diff --git a/src/tutorials/java/fr/cs/examples/DirectLocation.java b/src/tutorials/java/fr/cs/examples/DirectLocation.java
index 23b08d063025723060f2b7671a6414c5fa740836..dbe241b33179fca9f510dead0855bf54a6350eb9 100644
--- a/src/tutorials/java/fr/cs/examples/DirectLocation.java
+++ b/src/tutorials/java/fr/cs/examples/DirectLocation.java
@@ -64,10 +64,14 @@ public class DirectLocation {
File orekitData = new File(home, "orekit-data");
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+ // Sensor's definition
+ // ===================
+ // Line of sight
+ // -------------
// The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
List<Vector3D> rawDirs = new ArrayList<Vector3D>();
for (int i = 0; i < 2000; i++) {
- //20° field of view, 2000 pixels
+ // 20° field of view, 2000 pixels
rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
}
@@ -78,14 +82,23 @@ public class DirectLocation {
TimeDependentLOS lineOfSight = losBuilder.build();
+ // Datation model
+ // --------------
// We use Orekit for handling time and dates, and Rugged for defining the datation model:
TimeScale gps = TimeScalesFactory.getGPS();
AbsoluteDate absDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
LinearLineDatation lineDatation = new LinearLineDatation(absDate, 1d, 20);
+ // Line sensor
+ // -----------
// With the LOS and the datation now defined, we can initialize a line sensor object in Rugged:
LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
+ // Satellite position, velocity and attitude
+ // =========================================
+
+ // Reference frames
+ // ----------------
// In our application, we simply need to know the name of the frames we are working with. Positions and
// velocities are given in the ITRF terrestrial frame, while the quaternions are given in EME2000
// inertial frame.
@@ -93,8 +106,9 @@ public class DirectLocation {
boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+ // Satellite attitude
+ // ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
- ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
@@ -107,6 +121,10 @@ public class DirectLocation {
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
+ // Positions and velocities
+ // ------------------------
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
@@ -119,6 +137,8 @@ public class DirectLocation {
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
+ // Rugged initialization
+ // ---------------------
Rugged rugged = new RuggedBuilder().
setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID).
setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF).
@@ -129,6 +149,8 @@ public class DirectLocation {
addLineSensor(lineSensor).
build();
+ // Direct location of a single sensor pixel (first line, first pixel)
+ // ------------------------------------------------------------------
Vector3D position = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate firstLineDate = lineSensor.getDate(0);
Vector3D los = lineSensor.getLOS(firstLineDate, 0);
@@ -154,8 +176,8 @@ public class DirectLocation {
double px, double py, double pz, double vx, double vy, double vz)
throws OrekitException {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
- Vector3D position = new Vector3D(px, py, pz);
- Vector3D velocity = new Vector3D(vx, vy, vz);
+ Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
+ Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
PVCoordinates pvITRF = new PVCoordinates(position, velocity);
Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
@@ -165,7 +187,7 @@ public class DirectLocation {
private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
double q0, double q1, double q2, double q3) {
AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
- Rotation rotation = new Rotation(q0, q1, q2, q3, true);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
diff --git a/src/tutorials/java/fr/cs/examples/DirectLocationWithDEM.java b/src/tutorials/java/fr/cs/examples/DirectLocationWithDEM.java
index ebbddc7371eed50d273f6018c738de9ff7489146..8b3f187ffa77d09982fa04b66a9f1985a44c233e 100644
--- a/src/tutorials/java/fr/cs/examples/DirectLocationWithDEM.java
+++ b/src/tutorials/java/fr/cs/examples/DirectLocationWithDEM.java
@@ -67,10 +67,14 @@ public class DirectLocationWithDEM {
File orekitData = new File(home, "orekit-data");
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+ // Sensor's definition
+ // ===================
+ // Line of sight
+ // -------------
// The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
List<Vector3D> rawDirs = new ArrayList<Vector3D>();
for (int i = 0; i < 2000; i++) {
- //20° field of view, 2000 pixels
+ // 20° field of view, 2000 pixels
rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
}
@@ -81,14 +85,23 @@ public class DirectLocationWithDEM {
TimeDependentLOS lineOfSight = losBuilder.build();
+ // Datation model
+ // --------------
// We use Orekit for handling time and dates, and Rugged for defining the datation model:
TimeScale gps = TimeScalesFactory.getGPS();
AbsoluteDate absDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
LinearLineDatation lineDatation = new LinearLineDatation(absDate, 1d, 20);
- // With the LOS and the datation now defined , we can initialize a line sensor object in Rugged:
+ // Line sensor
+ // -----------
+ // With the LOS and the datation now defined, we can initialize a line sensor object in Rugged:
LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
+ // Satellite position, velocity and attitude
+ // =========================================
+
+ // Reference frames
+ // ----------------
// In our application, we simply need to know the name of the frames we are working with. Positions and
// velocities are given in the ITRF terrestrial frame, while the quaternions are given in EME2000
// inertial frame.
