org.vast.swe.helper

Class GeoPosHelper

java.lang.Object

org.vast.data.SWEFactory

org.vast.swe.SWEHelper

org.vast.swe.helper.VectorHelper

org.vast.swe.helper.GeoPosHelper

All Implemented Interfaces:

Factory

public class GeoPosHelper
extends VectorHelper

Helper class to create SWE structures used for geo-positioning
This includes location and attitude but also linear velocity, angular rate, and linear acceleration

Since:

March 2016

Author:

Alex Robin

Property Summary

Properties inherited from class org.vast.data.SWEFactory

newEncodedValuesProperty

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	GeoPosHelper.ImuFields

Field Summary

Fields

Modifier and Type	Field and Description
static String	DEF_ACCELERATION
static String	DEF_ACCELERATION_MAG
static String	DEF_ANGULAR_RATE
static String	DEF_VELOCITY

Fields inherited from class org.vast.swe.helper.VectorHelper

DEF_COEF, DEF_LOCATION, DEF_ORIENTATION_EULER, DEF_ORIENTATION_QUAT, DEF_ROT_MATRIX, DEF_ROW, DEF_UNIT_VECTOR

Fields inherited from class org.vast.swe.SWEHelper

PATH_SEPARATOR

Constructor Summary

Constructors

Constructor and Description
GeoPosHelper()

Method Summary

Methods

Modifier and Type	Method and Description
Vector	newAccelerationVector(String def, String refFrame, String uomCode) Creates a 3D acceleration vector in an ortho-normal frame with X/Y/Z axes
Vector	newAngularVelocityVector(String def, String refFrame, String uomCode) Creates a 3D angular velocity vector in an ortho-normal frame with X/Y/Z axes
Vector	newEulerOrientationECEF(String def) Creates an orientation vector component composed of 3 Euler angles expressed in Earth-Centered-Earth-Fixed (ECEF) frame (order of rotations is X, Y, Z)
Vector	newEulerOrientationENU(String def) Creates a 3D orientation vector composed of 3 Euler angles expressed in local East-North-Up (ENU) frame (order of rotations is Z, X, Y in rotating frame)
Vector	newEulerOrientationNED(String def) Creates a 3D orientation vector composed of 3 Euler angles expressed in local North-East-Down (NED) frame (order of rotations is Z, Y, X)
DataRecord	newImuOutput(String name, String localFrame, GeoPosHelper.ImuFields... imuFields)
Vector	newLocationVectorECEF(String def) Creates a 3D location vector with ECEF X/Y/Z axes (EPSG 4978)
Vector	newLocationVectorLatLon(String def) Creates a 2D location vector with latitude/longitude axes (EPSG 4326)
Vector	newLocationVectorLLA(String def) Creates a 3D location vector with latitude/longitude/altitude axes (EPSG 4979)
Vector	newQuatOrientation(String def, String crs) Creates a 4d vector representing an orientation quaternion expressed in the given frame (scalar comes first).
Vector	newQuatOrientationECEF(String def) Creates a 4d vector representing an orientation quaternion expressed in ECEF frame.
Vector	newQuatOrientationENU(String def) Creates a 4d vector representing an orientation quaternion expressed in ENU frame.
Vector	newQuatOrientationNED(String def) Creates a 4d vector representing an orientation quaternion expressed in NED frame.
Vector	newVelocityVector(String def, String refFrame, String uomCode) Creates a 3D velocity vector in an ortho-normal frame with X/Y/Z axes
Vector	newVelocityVectorECEF(String def, String uomCode) Creates a 3D velocity with ECEF X/Y/Z axes (EPSG 4978)
Vector	newVelocityVectorENU(String def, String uomCode) Creates a 3D velocity with ENU X/Y/Z axes
Vector	newVelocityVectorNED(String def, String uomCode) Creates a 3D velocity with NED X/Y/Z axes

Methods inherited from class org.vast.swe.helper.VectorHelper

newEulerAngles, newLocationVectorXYZ, newMatrix, newMatrix, newUnitVectorXYZ, newVector3, newVector3

Methods inherited from class org.vast.swe.SWEHelper

assignBinaryEncoding, createDataParser, createDataWriter, ensureXmlCompatible, findComponent, findComponentByDefinition, findComponentByName, findComponentByPath, findComponentByPath, getDefaultBinaryEncoding, getDefaultEncoding, getEpsgUri, getPropertyUri, getTimeStampIndexer, newArray, newBinaryEncoding, newBoolean, newCategory, newCount, newCount, newDataStream, newLinkProperty, newLinkProperty, newLinkProperty, newQuantity, newQuantity, newRgbImage, newSystemIdComponent, newText, newTextEncoding, newTimeStamp, newTimeStampIsoGPS, newTimeStampIsoUTC, newTimeStampOnBoardClock, newVector, wrapWithTimeStamp, wrapWithTimeStampUTC

Methods inherited from class org.vast.data.SWEFactory

newAllowedTimes, newAllowedTokens, newAllowedValues, newBinaryBlock, newBinaryComponent, newBinaryEncoding, newBoolean, newCategory, newCategoryRange, newCount, newCount, newCountRange, newCountRange, newDataArray, newDataArray, newDataChoice, newDataRecord, newDataRecord, newDataStream, newEncodedValuesProperty, newMatrix, newMatrix, newNilValue, newNilValues, newQuantity, newQuantity, newQuantityRange, newQuantityRange, newText, newTextEncoding, newTime, newTime, newTimeRange, newTimeRange, newUnitReference, newVector, newXMLEncoding

