@wemap/geo 7.2.1 → 7.3.1

package/index.js

@@ -4,6 +4,7 @@ export * as Utils from './src/Utils.js';
 /** Coordinates */
 export { default as BoundingBox } from './src/coordinates/BoundingBox.js';
 export { default as GeoRelativePosition } from './src/coordinates/GeoRelativePosition.js';
+export { default as GeoRef } from './src/coordinates/GeoRef.js';
 export { default as Level } from './src/coordinates/Level.js';
 export { default as RelativePosition } from './src/coordinates/RelativePosition.js';
 export { default as Coordinates } from './src/coordinates/Coordinates.js';

package/package.json

@@ -12,7 +12,7 @@
         "directory": "packages/geo"
     },
     "name": "@wemap/geo",
-    "version": "7.2.1",
+    "version": "7.3.1",
     "bugs": {
         "url": "https://github.com/wemap/wemap-modules-js/issues"
     },
@@ -30,5 +30,5 @@
         "@wemap/logger": "^7.0.0",
         "@wemap/maths": "^7.0.0"
     },
-    "gitHead": "64528ea2d1a6384ca0d33a794975960c38f25fe0"
+    "gitHead": "e5431db888821781448e7e05b047e2f4a5d8a1ce"
 }

package/src/coordinates/Coordinates.js

@@ -38,10 +38,10 @@ class Coordinates {
     /**
      * @param {Number} lat
      * @param {Number} lng
-     * @param {Number|null} alt
-     * @param {Level|null} level
+     * @param {?(Number|null)} alt
+     * @param {?(Level|null)} level
      */
-    constructor(lat, lng, alt, level) {
+    constructor(lat, lng, alt = null, level = null) {
         this.lat = lat;
         this.lng = lng;
         this.alt = alt;

package/src/coordinates/GeoRef.js

@@ -0,0 +1,43 @@
+import { Quaternion, Vector3 } from '@wemap/maths';
+
+import Coordinates from './Coordinates.js';
+
+class GeoRef {
+
+    /** @type {!Coordinates} */
+    origin;
+
+    /** @type {number} */
+    scale = 1;
+
+    /** @type {number} */
+    heading = 0;
+
+
+    /**
+     * @param {number[]} localPosition in ENU frame
+     * @returns {Coordinates}
+     */
+    localToWorld(localPosition) {
+        const localPositionScaled = Vector3.multiplyScalar(localPosition, this.scale);
+        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], this.heading);
+        const ecefToEnuRotationOrigin = Quaternion.multiply(rotationOffset, this.origin.ecefToEnuRotation);
+        const ecefTranslation = Quaternion.rotate(ecefToEnuRotationOrigin, localPositionScaled);
+        const ecef = Vector3.add(this.origin.ecef, ecefTranslation);
+        return Coordinates.fromECEF(ecef);
+    }
+
+    /**
+     * @param {Coordinates} coords
+     * @returns {number[]} localPosition in ENU frame
+     */
+    worldToLocal(coords) {
+        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], -this.heading);
+        const enuToEcefRotationOrigin = Quaternion.multiply(this.origin.enuToEcefRotation, rotationOffset);
+        const ecefTranslation = Vector3.subtract(coords.ecef, this.origin.ecef);
+        const ecefTranslationScaled = Vector3.multiplyScalar(ecefTranslation, 1 / this.scale);
+        return Quaternion.rotate(enuToEcefRotationOrigin, ecefTranslationScaled);
+    }
+}
+
+export default GeoRef;