1

2# -*- coding: utf-8 -*-

3

4 u'''(INTERNAL) Private elliposiodal and spherical C{Nvector} base classes

5 L{LatLonNvectorBase} and L{NvectorBase} and function L{sumOf}.

6

7 Pure Python implementation of C{n-vector}-based geodesy tools for ellipsoidal

8 earth models, transcoded from JavaScript originals by I{(C) Chris Veness 2005-2016}

9 and published under the same MIT Licence**, see U{Vector-based geodesy

10<https://www.Movable-Type.co.UK/scripts/latlong-vectors.html>}.

11'''

12

13# from pygeodesy.basics import map1 # from .namedTuples

14 from pygeodesy.constants import EPS, EPS0, EPS1, EPS_2, R_M, \

15 _0_0, _1_0, _2_0, _N_2_0

16# from pygeodesy.datums import _spherical_datum # from .formy

17 from pygeodesy.errors import IntersectionError, _ValueError, VectorError, \

18 _xattrs, _xkwds, _xkwds_pop2

19 from pygeodesy.fmath import fdot, fidw, hypot # PYCHOK fdot shared

20 from pygeodesy.fsums import Fsum, fsumf_

21 from pygeodesy.formy import _isequalTo, _spherical_datum

22# from pygeodesy.internals import _under # from .named

23 from pygeodesy.interns import NN, _1_, _2_, _3_, _bearing_, _coincident_, \

24 _COMMASPACE_, _distance_, _h_, _insufficient_, \

25 _intersection_, _no_, _point_, _pole_, _SPACE_

26 from pygeodesy.latlonBase import LatLonBase, _ALL_DOCS, _ALL_LAZY, _MODS

27# from pygeodesy.lazily import _ALL_DOCS, _ALL_LAZY, _ALL_MODS as _MODS # from .latlonBase

28 from pygeodesy.named import _xother3, _under

29 from pygeodesy.namedTuples import LatLon2Tuple, PhiLam2Tuple, Trilaterate5Tuple, \

30 Vector3Tuple, Vector4Tuple, map1

31 from pygeodesy.props import deprecated_method, Property_RO, property_doc_, \

32 property_RO, property_ROnce, _update_all

33 from pygeodesy.streprs import Fmt, hstr, unstr

34 from pygeodesy.units import Bearing, Height, Radius_, Scalar

35 from pygeodesy.utily import atan2, sincos2d, _unrollon, _unrollon3

36 from pygeodesy.vector3d import Vector3d, _xyzhdlln4

37

38 from math import degrees, fabs, sqrt

39

40__all__ = _ALL_LAZY.nvectorBase

41__version__ = '24.11.24'

42

43

44 class NvectorBase(Vector3d): # XXX kept private

45 '''(INTERNAL) Base class for ellipsoidal and spherical C{Nvector}s.

46 '''

47 _datum = None # L{Datum}, overriden

48 _h = Height(h=0) # height (C{meter})

49 _H = NN # height prefix (C{str}), '↑' in JS version

50

51 def __init__(self, x_xyz, y=None, z=None, h=0, datum=None, **ll_name):

52 '''New n-vector normal to the earth's surface.

53

54 @arg x_xyz: X component of vector (C{scalar}) or (3-D) vector (C{Nvector},

55 L{Vector3d}, L{Vector3Tuple} or L{Vector4Tuple}).

56 @kwarg y: Y component of vector (C{scalar}), required if B{C{x_xyz}} is

57 C{scalar} and same units as B{C{x_xyz}}, ignored otherwise.

58 @kwarg z: Z component of vector (C{scalar}), like B{C{y}}.

59 @kwarg h: Optional height above surface (C{meter}).

60 @kwarg datum: Optional, I{pass-thru} datum (L{Datum}).

61 @kwarg ll_name: Optional C{B{name}=NN} (C{str}) and optional, original

62 latlon C{B{ll}=None} (C{LatLon}).

