2024-02-19 09:27:05 +00:00
|
|
|
"""
|
|
|
|
|
@file Ellipsoid.py
|
|
|
|
|
@author 30hours
|
|
|
|
|
"""
|
|
|
|
|
|
|
|
|
|
import math
|
2024-03-18 10:55:12 +00:00
|
|
|
|
2024-03-01 03:49:37 +00:00
|
|
|
from algorithm.geometry.Geometry import Geometry
|
2024-02-19 09:27:05 +00:00
|
|
|
|
|
|
|
|
class Ellipsoid:
|
|
|
|
|
|
2024-03-18 10:55:12 +00:00
|
|
|
"""
|
|
|
|
|
@class Ellipsoid
|
|
|
|
|
@brief A class to store ellipsoid parameters for bistatic radar.
|
|
|
|
|
@details Stores foci, midpoint, pitch, yaw and distance.
|
|
|
|
|
"""
|
|
|
|
|
|
|
|
|
|
def __init__(self, f1, f2, name):
|
|
|
|
|
|
2024-02-19 09:27:05 +00:00
|
|
|
"""
|
2024-03-18 10:55:12 +00:00
|
|
|
@brief Constructor for the Ellipsoid class.
|
|
|
|
|
@param f1 (list): [x, y, z] of foci 1 in ECEF.
|
|
|
|
|
@param f2 (list): [x, y, z] of foci 2 in ECEF.
|
|
|
|
|
@param name (str): Name to associate with shape.
|
2024-02-19 09:27:05 +00:00
|
|
|
"""
|
|
|
|
|
|
2024-03-18 10:55:12 +00:00
|
|
|
self.f1 = f1
|
|
|
|
|
self.f2 = f2
|
|
|
|
|
self.name = name
|
|
|
|
|
|
|
|
|
|
# dependent members
|
|
|
|
|
self.midpoint = [(f1[0]+f2[0])/2,
|
|
|
|
|
(f1[1]+f2[1])/2, (f1[2]+f2[2])/2]
|
|
|
|
|
self.midpoint_lla = Geometry.ecef2lla(
|
|
|
|
|
self.midpoint[0], self.midpoint[1], self.midpoint[2])
|
|
|
|
|
vector_enu = Geometry.ecef2enu(f1[0], f1[1], f1[2],
|
|
|
|
|
self.midpoint_lla[0], self.midpoint_lla[1], self.midpoint_lla[2])
|
|
|
|
|
self.yaw = -math.atan2(vector_enu[1], vector_enu[0])
|
|
|
|
|
self.pitch = math.atan2(vector_enu[2],
|
|
|
|
|
math.sqrt(vector_enu[0]**2 + vector_enu[1]**2))
|
|
|
|
|
self.distance = math.sqrt(
|
|
|
|
|
(f2[0] - f1[0])**2 +
|
|
|
|
|
(f2[1] - f1[1])**2 +
|
|
|
|
|
(f2[2] - f1[2])**2)
|
