update：添加机体机动路径

MessageBasic/MessageBasic.vcxproj

@@ -61,6 +61,7 @@
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
     <IncludePath>$(SolutionDir)SimsBasic;$(SolutionDir)StandardGlobe;$(IncludePath)</IncludePath>
+    <LibraryPath>$(SolutionDir)$(Platform)\$(Configuration);$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
   </PropertyGroup>
@@ -68,6 +69,9 @@
     <ClCompile>
       <InlineFunctionExpansion>Default</InlineFunctionExpansion>
     </ClCompile>
+    <Link>
+      <AdditionalDependencies>StandardGlobe.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
     <ClCompile>

MessageBasic/motion_access.cpp

@@ -10,6 +10,9 @@ void NavigateWithRoute::recoveryFrom(const QJsonObject& obj)
 	AbstractMessage::recoveryFrom(obj);
 
 	STRING_PEAK(_route_name);
+	uint64_t _drive_mode;
+	UINT64_PEAK(_drive_mode);
+	this->_drive_mode = (NavigateDriveMode)_drive_mode;
 }
 
 void NavigateWithRoute::saveTo(QJsonObject& obj) const
@@ -17,48 +20,12 @@ void NavigateWithRoute::saveTo(QJsonObject& obj) const
 	AbstractMessage::saveTo(obj);
 
 	STRING_SAVE(_route_name);
-}
+	uint64_t _drive_mode = (uint64_t)this->_drive_mode;
-
+	UINT64_SAVE(_drive_mode);
-PlatformMotionCommand::PlatformMotionCommand()
-	:AbstractMessage(NAME(PlatformMotionCommand))
-{
-
 }
 
 #include <QJsonArray>
 #include <QJsonObject>
-void PlatformMotionCommand::recoveryFrom(const QJsonObject& obj)
-{
-	AbstractMessage::recoveryFrom(obj);
-	DOUBLE_PEAK(_arrived_time);
-	DOUBLE_PEAK(_start_time);
-
-	auto cmd_array = obj["array"].toArray();
-	for (auto idx = 0; idx < cmd_array.size(); ++idx) {
-		auto cmd_obj = cmd_array.at(idx).toObject();
-
-	}
-}
-
-void PlatformMotionCommand::saveTo(QJsonObject& obj) const
-{
-	AbstractMessage::saveTo(obj);
-	DOUBLE_SAVE(_arrived_time);
-	DOUBLE_SAVE(_start_time);
-
-	QJsonArray cmd_array;
-	for (auto k : this->_motion_set.keys()) {
-		QJsonObject cmd;
-		cmd["type"] = (int)k;
-		QJsonObject objx;
-		this->_motion_set[k]->saveTo(objx);
-		cmd["content"] = objx;
-
-		cmd_array.append(cmd);
-	}
-	obj["array"] = cmd_array;
-}
-
 MotionSequencePreviewGet::MotionSequencePreviewGet()
 	:AbstractMessage(NAME(MotionSequencePreviewGet)) {
 }
@@ -72,44 +39,174 @@ PlatformMotionSequence::PlatformMotionSequence()
 
 void PlatformMotionSequence::recoveryFrom(const QJsonObject& obj)
 {
-	this->_cmd_sequence.clear();
+	throw -1;
-
-	AbstractMessage::recoveryFrom(obj);
-	auto cmd_array = obj["cmd_array"].toArray();
-	for (auto idx = 0; idx < cmd_array.size(); idx++) {
-		auto cmd_object = cmd_array.at(idx).toObject();
-		auto ptr = std::make_shared<PlatformMotionCommand>();
-		ptr->recoveryFrom(cmd_object);
-		this->_cmd_sequence.append(ptr);
-	}
 }
 