63

64 @raise TypeError: Non-scalar B{C{x}}, B{C{y}} or B{C{z}} coordinate or

65 B{C{x_xyz}} not an C{Nvector}, L{Vector3Tuple} or

66 L{Vector4Tuple} or invalid B{C{datum}}.

67 '''

68 h, d, ll, n = _xyzhdlln4(x_xyz, h, datum, **ll_name)

69 Vector3d.__init__(self, x_xyz, y=y, z=z, ll=ll, name=n)

70 if h:

71 self.h = h

72 if d is not None:

73 self._datum = _spherical_datum(d, name=n) # pass-thru

74

75 @Property_RO

76 def datum(self):

77 '''Get the I{pass-thru} datum (C{Datum}) or C{None}.

78 '''

79 return self._datum

80

81 @property_ROnce

82 def Ecef(self):

83 '''Get the ECEF I{class} (L{EcefKarney}), I{once}.

84 '''

85 return _MODS.ecef.EcefKarney

86

87 @property_RO

88 def ellipsoidalNvector(self):

89 '''Get the C{Nvector type} iff ellipsoidal, overloaded in L{pygeodesy.ellipsoidalNvector.Nvector}.

90 '''

91 return False

92

93 @property_doc_(''' the height above surface (C{meter}).''')

94 def h(self):

95 '''Get the height above surface (C{meter}).

96 '''

97 return self._h

98

99 @h.setter # PYCHOK setter!

100 def h(self, h):

101 '''Set the height above surface (C{meter}).

102

103 @raise TypeError: If B{C{h}} invalid.

104

105 @raise VectorError: If B{C{h}} invalid.

106 '''

107 h = Height(h=h, Error=VectorError)

108 if self._h != h:

109 _update_all(self)

110 self._h = h

111

112 @property_doc_(''' the height prefix (C{str}).''')

113 def H(self):

114 '''Get the height prefix (C{str}).

115 '''

116 return self._H

117

118 @H.setter # PYCHOK setter!

119 def H(self, H):

120 '''Set the height prefix (C{str}).

121 '''

122 self._H = str(H) if H else NN

123

124 def hStr(self, prec=-2, m=NN):

125 '''Return a string for the height B{C{h}}.

126

127 @kwarg prec: Number of (decimal) digits, unstripped (C{int}).

128 @kwarg m: Optional unit of the height (C{str}).

129

130 @see: Function L{pygeodesy.hstr}.

131 '''

132 return NN(self.H, hstr(self.h, prec=prec, m=m))

133

134 @Property_RO

135 def isEllipsoidal(self):

136 '''Check whether this n-vector is ellipsoidal (C{bool} or C{None} if unknown).

137 '''

138 return self.datum.isEllipsoidal if self.datum else None

139

140 @Property_RO

141 def isSpherical(self):

142 '''Check whether this n-vector is spherical (C{bool} or C{None} if unknown).

143 '''

144 return self.datum.isSpherical if self.datum else None

145

146 @Property_RO

147 def lam(self):

148 '''Get the (geodetic) longitude in C{radians} (C{float}).

149 '''

150 return self.philam.lam

151

152 @Property_RO

153 def lat(self):

154 '''Get the (geodetic) latitude in C{degrees} (C{float}).

155 '''

156 return self.latlon.lat

157

158 @Property_RO

159 def latlon(self):

160 '''Get the (geodetic) lat-, longitude in C{degrees} (L{LatLon2Tuple}C{(lat, lon)}).

161 '''

162 return n_xyz2latlon(self, name=self.name)

163

164 @Property_RO

165 def latlonheight(self):

166 '''Get the (geodetic) lat-, longitude in C{degrees} and height (L{LatLon3Tuple}C{(lat, lon, height)}).

167 '''

168 return self.latlon.to3Tuple(self.h)

169

170 @Property_RO

171 def latlonheightdatum(self):

172 '''Get the lat-, longitude in C{degrees} with height and datum (L{LatLon4Tuple}C{(lat, lon, height, datum)}).

173 '''

174 return self.latlonheight.to4Tuple(self.datum)

175

176 @Property_RO

177 def lon(self):

178 '''Get the (geodetic) longitude in C{degrees} (C{float}).

179 '''

180 return self.latlon.lon

181

182 @Property_RO

183 def phi(self):

184 '''Get the (geodetic) latitude in C{radians} (C{float}).

185 '''

186 return self.philam.phi

187

188 @Property_RO

189 def philam(self):

190 '''Get the (geodetic) lat-, longitude in C{radians} (L{PhiLam2Tuple}C{(phi, lam)}).

