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geocentric-topocentric-conversion-test.cc
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1/*
2 * Copyright (c) 2024 University of Padova
3 *
4 * SPDX-License-Identifier: GPL-2.0-only
5 *
6 * Author: Matteo Pagin <mattpagg@gmail.com>
7 */
8
9#include <ns3/angles.h>
10#include <ns3/geographic-positions.h>
11#include <ns3/log.h>
12#include <ns3/test.h>
13
14NS_LOG_COMPONENT_DEFINE("GeocentricTopocentricConversionTest");
15
16namespace
17{
18
19/// Test tolerance with respect to the expected values, in meters
20constexpr double TOLERANCE_M = 5;
21/// Test tolerance with respect to the expected values, in degrees
22constexpr double TOLERANCE_DEG = 5e-3;
23
24/**
25 * Reference point 1 for geocentric <--> topocentric conversion.
26 * In particular, this points is used for the example conversion of
27 * Sec. 4.1.3. of "IOGP Publication 373-7-2 – Geomatics Guidance
28 * Note number 7, part 2 – September 2019".
29 */
30const ns3::Vector REFP_1_COORD{55.0, 5.0, 200.0};
31
32/**
33 * Table of <longitude (deg), latitude (deg), altitude (m)> coordinates, obtained as the
34 * cartesian product of the longitude values
35 * (2.1295495 0.0 30.0 60.0 90.0 120.0 150.0 180.0), latitude values
36 * (53.80939444 0.0 20.0 40.0 60.0 80.0) and altitude values
37 * (73.0 500.0 1000.0).
38 * The first coordinate, i.e., (2.1295495, 53.80939444, 73.0) corresponds to that of the
39 * example provided in Sec. 4.1.3. of "IOGP Publication 373-7-2 – Geomatics Guidance
40 * Note number 7, part 2 – September 2019".
41 * This set of coordinates is, in principle, independent from the reference point.
42 */
43const std::vector<ns3::Vector> TEST_COORD = {
44 {53.809394, 2.129549, 73.000000}, {53.809394, 2.129549, 500.000000},
45 {53.809394, 2.129549, 1000.000000}, {0.000000, 2.129549, 73.000000},
46 {0.000000, 2.129549, 500.000000}, {0.000000, 2.129549, 1000.000000},
47 {20.000000, 2.129549, 73.000000}, {20.000000, 2.129549, 500.000000},
48 {20.000000, 2.129549, 1000.000000}, {40.000000, 2.129549, 73.000000},
49 {40.000000, 2.129549, 500.000000}, {40.000000, 2.129549, 1000.000000},
50 {60.000000, 2.129549, 73.000000}, {60.000000, 2.129549, 500.000000},
51 {60.000000, 2.129549, 1000.000000}, {80.000000, 2.129549, 73.000000},
52 {80.000000, 2.129549, 500.000000}, {80.000000, 2.129549, 1000.000000},
53 {53.809394, 0.000000, 73.000000}, {53.809394, 0.000000, 500.000000},
54 {53.809394, 0.000000, 1000.000000}, {0.000000, 0.000000, 73.000000},
55 {0.000000, 0.000000, 500.000000}, {0.000000, 0.000000, 1000.000000},
56 {20.000000, 0.000000, 73.000000}, {20.000000, 0.000000, 500.000000},
57 {20.000000, 0.000000, 1000.000000}, {40.000000, 0.000000, 73.000000},
58 {40.000000, 0.000000, 500.000000}, {40.000000, 0.000000, 1000.000000},
59 {60.000000, 0.000000, 73.000000}, {60.000000, 0.000000, 500.000000},
60 {60.000000, 0.000000, 1000.000000}, {80.000000, 0.000000, 73.000000},
61 {80.000000, 0.000000, 500.000000}, {80.000000, 0.000000, 1000.000000},
62 {53.809394, 30.000000, 73.000000}, {53.809394, 30.000000, 500.000000},
63 {53.809394, 30.000000, 1000.000000}, {0.000000, 30.000000, 73.000000},
64 {0.000000, 30.000000, 500.000000}, {0.000000, 30.000000, 1000.000000},
65 {20.000000, 30.000000, 73.000000}, {20.000000, 30.000000, 500.000000},
66 {20.000000, 30.000000, 1000.000000}, {40.000000, 30.000000, 73.000000},
67 {40.000000, 30.000000, 500.000000}, {40.000000, 30.000000, 1000.000000},
68 {60.000000, 30.000000, 73.000000}, {60.000000, 30.000000, 500.000000},
69 {60.000000, 30.000000, 1000.000000}, {80.000000, 30.000000, 73.000000},
70 {80.000000, 30.000000, 500.000000}, {80.000000, 30.000000, 1000.000000},
71 {53.809394, 60.000000, 73.000000}, {53.809394, 60.000000, 500.000000},
72 {53.809394, 60.000000, 1000.000000}, {0.000000, 60.000000, 73.000000},
73 {0.000000, 60.000000, 500.000000}, {0.000000, 60.000000, 1000.000000},
74 {20.000000, 60.000000, 73.000000}, {20.000000, 60.000000, 500.000000},
75 {20.000000, 60.000000, 1000.000000}, {40.000000, 60.000000, 73.000000},
76 {40.000000, 60.000000, 500.000000}, {40.000000, 60.000000, 1000.000000},
77 {60.000000, 60.000000, 73.000000}, {60.000000, 60.000000, 500.000000},
78 {60.000000, 60.000000, 1000.000000}, {80.000000, 60.000000, 73.000000},
79 {80.000000, 60.000000, 500.000000}, {80.000000, 60.000000, 1000.000000},
80 {53.809394, 90.000000, 73.000000}, {53.809394, 90.000000, 500.000000},
81 {53.809394, 90.000000, 1000.000000}, {0.000000, 90.000000, 73.000000},
82 {0.000000, 90.000000, 500.000000}, {0.000000, 90.000000, 1000.000000},
83 {20.000000, 90.000000, 73.000000}, {20.000000, 90.000000, 500.000000},
84 {20.000000, 90.000000, 1000.000000}, {40.000000, 90.000000, 73.000000},
85 {40.000000, 90.000000, 500.000000}, {40.000000, 90.000000, 1000.000000},
86 {60.000000, 90.000000, 73.000000}, {60.000000, 90.000000, 500.000000},
87 {60.000000, 90.000000, 1000.000000}, {80.000000, 90.000000, 73.000000},
