FGLocation holds an arbitrary location in the Earth centered Earth fixed reference frame (ECEF). More...

#include <FGLocation.h>

Inheritance diagram for FGLocation:

Collaboration diagram for FGLocation:

Public Member Functions
	FGLocation (void)
	Default constructor. More...

	FGLocation (double lon, double lat, double radius)
	Constructor to set the longitude, latitude and the distance from the center of the earth. More...

	FGLocation (const FGColumnVector3 &lv)
	Constructor to initialize the location with the cartesian coordinates (X,Y,Z) contained in the input FGColumnVector3. More...

	FGLocation (const FGLocation &l)
	Copy constructor. More...

double	Entry (unsigned int idx) const
	Read access the entries of the vector. More...

double &	Entry (unsigned int idx)
	Write access the entries of the vector. More...

double	GetCosLatitude () const
	Get the cosine of Latitude. More...

double	GetCosLongitude () const
	Get the cosine of Longitude. More...

double	GetDistanceTo (double target_longitude, double target_latitude) const
	Get the geodetic distance between the current location and a given location. More...

double	GetEPA () const
	Return the Earth Position Angle. More...

double	GetGeodAltitude (void) const
	Gets the geodetic altitude in feet. More...

double	GetGeodLatitudeDeg (void) const
	Get the geodetic latitude in degrees. More...

double	GetGeodLatitudeRad (void) const
	Get the geodetic latitude. More...

double	GetHeadingTo (double target_longitude, double target_latitude) const
	Get the heading that should be followed from the current location to a given location along the shortest path. More...

double	GetLatitude () const
	Get the latitude. More...

double	GetLatitudeDeg () const
	Get the latitude. More...

double	GetLongitude () const
	Get the longitude. More...

double	GetLongitudeDeg () const
	Get the longitude. More...

double	GetRadius () const
	Get the distance from the center of the earth. More...

double	GetSinLatitude () const
	Get the sine of Latitude. More...

double	GetSinLongitude () const
	Get the sine of Longitude. More...

double	GetTanLatitude () const
	Get the cosine of Latitude. More...

const FGMatrix33 &	GetTec2i (void) const
	Transform matrix from the earth centered to inertial frame. More...

const FGMatrix33 &	GetTec2l (void) const
	Transform matrix from the earth centered to local horizontal frame. More...

const FGMatrix33 &	GetTi2ec (void) const
	Transform matrix from inertial to earth centered frame. More...

const FGMatrix33 &	GetTi2l (void) const
	Transform matrix from the inertial to local horizontal frame. More...

const FGMatrix33 &	GetTl2ec (void) const
	Transform matrix from local horizontal to earth centered frame. More...

const FGMatrix33 &	GetTl2i (void) const
	Transform matrix from local horizontal to inertial frame. More...

void	IncrementEarthPositionAngle (double delta)
	Increments the Earth position angle. More...

FGLocation	LocalToLocation (const FGColumnVector3 &lvec) const
	Conversion from Local frame coordinates to a location in the earth centered and fixed frame. More...

FGColumnVector3	LocationToLocal (const FGColumnVector3 &ecvec) const
	Conversion from a location in the earth centered and fixed frame to local horizontal frame coordinates. More...

	operator const FGColumnVector3 & () const
	Cast to a simple 3d vector.

bool	operator!= (const FGLocation &l) const
	This operator returns true if the ECEF location vectors for the two location objects are not equal. More...

double	operator() (unsigned int idx) const
	Read access the entries of the vector. More...

double &	operator() (unsigned int idx)
	Write access the entries of the vector. More...

FGLocation	operator* (double scalar) const
	This operator scales an ECEF position vector. More...

const FGLocation &	operator*= (double scalar)
	This operator scales the ECEF position vector. More...

FGLocation	operator+ (const FGLocation &l) const
	This operator adds two ECEF position vectors. More...

const FGLocation &	operator+= (const FGLocation &l)
	This operator adds the ECEF position vectors. More...

FGLocation	operator- (const FGLocation &l) const
	This operator substracts two ECEF position vectors. More...

const FGLocation &	operator-= (const FGLocation &l)
	This operator substracts the ECEF position vectors. More...

const FGLocation &	operator/= (double scalar)
	This operator scales the ECEF position vector. More...

const FGLocation &	operator= (const FGColumnVector3 &v)
	Sets this location via the supplied vector. More...

const FGLocation &	operator= (const FGLocation &l)
	Sets this location via the supplied location object. More...

bool	operator== (const FGLocation &l) const
	This operator returns true if the ECEF location vectors for the two location objects are equal. More...

void	SetEarthPositionAngle (double EPA)
	Sets the Earth position angle. More...

void	SetEllipse (double semimajor, double semiminor)
	Sets the semimajor and semiminor axis lengths for this planet. More...

void	SetLatitude (double latitude)
	Set the latitude. More...

void	SetLongitude (double longitude)
	Set the longitude. More...

void	SetPosition (double lon, double lat, double radius)
	Sets the longitude, latitude and the distance from the center of the earth. More...

void	SetPositionGeodetic (double lon, double lat, double height)
	Sets the longitude, latitude and the distance above the reference ellipsoid. More...

void	SetRadius (double radius)
	Set the distance from the center of the earth. More...

Functions that rely on the ground callback
The following functions allow to set and get the vehicle position above the sea or the ground. The sea and the ground levels are obtained by interrogating an FGGroundCallback instance. A ground callback must therefore be set with SetGroundCallback() before calling any of these functions.
void	SetAltitudeASL (double altitudeASL)
	Set the altitude above sea level. More...

void	SetAltitudeAGL (double altitudeAGL)
	Set the altitude above ground level. More...

double	GetSeaLevelRadius (void) const
	Get the local sea level radius. More...

double	GetTerrainRadius (void) const
	Get the local terrain radius. More...

double	GetAltitudeASL (void) const
	Get the altitude above sea level. More...

double	GetAltitudeAGL (void) const
	Get the altitude above ground level. More...

double	GetContactPoint (FGLocation &contact, FGColumnVector3 &normal, FGColumnVector3 &v, FGColumnVector3 &w) const
	Get terrain contact point information below the current location. More...

