DtCoordinateConverter.h

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/*********************************************************************
** Copyright (c) 2022 MaK Technologies, Inc.
** All rights reserved.
*********************************************************************/


#pragma once 

#include <vrvUtil/vrvUtil.h>

#include <matrix/geodeticCoord.h>
#include <matrix/utmReferencePoint.h>
#include <matrix/vlDcm.h>
#include <matrix/vlVector.h>
#include <string>

namespace makVrv
{

class DT_DLL_VRVUTIL DtCoordinateConverter
{
public:

   static const char* NoOp;       
   static const char* Geocentric; 
   static const char* UTM;        
   static const char* Lambert;    
   static const char* FlatEarth;  
   static const char* Cartesian;  

public:

   typedef DtCoordinateConverter* (*CreatorFn)();

public:

   virtual ~DtCoordinateConverter();

   virtual const std::string& type() const;

   virtual DtCoordinateConverter* clone() const = 0;

   virtual bool init(const std::string& originstring) = 0;

   virtual std::string stringRep() = 0;

   virtual bool zIsAlt() const;

   virtual bool usesOffsetFile() const;

   virtual DtGeodeticCoord databaseOrigin() const;

   virtual void setGeocOriginOffset(const DtVector& offset){};

   virtual void reset();

   /* accessors for DCM's */
   virtual const DtDcm& nedToCigDcm() const;

   virtual const DtDcm& cigToNedDcm() const;

   virtual const DtDcm& geocToCigDcm() const;

   virtual const DtDcm& cigToGeocDcm() const;

   virtual const DtDcm& geocToNedDcm() const;

   
   virtual const DtDcm& cigToEnuDcm() const;

   virtual const DtDcm& nedToGeocDcm() const;

   /*************************** conversions **********************************/
   virtual void geocToCig(const DtVector& geoc, DtVector& out) const = 0;
   virtual void cigToGeoc(const DtVector& in, DtVector& geoc) const = 0;
   
   virtual void setupTopoFrame(const DtVector& truth);

   virtual void cigToEnu_coordTrans(const DtVector& cigPos,
      DtVector& enuPos) const;

   virtual void cigToEnu_vecTrans(const DtVector& cigVec,
      DtVector& enuVec) const;

   virtual void enuToCig_coordTrans(const DtVector& enuPos,
      DtVector& cigPos) const;

   virtual void enuToCig_vecTrans(const DtVector& enuVec,
      DtVector& cigVec) const;

   virtual DtTaitBryan nedToCig_EulerTrans(const DtTaitBryan& topo) const;
  
   /* ---------------------- Utilities ---------------------------- */
   virtual DtVector up(const DtVector& orig) const;

   virtual void topoSurface(const DtVector& o, DtVector& surface) const;

   const DtDcm nedToEnuDcm() const
   {
      return myNedToEnuDcm;
   }

   virtual bool isGeocentric(void) const;
public:

   static double convertToDouble(const std::string& str);
   static double convertToDouble(const DtDegMinSec& dms);
   // hemisphere should be 'N' or 'S', I have '_' to use the previous behavior
   static DtDegMinSec convertToDmsLat(double deg, char hemisphere = '_'); 
   static DtDegMinSec convertToDmsLon(double deg);

   static bool isCoordinateSystemProjected( const std::string& csType );

protected:

   DtCoordinateConverter(const std::string& t);

   std::string polarDirectionToStr(int dir);

   std::string parseLatLng( const DtDegMinSec& lat, const DtDegMinSec& lng);

private:

   DtCoordinateConverter(const DtCoordinateConverter& orig);

   DtCoordinateConverter& operator=(const DtCoordinateConverter& orig);
   
protected:

   std::string myType;
   bool myUsesWarbreaker;
   bool myZAlt;

   DtGeodeticCoord myGeodOrigin;

   DtDcm myNedToGeocDcm;
   DtDcm myGeocToNedDcm;

   DtDcm myNedToCigDcm;
   DtDcm myCigToNedDcm;

   DtDcm myGeocToCigDcm;
   DtDcm myCigToGeocDcm;

   DtDcm myCigToEnuDcm;
   const DtDcm myNedToEnuDcm;

   DtDcm myNed2CigEulerDcm;

   DtVector myLastLocation;
};

void DT_DLL_VRVUTIL DtQuaternionToEulerDeg(const double x, const double y, const double z, 
   const double w, double& yawOut, double& pitchOut, double& rollOut);

void DT_DLL_VRVUTIL DtQuaternionToEulerRad(const double x, const double y, const double z, 
   const double w, double& yawOut, double& pitchOut, double& rollOut);

void DT_DLL_VRVUTIL DtEulerToQuaternionDeg(const double yaw, const double pitch , const double roll, 
   double& xOut, double& yOut, double& zOut, double& wOut);

void DT_DLL_VRVUTIL DtEulerToQuaternionRad(const double yaw, const double pitch , const double roll, 
   double& xOut, double& yOut, double& zOut, double& wOut);

}