geometryfunc.h File Reference

A collection of antenna-related geometry functions. More...

#include <isce3/core/forward.h>
#include <tuple>
#include <vector>
#include <Eigen/Dense>
#include <isce3/antenna/Frame.h>
#include <isce3/core/Ellipsoid.h>
#include <isce3/geometry/DEMInterpolator.h>

Go to the source code of this file.

Namespaces
namespace	isce3
	base interpolator is an abstract base class

Functions
std::tuple< double, double, bool >	isce3::antenna::ant2rgdop (double el_theta, double az_phi, const isce3::core::Vec3 &pos_ecef, const isce3::core::Vec3 &vel_ecef, const isce3::core::Quaternion &quat, double wavelength, const isce3::geometry::DEMInterpolator &dem_interp={}, double abs_tol=0.5, int max_iter=10, const isce3::antenna::Frame &frame={}, const isce3::core::Ellipsoid &ellips={})
	Estimate Radar products, Slant range and Doppler centroid, from spherical angles in antenna body-fixed domain for a certain spacecraft position, velocity,and attitude at a certain height w.r.t.
std::tuple< Eigen::VectorXd, Eigen::VectorXd, bool >	isce3::antenna::ant2rgdop (const Eigen::Ref< const Eigen::VectorXd > &el_theta, double az_phi, const isce3::core::Vec3 &pos_ecef, const isce3::core::Vec3 &vel_ecef, const isce3::core::Quaternion &quat, double wavelength, const isce3::geometry::DEMInterpolator &dem_interp={}, double abs_tol=0.5, int max_iter=10, const isce3::antenna::Frame &frame={}, const isce3::core::Ellipsoid &ellips={})
	Overloaded function to estimate Radar products, Slant ranges and Doppler centroids, from spherical angles in antenna body-fixed domain for a certain spacecraft position, velocity,and attitude at a certain height w.r.t.
std::tuple< isce3::core::Vec3, bool >	isce3::antenna::ant2geo (double el_theta, double az_phi, const isce3::core::Vec3 &pos_ecef, const isce3::core::Quaternion &quat, const isce3::geometry::DEMInterpolator &dem_interp={}, double abs_tol=0.5, int max_iter=10, const isce3::antenna::Frame &frame={}, const isce3::core::Ellipsoid &ellips={})
	Estimate geodetic geolocation (longitude, latitude, height) from spherical angles in antenna body-fixed domain for a certain spacecraft position and attitude at a certain height w.r.t.
std::tuple< std::vector< isce3::core::Vec3 >, bool >	isce3::antenna::ant2geo (const Eigen::Ref< const Eigen::VectorXd > &el_theta, double az_phi, const isce3::core::Vec3 &pos_ecef, const isce3::core::Quaternion &quat, const isce3::geometry::DEMInterpolator &dem_interp={}, double abs_tol=0.5, int max_iter=10, const isce3::antenna::Frame &frame={}, const isce3::core::Ellipsoid &ellips={})
	Overloaded function to estimate geodetic geolocation (longitude, latitude, height) from spherical angles in antenna body-fixed domain for a certain spacecraft position and attitude at a certain height w.r.t.
isce3::core::Vec3	isce3::antenna::rangeAzToXyz (double slant_range, double az, const isce3::core::Vec3 &pos_ecef, const isce3::core::Quaternion &quat, const isce3::geometry::DEMInterpolator &dem_interp={}, double el_min=-M_PI/4, double el_max=M_PI/4, double el_tol=0.0, const isce3::antenna::Frame &frame={})
	Compute target position given range and AZ angle by varying EL until height matches DEM.

Detailed Description

A collection of antenna-related geometry functions.

Function Documentation

ant2geo() [1/2]

std::tuple< std::vector< Vec3 >, bool > isce3::antenna::ant2geo	(	const Eigen::Ref< const Eigen::VectorXd > &	el_theta,
		double	az_phi,
		const isce3::core::Vec3 &	pos_ecef,
		const isce3::core::Quaternion &	quat,
		const isce3::geometry::DEMInterpolator &	dem_interp = {},
		double	abs_tol = 0.5,
		int	max_iter = 10,
		const isce3::antenna::Frame &	frame = {},
		const isce3::core::Ellipsoid &	ellips = {} )

Overloaded function to estimate geodetic geolocation (longitude, latitude, height) from spherical angles in antenna body-fixed domain for a certain spacecraft position and attitude at a certain height w.r.t.

an ellipsoid.

