Package org.vast.swe.helper

Class GeoPosHelper

java.lang.Object

org.vast.swe.SWEHelper

org.vast.swe.helper.VectorHelper

org.vast.swe.helper.GeoPosHelper

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

Field Summary

Fields

Modifier and Type	Field	Description
static final String	DEF_ALTITUDE_BAROMETRIC
static final String	DEF_ALTITUDE_ELLIPSOID
static final String	DEF_ALTITUDE_GROUND
static final String	DEF_ALTITUDE_MSL
static final String	DEF_AZIMUTH_ANGLE
static final String	DEF_ELEVATION_ANGLE
static final String	DEF_HEADING_MAGNETIC
static final String	DEF_HEADING_TRUE
static final String	DEF_LATITUDE_GEODETIC
static final String	DEF_LONGITUDE
static final String	DEF_PITCH_ANGLE
static final String	DEF_ROLL_ANGLE
static final String	DEF_YAW_ANGLE

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

DEF_ACCELERATION, DEF_ANGLE, DEF_ANGULAR_ACCEL, DEF_ANGULAR_VELOCITY, DEF_COORD, DEF_DISTANCE, DEF_LOCATION, DEF_ORIENTATION, DEF_ORIENTATION_EULER, DEF_ORIENTATION_QUAT, DEF_ROT_MATRIX, DEF_ROW, DEF_UNIT_VECTOR, DEF_VELOCITY

Fields inherited from class org.vast.swe.SWEHelper

ACCEL_UNIT, ANGLE_UNIT, ANGULAR_SPEED_UNIT, CURRENT_UNIT, DEFAULT_SWE_FACTORY, DISTANCE_UNIT, ENERGY_UNIT, fac, MASS_UNIT, PATH_SEPARATOR, POWER_UNIT, SPEED_UNIT, SURFACE_UNIT, TEMP_UNIT, TIME_UNIT, UNITLESS, uomParser, VOLTAGE_UNIT, VOLUME_UNIT

Constructor Summary

Constructors

Constructor	Description
GeoPosHelper()

Method Summary

Modifier and Type	Method	Description
SWEBuilders.VectorBuilder	createEulerOrientationECEF(String uomCode)	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)
SWEBuilders.VectorBuilder	createEulerOrientationENU(String uomCode)	Creates a 3D orientation vector composed of 3 Euler angles expressed in local East-North-Up (ENU) frame (order of rotations is heading/Z, pitch/X, roll/Y in rotating frame)
SWEBuilders.VectorBuilder	createEulerOrientationNED(String uomCode)	Creates a 3D orientation vector composed of 3 Euler angles expressed in local North-East-Down (NED) frame (order of rotations is heading/Z, pitch/Y, roll/X in rotating frame)
SWEBuilders.VectorBuilder	createEulerOrientationYPR(String uomCode)	Creates a 3D orientation vector composed of 3 Euler angles expressed in a local frame (order of rotations is yaw/Z, pitch/X, roll/Y in rotating frame)
SWEBuilders.VectorBuilder	createLocationVectorECEF(String uomCode)	Creates a 3D location vector with ECEF X/Y/Z axes (EPSG 4978)
SWEBuilders.VectorBuilder	createLocationVectorLatLon()	Creates a 2D location vector with latitude/longitude axes (EPSG 4326)
SWEBuilders.VectorBuilder	createLocationVectorLLA()	Creates a 3D location vector with latitude/longitude/altitude axes and WGS84 datum (EPSG 4979)
SWEBuilders.VectorBuilder	createLocationVectorLLA_MSL()	Creates a 3D location vector with latitude/longitude on WGS84 datum (EPSG 4326) and MSL altitude (EPSG 5714)
SWEBuilders.VectorBuilder	createQuatOrientation()	Creates a 4d vector representing an orientation quaternion expressed in the given frame (scalar comes last).
SWEBuilders.VectorBuilder	createQuatOrientationECEF()	Creates a 4d vector representing an orientation quaternion expressed in ECEF frame.
SWEBuilders.VectorBuilder	createQuatOrientationENU()	Creates a 4d vector representing an orientation quaternion expressed in ENU frame.
SWEBuilders.VectorBuilder	createQuatOrientationNED()	Creates a 4d vector representing an orientation quaternion expressed in NED frame.
SWEBuilders.VectorBuilder	createVelocityVectorECEF(String uomCode)	Creates a 3D velocity vector with ECEF X/Y/Z axes (EPSG 4978)
SWEBuilders.VectorBuilder	createVelocityVectorENU(String uomCode)	Creates a 3D velocity vector with ENU X/Y/Z axes
SWEBuilders.VectorBuilder	createVelocityVectorNED(String uomCode)	Creates a 3D velocity vector with NED X/Y/Z axes
Vector	newEulerOrientationECEF(String def, String uomCode)	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, String uomCode)	Creates a 3D orientation vector composed of 3 Euler angles expressed in local East-North-Up (ENU) frame (order of rotations is heading/Z, pitch/X, roll/Y in rotating frame)
Vector	newEulerOrientationNED(String def)	Default version of newEulerOrientationNED(String, String) with units set to degrees
Vector	newEulerOrientationNED(String def, String uomCode)	Creates a 3D orientation vector composed of 3 Euler angles expressed in local North-East-Down (NED) frame (order of rotations is heading/Z, pitch/Y, roll/X in rotating frame)
Vector	newLocationVectorECEF(String def)	Creates a 3D location vector with ECEF X/Y/Z axes (EPSG 4978), measured in meters
Vector	newLocationVectorECEF(String def, String uomCode)	Creates a 3D location vector with ECEF X/Y/Z axes (EPSG 4978)
Vector	newLocationVectorLatLon(String def)
Vector	newLocationVectorLLA(String def)	Creates a 3D location vector with latitude/longitude/altitude axes and WGS84 datum (EPSG 4979)
Vector	newLocationVectorLLA_MSL(String def)	Creates a 3D location vector with latitude/longitude on WGS84 datum (EPSG 4326) and MSL altitude (EPSG 5714)
Vector	newQuatOrientation(String def, String refFrame)	Creates a 4d vector representing an orientation quaternion expressed in the given frame (scalar comes last).
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	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

