From: Ty Zoerner Date: Fri, 12 May 2017 22:11:38 +0000 (-0400) Subject: Move from SVN to using GIT. X-Git-Url: http://www.infinitedelta.com/gitweb/?p=libecef.git;a=commitdiff_plain;h=6d98fb12095356c4aa08de5b7de062d9d2039cd6 Move from SVN to using GIT. --- 6d98fb12095356c4aa08de5b7de062d9d2039cd6 diff --git a/doc-references/Geodetic_Datum.pdf b/doc-references/Geodetic_Datum.pdf new file mode 100644 index 0000000..533020e Binary files /dev/null and b/doc-references/Geodetic_Datum.pdf differ diff --git a/doc-references/ngs-ecef.pdf b/doc-references/ngs-ecef.pdf new file mode 100644 index 0000000..4cd2340 Binary files /dev/null and b/doc-references/ngs-ecef.pdf differ diff --git a/doc-references/wgs84fin.pdf b/doc-references/wgs84fin.pdf new file mode 100644 index 0000000..a542638 Binary files /dev/null and b/doc-references/wgs84fin.pdf differ diff --git a/include/ecef-quaternion.h b/include/ecef-quaternion.h new file mode 100644 index 0000000..2a6ebc1 --- /dev/null +++ b/include/ecef-quaternion.h @@ -0,0 +1,50 @@ +/* + C++ Linear Algegra Quaternion Copyright © 2017 Infinite Delta Corp + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + +*/ + +#ifndef ECEF_QUATERNION_H +#define ECEF_QUATERNION_H + +#include "ecef-vector.h" + +namespace ecef +{ + +struct quat + { + double a; + vec v; + + quat() {a=0.0; v=zAxis;} + quat(const double a, const vec v) {this->a=a; this->v=v;} + + quat operator*(const quat q) const {return quat(a*q.a - v.dot(q.v), q.v*a + v*q.a + v.cross(q.v));} + quat operator*(const double s) const {return quat(a*s, v*s);} + quat operator/(const double s) const {return quat(a/s, v/s);} + + quat conj() const {return quat(a, -v);} + // double magSqr() const {return a*a + v.x*v.x + v.y*v.y + v.z*v.z;} + double mag() const {double ms=a*a + v.x*v.x + v.y*v.y + v.z*v.z; return tolerance(ms) ? 0.0 : sqrt(ms);} + quat versor() const {double m=mag(); return tolerance(m) ? quat(0, zAxis) : *this/m;} // Unit Quaternion + quat normVec() const {double s=a*a; s= a<=1 ? sqrt(1-s) : 0; return quat(a, v.norm(s));} // Normalize Quaternion by only scalling the vector + + // vec operator*(const vec v2) const {return (*this * quat(0,v2) * conj()).v;} // Rotate vector by quaternion + vec operator*(const vec v2) const {return (quat(-v.dot(v2), v2*a + v.cross(v2)) * conj()).v;} // but skip the initial mult-by-zero + }; + +} +#endif diff --git a/include/ecef-vector.h b/include/ecef-vector.h new file mode 100644 index 0000000..6b01eed --- /dev/null +++ b/include/ecef-vector.h @@ -0,0 +1,71 @@ +/* + C++ Linear Algegra Vector Copyright © 2013-2017 Infinite Delta Corp + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + +*/ + +#ifndef ECEF_VECTOR_H +#define ECEF_VECTOR_H + +#include + +namespace ecef +{ +const double toleranceLimit = 0.0000001; +inline double sqr(const double a) {return a*a;} +inline bool tolerance(const double d) {return d <= toleranceLimit;} +inline double abs(const double a) {return (a>=0) ? a : -a;} +inline double sign(const double a) {return (a>=0) ? 