Position Class Reference
[Geodetic coordinates and geoids]

#include <Position.hpp>

Inheritance diagram for Position:

[legend]Collaboration diagram for Position:

Detailed Description

A position representation class for common 3D geographic position formats, including geodetic (geodetic latitude, longitude, and height above the ellipsoid) geocentric (geocentric latitude, longitude, and radius from Earth's center), cartesian (Earth-centered, Earth-fixed) and spherical (theta,phi,radius).

Internally, the representation of Position consists of three coordinate values (double), two doubles from a ellipsoid model (see below, storing these doubles is preferred over adding EllipsoidModel to calling arguments everywhere), a flag of type 'enum CoordinateSystem' giving the coordinate system, and a tolerance for use in comparing Positions. Class Position inherits from class Triple, which is how the coordinate values are stored (Triple actually uses std::valarray<double> of length 3). It is important to note that Triple:: routines are properly used by Positions ONLY in the Cartesian coordinate system.

Only geodetic coordinates depend on a ellipsoid, and then only on the semi-major axis of the Earth and the square of its eccentricity. Input of this ellipsoid information (usually a pointer to a EllipsoidModel) is required by functions involving constructors of, or transformation to or from, Geodetic coordinates. However since a default is supplied (WGS84), the user need never deal with geiods unless desired. In fact, if the geodetic coordinate system is avoided, the Position class can be interpreted simply as 3D vectors in any context, particularly since the class inherits from Triple, which includes many vector manipulation routines (although the Triple:: routines assume Cartesian coordinates). Even the requirement that lengths (radius, height and the cartesian coordinates) have units of meters is required only if geodetic coordinates are used (because the semi-major axis in EllipsoidModel is in meters); without using Geodetic one could apply the class using any units for length as long as setTolerance() is called appropriately.

Position relies on a series of fundamental routines to transform from one coordinate system to another, these include, for example void Position::convertGeodeticToCartesian(const Triple& llh, Triple& xyz, const double A, const double eccSq); void Position::convertSphericalToCartesian(const Triple& tpr, Triple& xyz); These functions use Triple in the calling arguments.

Position will throw exceptions (gpstk::GeometryException) on bad input (e.g. negative radius or latitude > 90 degrees); otherwise the class attempts to handle all points, even the pole and the origin, consistently and without throwing exceptions. At or very near the poles, the transformation routines will set latitude = +/-90 degrees, which is theta = 0 or 180, and (arbitrarily) longitude = 0. At or very near the origin, the transformation routines will set latitude = 0, which is theta = 90, and (arbitrarily) longitude = 0; radius will be set to zero and geodetic height will be set to -radius(Earth) (= -6378137.0 in WGS84). The tolerance used in testing 'at or near the pole or origin' is radius < POSITION_TOLERANCE/5. Note that this implies that a Position that is very near the origin may be SET to the exact origin by the transformation routines, and that thereby information about direction (e.g. latitude and longitude) may be LOST. The user is warned to be very careful when working near either the pole or the origin.

Position includes setToString() and printf() functions similar to those in gpstk::CommonTime; this allows flexible and powerful I/O of Position to strings and streams.

See also:: positiontest.cpp for examples.

Definition at line 117 of file Position.hpp.

Public Types

enum CoordinateSystem {
Unknown = 0, Geodetic, Geocentric, Cartesian,
Spherical
}

The coordinate systems supported by Position. More...

Public Member Functions

std::string getSystemName () throw ()

return string giving name of coordinate system

Position & setTolerance (const double tol) throw ()

Sets the tolerance for output and comparisons, for this object only.

Position () throw ()

Default constructor.

Position (const double &a, const double &b, const double &c, CoordinateSystem s=Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown) throw (GeometryException)

Explicit constructor.

Position (const double ABC[3], CoordinateSystem s=Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown) throw (GeometryException)

Explicit constructor.

Position (const Triple &ABC, CoordinateSystem s=Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown) throw (GeometryException)

Explicit constructor.

Position (const Xvt &xvt) throw ()

Explicit constructor from Xvt.

~Position () throw ()

Destructor.

Position & operator-= (const Position &right) throw ()

Subtract a Position from this Position.

Position & operator+= (const Position &right) throw ()

Add a Position to this Position.

bool operator== (const Position &right) const throw ()

Equality operator.

bool operator!= (const Position &right) const throw ()

Inequality operator.

Position transformTo (CoordinateSystem sys) throw ()

Transform coordinate system.

Position asGeodetic () throw ()

Convert to geodetic coordinates (does nothing if system == Geodetic already).

Position asGeodetic (EllipsoidModel *ell) throw (GeometryException)

Convert to another ell, then to geodetic coordinates.

Position asECEF () throw ()

Convert to cartesian coordinates (does nothing if system == Cartesian already).

const ReferenceFrame & getReferenceFrame () const throw ()

return coordinate ReferenceFrame

double X () const throw ()

return X coordinate (meters)

double Y () const throw ()

return Y coordinate (meters)

double Z () const throw ()

return Z coordinate (meters)

double geodeticLatitude () const throw ()

return geodetic latitude (degrees North).

double geocentricLatitude () const throw ()

return geocentric latitude (degrees North); equal to 90 degress - theta in regular spherical coordinates.

double theta () const throw ()

return spherical coordinate theta in degrees

double phi () const throw ()

return spherical coordinate phi in degrees

double longitude () const throw ()

return longitude (degrees East); equal to phi in regular spherical coordinates.

double radius () const throw ()

return distance from the center of Earth (meters), Same as radius in spherical coordinates.

double height () const throw ()

return height above ellipsoid (meters) (Geodetic).

CoordinateSystem getCoordinateSystem () const throw ()

return the coordinate system for this Position

double getGeodeticLatitude () const throw ()

return geodetic latitude (deg N)

double getGeocentricLatitude () const throw ()

return geocentric latitude (deg N)

double getLongitude () const throw ()

return longitude (deg E) (either geocentric or geodetic)

double getAltitude () const throw ()

return height above ellipsoid (meters)

double getHeight () const throw ()

return height above ellipsoid (meters)

double getX () const throw ()

return ECEF X coordinate (meters)

double getY () const throw ()

return ECEF Y coordinate (meters)

double getZ () const throw ()

return ECEF Z coordinate (meters)

double getTheta () const throw ()

return spherical coordinate angle theta (deg) (90 - geocentric latitude)

double getPhi () const throw ()

return spherical coordinate angle phi (deg) (same as longitude)

double getRadius () const throw ()

return radius

void setReferenceFrame (const ReferenceFrame &frame) throw ()

Set the ReferenceFrame that this position is in.

void setEllipsoidModel (const EllipsoidModel *ell) throw (GeometryException)

Set the ellipsoid values for this Position given a ellipsoid.

