20 _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0);
24 cphi = abs(_lat0) == 90 ? 0 : cos(phi),
26 slam = _lon0 == -180 ? 0 : sin(lam),
27 clam = abs(_lon0) == 90 ? 0 : cos(lam);
28 Geocentric::Rotation(sphi, cphi, slam, clam, _r);
31 void LocalCartesian::MatrixMultiply(real M[dim2_])
const {
34 copy(M, M + dim2_, t);
35 for (
size_t i = 0; i < dim2_; ++i) {
36 size_t row = i / dim_, col = i % dim_;
37 M[i] = _r[row] * t[col] + _r[row+3] * t[col+3] + _r[row+6] * t[col+6];
41 void LocalCartesian::IntForward(real lat, real lon, real h,
42 real& x, real& y, real& z,
43 real M[dim2_])
const {
45 _earth.IntForward(lat, lon, h, xc, yc, zc, M);
46 xc -= _x0; yc -= _y0; zc -= _z0;
47 x = _r[0] * xc + _r[3] * yc + _r[6] * zc;
48 y = _r[1] * xc + _r[4] * yc + _r[7] * zc;
49 z = _r[2] * xc + _r[5] * yc + _r[8] * zc;
54 void LocalCartesian::IntReverse(real x, real y, real z,
55 real& lat, real& lon, real& h,
56 real M[dim2_])
const {
58 xc = _x0 + _r[0] * x + _r[1] * y + _r[2] * z,
59 yc = _y0 + _r[3] * x + _r[4] * y + _r[5] * z,
60 zc = _z0 + _r[6] * x + _r[7] * y + _r[8] * z;
61 _earth.IntReverse(xc, yc, zc, lat, lon, h, M);
static T AngNormalize(T x)
void Reset(real lat0, real lon0, real h0=0)
Header for GeographicLib::LocalCartesian class.
Namespace for GeographicLib.