Parameters

[in]	el_theta	: a vector of either elevation or theta angle in radians depending on the "frame" object.
[in]	az_phi	: either azimuth or phi angle in radians depending on the "frame" object.
[in]	pos_ecef	: antenna/spacecraft position in ECEF (m,m,m)
[in]	quat	: isce3 quaternion object for transformation from antenna body-fixed to ECEF
[in]	dem_interp	(optional): isce3 DEMInterpolator object w.r.t ellipsoid. Default is zero height.
[in]	abs_tol	(optional): Abs error/tolerance in height estimation (m) between desired input height and final output height. Default is 0.5.
[in]	max_iter	(optional): Max number of iterations in height estimation. Default is 10.
[in]	frame	(optional): isce3 Frame object to define antenna spherical coordinate system. Default is based on "EL_AND_AZ" spherical grid.
[in]	ellips	(optional): isce3 Ellipsoid object defining the ellipsoidal planet. Default is WGS84 ellipsoid.

Returns

a vector of isce3::core::Vec3 of geodetic LLH(longitude,latitude,height) in (rad,rad,m)

a bool which is true if height tolerance is met, false otherwise.

Exceptions

InvalidArgument,RuntimeError

[ReeTechDesDoc]

ant2geo() [2/2]

std::tuple< Vec3, bool > isce3::antenna::ant2geo	(	double	el_theta,
		double	az_phi,
		const isce3::core::Vec3 &	pos_ecef,
		const isce3::core::Quaternion &	quat,
		const isce3::geometry::DEMInterpolator &	dem_interp = {},
		double	abs_tol = 0.5,
		int	max_iter = 10,
		const isce3::antenna::Frame &	frame = {},
		const isce3::core::Ellipsoid &	ellips = {} )

Estimate geodetic geolocation (longitude, latitude, height) from spherical angles in antenna body-fixed domain for a certain spacecraft position and attitude at a certain height w.r.t.

an ellipsoid.

Parameters

[in]	el_theta	: either elevation or theta angle in radians depending on the "frame" object.
[in]	az_phi	: either azimuth or phi angle in radians depending on the "frame" object.
[in]	pos_ecef	: antenna/spacecraft position in ECEF (m,m,m)
[in]	quat	: isce3 quaternion object for transformation from antenna body-fixed to ECEF
[in]	dem_interp	(optional): isce3 DEMInterpolator object w.r.t ellipsoid. Default is zero height.
[in]	abs_tol	(optional): Abs error/tolerance in height estimation (m) between desired input height and final output height. Default is 0.5.
[in]	max_iter	(optional): Max number of iterations in height estimation. Default is 10.
[in]	frame	(optional): isce3 Frame object to define antenna spherical coordinate system. Default is based on "EL_AND_AZ" spherical grid.
[in]	ellips	(optional): isce3 Ellipsoid object defining the ellipsoidal planet. Default is WGS84 ellipsoid.

Returns

an isce3::core::Vec3 of geodetic LLH(longitude,latitude,height) in (rad,rad,m)

a bool which is true if height tolerance is met, false otherwise.

Exceptions

InvalidArgument,RuntimeError

[ReeTechDesDoc]

ant2rgdop() [1/2]

std::tuple< VecXd, VecXd, bool > isce3::antenna::ant2rgdop	(	const Eigen::Ref< const Eigen::VectorXd > &	el_theta,
		double	az_phi,
		const isce3::core::Vec3 &	pos_ecef,
		const isce3::core::Vec3 &	vel_ecef,
		const isce3::core::Quaternion &	quat,
		double	wavelength,
		const isce3::geometry::DEMInterpolator &	dem_interp = {},
		double	abs_tol = 0.5,
		int	max_iter = 10,
		const isce3::antenna::Frame &	frame = {},
		const isce3::core::Ellipsoid &	ellips = {} )

Overloaded function to estimate Radar products, Slant ranges and Doppler centroids, from spherical angles in antenna body-fixed domain for a certain spacecraft position, velocity,and attitude at a certain height w.r.t.

an ellipsoid.

