Hide keyboard shortcuts

Hot-keys on this page

r m x p   toggle line displays

j k   next/prev highlighted chunk

0   (zero) top of page

1   (one) first highlighted chunk

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

214

215

216

217

218

219

220

221

222

223

224

225

226

227

228

229

230

231

232

233

234

235

236

237

238

239

240

241

242

243

244

245

246

247

248

249

250

251

252

253

254

255

256

257

258

259

260

261

262

263

264

265

266

267

268

269

270

271

272

273

274

275

276

277

278

279

280

281

282

283

284

285

286

287

288

289

290

291

292

293

294

295

296

297

298

299

300

301

302

303

304

305

306

307

308

309

310

311

312

313

314

315

316

317

318

319

320

321

322

323

324

325

326

327

328

329

330

331

332

333

334

335

336

337

338

339

340

341

342

343

344

345

346

347

348

349

350

351

352

353

354

355

356

357

358

359

360

361

362

363

364

365

366

367

368

369

370

371

372

373

374

375

376

377

378

379

380

381

382

383

384

385

386

387

388

389

390

391

392

393

394

395

396

397

398

399

400

401

402

403

404

405

406

407

408

409

410

411

412

413

414

415

416

417

418

419

420

421

422

423

424

425

426

427

428

429

430

431

432

433

434

435

436

437

438

439

440

441

442

443

444

445

446

447

448

449

450

451

452

453

454

455

456

457

458

459

460

461

462

463

464

465

466

467

468

469

470

471

472

473

474

475

476

477

478

479

480

481

482

483

484

485

486

487

488

489

490

491

492

493

494

495

496

497

498

499

500

501

502

503

504

505

506

507

508

509

510

511

512

513

514

515

516

517

518

519

520

521

522

523

524

525

526

527

528

529

530

531

532

533

534

535

536

537

538

539

540

541

542

543

544

545

546

547

548

549

550

551

552

553

554

555

556

557

558

559

560

561

562

563

564

565

566

567

568

569

570

571

572

573

574

575

576

577

578

579

580

581

582

583

584

585

586

587

588

589

590

591

592

593

594

595

596

597

598

599

600

601

602

603

604

605

606

607

608

609

610

611

612

613

614

615

616

617

618

619

620

621

622

623

624

625

626

627

628

629

630

631

632

633

634

635

636

637

638

639

640

641

642

643

644

645

646

647

648

649

650

651

652

653

654

655

656

657

658

659

660

661

662

663

664

665

666

667

668

669

670

671

672

673

674

675

676

677

678

679

680

681

682

683

684

685

686

687

688

689

690

691

692

693

694

695

696

697

698

699

700

701

702

703

704

705

706

707

708

709

710

711

712

713

714

715

716

717

718

719

720

721

722

723

724

725

726

727

728

729

730

731

732

733

734

735

736

737

738

739

740

741

742

743

744

745

746

747

748

749

750

751

752

753

754

755

756

757

758

759

760

761

762

763

764

765

766

767

768

769

770

771

772

773

774

775

776

777

778

779

780

781

782

783

784

785

786

787

788

789

790

791

792

793

794

795

796

797

798

799

800

801

802

803

804

805

806

807

808

809

810

811

812

813

814

815

816

817

818

819

820

821

822

823

824

825

826

827

828

829

830

831

832

833

834

835

836

837

838

839

840

841

842

843

844

845

846

847

848

849

850

851

852

853

854

855

856

857

858

859

860

861

862

863

864

865

866

867

868

869

870

871

872

873

874

875

876

877

878

879

880

881

882

883

884

885

886

887

888

889

890

891

892

893

894

895

896

897

898

899

900

901

902

903

904

905

906

907

908

909

910

911

912

913

914

915

916

917

918

919

920

921

922

923

924

925

926

927

928

929

930

931

932

933

934

935

936

937

938

939

940

941

942

943

944

945

946

947

948

949

950

951

952

953

954

955

956

957

958

959

960

961

962

963

964

965

966

967

968

969

970

971

972

973

974

975

976

977

978

979

980

981

982

983

984

985

986

987

988

989

990

991

992

993

994

995

996

997

998

999

1000

1001

1002

1003

1004

1005

1006

1007

1008

1009

1010

1011

1012

1013

1014

1015

1016

1017

1018

1019

1020

1021

1022

1023

1024

1025

1026

1027

1028

1029

1030

1031

1032

1033

1034

1035

1036

1037

1038

1039

1040

1041

1042

1043

1044

1045

1046

1047

1048

1049

1050

1051

1052

1053

1054

1055

1056

1057

1058

1059

1060

1061

1062

1063

1064

1065

1066

1067

1068

1069

1070

1071

1072

1073

1074

1075

1076

1077

1078

1079

1080

1081

1082

1083

1084

1085

1086

1087

1088

1089

1090

1091

1092

1093

1094

1095

1096

1097

1098

1099

1100

1101

1102

1103

1104

1105

1106

1107

1108

1109

1110

1111

1112

1113

1114

1115

1116

1117

1118

1119

1120

1121

1122

1123

1124

1125

1126

1127

1128

1129

1130

1131

1132

1133

1134

1135

1136

1137

1138

1139

1140

1141

1142

1143

1144

1145

1146

1147

1148

1149

1150

1151

1152

1153

1154

1155

1156

1157

1158

1159

1160

1161

1162

1163

1164

1165

1166

1167

1168

1169

1170

1171

1172

1173

1174

1175

1176

1177

1178

1179

1180

1181

1182

1183

1184

1185

1186

1187

1188

1189

1190

1191

1192

1193

1194

1195

1196

1197

1198

1199

1200

1201

1202

1203

1204

1205

1206

1207

1208

1209

1210

1211

1212

1213

1214

1215

1216

1217

1218

1219

1220

1221

1222

1223

1224

1225

1226

1227

1228

1229

1230

1231

1232

1233

1234

1235

1236

1237

1238

1239

1240

1241

1242

1243

1244

1245

1246

 

# -*- coding: utf-8 -*- 

 

u'''Named, I{Local Tangent Plane} (LTP) tuples. 

 

Local coordinate classes L{XyzLocal}, L{Enu}, L{Ned} and L{Aer} 

and local coordinate tuples L{Local9Tuple}, L{Xyz4Tuple}, L{Enu4Tuple}, 

L{Ned4Tuple}, L{Aer4Tuple} and L{Footprint5Tuple}. 

 

@see: References in module L{ltp}. 