 void PlatformMotionSequence::saveTo(QJsonObject& obj) const
+{
+	throw -1;
+}
+
+#include <standardglobe.h>
+
+#define PI 3.14159265354
+auto deg2a = [](double v) { return v / 180.0 * PI; };
+auto rad2d = [](double v) { return v / PI * 180.0; };
+#include <QVector2D>
+#include <cmath>
+StrightLineMotion::StrightLineMotion()
+	: PlatformMotionCommand(NAME(StrightLineMotion)) {
+}
+
+double StrightLineMotion::timeExpend() const
+{
+	auto sqrt_v = std::sqrt(_speed_motion * _speed_motion + 2 * _accerlate_rates * _length_total);
+	return (sqrt_v - _speed_motion) / _accerlate_rates;
+}
+
+#include <QVector3D>
+QVector3D StrightLineMotion::posAtTime(double time) const
+{
+	auto length = _speed_motion * time +
+		0.5 * _accerlate_rates * time * time;
+
+	return QVector3D(0, length, 0);
+}
+
+QVector3D StrightLineMotion::speedAtTime(double time) const
+{
+	auto vspeed = _speed_motion + _accerlate_rates * time;
+	return QVector3D(0, vspeed, 0);
+}
+
+void StrightLineMotion::recoveryFrom(const QJsonObject& obj)
+{
+	AbstractMessage::recoveryFrom(obj);
+
+	DOUBLE_PEAK(_speed_motion);
+	DOUBLE_PEAK(_accerlate_rates);
+	DOUBLE_PEAK(_length_total);
+}
+
+void StrightLineMotion::saveTo(QJsonObject& obj) const
 {
 	AbstractMessage::saveTo(obj);
 
-	QJsonArray cmd_array;
+	DOUBLE_SAVE(_speed_motion);
-	for (auto info : _cmd_sequence) {
+	DOUBLE_SAVE(_accerlate_rates);
-		QJsonObject cmd_object;
+	DOUBLE_SAVE(_length_total);
-		info->saveTo(cmd_object);
-		cmd_array.append(cmd_object);
-	}
-	obj["cmd_array"] = cmd_array; 
 }
 
-HorizontalLineMotionCmd::HorizontalLineMotionCmd(){}
+HorizontalArcMotion::HorizontalArcMotion()
+	: PlatformMotionCommand(NAME(HorizontalArcMotion)) {
+}
 
-MotionRotate HorizontalLineMotionCmd::rotateType() const
+double HorizontalArcMotion::timeExpend() const
 {
-	MotionRotate::Horizontal;
+	auto radius = std::abs(_center_point.x());
+	auto arc_length = radius * deg2a(_rotate_deg);
+	return arc_length / _speed_motion;
 }
 
-MotionType HorizontalLineMotionCmd::motionType() const
+QVector3D HorizontalArcMotion::posAtTime(double time) const
 {
-	MotionType::ParabolaLine;
+	auto radius = std::abs(_center_point.x());
+	auto arc_length = _speed_motion * time;
+	auto _rotate_rads = arc_length / radius;
+
+	QVector3D vec(std::cos(_rotate_rads) * radius / _center_point.x(),
+		std::sin(_rotate_rads), 0);
+	return vec * radius + QVector3D(_center_point);
 }
 