191 '''

192 return n_xyz2philam(self, name=self.name)

193

194 @Property_RO

195 def philamheight(self):

196 '''Get the (geodetic) lat-, longitude in C{radians} and height (L{PhiLam3Tuple}C{(phi, lam, height)}).

197 '''

198 return self.philam.to3Tuple(self.h)

199

200 @Property_RO

201 def philamheightdatum(self):

202 '''Get the lat-, longitude in C{radians} with height and datum (L{PhiLam4Tuple}C{(phi, lam, height, datum)}).

203 '''

204 return self.philamheight.to4Tuple(self.datum)

205

206 @property_RO

207 def sphericalNvector(self):

208 '''Get the C{Nvector type} iff spherical, overloaded in L{pygeodesy.sphericalNvector.Nvector}.

209 '''

210 return False

211

212 @deprecated_method

213 def to2ab(self): # PYCHOK no cover

214 '''DEPRECATED, use property L{philam}.'''

215 return self.philam

216

217 @deprecated_method

218 def to3abh(self, height=None): # PYCHOK no cover

219 '''DEPRECATED, use property L{philamheight} or C{philam.to3Tuple(B{height})}.'''

220 return self.philamheight if height in (None, self.h) else \

221 self.philam.to3Tuple(height)

222

223 def toCartesian(self, h=None, Cartesian=None, datum=None, **name_Cartesian_kwds): # PYCHOK signature

224 '''Convert this n-vector to C{Nvector}-based cartesian (ECEF) coordinates.

225

226 @kwarg h: Optional height, overriding this n-vector's height (C{meter}).

227 @kwarg Cartesian: Optional class to return the (ECEF) coordinates (C{Cartesian}).

228 @kwarg datum: Optional datum (C{Datum}), overriding this datum.

229 @kwarg name_Cartesian_kwds: Optional C{B{name}=NN} (C{str}) and optionally, additional

230 B{C{Cartesian}} keyword arguments, ignored if C{B{Cartesian} is None}.

231

232 @return: The (ECEF) coordinates (B{C{Cartesian}}) or if C{B{Cartesian} is None}, an

233 L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)} with C{C} and C{M}

234 if available.

235

236 @raise TypeError: Invalid B{C{Cartesian}} or B{C{name_Cartesian_kwds}} argument.

237

238 @raise ValueError: Invalid B{C{h}}.

239 '''

240 if h is None:

241 h = self.h

242 elif not isinstance(h, Height):

243 h = Height(h=h, Error=VectorError)

244 _, r, v = self._toEcefDrv3(Cartesian, None, datum, h, **name_Cartesian_kwds)

245 if r is None:

246 r = v.toCartesian(Cartesian, **self._name1__(name_Cartesian_kwds)) # h=0

247 return r

248

249 def _toEcefDrv3(self, CC, LL, datum, h, name=NN, **unused):

250 '''(INTERNAL) Helper for methods C{toCartesian} and C{toLatLon}.

251 '''

252 D = self.datum if datum in (None, self.datum) else \

253 _spherical_datum(datum, name=self.name)

254 if LL is None:

255 v = Vector3d(self, name=name or self.name) # .toVector3d(norm=False)

256 E = D.ellipsoid

257 r = E.a_b # Kenneth Gade eqn 22

258 n = v.times_(r, r, _1_0).length

259 n = (E.b / n) if n > EPS0 else _0_0

260 r = E.a2_b2 * n + h # fma

261 v = v.times_(r, r, n + h)

262 r = self.Ecef(D).reverse(v, M=True) if CC is None else None

263 else:

264 r = v = None

265 return D, r, v

266

267 @deprecated_method

268 def to2ll(self): # PYCHOK no cover

269 '''DEPRECATED, use property L{latlon}.'''

270 return self.latlon

271

272 @deprecated_method

273 def to3llh(self, height=None): # PYCHOK no cover

274 '''DEPRECATED, use property C{latlonheight} or C{latlon.to3Tuple(B{height})}.'''

275 return self.latlonheight if height in (None, self.h) else \

276 self.latlon.to3Tuple(height)

277

278 def toLatLon(self, height=None, LatLon=None, datum=None, **name_LatLon_kwds):

279 '''Convert this n-vector to an C{Nvector}-based geodetic point.