''' 

 

from pygeodesy.basics import issubclassof, _xinstanceof 

from pygeodesy.constants import _0_0, _90_0, _N_90_0 

from pygeodesy.dms import F_D, toDMS 

from pygeodesy.errors import _TypesError, _xkwds 

from pygeodesy.fmath import hypot, hypot_ 

from pygeodesy.interns import NN, _4_, _azimuth_, _center_, _COMMASPACE_, \ 

_down_, _east_, _ecef_, _elevation_, _height_, \ 

_lat_, _lon_, _ltp_, _M_, _name_, _north_, \ 

_up_, _x_, _xyz_, _y_, _z_ 

from pygeodesy.lazily import _ALL_DOCS, _ALL_LAZY, _ALL_MODS as _MODS 

from pygeodesy.named import _NamedBase, _NamedTuple, notOverloaded, \ 

_Pass, _xnamed 

from pygeodesy.namedTuples import LatLon2Tuple, PhiLam2Tuple, Vector3Tuple 

from pygeodesy.props import deprecated_method, deprecated_Property_RO, \ 

Property_RO, property_RO 

from pygeodesy.streprs import Fmt, fstr, strs, _xzipairs 

from pygeodesy.units import Bearing, Degrees, Degrees_, Height, Lat, Lon, \ 

Meter, Meter_ 

from pygeodesy.utily import atan2d, atan2b, sincos2d_ 

from pygeodesy.vector3d import Vector3d 

 

from math import cos, radians 

 

__all__ = _ALL_LAZY.ltpTuples 

__version__ = '22.09.18' 

 

_aer_ = 'aer' 

_alt_ = 'alt' 

_enu_ = 'enu' 

_ned_ = 'ned' 

_roll_ = 'roll' 

_slantrange_ = 'slantrange' 

_tilt_ = 'tilt' 

_yaw_ = 'yaw' 

 

 

def _er2gr(e, r): 

'''(INTERNAL) Elevation and slant range to ground range. 

''' 

c = cos(radians(e)) 

return Meter_(groundrange=r * c) 

 

 

def _toStr2(inst, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_): 

'''(INTERNAL) Get attribute name and value strings, joined and bracketed. 

''' 

a = inst._toStr # 'aer', 'enu', 'ned', 'xyz' 

t = getattr(inst, a + _4_)[:len(a)] 

t = strs(t, prec=3 if prec is None else prec) 

if sep: 

t = sep.join(t) 

if fmt: 

t = fmt(t) 

return a, t 

 

 

def _4Tuple2Cls(inst, Cls, Cls_kwds): 

'''(INTERNAL) Convert 4-Tuple to C{Cls} instance. 

''' 

if Cls is None: 

return inst 

elif issubclassof(Cls, Aer): 

return inst.xyzLocal.toAer(Aer=Cls, **Cls_kwds) 

elif issubclassof(Cls, Enu): # PYCHOK no cover 

return inst.xyzLocal.toEnu(Enu=Cls, **Cls_kwds) 

elif issubclassof(Cls, Ned): 

return inst.xyzLocal.toNed(Ned=Cls, **Cls_kwds) 

elif issubclassof(Cls, XyzLocal): # PYCHOK no cover 

return inst.xyzLocal.toXyz(Xyz=Cls, **Cls_kwds) 

elif Cls is Local9Tuple: # PYCHOK no cover 

return inst.xyzLocal.toLocal9Tuple(**Cls_kwds) 

n = inst.__class__.__name__[:3] # PYCHOK no cover 

raise _TypesError(n, Cls, Aer, Enu, Ned, XyzLocal) 

 

 

def _xyz2aer4(inst): 

'''(INTERNAL) Convert C{(x, y, z}) to C{(A, E, R)}. 

''' 

x, y, z, _ = inst.xyz4 

A = Bearing(azimuth=atan2b(x, y)) 

E = Degrees(elevation=atan2d(z, hypot(x, y))) 

R = Meter(slantrange=hypot_(x, y, z)) 

return Aer4Tuple(A, E, R, inst.ltp, name=inst.name) 

 

 

class _NamedAerNed(_NamedBase): 

'''(INTERNAL) Base class for classes C{Aer} and C{Ned}. 

''' 

_ltp = None # local tangent plane (C{Ltp}), origin 

 

@Property_RO 

def ltp(self): 

'''Get the I{local tangent plane} (L{Ltp}). 

''' 

return self._ltp 

 

def toAer(self, Aer=None, **Aer_kwds): 

'''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components. 

 

@kwarg Aer: Class to return AER (L{Aer}) or C{None}. 

@kwarg Aer_kwds: Optional, additional B{L{Aer}} keyword 

arguments, ignored if B{C{Aer}} is C{None}. 

 

@return: AER as an L{Aer} instance or if C{B{Aer} is None}, 

an L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. 

''' 

return self.xyz4._toXyz(Aer, Aer_kwds) 

 

def toEnu(self, Enu=None, **Enu_kwds): 

'''Get the I{local} I{East, North, Up} (ENU) components. 

 

@kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

@kwarg Enu_kwds: Optional, additional B{L{Enu}} keyword 

arguments, ignored if C{B{Enu} is None}. 

 

@return: ENU as an L{Enu} instance or if C{B{Enu} is None}, 

an L{Enu4Tuple}C{(east, north, up, ltp)}. 

''' 

return self.xyz4._toXyz(Enu, Enu_kwds) 

 

def toNed(self, Ned=None, **Ned_kwds): 

'''Get the I{local} I{North, East, Down} (NED) components. 

 

@kwarg Ned: Class to return NED (L{Ned}) or C{None}. 

@kwarg Ned_kwds: Optional, additional B{L{Ned}} keyword 

arguments, ignored if B{C{Ned}} is C{None}. 

 

@return: NED as an L{Ned} instance or if C{B{Ned} is None}, 

an L{Ned4Tuple}C{(north, east, down, ltp)}. 

''' 

return self.xyz4._toXyz(Ned, Ned_kwds) 

 

def toXyz(self, Xyz=None, **Xyz_kwds): 

'''Get the local I{X, Y, Z} (XYZ) components. 

 

@kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, 

L{Ned}, L{Aer}) or C{None}. 

@kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword 

arguments, ignored if C{B{Xyz} is None}. 

 

@return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, 

an L{Xyz4Tuple}C{(x, y, z, ltp)}. 

 

@raise TypeError: Invalid B{C{Xyz}}. 

''' 

return self.xyz4._toXyz(Xyz, Xyz_kwds) 

 

@Property_RO 

def xyz(self): 

'''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). 

''' 

return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz 

 

@property_RO 

def xyz4(self): 

'''(INTERNAL) I{Must be overloaded}, see function C{notOverloaded}. 

''' 

notOverloaded(self) 

 

@Property_RO 

def xyzLocal(self): 

'''Get this AER or NED as an L{XyzLocal}. 

''' 

return XyzLocal(self.xyz4, name=self.name) 

 

 

class Aer(_NamedAerNed): 

'''Local C{Azimuth-Elevation-Range} (AER) in a I{local tangent plane}. 

''' 

_azimuth = _0_0 # bearing from North (C{degrees360}) 

_elevation = _0_0 # tilt, pitch from horizon (C{degrees}). 

