MRPT  2.0.1
test.cpp
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2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include <mrpt/math/CMatrixD.h>
11 #include <mrpt/system/os.h>
12 #include <mrpt/topography.h>
13 #include <iomanip>
14 #include <iostream>
15 
16 using namespace mrpt::math;
17 using namespace mrpt::topography;
18 using namespace mrpt::system;
19 using namespace std;
20 
21 #include <mrpt/examples_config.h>
22 
23 std::vector<string> names;
24 std::vector<CMatrixD> results;
25 const double TH = 0.02;
26 
27 void exampleResults()
28 {
29  names.resize(6);
30  names[0] = "MAND";
31  names[1] = "OROZ";
32  names[2] = "SANC";
33  names[3] = "ARJO";
34  names[4] = "CANI";
35  names[5] = "HALC";
36  results.resize(25);
37 
38  // Example 01
39  results[0] = CMatrixD(6, 3);
40  results[0](0, 0) = 435699.5503;
41  results[0](0, 1) = 4194142.0571;
42  results[0](0, 2) = 515.5790;
43  results[0](1, 0) = 443948.2295;
44  results[0](1, 1) = 4160754.7114;
45  results[0](1, 2) = 1489.1880;
46  results[0](2, 0) = 436542.0710;
47  results[0](2, 1) = 4177367.6694;
48  results[0](2, 2) = 1054.1890;
49  results[0](3, 0) = 406284.9288;
50  results[0](3, 1) = 4176492.3033;
51  results[0](3, 2) = 569.1820;
52  results[0](4, 0) = 406546.3268;
53  results[0](4, 1) = 4156628.3641;
54  results[0](4, 2) = 897.6260;
55  results[0](5, 0) = 408051.6599;
56  results[0](5, 1) = 4193733.3066;
57  results[0](5, 2) = 530.4460;
58 
59  // Example 02
60  results[1] = CMatrixD(6, 3);
61  results[1](0, 0) = 435810.797;
62  results[1](0, 1) = 4194348.753;
63  results[1](0, 2) = 437.516;
64  results[1](1, 0) = 444059.747;
65  results[1](1, 1) = 4160961.358;
66  results[1](1, 2) = 1410.518;
67  results[1](2, 0) = 436653.444;
68  results[1](2, 1) = 4177574.314;
69  results[1](2, 2) = 975.764;
70  results[1](3, 0) = 406396.235;
71  results[1](3, 1) = 4176698.718;
72  results[1](3, 2) = 490.219;
73  results[1](4, 0) = 406657.783;
74  results[1](4, 1) = 4156834.717;
75  results[1](4, 2) = 818.224;
76  results[1](5, 0) = 408162.836;
77  results[1](5, 1) = 4193939.783;
78  results[1](5, 2) = 451.896;
79 
80  // Example 03
81  results[2] = CMatrixD(6, 3);
82  results[2](0, 0) = 435811.252;
83  results[2](0, 1) = 4194347.983;
84  results[2](0, 2) = 515.579;
85  results[2](1, 0) = 444059.929;
86  results[2](1, 1) = 4160960.606;
87  results[2](1, 2) = 1489.188;
88  results[2](2, 0) = 436653.768;
89  results[2](2, 1) = 4177573.581;
90  results[2](2, 2) = 1054.189;
91  results[2](3, 0) = 406396.600;
92  results[2](3, 1) = 4176698.222;
93  results[2](3, 2) = 569.182;
94  results[2](4, 0) = 406657.992;
95  results[2](4, 1) = 4156834.266;
96  results[2](4, 2) = 897.626;
97  results[2](5, 0) = 408163.337;
98  results[2](5, 1) = 4193939.241;
99  results[2](5, 2) = 530.446;
100 
101  // Example 04
102  results[3] = CMatrixD(6, 3);
103  results[3](0, 0) = 435811.073;
104  results[3](0, 1) = 4194347.990;
105  results[3](0, 2) = 466.175;
106  results[3](1, 0) = 444059.962;
107  results[3](1, 1) = 4160960.412;
108  results[3](1, 2) = 1439.784;
109  results[3](2, 0) = 436653.708;
110  results[3](2, 1) = 4177573.506;
111  results[3](2, 2) = 1004.785;
112  results[3](3, 0) = 406396.665;
113  results[3](3, 1) = 4176698.318;
114  results[3](3, 2) = 519.778;
115  results[3](4, 0) = 406658.202;
116  results[3](4, 1) = 4156834.269;
117  results[3](4, 2) = 848.222;
118  results[3](5, 0) = 408163.269;
119  results[3](5, 1) = 4193939.405;
120  results[3](5, 2) = 481.042;
121 
122  // Example 05
123  results[4] = CMatrixD(6, 3);
124  results[4](0, 0) = 435811.251;
125  results[4](0, 1) = 4194347.974;
126  results[4](0, 2) = 465.655;
127  results[4](1, 0) = 444059.934;
128  results[4](1, 1) = 4160960.612;
129  results[4](1, 2) = 1439.740;
130  results[4](2, 0) = 436653.771;
131  results[4](2, 1) = 4177573.582;
132  results[4](2, 2) = 1004.556;
133  results[4](3, 0) = 406396.596;
134  results[4](3, 1) = 4176698.222;
135  results[4](3, 2) = 520.037;
136  results[4](4, 0) = 406657.988;
137  results[4](4, 1) = 4156834.272;
138  results[4](4, 2) = 848.836;
139  results[4](5, 0) = 408163.337;
140  results[4](5, 1) = 4193939.239;
141  results[4](5, 2) = 480.961;
142 
143  // Example 06
144  results[5] = CMatrixD(6, 3);
145  results[5](0, 0) = 435811.250;
146  results[5](0, 1) = 4194347.994;
147  results[5](0, 2) = 437.516;
148  results[5](1, 0) = 444059.921;
149  results[5](1, 1) = 4160960.599;
150  results[5](1, 2) = 1410.518;
151  results[5](2, 0) = 436653.764;
152  results[5](2, 1) = 4177573.581;
153  results[5](2, 2) = 975.764;
154  results[5](3, 0) = 406396.606;
155  results[5](3, 1) = 4176698.225;
156  results[5](3, 2) = 490.219;
157  results[5](4, 0) = 406657.997;
158  results[5](4, 1) = 4156834.260;
159  results[5](4, 2) = 818.224;
160  results[5](5, 0) = 408163.340;
161  results[5](5, 1) = 4193939.242;
162  results[5](5, 2) = 451.896;
163 
164  // Example 07
165  results[6] = CMatrixD(6, 3);
166  results[6](0, 0) = 435811.074;
167  results[6](0, 1) = 4194347.994;
168  results[6](0, 2) = 466.791;
169  results[6](1, 0) = 444059.961;
170  results[6](1, 1) = 4160960.410;
171  results[6](1, 2) = 1439.793;
172  results[6](2, 0) = 436653.708;
173  results[6](2, 1) = 4177573.505;
174  results[6](2, 2) = 1005.039;
175  results[6](3, 0) = 406396.667;
176  results[6](3, 1) = 4176698.320;
177  results[6](3, 2) = 519.494;
178  results[6](4, 0) = 406658.203;
179  results[6](4, 1) = 4156834.270;
180  results[6](4, 2) = 847.499;
181  results[6](5, 0) = 408163.267;
182  results[6](5, 1) = 4193939.401;
183  results[6](5, 2) = 481.171;
184 
185  // Example 08
186  results[7] = CMatrixD(6, 3);
187  results[7](0, 0) = 435811.250;
188  results[7](0, 1) = 4194347.974;
189  results[7](0, 2) = 465.657;
190  results[7](1, 0) = 444059.935;
191  results[7](1, 1) = 4160960.612;
192  results[7](1, 2) = 1439.739;
193  results[7](2, 0) = 436653.772;
194  results[7](2, 1) = 4177573.582;
195  results[7](2, 2) = 1004.556;
196  results[7](3, 0) = 406396.597;
197  results[7](3, 1) = 4176698.223;
198  results[7](3, 2) = 520.037;
199  results[7](4, 0) = 406657.988;
200  results[7](4, 1) = 4156834.271;
201  results[7](4, 2) = 848.837;
202  results[7](5, 0) = 408163.339;
203  results[7](5, 1) = 4193939.239;
204  results[7](5, 2) = 480.959;
205 
206  // Example 10
207  results[9] = CMatrixD(6, 3);
208  results[9](0, 0) = 435811.2512;
209  results[9](0, 1) = 4194347.9756;
210  results[9](0, 2) = 465.6558;
211  results[9](1, 0) = 444059.9337;
212  results[9](1, 1) = 4160960.6109;
213  results[9](1, 2) = 1439.7390;
214  results[9](2, 0) = 436653.7721;
215  results[9](2, 1) = 4177573.5812;
216  results[9](2, 2) = 1004.5560;
217  results[9](3, 0) = 406396.5970;
218  results[9](3, 1) = 4176698.2216;
219  results[9](3, 2) = 520.0376;
220  results[9](4, 0) = 406657.9894;
221  results[9](4, 1) = 4156834.2734;
222  results[9](4, 2) = 848.8373;
223  results[9](5, 0) = 408163.3366;
224  results[9](5, 1) = 4193939.2373;
225  results[9](5, 2) = 480.9593;
226 
227  // Example 11
228  results[10] = CMatrixD(6, 3);
229  results[10](0, 0) = 435811.2512;
230  results[10](0, 1) = 4194347.9756;
231  results[10](0, 2) = 465.6558;
232  results[10](1, 0) = 444059.9337;
233  results[10](1, 1) = 4160960.6109;
234  results[10](1, 2) = 1439.7390;
235  results[10](2, 0) = 436653.7721;
236  results[10](2, 1) = 4177573.5812;
237  results[10](2, 2) = 1004.5560;
238  results[10](3, 0) = 406396.5970;
239  results[10](3, 1) = 4176698.2216;
240  results[10](3, 2) = 520.0376;
241  results[10](4, 0) = 406657.9894;
242  results[10](4, 1) = 4156834.2734;
243  results[10](4, 2) = 848.8373;
244  results[10](5, 0) = 408163.3366;
245  results[10](5, 1) = 4193939.2373;
246  results[10](5, 2) = 480.9593;
247 
248  // Example 12
249  results[11] = CMatrixD(6, 3);
250  results[11](0, 0) = 435811.156;
251  results[11](0, 1) = 4194347.892;
252  results[11](0, 2) = 466.100;
253  results[11](1, 0) = 444059.719;
254  results[11](1, 1) = 4160960.489;
255  results[11](1, 2) = 1439.389;
256  results[11](2, 0) = 436653.606;
257  results[11](2, 1) = 4177573.398;
258  results[11](2, 2) = 1004.594;
259  results[11](3, 0) = 406396.045;
260  results[11](3, 1) = 4176697.926;
261  results[11](3, 2) = 520.238;
262  results[11](4, 0) = 406658.812;
263  results[11](4, 1) = 4156834.183;
264  results[11](4, 2) = 849.050;
265  results[11](5, 0) = 408163.542;
266  results[11](5, 1) = 4193940.012;
267  results[11](5, 2) = 480.414;
268 
269  // Example 13
270  results[12] = CMatrixD(6, 3);
271  results[12](0, 0) = 435811.095;
272  results[12](0, 1) = 4194348.146;
273  results[12](0, 2) = 465.884;
274  results[12](1, 0) = 444059.906;
275  results[12](1, 1) = 4160960.276;
276  results[12](1, 2) = 1439.564;
277  results[12](2, 0) = 436653.748;
278  results[12](2, 1) = 4177573.521;
