FramesSpec.hs

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)