# _ltp = None # local tangent plane (C{Ltp}), origin 

_slantrange = _0_0 # distance (C{Meter}) 

_toStr = _aer_ 

 

def __init__(self, aer, elevation=_0_0, slantrange=_0_0, ltp=None, name=NN): 

'''New L{Aer}. 

 

@arg aer: Scalar azimuth, bearing from North (C{degrees360}) or 

local (L{Aer}, L{Aer4Tuple}). 

@kwarg elevation: Scalar angle I{above} horizon, I{above} B{C{ltp}} 

(C{degrees90}) if scalar B{C{aer}}. 

@kwarg slantrange: Scalar distance (C{meter}) if scalar B{C{aer}}. 

@kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

L{LocalCartesian}). 

@kwarg name: Optional name (C{str}). 

 

@raise TypeError: Invalid B{C{ltp}}. 

 

@raise UnitError: Invalid B{C{azimuth}}, B{C{elevation}} or 

or B{C{slantrange}}. 

''' 

try: # PYCHOK no cover 

self._azimuth, self._elevation, self._slantrange = \ 

aer.azimuth, aer.elevation, aer.slantrange 

_xinstanceof(Aer, Aer4Tuple, aer=aer) 

p = getattr(aer, _ltp_, ltp) 

n = getattr(aer, _name_, name) 

except AttributeError: 

self._azimuth = Bearing(azimuth=aer) 

self._elevation = Degrees_(elevation=elevation, low=_N_90_0, high=_90_0) 

self._slantrange = Meter_(slantrange=slantrange) 

p, n = ltp, name 

 

if p: 

self._ltp = _MODS.ltp._xLtp(p) 

if name: 

self.name = n 

 

@Property_RO 

def aer4(self): 

'''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). 

''' 

return Aer4Tuple(self._azimuth, self._elevation, self._slantrange, self.ltp, name=self.name) 

 

@Property_RO 

def azimuth(self): 

'''Get the Azimuth, bearing from North (C{degrees360}). 

''' 

return self._azimuth 

 

@Property_RO 

def down(self): 

'''Get the Down component (C{meter}). 

''' 

return self.xyzLocal.down 

 

@Property_RO 

def east(self): 

'''Get the East component (C{meter}). 

''' 

return self.xyzLocal.east 

 

@Property_RO 

def elevation(self): 

'''Get the Elevation, tilt above horizon (C{degrees90}). 

''' 

return self._elevation 

 

@Property_RO 

def groundrange(self): 

'''Get the I{ground range}, distance (C{meter}). 

''' 

return _er2gr(self._elevation, self._slantrange) 

 

@Property_RO 

def north(self): 

'''Get the North component (C{meter}). 

''' 

return self.xyzLocal.north 

 

@Property_RO 

def slantrange(self): 

'''Get the I{slant Range}, distance (C{meter}). 

''' 

return self._slantrange 

 

def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected 

'''Return a string representation of this AER as azimuth 

(bearing), elevation and slant range. 

 

@kwarg prec: Number of (decimal) digits, unstripped (C{int}). 

@kwarg fmt: Enclosing backets format (C{str}). 

@kwarg sep: Optional separator between AERs (C{str}). 

 

@return: This AER as "[A:degrees360, E:degrees90, R:meter]" (C{str}). 

''' 

t = (toDMS(self.azimuth, form=F_D, prec=prec, ddd=0), 

toDMS(self.elevation, form=F_D, prec=prec, ddd=0), 

fstr( self.slantrange, prec=3 if prec is None else prec)) 

return _xzipairs(self._toStr.upper(), t, sep=sep, fmt=fmt) 

 

def toStr(self, **prec_fmt_sep): # PYCHOK expected 

'''Return a string representation of this AER. 

 

@kwarg prec_fmt_sep: Keyword arguments C{B{prec}=3} for the 

number of (decimal) digits, unstripped 

(C{int}), C{B{fmt}='[]'} the enclosing 

backets format (C{str}) and separator 

C{B{sep}=', '} to join (C{str}). 

 

@return: This AER as "[degrees360, degrees90, meter]" (C{str}). 

''' 

_, t = _toStr2(self, **prec_fmt_sep) 

return t 

 

@Property_RO 

def up(self): 

'''Get the Up component (C{meter}). 

''' 

return self.xyzLocal.up 

 

@Property_RO 

def x(self): 

'''Get the X component (C{meter}). 

''' 

return self.xyz4.x 

 

@Property_RO 

def xyz4(self): 

'''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

''' 

sA, cA, sE, cE = sincos2d_(self._azimuth, self._elevation) 

R = self._slantrange 

r = cE * R # ground range 

return Xyz4Tuple(sA * r, cA * r, sE * R, self.ltp, name=self.name) 

 

@Property_RO 

def y(self): 

'''Get the Y component (C{meter}). 

''' 

return self.xyz4.y 

 

@Property_RO 

def z(self): 

'''Get the Z component (C{meter}). 

''' 

return self.xyz4.z 

 

 

class Aer4Tuple(_NamedTuple): 

'''4-Tuple C{(azimuth, elevation, slantrange, ltp)}, 

all in C{meter} except C{ltp}. 

''' 

_Names_ = (_azimuth_, _elevation_, _slantrange_, _ltp_) 

_Units_ = ( Meter, Meter, Meter, _Pass) 

 

def _toAer(self, Cls, Cls_kwds): 

'''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

''' 

if issubclassof(Cls, Aer): 

return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) 

else: 

return _4Tuple2Cls(self, Cls, Cls_kwds) 

 

@Property_RO 

def groundrange(self): 

'''Get the I{ground range}, distance (C{meter}). 

''' 

return _er2gr(self.elevation, self.slantrange) # PYCHOK _Tuple 

 

@Property_RO 

def xyzLocal(self): 

'''Get this L{Aer4Tuple} as an L{XyzLocal}. 

''' 

return Aer(self).xyzLocal 

 

 

class Attitude4Tuple(_NamedTuple): 

'''4-Tuple C{(alt, tilt, yaw, roll)} with C{altitude} in (positive) 

C{meter} and C{tilt}, C{yaw} and C{roll} in C{degrees} representing 

the attitude of a plane or camera. 

''' 

_Names_ = (_alt_, _tilt_, _yaw_, _roll_) 

_Units_ = ( Meter, Bearing, Degrees, Degrees) 

 

@Property_RO 

def atyr(self): 

'''Return this attitude (L{Attitude4Tuple}). 

''' 

return self 

 

@Property_RO 

def tyr3d(self): 

'''Get this attitude's (3-D) directional vector (L{Vector3d}). 

''' 

return _MODS.ltp.Attitude(self).tyr3d 

 

 

class Ned(_NamedAerNed): 

'''Local C{North-Eeast-Down} (NED) location in a I{local tangent plane}. 

