ECEFtoENU.hpp

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#pragma once
 
#include <cmath>
 
#include "NumCpp/Coordinates/ReferenceFrames/ECEF.hpp"
#include "NumCpp/Coordinates/ReferenceFrames/ENU.hpp"
#include "NumCpp/Coordinates/ReferenceFrames/LLA.hpp"
#include "NumCpp/Coordinates/Transforms/ECEFtoLLA.hpp"
#include "NumCpp/Coordinates/Transforms/LLAtoECEF.hpp"
 
namespace nc::coordinates::transforms
{
    [[nodiscard]] inline reference_frames::ENU ECEFtoENU(const reference_frames::ECEF& target,
                                                         const reference_frames::LLA&  referencePoint) noexcept
    {
        const auto sinLat = std::sin(referencePoint.latitude);
        const auto cosLat = std::cos(referencePoint.latitude);
        const auto sinLon = std::sin(referencePoint.longitude);
        const auto cosLon = std::cos(referencePoint.longitude);
 
        const auto referencePointECEF = LLAtoECEF(referencePoint);
 
        const auto x = target.x - referencePointECEF.x;
        const auto y = target.y - referencePointECEF.y;
        const auto z = target.z - referencePointECEF.z;
 
        return { -sinLon * x + cosLon * y,
                 -sinLat * cosLon * x - sinLat * sinLon * y + cosLat * z,
                 cosLat * cosLon * x + cosLat * sinLon * y + sinLat * z };
    }

    [[nodiscard]] inline reference_frames::ENU ECEFtoENU(const reference_frames::ECEF& target,
                                                         const reference_frames::ECEF& referencePoint) noexcept
    {
        return ECEFtoENU(target, ECEFtoLLA(referencePoint));
    }
} // namespace nc::coordinates::transforms