1 : -1;} + +struct vec + { + double x, y, z; + + vec() {x=y=z=0.0;}; + vec(const double x, const double y, const double z) {this->x=x; this->y=y; this->z=z;}; + + double distSqr(const vec v=vec()) const {return sqr(x-v.x)+sqr(y-v.y)+sqr(z-v.z);} + double dist(const vec v=vec()) const {return sqrt(distSqr(v));} + double distZ() const {return vec(x,y,0).dist();} + + bool operator==(const vec v) const {return tolerance(distSqr(v));} + bool operator!=(const vec v) const {return !tolerance(distSqr(v));} + + vec operator+(const vec v) const {return vec(x+v.x, y+v.y, z+v.z);} + vec operator-(const vec v) const {return vec(x-v.x, y-v.y, z-v.z);} + vec operator*(const vec v) const {return vec(x*v.x, y*v.y, z*v.z);} + vec operator*(const double s) const {return vec(x*s, y*s, z*s);} + vec operator/(const double s) const {return vec(x/s, y/s, z/s);} + vec operator-() const {return vec(-x, -y, -z);} + + double dot(const vec v) const {return x*v.x + y*v.y + z*v.z;} + vec cross(const vec v) const {return vec(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);} + vec doubleCross(const vec v) const {return cross(v).cross(-v);} // http://en.wikipedia.org/wiki/Dot_product#Triple_product_expansion + double cos(const vec v) const {return dot(v)/(dist()*v.dist());} + double mag() const {return sqrt(x*x + y*y + z*z);} + vec norm(const double s=1) const {double m = mag(); return tolerance(m) ? vec(0,0,1) * s : *this * s / m;} + }; + +const vec zAxis(0,0,1); + +struct line + { + vec p[2]; // Two points define a line + + line(const vec end) {p[0]=vec(); p[1]=end;} + line(const vec start, const vec end) {p[0]=start; p[1]=end;} + }; +} +#endif diff --git a/include/ecef-wgs84.h b/include/ecef-wgs84.h new file mode 100644 index 0000000..9ad65dd --- /dev/null +++ b/include/ecef-wgs84.h @@ -0,0 +1,95 @@ +/* + Earth Centered Earth Fixed (ECEF) WGS84 Navigation Utility Copyright © 2013-2017 Infinite Delta Corp + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + +*/ + +#ifndef ECEF_WGS84_H +#define ECEF_WGS84_H + +#include + +// http://en.wikipedia.org/wiki/Geodetic_system +// wgs84fin.pdf -> TR8350.2 +// http://proceedings.esri.com/library/userconf/proc14/papers/1034_755.pdf + +// http://www.ngs.noaa.gov/AERO/aero.html +// http://geodesy.noaa.gov/AERO/UDDFdat.htm +// http://www.ngs.noaa.gov/AERO/uddf/GREAT-LAKES/MICHIGAN/GRR__01B.F77 + +namespace ecef +{ + namespace wgs84Const + { + const double a = 6378137.0; // Semi-major Axis Meters + const double fr = 298.257223563; // Flattening recipical + + const double f = 1/fr; // Flattening + const double c = a*(1-f); // Minor