 

@see: L{Enu} and L{Ltp}. 

''' 

_down = _0_0 # down, -XyzLocal.z (C{meter}). 

_east = _0_0 # east, XyzLocal.y (C{meter}). 

# _ltp = None # local tangent plane (C{Ltp}), origin 

_north = _0_0 # north, XyzLocal.x (C{meter}) 

_toStr = _ned_ 

 

def __init__(self, ned, east=_0_0, down=_0_0, ltp=None, name=NN): 

'''New L{Ned} vector. 

 

@arg ned: Scalar north component (C{meter}) or local NED (L{Ned}, 

L{Ned4Tuple}). 

@kwarg east: Scalar east component (C{meter}) if scalar B{C{ned}}. 

@kwarg down: Scalar down component, normal to I{inside} surface of 

the ellipsoid or sphere (C{meter}) if scalar B{C{ned}}. 

@kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

L{LocalCartesian}). 

@kwarg name: Optional name (C{str}). 

 

@raise TypeError: Invalid B{C{ltp}}. 

 

@raise UnitError: Invalid B{C{north}}, B{C{east}} or B{C{down}}. 

''' 

try: # PYCHOK no cover 

self._north, self._east, self._down = ned.north, ned.east, ned.down 

_xinstanceof(Ned, Ned4Tuple, ned=ned) 

p = getattr(ned, _ltp_, ltp) 

n = getattr(ned, _name_, name) 

except AttributeError: 

self._north = Meter(north=ned or _0_0) 

self._east = Meter(east=east or _0_0) 

self._down = Meter(down=down or _0_0) 

p, n = ltp, name 

 

if p: 

self._ltp = _MODS.ltp._xLtp(p) 

if n: 

self.name = n 

 

@Property_RO 

def aer4(self): 

'''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). 

''' 

return _xyz2aer4(self) 

 

@Property_RO 

def azimuth(self): 

'''Get the Azimuth, bearing from North (C{degrees360}). 

''' 

return self.aer4.azimuth 

 

@deprecated_Property_RO 

def bearing(self): 

'''DEPRECATED, use C{azimuth}.''' 

return self.azimuth 

 

@Property_RO 

def down(self): 

'''Get the Down component (C{meter}). 

''' 

return self._down 

 

@Property_RO 

def east(self): 

'''Get the East component (C{meter}). 

''' 

return self._east 

 

@Property_RO 

def elevation(self): 

'''Get the Elevation, tilt above horizon (C{degrees90}). 

''' 

return self.aer4.elevation # neg(degrees90(asin1(self.down / self.length)))) 

 

@Property_RO 

def groundrange(self): 

'''Get the I{ground range}, distance (C{meter}). 

''' 

return Meter(groundrange=hypot(self.north, self.east)) 

 

@deprecated_Property_RO 

def length(self): 

'''DEPRECATED, use C{slantrange}.''' 

return self.slantrange 

 

@deprecated_Property_RO 

def ned(self): 

'''DEPRECATED, use property C{ned4}.''' 

return _MODS.deprecated.Ned3Tuple(self.north, self.east, self.down, name=self.name) 

 

@Property_RO 

def ned4(self): 

'''Get the C{(north, east, down, ltp)} components (L{Ned4Tuple}). 

''' 

return Ned4Tuple(self.north, self.east, self.down, self.ltp, name=self.name) 

 

@Property_RO 

def north(self): 

'''Get the North component (C{meter}). 

''' 

return self._north 

 

@Property_RO 

def slantrange(self): 

'''Get the I{slant Range}, distance (C{meter}). 

''' 

return self.aer4.slantrange 

 

@deprecated_method 

def to3ned(self): # PYCHOK no cover 

'''DEPRECATED, use property L{ned4}.''' 

return self.ned # XXX deprecated too 

 

def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected 

'''Return a string representation of this NED. 

 

@kwarg prec: Number of (decimal) digits, unstripped (C{int}). 

@kwarg fmt: Enclosing backets format (C{str}). 

@kwarg sep: Separator to join (C{str}). 

 

@return: This NED as "[N:meter, E:meter, D:meter]" (C{str}). 

''' 

a, t = _toStr2(self, prec=prec, fmt=NN, sep=NN) 

return _xzipairs(a.upper(), t, sep=sep, fmt=fmt) 

 

def toStr(self, **prec_fmt_sep): # PYCHOK expected 

'''Return a string representation of this NED. 

 

@kwarg prec_fmt_sep: Keyword arguments C{B{prec}=3} for the 

number of (decimal) digits, unstripped 

(C{int}), C{B{fmt}='[]'} the enclosing 

backets format (C{str}) and separator 

C{B{sep}=', '} to join (C{str}). 

 

@return: This NED as "[meter, meter, meter]" (C{str}). 

''' 

_, t = _toStr2(self, **prec_fmt_sep) 

return t 

 

@deprecated_method 

def toVector3d(self): 

'''DEPRECATED, use property L{xyz}.''' 

return self.xyz 

 

@Property_RO 

def up(self): 

'''Get the Up component (C{meter}). 

''' 

return Meter(up=-self._down) # negated 

 

@Property_RO 

def x(self): 

'''Get the X component (C{meter}). 

''' 

return Meter(x=self._east) # 2nd arg, E 

 

@Property_RO 

def xyz4(self): 

'''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

''' 

return Xyz4Tuple(self.x, self.y, self.z, self.ltp, name=self.name) 

 

@Property_RO 

def y(self): 

'''Get the Y component (C{meter}). 

''' 

return Meter(y=self._north) # 1st arg N 

 

@Property_RO 

def z(self): 

'''Get the Z component (C{meter}). 

''' 

return Meter(z=-self._down) # negated 

 

 

class Ned4Tuple(_NamedTuple): 

'''4-Tuple C{(north, east, down, ltp)}, all in C{meter} except C{ltp}. 

''' 

_Names_ = (_north_, _east_, _down_, _ltp_) 

_Units_ = ( Meter, Meter, Meter, _Pass) 

 

def _toNed(self, Cls, Cls_kwds): 

'''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

''' 

if issubclassof(Cls, Ned): 

return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) 

else: 

return _4Tuple2Cls(self, Cls, Cls_kwds) 

 

@Property_RO 

def xyzLocal(self): 

'''Get this L{Ned4Tuple} as an L{XyzLocal}. 

''' 

return Ned(self).xyzLocal 

 

 

class XyzLocal(Vector3d): 

'''Local C{(x, y, z)} in a I{local tangent plane} (LTP) 

and base class for local L{Enu}, L{Ned} and L{Aer}. 

''' 

_ltp = None # local tangent plane (C{Ltp}), origin 

_toStr = _xyz_ 

 

def __init__(self, x_xyz, y=_0_0, z=_0_0, ltp=None, name=NN): 

'''New L{XyzLocal}. 

