def enu_to_ecef(self, enu):
if self.last_enu is None:
return self.last_ecef
enu_vector = enu - self.last_enu[0]
ecef_vector = gps.enu_from_ecef_tf(self.last_ecef).T.dot(enu_vector)
ecef = ecef_vector + self.last_ecef
return ecef
def enu_to_ecef(self, enu):
if self.last_enu is None:
return self.last_ecef
enu_vector = enu - self.last_enu[0]
ecef_vector = gps.enu_from_ecef_tf(self.last_ecef).T.dot(enu_vector)
ecef = ecef_vector + self.last_ecef
return ecef
def enu(self, point):
'''
Produces enu, ecef, and lla from enu point.
'''
enu = point
enu_vector = enu - self.enu_pos
ecef_vector = enu_from_ecef_tf(self.ecef_pos).T.dot(enu_vector)
ecef = ecef_vector + self.ecef_pos
lla = np.degrees(latlongheight_from_ecef(ecef))
return enu, ecef, lla
def ecef(self, point):
'''
Produces enu, ecef, and lla from ecef point.
'''
ecef = point
lla = np.degrees(latlongheight_from_ecef(ecef))
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def lla(self, point):
'''
Produces enu, ecef, and lla from an lla point.
'''
lla = point
ecef = ecef_from_latlongheight(*np.radians(lla))
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def ecef(self, point):
'''
Produces enu, ecef, and lla from ecef point.
'''
ecef = point
lla = np.degrees(latlongheight_from_ecef(ecef))
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def lla(self, point):
'''
Produces enu, ecef, and lla from an lla point.
'''
lla = point
ecef = ecef_from_latlongheight(*np.radians(lla))
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def enu(self, point):
'''
Produces enu, ecef, and lla from enu point.
'''
enu = point
enu_vector = enu - self.enu_pos
ecef_vector = enu_from_ecef_tf(self.ecef_pos).T.dot(enu_vector)
ecef = ecef_vector + self.ecef_pos
lla = np.degrees(latlongheight_from_ecef(ecef))
return enu, ecef, lla
def enu(self):
enu = self.point
# to ecef
enu_vector = enu - self.enu_pos
ecef_vector = enu_from_ecef_tf(self.ecef_pos).T.dot(enu_vector)
ecef = ecef_vector + self.ecef_pos
# to lla
lla = np.degrees(latlongheight_from_ecef(ecef))
return enu, ecef, lla
def ecef(self):
ecef = self.point
# to lla
lla = np.degrees(latlongheight_from_ecef(ecef))
# to enu
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def lla(self):
lla = self.point
# to ecef
ecef = ecef_from_latlongheight(*np.radians(lla))
# to enu
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def enu(self):
enu = self.point
# to ecef
enu_vector = enu - self.enu_pos
ecef_vector = enu_from_ecef_tf(self.ecef_pos).T.dot(enu_vector)
ecef = ecef_vector + self.ecef_pos
# to lla
lla = np.degrees(latlongheight_from_ecef(ecef))
return enu, ecef, lla
def ecef(self):
ecef = self.point
# to lla
lla = np.degrees(latlongheight_from_ecef(ecef))
# to enu
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
def lla(self):
lla = self.point
# to ecef
ecef = ecef_from_latlongheight(*np.radians(lla))
# to enu
ecef_vector = ecef - self.ecef_pos
enu_vector = enu_from_ecef_tf(self.ecef_pos).dot(ecef_vector)
enu = enu_vector + self.enu_pos
return enu, ecef, lla
