@spacexr/geodesy 0.1.0

package/dist/chunk-RJFTT4KI.js.map

@@ -0,0 +1 @@
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* Immutable oblate ellipsoid of revolution.\n *\n * Axis lengths are expressed in metres. The semi-major axis lies in the\n * equatorial plane and the semi-minor axis follows the polar axis. Instances\n * validate their dimensions and precompute the coefficients required by\n * geodetic conversions.\n */\nexport class Ellipsoid {\n    /** WGS 84 reference ellipsoid used by EPSG:4978 and EPSG:4979. */\n    public static readonly WGS84 = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"WGS84\", 6378137, 298.257223563);\n\n    /** Geodetic Reference System 1980 ellipsoid. */\n    public static readonly GRS80 = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"GRS80\", 6378137, 298.257222101);\n\n    /** Geodetic Reference System 1967 ellipsoid. */\n    public static readonly GRS67 = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"GRS67\", 6378160, 298.25);\n\n    /** Australian National Spheroid. */\n    public static readonly ANS = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"ANS\", 6378160, 298.25);\n\n    /** World Geodetic System 1972 ellipsoid. */\n    public static readonly WGS72 = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"WGS72\", 6378135, 298.26);\n\n    /** Clarke 1858 ellipsoid. */\n    public static readonly Clarke1858 = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"Clarke1858\", 6378293.645, 294.26);\n\n    /** Clarke 1880 ellipsoid. */\n    public static readonly Clarke1880 = Ellipsoid.fromSemiMajorAxisAndInverseFlattening(\"Clarke1880\", 6378249.145, 293.465);\n\n    private constructor(\n        private readonly identifier: string,\n        private readonly major: number,\n        private readonly minor: number,\n    ) {\n        if (identifier.trim().length === 0) throw new RangeError(\"Ellipsoid name must not be empty.\");\n        if (!Number.isFinite(major) || major <= 0) throw new RangeError(\"Semi-major axis must be a positive finite number.\");\n        if (!Number.isFinite(minor) || minor <= 0) throw new RangeError(\"Semi-minor axis must be a positive finite number.\");\n        if (minor > major)\n            throw new RangeError(\"An oblate ellipsoid requires the semi-minor axis to be no greater than the semi-major axis.\");\n    }\n\n    /**\n     * Creates an ellipsoid from its semi-major axis and inverse flattening.\n     *\n     * `Infinity` represents a sphere.\n     *\n     * @param name - Stable human-readable ellipsoid name.\n     * @param semiMajorAxis - Equatorial semi-major axis in metres.\n     * @param inverseFlattening - Reciprocal flattening, or `Infinity` for a sphere.\n     * @returns A validated immutable ellipsoid.\n     */\n    public static fromSemiMajorAxisAndInverseFlattening(name: string, semiMajorAxis: number, inverseFlattening: number): Ellipsoid {\n        if (inverseFlattening !== Number.POSITIVE_INFINITY && (!Number.isFinite(inverseFlattening) || inverseFlattening <= 1)) {\n            throw new RangeError(\"Inverse flattening must be greater than one, or Infinity for a sphere.\");\n        }\n        const flattening = inverseFlattening === Number.POSITIVE_INFINITY ? 0 : 1 / inverseFlattening;\n        return new Ellipsoid(name, semiMajorAxis, semiMajorAxis * (1 - flattening));\n    }\n\n    /**\n     * Creates an ellipsoid from its semi-major axis and flattening.\n     *\n     * @param name - Stable human-readable ellipsoid name.\n     * @param semiMajorAxis - Equatorial semi-major axis in metres.\n     * @param flattening - Flattening in the interval `[0, 1)`.\n     * @returns A validated immutable ellipsoid.\n     */\n    public static fromSemiMajorAxisAndFlattening(name: string, semiMajorAxis: number, flattening: number): Ellipsoid {\n        if (!Number.isFinite(flattening) || flattening < 0 || flattening >= 1) {\n            throw new RangeError(\"Flattening must be a finite number in the interval [0, 1).\");\n        }\n        return new Ellipsoid(name, semiMajorAxis, semiMajorAxis * (1 - flattening));\n    }\n\n    /**\n     * Creates an ellipsoid from its semi-major and semi-minor axes.\n     *\n     * @param name - Stable human-readable ellipsoid name.\n     * @param semiMajorAxis - Equatorial semi-major axis in metres.\n     * @param semiMinorAxis - Polar semi-minor axis in metres.\n     * @returns A validated immutable ellipsoid.\n     */\n    public static fromAxes(name: string, semiMajorAxis: number, semiMinorAxis: number): Ellipsoid {\n        return new Ellipsoid(name, semiMajorAxis, semiMinorAxis);\n    }\n\n    /**\n     * Creates a spherical reference surface.\n     *\n     * @param name - Stable human-readable sphere name.\n     * @param radius - Radius in metres.\n     * @returns An ellipsoid with zero flattening.\n     */\n    public static sphere(name: string, radius: number): Ellipsoid {\n        return new Ellipsoid(name, radius, radius);\n    }\n\n    /** Stable human-readable identifier. */\n    public get name(): string {\n        return this.identifier;\n    }\n\n    /** Equatorial semi-major axis in metres. */\n    public get semiMajorAxis(): number {\n        return this.major;\n    }\n\n    /** Polar semi-minor axis in metres. */\n    public get semiMinorAxis(): number {\n        return this.minor;\n    }\n\n    /** Largest ellipsoid radius in metres. */\n    public get maximumRadius(): number {\n        return this.major;\n    }\n\n    /** Smallest ellipsoid radius in metres. */\n    public get minimumRadius(): number {\n        return this.minor;\n    }\n\n    /** Ellipsoid flattening `(a - b) / a`. */\n    public get flattening(): number {\n        return (this.major - this.minor) / this.major;\n    }\n\n    /** Reciprocal flattening, or `Infinity` for a sphere. */\n    public get inverseFlattening(): number {\n        const flattening = this.flattening;\n        return flattening === 0 ? Number.POSITIVE_INFINITY : 1 / flattening;\n    }\n\n    /** First eccentricity squared `e^2`. */\n    public get squaredEccentricity(): number {\n        return 1 - (this.minor * this.minor) / (this.major * this.major);\n    }\n\n    /** Compatibility alias for {@link squaredEccentricity}. */\n    public get sqrEccentricity(): number {\n        return this.squaredEccentricity;\n    }\n\n    /** First eccentricity `e`. */\n    public get eccentricity(): number {\n        return Math.sqrt(this.squaredEccentricity);\n    }\n\n    /** Second eccentricity squared `e'^2`. */\n    public get secondSquaredEccentricity(): number {\n        return (this.major * this.major - this.minor * this.minor) / (this.minor * this.minor);\n    }\n\n    /** Linear eccentricity in metres. */\n    public get linearEccentricity(): number {\n        return Math.sqrt(this.major * this.major - this.minor * this.minor);\n    }\n\n    /** Precomputed coefficient `1 - e^2`. */\n    public get oneMinusSquaredEccentricity(): number {\n        return 1 - this.squaredEccentricity;\n    }\n\n    /** Compatibility alias for {@link oneMinusSquaredEccentricity}. */\n    public get oneMinusSqrEccentricity(): number {\n        return this.oneMinusSquaredEccentricity;\n    }\n\n    /** Semi-latus rectum in metres. */\n    public get semiLatusRectum(): number {\n        return this.major * this.oneMinusSquaredEccentricity;\n    }\n\n    /**\n     * Returns the prime-vertical radius of curvature at a geodetic latitude.