ossimLsrSpace Class Reference

#include <ossimLsrSpace.h>

Public Member Functions
	ossimLsrSpace ()
	ossimLsrSpace (const ossimLsrSpace &copy_this)
	ossimLsrSpace (const ossimEcefPoint &origin, const ossimEcefVector &x_dir_ecf_vec, const ossimEcefVector &y_dir_ecf_vec, const int z_not_provided_space_holder)
	ossimLsrSpace (const ossimEcefPoint &origin, const ossimEcefVector &x_dir_ecf_vec, const int y_not_provided_space_holder, const ossimEcefVector &z_dir_ecf_vec)
	ossimLsrSpace (const ossimEcefPoint &origin, const int x_not_provided_space_holder, const ossimEcefVector &y_dir_ecf_vec, const ossimEcefVector &z_dir_ecf_vec)
	ossimLsrSpace (const ossimGpt &origin, const double &y_azimuth=0)
	ossimLsrSpace (const ossimEcefPoint &origin, const NEWMAT::Matrix &lsrToEcfRot)
	~ossimLsrSpace ()
bool	operator== (const ossimLsrSpace &) const
bool	operator!= (const ossimLsrSpace &that) const
const ossimLsrSpace &	operator= (const ossimLsrSpace &space)
const ossimEcefPoint &	origin () const
const NEWMAT::Matrix &	lsrToEcefRotMatrix () const
NEWMAT::Matrix	ecefToLsrRotMatrix () const
void	print (ostream &stream=ossimNotify(ossimNotifyLevel_INFO)) const

Static Public Member Functions
static ostream &	lsrSpaceErrorMessage (ostream &os=ossimNotify(ossimNotifyLevel_INFO))

Private Attributes
NEWMAT::Matrix	theLsrToEcefRotMatrix
ossimEcefPoint	theOrigin

Friends
ostream &	operator<< (ostream &os, const ossimLsrSpace &instance)

Detailed Description

Definition at line 36 of file ossimLsrSpace.h.

Constructor & Destructor Documentation

ossimLsrSpace() [1/7]

ossimLsrSpace::ossimLsrSpace ( )

inline

DEFAULT & COPY CONSTRUCTOR:

Definition at line 42 of file ossimLsrSpace.h.

{}

ossimLsrSpace() [2/7]

ossimLsrSpace::ossimLsrSpace ( const ossimLsrSpace &  copy_this )

inline

Definition at line 44 of file ossimLsrSpace.h.

      :
     theLsrToEcefRotMatrix(copy_this.theLsrToEcefRotMatrix),
     theOrigin(copy_this.theOrigin) {}

ossimLsrSpace() [3/7]

ossimLsrSpace::ossimLsrSpace	(	const ossimEcefPoint &	origin,
		const ossimEcefVector &	x_dir_ecf_vec,
		const ossimEcefVector &	y_dir_ecf_vec,
		const int	z_not_provided_space_holder
	)

CONSTRUCTORS: The following three constructors accept an ECEF origin and two of the three axes direction vectors. Note the use of the dummy "int" argument (not used) to hold the place of the unspecified axes.

Definition at line 31 of file ossimLsrSpace.cpp.

References ossimMatrix3x3::create(), ossimEcefVector::data(), theLsrToEcefRotMatrix, and ossimColumnVector3d::unit().

   : theOrigin (origin)
{
   //***
   // Compute the remaining axis given first two:
   //***
   ossimColumnVector3d xdir (x_dir_ecf_vec.data().unit());
   ossimColumnVector3d ydir (y_dir_ecf_vec.data().unit());
   ossimColumnVector3d zdir (xdir.cross(ydir));

   //***
   // Fill the rotation matrix:
   //***
   theLsrToEcefRotMatrix = ossimMatrix3x3::create(xdir[0], ydir[0], zdir[0],
                                                  xdir[1], ydir[1], zdir[1],
                                                  xdir[2], ydir[2], zdir[2]);
}

ossimLsrSpace() [4/7]

ossimLsrSpace::ossimLsrSpace	(	const ossimEcefPoint &	origin,
		const ossimEcefVector &	x_dir_ecf_vec,
		const int	y_not_provided_space_holder,
		const ossimEcefVector &	z_dir_ecf_vec
	)

Definition at line 59 of file ossimLsrSpace.cpp.

References ossimMatrix3x3::create(), ossimEcefVector::data(), theLsrToEcefRotMatrix, and ossimColumnVector3d::unit().