Public Member Functions inherited from FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.

virtual	~FGJSBBase ()
	Destructor for FGJSBBase.

void	disableHighLighting (void)
	Disables highlighting in the console output.

std::string	GetVersion (void)
	Returns the version number of JSBSim. More...

void	PutMessage (const Message &msg)
	Places a Message structure on the Message queue. More...

void	PutMessage (const std::string &text)
	Creates a message with the given text and places it on the queue. More...

void	PutMessage (const std::string &text, bool bVal)
	Creates a message with the given text and boolean value and places it on the queue. More...

void	PutMessage (const std::string &text, int iVal)
	Creates a message with the given text and integer value and places it on the queue. More...

void	PutMessage (const std::string &text, double dVal)
	Creates a message with the given text and double value and places it on the queue. More...

int	SomeMessages (void)
	Reads the message on the queue (but does not delete it). More...

void	ProcessMessage (void)
	Reads the message on the queue and removes it from the queue. More...

Message *	ProcessNextMessage (void)
	Reads the next message on the queue and removes it from the queue. More...

Static Public Member Functions
static FGGroundCallback *	GetGroundCallback (void)
	Get a pointer to the ground callback currently used. More...

static void	SetGroundCallback (FGGroundCallback *gc)
	Sets the ground callback pointer. More...

Static Public Member Functions inherited from FGJSBBase
static double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit. More...

static double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin. More...

static double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine. More...

static double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.

static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison. More...

static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison. More...

static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison. More...

static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison. More...

static double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius. More...

static double	FeetToMeters (double measure)
	Converts from feet to meters. More...

static double	GaussianRandomNumber (void)

static double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius. More...

static double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit. More...

static double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine. More...

static double	MachFromVcalibrated (double vcas, double p, double psl, double rhosl)
	Calculate the Mach number from the calibrated airspeed. More...

static double	PitotTotalPressure (double mach, double p)
	Compute the total pressure in front of the Pitot tube. More...

static double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius. More...

static double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin. More...

static double	sign (double num)

static double	VcalibratedFromMach (double mach, double p, double psl, double rhosl)
	Calculate the calibrated airspeed from the Mach number. More...

Additional Inherited Members
Public Types inherited from FGJSBBase
enum	{ eL = 1, eM, eN }
	Moments L, M, N.

enum	{ eP = 1, eQ, eR }
	Rates P, Q, R.

enum	{ eU = 1, eV, eW }
	Velocities U, V, W.

enum	{ eX = 1, eY, eZ }
	Positions X, Y, Z.

enum	{ ePhi = 1, eTht, ePsi }
	Euler angles Phi, Theta, Psi.

enum	{ eDrag = 1, eSide, eLift }
	Stability axis forces, Drag, Side force, Lift.

enum	{ eRoll = 1, ePitch, eYaw }
	Local frame orientation Roll, Pitch, Yaw.

enum	{ eNorth = 1, eEast, eDown }
	Local frame position North, East, Down.

enum	{ eLat = 1, eLong, eRad }
	Locations Radius, Latitude, Longitude.

enum	{ inNone = 0, inDegrees, inRadians, inMeters, inFeet }
	Conversion specifiers.

Static Public Attributes inherited from FGJSBBase
static short	debug_lvl = 1

static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text

static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text

static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text

static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties

static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text

static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off

static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text

static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text

static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text

static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text

static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text

Protected Member Functions inherited from FGJSBBase
void	Debug (int)

Static Protected Member Functions inherited from FGJSBBase
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)

Static Protected Attributes inherited from FGJSBBase
static const double	degtorad = 0.017453292519943295769236907684886

static const double	fpstokts = 1.0/ktstofps

static const double	fttom = 0.3048

static int	gaussian_random_number_phase = 0

static const double	hptoftlbssec = 550.0

static const double	in3tom3 = 1.638706E-5

static const double	inchtoft = 0.08333333

static const double	inhgtopa = 3386.38

static const std::string	JSBSim_version = "1.0 " __DATE__ " " __TIME__

static const double	kgtolb = 2.20462

static const double	kgtoslug = 0.06852168

static const double	ktstofps = 1.68781

static const double	lbtoslug = 1.0/slugtolb

static Message	localMsg

static const double	m3toft3 = 1.0/(fttomfttomfttom)

static double	Mair = 28.9645

static unsigned int	messageId = 0

static std::queue< Message >	Messages

static const std::string	needed_cfg_version = "2.0"

static const double	psftoinhg = 0.014138

static const double	psftopa = 47.88

static const double	radtodeg = 57.295779513082320876798154814105

static double	Reng = 1716.56

static double	Rstar = 1545.348

static const double	SHRatio = 1.40

static const double	slugtolb = 32.174049

Detailed Description

FGLocation holds an arbitrary location in the Earth centered Earth fixed reference frame (ECEF).

The coordinate frame ECEF has its center in the middle of the earth. The X-axis points from the center of the Earth towards a location with zero latitude and longitude on the Earth surface. The Y-axis points from the center of the Earth towards a location with zero latitude and 90 deg East longitude on the Earth surface. The Z-axis points from the Earth center to the geographic north pole.

This class provides access functions to set and get the location as either the simple X, Y and Z values in ft or longitude/latitude and the radial distance of the location from the Earth center.

It is common to associate a parent frame with a location. This frame is usually called the local horizontal frame or simply the local frame. It is also called the NED frame (North, East, Down), as well as the Navigation frame. This frame has its X/Y plane parallel to the surface of the Earth (with the assumption of a spherical Earth). The X-axis points towards north, the Y-axis points east and the Z-axis points to the center of the Earth.

