about to modify wimaarea

qgroundcontrol.pro

@@ -429,7 +429,8 @@ HEADERS += \
     src/Wima/PlanimetryCalculus.h \
     src/Wima/Circle.h \
     src/Wima/PolygonCalculus.h \
-    src/Wima/OptimisationTools.h
+    src/Wima/OptimisationTools.h \
+    src/Wima/GeoUtilities.h
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -457,7 +458,8 @@ SOURCES += \
     src/Wima/PlanimetryCalculus.cc \
     src/Wima/Circle.cc \
     src/Wima/PolygonCalculus.cc \
-    src/Wima/OptimisationTools.cc
+    src/Wima/OptimisationTools.cc \
+    src/Wima/GeoUtilities.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/Wima/GeoUtilities.cc

+#include "GeoUtilities.h"
+#include <QtMath>
+
+
+QGeoCoordinate GeoUtilites::toGeo(const QVector3D &point, const QGeoCoordinate &origin)
+{
+    double x = point.x();
+    double y = point.y();
+    double z = point.z();
+
+    double lat = origin.latitude()/180*M_PI;
+    double lon = origin.longitude()/180*M_PI;
+    double h   = origin.altitude();
+
+    if (!qFuzzyCompare(lat, M_PI_2)) // this could (unlikely) be a problem, replace with different coordinate transformation
+        return QGeoCoordinate(/* lat */ qAtan(x/cos(lat)/earthRadius) + lon,
+                              /* lon */ qAtan(y/earthRadius) + lat,
+                              /* alt */ h + z);
+    else
+        return QGeoCoordinate(); // singularity occurred (1/cos(pi/2) = inf)
+}
+
+QVector3D GeoUtilites::toCartesian(const QGeoCoordinate &point, const QGeoCoordinate &origin)
+{
+    double lat = point.latitude()/180*M_PI;
+    double lon = point.longitude()/180*M_PI;
+    double h   = point.altitude();
+
+    double latO = origin.latitude()/180*M_PI;
+    double lonO = origin.longitude()/180*M_PI;
+    double hO   = origin.altitude();
+
+    double dlon = lon-lonO;
+    double dlat = lat-latO;
+
+
+    if (!qFuzzyCompare(dlon, M_PI_2) && !qFuzzyCompare(dlat, M_PI_2))
+        return QVector3D(/* x */ qTan(dlon)*earthRadius*qCos(latO),
+                         /* y */ qTan(dlat)*earthRadius,
+                         /* z */ h - hO);
+    else
+        return QVector3D(); // singularity occurred (tan(pi/2) = inf)
+
+}
+
+GeoUtilites::QGeoList GeoUtilites::toGeo(const GeoUtilites::QVector3DFList &points, const QGeoCoordinate &origin)
+{
+    GeoUtilites::QGeoList coordinates;
+    for (auto point : points)
+        coordinates.append(toGeo(point, origin));
+
+    return coordinates;
+}
+
+GeoUtilites::QVector3DFList GeoUtilites::toCartesian(const GeoUtilites::QGeoList &coordinates, const QGeoCoordinate &origin)
+{
+    GeoUtilites::QVector3DFList points;
+    for (auto coordinate : coordinates )
+        points.append(toCartesian(coordinate, origin));
+
+    return points;
+}

src/Wima/GeoUtilities.h

+#ifndef GEOPOLYGONUTILITIES_H
+#define GEOPOLYGONUTILITIES_H
+
+#include <QPointF>
+#include <QGeoCoordinate>
+#include <QVector3D>
+#include <QGeoCoordinate>
+
+
+namespace GeoUtilites {
+
+    typedef QList<QVector3D> QVector3DFList;
+    typedef QList<QGeoCoordinate> QGeoList;
+
+    const double earthRadius = 6378137; // meter
+
+    QGeoCoordinate  toGeo       (const QVector3D &point, const QGeoCoordinate &origin);
+    QGeoList        toGeo       (const QVector3DFList &points, const QGeoCoordinate &origin);
+    QVector3D       toCartesian (const QGeoCoordinate &point, const QGeoCoordinate &origin);
+    QVector3DFList  toCartesian (const QGeoList &coordinates, const QGeoCoordinate &origin);
+}
+#endif // GEOPOLYGONUTILITIES_H