/// <summary>
/// Get unique depth points from sequence.
/// </summary>
/// <param name="inputDepthPoints">Input sequence of <see cref="IDepthPointSource"/></param>
/// <returns>Sequence of unique <see cref="IDepthPointSource"/></returns>
public static IEnumerable <IDepthPointSource> GetUniqueDepthPoints(this IEnumerable <IDepthPointSource> inputDepthPoints)
{
return(inputDepthPoints
.GroupBy(point => point.Point)
.Select(depthPointSourceGroup =>
new CsvLogEntry(depthPointSourceGroup.Key,
LinearDimension.FromMeters(depthPointSourceGroup.Average(pnt => pnt.Depth.GetMeters())))));
}
/// <summary>
/// Returns the distance between two <see cref="SonarLogAPI.Primitives.CoordinatePoint" /> on the flat.
/// </summary>
/// <param name="lat1">First point <see cref="SonarLogAPI.Primitives.Latitude" /> degrees double value.</param>
/// <param name="long1">First point <see cref="SonarLogAPI.Primitives.Longitude" /> degrees double value.</param>
/// <param name="lat2">Second point <see cref="SonarLogAPI.Primitives.Latitude" /> degrees double value.</param>
/// <param name="long2">Second point <see cref="SonarLogAPI.Primitives.Longitude" /> degrees double value.</param>
/// <param name="altitude">Point altitude above surface(meters). Zero by default.</param>
/// <returns>Distance between points</returns>
public static LinearDimension GetDistanceBetweenPointsOnTheFlat(double lat1, double long1, double lat2, double long2, double altitude = 0)
{
double deltaLatRad = (lat2 - lat1) * _d2R;
double deltaLonRad = (long2 - long1) * _d2R;
double deltaY = deltaLatRad * (_earthWgs84MeanRadius + altitude);
double deltaX = deltaLonRad * (_earthWgs84MeanRadius + altitude);
double distanceMeters = Math.Sqrt(Math.Pow(deltaX, 2d) + Math.Pow(deltaY, 2d));
return(LinearDimension.FromMeters(distanceMeters));
}
/// <summary>
/// Returns the distance between two <see cref="SonarLogAPI.Primitives.CoordinatePoint" /> at sphere with WGS84 Mean Radius with Haversine formula.
/// </summary>
/// <param name="lat1">First point <see cref="SonarLogAPI.Primitives.Latitude" /> degrees double value.</param>
/// <param name="long1">First point <see cref="SonarLogAPI.Primitives.Longitude" /> degrees double value.</param>
/// <param name="lat2">Second point <see cref="SonarLogAPI.Primitives.Latitude" /> degrees double value.</param>
/// <param name="long2">Second point <see cref="SonarLogAPI.Primitives.Longitude" /> degrees double value.</param>
/// <param name="altitude">Point altitude above surface(meters). Zero by default.</param>
/// <returns>Distance between points</returns>
/// <seealso cref="http://en.wikipedia.org/wiki/Great-circle_distance"/>
public static LinearDimension GetDistanceBetweenPointsWithHaversine(double lat1, double long1, double lat2, double long2, double altitude = 0)
{
//with antipode points modification
//https://wikimedia.org/api/rest_v1/media/math/render/svg/c3159d773b79d31c3f5ff176a6262fabd20cdbc9
//converts all degrees to radians
double lat1Rad = lat1 * _d2R;
double lat2Rad = lat2 * _d2R;
double longDeltaRad = (long2 - long1) * _d2R;
double y = Math.Sqrt(Math.Pow(Math.Cos(lat2Rad) * Math.Sin(longDeltaRad), 2d) + Math.Pow(Math.Cos(lat1Rad) * Math.Sin(lat2Rad) - Math.Sin(lat1Rad) * Math.Cos(lat2Rad) * Math.Cos(longDeltaRad), 2d));
double x = Math.Sin(lat1Rad) * Math.Sin(lat2Rad) + Math.Cos(lat1Rad) * Math.Cos(lat2Rad) * Math.Cos(longDeltaRad);
double deltaSigma = Math.Atan2(y, x);
return(LinearDimension.FromMeters(deltaSigma * (_earthWgs84MeanRadius + altitude)));
}
/// <summary>
/// Returns the distance between two <see cref="CoordinatePoint" /> on an ellipsoid. Inverse Geodesics problem.