Axis Meters + const double c2 = c*c; // Square Minor Axis M^2 + const double e2 = 2*f-f*f; // First Eccentricity Squared + const double EarthCenterScale = 1-a*a/c2; // WGS84 Earth Center Z scaler + const double maxEast = M_PIl; + const double maxWest = -M_PIl; + const double maxNorth = M_PI_2l; + const double maxSouth = -M_PI_2l; + } + +struct wgs84 : public vec + { + wgs84() : vec(wgs84Const::a,0,0) {} + wgs84(const vec v) : vec(v) {} + wgs84(const double lat, const double lon, const double h=0.0) + { + double slat = ::sin(lat); + double clat = ::cos(lat); + double n = wgs84Const::a/sqrt(1-wgs84Const::e2*sqr(slat)); + x = (n+h)*clat*::cos(lon); + y = (n+h)*clat*::sin(lon); + z = (n*(1-wgs84Const::e2)+h)*slat; + } + // wgs84& operator=(const vec v) {x=v.x; y=v.y; z=v.z; return *this;} + + double lon() const {double r=distZ(); return tolerance(r) ? 0 : ::acos(x/r)*sign(y);} + }; + +struct wgs84Line : public line + { + wgs84Line() : line(wgs84()) {} + wgs84Line(const vec end) : line(end) {} + wgs84Line(const wgs84 end) : line(end) {} + wgs84Line(const wgs84 start, const wgs84 end) : line(start, end) {} + int trimToEllipsoid(); + }; + +// Fast: +/- 0.0004% @0m, or 0.2% @10,000m altitude +// Assuming altitude is zero (0) or insignificant, everything can be based on WGS84 earth center. + +struct wgs84Fast : public wgs84 + { + wgs84Fast() : wgs84() {} + wgs84Fast(const wgs84 p) : wgs84(p) {} + wgs84Fast(const double lat, const double lon, const double h=0.0) : wgs84(lat, lon, h) {} + + wgs84 center() const {return vec(0,0,z*wgs84Const::EarthCenterScale);} // gravity earth center + double tZ() const {return z * (1 - wgs84Const::EarthCenterScale);} + wgs84 up() const {return vec(x,y,tZ());} + wgs84 north() const {return zAxis.doubleCross(up());} // North tangent vector + double sinLat() const {return tZ() / sqrt(sqr(x) + sqr(y) + sqr(tZ()));} + double lat() const {return ::asin(sinLat());} + }; +} + +#endif diff --git a/source/ecef-wgs84.cc b/source/ecef-wgs84.cc new file mode 100644 index 0000000..c6b7ab4 --- /dev/null +++ b/source/ecef-wgs84.cc @@ -0,0 +1,43 @@ +/* + Earth Centered Earth Fixed (ECEF) WGS84 Navigation Utility Copyright © 2013-2017 Infinite Delta Corp + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + +*/ + +#include + +namespace ecef +{ + +inline double myFunc(const vec v) +{ + double g2 = sqr(wgs84Const::a); + double h2 = sqr(wgs84Const::a * (1-1/wgs84Const::fr)); + return v.x/g2 + v.y/g2 + v.z/h2; +} + +int wgs84Line::trimToEllipsoid() +{ + vec v(p[0] - p[1]), e(p[1]); + double d = sqr(2*myFunc(v*e)) - 4*myFunc(v*v)*(myFunc(e*e)-1); + if (d < 0) return 0; + d = sqrt(d); + double t = (-2*myFunc(v*e) + d) / (2*myFunc(v*v)); + p[0] = e + v*t; + t = (-2*myFunc(v*e) - d) / (2*myFunc(v*v)); + p[1] = e + v*t; + return (p[0] == p[1]) ? 