-LonLatAltPos HorizontalLineMotionCmd::posAtPercent(double percent)
+QVector3D HorizontalArcMotion::speedAtTime(double time) const
 {
-	throw std::logic_error("The method or operation is not implemented.");
+	auto dist_vec = (posAtTime(time) - QVector3D(_center_point)).normalized();
+	auto speed_nv = QVector3D::crossProduct(dist_vec, QVector3D(0, 0, 1));
+	return speed_nv.normalized() * _speed_motion;
+}
+
+void HorizontalArcMotion::recoveryFrom(const QJsonObject& obj)
+{
+	AbstractMessage::recoveryFrom(obj);
+
+	double posx, posy, posz;
+	DOUBLE_PEAK(posx);
+	DOUBLE_PEAK(posy);
+	DOUBLE_PEAK(posz);
+	DOUBLE_PEAK(_rotate_deg);
+	DOUBLE_PEAK(_speed_motion);
+
+	_center_point = QVector3D(posx, posy, posz);
+}
+
+void HorizontalArcMotion::saveTo(QJsonObject& obj) const
+{
+	AbstractMessage::saveTo(obj);
+
+	double posx = _center_point.x(), posy = _center_point.y(), posz = _center_point.z();
+	DOUBLE_SAVE(posx);
+	DOUBLE_SAVE(posy);
+	DOUBLE_SAVE(posz);
+	DOUBLE_SAVE(_rotate_deg);
+	DOUBLE_SAVE(_speed_motion);
+}
+
+PlatformMotionCommand::PlatformMotionCommand(const QString& nm)
+	: AbstractMessage(nm) {
+}
+
+VerticalArcMotion::VerticalArcMotion()
+	: PlatformMotionCommand(NAME(VerticalArcMotion)) {
+}
+
+double VerticalArcMotion::timeExpend() const
+{
+	auto radius = std::abs(_center_point.y());
+	auto arc_length = radius * deg2a(_rotate_deg);
+	return arc_length / _speed_motion;
+}
+
+QVector3D VerticalArcMotion::posAtTime(double time) const
+{
+	auto radius = std::abs(_center_point.z());
+	auto arc_length = _speed_motion * time;
+	auto rotate_rads = arc_length / radius;
+
+	QVector3D vec_r(0, std::sin(rotate_rads),
+		std::cos(rotate_rads) * radius / _center_point.z());
+	return _center_point + vec_r * radius;
+}
+
+QVector3D VerticalArcMotion::speedAtTime(double time) const
+{
+	auto dist_vec = (posAtTime(time) - QVector3D(_center_point)).normalized();
+	auto speed_nv = QVector3D::crossProduct(dist_vec, QVector3D(1, 0, 0));
+	return speed_nv.normalized() * _speed_motion;
+}
+
+void VerticalArcMotion::recoveryFrom(const QJsonObject& obj)
+{
+	AbstractMessage::recoveryFrom(obj);
+
+	double posx, posy, posz;
+	DOUBLE_PEAK(posx);
+	DOUBLE_PEAK(posy);
+	DOUBLE_PEAK(posz);
+	DOUBLE_PEAK(_rotate_deg);
+	DOUBLE_PEAK(_speed_motion);
+
+	_center_point = QVector3D(posx, posy, posz);
+}
+
+void VerticalArcMotion::saveTo(QJsonObject& obj) const
+{
+	AbstractMessage::saveTo(obj);
+
+	double posx = _center_point.x(), posy = _center_point.y(), posz = _center_point.z();
+	DOUBLE_SAVE(posx);
+	DOUBLE_SAVE(posy);
+	DOUBLE_SAVE(posz);
+	DOUBLE_SAVE(_rotate_deg);
+	DOUBLE_SAVE(_speed_motion);
 }

MessageBasic/motion_access.h

@@ -1,11 +1,20 @@
 #pragma once
 #include "messagebasic.h"
 
+/// <summary>
+/// 指定航路机动模式
+/// </summary>
+enum class NavigateDriveMode {
+	Cruise,	// 巡航模式，长途奔袭模式
+	FullSpeed,// 全速模式，战斗机动
+	ReachStop,	// 停驻模式
+};
 /// <summary>
 /// 依照指定名称路径机动
 /// </summary>
 struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
-	QString _route_name;
+	QString _route_name;	// 规划航线名称
+	NavigateDriveMode _drive_mode;	// 驱动模式
 
 	NavigateWithRoute();
 
@@ -15,71 +24,28 @@ struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
 };
 
 /// <summary>
-/// 机动类型
+/// 平台机动命令，机体坐标系：主轴为Y，向右为X，向上为Z
 /// </summary>
-enum MotionType {
+struct MESSAGEBASIC_EXPORT PlatformMotionCommand : public AbstractMessage {
-	None,        // 没有
+	PlatformMotionCommand(const QString &nm);
-	StraightLine,// 直线机动
-	StandardArc, // 标准圆弧
-	ParabolaLine,// 抛物线
-	Bezier2tArc, // 二次贝塞尔曲线
-	Bezier3tArc, // 三次贝塞尔曲线
-};
 