88 {80.000000, 90.000000, 500.000000}, {80.000000, 90.000000, 1000.000000},
89 {53.809394, 120.000000, 73.000000}, {53.809394, 120.000000, 500.000000},
90 {53.809394, 120.000000, 1000.000000}, {0.000000, 120.000000, 73.000000},
91 {0.000000, 120.000000, 500.000000}, {0.000000, 120.000000, 1000.000000},
92 {20.000000, 120.000000, 73.000000}, {20.000000, 120.000000, 500.000000},
93 {20.000000, 120.000000, 1000.000000}, {40.000000, 120.000000, 73.000000},
94 {40.000000, 120.000000, 500.000000}, {40.000000, 120.000000, 1000.000000},
95 {60.000000, 120.000000, 73.000000}, {60.000000, 120.000000, 500.000000},
96 {60.000000, 120.000000, 1000.000000}, {80.000000, 120.000000, 73.000000},
97 {80.000000, 120.000000, 500.000000}, {80.000000, 120.000000, 1000.000000},
98 {53.809394, 150.000000, 73.000000}, {53.809394, 150.000000, 500.000000},
99 {53.809394, 150.000000, 1000.000000}, {0.000000, 150.000000, 73.000000},
100 {0.000000, 150.000000, 500.000000}, {0.000000, 150.000000, 1000.000000},
101 {20.000000, 150.000000, 73.000000}, {20.000000, 150.000000, 500.000000},
102 {20.000000, 150.000000, 1000.000000}, {40.000000, 150.000000, 73.000000},
103 {40.000000, 150.000000, 500.000000}, {40.000000, 150.000000, 1000.000000},
104 {60.000000, 150.000000, 73.000000}, {60.000000, 150.000000, 500.000000},
105 {60.000000, 150.000000, 1000.000000}, {80.000000, 150.000000, 73.000000},
106 {80.000000, 150.000000, 500.000000}, {80.000000, 150.000000, 1000.000000},
107 {53.809394, 180.000000, 73.000000}, {53.809394, 180.000000, 500.000000},
108 {53.809394, 180.000000, 1000.000000}, {0.000000, 180.000000, 73.000000},
109 {0.000000, 180.000000, 500.000000}, {0.000000, 180.000000, 1000.000000},
110 {20.000000, 180.000000, 73.000000}, {20.000000, 180.000000, 500.000000},
111 {20.000000, 180.000000, 1000.000000}, {40.000000, 180.000000, 73.000000},
112 {40.000000, 180.000000, 500.000000}, {40.000000, 180.000000, 1000.000000},
113 {60.000000, 180.000000, 73.000000}, {60.000000, 180.000000, 500.000000},
114 {60.000000, 180.000000, 1000.000000}, {80.000000, 180.000000, 73.000000},
115 {80.000000, 180.000000, 500.000000}, {80.000000, 180.000000, 1000.000000}};
116
117/**
118 * Table of expected geocentric coordinates <U, V, W> (meters) for spheroid type SPHERE
119 * and reference point 1
120 */
121const std::vector<ns3::Vector> SPHERE_REFP_1 = {
122 {-188390.250, -128514.834, -4209.801}, {-188402.876, -128523.447, -3783.074},
123 {-188417.661, -128533.533, -3283.395}, {-319049.537, -5212326.981, -2721486.356},
124 {-319070.921, -5212676.320, -2721241.747}, {-319095.960, -5213085.382, -2720955.318},
125 {-299808.496, -3648142.487, -1156630.460}, {-299828.590, -3648386.992, -1156280.970},
126 {-299852.118, -3648673.297, -1155871.733}, {-244406.125, -1643938.169, -220728.246},
127 {-244422.506, -1644048.348, -220316.032}, {-244441.687, -1644177.364, -219833.344},
128 {-159524.769, 558549.355, -26663.336}, {-159535.460, 558586.790, -26238.115},
129 {-159547.980, 558630.625, -25740.197}, {-55402.371, 2693667.583, -597842.821},
130 {-55406.084, 2693848.117, -597455.881}, {-55410.432, 2694059.516, -597002.790},
131 {-327875.291, -120654.830, -9713.435}, {-327897.266, -120662.917, -9287.077},
132 {-327922.997, -120672.386, -8787.830}, {-555275.338, -5199015.620, -2730807.072},
133 {-555312.553, -5199364.067, -2730563.087}, {-555356.131, -5199772.084, -2730277.390},
134 {-521788.138, -3635633.899, -1165389.067}, {-521823.109, -3635877.566, -1165040.165},
135 {-521864.059, -3636162.889, -1164631.614}, {-425365.587, -1633741.074, -227868.329},
136 {-425394.096, -1633850.571, -227456.592}, {-425427.478, -1633978.786, -226974.465},
137 {-277637.669, 565205.035, -31323.694}, {-277656.277, 565242.916, -30898.785},
138 {-277678.066, 565287.274, -30401.233}, {-96422.551, 2695979.077, -599461.346},
139 {-96429.013, 2696159.766, -599074.515}, {-96436.580, 2696371.345, -598621.550},
140 {1589867.531, 156341.271, -203668.193}, {1589974.086, 156351.749, -203254.835},
141 {1590098.859, 156364.019, -202770.808}, {2692530.529, -4729907.065, -3059280.418},
142 {2692710.987, -4730224.072, -3059058.447}, {2692922.296, -4730595.274, -3058798.529},
143 {2530151.069, -3194816.053, -1474053.046}, {2530320.644, -3195030.175, -1473724.831},
144 {2530519.210, -3195280.903, -1473340.505}, {2062598.050, -1274383.073, -479493.510},
145 {2062736.288, -1274468.485, -479098.638}, {2062898.161, -1274568.498, -478636.259},
146 {1346265.264, 799759.313, -195560.367}, {1346355.493, 799812.914, -195146.465},
147 {1346461.148, 799875.679, -194661.803}, {467553.020, 2777438.922, -656500.144},
148 {467584.356, 2777625.071, -656117.136}, {467621.049, 2777843.044, -655668.648},
149 {3081606.632, 1181688.408, -921623.987}, {3081813.166, 1181767.607, -921258.748},
150 {3082055.010, 1181860.345, -920831.067}, {5218875.015, -2993423.733, -4275179.137},
151 {5219224.793, -2993624.357, -4275038.659}, {5219634.369, -2993859.280, -4274874.164},