280

281 @kwarg height: Optional height, overriding this n-vector's

282 height (C{meter}).

283 @kwarg LatLon: Optional class to return the geodetic point

284 (C{LatLon}) or C{None}.

285 @kwarg datum: Optional, spherical datum (C{Datum}).

286 @kwarg name_LatLon_kwds: Optional C{B{name}=NN} (C{str}) and optionally,

287 additional B{C{LatLon}} keyword arguments, ignored if

288 C{B{LatLon} is None}.

289

290 @return: The geodetic point (C{LatLon}) or if C{B{LatLon} is None},

291 an L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)}

292 with C{C} and C{M} if available.

293

294 @raise TypeError: Invalid B{C{LatLon}} or B{C{name_LatLon_kwds}} argument.

295

296 @raise ValueError: Invalid B{C{height}}.

297 '''

298 h = self.h if height is None else (

299 height if isinstance(height, Height) else

300 Height(height, Error=VectorError))

301 # use the .toCartesian() logic for better height accuracy instead of

302 # r = self.Ecef(D).forward(self.lat, self.lon, height=h, M=True)

303 D, r, _ = self._toEcefDrv3(None, LatLon, datum, h, **name_LatLon_kwds)

304 if r is None:

305 kwds = _xkwds(name_LatLon_kwds, height=h, datum=D)

306 r = LatLon(self.lat, self.lon, **self._name1__(kwds))

307 return r

308

309 def toStr(self, prec=5, fmt=Fmt.PAREN, sep=_COMMASPACE_): # PYCHOK expected

310 '''Return a string representation of this n-vector.

311

312 Height component is only included if non-zero.

313

314 @kwarg prec: Number of (decimal) digits, unstripped (C{int}).

315 @kwarg fmt: Enclosing backets format (C{str}).

316 @kwarg sep: Optional separator between components (C{str}).

317

318 @return: Comma-separated C{"(x, y, z [, h])"} enclosed in

319 B{C{fmt}} brackets (C{str}).

320 '''

321 t = Vector3d.toStr(self, prec=prec, fmt=NN, sep=sep)

322 if self.h:

323 t = sep.join((t, self.hStr()))

324 return (fmt % (t,)) if fmt else t

325

326 def toVector3d(self, norm=True):

327 '''Convert this n-vector to a 3-D vector, I{ignoring height}.

328

329 @kwarg norm: If C{True}, normalize the 3-D vector (C{bool}).

330

331 @return: The (normalized) vector (L{Vector3d}).

332 '''

333 v = Vector3d.unit(self) if norm else self

334 return Vector3d(v, name=self.name)

335

336 @deprecated_method

337 def to4xyzh(self, h=None): # PYCHOK no cover

338 '''DEPRECATED, use property L{xyzh} or C{xyz.to4Tuple(B{h})}.'''

339 return self.xyzh if h in (None, self.h) else Vector4Tuple(

340 self.x, self.y, self.z, h, name=self.name)

341

342 def unit(self, ll=None):

343 '''Normalize this n-vector to unit length.

344

345 @kwarg ll: Optional, original latlon (C{LatLon}).

346

347 @return: Normalized vector (C{Nvector}).

348 '''

349 return _xattrs(Vector3d.unit(self, ll=ll), self, _under(_h_))

350

351 @Property_RO

352 def xyzh(self):

353 '''Get this n-vector's components (L{Vector4Tuple}C{(x, y, z, h)})

354 '''

355 return self.xyz.to4Tuple(self.h)

356

357

358 class _N_vector_(NvectorBase):

359 '''(INTERNAL) Minimal, low-overhead C{n-vector}.

360 '''

361 def __init__(self, x, y, z, h=0, **name):

362 self._x, self._y, self._z = x, y, z

363 if h:

364 self._h = h

365 if name:

366 self.name = name

367

368

369 NorthPole = _N_vector_(0, 0, +1, name='NorthPole') # North pole

370 SouthPole = _N_vector_(0, 0, -1, name='SouthPole') # South pole

371

372

373 class LatLonNvectorBase(LatLonBase):

374 '''(INTERNAL) Base class for n-vector-based ellipsoidal and spherical C{LatLon}s.