-/// <summary>
-/// 机动角度方向
-/// </summary>
-enum class MotionRotate {
-	Horizontal, Vertical
-};
-
-/// <summary>
-/// 正交机动命令抽象接口
-/// </summary>
-struct OrthogonalMotionCommand : public Serializable {
 	/// <summary>
-	/// 机动平面方向
+	/// 消耗时间
 	/// </summary>
 	/// <returns></returns>
-	virtual MotionRotate rotateType() const = 0;
+	virtual double timeExpend() const = 0;
 	/// <summary>
-	/// 机动类型
+	/// 指定时间点的相对位置
 	/// </summary>
-	/// <returns></returns>
+	/// <param name="time"></param>
-	virtual MotionType motionType() const = 0;
+	/// <returns>机体坐标系</returns>
+	virtual QVector3D posAtTime(double time) const = 0;
 	/// <summary>
-	/// 计算指定百分比位置
+	/// 指定时间点的速度矢量
 	/// </summary>
-	/// <param name="percent"></param>
+	/// <param name="time"></param>
-	/// <returns></returns>
+	/// <returns>机体坐标系</returns>
-	virtual LonLatAltPos posAtPercent(double percent) = 0;
+	virtual QVector3D speedAtTime(double time) const = 0;
-	/// <summary>
-	/// 指定百分比位置的速度
-	/// </summary>
-	/// <param name="percent"></param>
-	/// <returns></returns>
-	virtual double speedAtPercent(double percent) = 0;
-	/// <summary>
-	/// 指定百分比位置速度方向
-	/// </summary>
-	/// <param name="percent"></param>
-	/// <returns></returns>
-	virtual QVector2D speedVectorAtPercent(double percent) = 0;
-};
-
-/// <summary>
-/// 平台机动命令
-/// </summary>
-struct PlatformMotionCommand : public AbstractMessage {
-	QHash<MotionRotate, std::shared_ptr<OrthogonalMotionCommand>> _motion_set; //合成机动命令
-	double _arrived_time = 0; // 抵达终点时间
-	double _start_time = 0;
-
-	PlatformMotionCommand();
-
-	// Serializable
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
 };
 
 /// <summary>
@@ -106,26 +72,83 @@ struct MESSAGEBASIC_EXPORT PlatformMotionSequence : public AbstractMessage {
 // 正交机动命令实现 =======================================================
 
 /// <summary>
-/// 水平直线机动
+/// 直线机动
 /// </summary>
-struct MESSAGEBASIC_EXPORT HorizontalLineMotionCmd : public OrthogonalMotionCommand {
+struct MESSAGEBASIC_EXPORT StrightLineMotion : public PlatformMotionCommand {
-	LonLatPos _lonlat_anchor;// 起始点
+	/// <summary>
-	double _azimuth_deg = 0; // 起始方位角
+	/// 机动速度，m/s
-	double _speed_value = 0;// 起始速度
+	/// </summary>
-	double _accerlate_rate = 0;// 加速度
+	double _speed_motion = 0;
+	/// <summary>
+	/// 加速度，m/s^2
+	/// </summary>
+	double _accerlate_rates = 0;
+	/// <summary>
+	/// 路径长度
+	/// </summary>
+	double _length_total = 0;
 
-	HorizontalLineMotionCmd();
+	StrightLineMotion();
+
+	double timeExpend() const override;
+	QVector3D posAtTime(double time) const override;
+	QVector3D speedAtTime(double time) const override;
 
-	// Serializable
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
-
-	MotionRotate rotateType() const override;
-	MotionType motionType() const override;
-	LonLatAltPos posAtPercent(double percent) override;
-
 };
 
-struct MESSAGEBASIC_EXPORT VerticalLineMotionCmd : public OrthogonalMotionCommand {
+#include <QVector3D>
+/// <summary>
+/// 基于机体坐标系的水平标准圆弧机动
+/// </summary>
+struct MESSAGEBASIC_EXPORT HorizontalArcMotion : public PlatformMotionCommand {
+	/// <summary>
+	/// 转弯圆心,<xpos, ypos, 0>
+	/// </summary>
+	QVector3D _center_point;
+	/// <summary>
+	/// 弧线转角，°
+	/// </summary>
+	double _rotate_deg = 0;
+	/// <summary>
+	/// 机动速度，m/s
+	/// </summary>
+	double _speed_motion = 0;
 