Position & setGeodetic (const double lat, const double lon, const double ht, const EllipsoidModel *ell=NULL) throw (GeometryException)

Set the Position given geodetic coordinates; system is set to Geodetic.

Position & setGeocentric (const double lat, const double lon, const double rad) throw (GeometryException)

Set the Position given geocentric coordinates; system is set to Geocentric.

Position & setSpherical (const double theta, const double phi, const double rad) throw (GeometryException)

Set the Position given spherical coordinates; system is set to Spherical.

Position & setECEF (const double X, const double Y, const double Z) throw ()

Set the Position given ECEF coordinates; system is set to Cartesian.

Position & setECEF (const double XYZ[3]) throw ()

Set the Position given an array of ECEF coordinates; system is set to Cartesian.

Position & setECEF (const Triple &XYZ) throw ()

Set the Position given ECEF coordinates; system is set to Cartesian.

Position & setToString (const std::string &str, const std::string &fmt) throw (GeometryException, StringUtils::StringException)

setToString, similar to scanf, this function takes a string and a format describing string in order to define Position values.

std::string printf (const char *fmt) const throw (StringUtils::StringException)

Format this Position into a string.

std::string printf (const std::string &fmt) const throw (StringUtils::StringException)

Format this time into a string.

std::string asString () const throw (StringUtils::StringException)

Returns the string that operator<<() would print.

double radiusEarth () const throw ()

A member function that calls the non-member radiusEarth() for this Position.

double elevation (const Position &Target) const throw (GeometryException)

A member function that computes the elevation of the input (Target) position as seen from this Position.

double elevationGeodetic (const Position &Target) const throw (GeometryException)

A member function that computes the elevation of the input (Target) position as seen from this Position, using a Geodetic (ellipsoidal) system.

double azimuth (const Position &Target) const throw (GeometryException)

A member function that computes the azimuth of the input (Target) position as seen from this Position.

double azimuthGeodetic (const Position &Target) const throw (GeometryException)

A member function that computes the azimuth of the input (Target) position as seen from this Position, using a Geodetic (ellipsoidal) system.

Position getIonosphericPiercePoint (const double elev, const double azim, const double ionoht) const throw ()

A member function that computes the position at which a signal, which is received at this Position and there is observed at the (input) azimuth and elevation angles, crosses a model ionosphere that is taken to be a thin shell at constant (input) height.

double getCurvMeridian () const throw ()

A member function that computes the radius of curvature of the meridian (Rm) corresponding to this Position.

double getCurvPrimeVertical () const throw ()

A member function that computes the radius of curvature in the prime vertical (Rn) corresponding to this Position.

Static Public Member Functions

double setPositionTolerance (const double tol)

Changes the POSITION_TOLERANCE for all Position objects.

double getPositionTolerance ()

Returns the current POSITION_TOLERANCE.

void convertSphericalToCartesian (const Triple &tpr, Triple &xyz) throw ()

Fundamental conversion from spherical to cartesian coordinates.

void convertCartesianToSpherical (const Triple &xyz, Triple &tpr) throw ()

Fundamental routine to convert cartesian to spherical coordinates.

void convertCartesianToGeodetic (const Triple &xyz, Triple &llh, const double A, const double eccSq) throw ()

Fundamental routine to convert ECEF (cartesian) to geodetic coordinates, (Ellipsoid specified by semi-major axis and eccentricity squared).

void convertGeodeticToCartesian (const Triple &llh, Triple &xyz, const double A, const double eccSq) throw ()

Fundamental routine to convert geodetic to ECEF (cartesian) coordinates, (Ellipsoid specified by semi-major axis and eccentricity squared).

void convertCartesianToGeocentric (const Triple &xyz, Triple &llr) throw ()

Fundamental routine to convert cartesian (ECEF) to geocentric The zero vector is converted to (0,0,0).

void convertGeocentricToCartesian (const Triple &llr, Triple &xyz) throw ()

Fundamental routine to convert geocentric to cartesian (ECEF).

void convertGeocentricToGeodetic (const Triple &llr, Triple &geodeticllh, const double A, const double eccSq) throw ()

Fundamental routine to convert geocentric to geodetic.

void convertGeodeticToGeocentric (const Triple &geodeticllh, Triple &llr, const double A, const double eccSq) throw ()

Fundamental routine to convert geodetic to geocentric.

double radiusEarth (const double geolat, const double A, const double eccSq) throw ()

Compute the radius of the ellipsoidal Earth, given the geodetic latitude.

Static Public Attributes

const double ONE_MM_TOLERANCE = 0.001

One millimeter tolerance.

const double ONE_CM_TOLERANCE = 0.01

One centimeter tolerance.

const double ONE_UM_TOLERANCE = 0.000001

One micron tolerance.

double POSITION_TOLERANCE = Position::ONE_MM_TOLERANCE

Default tolerance for time equality in days.

Friends

Position operator- (const Position &left, const Position &right) throw ()

Difference two Positions, returning result as a Position in Cartesian coordinates, the only system in which a position difference makes sense.

Position operator+ (const Position &left, const Position &right) throw ()

Add two Positions, returning result as a Position in Cartesian coordinates, the only system in which a position sum makes sense.

Position operator * (const double &scale, const Position &right)

Multiply a Position by a double scalar on the left.

Position operator * (const Position &left, const double &scale)

Multiply a Position by a double scalar on the right.

Position operator * (const int &scale, const Position &right)

Multiply a Position by an integer scalar on the left.

Position operator * (const Position &left, const int &scale)

Multiply a Position by an integer scalar on the right.

std::ostream & operator<< (std::ostream &s, const Position &p)

Stream output for Position objects.

double range (const Position &A, const Position &B) throw (GeometryException)

Compute the range in meters between two Positions.

Member Enumeration Documentation

enum CoordinateSystem

The coordinate systems supported by Position.

Enumeration values:

Unknown unknown coordinate system

Geodetic geodetic latitude, longitude, and height above ellipsoid

Geocentric geocentric (regular spherical coordinates)

Cartesian cartesian (Earth-centered, Earth-fixed)

Spherical spherical coordinates (theta,phi,radius)

Definition at line 123 of file Position.hpp.

Constructor & Destructor Documentation

Position ( ) throw ()

Default constructor.
Initializes to zero, Unknown coordinates
Definition at line 87 of file Position.cpp.
References Position::Unknown.