1 : 2; +} +} diff --git a/test/Makefile b/test/Makefile new file mode 100644 index 0000000..d437150 --- /dev/null +++ b/test/Makefile @@ -0,0 +1,36 @@ +# +# Earth Centered Earth Fixed Navigation Copyright © 2013-2017 Infinite Delta Corp +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License as published by +# the Free Software Foundation, either version 2 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with this program. If not, see . +# + +VPATH=../include:../source +CXXFLAGS=-Wall -g -O2 -I../include + +TRGS=ecef-wgs84_test +OBJS=ecef-wgs84.o +INC=ecef-vector.h ecef-wgs84.h ecef-quaternion.h + +all : $(TRGS) + +ecef-wgs84_test : ecef-wgs84_test.cc $(OBJS) $(INC) + +$(OBJS) : $(INC) + +clean: + rm -f $(TRGS) $(OBJS) + +test: all + ./ecef-wgs84_test + diff --git a/test/ecef-wgs84_test.cc b/test/ecef-wgs84_test.cc new file mode 100644 index 0000000..d96d56a --- /dev/null +++ b/test/ecef-wgs84_test.cc @@ -0,0 +1,399 @@ +/* + Earth Centered Earth Fixed (ECEF) WGS84 Navigation Utility Copyright © 2013-2017 Infinite Delta Corp + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + +*/ + +#include +#include +#include + +namespace ecef +{ +static bool tst(const double i, const double j=0, const double t=0.0000001) + {if (i>=j ? i-j <= t : j-i <= t) return true; + std::cout << i << " " << j << " " << i-j << " " << t << " "; + return false; + } + +#define ERR(e,m) {std::cout << "Test Error: \"" << m << "\" in " << __FILE__ << ":" << __LINE__ << std::endl; return e;} + +#define LL_INC wgs84Const::maxNorth/1000.0 + +int tst1() +{ + vec cent; + wgs84 pos; + + if (pos.x != 6378137.0) ERR(1, "Default X is not Wgs84 Radius"); + if (pos.y != 0.0) ERR(1, "Default Y is not zero"); + if (pos.z != 0.0) ERR(1, "Default Z is not zero"); + // std::cout << pos.x << std::endl; + // std::cout << pos.y << std::endl; + // std::cout << pos.z << std::endl; + + if (vec(1.0, 0.0, 0.0) + vec(0.0, 2.0, 0.0) + vec(0.0, 0.0, 3.0) != + vec(1.0, 2.0, 3.0)) ERR(1, "Bad vector addition"); + + if (vec(1.0, 0.0, 0.0) - vec(2.0, 3.0, 0.0) - vec(0.0, 0.0, 4.0) != + vec(-1.0, -3.0, -4.0)) ERR(1, "Bad vector subtraction"); + + if (vec(1.0, 2.0, 3.0).dot(vec(4.0, 5.0, 6.0)) != 32.0) ERR(1, "Bad vector dot product"); + + if (vec(1.0, 0.0, 0.0).cross(vec(0.0, 1.0, 0.0)) != vec(0.0, 0.0, 1.0)) + ERR(1, "Bad vector cross product"); + + if (vec(0.0, 1.0, 0.0).cross(vec(0.0, 1.0, 0.0)) != vec(0.0, 0.0, 0.0)) + ERR(1, "Bad vector cross product"); + + if (vec(0.0, 0.0, 1.0).cross(vec(0.0, 1.0, 0.0)) != vec(-1.0, 0.0, 0.0)) + ERR(1, "Bad vector cross product"); + + // std::cout << pos.dist(vec(6378137.0, 0.0, 0.0)) << std::endl; + + if (!