Since the local frame is determined by the location (and NOT by the orientation of the vehicle IN any frame), this class also provides the rotation matrices required to transform from the Earth centered (ECEF) frame to the local horizontal frame and back. This class also "owns" the transformations that go from the inertial frame (Earth-centered Inertial, or ECI) to and from the ECEF frame, as well as to and from the local frame. Again, this is because the ECI, ECEF, and local frames do not involve the actual orientation of the vehicle - only the location on the Earth surface, and the angular difference between the ECI and ECEF frames. There are conversion functions for conversion of position vectors given in the one frame to positions in the other frame.

To keep the transformation matrices between the ECI and ECEF frames up to date, the Earth angular position must be updated by calling SetEarthPositionAngle() or IncrementEarthPositionAngle(). This must be done prior to any conversion from and to the ECI frame.

The Earth centered reference frame is NOT an inertial frame since it rotates with the Earth.

The cartesian coordinates (X,Y,Z) in the Earth centered frame are the master values. All other values are computed from these master values and are cached as long as the location is changed by access through a non-const member function. Values are cached to improve performance. It is best practice to work with a natural set of master values. Other parameters that are derived from these master values are calculated only when needed, and IF they are needed and calculated, then they are cached (stored and remembered) so they do not need to be re-calculated until the master values they are derived from are themselves changed (and become stale).

Accuracy and round off

Given,

that we model a vehicle near the Earth
that the Earth surface radius is about 2*10^7, ft
that we use double values for the representation of the location

we have an accuracy of about

1e-16*2e7ft/1 = 2e-9 ft

left. This should be sufficient for our needs. Note that this is the same relative accuracy we would have when we compute directly with lon/lat/radius. For the radius value this is clear. For the lon/lat pair this is easy to see. Take for example KSFO located at about 37.61 deg north 122.35 deg west, which corresponds to 0.65642 rad north and 2.13541 rad west. Both values are of magnitude of about 1. But 1 ft corresponds to about 1/(2e7*2*pi) = 7.9577e-09 rad. So the left accuracy with this representation is also about 1*1e-16/7.9577e-09 = 1.2566e-08 which is of the same magnitude as the representation chosen here.

The advantage of this representation is that it is a linear space without singularities. The singularities are the north and south pole and most notably the non-steady jump at -pi to pi. It is harder to track this jump correctly especially when we need to work with error norms and derivatives of the equations of motion within the time-stepping code. Also, the rate of change is of the same magnitude for all components in this representation which is an advantage for numerical stability in implicit time-stepping.

Note: The latitude is a GEOCENTRIC value. FlightGear converts latitude to a geodetic value and uses that. In order to get best matching relative to a map, geocentric latitude must be converted to geodetic.

See also: Stevens and Lewis, "Aircraft Control and Simulation", Second edition; W. C. Durham "Aircraft Dynamics & Control", section 2.2

Author: Mathias Froehlich

Version

Id: FGLocation.h,v 1.35 2015/09/20 20:53:13 bcoconni Exp

Definition at line 160 of file FGLocation.h.

Constructor & Destructor Documentation

◆ FGLocation() [1/4]

FGLocation ( void )

Default constructor.

Definition at line 60 of file FGLocation.cpp.

   : mECLoc(1.0, 0.0, 0.0), mCacheValid(false)
 {
   e2 = c = 0.0;
   a = ec = ec2 = 1.0;
   epa = 0.0;
 
   mLon = mLat = mRadius = 0.0;
   mGeodLat = GeodeticAltitude = 0.0;
 
   mTl2ec.InitMatrix();
   mTec2l.InitMatrix();
   mTi2ec.InitMatrix();
   mTec2i.InitMatrix();
   mTi2l.InitMatrix();
   mTl2i.InitMatrix();
 }

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◆ FGLocation() [2/4]

FGLocation	(	double	lon,
		double	lat,
		double	radius
	)

Constructor to set the longitude, latitude and the distance from the center of the earth.

Parameters

lon	longitude
lat	GEOCENTRIC latitude
radius	distance from center of earth to vehicle in feet

Definition at line 80 of file FGLocation.cpp.

   : mCacheValid(false)
 {
   e2 = c = 0.0;
   a = ec = ec2 = 1.0;
   epa = 0.0;
 
   mLon = mLat = mRadius = 0.0;
   mGeodLat = GeodeticAltitude = 0.0;
 
   mTl2ec.InitMatrix();
   mTec2l.InitMatrix();
   mTi2ec.InitMatrix();
   mTec2i.InitMatrix();
   mTi2l.InitMatrix();
   mTl2i.InitMatrix();
 
   double sinLat = sin(lat);
   double cosLat = cos(lat);
   double sinLon = sin(lon);
   double cosLon = cos(lon);
   mECLoc = FGColumnVector3( radius*cosLat*cosLon,
                             radius*cosLat*sinLon,
                             radius*sinLat );
 }

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◆ FGLocation() [3/4]

FGLocation ( const FGColumnVector3 & lv )

Constructor to initialize the location with the cartesian coordinates (X,Y,Z) contained in the input FGColumnVector3.

Distances are in feet, the position is expressed in the ECEF frame.

Parameters

lv	vector that contain the cartesian coordinates

Definition at line 108 of file FGLocation.cpp.

   : mECLoc(lv), mCacheValid(false)
 {
   e2 = c = 0.0;
   a = ec = ec2 = 1.0;
   epa = 0.0;
 
   mLon = mLat = mRadius = 0.0;
   mGeodLat = GeodeticAltitude = 0.0;
 
   mTl2ec.InitMatrix();
   mTec2l.InitMatrix();
   mTi2ec.InitMatrix();
   mTec2i.InitMatrix();
   mTi2l.InitMatrix();
   mTl2i.InitMatrix();
 }

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◆ FGLocation() [4/4]

FGLocation ( const FGLocation & l )

Copy constructor.

Definition at line 128 of file FGLocation.cpp.