152 {4904138.340, -1563055.479, -2616624.101}, {4904467.024, -1563160.237, -2616372.463},
153 {4904851.900, -1563282.906, -2616077.805}, {3997890.204, 55840.334, -1410925.968},
154 {3998158.150, 55844.077, -1410593.522}, {3998471.903, 55848.459, -1410204.241},
155 {2609437.507, 1668000.979, -803509.727}, {2609612.396, 1668112.771, -803136.571},
156 {2609817.184, 1668243.676, -802699.620}, {906248.136, 3078976.088, -867638.741},
157 {906308.874, 3079182.447, -867269.883}, {906379.996, 3079424.084, -866837.965},
158 {3747631.724, 2680645.643, -1971205.143}, {3747882.897, 2680825.304, -1970910.248},
159 {3748177.010, 2681035.681, -1970564.938}, {6346826.155, -454854.928, -6052704.150},
160 {6347251.530, -454885.413, -6052682.805}, {6347749.628, -454921.110, -6052657.809},
161 {5964065.703, 822418.894, -4286951.239}, {5964465.425, 822474.014, -4286811.549},
162 {5964933.484, 822538.557, -4286647.978}, {4861950.908, 2000496.861, -2772589.126},
163 {4862276.764, 2000630.937, -2772347.942}, {4862658.329, 2000787.936, -2772065.524},
164 {3173413.078, 2937285.381, -1692272.233}, {3173625.765, 2937482.243, -1691958.644},
165 {3173874.814, 2937712.761, -1691591.443}, {1102114.796, 3519793.935, -1176302.720},
166 {1102188.661, 3520029.838, -1175954.550}, {1102275.155, 3520306.070, -1175546.856},
167 {3409481.922, 4251568.596, -3071177.236}, {3409710.432, 4251853.543, -3070956.063},
168 {3409978.007, 4252187.205, -3070697.079}, {5774150.353, 2205591.887, -7915569.065},
169 {5774537.346, 2205739.710, -7915672.572}, {5774990.500, 2205912.804, -7915793.774},
170 {5425926.478, 3322421.135, -6037471.653}, {5426290.133, 3322643.809, -6037449.286},
171 {5426715.958, 3322904.552, -6037423.096}, {4423255.791, 4038517.360, -4199626.443},
172 {4423552.246, 4038788.028, -4199480.900}, {4423899.382, 4039104.970, -4199310.476},
173 {2887075.176, 4267508.789, -2623704.691}, {2887268.673, 4267794.805, -2623453.527},
174 {2887495.250, 4268129.718, -2623159.425}, {1002670.686, 3981775.676, -1499785.818},
175 {1002737.887, 3982042.542, -1499459.328}, {1002816.576, 3982355.031, -1499077.021},
176 {2157764.193, 5473529.730, -3926803.634}, {2157908.810, 5473896.575, -3926639.806},
177 {2158078.151, 5474326.136, -3926447.971}, {3654295.626, 4275052.137, -9364620.733},
178 {3654540.543, 4275338.659, -9364821.357}, {3654827.332, 4275674.164, -9365056.280},
179 {3433914.634, 5267077.661, -7399134.812}, {3434144.781, 5267430.669, -7399203.706},
180 {3434414.274, 5267844.028, -7399284.378}, {2799352.858, 5623815.885, -5309664.420},
181 {2799540.475, 5624192.802, -5309593.275}, {2799760.168, 5624634.158, -5309509.966},
182 {1827147.813, 5302238.914, -3348230.524}, {1827270.272, 5302594.279, -3348027.920},
183 {1827413.666, 5303010.398, -3347790.678}, {634561.776, 4341133.678, -1751411.000},
184 {634604.306, 4341424.628, -1751101.374}, {634654.106, 4341765.319, -1750738.814},
185 {327875.291, 6019105.546, -4308819.933}, {327897.266, 6019508.957, -4308681.709},
186 {327922.997, 6019981.334, -4308519.854}, {555275.338, 5199015.620, -10011586.928},
187 {555312.553, 5199364.067, -10011830.913}, {555356.131, 5199772.084, -10012116.610},
188 {521788.138, 6135319.327, -8007084.172}, {521823.109, 6135730.527, -8007193.812},
189 {521864.059, 6136212.025, -8007322.196}, {425365.587, 6331612.976, -5805269.279},
190 {425394.096, 6332037.331, -5805231.350}, {425427.478, 6332534.235, -5805186.936},
191 {277637.669, 5764220.655, -3671713.622}, {277656.277, 5764606.983, -3671532.698},
192 {277678.066, 5765059.358, -3671320.843}, {96422.551, 4501578.253, -1863755.500},
193 {96429.013, 4501879.956, -1863453.404}, {96436.580, 4502233.239, -1863099.661}};
194
195/**
196 * Table of expected geocentric coordinates <U, V, W> (meters) for spheroid type GRS80
197 * and reference point 1
198 */
199const std::vector<ns3::Vector> GRS80_REFP_1 = {
200 {-189013.904, -128642.088, -4220.173}, {-189026.530, -128650.701, -3793.446},
201 {-189041.315, -128660.787, -3293.767}, {-319407.093, -5198061.834, -2710194.751},
202 {-319428.477, -5198411.173, -2709950.141}, {-319453.515, -5198820.235, -2709663.713},
203 {-300262.077, -3641934.701, -1153507.066}, {-300282.171, -3642179.206, -1153157.577},
204 {-300305.699, -3642465.511, -1152748.339}, {-245019.116, -1643718.675, -220614.182},
205 {-245035.496, -1643828.854, -220201.967}, {-245054.677, -1643957.870, -219719.280},
206 {-160105.977, 559428.176, -26712.769}, {-160116.668, 559465.611, -26287.548},
207 {-160129.188, 559509.446, -25789.630}, {-55645.391, 2701392.816, -599873.698},
208 {-55649.104, 2701573.351, -599486.758}, {-55653.452, 2701784.749, -599033.667},
209 {-328960.701, -120756.064, -9742.026}, {-328982.676, -120764.150, -9315.669},
210 {-329008.407, -120773.619, -8816.421}, {-555897.630, -5184735.555, -2719525.912},
211 {-555934.845, -5185084.002, -2719281.927}, {-555978.423, -5185492.019, -2718996.230},
212 {-522577.552, -3629407.189, -1162278.924}, {-522612.523, -3629650.855, -1161930.022},