279  results[12](2, 2) = 1004.572;
280  results[12](3, 0) = 406396.375;
281  results[12](3, 1) = 4176698.033;
282  results[12](3, 2) = 520.147;
283  results[12](4, 0) = 406658.370;
284  results[12](4, 1) = 4156834.517;
285  results[12](4, 2) = 848.945;
286  results[12](5, 0) = 408163.386;
287  results[12](5, 1) = 4193939.406;
288  results[12](5, 2) = 480.674;
289 }
290 
291 void displayResults(
292  const CVectorDouble& thisResults, const unsigned int& example,
293  const bool color)
294 {
295  cout << "Example " << example << ". Results" << setprecision(16) << endl;
296  cout << "------------------------------------------------------------------"
297  "----------"
298  << endl;
299  cout << "N\t"
300  << "X\t\t\t"
301  << "Y\t\t\t"
302  << "Z" << endl;
303  cout << "------------------------------------------------------------------"
304  "----------"
305  << endl;
306 
307  if (color)
308  {
309  const size_t N = thisResults.size() / 3;
310  for (unsigned int i = 0; i < N; ++i)
311  {
312  cout << names[i] << "\t";
313  if (fabs(thisResults[3 * i + 0] - results[example - 1](i, 0)) < TH)
314  mrpt::system::setConsoleColor(CONCOL_GREEN);
315  else
316  mrpt::system::setConsoleColor(CONCOL_RED);
317  cout << thisResults[3 * i + 0] << "\t";
318 
319  if (fabs(thisResults[3 * i + 1] - results[example - 1](i, 1)) < TH)
320  mrpt::system::setConsoleColor(CONCOL_GREEN);
321  else
322  mrpt::system::setConsoleColor(CONCOL_RED);
323  cout << thisResults[3 * i + 1] << "\t";
324 
325  if (fabs(thisResults[3 * i + 2] - results[example - 1](i, 2)) < TH)
326  mrpt::system::setConsoleColor(CONCOL_GREEN);
327  else
328  mrpt::system::setConsoleColor(CONCOL_RED);
329  cout << thisResults[3 * i + 2] << endl;
330  mrpt::system::setConsoleColor(CONCOL_NORMAL);
331  }
332  cout << endl;
333  }
334  else
335  {
336  const size_t N = thisResults.size() / 3;
337  for (unsigned int i = 0; i < N; ++i)
338  cout << names[i] << "\t" << thisResults[3 * i + 0] << "\t"
339  << thisResults[3 * i + 1] << "\t" << thisResults[3 * i + 2]
340  << endl;
341  cout << endl;
342  }
343 }
344 
345 void TestCoordinatesConversions()
346 {
347  // Initial UTM coordinates (X,Y,Z)
348  mrpt::math::TPoint3D UTMCoords;
349  UTMCoords.x = 435500;
350  UTMCoords.y = 4194142.057;
351  UTMCoords.z = 515.579;
352 
353  const int huso = 30;
354  const char hem = 'n';
355 
356  TGeodeticCoords GeodeticCoords;
357  TEllipsoid ellip = TEllipsoid::Ellipsoid_WGS84();
358 
359  // Dump to console of input values
360  cout << "INPUT DATA: " << endl
361  << "----------------------------------" << endl;
362  cout << "UTM Coordinates: " << endl;
363  cout << "X = " << setprecision(15) << UTMCoords.x << endl;
364  cout << "Y = " << UTMCoords.y << endl;
365  cout << "Z = " << UTMCoords.z << endl;
366  cout << "Time zone: " << huso << endl;
367  cout << "Hemisphery: " << hem << endl;
368  cout << "Ellipsoid: " << ellip.name << endl;
369  cout << "----------------------------------" << endl << endl;
370 
371  // UTM to Geodetic ...
372  UTMToGeodetic(UTMCoords, huso, hem, GeodeticCoords, ellip);
373  cout << "UTM to Geodetic" << endl;
374  cout << "Geodetic Coordinates:" << endl;
375  cout << "Lon = " << TCoords(GeodeticCoords.lon) << " ["
376  << GeodeticCoords.lon << "]" << endl;
377  cout << "Lat = " << TCoords(GeodeticCoords.lat) << " ["
378  << GeodeticCoords.lon << "]" << endl;
379  cout << "H = " << GeodeticCoords.height << endl;
380  cout << "----------------------------------" << endl;
381 
382  // Geodetic to Geocentric ...
383  TGeocentricCoords GeocentricCoords;
384  geodeticToGeocentric(GeodeticCoords, GeocentricCoords, ellip);
385  cout << "Geodetic to Geocentric" << endl;
386  cout << "Geocentric Coordinates:" << endl;
387  cout << "X = " << GeocentricCoords.x << endl;
388  cout << "Y = " << GeocentricCoords.y << endl;
389  cout << "Z = " << GeocentricCoords.z << endl;
390  cout << "----------------------------------" << endl;
391 
392  // 7 parameter transformation (X,Y,Z) -> (X',Y',Z')
393  // TDatum7Params datum( dx, dy, dz, rx(sec), ry(sec), rz(sec), ds(ppm) );
394  TDatum7Params datum(
395  109.4714, 106.7407, 141.7916, 4.7834, 7.9668, -5.3771, -6.690000);
396  TGeocentricCoords GeocentricCoords2;
397  transform7params(GeocentricCoords, datum, GeocentricCoords2);
398  // transform7params(
399  // TGeocentricCoords(5029475.945,-328201.0396,3896351.728), datum,
400  // GeocentricCoords2 );
401  cout << "transform7params" << endl;
402  cout << "Transformed Geocentric Coordinates:" << endl;
403  cout << "X = " << GeocentricCoords2.x << endl;
404  cout << "Y = " << GeocentricCoords2.y << endl;
405  cout << "Z = " << GeocentricCoords2.z << endl;
406  cout << "----------------------------------" << endl;
407 
408  // ... and back to Geodetic
409  TGeodeticCoords GeodeticCoords2;
410  ellip = TEllipsoid::Ellipsoid_Hough_1960();
411  geocentricToGeodetic(GeocentricCoords2, GeodeticCoords2, ellip);
412  cout << "Geocentric to Geodetic" << endl;
413  cout << "Geodetic Coordinates:" << endl;
414  cout << "Lon = " << TCoords(GeodeticCoords2.lon) << " ["
415  << GeodeticCoords2.lon << "]" << endl;
416  cout << "Lat = " << TCoords(GeodeticCoords2.lat) << " ["
417  << GeodeticCoords2.lat << "]" << endl;
418  cout << "H = " << GeodeticCoords2.height << endl;
419  cout << "----------------------------------" << endl;
420 
421  // ... and back to UTM
422  TUTMCoords UTMCoords2;
423  int time_zone2;
424  char latitude_band2;
425  // geodeticToUTM( GeodeticCoords2, UTMCoords2, time_zone2, latitude_band2,
426  // ellip );
427  geodeticToUTM(
428  TGeodeticCoords(37.89604181, -3.72987289, 542.8624741), UTMCoords2,
429  time_zone2, latitude_band2, TEllipsoid(6378270, 6356794.343, "USER"));
430  cout << "Geodetic to UTM" << endl;
431  cout << "UTM Coordinates:" << endl;
432  cout << "X = " << UTMCoords2.x << endl;
433  cout << "Y = " << UTMCoords2.y << endl;
434  cout << "Z = " << UTMCoords2.z << endl;
435  cout << "Time zone: " << time_zone2 << endl;
436  cout << "----------------------------------" << endl;
437 
438  // 10 parameter transformation (X,Y,Z) -> (X',Y',Z')
439 
440  // Helmert 2D transformation (X,Y) -> (X',Y')
441 
442  // Helmert 3D transformation (X,Y,Z) -> (X',Y',Z')
443 
444  // 1D transformation (X,Y,Z) -> (X')
445 
446  // Interpolation (X,Y) -> (X',Y')
447 }
448 
449 void Examples_01()
450 {
451  TGeodeticCoords MAND_92633(
452  TCoords(37, 53, 33.072573).getDecimalValue(),
453  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
454  TGeodeticCoords OROZ_96965(
455  TCoords(37, 35, 31.75505).getDecimalValue(),
456  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
457  TGeodeticCoords SANC_94744(
458  TCoords(37, 44, 29.04253).getDecimalValue(),
459  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
460  TGeodeticCoords ARJO_94633(
461  TCoords(37, 43, 51.28918).getDecimalValue(),
462  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
463  TGeodeticCoords CANI_96833(
464  TCoords(37, 33, 6.94237).getDecimalValue(),
465  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
466  TGeodeticCoords HALC_92543(
467  TCoords(37, 53, 11.26838).getDecimalValue(),
468  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
469 
470  // A2
471  int UTMZone;
472  char UTMBand;
473  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
474  geodeticToUTM(
475  MAND_92633, MAND_UTM, UTMZone, UTMBand, TEllipsoid::Ellipsoid_WGS84());
476  geodeticToUTM(
477  OROZ_96965, OROZ_UTM, UTMZone, UTMBand, TEllipsoid::Ellipsoid_WGS84());
478  geodeticToUTM(
479  SANC_94744, SANC_UTM, UTMZone, UTMBand, TEllipsoid::Ellipsoid_WGS84());
480  geodeticToUTM(
481  ARJO_94633, ARJO_UTM, UTMZone, UTMBand, TEllipsoid::Ellipsoid_WGS84());
482  geodeticToUTM(
483  CANI_96833, CANI_UTM, UTMZone, UTMBand, TEllipsoid::Ellipsoid_WGS84());
484  geodeticToUTM(
485  HALC_92543, HALC_UTM, UTMZone, UTMBand, TEllipsoid::Ellipsoid_WGS84());
486 
487  CVectorDouble thisResults;
488  thisResults.resize(18);
489 
490  thisResults[0] = MAND_UTM.x;
491  thisResults[1] = MAND_UTM.y;
492  thisResults[2] = MAND_UTM.z;
493  thisResults[3] = OROZ_UTM.x;
494  thisResults[4] = OROZ_UTM.y;
495  thisResults[5] = OROZ_UTM.z;
496  thisResults[6] = SANC_UTM.x;
497  thisResults[7] = SANC_UTM.y;
498  thisResults[8] = SANC_UTM.z;
499  thisResults[9] = ARJO_UTM.x;
500  thisResults[10] = ARJO_UTM.y;
501  thisResults[11] = ARJO_UTM.z;
502  thisResults[12] = CANI_UTM.x;
503  thisResults[13] = CANI_UTM.y;
504  thisResults[14] = CANI_UTM.z;
505  thisResults[15] = HALC_UTM.x;
506  thisResults[16] = HALC_UTM.y;
507  thisResults[17] = HALC_UTM.z;
508 
509  displayResults(thisResults, 1, true);
510 }
511 
512 void Examples_02()
513 {
514  TGeodeticCoords MAND_92633(
515  TCoords(37, 53, 33.072573).getDecimalValue(),
516  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
