ECEFPositionAndVelocity.java
/*
* Copyright (C) 2019 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.gnss;
import com.irurueta.geometry.InhomogeneousPoint3D;
import com.irurueta.geometry.Point3D;
import com.irurueta.navigation.frames.ECEFPosition;
import com.irurueta.navigation.frames.ECEFVelocity;
import com.irurueta.units.Distance;
import com.irurueta.units.DistanceConverter;
import com.irurueta.units.DistanceUnit;
import com.irurueta.units.Speed;
import com.irurueta.units.SpeedConverter;
import com.irurueta.units.SpeedUnit;
import java.io.Serializable;
import java.util.Objects;
/**
* Contains position and velocity resolved in ECEF axes.
*/
public class ECEFPositionAndVelocity implements Serializable, Cloneable {
/**
* Cartesian x coordinate of position resolved in ECEF axes and expressed
* in meters (m).
*/
double x;
/**
* Cartesian y coordinate of position resolved in ECEF axes and expressed
* in meters (m).
*/
double y;
/**
* Cartesian z coordinate of position resolved in ECEF axes and expressed
* in meters(m).
*/
double z;
/**
* X coordinate of velocity resolved in ECEF axes and expressed in meters
* per second (m/s).
*/
double vx;
/**
* Y coordinate of velocity resolved in ECEF axes and expressed in meters
* per second (m/s).
*/
double vy;
/**
* Z coordinate of velocity resolved in ECEF axes and expressed in meters
* per second (m/s).
*/
double vz;
/**
* Constructor.
*/
public ECEFPositionAndVelocity() {
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position expressed in
* meters (m).
* @param y cartesian y coordinate of ECEF position expressed in
* meters (m).
* @param z cartesian z coordinate of ECEF position expressed in
* meters (m).
*/
public ECEFPositionAndVelocity(final double x, final double y, final double z) {
setPositionCoordinates(x, y, z);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position.
* @param y cartesian y coordinate of ECEF position.
* @param z cartesian z coordinate of ECEF position.
*/
public ECEFPositionAndVelocity(final Distance x, final Distance y, final Distance z) {
setPositionDistanceCoordinates(x, y, z);
}
/**
* Constructor.
*
* @param ecefPosition ECEF position.
*/
public ECEFPositionAndVelocity(final ECEFPosition ecefPosition) {
setEcefPosition(ecefPosition);
}
/**
* Constructor.
*
* @param position position to be set.
*/
public ECEFPositionAndVelocity(final Point3D position) {
setPosition(position);
}
/**
* Constructor.
*
* @param vx x coordinate of velocity resolved in ECEF axes.
* @param vy y coordinate of velocity resolved in ECEF axes.
* @param vz z coordinate of velocity resolved in ECEF axes.
*/
public ECEFPositionAndVelocity(final Speed vx, final Speed vy, final Speed vz) {
setSpeedCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param ecefVelocity velocity to be set.
*/
public ECEFPositionAndVelocity(final ECEFVelocity ecefVelocity) {
setEcefVelocity(ecefVelocity);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position expressed in
* meters (m).
* @param y cartesian y coordinate of ECEF position expressed in
* meters (m).
* @param z cartesian z coordinate of ECEF position expressed in
* meters (m).
* @param vx x coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vy y coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vz z coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
*/
public ECEFPositionAndVelocity(final double x, final double y, final double z,
final double vx, final double vy, final double vz) {
this(x, y, z);
setVelocityCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position expressed in
* meters (m).
* @param y cartesian y coordinate of ECEF position expressed in
* meters (m).
* @param z cartesian z coordinate of ECEF position expressed in
* meters (m).
* @param vx x coordinate of velocity resolved in ECEF axes.
* @param vy y coordinate of velocity resolved in ECEF axes.
* @param vz z coordinate of velocity resolved in ECEF axes.
*/
public ECEFPositionAndVelocity(final double x, final double y, final double z,
final Speed vx, final Speed vy, final Speed vz) {
this(x, y, z);
setSpeedCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position expressed in
* meters (m).
* @param y cartesian y coordinate of ECEF position expressed in
* meters (m).