\n     *\n     * @param latitudeRadians - Geodetic latitude in radians.\n     * @returns Prime-vertical radius in metres.\n     */\n    public primeVerticalRadius(latitudeRadians: number): number {\n        const sine = Math.sin(latitudeRadians);\n        return this.major / Math.sqrt(1 - this.squaredEccentricity * sine * sine);\n    }\n\n    /**\n     * Returns the meridional radius of curvature at a geodetic latitude.\n     *\n     * @param latitudeRadians - Geodetic latitude in radians.\n     * @returns Meridional radius in metres.\n     */\n    public meridionalRadius(latitudeRadians: number): number {\n        const sine = Math.sin(latitudeRadians);\n        const denominator = 1 - this.squaredEccentricity * sine * sine;\n        return (this.major * this.oneMinusSquaredEccentricity) / Math.pow(denominator, 1.5);\n    }\n\n    /**\n     * Returns the geocentric surface radius at a latitude.\n     *\n     * @param latitudeRadians - Geocentric latitude in radians.\n     * @returns Distance from the ellipsoid centre to its surface in metres.\n     */\n    public radiusAtLatitude(latitudeRadians: number): number {\n        const cosine = Math.cos(latitudeRadians);\n        const sine = Math.sin(latitudeRadians);\n        const majorSquared = this.major * this.major;\n        const minorSquared = this.minor * this.minor;\n        return Math.sqrt(\n            ((majorSquared * cosine) ** 2 + (minorSquared * sine) ** 2) / ((this.major * cosine) ** 2 + (this.minor * sine) ** 2),\n        );\n    }\n\n    /**\n     * Intersects a normalized geocentric direction with the ellipsoid surface.\n     *\n     * @param x - ECEF X component of a normalized direction.\n     * @param y - ECEF Y component of a normalized direction.\n     * @param z - ECEF Z component of a normalized direction.\n     * @returns Distance from the centre to the surface in metres.\n     */\n    public radiusAtPosition(x: number, y: number, z: number): number {\n        const norm = Math.hypot(x, y, z);\n        if (Math.abs(norm - 1) > 1e-12) throw new RangeError(\"Direction passed to radiusAtPosition must be normalized.\");\n        const denominator = (x * x + y * y) / (this.major * this.major) + (z * z) / (this.minor * this.minor);\n        return 1 / Math.sqrt(denominator);\n    }\n\n    /**\n     * Tests geometric equality independently from the ellipsoid name.\n     *\n     * @param other - Ellipsoid to compare.\n     * @returns `true` when both axes are exactly equal.\n     */\n    public equals(other: Ellipsoid): boolean {\n        return other.major === this.major && other.minor === this.minor;\n    }\n\n    /**\n     * Creates a uniformly scaled ellipsoid.\n     *\n     * @param scale - Positive uniform scale applied to both axes.\n     * @param name - Name assigned to the scaled instance.\n     * @returns A new ellipsoid with unchanged flattening.\n     */\n    public scaled(scale: number, name = `${this.name} x ${scale}`): Ellipsoid {\n        if (!Number.isFinite(scale) || scale <= 0) throw new RangeError(\"Ellipsoid scale must be a positive finite number.\");\n        return new Ellipsoid(name, this.major * scale, this.minor * scale);\n    }\n\n    /**\n     * Compatibility alias for {@link scaled}.\n     *\n     * @param name - Name assigned to the cloned instance.\n     * @param scale - Positive uniform scale applied to both axes.\n     * @returns A new ellipsoid.\n     */\n    public clone(name: string, scale = 1): Ellipsoid {\n        return this.scaled(scale, name);\n    }\n}\n"]}

package/dist/chunk-WYCQOUE7.js

@@ -0,0 +1,488 @@
+import { Ellipsoid } from './chunk-RJFTT4KI.js';
+
+// src/angles.ts
+var DEGREES_TO_RADIANS = Math.PI / 180;
+var RADIANS_TO_DEGREES = 180 / Math.PI;
+var TWO_PI = Math.PI * 2;
+function toRadians(degrees) {
+  return degrees * DEGREES_TO_RADIANS;
+}
+function toDegrees(radians) {
+  return radians * RADIANS_TO_DEGREES;
+}
+function normalizeLongitudeRadians(longitudeRadians) {
+  return ((longitudeRadians + Math.PI) % TWO_PI + TWO_PI) % TWO_PI - Math.PI;
+}
+function normalizeLongitudeDegrees(longitudeDegrees) {
+  return ((longitudeDegrees + 180) % 360 + 360) % 360 - 180;
+}
+
+// src/geodetic-system.ts
+var POLE_EPSILON = 1e-12;
+var CONVERGENCE_EPSILON = 1e-14;
+var MAX_GEODETIC_ITERATIONS = 10;
+function cartesianTarget(target) {
+  return target ?? { x: 0, y: 0, z: 0 };
+}
+function geodeticTarget(target) {
+  return target ?? { latitude: 0, longitude: 0, height: 0 };
+}
+function validateGeodetic(latitudeRadians, longitudeRadians, height) {
+  if (!Number.isFinite(latitudeRadians) || latitudeRadians < -Math.PI / 2 || latitudeRadians > Math.PI / 2) {
+    throw new RangeError("Geodetic latitude must be a finite value in the interval [-PI/2, PI/2].");
+  }
+  if (!Number.isFinite(longitudeRadians)) throw new RangeError("Geodetic longitude must be finite.");
+  if (!Number.isFinite(height)) throw new RangeError("Ellipsoidal height must be finite.");
+}
+function validateCartesian(position) {
+  if (!Number.isFinite(position.x) || !Number.isFinite(position.y) || !Number.isFinite(position.z)) {
+    throw new RangeError("Cartesian coordinates must be finite.");
+  }
+}
+function dot(left, right) {
+  return left.x * right.x + left.y * right.y + left.z * right.z;
+}
+var GeodeticSystem = class _GeodeticSystem {
+  /**
+   * Creates a geodetic system.
+   *
+   * @param ellipsoid - Reference ellipsoid. Defaults to WGS84.
+   */
+  constructor(ellipsoid = Ellipsoid.WGS84) {
+    this.ellipsoid = ellipsoid;
+  }
+  ellipsoid;
+  /** Shared WGS84 geodetic system. The instance is immutable. */
+  static WGS84 = new _GeodeticSystem(Ellipsoid.WGS84);
+  /**
+   * Converts geodetic coordinates in radians to ECEF.
+   *
+   * @param latitudeRadians - Geodetic latitude in radians.
+   * @param longitudeRadians - Longitude in radians east of the reference meridian.
+   * @param height - Ellipsoidal height in metres.
