH_VISIBLE SphericalCoordinates
  {
    public: enum SurfaceType
            {
              EARTH_WGS84 = 1,
 
              MOON_SCS = 2,
 
              CUSTOM_SURFACE = 10
            };
 
    public: enum CoordinateType
            {
              SPHERICAL = 1,
 
              ECEF = 2,
 
              GLOBAL = 3,
 
              LOCAL = 4,
            };
 
    public: SphericalCoordinates();
 
    public: explicit SphericalCoordinates(const SurfaceType _type);
 
    public: SphericalCoordinates(
          const SurfaceType _type,
          const double _axisEquatorial,
          const double _axisPolar);
 
    public: SphericalCoordinates(const SurfaceType _type,
                                 const gz::math::Angle &_latitude,
                                 const gz::math::Angle &_longitude,
                                 const double _elevation,
                                 const gz::math::Angle &_heading);
 
    public: std::optional<math::CoordinateVector3> SphericalFromLocalPosition(
                const gz::math::CoordinateVector3 &_xyz) const;
 
    public: std::optional<math::CoordinateVector3> GlobalFromLocalVelocity(
                const gz::math::CoordinateVector3 &_xyz) const;
 
    public: static SurfaceType Convert(const std::string &_str);
 
    public: static std::string Convert(SurfaceType _type);
 
    public: static double DistanceWGS84(
                                   const gz::math::Angle &_latA,
                                   const gz::math::Angle &_lonA,
                                   const gz::math::Angle &_latB,
                                   const gz::math::Angle &_lonB);
 
    public: double DistanceBetweenPoints(
                const gz::math::Angle &_latA,
                const gz::math::Angle &_lonA,
                const gz::math::Angle &_latB,
                const gz::math::Angle &_lonB);
 
    public: SurfaceType Surface() const;
 
    public: double SurfaceRadius() const;
 
    public: double SurfaceAxisEquatorial() const;
 
    public: double SurfaceAxisPolar() const;
 
    public: double SurfaceFlattening() const;
 
    public: gz::math::Angle LatitudeReference() const;
 
    public: gz::math::Angle LongitudeReference() const;
 
    public: double ElevationReference() const;
 
    public: gz::math::Angle HeadingOffset() const;
 
    public: void SetSurface(const SurfaceType &_type);
 
    public: void SetSurface(
                const SurfaceType &_type,
                const double _axisEquatorial,
                const double _axisPolar);
 
    public: void SetLatitudeReference(const gz::math::Angle &_angle);
 
    public: void SetLongitudeReference(const gz::math::Angle &_angle);
 
    public: void SetElevationReference(const double _elevation);
 
    public: void SetHeadingOffset(const gz::math::Angle &_angle);
 
    public: std::optional<math::CoordinateVector3> LocalFromSphericalPosition(
                const gz::math::CoordinateVector3 &_latLonEle) const;
 
    public: std::optional<math::CoordinateVector3> LocalFromGlobalVelocity(
                const gz::math::CoordinateVector3 &_xyz) const;
 
    public: void UpdateTransformationMatrix();
 
    public: std::optional<gz::math::CoordinateVector3>
            PositionTransform(const gz::math::CoordinateVector3 &_pos,
                const CoordinateType &_in, const CoordinateType &_out) const;
 
    public: std::optional<gz::math::CoordinateVector3> VelocityTransform(
                const gz::math::CoordinateVector3 &_vel,
                const CoordinateType &_in, const CoordinateType &_out) const;
 
    public: bool operator==(const SphericalCoordinates &_sc) const;
 
    public: bool operator!=(const SphericalCoordinates &_sc) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_SPHERICALCOORDINATES_HH_