   : mECLoc(l.mECLoc), mCacheValid(l.mCacheValid)
 {
   a = l.a;
   e2 = l.e2;
   c = l.c;
   ec = l.ec;
   ec2 = l.ec2;
   epa = l.epa;
 
   /*ag
    * if the cache is not valid, all of the following values are unset.
    * They will be calculated once ComputeDerivedUnconditional is called.
    * If unset, they may possibly contain NaN and could thus trigger floating
    * point exceptions.
    */
   if (!mCacheValid) return;
 
   mLon = l.mLon;
   mLat = l.mLat;
   mRadius = l.mRadius;
 
   mTl2ec = l.mTl2ec;
   mTec2l = l.mTec2l;
   mTi2ec = l.mTi2ec;
   mTec2i = l.mTec2i;
   mTi2l = l.mTi2l;
   mTl2i = l.mTl2i;
 
   mGeodLat = l.mGeodLat;
   GeodeticAltitude = l.GeodeticAltitude;
 }

Member Function Documentation

◆ Entry() [1/2]

double Entry ( unsigned int idx ) const

inline

Read access the entries of the vector.

Parameters

idx	the component index.

Returns: the value of the matrix entry at the given index. Indices are counted starting with 1. This function is just a shortcut for the double operator()(unsigned int idx) const function. It is used internally to access the elements in a more convenient way. Note that the index given in the argument is unchecked.

Definition at line 505 of file FGLocation.h.

505 { return mECLoc.Entry(idx); }

JSBSim::FGColumnVector3::Entry

double Entry(const unsigned int idx) const

Read access the entries of the vector.

Definition: FGColumnVector3.h:122

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◆ Entry() [2/2]

double& Entry ( unsigned int idx )

inline

Write access the entries of the vector.

Parameters

idx	the component index.

Returns: a reference to the vector entry at the given index. Indices are counted starting with 1. This function is just a shortcut for the double& operator()(unsigned int idx) function. It is used internally to access the elements in a more convenient way. Note that the index given in the argument is unchecked.

Definition at line 515 of file FGLocation.h.

                                   {
     mCacheValid = false; return mECLoc.Entry(idx);
   }

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◆ GetAltitudeAGL()

double GetAltitudeAGL ( void ) const

inline

Get the altitude above ground level.

Returns: the altitude AGL in feet.

See also: SetGroundCallback

Definition at line 365 of file FGLocation.h.

                                     {
     FGLocation c;
     FGColumnVector3 n,v,w;
     return GetContactPoint(c,n,v,w);
   }

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◆ GetAltitudeASL()

double GetAltitudeASL ( void ) const

inline

Get the altitude above sea level.

Returns: the altitude ASL in feet.

See also: SetGroundCallback

Definition at line 359 of file FGLocation.h.

360 { ComputeDerived(); return GroundCallback->GetAltitude(*this); }

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◆ GetContactPoint()

double GetContactPoint	(	FGLocation &	contact,
		FGColumnVector3 &	normal,
		FGColumnVector3 &	v,
		FGColumnVector3 &	w
	)		const

inline

Get terrain contact point information below the current location.

Parameters

contact	Contact point location
normal	Terrain normal vector in contact point (ECEF frame)
v	Terrain linear velocity in contact point (ECEF frame)
w	Terrain angular velocity in contact point (ECEF frame)

Returns: Location altitude above contact point (AGL) in feet.

See also: SetGroundCallback

Definition at line 378 of file FGLocation.h.

380 { ComputeDerived(); return GroundCallback->GetAGLevel(*this, contact, normal, v, w); }

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◆ GetCosLatitude()

double GetCosLatitude ( ) const

inline

Get the cosine of Latitude.

Definition at line 299 of file FGLocation.h.

299 { ComputeDerived(); return mTec2l(1,3); }

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◆ GetCosLongitude()

double GetCosLongitude ( ) const

inline

Get the cosine of Longitude.

Definition at line 266 of file FGLocation.h.

266 { ComputeDerived(); return mTec2l(2,2); }

◆ GetDistanceTo()

double GetDistanceTo	(	double	target_longitude,
		double	target_latitude
	)		const

Get the geodetic distance between the current location and a given location.

This corresponds to the shortest distance between the two locations. Earth curvature is taken into account.

Parameters

target_longitude	the target longitude
target_latitude	the target latitude

Returns: The geodetic distance between the two locations

Definition at line 418 of file FGLocation.cpp.

 {
   double delta_lat_rad = target_latitude  - GetLatitude();
   double delta_lon_rad = target_longitude - GetLongitude();
 
   double distance_a = pow(sin(0.5*delta_lat_rad), 2.0)
     + (GetCosLatitude() * cos(target_latitude)
        * (pow(sin(0.5*delta_lon_rad), 2.0)));
 
   return 2.0 * GetRadius() * atan2(sqrt(distance_a), sqrt(1.0 - distance_a));
 }

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◆ GetEPA()

double GetEPA ( ) const

inline

Return the Earth Position Angle.

This is the relative orientation of the ECEF frame with respect to the Inertial frame.

Returns: the Earth fixed frame (ECEF) rotation offset about the axis with respect to the Inertial (ECI) frame in radians.

Definition at line 316 of file FGLocation.h.

316 {return epa;}

◆ GetGeodAltitude()

double GetGeodAltitude ( void ) const

inline

Gets the geodetic altitude in feet.

Definition at line 293 of file FGLocation.h.

293 {ComputeDerived(); return GeodeticAltitude;}

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◆ GetGeodLatitudeDeg()

double GetGeodLatitudeDeg ( void ) const

inline

Get the geodetic latitude in degrees.

Returns: the geodetic latitude in degrees of the location represented by this class instance. The returned value is in the range between -90 <= lon <= 90. Latitude is positive north and negative south.

Definition at line 290 of file FGLocation.h.

290 { ComputeDerived(); return radtodeg*mGeodLat; }

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◆ GetGeodLatitudeRad()

double GetGeodLatitudeRad ( void ) const

inline

Get the geodetic latitude.