+   * @param target - Optional mutable output object, used to avoid an allocation.
+   * @returns The target populated with ECEF metres.
+   */
+  geodeticRadiansToEcef(latitudeRadians, longitudeRadians, height = 0, target) {
+    validateGeodetic(latitudeRadians, longitudeRadians, height);
+    const output = cartesianTarget(target);
+    const sineLatitude = Math.sin(latitudeRadians);
+    const cosineLatitude = Math.cos(latitudeRadians);
+    const cosineLongitude = Math.cos(longitudeRadians);
+    const sineLongitude = Math.sin(longitudeRadians);
+    const primeVerticalRadius = this.ellipsoid.primeVerticalRadius(latitudeRadians);
+    const horizontalRadius = (primeVerticalRadius + height) * cosineLatitude;
+    output.x = horizontalRadius * cosineLongitude;
+    output.y = horizontalRadius * sineLongitude;
+    output.z = (primeVerticalRadius * this.ellipsoid.oneMinusSquaredEccentricity + height) * sineLatitude;
+    return output;
+  }
+  /**
+   * Converts geodetic coordinates in degrees to ECEF.
+   *
+   * @param latitudeDegrees - Geodetic latitude in degrees.
+   * @param longitudeDegrees - Longitude in degrees east of the reference meridian.
+   * @param height - Ellipsoidal height in metres.
+   * @param target - Optional mutable output object, used to avoid an allocation.
+   * @returns The target populated with ECEF metres.
+   */
+  geodeticDegreesToEcef(latitudeDegrees, longitudeDegrees, height = 0, target) {
+    return this.geodeticRadiansToEcef(toRadians(latitudeDegrees), toRadians(longitudeDegrees), height, target);
+  }
+  /**
+   * Converts ECEF coordinates to geodetic coordinates in radians.
+   *
+   * Bowring initialization followed by a bounded fixed-point refinement gives
+   * stable results at the equator, at the poles, below the ellipsoid and at
+   * orbital altitudes. The ellipsoid centre is rejected because it has no
+   * unique latitude or longitude.
+   *
+   * @param position - ECEF coordinate in metres.
+   * @param target - Optional mutable output object, used to avoid an allocation.
+   * @returns Geodetic latitude and longitude in radians, with height in metres.
+   */
+  ecefToGeodeticRadians(position, target) {
+    validateCartesian(position);
+    const output = geodeticTarget(target);
+    const { x, y, z } = position;
+    const distanceFromAxis = Math.hypot(x, y);
+    if (distanceFromAxis < POLE_EPSILON) {
+      if (Math.abs(z) < POLE_EPSILON) throw new RangeError("The ellipsoid centre has no unique geodetic coordinate.");
+      output.latitude = z > 0 ? Math.PI / 2 : -Math.PI / 2;
+      output.longitude = 0;
+      output.height = Math.abs(z) - this.ellipsoid.semiMinorAxis;
+      return output;
+    }
+    const major = this.ellipsoid.semiMajorAxis;
+    const minor = this.ellipsoid.semiMinorAxis;
+    const eccentricitySquared = this.ellipsoid.squaredEccentricity;
+    const secondEccentricitySquared = this.ellipsoid.secondSquaredEccentricity;
+    const longitude = Math.atan2(y, x);
+    const bowringAngle = Math.atan2(z * major, distanceFromAxis * minor);
+    const sineBowring = Math.sin(bowringAngle);
+    const cosineBowring = Math.cos(bowringAngle);
+    let latitude = Math.atan2(
+      z + secondEccentricitySquared * minor * sineBowring ** 3,
+      distanceFromAxis - eccentricitySquared * major * cosineBowring ** 3
+    );
+    let height = 0;
+    for (let iteration = 0; iteration < MAX_GEODETIC_ITERATIONS; iteration++) {
+      const sineLatitude2 = Math.sin(latitude);
+      const cosineLatitude2 = Math.cos(latitude);
+      const primeVerticalRadius2 = this.ellipsoid.primeVerticalRadius(latitude);
+      height = Math.abs(cosineLatitude2) > 1e-10 ? distanceFromAxis / cosineLatitude2 - primeVerticalRadius2 : z / sineLatitude2 - primeVerticalRadius2 * this.ellipsoid.oneMinusSquaredEccentricity;
+      const denominator = 1 - eccentricitySquared * primeVerticalRadius2 / (primeVerticalRadius2 + height);
+      const nextLatitude = Math.atan2(z, distanceFromAxis * denominator);
+      if (Math.abs(nextLatitude - latitude) <= CONVERGENCE_EPSILON) {
+        latitude = nextLatitude;
+        break;
+      }
+      latitude = nextLatitude;
+    }
+    const sineLatitude = Math.sin(latitude);
+    const cosineLatitude = Math.cos(latitude);
+    const primeVerticalRadius = this.ellipsoid.primeVerticalRadius(latitude);
+    height = Math.abs(cosineLatitude) > 1e-10 ? distanceFromAxis / cosineLatitude - primeVerticalRadius : z / sineLatitude - primeVerticalRadius * this.ellipsoid.oneMinusSquaredEccentricity;
+    output.latitude = latitude;
+    output.longitude = normalizeLongitudeRadians(longitude);
+    output.height = height;
+    return output;
+  }
+  /**
+   * Converts ECEF coordinates to geodetic coordinates in degrees.
+   *
+   * @param position - ECEF coordinate in metres.
+   * @param target - Optional mutable output object, used to avoid an allocation.
+   * @returns Geodetic latitude and longitude in degrees, with height in metres.
+   */
+  ecefToGeodeticDegrees(position, target) {
+    const output = this.ecefToGeodeticRadians(position, target);
+    output.latitude = toDegrees(output.latitude);
+    output.longitude = toDegrees(output.longitude);
+    return output;
+  }
+  /**
+   * Returns the outward ellipsoid-normal unit vector at geodetic coordinates.
+   *
+   * @param latitudeRadians - Geodetic latitude in radians.
+   * @param longitudeRadians - Longitude in radians.
+   * @param target - Optional mutable output object.
+   * @returns Unit vector expressed in ECEF axes.
+   */
+  geodeticSurfaceNormalRadians(latitudeRadians, longitudeRadians, target) {
+    validateGeodetic(latitudeRadians, longitudeRadians, 0);
+    const output = cartesianTarget(target);
+    const cosineLatitude = Math.cos(latitudeRadians);
+    output.x = cosineLatitude * Math.cos(longitudeRadians);
+    output.y = cosineLatitude * Math.sin(longitudeRadians);
+    output.z = Math.sin(latitudeRadians);
+    return output;
+  }
+  /**
+   * Returns the outward ellipsoid-normal unit vector at geodetic coordinates.
+   *
+   * @param latitudeDegrees - Geodetic latitude in degrees.
+   * @param longitudeDegrees - Longitude in degrees.
+   * @param target - Optional mutable output object.
+   * @returns Unit vector expressed in ECEF axes.
