filedata.kdevelop: /home/pascal/depot/filedata/src/geometry/geometry.h Source File

00001 /***************************************************************************
00002  *   Copyright (C) 2012 by Nicolas PASCAL                                  *
00003  *   nicolas.pascal@icare.univ-lille1.fr                                   *
00004  *                                                                         *
00005  *   This program is free software; you can redistribute it and/or modify  *
00006  *   it under the terms of the GNU General Public License as published by  *
00007  *   the Free Software Foundation; either version 2 of the License, or     *
00008  *   (at your option) any later version.                                   *
00009  *                                                                         *
00010  *   This program is distributed in the hope that it will be useful,       *
00011  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00012  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00013  *   GNU General Public License for more details.                          *
00014  *                                                                         *
00015  *   You should have received a copy of the GNU General Public License     *
00016  *   along with this program; if not, write to the                         *
00017  *   Free Software Foundation, Inc.,                                       *
00018  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00019  ***************************************************************************/
00020 
00021 /***************************************************************************
00022  *  Descrition :                                                           *
00023  *  implements geometry objects, coordinates conversions and common        *
00024  *  operations                                                             *
00025  *                                                                         *
00026  *  History :                                                              *
00027  *  2012/02/01 : start                                                     *
00028  ***************************************************************************/
00029 
00030 #ifndef GEOMETRY_H
00031 #define GEOMETRY_H
00032 
00033 #include <cmath>
00034 #include <cfloat>
00035 #include <iostream>
00036 #include <string>
00037 
00038 #include "earth_geometry.h"
00039 
00040 // forward declarations
00041 namespace Spherical {
00042 class Point3D;
00043 }
00044 namespace Geocentric {
00045 class Point3D;
00046 }
00047 namespace Geodetic {
00048 class Point3D;
00049 }
00050 namespace Carthesian {
00051 class Point3D;
00052 class Segment3D;
00053 class Vector3D;
00054 class Matrix3D;
00055 }
00056 
00060 namespace Carthesian {
00078     bool intersection (const Carthesian::Point3D & p1, const Carthesian::Point3D & p2,
00079                        const Carthesian::Point3D & p3, const Carthesian::Point3D & p4,
00080                        Carthesian::Point3D & pa, Carthesian::Point3D & pb,
00081                        double & mua, double & mub);
00096     bool intersection (const Carthesian::Segment3D & p1p2,
00097                        const Carthesian::Segment3D & p3p4,
00098                        Carthesian::Segment3D & papb,
00099                        double & mua, double & mub);
00106     double angle (const Carthesian::Vector3D & v1, const Carthesian::Vector3D & v2);
00113     double dotproduct (const Carthesian::Vector3D & v1, const Carthesian::Vector3D & v2);
00120     void dotproduct (const Carthesian::Matrix3D & m, const Carthesian::Vector3D & v, Carthesian::Vector3D &vout);
00127     Carthesian::Vector3D dotproduct (const Carthesian::Matrix3D & m, const Carthesian::Vector3D & v);
00134     void crossproduct (const Carthesian::Vector3D & v1, const Carthesian::Vector3D & v2, Carthesian::Vector3D & vout);
00141     Carthesian::Vector3D crossproduct (const Carthesian::Vector3D & v1, const Carthesian::Vector3D & v2);
00149     void rotation_matrix (const Carthesian::Vector3D & axis, const double theta, Carthesian::Matrix3D &matrix);
00158     void rotate (const Carthesian::Vector3D & v, const Carthesian::Vector3D & axis, const double theta, Carthesian::Vector3D & vout);
00167     Carthesian::Vector3D rotate (const Carthesian::Vector3D & v, const Carthesian::Vector3D & axis, const double theta);
00171     class Point3D {
00172     public:
00173         double x;
00174         double y;
00175         double z;
00182         Point3D (double x = 0.0, double y = 0.0, double z = 0.0);
00187         Point3D (const Carthesian::Point3D &p);
00192         Point3D& operator= (const Carthesian::Point3D &p);
00198         const Point3D operator + (const Carthesian::Vector3D & v) const;
00205         friend std::ostream &operator<< (std::ostream &os, const Point3D& p) {
00206             os << "Carthesian::Point3D (" << p.x << ", " << p.y << ", " << p.z << ")";
00207             return os;
00208         };
00215         void set (double x = 0.0, double y = 0.0, double z = 0.0);
00220         Spherical::Point3D to_spherical (void) const;
00225         Geocentric::Point3D to_geocentric (void) const;
00230         Geodetic::Point3D to_geodetic (void) const;
00235         void translate (const Carthesian::Vector3D &v);
00236     };
00237 
00241     class Segment3D {
00242     public:
00244         Point3D p1;
00246         Point3D p2;
00252 //         Segment3D ();
00258         Segment3D (const Carthesian::Point3D &p1 = Carthesian::Point3D(), const Carthesian::Point3D &p2 = Carthesian::Point3D());
00264 //         Segment3D (const Geocentric::Point3D &p1, const Geocentric::Point3D &p2);
00270         Segment3D (const Geodetic::Point3D &p1, const Geodetic::Point3D &p2);
00275         Segment3D (const Segment3D &s);
00280         Segment3D& operator= (const Segment3D &s);
00286         void set (const Carthesian::Point3D &p1, const Carthesian::Point3D &p2);
00293         friend std::ostream &operator<< (std::ostream &os, const Segment3D& p) {
