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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Author: Joshua Cohen</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright 2017</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "forward.h"</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "Constants.h"</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "DenseMatrix.h"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>isce3 { <span class="keyword">namespace </span>core {</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structisce3_1_1core_1_1Pegtrans.html"> 19</a></span>  <span class="keyword">struct </span><a class="code" href="structisce3_1_1core_1_1Pegtrans.html">Pegtrans</a> {</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structisce3_1_1core_1_1Pegtrans.html#a17aa8313041bfeca1e28ebdbb933f352"> 22</a></span>  <a class="code" href="classisce3_1_1core_1_1DenseMatrix.html">cartmat_t</a> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a17aa8313041bfeca1e28ebdbb933f352">mat</a>;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structisce3_1_1core_1_1Pegtrans.html#a3ba710ac218a9deb22c343e6644f7ca6"> 25</a></span>  <a class="code" href="classisce3_1_1core_1_1DenseMatrix.html">cartmat_t</a> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3ba710ac218a9deb22c343e6644f7ca6">matinv</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structisce3_1_1core_1_1Pegtrans.html#aba7a3bc905fa5b2fa9bc5acc06847cbf"> 28</a></span>  <a class="code" href="classisce3_1_1core_1_1Vector.html">cartesian_t</a> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#aba7a3bc905fa5b2fa9bc5acc06847cbf">ov</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structisce3_1_1core_1_1Pegtrans.html#a86d0aecc95345fbd59b870086526e2f8"> 31</a></span>  <span class="keywordtype">double</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a86d0aecc95345fbd59b870086526e2f8">radcur</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structisce3_1_1core_1_1Pegtrans.html#a3bb8f0542a1b1847a1bef7f73fa9c18e"> 34</a></span>  <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3bb8f0542a1b1847a1bef7f73fa9c18e">Pegtrans</a>() : <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a17aa8313041bfeca1e28ebdbb933f352">mat</a> {{}},</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3ba710ac218a9deb22c343e6644f7ca6">matinv</a> {{}} {}</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3bb8f0542a1b1847a1bef7f73fa9c18e">Pegtrans</a>(<span class="keyword">const</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3bb8f0542a1b1847a1bef7f73fa9c18e">Pegtrans</a> &p) : <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a17aa8313041bfeca1e28ebdbb933f352">mat</a>(p.<a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a17aa8313041bfeca1e28ebdbb933f352">mat</a>), <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3ba710ac218a9deb22c343e6644f7ca6">matinv</a>(p.<a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a3ba710ac218a9deb22c343e6644f7ca6">matinv</a>), <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#aba7a3bc905fa5b2fa9bc5acc06847cbf">ov</a>(p.<a class="code" href="structisce3_1_1core_1_1Pegtrans.html#aba7a3bc905fa5b2fa9bc5acc06847cbf">ov</a>), <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a86d0aecc95345fbd59b870086526e2f8">radcur</a>(p.<a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a86d0aecc95345fbd59b870086526e2f8">radcur</a>) {}</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">void</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a6c45eea8b485e5798cd6e6e2a6b2ddec">radarToXYZ</a>(<span class="keyword">const</span> Ellipsoid &elp, <span class="keyword">const</span> Peg &p);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">void</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#a86392f3397654af844f1fb9b648d687b">convertXYZtoSCH</a>(<span class="keyword">const</span> cartesian_t & xyzv, cartesian_t & schv) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">void</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#aebde99ebf744a7686da48a864ca96cf5">convertSCHtoXYZ</a>(<span class="keyword">const</span> cartesian_t & schv, cartesian_t & xyzv) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">void</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#ae61f12876d02beb53c57a8f88deaa419">convertXYZdotToSCHdot</a>(<span class="keyword">const</span> cartesian_t & sch, <span class="keyword">const</span> cartesian_t & xyzdot,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  cartesian_t & schdot) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">void</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#ab6fbbd59b59f5d7a4a0a28dc05e65d26">convertSCHdotToXYZdot</a>(<span class="keyword">const</span> cartesian_t & sch, <span class="keyword">const</span> cartesian_t & schdot,</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  cartesian_t & xyzdot) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">void</span> <a class="code" href="structisce3_1_1core_1_1Pegtrans.html#ab81b593ac05aa3a09f83a98cc2d4c46b">SCHbasis</a>(<span class="keyword">const</span> cartesian_t &,cartmat_t&,cartmat_t&) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  };</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> }}</div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_a6c45eea8b485e5798cd6e6e2a6b2ddec"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#a6c45eea8b485e5798cd6e6e2a6b2ddec">isce3::core::Pegtrans::radarToXYZ</a></div><div class="ttdeci">void radarToXYZ(const Ellipsoid &elp, const Peg &p)</div><div class="ttdoc">Compute transformation matrices for a given Peg point. </div><div class="ttdef"><b>Definition:</b> Pegtrans.cpp:18</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_ae61f12876d02beb53c57a8f88deaa419"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#ae61f12876d02beb53c57a8f88deaa419">isce3::core::Pegtrans::convertXYZdotToSCHdot</a></div><div class="ttdeci">void convertXYZdotToSCHdot(const cartesian_t &sch, const cartesian_t &xyzdot, cartesian_t &schdot) const </div><div class="ttdoc">Transform ECEF velocity to SCH. </div><div class="ttdef"><b>Definition:</b> Pegtrans.cpp:75</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_ab6fbbd59b59f5d7a4a0a28dc05e65d26"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#ab6fbbd59b59f5d7a4a0a28dc05e65d26">isce3::core::Pegtrans::convertSCHdotToXYZdot</a></div><div class="ttdeci">void convertSCHdotToXYZdot(const cartesian_t &sch, const cartesian_t &schdot, cartesian_t &xyzdot) const </div><div class="ttdoc">Transform SCH velocity to ECEF. </div><div class="ttdef"><b>Definition:</b> Pegtrans.cpp:86</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_a86392f3397654af844f1fb9b648d687b"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#a86392f3397654af844f1fb9b648d687b">isce3::core::Pegtrans::convertXYZtoSCH</a></div><div class="ttdeci">void convertXYZtoSCH(const cartesian_t &xyzv, cartesian_t &schv) const </div><div class="ttdoc">Transform ECEF coordinates to SCH. </div><div class="ttdef"><b>Definition:</b> Pegtrans.cpp:45</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_a17aa8313041bfeca1e28ebdbb933f352"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#a17aa8313041bfeca1e28ebdbb933f352">isce3::core::Pegtrans::mat</a></div><div class="ttdeci">cartmat_t mat</div><div class="ttdoc">Transformation matrix from SCH to ECEF. </div><div class="ttdef"><b>Definition:</b> Pegtrans.h:22</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_a3bb8f0542a1b1847a1bef7f73fa9c18e"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#a3bb8f0542a1b1847a1bef7f73fa9c18e">isce3::core::Pegtrans::Pegtrans</a></div><div class="ttdeci">Pegtrans()</div><div class="ttdoc">Empty constructor. </div><div class="ttdef"><b>Definition:</b> Pegtrans.h:34</div></div>
<div class="ttc" id="classisce3_1_1core_1_1DenseMatrix_html"><div class="ttname"><a href="classisce3_1_1core_1_1DenseMatrix.html">isce3::core::DenseMatrix</a></div><div class="ttdef"><b>Definition:</b> DenseMatrix.h:13</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_aba7a3bc905fa5b2fa9bc5acc06847cbf"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#aba7a3bc905fa5b2fa9bc5acc06847cbf">isce3::core::Pegtrans::ov</a></div><div class="ttdeci">cartesian_t ov</div><div class="ttdoc">Offset vector between center of Ellipsoid and center of local sphere. </div><div class="ttdef"><b>Definition:</b> Pegtrans.h:28</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_ab81b593ac05aa3a09f83a98cc2d4c46b"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#ab81b593ac05aa3a09f83a98cc2d4c46b">isce3::core::Pegtrans::SCHbasis</a></div><div class="ttdeci">void SCHbasis(const cartesian_t &, cartmat_t &, cartmat_t &) const </div><div class="ttdoc">Compute the transform matrix from ECEF to local SCH frame. </div><div class="ttdef"><b>Definition:</b> Pegtrans.cpp:97</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_aebde99ebf744a7686da48a864ca96cf5"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#aebde99ebf744a7686da48a864ca96cf5">isce3::core::Pegtrans::convertSCHtoXYZ</a></div><div class="ttdeci">void convertSCHtoXYZ(const cartesian_t &schv, cartesian_t &xyzv) const </div><div class="ttdoc">Transform SCH coordinates to ECEF. </div><div class="ttdef"><b>Definition:</b> Pegtrans.cpp:60</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Vector_html"><div class="ttname"><a href="classisce3_1_1core_1_1Vector.html">isce3::core::Vector< 3 ></a></div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_a3ba710ac218a9deb22c343e6644f7ca6"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#a3ba710ac218a9deb22c343e6644f7ca6">isce3::core::Pegtrans::matinv</a></div><div class="ttdeci">cartmat_t matinv</div><div class="ttdoc">Transformation matrix from ECEF to SCH. </div><div class="ttdef"><b>Definition:</b> Pegtrans.h:25</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html_a86d0aecc95345fbd59b870086526e2f8"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html#a86d0aecc95345fbd59b870086526e2f8">isce3::core::Pegtrans::radcur</a></div><div class="ttdeci">double radcur</div><div class="ttdoc">Radius of curvature of local sphere. </div><div class="ttdef"><b>Definition:</b> Pegtrans.h:31</div></div>
<div class="ttc" id="structisce3_1_1core_1_1Pegtrans_html"><div class="ttname"><a href="structisce3_1_1core_1_1Pegtrans.html">isce3::core::Pegtrans</a></div><div class="ttdoc">Data structure to assist with Peg point transformations. </div><div class="ttdef"><b>Definition:</b> Pegtrans.h:19</div></div>
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