+   */
+  geodeticSurfaceNormalDegrees(latitudeDegrees, longitudeDegrees, target) {
+    return this.geodeticSurfaceNormalRadians(toRadians(latitudeDegrees), toRadians(longitudeDegrees), target);
+  }
+  /**
+   * Creates an immutable local east, north, up tangent plane.
+   *
+   * @param latitudeRadians - Origin geodetic latitude in radians.
+   * @param longitudeRadians - Origin longitude in radians.
+   * @param height - Origin ellipsoidal height in metres.
+   * @returns A local tangent plane bound to this geodetic system.
+   */
+  createLocalTangentPlaneRadians(latitudeRadians, longitudeRadians, height = 0) {
+    return new LocalTangentPlane(this, { latitude: latitudeRadians, longitude: longitudeRadians, height });
+  }
+  /**
+   * Creates an immutable local east, north, up tangent plane.
+   *
+   * @param latitudeDegrees - Origin geodetic latitude in degrees.
+   * @param longitudeDegrees - Origin longitude in degrees.
+   * @param height - Origin ellipsoidal height in metres.
+   * @returns A local tangent plane bound to this geodetic system.
+   */
+  createLocalTangentPlaneDegrees(latitudeDegrees, longitudeDegrees, height = 0) {
+    return this.createLocalTangentPlaneRadians(toRadians(latitudeDegrees), toRadians(longitudeDegrees), height);
+  }
+};
+var LocalTangentPlane = class {
+  /**
+   * Creates a local tangent plane.
+   *
+   * Prefer {@link GeodeticSystem.createLocalTangentPlaneRadians} or
+   * {@link GeodeticSystem.createLocalTangentPlaneDegrees}, which make the
+   * angular unit explicit at the call site.
+   *
+   * @param system - Geodetic reference system.
+   * @param originRadians - Origin with angular components in radians.
+   */
+  constructor(system, originRadians) {
+    this.system = system;
+    validateGeodetic(originRadians.latitude, originRadians.longitude, originRadians.height);
+    this.origin = { ...originRadians, longitude: normalizeLongitudeRadians(originRadians.longitude) };
+    this.originCartesian = system.geodeticRadiansToEcef(this.origin.latitude, this.origin.longitude, this.origin.height);
+    const sineLatitude = Math.sin(this.origin.latitude);
+    const cosineLatitude = Math.cos(this.origin.latitude);
+    const sineLongitude = Math.sin(this.origin.longitude);
+    const cosineLongitude = Math.cos(this.origin.longitude);
+    this.tangentBasis = {
+      east: { x: -sineLongitude, y: cosineLongitude, z: 0 },
+      north: {
+        x: -sineLatitude * cosineLongitude,
+        y: -sineLatitude * sineLongitude,
+        z: cosineLatitude
+      },
+      up: {
+        x: cosineLatitude * cosineLongitude,
+        y: cosineLatitude * sineLongitude,
+        z: sineLatitude
+      }
+    };
+    const { east, north, up } = this.tangentBasis;
+    this.toEnu = new Float64Array([
+      east.x,
+      north.x,
+      up.x,
+      0,
+      east.y,
+      north.y,
+      up.y,
+      0,
+      east.z,
+      north.z,
+      up.z,
+      0,
+      -dot(east, this.originCartesian),
+      -dot(north, this.originCartesian),
+      -dot(up, this.originCartesian),
+      1
+    ]);
+    this.fromEnu = new Float64Array([
+      east.x,
+      east.y,
+      east.z,
+      0,
+      north.x,
+      north.y,
+      north.z,
+      0,
+      up.x,
+      up.y,
+      up.z,
+      0,
+      this.originCartesian.x,
+      this.originCartesian.y,
+      this.originCartesian.z,
+      1
+    ]);
+    this.toNed = new Float64Array([
+      north.x,
+      east.x,
+      -up.x,
+      0,
+      north.y,
+      east.y,
+      -up.y,
+      0,
+      north.z,
+      east.z,
+      -up.z,
+      0,
+      -dot(north, this.originCartesian),
+      -dot(east, this.originCartesian),
+      dot(up, this.originCartesian),
+      1
+    ]);
+    this.fromNed = new Float64Array([
+      north.x,
+      north.y,
+      north.z,
+      0,
+      east.x,
+      east.y,
+      east.z,
+      0,
+      -up.x,
+      -up.y,
+      -up.z,
+      0,
+      this.originCartesian.x,
+      this.originCartesian.y,
+      this.originCartesian.z,
+      1
+    ]);
+  }
+  system;
+  origin;
+  originCartesian;
+  tangentBasis;
+  toEnu;
+  fromEnu;
+  toNed;
+  fromNed;
+  /** Origin geodetic coordinate with latitude and longitude in radians. */
+  get originRadians() {
+    return { ...this.origin };
+  }
+  /** Origin geodetic coordinate with latitude and longitude in degrees. */
+  get originDegrees() {
+    return {
+      latitude: toDegrees(this.origin.latitude),
+      longitude: toDegrees(this.origin.longitude),
+      height: this.origin.height
+    };
+  }
+  /** Origin expressed as ECEF metres. */
+  get originEcef() {
+    return { ...this.originCartesian };
+  }
+  /** Canonical east, north and up tangent basis expressed as ECEF unit vectors. */
+  get basis() {
+    return {
+      east: { ...this.tangentBasis.east },
+      north: { ...this.tangentBasis.north },
+      up: { ...this.tangentBasis.up }
+    };
+  }
+  /** Column-major matrix transforming ECEF positions to ENU positions. */
+  get ecefToEnuMatrix() {
+    return new Float64Array(this.toEnu);
+  }
+  /** Column-major matrix transforming ENU positions to ECEF positions. */
+  get enuToEcefMatrix() {
+    return new Float64Array(this.fromEnu);
+  }
+  /** Column-major matrix transforming ECEF positions to NED positions. */
+  get ecefToNedMatrix() {
+    return new Float64Array(this.toNed);
+  }
+  /** Column-major matrix transforming NED positions to ECEF positions. */
+  get nedToEcefMatrix() {
+    return new Float64Array(this.fromNed);
+  }
+  /**
+   * Converts an ECEF position to local ENU metres.
+   *
+   * @param position - ECEF position in metres.
+   * @param target - Optional mutable output object.
+   * @returns Local coordinate with X east, Y north and Z up.
+   */
+  ecefToEnu(position, target) {
+    validateCartesian(position);
+    const output = cartesianTarget(target);
+    const delta = {
+      x: position.x - this.originCartesian.x,
+      y: position.y - this.originCartesian.y,
+      z: position.z - this.originCartesian.z
+    };
+    output.x = dot(this.tangentBasis.east, delta);
+    output.y = dot(this.tangentBasis.north, delta);
+    output.z = dot(this.tangentBasis.up, delta);
+    return output;
+  }
+  /**
+   * Converts a local ENU position to ECEF metres.
+   *
+   * @param position - Local coordinate with X east, Y north and Z up.
+   * @param target - Optional mutable output object.
+   * @returns ECEF coordinate in metres.
