From 5baf4f705896848df7c844596aefef593003fef9 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@orekit.org>
Date: Sun, 27 Dec 2015 20:40:46 +0100
Subject: [PATCH] Use Apache Commons Math 3.6 API for rotations.
---
.../org/orekit/rugged/los/FixedRotation.java | 9 ++++----
.../orekit/rugged/los/PolynomialRotation.java | 9 ++++++--
.../java/org/orekit/rugged/TestUtils.java | 7 ++++--
.../orekit/rugged/api/RuggedBuilderTest.java | 12 ++++++----
.../org/orekit/rugged/api/RuggedTest.java | 22 +++++++++++++------
.../orekit/rugged/errors/DumpManagerTest.java | 4 +++-
6 files changed, 43 insertions(+), 20 deletions(-)
diff --git a/src/main/java/org/orekit/rugged/los/FixedRotation.java b/src/main/java/org/orekit/rugged/los/FixedRotation.java
index 9d38cd34..ab8af7ea 100644
--- a/src/main/java/org/orekit/rugged/los/FixedRotation.java
+++ b/src/main/java/org/orekit/rugged/los/FixedRotation.java
@@ -20,6 +20,7 @@ import org.apache.commons.math3.analysis.differentiation.DerivativeStructure;
import org.apache.commons.math3.geometry.euclidean.threed.FieldRotation;
import org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.errors.RuggedMessages;
@@ -50,7 +51,7 @@ public class FixedRotation implements TimeIndependentLOSTransform {
*/
public FixedRotation(final ParameterType type, final Vector3D axis, final double angle) {
this.type = type;
- this.rotation = new Rotation(axis, angle);
+ this.rotation = new Rotation(axis, angle, RotationConvention.VECTOR_OPERATOR);
this.rDS = null;
}
@@ -81,14 +82,14 @@ public class FixedRotation implements TimeIndependentLOSTransform {
public void setEstimatedParameters(final double[] parameters, final int start, final int length)
throws RuggedException {
checkSlice(length);
- final Vector3D axis = rotation.getAxis();
- rotation = new Rotation(axis, parameters[start]);
+ final Vector3D axis = rotation.getAxis(RotationConvention.VECTOR_OPERATOR);
+ rotation = new Rotation(axis, parameters[start], RotationConvention.VECTOR_OPERATOR);
final FieldVector3D<DerivativeStructure> axisDS =
new FieldVector3D<DerivativeStructure>(new DerivativeStructure(parameters.length, 1, axis.getX()),
new DerivativeStructure(parameters.length, 1, axis.getY()),
new DerivativeStructure(parameters.length, 1, axis.getZ()));
final DerivativeStructure angleDS = new DerivativeStructure(parameters.length, 1, start, parameters[start]);
- rDS = new FieldRotation<DerivativeStructure>(axisDS, angleDS);
+ rDS = new FieldRotation<DerivativeStructure>(axisDS, angleDS, RotationConvention.VECTOR_OPERATOR);
}
/** Check the number of parameters of an array slice.
diff --git a/src/main/java/org/orekit/rugged/los/PolynomialRotation.java b/src/main/java/org/orekit/rugged/los/PolynomialRotation.java
index 6437832e..68899ada 100644
--- a/src/main/java/org/orekit/rugged/los/PolynomialRotation.java
+++ b/src/main/java/org/orekit/rugged/los/PolynomialRotation.java
@@ -21,6 +21,7 @@ import org.apache.commons.math3.analysis.polynomials.PolynomialFunction;
import org.apache.commons.math3.geometry.euclidean.threed.FieldRotation;
import org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.errors.RuggedMessages;
@@ -153,7 +154,9 @@ public class PolynomialRotation implements LOSTransform {
/** {@inheritDoc} */
@Override
public Vector3D transformLOS(final int i, final Vector3D los, final AbsoluteDate date) {
- return new Rotation(axis, angle.value(date.durationFrom(referenceDate))).applyTo(los);
+ return new Rotation(axis,
+ angle.value(date.durationFrom(referenceDate)),
+ RotationConvention.VECTOR_OPERATOR).applyTo(los);
}
/** {@inheritDoc} */
@@ -168,7 +171,9 @@ public class PolynomialRotation implements LOSTransform {
alpha = alpha.multiply(t).add(angleDS[k]);
}
- return new FieldRotation<DerivativeStructure>(axisDS, alpha).applyTo(los);
+ return new FieldRotation<DerivativeStructure>(axisDS,
+ alpha,
+ RotationConvention.VECTOR_OPERATOR).applyTo(los);
}
diff --git a/src/test/java/org/orekit/rugged/TestUtils.java b/src/test/java/org/orekit/rugged/TestUtils.java
index 2e31a38d..8be67ea9 100644
--- a/src/test/java/org/orekit/rugged/TestUtils.java
+++ b/src/test/java/org/orekit/rugged/TestUtils.java
@@ -21,6 +21,7 @@ import java.util.ArrayList;
import java.util.List;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator;