+	HorizontalArcMotion();
+
+	double timeExpend() const override;
+	QVector3D posAtTime(double time) const override;
+	QVector3D speedAtTime(double time) const override;
+
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 基于机体坐标系的垂直标准圆弧机动
+/// </summary>
+struct MESSAGEBASIC_EXPORT VerticalArcMotion : public PlatformMotionCommand {
+	/// <summary>
+	/// 转弯圆心,<0, ypos, zpos>
+	/// </summary>
+	QVector3D _center_point;
+	/// <summary>
+	/// 弧线转角，°
+	/// </summary>
+	double _rotate_deg = 0;
+	/// <summary>
+	/// 机动速度，m/s
+	/// </summary>
+	double _speed_motion = 0;
+
+	VerticalArcMotion();
+
+	double timeExpend() const override;
+	QVector3D posAtTime(double time) const override;
+	QVector3D speedAtTime(double time) const override;
+
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
 };

StandardGlobe/standardglobe.cpp

@@ -11,7 +11,7 @@ StandardGlobe::StandardGlobe()
 {
 }
 
-ECEFPos StandardGlobe::llaToEcef(const LonLatAltPos& v)
+ECEFv3d StandardGlobe::llaToEcef(const LonLatAltPos& v)
 {
 	// ¼ÆËã¾àÀëÇòÐľàÀë
 	auto axis_r_g = v._alt_m + _radius_m;
@@ -24,14 +24,14 @@ ECEFPos StandardGlobe::llaToEcef(const LonLatAltPos& v)
 	// ecef-y
 	auto axis_y = axis_r_lat * sin(deg2a(v._lon_deg));
 
-	return ECEFPos{ axis_x, axis_y, axis_z };
+	return ECEFv3d{ axis_x, axis_y, axis_z };
 }
 
-LonLatAltPos StandardGlobe::ecefToLLA(const ECEFPos& v)
+LonLatAltPos StandardGlobe::ecefToLLA(const ECEFv3d& v)
 {
 	auto r2 = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos);
 	auto rad_lon = acos(v._x_pos / r2);
-	if(v._y_pos < 0)
+	if (v._y_pos < 0)
 		rad_lon *= -1;
 	auto rx = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos + v._z_pos * v._z_pos);
 	auto rad_lat = asin(v._z_pos / rx);
@@ -89,7 +89,7 @@ void StandardGlobe::getTargetLLAWithDistance(const LonLatAltPos& base, double di
 	QQuaternion u1(rad_between, vec_bv);
 	auto ecef_t = u1.rotatedVector(llaToEcef(base).getVec3());
 
-	ECEFPos sv;
+	ECEFv3d sv;
 	sv._x_pos = ecef_t.x();
 	sv._y_pos = ecef_t.y();
 	sv._z_pos = ecef_t.z();
@@ -139,7 +139,7 @@ LonLatAltPos StandardGlobe::getLLAWithPolar(const LonLatAltPos& base, const Pola
 	auto ecef_b = llaToEcef(base).getVec3();
 	auto u_azi = QQuaternion(-deg2a(target._azimuth_deg), ecef_b.normalized());
 
-	auto vec_ts = u_azi.rotatedVector(QVector3D(0,0,1)).normalized();
+	auto vec_ts = u_azi.rotatedVector(QVector3D(0, 0, 1)).normalized();
 	auto axis_pitch = QVector3D::crossProduct(vec_ts, ecef_b.normalized());
 	auto u_pit = QQuaternion(deg2a(target._pitch_deg), axis_pitch);
 
@@ -147,19 +147,34 @@ LonLatAltPos StandardGlobe::getLLAWithPolar(const LonLatAltPos& base, const Pola
 	auto ts_appv = u_pit.rotatedVector(vec_ts).normalized() * r_shadow;
 
 	auto ecef_target = ecef_b + ts_appv;
-	ECEFPos tt = ECEFPos::fromVec3(ecef_target);
+	ECEFv3d tt = ECEFv3d::fromVec3(ecef_target);
 