@@ -96,8 +109,9 @@ public class DirectLocationWithDEM {
boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+ // Satellite attitude
+ // ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
- ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
@@ -109,7 +123,11 @@ public class DirectLocationWithDEM {
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:30.592937", -0.439505d, 0.299722d, -0.795442d, -0.290301d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
-
+
+ // Positions and velocities
+ // ------------------------
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
@@ -122,6 +140,8 @@ public class DirectLocationWithDEM {
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
+ // Rugged initialization
+ // ---------------------
Rugged rugged = new RuggedBuilder().
setAlgorithm(AlgorithmId.DUVENHAGE).
setDigitalElevationModel(new VolcanicConeElevationUpdater(new GeodeticPoint(FastMath.toRadians(37.58),
@@ -139,6 +159,8 @@ public class DirectLocationWithDEM {
addLineSensor(lineSensor).
build();
+ // Direct location of a single sensor pixel (first line, first pixel)
+ // ------------------------------------------------------------------
Vector3D position = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate firstLineDate = lineSensor.getDate(0);
Vector3D los = lineSensor.getLOS(firstLineDate, 0);
@@ -164,8 +186,8 @@ public class DirectLocationWithDEM {
double px, double py, double pz, double vx, double vy, double vz)
throws OrekitException {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
- Vector3D position = new Vector3D(px, py, pz);
- Vector3D velocity = new Vector3D(vx, vy, vz);
+ Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
+ Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
PVCoordinates pvITRF = new PVCoordinates(position, velocity);
Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
@@ -176,7 +198,7 @@ public class DirectLocationWithDEM {
private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
double q0, double q1, double q2, double q3) {
AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
- Rotation rotation = new Rotation(q0, q1, q2, q3, true);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
diff --git a/src/tutorials/java/fr/cs/examples/InverseLocation.java b/src/tutorials/java/fr/cs/examples/InverseLocation.java
index e8c2df5a46d97f97d1b8d5b83633a5cf9e02822f..9e630244607853ff6e295a0c02e9494d3a197838 100644
--- a/src/tutorials/java/fr/cs/examples/InverseLocation.java
+++ b/src/tutorials/java/fr/cs/examples/InverseLocation.java
@@ -25,6 +25,7 @@ import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
+import org.orekit.bodies.OneAxisEllipsoid;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
@@ -44,6 +45,7 @@ import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.los.FixedRotation;
import org.orekit.rugged.los.LOSBuilder;
import org.orekit.rugged.los.TimeDependentLOS;
+import org.orekit.rugged.utils.RoughVisibilityEstimator;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeScale;
import org.orekit.time.TimeScalesFactory;
@@ -65,10 +67,14 @@ public class InverseLocation {
File orekitData = new File(home, "orekit-data");
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+ // Sensor's definition
+ // ===================
+ // Line of sight
+ // -------------
// The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
List<Vector3D> rawDirs = new ArrayList<Vector3D>();
for (int i = 0; i < 2000; i++) {
- //20° field of view, 2000 pixels
+ // 20° field of view, 2000 pixels
rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
}
@@ -79,17 +85,24 @@ public class InverseLocation {
TimeDependentLOS lineOfSight = losBuilder.build();
+ // Datation model
+ // --------------
// We use Orekit for handling time and dates, and Rugged for defining the datation model:
TimeScale gps = TimeScalesFactory.getGPS();
AbsoluteDate absDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
LinearLineDatation lineDatation = new LinearLineDatation(absDate, 1d, 20);
+ // Line sensor
+ // -----------
// With the LOS and the datation now defined , we can initialize a line sensor object in Rugged:
String sensorName = "mySensor";
LineSensor lineSensor = new LineSensor(sensorName, lineDatation, Vector3D.ZERO, lineOfSight);
-
-
+ // Satellite position, velocity and attitude
+ // =========================================
+
+ // Reference frames
+ // ----------------
// In our application, we simply need to know the name of the frames we are working with. Positions and
// velocities are given in the ITRF terrestrial frame, while the quaternions are given in EME2000
// inertial frame.
@@ -97,8 +110,9 @@ public class InverseLocation {
boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+ // Satellite attitude
+ // ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
- ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
@@ -111,6 +125,10 @@ public class InverseLocation {
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
+ // Positions and velocities
+ // ------------------------
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
@@ -123,37 +141,74 @@ public class InverseLocation {
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
- Rugged rugged = new RuggedBuilder().
- setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID).
- setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF).
- setTimeSpan(absDate, absDate.shiftedBy(60.0), 0.01, 5 / lineSensor.getRate(0)).
- setTrajectory(InertialFrameId.EME2000,
+ // Rugged initialization
+ // ---------------------
+ RuggedBuilder ruggedBuilder = new RuggedBuilder();
+
+ ruggedBuilder.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
+ ruggedBuilder.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
+ ruggedBuilder.setTimeSpan(absDate, absDate.shiftedBy(60.0), 0.01, 5 / lineSensor.getRate(0));
+ ruggedBuilder.setTrajectory(InertialFrameId.EME2000,
satellitePVList, 4, CartesianDerivativesFilter.USE_P,
satelliteQList, 4, AngularDerivativesFilter.USE_R).
- addLineSensor(lineSensor).
- build();
+ addLineSensor(lineSensor);
+
+ Rugged rugged = ruggedBuilder.build();
+ // Inverse location of a Geodetic Point
+ // ------------------------------------
// Point defined by its latitude, longitude and altitude
double latitude = FastMath.toRadians(37.585);
double longitude = FastMath.toRadians(-96.949);
double altitude = 0.0d;
+ // For a GeodeticPoint : angles are given in radians and altitude in meters
GeodeticPoint gp = new GeodeticPoint(latitude, longitude, altitude);
// Search the sensor pixel seeing point
+ // ....................................