 

@arg x_xyz: Scalar X component (C{meter}), C{positive east} or 

a local (L{XyzLocal}, L{Xyz4Tuple}, L{Enu}, 

L{Enu4Tuple}, L{Local9Tuple}). 

@kwarg y: Scalar Y component (C{meter}) for scalar B{C{x_xyz}}, 

C{positive north}. 

@kwarg z: Scalar Z component for scalar B{C{x_xyz}}, normal 

C{positive up} from the surface of the ellipsoid 

or sphere (C{meter}). 

@kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

L{LocalCartesian}). 

 

@raise TypeError: Invalid B{C{x_xyz}} or B{C{ltp}}. 

 

@raise UnitError: Invalid scalar B{C{x_xyz}}, B{C{y}} or B{C{z}}. 

''' 

try: 

self._x, self._y, self._z = x_xyz.x, x_xyz.y, x_xyz.z 

_xinstanceof(XyzLocal, Xyz4Tuple, Enu, Enu4Tuple, Local9Tuple, Ned, 

**{self._toStr: x_xyz}) 

p = getattr(x_xyz, _ltp_, ltp) 

n = name or getattr(x_xyz, _name_, NN) 

except AttributeError: 

self._x = Meter(x=x_xyz or _0_0) 

self._y = Meter(y=y or _0_0) 

self._z = Meter(z=z or _0_0) 

p, n = ltp, name 

 

if p: 

self._ltp = _MODS.ltp._xLtp(p) 

if n: 

self.name = n 

 

def __str__(self): 

return self.toStr() 

 

@Property_RO 

def aer4(self): 

'''Get the C{(azimuth, elevation, slantrange, ltp)} components (L{Aer4Tuple}). 

''' 

return _xyz2aer4(self) 

 

@Property_RO 

def azimuth(self): 

'''Get the Azimuth, bearing from North (C{degrees360}). 

 

@see: U{Azimuth<https://GSSC.ESA.int/navipedia/index.php/ 

Transformations_between_ECEF_and_ENU_coordinates>}. 

''' 

return self.aer4.azimuth 

 

def classof(self, *args, **kwds): # PYCHOK no cover 

'''Create another instance of this very class. 

 

@arg args: Optional, positional arguments. 

@kwarg kwds: Optional, keyword arguments. 

 

@return: New instance (C{self.__class__}). 

''' 

kwds = _xkwds(kwds, ltp=self.ltp, name=self.name) 

return self.__class__(*args, **kwds) 

 

@Property_RO 

def down(self): 

'''Get the Down component (C{meter}). 

''' 

return Meter(down=-self.z) 

 

@property_RO 

def ecef(self): 

'''Get this LTP's ECEF converter (C{Ecef...} I{instance}). 

''' 

return self.ltp.ecef 

 

@Property_RO 

def east(self): 

'''Get the East component (C{meter}). 

''' 

return Meter(east=self.x) 

 

@Property_RO 

def elevation(self): 

'''Get the Elevation, tilt above horizon (C{degrees90}). 

 

@see: U{Elevation<https://GSSC.ESA.int/navipedia/index.php/ 

Transformations_between_ECEF_and_ENU_coordinates>}. 

''' 

return self.aer4.elevation # neg(degrees90(asin1(self.down / self.length)))) 

 

@Property_RO 

def enu4(self): 

'''Get the C{(east, north, up, ltp)} components (L{Enu4Tuple}). 

''' 

return Enu4Tuple(self.east, self.north, self.up, self.ltp, name=self.name) 

 

@Property_RO 

def groundrange(self): 

'''Get the I{ground range}, distance (C{meter}). 

''' 

return Meter(groundrange=hypot(self.x, self.y)) 

 

@Property_RO 

def ltp(self): 

'''Get the I{local tangent plane} (L{Ltp}). 

''' 

return self._ltp 

 

@Property_RO 

def ned4(self): 

'''Get the C{(north, east, down, ltp)} components (L{Ned4Tuple}). 

''' 

return Ned4Tuple(self.north, self.east, self.down, self.ltp, name=self.name) 

 

@Property_RO 

def north(self): 

'''Get the North component (C{meter}). 

''' 

return Meter(north=self.y) 

 

@Property_RO 

def slantrange(self): 

'''Get the I{slant Range}, distance (C{meter}). 

''' 

return self.aer4.slantrange 

 

def toAer(self, Aer=None, **Aer_kwds): 

'''Get the local I{Azimuth, Elevation, slantRange} components. 

 

@kwarg Aer: Class to return AER (L{Aer}) or C{None}. 

@kwarg Aer_kwds: Optional, additional B{C{Aer}} keyword 

arguments, ignored if C{B{Aer} is None}. 

 

@return: AER as an L{Aer} instance or if C{B{Aer} is None}, an 

L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. 

 

@raise TypeError: Invalid B{C{Aer}}. 

''' 

return self.aer4._toAer(Aer, Aer_kwds) 

 

def toCartesian(self, Cartesian=None, ltp=None, **Cartesian_kwds): 

'''Get the geocentric C{(x, y, z)} (ECEF) coordinates of this local. 

 

@kwarg Cartesian: Optional class to return C{(x, y, z)} (C{Cartesian}) 

or C{None}. 

@kwarg ltp: Optional I{local tangent plane} (LTP) (L{Ltp}), 

overriding this C{ltp}. 

@kwarg Cartesian_kwds: Optional, additional B{C{Cartesian}} keyword 

arguments, ignored if C{B{Cartesian} is None}. 

 

@return: A B{C{Cartesian}} instance of if C{B{Cartesian} is None}, an 

L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} 

with C{M=None}, always. 

 

@raise TypeError: Invalid B{C{ltp}}, B{C{Cartesian}} or 

B{C{Cartesian_kwds}} argument. 

''' 

ltp = _MODS.ltp._xLtp(ltp, self.ltp) 

if Cartesian is None: 

r = ltp._local2ecef(self, nine=True) 

else: 

x, y, z = ltp._local2ecef(self) 

kwds = _xkwds(Cartesian_kwds, datum=ltp.datum) 

r = Cartesian(x, y, z, **kwds) 

return _xnamed(r, self.name or ltp.name) 

 

def toEnu(self, Enu=None, **Enu_kwds): 

'''Get the local I{East, North, Up} (ENU) components. 

 

@kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

@kwarg Enu_kwds: Optional, additional B{C{Enu}} keyword 

arguments, ignored if C{B{Enu} is None}. 

 

@return: ENU as an L{Enu} instance or if C{B{Enu} is None}, 

an L{Enu4Tuple}C{(east, north, up, ltp)}. 

''' 

return self.enu4._toEnu(Enu, Enu_kwds) 

 

def toLatLon(self, LatLon=None, ltp=None, **LatLon_kwds): 

'''Get the geodetic C{(lat, lon, height)} coordinates if this local. 

