QGCGeoBoundingCube.cc

/****************************************************************************
 *
 *   (c) 2009-2016 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.
 *
 ****************************************************************************/

#include "QGCGeoBoundingCube.h"
#include <QDebug>
#include <cmath>

double QGCGeoBoundingCube::MaxAlt    =  1000000.0;
double QGCGeoBoundingCube::MinAlt    = -1000000.0;
double QGCGeoBoundingCube::MaxNorth  =  90.0;
double QGCGeoBoundingCube::MaxSouth  = -90.0;
double QGCGeoBoundingCube::MaxWest   = -180.0;
double QGCGeoBoundingCube::MaxEast   =  180.0;

//-----------------------------------------------------------------------------
bool
QGCGeoBoundingCube::isValid() const
{
    return pointNW.isValid() && pointSE.isValid() && pointNW.latitude() != MaxSouth && pointSE.latitude() != MaxNorth && \
           pointNW.longitude() != MaxEast && pointSE.longitude() != MaxWest && pointNW.altitude() < MaxAlt && pointSE.altitude() > MinAlt;
}

//-----------------------------------------------------------------------------
void
QGCGeoBoundingCube::reset()
{
    pointSE = QGeoCoordinate();
    pointNW = QGeoCoordinate();
}

//-----------------------------------------------------------------------------
QGeoCoordinate
QGCGeoBoundingCube::center() const
{
    if(!isValid())
        return QGeoCoordinate();
    double lat = (((pointNW.latitude()  + 90.0)  + (pointSE.latitude()  + 90.0))  / 2.0) - 90.0;
    double lon = (((pointNW.longitude() + 180.0) + (pointSE.longitude() + 180.0)) / 2.0) - 180.0;
    double alt = (pointNW.altitude() + pointSE.altitude()) / 2.0;
    return QGeoCoordinate(lat, lon, alt);
}

//-----------------------------------------------------------------------------
QList<QGeoCoordinate>
QGCGeoBoundingCube::polygon2D(double clipTo) const
{
    QList<QGeoCoordinate> coords;
    if(isValid()) {
        //-- Should we clip it?
        if(clipTo > 0.0 && area() > clipTo) {
            //-- Clip it to a square of given area centered on current bounding box center.
            double side = sqrt(clipTo);
            QGeoCoordinate c = center();
            double a = pow((side * 0.5), 2);
            double h = sqrt(a + a) * 1000.0;
            QGeoCoordinate nw = c.atDistanceAndAzimuth(h, 315.0);
            QGeoCoordinate se = c.atDistanceAndAzimuth(h, 135.0);
            coords.append(QGeoCoordinate(nw.latitude(), nw.longitude(), se.altitude()));
            coords.append(QGeoCoordinate(nw.latitude(), se.longitude(), se.altitude()));
            coords.append(QGeoCoordinate(se.latitude(), se.longitude(), se.altitude()));
            coords.append(QGeoCoordinate(se.latitude(), nw.longitude(), se.altitude()));
            coords.append(QGeoCoordinate(nw.latitude(), nw.longitude(), se.altitude()));
        } else {
            coords.append(QGeoCoordinate(pointNW.latitude(), pointNW.longitude(), pointSE.altitude()));
            coords.append(QGeoCoordinate(pointNW.latitude(), pointSE.longitude(), pointSE.altitude()));
            coords.append(QGeoCoordinate(pointSE.latitude(), pointSE.longitude(), pointSE.altitude()));
            coords.append(QGeoCoordinate(pointSE.latitude(), pointNW.longitude(), pointSE.altitude()));
            coords.append(QGeoCoordinate(pointNW.latitude(), pointNW.longitude(), pointSE.altitude()));
        }
    }
    return coords;
}

//-----------------------------------------------------------------------------
bool
QGCGeoBoundingCube::operator ==(const QList<QGeoCoordinate>& coords) const
{
    QList<QGeoCoordinate> c = polygon2D();
    if(c.size() != coords.size()) return false;
    for(int i = 0; i < c.size(); i++) {
        if(c[i] != coords[i]) return false;
    }
    return true;
}

//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::width() const
{
    if(!isValid())
        return 0.0;
    QGeoCoordinate ne = QGeoCoordinate(pointNW.latitude(), pointSE.longitude());
    return pointNW.distanceTo(ne);
}

//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::height() const
{
    if(!isValid())
        return 0.0;
    QGeoCoordinate sw = QGeoCoordinate(pointSE.latitude(), pointNW.longitude());
    return pointNW.distanceTo(sw);
}

//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::area() const
{
    if(!isValid())
        return 0.0;
    // Area in km^2
    double a = (height() / 1000.0) * (width() / 1000.0);
    return a;
}

//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::radius() const
{
    if(!isValid())
        return 0.0;
    return pointNW.distanceTo(pointSE) / 2.0;
}