Class inertialsim::geodesy::EllipsoidalEarthRate¶

ClassList > inertialsim > geodesy > EllipsoidalEarthRate

Rotation rate model of Earth. More...

#include <earth_rate.h>

Inherits the following classes: inertialsim::geodesy::Field

Public Functions¶

Type	Name
virtual Scalar1D	Magnitude (const Coordinates & coordinates) override const Return Earth rate magnitude at the given coordinates.
virtual Scalar1D	Magnitude (const Coordinates & coordinates) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Vector3D	Vector (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.

Public Functions inherited from inertialsim::geodesy::Field¶

See inertialsim::geodesy::Field

Type	Name
virtual Scalar1D	Magnitude (const Coordinates & coordinates) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Scalar1D	Magnitude (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL) const Return magnitude at the given coordinates.
Vector3D	Vector (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Array3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::GEODETIC, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const geometry::Vector & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
Vector3D	Vector (const Vector3D & coordinates, CoordinateSystem default_frame=CoordinateSystem::LOCAL, const std::optional< CoordinateSystem > & basis=std::nullopt) const Return the vector field at the given coordinates.
virtual	~Field () = default Virtual destructor.

Protected Functions¶

Type	Name
virtual Vector3D	VectorImpl (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis) override const Return the Earth rate vector at the given coordinates.

Protected Functions inherited from inertialsim::geodesy::Field¶

See inertialsim::geodesy::Field

Type	Name
virtual Vector3D	VectorImpl (const Coordinates & coordinates, const std::optional< CoordinateSystem > & basis) const = 0 Vector implementation to be overridden by subclasses.

Detailed Description¶

Earth rotates at an approximately constant rate around the z-axis of an Earth-centered, Earth-fixed (ECEF) coordinate system. This rotation contributes to apparent forces (coriolis, centripetal, etc.) that must be compensated in inertial equations of motion.

The model is stateless and inherits parameters from the datum associated with the coordinate inputs.

The model supports both the magnitude and vector representations of the Earth rate based on input Coordinates.

Public Functions Documentation¶

function Magnitude [⅕]¶

Return Earth rate magnitude at the given coordinates.

virtual Scalar1D inertialsim::geodesy::EllipsoidalEarthRate::Magnitude (
    const Coordinates & coordinates
) override const

The Earth rate magnitude is the same for all coordinates and is equal to the angular velocity of Earth rotation defined by the geoedetic datum associated with the input coordinates. If the input coordinates do not have an associated geodetic datum, WGS84 is used by default.

Parameters:

coordinates Array of coordinates.

Returns:

Array of magnitudes.

Implements inertialsim::geodesy::Field::Magnitude

function Magnitude [⅖]¶

Return magnitude at the given coordinates.

virtual Scalar1D inertialsim::geodesy::EllipsoidalEarthRate::Magnitude (
    const Coordinates & coordinates
) const

Parameters:

coordinates Array of coordinates.

Returns:

Array of magnitudes.

Implements inertialsim::geodesy::Field::Magnitude

function Magnitude [⅗]¶

Return magnitude at the given coordinates.

Scalar1D inertialsim::geodesy::EllipsoidalEarthRate::Magnitude (
    const Array3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::GEODETIC
) const

Parameters:

coordinates Array of raw coordinates (e.g. geodetic).
default_frame Coordinate system corresponding to the coordinate input.

Returns:

Array of magnitudes.

function Magnitude [⅘]¶

Return magnitude at the given coordinates.

Scalar1D inertialsim::geodesy::EllipsoidalEarthRate::Magnitude (
    const geometry::Vector & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL
) const

Parameters:

coordinates Array of coordinates as geometry::Vector.
default_frame Coordinate system corresponding to the coordinate input.

Returns:

Array of magnitudes.

function Magnitude [5/5]¶

Return magnitude at the given coordinates.

Scalar1D inertialsim::geodesy::EllipsoidalEarthRate::Magnitude (
    const Vector3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL
) const

Parameters:

coordinates Array of raw coordinates (e.g. local xyz).
default_frame Coordinate system corresponding to the coordinate input.

Returns:

Array of magnitudes.

function Vector [¼]¶

Return the vector field at the given coordinates.

inline Vector3D inertialsim::geodesy::EllipsoidalEarthRate::Vector (
    const Coordinates & coordinates,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

By default, the vector components will be expressed in the basis associated with the coordinates. For curvilinear systems (e.g. geodetic), the basis is the local basis at the given coordinates. If basis is supplied, it will be used instead.

Note:

For curvilinear coordinate systems like geodetic coordinates, the default basis is the local tangent plane basis at each coordinate location. For Cartesian systems like ECEF, the basis is constant.

Parameters:

coordinates Array of coordinates.
basis Optional basis in which to return the vector. If not specified, uses the basis associated with the coordinates.

Returns:

Array of vectors (3xN).

function Vector [2/4]¶

Return the vector field at the given coordinates.

Vector3D inertialsim::geodesy::EllipsoidalEarthRate::Vector (
    const Array3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::GEODETIC,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

Parameters:

coordinates Array of raw coordinates (e.g. geodetic).
default_frame Coordinate system corresponding to the coordinate input.
basis Optional basis in which to return the vector.

Returns:

Array of vectors.

function Vector [¾]¶

Return the vector field at the given coordinates.

Vector3D inertialsim::geodesy::EllipsoidalEarthRate::Vector (
    const geometry::Vector & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

Parameters:

coordinates Array of coordinates as geometry::Vector.
default_frame Coordinate system corresponding to the coordinate input.
basis Optional basis in which to return the vector.

Returns:

Array of vectors.

function Vector [4/4]¶

Return the vector field at the given coordinates.

Vector3D inertialsim::geodesy::EllipsoidalEarthRate::Vector (
    const Vector3D & coordinates,
    CoordinateSystem default_frame=CoordinateSystem::LOCAL,
    const std::optional< CoordinateSystem > & basis=std::nullopt
) const

Parameters:

coordinates Vector of raw coordinates (e.g. local xyz)
default_frame Coordinate system corresponding to the coordinate input.
basis Optional basis in which to return the vector.

Returns:

Array of vectors.

Protected Functions Documentation¶

function VectorImpl¶

Return the Earth rate vector at the given coordinates.

virtual Vector3D inertialsim::geodesy::EllipsoidalEarthRate::VectorImpl (
    const Coordinates & coordinates,
    const std::optional< CoordinateSystem > & basis
) override const

By default, the Earth rate vector components will be expressed in the basis of the input coordinates. For curvilinear systems (e.g. geodetic), the basis is the local basis at the given coordinates. If basis is supplied, it will be used instead.

Parameters:

coordinates Array of coordinates.
basis Optional basis in which to return the Earth rate vector.

Returns:

Array of Earth rate vectors (rad/s) (3xN).

Exception:

std::invalid_argument if basis is not a global coordinate system.

Implements inertialsim::geodesy::Field::VectorImpl

The documentation for this class was generated from the following file cpp/include/inertialsim/geodesy/earth_rate.h