+ // interval of lines where to search the point
int minLine = 0;
int maxLine = 100;
SensorPixel sensorPixel = rugged.inverseLocation(sensorName, gp, minLine, maxLine);
+
// we need to test if the sensor pixel is found in the prescribed lines otherwise the sensor pixel is null
+ // Be careful: no exception is thrown if the pixel is not found
if (sensorPixel != null){
+ // The pixel was found
System.out.format(Locale.US, "Sensor Pixel found : line = %5.3f, pixel = %5.3f %n", sensorPixel.getLineNumber(), sensorPixel.getPixelNumber());
} else {
+ // The pixel was not found: set to null
System.out.println("Sensor Pixel is null: point cannot be seen between the prescribed line numbers\n");
}
// Find the date at which the sensor sees the ground point
+ // .......................................................
AbsoluteDate dateLine = rugged.dateLocation(sensorName, gp, minLine, maxLine);
System.out.println("Date at which the sensor sees the ground point : " + dateLine);
+
+ // How to find min and max lines ? with the RoughVisibilityEstimator
+ // -------------------------------
+ // Create a RoughVisibilityEstimator for inverse location
+ OneAxisEllipsoid oneAxisEllipsoid = ruggedBuilder.getEllipsoid();
+ Frame pvFrame = ruggedBuilder.getInertialFrame();
+
+ // Initialize the RoughVisibilityEstimator
+ RoughVisibilityEstimator roughVisibilityEstimator= new RoughVisibilityEstimator(oneAxisEllipsoid, pvFrame, satellitePVList);
+
+ // Compute the approximated line with a rough estimator
+ AbsoluteDate roughLineDate = roughVisibilityEstimator.estimateVisibility(gp);
+ double roughLine = lineSensor.getLine(roughLineDate);
+
+ // Compute the min / max lines interval using a margin around the roughLine
+ int margin = 100;
+ int minLineRough = (int) FastMath.max(FastMath.floor(roughLine - margin), 0);
+ int maxLineRough = (int) FastMath.floor(roughLine + margin);
+ SensorPixel sensorPixelRoughLine = rugged.inverseLocation(sensorName, gp, minLineRough, maxLineRough);
+
+ System.out.format(Locale.US, "Rough line found = %5.1f; InverseLocation gives (margin of %d around rough line): line = %5.3f, pixel = %5.3f %n", roughLine, margin, sensorPixelRoughLine.getLineNumber(), sensorPixel.getPixelNumber());
+
+
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
System.exit(1);
@@ -170,8 +225,8 @@ public class InverseLocation {
double px, double py, double pz, double vx, double vy, double vz)
throws OrekitException {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
- Vector3D position = new Vector3D(px, py, pz);
- Vector3D velocity = new Vector3D(vx, vy, vz);
+ Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
+ Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
PVCoordinates pvITRF = new PVCoordinates(position, velocity);
Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
@@ -181,7 +236,7 @@ public class InverseLocation {
private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
double q0, double q1, double q2, double q3) {
AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
- Rotation rotation = new Rotation(q0, q1, q2, q3, true);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
diff --git a/src/tutorials/java/fr/cs/exercises/DirectLocationToBeCompleted.java b/src/tutorials/java/fr/cs/exercises/DirectLocationToBeCompleted.java
new file mode 100644
index 0000000000000000000000000000000000000000..97d46d51c9c34ee876834e899632f8046ac00b21
--- /dev/null
+++ b/src/tutorials/java/fr/cs/exercises/DirectLocationToBeCompleted.java
@@ -0,0 +1,207 @@
+/* Copyright 2013-2016 CS Systèmes d'Information
+ * Licensed to CS Systèmes d'Information (CS) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * CS licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package fr.cs.exercises;
+
+import org.hipparchus.geometry.euclidean.threed.Rotation;
+import org.hipparchus.geometry.euclidean.threed.Vector3D;
+import org.hipparchus.util.FastMath;
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Locale;
+
+import org.orekit.bodies.GeodeticPoint;
+import org.orekit.data.DataProvidersManager;
+import org.orekit.data.DirectoryCrawler;
+import org.orekit.errors.OrekitException;
+import org.orekit.frames.Frame;
+import org.orekit.frames.FramesFactory;
+import org.orekit.frames.Transform;
+import org.orekit.rugged.api.AlgorithmId;
+import org.orekit.rugged.api.BodyRotatingFrameId;
+import org.orekit.rugged.api.EllipsoidId;
+import org.orekit.rugged.api.InertialFrameId;
+import org.orekit.rugged.api.Rugged;
+import org.orekit.rugged.api.RuggedBuilder;
+import org.orekit.rugged.errors.RuggedException;
+import org.orekit.rugged.linesensor.LineSensor;
+import org.orekit.rugged.linesensor.LinearLineDatation;
+import org.orekit.rugged.los.LOSBuilder;
+import org.orekit.rugged.los.FixedRotation;
+import org.orekit.rugged.los.TimeDependentLOS;
+import org.orekit.time.AbsoluteDate;
+import org.orekit.time.TimeScale;
+import org.orekit.time.TimeScalesFactory;
+import org.orekit.utils.AngularDerivativesFilter;
+import org.orekit.utils.CartesianDerivativesFilter;
+import org.orekit.utils.IERSConventions;
+import org.orekit.utils.PVCoordinates;
+import org.orekit.utils.TimeStampedAngularCoordinates;
+import org.orekit.utils.TimeStampedPVCoordinates;
+
+public class DirectLocationToBeCompleted {
+
+ public static void main(String[] args) {
+
+ try {
+
+ // Initialize Orekit, assuming an orekit-data folder is in user home directory
