2022-03-01 12:17:56 -05:00
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///////////////////////////////////////////////////////////////////////////////////
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2023-11-19 00:43:20 -05:00
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// Copyright (C) 2012 maintech GmbH, Otto-Hahn-Str. 15, 97204 Hoechberg, Germany //
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// written by Christian Daniel //
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// Copyright (C) 2014 John Greb <hexameron@spam.no> //
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// Copyright (C) 2015-2017, 2019-2020 Edouard Griffiths, F4EXB <f4exb06@gmail.com> //
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// Copyright (C) 2020 Kacper Michajłow <kasper93@gmail.com> //
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// Copyright (C) 2022 Jon Beniston, M7RCE <jon@beniston.com> //
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2022-03-01 12:17:56 -05:00
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// //
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// This program is free software; you can redistribute it and/or modify //
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation as version 3 of the License, or //
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// (at your option) any later version. //
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// //
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// This program is distributed in the hope that it will be useful, //
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// but WITHOUT ANY WARRANTY; without even the implied warranty of //
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
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// GNU General Public License V3 for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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// along with this program. If not, see <http://www.gnu.org/licenses/>. //
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///////////////////////////////////////////////////////////////////////////////////
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#ifndef INCLUDE_COORDINATES_H
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#define INCLUDE_COORDINATES_H
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#include "export.h"
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#include <QDateTime>
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#include <QVector3D>
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#include <QMatrix3x3>
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#include <QMatrix4x4>
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#include <QQuaternion>
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// Functions for transformations between geodetic and ECEF coordinates
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class SDRBASE_API Coordinates {
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public:
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static QVector3D geodeticToECEF(double longitude, double latitude, double height=0.0);
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static QVector3D geodeticRadiansToECEF(double longitude, double latitude, double height=0.0);
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static QMatrix4x4 eastNorthUpToECEF(QVector3D origin);
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static void ecefToGeodetic(double x, double y, double z, double &latitude, double &longitude, double &height);
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static void ecefVelToSpeedHeading(double latitude, double longitude,
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double velX, double velY, double velZ,
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double &speed, double &verticalRate, double &heading);
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static QQuaternion orientation(double longitude, double latitude, double altitude, double heading, double pitch, double roll);
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protected:
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static QVector3D scaleToGeodeticSurface(QVector3D cartesian, QVector3D oneOverRadii, QVector3D oneOverRadiiSquared);
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static QVector3D normalized(QVector3D vec);
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static QQuaternion fromHeadingPitchRoll(double heading, double pitch, double roll);
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static QQuaternion fromRotation(QMatrix3x3 mat);
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};
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#endif // INCLUDE_COORDINATES_H
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