createAccelerationVector, createAngularVelocityVector, createEulerAngles, createLocationVectorXYZ, createUnitVectorXYZ, createVector3, createVelocityVector, newAccelerationVector, newAngularVelocityVector, newEulerAngles, newLocationVectorXYZ, newMatrix, newMatrix, newRotationMatrix, newUnitVectorXYZ, newVector3, newVector3D, newVelocityVector

Methods inherited from class org.vast.swe.SWEHelper

assignBinaryEncoding, checkUom, checkUom, checkUom, createArray, createBoolean, createCategory, createCategoryRange, createChoice, createCount, createCountRange, createDataParser, createDataWriter, createGeometry, createMatrix, createQuantity, createQuantityRange, createRecord, createText, createTime, createTimeRange, createVector, ensureXmlCompatible, findComponent, findComponentByDefinition, findComponentByName, findComponentByPath, findComponentByPath, getCfUri, getComponentPath, getDBpediaUri, getDefaultBinaryEncoding, getDefaultEncoding, getEpsgUri, getPropertyUri, getQudtUri, getRootComponent, getTimeStampIndexer, newAllowedTimes, newAllowedTokens, newAllowedValues, newBinaryBlock, newBinaryComponent, newBinaryEncoding, newBinaryEncoding, newBoolean, newBoolean, newCategory, newCategory, newCategoryRange, newCount, newCount, newCount, newCount, newCountRange, newCountRange, newDataArray, newDataArray, newDataArray, newDataChoice, newDataRecord, newDataRecord, newDataStream, newDataStream, newEncodedValuesProperty, newLinkProperty, newLinkProperty, newLinkProperty, newMatrix, newMatrix, newNilValue, newNilValues, newPhenomenonTimeIsoUTC, newQuantity, newQuantity, newQuantity, newQuantity, newQuantityRange, newQuantityRange, newRgbImage, newSystemIdComponent, newText, newText, newTextEncoding, newTextEncoding, newTime, newTime, newTime, newTime, newTimeIsoUTC, newTimeRange, newTimeRange, newTimeStampIsoGPS, newTimeStampIsoUTC, newTimeStampOnBoardClock, newUnitReference, newVector, newVector, newXMLEncoding, wrapWithTimeStamp, wrapWithTimeStampUTC

Methods inherited from class java.lang.Object

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

Field Details

DEF_LATITUDE_GEODETIC

public static final String DEF_LATITUDE_GEODETIC

DEF_LONGITUDE

public static final String DEF_LONGITUDE

DEF_ALTITUDE_ELLIPSOID

public static final String DEF_ALTITUDE_ELLIPSOID

DEF_ALTITUDE_MSL

public static final String DEF_ALTITUDE_MSL

DEF_ALTITUDE_GROUND

public static final String DEF_ALTITUDE_GROUND

DEF_ALTITUDE_BAROMETRIC

public static final String DEF_ALTITUDE_BAROMETRIC

DEF_HEADING_TRUE

public static final String DEF_HEADING_TRUE

DEF_HEADING_MAGNETIC

public static final String DEF_HEADING_MAGNETIC

DEF_YAW_ANGLE

public static final String DEF_YAW_ANGLE

DEF_PITCH_ANGLE

public static final String DEF_PITCH_ANGLE

DEF_ROLL_ANGLE

public static final String DEF_ROLL_ANGLE

DEF_AZIMUTH_ANGLE

public static final String DEF_AZIMUTH_ANGLE

DEF_ELEVATION_ANGLE

public static final String DEF_ELEVATION_ANGLE

Constructor Details

GeoPosHelper

public GeoPosHelper()

Method Details

createLocationVectorLLA

public SWEBuilders.VectorBuilder createLocationVectorLLA()

Creates a 3D location vector with latitude/longitude/altitude axes and WGS84 datum (EPSG 4979)

Returns:

A builder to set other options and build the final vector

newLocationVectorLLA

public Vector newLocationVectorLLA(String def)