Position ( const double & a,

const double & b,

const double & c,

CoordinateSystem s = Cartesian,

EllipsoidModel * ell = NULL,

ReferenceFrame frame = ReferenceFrame::Unknown

) throw (GeometryException)

Explicit constructor.
Coordinate system may be specified on input, but defaults to Cartesian. Pointer to EllipsoidModel may be specified, but default is NULL (in which case WGS84 values will be used).
Parameters:

a first coordinate [ X(m), or latitude (degrees N) ]

b second coordinate [ Y(m), or longitude (degrees E) ]

c third coordinate [ Z, height above ellipsoid or radius, in m ]

s coordinate system

ell pointer to EllipsoidModel

Exceptions:

GeometryException on invalid input.

Definition at line 94 of file Position.cpp.
References gpstk::ge(), and GPSTK_RETHROW.

Position ( const double ABC[3],

CoordinateSystem s = Cartesian,

EllipsoidModel * ell = NULL,

ReferenceFrame frame = ReferenceFrame::Unknown

) throw (GeometryException)

Explicit constructor.
Coordinate system may be specified on input, but defaults to Cartesian. Pointer to EllipsoidModel may be specified, but default is NULL (in which case WGS84 values will be used).
Parameters:

ABC double array[3] coordinate values

s CoordinateSystem

ell pointer to EllipsoidModel

Exceptions:

GeometryException on invalid input.

Definition at line 110 of file Position.cpp.
References gpstk::ge(), and GPSTK_RETHROW.

Position ( const Triple & ABC,

CoordinateSystem s = Cartesian,

EllipsoidModel * ell = NULL,

ReferenceFrame frame = ReferenceFrame::Unknown

) throw (GeometryException)

Explicit constructor.
Coordinate system may be specified on input, but defaults to Cartesian. Pointer to EllipsoidModel may be specified, but default is NULL (in which case WGS84 values will be used).
Parameters:

ABC coordinate values

s CoordinateSystem

ell pointer to EllipsoidModel

Exceptions:

GeometryException on invalid input.

Definition at line 127 of file Position.cpp.
References gpstk::ge(), and GPSTK_RETHROW.

Position ( const Xvt & xvt ) throw ()

Explicit constructor from Xvt.
The coordinate system is Cartesian, and the velocity and time information in the input is ignored.
Parameters:

xvt Input Xvt object, xvt.x contains the Cartesian coordinates

Definition at line 144 of file Position.cpp.

~Position ( ) throw () [inline]

Destructor.

Definition at line 233 of file Position.hpp.

Member Function Documentation

Position asECEF ( ) throw () [inline]

Convert to cartesian coordinates (does nothing if system == Cartesian already).

Definition at line 369 of file Position.hpp.

Position asGeodetic ( EllipsoidModel * ell ) throw (GeometryException) [inline]

Convert to another ell, then to geodetic coordinates.

Returns:
a reference to this.

Exceptions:

GeometryException if input is NULL.

Definition at line 358 of file Position.hpp.
References gpstk::ge(), and GPSTK_RETHROW.

Position asGeodetic ( ) throw () [inline]

Convert to geodetic coordinates (does nothing if system == Geodetic already).

Definition at line 351 of file Position.hpp.

string asString ( ) const throw (StringUtils::StringException)

Returns the string that operator<<() would print.

Definition at line 1035 of file Position.cpp.

double azimuth ( const Position & Target ) const throw (GeometryException)

A member function that computes the azimuth of the input (Target) position as seen from this Position.

Parameters:

Target the Position which is observed to have the computed azimuth, as seen from this Position.

Returns:
the azimuth in degrees

Definition at line 1373 of file Position.cpp.
References Triple::azAngle(), gpstk::ge(), GPSTK_RETHROW, and Position::transformTo().
Referenced by main().

double azimuthGeodetic ( const Position & Target ) const throw (GeometryException)

A member function that computes the azimuth of the input (Target) position as seen from this Position, using a Geodetic (ellipsoidal) system.

Parameters:

Target the Position which is observed to have the computed azimuth, as seen from this Position.

Returns:
the azimuth in degrees

Definition at line 1400 of file Position.cpp.
References gpstk::cos(), Triple::dot(), gpstk::ge(), Position::getGeodeticLatitude(), Position::getLongitude(), GPSTK_THROW, Triple::mag(), gpstk::sin(), Triple::theArray, and Position::transformTo().

void convertCartesianToGeocentric ( const Triple & xyz,

Triple & llr

) throw () [static]

Fundamental routine to convert cartesian (ECEF) to geocentric The zero vector is converted to (0,0,0).

Parameters:

xyz (input): X,Y,Z

llr (output): geocentric lat(deg N), lon(deg E), radius (units of input)

Definition at line 1149 of file Position.cpp.

void convertCartesianToGeodetic ( const Triple & xyz,

Triple & llh,

const double A,

const double eccSq

) throw () [static]

Fundamental routine to convert ECEF (cartesian) to geodetic coordinates, (Ellipsoid specified by semi-major axis and eccentricity squared).
The zero vector is converted to (90,0,-R(earth)).
Parameters:

xyz (input): X,Y,Z in meters

llh (output): geodetic lat(deg N), lon(deg E), height above ellipsoid (meters)

A (input) Earth semi-major axis

eccSq (input) square of Earth eccentricity Algorithm references: Leick, "GPS Satellite Surveying," 2nd edition.

Definition at line 1092 of file Position.cpp.
References SQRT.

void convertCartesianToSpherical ( const Triple & xyz,

Triple & tpr

) throw () [static]

Fundamental routine to convert cartesian to spherical coordinates.
The zero vector is converted to (90,0,0).
Parameters:

xyz (input): X,Y,Z

trp (output): theta, phi (degrees), radius (units of input) Algorithm references: standard geometry.

Definition at line 1063 of file Position.cpp.
References gpstk::RSS().

void convertGeocentricToCartesian ( const Triple & llr,

Triple & xyz

) throw () [static]

Fundamental routine to convert geocentric to cartesian (ECEF).

Parameters:

llr (input): geocentric lat(deg N),lon(deg E),radius

xyz (output): X,Y,Z (units of radius)

Definition at line 1160 of file Position.cpp.

void convertGeocentricToGeodetic ( const Triple & llr,

Triple & geodeticllh,

const double A,

const double eccSq

) throw () [static]

Fundamental routine to convert geocentric to geodetic.