* @param z cartesian z coordinate of ECEF position expressed in
* meters (m).
* @param ecefVelocity satellite velocity.
*/
public ECEFPositionAndVelocity(final double x, final double y, final double z, final ECEFVelocity ecefVelocity) {
this(x, y, z);
setEcefVelocity(ecefVelocity);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position.
* @param y cartesian y coordinate of ECEF position.
* @param z cartesian z coordinate of ECEF position.
* @param vx x coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vy y coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vz z coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
*/
public ECEFPositionAndVelocity(final Distance x, final Distance y, final Distance z,
final double vx, final double vy, final double vz) {
this(x, y, z);
setVelocityCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position.
* @param y cartesian y coordinate of ECEF position.
* @param z cartesian z coordinate of ECEF position.
* @param vx x coordinate of velocity resolved in ECEF axes.
* @param vy y coordinate of velocity resolved in ECEF axes.
* @param vz z coordinate of velocity resolved in ECEF axes.
*/
public ECEFPositionAndVelocity(final Distance x, final Distance y, final Distance z,
final Speed vx, final Speed vy, final Speed vz) {
this(x, y, z);
setSpeedCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param x cartesian x coordinate of ECEF position.
* @param y cartesian y coordinate of ECEF position.
* @param z cartesian z coordinate of ECEF position.
* @param ecefVelocity satellite velocity.
*/
public ECEFPositionAndVelocity(final Distance x, final Distance y, final Distance z,
final ECEFVelocity ecefVelocity) {
this(x, y, z);
setEcefVelocity(ecefVelocity);
}
/**
* Constructor.
*
* @param ecefPosition ECEF position to be set.
* @param vx x coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vy y coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vz z coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
*/
public ECEFPositionAndVelocity(final ECEFPosition ecefPosition,
final double vx, final double vy, final double vz) {
this(ecefPosition);
setVelocityCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param ecefPosition ECEF position to be set.
* @param vx x coordinate of velocity resolved in ECEF axes.
* @param vy y coordinate of velocity resolved in ECEF axes.
* @param vz z coordinate of velocity resolved in ECEF axes.
*/
public ECEFPositionAndVelocity(final ECEFPosition ecefPosition,
final Speed vx, final Speed vy, final Speed vz) {
this(ecefPosition);
setSpeedCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param ecefPosition ECEF position to be set.
* @param ecefVelocity velocity to be set.
*/
public ECEFPositionAndVelocity(final ECEFPosition ecefPosition, final ECEFVelocity ecefVelocity) {
this(ecefPosition);
setEcefVelocity(ecefVelocity);
}
/**
* Constructor.
*
* @param position position to be set.
* @param vx x coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vy y coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
* @param vz z coordinate of velocity resolved in ECEF axes and expressed
* in meters per second (m/s).
*/
public ECEFPositionAndVelocity(final Point3D position, final double vx, final double vy, final double vz) {
this(position);
setVelocityCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param position position to be set.
* @param vx x coordinate of velocity resolved in ECEF axes.
* @param vy y coordinate of velocity resolved in ECEF axes.
* @param vz z coordinate of velocity resolved in ECEF axes.
*/
public ECEFPositionAndVelocity(final Point3D position, final Speed vx, final Speed vy, final Speed vz) {
this(position);
setSpeedCoordinates(vx, vy, vz);
}
/**
* Constructor.
*
* @param position position to be set.
* @param ecefVelocity velocity to be set.
*/
public ECEFPositionAndVelocity(final Point3D position, final ECEFVelocity ecefVelocity) {
this(position);
setEcefVelocity(ecefVelocity);
}
/**
* Copy constructor.
*
* @param input input instance to copy data from.
*/
public ECEFPositionAndVelocity(final ECEFPositionAndVelocity input) {
copyFrom(input);
}
/**
* Gets cartesian x coordinate of position resolved in ECEF axes and
* expressed in meters (m).
*
* @return cartesian x coordinate of position resolved in ECEF axes
* and expressed in meters (m).
*/
public double getX() {
return x;
}
/**
* Sets cartesian x coordinate of position resolved in ECEF axes and
* expressed in meters (m).