+   */
+  enuToEcef(position, target) {
+    validateCartesian(position);
+    const output = cartesianTarget(target);
+    output.x = this.originCartesian.x + this.tangentBasis.east.x * position.x + this.tangentBasis.north.x * position.y + this.tangentBasis.up.x * position.z;
+    output.y = this.originCartesian.y + this.tangentBasis.east.y * position.x + this.tangentBasis.north.y * position.y + this.tangentBasis.up.y * position.z;
+    output.z = this.originCartesian.z + this.tangentBasis.east.z * position.x + this.tangentBasis.north.z * position.y + this.tangentBasis.up.z * position.z;
+    return output;
+  }
+  /**
+   * Converts an ECEF position to local NED metres.
+   *
+   * @param position - ECEF position in metres.
+   * @param target - Optional mutable output object.
+   * @returns Local coordinate with X north, Y east and Z down.
+   */
+  ecefToNed(position, target) {
+    validateCartesian(position);
+    const output = cartesianTarget(target);
+    const delta = {
+      x: position.x - this.originCartesian.x,
+      y: position.y - this.originCartesian.y,
+      z: position.z - this.originCartesian.z
+    };
+    output.x = dot(this.tangentBasis.north, delta);
+    output.y = dot(this.tangentBasis.east, delta);
+    output.z = -dot(this.tangentBasis.up, delta);
+    return output;
+  }
+  /**
+   * Converts a local NED position to ECEF metres.
+   *
+   * @param position - Local coordinate with X north, Y east and Z down.
+   * @param target - Optional mutable output object.
+   * @returns ECEF coordinate in metres.
+   */
+  nedToEcef(position, target) {
+    validateCartesian(position);
+    const output = cartesianTarget(target);
+    output.x = this.originCartesian.x + this.tangentBasis.north.x * position.x + this.tangentBasis.east.x * position.y - this.tangentBasis.up.x * position.z;
+    output.y = this.originCartesian.y + this.tangentBasis.north.y * position.x + this.tangentBasis.east.y * position.y - this.tangentBasis.up.y * position.z;
+    output.z = this.originCartesian.z + this.tangentBasis.north.z * position.x + this.tangentBasis.east.z * position.y - this.tangentBasis.up.z * position.z;
+    return output;
+  }
+  /**
+   * Converts geodetic radians directly to local ENU metres.
+   *
+   * @param latitudeRadians - Geodetic latitude in radians.
+   * @param longitudeRadians - Longitude in radians.
+   * @param height - Ellipsoidal height in metres.
+   * @param target - Optional mutable output object.
+   * @returns Local coordinate with X east, Y north and Z up.
+   */
+  geodeticRadiansToEnu(latitudeRadians, longitudeRadians, height = 0, target) {
+    return this.ecefToEnu(this.system.geodeticRadiansToEcef(latitudeRadians, longitudeRadians, height), target);
+  }
+  /**
+   * Converts geodetic degrees directly to local ENU metres.
+   *
+   * @param latitudeDegrees - Geodetic latitude in degrees.
+   * @param longitudeDegrees - Longitude in degrees.
+   * @param height - Ellipsoidal height in metres.
+   * @param target - Optional mutable output object.
+   * @returns Local coordinate with X east, Y north and Z up.
+   */
+  geodeticDegreesToEnu(latitudeDegrees, longitudeDegrees, height = 0, target) {
+    return this.ecefToEnu(this.system.geodeticDegreesToEcef(latitudeDegrees, longitudeDegrees, height), target);
+  }
+  /**
+   * Converts local ENU metres directly to geodetic radians.
+   *
+   * @param position - Local coordinate with X east, Y north and Z up.
+   * @param target - Optional mutable output object.
+   * @returns Geodetic latitude and longitude in radians, with height in metres.
+   */
+  enuToGeodeticRadians(position, target) {
+    return this.system.ecefToGeodeticRadians(this.enuToEcef(position), target);
+  }
+  /**
+   * Converts local ENU metres directly to geodetic degrees.
+   *
+   * @param position - Local coordinate with X east, Y north and Z up.
+   * @param target - Optional mutable output object.
+   * @returns Geodetic latitude and longitude in degrees, with height in metres.
+   */
+  enuToGeodeticDegrees(position, target) {
+    return this.system.ecefToGeodeticDegrees(this.enuToEcef(position), target);
+  }
+};
+
+export { DEGREES_TO_RADIANS, GeodeticSystem, LocalTangentPlane, RADIANS_TO_DEGREES, TWO_PI, normalizeLongitudeDegrees, normalizeLongitudeRadians, toDegrees, toRadians };
+//# sourceMappingURL=chunk-WYCQOUE7.js.map
+//# sourceMappingURL=chunk-WYCQOUE7.js.map

package/dist/chunk-WYCQOUE7.js.map

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Number of radians in one degree. */\nexport const DEGREES_TO_RADIANS = Math.PI / 180;\n\n/** Number of degrees in one radian. */\nexport const RADIANS_TO_DEGREES = 180 / Math.PI;\n\n/** Full turn in radians. */\nexport const TWO_PI = Math.PI * 2;\n\n/**\n * Converts an angle from degrees to radians.\n *\n * @param degrees - Angle in degrees.\n * @returns The equivalent angle in radians.\n */\nexport function toRadians(degrees: number): number {\n    return degrees * DEGREES_TO_RADIANS;\n}\n\n/**\n * Converts an angle from radians to degrees.\n *\n * @param radians - Angle in radians.\n * @returns The equivalent angle in degrees.\n */\nexport function toDegrees(radians: number): number {\n    return radians * RADIANS_TO_DEGREES;\n}\n\n/**\n * Normalizes a longitude to the half-open interval `[-PI, PI)`.\n *\n * @param longitudeRadians - Longitude in radians.\n * @returns Normalized longitude in radians.\n */\nexport function normalizeLongitudeRadians(longitudeRadians: number): number {\n    return ((((longitudeRadians + Math.PI) % TWO_PI) + TWO_PI) % TWO_PI) - Math.PI;\n}\n\n/**\n * Normalizes a longitude to the half-open interval `[-180, 180)`.\n *\n * @param longitudeDegrees - Longitude in degrees.\n * @returns Normalized longitude in degrees.\n */\nexport function normalizeLongitudeDegrees(longitudeDegrees: number): number {\n    return ((((longitudeDegrees + 180) % 360) + 360) % 360) - 180;\n}\n","import { normalizeLongitudeRadians, toDegrees, toRadians } from \"./angles\";\nimport { Ellipsoid } from \"./ellipsoid\";\nimport type { ICartesian3, IGeodeticCoordinates, ILocalTangentBasis } from \"./types\";\n\nconst POLE_EPSILON = 1e-12;\nconst CONVERGENCE_EPSILON = 1e-14;\nconst MAX_GEODETIC_ITERATIONS = 10;\n\nfunction cartesianTarget(target?: ICartesian3): ICartesian3 {\n    return target ?? { x: 0, y: 0, z: 0 };\n}\n\nfunction geodeticTarget(target?: IGeodeticCoordinates): IGeodeticCoordinates {\n    return target ?? { latitude: 0, longitude: 0, height: 0 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reference ellipsoid.\n *\n * ECEF follows EPSG:4978 axis conventions: X crosses latitude 0 and longitude\n * 0, Y crosses latitude 0 and longitude 90 degrees east, and Z crosses the\n * north pole. Cartesian distances and ellipsoidal heights are expressed in\n * metres.\n */\nexport class GeodeticSystem {\n    /** Shared WGS84 geodetic system. The instance is immutable. */\n    public static readonly WGS84 = new GeodeticSystem(Ellipsoid.WGS84);\n\n    /**\n     * Creates a geodetic system.