Parameters:

llr (input): geocentric lat(deg N),lon(deg E),radius (meters)

geodeticllh (output): geodetic latitude (deg N), longitude (deg E), and height above ellipsoid (meters)

A (input) Earth semi-major axis

eccSq (input) square of Earth eccentricity

Definition at line 1175 of file Position.cpp.
References SQRT.

void convertGeodeticToCartesian ( const Triple & llh,

Triple & xyz,

const double A,

const double eccSq

) throw () [static]

Fundamental routine to convert geodetic to ECEF (cartesian) coordinates, (Ellipsoid specified by semi-major axis and eccentricity squared).

Parameters:

llh (input): geodetic lat(deg N), lon(deg E), height above ellipsoid (meters)

A (input) Earth semi-major axis

xyz (output): X,Y,Z in meters

eccSq (input) square of Earth eccentricity Algorithm references: Leick, "GPS Satellite Surveying," 2nd edition.

Definition at line 1131 of file Position.cpp.
References SQRT.

void convertGeodeticToGeocentric ( const Triple & geodeticllh,

Triple & llr,

const double A,

const double eccSq

) throw () [static]

Fundamental routine to convert geodetic to geocentric.

Parameters:

geodeticllh (input): geodetic latitude (deg N), longitude (deg E), and height above ellipsoid (meters)

llr (output): geocentric lat (deg N),lon (deg E),radius (meters)

A (input) Earth semi-major axis

eccSq (input) square of Earth eccentricity

Definition at line 1221 of file Position.cpp.
References SQRT.

void convertSphericalToCartesian ( const Triple & tpr,

Triple & xyz

) throw () [static]

Fundamental conversion from spherical to cartesian coordinates.

Parameters:

trp (input): theta, phi (degrees), radius

xyz (output): X,Y,Z in units of radius Algorithm references: standard geometry.

Definition at line 1049 of file Position.cpp.

double elevation ( const Position & Target ) const throw (GeometryException)

A member function that computes the elevation of the input (Target) position as seen from this Position.

Parameters:

Target the Position which is observed to have the computed elevation, as seen from this Position.

Returns:
the elevation in degrees

Definition at line 1314 of file Position.cpp.
References Triple::elvAngle(), gpstk::ge(), GPSTK_RETHROW, and Position::transformTo().
Referenced by main(), and PRSolution::SimplePRSolution().

double elevationGeodetic ( const Position & Target ) const throw (GeometryException)

A member function that computes the elevation of the input (Target) position as seen from this Position, using a Geodetic (ellipsoidal) system.

Parameters:

Target the Position which is observed to have the computed elevation, as seen from this Position.

Returns:
the elevation in degrees

Definition at line 1338 of file Position.cpp.
References gpstk::cos(), Triple::dot(), gpstk::ge(), Position::getGeodeticLatitude(), Position::getLongitude(), GPSTK_THROW, Triple::mag(), gpstk::sin(), Triple::theArray, and Position::transformTo().

double geocentricLatitude ( ) const throw ()

return geocentric latitude (degrees North); equal to 90 degress - theta in regular spherical coordinates.

Definition at line 397 of file Position.cpp.
References Position::Geocentric, Triple::theArray, and Position::transformTo().

double geodeticLatitude ( ) const throw ()

return geodetic latitude (degrees North).

Definition at line 385 of file Position.cpp.
References Position::Geodetic, Triple::theArray, and Position::transformTo().
Referenced by Position::getCurvMeridian(), and Position::getCurvPrimeVertical().

double getAltitude ( ) const throw () [inline]

return height above ellipsoid (meters)

Definition at line 447 of file Position.hpp.
Referenced by Msise00Drag::computeDensity(), HarrisPriesterDrag::computeDensity(), CiraExponentialDrag::computeDensity(), AtmosphericDrag::doCompute(), MOPSTropModel::MOPSTropModel(), NeillTropModel::NeillTropModel(), and ObsRngDev::ObsRngDev().

CoordinateSystem getCoordinateSystem ( ) const throw () [inline]

return the coordinate system for this Position

Definition at line 427 of file Position.hpp.

double getCurvMeridian ( ) const throw ()

A member function that computes the radius of curvature of the meridian (Rm) corresponding to this Position.

Returns:
radius of curvature of the meridian (in meters)

Definition at line 1497 of file Position.cpp.
References Position::geodeticLatitude(), and SQRT.

double getCurvPrimeVertical ( ) const throw ()

A member function that computes the radius of curvature in the prime vertical (Rn) corresponding to this Position.

Returns:
radius of curvature in the prime vertical (in meters)

Definition at line 1513 of file Position.cpp.
References Position::geodeticLatitude(), and SQRT.

double getGeocentricLatitude ( ) const throw () [inline]

return geocentric latitude (deg N)

Definition at line 437 of file Position.hpp.
Referenced by computeSolidEarthTides(), and EarthSolidTide::getSolidTide().

double getGeodeticLatitude ( ) const throw () [inline]

return geodetic latitude (deg N)

Definition at line 432 of file Position.hpp.
Referenced by Position::azimuthGeodetic(), Msise00Drag::computeDensity(), Position::elevationGeodetic(), MOPSTropModel::MOPSTropModel(), NeillTropModel::NeillTropModel(), ObsRngDev::ObsRngDev(), NeillTropModel::setAllParameters(), MOPSTropModel::setAllParameters(), XYZ2NED::XYZ2NED(), and XYZ2NEU::XYZ2NEU().

double getHeight ( void ) const throw () [inline]

return height above ellipsoid (meters)

Definition at line 452 of file Position.hpp.
Referenced by NeillTropModel::setAllParameters(), MOPSTropModel::setAllParameters(), and PRSolution::SimplePRSolution().

Position getIonosphericPiercePoint ( const double elev,

const double azim,

const double ionoht

) const throw ()

A member function that computes the position at which a signal, which is received at this Position and there is observed at the (input) azimuth and elevation angles, crosses a model ionosphere that is taken to be a thin shell at constant (input) height.
This function will not transform this Position, and it will return a Position in the same system; the algorithm itself is done in the geocentric coordinate system.
Parameters:

elev elevation angle in degrees of the signal at reception

azim azimuth angle in degrees of the signal at reception

ionoht height of the ionosphere, in meters

Returns:
Position IPP the position of the ionospheric pierce point, in the same coordinate system as *this; *this is not modified.

Definition at line 1460 of file Position.cpp.
References gpstk::asin(), gpstk::PI, gpstk::Rx(), Triple::theArray, and Position::transformTo().
Referenced by main(), and ComputeIonoModel::Process().

double getLongitude ( ) const throw () [inline]

return longitude (deg E) (either geocentric or geodetic)

Definition at line 442 of file Position.hpp.
Referenced by Position::azimuthGeodetic(), Msise00Drag::computeDensity(), computeSolidEarthTides(), Position::elevationGeodetic(), EarthSolidTide::getSolidTide(), XYZ2NED::XYZ2NED(), and XYZ2NEU::XYZ2NEU().

double getPhi ( ) const throw () [inline]

return spherical coordinate angle phi (deg) (same as longitude)

Definition at line 477 of file Position.hpp.

double getPositionTolerance ( ) [inline, static]

Returns the current POSITION_TOLERANCE.