+ File home = new File(System.getProperty("user.home"));
+ File orekitData = new File(home, "orekit-data");
+ DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+
+ // Sensor's definition
+ // ===================
+ // Line of sight
+ // -------------
+ // The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
+ List<Vector3D> rawDirs = new ArrayList<Vector3D>();
+ for (int i = 0; i < 2000; i++) {
+ // 20° field of view, 2000 pixels
+ rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
+ }
+
+ // The instrument is oriented 10° off nadir around the X-axis, we need to rotate the viewing
+ // direction to obtain the line of sight in the satellite frame
+ LOSBuilder losBuilder = new LOSBuilder(rawDirs);
+ losBuilder.addTransform(new FixedRotation("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10)));
+
+ TimeDependentLOS lineOfSight = losBuilder.build();
+
+ // Datation model
+ // --------------
+ // We use Orekit for handling time and dates, and Rugged for defining the datation model:
+ TimeScale gps = TimeScalesFactory.getGPS();
+ AbsoluteDate referenceDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
+ LinearLineDatation lineDatation = new LinearLineDatation(referenceDate, 1d, 20);
+
+ // Line sensor
+ // -----------
+ // With the LOS and the datation now defined, we can initialize a line sensor object in Rugged:
+ LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
+
+ // Satellite position, velocity and attitude
+ // =========================================
+
+ // Reference frames
+ // ----------------
+ // In our application, we simply need to know the name of the frames we are working with.
+ // Positions and velocities are given in the ITRF terrestrial frame,
+ // while the quaternions are given in EME2000 inertial frame.
+ Frame eme2000 = FramesFactory.getEME2000();
+ boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
+ Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+
+ // Satellite attitude
+ // ------------------
+ ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
+
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:30.592937", -0.369237d, 0.324612d, -0.831445d, -0.258824d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:54.592937", -0.3836d, 0.319792d, -0.824743d, -0.265299d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:18.592937", -0.397834d, 0.314883d, -0.817777d, -0.271695d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:42.592937", -0.411912d, 0.309895d, -0.810561d, -0.278001d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:06.592937", -0.42581d, 0.304838d, -0.803111d, -0.284206d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:30.592937", -0.439505d, 0.299722d, -0.795442d, -0.290301d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
+
+ // Positions and velocities
+ // ------------------------
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:47.392937", -885556.748d, -5686883.696d, 4265915.971d, -2447.273d, -4036.368d, -5889.568d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:08.992937", -938326.32d, -5772554.875d, 4137638.207d, -2438.478d, -3895.166d, -5987.957d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:30.592937", -990887.942d, -5855155.21d, 4007267.717d, -2428.011d, -3752.034d, -6083.317d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:52.192937", -1043205.448d, -5934643.836d, 3874870.441d, -2415.868d, -3607.05d, -6175.6d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:13.792937", -1095242.669d, -6010981.571d, 3740513.34d, -2402.051d, -3460.291d, -6264.76d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:35.392937", -1146963.457d, -6084130.93d, 3604264.372d, -2386.561d, -3311.835d, -6350.751d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
+
+ // ####################################################
+ // Construct Rugged here with the above informations:
+ // * using the WGS84 ellipsoid (no DEM)
+ // * setting the time spam to 60 s from the reference date with a tstep of 0.01 and an overshootTolerance of 1/4 lines
+ // * using 4 points of interpolation for PV and quaternions; using only position and rotation for derivatives
+ // ####################################################
+ // Rugged initialization
+ // ---------------------
+ Rugged rugged = null;
+
+
+
+
+ // Direct location of a single sensor pixel (first line, first pixel)
+ // ------------------------------------------------------------------
+ // Pixel position in Spacecraft frame
+ Vector3D pixelPositionInSpacecraftFrame = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
+ // Date of the first line (index 0)
+ AbsoluteDate firstLineDate = lineSensor.getDate(0);
+ // Normaliszed line-Of-Sight (LOS) of first pixel (index 0) of the first line sensor
+ Vector3D normalizedLosInSpacecraftFrame = lineSensor.getLOS(firstLineDate, 0);
+
+ // ######################################################################
+ // Compute the direct location for the first pixel of the first line =
+ // ground position of intersection point between specified LOS and ground
+ // ######################################################################
+ GeodeticPoint upLeftPoint = null;
+
+
+ System.out.format(Locale.US, "upper left point: φ = %8.3f °, λ = %8.3f °, h = %8.3f m%n",
+ FastMath.toDegrees(upLeftPoint.getLatitude()),
+ FastMath.toDegrees(upLeftPoint.getLongitude()),
+ upLeftPoint.getAltitude());
+
+ } catch (OrekitException oe) {