Returns: the geodetic latitude in rad of the location represented with this class instance. The returned values are in the range between -pi/2 <= lon <= pi/2. Latitude is positive north and negative south.

Definition at line 278 of file FGLocation.h.

278 { ComputeDerived(); return mGeodLat; }

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◆ GetGroundCallback()

static FGGroundCallback* GetGroundCallback ( void )

inlinestatic

Get a pointer to the ground callback currently used.

Since the FGGroundcallback instance might have been created outside JSBSim, it is recommanded to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr. This pointer maintains a reference counter and protects the returned pointer against an accidental deletion of the object it is pointing to.

Returns: A pointer to the current ground callback object.

See also: FGGroundCallback

Definition at line 404 of file FGLocation.h.

404 { return GroundCallback; }

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◆ GetHeadingTo()

double GetHeadingTo	(	double	target_longitude,
		double	target_latitude
	)		const

Get the heading that should be followed from the current location to a given location along the shortest path.

Earth curvature is taken into account.

Parameters

target_longitude	the target longitude
target_latitude	the target latitude

Returns: The heading that should be followed to reach the targeted location along the shortest path

Definition at line 447 of file FGLocation.cpp.

 {
   double delta_lon_rad = target_longitude - GetLongitude();
 
   double Y = sin(delta_lon_rad) * cos(target_latitude);
   double X = GetCosLatitude() * sin(target_latitude)
     - GetSinLatitude() * cos(target_latitude) * cos(delta_lon_rad);
 
   double heading_to_waypoint_rad = atan2(Y, X);
   if (heading_to_waypoint_rad < 0) heading_to_waypoint_rad += 2.0*M_PI;
 
   return heading_to_waypoint_rad;
 }

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◆ GetLatitude()

double GetLatitude ( void ) const

inline

Get the latitude.

Returns: the latitude in rad of the location represented with this class instance. The returned values are in the range between -pi/2 <= lon <= pi/2. Latitude is positive north and negative south.

Definition at line 272 of file FGLocation.h.

272 { ComputeDerived(); return mLat; }

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◆ GetLatitudeDeg()

double GetLatitudeDeg ( void ) const

inline

Get the latitude.

Returns: the latitude in deg of the location represented with this class instance. The returned value is in the range between -90 <= lon <= 90. Latitude is positive north and negative south.

Definition at line 284 of file FGLocation.h.

284 { ComputeDerived(); return radtodeg*mLat; }

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◆ GetLongitude()

double GetLongitude ( void ) const

inline

Get the longitude.

Returns: the longitude in rad of the location represented with this class instance. The returned values are in the range between -pi <= lon <= pi. Longitude is positive east and negative west.

Definition at line 254 of file FGLocation.h.

254 { ComputeDerived(); return mLon; }

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◆ GetLongitudeDeg()

double GetLongitudeDeg ( void ) const

inline

Get the longitude.

Returns: the longitude in deg of the location represented with this class instance. The returned values are in the range between -180 <= lon <= 180. Longitude is positive east and negative west.

Definition at line 260 of file FGLocation.h.

260 { ComputeDerived(); return radtodeg*mLon; }

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◆ GetRadius()

double GetRadius ( void ) const

inline

Get the distance from the center of the earth.

Returns: the distance of the location represented with this class instance to the center of the earth in ft. The radius value is always positive.

Definition at line 323 of file FGLocation.h.

323 { ComputeDerived(); return mRadius; }

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◆ GetSeaLevelRadius()

double GetSeaLevelRadius ( void ) const

inline

Get the local sea level radius.

Returns: the sea level radius at the location in feet.

See also: SetGroundCallback

Definition at line 347 of file FGLocation.h.

348 { ComputeDerived(); return GroundCallback->GetSeaLevelRadius(*this); }

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◆ GetSinLatitude()

double GetSinLatitude ( ) const

inline

Get the sine of Latitude.

Definition at line 296 of file FGLocation.h.

296 { ComputeDerived(); return -mTec2l(3,3); }

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◆ GetSinLongitude()

double GetSinLongitude ( ) const

inline

Get the sine of Longitude.

Definition at line 263 of file FGLocation.h.

263 { ComputeDerived(); return -mTec2l(2,1); }

◆ GetTanLatitude()

double GetTanLatitude ( ) const

inline

Get the cosine of Latitude.

Definition at line 302 of file FGLocation.h.

                                 {
     ComputeDerived();
     double cLat = mTec2l(1,3);
     if (cLat == 0.0)
       return 0.0;
     else
       return -mTec2l(3,3)/cLat;
   }

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◆ GetTec2i()

const FGMatrix33& GetTec2i ( void ) const

inline

Transform matrix from the earth centered to inertial frame.

Returns: a const reference to the rotation matrix of the transform from the earth centered frame to the inertial frame (ECEF to ECI).

See also: SetEarthPositionAngle; IncrementEarthPositionAngle

Definition at line 428 of file FGLocation.h.

428 { ComputeDerived(); return mTec2i; }

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◆ GetTec2l()

const FGMatrix33& GetTec2l ( void ) const

inline

Transform matrix from the earth centered to local horizontal frame.

Returns: a const reference to the rotation matrix of the transform from the earth centered frame to the local horizontal frame.

Definition at line 414 of file FGLocation.h.

414 { ComputeDerived(); return mTec2l; }

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◆ GetTerrainRadius()

double GetTerrainRadius ( void ) const

inline

Get the local terrain radius.

Returns: the terrain level radius at the location in feet.

See also: SetGroundCallback

Definition at line 353 of file FGLocation.h.

354 { ComputeDerived(); return GroundCallback->GetTerrainGeoCentRadius(*this); }

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◆ GetTi2ec()

const FGMatrix33& GetTi2ec ( void ) const

inline

Transform matrix from inertial to earth centered frame.

Returns: a const reference to the rotation matrix of the transform from the inertial frame to the earth centered frame (ECI to ECEF).