517  TGeodeticCoords OROZ_96965(
518  TCoords(37, 35, 31.75505).getDecimalValue(),
519  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
520  TGeodeticCoords SANC_94744(
521  TCoords(37, 44, 29.04253).getDecimalValue(),
522  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
523  TGeodeticCoords ARJO_94633(
524  TCoords(37, 43, 51.28918).getDecimalValue(),
525  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
526  TGeodeticCoords CANI_96833(
527  TCoords(37, 33, 6.94237).getDecimalValue(),
528  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
529  TGeodeticCoords HALC_92543(
530  TCoords(37, 53, 11.26838).getDecimalValue(),
531  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
532 
533  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Internacional_1924();
534 
535  // A3
536  TGeocentricCoords MAND_Geoc, OROZ_Geoc, SANC_Geoc, ARJO_Geoc, CANI_Geoc,
537  HALC_Geoc;
538  geodeticToGeocentric(MAND_92633, MAND_Geoc, TEllipsoid::Ellipsoid_WGS84());
539  geodeticToGeocentric(OROZ_96965, OROZ_Geoc, TEllipsoid::Ellipsoid_WGS84());
540  geodeticToGeocentric(SANC_94744, SANC_Geoc, TEllipsoid::Ellipsoid_WGS84());
541  geodeticToGeocentric(ARJO_94633, ARJO_Geoc, TEllipsoid::Ellipsoid_WGS84());
542  geodeticToGeocentric(CANI_96833, CANI_Geoc, TEllipsoid::Ellipsoid_WGS84());
543  geodeticToGeocentric(HALC_92543, HALC_Geoc, TEllipsoid::Ellipsoid_WGS84());
544 
545  // A5
546  TGeocentricCoords MAND_Geoc2, OROZ_Geoc2, SANC_Geoc2, ARJO_Geoc2,
547  CANI_Geoc2, HALC_Geoc2;
548  TDatum7Params datum(
549  131.0320, 100.2510, 163.3540, -1.2438, -0.0195, -1.1436, -9.3900);
550  transform7params(MAND_Geoc, datum, MAND_Geoc2);
551  transform7params(OROZ_Geoc, datum, OROZ_Geoc2);
552  transform7params(SANC_Geoc, datum, SANC_Geoc2);
553  transform7params(ARJO_Geoc, datum, ARJO_Geoc2);
554  transform7params(CANI_Geoc, datum, CANI_Geoc2);
555  transform7params(HALC_Geoc, datum, HALC_Geoc2);
556 
557  // A4
558  TGeodeticCoords MAND_Geod, OROZ_Geod, SANC_Geod, ARJO_Geod, CANI_Geod,
559  HALC_Geod;
560  geocentricToGeodetic(MAND_Geoc2, MAND_Geod, ellip);
561  geocentricToGeodetic(OROZ_Geoc2, OROZ_Geod, ellip);
562  geocentricToGeodetic(SANC_Geoc2, SANC_Geod, ellip);
563  geocentricToGeodetic(ARJO_Geoc2, ARJO_Geod, ellip);
564  geocentricToGeodetic(CANI_Geoc2, CANI_Geod, ellip);
565  geocentricToGeodetic(HALC_Geoc2, HALC_Geod, ellip);
566 
567  // A2
568  int UTMZone;
569  char UTMBand;
570  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
571  geodeticToUTM(MAND_Geod, MAND_UTM, UTMZone, UTMBand, ellip);
572  geodeticToUTM(OROZ_Geod, OROZ_UTM, UTMZone, UTMBand, ellip);
573  geodeticToUTM(SANC_Geod, SANC_UTM, UTMZone, UTMBand, ellip);
574  geodeticToUTM(ARJO_Geod, ARJO_UTM, UTMZone, UTMBand, ellip);
575  geodeticToUTM(CANI_Geod, CANI_UTM, UTMZone, UTMBand, ellip);
576  geodeticToUTM(HALC_Geod, HALC_UTM, UTMZone, UTMBand, ellip);
577 
578  CVectorDouble thisResults;
579  thisResults.resize(18);
580 
581  thisResults[0] = MAND_UTM.x;
582  thisResults[1] = MAND_UTM.y;
583  thisResults[2] = MAND_UTM.z;
584  thisResults[3] = OROZ_UTM.x;
585  thisResults[4] = OROZ_UTM.y;
586  thisResults[5] = OROZ_UTM.z;
587  thisResults[6] = SANC_UTM.x;
588  thisResults[7] = SANC_UTM.y;
589  thisResults[8] = SANC_UTM.z;
590  thisResults[9] = ARJO_UTM.x;
591  thisResults[10] = ARJO_UTM.y;
592  thisResults[11] = ARJO_UTM.z;
593  thisResults[12] = CANI_UTM.x;
594  thisResults[13] = CANI_UTM.y;
595  thisResults[14] = CANI_UTM.z;
596  thisResults[15] = HALC_UTM.x;
597  thisResults[16] = HALC_UTM.y;
598  thisResults[17] = HALC_UTM.z;
599 
600  displayResults(thisResults, 2, true);
601 }
602 
603 void Examples_03()
604 {
605  // TOPCON
606  TGeodeticCoords MAND_92633(
607  TCoords(37, 53, 33.072573).getDecimalValue(),
608  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
609  TGeodeticCoords OROZ_96965(
610  TCoords(37, 35, 31.75505).getDecimalValue(),
611  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
612  TGeodeticCoords SANC_94744(
613  TCoords(37, 44, 29.04253).getDecimalValue(),
614  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
615  TGeodeticCoords ARJO_94633(
616  TCoords(37, 43, 51.28918).getDecimalValue(),
617  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
618  TGeodeticCoords CANI_96833(
619  TCoords(37, 33, 6.94237).getDecimalValue(),
620  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
621  TGeodeticCoords HALC_92543(
622  TCoords(37, 53, 11.26838).getDecimalValue(),
623  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
624 
625  const TEllipsoid ellip = TEllipsoid::Ellipsoid_WGS84();
626 
627  // A2
628  int UTMZone;
629  char UTMBand;
630  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
631  geodeticToUTM(MAND_92633, MAND_UTM, UTMZone, UTMBand, ellip);
632  geodeticToUTM(OROZ_96965, OROZ_UTM, UTMZone, UTMBand, ellip);
633  geodeticToUTM(SANC_94744, SANC_UTM, UTMZone, UTMBand, ellip);
634  geodeticToUTM(ARJO_94633, ARJO_UTM, UTMZone, UTMBand, ellip);
635  geodeticToUTM(CANI_96833, CANI_UTM, UTMZone, UTMBand, ellip);
636  geodeticToUTM(HALC_92543, HALC_UTM, UTMZone, UTMBand, ellip);
637 
638  // A7
639  TPoint2D MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
640  HALC_point;
641  TDatumHelmert2D_TOPCON datum(
642  1.0000008551, 0.0000002900, 110.1121641064, 202.4657352579);
643  transformHelmert2D_TOPCON(
644  TPoint2D(MAND_UTM.x, MAND_UTM.y), datum, MAND_point);
645  transformHelmert2D_TOPCON(
646  TPoint2D(OROZ_UTM.x, OROZ_UTM.y), datum, OROZ_point);
647  transformHelmert2D_TOPCON(
648  TPoint2D(SANC_UTM.x, SANC_UTM.y), datum, SANC_point);
649  transformHelmert2D_TOPCON(
650  TPoint2D(ARJO_UTM.x, ARJO_UTM.y), datum, ARJO_point);
651  transformHelmert2D_TOPCON(
652  TPoint2D(CANI_UTM.x, CANI_UTM.y), datum, CANI_point);
653  transformHelmert2D_TOPCON(
654  TPoint2D(HALC_UTM.x, HALC_UTM.y), datum, HALC_point);
655 
656  CVectorDouble thisResults;
657  thisResults.resize(18);
658 
659  thisResults[0] = MAND_point.x;
660  thisResults[1] = MAND_point.y;
661  thisResults[2] = MAND_UTM.z;
662  thisResults[3] = OROZ_point.x;
663  thisResults[4] = OROZ_point.y;
664  thisResults[5] = OROZ_UTM.z;
665  thisResults[6] = SANC_point.x;
666  thisResults[7] = SANC_point.y;
667  thisResults[8] = SANC_UTM.z;
668  thisResults[9] = ARJO_point.x;
669  thisResults[10] = ARJO_point.y;
670  thisResults[11] = ARJO_UTM.z;
671  thisResults[12] = CANI_point.x;
672  thisResults[13] = CANI_point.y;
673  thisResults[14] = CANI_UTM.z;
674  thisResults[15] = HALC_point.x;
675  thisResults[16] = HALC_point.y;
676  thisResults[17] = HALC_UTM.z;
677 
678  displayResults(thisResults, 3, true);
679 }
680 
681 void Examples_04()
682 {
683  // TOPCON
684  TGeodeticCoords MAND_92633(
685  TCoords(37, 53, 33.072573).getDecimalValue(),
686  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
687  TGeodeticCoords OROZ_96965(
688  TCoords(37, 35, 31.75505).getDecimalValue(),
689  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
690  TGeodeticCoords SANC_94744(
691  TCoords(37, 44, 29.04253).getDecimalValue(),
692  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
693  TGeodeticCoords ARJO_94633(
694  TCoords(37, 43, 51.28918).getDecimalValue(),
695  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
696  TGeodeticCoords CANI_96833(
697  TCoords(37, 33, 6.94237).getDecimalValue(),
698  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
699  TGeodeticCoords HALC_92543(
700  TCoords(37, 53, 11.26838).getDecimalValue(),
701  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
702 
703  const TEllipsoid ellip = TEllipsoid::Ellipsoid_WGS84();
704 
705  // A2
706  int UTMZone;
707  char UTMBand;
708  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
709  geodeticToUTM(MAND_92633, MAND_UTM, UTMZone, UTMBand, ellip);
710  geodeticToUTM(OROZ_96965, OROZ_UTM, UTMZone, UTMBand, ellip);
711  geodeticToUTM(SANC_94744, SANC_UTM, UTMZone, UTMBand, ellip);
712  geodeticToUTM(ARJO_94633, ARJO_UTM, UTMZone, UTMBand, ellip);
713  geodeticToUTM(CANI_96833, CANI_UTM, UTMZone, UTMBand, ellip);
714  geodeticToUTM(HALC_92543, HALC_UTM, UTMZone, UTMBand, ellip);
715 
716  // A7
717  TUTMCoords MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
718  HALC_point;
719  TDatumHelmert3D_TOPCON datum(
720  0.9999969509, -0.0000070551, 142.4402790576, -0.0000060616,
721  1.0000054540, 185.6991268722, -49.4041666667);
722  transformHelmert3D_TOPCON(MAND_UTM, datum, MAND_point);
723  transformHelmert3D_TOPCON(OROZ_UTM, datum, OROZ_point);
724  transformHelmert3D_TOPCON(SANC_UTM, datum, SANC_point);
725  transformHelmert3D_TOPCON(ARJO_UTM, datum, ARJO_point);
726  transformHelmert3D_TOPCON(CANI_UTM, datum, CANI_point);
727  transformHelmert3D_TOPCON(HALC_UTM, datum, HALC_point);
728 
729  CVectorDouble thisResults;
730  thisResults.resize(18);