375 '''

376

377 def _update(self, updated, *attrs, **setters): # PYCHOK _Nv=None

378 '''(INTERNAL) Zap cached attributes if updated.

379

380 @see: C{ellipsoidalNvector.LatLon} and C{sphericalNvector.LatLon} for

381 the special case of B{C{_Nv}}.

382 '''

383 if updated:

384 _Nv, setters = _xkwds_pop2(setters, _Nv=None)

385 if _Nv is not None:

386 if _Nv._fromll is not None:

387 _Nv._fromll = None

388 self._Nv = None

389 LatLonBase._update(self, updated, *attrs, **setters)

390

391# def distanceTo(self, other, **kwds): # PYCHOK no cover

392# '''I{Must be overloaded}.'''

393# self._notOverloaded(other, **kwds)

394

395 def intersections2(self, radius1, other, radius2, **kwds): # PYCHOK expected

396 '''B{Not implemented}, throws a C{NotImplementedError} always.'''

397 self._notImplemented(radius1, other, radius2, **kwds)

398

399 def others(self, *other, **name_other_up):

400 '''Refined class comparison.

401

402 @arg other: The other instance (C{LatLonNvectorBase}).

403 @kwarg name_other_up: Overriding C{name=other} and C{up=1}

404 keyword arguments.

405

406 @return: The B{C{other}} if compatible.

407

408 @raise TypeError: Incompatible B{C{other}} C{type}.

409 '''

410 if other:

411 other0 = other[0]

412 if isinstance(other0, (self.__class__, LatLonNvectorBase)): # XXX NvectorBase?

413 return other0

414

415 other, name, up = _xother3(self, other, **name_other_up)

416 if not isinstance(other, (self.__class__, LatLonNvectorBase)): # XXX NvectorBase?

417 LatLonBase.others(self, other, name=name, up=up + 1)

418 return other

419

420 def toNvector(self, **Nvector_and_kwds): # PYCHOK signature

421 '''Convert this point to C{Nvector} components, I{including height}.

422

423 @kwarg Nvector_and_kwds: Optional C{Nvector} class and C{Nvector} keyword arguments,

424 Specify C{B{Nvector}=...} to override this C{Nvector} class

425 or use C{B{Nvector}=None}.

426

427 @return: An C{Nvector} or if C{Nvector is None}, a L{Vector4Tuple}C{(x, y, z, h)}.

428

429 @raise TypeError: Invalid C{Nvector} or other B{C{Nvector_and_kwds}} item.

430 '''

431 return LatLonBase.toNvector(self, **_xkwds(Nvector_and_kwds, Nvector=NvectorBase))

432

433 def triangulate(self, bearing1, other, bearing2, height=None, wrap=False): # PYCHOK signature

434 '''Locate a point given this, an other point and the (initial) bearing

435 from this and the other point.

436

437 @arg bearing1: Bearing at this point (compass C{degrees360}).

438 @arg other: The other point (C{LatLon}).

439 @arg bearing2: Bearing at the other point (compass C{degrees360}).

440 @kwarg height: Optional height at the triangulated point, overriding

441 the mean height (C{meter}).

442 @kwarg wrap: If C{True}, use this and the B{C{other}} point

443 I{normalized} (C{bool}).

444

445 @return: Triangulated point (C{LatLon}).

446

447 @raise TypeError: Invalid B{C{other}} point.

448

449 @raise Valuerror: Points coincide.

450 '''

451 return _triangulate(self, bearing1, self.others(other), bearing2,

452 height=height, wrap=wrap, LatLon=self.classof)

453

454 def trilaterate(self, distance1, point2, distance2, point3, distance3,

455 radius=R_M, height=None, useZ=False, wrap=False):

456 '''Locate a point at given distances from this and two other points.

457

458 @arg distance1: Distance to this point (C{meter}, same units

459 as B{C{radius}}).

460 @arg point2: Second reference point (C{LatLon}).

461 @arg distance2: Distance to point2 (C{meter}, same units as

462 B{C{radius}}).

463 @arg point3: Third reference point (C{LatLon}).