See also: SetEarthPositionAngle; IncrementEarthPositionAngle

Definition at line 421 of file FGLocation.h.

421 { ComputeDerived(); return mTi2ec; }

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◆ GetTi2l()

const FGMatrix33& GetTi2l ( void ) const

inline

Transform matrix from the inertial to local horizontal frame.

Returns: a const reference to the rotation matrix of the transform from the inertial frame to the local horizontal frame.

See also: SetEarthPositionAngle; IncrementEarthPositionAngle

Definition at line 435 of file FGLocation.h.

435 {ComputeDerived(); return mTi2l;}

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◆ GetTl2ec()

const FGMatrix33& GetTl2ec ( void ) const

inline

Transform matrix from local horizontal to earth centered frame.

Returns: a const reference to the rotation matrix of the transform from the local horizontal frame to the earth centered frame.

Definition at line 409 of file FGLocation.h.

409 { ComputeDerived(); return mTl2ec; }

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◆ GetTl2i()

const FGMatrix33& GetTl2i ( void ) const

inline

Transform matrix from local horizontal to inertial frame.

Returns: a const reference to the rotation matrix of the transform from the local horizontal frame to the inertial frame.

See also: SetEarthPositionAngle; IncrementEarthPositionAngle

Definition at line 442 of file FGLocation.h.

442 {ComputeDerived(); return mTl2i;}

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◆ IncrementEarthPositionAngle()

void IncrementEarthPositionAngle ( double delta )

inline

Increments the Earth position angle.

This is the relative orientation of the ECEF frame with respect to the Inertial frame.

Parameters

delta delta to the Earth fixed frame (ECEF) rotation offset about the axis with respect to the Inertial (ECI) frame in radians.

Definition at line 248 of file FGLocation.h.

248 {epa += delta; mCacheValid = false;}

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◆ LocalToLocation()

FGLocation LocalToLocation ( const FGColumnVector3 & lvec ) const

inline

Conversion from Local frame coordinates to a location in the earth centered and fixed frame.

This function calculates the FGLocation of an object which position relative to the vehicle is given as in input.

Parameters

lvec	Vector in the local horizontal coordinate frame

Returns: The location in the earth centered and fixed frame

Definition at line 467 of file FGLocation.h.

                                                                 {
     ComputeDerived(); return mTl2ec*lvec + mECLoc;
   }

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◆ LocationToLocal()

FGColumnVector3 LocationToLocal ( const FGColumnVector3 & ecvec ) const

inline

Conversion from a location in the earth centered and fixed frame to local horizontal frame coordinates.

This function calculates the relative position between the vehicle and the input vector and returns the result expressed in the local frame.

Parameters

ecvec Vector in the earth centered and fixed frame

Returns: The vector in the local horizontal coordinate frame

Definition at line 477 of file FGLocation.h.

                                                                       {
     ComputeDerived(); return mTec2l*(ecvec - mECLoc);
   }

◆ operator!=()

bool operator!= ( const FGLocation & l ) const

inline

This operator returns true if the ECEF location vectors for the two location objects are not equal.

Definition at line 548 of file FGLocation.h.

548 { return ! operator==(l); }

JSBSim::FGLocation::operator==

bool operator==(const FGLocation &l) const

This operator returns true if the ECEF location vectors for the two location objects are equal...

Definition: FGLocation.h:542

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◆ operator()() [1/2]

double operator() ( unsigned int idx ) const

inline

Read access the entries of the vector.

Parameters

idx	the component index. Return the value of the matrix entry at the given index. Indices are counted starting with 1. Note that the index given in the argument is unchecked.

Definition at line 488 of file FGLocation.h.

488 { return mECLoc.Entry(idx); }

JSBSim::FGColumnVector3::Entry

double Entry(const unsigned int idx) const

Read access the entries of the vector.

Definition: FGColumnVector3.h:122

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◆ operator()() [2/2]

double& operator() ( unsigned int idx )

inline

Write access the entries of the vector.

Parameters

idx	the component index.

Returns: a reference to the vector entry at the given index. Indices are counted starting with 1. Note that the index given in the argument is unchecked.

Definition at line 495 of file FGLocation.h.

495 { mCacheValid = false; return mECLoc.Entry(idx); }

JSBSim::FGColumnVector3::Entry

double Entry(const unsigned int idx) const

Read access the entries of the vector.

Definition: FGColumnVector3.h:122

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◆ operator*()

FGLocation operator* ( double scalar ) const

inline

This operator scales an ECEF position vector.

A new object is returned that defines a position made of the cartesian coordinates of the provided ECEF position scaled by the supplied scalar value.

Definition at line 606 of file FGLocation.h.

                                             {
     return FGLocation(scalar*mECLoc);
   }

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◆ operator*=()

const FGLocation& operator*= ( double scalar )

inline

This operator scales the ECEF position vector.

The cartesian coordinates of the ECEF position vector on the left side of the equality are scaled by the supplied value (right side), and a reference to this object is returned.

Definition at line 574 of file FGLocation.h.

                                               {
     mCacheValid = false;
     mECLoc *= scalar;
     return *this;
   }

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◆ operator+()

FGLocation operator+ ( const FGLocation & l ) const

inline

This operator adds two ECEF position vectors.

A new object is returned that defines a position which is the sum of the cartesian coordinates of the two positions provided.

Definition at line 591 of file FGLocation.h.

                                                   {
     return FGLocation(mECLoc + l.mECLoc);
   }

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◆ operator+=()

const FGLocation& operator+= ( const FGLocation & l )

inline

This operator adds the ECEF position vectors.

The cartesian coordinates of the supplied vector (right side) are added to the ECEF position vector on the left side of the equality, and a reference to this object is returned.

Definition at line 554 of file FGLocation.h.

                                                     {
     mCacheValid = false;
     mECLoc += l.mECLoc;
     return *this;
   }

◆ operator-()

FGLocation operator- ( const FGLocation & l ) const

inline

This operator substracts two ECEF position vectors.