 

@kwarg LatLon: Optional class to return C{(x, y, z)} (C{LatLon}) 

or C{None}. 

@kwarg ltp: Optional I{local tangent plane} (LTP) (L{Ltp}), 

overriding this ENU/NED/AER/XYZ's LTP. 

@kwarg LatLon_kwds: Optional, additional B{C{LatLon}} keyword 

arguments, ignored if C{B{LatLon} is None}. 

 

@return: An B{C{LatLon}} instance of if C{B{LatLon} is None}, an 

L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, 

datum)} with C{M=None}, always. 

 

@raise TypeError: Invalid B{C{ltp}}, B{C{LatLon}} or 

B{C{LatLon_kwds}} argument. 

''' 

ltp = _MODS.ltp._xLtp(ltp, self.ltp) 

r = ltp._local2ecef(self, nine=True) 

if LatLon is None: 

r = _xnamed(r, self.name or ltp.name) 

else: 

kwds = _xkwds(LatLon_kwds, height=r.height, datum=r.datum, 

name=self.name or ltp.name) 

r = LatLon(r.lat, r.lon, **kwds) # XXX ltp? 

return r 

 

def toLocal9Tuple(self, M=False, name=NN): 

'''Get this local as a C{Local9Tuple}. 

 

@kwarg M: Optionally include the rotation matrix (C{bool}). 

@kwarg name: Optional name (C{str}). 

 

@return: L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, 

ecef, M)} with C{ltp} this C{Ltp}, C{ecef} an 

L{Ecef9Tuple} and C{M} L{EcefMatrix} or C{None}. 

''' 

ltp = self.ltp # see C{self.toLatLon} 

t = ltp._local2ecef(self, nine=True, M=M) 

return Local9Tuple(self.x, self.y, self.z, t.lat, t.lon, t.height, 

ltp, t, t.M, name=name or t.name) 

 

def toNed(self, Ned=None, **Ned_kwds): 

'''Get the local I{North, East, Down} (Ned) components. 

 

@kwarg Ned: Class to return NED (L{Ned}) or C{None}. 

@kwarg Ned_kwds: Optional, additional B{C{Ned}} keyword 

arguments, ignored if C{B{Ned} is None}. 

 

@return: NED as an L{Ned} instance or if C{B{Ned} is None}, 

an L{Ned4Tuple}C{(north, east, down, ltp)}. 

''' 

return self.ned4._toNed(Ned, Ned_kwds) 

 

def toRepr(self, prec=None, fmt=Fmt.SQUARE, sep=_COMMASPACE_, **unused): # PYCHOK expected 

'''Return a string representation of this ENU/NED/XYZ. 

 

@kwarg prec: Number of (decimal) digits, unstripped (C{int}). 

@kwarg fmt: Enclosing backets format (C{str}). 

@kwarg sep: Separator to join (C{str}). 

 

@return: This XYZ/ENU as "[E:meter, N:meter, U:meter]", 

"[N:meter, E:meter, D:meter]" respectively 

"[X:meter, Y:meter, Z:meter]" (C{str}). 

''' 

a, t = _toStr2(self, prec=prec, fmt=NN, sep=NN) 

return _xzipairs(a.upper(), t, sep=sep, fmt=fmt) 

 

def toStr(self, **prec_fmt_sep): # PYCHOK expected 

'''Return a string representation of this XYZ. 

 

@kwarg prec_fmt_sep: Keyword arguments C{B{prec}=3} for the 

number of (decimal) digits, unstripped 

(C{int}), C{B{fmt}='[]'} the enclosing 

backets format (C{str}) and separator 

C{B{sep}=', '} to join (C{str}). 

 

@return: This XYZ as "[meter, meter, meter]" (C{str}). 

''' 

_, t = _toStr2(self, **prec_fmt_sep) 

return t 

 

def toXyz(self, Xyz=None, **Xyz_kwds): 

'''Get the local I{X, Y, Z} (XYZ) components. 

 

@kwarg Xyz: Class to return XYZ (L{XyzLocal}, L{Enu}, 

L{Ned}, L{Aer}) or C{None}. 

@kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword 

arguments, ignored if C{B{Xyz} is None}. 

 

@return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, 

an L{Xyz4Tuple}C{(x, y, z, ltp)}. 

''' 

return self.xyz4._toXyz(Xyz, Xyz_kwds) 

 

@Property_RO 

def up(self): 

'''Get the Up component (C{meter}). 

''' 

return Meter(up=self.z) 

 

# @Property_RO 

# def x(self): # see: Vector3d.x 

# '''Get the X component (C{meter}). 

# ''' 

# return self._x 

 

# @Property_RO 

# def xyz(self): # see: Vector3d.xyz 

# '''Get the I{local} C{(X, Y, Z)} coordinates (L{Vector3Tuple}C{(x, y, z)}). 

# ''' 

# return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz, Local6tuple.xyz 

 

@Property_RO 

def xyz4(self): 

'''Get the C{(x, y, z, ltp)} components (L{Xyz4Tuple}). 

''' 

return Xyz4Tuple(self.x, self.y, self.z, self.ltp, name=self.name) 

 

@Property_RO 

def xyzLocal(self): 

'''Get this L{XyzLocal}. 

''' 

return self 

 

# @Property_RO 

# def y(self): # see: Vector3d.y 

# '''Get the Y component (C{meter}). 

# ''' 

# return self._y 

 

# @Property_RO 

# def z(self): # see: Vector3d.z 

# '''Get the Z component (C{meter}). 

# ''' 

# return self._z 

 

 

class Xyz4Tuple(_NamedTuple): 

'''4-Tuple C{(x, y, z, ltp)}, all in C{meter} except C{ltp}. 

''' 

_Names_ = (_x_, _y_, _z_, _ltp_) 

_Units_ = ( Meter, Meter, Meter, _Pass) 

 

def _toXyz(self, Cls, Cls_kwds): 

'''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

''' 

if issubclassof(Cls, XyzLocal): 

return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) 

else: 

return _4Tuple2Cls(self, Cls, Cls_kwds) 

 

@Property_RO 

def xyzLocal(self): 

'''Get this L{Xyz4Tuple} as an L{XyzLocal}. 

''' 

return XyzLocal(self, ltp=self.ltp, name=self.name) # PYCHOK .ltp 

 

 

class Enu(XyzLocal): 

'''Local C{Eeast-North-Up} (ENU) location in a I{local tangent plane}. 

 

@see: U{East, North, Up (ENU)<https://GSSC.ESA.int/navipedia/index.php/ 

Transformations_between_ECEF_and_ENU_coordinates>} coordinates. 

''' 

_toStr = _enu_ 

 

def __init__(self, enu, north=_0_0, up=_0_0, ltp=None, name=NN): 

'''New L{Enu}. 

 

@arg enu: Scalar East component (C{meter}) or a local (L{Enu}, 

(L{XyzLocal}, L{Local9Tuple}). 