464 @arg distance3: Distance to point3 (C{meter}, same units as

465 B{C{radius}}).

466 @kwarg radius: Mean earth radius (C{meter}).

467 @kwarg height: Optional height at trilaterated point, overriding

468 the mean height (C{meter}, same units as B{C{radius}}).

469 @kwarg useZ: Include Z component iff non-NaN, non-zero (C{bool}).

470 @kwarg wrap: If C{True}, use this, B{C{point2}} and B{C{point3}}

471 I{normalized} (C{bool}).

472

473 @return: Trilaterated point (C{LatLon}).

474

475 @raise IntersectionError: No intersection, trilateration failed.

476

477 @raise TypeError: Invalid B{C{point2}} or B{C{point3}}.

478

479 @raise ValueError: Some B{C{points}} coincide or invalid B{C{distance1}},

480 B{C{distance2}}, B{C{distance3}} or B{C{radius}}.

481

482 @see: U{Trilateration<https://WikiPedia.org/wiki/Trilateration>}, I{Veness}'

483 JavaScript U{Trilateration<https://www.Movable-Type.co.UK/scripts/

484 latlong-vectors.html>} and method C{LatLon.trilaterate5} of other,

485 non-C{Nvector LatLon} classes.

486 '''

487 return _trilaterate(self, distance1, self.others(point2=point2), distance2,

488 self.others(point3=point3), distance3,

489 radius=radius, height=height, useZ=useZ,

490 wrap=wrap, LatLon=self.classof)

491

492 def trilaterate5(self, distance1, point2, distance2, point3, distance3, # PYCHOK signature

493 area=False, eps=EPS1, radius=R_M, wrap=False):

494 '''B{Not implemented} for C{B{area}=True} and falls back to method C{trilaterate}.

495

496 @return: A L{Trilaterate5Tuple}C{(min, minPoint, max, maxPoint, n)} with a

497 single trilaterated intersection C{minPoint I{is} maxPoint}, C{min

498 I{is} max} the nearest intersection margin and count C{n = 1}.

499

500 @raise NotImplementedError: Keyword argument C{B{area}=True} not (yet) supported.

501

502 @see: Method L{trilaterate} for other and more details.

503 '''

504 if area:

505 self._notImplemented(area=area)

506

507 t = _trilaterate(self, distance1, self.others(point2=point2), distance2,

508 self.others(point3=point3), distance3,

509 radius=radius, useZ=True, wrap=wrap,

510 LatLon=self.classof)

511 # ... and handle B{C{eps}} and C{IntersectionError}

512 # like function C{.latlonBase._trilaterate5}

513 d = self.distanceTo(t, radius=radius, wrap=wrap) # PYCHOK distanceTo

514 d = min(fabs(distance1 - d), fabs(distance2 - d), fabs(distance3 - d))

515 if d < eps: # min is max, minPoint is maxPoint

516 return Trilaterate5Tuple(d, t, d, t, 1) # n = 1

517 t = _SPACE_(_no_(_intersection_), Fmt.PAREN(min.__name__, Fmt.f(d, prec=3)))

518 raise IntersectionError(area=area, eps=eps, radius=radius, wrap=wrap, txt=t)

519

520

521 def n_xyz2latlon(x_xyz, y=0, z=0, **name):

522 '''Convert C{n-vector} to (geodetic) lat- and longitude in C{degrees}.

523

524 @arg x_xyz: X component (C{scalar}) or (3-D) vector (C{Nvector},

525 L{Vector3d}, L{Vector3Tuple} or L{Vector4Tuple}).

526 @kwarg y: Y component of vector (C{scalar}), required if C{B{x_xyz} is

527 scalar} and same units as B{C{x_xyz}}, ignored otherwise.

528 @kwarg z: Z component of vector (C{scalar}), like B{C{y}}.

529 @kwarg name: Optional C{B{name}=NN} (C{str}).

530

531 @return: A L{LatLon2Tuple}C{(lat, lon)}.

532

533 @see: Function L{n_xyz2philam}.

534 '''

535 ll = map(degrees, n_xyz2philam(x_xyz, y, z))

536 return LatLon2Tuple(*ll, **name)

537

538

539 def n_xyz2philam(x_xyz, y=0, z=0, **name):

540 '''Convert C{n-vector} to (geodetic) lat- and longitude in C{radians}.