+ System.err.println(oe.getLocalizedMessage());
+ System.exit(1);
+ } catch (RuggedException re) {
+ System.err.println(re.getLocalizedMessage());
+ System.exit(1);
+ }
+
+ }
+
+ private static void addSatellitePV(TimeScale gps, Frame eme2000, Frame itrf,
+ ArrayList<TimeStampedPVCoordinates> satellitePVList,
+ String absDate,
+ double px, double py, double pz, double vx, double vy, double vz)
+ throws OrekitException {
+ AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
+ Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
+ Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
+ PVCoordinates pvITRF = new PVCoordinates(position, velocity);
+ Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
+ PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
+ satellitePVList.add(new TimeStampedPVCoordinates(ephemerisDate, pvEME2000.getPosition(), pvEME2000.getVelocity(), Vector3D.ZERO));
+ }
+
+ private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
+ double q0, double q1, double q2, double q3) {
+ AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true); // q0 is the scalar term
+ TimeStampedAngularCoordinates pair =
+ new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
+ satelliteQList.add(pair);
+ }
+
+}
diff --git a/src/tutorials/java/fr/cs/exercises/DirectLocationWithDemToBeCompleted.java b/src/tutorials/java/fr/cs/exercises/DirectLocationWithDemToBeCompleted.java
new file mode 100644
index 0000000000000000000000000000000000000000..0947f497e6acae7cb325e9d411a13d0399f4edbf
--- /dev/null
+++ b/src/tutorials/java/fr/cs/exercises/DirectLocationWithDemToBeCompleted.java
@@ -0,0 +1,251 @@
+/* Copyright 2013-2016 CS Systèmes d'Information
+ * Licensed to CS Systèmes d'Information (CS) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * CS licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package fr.cs.exercises;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Locale;
+
+import org.hipparchus.geometry.euclidean.threed.Rotation;
+import org.hipparchus.geometry.euclidean.threed.Vector3D;
+import org.hipparchus.util.FastMath;
+import org.orekit.bodies.GeodeticPoint;
+import org.orekit.data.DataProvidersManager;
+import org.orekit.data.DirectoryCrawler;
+import org.orekit.errors.OrekitException;
+import org.orekit.frames.Frame;
+import org.orekit.frames.FramesFactory;
+import org.orekit.frames.Transform;
+import org.orekit.rugged.api.AlgorithmId;
+import org.orekit.rugged.api.BodyRotatingFrameId;
+import org.orekit.rugged.api.EllipsoidId;
+import org.orekit.rugged.api.InertialFrameId;
+import org.orekit.rugged.api.Rugged;
+import org.orekit.rugged.api.RuggedBuilder;
+import org.orekit.rugged.errors.RuggedException;
+import org.orekit.rugged.linesensor.LineSensor;
+import org.orekit.rugged.linesensor.LinearLineDatation;
+import org.orekit.rugged.los.FixedRotation;
+import org.orekit.rugged.los.LOSBuilder;
+import org.orekit.rugged.los.TimeDependentLOS;
+import org.orekit.rugged.raster.TileUpdater;
+import org.orekit.rugged.raster.UpdatableTile;
+import org.orekit.time.AbsoluteDate;
+import org.orekit.time.TimeScale;
+import org.orekit.time.TimeScalesFactory;
+import org.orekit.utils.AngularDerivativesFilter;
+import org.orekit.utils.CartesianDerivativesFilter;
+import org.orekit.utils.Constants;
+import org.orekit.utils.IERSConventions;
+import org.orekit.utils.PVCoordinates;
+import org.orekit.utils.TimeStampedAngularCoordinates;
+import org.orekit.utils.TimeStampedPVCoordinates;
+
+
+public class DirectLocationWithDemToBeCompleted {
+
+ public static void main(String[] args) {
+
+ try {
+
+ // Initialize Orekit, assuming an orekit-data folder is in user home directory
+ File home = new File(System.getProperty("user.home"));
+ File orekitData = new File(home, "orekit-data");
+ DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+
+ // Sensor's definition
+ // ===================
+ // Line of sight
+ // -------------
+ // The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
+ List<Vector3D> rawDirs = new ArrayList<Vector3D>();
+ for (int i = 0; i < 2000; i++) {
+ // 20° field of view, 2000 pixels
+ rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
+ }
+
+ // The instrument is oriented 10° off nadir around the X-axis, we need to rotate the viewing
+ // direction to obtain the line of sight in the satellite frame
+ LOSBuilder losBuilder = new LOSBuilder(rawDirs);
+ losBuilder.addTransform(new FixedRotation("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10)));
+
+ TimeDependentLOS lineOfSight = losBuilder.build();
+
+ // Datation model
+ // --------------
+ // We use Orekit for handling time and dates, and Rugged for defining the datation model:
+ TimeScale gps = TimeScalesFactory.getGPS();
+ AbsoluteDate referenceDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
+ LinearLineDatation lineDatation = new LinearLineDatation(referenceDate, 1d, 20);
+
+ // Line sensor
+ // -----------
+ // With the LOS and the datation now defined, we can initialize a line sensor object in Rugged:
+ LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
+
+ // Satellite position, velocity and attitude
+ // =========================================
+
+ // Reference frames
+ // ----------------
+ // In our application, we simply need to know the name of the frames we are working with.
+ // Positions and velocities are given in the ITRF terrestrial frame,
+ // while the quaternions are given in EME2000 inertial frame.