(pos == vec(6378137.0, 0.0, 0.0))) ERR(1, "Default pos is not prime meridian"); + if (pos != vec(6378137.0, 0.0, 0.0)) ERR(1, "Default pos is not prime meridian"); + + // std::cout << cent.dist(pos)- 6378137.0 << std::endl; + + if (cent.dist(pos) != 6378137.0) ERR(1, "Equator Radius not Wgs84"); + if (wgs84Const::c != 6356752.3142451792954l) ERR(1, "Minor axis not Wgs84"); + + // std::cout << wgs84(wgs84Const::maxNorth, 0.0).x << std::endl; + // std::cout << wgs84(wgs84Const::maxNorth, 0.0).y << std::endl; + // std::cout << wgs84(wgs84Const::maxNorth, 0.0).z << std::endl; + + // std::cout << a * (1-1/fr) << std::endl; + + if (wgs84(wgs84Const::maxNorth, 0.0).z != wgs84Const::c) ERR(1, "Bad North"); + if (!tst(wgs84(wgs84Const::maxNorth, 0.0).z, 6356752.31424518l)) ERR(1, "Bad North"); + + for (double lon=wgs84Const::maxEast; lon > wgs84Const::maxWest; lon -= LL_INC) + { + if (!tst(cent.dist(wgs84(0.0, lon)), 6378137.0)) + { + std::cout << lon << ": " << cent.dist(wgs84(0.0, lon)) - 6378137.0 << std::endl; + + ERR(1, "World Equator Radius not Wgs84"); + } + } + + return 0; +} + +int tst2() +{ + int total=0; + wgs84Line line; + // line l1(vec(6378137.0/2,0,0)); + // line l1(vec(6000000.0,0,0)); + // line l2(count, l1); + + // std::cout << count << std::endl; + // std::cout << l2.p1.x << std::endl; + // std::cout << l2.p1.y << std::endl; + // std::cout << l2.p1.z << std::endl; + // std::cout << l2.p2.x << std::endl; + // std::cout << l2.p2.y << std::endl; + // std::cout << l2.p2.z << std::endl; + + if (line.trimToEllipsoid() != 2) ERR(2, "WGS84 Crossing count"); + if (line.p[0] != vec(-6378137.0,0,0)) ERR(2, "WGS84 Crossing"); + if (line.p[1] != vec( 6378137.0,0,0)) ERR(2, "WGS84 Crossing"); + + line = wgs84Line(vec(0,1,0)); + if (line.trimToEllipsoid() != 2) ERR(2, "WGS84 Crossing count"); + // std::cout << " " << line.p[0].x << std::endl; + // std::cout << " " << line.p[0].y << std::endl; + // std::cout << " " << line.p[0].z << std::endl; + // std::cout << std::endl; + if (line.p[0] != vec(0,-6378137.0,0)) ERR(2, "WGS84 Crossing"); + if (line.p[1] != vec(0, 6378137.0,0)) ERR(2, "WGS84 Crossing"); + + line = wgs84Line(vec(0,0,1)); + if (line.trimToEllipsoid() != 2) ERR(2, "WGS84 Crossing count"); + if (line.p[0] != vec(0,0,-6356752.31424518)) ERR(2, "WGS84 Crossing"); + if (line.p[1] != vec(0,0, 6356752.31424518)) ERR(2, "WGS84 Crossing"); + + for (double lon=wgs84Const::maxEast; lon > wgs84Const::maxWest; lon -= LL_INC) + { + for (double lat=wgs84Const::maxNorth; lat > wgs84Const::maxSouth; lat -= LL_INC) + { + wgs84Line l1(wgs84(lat,lon), wgs84(wgs84Const::maxNorth/2, wgs84Const::maxNorth)); + wgs84Line l2(l1); + int count = l2.trimToEllipsoid(); + if (count > 0 && l1.p[0] != l2.p[0]) ERR(2, "WGS84 robust"); + if (count > 1 && l1.p[1] != l2.p[1]) ERR(2, "WGS84 robust"); + + wgs84Line l3(wgs84(lat,lon)); + wgs84Line l5(l3.p[1]/33.0); + l5.trimToEllipsoid(); + + if (l3.p[1]*-1 != l5.p[0]) ERR(2, "WGS84 trim robust"); + if (l3.p[1] != l5.p[1]) ERR(2, "WGS84 trim robust"); + +#ifdef tlz + vec p1(wgs84(lat,lon)); + vec p2(p1); + p2.y = 0; + line l6(count, line(p1, p2)); + if (l6.p1 != p1) + { + std::cout << p1.x << std::endl; + std::cout << p1.y << std::endl; + std::cout << p1.z << std::endl; + std::cout << l6.p1.x << std::endl; + std::cout << l6.p1.y << std::endl; + std::cout << l6.p1.z << std::endl; + ERR(2, "WGS84 robust"); + } +#endif + ++total; + } + } + std::cout << "Total " << total << std::endl; + return 0; +} + +int tstLon() +{ + for (double lon=wgs84Const::maxEast; lon > wgs84Const::maxWest; lon -= LL_INC) + { + wgs84 npole(wgs84Const::maxNorth,lon); + if (!tst(0, npole.lon()*1800/M_PIl)) ERR(4, "Bad Longitude"); + wgs84 spole(wgs84Const::maxSouth,lon); + if (!tst(0, spole.lon()*1800/M_PIl)) ERR(4, "Bad Longitude"); + + for (double lat=wgs84Const::maxNorth-LL_INC; lat >= wgs84Const::maxSouth+LL_INC; lat -= LL_INC) + { + wgs84 t(lat,lon); + if (!tst(lon*1800/M_PIl, t.lon()*1800/M_PIl)) ERR(4, "Bad Longitude"); + } + } + return 0; +} + +int tstCos() +{ + vec t(1,0,0); + + if (!tst(acos(t.cos(vec(1,1,0)))*180/M_PIl, 45)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(1,0,1)))*180/M_PIl, 45)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(1,0,0)))*180/M_PIl, 0)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(1,-1,0)))*180/M_PIl, 45)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(1,0,-1)))*180/M_PIl, 45)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(-1,0,0)))*180/M_PIl, 180)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(0,1,0)))*180/M_PIl, 90)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(0,0,1)))*180/M_PIl, 90)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(0,-1,0)))*180/M_PIl, 90)) ERR(4, "Bad Cos"); + if (!tst(acos(t.cos(vec(0,0,-1)))*180/M_PIl, 90)) ERR(4, "Bad Cos"); + + for (double lon=wgs84Const::maxEast; lon > wgs84Const::maxWest; lon -= LL_INC*100) + { + // std::cout << lon*1800/M_PIl << std::endl; + for (double lat=wgs84Const::maxNorth; lat >= wgs84Const::maxSouth; lat -= LL_INC) + { + wgs84Fast t(lat,lon), n(t.north()); + if (!tst(lat*1800/M_PIl, t.lat()*1800/M_PIl)) ERR(4, "Bad Lat"); + + if (!tst(abs(t.sinLat()), n.distZ()/n.dist())) ERR(4, "Bad North vector"); + + wgs84Fast t2(lat,-85,10000); + if (!tst(lat*1800/M_PIl, t2.lat()*1800/M_PIl, 0.0035)) ERR(4, "Bad Lat at alt"); + } + } + + return 0; +} + +int tst3() +{ + for (double lat=wgs84Const::maxNorth; lat > wgs84Const::maxSouth; lat -= LL_INC) + { + wgs84Fast pnt(lat,0); + // std::cout << " " << lat*1800/M_PIl; + // std::cout << pnt.x - FindX2D(pnt.z); + // std::cout << " " << Slope2D(pnt.z); + // std::cout << " " << tan(lat); + // std::cout << " " << tan(lat) - Slope2D(pnt.z); + // if (!tst(pnt.x, pnt.rotationRadius(), 0.00001)) ERR(4, "Bad