541

542 @arg x_xyz: X component (C{scalar}) or (3-D) vector (C{Nvector},

543 L{Vector3d}, L{Vector3Tuple} or L{Vector4Tuple}).

544 @kwarg y: Y component of vector (C{scalar}), required if C{B{x_xyz} is

545 scalar} and same units as B{C{x_xyz}}, ignored otherwise.

546 @kwarg z: Z component of vector (C{scalar}), like B{C{y}}.

547 @kwarg name: Optional C{B{name}=NN} (C{str}).

548

549 @return: A L{PhiLam2Tuple}C{(phi, lam)}.

550

551 @see: Function L{n_xyz2latlon}.

552 '''

553 try:

554 x, y, z = x_xyz.xyz

555 except AttributeError:

556 x = x_xyz

557 return PhiLam2Tuple(atan2(z, hypot(x, y)), atan2(y, x), **name)

558

559

560 def _nsumOf(nvs, h_None, Vector, Vector_kwds): # .sphericalNvector, .vector3d

561 '''(INTERNAL) Separated to allow callers to embellish exceptions.

562 '''

563 X, Y, Z, n = Fsum(), Fsum(), Fsum(), 0

564 H = Fsum() if h_None is None else n

565 for n, v in enumerate(nvs or ()): # one pass

566 X += v.x

567 Y += v.y

568 Z += v.z

569 H += v.h

570 if n < 1:

571 raise ValueError(_SPACE_(Fmt.PARENSPACED(len=n), _insufficient_))

572

573 x, y, z = map1(float, X, Y, Z)

574 h = H.fover(n) if h_None is None else h_None

575 return Vector3Tuple(x, y, z).to4Tuple(h) if Vector is None else \

576 Vector(x, y, z, **_xkwds(Vector_kwds, h=h))

577

578

579 def sumOf(nvectors, Vector=None, h=None, **Vector_kwds):

580 '''Return the I{vectorial} sum of two or more n-vectors.

581

582 @arg nvectors: Vectors to be added (C{Nvector}[]).

583 @kwarg Vector: Optional class for the vectorial sum (C{Nvector})

584 or C{None}.

585 @kwarg h: Optional height, overriding the mean height (C{meter}).

586 @kwarg Vector_kwds: Optional, additional B{C{Vector}} keyword

587 arguments, ignored if C{B{Vector} is None}.

588

589 @return: Vectorial sum (B{C{Vector}}) or a L{Vector4Tuple}C{(x, y,

590 z, h)} if C{B{Vector} is None}.

591

592 @raise VectorError: No B{C{nvectors}}.

593 '''

594 try:

595 return _nsumOf(nvectors, h, Vector, Vector_kwds)

596 except (TypeError, ValueError) as x:

597 raise VectorError(nvectors=nvectors, Vector=Vector, cause=x)

598

599

600 def _triangulate(point1, bearing1, point2, bearing2, height=None,

601 wrap=False, **LatLon_and_kwds):

602 # (INTERNAL) Locate a point given two known points and initial

603 # bearings from those points, see C{LatLon.triangulate} above

604

605 def _gc(p, b, _i_):

606 n = p.toNvector()

607 de = NorthPole.cross(n, raiser=_pole_).unit() # east vector @ n

608 dn = n.cross(de) # north vector @ n

609 s, c = sincos2d(Bearing(b, name=_bearing_ + _i_))

610 dest = de.times(s)

611 dnct = dn.times(c)

612 d = dnct.plus(dest) # direction vector @ n

613 return n.cross(d) # great circle point + bearing

614

615 if wrap:

616 point2 = _unrollon(point1, point2, wrap=wrap)

617 if _isequalTo(point1, point2, eps=EPS):

618 raise _ValueError(points=point2, wrap=wrap, txt=_coincident_)

619

620 gc1 = _gc(point1, bearing1, _1_) # great circle p1 + b1

621 gc2 = _gc(point2, bearing2, _2_) # great circle p2 + b2

622

623 n = gc1.cross(gc2, raiser=_point_) # n-vector of intersection point

624 h = point1._havg(point2, h=height)

625 kwds = _xkwds(LatLon_and_kwds, height=h)

626 return n.toLatLon(**kwds) # Nvector(n.x, n.y, n.z).toLatLon(...)