+ Frame eme2000 = FramesFactory.getEME2000();
+ boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
+ Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+
+ // Satellite attitude
+ // ------------------
+ ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
+
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:30.592937", -0.369237d, 0.324612d, -0.831445d, -0.258824d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:54.592937", -0.3836d, 0.319792d, -0.824743d, -0.265299d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:18.592937", -0.397834d, 0.314883d, -0.817777d, -0.271695d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:42.592937", -0.411912d, 0.309895d, -0.810561d, -0.278001d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:06.592937", -0.42581d, 0.304838d, -0.803111d, -0.284206d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:30.592937", -0.439505d, 0.299722d, -0.795442d, -0.290301d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
+
+ // Positions and velocities
+ // ------------------------
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:47.392937", -885556.748d, -5686883.696d, 4265915.971d, -2447.273d, -4036.368d, -5889.568d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:08.992937", -938326.32d, -5772554.875d, 4137638.207d, -2438.478d, -3895.166d, -5987.957d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:30.592937", -990887.942d, -5855155.21d, 4007267.717d, -2428.011d, -3752.034d, -6083.317d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:52.192937", -1043205.448d, -5934643.836d, 3874870.441d, -2415.868d, -3607.05d, -6175.6d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:13.792937", -1095242.669d, -6010981.571d, 3740513.34d, -2402.051d, -3460.291d, -6264.76d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:35.392937", -1146963.457d, -6084130.93d, 3604264.372d, -2386.561d, -3311.835d, -6350.751d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
+
+
+ // ####################################################
+ // Construct Rugged here with the above informations:
+ // * using the DEM with 8 cached tiles with the VolcanicConeElevationUpdater (see below) :
+ // a summit at latitude 37.58 deg and longitude -96.95 deg with an altitude of 2463.m
+ // a slope of 30 deg, a base of 16m , a size of 1 and 1201 points
+ // * using the WGS84 ellipsoid
+ // * setting the time spam to 60 s from the reference date with a tstep of 0.01 and an overshootTolerance of 1/4 lines
+ // * using 4 points of interpolation for PV and quaternions; using only position and rotation for derivatives
+ // ####################################################
+ // Rugged initialization
+ // ---------------------
+ Rugged rugged = null;
+
+ // Direct location of a single sensor pixel (first line, first pixel)
+ // ------------------------------------------------------------------
+ // Pixel position in Spacecraft frame
+ Vector3D pixelPositionInSpacecraftFrame = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
+ // Date of the first line (index 0)
+ AbsoluteDate firstLineDate = lineSensor.getDate(0);
+ // Normaliszed line-Of-Sight (LOS) of first pixel (index 0) of the first line sensor
+ Vector3D normalizedLosInSpacecraftFrame = lineSensor.getLOS(firstLineDate, 0);
+
+ // ######################################################################
+ // Compute the direct location for the first pixel of the first line =
+ // ground position of intersection point between specified LOS and ground
+ // ######################################################################
+ GeodeticPoint upLeftPoint = null;
+
+ System.out.format(Locale.US, "upper left point: φ = %8.3f °, λ = %8.3f °, h = %8.3f m%n",
+ FastMath.toDegrees(upLeftPoint.getLatitude()),
+ FastMath.toDegrees(upLeftPoint.getLongitude()),
+ upLeftPoint.getAltitude());
+
+ } catch (OrekitException oe) {
+ System.err.println(oe.getLocalizedMessage());
+ System.exit(1);
+ } catch (RuggedException re) {
+ System.err.println(re.getLocalizedMessage());
+ System.exit(1);
+ }
+
+ }
+
+ private static void addSatellitePV(TimeScale gps, Frame eme2000, Frame itrf,
+ ArrayList<TimeStampedPVCoordinates> satellitePVList,
+ String absDate,
+ double px, double py, double pz, double vx, double vy, double vz)
+ throws OrekitException {
+ AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
+ Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
+ Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
+ PVCoordinates pvITRF = new PVCoordinates(position, velocity);
+ Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
+ PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
+ satellitePVList.add(new TimeStampedPVCoordinates(ephemerisDate, pvEME2000.getPosition(), pvEME2000.getVelocity(), Vector3D.ZERO));
+
+ }
+
+ private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
+ double q0, double q1, double q2, double q3) {
+ AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true); // q0 is the scalar term
+ TimeStampedAngularCoordinates pair =
+ new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
+ satelliteQList.add(pair);
+ }
+
+ private static class VolcanicConeElevationUpdater implements TileUpdater {
+
+ private GeodeticPoint summit;
+ private double slope;
+ private double base;
+ private double size;
+ private int n;
+