\n     *\n     * @param ellipsoid - Reference ellipsoid. Defaults to WGS84.\n     */\n    public constructor(public readonly ellipsoid: Ellipsoid = Ellipsoid.WGS84) {}\n\n    /**\n     * Converts geodetic coordinates in radians to ECEF.\n     *\n     * @param latitudeRadians - Geodetic latitude in radians.\n     * @param longitudeRadians - Longitude in radians east of the reference meridian.\n     * @param height - Ellipsoidal height in metres.\n     * @param target - Optional mutable output object, used to avoid an allocation.\n     * @returns The target populated with ECEF metres.\n     */\n    public geodeticRadiansToEcef(latitudeRadians: number, longitudeRadians: number, height = 0, target?: ICartesian3): ICartesian3 {\n        validateGeodetic(latitudeRadians, longitudeRadians, height);\n        const output = cartesianTarget(target);\n        const sineLatitude = Math.sin(latitudeRadians);\n        const cosineLatitude = Math.cos(latitudeRadians);\n        const cosineLongitude = Math.cos(longitudeRadians);\n        const sineLongitude = Math.sin(longitudeRadians);\n        const primeVerticalRadius = this.ellipsoid.primeVerticalRadius(latitudeRadians);\n        const horizontalRadius = (primeVerticalRadius + height) * cosineLatitude;\n        output.x = horizontalRadius * cosineLongitude;\n        output.y = horizontalRadius * sineLongitude;\n        output.z = (primeVerticalRadius * this.ellipsoid.oneMinusSquaredEccentricity + height) * sineLatitude;\n        return output;\n    }\n\n    /**\n     * Converts geodetic coordinates in degrees to ECEF.\n     *\n     * @param latitudeDegrees - Geodetic latitude in degrees.\n     * @param longitudeDegrees - Longitude in degrees east of the reference meridian.\n     * @param height - Ellipsoidal height in metres.\n     * @param target - Optional mutable output object, used to avoid an allocation.\n     * @returns The target populated with ECEF metres.\n     */\n    public geodeticDegreesToEcef(latitudeDegrees: number, longitudeDegrees: number, height = 0, target?: ICartesian3): ICartesian3 {\n        return this.geodeticRadiansToEcef(toRadians(latitudeDegrees), toRadians(longitudeDegrees), height, target);\n    }\n\n    /**\n     * Converts ECEF coordinates to geodetic coordinates in radians.\n     *\n     * Bowring initialization followed by a bounded fixed-point refinement gives\n     * stable results at the equator, at the poles, below the ellipsoid and at\n     * orbital altitudes. The ellipsoid centre is rejected because it has no\n     * unique latitude or longitude.\n     *\n     * @param position - ECEF coordinate in metres.\n     * @param target - Optional mutable output object, used to avoid an allocation.\n     * @returns Geodetic latitude and longitude in radians, with height in metres.\n     */\n    public ecefToGeodeticRadians(position: ICartesian3, target?: IGeodeticCoordinates): IGeodeticCoordinates {\n        validateCartesian(position);\n        const output = geodeticTarget(target);\n        const { x, y, z } = position;\n        const distanceFromAxis = Math.hypot(x, y);\n        if (distanceFromAxis < POLE_EPSILON) {\n            if (Math.abs(z) < POLE_EPSILON) throw new RangeError(\"The ellipsoid centre has no unique geodetic coordinate.\");\n            output.latitude = z > 0 ? Math.PI / 2 : -Math.PI / 2;\n            output.longitude = 0;\n            output.height = Math.abs(z) - this.ellipsoid.semiMinorAxis;\n            return output;\n        }\n\n        const major = this.ellipsoid.semiMajorAxis;\n        const minor = this.ellipsoid.semiMinorAxis;\n        const eccentricitySquared = this.ellipsoid.squaredEccentricity;\n        const secondEccentricitySquared = this.ellipsoid.secondSquaredEccentricity;\n        const longitude = Math.atan2(y, x);\n        const bowringAngle = Math.atan2(z * major, distanceFromAxis * minor);\n        const sineBowring = Math.sin(bowringAngle);\n        const cosineBowring = Math.cos(bowringAngle);\n        let latitude = Math.atan2(\n            z + secondEccentricitySquared * minor * sineBowring ** 3,\n            distanceFromAxis - eccentricitySquared * major * cosineBowring ** 3,\n        );\n\n        let height = 0;\n        for (let iteration = 0; iteration < MAX_GEODETIC_ITERATIONS; iteration++) {\n            const sineLatitude = Math.sin(latitude);\n            const cosineLatitude = Math.cos(latitude);\n            const primeVerticalRadius = this.ellipsoid.primeVerticalRadius(latitude);\n            height =\n                Math.abs(cosineLatitude) > 1e-10\n                    ? distanceFromAxis / cosineLatitude - primeVerticalRadius\n                    : z / sineLatitude - primeVerticalRadius * this.ellipsoid.oneMinusSquaredEccentricity;\n            const denominator = 1 - (eccentricitySquared * primeVerticalRadius) / (primeVerticalRadius + height);\n            const nextLatitude = Math.atan2(z, distanceFromAxis * denominator);\n            if (Math.abs(nextLatitude - latitude) <= CONVERGENCE_EPSILON) {\n                latitude = nextLatitude;\n                break;\n            }\n            latitude = nextLatitude;\n        }\n\n        const sineLatitude = Math.sin(latitude);\n        const cosineLatitude = Math.cos(latitude);\n        const primeVerticalRadius = this.ellipsoid.primeVerticalRadius(latitude);\n        height =\n            Math.abs(cosineLatitude) > 1e-10\n                ? distanceFromAxis / cosineLatitude - primeVerticalRadius\n                : z / sineLatitude - primeVerticalRadius * this.ellipsoid.oneMinusSquaredEccentricity;\n\n        output.latitude = latitude;\n        output.longitude = normalizeLongitudeRadians(longitude);\n        output.height = height;\n        return output;\n    }\n\n    /**\n     * Converts ECEF coordinates to geodetic coordinates in degrees.\n     *\n     * @param position - ECEF coordinate in metres.\n     * @param target - Optional mutable output object, used to avoid an allocation.\n     * @returns Geodetic latitude and longitude in degrees, with height in metres.\n     */\n    public ecefToGeodeticDegrees(position: ICartesian3, target?: IGeodeticCoordinates): IGeodeticCoordinates {\n        const output = this.ecefToGeodeticRadians(position, target);\n        output.latitude = toDegrees(output.latitude);\n        output.longitude = toDegrees(output.longitude);\n        return output;\n    }\n\n    /**\n     * Returns the outward ellipsoid-normal unit vector at geodetic coordinates.\n     *\n     * @param latitudeRadians - Geodetic latitude in radians.\n     * @param longitudeRadians - Longitude in radians.\n     * @param target - Optional mutable output object.\n     * @returns Unit vector expressed in ECEF axes.