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<?php |
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/** |
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* PHPCoord. |
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* |
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* @author Doug Wright |
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*/ |
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declare(strict_types=1); |
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namespace PHPCoord; |
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use function abs; |
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use DateTime; |
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use DateTimeImmutable; |
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use DateTimeInterface; |
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use InvalidArgumentException; |
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use PHPCoord\CoordinateOperation\AutoConversion; |
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use PHPCoord\CoordinateOperation\GeocentricValue; |
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use PHPCoord\CoordinateOperation\GeographicValue; |
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use PHPCoord\CoordinateReferenceSystem\Geocentric; |
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use PHPCoord\CoordinateReferenceSystem\Geographic; |
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use PHPCoord\CoordinateReferenceSystem\Geographic3D; |
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use PHPCoord\CoordinateSystem\Axis; |
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use PHPCoord\Exception\InvalidCoordinateException; |
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use PHPCoord\UnitOfMeasure\Angle\Angle; |
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use PHPCoord\UnitOfMeasure\Angle\Radian; |
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use PHPCoord\UnitOfMeasure\Length\Length; |
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use PHPCoord\UnitOfMeasure\Length\Metre; |
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use PHPCoord\UnitOfMeasure\Rate; |
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use PHPCoord\UnitOfMeasure\Scale\Scale; |
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use PHPCoord\UnitOfMeasure\Scale\Unity; |
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use PHPCoord\UnitOfMeasure\Time\Time; |
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use PHPCoord\UnitOfMeasure\Time\Year; |
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use function sprintf; |
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use function sqrt; |
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/** |
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* Coordinate representing a point in ECEF geocentric form. |
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*/ |
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class GeocentricPoint extends Point |
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{ |
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use AutoConversion; |
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/** |
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* X co-ordinate. |
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*/ |
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protected Length $x; |
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/** |
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* Y co-ordinate. |
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*/ |
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protected Length $y; |
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/** |
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* Z co-ordinate. |
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*/ |
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protected Length $z; |
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/** |
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* Coordinate reference system. |
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*/ |
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protected Geocentric $crs; |
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/** |
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* Coordinate epoch (date for which the specified coordinates represented this point). |
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*/ |
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protected ?DateTimeImmutable $epoch; |
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protected function __construct(Length $x, Length $y, Length $z, Geocentric $crs, ?DateTimeInterface $epoch = null) |
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{ |
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$this->crs = $crs; |
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$this->x = Length::convert($x, $this->getAxisByName(Axis::GEOCENTRIC_X)->getUnitOfMeasureId()); |
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$this->y = Length::convert($y, $this->getAxisByName(Axis::GEOCENTRIC_Y)->getUnitOfMeasureId()); |
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$this->z = Length::convert($z, $this->getAxisByName(Axis::GEOCENTRIC_Z)->getUnitOfMeasureId()); |
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if ($epoch instanceof DateTime) { |
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$epoch = DateTimeImmutable::createFromMutable($epoch); |
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} |
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$this->epoch = $epoch; |
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} |
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/** |
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* @param Length $x refer to CRS for preferred unit of measure, but any length unit accepted |
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* @param Length $y refer to CRS for preferred unit of measure, but any length unit accepted |
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* @param Length $z refer to CRS for preferred unit of measure, but any length unit accepted |
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*/ |
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public static function create(Length $x, Length $y, Length $z, Geocentric $crs, ?DateTimeInterface $epoch = null): self |
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{ |
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return new static($x, $y, $z, $crs, $epoch); |
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} |
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public function getX(): Length |
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{ |
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return $this->x; |
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} |
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public function getY(): Length |
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{ |
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return $this->y; |
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} |
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public function getZ(): Length |
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{ |
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return $this->z; |
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} |
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public function getCRS(): Geocentric |
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{ |
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return $this->crs; |
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} |
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public function getCoordinateEpoch(): ?DateTimeImmutable |
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{ |
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return $this->epoch; |
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} |
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/** |
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* Calculate surface distance between two points. |
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* Note: this implementation is currently not accurate over long distances, it is the straight line distance, not |
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* the surface distance. |
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*/ |
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public function calculateDistance(Point $to): Length |
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{ |
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if ($to->getCRS()->getSRID() !== $this->crs->getSRID()) { |
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throw new InvalidArgumentException('Can only calculate distances between two points in the same CRS'); |
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} |
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/* @var GeocentricPoint $to */ |
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return new Metre( |
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sqrt( |
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($to->getX()->getValue() - $this->x->getValue()) ** 2 + |
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($to->getY()->getValue() - $this->y->getValue()) ** 2 + |
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($to->getZ()->getValue() - $this->z->getValue()) ** 2 |
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) |
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); |
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} |
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public function __toString(): string |
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{ |
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return "({$this->x}, {$this->y}, {$this->z})"; |
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} |
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/** |
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* Geographic/geocentric conversions |
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* In applications it is often concatenated with the 3- 7- or 10-parameter transformations 9603, 9606, 9607 or |
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* 9636 to form a geographic to geographic transformation. |
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*/ |
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public function geographicGeocentric( |
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Geographic $to |
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): GeographicPoint { |
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$geocentricValue = new GeocentricValue($this->x, $this->y, $this->z, $to->getDatum()); |
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$asGeographic = $geocentricValue->asGeographicValue(); |
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return GeographicPoint::create($asGeographic->getLatitude(), $asGeographic->getLongitude(), $to instanceof Geographic3D ? $asGeographic->getHeight() : null, $to, $this->epoch); |
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} |
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/** |
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* Coordinate Frame rotation (geocentric domain) |
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* This method is a specific case of the Molodensky-Badekas (CF) method (code 1034) in which the evaluation point |
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* is at the geocentre with coordinate values of zero. Note the analogy with the Position Vector method (code 1033) |
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* but beware of the differences! |
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*/ |
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public function coordinateFrameRotation( |
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Geocentric $to, |
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Length $xAxisTranslation, |
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Length $yAxisTranslation, |
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Length $zAxisTranslation, |
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Angle $xAxisRotation, |
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Angle $yAxisRotation, |
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Angle $zAxisRotation, |
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Scale $scaleDifference |
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): self { |
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return $this->coordinateFrameMolodenskyBadekas( |
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$to, |
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$xAxisTranslation, |
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$yAxisTranslation, |
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$zAxisTranslation, |
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$xAxisRotation, |
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$yAxisRotation, |
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$zAxisRotation, |
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$scaleDifference, |
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new Metre(0), |
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new Metre(0), |
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new Metre(0) |
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); |
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} |
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/** |
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* Molodensky-Badekas (CF geocentric domain) |
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* See method codes 1039 and 9636 for this operation in other coordinate domains and method code 1061 for opposite |
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* rotation convention in geocentric domain. |
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*/ |
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public function coordinateFrameMolodenskyBadekas( |
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Geocentric $to, |
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Length $xAxisTranslation, |
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Length $yAxisTranslation, |
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Length $zAxisTranslation, |
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Angle $xAxisRotation, |
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Angle $yAxisRotation, |
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Angle $zAxisRotation, |
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Scale $scaleDifference, |
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Length $ordinate1OfEvaluationPoint, |
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Length $ordinate2OfEvaluationPoint, |
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Length $ordinate3OfEvaluationPoint |
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): self { |
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$xs = $this->x->asMetres()->getValue(); |
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$ys = $this->y->asMetres()->getValue(); |
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$zs = $this->z->asMetres()->getValue(); |
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$tx = $xAxisTranslation->asMetres()->getValue(); |
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$ty = $yAxisTranslation->asMetres()->getValue(); |
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$tz = $zAxisTranslation->asMetres()->getValue(); |
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$rx = $xAxisRotation->asRadians()->getValue(); |
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$ry = $yAxisRotation->asRadians()->getValue(); |
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$rz = $zAxisRotation->asRadians()->getValue(); |
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$M = 1 + $scaleDifference->asUnity()->getValue(); |
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$xp = $ordinate1OfEvaluationPoint->asMetres()->getValue(); |
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$yp = $ordinate2OfEvaluationPoint->asMetres()->getValue(); |
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$zp = $ordinate3OfEvaluationPoint->asMetres()->getValue(); |
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$xt = $M * ((($xs - $xp) * 1) + (($ys - $yp) * $rz) + (($zs - $zp) * -$ry)) + $tx + $xp; |
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$yt = $M * ((($xs - $xp) * -$rz) + (($ys - $yp) * 1) + (($zs - $zp) * $rx)) + $ty + $yp; |
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$zt = $M * ((($xs - $xp) * $ry) + (($ys - $yp) * -$rx) + (($zs - $zp) * 1)) + $tz + $zp; |
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return static::create(new Metre($xt), new Metre($yt), new Metre($zt), $to, $this->epoch); |
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} |
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/** |
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* Position Vector transformation (geocentric domain) |
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* This method is a specific case of the Molodensky-Badekas (PV) method (code 1061) in which the evaluation point |
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* is the geocentre with coordinate values of zero. Note the analogy with the Coordinate Frame method (code 1032) |
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* but beware of the differences! |
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*/ |
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public function positionVectorTransformation( |
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Geocentric $to, |
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Length $xAxisTranslation, |
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Length $yAxisTranslation, |
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Length $zAxisTranslation, |
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Angle $xAxisRotation, |
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Angle $yAxisRotation, |
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Angle $zAxisRotation, |
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Scale $scaleDifference |
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): self { |
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return $this->positionVectorMolodenskyBadekas( |
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$to, |
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$xAxisTranslation, |
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$yAxisTranslation, |
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$zAxisTranslation, |
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$xAxisRotation, |
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$yAxisRotation, |
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$zAxisRotation, |
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$scaleDifference, |
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new Metre(0), |
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new Metre(0), |
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new Metre(0) |
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); |
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} |
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/** |
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* Molodensky-Badekas (PV geocentric domain) |
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* See method codes 1062 and 1063 for this operation in other coordinate domains and method code 1034 for opposite |
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* rotation convention in geocentric domain. |
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*/ |
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7 |
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public function positionVectorMolodenskyBadekas( |
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Geocentric $to, |
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Length $xAxisTranslation, |
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Length $yAxisTranslation, |
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Length $zAxisTranslation, |
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Angle $xAxisRotation, |
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Angle $yAxisRotation, |
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Angle $zAxisRotation, |
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270
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Scale $scaleDifference, |
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Length $ordinate1OfEvaluationPoint, |
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Length $ordinate2OfEvaluationPoint, |
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Length $ordinate3OfEvaluationPoint |
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): self { |
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7 |
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$xs = $this->x->asMetres()->getValue(); |
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$ys = $this->y->asMetres()->getValue(); |
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$zs = $this->z->asMetres()->getValue(); |
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7 |
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$tx = $xAxisTranslation->asMetres()->getValue(); |
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$ty = $yAxisTranslation->asMetres()->getValue(); |
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$tz = $zAxisTranslation->asMetres()->getValue(); |
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7 |
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$rx = $xAxisRotation->asRadians()->getValue(); |
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$ry = $yAxisRotation->asRadians()->getValue(); |
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$rz = $zAxisRotation->asRadians()->getValue(); |
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$M = 1 + $scaleDifference->asUnity()->getValue(); |
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$xp = $ordinate1OfEvaluationPoint->asMetres()->getValue(); |
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$yp = $ordinate2OfEvaluationPoint->asMetres()->getValue(); |
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$zp = $ordinate3OfEvaluationPoint->asMetres()->getValue(); |
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$xt = $M * ((($xs - $xp) * 1) + (($ys - $yp) * -$rz) + (($zs - $zp) * $ry)) + $tx + $xp; |
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$yt = $M * ((($xs - $xp) * $rz) + (($ys - $yp) * 1) + (($zs - $zp) * -$rx)) + $ty + $yp; |
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$zt = $M * ((($xs - $xp) * -$ry) + (($ys - $yp) * $rx) + (($zs - $zp) * 1)) + $tz + $zp; |
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return static::create(new Metre($xt), new Metre($yt), new Metre($zt), $to, $this->epoch); |
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} |
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295
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/** |
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297
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* Geocentric translations |
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298
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* This method allows calculation of geocentric coords in the target system by adding the parameter values to the |
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299
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* corresponding coordinates of the point in the source system. See methods 1035 and 9603 for similar tfms |
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300
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* operating between other CRSs types. |
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301
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*/ |
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302
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1 |
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public function geocentricTranslation( |
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303
|
|
|
Geocentric $to, |
|
304
|
|
|
Length $xAxisTranslation, |
|
305
|
|
|
Length $yAxisTranslation, |
|
306
|
|
|
Length $zAxisTranslation |
|
307
|
|
|
): self { |
|
308
|
1 |
|
return $this->positionVectorTransformation( |
|
309
|
1 |
|
$to, |
|
310
|
|
|
$xAxisTranslation, |
|
311
|
|
|
$yAxisTranslation, |
|
312
|
|
|
$zAxisTranslation, |
|
313
|
1 |
|
new Radian(0), |
|
314
|
1 |
|
new Radian(0), |
|
315
|
1 |
|
new Radian(0), |
|
316
|
1 |
|
new Unity(0) |
|
317
|
|
|
); |
|
318
|
|
|
} |
|
319
|
|
|
|
|
320
|
|
|
/** |
|
321
|
|
|
* Time-dependent Coordinate Frame rotation (geocen) |
|
322
|
|
|
* Note the analogy with the Time-dependent Position Vector transformation (code 1053) but beware of the |
|
323
|
|
|
* differences! The Position Vector convention is used by IAG. See method codes 1057 and 1058 for similar methods |
|
324
|
|
|
* operating between other CRS types. |
|
325
|
|
|
*/ |
|
326
|
2 |
|
public function timeDependentCoordinateFrameRotation( |
|
327
|
|
|
Geocentric $to, |
|
328
|
|
|
Length $xAxisTranslation, |
|
329
|
|
|
Length $yAxisTranslation, |
|
330
|
|
|
Length $zAxisTranslation, |
|
331
|
|
|
Angle $xAxisRotation, |
|
332
|
|
|
Angle $yAxisRotation, |
|
333
|
|
|
Angle $zAxisRotation, |
|
334
|
|
|
Scale $scaleDifference, |
|
335
|
|
|
Rate $rateOfChangeOfXAxisTranslation, |
|
336
|
|
|
Rate $rateOfChangeOfYAxisTranslation, |
|
337
|
|
|
Rate $rateOfChangeOfZAxisTranslation, |
|
338
|
|
|
Rate $rateOfChangeOfXAxisRotation, |
|
339
|
|
|
Rate $rateOfChangeOfYAxisRotation, |
|
340
|
|
|
Rate $rateOfChangeOfZAxisRotation, |
|
341
|
|
|
Rate $rateOfChangeOfScaleDifference, |
|
342
|
|
|
Time $parameterReferenceEpoch |
|
343
|
|
|
): self { |
|
344
|
2 |
|
if ($this->epoch === null) { |
|
345
|
1 |
|
throw new InvalidCoordinateException('This transformation requires an epoch, none given'); |
|
346
|
|
|
} |
|
347
|
|
|
|
|
348
|
|
|
// Points use PHP DateTimes for ease of use, but transformations use decimal years... |
|
349
|
1 |
|
$pointEpoch = Year::fromDateTime($this->epoch); |
|
350
|
1 |
|
$yearsToAdjust = $pointEpoch->subtract($parameterReferenceEpoch)->getValue(); |
|
351
|
1 |
|
$xAxisTranslation = $xAxisTranslation->add($rateOfChangeOfXAxisTranslation->getChangePerYear()->multiply($yearsToAdjust)); |
|
|
|
|
|
|
352
|
1 |
|
$yAxisTranslation = $yAxisTranslation->add($rateOfChangeOfYAxisTranslation->getChangePerYear()->multiply($yearsToAdjust)); |
|
353
|
1 |
|
$zAxisTranslation = $zAxisTranslation->add($rateOfChangeOfZAxisTranslation->getChangePerYear()->multiply($yearsToAdjust)); |
|
354
|
1 |
|
$xAxisRotation = $xAxisRotation->add($rateOfChangeOfXAxisRotation->getChangePerYear()->multiply($yearsToAdjust)); |
|
355
|
1 |
|
$yAxisRotation = $yAxisRotation->add($rateOfChangeOfYAxisRotation->getChangePerYear()->multiply($yearsToAdjust)); |
|
356
|
1 |
|
$zAxisRotation = $zAxisRotation->add($rateOfChangeOfZAxisRotation->getChangePerYear()->multiply($yearsToAdjust)); |
|
357
|
1 |
|
$scaleDifference = $scaleDifference->add($rateOfChangeOfScaleDifference->getChangePerYear()->multiply($yearsToAdjust)); |
|
358
|
|
|
|
|
359
|
1 |
|
return $this->coordinateFrameRotation($to, $xAxisTranslation, $yAxisTranslation, $zAxisTranslation, $xAxisRotation, $yAxisRotation, $zAxisRotation, $scaleDifference); |
|
360
|
|
|
} |
|
361
|
|
|
|
|
362
|
|
|
/** |
|
363
|
|
|
* Time-dependent Position Vector tfm (geocentric) |
|
364
|
|
|
* Note the analogy with the Time-dependent Coordinate Frame rotation (code 1056) but beware of the differences! |
|
365
|
|
|
* The Position Vector convention is used by IAG. See method codes 1054 and 1055 for similar methods operating |
|
366
|
|
|
* between other CRS types. |
|
367
|
|
|
*/ |
|
368
|
2 |
|
public function timeDependentPositionVectorTransformation( |
|
369
|
|
|
Geocentric $to, |
|
370
|
|
|
Length $xAxisTranslation, |
|
371
|
|
|
Length $yAxisTranslation, |
|
372
|
|
|
Length $zAxisTranslation, |
|
373
|
|
|
Angle $xAxisRotation, |
|
374
|
|
|
Angle $yAxisRotation, |
|
375
|
|
|
Angle $zAxisRotation, |
|
376
|
|
|
Scale $scaleDifference, |
|
377
|
|
|
Rate $rateOfChangeOfXAxisTranslation, |
|
378
|
|
|
Rate $rateOfChangeOfYAxisTranslation, |
|
379
|
|
|
Rate $rateOfChangeOfZAxisTranslation, |
|
380
|
|
|
Rate $rateOfChangeOfXAxisRotation, |
|
381
|
|
|
Rate $rateOfChangeOfYAxisRotation, |
|
382
|
|
|
Rate $rateOfChangeOfZAxisRotation, |
|
383
|
|
|
Rate $rateOfChangeOfScaleDifference, |
|
384
|
|
|
Time $parameterReferenceEpoch |
|
385
|
|
|
): self { |
|
386
|
2 |
|
if ($this->epoch === null) { |
|
387
|
1 |
|
throw new InvalidCoordinateException('This transformation requires an epoch, none given'); |
|
388
|
|
|
} |
|
389
|
|
|
|
|
390
|
|
|
// Points use PHP DateTimes for ease of use, but transformations use decimal years... |
|
391
|
1 |
|
$pointEpoch = Year::fromDateTime($this->epoch); |
|
392
|
1 |
|
$yearsToAdjust = $pointEpoch->subtract($parameterReferenceEpoch)->getValue(); |
|
393
|
1 |
|
$xAxisTranslation = $xAxisTranslation->add($rateOfChangeOfXAxisTranslation->getChangePerYear()->multiply($yearsToAdjust)); |
|
394
|
1 |
|
$yAxisTranslation = $yAxisTranslation->add($rateOfChangeOfYAxisTranslation->getChangePerYear()->multiply($yearsToAdjust)); |
|
395
|
1 |
|
$zAxisTranslation = $zAxisTranslation->add($rateOfChangeOfZAxisTranslation->getChangePerYear()->multiply($yearsToAdjust)); |
|
396
|
1 |
|
$xAxisRotation = $xAxisRotation->add($rateOfChangeOfXAxisRotation->getChangePerYear()->multiply($yearsToAdjust)); |
|
397
|
1 |
|
$yAxisRotation = $yAxisRotation->add($rateOfChangeOfYAxisRotation->getChangePerYear()->multiply($yearsToAdjust)); |
|
398
|
1 |
|
$zAxisRotation = $zAxisRotation->add($rateOfChangeOfZAxisRotation->getChangePerYear()->multiply($yearsToAdjust)); |
|
399
|
1 |
|
$scaleDifference = $scaleDifference->add($rateOfChangeOfScaleDifference->getChangePerYear()->multiply($yearsToAdjust)); |
|
400
|
|
|
|
|
401
|
1 |
|
return $this->positionVectorTransformation($to, $xAxisTranslation, $yAxisTranslation, $zAxisTranslation, $xAxisRotation, $yAxisRotation, $zAxisRotation, $scaleDifference); |
|
402
|
|
|
} |
|
403
|
|
|
|
|
404
|
|
|
/** |
|
405
|
|
|
* Time-specific Coordinate Frame rotation (geocen) |
|
406
|
|
|
* Note the analogy with the Time-specific Position Vector method (code 1065) but beware of the differences! |
|
407
|
|
|
*/ |
|
408
|
4 |
|
public function timeSpecificCoordinateFrameRotation( |
|
409
|
|
|
Geocentric $to, |
|
410
|
|
|
Length $xAxisTranslation, |
|
411
|
|
|
Length $yAxisTranslation, |
|
412
|
|
|
Length $zAxisTranslation, |
|
413
|
|
|
Angle $xAxisRotation, |
|
414
|
|
|
Angle $yAxisRotation, |
|
415
|
|
|
Angle $zAxisRotation, |
|
416
|
|
|
Scale $scaleDifference, |
|
417
|
|
|
Time $transformationReferenceEpoch |
|
418
|
|
|
): self { |
|
419
|
4 |
|
if ($this->epoch === null) { |
|
420
|
1 |
|
throw new InvalidCoordinateException(sprintf('This transformation is only valid for epoch %s, none given', $transformationReferenceEpoch->getValue())); |
|
421
|
|
|
} |
|
422
|
|
|
|
|
423
|
|
|
// Points use PHP DateTimes for ease of use, but transformations use decimal years... |
|
424
|
3 |
|
$pointEpoch = Year::fromDateTime($this->epoch); |
|
425
|
|
|
|
|
426
|
3 |
|
if (abs($pointEpoch->getValue() - $transformationReferenceEpoch->getValue()) > 0.001) { |
|
427
|
1 |
|
throw new InvalidCoordinateException(sprintf('This transformation is only valid for epoch %s, got %s', $transformationReferenceEpoch, $pointEpoch)); |
|
428
|
|
|
} |
|
429
|
|
|
|
|
430
|
2 |
|
return $this->coordinateFrameRotation($to, $xAxisTranslation, $yAxisTranslation, $zAxisTranslation, $xAxisRotation, $yAxisRotation, $zAxisRotation, $scaleDifference); |
|
431
|
|
|
} |
|
432
|
|
|
|
|
433
|
|
|
/** |
|
434
|
|
|
* Time-specific Position Vector transform (geocen) |
|
435
|
|
|
* Note the analogy with the Time-specifc Coordinate Frame method (code 1066) but beware of the differences! |
|
436
|
|
|
*/ |
|
437
|
3 |
|
public function timeSpecificPositionVectorTransformation( |
|
438
|
|
|
Geocentric $to, |
|
439
|
|
|
Length $xAxisTranslation, |
|
440
|
|
|
Length $yAxisTranslation, |
|
441
|
|
|
Length $zAxisTranslation, |
|
442
|
|
|
Angle $xAxisRotation, |
|
443
|
|
|
Angle $yAxisRotation, |
|
444
|
|
|
Angle $zAxisRotation, |
|
445
|
|
|
Scale $scaleDifference, |
|
446
|
|
|
Time $transformationReferenceEpoch |
|
447
|
|
|
): self { |
|
448
|
3 |
|
if ($this->epoch === null) { |
|
449
|
1 |
|
throw new InvalidCoordinateException(sprintf('This transformation is only valid for epoch %s, none given', $transformationReferenceEpoch->getValue())); |
|
450
|
|
|
} |
|
451
|
|
|
|
|
452
|
|
|
// Points use PHP DateTimes for ease of use, but transformations use decimal years... |
|
453
|
2 |
|
$pointEpoch = Year::fromDateTime($this->epoch); |
|
454
|
|
|
|
|
455
|
2 |
|
if (abs($pointEpoch->getValue() - $transformationReferenceEpoch->getValue()) > 0.001) { |
|
456
|
1 |
|
throw new InvalidCoordinateException(sprintf('This transformation is only valid for epoch %s, got %s', $transformationReferenceEpoch, $pointEpoch)); |
|
457
|
|
|
} |
|
458
|
|
|
|
|
459
|
1 |
|
return $this->positionVectorTransformation($to, $xAxisTranslation, $yAxisTranslation, $zAxisTranslation, $xAxisRotation, $yAxisRotation, $zAxisRotation, $scaleDifference); |
|
460
|
|
|
} |
|
461
|
|
|
|
|
462
|
2 |
|
public function asGeographicValue(): GeographicValue |
|
463
|
|
|
{ |
|
464
|
2 |
|
return (new GeocentricValue($this->x, $this->y, $this->z, $this->getCRS()->getDatum()))->asGeographicValue(); |
|
465
|
|
|
} |
|
466
|
|
|
} |
|
467
|
|
|
|
dvdoug /
PHPCoord
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