213 {-522653.473, -3629936.179, -1161521.471}, {-426432.439, -1633496.005, -227772.172},
214 {-426460.948, -1633605.501, -227360.436}, {-426494.330, -1633733.717, -226878.309},
215 {-278649.206, 566108.106, -31390.106}, {-278667.814, 566145.987, -30965.197},
216 {-278689.603, 566190.344, -30467.646}, {-96845.504, 2703714.449, -601499.323},
217 {-96851.967, 2703895.138, -601112.492}, {-96859.534, 2704106.718, -600659.527},
218 {1595130.685, 157157.015, -204338.859}, {1595237.241, 157167.493, -203925.501},
219 {1595362.013, 157179.763, -203441.475}, {2695548.023, -4715101.275, -3048367.375},
220 {2695728.481, -4715418.281, -3048145.405}, {2695939.790, -4715789.483, -3047885.487},
221 {2533978.941, -3187922.428, -1471409.882}, {2534148.516, -3188136.550, -1471081.667},
222 {2534347.082, -3188387.278, -1470697.340}, {2067771.215, -1273236.705, -480028.450},
223 {2067909.453, -1273322.116, -479633.578}, {2068071.326, -1273422.129, -479171.199},
224 {1351170.209, 801516.952, -196225.155}, {1351260.438, 801570.553, -195811.253},
225 {1351366.092, 801633.318, -195326.590}, {469603.923, 2785531.615, -658788.320},
226 {469635.260, 2785717.764, -658405.311}, {469671.953, 2785935.737, -657956.823},
227 {3091808.092, 1185898.498, -924671.400}, {3092014.626, 1185977.696, -924306.160},
228 {3092256.470, 1186070.435, -923878.479}, {5224723.760, -2976671.881, -4265628.741},
229 {5225073.538, -2976872.506, -4265488.263}, {5225483.114, -2977107.429, -4265323.768},
230 {4911557.823, -1553693.159, -2615709.535}, {4911886.507, -1553797.918, -2615457.897},
231 {4912271.382, -1553920.586, -2615163.239}, {4007917.241, 60323.012, -1413797.017},
232 {4008185.186, 60326.755, -1413464.571}, {4008498.940, 60331.137, -1413075.290},
233 {2618944.657, 1672921.945, -806389.500}, {2619119.546, 1673033.737, -806016.344},
234 {2619324.334, 1673164.641, -805579.393}, {910223.359, 3088391.463, -870853.068},
235 {910284.098, 3088597.821, -870484.210}, {910355.220, 3088839.459, -870052.292},
236 {3760038.018, 2689817.934, -1977727.126}, {3760289.190, 2689997.596, -1977432.231},
237 {3760583.303, 2690207.972, -1977086.921}, {6353938.985, -435258.126, -6045145.811},
238 {6354364.360, -435288.611, -6045124.465}, {6354862.458, -435324.308, -6045099.469},
239 {5973088.753, 835390.203, -4288563.715}, {5973488.475, 835445.323, -4288424.025},
240 {5973956.533, 835509.867, -4288260.454}, {4874145.079, 2009856.896, -2778875.338},
241 {4874470.935, 2009990.973, -2778634.153}, {4874852.500, 2010147.972, -2778351.735},
242 {3184975.000, 2946830.821, -1698390.098}, {3185187.687, 2947027.683, -1698076.509},
243 {3185436.736, 2947258.201, -1697709.308}, {1106949.181, 3531142.941, -1180870.991},
244 {1107023.047, 3531378.844, -1180522.820}, {1107109.540, 3531655.076, -1180115.126},
245 {3420768.793, 4265941.326, -3081340.607}, {3420997.302, 4266226.274, -3081119.434},
246 {3421264.877, 4266559.936, -3080860.449}, {5780621.390, 2228170.228, -7910098.421},
247 {5781008.384, 2228318.050, -7910201.928}, {5781461.538, 2228491.145, -7910323.130},
248 {5434135.375, 3339174.703, -6041732.496}, {5434499.030, 3339397.377, -6041710.129},
249 {5434924.855, 3339658.120, -6041683.938}, {4434349.680, 4052988.918, -4209491.781},
250 {4434646.134, 4053259.586, -4209346.239}, {4434993.270, 4053576.528, -4209175.814},
251 {2897593.863, 4281900.727, -2633216.110}, {2897787.360, 4282186.743, -2632964.947},
252 {2898013.937, 4282521.656, -2632670.844}, {1007068.864, 3995151.148, -1505773.035},
253 {1007136.064, 3995418.013, -1505446.544}, {1007214.754, 3995730.502, -1505064.237},
254 {2164907.333, 5491947.684, -3939799.500}, {2165051.950, 5492314.529, -3939635.673},
255 {2165221.290, 5492744.090, -3939443.837}, {3658390.962, 4299949.703, -9360774.028},
256 {3658635.879, 4300236.225, -9360974.652}, {3658922.667, 4300571.730, -9361209.575},
257 {3439109.812, 5286773.305, -7405455.718}, {3439339.959, 5287126.313, -7405524.612},
258 {3439609.452, 5287539.672, -7405605.284}, {2806373.864, 5642263.501, -5322313.825},
259 {2806561.482, 5642640.419, -5322242.679}, {2806781.174, 5643081.775, -5322159.370},
260 {1833804.791, 5320400.758, -3360381.660}, {1833927.250, 5320756.123, -3360179.056},
261 {1834070.644, 5321172.242, -3359941.814}, {637345.258, 4356085.459, -1758501.961},
262 {637387.787, 4356376.410, -1758192.335}, {637437.587, 4356717.101, -1757829.775},
263 {328960.701, 6039329.594, -4323080.440}, {328982.676, 6039733.004, -4322942.215},
264 {329008.407, 6040205.382, -4322780.361}, {555897.630, 5224948.663, -10008465.272},
265 {555934.845, 5225297.110, -10008709.257}, {555978.423, 5225705.128, -10008994.954},
266 {522577.552, 6156328.536, -8014324.846}, {522612.523, 6156739.736, -8014434.486},
267 {522653.473, 6157221.234, -8014562.870}, {426432.439, 6351835.806, -5819161.701},
268 {426460.948, 6352260.161, -5819123.772}, {426494.330, 6352757.065, -5819079.358},
269 {278649.206, 5784065.670, -3685043.327}, {278667.814, 5784451.998, -3684862.403},