/// </summary>
/// <param name="lat1">First point <see cref="Primitives.Latitude" /> degrees double value.</param>
/// <param name="long1">First point <see cref="Primitives.Longitude" /> degrees double value.</param>
/// <param name="lat2">Second point <see cref="Primitives.Latitude" /> degrees double value.</param>
/// <param name="long2">Second point <see cref="Primitives.Longitude" /> degrees double value.</param>
/// <param name="altitude">Point altitude above surface(meters). Zero by default.</param>
/// <returns>Distance between points.</returns>
/// <seealso cref="http://www.geogr.msu.ru/cafedra/karta/docs/GOK/gok_lecture_4.pdf"/>
/// <remarks>This method can return two azimuths to points.</remarks>
public static LinearDimension GetDistanceBetweenPointsOnAnEllipsoid(double lat1, double long1, double lat2, double long2, double altitude = 0)
{
//degree(pow) reduction formula
double SinPow2(double angleRadians) => (1 - Math.Cos(2 * angleRadians)) / 2;
double deltaLatitudeRadians = (lat2 - lat1) * _d2R;
double deltaLongitudeRadians = (long2 - long1) * _d2R;
double middleLongitudeRadians = (lat2 + lat1) * _d2R / 2;
double meridional = GetMeridionalForLatitude(Latitude.FromRadians(middleLongitudeRadians));
double primeVertical = GetPrimeVerticalForLatitude(Latitude.FromRadians(middleLongitudeRadians));
double q = deltaLatitudeRadians * meridional *
(1 - (2 * Math.Pow(deltaLongitudeRadians, 2d) + Math.Pow(deltaLongitudeRadians, 2d) * SinPow2(meridional)) / 24);
double p = deltaLongitudeRadians * primeVertical * Math.Cos(middleLongitudeRadians) *
(1 + (Math.Pow(deltaLatitudeRadians, 2d) - Math.Pow(deltaLongitudeRadians, 2d) * SinPow2(middleLongitudeRadians)) / 24);
return(LinearDimension.FromMeters(Math.Sqrt(Math.Pow(q, 2d) + Math.Pow(p, 2d))));
}
/// <summary>
/// Get <see cref="CoordinatePoint" /> at distance and direction on an ellipsoid.
/// </summary>
/// <param name="basePoint">Source <see cref="CoordinatePoint"/>.</param>
/// <param name="distance">Distance to a new point, meters.</param>
/// <param name="azimuth">Azimuth to a new point, radians.</param>
/// <param name="backAzimuth">Azimuth from a new point to base point, radians.</param>
/// <returns><see cref="CoordinatePoint" /> at specified distance and direction from the base point.</returns>
public static CoordinatePoint GetCoordinatePointAtDistanceAndDirectionOnAnEllipsoid(CoordinatePoint basePoint, LinearDimension distance, double azimuth, out double backAzimuth)
{
double deltaLatitude;
double deltaLongitude;
double deltaAzimuth;
double newDeltaLatitude = 0;
double newDeltaLongitude = 0;
double newDeltaAzimuth = 0;
do
{
deltaLatitude = newDeltaLatitude;
deltaLongitude = newDeltaLongitude;
deltaAzimuth = newDeltaAzimuth;
double iterationLatitude = basePoint.Latitude.ToRadians() + deltaLatitude / 2;
double iterationAzimuth = azimuth + deltaAzimuth / 2;
double beta = distance.GetMeters() * Math.Cos(iterationAzimuth) / GetMeridionalForLatitude(Latitude.FromRadians(iterationLatitude));
double sigma = distance.GetMeters() * Math.Sin(iterationAzimuth) / (GetPrimeVerticalForLatitude(Latitude.FromRadians(iterationLatitude)) * Math.Cos(iterationLatitude));
double alpha = deltaLongitude * Math.Sin(iterationLatitude);
newDeltaLatitude = beta * (1 + (2 * Math.Pow(sigma, 2d) + Math.Pow(alpha, 2d)) / 24);
newDeltaLongitude = sigma * (1 + (Math.Pow(alpha, 2d) - Math.Pow(beta, 2d)) / 24);
newDeltaAzimuth = alpha * (1 + (3 * Math.Pow(beta, 2d) + 2 * Math.Pow(sigma, 2d) - 2 * Math.Pow(alpha, 2d)) / 24);
}while (Math.Abs(newDeltaLatitude - deltaLatitude) > 0.0000001d || Math.Abs(deltaLongitude - newDeltaLongitude) > 0.0000001d);
backAzimuth = azimuth + newDeltaAzimuth + Math.PI;
return(new CoordinatePoint(Latitude.FromRadians(basePoint.Latitude.ToRadians() + newDeltaLatitude),
Longitude.FromRadians(basePoint.Longitude.ToRadians() + newDeltaLongitude)));
}
/// <summary>
/// Get <see cref="CoordinatePoint" /> at distance and direction on sphere with Haversine.