Definition at line 153 of file Position.hpp.

double getRadius ( ) const throw () [inline]

return radius

Definition at line 482 of file Position.hpp.

const ReferenceFrame & getReferenceFrame ( ) const throw ()

return coordinate ReferenceFrame

Definition at line 345 of file Position.cpp.
Referenced by HelmertTransform::transform().

string getSystemName ( ) throw ()

return string giving name of coordinate system

Definition at line 58 of file Position.cpp.
Referenced by IonexStore::getIonexValue(), IonexData::getValue(), and main().

double getTheta ( ) const throw () [inline]

return spherical coordinate angle theta (deg) (90 - geocentric latitude)

Definition at line 472 of file Position.hpp.

double getX ( ) const throw () [inline]

return ECEF X coordinate (meters)

Definition at line 457 of file Position.hpp.

double getY ( ) const throw () [inline]

return ECEF Y coordinate (meters)

Definition at line 462 of file Position.hpp.

double getZ ( ) const throw () [inline]

return ECEF Z coordinate (meters)

Definition at line 467 of file Position.hpp.

double height ( ) const throw ()

return height above ellipsoid (meters) (Geodetic).

Definition at line 454 of file Position.cpp.
References Position::Geodetic, Triple::theArray, and Position::transformTo().

double longitude ( ) const throw ()

return longitude (degrees East); equal to phi in regular spherical coordinates.

Definition at line 431 of file Position.cpp.
References Position::Spherical, Triple::theArray, and Position::transformTo().

bool operator!= ( const Position & right ) const throw ()

Inequality operator.
Return true if range between this Position and the input Position is greater than tolerance. Return true if ellipsoid values differ.
Parameters:

right Position to be compared to this Position

Definition at line 234 of file Position.cpp.
References gpstk::operator==().

Position & operator+= ( const Position & right ) throw ()

Add a Position to this Position.
Perform the addition in Cartesian coordinates, but return this Position to the system it had originally.
Parameters:

right Position to add to this one.

Returns:
new Position, in the original system.

Definition at line 172 of file Position.cpp.
References Triple::theArray, and Position::transformTo().

Position & operator-= ( const Position & right ) throw ()

Subtract a Position from this Position.
Perform the subtraction in Cartesian coordinates, but return this Position to the system it had originally.
Parameters:

right Position to subtract from this one.

Returns:
new Position, in the original system.

Definition at line 155 of file Position.cpp.
References Triple::theArray, and Position::transformTo().

bool operator== ( const Position & right ) const throw ()

Equality operator.
Return true if range between this Position and the input Position is less than tolerance. Return false if ellipsoid values differ.
Parameters:

right Position to be compared to this Position

Definition at line 220 of file Position.cpp.
References gpstk::range().

double phi ( ) const throw ()

return spherical coordinate phi in degrees

Definition at line 419 of file Position.cpp.
References Position::Spherical, Triple::theArray, and Position::transformTo().

std::string printf ( const std::string & fmt ) const throw (StringUtils::StringException) [inline]

Format this time into a string.

See also:
printf(const char*)

Definition at line 670 of file Position.hpp.

std::string printf ( const char * fmt ) const throw (StringUtils::StringException)

Format this Position into a string.
Generate and return a string containing formatted Position coordinates, formatted by the specification fmt.

%x X() (meters)

%y Y() (meters)

%z Z() (meters)

%X X()/1000 (kilometers)

%Y Y()/1000 (kilometers)

%Z Z()/1000 (kilometers)

%A geodeticLatitude() (degrees North)

%a geocentricLatitude() (degrees North)

%L longitude() (degrees East)

%l longitude() (degrees East)

%w longitude() (degrees West)

%W longitude() (degrees West)

%t theta() (degrees)

%T theta() (radians)

%p phi() (degrees)

%P phi() (radians)

%r radius() meters

%R radius()/1000 kilometers

%h height() meters

%H height()/1000 kilometers

Parameters:

fmt format to use for this time.

Returns:
a string containing this Position in the representation specified by fmt.

Definition at line 985 of file Position.cpp.
References gpstk::StringUtils::formattedPrint().
Referenced by main(), and gpstk::operator<<().

double radius ( ) const throw ()

return distance from the center of Earth (meters), Same as radius in spherical coordinates.

Definition at line 443 of file Position.cpp.
References Position::Spherical, Triple::theArray, and Position::transformTo().
Referenced by computeSolidEarthTides(), and gpstk::doSatAtt().

double radiusEarth ( ) const throw () [inline]

A member function that calls the non-member radiusEarth() for this Position.

Returns:
the Earth radius (in meters)

Definition at line 815 of file Position.hpp.
References Position::AEarth, Position::eccSquared, Triple::theArray, and Position::transformTo().

double radiusEarth ( const double geolat,

const double A,

const double eccSq

) throw () [static]

Compute the radius of the ellipsoidal Earth, given the geodetic latitude.

Parameters:

geolat geodetic latitude in degrees

Returns:
the Earth radius (in meters)

Definition at line 1298 of file Position.cpp.
References SQRT.

Position& setECEF ( const Triple & XYZ ) throw () [inline]

Set the Position given ECEF coordinates; system is set to Cartesian.

Parameters:

XYZ ECEF X,Y,Z coordinates in meters.

Returns:
a reference to this object.

Definition at line 570 of file Position.hpp.

Position& setECEF ( const double XYZ[3] ) throw () [inline]

Set the Position given an array of ECEF coordinates; system is set to Cartesian.

Parameters:

XYZ array[3] ECEF X,Y,Z coordinate in meters.

Returns:
a reference to this object.

Definition at line 561 of file Position.hpp.

Position & setECEF ( const double X,

const double Y,

const double Z

) throw ()

Set the Position given ECEF coordinates; system is set to Cartesian.

Parameters:

X ECEF X coordinate in meters.

Y ECEF Y coordinate in meters.

Z ECEF Z coordinate in meters.

Returns:
a reference to this object.

Definition at line 604 of file Position.cpp.
Referenced by gpstk::LunarPosition(), main(), Position::setToString(), PRSolution::SimplePRSolution(), gpstk::SolarPosition(), HelmertTransform::transform(), and SolarSystem::WGS84Position().

void setEllipsoidModel ( const EllipsoidModel * ell ) throw (GeometryException)

Set the ellipsoid values for this Position given a ellipsoid.