*
* @param x cartesian x coordinate of position resolved in ECEF axes
* and expressed in meters (m).
*/
public void setX(final double x) {
this.x = x;
}
/**
* Gets cartesian y coordinate of position resolved in ECEF axes and
* expressed in meters (m).
*
* @return cartesian y coordinate of position resolved in ECEF axes
* and expressed in meters (m).
*/
public double getY() {
return y;
}
/**
* Sets cartesian y coordinate of position resolved in ECEF axes and
* expressed in meters (m).
*
* @param y cartesian y coordinate of position resolved in ECEF axes
* and expressed in meters (m).
*/
public void setY(final double y) {
this.y = y;
}
/**
* Gets cartesian z coordinate of position resolved in ECEF axes and
* expressed in meters (m).
*
* @return cartesian z coordinate of position resolved in ECEF axes
* and expressed in meters (m).
*/
public double getZ() {
return z;
}
/**
* Sets cartesian z coordinate of position resolved in ECEF axes and
* expressed in meters (m).
*
* @param z cartesian z coordinate of position resolved in ECEF axes
* and expressed in meters (m).
*/
public void setZ(final double z) {
this.z = z;
}
/**
* Sets ECEF position expressed in meters (m).
*
* @param x cartesian x coordinate of position.
* @param y cartesian y coordinate of position.
* @param z cartesian z coordinate of position.
*/
public void setPositionCoordinates(final double x, final double y, final double z) {
this.x = x;
this.y = y;
this.z = z;
}
/**
* Gets cartesian x coordinate of position resolved in ECEF axes.
*
* @param result instance where cartesian x coordinate of position will
* be stored.
*/
public void getXDistance(final Distance result) {
result.setValue(x);
result.setUnit(DistanceUnit.METER);
}
/**
* Gets cartesian x coordinate of position resolved in ECEF axes.
*
* @return cartesian x coordinate of position.
*/
public Distance getXDistance() {
return new Distance(x, DistanceUnit.METER);
}
/**
* Sets cartesian x coordinate of position resolved in ECEF axes.
*
* @param x cartesian x coordinate of position.
*/
public void setXDistance(final Distance x) {
this.x = DistanceConverter.convert(x.getValue().doubleValue(), x.getUnit(), DistanceUnit.METER);
}
/**
* Gets cartesian y coordinate of position resolved in ECEF axes.
*
* @param result instance where cartesian y coordinate of position will
* be stored.
*/
public void getYDistance(final Distance result) {
result.setValue(y);
result.setUnit(DistanceUnit.METER);
}
/**
* Gets cartesian y coordinate of position resolved in ECEF axes.
*
* @return cartesian y coordinate of position.
*/
public Distance getYDistance() {
return new Distance(y, DistanceUnit.METER);
}
/**
* Sets cartesian y coordinate of position resolved in ECEF axes.
*
* @param y cartesian y coordinate of position.
*/
public void setYDistance(final Distance y) {
this.y = DistanceConverter.convert(y.getValue().doubleValue(), y.getUnit(), DistanceUnit.METER);
}
/**
* Gets cartesian z coordinate of position resolved in ECEF axes.
*
* @param result instance where cartesian z coordinate of position will
* be stored.
*/
public void getZDistance(final Distance result) {
result.setValue(z);
result.setUnit(DistanceUnit.METER);
}
/**
* Gets cartesian z coordinate of position resolved in ECEF axes.
*
* @return cartesian z coordinate of position.
*/
public Distance getZDistance() {
return new Distance(z, DistanceUnit.METER);
}
/**
* Sets cartesian z coordinate of position resolved in ECEF axes.
*
* @param z cartesian z coordinate of position.
*/
public void setZDistance(final Distance z) {
this.z = DistanceConverter.convert(z.getValue().doubleValue(), z.getUnit(), DistanceUnit.METER);
}
/**
* Sets position resolved in ECEF axes.
*
* @param x cartesian x coordinate of position.
* @param y cartesian y coordinate of position.
* @param z cartesian z coordinate of position.