import org.apache.commons.math3.util.FastMath;
@@ -154,7 +155,7 @@ public class TestUtils {
List<Vector3D> list = new ArrayList<Vector3D>(n);
for (int i = 0; i < n; ++i) {
double alpha = (halfAperture * (2 * i + 1 - n)) / (n - 1);
- list.add(new Rotation(normal, alpha).applyTo(center));
+ list.add(new Rotation(normal, alpha, RotationConvention.VECTOR_OPERATOR).applyTo(center));
}
return new LOSBuilder(list).build();
}
@@ -167,7 +168,9 @@ public class TestUtils {
double x = (2.0 * i + 1.0 - n) / (n - 1);
double alpha = x * halfAperture;
double beta = x * x * sagitta;
- list.add(new Rotation(normal, alpha).applyTo(new Rotation(u, beta).applyTo(center)));
+ list.add(new Rotation(normal, alpha, RotationConvention.VECTOR_OPERATOR).
+ applyTo(new Rotation(u, beta, RotationConvention.VECTOR_OPERATOR).
+ applyTo(center)));
}
return new LOSBuilder(list).build();
}
diff --git a/src/test/java/org/orekit/rugged/api/RuggedBuilderTest.java b/src/test/java/org/orekit/rugged/api/RuggedBuilderTest.java
index e8cd88ec..c1310a8e 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedBuilderTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedBuilderTest.java
@@ -30,6 +30,7 @@ import java.util.Arrays;
import java.util.List;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator;
import org.apache.commons.math3.util.FastMath;
@@ -341,7 +342,8 @@ public class RuggedBuilderTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -409,7 +411,8 @@ public class RuggedBuilderTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -458,7 +461,8 @@ public class RuggedBuilderTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -665,7 +669,7 @@ public class RuggedBuilderTest {
List<Vector3D> list = new ArrayList<Vector3D>(n);
for (int i = 0; i < n; ++i) {
double alpha = (halfAperture * (2 * i + 1 - n)) / (n - 1);
- list.add(new Rotation(normal, alpha).applyTo(center));
+ list.add(new Rotation(normal, alpha, RotationConvention.VECTOR_OPERATOR).applyTo(center));
}
return new LOSBuilder(list).build();
}
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index 853b4088..4ed3492c 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -28,6 +28,7 @@ import java.util.List;
import java.util.Locale;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.stat.descriptive.SummaryStatistics;
import org.apache.commons.math3.stat.descriptive.rank.Percentile;
@@ -321,7 +322,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -382,7 +384,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -439,7 +442,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -499,7 +503,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
@@ -565,7 +570,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking roughly at 50° roll (sensor-dependent), 2.6" per pixel
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0 - 0.001 * i)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0 - 0.001 * i),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
// linear datation model: at reference time we get roughly middle line, and the rate is one line every 1.5ms
@@ -944,7 +950,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking at 50° roll, 2.6" per pixel
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I,
FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
@@ -1035,7 +1042,8 @@ public class RuggedTest {
// los: swath in the (YZ) plane, looking at 50° roll, 2.6" per pixel
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I,
FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
diff --git a/src/test/java/org/orekit/rugged/errors/DumpManagerTest.java b/src/test/java/org/orekit/rugged/errors/DumpManagerTest.java
index 46cb3d98..8f41011a 100644
--- a/src/test/java/org/orekit/rugged/errors/DumpManagerTest.java
+++ b/src/test/java/org/orekit/rugged/errors/DumpManagerTest.java
@@ -24,6 +24,7 @@ import java.io.IOException;
import java.net.URISyntaxException;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.util.FastMath;
import org.junit.Assert;
@@ -146,7 +147,8 @@ public class DumpManagerTest {
// los: swath in the (YZ) plane, looking at 50° roll, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
TimeDependentLOS los = TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
--
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