LocalHorizontalCoordinateSystem.h

#pragma once
 
#include "Ellipsoid.h"
#include "Library.h"
 
#include <glm/mat4x4.hpp>
#include <glm/vec3.hpp>
 
namespace CesiumGeospatial {
class Cartographic;
}
 
namespace CesiumGeospatial {
 
enum class LocalDirection { East, North, West, South, Up, Down };
 
class CESIUMGEOSPATIAL_API LocalHorizontalCoordinateSystem {
public:
  LocalHorizontalCoordinateSystem(
      const Cartographic& origin,
      LocalDirection xAxisDirection = LocalDirection::East,
      LocalDirection yAxisDirection = LocalDirection::North,
      LocalDirection zAxisDirection = LocalDirection::Up,
      double scaleToMeters = 1.0,
      // Can't use CESIUM_DEFAULT_ELLIPSOID here because of the other default
      // parameters
      const Ellipsoid& ellipsoid = CesiumGeospatial::Ellipsoid::WGS84);
 
  LocalHorizontalCoordinateSystem(
      const glm::dvec3& originEcef,
      LocalDirection xAxisDirection = LocalDirection::East,
      LocalDirection yAxisDirection = LocalDirection::North,
      LocalDirection zAxisDirection = LocalDirection::Up,
      double scaleToMeters = 1.0,
      const Ellipsoid& ellipsoid = CesiumGeospatial::Ellipsoid::WGS84);
 
  explicit LocalHorizontalCoordinateSystem(const glm::dmat4& localToEcef);
 
  LocalHorizontalCoordinateSystem(
      const glm::dmat4& localToEcef,
      const glm::dmat4& ecefToLocal);
 
  const glm::dmat4& getLocalToEcefTransformation() const noexcept {
    return this->_localToEcef;
  }
 
  const glm::dmat4& getEcefToLocalTransformation() const noexcept {
    return this->_ecefToLocal;
  };
 
  glm::dvec3
  localPositionToEcef(const glm::dvec3& localPosition) const noexcept;
 
  glm::dvec3 ecefPositionToLocal(const glm::dvec3& ecefPosition) const noexcept;
 
  glm::dvec3
  localDirectionToEcef(const glm::dvec3& localDirection) const noexcept;
 
  glm::dvec3
  ecefDirectionToLocal(const glm::dvec3& ecefDirection) const noexcept;
 
  glm::dmat4 computeTransformationToAnotherLocal(
      const LocalHorizontalCoordinateSystem& target) const noexcept;
 
private:
  glm::dmat4 _ecefToLocal;
  glm::dmat4 _localToEcef;
};
 
} // namespace CesiumGeospatial