   : theOrigin (origin)
{
   //***
   // Compute the remaining axis given first two:
   //***
   ossimColumnVector3d xdir (x_dir_ecf_vec.data().unit());
   ossimColumnVector3d zdir (z_dir_ecf_vec.data().unit());
   ossimColumnVector3d ydir (zdir.cross(xdir));

   //***
   // Fill the rotation matrix:
   //***
   theLsrToEcefRotMatrix = ossimMatrix3x3::create(xdir[0], ydir[0], zdir[0],
                                                  xdir[1], ydir[1], zdir[1],
                                                  xdir[2], ydir[2], zdir[2]);
}

ossimLsrSpace() [5/7]

ossimLsrSpace::ossimLsrSpace	(	const ossimEcefPoint &	origin,
		const int	x_not_provided_space_holder,
		const ossimEcefVector &	y_dir_ecf_vec,
		const ossimEcefVector &	z_dir_ecf_vec
	)

Definition at line 87 of file ossimLsrSpace.cpp.

References ossimMatrix3x3::create(), ossimEcefVector::data(), theLsrToEcefRotMatrix, and ossimColumnVector3d::unit().

   : theOrigin (origin)
{
   //***
   // Compute the remaining axis given first two:
   //***
   ossimColumnVector3d ydir (y_dir_ecf_vec.data().unit());
   ossimColumnVector3d zdir (z_dir_ecf_vec.data().unit());
   ossimColumnVector3d xdir (ydir.cross(zdir));

   //***
   // Fill the rotation matrix:
   //***
   theLsrToEcefRotMatrix = ossimMatrix3x3::create(xdir[0], ydir[0], zdir[0],
                                                  xdir[1], ydir[1], zdir[1],
                                                  xdir[2], ydir[2], zdir[2]);
}

ossimLsrSpace() [6/7]

ossimLsrSpace::ossimLsrSpace	(	const ossimGpt &	origin,
		const double &	y_azimuth = 0
	)

CONSTRUCTOR: ossimLsrSpace(ossimGpt, y_azimuth) This constructor sets up a local coordinate system centered at the specified groundpoint, with the Z-axis normal to the ellipsoid and the Y-axis rotated clockwise from north by the y_azimuth. This angle defaults to 0, producing an East-North-Up (ENU) system.

Definition at line 117 of file ossimLsrSpace.cpp.

References abs, ossim::cosd(), ossimMatrix3x3::create(), ossimColumnVector3d::cross(), FLT_EPSILON, origin(), ossim::sind(), theLsrToEcefRotMatrix, and theOrigin.

{
   //***
   // Convert ground point origin to ECEF coordinates:
   //***
   theOrigin = ossimEcefPoint(origin);
   
   //***
   // Establish the component vectors for ENU system::
   //***
   double sin_lat = ossim::sind(origin.lat);
   double cos_lat = ossim::cosd(origin.lat);
   double sin_lon = ossim::sind(origin.lon);
   double cos_lon = ossim::cosd(origin.lon);
   
   ossimColumnVector3d E (-sin_lon,
                          cos_lon,
                          0.0);
   ossimColumnVector3d N (-sin_lat*cos_lon,
                          -sin_lat*sin_lon,
                          cos_lat);
   ossimColumnVector3d U (E.cross(N));

   //
   // Fill rotation matrix with these components, rotated about the Z axis
   // by the azimuth indicated:
   //
   if (std::abs(y_azimuth) > FLT_EPSILON)
   {
      double cos_azim = ossim::cosd(y_azimuth);
      double sin_azim = ossim::sind(y_azimuth);
      ossimColumnVector3d X (cos_azim*E - sin_azim*N);
      ossimColumnVector3d Y (sin_azim*E + cos_azim*N);
      ossimColumnVector3d Z (X.cross(Y));
      
      theLsrToEcefRotMatrix
         = ossimMatrix3x3::create(X[0], Y[0], Z[0],
                                  X[1], Y[1], Z[1],
                                  X[2], Y[2], Z[2]);
   }
   else
   {
      //***
      // No azimuth rotation, so simplify:
      //***
      theLsrToEcefRotMatrix = ossimMatrix3x3::create(E[0], N[0], U[0],
                                                     E[1], N[1], U[1],
                                                     E[2], N[2], U[2]);
   }
}

ossimLsrSpace() [7/7]

ossimLsrSpace::ossimLsrSpace ( const ossimEcefPoint &  origin, const NEWMAT::Matrix &  lsrToEcfRot  )

inline

CONSTRUCTOR: ossimLsrSpace(ossimEcefPt, NEWMAT::Matrix) This constructor sets up a local coordinate system centered at the specified ECF, with given LSR-to-ECF rotation.

Definition at line 84 of file ossimLsrSpace.h.

      : theLsrToEcefRotMatrix (lsrToEcfRot), theOrigin (origin) {}

~ossimLsrSpace()

ossimLsrSpace::~ossimLsrSpace ( )

inline

Definition at line 88 of file ossimLsrSpace.h.

