LocalHorizonalFrame.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstCore/GeodeticPoint.hpp"
#include "AstMath/Vector.hpp"
 
AST_NAMESPACE_BEGIN
 
AST_CORE_CAPI void aGeodeticToNEDTransform(const GeodeticPoint& origin, Rotation& rot);
 
AST_CORE_CAPI void aGeodeticToENUTransform(const GeodeticPoint& origin, Rotation& rot);
 
 
AST_CORE_API void aGeodeticToBodyFixed(const GeodeticPoint& point, Vector3d& bodyFixed, double radius, double flatFact);
 
AST_CORE_API void aBodyFixedToGeodetic(const Vector3d& bodyFixed, GeodeticPoint& point, double radius, double flatFact);
 
 
AST_CORE_API void aGeodeticToBodyFixed(const GeodeticPoint& point, Vector3d& bodyFixed, double radius);
 
 
AST_CORE_API void aBodyFixedToGeodetic(const Vector3d& bodyFixed, GeodeticPoint& point, double radius);
 
 
AST_CORE_API void aGeodeticToBodyFixed(const GeodeticPoint& point, Vector3d& bodyFixed, double xRadius, double yRadius, double zRadius);
 
 
AST_CORE_API void aBodyFixedToGeodetic(const Vector3d& bodyFixed, GeodeticPoint& point, double xRadius, double yRadius, double zRadius);
 
 
AST_CORE_API errc_t aGeodeticToBodyFixed(const GeodeticPoint& point, const LatLonAlt& rate,
                                         Vector3d& bodyFixed, Vector3d& vel,
                                         double radius, double flatFact);
 
 
AST_CORE_API errc_t aBodyFixedToGeodetic(const Vector3d& bodyFixed, const Vector3d& vel,
                                         GeodeticPoint& point, LatLonAlt& rate,
                                         double radius, double flatFact);
 
 
AST_CORE_API void aGeodeticToNED(const Vector3d& posInBodyFixed, const GeodeticPoint& origin, Vector3d& ned, BodyShape* bodyShape);
 
AST_CORE_API void aGeodeticToNED(const GeodeticPoint& point, const GeodeticPoint& origin, Vector3d& ned, BodyShape* bodyShape);
 
AST_CORE_API void aNEDToGeodetic(const Vector3d& ned, const GeodeticPoint& origin, GeodeticPoint& point, BodyShape* bodyShape);
 
AST_CORE_API void aGeodeticToENU(const Vector3d& posInBodyFixed, const GeodeticPoint& origin, Vector3d& enu, BodyShape* bodyShape);
 
AST_CORE_API void aGeodeticToENU(const GeodeticPoint& point, const GeodeticPoint& origin, Vector3d& enu, BodyShape* bodyShape);
 
AST_CORE_API void aENUToGeodetic(const Vector3d& enu, const GeodeticPoint& origin, GeodeticPoint& point, BodyShape* bodyShape);
 
 
// ----------------------------------
// MATLAB Navigation Toolbox 同名函数
// ----------------------------------
 
 
A_ALWAYS_INLINE Vector3d lla2ned(const GeodeticPoint& lla, const GeodeticPoint& lla0, BodyShape* bodyShape)
{
    Vector3d ned;
    aGeodeticToNED(lla, lla0, ned, bodyShape);
    return ned;
}
 
A_ALWAYS_INLINE GeodeticPoint ned2lla(const Vector3d& ned, const GeodeticPoint& lla0, BodyShape* bodyShape)
{
    GeodeticPoint target;
    aNEDToGeodetic(ned, lla0, target, bodyShape);
    return target;
}
 
A_ALWAYS_INLINE Vector3d lla2enu(const GeodeticPoint& lla, const GeodeticPoint& lla0, BodyShape* bodyShape)
{
    Vector3d enu;
    aGeodeticToENU(lla, lla0, enu, bodyShape);
    return enu;
}
 
A_ALWAYS_INLINE GeodeticPoint enu2lla(const Vector3d& enu, const GeodeticPoint& lla0, BodyShape* bodyShape)
{
    GeodeticPoint target;
    aENUToGeodetic(enu, lla0, target, bodyShape);
    return target;
}
 
 
AST_NAMESPACE_END