public void Zero(int seed)
{
Random randomizer = new Random(seed);
Position3D reference = new Position3D(
new Latitude(randomizer.NextDouble() * 180 - 90),
new Longitude(randomizer.NextDouble() * 360 - 180),
new Distance(randomizer.NextDouble() * 1000, DistanceUnit.Meters));
Position3D position = reference;
NedPoint nedPoint = position.ToNedPoint(reference);
Assert.AreEqual(0.0, nedPoint.N.InMeters(), 0.001, "North incorrect");
Assert.AreEqual(0.0, nedPoint.E.InMeters(), 0.001, "East incorrect");
Assert.AreEqual(0.0, nedPoint.D.InMeters(), 0.001, "Down incorrect");
}
public void DownTranslation(int seed, double downInMeters)
{
Random randomizer = new Random(seed);
Position3D reference = new Position3D(
new Latitude(randomizer.NextDouble() * 180 - 90),
new Longitude(randomizer.NextDouble() * 360 - 180),
new Distance(randomizer.NextDouble() * 1000, DistanceUnit.Meters));
NedPoint vehicleLocation = new NedPoint(Distance.FromMeters(0), Distance.FromMeters(0), Distance.FromMeters(downInMeters));
Position3D vehicleLla = vehicleLocation.ToPosition3D(reference);
Assert.AreEqual(reference.Latitude.InDegrees(), vehicleLla.Latitude.InDegrees(), 0.0001, "Latitude incorrect");
Assert.AreEqual(reference.Longitude.InDegrees(), vehicleLla.Longitude.InDegrees(), 0.00001, "Longitude incorrect");
Assert.AreEqual(reference.Altitude.InMeters() - downInMeters, vehicleLla.Altitude.InMeters(), 0.0001, "Altitude incorrect");
}
public void ZeroReversable(int seed)
{
Random randomizer = new Random(seed);
Position3D reference = new Position3D(
new Latitude(randomizer.NextDouble() * 180 - 90),
new Longitude(randomizer.NextDouble() * 360 - 180),
new Distance(randomizer.NextDouble() * 1000, DistanceUnit.Meters));
Position3D position = reference;
NedPoint nedPoint = position.ToNedPoint(reference);
Position3D reversed = nedPoint.ToPosition3D(reference);
Assert.AreEqual(reference.Latitude.InDegrees(), reversed.Latitude.InDegrees(), 0.001, "Latitude incorrect");
Assert.AreEqual(reference.Longitude.InDegrees(), reversed.Longitude.InDegrees(), 0.001, "Longitude incorrect");
Assert.AreEqual(reference.Altitude.InMeters(), reversed.Altitude.InMeters(), 0.001, "Altitude incorrect");
}
public void NorthTranslation(int seed, double northInMeters)
{
Random randomizer = new Random(seed);
Position3D reference = new Position3D(
new Latitude(randomizer.NextDouble() * 180 - 90),
new Longitude(randomizer.NextDouble() * 360 - 180),
new Distance(randomizer.NextDouble() * 1000, DistanceUnit.Meters));
NedPoint vehicleLocation = new NedPoint(Distance.FromMeters(northInMeters), Distance.FromMeters(0), Distance.FromMeters(0));
Position3D vehicleLla = vehicleLocation.ToPosition3D(reference);
// One degree latitude ~111 km => 1/111000.0 deg/meter =~ 0.00001 deg/meter
Assert.AreEqual(reference.Latitude.InDegrees() + northInMeters * 0.00001, vehicleLla.Latitude.InDegrees(), 0.00002, "Latitude incorrect");
Assert.AreEqual(reference.Longitude.InDegrees(), vehicleLla.Longitude.InDegrees(), 0.00001, "Longitude incorrect");
Assert.AreEqual(reference.Altitude.InMeters(), vehicleLla.Altitude.InMeters(), 0.0001, "Altitude incorrect");
}
public void EastTranslation(int seed, double eastInMeters)
{
Random randomizer = new Random(seed);
Position3D reference = new Position3D(
new Latitude(randomizer.NextDouble() * 80 - 40),
new Longitude(randomizer.NextDouble() * 360 - 180),
new Distance(randomizer.NextDouble() * 1000, DistanceUnit.Meters));
NedPoint vehicleLocation = new NedPoint(Distance.FromMeters(0), Distance.FromMeters(eastInMeters), Distance.FromMeters(0));
Position3D vehicleLla = vehicleLocation.ToPosition3D(reference);
// One degree longitude cos(lat) * 111km =>
//
// cos(lat) * 1/111000.0 deg/meter =~
//
// cost(lat) * 0.00001 deg/meter
Assert.AreEqual(reference.Latitude.InDegrees(), vehicleLla.Latitude.InDegrees(), 0.00001, "Latitude incorrect");
Assert.AreEqual(reference.Longitude.InDegrees() + eastInMeters * (Math.Cos(reference.Latitude.InRadians()) * (1 / 111000.0)), vehicleLla.Longitude.InDegrees(), 0.0001, "Longitude incorrect");
Assert.AreEqual(reference.Altitude.InMeters(), vehicleLla.Altitude.InMeters(), 0.0001, "Altitude incorrect");
}