 	return ecefToLLA(tt);
 }
 
-QVector3D ECEFPos::getVec3() const
+QVector3D ECEFv3d::getVec3() const
 {
 	return QVector3D(_x_pos, _y_pos, _z_pos);
 }
-ECEFPos ECEFPos::fromVec3(const QVector3D& p) {
+ECEFv3d ECEFv3d::fromVec3(const QVector3D& p) {
-	ECEFPos o;
+	ECEFv3d o;
 	o._x_pos = p.x();
 	o._y_pos = p.y();
 	o._z_pos = p.z();
 	return o;
 }
+
+LonLatAltPos::LonLatAltPos(const LonLatPos& plain_pos)
+	: _lon_deg(plain_pos._lon_deg),
+	_lat_deg(plain_pos._lat_deg),
+	_alt_m(0) {
+}
+
+LonLatAltPos::LonLatAltPos(double lon, double lat, double alt)
+	:_lon_deg(lon), _lat_deg(lat), _alt_m(alt) {
+}
+
+LonLatPos LonLatAltPos::toLonLatPos() const
+{
+	return LonLatPos{ _lon_deg, _lat_deg };
+}

StandardGlobe/standardglobe.h

@@ -15,27 +15,32 @@ struct LonLatPos {
 /// <summary>
 /// 经纬高坐标系坐标
 /// </summary>
-struct LonLatAltPos {
+struct STANDARDGLOBE_EXPORT LonLatAltPos {
 	double _lon_deg = 0;
 	double _lat_deg = 0;
 	double _alt_m = 0;
+
+	LonLatAltPos(double lon = 0, double lat = 0, double alt = 0);
+	LonLatAltPos(const LonLatPos& plain_pos);
+
+	LonLatPos toLonLatPos() const;
 };
 
 /// <summary>
 /// 地心坐标系
 /// </summary>
-struct ECEFPos {
+struct ECEFv3d {
 	double _x_pos = 0;// 指向0°经度圈与纬度0°交点
 	double _y_pos = 0;
 	double _z_pos = 0;
 	QVector3D getVec3() const;
-	static ECEFPos fromVec3(const QVector3D& p);
+	static ECEFv3d fromVec3(const QVector3D& p);
 };
 
 /// <summary>
 /// 东天北坐标系
 /// </summary>
-struct ENUPos {
+struct ENUv3d {
 	double _e_pos = 0;
 	double _n_pos = 0;
 	double _t_pos = 0;
@@ -64,8 +69,8 @@ private:
 public:
 	StandardGlobe();
 
-	static ECEFPos llaToEcef(const LonLatAltPos &v);
+	static ECEFv3d llaToEcef(const LonLatAltPos& v);
-	static LonLatAltPos ecefToLLA(const ECEFPos &v);
+	static LonLatAltPos ecefToLLA(const ECEFv3d& v);
 	/// <summary>
 	/// 根据LLA坐标获取两点之间的大地线长度和b->t初始方位角，warning：本计算忽视LLA的高度值
 	/// </summary>
@@ -73,7 +78,7 @@ public:
 	/// <param name="target"></param>
 	/// <param name="dist"></param>
 	/// <param name="azi"></param>
-	static void getDistanceWithTargetLLA(const LonLatAltPos &base, const LonLatAltPos &target, double &dist, double &azi);
+	static void getDistanceWithTargetLLA(const LonLatAltPos& base, const LonLatAltPos& target, double& dist, double& azi);
 	/// <summary>
 	/// 根据两点之间的大地线长度和b->t初始方位角，计算目标LLA定位坐标
 	/// </summary>
@@ -88,12 +93,12 @@ public:
 	/// <param name="base"></param>
 	/// <param name="target"></param>
 	/// <returns></returns>
-	static PolarPos getPolarWithLLA(const LonLatAltPos &base, const LonLatAltPos &target);
+	static PolarPos getPolarWithLLA(const LonLatAltPos& base, const LonLatAltPos& target);
 	/// <summary>
 	/// 通过极坐标，获取目标LLA坐标
 	/// </summary>
 	/// <param name="base"></param>
 	/// <param name="target"></param>
 	/// <returns></returns>
-	static LonLatAltPos getLLAWithPolar(const LonLatAltPos &base, const PolarPos &target);
+	static LonLatAltPos getLLAWithPolar(const LonLatAltPos& base, const PolarPos& target);
 };