/// </summary>
/// <param name="basePoint">Source <see cref="CoordinatePoint"/>.</param>
/// <param name="distance">Distance to a new point, meters.</param>
/// <param name="azimuth">Azimuth to a new point, radians.</param>
/// <param name="backAzimuth">Azimuth from a new point to base point, radians.</param>
/// <returns><see cref="CoordinatePoint" /> at specified distance and direction from the base point.</returns>
/// <seealso cref="http://www.movable-type.co.uk/scripts/latlong.html"/>
public static CoordinatePoint GetCoordinatePointAtDistanceAndDirectionWithHaversine(CoordinatePoint basePoint, LinearDimension distance, double azimuth, out double backAzimuth)
{
var startLatitudeRadians = basePoint.Latitude.ToRadians();
var dR = distance.GetMeters() / _earthWgs84MeanRadius;
var finishLatitudeRadians = Math.Asin(Math.Sin(startLatitudeRadians) * Math.Cos(dR) +
Math.Cos(startLatitudeRadians) * Math.Sin(dR) * Math.Cos(azimuth));
var finishLongitudeRadians = basePoint.Longitude.ToRadians() +
Math.Atan2(Math.Sin(azimuth) * Math.Sin(dR) * Math.Cos(startLatitudeRadians), Math.Cos(dR) - Math.Sin(startLatitudeRadians) * Math.Sin(finishLatitudeRadians));
var y = Math.Sin(finishLongitudeRadians - basePoint.Longitude.ToRadians()) * Math.Cos(finishLatitudeRadians);
var x = Math.Cos(startLatitudeRadians) * Math.Sin(finishLatitudeRadians) -
Math.Sin(startLatitudeRadians) * Math.Cos(finishLatitudeRadians) * Math.Cos(finishLongitudeRadians - basePoint.Longitude.ToRadians());
backAzimuth = Math.Atan2(y, x) + Math.PI;
return(new CoordinatePoint(Latitude.FromRadians(finishLatitudeRadians), Longitude.FromRadians(finishLongitudeRadians)));
}
/// <summary>
/// Get <see cref="CoordinatePoint" /> at distance and direction on the flat.
/// </summary>
/// <param name="basePoint">Source <see cref="CoordinatePoint"/></param>
/// <param name="distance">Distance to a new point.</param>
/// <param name="azimuth">Direction from one point to another in radians.</param>
/// <returns><see cref="CoordinatePoint"/> at specified distance and direction from the given point.</returns>
public static CoordinatePoint GetCoordinatePointAtDistanceAndDirectionOnTheFlat(CoordinatePoint basePoint, LinearDimension distance, double azimuth)
{
var deltaLatitudeGrad = distance.GetMeters() * Math.Cos(azimuth) / (_earthWgs84MeanRadius * _d2R);
var deltaLongitudeGrad = distance.GetMeters() * Math.Sin(azimuth) / (_earthWgs84MeanRadius * _d2R);
return(new CoordinatePoint(basePoint.Latitude.ToDegrees() + deltaLatitudeGrad, basePoint.Longitude.ToDegrees() + deltaLongitudeGrad));
}