*/
public void setPositionDistanceCoordinates(final Distance x, final Distance y, final Distance z) {
setXDistance(x);
setYDistance(y);
setZDistance(z);
}
/**
* Gets ECEF position.
*
* @param result instance where ECEF position will be stored.
*/
public void getEcefPosition(final ECEFPosition result) {
result.setCoordinates(x, y, z);
}
/**
* Gets ECEF position.
*
* @return ECEF position.
*/
public ECEFPosition getEcefPosition() {
return new ECEFPosition(x, y, z);
}
/**
* Sets ECEF position.
*
* @param ecefPosition ECEF position.
*/
public void setEcefPosition(final ECEFPosition ecefPosition) {
x = ecefPosition.getX();
y = ecefPosition.getY();
z = ecefPosition.getZ();
}
/**
* Gets position resolved in ECEF axes.
*
* @param result instance where position will be stored.
*/
public void getPosition(final Point3D result) {
result.setInhomogeneousCoordinates(x, y, z);
}
/**
* Gets position resolved in ECEF axes.
*
* @return position.
*/
public Point3D getPosition() {
return new InhomogeneousPoint3D(x, y, z);
}
/**
* Sets position resolved in ECEF axes.
*
* @param position position.
*/
public void setPosition(final Point3D position) {
x = position.getInhomX();
y = position.getInhomY();
z = position.getInhomZ();
}
/**
* Gets x coordinate of velocity resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @return x coordinate of velocity resolved in ECEF axes.
*/
public double getVx() {
return vx;
}
/**
* Sets x coordinate of velocity resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @param vx x coordinate of velocity resolved in ECEF axes.
*/
public void setVx(final double vx) {
this.vx = vx;
}
/**
* Gets y coordinate of velocity resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @return y coordinate of velocity resolved in ECEF axes.
*/
public double getVy() {
return vy;
}
/**
* Sets y coordinate of velocity resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @param vy y coordinate of velocity resolved in ECEf axes.
*/
public void setVy(final double vy) {
this.vy = vy;
}
/**
* Gets z coordinate of velocity resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @return z coordinate of velocity resolved in ECEF axes.
*/
public double getVz() {
return vz;
}
/**
* Sets z coordinate of velocity resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @param vz z coordinate of velocity resolved in ECEF axes.
*/
public void setVz(final double vz) {
this.vz = vz;
}
/**
* Sets velocity coordinates resolved in ECEF axes and expressed in
* meters per second (m/s).
*
* @param vx x coordinate of velocity.
* @param vy y coordinate of velocity.
* @param vz z coordinate of velocity.
*/
public void setVelocityCoordinates(final double vx, final double vy, final double vz) {
this.vx = vx;
this.vy = vy;
this.vz = vz;
}
/**
* Gets x coordinate of velocity resolved in ECEF axes.
*
* @param result instance where x coordinate of velocity will be stored.
*/
public void getSpeedX(final Speed result) {
result.setValue(vx);
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets x coordinate of velocity resolved in ECEF axes.
*
* @return x coordinate of velocity.
*/
public Speed getSpeedX() {
return new Speed(vx, SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets x coordinate of velocity resolved in ECEF axes.
*
* @param vx x coordinate of velocity.
*/
public void setSpeedX(final Speed vx) {
this.vx = SpeedConverter.convert(vx.getValue().doubleValue(), vx.getUnit(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets y coordinate of velocity resolved in ECEF axes.
*
* @param result instance where y coordinate of velocity will be stored.
*/
public void getSpeedY(final Speed result) {
result.setValue(vy);
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets y coordinate of velocity resolved in ECEF axes.
*
* @return y coordinate of velocity.
*/
public Speed getSpeedY() {
return new Speed(vy, SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets y coordinate of velocity resolved in ECEF axes.
*
* @param vy y coordinate of velocity.
*/
public void setSpeedY(final Speed vy) {
this.vy = SpeedConverter.convert(vy.getValue().doubleValue(), vy.getUnit(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets z coordinate of velocity resolved in ECEF axes.
*
* @param result instance where z coordinate of velocity will be stored.