\n     */\n    public geodeticSurfaceNormalRadians(latitudeRadians: number, longitudeRadians: number, target?: ICartesian3): ICartesian3 {\n        validateGeodetic(latitudeRadians, longitudeRadians, 0);\n        const output = cartesianTarget(target);\n        const cosineLatitude = Math.cos(latitudeRadians);\n        output.x = cosineLatitude * Math.cos(longitudeRadians);\n        output.y = cosineLatitude * Math.sin(longitudeRadians);\n        output.z = Math.sin(latitudeRadians);\n        return output;\n    }\n\n    /**\n     * Returns the outward ellipsoid-normal unit vector at geodetic coordinates.\n     *\n     * @param latitudeDegrees - Geodetic latitude in degrees.\n     * @param longitudeDegrees - Longitude in degrees.\n     * @param target - Optional mutable output object.\n     * @returns Unit vector expressed in ECEF axes.\n     */\n    public geodeticSurfaceNormalDegrees(latitudeDegrees: number, longitudeDegrees: number, target?: ICartesian3): ICartesian3 {\n        return this.geodeticSurfaceNormalRadians(toRadians(latitudeDegrees), toRadians(longitudeDegrees), target);\n    }\n\n    /**\n     * Creates an immutable local east, north, up tangent plane.\n     *\n     * @param latitudeRadians - Origin geodetic latitude in radians.\n     * @param longitudeRadians - Origin longitude in radians.\n     * @param height - Origin ellipsoidal height in metres.\n     * @returns A local tangent plane bound to this geodetic system.\n     */\n    public createLocalTangentPlaneRadians(latitudeRadians: number, longitudeRadians: number, height = 0): LocalTangentPlane {\n        return new LocalTangentPlane(this, { latitude: latitudeRadians, longitude: longitudeRadians, height });\n    }\n\n    /**\n     * Creates an immutable local east, north, up tangent plane.\n     *\n     * @param latitudeDegrees - Origin geodetic latitude in degrees.\n     * @param longitudeDegrees - Origin longitude in degrees.\n     * @param height - Origin ellipsoidal height in metres.\n     * @returns A local tangent plane bound to this geodetic system.\n     */\n    public createLocalTangentPlaneDegrees(latitudeDegrees: number, longitudeDegrees: number, height = 0): LocalTangentPlane {\n        return this.createLocalTangentPlaneRadians(toRadians(latitudeDegrees), toRadians(longitudeDegrees), height);\n    }\n}\n\n/**\n * Immutable local tangent plane anchored to a geodetic coordinate.\n *\n * ENU axes are X east, Y north and Z up. NED axes are X north, Y east and Z\n * down. All local values are metres. The stored matrices use column-major\n * order and multiply column vectors, matching glTF and 3D Tiles transforms.\n */\nexport class LocalTangentPlane {\n    private readonly origin: IGeodeticCoordinates;\n    private readonly originCartesian: ICartesian3;\n    private readonly tangentBasis: ILocalTangentBasis;\n    private readonly toEnu: Float64Array;\n    private readonly fromEnu: Float64Array;\n    private readonly toNed: Float64Array;\n    private readonly fromNed: Float64Array;\n\n    /**\n     * Creates a local tangent plane.\n     *\n     * Prefer {@link GeodeticSystem.createLocalTangentPlaneRadians} or\n     * {@link GeodeticSystem.createLocalTangentPlaneDegrees}, which make the\n     * angular unit explicit at the call site.\n     *\n     * @param system - Geodetic reference system.\n     * @param originRadians - Origin with angular components in radians.\n     */\n    public constructor(\n        public readonly system: GeodeticSystem,\n        originRadians: IGeodeticCoordinates,\n    ) {\n        validateGeodetic(originRadians.latitude, originRadians.longitude, originRadians.height);\n        this.origin = { ...originRadians, longitude: normalizeLongitudeRadians(originRadians.longitude) };\n        this.originCartesian = system.geodeticRadiansToEcef(this.origin.latitude, this.origin.longitude, this.origin.height);\n        const sineLatitude = Math.sin(this.origin.latitude);\n        const cosineLatitude = Math.cos(this.origin.latitude);\n        const sineLongitude = Math.sin(this.origin.longitude);\n        const cosineLongitude = Math.cos(this.origin.longitude);\n        this.tangentBasis = {\n            east: { x: -sineLongitude, y: cosineLongitude, z: 0 },\n            north: {\n                x: -sineLatitude * cosineLongitude,\n                y: -sineLatitude * sineLongitude,\n                z: cosineLatitude,\n            },\n            up: {\n                x: cosineLatitude * cosineLongitude,\n                y: cosineLatitude * sineLongitude,\n                z: sineLatitude,\n            },\n        };\n        const { east, north, up } = this.tangentBasis;\n        this.toEnu = new Float64Array([\n            east.x,\n            north.x,\n            up.x,\n            0,\n            east.y,\n            north.y,\n            up.y,\n            0,\n            east.z,\n            north.z,\n            up.z,\n            0,\n            -dot(east, this.originCartesian),\n            -dot(north, this.originCartesian),\n            -dot(up, this.originCartesian),\n            1,\n        ]);\n        this.fromEnu = new Float64Array([\n            east.x,\n            east.y,\n            east.z,\n            0,\n            north.x,\n            north.y,\n            north.z,\n            0,\n            up.x,\n            up.y,\n            up.z,\n            0,\n            this.originCartesian.x,\n            this.originCartesian.y,\n            this.originCartesian.z,\n            1,\n        ]);\n        this.toNed = new Float64Array([\n            north.x,\n            east.x,\n            -up.x,\n            0,\n            north.y,\n            east.y,\n            -up.y,\n            0,\n            north.z,\n            east.z,\n            -up.z,\n            0,\n            -dot(north, this.originCartesian),\n            -dot(east, this.originCartesian),\n            dot(up, this.originCartesian),\n            1,\n        ]);\n        this.fromNed = new Float64Array([\n            north.x,\n            north.y,\n            north.z,\n            0,\n            east.x,\n            east.y,\n            east.z,\n            0,\n            -up.x,\n            -up.y,\n            -up.z,\n            0,\n            this.originCartesian.x,\n            this.originCartesian.y,\n            this.originCartesian.z,\n            1,\n        ]);\n    }\n\n    /** Origin geodetic coordinate with latitude and longitude in radians. */\n    public get originRadians(): IGeodeticCoordinates {\n        return { ...this.origin };\n    }\n\n    /** Origin geodetic coordinate with latitude and longitude in degrees. */\n    public get originDegrees(): IGeodeticCoordinates {\n        return {\n            latitude: toDegrees(this.origin.latitude),\n            longitude: toDegrees(this.origin.longitude),\n            height: this.origin.height,\n        };\n    }\n\n    /** Origin expressed as ECEF metres. */\n    public get originEcef(): ICartesian3 {\n        return { ...this.originCartesian };\n    }\n\n    /** Canonical east, north and up tangent basis expressed as ECEF unit vectors. */\n    public get basis(): ILocalTangentBasis {\n        return {\n            east: { ...this.tangentBasis.east },\n            north: { ...this.tangentBasis.north },\n            up: { ...this.tangentBasis.up },\n        };\n    }\n\n    /** Column-major matrix transforming ECEF positions to ENU positions. */\n    public get ecefToEnuMatrix(): Float64Array {\n        return new Float64Array(this.toEnu);\n    }\n\n    /** Column-major matrix transforming ENU positions to ECEF positions. */\n    public get enuToEcefMatrix(): Float64Array {\n        return new Float64Array(this.fromEnu);\n    }\n\n    /** Column-major matrix transforming ECEF positions to NED positions. */\n    public get ecefToNedMatrix(): Float64Array {\n        return new Float64Array(this.toNed);\n    }\n\n    /** Column-major matrix transforming NED positions to ECEF positions. */\n    public get nedToEcefMatrix(): Float64Array {\n        return new Float64Array(this.fromNed);\n    }\n\n    /**\n     * Converts an ECEF position to local ENU metres.