270 {278689.603, 5784904.373, -3684650.548}, {96845.504, 4517233.818, -1871339.256},
271 {96851.967, 4517535.522, -1871037.160}, {96859.534, 4517888.805, -1870683.417}};
272
273/**
274 * Table of expected geocentric coordinates <U, V, W> (meters) for spheroid type WGS84
275 * and reference point 1
276 */
277const std::vector<ns3::Vector> WGS_84_REFP_1 = {
278 {-189013.904, -128642.088, -4220.173}, {-189026.530, -128650.701, -3793.446},
279 {-189041.315, -128660.787, -3293.767}, {-319407.093, -5198061.834, -2710194.751},
280 {-319428.477, -5198411.173, -2709950.141}, {-319453.515, -5198820.235, -2709663.713},
281 {-300262.077, -3641934.701, -1153507.066}, {-300282.171, -3642179.206, -1153157.577},
282 {-300305.699, -3642465.511, -1152748.339}, {-245019.116, -1643718.675, -220614.182},
283 {-245035.496, -1643828.854, -220201.967}, {-245054.677, -1643957.870, -219719.280},
284 {-160105.977, 559428.176, -26712.769}, {-160116.668, 559465.611, -26287.548},
285 {-160129.188, 559509.446, -25789.630}, {-55645.391, 2701392.816, -599873.698},
286 {-55649.104, 2701573.351, -599486.758}, {-55653.452, 2701784.749, -599033.667},
287 {-328960.701, -120756.064, -9742.026}, {-328982.676, -120764.150, -9315.669},
288 {-329008.407, -120773.619, -8816.421}, {-555897.630, -5184735.555, -2719525.912},
289 {-555934.845, -5185084.002, -2719281.927}, {-555978.423, -5185492.019, -2718996.230},
290 {-522577.552, -3629407.189, -1162278.924}, {-522612.523, -3629650.855, -1161930.022},
291 {-522653.473, -3629936.179, -1161521.471}, {-426432.439, -1633496.005, -227772.172},
292 {-426460.948, -1633605.501, -227360.436}, {-426494.330, -1633733.717, -226878.309},
293 {-278649.206, 566108.106, -31390.106}, {-278667.814, 566145.987, -30965.197},
294 {-278689.603, 566190.344, -30467.646}, {-96845.504, 2703714.449, -601499.323},
295 {-96851.967, 2703895.138, -601112.492}, {-96859.534, 2704106.718, -600659.527},
296 {1595130.685, 157157.015, -204338.859}, {1595237.241, 157167.493, -203925.501},
297 {1595362.013, 157179.763, -203441.475}, {2695548.023, -4715101.275, -3048367.375},
298 {2695728.481, -4715418.282, -3048145.405}, {2695939.790, -4715789.483, -3047885.487},
299 {2533978.941, -3187922.428, -1471409.882}, {2534148.516, -3188136.550, -1471081.667},
300 {2534347.082, -3188387.278, -1470697.340}, {2067771.214, -1273236.705, -480028.450},
301 {2067909.453, -1273322.116, -479633.578}, {2068071.326, -1273422.129, -479171.199},
302 {1351170.209, 801516.952, -196225.155}, {1351260.438, 801570.553, -195811.253},
303 {1351366.092, 801633.318, -195326.590}, {469603.923, 2785531.615, -658788.320},
304 {469635.260, 2785717.764, -658405.311}, {469671.953, 2785935.737, -657956.823},
305 {3091808.092, 1185898.498, -924671.400}, {3092014.626, 1185977.696, -924306.160},
306 {3092256.470, 1186070.435, -923878.479}, {5224723.760, -2976671.881, -4265628.741},
307 {5225073.538, -2976872.506, -4265488.263}, {5225483.114, -2977107.429, -4265323.768},
308 {4911557.823, -1553693.160, -2615709.535}, {4911886.507, -1553797.918, -2615457.897},
309 {4912271.382, -1553920.586, -2615163.239}, {4007917.241, 60323.012, -1413797.016},
310 {4008185.186, 60326.755, -1413464.571}, {4008498.940, 60331.137, -1413075.290},
311 {2618944.657, 1672921.945, -806389.500}, {2619119.546, 1673033.737, -806016.344},
312 {2619324.334, 1673164.641, -805579.393}, {910223.359, 3088391.463, -870853.068},
313 {910284.098, 3088597.821, -870484.210}, {910355.220, 3088839.459, -870052.292},
314 {3760038.017, 2689817.934, -1977727.126}, {3760289.190, 2689997.596, -1977432.231},
315 {3760583.303, 2690207.972, -1977086.921}, {6353938.985, -435258.126, -6045145.811},
316 {6354364.360, -435288.611, -6045124.465}, {6354862.458, -435324.308, -6045099.470},
317 {5973088.753, 835390.203, -4288563.715}, {5973488.475, 835445.323, -4288424.025},
318 {5973956.533, 835509.867, -4288260.454}, {4874145.079, 2009856.896, -2778875.338},
319 {4874470.935, 2009990.973, -2778634.153}, {4874852.500, 2010147.972, -2778351.735},
320 {3184975.000, 2946830.821, -1698390.098}, {3185187.687, 2947027.683, -1698076.509},
321 {3185436.736, 2947258.201, -1697709.308}, {1106949.181, 3531142.941, -1180870.990},
322 {1107023.047, 3531378.843, -1180522.820}, {1107109.540, 3531655.076, -1180115.126},
323 {3420768.793, 4265941.326, -3081340.607}, {3420997.302, 4266226.274, -3081119.434},
324 {3421264.877, 4266559.936, -3080860.449}, {5780621.390, 2228170.228, -7910098.421},
325 {5781008.384, 2228318.050, -7910201.928}, {5781461.538, 2228491.145, -7910323.130},
326 {5434135.375, 3339174.703, -6041732.496}, {5434499.030, 3339397.377, -6041710.129},
327 {5434924.855, 3339658.120, -6041683.938}, {4434349.679, 4052988.918, -4209491.781},
328 {4434646.134, 4053259.586, -4209346.239}, {4434993.270, 4053576.528, -4209175.814},
329 {2897593.863, 4281900.727, -2633216.110}, {2897787.360, 4282186.743, -2632964.947},
330 {2898013.937, 4282521.656, -2632670.844}, {1007068.864, 3995151.148, -1505773.035},