627

628

629 def _trilaterate(point1, distance1, point2, distance2, point3, distance3,

630 radius=R_M, height=None, useZ=False,

631 wrap=False, **LatLon_and_kwds):

632 # (INTERNAL) Locate a point at given distances from

633 # three other points, see LatLon.triangulate above

634

635 def _nr2(p, d, r, _i_, *qs): # .toNvector and angular distance squared

636 for q in qs:

637 if _isequalTo(p, q, eps=EPS):

638 raise _ValueError(points=p, txt=_coincident_)

639 return p.toNvector(), (Scalar(d, name=_distance_ + _i_) / r)**2

640

641 p1, r = point1, Radius_(radius)

642 p2, p3, _ = _unrollon3(p1, point2, point3, wrap)

643

644 n1, r12 = _nr2(p1, distance1, r, _1_)

645 n2, r22 = _nr2(p2, distance2, r, _2_, p1)

646 n3, r32 = _nr2(p3, distance3, r, _3_, p1, p2)

647

648 # the following uses x,y coordinate system with origin at n1, x axis n1->n2

649 y = n3.minus(n1)

650 x = n2.minus(n1)

651 z = None

652

653 d = x.length # distance n1->n2

654 if d > EPS_2: # and y.length > EPS_2:

655 X = x.unit() # unit vector in x direction n1->n2

656 i = X.dot(y) # signed magnitude of x component of n1->n3

657 Y = y.minus(X.times(i)).unit() # unit vector in y direction

658 j = Y.dot(y) # signed magnitude of y component of n1->n3

659 if fabs(j) > EPS_2:

660 # courtesy of U{Carlos Freitas<https://GitHub.com/mrJean1/PyGeodesy/issues/33>}

661 x = fsumf_(r12, -r22, d**2) / (d * _2_0) # n1->intersection x- and ...

662 y = fsumf_(r12, -r32, i**2, j**2, x * i * _N_2_0) / (j * _2_0) # ... y-component

663 # courtesy of U{AleixDev<https://GitHub.com/mrJean1/PyGeodesy/issues/43>}

664 z = fsumf_(max(r12, r22, r32), -(x**2), -(y**2)) # XXX not just r12!

665 if z > EPS:

666 n = n1.plus(X.times(x)).plus(Y.times(y))

667 if useZ: # include Z component

668 Z = X.cross(Y) # unit vector perpendicular to plane

669 n = n.plus(Z.times(sqrt(z)))

670 if height is None:

671 h = fidw((point1.height, point2.height, point3.height),

672 map1(fabs, distance1, distance2, distance3))

673 else:

674 h = Height(height)

675 kwds = _xkwds(LatLon_and_kwds, height=h)

676 return n.toLatLon(**kwds) # Nvector(n.x, n.y, n.z).toLatLon(...)

677

678 # no intersection, d < EPS_2 or fabs(j) < EPS_2 or z < EPS

679 t = _SPACE_(_no_, _intersection_, NN)

680 raise IntersectionError(point1=point1, distance1=distance1,

681 point2=point2, distance2=distance2,

682 point3=point3, distance3=distance3,

683 txt=unstr(t, z=z, useZ=useZ, wrap=wrap))

684

685

686__all__ += _ALL_DOCS(LatLonNvectorBase, NvectorBase, sumOf) # classes

687

688# **) MIT License

689#

690# Copyright (C) 2016-2025 -- mrJean1 at Gmail -- All Rights Reserved.

691#

692# Permission is hereby granted, free of charge, to any person obtaining a

693# copy of this software and associated documentation files (the "Software"),

694# to deal in the Software without restriction, including without limitation

695# the rights to use, copy, modify, merge, publish, distribute, sublicense,

696# and/or sell copies of the Software, and to permit persons to whom the

697# Software is furnished to do so, subject to the following conditions:

698#

699# The above copyright notice and this permission notice shall be included

700# in all copies or substantial portions of the Software.

701#

702# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS

703# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

704# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL

705# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR

706# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,

707# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

708# OTHER DEALINGS IN THE SOFTWARE.