*/
public void getSpeedZ(final Speed result) {
result.setValue(vz);
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets z coordinate of velocity resolved in ECEF axes.
*
* @return z coordinate of velocity.
*/
public Speed getSpeedZ() {
return new Speed(vz, SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets z coordinate of velocity resolved in ECEF axes.
*
* @param vz z coordinate of velocity.
*/
public void setSpeedZ(final Speed vz) {
this.vz = SpeedConverter.convert(vz.getValue().doubleValue(), vz.getUnit(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets coordinates of velocity resolved in ECEF axes.
*
* @param vx x coordinate of velocity.
* @param vy y coordinate of velocity.
* @param vz z coordinate of velocity.
*/
public void setSpeedCoordinates(final Speed vx, final Speed vy, final Speed vz) {
setSpeedX(vx);
setSpeedY(vy);
setSpeedZ(vz);
}
/**
* Gets velocity resolved in ECEF axes.
*
* @param result instance where velocity will be stored.
*/
public void getEcefVelocity(final ECEFVelocity result) {
result.setCoordinates(vx, vy, vz);
}
/**
* Gets velocity resolved in ECEF axes.
*
* @return velocity.
*/
public ECEFVelocity getEcefVelocity() {
return new ECEFVelocity(vx, vy, vz);
}
/**
* Sets velocity resolved in ECEF axes.
*
* @param ecefVelocity velocity.
*/
public void setEcefVelocity(final ECEFVelocity ecefVelocity) {
vx = ecefVelocity.getVx();
vy = ecefVelocity.getVy();
vz = ecefVelocity.getVz();
}
/**
* Copies this instance data into provided instance.
*
* @param output destination instance where data will be copied to.
*/
public void copyTo(final ECEFPositionAndVelocity output) {
output.x = x;
output.y = y;
output.z = z;
output.vx = vx;
output.vy = vy;
output.vz = vz;
}
/**
* Copies data of provided instance into this instance.
*
* @param input instance to copy data from.
*/
public void copyFrom(final ECEFPositionAndVelocity input) {
x = input.x;
y = input.y;
z = input.z;
vx = input.vx;
vy = input.vy;
vz = input.vz;
}
/**
* Computes and returns hash code for this instance. Hash codes are almost unique
* values that are useful for fast classification and storage of objects in
* collections.
*
* @return Hash code.
*/
@Override
public int hashCode() {
return Objects.hash(x, y, z, vx, vy, vz);
}
/**
* Checks if provided object is a ECEFPositionAndVelocity having exactly the
* same contents as this instance.
*
* @param o object to be compared.
* @return true if both objects are considered to be equal, false otherwise.
*/
@Override
public boolean equals(final Object o) {
if (this == o) {
return true;
}
if (o == null || getClass() != o.getClass()) {
return false;
}
final var other = (ECEFPositionAndVelocity) o;
return equals(other);
}
/**
* Checks if provided instance has exactly the same contents as this instance.
*
* @param other instance to be compared.
* @return true if both instances are considered to be equal, false otherwise.
*/
public boolean equals(final ECEFPositionAndVelocity other) {
return equals(other, 0.0);
}
/**
* Checks if provided instance has contents similar to this instance up to provided
* threshold value.
*
* @param other instance to be compared.
* @param threshold maximum difference allowed between position and velocity
* coordinates.
* @return true if both instances are considered to be equal (up to provided
* threshold), false otherwise.
*/
public boolean equals(final ECEFPositionAndVelocity other, final double threshold) {
if (other == null) {
return false;
}
return Math.abs(x - other.x) <= threshold
&& Math.abs(y - other.y) <= threshold
&& Math.abs(z - other.z) <= threshold
&& Math.abs(vx - other.vx) <= threshold
&& Math.abs(vy - other.vy) <= threshold
&& Math.abs(vz - other.vz) <= threshold;
}
/**
* Makes a copy of this instance.
*
* @return a copy of this instance.
* @throws CloneNotSupportedException if clone fails for some reason.
*/
@Override
protected Object clone() throws CloneNotSupportedException {
final var result = (ECEFPositionAndVelocity) super.clone();
copyTo(result);
return result;
}
}