@kwarg north: Scalar North component (C{meter}) if scalar B{C{enu}}. 

@kwarg up: Scalar Up component if scalar B{C{enu}}, normal from the 

surface of the ellipsoid or sphere (C{meter}). 

@kwarg ltp: The I{local tangent plane}, (geodetic) origin (L{Ltp}, 

L{LocalCartesian}). 

@kwarg name: Optional name (C{str}). 

 

@raise TypeError: Invalid B{C{enu}} or B{C{ltp}}. 

 

@raise UnitError: Invalid B{C{east}}, B{C{north}} or B{C{up}}. 

''' 

XyzLocal.__init__(self, enu, north, up, ltp=ltp, name=name) 

 

# @Property_RO 

# def xyzLocal(self): 

# return XyzLocal(self, name=self.name) 

 

 

class Enu4Tuple(_NamedTuple): 

'''4-Tuple C{(east, north, up, ltp)}, in C{meter} except C{ltp}. 

''' 

_Names_ = (_east_, _north_, _up_, _ltp_) 

_Units_ = ( Meter, Meter, Meter, _Pass) 

 

def _toEnu(self, Cls, Cls_kwds): 

'''(INTERNAL) Return C{Cls(..., **Cls_kwds)} instance. 

''' 

if issubclassof(Cls, XyzLocal): 

return Cls(*self, **_xkwds(Cls_kwds, name=self.name)) 

else: 

return _4Tuple2Cls(self, Cls, Cls_kwds) 

 

@Property_RO 

def xyzLocal(self): 

'''Get this L{Enu4Tuple} as an L{XyzLocal}. 

''' 

return XyzLocal(*self, name=self.name) 

 

 

class Local9Tuple(_NamedTuple): 

'''9-Tuple C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, 

C{y}, C{z} all in C{meter}, I{geodetic} C{lat}, C{lon}, C{height}, I{local 

tangent plane} C{ltp} (L{Ltp}), C{ecef} (L{Ecef9Tuple}) with I{geocentric} 

C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height} and I{concatenated} 

rotation matrix C{M} (L{EcefMatrix}) or C{None}. 

''' 

_Names_ = (_x_, _y_, _z_, _lat_, _lon_, _height_, _ltp_, _ecef_, _M_) 

_Units_ = ( Meter, Meter, Meter, Lat, Lon, Height, _Pass, _Pass, _Pass) 

 

@Property_RO 

def azimuth(self): 

'''Get the I{local} Azimuth, bearing from North (C{degrees360}). 

''' 

return self.xyzLocal.aer4.azimuth 

 

@Property_RO 

def down(self): 

'''Get the I{local} Down, C{-z} component (C{meter}). 

''' 

return -self.z 

 

@Property_RO 

def east(self): 

'''Get the I{local} East, C{x} component (C{meter}). 

''' 

return self.x 

 

@Property_RO 

def elevation(self): 

'''Get the I{local} Elevation, tilt I{above} horizon (C{degrees90}). 

''' 

return self.xyzLocal.aer4.elevation 

 

@Property_RO 

def groundrange(self): 

'''Get the I{local} ground range, distance (C{meter}). 

''' 

return self.xyzLocal.aer4.groundrange 

 

@Property_RO 

def lam(self): 

'''Get the I{geodetic} longitude in C{radians} (C{float}). 

''' 

return self.philam.lam 

 

@Property_RO 

def latlon(self): 

'''Get the I{geodetic} lat-, longitude in C{degrees} (L{LatLon2Tuple}C{(lat, lon)}). 

''' 

return LatLon2Tuple(self.lat, self.lon, name=self.name) 

 

@Property_RO 

def latlonheight(self): 

'''Get the I{geodetic} lat-, longitude in C{degrees} and height (L{LatLon3Tuple}C{(lat, lon, height)}). 

''' 

return self.latlon.to3Tuple(self.height) 

 

@Property_RO 

def north(self): 

'''Get the I{local} North, C{y} component (C{meter}). 

''' 

return self.y 

 

@Property_RO 

def phi(self): 

'''Get the I{geodetic} latitude in C{radians} (C{float}). 

''' 

return self.philam.phi 

 

@Property_RO 

def philam(self): 

'''Get the I{geodetic} lat-, longitude in C{radians} (L{PhiLam2Tuple}C{(phi, lam)}). 

''' 

return PhiLam2Tuple(radians(self.lat), radians(self.lon), name=self.name) 

 

@Property_RO 

def philamheight(self): 

'''Get the I{geodetic} lat-, longitude in C{radians} and height (L{PhiLam3Tuple}C{(phi, lam, height)}). 

''' 

return self.philam.to3Tuple(self.height) 

 

@Property_RO 

def slantrange(self): 

'''Get the I{local} slant Range, distance (C{meter}). 

''' 

return self.xyzLocal.aer4.slantrange 

 

def toAer(self, Aer=None, **Aer_kwds): 

'''Get the I{local} I{Azimuth, Elevation, slant Range} (AER) components. 

 

@kwarg Aer: Class to return AER (L{Aer}) or C{None}. 

@kwarg Aer_kwds: Optional, additional B{L{Aer}} keyword 

arguments, ignored if B{C{Aer}} is C{None}. 

 

@return: AER as an L{Aer} instance or if C{B{Aer} is None}, 

an L{Aer4Tuple}C{(azimuth, elevation, slantrange, ltp)}. 

''' 

return self.xyzLocal.toAer(Aer=Aer, **Aer_kwds) 

 

def toCartesian(self, Cartesian=None, **Cartesian_kwds): 

'''Convert this I{local} to I{geocentric} C{(x, y, z)} (ECEF). 

 

@kwarg Cartesian: Optional class to return C{(x, y, z)} (C{Cartesian}) 

or C{None}. 

@kwarg Cartesian_kwds: Optional, additional B{C{Cartesian}} keyword 

arguments, ignored if C{B{Cartesian} is None}. 

 

@return: A C{B{Cartesian}(x, y, z, **B{Cartesian_kwds})} instance 

or a L{Vector4Tuple}C{(x, y, z, h)} if C{B{Cartesian} is None}. 

 

@raise TypeError: Invalid B{C{Cartesian}} or B{C{Cartesian_kwds}} 

argument. 

''' 

return self.ecef.toCartesian(Cartesian=Cartesian, **Cartesian_kwds) # PYCHOK _Tuple 

 

def toEnu(self, Enu=None, **Enu_kwds): 

'''Get the I{local} I{East, North, Up} (ENU) components. 

 

@kwarg Enu: Class to return ENU (L{Enu}) or C{None}. 

@kwarg Enu_kwds: Optional, additional B{L{Enu}} keyword 

arguments, ignored if C{B{Enu} is None}. 

 

@return: ENU as an L{Enu} instance or if C{B{Enu} is None}, 

an L{Enu4Tuple}C{(east, north, up, ltp)}. 