Parameters:

ell Pointer to the EllipsoidModel.

Exceptions:

GeometryException if input is NULL.

Definition at line 477 of file Position.cpp.
References Position::eccSquared, gpstk::ge(), and GPSTK_THROW.

Position & setGeocentric ( const double lat,

const double lon,

const double rad

) throw (GeometryException)

Set the Position given geocentric coordinates; system is set to Geocentric.

Parameters:

lat geocentric latitude in degrees North

lon geocentric longitude in degrees East

rad radius from the Earth's center in meters

Returns:
a reference to this object.

Exceptions:

GeometryException on invalid input

Definition at line 532 of file Position.cpp.
References gpstk::ge(), and GPSTK_THROW.
Referenced by main(), and Position::setToString().

Position & setGeodetic ( const double lat,

const double lon,

const double ht,

const EllipsoidModel * ell = NULL

) throw (GeometryException)

Set the Position given geodetic coordinates; system is set to Geodetic.

Parameters:

lat geodetic latitude in degrees North

lon geodetic longitude in degrees East

ht height above the ellipsoid in meters

Returns:
a reference to this object.

Exceptions:

GeometryException on invalid input

Definition at line 495 of file Position.cpp.
References Position::eccSquared, gpstk::ge(), and GPSTK_THROW.
Referenced by main(), and Position::setToString().

double setPositionTolerance ( const double tol ) [inline, static]

Changes the POSITION_TOLERANCE for all Position objects.

Definition at line 149 of file Position.hpp.

void setReferenceFrame ( const ReferenceFrame & frame ) throw ()

Set the ReferenceFrame that this position is in.

Parameters:

frame The ReferenceFrame to set to.

Definition at line 466 of file Position.cpp.
Referenced by HelmertTransform::transform().

Position & setSpherical ( const double theta,

const double phi,

const double rad

) throw (GeometryException)

Set the Position given spherical coordinates; system is set to Spherical.

Parameters:

theta angle from the Z-axis (degrees)

phi angle from the X-axis in the XY plane (degrees)

rad radius from the center in meters

Returns:
a reference to this object.

Exceptions:

GeometryException on invalid input

Definition at line 568 of file Position.cpp.
References gpstk::ge(), and GPSTK_THROW.
Referenced by main(), and Position::setToString().

Position & setTolerance ( const double tol ) throw ()

Sets the tolerance for output and comparisons, for this object only.
See the constants in this file (e.g. ONE_MM_TOLERANCE) for some easy to use tolerance values.
Parameters:

tol Tolerance in meters to be used by comparison operators.

See also:
Position-Specific Definitions

Definition at line 77 of file Position.cpp.

Position & setToString ( const std::string & str,

const std::string & fmt

) throw (GeometryException, StringUtils::StringException)

setToString, similar to scanf, this function takes a string and a format describing string in order to define Position values.
The parameters it can take are listed below and described above with the printf() function.
The specification must be sufficient to define a Position. The following table lists combinations that give valid Positions. Anything more or other combinations will give unknown (read as: "bad") results so don't try it. Anything less will throw an exception.

%X %Y %Z (cartesian or ECEF in kilometers) %x %y %z (cartesian or ECEF in meters) %a %l %r (geocentric lat,lon,radius, longitude E, radius in meters) %A %L %h (geodetic lat,lon,height, longitude E, height in meters) %a %w %R (geocentric lat,lon,radius, longitude W, radius in kilometers) %A %W %H (geodetic lat,lon,height, longitude W, height in kilometers) %t %p %r (spherical theta, phi, radius, degrees and meters) %T %P %R (spherical theta, phi, radius, radians and kilometers)
So
pos.setToString("123.4342,9328.1982,-128987.399", "%X,%Y,%Z");
works but

pos.setToString("123.4342,9328.1982", "%X,%Y");
doesn't work (incomplete specification because it doesn't specify a Position).
Whitespace is unimportant here; the function will handle it. The caller must ensure that that the extra characters in the format string (ie '.' ',') are in the same relative location as they are in the actual string; see the example above.

Parameters:

str string from which to get the Position coordinates

fmt format to use to parse str.

Exceptions:

GeometryException if fmt is an incomplete or invalid specification

StringException if an error occurs manipulating the str or fmt strings.

Returns:
a reference to this object.

Definition at line 661 of file Position.cpp.
References Exception::addText(), gpstk::StringUtils::asDouble(), gpstk::StringUtils::asInt(), gpstk::ge(), GPSTK_THROW, Position::setECEF(), Position::setGeocentric(), Position::setGeodetic(), Position::setSpherical(), gpstk::StringUtils::stripLeading(), and gpstk::StringUtils::stripTrailing().
Referenced by CommandOptionWithPositionArg::checkArguments(), and main().

double theta ( ) const throw ()

return spherical coordinate theta in degrees

Definition at line 408 of file Position.cpp.
References Position::Spherical, Triple::theArray, and Position::transformTo().

Position transformTo ( CoordinateSystem sys ) throw ()

Transform coordinate system.
Does nothing if sys already matches the current value of member CoordinateSystem 'system'.
Parameters:

sys CoordinateSystem into which this Position is transformed.

Definition at line 246 of file Position.cpp.
References Position::system, and Triple::theArray.
Referenced by Position::azimuth(), Position::azimuthGeodetic(), gpstk::doSatAtt(), Position::elevation(), Position::elevationGeodetic(), Position::geocentricLatitude(), Position::geodeticLatitude(), Position::getIonosphericPiercePoint(), Position::height(), Position::longitude(), main(), gpstk::operator+(), Position::operator+=(), gpstk::operator-(), Position::operator-=(), Position::phi(), IonexModel::Process(), ComputeIonoModel::Process(), Position::radius(), Position::radiusEarth(), gpstk::range(), gpstk::SatelliteNadirAzimuthAngles(), Position::theta(), HelmertTransform::transform(), Position::X(), Position::Y(), and Position::Z().

double X ( ) const throw ()

return X coordinate (meters)

Definition at line 352 of file Position.cpp.
References Position::Cartesian, Triple::theArray, and Position::transformTo().
Referenced by computeSolidEarthTides(), and gpstk::SatelliteNadirAzimuthAngles().

double Y ( ) const throw ()

return Y coordinate (meters)

Definition at line 363 of file Position.cpp.
References Position::Cartesian, Triple::theArray, and Position::transformTo().
Referenced by computeSolidEarthTides(), and gpstk::SatelliteNadirAzimuthAngles().

double Z ( ) const throw ()

return Z coordinate (meters)

Definition at line 374 of file Position.cpp.
References Position::Cartesian, Triple::theArray, and Position::transformTo().
Referenced by computeSolidEarthTides(), and gpstk::SatelliteNadirAzimuthAngles().

