co.paralleluniverse.geodesy

Class CoordinateSystem

java.lang.Object

co.paralleluniverse.geodesy.CoordinateSystem

Direct Known Subclasses:

BodyCoordinateSystem, LLLN

public abstract class CoordinateSystem
extends Object

A Cartesian coordinate system laid on top of a Datum.

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	rightGrid

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	CoordinateSystem(boolean rightHanded) Constructs a coordinate system.

Method Summary

Methods

Modifier and Type	Method and Description
CartAcceleration	fromECEF(ECEFAcceleration ecef) Converts the given ECEFAcceleration to this coordinate system.
CartLocation	fromECEF(ECEFLocation ecef) Converts the given ECEFLocation to this coordinate system.
CartVelocity	fromECEF(ECEFVelocity ecef) Converts the given ECEFVelocity to this coordinate system.
abstract void	fromECEF(Vector3 ecef, Vector3 vecOut) Converts a non-location vector from ECEF coordinates to this coordinate system.
abstract void	fromECEFLocation(Vector3 ecef, Vector3 vecOut) Converts a location vector from ECEF coordinates to this coordinate system.
PolarAcceleration	fromPolar(CartLocation cartLoc, CartAcceleration cartVel) Converts an acceleration vector in this coordinate system from a Cartesian to a polar representation.
PolarVelocity	fromPolar(CartLocation cartLoc, CartVelocity cartVel) Converts a velocity vector in this coordinate system from a Cartesian to a polar representation.
CartLocation	fromPolar(PolarLocation polar) Converts a location vector in this coordinate system from a polar to Cartesian representation.
CartAcceleration	fromPolar(PolarLocation polarLoc, PolarAcceleration polarAcc) Converts an acceleration vector in this coordinate system from a polar to Cartesian representation.
CartVelocity	fromPolar(PolarLocation polarLoc, PolarVelocity polarVel) Converts a velocity vector in this coordinate system from a polar to Cartesian representation.
abstract ECEFLocation	getOrigin() The coordinate system’s origin (in ECEF coordinates) with respect to the datum.
ECEFAcceleration	toECEF(CartAcceleration vec) Converts the given CartAcceleration in this coordinate system to ECEF.
ECEFLocation	toECEF(CartLocation vec) Converts the given CartLocation in this coordinate system to ECEF.
ECEFVelocity	toECEF(CartVelocity vec) Converts the given CartVelocity in this coordinate system to ECEF.
abstract void	toECEF(Vector3 vec, Vector3 ecefOut) Converts a non-location vector from this coordinate system to ECEF.
abstract void	toECEFLocation(Vector3 vec, Vector3 ecefOut) Converts a location vector from this coordinate system to ECEF.
static double	toElevation(CartVelocity vel) Converts the given CartVelocity, in this coordinate system, to an elevation angle, measured from the XY plane, in radians
static double	toHeading(CartVelocity vel)
PolarLocation	toPolar(CartLocation cart) Converts a location vector in this coordinate system from a Cartesian to a polar representation.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

rightGrid

protected final boolean rightGrid

Constructor Detail

CoordinateSystem

protected CoordinateSystem(boolean rightHanded)

Constructs a coordinate system.

Parameters:

rightHanded - whether this coordinate system is right-handed.

Method Detail

getOrigin

public abstract ECEFLocation getOrigin()

The coordinate system’s origin (in ECEF coordinates) with respect to the datum.

toECEFLocation

public abstract void toECEFLocation(Vector3 vec,
                  Vector3 ecefOut)

Converts a location vector from this coordinate system to ECEF.

Parameters:

vec - a location vector in this coordinate system

ecefOut - a vector into which the result (in ECEF coordinates) will be written.

fromECEFLocation

public abstract void fromECEFLocation(Vector3 ecef,
                    Vector3 vecOut)

Converts a location vector from ECEF coordinates to this coordinate system.

Parameters:

ecef - a location vector in ECEF coordinates.

vecOut - a vector into which the result (in this coordinate system) will be written.

toECEF

public abstract void toECEF(Vector3 vec,
          Vector3 ecefOut)

Converts a non-location vector from this coordinate system to ECEF. Unlike toECEFLocation, this method does not translate the vector.