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEF_VELOCITY

public static final String DEF_VELOCITY

DEF_ACCELERATION

public static final String DEF_ACCELERATION

DEF_ACCELERATION_MAG

public static final String DEF_ACCELERATION_MAG

DEF_ANGULAR_RATE

public static final String DEF_ANGULAR_RATE

Constructor Detail

GeoPosHelper

public GeoPosHelper()

Method Detail

newLocationVectorLLA

public Vector newLocationVectorLLA(String def)

Creates a 3D location vector with latitude/longitude/altitude axes (EPSG 4979)

Parameters:

def - semantic definition of location vector (if null, VectorHelper.DEF_LOCATION is used)

Returns:

the new Vector component object

newLocationVectorLatLon

public Vector newLocationVectorLatLon(String def)

Creates a 2D location vector with latitude/longitude axes (EPSG 4326)

Parameters:

def - semantic definition of location vector (if null, VectorHelper.DEF_LOCATION is used)

Returns:

the new Vector component object

newLocationVectorECEF

public Vector newLocationVectorECEF(String def)

Creates a 3D location vector with ECEF X/Y/Z axes (EPSG 4978)

Parameters:

def - semantic definition of location vector (if null, VectorHelper.DEF_LOCATION is used)

Returns:

the new Vector component object

newVelocityVector

public Vector newVelocityVector(String def,
                       String refFrame,
                       String uomCode)

Creates a 3D velocity vector in an ortho-normal frame with X/Y/Z axes

Parameters:

def - semantic definition of velocity vector (if null, DEF_VELOCITY is used)

refFrame - reference frame within which the vector is expressed

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

newVelocityVectorECEF

public Vector newVelocityVectorECEF(String def,
                           String uomCode)

Creates a 3D velocity with ECEF X/Y/Z axes (EPSG 4978)

Parameters:

def - semantic definition of velocity vector (if null, DEF_VELOCITY is used)

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

newVelocityVectorENU

public Vector newVelocityVectorENU(String def,
                          String uomCode)

Creates a 3D velocity with ENU X/Y/Z axes

Parameters:

def - semantic definition of velocity vector (if null, DEF_VELOCITY is used)

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

newVelocityVectorNED

public Vector newVelocityVectorNED(String def,
                          String uomCode)

Creates a 3D velocity with NED X/Y/Z axes

Parameters:

def - semantic definition of velocity vector (if null, DEF_VELOCITY is used)

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

newAccelerationVector

public Vector newAccelerationVector(String def,
                           String refFrame,
                           String uomCode)

Creates a 3D acceleration vector in an ortho-normal frame with X/Y/Z axes

Parameters:

def - semantic definition of acceleration vector (if null, DEF_ACCELERATION is used)

refFrame - reference frame within which the vector is expressed

uomCode - unit of acceleration to use on all 3 axes

Returns:

the new Vector component object

newEulerOrientationENU

public Vector newEulerOrientationENU(String def)

Creates a 3D orientation vector composed of 3 Euler angles expressed in local East-North-Up (ENU) frame (order of rotations is Z, X, Y in rotating frame)

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_EULER is used)

Returns:

the new Vector component object

newEulerOrientationNED

public Vector newEulerOrientationNED(String def)

Creates a 3D orientation vector composed of 3 Euler angles expressed in local North-East-Down (NED) frame (order of rotations is Z, Y, X)

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_EULER is used)

Returns:

the new Vector component object

newEulerOrientationECEF

public Vector newEulerOrientationECEF(String def)

Creates an orientation vector component composed of 3 Euler angles expressed in Earth-Centered-Earth-Fixed (ECEF) frame (order of rotations is X, Y, Z)

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_EULER is used)

Returns:

the new Vector component object

newQuatOrientation

public Vector newQuatOrientation(String def,
                        String crs)

Creates a 4d vector representing an orientation quaternion expressed in the given frame (scalar comes first).

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_QUAT is used)

crs - reference frame with respect to which the coordinates of this quaternion are expressed

Returns:

the new Vector component object

newQuatOrientationENU

public Vector newQuatOrientationENU(String def)

Creates a 4d vector representing an orientation quaternion expressed in ENU frame.

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_QUAT is used)

Returns:

the new Vector component object

newQuatOrientationNED

public Vector newQuatOrientationNED(String def)

Creates a 4d vector representing an orientation quaternion expressed in NED frame.

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_QUAT is used)

Returns:

the new Vector component object

newQuatOrientationECEF

public Vector newQuatOrientationECEF(String def)

Creates a 4d vector representing an orientation quaternion expressed in ECEF frame.

Parameters:

def - semantic definition of orientation vector (if null, VectorHelper.DEF_ORIENTATION_QUAT is used)

Returns:

the new Vector component object

newAngularVelocityVector

public Vector newAngularVelocityVector(String def,
                              String refFrame,
                              String uomCode)

Creates a 3D angular velocity vector in an ortho-normal frame with X/Y/Z axes

Parameters:

def - semantic definition of angular velocity vector (if null, DEF_ANGULAR_RATE is used)

refFrame - reference frame within which the vector is expressed

uomCode - unit of acceleration to use on all 3 axes

Returns:

the new Vector component object

newImuOutput

public DataRecord newImuOutput(String name,
                      String localFrame,
                      GeoPosHelper.ImuFields... imuFields)