Creates a 3D location vector with latitude/longitude/altitude axes and WGS84 datum (EPSG 4979)

Parameters:

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

Returns:

the new Vector component object

createLocationVectorLLA_MSL

public SWEBuilders.VectorBuilder createLocationVectorLLA_MSL()

Creates a 3D location vector with latitude/longitude on WGS84 datum (EPSG 4326) and MSL altitude (EPSG 5714)

Returns:

A builder to set other options and build the final vector

newLocationVectorLLA_MSL

public Vector newLocationVectorLLA_MSL(String def)

Creates a 3D location vector with latitude/longitude on WGS84 datum (EPSG 4326) and MSL altitude (EPSG 5714)

Parameters:

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

Returns:

the new Vector component object

createLocationVectorLatLon

public SWEBuilders.VectorBuilder createLocationVectorLatLon()

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

Returns:

A builder to set other options and build the final vector

newLocationVectorLatLon

public Vector newLocationVectorLatLon(String def)

Parameters:

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

Returns:

the new Vector component object

See Also:

• #createLocationVectorLatLon(String)

createLocationVectorECEF

public SWEBuilders.VectorBuilder createLocationVectorECEF(String uomCode)

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

Parameters:

uomCode - unit of distance to use on all 3 axes

Returns:

A builder to set other options and build the final vector

newLocationVectorECEF

public Vector newLocationVectorECEF(String def,
 String uomCode)

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)

uomCode - unit of distance to use on all 3 axes

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), measured in meters

Parameters:

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

Returns:

the new Vector component object

createVelocityVectorECEF

public SWEBuilders.VectorBuilder createVelocityVectorECEF(String uomCode)

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

Parameters:

uomCode - unit of velocity to use on all 3 axes

Returns:

A builder to set other options and build the final vector

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, VectorHelper.DEF_VELOCITY is used)

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

createVelocityVectorENU

public SWEBuilders.VectorBuilder createVelocityVectorENU(String uomCode)

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

Parameters:

uomCode - unit of velocity to use on all 3 axes

Returns:

A builder to set other options and build the final vector

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, VectorHelper.DEF_VELOCITY is used)

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

createVelocityVectorNED

public SWEBuilders.VectorBuilder createVelocityVectorNED(String uomCode)

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

Parameters:

uomCode - unit of velocity to use on all 3 axes

Returns:

A builder to set other options and build the final vector

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, VectorHelper.DEF_VELOCITY is used)

uomCode - unit of velocity to use on all 3 axes

Returns:

the new Vector component object

createEulerOrientationYPR

public SWEBuilders.VectorBuilder createEulerOrientationYPR(String uomCode)

Creates a 3D orientation vector composed of 3 Euler angles expressed in a local frame (order of rotations is yaw/Z, pitch/X, roll/Y in rotating frame)

Parameters:

uomCode - angular unit to use on all 3 axes

Returns:

A builder to set other options and build the final vector

createEulerOrientationENU

public SWEBuilders.VectorBuilder createEulerOrientationENU(String uomCode)

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

Parameters:

uomCode - angular unit to use on all 3 axes

Returns:

A builder to set other options and build the final vector

newEulerOrientationENU

public Vector newEulerOrientationENU(String def,
 String uomCode)

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

Parameters:

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

uomCode - angular unit to use on all 3 axes

Returns:

the new Vector component object

createEulerOrientationNED

public SWEBuilders.VectorBuilder createEulerOrientationNED(String uomCode)

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

Parameters:

uomCode - angular unit to use on all 3 axes

Returns:

A builder to set other options and build the final vector

newEulerOrientationNED

public Vector newEulerOrientationNED(String def,
 String uomCode)

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

Parameters:

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

uomCode - angular unit to use on all 3 axes

Returns:

the new Vector component object

newEulerOrientationNED

public Vector newEulerOrientationNED(String def)

Default version of newEulerOrientationNED(String, String) with units set to degrees

Parameters:

def -

Returns:

the new Vector component object

createEulerOrientationECEF

public SWEBuilders.VectorBuilder createEulerOrientationECEF(String uomCode)

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:

uomCode - angular unit to use on all 3 axes

Returns:

A builder to set other options and build the final vector

newEulerOrientationECEF

public Vector newEulerOrientationECEF(String def,
 String uomCode)

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)

uomCode - angular unit to use on all 3 axes

Returns:

the new Vector component object

createQuatOrientation

public SWEBuilders.VectorBuilder createQuatOrientation()

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

Parameters:

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

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

Returns:

A builder to set other options and build the final vector

newQuatOrientation

public Vector newQuatOrientation(String def,
 String refFrame)

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

Parameters:

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

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

Returns:

the new Vector component object

createQuatOrientationENU

public SWEBuilders.VectorBuilder createQuatOrientationENU()

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

Returns:

A builder to set other options and build the final vector

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

createQuatOrientationNED

public SWEBuilders.VectorBuilder createQuatOrientationNED()

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

Returns:

A builder to set other options and build the final vector

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

createQuatOrientationECEF

public SWEBuilders.VectorBuilder createQuatOrientationECEF()

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

Returns:

A builder to set other options and build the final vector

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