731 
732  thisResults[0] = MAND_point.x;
733  thisResults[1] = MAND_point.y;
734  thisResults[2] = MAND_point.z;
735  thisResults[3] = OROZ_point.x;
736  thisResults[4] = OROZ_point.y;
737  thisResults[5] = OROZ_point.z;
738  thisResults[6] = SANC_point.x;
739  thisResults[7] = SANC_point.y;
740  thisResults[8] = SANC_point.z;
741  thisResults[9] = ARJO_point.x;
742  thisResults[10] = ARJO_point.y;
743  thisResults[11] = ARJO_point.z;
744  thisResults[12] = CANI_point.x;
745  thisResults[13] = CANI_point.y;
746  thisResults[14] = CANI_point.z;
747  thisResults[15] = HALC_point.x;
748  thisResults[16] = HALC_point.y;
749  thisResults[17] = HALC_point.z;
750 
751  displayResults(thisResults, 4, true);
752 }
753 
754 void Examples_05()
755 {
756  // TOPCON
757  TGeodeticCoords MAND_92633(
758  TCoords(37, 53, 33.072573).getDecimalValue(),
759  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
760  TGeodeticCoords OROZ_96965(
761  TCoords(37, 35, 31.75505).getDecimalValue(),
762  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
763  TGeodeticCoords SANC_94744(
764  TCoords(37, 44, 29.04253).getDecimalValue(),
765  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
766  TGeodeticCoords ARJO_94633(
767  TCoords(37, 43, 51.28918).getDecimalValue(),
768  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
769  TGeodeticCoords CANI_96833(
770  TCoords(37, 33, 6.94237).getDecimalValue(),
771  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
772  TGeodeticCoords HALC_92543(
773  TCoords(37, 53, 11.26838).getDecimalValue(),
774  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
775 
776  const TEllipsoid ellip = TEllipsoid(6378137, 6356752.31424518, "USER");
777 
778  // A2
779  int UTMZone;
780  char UTMBand;
781  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
782  geodeticToUTM(MAND_92633, MAND_UTM, UTMZone, UTMBand, ellip);
783  geodeticToUTM(OROZ_96965, OROZ_UTM, UTMZone, UTMBand, ellip);
784  geodeticToUTM(SANC_94744, SANC_UTM, UTMZone, UTMBand, ellip);
785  geodeticToUTM(ARJO_94633, ARJO_UTM, UTMZone, UTMBand, ellip);
786  geodeticToUTM(CANI_96833, CANI_UTM, UTMZone, UTMBand, ellip);
787  geodeticToUTM(HALC_92543, HALC_UTM, UTMZone, UTMBand, ellip);
788 
789  // A5
790  TUTMCoords MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
791  HALC_point;
792  TDatum7Params_TOPCON datum(
793  109.035107801496, 202.610276063935, 32.727057571807, 0.9999999999,
794  0.0000005460, 0.0000156068, -0.0000005463, 0.9999999998, 0.0000180851,
795  -0.0000156068, -0.0000180851, 0.9999999997, 0.842993545636);
796  transform7params_TOPCON(MAND_UTM, datum, MAND_point);
797  transform7params_TOPCON(OROZ_UTM, datum, OROZ_point);
798  transform7params_TOPCON(SANC_UTM, datum, SANC_point);
799  transform7params_TOPCON(ARJO_UTM, datum, ARJO_point);
800  transform7params_TOPCON(CANI_UTM, datum, CANI_point);
801  transform7params_TOPCON(HALC_UTM, datum, HALC_point);
802 
803  CVectorDouble thisResults;
804  thisResults.resize(18);
805 
806  thisResults[0] = MAND_point.x;
807  thisResults[1] = MAND_point.y;
808  thisResults[2] = MAND_point.z;
809  thisResults[3] = OROZ_point.x;
810  thisResults[4] = OROZ_point.y;
811  thisResults[5] = OROZ_point.z;
812  thisResults[6] = SANC_point.x;
813  thisResults[7] = SANC_point.y;
814  thisResults[8] = SANC_point.z;
815  thisResults[9] = ARJO_point.x;
816  thisResults[10] = ARJO_point.y;
817  thisResults[11] = ARJO_point.z;
818  thisResults[12] = CANI_point.x;
819  thisResults[13] = CANI_point.y;
820  thisResults[14] = CANI_point.z;
821  thisResults[15] = HALC_point.x;
822  thisResults[16] = HALC_point.y;
823  thisResults[17] = HALC_point.z;
824 
825  displayResults(thisResults, 5, true);
826 }
827 
828 void Examples_06()
829 {
830  TGeodeticCoords MAND_92633(
831  TCoords(37, 53, 33.072573).getDecimalValue(),
832  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
833  TGeodeticCoords OROZ_96965(
834  TCoords(37, 35, 31.75505).getDecimalValue(),
835  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
836  TGeodeticCoords SANC_94744(
837  TCoords(37, 44, 29.04253).getDecimalValue(),
838  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
839  TGeodeticCoords ARJO_94633(
840  TCoords(37, 43, 51.28918).getDecimalValue(),
841  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
842  TGeodeticCoords CANI_96833(
843  TCoords(37, 33, 6.94237).getDecimalValue(),
844  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
845  TGeodeticCoords HALC_92543(
846  TCoords(37, 53, 11.26838).getDecimalValue(),
847  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
848 
849  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Internacional_1924();
850 
851  // A3
852  TGeocentricCoords MAND_Geoc, OROZ_Geoc, SANC_Geoc, ARJO_Geoc, CANI_Geoc,
853  HALC_Geoc;
854  geodeticToGeocentric(MAND_92633, MAND_Geoc, ellip);
855  geodeticToGeocentric(OROZ_96965, OROZ_Geoc, ellip);
856  geodeticToGeocentric(SANC_94744, SANC_Geoc, ellip);
857  geodeticToGeocentric(ARJO_94633, ARJO_Geoc, ellip);
858  geodeticToGeocentric(CANI_96833, CANI_Geoc, ellip);
859  geodeticToGeocentric(HALC_92543, HALC_Geoc, ellip);
860 
861  // A5
862  TGeocentricCoords MAND_Geoc2, OROZ_Geoc2, SANC_Geoc2, ARJO_Geoc2,
863  CANI_Geoc2, HALC_Geoc2;
864  TDatum7Params datum(
865  131.0320, 100.2510, 163.3540, -1.2438, -0.0195, -1.1436, -9.3900);
866  transform7params(MAND_Geoc, datum, MAND_Geoc2);
867  transform7params(OROZ_Geoc, datum, OROZ_Geoc2);
868  transform7params(SANC_Geoc, datum, SANC_Geoc2);
869  transform7params(ARJO_Geoc, datum, ARJO_Geoc2);
870  transform7params(CANI_Geoc, datum, CANI_Geoc2);
871  transform7params(HALC_Geoc, datum, HALC_Geoc2);
872 
873  // A4
874  TGeodeticCoords MAND_Geod, OROZ_Geod, SANC_Geod, ARJO_Geod, CANI_Geod,
875  HALC_Geod;
876  geocentricToGeodetic(MAND_Geoc2, MAND_Geod, ellip);
877  geocentricToGeodetic(OROZ_Geoc2, OROZ_Geod, ellip);
878  geocentricToGeodetic(SANC_Geoc2, SANC_Geod, ellip);
879  geocentricToGeodetic(ARJO_Geoc2, ARJO_Geod, ellip);
880  geocentricToGeodetic(CANI_Geoc2, CANI_Geod, ellip);
881  geocentricToGeodetic(HALC_Geoc2, HALC_Geod, ellip);
882 
883  // A2
884  int UTMZone;
885  char UTMBand;
886  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
887  geodeticToUTM(MAND_Geod, MAND_UTM, UTMZone, UTMBand, ellip);
888  geodeticToUTM(OROZ_Geod, OROZ_UTM, UTMZone, UTMBand, ellip);
889  geodeticToUTM(SANC_Geod, SANC_UTM, UTMZone, UTMBand, ellip);
890  geodeticToUTM(ARJO_Geod, ARJO_UTM, UTMZone, UTMBand, ellip);
891  geodeticToUTM(CANI_Geod, CANI_UTM, UTMZone, UTMBand, ellip);
892  geodeticToUTM(HALC_Geod, HALC_UTM, UTMZone, UTMBand, ellip);
893 
894  CVectorDouble thisResults;
895  thisResults.resize(18);
896 
897  thisResults[0] = MAND_UTM.x;
898  thisResults[1] = MAND_UTM.y;
899  thisResults[2] = MAND_UTM.z;
900  thisResults[3] = OROZ_UTM.x;
901  thisResults[4] = OROZ_UTM.y;
902  thisResults[5] = OROZ_UTM.z;
903  thisResults[6] = SANC_UTM.x;
904  thisResults[7] = SANC_UTM.y;
905  thisResults[8] = SANC_UTM.z;
906  thisResults[9] = ARJO_UTM.x;
907  thisResults[10] = ARJO_UTM.y;
908  thisResults[11] = ARJO_UTM.z;
909  thisResults[12] = CANI_UTM.x;
910  thisResults[13] = CANI_UTM.y;
911  thisResults[14] = CANI_UTM.z;
912  thisResults[15] = HALC_UTM.x;
913  thisResults[16] = HALC_UTM.y;
914  thisResults[17] = HALC_UTM.z;
915 
916  displayResults(thisResults, 6, false);
917 
918  // A7
919  TPoint2D MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
920  HALC_point;
921  TDatumHelmert2D_TOPCON dat(
922  0.9999980621, 0.0000078756, -31.7350304827, 10.8014994871);
923  transformHelmert2D_TOPCON(
924  TPoint2D(MAND_UTM.x, MAND_UTM.y), dat, MAND_point);
925  transformHelmert2D_TOPCON(
926  TPoint2D(OROZ_UTM.x, OROZ_UTM.y), dat, OROZ_point);
927  transformHelmert2D_TOPCON(
928  TPoint2D(SANC_UTM.x, SANC_UTM.y), dat, SANC_point);
929  transformHelmert2D_TOPCON(
930  TPoint2D(ARJO_UTM.x, ARJO_UTM.y), dat, ARJO_point);
931  transformHelmert2D_TOPCON(
932  TPoint2D(CANI_UTM.x, CANI_UTM.y), dat, CANI_point);
933  transformHelmert2D_TOPCON(
934  TPoint2D(HALC_UTM.x, HALC_UTM.y), dat, HALC_point);
935 
936  thisResults[0] = MAND_point.x;
937  thisResults[1] = MAND_point.y;
938  thisResults[2] = MAND_UTM.z;
939  thisResults[3] = OROZ_point.x;
940  thisResults[4] = OROZ_point.y;
941  thisResults[5] = OROZ_UTM.z;
942  thisResults[6] = SANC_point.x;
943  thisResults[7] = SANC_point.y;
944  thisResults[8] = SANC_UTM.z;
945  thisResults[9] = ARJO_point.x;
946  thisResults[10] = ARJO_point.y;
947  thisResults[11] = ARJO_UTM.z;
948  thisResults[12] = CANI_point.x;
949  thisResults[13] = CANI_point.y;
950  thisResults[14] = CANI_UTM.z;
951  thisResults[15] = HALC_point.x;
952  thisResults[16] = HALC_point.y;
953  thisResults[17] = HALC_UTM.z;
954 
955  displayResults(thisResults, 6, true);
956 }