\n     *\n     * @param position - ECEF position in metres.\n     * @param target - Optional mutable output object.\n     * @returns Local coordinate with X east, Y north and Z up.\n     */\n    public ecefToEnu(position: ICartesian3, target?: ICartesian3): ICartesian3 {\n        validateCartesian(position);\n        const output = cartesianTarget(target);\n        const delta = {\n            x: position.x - this.originCartesian.x,\n            y: position.y - this.originCartesian.y,\n            z: position.z - this.originCartesian.z,\n        };\n        output.x = dot(this.tangentBasis.east, delta);\n        output.y = dot(this.tangentBasis.north, delta);\n        output.z = dot(this.tangentBasis.up, delta);\n        return output;\n    }\n\n    /**\n     * Converts a local ENU position to ECEF metres.\n     *\n     * @param position - Local coordinate with X east, Y north and Z up.\n     * @param target - Optional mutable output object.\n     * @returns ECEF coordinate in metres.\n     */\n    public enuToEcef(position: ICartesian3, target?: ICartesian3): ICartesian3 {\n        validateCartesian(position);\n        const output = cartesianTarget(target);\n        output.x =\n            this.originCartesian.x +\n            this.tangentBasis.east.x * position.x +\n            this.tangentBasis.north.x * position.y +\n            this.tangentBasis.up.x * position.z;\n        output.y =\n            this.originCartesian.y +\n            this.tangentBasis.east.y * position.x +\n            this.tangentBasis.north.y * position.y +\n            this.tangentBasis.up.y * position.z;\n        output.z =\n            this.originCartesian.z +\n            this.tangentBasis.east.z * position.x +\n            this.tangentBasis.north.z * position.y +\n            this.tangentBasis.up.z * position.z;\n        return output;\n    }\n\n    /**\n     * Converts an ECEF position to local NED metres.\n     *\n     * @param position - ECEF position in metres.\n     * @param target - Optional mutable output object.\n     * @returns Local coordinate with X north, Y east and Z down.\n     */\n    public ecefToNed(position: ICartesian3, target?: ICartesian3): ICartesian3 {\n        validateCartesian(position);\n        const output = cartesianTarget(target);\n        const delta = {\n            x: position.x - this.originCartesian.x,\n            y: position.y - this.originCartesian.y,\n            z: position.z - this.originCartesian.z,\n        };\n        output.x = dot(this.tangentBasis.north, delta);\n        output.y = dot(this.tangentBasis.east, delta);\n        output.z = -dot(this.tangentBasis.up, delta);\n        return output;\n    }\n\n    /**\n     * Converts a local NED position to ECEF metres.\n     *\n     * @param position - Local coordinate with X north, Y east and Z down.\n     * @param target - Optional mutable output object.\n     * @returns ECEF coordinate in metres.\n     */\n    public nedToEcef(position: ICartesian3, target?: ICartesian3): ICartesian3 {\n        validateCartesian(position);\n        const output = cartesianTarget(target);\n        output.x =\n            this.originCartesian.x +\n            this.tangentBasis.north.x * position.x +\n            this.tangentBasis.east.x * position.y -\n            this.tangentBasis.up.x * position.z;\n        output.y =\n            this.originCartesian.y +\n            this.tangentBasis.north.y * position.x +\n            this.tangentBasis.east.y * position.y -\n            this.tangentBasis.up.y * position.z;\n        output.z =\n            this.originCartesian.z +\n            this.tangentBasis.north.z * position.x +\n            this.tangentBasis.east.z * position.y -\n            this.tangentBasis.up.z * position.z;\n        return output;\n    }\n\n    /**\n     * Converts geodetic radians directly to local ENU metres.\n     *\n     * @param latitudeRadians - Geodetic latitude in radians.\n     * @param longitudeRadians - Longitude in radians.\n     * @param height - Ellipsoidal height in metres.\n     * @param target - Optional mutable output object.\n     * @returns Local coordinate with X east, Y north and Z up.\n     */\n    public geodeticRadiansToEnu(latitudeRadians: number, longitudeRadians: number, height = 0, target?: ICartesian3): ICartesian3 {\n        return this.ecefToEnu(this.system.geodeticRadiansToEcef(latitudeRadians, longitudeRadians, height), target);\n    }\n\n    /**\n     * Converts geodetic degrees directly to local ENU metres.\n     *\n     * @param latitudeDegrees - Geodetic latitude in degrees.\n     * @param longitudeDegrees - Longitude in degrees.\n     * @param height - Ellipsoidal height in metres.\n     * @param target - Optional mutable output object.\n     * @returns Local coordinate with X east, Y north and Z up.\n     */\n    public geodeticDegreesToEnu(latitudeDegrees: number, longitudeDegrees: number, height = 0, target?: ICartesian3): ICartesian3 {\n        return this.ecefToEnu(this.system.geodeticDegreesToEcef(latitudeDegrees, longitudeDegrees, height), target);\n    }\n\n    /**\n     * Converts local ENU metres directly to geodetic radians.\n     *\n     * @param position - Local coordinate with X east, Y north and Z up.\n     * @param target - Optional mutable output object.\n     * @returns Geodetic latitude and longitude in radians, with height in metres.\n     */\n    public enuToGeodeticRadians(position: ICartesian3, target?: IGeodeticCoordinates): IGeodeticCoordinates {\n        return this.system.ecefToGeodeticRadians(this.enuToEcef(position), target);\n    }\n\n    /**\n     * Converts local ENU metres directly to geodetic degrees.\n     *\n     * @param position - Local coordinate with X east, Y north and Z up.\n     * @param target - Optional mutable output object.\n     * @returns Geodetic latitude and longitude in degrees, with height in metres.\n     */\n    public enuToGeodeticDegrees(position: ICartesian3, target?: IGeodeticCoordinates): IGeodeticCoordinates {\n        return this.system.ecefToGeodeticDegrees(this.enuToEcef(position), target);\n    }\n}\n"]}