A new object is returned that defines a position which is the difference of the cartesian coordinates of the two positions provided.

Definition at line 598 of file FGLocation.h.

                                                   {
     return FGLocation(mECLoc - l.mECLoc);
   }

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◆ operator-=()

const FGLocation& operator-= ( const FGLocation & l )

inline

This operator substracts the ECEF position vectors.

The cartesian coordinates of the supplied vector (right side) are substracted from the ECEF position vector on the left side of the equality, and a reference to this object is returned.

Definition at line 564 of file FGLocation.h.

                                                     {
     mCacheValid = false;
     mECLoc -= l.mECLoc;
     return *this;
   }

◆ operator/=()

const FGLocation& operator/= ( double scalar )

inline

This operator scales the ECEF position vector.

The cartesian coordinates of the ECEF position vector on the left side of the equality are scaled by the inverse of the supplied value (right side), and a reference to this object is returned.

Definition at line 584 of file FGLocation.h.

                                               {
     return operator*=(1.0/scalar);
   }

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◆ operator=() [1/2]

const FGLocation& operator= ( const FGColumnVector3 & v )

inline

Sets this location via the supplied vector.

The location can be set by an Earth-centered, Earth-fixed (ECEF) frame position vector. The cache is marked as invalid, so any future requests for selected important data will cause the parameters to be calculated.

Parameters

v	the ECEF column vector in feet.

Returns: a reference to the FGLocation object.

Definition at line 525 of file FGLocation.h.

   {
     mECLoc(eX) = v(eX);
     mECLoc(eY) = v(eY);
     mECLoc(eZ) = v(eZ);
     mCacheValid = false;
     //ComputeDerived();
     return *this;
   }

◆ operator=() [2/2]

const FGLocation & operator= ( const FGLocation & l )

Sets this location via the supplied location object.

Parameters

v	A location object reference.

Returns: a reference to the FGLocation object.

Definition at line 163 of file FGLocation.cpp.

 {
   mECLoc = l.mECLoc;
   mCacheValid = l.mCacheValid;
 
   a = l.a;
   e2 = l.e2;
   c = l.c;
   ec = l.ec;
   ec2 = l.ec2;
   epa = l.epa;
 
   //ag See comment in constructor above
   if (!mCacheValid) return *this;
 
   mLon = l.mLon;
   mLat = l.mLat;
   mRadius = l.mRadius;
 
   mTl2ec = l.mTl2ec;
   mTec2l = l.mTec2l;
   mTi2ec = l.mTi2ec;
   mTec2i = l.mTec2i;
   mTi2l = l.mTi2l;
   mTl2i = l.mTl2i;
 
   mGeodLat = l.mGeodLat;
   GeodeticAltitude = l.GeodeticAltitude;
 
   return *this;
 }

◆ operator==()

bool operator== ( const FGLocation & l ) const

inline

This operator returns true if the ECEF location vectors for the two location objects are equal.

Definition at line 542 of file FGLocation.h.

                                              {
     return mECLoc == l.mECLoc;
   }

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◆ SetAltitudeAGL()

void SetAltitudeAGL ( double altitudeAGL )

inline

Set the altitude above ground level.

Parameters

altitudeAGL altitude above Ground Level in feet.

See also: SetGroundCallback

Definition at line 341 of file FGLocation.h.

342 { SetRadius(GetTerrainRadius() + altitudeAGL); }

JSBSim::FGLocation::SetRadius

void SetRadius(double radius)

Set the distance from the center of the earth.

Definition: FGLocation.cpp:241

JSBSim::FGLocation::GetTerrainRadius

double GetTerrainRadius(void) const

Get the local terrain radius.

Definition: FGLocation.h:353

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◆ SetAltitudeASL()

void SetAltitudeASL ( double altitudeASL )

inline

Set the altitude above sea level.

Parameters

altitudeASL altitude above Sea Level in feet.

See also: SetGroundCallback

Definition at line 335 of file FGLocation.h.

336 { SetRadius(GetSeaLevelRadius() + altitudeASL); }

JSBSim::FGLocation::GetSeaLevelRadius

double GetSeaLevelRadius(void) const

Get the local sea level radius.

Definition: FGLocation.h:347

JSBSim::FGLocation::SetRadius

void SetRadius(double radius)

Set the distance from the center of the earth.

Definition: FGLocation.cpp:241

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◆ SetEarthPositionAngle()

void SetEarthPositionAngle ( double EPA )

inline

Sets the Earth position angle.

This is the relative orientation of the ECEF frame with respect to the Inertial frame.

Parameters

EPA	Earth fixed frame (ECEF) rotation offset about the axis with respect to the Inertial (ECI) frame in radians.

Definition at line 241 of file FGLocation.h.

241 {epa = EPA; mCacheValid = false;}

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◆ SetEllipse()

void SetEllipse	(	double	semimajor,
		double	semiminor
	)

Sets the semimajor and semiminor axis lengths for this planet.

The eccentricity and flattening are calculated from the semimajor and semiminor axis lengths

Definition at line 285 of file FGLocation.cpp.

 {
   mCacheValid = false;
 
   a = semimajor;
   ec = semiminor/a;
   ec2 = ec * ec;
   e2 = 1.0 - ec2;
   c = a * e2;
 }

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◆ SetGroundCallback()

static void SetGroundCallback ( FGGroundCallback * gc )

inlinestatic

Sets the ground callback pointer.

The FGGroundCallback instance will be interrogated by FGLocation each time some terrain informations are needed. This will mainly occur when altitudes above the sea level or above the ground level are needed. A 'smart pointer' is used internally to prevent the FGGroundCallback instance against accidental deletion. This can only work if the calling application also make use of FGGroundCallback_ptr 'smart pointers' to manage their copy of the ground callback.

Parameters

gc	A pointer to a ground callback object

See also: FGGroundCallback

Definition at line 393 of file FGLocation.h.