{}

Member Function Documentation

ecefToLsrRotMatrix()

NEWMAT::Matrix ossimLsrSpace::ecefToLsrRotMatrix ( ) const

inline

Definition at line 106 of file ossimLsrSpace.h.

Referenced by ossimPositionQualityEvaluator::computeElevAzim(), ossimLsrPoint::initialize(), ossimLsrVector::initialize(), and ossimSonomaSensor::updateModel().

      { return theLsrToEcefRotMatrix.t(); }

lsrSpaceErrorMessage()

ostream & ossimLsrSpace::lsrSpaceErrorMessage ( ostream &  os = ossimNotify(ossimNotifyLevel_INFO) )

static

METHOD: lsrSpaceErrorMessage() Convenience method accessible to all owners of an ossimLsrSpace for displaying an error message when LSR spaces do not match between objects. All operations between LSR objects must be in a common space.

Definition at line 201 of file ossimLsrSpace.cpp.

Referenced by ossimLsrVector::angleTo(), ossimLsrVector::cross(), ossimLsrVector::dot(), ossimLsrVector::operator+(), ossimLsrPoint::operator+(), ossimLsrPoint::operator-(), and ossimLsrVector::operator-().

{
   os<<"ossimLsrSpace ERROR: An operation was attempted between two LSR \n"
     <<"  objects with differing LSR spaces. This is an illegal condition.\n"
     <<"  Please check the data and/or report the error to OSSIM development."
     << std::endl;

   return os;
}

lsrToEcefRotMatrix()

const NEWMAT::Matrix& ossimLsrSpace::lsrToEcefRotMatrix ( ) const

inline

Definition at line 104 of file ossimLsrSpace.h.

Referenced by ossimSarModel::getArpPos(), ossimHgtRef::getSurfaceNormalCovMatrix(), ossimSarModel::projOPtoSurface(), ossimApplanixUtmModel::updateModel(), ossimSpectraboticsRedEdgeModel::updateModel(), and ossimApplanixEcefModel::updateModel().

      { return theLsrToEcefRotMatrix; }

operator!=()

bool ossimLsrSpace::operator!= ( const ossimLsrSpace &  that ) const

inline

Definition at line 95 of file ossimLsrSpace.h.

      { return !(*this == that); }

operator=()

const ossimLsrSpace & ossimLsrSpace::operator=

(

const ossimLsrSpace &

space

)

Definition at line 186 of file ossimLsrSpace.cpp.

References theLsrToEcefRotMatrix, and theOrigin.

{
   theOrigin = space.theOrigin;
   theLsrToEcefRotMatrix = space.theLsrToEcefRotMatrix;
   return *this;
}

operator==()

bool ossimLsrSpace::operator==

(

const ossimLsrSpace &

that

)

const

OPERATORS:

Definition at line 172 of file ossimLsrSpace.cpp.

References origin(), theLsrToEcefRotMatrix, and theOrigin.

{
   if (theOrigin != that.origin())
      return false;
   
   if (theLsrToEcefRotMatrix != that.theLsrToEcefRotMatrix)
      return false;

   return true;
}

origin()

const ossimEcefPoint& ossimLsrSpace::origin ( ) const

inline

DATA ACCESS METHODS:

Definition at line 103 of file ossimLsrSpace.h.

Referenced by ossimLsrPoint::initialize(), operator==(), and ossimLsrSpace().

{ return theOrigin; }

print()

void ossimLsrSpace::print

(

ostream &

stream = ossimNotify(ossimNotifyLevel_INFO)

)

const

Debug Dump:

Definition at line 217 of file ossimLsrSpace.cpp.

References theLsrToEcefRotMatrix, and theOrigin.

{
   stream << "(ossimLsrSpace)"
          << "\n   theOrigin = " << theOrigin
          << "\n   theLsrToEcefRotMatrix = \n" << theLsrToEcefRotMatrix << std::endl;
}

Friends And Related Function Documentation

operator<<

ostream& operator<< ( ostream &  os, const ossimLsrSpace &  instance  )

friend

Definition at line 122 of file ossimLsrSpace.h.

      { instance.print(os); return os; }

Member Data Documentation

theLsrToEcefRotMatrix

NEWMAT::Matrix ossimLsrSpace::theLsrToEcefRotMatrix

private

Definition at line 126 of file ossimLsrSpace.h.

Referenced by operator=(), operator==(), ossimLsrSpace(), and print().

theOrigin

ossimEcefPoint ossimLsrSpace::theOrigin

private

Definition at line 127 of file ossimLsrSpace.h.

Referenced by operator=(), operator==(), ossimLsrSpace(), and print().

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

• ossimLsrSpace.h
• ossimLsrSpace.cpp