/*----------------------------------------------------------------------- / P R O G R A M M K O P F / ------------------------------------------------------------------------ / ------------------------------------------------------------------------ / DATEINAME : pb_math.c / ERSTELLUNGSDATUM : 20.09.93 / ------------------------------------------------------------------------ / / ------------------------------------------------------------------------ / COPYRIGHT (C) 1993: ATLAS ELEKTRONIK GMBH, 28305 BREMEN / ------------------------------------------------------------------------ / / See README file for copying and redistribution conditions. / / / HIER/SACHN: P: RP ____ _ ___ __ / BENENNUNG : / ERSTELLER : Peter Block : SAS3 / FREIGABE : __.__.__ GS__ / AEND/STAND: __.__.__ __ / PRUEFVERM.: */ #define _PB_MATH #include #include #include #include #include "xdr_surf.h" #include "mem_surf.h" #include "util_surf.h" #include "pb_math.h" static char sccsid[50] = {"@(#)libpbmath.a Version 1.2 15.12.1998"}; /* There are C++ - Compilers, which omit unreferenced statics */ char* forCCmath(void) { return(sccsid); } double pbAtan2(double y,double x) { if(fabs(x) > 0.0) { return(atan2(y,x)); } else { if(y< 0.0) return((double)-HALF_PI); else return((double)HALF_PI); } } double setToPlusMinusPI(double angle) { if(angle > PI) { angle = setToPlusMinusPI(angle - (2.0*PI)); } if(angle < -PI) { angle = setToPlusMinusPI(angle + (2.0*PI)); } return(angle); } void rotateCoordinates(double rotAngle,XY_Coords* origCoords, XY_Coords* targetCoords) { double angle; angle = setToPlusMinusPI(rotAngle); targetCoords->x = (origCoords->x * cos(angle)) + (origCoords->y * sin(angle)); targetCoords->y = - (origCoords->x * sin(angle)) + (origCoords->y * cos(angle)); } void xyToRhoPhi(double x0,double y0,double pointX,double pointY, double* rho,double* phi) { double x,y,angle; x = pointX - x0; y = pointY - y0; *rho = sqrt((x*x) + (y*y)); angle = pbAtan2(x,y); if(angle < 0.0) *phi = angle + (2.0 * PI); else *phi = angle; } void lambdaPhiToRhoPhi(double x0,double y0,double pointX,double pointY, double* rho,double* phi) { double x,y,angle; x = pointX - x0; y = pointY - y0; x = RAD_TO_METER_X(x,y0); y = RAD_TO_METER_Y(y); *rho = sqrt((x*x) + (y*y)); angle = pbAtan2(x,y); if(angle < 0.0) *phi = angle + (2.0 * PI); else *phi = angle; } Boolean signf(double value) { if(value < 0.0) return(False); return(True); } Boolean signsh(short value) { if(value < 0) return(False); return(True); } /* Berechnung von Tiefe und Ablagen aus Traveltime */ Boolean depthFromTT(FanParam* fanParam,Boolean isPitchcompensated) { double alpha,arg,travelWay,depth,tanAl,tan2Al,tanP,tan2P; /* aktuellen Winkel Aufgrund cmean rechnen */ if((fanParam->cmean == 0.0) || (fanParam->ckeel == 0.0) || (fanParam->travelTime == 0.0 )) return (False); arg = (fanParam->cmean / fanParam->ckeel) * sin(fanParam->angle); if((arg < 1.0) && (arg > -1.0)) alpha = asin(arg); else return(False); /* Winkelparameter */ tanAl = tan(alpha); tan2Al = tanAl * tanAl; if(isPitchcompensated == False) { tanP = tan(fanParam->pitchTx); tan2P = tanP * tanP; } else { tanP = 0.0; tan2P = 0.0; } /* mittleren rueckgestreuten Weg auf Bezugsniveau HubRx rechnen */ travelWay = fanParam->travelTime * fanParam->cmean; travelWay = travelWay - (((fanParam->heaveTx - fanParam->heaveRx)/2.0) * cos(alpha)); /* Pitchkompensierte Tiefe ohne Huboffset (3D-Pythagoras) */ depth = travelWay / sqrt(tan2Al + tan2P + 1); /* Positionen */ fanParam->posAhead = (depth * tanP) + fanParam->transducerOffsetAhead; fanParam->posStar = (depth * tanAl) + fanParam->transducerOffsetStar; /* Tiefe rechnen */ fanParam->depth = depth /* Pitch-kompensierte Messtiefe */ - fanParam->heaveRx /* absolute Hubkompensation */ + fanParam->draught; /* Tiefgang */ return(True); } /* Berechnung von Traveltime und Ablagen aus Depth */ Boolean TTfromDepth(FanParam* fanParam,Boolean isPitchcompensated) { double alpha,arg,travelWay,depth,tanAl,tan2Al,tanP,tan2P; /* aktuellen Winkel Aufgrund cmean rechnen */ if((fanParam->cmean == 0.0) || (fanParam->ckeel == 0.0) || (fanParam->travelTime == 0.0 )) return (False); arg = (fanParam->cmean / fanParam->ckeel) * sin(fanParam->angle); if((arg < 1.0) && (arg > -1.0)) alpha = asin(arg); else return(False); /* Winkelparameter */ tanAl = tan(alpha); tan2Al = tanAl * tanAl; if(isPitchcompensated == False) { tanP = tan(fanParam->pitchTx); tan2P = tanP * tanP; } else { tanP = 0.0; tan2P = 0.0; } /* Tiefe auf HubRx-Niveau rechnen */ depth = fanParam->depth /* Pitch-kompensierte Messtiefe */ + fanParam->heaveRx /* absolute Hubkompensation */ - fanParam->draught; /* Tiefgang */ /* Travelway auf HubRx-Niveau (3D-Pythagoras) */ travelWay = depth * sqrt(tan2Al + tan2P + 1); /* mittleren rueckgestreuten Weg auf Bezugsniveau HubRx rechnen */ travelWay = travelWay + (((fanParam->heaveTx - fanParam->heaveRx)/2.0) * cos(alpha/2.0)); fanParam->travelTime = travelWay / fanParam->cmean; /* Positionen */ fanParam->posAhead = (depth * tanP) + fanParam->transducerOffsetAhead; fanParam->posStar = (depth * tanAl) + fanParam->transducerOffsetStar; return(True); } /* Berechnung von Draught aus Ablage und Depth */ Boolean draughtFromDepth(FanParam* fanParam) { double alpha,arg,fanDepth; /* aktuellen Winkel aufgrund cmean rechnen */ if((fanParam->cmean == 0.0) || (fanParam->ckeel == 0.0)) return (False); arg = (fanParam->cmean / fanParam->ckeel) * sin(fanParam->angle); if((arg < 1.0) && (arg > -1.0)) alpha = asin(arg); else return(False); /* Faechertiefe */ fanDepth = fabs(fanParam->posStar - fanParam->transducerOffsetStar)/tan(fabs(alpha)); fanParam->draught = fanParam->depth - fanDepth; return(True); } /* Berechnung von Heave aus Ablage,Tiefgang und Depth */ Boolean heaveFromDepth(FanParam* fanParam) { double alpha,arg,fanDepth; /* aktuellen Winkel aufgrund cmean rechnen */ if((fanParam->cmean == 0.0) || (fanParam->ckeel == 0.0)) return (False); arg = (fanParam->cmean / fanParam->ckeel) * sin(fanParam->angle); if((arg < 1.0) && (arg > -1.0)) alpha = asin(arg); else return(False); /* Faechertiefe */ fanDepth = (fanParam->posStar - fanParam->transducerOffsetStar)/tan(alpha); fanParam->heaveTx = - (fanParam->depth - fanDepth - fanParam->draught); fanParam->heaveRx = fanParam->heaveTx; return(True); } /* nach Del Grosso : .... */ double cMeanToTemperature(double salinity,double cMean) { double k0,k1,k2,arg,t1,t2; k0 = -(1448.6 + (1.15*(salinity-35.0)) - cMean); k1 = -4.618; k2 = 0.0523; arg = (k1*k1) - (4.0*k0*k2); if(arg < 0) return(0.0); /* nur komplexe Loesungen */ t1 = (-k1 + sqrt(arg))/(2.0 * k2); t2 = (-k1 - sqrt(arg))/(2.0 * k2); if((t2 >= 0.0) && (t2 < 60.0)) return(t2); if((t1 >= 0.0) && (t1 < 60.0)) return(t1); else return((double)(0.0)); } double temperatureToCMean(double salinity,double temperature) { return((double)(1448.6 + (temperature*4.618) - (temperature*temperature*0.0523) +(1.15* (salinity-35.0)))); } double temperatureToCMeanDelGrosso(double salinity,double temperature) { return((double)(1448.6 + (temperature*4.618) - (temperature*temperature*0.0523) +(1.15* (salinity-35.0)))); } double temperatureToCMeanMedwin(double salinity,double temperature) { return((double)(1449.2 + (temperature*4.6) - (temperature*temperature*0.055) + (temperature*temperature*temperature*0.00029) +((1.34 - 0.01*temperature)* (salinity-35.0)))); } /* Zeitwandlungen */ SurfTime surfTimeOfDayFromAbsTime (SurfTime absTime) { #define HOURS_PER_DAY 3600.0*24.0 while (absTime > (1000.0 * HOURS_PER_DAY)) absTime = absTime - (1000.0 * HOURS_PER_DAY); while (absTime > (100.0 * HOURS_PER_DAY)) absTime = absTime - (100.0 * HOURS_PER_DAY); while (absTime > (10.0 * HOURS_PER_DAY)) absTime = absTime - (10.0 * HOURS_PER_DAY); while (absTime > (HOURS_PER_DAY)) absTime = absTime - (HOURS_PER_DAY); return(absTime); } void timeFromRelTime (SurfTime relTime,char*buffer) { short day,hour,min,sec; day = 0; hour = 0; min = 0; sec = 0; while (relTime >= (24.0*3600.0)) { relTime = relTime - (24.0*3600.0); day++; } while (relTime >= 3600.0) { relTime = relTime - 3600.0; hour++; } while (relTime >= 60.0) { relTime = relTime - 60.0; min++; } while (relTime > 0.0) { relTime = relTime - 1.0; sec++; } if(sec >= 60) { min++; sec = 0; } if(min >= 60) { hour++; min = 0; } if(hour >= 24) { day++; hour = 0; } sprintf(buffer,"%02d:%02d:%02d",hour,min,sec); } Boolean relTimeFromTime (char*buffer,SurfTime* relTime) { int hour,min,sec; int nr; if(strlen(buffer) >8)buffer[8] = 0; if(strlen(buffer) != 8) return(False); if((buffer[2] != ':') || (buffer[5] != ':')) return(False); nr = sscanf(buffer,"%2d:%2d:%2d",&hour,&min,&sec); if(nr != 3) return(False); *relTime = ((double)(hour) * 3600.0) + ((double)(min ) * 60.0) + ((double)(sec )); return(True); }