957 
958 void Examples_07()
959 {
960  TGeodeticCoords MAND_92633(
961  TCoords(37, 53, 33.072573).getDecimalValue(),
962  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
963  TGeodeticCoords OROZ_96965(
964  TCoords(37, 35, 31.75505).getDecimalValue(),
965  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
966  TGeodeticCoords SANC_94744(
967  TCoords(37, 44, 29.04253).getDecimalValue(),
968  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
969  TGeodeticCoords ARJO_94633(
970  TCoords(37, 43, 51.28918).getDecimalValue(),
971  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
972  TGeodeticCoords CANI_96833(
973  TCoords(37, 33, 6.94237).getDecimalValue(),
974  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
975  TGeodeticCoords HALC_92543(
976  TCoords(37, 53, 11.26838).getDecimalValue(),
977  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
978 
979  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Internacional_1924();
980 
981  // A3
982  TGeocentricCoords MAND_Geoc, OROZ_Geoc, SANC_Geoc, ARJO_Geoc, CANI_Geoc,
983  HALC_Geoc;
984  geodeticToGeocentric(MAND_92633, MAND_Geoc, ellip);
985  geodeticToGeocentric(OROZ_96965, OROZ_Geoc, ellip);
986  geodeticToGeocentric(SANC_94744, SANC_Geoc, ellip);
987  geodeticToGeocentric(ARJO_94633, ARJO_Geoc, ellip);
988  geodeticToGeocentric(CANI_96833, CANI_Geoc, ellip);
989  geodeticToGeocentric(HALC_92543, HALC_Geoc, ellip);
990 
991  // A5
992  TGeocentricCoords MAND_Geoc2, OROZ_Geoc2, SANC_Geoc2, ARJO_Geoc2,
993  CANI_Geoc2, HALC_Geoc2;
994  TDatum7Params datum(
995  131.0320, 100.2510, 163.3540, -1.2438, -0.0195, -1.1436, -9.3900);
996  transform7params(MAND_Geoc, datum, MAND_Geoc2);
997  transform7params(OROZ_Geoc, datum, OROZ_Geoc2);
998  transform7params(SANC_Geoc, datum, SANC_Geoc2);
999  transform7params(ARJO_Geoc, datum, ARJO_Geoc2);
1000  transform7params(CANI_Geoc, datum, CANI_Geoc2);
1001  transform7params(HALC_Geoc, datum, HALC_Geoc2);
1002 
1003  // A4
1004  TGeodeticCoords MAND_Geod, OROZ_Geod, SANC_Geod, ARJO_Geod, CANI_Geod,
1005  HALC_Geod;
1006  geocentricToGeodetic(MAND_Geoc2, MAND_Geod, ellip);
1007  geocentricToGeodetic(OROZ_Geoc2, OROZ_Geod, ellip);
1008  geocentricToGeodetic(SANC_Geoc2, SANC_Geod, ellip);
1009  geocentricToGeodetic(ARJO_Geoc2, ARJO_Geod, ellip);
1010  geocentricToGeodetic(CANI_Geoc2, CANI_Geod, ellip);
1011  geocentricToGeodetic(HALC_Geoc2, HALC_Geod, ellip);
1012 
1013  // A2
1014  int UTMZone;
1015  char UTMBand;
1016  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
1017  geodeticToUTM(MAND_Geod, MAND_UTM, UTMZone, UTMBand, ellip);
1018  geodeticToUTM(OROZ_Geod, OROZ_UTM, UTMZone, UTMBand, ellip);
1019  geodeticToUTM(SANC_Geod, SANC_UTM, UTMZone, UTMBand, ellip);
1020  geodeticToUTM(ARJO_Geod, ARJO_UTM, UTMZone, UTMBand, ellip);
1021  geodeticToUTM(CANI_Geod, CANI_UTM, UTMZone, UTMBand, ellip);
1022  geodeticToUTM(HALC_Geod, HALC_UTM, UTMZone, UTMBand, ellip);
1023 
1024  CVectorDouble thisResults;
1025  thisResults.resize(18);
1026 
1027  thisResults[0] = MAND_UTM.x;
1028  thisResults[1] = MAND_UTM.y;
1029  thisResults[2] = MAND_UTM.z;
1030  thisResults[3] = OROZ_UTM.x;
1031  thisResults[4] = OROZ_UTM.y;
1032  thisResults[5] = OROZ_UTM.z;
1033  thisResults[6] = SANC_UTM.x;
1034  thisResults[7] = SANC_UTM.y;
1035  thisResults[8] = SANC_UTM.z;
1036  thisResults[9] = ARJO_UTM.x;
1037  thisResults[10] = ARJO_UTM.y;
1038  thisResults[11] = ARJO_UTM.z;
1039  thisResults[12] = CANI_UTM.x;
1040  thisResults[13] = CANI_UTM.y;
1041  thisResults[14] = CANI_UTM.z;
1042  thisResults[15] = HALC_UTM.x;
1043  thisResults[16] = HALC_UTM.y;
1044  thisResults[17] = HALC_UTM.z;
1045 
1046  displayResults(thisResults, 7, false);
1047 
1048  // A8
1049  TPoint3D MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
1050  HALC_point;
1051  TDatumHelmert3D_TOPCON dat(
1052  0.9999944446, 0.0000005236, 0.5022460081, -0.0000136628, 1.0000023039,
1053  -4.4675776973, 29.2747378118);
1054  transformHelmert3D_TOPCON(MAND_UTM, dat, MAND_point);
1055  transformHelmert3D_TOPCON(OROZ_UTM, dat, OROZ_point);
1056  transformHelmert3D_TOPCON(SANC_UTM, dat, SANC_point);
1057  transformHelmert3D_TOPCON(ARJO_UTM, dat, ARJO_point);
1058  transformHelmert3D_TOPCON(CANI_UTM, dat, CANI_point);
1059  transformHelmert3D_TOPCON(HALC_UTM, dat, HALC_point);
1060 
1061  thisResults[0] = MAND_point.x;
1062  thisResults[1] = MAND_point.y;
1063  thisResults[2] = MAND_point.z;
1064  thisResults[3] = OROZ_point.x;
1065  thisResults[4] = OROZ_point.y;
1066  thisResults[5] = OROZ_point.z;
1067  thisResults[6] = SANC_point.x;
1068  thisResults[7] = SANC_point.y;
1069  thisResults[8] = SANC_point.z;
1070  thisResults[9] = ARJO_point.x;
1071  thisResults[10] = ARJO_point.y;
1072  thisResults[11] = ARJO_point.z;
1073  thisResults[12] = CANI_point.x;
1074  thisResults[13] = CANI_point.y;
1075  thisResults[14] = CANI_point.z;
1076  thisResults[15] = HALC_point.x;
1077  thisResults[16] = HALC_point.y;
1078  thisResults[17] = HALC_point.z;
1079 
1080  displayResults(thisResults, 7, true);
1081 }
1082 
1083 void Examples_08()
1084 {
1085  TGeodeticCoords MAND_92633(
1086  TCoords(37, 53, 33.072573).getDecimalValue(),
1087  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
1088  TGeodeticCoords OROZ_96965(
1089  TCoords(37, 35, 31.75505).getDecimalValue(),
1090  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
1091  TGeodeticCoords SANC_94744(
1092  TCoords(37, 44, 29.04253).getDecimalValue(),
1093  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
1094  TGeodeticCoords ARJO_94633(
1095  TCoords(37, 43, 51.28918).getDecimalValue(),
1096  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
1097  TGeodeticCoords CANI_96833(
1098  TCoords(37, 33, 6.94237).getDecimalValue(),
1099  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
1100  TGeodeticCoords HALC_92543(
1101  TCoords(37, 53, 11.26838).getDecimalValue(),
1102  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
1103 
1104  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Internacional_1924();
1105 
1106  // A3
1107  TGeocentricCoords MAND_Geoc, OROZ_Geoc, SANC_Geoc, ARJO_Geoc, CANI_Geoc,
1108  HALC_Geoc;
1109  geodeticToGeocentric(MAND_92633, MAND_Geoc, ellip);
1110  geodeticToGeocentric(OROZ_96965, OROZ_Geoc, ellip);
1111  geodeticToGeocentric(SANC_94744, SANC_Geoc, ellip);
1112  geodeticToGeocentric(ARJO_94633, ARJO_Geoc, ellip);
1113  geodeticToGeocentric(CANI_96833, CANI_Geoc, ellip);
1114  geodeticToGeocentric(HALC_92543, HALC_Geoc, ellip);
1115 
1116  // A5
1117  TGeocentricCoords MAND_Geoc2, OROZ_Geoc2, SANC_Geoc2, ARJO_Geoc2,
1118  CANI_Geoc2, HALC_Geoc2;
1119  TDatum7Params datum(
1120  131.0320, 100.2510, 163.3540, -1.2438, -0.0195, -1.1436, -9.3900);
1121  transform7params(MAND_Geoc, datum, MAND_Geoc2);
1122  transform7params(OROZ_Geoc, datum, OROZ_Geoc2);
1123  transform7params(SANC_Geoc, datum, SANC_Geoc2);
1124  transform7params(ARJO_Geoc, datum, ARJO_Geoc2);
1125  transform7params(CANI_Geoc, datum, CANI_Geoc2);
1126  transform7params(HALC_Geoc, datum, HALC_Geoc2);
1127 
1128  // A4
1129  TGeodeticCoords MAND_Geod, OROZ_Geod, SANC_Geod, ARJO_Geod, CANI_Geod,
1130  HALC_Geod;
1131  geocentricToGeodetic(MAND_Geoc2, MAND_Geod, ellip);
1132  geocentricToGeodetic(OROZ_Geoc2, OROZ_Geod, ellip);
1133  geocentricToGeodetic(SANC_Geoc2, SANC_Geod, ellip);
1134  geocentricToGeodetic(ARJO_Geoc2, ARJO_Geod, ellip);
1135  geocentricToGeodetic(CANI_Geoc2, CANI_Geod, ellip);
1136  geocentricToGeodetic(HALC_Geoc2, HALC_Geod, ellip);
1137 
1138  // A2
1139  int UTMZone;
1140  char UTMBand;
1141  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
1142  geodeticToUTM(MAND_Geod, MAND_UTM, UTMZone, UTMBand, ellip);
1143  geodeticToUTM(OROZ_Geod, OROZ_UTM, UTMZone, UTMBand, ellip);
1144  geodeticToUTM(SANC_Geod, SANC_UTM, UTMZone, UTMBand, ellip);
1145  geodeticToUTM(ARJO_Geod, ARJO_UTM, UTMZone, UTMBand, ellip);
1146  geodeticToUTM(CANI_Geod, CANI_UTM, UTMZone, UTMBand, ellip);
1147  geodeticToUTM(HALC_Geod, HALC_UTM, UTMZone, UTMBand, ellip);
1148 
1149  CVectorDouble thisResults;
1150  thisResults.resize(18);
1151 
1152  thisResults[0] = MAND_UTM.x;
1153  thisResults[1] = MAND_UTM.y;
1154  thisResults[2] = MAND_UTM.z;
1155  thisResults[3] = OROZ_UTM.x;
1156  thisResults[4] = OROZ_UTM.y;
1157  thisResults[5] = OROZ_UTM.z;
1158  thisResults[6] = SANC_UTM.x;
1159  thisResults[7] = SANC_UTM.y;
1160  thisResults[8] = SANC_UTM.z;
1161  thisResults[9] = ARJO_UTM.x;
1162  thisResults[10] = ARJO_UTM.y;
1163  thisResults[11] = ARJO_UTM.z;
1164  thisResults[12] = CANI_UTM.x;
1165  thisResults[13] = CANI_UTM.y;
1166  thisResults[14] = CANI_UTM.z;
1167  thisResults[15] = HALC_UTM.x;
1168  thisResults[16] = HALC_UTM.y;
1169  thisResults[17] = HALC_UTM.z;
1170 
1171  displayResults(thisResults, 8, false);
1172 