331 {1007136.064, 3995418.013, -1505446.544}, {1007214.754, 3995730.502, -1505064.237},
332 {2164907.333, 5491947.684, -3939799.500}, {2165051.950, 5492314.529, -3939635.673},
333 {2165221.290, 5492744.090, -3939443.837}, {3658390.962, 4299949.703, -9360774.028},
334 {3658635.879, 4300236.225, -9360974.652}, {3658922.667, 4300571.730, -9361209.575},
335 {3439109.812, 5286773.305, -7405455.718}, {3439339.959, 5287126.313, -7405524.612},
336 {3439609.452, 5287539.672, -7405605.284}, {2806373.864, 5642263.501, -5322313.825},
337 {2806561.482, 5642640.419, -5322242.679}, {2806781.174, 5643081.775, -5322159.370},
338 {1833804.791, 5320400.758, -3360381.660}, {1833927.250, 5320756.123, -3360179.056},
339 {1834070.644, 5321172.242, -3359941.814}, {637345.258, 4356085.459, -1758501.961},
340 {637387.787, 4356376.410, -1758192.335}, {637437.587, 4356717.101, -1757829.775},
341 {328960.701, 6039329.593, -4323080.439}, {328982.676, 6039733.004, -4322942.215},
342 {329008.407, 6040205.382, -4322780.361}, {555897.630, 5224948.663, -10008465.272},
343 {555934.845, 5225297.110, -10008709.257}, {555978.423, 5225705.128, -10008994.954},
344 {522577.552, 6156328.536, -8014324.846}, {522612.523, 6156739.736, -8014434.486},
345 {522653.473, 6157221.234, -8014562.870}, {426432.439, 6351835.806, -5819161.701},
346 {426460.948, 6352260.161, -5819123.772}, {426494.330, 6352757.065, -5819079.358},
347 {278649.206, 5784065.670, -3685043.327}, {278667.814, 5784451.998, -3684862.403},
348 {278689.603, 5784904.373, -3684650.548}, {96845.504, 4517233.818, -1871339.256},
349 {96851.967, 4517535.522, -1871037.160}, {96859.534, 4517888.805, -1870683.417}};
350} // namespace
351
352using namespace ns3;
353
354/**
355 * \ingroup mobility-test
356 *
357 * \brief Geographic to/from Topocentric Test Case
358 *
359 * This test verifies the accuracy of the GeographicToTopocentricCoordinates and
360 * TopocentricToGeographicCoordinates methods in the GeographicPositions class,
361 * which convert geocentric (topocentric) coordinates to topocentric (geocentric)
362 * coordinates, respectively. In "IOGP Publication 373-7-2 – Geomatics Guidance Note number 7, part
363 * 2 – September 2019", the two operations are also referred to as EPSG Dataset coordinate operation
364 * method code 9837.
365 *
366 * To this end, the values generated using the above methods are compared with the coordinates
367 * obtained using PROJ coordinate conversion utilities
368 * (https://proj.org/en/latest/operations/conversions/topocentric.html), for both sphere, GRS80 and
369 * WGS84 ellipsoid models. For instance, the coordinate (long, lat, alt) has been first
370 * converted to the topocentric coordinate system with reference point in (LONG_0, LAT_0, ALT_0)
371 * with the command echo $long $lat $alt | cct -d 3 +proj=pipeline +ellps=$ellps +step +proj=cart
372 * +step +proj=topocentric +lon_0=$LONG_0 +lat_0=$LAT_0 +h_0=$ALT_0. Then, the value obtained via
373 * PROJ is used to check both the forward (geo -> topo) and reverse (topo -> geo) conversion
374 */
375class GeoToAndFromTopocentricTestCase : public TestCase
376{
377 public:
378 /**
379 * @brief Constructor
380 *
381 * @param posToConvert a vector of positions to convert in geocentric coordinates, i.e.,
382 * represented as a vector (latitude (deg), longitude (deg), altitude (m))
383 * @param refPoint the reference point, in geocentric coordinates, i.e., represented as a
384 * vector (latitude (deg), longitude (deg), altitude (m))
385 * @param expectedTopoCoord a vector of the corresponding expected topocentric coordinates,
386 * i.e., represented as (U (m), V (m), W (m)) with respect to the provided reference point
387 * @param sphereType spheroid type
388 */
389 GeoToAndFromTopocentricTestCase(const std::vector<Vector> posToConvert,
390 Vector refPoint,
391 const std::vector<Vector> expectedTopoCoord,
392 GeographicPositions::EarthSpheroidType sphereType);
393
394 private:
395 void DoRun() override;
396
397 /**
398 * @brief Test the forward and backward conversion for geocentric to topocentric coordinates
399 * for a given reference point
400 *
401 * @param posToConvert the position to convert, in geocentric coordinates, i.e., represented as
402 * a vector (latitude (deg), longitude (deg), altitude (m))
403 * @param refPoint the reference point, in geocentric coordinates, i.e., represented as a
404 * vector (latitude (deg), longitude (deg), altitude (m))
405 * @param expectedTopoCoord the expected corresponding topocentric coordinates, i.e.,
406 * represented as (U (m), V (m), W (m)) with respect to the provided reference point
407 * @param sphereType spheroid type
408 */
409 void TestReferencePoint(Vector posToConvert,
410 Vector refPoint,
411 Vector expectedTopoCoord,
412 GeographicPositions::EarthSpheroidType sphereType);
413
414 /**
415 * Manually check the test condition, i.e. equality between the expected
416 * and the obtained values, up to a given tolerance.