''' 

return self.xyzLocal.toEnu(Enu=Enu, **Enu_kwds) 

 

def toLatLon(self, LatLon=None, **LatLon_kwds): 

'''Convert this I{local} to I{geodetic} C{(lat, lon, height)}. 

 

@kwarg LatLon: Optional class to return C{(lat, lon, height)} 

(C{LatLon}) or C{None}. 

@kwarg LatLon_kwds: Optional, additional B{C{LatLon}} keyword 

arguments, ignored if C{B{LatLon} is None}. 

 

@return: An instance of C{B{LatLon}(lat, lon, **B{LatLon_kwds})} 

or if C{B{LatLon} is None}, a L{LatLon3Tuple}C{(lat, lon, 

height)} respectively L{LatLon4Tuple}C{(lat, lon, height, 

datum)} depending on whether C{datum} is un-/specified. 

 

@raise TypeError: Invalid B{C{LatLon}} or B{C{LatLon_kwds}} 

argument. 

''' 

return self.ecef.toLatLon(LatLon=LatLon, **LatLon_kwds) # PYCHOK _Tuple 

 

def toNed(self, Ned=None, **Ned_kwds): 

'''Get the I{local} I{North, East, Down} (NED) components. 

 

@kwarg Ned: Class to return NED (L{Ned}) or C{None}. 

@kwarg Ned_kwds: Optional, additional B{L{Ned}} keyword 

arguments, ignored if B{C{Ned}} is C{None}. 

 

@return: NED as an L{Ned} instance or if C{B{Ned} is None}, 

an L{Ned4Tuple}C{(north, east, down, ltp)}. 

''' 

return self.xyzLocal.toNed(Ned=Ned, **Ned_kwds) 

 

def toXyz(self, Xyz=None, **Xyz_kwds): 

'''Get the I{local} I{X, Y, Z} (XYZ) components. 

 

@kwarg Xyz: Class to return XYZ (L{XyzLocal}) or C{None}. 

@kwarg Xyz_kwds: Optional, additional B{C{Xyz}} keyword 

arguments, ignored if C{B{Xyz} is None}. 

 

@return: XYZ as an B{C{Xyz}} instance or if C{B{Xyz} is None}, 

an L{Xyz4Tuple}C{(x, y, z, ltp)}. 

''' 

return self.xyzLocal.toXyz(Xyz=Xyz, **Xyz_kwds) 

 

@Property_RO 

def up(self): 

'''Get the I{local} Up, C{z} component (C{meter}). 

''' 

return self.z 

 

@Property_RO 

def xyz(self): 

'''Get the I{local} C{(X, Y, Z)} components (L{Vector3Tuple}C{(x, y, z)}). 

''' 

return Vector3Tuple(self.x, self.y, self.z, name=self.name) # like Ecef9Tuple.xyz 

 

@Property_RO 

def xyzLocal(self): 

'''Get this L{Local9Tuple} as an L{XyzLocal}. 

''' 

return XyzLocal(self, name=self.name) 

 

 

_XyzLocals4 = XyzLocal, Enu, Ned, Aer # PYCHOK in .ltp 

_XyzLocals5 = _XyzLocals4 + (Local9Tuple,) # PYCHOK in .ltp 

 

 

class Footprint5Tuple(_NamedTuple): 

'''5-Tuple C{(center, upperleft, upperight, loweright, lowerleft)} 

with the C{center} and 4 corners of the I{local} projection of 

a C{Frustum}, each an L{Xyz4Tuple}, L{XyzLocal}, C{LatLon}, etc. 

 

@note: Misspelling of C{upperight} and C{loweright} is I{intentional}. 

''' 

_Names_ = (_center_, 'upperleft', 'upperight', 'loweright', 'lowerleft') 

_Units_ = (_Pass, _Pass, _Pass, _Pass, _Pass) 

 

def toLatLon5(self, ltp=None, LatLon=None, **LatLon_kwds): 

'''Convert this footprint's C{center} and 4 corners to I{geodetic} 

C{LatLon(lat, lon, height)}s or C{LatLon3-} or C{-4Tuple}s. 

 

@kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding this 

footprint's C{center} or C{frustrum} C{ltp}. 

@kwarg LatLon: Optional I{geodetic} class (C{LatLon}) or C{None}. 

@kwarg LatLon_kwds: Optional, additional B{C{LatLon}} keyword 

arguments, ignored if C{B{LatLon} is None}. 

 

@return: A L{Footprint5Tuple} of 5 C{B{LatLon}(lat, lon, 

**B{LatLon_kwds})} instances or if C{B{LatLon} is None}, 

5 L{LatLon3Tuple}C{(lat, lon, height)}s respectively 

5 L{LatLon4Tuple}C{(lat, lon, height, datum)}s depending 

on keyword argument C{datum} is un-/specified. 

 

@raise TypeError: Invalid B{C{ltp}}, B{C{LatLon}} or B{C{LatLon_kwds}}. 

 

@see: Methods L{XyzLocal.toLatLon} and L{Footprint5Tuple.xyzLocal5}. 

''' 

kwds = _xkwds(LatLon_kwds, ltp=_MODS.ltp._xLtp(ltp, self.center.ltp), # PYCHOK .center 

LatLon=LatLon, name=self.name,) 

return Footprint5Tuple(t.toLatLon(**kwds) for t in self.xyzLocal5()) 

 

def xyzLocal5(self, ltp=None): 

'''Return this footprint's C{center} and 4 corners as 5 L{XyzLocal}s. 

 

@kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding 

the {center} and corner C{ltp}s. 

 

@return: A L{Footprint5Tuple} of 5 L{XyzLocal} instances. 

 

@raise TypeError: Invalid B{C{ltp}}. 

''' 

if ltp is None: 

p = self 

else: 

p = _MODS.ltp._xLtp(ltp) 

p = tuple(Xyz4Tuple(t.x, t.y, t.z, p) for t in self) 

return Footprint5Tuple(t.xyzLocal for t in p) 

 

 

__all__ += _ALL_DOCS(_NamedAerNed) 

 

# **) MIT License 

# 

# Copyright (C) 2016-2022 -- mrJean1 at Gmail -- All Rights Reserved. 

# 

# Permission is hereby granted, free of charge, to any person obtaining a 

# copy of this software and associated documentation files (the "Software"), 

# to deal in the Software without restriction, including without limitation 

# the rights to use, copy, modify, merge, publish, distribute, sublicense, 

# and/or sell copies of the Software, and to permit persons to whom the 

# Software is furnished to do so, subject to the following conditions: 

# 

# The above copyright notice and this permission notice shall be included 

# in all copies or substantial portions of the Software. 

# 

# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 

# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 

# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 

# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR 

# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 

# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR 

# OTHER DEALINGS IN THE SOFTWARE.