radius"); + if (!tst(pnt.x, pnt.distZ())) ERR(4, "Bad radius"); + //tlz if (!tst(tan(lat), pnt.tanLat())) ERR(4, "Bad Tan"); + //tlz if (!tst(pnt.x, tan(lat)*(pnt.z - TanZCrossing(pnt.z)), 0.000001)) ERR(4, "Bad Z0"); + if (!tst(lat, asin(pnt.sinLat()), 0.0000001)) ERR(4, "Bad WGS84 Sin"); + + pnt = wgs84(lat,0,10000); + // std::cout << " " << lat*1800/M_PIl; + // std::cout << " " << pnt.x; + // std::cout << " " << pnt.y; + // std::cout << " " << pnt.z; + // std::cout << " " << TanZCrossing(pnt.z); + // std::cout << " " << tan(lat); + // std::cout << " " << (find2dX(pnt.z) - find2dX(pnt.z+0.1))/0.1; + // std::cout << " " << pnt.x / (pnt.z - TanZCrossing(pnt.z)); + // std::cout << " " << pnt.z; + // std::cout << " " << WGS84EarthCenter(pnt.z); + // std::cout << std::endl; + if (!tst(lat, asin(pnt.sinLat()), 0.00001)) ERR(4, "Bad WGS84 Sin"); + + // if (lat > wgs84Const::maxNorth-0.2) continue; // Skip near polls TanZCrossing is better! + // if (lat < wgs84Const::maxSouth+0.2) continue; // Skip near polls TanZCrossing is better! + + // if (!tst(pnt.x, tan(lat)*(pnt.z - TanZCrossing(pnt.z)), 0.1)) ERR(4, "Bad Z0"); + } + + return 0; +} + +int qtst() +{ + quat q; + + q = quat(0, vec(0,0,0)).versor(); + if (!tst(q.a, 0)) ERR(5, "Bad Quat Versor Init"); + if (!tst(q.v.x, 0)) ERR(5, "Bad Quat Versor Init"); + if (!tst(q.v.y, 0)) ERR(5, "Bad Quat Versor Init"); + if (!tst(q.v.z, 1)) ERR(5, "Bad Quat Versor Init"); + + q = quat(3, vec(4,5,6)).conj(); + if (!tst(q.a, 3)) ERR(5, "Bad Quat Conj Angle"); + if (!tst(q.v.x, -4)) ERR(5, "Bad Quat Conj X"); + if (!tst(q.v.y, -5)) ERR(5, "Bad Quat Conj Y"); + if (!tst(q.v.z, -6)) ERR(5, "Bad Quat Conj Z"); + if (!tst(q.mag(), sqrt(86.0))) ERR(5, "Bad Quat Magnitude"); + if (!tst(q.versor().mag(), 1)) ERR(5, "Bad Quat Versor"); + + q = quat(0, zAxis) * quat(0, zAxis); + if (!tst(q.a, -1)) ERR(5, "Bad Quat Angle"); + if (!tst(q.v.x, 0)) ERR(5, "Bad Quat X"); + if (!tst(q.v.y, 0)) ERR(5, "Bad Quat Y"); + if (!tst(q.v.z, 0)) ERR(5, "Bad Quat Z"); + + q = quat(0, zAxis) * quat(0, vec(1,0,0)); + if (!tst(q.a, 0)) ERR(5, "Bad Quat Angle"); + if (!tst(q.v.x, 0)) ERR(5, "Bad Quat X"); + if (!tst(q.v.y, 1)) ERR(5, "Bad Quat Y"); + if (!tst(q.v.z, 0)) ERR(5, "Bad Quat Z"); + + // q = quat(cos(M_PI_2l/2), zAxis) * quat(cos(M_PI_2l/2), zAxis); + // q = quat(cos(M_PI_2l/2), zAxis * sin(M_PI_2l/2)); + + q = quat(cos(M_PI_4l/2), zAxis).normVec(); + q = q * q; + + if (!tst(q.a, cos(M_PI_4l))) ERR(5, "Bad Quat Hamilton Multiple Angle"); + if (!tst(q.v.x, 0)) ERR(5, "Bad Quat Mult X"); + if (!tst(q.v.y, 0)) ERR(5, "Bad Quat Mult Y"); + if (!tst(q.v.norm().z, 1)) ERR(5, "Bad Quat Z"); + + q = quat(cos(M_PI_4l/4), zAxis).normVec() * quat(cos(M_PI_4l/2), zAxis).normVec(); + if (!tst(q.a, cos(M_PI_4l * 3/4))) ERR(5, "Bad Quat Hamilton Multiple