417 * @param actual the obtained test value
418 * @param limit the expected test value
419 * @param tol the tolerance error
420 * @param coord the string to display to describe the value
421 * @return whether the provided values satisfy the equality condition
422 */
423 bool CheckTestPass(double actual, double limit, double tol, std::string coord);
424
425 /// The position to convert, in geocentric coordinates, i.e.,
426 /// represented as a vector (latitude (deg), longitude (deg)///< altitude (m))
427 const std::vector<Vector> m_posToConvertGeoCoord;
428
429 /// The reference point, in geocentric coordinates, i.e., represented
430 /// as a vector (latitude (deg), longitude (deg), altitude (m))
431 Vector m_refPointGeoCoord;
432
433 /// The expected corresponding topocentric coordinates, i.e.,
434 /// represented as (U (m), V (m), W (m)) with respect to the
435 /// provided reference point
436 const std::vector<Vector> m_expectedTopoCoord;
437
438 GeographicPositions::EarthSpheroidType m_sphereType; ///< spheroid type
439};
440
441GeoToAndFromTopocentricTestCase::GeoToAndFromTopocentricTestCase(
442 const std::vector<Vector> posToConvert,
443 Vector refPoint,
444 const std::vector<Vector> expectedTopoCoord,
445 GeographicPositions::EarthSpheroidType sphereType)
446 : TestCase("Creating GeoToAndFromTopocentricTestCase"),
447 m_posToConvertGeoCoord(posToConvert),
448 m_refPointGeoCoord(refPoint),
449 m_expectedTopoCoord(expectedTopoCoord),
450 m_sphereType(sphereType)
451{
452}
453
454void
455GeoToAndFromTopocentricTestCase::TestReferencePoint(
456 Vector posToConvert,
457 Vector refPoint,
458 Vector expectedTopoCoord,
459 GeographicPositions::EarthSpheroidType sphereType)
460{
461 // Check forward conversion from geocentric to topocentric
462 Vector topoForwardConv =
463 GeographicPositions::GeographicToTopocentricCoordinates(posToConvert, refPoint, sphereType);
464
465 bool passGeoToTopo = (CheckTestPass(topoForwardConv.x, expectedTopoCoord.x, TOLERANCE_M, "U") &&
466 CheckTestPass(topoForwardConv.y, expectedTopoCoord.y, TOLERANCE_M, "V") &&
467 CheckTestPass(topoForwardConv.z, expectedTopoCoord.z, TOLERANCE_M, "W"));
468
469 // Check reverse conversion from topocentric to geocentric
470 Vector geoReverseConv = GeographicPositions::TopocentricToGeographicCoordinates(topoForwardConv,
471 refPoint,
472 sphereType);
473 geoReverseConv.x = WrapTo360(geoReverseConv.x);
474 geoReverseConv.y = WrapTo360(geoReverseConv.y);
475
476 bool passTopoToGeo = (CheckTestPass(geoReverseConv.x, posToConvert.x, TOLERANCE_DEG, "LAT") &&
477 CheckTestPass(geoReverseConv.y, posToConvert.y, TOLERANCE_DEG, "LONG") &&
478 CheckTestPass(geoReverseConv.z, posToConvert.z, TOLERANCE_M, "ALT"));
479
480 std::string geoToTopoMsg = passGeoToTopo ? "PASS" : "FAIL";
481 std::string topoToGeoMsg = passTopoToGeo ? "PASS" : "FAIL";
482
483 std::cout << geoToTopoMsg << " geocentric->topocentric for spheroid " << sphereType << " pos "
484 << posToConvert << " reference point " << refPoint << " expected coord "
485 << expectedTopoCoord << " actual " << topoForwardConv << std::endl;
486 std::cout << topoToGeoMsg << " topocentric->geocentric for spheroid " << sphereType << " pos "
487 << topoForwardConv << " reference point " << refPoint << " expected coord "
488 << posToConvert << " actual " << geoReverseConv << std::endl;
489}
490
491void
492GeoToAndFromTopocentricTestCase::DoRun()
493{
494 // Loop through test coordinates
495 for (unsigned int i = 0; i < m_posToConvertGeoCoord.size(); i++)
496 {
497 TestReferencePoint(m_posToConvertGeoCoord.at(i),
498 m_refPointGeoCoord,
499 m_expectedTopoCoord.at(i),
500 m_sphereType);
501 }
502}
503
504bool
505GeoToAndFromTopocentricTestCase::CheckTestPass(double actual,
506 double limit,
507 double tol,
508 std::string coord)
509{
510 bool pass = ((actual) < (limit) + (tol) && (actual) > (limit) - (tol));
511
512 NS_TEST_EXPECT_MSG_EQ_TOL(actual,
513 limit,
514 tol,
515 "Mismatch between expected " + coord + " and actual coordinates");
516
517 return pass;
518}
519
520/**
521 * \ingroup mobility-test
522 *
523 * \brief Geographic cartesian <--> Topocentric conversion test
524 */
530
531GeoToAndFromTopocentricTestSuite::GeoToAndFromTopocentricTestSuite()
532 : TestSuite("geographic-topocentric-test", Type::UNIT)
533{
534 NS_LOG_INFO("creating GeoToAndFromTopocentricTestSuite");
535
536 // Test conversion for sphere ellipsoid model
537 AddTestCase(new GeoToAndFromTopocentricTestCase(TEST_COORD, // pos
538 REFP_1_COORD, // ref point
539 SPHERE_REFP_1, // expected topo coord
540 GeographicPositions::SPHERE),
541 TestCase::Duration::QUICK);
542
543 // Test conversion for GRS80 ellipsoid model
544 AddTestCase(new GeoToAndFromTopocentricTestCase(TEST_COORD, // pos
545 REFP_1_COORD, // ref point
546 GRS80_REFP_1, // expected topo coord
547 GeographicPositions::GRS80),
548 TestCase::Duration::QUICK);
549
550 // Test conversion for WGS84 ellipsoid model
551 AddTestCase(new GeoToAndFromTopocentricTestCase(TEST_COORD, // pos
552 REFP_1_COORD, // ref point
553 WGS_84_REFP_1, // expected topo coord
554 GeographicPositions::WGS84),
555 TestCase::Duration::QUICK);
556}
557
558/**
559 * \ingroup mobility-test
560 * Static variable for test initialization
561 */
562static GeoToAndFromTopocentricTestSuite g_GeoToAndFromTopocentricTestSuite;
GeoToAndFromTopocentricTestCase
Geographic to/from Topocentric Test Case.