393 { GroundCallback = gc; }

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◆ SetLatitude()

void SetLatitude ( double latitude )

Set the latitude.

Parameters

latitude Latitude in rad to set. Sets the latitude of the location represented with this class instance to the value of the given argument. The value is meant to be in rad. The longitude and the radius value are preserved with this call with the exception of radius being equal to zero. If the radius is previously set to zero it is changed to be equal to 1.0 past this call. Latitude is positive north and negative south. The arguments should be within the bounds of -pi/2 <= lat <= pi/2. The behavior of this function with arguments outside this range is left as an exercise to the gentle reader ...

Definition at line 217 of file FGLocation.cpp.

 {
   mCacheValid = false;
 
   double r = mECLoc.Magnitude();
   if (r == 0.0) {
     mECLoc(eX) = 1.0;
     r = 1.0;
   }
 
   double rtmp = mECLoc.Magnitude(eX, eY);
   if (rtmp != 0.0) {
     double fac = r/rtmp*cos(latitude);
     mECLoc(eX) *= fac;
     mECLoc(eY) *= fac;
   } else {
     mECLoc(eX) = r*cos(latitude);
     mECLoc(eY) = 0.0;
   }
   mECLoc(eZ) = r*sin(latitude);
 }

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◆ SetLongitude()

void SetLongitude ( double longitude )

Set the longitude.

Parameters

longitude Longitude in rad to set. Sets the longitude of the location represented with this class instance to the value of the given argument. The value is meant to be in rad. The latitude and the radius value are preserved with this call with the exception of radius being equal to zero. If the radius is previously set to zero it is changed to be equal to 1.0 past this call. Longitude is positive east and negative west.

Definition at line 197 of file FGLocation.cpp.

 {
   double rtmp = mECLoc.Magnitude(eX, eY);
   // Check if we have zero radius.
   // If so set it to 1, so that we can set a position
   if (0.0 == mECLoc.Magnitude())
     rtmp = 1.0;
 
   // Fast return if we are on the north or south pole ...
   if (rtmp == 0.0)
     return;
 
   mCacheValid = false;
 
   mECLoc(eX) = rtmp*cos(longitude);
   mECLoc(eY) = rtmp*sin(longitude);
 }

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◆ SetPosition()

void SetPosition	(	double	lon,
		double	lat,
		double	radius
	)

Sets the longitude, latitude and the distance from the center of the earth.

Parameters

lon	longitude in radians
lat	GEOCENTRIC latitude in radians
radius	distance from center of earth to vehicle in feet

Definition at line 254 of file FGLocation.cpp.

 {
   mCacheValid = false;
 
   double sinLat = sin(lat);
   double cosLat = cos(lat);
   double sinLon = sin(lon);
   double cosLon = cos(lon);
 
   mECLoc = FGColumnVector3( radius*cosLat*cosLon,
                             radius*cosLat*sinLon,
                             radius*sinLat );
 }

◆ SetPositionGeodetic()

void SetPositionGeodetic	(	double	lon,
		double	lat,
		double	height
	)

Sets the longitude, latitude and the distance above the reference ellipsoid.

Parameters

lon	longitude in radians
lat	GEODETIC latitude in radians
height	distance above the reference ellipsoid to vehicle in feet

Definition at line 270 of file FGLocation.cpp.

 {
   mCacheValid = false;
 
   double slat = sin(lat);
   double clat = cos(lat);
   double RN = a / sqrt(1.0 - e2*slat*slat);
 
   mECLoc(eX) = (RN + height)*clat*cos(lon);
   mECLoc(eY) = (RN + height)*clat*sin(lon);
   mECLoc(eZ) = ((1 - e2)*RN + height)*slat;
 }

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◆ SetRadius()

void SetRadius ( double radius )

Set the distance from the center of the earth.

Parameters

radius Radius in ft to set. Sets the radius of the location represented with this class instance to the value of the given argument. The value is meant to be in ft. The latitude and longitude values are preserved with this call with the exception of radius being equal to zero. If the radius is previously set to zero, latitude and longitude is set equal to zero past this call. The argument should be positive. The behavior of this function called with a negative argument is left as an exercise to the gentle reader ...

Definition at line 241 of file FGLocation.cpp.

 {
   mCacheValid = false;
 
   double rold = mECLoc.Magnitude();
   if (rold == 0.0)
     mECLoc(eX) = radius;
   else
     mECLoc *= radius/rold;
 }

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FGLocation() [1/4]

◆ FGLocation() [2/4]

◆ FGLocation() [3/4]

◆ FGLocation() [4/4]

Member Function Documentation

◆ Entry() [1/2]

◆ Entry() [2/2]

◆ GetAltitudeAGL()

◆ GetAltitudeASL()

◆ GetContactPoint()

◆ GetCosLatitude()

◆ GetCosLongitude()

◆ GetDistanceTo()

◆ GetEPA()

◆ GetGeodAltitude()

◆ GetGeodLatitudeDeg()

◆ GetGeodLatitudeRad()

◆ GetGroundCallback()

◆ GetHeadingTo()

◆ GetLatitude()

◆ GetLatitudeDeg()

◆ GetLongitude()

◆ GetLongitudeDeg()

◆ GetRadius()

◆ GetSeaLevelRadius()

◆ GetSinLatitude()

◆ GetSinLongitude()

◆ GetTanLatitude()

◆ GetTec2i()

◆ GetTec2l()

◆ GetTerrainRadius()

◆ GetTi2ec()

◆ GetTi2l()

◆ GetTl2ec()

◆ GetTl2i()

◆ IncrementEarthPositionAngle()

◆ LocalToLocation()

◆ LocationToLocal()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ SetAltitudeAGL()

◆ SetAltitudeASL()

◆ SetEarthPositionAngle()

◆ SetEllipse()

◆ SetGroundCallback()

◆ SetLatitude()

◆ SetLongitude()

◆ SetPosition()

◆ SetPositionGeodetic()

◆ SetRadius()