QGCGeo.h

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/****************************************************************************
 *
 * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
 
#pragma once
 
 
#include <QtCore/QLoggingCategory>
#include <QtGui/QVector3D>
#include <QtPositioning/QGeoCoordinate>
 
Q_DECLARE_LOGGING_CATEGORY(QGCGeoLog)
 
namespace QGCGeo
{
 
// ============================================================================
// NED (North-East-Down) Local Tangent Plane
// ============================================================================
 
void convertGeoToNed(const QGeoCoordinate &coord, const QGeoCoordinate &origin, double &x, double &y, double &z);
 
void convertNedToGeo(double x, double y, double z, const QGeoCoordinate &origin, QGeoCoordinate &coord);
 
// ============================================================================
// ENU (East-North-Up) Local Tangent Plane
// ============================================================================
 
QVector3D convertGpsToEnu(const QGeoCoordinate &coord, const QGeoCoordinate &ref);
 
QGeoCoordinate convertEnuToGps(const QVector3D &enu, const QGeoCoordinate &ref);
 
// ============================================================================
// ECEF (Earth-Centered Earth-Fixed)
// ============================================================================
 
QVector3D convertGeodeticToEcef(const QGeoCoordinate &coord);
 
QGeoCoordinate convertEcefToGeodetic(const QVector3D &ecef);
 
QVector3D convertEcefToEnu(const QVector3D &ecef, const QGeoCoordinate &ref);
 
QVector3D convertEnuToEcef(const QVector3D &enu, const QGeoCoordinate &ref);
 
// ============================================================================
// UTM (Universal Transverse Mercator)
// ============================================================================
 
int convertGeoToUTM(const QGeoCoordinate &coord, double &easting, double &northing);
 
bool convertUTMToGeo(double easting, double northing, int zone, bool southhemi, QGeoCoordinate &coord);
 
// ============================================================================
// MGRS (Military Grid Reference System)
// ============================================================================
 
QString convertGeoToMGRS(const QGeoCoordinate &coord);
 
bool convertMGRSToGeo(const QString &mgrs, QGeoCoordinate &coord);
 
// ============================================================================
// Geodesic Calculations (Great Circle on Ellipsoid)
// ============================================================================
 
double geodesicDistance(const QGeoCoordinate &from, const QGeoCoordinate &to);
 
double geodesicAzimuth(const QGeoCoordinate &from, const QGeoCoordinate &to);
 
QGeoCoordinate geodesicDestination(const QGeoCoordinate &from, double azimuth, double distance);
 
// ============================================================================
// Path and Polygon Calculations
// ============================================================================
 
double pathLength(const QList<QGeoCoordinate> &path);
 
double polygonArea(const QList<QGeoCoordinate> &polygon);
 
double polygonPerimeter(const QList<QGeoCoordinate> &polygon);
 
QList<QGeoCoordinate> interpolatePath(const QGeoCoordinate &from, const QGeoCoordinate &to, int numPoints);
 
QGeoCoordinate interpolateAtDistance(const QGeoCoordinate &from, const QGeoCoordinate &to, double distance);
 
} // namespace QGCGeo