+ public VolcanicConeElevationUpdater(GeodeticPoint summit, double slope, double base,
+ double size, int n) {
+ this.summit = summit;
+ this.slope = slope;
+ this.base = base;
+ this.size = size;
+ this.n = n;
+ }
+
+ public void updateTile(double latitude, double longitude, UpdatableTile tile)
+ throws RuggedException {
+ double step = size / (n - 1);
+ double minLatitude = size * FastMath.floor(latitude / size);
+ double minLongitude = size * FastMath.floor(longitude / size);
+ double sinSlope = FastMath.sin(slope);
+ tile.setGeometry(minLatitude, minLongitude, step, step, n, n);
+ for (int i = 0; i < n; ++i) {
+ double cellLatitude = minLatitude + i * step;
+ for (int j = 0; j < n; ++j) {
+ double cellLongitude = minLongitude + j * step;
+ double distance = Constants.WGS84_EARTH_EQUATORIAL_RADIUS *
+ FastMath.hypot(cellLatitude - summit.getLatitude(),
+ cellLongitude - summit.getLongitude());
+ double altitude = FastMath.max(summit.getAltitude() - distance * sinSlope,
+ base);
+ tile.setElevation(i, j, altitude);
+ }
+ }
+ }
+
+ }
+}
diff --git a/src/tutorials/java/fr/cs/exercises/InverseLocationToBeCompleted.java b/src/tutorials/java/fr/cs/exercises/InverseLocationToBeCompleted.java
new file mode 100644
index 0000000000000000000000000000000000000000..52fa86a454becdb2e9bf6b5538348abdf9a9765c
--- /dev/null
+++ b/src/tutorials/java/fr/cs/exercises/InverseLocationToBeCompleted.java
@@ -0,0 +1,247 @@
+/* Copyright 2013-2016 CS Systèmes d'Information
+ * Licensed to CS Systèmes d'Information (CS) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * CS licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package fr.cs.exercises;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Locale;
+
+import org.hipparchus.geometry.euclidean.threed.Rotation;
+import org.hipparchus.geometry.euclidean.threed.Vector3D;
+import org.hipparchus.util.FastMath;
+import org.orekit.bodies.GeodeticPoint;
+import org.orekit.bodies.OneAxisEllipsoid;
+import org.orekit.data.DataProvidersManager;
+import org.orekit.data.DirectoryCrawler;
+import org.orekit.errors.OrekitException;
+import org.orekit.frames.Frame;
+import org.orekit.frames.FramesFactory;
+import org.orekit.frames.Transform;
+import org.orekit.rugged.api.AlgorithmId;
+import org.orekit.rugged.api.BodyRotatingFrameId;
+import org.orekit.rugged.api.EllipsoidId;
+import org.orekit.rugged.api.InertialFrameId;
+import org.orekit.rugged.api.Rugged;
+import org.orekit.rugged.api.RuggedBuilder;
+import org.orekit.rugged.errors.RuggedException;
+import org.orekit.rugged.linesensor.LineSensor;
+import org.orekit.rugged.linesensor.LinearLineDatation;
+import org.orekit.rugged.linesensor.SensorPixel;
+import org.orekit.rugged.los.FixedRotation;
+import org.orekit.rugged.los.LOSBuilder;
+import org.orekit.rugged.los.TimeDependentLOS;
+import org.orekit.rugged.utils.RoughVisibilityEstimator;
+import org.orekit.time.AbsoluteDate;
+import org.orekit.time.TimeScale;
+import org.orekit.time.TimeScalesFactory;
+import org.orekit.utils.AngularDerivativesFilter;
+import org.orekit.utils.CartesianDerivativesFilter;
+import org.orekit.utils.IERSConventions;
+import org.orekit.utils.PVCoordinates;
+import org.orekit.utils.TimeStampedAngularCoordinates;
+import org.orekit.utils.TimeStampedPVCoordinates;
+
+public class InverseLocationToBeCompleted {
+
+ public static void main(String[] args) {
+
+ try {
+
+ // Initialize Orekit, assuming an orekit-data folder is in user home directory
+ File home = new File(System.getProperty("user.home"));
+ File orekitData = new File(home, "orekit-data");
+ DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+
+ // Sensor's definition
+ // ===================
+ // Line of sight
+ // -------------
+ // The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
+ List<Vector3D> rawDirs = new ArrayList<Vector3D>();
+ for (int i = 0; i < 2000; i++) {
+ // 20° field of view, 2000 pixels
+ rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
+ }
+
+ // The instrument is oriented 10° off nadir around the X-axis, we need to rotate the viewing
+ // direction to obtain the line of sight in the satellite frame
+ LOSBuilder losBuilder = new LOSBuilder(rawDirs);
+ losBuilder.addTransform(new FixedRotation("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10)));
+
+ TimeDependentLOS lineOfSight = losBuilder.build();
+
+ // Datation model
+ // --------------
+ // We use Orekit for handling time and dates, and Rugged for defining the datation model:
+ TimeScale gps = TimeScalesFactory.getGPS();
+ AbsoluteDate absDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
+ LinearLineDatation lineDatation = new LinearLineDatation(absDate, 1d, 20);
+
+ // Line sensor
+ // -----------
+ // With the LOS and the datation now defined , we can initialize a line sensor object in Rugged:
+ String sensorName = "mySensor";
+ LineSensor lineSensor = new LineSensor(sensorName, lineDatation, Vector3D.ZERO, lineOfSight);
+
+ // Satellite position, velocity and attitude
+ // =========================================
+
+ // Reference frames
+ // ----------------
+ // In our application, we simply need to know the name of the frames we are working with. Positions and
+ // velocities are given in the ITRF terrestrial frame, while the quaternions are given in EME2000
+ // inertial frame.