Parameters

[in]	el_theta	: a vector of either elevation or theta angle in radians depending on the "frame" object.
[in]	az_phi	: either azimuth or phi angle in radians depending on the "frame" object.
[in]	pos_ecef	: antenna/spacecraft position in ECEF (m,m,m)
[in]	vel_ecef	: spacecraft velocity in ECEF (m/s,m/s,m/s)
[in]	quat	: isce3 quaternion object for transformation from antenna body-fixed to ECEF
[in]	wavelength	: Radar wavelength in (m).
[in]	dem_interp	(optional): isce3 DEMInterpolator object w.r.t ellipsoid. Default is zero height.
[in]	abs_tol	(optional): Abs error/tolerance in height estimation (m) between desired input height and final output height. Default is 0.5.
[in]	max_iter	(optional): Max number of iterations in height estimation. Default is 10.
[in]	frame	(optional): isce3 Frame object to define antenna spherical coordinate system. Default is based on "EL_AND_AZ" spherical grid.
[in]	ellips	(optional): isce3 Ellipsoid object defining the ellipsoidal planet. Default is WGS84 ellipsoid.

Returns

an Eigen::VectorXd of slant ranges (m)

an Eigen::VectorXd of Doppler values (Hz)

a bool which is true if height tolerance is met, false otherwise.

Exceptions

InvalidArgument,RuntimeError

[ReeTechDesDoc]

ant2rgdop() [2/2]

std::tuple< double, double, bool > isce3::antenna::ant2rgdop	(	double	el_theta,
		double	az_phi,
		const isce3::core::Vec3 &	pos_ecef,
		const isce3::core::Vec3 &	vel_ecef,
		const isce3::core::Quaternion &	quat,
		double	wavelength,
		const isce3::geometry::DEMInterpolator &	dem_interp = {},
		double	abs_tol = 0.5,
		int	max_iter = 10,
		const isce3::antenna::Frame &	frame = {},
		const isce3::core::Ellipsoid &	ellips = {} )

Estimate Radar products, Slant range and Doppler centroid, from spherical angles in antenna body-fixed domain for a certain spacecraft position, velocity,and attitude at a certain height w.r.t.

an ellipsoid.

Parameters

[in]	el_theta	: either elevation or theta angle in radians depending on the "frame" object.
[in]	az_phi	: either azimuth or phi angle in radians depending on the "frame" object.
[in]	pos_ecef	: antenna/spacecraft position in ECEF (m,m,m)
[in]	vel_ecef	: spacecraft velocity in ECEF (m/s,m/s,m/s)
[in]	quat	: isce3 quaternion object for transformation from antenna body-fixed to ECEF
[in]	wavelength	: Radar wavelength in (m).
[in]	dem_interp	(optional): isce3 DEMInterpolator object w.r.t ellipsoid. Default is zero height.
[in]	abs_tol	(optional): Abs error/tolerance in height estimation (m) between desired input height and final output height. Default is 0.5.
[in]	max_iter	(optional): Max number of iterations in height estimation. Default is 10.
[in]	frame	(optional): isce3 Frame object to define antenna spherical coordinate system. Default is based on "EL_AND_AZ" spherical grid.
[in]	ellips	(optional): isce3 Ellipsoid object defining the ellipsoidal planet. Default is WGS84 ellipsoid.

Returns

slantrange (m)

Doppler (Hz)

a bool which is true if height tolerance is met, false otherwise.

Exceptions

InvalidArgument,RuntimeError

[ReeTechDesDoc]

rangeAzToXyz()

Vec3 isce3::antenna::rangeAzToXyz	(	double	slant_range,
		double	az,
		const isce3::core::Vec3 &	pos_ecef,
		const isce3::core::Quaternion &	quat,
		const isce3::geometry::DEMInterpolator &	dem_interp = {},
		double	el_min = -M_PI / 4,
		double	el_max = M_PI / 4,
		double	el_tol = 0.0,
		const isce3::antenna::Frame &	frame = {} )

Compute target position given range and AZ angle by varying EL until height matches DEM.

Parameters

[in]	slant_range	Range to target in m
[in]	az	AZ angle in rad
[in]	pos_ecef	ECEF XYZ position of radar in m
[in]	quat	Orientation of the antenna (RCS to ECEF quaternion)
[in]	dem_interp	Digital elevation model in m above ellipsoid
[in]	el_min	Lower bound for EL solution in rad (default=-45 deg)
[in]	el_max	Upper bound for EL solution in rad (default=+45 deg)
[in]	el_tol	Allowable absolute error in EL solution in rad Zero for maximum possible precision. (default=0)
[in]	frame	Coordinate convention for (EL, AZ) to cartesian transformation. (default=EL_AND_AZ)

Returns

Target position in ECEF in m