module Data.Geo.Jord.FramesSpec ( spec ) where import Data.Geo.Jord import Test.Hspec spec :: Spec spec = do describe "Ellipsoidal earth model" \$ do describe "target" \$ do it "return the given point if NED norm = 0" \$ do let p0 = readLatLong "531914N0014347W" let d = ned zero zero zero targetN p0 d wgs84 `shouldBe` p0 it "computes the target point from p0 and NED" \$ do let p0 = decimalLatLong 49.66618 3.45063 let d = nedMetres (-86126) (-78900) 1069 targetN p0 d wgs84 `shouldBe` decimalLatLong 48.8866688 2.374721111 it "computes the target point from p0 and vector in Frame B" \$ do let p0 = decimalLatLongHeight 49.66618 3.45063 zero let y = decimalDegrees 10 -- yaw let r = decimalDegrees 20 -- roll let p = decimalDegrees 30 -- pitch let d = deltaMetres 3000 2000 100 target p0 (frameB y r p) d wgs84 `shouldBe` decimalLatLongHeight 49.6918016 3.4812669 (metres 6.007) describe "nedBetween" \$ do it "computes NED between LatLong positions" \$ do let p1 = decimalLatLong 49.66618 3.45063 let p2 = decimalLatLong 48.88667 2.37472 let d = nedBetween p1 p2 wgs84 d `shouldBe` nedMetres (-86125.88049540376) (-78900.08718759022) 1069.1981930266265 it "computes NED between angular positions" \$ do let p1 = decimalLatLongHeight 49.66618 3.45063 zero let p2 = decimalLatLongHeight 48.88667 2.37472 zero let d = nedBetween p1 p2 wgs84 d `shouldBe` nedMetres (-86125.88049540376) (-78900.08718759022) 1069.1981930266265 describe "deltaBetween" \$ it "computes delta between angular positions in frame L" \$ do let p1 = decimalLatLongHeight 1 2 (metres (-3)) let p2 = decimalLatLongHeight 4 5 (metres (-6)) let w = decimalDegrees 5 -- wander azimuth let d = deltaBetween p1 p2 (frameL w) wgs84 d `shouldBe` deltaMetres 359490.579 302818.523 17404.272 describe "deltaBetween and target consistency" \$ it "computes targetN p1 (nedBetween p1 p2) = p2" \$ do let p1 = decimalLatLongHeight 49.66618 3.45063 zero let p2 = decimalLatLongHeight 48.88667 2.37472 zero targetN p1 (nedBetween p1 p2 wgs84) wgs84 `shouldBe` p2 describe "rotation matrix to go from/to earth-fixed frame to/from frame" \$ do it "computes the rotation matrix to go from Frame N to earth-fixed frame" \$ do let p = decimalLatLong 49.66618 3.45063 let f = frameN p wgs84 rEF f `shouldBe` [ Vector3d (-0.7609044147490918) (-6.018845508229421e-2) (-0.6460664218872152) , Vector3d (-4.588084170935741e-2) 0.9981870315100305 (-3.8956366478847045e-2) , Vector3d 0.6472398473358879 0.0 (-0.7622864160016345) ] it "computes the rotation matrix to go from Frame B to earth-fixed frame" \$ do let p = decimalLatLong 49.66618 3.45063 let f = frameB (decimalDegrees 10) (decimalDegrees 20) (decimalDegrees 30) p wgs84 rEF f `shouldBe` [ Vector3d (-0.4930071357732754) (-0.3703899170519431) (-0.7872453705312508) , Vector3d 0.13374504887910177 0.8618333991702691 (-0.48923966925725315) , Vector3d 0.8596837941807199 (-0.34648881860873165) (-0.3753521980782417) ] describe "North, East, Down delta" \$ do describe "norm" \$ it "computes the norm of a NED vector" \$ norm (nedMetres (-86126) (-78900) 1069) `shouldBe` metres 116807.708 describe "bearing" \$ it "computes the bearing of a NED vector" \$ bearing (nedMetres (-86126) (-78900) 1069) `shouldBe` decimalDegrees 222.4927888 describe "elevation" \$ it "computes the elevation of a NED vector from horizontal" \$ elevation (nedMetres (-86126) (-78900) 1069) `shouldBe` decimalDegrees (-0.5243663)