+ Frame eme2000 = FramesFactory.getEME2000();
+ boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
+ Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+
+ // Satellite attitude
+ // ------------------
+ ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
+
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:30.592937", -0.369237d, 0.324612d, -0.831445d, -0.258824d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:54.592937", -0.3836d, 0.319792d, -0.824743d, -0.265299d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:18.592937", -0.397834d, 0.314883d, -0.817777d, -0.271695d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:42.592937", -0.411912d, 0.309895d, -0.810561d, -0.278001d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:06.592937", -0.42581d, 0.304838d, -0.803111d, -0.284206d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:30.592937", -0.439505d, 0.299722d, -0.795442d, -0.290301d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
+
+ // Positions and velocities
+ // ------------------------
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:47.392937", -885556.748d, -5686883.696d, 4265915.971d, -2447.273d, -4036.368d, -5889.568d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:08.992937", -938326.32d, -5772554.875d, 4137638.207d, -2438.478d, -3895.166d, -5987.957d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:30.592937", -990887.942d, -5855155.21d, 4007267.717d, -2428.011d, -3752.034d, -6083.317d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:52.192937", -1043205.448d, -5934643.836d, 3874870.441d, -2415.868d, -3607.05d, -6175.6d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:13.792937", -1095242.669d, -6010981.571d, 3740513.34d, -2402.051d, -3460.291d, -6264.76d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:35.392937", -1146963.457d, -6084130.93d, 3604264.372d, -2386.561d, -3311.835d, -6350.751d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
+
+ // ####################################################
+ // Construct first a RuggedBuilder here with the above informations:
+ // * using the WGS84 ellipsoid (no DEM)
+ // * setting the time spam to 60 s from the reference date with a tstep of 0.01 and an overshootTolerance of 1/4 lines
+ // * using 4 points of interpolation for PV and quaternions; using only position and rotation for derivatives
+ // ####################################################
+ // RuggedBuilder initialization
+ // ---------------------
+ RuggedBuilder ruggedBuilder = null;
+
+ // ####################################################
+ // Create rugged instance
+ // ####################################################
+ Rugged rugged = null;
+
+ // Inverse location of a Geodetic Point
+ // ------------------------------------
+ // Point defined by its latitude, longitude and altitude
+ double latitude = FastMath.toRadians(37.585);
+ double longitude = FastMath.toRadians(-96.949);
+ double altitude = 0.0d;
+ // For a GeodeticPoint : angles are given in radians and altitude in meters
+ GeodeticPoint gp = new GeodeticPoint(latitude, longitude, altitude);
+
+ // Search the sensor pixel seeing point
+ // ....................................
+ // interval of lines where to search the point
+ int minLine = 50;
+ int maxLine = 100;
+
+ // ######################################################################
+ // Compute the inverse location for the geodeticPoint gp
+ // with the min / max lines given above
+ // ######################################################################
+ SensorPixel sensorPixel = null;
+
+ System.out.format(Locale.US, "Sensor Pixel found : line = %5.3f, pixel = %5.3f %n", sensorPixel.getLineNumber(), sensorPixel.getPixelNumber());
+
+ // Find the date at which the sensor sees the ground point
+ // .......................................................
+ AbsoluteDate dateLine = rugged.dateLocation(sensorName, gp, minLine, maxLine);
+ System.out.println("Date at which the sensor sees the ground point : " + dateLine);
+
+
+ // How to find min and max lines ? with the RoughVisibilityEstimator
+ // -------------------------------
+ // Create a RoughVisibilityEstimator for inverse location
+ OneAxisEllipsoid oneAxisEllipsoid = ruggedBuilder.getEllipsoid();
+ Frame pvFrame = ruggedBuilder.getInertialFrame();
+
+ // ######################################################################
+ // Initialize the RoughVisibilityEstimator
+ // ######################################################################
+ RoughVisibilityEstimator roughVisibilityEstimator= null;
+
+ // ######################################################################
+ // Compute the approximated line with a rough estimator
+ // ######################################################################
+ AbsoluteDate roughLineDate = null;
+ double roughLine = lineSensor.getLine(roughLineDate);
+
+ // Compute the min / max lines interval using a margin around the roughLine
+ int margin = 100;
+ int minLineRough = (int) FastMath.max(FastMath.floor(roughLine - margin), 0);
+ int maxLineRough = (int) FastMath.floor(roughLine + margin);
+ SensorPixel sensorPixelRoughLine = rugged.inverseLocation(sensorName, gp, minLineRough, maxLineRough);
+
+ System.out.format(Locale.US, "Rough line found = %5.1f; InverseLocation gives (margin of %d around rough line): line = %5.3f, pixel = %5.3f %n", roughLine, margin, sensorPixelRoughLine.getLineNumber(), sensorPixel.getPixelNumber());
+
+
+ } catch (OrekitException oe) {
+ System.err.println(oe.getLocalizedMessage());
+ System.exit(1);
+ } catch (RuggedException re) {
+ System.err.println(re.getLocalizedMessage());
+ System.exit(1);
+ }
+
+ }
+
+ private static void addSatellitePV(TimeScale gps, Frame eme2000, Frame itrf,
+ ArrayList<TimeStampedPVCoordinates> satellitePVList,
+ String absDate,
+ double px, double py, double pz, double vx, double vy, double vz)
+ throws OrekitException {
+ AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
+ Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
+ Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
+ PVCoordinates pvITRF = new PVCoordinates(position, velocity);
+ Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
+ PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
+ satellitePVList.add(new TimeStampedPVCoordinates(ephemerisDate, pvEME2000.getPosition(), pvEME2000.getVelocity(), Vector3D.ZERO));
+ }
+
+ private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
+ double q0, double q1, double q2, double q3) {
+ AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true); // q0 is the scalar term
+ TimeStampedAngularCoordinates pair =
+ new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
+ satelliteQList.add(pair);
+ }
+
+}