@wemap/geo 0.1.2 → 0.1.4

package/index.js

@@ -1,3 +1,4 @@
+import Attitude from './src/rotations/Attitude';
 import Constants from './src/Constants';
 import Edge from './src/graph/Edge';
 import Itinerary from './src/graph/Itinerary';
@@ -7,6 +8,7 @@ import WGS84 from './src/coordinates/WGS84';
 import WGS84UserPosition from './src/coordinates/WGS84UserPosition';
 
 export {
+    Attitude,
     Constants,
     Edge,
     Itinerary,

package/package.json

@@ -12,7 +12,7 @@
         "directory": "packages/geo"
     },
     "name": "@wemap/geo",
-    "version": "0.1.2",
+    "version": "0.1.4",
     "bugs": {
         "url": "https://github.com/wemap/wemap-utils-js/issues"
     },
@@ -26,5 +26,5 @@
         "wemap"
     ],
     "license": "ISC",
-    "gitHead": "83e0fae1464d1b856962f1b1c8cb8e5c085be797"
+    "gitHead": "991a53f06eed6adb872fad2cbd70a4edf7ee9cf9"
 }

package/src/coordinates/WGS84.js

@@ -1,10 +1,12 @@
-import { Utils, Vector3, Quaternion } from '@wemap/maths';
+import {
+    Utils, Vector3, Quaternion
+} from '@wemap/maths';
 import Constants from '../Constants';
 
 
 class WGS84 {
 
-    constructor(lat, lng, alt = 0) {
+    constructor(lat, lng, alt) {
         this._lat = lat;
         this._lng = lng;
         this._alt = alt;
@@ -208,12 +210,20 @@ class WGS84 {
 
         const G = Vector3.cross(a, b);
         const F = Vector3.cross(c, G);
-        let t = Vector3.normalize(Vector3.cross(G, F));
+        const t = Vector3.normalize(Vector3.cross(G, F));
 
-        t = Vector3.multiplyScalar(t, this.getEarthRadiusAtPosition());
+        const posECEF = Vector3.multiplyScalar(t, this.getEarthRadiusAtPosition());
+        const poseWGS84 = WGS84.fromECEF(posECEF);
+
+        // poseWGS84.alt is not 0 here due to the ECEF transformation residual.
+        // So if p1.alt and p2.alt are defined we take the middle elevation between p1 and p2.
+        // Otherwise we remove alt from projection because the residual has no sense.
+        let alt;
+        if (typeof p1.alt !== 'undefined' && typeof p2.alt !== 'undefined') {
+            alt = (p1.alt + p2.alt) / 2;
+        }
+        const projection = new WGS84(poseWGS84.lat, poseWGS84.lng, alt);
 
-        const projection = WGS84.fromECEF(t);
-        projection.alt = p1.alt && p2.alt ? (p1.alt + p2.alt) / 2 : 0;
         if (Math.abs((p1.distanceTo(p2) - p1.distanceTo(projection) - p2.distanceTo(projection))) > 1e-6) {
             return null;
         }

package/src/graph/MapMatching.js

@@ -1,7 +1,7 @@
-/* eslint complexity: ["error", 21]*/
+/* eslint complexity: ["error", 22]*/
 /* eslint max-statements: ["error", 45]*/
 
-import { Utils as MathUtils} from '@wemap/maths';
+import { Utils as MathUtils } from '@wemap/maths';
 import Network from './Network';
 
 const rad2deg = MathUtils.rad2deg;
@@ -97,6 +97,8 @@ class MapMatching {
 
         if (!projection.projection) {
             return null;
+        } else if (typeof projection.projection.alt === 'undefined') {
+            projection.projection.alt = location.alt;
         }
 
         return projection;

package/src/rotations/Attitude.js

@@ -0,0 +1,65 @@
+import {
+    Rotations, Utils as MathUtils, Quaternion
+} from '@wemap/maths';
+
+const rotxM90 = Quaternion.fromAxisAngle([1, 0, 0], -Math.PI / 2);
+
+class Attitude {
+
+    quaternion = [1, 0, 0, 0];
+    quaternionThreeJsV = null;
+    headingV = null;
+    headingDegreesV = null;
+    eulerAnglesV = null;
+    eulerAnglesDegreesV = null;
+
+    constructor(quaternion) {
+        this.quaternion = quaternion;
+    }
+
+    get eulerAngles() {
+        if (!this.eulerAnglesV) {
+            this.eulerAnglesV = Rotations.quaternionToEulerZXY(this.quaternion);
+        }
+        return this.eulerAnglesV;
+    }
+
+    get eulerAnglesDegrees() {
+        if (!this.eulerAnglesDegreesV) {
+            this.eulerAnglesDegreesV = Rotations.quaternionToEulerZXYDegrees(this.quaternion);
+        }
+        return this.eulerAnglesDegreesV;
+    }
+
+    get heading() {
+        if (!this.headingV) {
+            this.headingV = Rotations.getHeadingFromQuaternion(this.quaternion) + MathUtils.deg2rad(window.orientation || 0);
+        }
+        return this.headingV;
+    }
+
+    get headingDegrees() {
+        if (!this.headingDegreesV) {
+            this.headingDegreesV = MathUtils.rad2deg(Rotations.getHeadingFromQuaternion(this.quaternion)) + (window.orientation || 0);
+        }
+        return this.headingDegreesV;
+    }
+
+    get quaternionThreeJs() {
+        if (!this.quaternionThreeJsV) {
+            this.quaternionThreeJsV = Quaternion.wxyz2xyzw(Quaternion.multiply(rotxM90, this.quaternion));
+        }
+        return this.quaternionThreeJsV;
+    }
+
+    toMessage() {
+        return this.quaternion;
+    }
+
+    static fromMessage(message) {
+        return new Attitude(message);
+    }
+
+}
+
+export default Attitude;