Parameters:

vec - a non-location vector in this coordinate system

ecefOut - a vector into which the result (in ECEF coordinates) will be written.

fromECEF

public abstract void fromECEF(Vector3 ecef,
            Vector3 vecOut)

Converts a non-location vector from ECEF coordinates to this coordinate system. Unlike toECEFLocation, this method does not translate the vector.

Parameters:

ecef - a non-location vector in ECEF coordinates.

vecOut - a vector into which the result (in this coordinate system) will be written.

fromECEF

public CartLocation fromECEF(ECEFLocation ecef)

Converts the given ECEFLocation to this coordinate system.

Parameters:

ecef - an ECEFLocation vector.

Returns:

the given vector converted into a CartLocation vector in this coordinate system.

fromECEF

public CartVelocity fromECEF(ECEFVelocity ecef)

Converts the given ECEFVelocity to this coordinate system.

Parameters:

ecef - an ECEFVelocity vector.

Returns:

the given vector converted into a CartVelocity vector in this coordinate system.

fromECEF

public CartAcceleration fromECEF(ECEFAcceleration ecef)

Converts the given ECEFAcceleration to this coordinate system.

Parameters:

ecef - an ECEFAcceleration vector.

Returns:

the given vector converted into a CartAcceleration vector in this coordinate system.

toECEF

public ECEFLocation toECEF(CartLocation vec)

Converts the given CartLocation in this coordinate system to ECEF.

Parameters:

vec - a CartLocation in this coordinate system to ECEF.

Returns:

the given vector converted to the ECEF coordinate system

toECEF

public ECEFVelocity toECEF(CartVelocity vec)

Converts the given CartVelocity in this coordinate system to ECEF.

Parameters:

vec - a CartVelocity in this coordinate system to ECEF.

Returns:

the given vector converted to the ECEF coordinate system

toECEF

public ECEFAcceleration toECEF(CartAcceleration vec)

Converts the given CartAcceleration in this coordinate system to ECEF.

Parameters:

vec - a CartAcceleration in this coordinate system to ECEF.

Returns:

the given vector converted to the ECEF coordinate system

fromPolar

public CartLocation fromPolar(PolarLocation polar)

Converts a location vector in this coordinate system from a polar to Cartesian representation.

fromPolar

public CartVelocity fromPolar(PolarLocation polarLoc,
                     PolarVelocity polarVel)

Converts a velocity vector in this coordinate system from a polar to Cartesian representation.

Parameters:

polarLoc - the location of the moving object

polarVel - the polar velocity of the moving object

fromPolar

public CartAcceleration fromPolar(PolarLocation polarLoc,
                         PolarAcceleration polarAcc)

Converts an acceleration vector in this coordinate system from a polar to Cartesian representation.

Parameters:

polarLoc - the location of the moving object

polarAcc - the polar acceleration of the moving object

toPolar

public PolarLocation toPolar(CartLocation cart)

Converts a location vector in this coordinate system from a Cartesian to a polar representation.

fromPolar

public PolarVelocity fromPolar(CartLocation cartLoc,
                      CartVelocity cartVel)

Converts a velocity vector in this coordinate system from a Cartesian to a polar representation.

Parameters:

cartLoc - the location of the moving object

cartVel - the Cartesian velocity of the moving object

fromPolar

public PolarAcceleration fromPolar(CartLocation cartLoc,
                          CartAcceleration cartVel)

Converts an acceleration vector in this coordinate system from a Cartesian to a polar representation.

Parameters:

cartLoc - the location of the moving object

cartVel - the Cartesian acceleration of the moving object

toHeading

public static double toHeading(CartVelocity vel)

toElevation

public static double toElevation(CartVelocity vel)

Converts the given CartVelocity, in this coordinate system, to an elevation angle, measured from the XY plane, in radians

Parameters:

vel - a CartVelocity vector

Returns:

the elevation angle, measured from the XY plane, in radians