Friends And Related Function Documentation

Position operator * ( const Position & left,

const int & scale

) [friend]

Multiply a Position by an integer scalar on the right.

Parameters:

left Position to be multiplied by the scalar

scale the (int) scalar

Returns:
The new Position.

Definition at line 317 of file Position.hpp.

Position operator * ( const int & scale,

const Position & right

) [friend]

Multiply a Position by an integer scalar on the left.

Parameters:

right Position to be multiplied by the scalar

scale the (int) scalar

Returns:
The new Position.

Definition at line 306 of file Position.hpp.

Position operator * ( const Position & left,

const double & scale

) [friend]

Multiply a Position by a double scalar on the right.

Parameters:

left Position to be multiplied by the scalar

scale the (double) scalar

Returns:
The new Position.

Definition at line 295 of file Position.hpp.

Position operator * ( const double & scale,

const Position & right

) [friend]

Multiply a Position by a double scalar on the left.

Parameters:

right Position to be multiplied by the scalar

scale the (double) scalar

Returns:
The new Position.

Definition at line 282 of file Position.hpp.

Position operator+ ( const Position & left,

const Position & right

) throw () [friend]

Add two Positions, returning result as a Position in Cartesian coordinates, the only system in which a position sum makes sense.

Parameters:

right Position to add to this one.

Returns:
The new Position.

Definition at line 203 of file Position.cpp.

Position operator- ( const Position & left,

const Position & right

) throw () [friend]

Difference two Positions, returning result as a Position in Cartesian coordinates, the only system in which a position difference makes sense.

Parameters:

right Position to subtract from this one.

Returns:
difference as Position.

Definition at line 189 of file Position.cpp.

std::ostream& operator<< ( std::ostream & s,

const Position & p

) [friend]

Stream output for Position objects.

Parameters:

s stream to append formatted Position to.

t Position to append to stream s.

Returns:
reference to s.

double range ( const Position & A,

const Position & B

) throw (GeometryException) [friend]

Compute the range in meters between two Positions.
Input Positions are not modified.
Parameters:

A,B Positions between which to find the range

Returns:
the range (in meters)

Exceptions:

GeometryException if ellipsoid values differ. or if transformTo(Cartesian) fails

Definition at line 1278 of file Position.cpp.

Member Data Documentation

const double ONE_CM_TOLERANCE = 0.01 [static]

One centimeter tolerance.

Definition at line 66 of file Position.cpp.

const double ONE_MM_TOLERANCE = 0.001 [static]

One millimeter tolerance.

Definition at line 64 of file Position.cpp.

const double ONE_UM_TOLERANCE = 0.000001 [static]

One micron tolerance.

Definition at line 68 of file Position.cpp.

double POSITION_TOLERANCE = Position::ONE_MM_TOLERANCE [static]

Default tolerance for time equality in days.

Definition at line 71 of file Position.cpp.

The documentation for this class was generated from the following files:

Generated on Tue May 21 03:31:53 2013 for GPS ToolKit Software Library by

1.3.9.1


Public Types
enum	CoordinateSystem { Unknown = 0, Geodetic, Geocentric, Cartesian, Spherical }
	The coordinate systems supported by Position. More...
Public Member Functions
std::string	getSystemName () throw ()
	return string giving name of coordinate system
Position &	setTolerance (const double tol) throw ()
	Sets the tolerance for output and comparisons, for this object only.
	Position () throw ()
	Default constructor.
	Position (const double &a, const double &b, const double &c, CoordinateSystem s=Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown) throw (GeometryException)
	Explicit constructor.
	Position (const double ABC[3], CoordinateSystem s=Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown) throw (GeometryException)
	Explicit constructor.
	Position (const Triple &ABC, CoordinateSystem s=Cartesian, EllipsoidModel *ell=NULL, ReferenceFrame frame=ReferenceFrame::Unknown) throw (GeometryException)
	Explicit constructor.
	Position (const Xvt &xvt) throw ()
	Explicit constructor from Xvt.
	~Position () throw ()
	Destructor.
Position &	operator-= (const Position &right) throw ()
	Subtract a Position from this Position.
Position &	operator+= (const Position &right) throw ()
	Add a Position to this Position.
bool	operator== (const Position &right) const throw ()
	Equality operator.
bool	operator!= (const Position &right) const throw ()
	Inequality operator.
Position	transformTo (CoordinateSystem sys) throw ()
	Transform coordinate system.
Position	asGeodetic () throw ()
	Convert to geodetic coordinates (does nothing if system == Geodetic already).
Position	asGeodetic (EllipsoidModel *ell) throw (GeometryException)
	Convert to another ell, then to geodetic coordinates.
Position	asECEF () throw ()
	Convert to cartesian coordinates (does nothing if system == Cartesian already).
const ReferenceFrame &	getReferenceFrame () const throw ()
	return coordinate ReferenceFrame
double	X () const throw ()
	return X coordinate (meters)
double	Y () const throw ()
	return Y coordinate (meters)
double	Z () const throw ()
	return Z coordinate (meters)
double	geodeticLatitude () const throw ()
	return geodetic latitude (degrees North).
double	geocentricLatitude () const throw ()
	return geocentric latitude (degrees North); equal to 90 degress - theta in regular spherical coordinates.
double	theta () const throw ()
	return spherical coordinate theta in degrees
double	phi () const throw ()
	return spherical coordinate phi in degrees
double	longitude () const throw ()
	return longitude (degrees East); equal to phi in regular spherical coordinates.
double	radius () const throw ()
	return distance from the center of Earth (meters), Same as radius in spherical coordinates.
double	height () const throw ()
	return height above ellipsoid (meters) (Geodetic).
CoordinateSystem	getCoordinateSystem () const throw ()
	return the coordinate system for this Position
double	getGeodeticLatitude () const throw ()
	return geodetic latitude (deg N)
double	getGeocentricLatitude () const throw ()
	return geocentric latitude (deg N)
double	getLongitude () const throw ()
	return longitude (deg E) (either geocentric or geodetic)
double	getAltitude () const throw ()
	return height above ellipsoid (meters)
double	getHeight () const throw ()
	return height above ellipsoid (meters)
double	getX () const throw ()
	return ECEF X coordinate (meters)
double	getY () const throw ()
	return ECEF Y coordinate (meters)
double	getZ () const throw ()
	return ECEF Z coordinate (meters)
double	getTheta () const throw ()
	return spherical coordinate angle theta (deg) (90 - geocentric latitude)
double	getPhi () const throw ()
	return spherical coordinate angle phi (deg) (same as longitude)
double	getRadius () const throw ()
	return radius
void	setReferenceFrame (const ReferenceFrame &frame) throw ()
	Set the ReferenceFrame that this position is in.
void	setEllipsoidModel (const EllipsoidModel *ell) throw (GeometryException)
	Set the ellipsoid values for this Position given a ellipsoid.
Position &	setGeodetic (const double lat, const double lon, const double ht, const EllipsoidModel *ell=NULL) throw (GeometryException)
	Set the Position given geodetic coordinates; system is set to Geodetic.
Position &	setGeocentric (const double lat, const double lon, const double rad) throw (GeometryException)
	Set the Position given geocentric coordinates; system is set to Geocentric.
Position &	setSpherical (const double theta, const double phi, const double rad) throw (GeometryException)
	Set the Position given spherical coordinates; system is set to Spherical.
Position &	setECEF (const double X, const double Y, const double Z) throw ()
	Set the Position given ECEF coordinates; system is set to Cartesian.
Position &	setECEF (const double XYZ[3]) throw ()
	Set the Position given an array of ECEF coordinates; system is set to Cartesian.
Position &	setECEF (const Triple &XYZ) throw ()
	Set the Position given ECEF coordinates; system is set to Cartesian.
Position &	setToString (const std::string &str, const std::string &fmt) throw (GeometryException, StringUtils::StringException)
	setToString, similar to scanf, this function takes a string and a format describing string in order to define Position values.
std::string	printf (const char *fmt) const throw (StringUtils::StringException)
	Format this Position into a string.
std::string	printf (const std::string &fmt) const throw (StringUtils::StringException)
	Format this time into a string.
std::string	asString () const throw (StringUtils::StringException)
	Returns the string that operator<<() would print.
double	radiusEarth () const throw ()
	A member function that calls the non-member radiusEarth() for this Position.
double	elevation (const Position &Target) const throw (GeometryException)
	A member function that computes the elevation of the input (Target) position as seen from this Position.
double	elevationGeodetic (const Position &Target) const throw (GeometryException)
	A member function that computes the elevation of the input (Target) position as seen from this Position, using a Geodetic (ellipsoidal) system.
double	azimuth (const Position &Target) const throw (GeometryException)
	A member function that computes the azimuth of the input (Target) position as seen from this Position.
double	azimuthGeodetic (const Position &Target) const throw (GeometryException)
	A member function that computes the azimuth of the input (Target) position as seen from this Position, using a Geodetic (ellipsoidal) system.
Position	getIonosphericPiercePoint (const double elev, const double azim, const double ionoht) const throw ()
	A member function that computes the position at which a signal, which is received at this Position and there is observed at the (input) azimuth and elevation angles, crosses a model ionosphere that is taken to be a thin shell at constant (input) height.
double	getCurvMeridian () const throw ()
	A member function that computes the radius of curvature of the meridian (Rm) corresponding to this Position.
double	getCurvPrimeVertical () const throw ()
	A member function that computes the radius of curvature in the prime vertical (Rn) corresponding to this Position.
Static Public Member Functions
double	setPositionTolerance (const double tol)
	Changes the POSITION_TOLERANCE for all Position objects.
double	getPositionTolerance ()
	Returns the current POSITION_TOLERANCE.
void	convertSphericalToCartesian (const Triple &tpr, Triple &xyz) throw ()
	Fundamental conversion from spherical to cartesian coordinates.
void	convertCartesianToSpherical (const Triple &xyz, Triple &tpr) throw ()
	Fundamental routine to convert cartesian to spherical coordinates.
void	convertCartesianToGeodetic (const Triple &xyz, Triple &llh, const double A, const double eccSq) throw ()
	Fundamental routine to convert ECEF (cartesian) to geodetic coordinates, (Ellipsoid specified by semi-major axis and eccentricity squared).
void	convertGeodeticToCartesian (const Triple &llh, Triple &xyz, const double A, const double eccSq) throw ()
	Fundamental routine to convert geodetic to ECEF (cartesian) coordinates, (Ellipsoid specified by semi-major axis and eccentricity squared).
void	convertCartesianToGeocentric (const Triple &xyz, Triple &llr) throw ()
	Fundamental routine to convert cartesian (ECEF) to geocentric The zero vector is converted to (0,0,0).
void	convertGeocentricToCartesian (const Triple &llr, Triple &xyz) throw ()
	Fundamental routine to convert geocentric to cartesian (ECEF).
void	convertGeocentricToGeodetic (const Triple &llr, Triple &geodeticllh, const double A, const double eccSq) throw ()
	Fundamental routine to convert geocentric to geodetic.
void	convertGeodeticToGeocentric (const Triple &geodeticllh, Triple &llr, const double A, const double eccSq) throw ()
	Fundamental routine to convert geodetic to geocentric.
double	radiusEarth (const double geolat, const double A, const double eccSq) throw ()
	Compute the radius of the ellipsoidal Earth, given the geodetic latitude.
Static Public Attributes
const double	ONE_MM_TOLERANCE = 0.001
	One millimeter tolerance.
const double	ONE_CM_TOLERANCE = 0.01
	One centimeter tolerance.
const double	ONE_UM_TOLERANCE = 0.000001
	One micron tolerance.
double	POSITION_TOLERANCE = Position::ONE_MM_TOLERANCE
	Default tolerance for time equality in days.
Friends
Position	operator- (const Position &left, const Position &right) throw ()
	Difference two Positions, returning result as a Position in Cartesian coordinates, the only system in which a position difference makes sense.
Position	operator+ (const Position &left, const Position &right) throw ()
	Add two Positions, returning result as a Position in Cartesian coordinates, the only system in which a position sum makes sense.
Position	operator * (const double &scale, const Position &right)
	Multiply a Position by a double scalar on the left.
Position	operator * (const Position &left, const double &scale)
	Multiply a Position by a double scalar on the right.
Position	operator * (const int &scale, const Position &right)
	Multiply a Position by an integer scalar on the left.
Position	operator * (const Position &left, const int &scale)
	Multiply a Position by an integer scalar on the right.
std::ostream &	operator<< (std::ostream &s, const Position &p)
	Stream output for Position objects.
double	range (const Position &A, const Position &B) throw (GeometryException)
	Compute the range in meters between two Positions.

Position Class Reference [Geodetic coordinates and geoids]

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions