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## Copyright (C) 2018-2020 Philip Nienhuis
##
## This program is free software; you can redistribute it and/or modify it under
## the terms of the GNU General Public License as published by the Free Software
## Foundation; either version 3 of the License, or (at your option) any later
## version.
##
## This program is distributed in the hope that it will be useful, but WITHOUT
## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
## details.
##
## You should have received a copy of the GNU General Public License along with
## this program; if not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
## @deftypefn {Function File} {@var{X}, @var{Y}, @var{Z} =} geodetic2ecef (@var{lat}, @var{lon}, @var{alt})
## @deftypefnx {Function File} {@var{X}, @var{Y}, @var{Z} =} geodetic2ecef (@var{spheroid}, @var{lat}, @var{lon}, @var{alt})
## @deftypefnx {Function File} {@var{X}, @var{Y}, @var{Z} =} geodetic2ecef (@dots{}, @var{angleUnit})
## @deftypefnx {Function File} {@var{X}, @var{Y}, @var{Z} =} geodetic2ecef (@var{lat}, @var{lon}, @var{alt}, @var{spheroid})
## Converts from geodetic coordinate frame to ECEF coordinate frame.
##
## @var{lat}, @var{lon} and @var{alt} (latitude, longitude and height,
## respectively) can each be scalars, vectors or matrices but must all have
## the exact same size and dimension(s).
##
## @var{spheroid} ia user-specified sheroid (see referenceEllipsoid); it can
## be omitted or given as an ampty string, in which cases WGS84 will be the
## default spheroid.
##
## @var{angleUnit} can be "degrees" (= default) or "radians". In the last
## calling fom, with @var{spheroid} as 4th input argument, @var{angleUnit}
## is in degrees and cannot be changed.
##
## The output arguments @var{X}, @var{Y}, @var{Z} (Earth-Centered Earth
## Fixed coordinates) are in meters and have the same sizes and dimensions
## as input arguments @var{lat}, @var{lon} and @var{alt}.
##
## @example
## Aalborg GPS Centre
## lat=57.02929569;
## lon=9.950248114;
## h= 56.95; # meters
## >> [X, Y, Z] = geodetic2ecef ("", lat, lon, h)
## X = 3426949.39675307
## Y = 601195.852419885
## Z = 5327723.99358255
## @end example
## @seealso{ecef2geodetic}
## @end deftypefn
## Function supplied by anonymous contributor, see:
## https://savannah.gnu.org/patch/index.php?9658
function [X, Y, Z] = geodetic2ecef (varargin)
ip = 0;
spheroid = "";
angleUnit = "degrees";
if (nargin < 3 || nargin > 5)
print_usage ();
elseif (nargin == 3)
## Assume just Lat, Lon and Alt given
elseif (nargin == 4)
if (isnumeric (varargin{1}))
## Find out if arg #4 = angleunit or spheroid
if (isnumeric (varargin{4}))
## Spheroid
spheroid = varargin{4};
elseif (ischar (varargin{4}))
if (ismember (varargin{4}(1), {"r", "d"}))
angleUnit = varargin{4};
else
spheroid = varargin{4};
endif
else
error ("geodetic3ecef.m: spheroid or angleutin expected for arg. #4");
endif
else
ip = 1;
spheroid = varargin{1};
endif
elseif (nargin == 5)
ip = 1;
spheroid = varargin{1};
angleUnit = varargin{5};
endif
lat = varargin{ip + 1};
lon = varargin{ip + 2};
alt = varargin{ip + 3};
if (! isnumeric (lat) || ! isreal (lat) || ...
! isnumeric (lon) || ! isreal (lon) || ...
! isnumeric (alt) || ! isreal (alt))
error ("geodetic2ecef.m : numeric input expected");
endif
if (! ischar (angleUnit) || ! ismember (lower (angleUnit(1)), {"d", "r"}))
error ("geodetic2ecef.m: angleUnit should be one of 'degrees' or 'radians'")
endif
if (isempty (spheroid))
E = wgs84Ellipsoid;
else
E = referenceEllipsoid (spheroid);
endif
if (strncmpi (lower (angleUnit), "r", 1) == 1)
c_p = cos (lat);
s_p = sin (lat);
c_l = cos (lon);
s_l = sin (lon);
else
c_p = cosd (lat);
s_p = sind (lat);
c_l = cosd (lon);
s_l = sind (lon);
endif
#Insight From: Algorithms for Global Positioning pg 42
N = E.SemimajorAxis ./ sqrt (1 - E.Eccentricity ^ 2 * s_p .^ 2);
X = (N + alt) .* (c_p .* c_l) ;
Y = (N + alt) .* (c_p .* s_l) ;
Z = (N .* (1 - E.Flattening) ^ 2 + alt) .* s_p;
endfunction
%!test
%!shared h
%! latd = 57.02929569;
%! lond = 9.950248114;
%! h = 56.95; ## meters
%! [x, y, z]=geodetic2ecef("wgs84", latd, lond, h);
%! assert ([x, y, z], [3426949.397, 601195.852, 5327723.994], 10e-3);
%!test
%! lat = deg2rad (57.02929569);
%! lon = deg2rad (9.950248114);
%! [x2, y2, z2] = geodetic2ecef ("wgs84", lat, lon, h, "radians");
%! assert ([x2, y2, z2], [3426949.397, 601195.852, 5327723.994], 10e-3);
%!error <angleUnit> geodetic2ecef ("", 45, 45, 50, "km")
%!error <numeric input expected> geodetic2ecef ("", "A", 45, 50)
%!error <numeric input expected> geodetic2ecef ("", 45i, 45, 50)
%!error <numeric input expected> geodetic2ecef ("", 45, "B", 50)
%!error <numeric input expected> geodetic2ecef ("", 45, 45i, 50)
%!error <numeric input expected> geodetic2ecef ("", 45, 45, "C")
%!error <numeric input expected> geodetic2ecef ("", 45, 45, 50i)
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