Definition geocentric-topocentric-conversion-test.cc:376
GeoToAndFromTopocentricTestCase::m_expectedTopoCoord
const std::vector< Vector > m_expectedTopoCoord
The expected corresponding topocentric coordinates, i.e., represented as (U (m), V (m),...
Definition geocentric-topocentric-conversion-test.cc:436
GeoToAndFromTopocentricTestCase::GeoToAndFromTopocentricTestCase
GeoToAndFromTopocentricTestCase(const std::vector< Vector > posToConvert, Vector refPoint, const std::vector< Vector > expectedTopoCoord, GeographicPositions::EarthSpheroidType sphereType)
Constructor.
Definition geocentric-topocentric-conversion-test.cc:441
GeoToAndFromTopocentricTestCase::TestReferencePoint
void TestReferencePoint(Vector posToConvert, Vector refPoint, Vector expectedTopoCoord, GeographicPositions::EarthSpheroidType sphereType)
Test the forward and backward conversion for geocentric to topocentric coordinates for a given refere...
Definition geocentric-topocentric-conversion-test.cc:455
GeoToAndFromTopocentricTestCase::DoRun
void DoRun() override
Implementation to actually run this TestCase.
Definition geocentric-topocentric-conversion-test.cc:492
GeoToAndFromTopocentricTestCase::m_sphereType
GeographicPositions::EarthSpheroidType m_sphereType
spheroid type
Definition geocentric-topocentric-conversion-test.cc:438
GeoToAndFromTopocentricTestCase::m_posToConvertGeoCoord
const std::vector< Vector > m_posToConvertGeoCoord
The position to convert, in geocentric coordinates, i.e., represented as a vector (latitude (deg),...
Definition geocentric-topocentric-conversion-test.cc:427
GeoToAndFromTopocentricTestCase::m_refPointGeoCoord
Vector m_refPointGeoCoord
The reference point, in geocentric coordinates, i.e., represented as a vector (latitude (deg),...
Definition geocentric-topocentric-conversion-test.cc:431
GeoToAndFromTopocentricTestCase::CheckTestPass
bool CheckTestPass(double actual, double limit, double tol, std::string coord)
Manually check the test condition, i.e.
Definition geocentric-topocentric-conversion-test.cc:505
GeoToAndFromTopocentricTestSuite
Geographic cartesian <--> Topocentric conversion test.
Definition geocentric-topocentric-conversion-test.cc:526
ns3::GeographicPositions::EarthSpheroidType
EarthSpheroidType
The possible Earth spheroid models. .
Definition geographic-positions.h:69
ns3::GeographicPositions::TopocentricToGeographicCoordinates
static Vector TopocentricToGeographicCoordinates(Vector pos, Vector refPoint, EarthSpheroidType sphType)
Conversion from topocentric to geographic.
Definition geographic-positions.cc:151
ns3::GeographicPositions::GeographicToTopocentricCoordinates
static Vector GeographicToTopocentricCoordinates(Vector pos, Vector refPoint, EarthSpheroidType sphType)
Conversion from geographic to topocentric coordinates.
Definition geographic-positions.cc:119
ns3::TestCase
encapsulates test code
Definition test.h:1050
ns3::TestCase::AddTestCase
void AddTestCase(TestCase *testCase, Duration duration=Duration::QUICK)
Add an individual child TestCase to this test suite.
Definition test.cc:292
ns3::TestSuite
A suite of tests to run.
Definition test.h:1267
ns3::TestSuite::Type
Type
Type of test.
Definition test.h:1274
NS_LOG_COMPONENT_DEFINE
#define NS_LOG_COMPONENT_DEFINE(name)
Define a Log component with a specific name.
Definition log.h:191
NS_LOG_INFO
#define NS_LOG_INFO(msg)
Use NS_LOG to output a message of level LOG_INFO.
Definition log.h:264
g_GeoToAndFromTopocentricTestSuite
static GeoToAndFromTopocentricTestSuite g_GeoToAndFromTopocentricTestSuite
Static variable for test initialization.
Definition geocentric-topocentric-conversion-test.cc:562
NS_TEST_EXPECT_MSG_EQ_TOL
#define NS_TEST_EXPECT_MSG_EQ_TOL(actual, limit, tol, msg)
Test that actual and expected (limit) values are equal to plus or minus some tolerance and report if ...
Definition test.h:500
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::WGS_84_REFP_1
const std::vector< ns3::Vector > WGS_84_REFP_1
Table of expected geocentric coordinates <U, V, W> (meters) for spheroid type WGS84 and reference poi...
Definition geocentric-topocentric-conversion-test.cc:277
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::TOLERANCE_DEG
constexpr double TOLERANCE_DEG
Test tolerance with respect to the expected values, in degrees.
Definition geocentric-topocentric-conversion-test.cc:22
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::REFP_1_COORD
const ns3::Vector REFP_1_COORD
Reference point 1 for geocentric <--> topocentric conversion.
Definition geocentric-topocentric-conversion-test.cc:30
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::GRS80_REFP_1
const std::vector< ns3::Vector > GRS80_REFP_1
Table of expected geocentric coordinates <U, V, W> (meters) for spheroid type GRS80 and reference poi...
Definition geocentric-topocentric-conversion-test.cc:199
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::SPHERE_REFP_1
const std::vector< ns3::Vector > SPHERE_REFP_1
Table of expected geocentric coordinates <U, V, W> (meters) for spheroid type SPHERE and reference po...
Definition geocentric-topocentric-conversion-test.cc:121
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::TEST_COORD
const std::vector< ns3::Vector > TEST_COORD
Table of <longitude (deg), latitude (deg), altitude (m)> coordinates, obtained as the cartesian produ...
Definition geocentric-topocentric-conversion-test.cc:43
anonymous_namespace{geocentric-topocentric-conversion-test.cc}::TOLERANCE_M
constexpr double TOLERANCE_M
Test tolerance with respect to the expected values, in meters.
Definition geocentric-topocentric-conversion-test.cc:20
ns3
Every class exported by the ns3 library is enclosed in the ns3 namespace.
ns3::WrapTo360
double WrapTo360(double a)
Wrap angle in [0, 360)
Definition angles.cc:64