Angle"); + if (!tst(q.v.x, 0)) ERR(5, "Bad Quat Mult X"); + if (!tst(q.v.y, 0)) ERR(5, "Bad Quat Mult Y"); + if (!tst(q.v.norm().z, 1)) ERR(5, "Bad Quat Z"); + + q = quat(cos(M_PI_2l), zAxis).normVec() * quat(cos(M_PI_2l), vec(0,1,0)).normVec(); + if (!tst(q.a, cos(M_PI_2l))) ERR(5, "Bad Quat Hamilton Multiple Angle"); + if (!tst(q.v.x, -1)) ERR(5, "Bad Quat Mult X"); + if (!tst(q.v.y, 0)) ERR(5, "Bad Quat Mult Y"); + if (!tst(q.v.z, 0)) ERR(5, "Bad Quat Mult Z"); + + q = quat(cos(M_PI_4l), zAxis).normVec() * quat(cos(M_PI_4l), vec(0,1,0)).normVec(); + if (!tst(q.a, cos(M_PIl/3))) ERR(5, "Bad Quat Hamilton Multiple Angle"); + if (!tst(q.v.x, -0.5)) ERR(5, "Bad Quat Mult X"); + if (!tst(q.v.y, 0.5)) ERR(5, "Bad Quat Mult Y"); + if (!tst(q.v.z, 0.5)) ERR(5, "Bad Quat Mult Z"); + + // std::cout << " " << q.a; + // std::cout << " " << acos(q.a) * 180 / M_PIl; + // std::cout << " " << q.v.x; + // std::cout << " " << q.v.y; + // std::cout << " " << q.v.z; + // std::cout << std::endl; + + return 0; +} + +int qvtst() +{ + vec v; + quat q(cos(M_PI_4l), zAxis); + q = q.normVec(); + + v = q * vec(1,0,0); + if (!tst(v.x, 0)) ERR(5, "Bad Quat rotate X"); + if (!tst(v.y, 1)) ERR(5, "Bad Quat rotate Y"); + if (!tst(v.z, 0)) ERR(5, "Bad Quat rotate Z"); + + v = q * vec(0,1,0); + if (!tst(v.x, -1)) ERR(5, "Bad Quat rotate X"); + if (!tst(v.y, 0)) ERR(5, "Bad Quat rotate Y"); + if (!tst(v.z, 0)) ERR(5, "Bad Quat rotate Z"); + + v = q * vec(0,0,1); + if (!tst(v.x, 0)) ERR(5, "Bad Quat rotate X"); + if (!tst(v.y, 0)) ERR(5, "Bad Quat rotate Y"); + if (!tst(v.z, 1)) ERR(5, "Bad Quat rotate Z"); + + v = q * vec(1,1,0); + if (!tst(v.x, -1)) ERR(5, "Bad Quat rotate X"); + if (!tst(v.y, 1)) ERR(5, "Bad Quat rotate Y"); + if (!tst(v.z, 0)) ERR(5, "Bad Quat rotate Z"); + + q = quat(cos(M_PI_4l/2), zAxis).normVec(); + v = q * vec(1,0,0); + if (!tst(v.x, sqrt(0.5))) ERR(5, "Bad Quat rotate X"); + if (!tst(v.y, sqrt(0.5))) ERR(5, "Bad Quat rotate Y"); + if (!tst(v.z, 0)) ERR(5, "Bad Quat rotate Z"); + + q = quat(cos(30.0 * M_PI_2l/180), zAxis).normVec(); + v = q * vec(5,0,0); + //if (!tst(v.x, sqrt(0.5))) ERR(5, "Bad Quat rotate X"); + if (!tst(v.y, 2.5)) ERR(5, "Bad Quat rotate Y"); + if (!tst(v.z, 0)) ERR(5, "Bad Quat rotate Z"); + + /* + std::cout << " " << v.x; + std::cout << " " << v.y; + std::cout << " " << v.z; + std::cout << std::endl; + */ + + return 0; +} + +} // namespace ecef + +int main() +{ + int err=0; + + std::cout.precision(14); + std::cout << std::scientific; + + std::cout << "starting ecef-wgs84_test..." << std::endl; + + err |= ecef::tstLon(); + err |= ecef::tst1(); + err |= ecef::tst2(); + err |= ecef::tstCos(); + err |= ecef::tst3(); + err |= ecef::qtst(); + err |= ecef::qvtst(); + + std::cout << "finishing ecef-wgs84_test." << std::endl; + + return err; +}