00294             os << "Carthesian::Segment3D {" << p.get_p1() << " -> " << p.get_p2() << "}";
00295 //             os << "Geocentric::Segment3D {" << p.get_p1().to_geocentric() << " -> " << p.get_p2().to_geocentric() << "}";
00296             return os;
00297         };
00302         Point3D get_p1() const {
00303             return p1;
00304         }
00309         Point3D get_p2() const {
00310             return p2;
00311         }
00316         double length () const {
00317             double dx = p2.x - p1.x;
00318             double dy = p2.y - p1.y;
00319             double dz = p2.z - p1.z;
00320             return sqrt ((dx * dx) + (dy * dy) + (dz * dz));
00321         }
00322 
00327         Carthesian::Vector3D to_vector () const;
00332         Carthesian::Vector3D to_unit_vector () const;
00333     };
00334 
00338     class Vector3D {
00339     public:
00340         double x;
00341         double y;
00342         double z;
00349         Vector3D (double x = 0.0, double y = 0.0, double z = 0.0);
00355         Vector3D (const Carthesian::Point3D &p1, const Carthesian::Point3D &p2);
00360         Vector3D (const Vector3D &v);
00365         Vector3D& operator = (const Vector3D &v);
00370         const Vector3D operator * (const double & val);
00375         const Vector3D operator / (const double & val);
00382         void set (double x = 0.0, double y = 0.0, double z = 0.0);
00389         friend std::ostream &operator<< (std::ostream &os, const Vector3D& p) {
00390             os << "Carthesian::Vector3D [" << p.x << ", " << p.y << ", " << p.z << "]";
00391             return os;
00392         };
00397         double norm ();
00398     };
00402     class Matrix3D {
00403     public:
00404         double xx;
00405         double xy;
00406         double xz;
00407         double yx;
00408         double yy;
00409         double yz;
00410         double zx;
00411         double zy;
00412         double zz;
00425         Matrix3D (double xx = 0.0, double xy = 0.0, double xz = 0.0,
00426                   double yx = 0.0, double yy = 0.0, double yz = 0.0,
00427                   double zx = 0.0, double zy = 0.0, double zz = 0.0);
00432         Matrix3D (const Matrix3D &v);
00437         Matrix3D& operator= (const Matrix3D &v);
00450         void set (double xx = 0.0, double xy = 0.0, double xz = 0.0,
00451                   double yx = 0.0, double yy = 0.0, double yz = 0.0,
00452                   double zx = 0.0, double zy = 0.0, double zz = 0.0);
00459         friend std::ostream &operator<< (std::ostream &os, const Matrix3D& m) {
00460             os << "Carthesian::Matrix3D |" << m.xx << ", " << m.xy << ", " << m.xz << std::endl;
00461             os << "                     |" << m.yx << ", " << m.yy << ", " << m.yz << std::endl;
00462             os << "                     |" << m.zx << ", " << m.zy << ", " << m.zz << std::endl;
00463             return os;
00464         };
00465     };
00466 } // end namespace Carthesian
00467 
00471 namespace Spherical {
00475     class Point3D {
00476     public:
00478         double r;
00480         double theta;
00482         double phi;
00489         Point3D (double r = 0.0, double theta = 0.0, double phi = 0.0);
00494         Point3D (const Spherical::Point3D &p);
00499         Point3D& operator= (const Spherical::Point3D &p);
00506         friend std::ostream &operator<< (std::ostream &os, const Point3D& p)
00507         {
00508             os << "Spherical::Point3D (" << p.r << ", " << p.theta << ", " << p.phi << ")";
00509             return os;
00510         }
00517         void set (double r = 0.0, double theta = 0.0, double phi = 0.0);
00522         Carthesian::Point3D to_carthesian (void) const;
00527         Geocentric::Point3D to_geocentric (void) const;
00528     };
00529 } // end namespace Spherical
00530 
00534 namespace Geocentric {
00546     const double get_orthodormic_angle ( double lat1, double lon1,
00547                                          double lat2, double lon2);
00554     const double get_square_plane_dist ( const double dlat, const double dlon );
00563     const double get_square_plane_dist ( const double lat1, const double lon1,
00564                                          const double lat2, const double lon2 );
00576     const double get_haversine_dist (double lat1, double lon1, double lat2, double lon2);
00580     class Point3D {
00581     public:
00583         double lat;
00585         double lon;
00587         double alt;
00594         Point3D (double lat = 0.0, double lon = 0.0, double alt = 0.0);
00599         Point3D (const Geocentric::Point3D &p);
00604         Point3D& operator= (const Geocentric::Point3D &p);
00611         friend std::ostream &operator<< (std::ostream &os, const Point3D& p) {
00612             os << "Geocentric::Point3D (" << p.lat << ", " << p.lon << ", " << p.alt << ")";
00613             return os;
00614         };
00621         void set (double lat = 0.0, double lon = 0.0, double alt = 0.0);
00626         Spherical::Point3D to_spherical (void) const;
00631         Carthesian::Point3D to_carthesian () const;
00632     };
00633 } // end namespace Geocentric
00634 
00638 namespace Geodetic {
00642     class Point3D {
00643     public:
00645         double lat;
00647         double lon;
00649         double alt;
00656         Point3D (double lat = 0.0, double lon = 0.0, double alt = 0.0);
00661         Point3D (const Geodetic::Point3D &p);
00666         Point3D& operator= (const Geodetic::Point3D &p);
00673         friend std::ostream &operator<< (std::ostream &os, const Geodetic::Point3D& p) {
00674             os << "Geodetic::Point3D (" << p.lat << ", " << p.lon << ", " << p.alt << ")";
00675             return os;
00676         };
00683         void set (double lat = 0.0, double lon = 0.0, double alt = 0.0);
00688         Spherical::Point3D to_spherical (void) const;
00693         Carthesian::Point3D to_carthesian () const;
00694     };
00695 } // end namespace Geocentric
00696 
00697 
00698 #endif