1173  // A5
1174  TGeocentricCoords MAND_Geoc3, OROZ_Geoc3, SANC_Geoc3, ARJO_Geoc3,
1175  CANI_Geoc3, HALC_Geoc3;
1176  // TDatum7Params dat( -34.095438458048, 10.843234125336,
1177  // 212.169692142148,
1178  // -8.348308019638, 6.751893142065, -1.738975581025, -1.898114919019 );
1179  TDatum7Params_TOPCON dat(
1180  -34.095438458048, 10.843234125336, 212.169692142148, 0.9999999994,
1181  0.0000084308, 0.0000327341, -0.0000084321, 0.9999999991, 0.0000404737,
1182  -0.0000327338, -0.0000404737, 0.9999999986, -1.898114919019);
1183  transform7params_TOPCON(MAND_UTM, dat, MAND_Geoc3);
1184  transform7params_TOPCON(OROZ_UTM, dat, OROZ_Geoc3);
1185  transform7params_TOPCON(SANC_UTM, dat, SANC_Geoc3);
1186  transform7params_TOPCON(ARJO_UTM, dat, ARJO_Geoc3);
1187  transform7params_TOPCON(CANI_UTM, dat, CANI_Geoc3);
1188  transform7params_TOPCON(HALC_UTM, dat, HALC_Geoc3);
1189 
1190  thisResults[0] = MAND_Geoc3.x;
1191  thisResults[1] = MAND_Geoc3.y;
1192  thisResults[2] = MAND_Geoc3.z;
1193  thisResults[3] = OROZ_Geoc3.x;
1194  thisResults[4] = OROZ_Geoc3.y;
1195  thisResults[5] = OROZ_Geoc3.z;
1196  thisResults[6] = SANC_Geoc3.x;
1197  thisResults[7] = SANC_Geoc3.y;
1198  thisResults[8] = SANC_Geoc3.z;
1199  thisResults[9] = ARJO_Geoc3.x;
1200  thisResults[10] = ARJO_Geoc3.y;
1201  thisResults[11] = ARJO_Geoc3.z;
1202  thisResults[12] = CANI_Geoc3.x;
1203  thisResults[13] = CANI_Geoc3.y;
1204  thisResults[14] = CANI_Geoc3.z;
1205  thisResults[15] = HALC_Geoc3.x;
1206  thisResults[16] = HALC_Geoc3.y;
1207  thisResults[17] = HALC_Geoc3.z;
1208 
1209  displayResults(thisResults, 8, true);
1210 }
1211 
1212 void Examples_10()
1213 {
1214  TGeodeticCoords MAND_92633(
1215  TCoords(37, 53, 33.072573).getDecimalValue(),
1216  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
1217  TGeodeticCoords OROZ_96965(
1218  TCoords(37, 35, 31.75505).getDecimalValue(),
1219  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
1220  TGeodeticCoords SANC_94744(
1221  TCoords(37, 44, 29.04253).getDecimalValue(),
1222  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
1223  TGeodeticCoords ARJO_94633(
1224  TCoords(37, 43, 51.28918).getDecimalValue(),
1225  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
1226  TGeodeticCoords CANI_96833(
1227  TCoords(37, 33, 6.94237).getDecimalValue(),
1228  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
1229  TGeodeticCoords HALC_92543(
1230  TCoords(37, 53, 11.26838).getDecimalValue(),
1231  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
1232 
1233  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Hayford_1909();
1234 
1235  // A3
1236  TGeocentricCoords MAND_Geoc, OROZ_Geoc, SANC_Geoc, ARJO_Geoc, CANI_Geoc,
1237  HALC_Geoc;
1238  geodeticToGeocentric(MAND_92633, MAND_Geoc, ellip);
1239  geodeticToGeocentric(OROZ_96965, OROZ_Geoc, ellip);
1240  geodeticToGeocentric(SANC_94744, SANC_Geoc, ellip);
1241  geodeticToGeocentric(ARJO_94633, ARJO_Geoc, ellip);
1242  geodeticToGeocentric(CANI_96833, CANI_Geoc, ellip);
1243  geodeticToGeocentric(HALC_92543, HALC_Geoc, ellip);
1244 
1245  // A5
1246  TGeocentricCoords MAND_Geoc2, OROZ_Geoc2, SANC_Geoc2, ARJO_Geoc2,
1247  CANI_Geoc2, HALC_Geoc2;
1248  TDatum7Params datum(
1249  284.2535, -116.9549, -34.8027, 4.78337, 7.96684, -5.37707, -6.6900);
1250  transform7params(MAND_Geoc, datum, MAND_Geoc2);
1251  transform7params(OROZ_Geoc, datum, OROZ_Geoc2);
1252  transform7params(SANC_Geoc, datum, SANC_Geoc2);
1253  transform7params(ARJO_Geoc, datum, ARJO_Geoc2);
1254  transform7params(CANI_Geoc, datum, CANI_Geoc2);
1255  transform7params(HALC_Geoc, datum, HALC_Geoc2);
1256 
1257  // A4
1258  TGeodeticCoords MAND_Geod, OROZ_Geod, SANC_Geod, ARJO_Geod, CANI_Geod,
1259  HALC_Geod;
1260  geocentricToGeodetic(MAND_Geoc2, MAND_Geod, ellip);
1261  geocentricToGeodetic(OROZ_Geoc2, OROZ_Geod, ellip);
1262  geocentricToGeodetic(SANC_Geoc2, SANC_Geod, ellip);
1263  geocentricToGeodetic(ARJO_Geoc2, ARJO_Geod, ellip);
1264  geocentricToGeodetic(CANI_Geoc2, CANI_Geod, ellip);
1265  geocentricToGeodetic(HALC_Geoc2, HALC_Geod, ellip);
1266 
1267  // A2
1268  int UTMZone;
1269  char UTMBand;
1270  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
1271  geodeticToUTM(MAND_Geod, MAND_UTM, UTMZone, UTMBand, ellip);
1272  geodeticToUTM(OROZ_Geod, OROZ_UTM, UTMZone, UTMBand, ellip);
1273  geodeticToUTM(SANC_Geod, SANC_UTM, UTMZone, UTMBand, ellip);
1274  geodeticToUTM(ARJO_Geod, ARJO_UTM, UTMZone, UTMBand, ellip);
1275  geodeticToUTM(CANI_Geod, CANI_UTM, UTMZone, UTMBand, ellip);
1276  geodeticToUTM(HALC_Geod, HALC_UTM, UTMZone, UTMBand, ellip);
1277 
1278  CVectorDouble thisResults;
1279  thisResults.resize(18);
1280 
1281  thisResults[0] = MAND_UTM.x;
1282  thisResults[1] = MAND_UTM.y;
1283  thisResults[2] = MAND_UTM.z;
1284  thisResults[3] = OROZ_UTM.x;
1285  thisResults[4] = OROZ_UTM.y;
1286  thisResults[5] = OROZ_UTM.z;
1287  thisResults[6] = SANC_UTM.x;
1288  thisResults[7] = SANC_UTM.y;
1289  thisResults[8] = SANC_UTM.z;
1290  thisResults[9] = ARJO_UTM.x;
1291  thisResults[10] = ARJO_UTM.y;
1292  thisResults[11] = ARJO_UTM.z;
1293  thisResults[12] = CANI_UTM.x;
1294  thisResults[13] = CANI_UTM.y;
1295  thisResults[14] = CANI_UTM.z;
1296  thisResults[15] = HALC_UTM.x;
1297  thisResults[16] = HALC_UTM.y;
1298  thisResults[17] = HALC_UTM.z;
1299 
1300  displayResults(thisResults, 10, true);
1301 }
1302 
1303 void Examples_11()
1304 {
1305  TGeodeticCoords MAND_92633(
1306  TCoords(37, 53, 33.072573).getDecimalValue(),
1307  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
1308  TGeodeticCoords OROZ_96965(
1309  TCoords(37, 35, 31.75505).getDecimalValue(),
1310  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
1311  TGeodeticCoords SANC_94744(
1312  TCoords(37, 44, 29.04253).getDecimalValue(),
1313  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
1314  TGeodeticCoords ARJO_94633(
1315  TCoords(37, 43, 51.28918).getDecimalValue(),
1316  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
1317  TGeodeticCoords CANI_96833(
1318  TCoords(37, 33, 6.94237).getDecimalValue(),
1319  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
1320  TGeodeticCoords HALC_92543(
1321  TCoords(37, 53, 11.26838).getDecimalValue(),
1322  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
1323 
1324  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Hayford_1909();
1325 
1326  // A3
1327  TGeocentricCoords MAND_Geoc, OROZ_Geoc, SANC_Geoc, ARJO_Geoc, CANI_Geoc,
1328  HALC_Geoc;
1329  geodeticToGeocentric(MAND_92633, MAND_Geoc, ellip);
1330  geodeticToGeocentric(OROZ_96965, OROZ_Geoc, ellip);
1331  geodeticToGeocentric(SANC_94744, SANC_Geoc, ellip);
1332  geodeticToGeocentric(ARJO_94633, ARJO_Geoc, ellip);
1333  geodeticToGeocentric(CANI_96833, CANI_Geoc, ellip);
1334  geodeticToGeocentric(HALC_92543, HALC_Geoc, ellip);
1335 
1336  // A6
1337  TGeocentricCoords MAND_Geoc2, OROZ_Geoc2, SANC_Geoc2, ARJO_Geoc2,
1338  CANI_Geoc2, HALC_Geoc2;
1339  TDatum10Params datum(
1340  109.4714, 106.7407, 141.7916, 5039726.4242, -341417.6071, 3882515.5524,
1341  4.78337, 7.96684, -5.37707, -6.6900);
1342  transform10params(MAND_Geoc, datum, MAND_Geoc2);
1343  transform10params(OROZ_Geoc, datum, OROZ_Geoc2);
1344  transform10params(SANC_Geoc, datum, SANC_Geoc2);
1345  transform10params(ARJO_Geoc, datum, ARJO_Geoc2);
1346  transform10params(CANI_Geoc, datum, CANI_Geoc2);
1347  transform10params(HALC_Geoc, datum, HALC_Geoc2);
1348 
1349  // A4
1350  TGeodeticCoords MAND_Geod, OROZ_Geod, SANC_Geod, ARJO_Geod, CANI_Geod,
1351  HALC_Geod;
1352  geocentricToGeodetic(MAND_Geoc2, MAND_Geod, ellip);
1353  geocentricToGeodetic(OROZ_Geoc2, OROZ_Geod, ellip);
1354  geocentricToGeodetic(SANC_Geoc2, SANC_Geod, ellip);
1355  geocentricToGeodetic(ARJO_Geoc2, ARJO_Geod, ellip);
1356  geocentricToGeodetic(CANI_Geoc2, CANI_Geod, ellip);
1357  geocentricToGeodetic(HALC_Geoc2, HALC_Geod, ellip);
1358 
1359  // A2
1360  int UTMZone;
1361  char UTMBand;
1362  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
1363  geodeticToUTM(MAND_Geod, MAND_UTM, UTMZone, UTMBand, ellip);
1364  geodeticToUTM(OROZ_Geod, OROZ_UTM, UTMZone, UTMBand, ellip);
1365  geodeticToUTM(SANC_Geod, SANC_UTM, UTMZone, UTMBand, ellip);
1366  geodeticToUTM(ARJO_Geod, ARJO_UTM, UTMZone, UTMBand, ellip);
1367  geodeticToUTM(CANI_Geod, CANI_UTM, UTMZone, UTMBand, ellip);
1368  geodeticToUTM(HALC_Geod, HALC_UTM, UTMZone, UTMBand, ellip);
1369 
1370  CVectorDouble thisResults;
1371  thisResults.resize(18);
1372 
1373  thisResults[0] = MAND_UTM.x;
1374  thisResults[1] = MAND_UTM.y;
1375  thisResults[2] = MAND_UTM.z;
1376  thisResults[3] = OROZ_UTM.x;
1377  thisResults[4] = OROZ_UTM.y;
1378  thisResults[5] = OROZ_UTM.z;
1379  thisResults[6] = SANC_UTM.x;
1380  thisResults[7] = SANC_UTM.y;
1381  thisResults[8] = SANC_UTM.z;
1382  thisResults[9] = ARJO_UTM.x;
1383  thisResults[10] = ARJO_UTM.y;
1384  thisResults[11] = ARJO_UTM.z;
1385  thisResults[12] = CANI_UTM.x;
1386  thisResults[13] = CANI_UTM.y;
1387  thisResults[14] = CANI_UTM.z;
1388  thisResults[15] = HALC_UTM.x;
1389  thisResults[16] = HALC_UTM.y;
1390  thisResults[17] = HALC_UTM.z;
1391 
1392  displayResults(thisResults, 11, true);
1393 }
1394 
1395 void Examples_12()
1396 {
1397  TGeodeticCoords MAND_92633(
1398  TCoords(37, 53, 33.072573).getDecimalValue(),
1399  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
1400  TGeodeticCoords OROZ_96965(
1401  TCoords(37, 35, 31.75505).getDecimalValue(),
1402  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
1403  TGeodeticCoords SANC_94744(
1404  TCoords(37, 44, 29.04253).getDecimalValue(),
1405  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
1406  TGeodeticCoords ARJO_94633(
1407  TCoords(37, 43, 51.28918).getDecimalValue(),
1408  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
1409  TGeodeticCoords CANI_96833(
1410  TCoords(37, 33, 6.94237).getDecimalValue(),
1411  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
1412  TGeodeticCoords HALC_92543(
1413  TCoords(37, 53, 11.26838).getDecimalValue(),
1414  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
1415 
1416  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Hayford_1909();
1417 
1418  // A2
1419  int UTMZone;
1420  char UTMBand;
1421  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
1422  geodeticToUTM(MAND_92633, MAND_UTM, UTMZone, UTMBand, ellip);
1423  geodeticToUTM(OROZ_96965, OROZ_UTM, UTMZone, UTMBand, ellip);
1424  geodeticToUTM(SANC_94744, SANC_UTM, UTMZone, UTMBand, ellip);
1425  geodeticToUTM(ARJO_94633, ARJO_UTM, UTMZone, UTMBand, ellip);
1426  geodeticToUTM(CANI_96833, CANI_UTM, UTMZone, UTMBand, ellip);
1427  geodeticToUTM(HALC_92543, HALC_UTM, UTMZone, UTMBand, ellip);
1428 
1429  // A7
1430  TPoint2D MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
1431  HALC_point;
1432  TDatumHelmert2D dat(
1433  15.8778, 0.4491, TCoords(0, 32, 8.75881).getDecimalValue() /*degrees*/,
1434  -325.9604, 422956.6976, 4176709.7722);
1435  transformHelmert2D(TPoint2D(MAND_UTM.x, MAND_UTM.y), dat, MAND_point);
1436  transformHelmert2D(TPoint2D(OROZ_UTM.x, OROZ_UTM.y), dat, OROZ_point);
1437  transformHelmert2D(TPoint2D(SANC_UTM.x, SANC_UTM.y), dat, SANC_point);
1438  transformHelmert2D(TPoint2D(ARJO_UTM.x, ARJO_UTM.y), dat, ARJO_point);
1439  transformHelmert2D(TPoint2D(CANI_UTM.x, CANI_UTM.y), dat, CANI_point);
1440  transformHelmert2D(TPoint2D(HALC_UTM.x, HALC_UTM.y), dat, HALC_point);
1441 
1442  // A9
1443  TPoint3D MAND_point2, OROZ_point2, SANC_point2, ARJO_point2, CANI_point2,
1444  HALC_point2;
1445  TDatum1DTransf datum(-0.00001847 /*rad*/, -0.00001536 /*rad*/, -49.4041, 0);
1446  transform1D(
1447  TPoint3D(MAND_point.x, MAND_point.y, MAND_UTM.z), datum, MAND_point2);
1448  transform1D(
1449  TPoint3D(OROZ_point.x, OROZ_point.y, OROZ_UTM.z), datum, OROZ_point2);
1450  transform1D(
1451  TPoint3D(SANC_point.x, SANC_point.y, SANC_UTM.z), datum, SANC_point2);
1452  transform1D(
1453  TPoint3D(ARJO_point.x, ARJO_point.y, ARJO_UTM.z), datum, ARJO_point2);
1454  transform1D(
1455  TPoint3D(CANI_point.x, CANI_point.y, CANI_UTM.z), datum, CANI_point2);
1456  transform1D(
1457  TPoint3D(HALC_point.x, HALC_point.y, HALC_UTM.z), datum, HALC_point2);
1458 
1459  CVectorDouble thisResults;
1460  thisResults.resize(18);
1461 
1462  thisResults[0] = MAND_point2.x;
1463  thisResults[1] = MAND_point2.y;
1464  thisResults[2] = MAND_point2.z;
1465  thisResults[3] = OROZ_point2.x;
1466  thisResults[4] = OROZ_point2.y;
1467  thisResults[5] = OROZ_point2.z;
1468  thisResults[6] = SANC_point2.x;
1469  thisResults[7] = SANC_point2.y;
1470  thisResults[8] = SANC_point2.z;
1471  thisResults[9] = ARJO_point2.x;
1472  thisResults[10] = ARJO_point2.y;
1473  thisResults[11] = ARJO_point2.z;
1474  thisResults[12] = CANI_point2.x;
1475  thisResults[13] = CANI_point2.y;
1476  thisResults[14] = CANI_point2.z;
1477  thisResults[15] = HALC_point2.x;
1478  thisResults[16] = HALC_point2.y;
1479  thisResults[17] = HALC_point2.z;
1480 
1481  displayResults(thisResults, 12, true);
1482 }
1483 
1484 void Examples_13()
1485 {
1486  TGeodeticCoords MAND_92633(
1487  TCoords(37, 53, 33.072573).getDecimalValue(),
1488  TCoords(-3, 43, 52.68965).getDecimalValue(), 515.579);
1489  TGeodeticCoords OROZ_96965(
1490  TCoords(37, 35, 31.75505).getDecimalValue(),
1491  TCoords(-3, 38, 5.70754).getDecimalValue(), 1489.188);
1492  TGeodeticCoords SANC_94744(
1493  TCoords(37, 44, 29.04253).getDecimalValue(),
1494  TCoords(-3, 43, 12.90285).getDecimalValue(), 1054.189);
1495  TGeodeticCoords ARJO_94633(
1496  TCoords(37, 43, 51.28918).getDecimalValue(),
1497  TCoords(-4, 3, 48.64503).getDecimalValue(), 569.182);
1498  TGeodeticCoords CANI_96833(
1499  TCoords(37, 33, 6.94237).getDecimalValue(),
1500  TCoords(-4, 3, 28.81611).getDecimalValue(), 897.626);
1501  TGeodeticCoords HALC_92543(
1502  TCoords(37, 53, 11.26838).getDecimalValue(),
1503  TCoords(-4, 2, 44.35794).getDecimalValue(), 530.446);
1504 
1505  const TEllipsoid ellip = TEllipsoid::Ellipsoid_Hayford_1909();
1506 
1507  // A2
1508  int UTMZone;
1509  char UTMBand;
1510  TUTMCoords MAND_UTM, OROZ_UTM, SANC_UTM, ARJO_UTM, CANI_UTM, HALC_UTM;
1511  geodeticToUTM(MAND_92633, MAND_UTM, UTMZone, UTMBand, ellip);
1512  geodeticToUTM(OROZ_96965, OROZ_UTM, UTMZone, UTMBand, ellip);
1513  geodeticToUTM(SANC_94744, SANC_UTM, UTMZone, UTMBand, ellip);
1514  geodeticToUTM(ARJO_94633, ARJO_UTM, UTMZone, UTMBand, ellip);
1515  geodeticToUTM(CANI_96833, CANI_UTM, UTMZone, UTMBand, ellip);
1516  geodeticToUTM(HALC_92543, HALC_UTM, UTMZone, UTMBand, ellip);
1517 
1518  // A10
1519  TPoint3D MAND_point, OROZ_point, SANC_point, ARJO_point, CANI_point,
1520  HALC_point;
1521  TDatumTransfInterpolation dat(
1522  423150.0514, 4197393.9437, -334.2393 /*ppm*/, -314.2785 /*ppm*/,
1523  1.33958 /*secs*/);
1524  transfInterpolation(MAND_UTM, dat, MAND_point);
1525  transfInterpolation(OROZ_UTM, dat, OROZ_point);
1526  transfInterpolation(SANC_UTM, dat, SANC_point);
1527  transfInterpolation(ARJO_UTM, dat, ARJO_point);
1528  transfInterpolation(CANI_UTM, dat, CANI_point);
1529  transfInterpolation(HALC_UTM, dat, HALC_point);
1530 
1531  // A9
1532  TPoint3D MAND_point2, OROZ_point2, SANC_point2, ARJO_point2, CANI_point2,
1533  HALC_point2;
1534  TDatum1DTransf datum(-0.00001822 /*rad*/, -0.00001304 /*rad*/, -49.8094, 0);
1535  transform1D(MAND_point, datum, MAND_point2);
1536  transform1D(OROZ_point, datum, OROZ_point2);
1537  transform1D(SANC_point, datum, SANC_point2);
1538  transform1D(ARJO_point, datum, ARJO_point2);
1539  transform1D(CANI_point, datum, CANI_point2);
1540  transform1D(HALC_point, datum, HALC_point2);
1541 
1542  CVectorDouble thisResults;
1543  thisResults.resize(18);
1544 
1545  thisResults[0] = MAND_point2.x;
1546  thisResults[1] = MAND_point2.y;
1547  thisResults[2] = MAND_point2.z;
1548  thisResults[3] = OROZ_point2.x;
1549  thisResults[4] = OROZ_point2.y;
1550  thisResults[5] = OROZ_point2.z;
1551  thisResults[6] = SANC_point2.x;
1552  thisResults[7] = SANC_point2.y;
1553  thisResults[8] = SANC_point2.z;
1554  thisResults[9] = ARJO_point2.x;
1555  thisResults[10] = ARJO_point2.y;
1556  thisResults[11] = ARJO_point2.z;
1557  thisResults[12] = CANI_point2.x;
1558  thisResults[13] = CANI_point2.y;
1559  thisResults[14] = CANI_point2.z;
1560  thisResults[15] = HALC_point2.x;
1561  thisResults[16] = HALC_point2.y;
1562  thisResults[17] = HALC_point2.z;
1563 
1564  displayResults(thisResults, 13, true);
1565 }
1566 
1567 int main(int argc, char** argv)
1568 {
1569  try
1570  {
1571  exampleResults();
1572  TestCoordinatesConversions();
1573  mrpt::system::setConsoleColor(CONCOL_BLUE);
1574  cout << "**************************************" << endl;
1575  cout << "\tTOPCON with th = " << TH << endl;
1576  cout << "**************************************" << endl;
1577  mrpt::system::setConsoleColor(CONCOL_NORMAL);
1578  Examples_01();
1579  Examples_02();
1580  Examples_03();
1581  Examples_04();
1582  Examples_05();
1583  Examples_06();
1584  Examples_07();
1585  Examples_08();
1586  mrpt::system::setConsoleColor(CONCOL_BLUE);
1587  cout << "**************************************" << endl;
1588  cout << "\tLEICA with th = " << TH << endl;
1589  cout << "**************************************" << endl;
1590  mrpt::system::setConsoleColor(CONCOL_NORMAL);
1591  cout << "Example 09 missing in pdf" << endl;
1592  Examples_10();
1593  Examples_11();
1594  Examples_12();
1595  Examples_13();
1596 
1597  return 0;
1598  }
1599  catch (const std::exception& e)
1600  {
1601  std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
1602  return -1;
1603  }
1604  catch (...)
1605  {
1606  printf("Another exception!!");
1607  return -1;
1608  }
1609 }
mrpt::topography::transformHelmert2D_TOPCON
void transformHelmert2D_TOPCON(const mrpt::math::TPoint2D &p, const TDatumHelmert2D_TOPCON &d, mrpt::math::TPoint2D &o)
Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha...
Definition: conversions.cpp:594
TestCoordinatesConversions
void TestCoordinatesConversions()
Definition: vision_stereo_rectify/test.cpp:345
mrpt::topography::transformHelmert2D
void transformHelmert2D(const mrpt::math::TPoint2D &p, const TDatumHelmert2D &d, mrpt::math::TPoint2D &o)
Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha...
Definition: conversions.cpp:576
mrpt::math::CMatrixD
This class is a "CSerializable" wrapper for "CMatrixDynamic<double>".
Definition: CMatrixD.h:23
displayResults
void displayResults(const CVectorDouble &thisResults, const unsigned int &example, const bool color)
Definition: vision_stereo_rectify/test.cpp:291
mrpt::math::TPoint2D
TPoint2D_< double > TPoint2D
Lightweight 2D point.
Definition: TPoint2D.h:213
TH
const double TH
Definition: vision_stereo_rectify/test.cpp:25
mrpt::topography::TDatumHelmert2D
Parameters for a topographic transfomation.
Definition: data_types.h:301
mrpt::math::TPoint2D_data::x
T x
X,Y coordinates.
Definition: TPoint2D.h:25
mrpt::system::CONCOL_RED
Definition: os.h:167
Examples_08
void Examples_08()
Definition: vision_stereo_rectify/test.cpp:1083
mrpt::math::TPoint3D_data::z
T z
Definition: TPoint3D.h:29
mrpt::topography::TDatum7Params_TOPCON
Definition: data_types.h:241
Examples_12
void Examples_12()
Definition: vision_stereo_rectify/test.cpp:1395
mrpt::topography::transform7params
void transform7params(const mrpt::math::TPoint3D &in_point, const TDatum7Params &in_datum, mrpt::math::TPoint3D &out_point)
7-parameter Bursa-Wolf transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 ...
Definition: conversions.cpp:524
mrpt::topography::TEllipsoid::name
std::string name
the ellipsoid name
Definition: data_types.h:93
mrpt::system::setConsoleColor
void setConsoleColor(TConsoleColor color, bool changeStdErr=false)
Changes the text color in the console for the text written from now on.
Definition: os.cpp:482
mrpt::topography::TGeodeticCoords
A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...
Definition: data_types.h:192
mrpt::math::CVectorDynamic::size
size_type size() const
Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x))
Definition: CVectorDynamic.h:141
Examples_01
void Examples_01()
Definition: vision_stereo_rectify/test.cpp:449
Examples_07
void Examples_07()
Definition: vision_stereo_rectify/test.cpp:958
Examples_13
void Examples_13()
Definition: vision_stereo_rectify/test.cpp:1484
std
STL namespace.
mrpt::topography::transform1D
void transform1D(const mrpt::math::TPoint3D &p, const TDatum1DTransf &d, mrpt::math::TPoint3D &o)
1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ
Definition: conversions.cpp:633
mrpt::topography::geodeticToGeocentric
void geodeticToGeocentric(const TGeodeticCoords &in_coords, TGeocentricCoords &out_point, const TEllipsoid &ellip)
Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an sp...
Definition: conversions.cpp:231
mrpt::topography::TCoords
A coordinate that is stored as a simple "decimal" angle in degrees, but can be retrieved/set in the f...
Definition: data_types.h:24
mrpt::system::CONCOL_NORMAL
Definition: os.h:164
mrpt::topography::transformHelmert3D_TOPCON
void transformHelmert3D_TOPCON(const mrpt::math::TPoint3D &p, const TDatumHelmert3D_TOPCON &d, mrpt::math::TPoint3D &o)
Helmert 3D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha...
Definition: conversions.cpp:620
mrpt::topography::transform10params
void transform10params(const mrpt::math::TPoint3D &in_point, const TDatum10Params &in_datum, mrpt::math::TPoint3D &out_point)
10-parameter Molodensky-Badekas transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -R...
Definition: conversions.cpp:556
mrpt::topography::TDatumHelmert2D_TOPCON
Definition: data_types.h:319
mrpt::topography::TDatumHelmert3D_TOPCON
Parameters for a topographic transfomation.
Definition: data_types.h:357
mrpt::topography::transfInterpolation
void transfInterpolation(const mrpt::math::TPoint3D &p, const TDatumTransfInterpolation &d, mrpt::math::TPoint3D &o)
Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ.
Definition: conversions.cpp:647
mrpt::topography::TDatum1DTransf
Parameters for a topographic transfomation.
Definition: data_types.h:372
mrpt::math
This base provides a set of functions for maths stuff.
Definition: math/include/mrpt/math/bits_math.h:11
Examples_06
void Examples_06()
Definition: vision_stereo_rectify/test.cpp:828
results
map< string, CVectorDouble > results
Definition: vision_stereo_rectify/test.cpp:33
mrpt::topography::TGeodeticCoords::lon
TCoords lon
Longitude (in degrees)
Definition: data_types.h:209
mrpt::topography::geodeticToUTM
void geodeticToUTM(const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
Definition: conversions.cpp:339
mrpt::topography::geocentricToGeodetic
void geocentricToGeodetic(const TGeocentricCoords &in_point, TGeodeticCoords &out_coords, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.
Definition: conversions.cpp:265
main
int main()
Definition: vision_stereo_rectify/test.cpp:78
Examples_02
void Examples_02()
Definition: vision_stereo_rectify/test.cpp:512
mrpt::math::TPoint3D
TPoint3D_< double > TPoint3D
Lightweight 3D point.
Definition: TPoint3D.h:268
exampleResults
void exampleResults()
Definition: vision_stereo_rectify/test.cpp:27
mrpt::system::CONCOL_GREEN
Definition: os.h:166
Examples_04
void Examples_04()
Definition: vision_stereo_rectify/test.cpp:681
Examples_11
void Examples_11()
Definition: vision_stereo_rectify/test.cpp:1303
mrpt::topography::UTMToGeodetic
void UTMToGeodetic(double X, double Y, int zone, char hem, double &out_lon, double &out_lat, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
Returns the Geodetic coordinates of the UTM input point.
Definition: conversions.cpp:295
mrpt::math::TPoint2D_data::y
T y
Definition: TPoint2D.h:25
mrpt::math::TPoint2D_< double >
names
std::vector< string > names
Definition: vision_stereo_rectify/test.cpp:23
mrpt::math::TPoint3D_data::y
T y
Definition: TPoint3D.h:29
mrpt::math::TPoint3D_data::x
T x
X,Y,Z coordinates.
Definition: TPoint3D.h:29
argv
const char * argv[]
Definition: RawlogGrabberApp_unittest.cpp:38
mrpt::topography::TDatum10Params
Parameters for a topographic transfomation.
Definition: data_types.h:274
Examples_03
void Examples_03()
Definition: vision_stereo_rectify/test.cpp:603
mrpt::math::TPoint3D_< double >
mrpt::topography::TGeodeticCoords::height
double height
Geodetic height (in meters)
Definition: data_types.h:211
mrpt::exception_to_str
std::string exception_to_str(const std::exception &e)
Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THR...
Definition: exceptions.cpp:59
Examples_05
void Examples_05()
Definition: vision_stereo_rectify/test.cpp:754
CMatrixD.h
argc
const int argc
Definition: RawlogGrabberApp_unittest.cpp:39
mrpt::math::CVectorDynamic::resize
void resize(std::size_t N, bool zeroNewElements=false)
Definition: CVectorDynamic.h:151
mrpt::system::CONCOL_BLUE
Definition: os.h:165
mrpt::topography
This namespace provides topography helper functions, coordinate transformations.
Definition: conversions.h:21
mrpt::topography::TDatum7Params
Parameters for a topographic transfomation.
Definition: data_types.h:220
mrpt::topography::TDatumTransfInterpolation
Parameters for a topographic transfomation.
Definition: data_types.h:390
Examples_10
void Examples_10()
Definition: vision_stereo_rectify/test.cpp:1212
mrpt::topography::TGeodeticCoords::lat
TCoords lat
Latitude (in degrees)
Definition: data_types.h:207
mrpt::topography::transform7params_TOPCON
void transform7params_TOPCON(const mrpt::math::TPoint3D &in_point, const TDatum7Params_TOPCON &in_datum, mrpt::math::TPoint3D &out_point)
7-parameter Bursa-Wolf transformation TOPCON: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY;...
Definition: conversions.cpp:540


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