diff --git a/core/src/main/java/org/orekit/rugged/api/Rugged.java b/core/src/main/java/org/orekit/rugged/api/Rugged.java
index fafdb26c00ad3455352ae6e010738bd0a54c6e97..7db0011bae46759720f978f417fc32a94c597cb5 100644
--- a/core/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/core/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -26,7 +26,6 @@ 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.Vector3D;
import org.apache.commons.math3.util.FastMath;
-import org.apache.commons.math3.util.Pair;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.bodies.OneAxisEllipsoid;
import org.orekit.errors.OrekitException;
@@ -48,6 +47,8 @@ import org.orekit.time.AbsoluteDate;
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;
/** Main class of Rugged library API.
* @author Luc Maisonobe
@@ -114,8 +115,8 @@ public class Rugged {
final AlgorithmId algorithmID, final EllipsoidId ellipsoidID,
final InertialFrameId inertialFrameID, final BodyRotatingFrameId bodyRotatingFrameID,
final AbsoluteDate minDate, final AbsoluteDate maxDate,
- final List<Pair<AbsoluteDate, PVCoordinates>> positionsVelocities, final int pvInterpolationOrder,
- final List<Pair<AbsoluteDate, Rotation>> quaternions, final int aInterpolationOrder)
+ final List<TimeStampedPVCoordinates> positionsVelocities, final int pvInterpolationOrder,
+ final List<TimeStampedAngularCoordinates> quaternions, final int aInterpolationOrder)
throws RuggedException {
this(updater, maxCachedTiles, algorithmID,
selectEllipsoid(ellipsoidID, selectBodyRotatingFrame(bodyRotatingFrameID)),
@@ -149,8 +150,8 @@ public class Rugged {
public Rugged(final TileUpdater updater, final int maxCachedTiles,
final AlgorithmId algorithmID, final OneAxisEllipsoid ellipsoid, final Frame inertialFrame,
final AbsoluteDate minDate, final AbsoluteDate maxDate,
- final List<Pair<AbsoluteDate, PVCoordinates>> positionsVelocities, final int pvInterpolationOrder,
- final List<Pair<AbsoluteDate, Rotation>> quaternions, final int aInterpolationOrder)
+ final List<TimeStampedPVCoordinates> positionsVelocities, final int pvInterpolationOrder,
+ final List<TimeStampedAngularCoordinates> quaternions, final int aInterpolationOrder)
throws RuggedException {
// space reference
@@ -239,8 +240,10 @@ public class Rugged {
this.ellipsoid = extend(ellipsoid);
// extract position/attitude samples from propagator
- final List<Pair<AbsoluteDate, PVCoordinates>> positionsVelocities = new ArrayList<Pair<AbsoluteDate,PVCoordinates>>();
- final List<Pair<AbsoluteDate, Rotation>> quaternions = new ArrayList<Pair<AbsoluteDate,Rotation>>();
+ final List<TimeStampedPVCoordinates> positionsVelocities =
+ new ArrayList<TimeStampedPVCoordinates>();
+ final List<TimeStampedAngularCoordinates> quaternions =
+ new ArrayList<TimeStampedAngularCoordinates>();
propagator.setMasterMode(interpolationStep, new OrekitFixedStepHandler() {
/** {@inheritDoc} */
@@ -256,8 +259,8 @@ public class Rugged {
final AbsoluteDate date = currentState.getDate();
final PVCoordinates pv = currentState.getPVCoordinates(inertialFrame);
final Rotation q = currentState.getAttitude().getRotation();
- positionsVelocities.add(new Pair<AbsoluteDate, PVCoordinates>(date, pv));
- quaternions.add(new Pair<AbsoluteDate, Rotation>(date, q));
+ positionsVelocities.add(new TimeStampedPVCoordinates(date, pv.getPosition(), pv.getVelocity()));
+ quaternions.add(new TimeStampedAngularCoordinates(date, q, Vector3D.ZERO));
} catch (OrekitException oe) {
throw new PropagationException(oe);
}
diff --git a/core/src/main/java/org/orekit/rugged/utils/SpacecraftToObservedBody.java b/core/src/main/java/org/orekit/rugged/utils/SpacecraftToObservedBody.java
index 9779983675c2c35a134a48224174e06f51b09773..0234a1049a855ea01bb5fcdedaa3a8611d49bdcd 100644
--- a/core/src/main/java/org/orekit/rugged/utils/SpacecraftToObservedBody.java
+++ b/core/src/main/java/org/orekit/rugged/utils/SpacecraftToObservedBody.java
@@ -16,25 +16,17 @@
*/
package org.orekit.rugged.utils;
-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.Vector3D;
-import org.apache.commons.math3.util.Pair;
-import org.orekit.attitudes.Attitude;
-import org.orekit.attitudes.TabulatedProvider;
import org.orekit.errors.OrekitException;
import org.orekit.frames.Frame;
import org.orekit.frames.Transform;
-import org.orekit.orbits.CartesianOrbit;
-import org.orekit.orbits.Orbit;
import org.orekit.rugged.api.RuggedException;
import org.orekit.rugged.api.RuggedMessages;
import org.orekit.time.AbsoluteDate;
-import org.orekit.utils.Constants;
import org.orekit.utils.ImmutableTimeStampedCache;
-import org.orekit.utils.PVCoordinates;
+import org.orekit.utils.TimeStampedAngularCoordinates;
+import org.orekit.utils.TimeStampedPVCoordinates;
/** Provider for observation transforms.
* @author Luc Maisonobe
@@ -48,10 +40,10 @@ public class SpacecraftToObservedBody {
private final Frame bodyFrame;
/** Satellite orbits. */
- private final ImmutableTimeStampedCache<Orbit> orbits;
+ private final ImmutableTimeStampedCache<TimeStampedPVCoordinates> positionsVelocities;
/** Satellite quaternions. */
- private final TabulatedProvider attitudes;
+ private final ImmutableTimeStampedCache<TimeStampedAngularCoordinates> quaternions;
/** Simple constructor.
* @param inertialFrame inertial frame
@@ -67,13 +59,13 @@ public class SpacecraftToObservedBody {
*/
public SpacecraftToObservedBody(final Frame inertialFrame, final Frame bodyFrame,
final AbsoluteDate minDate, final AbsoluteDate maxDate,
- final List<Pair<AbsoluteDate, PVCoordinates>> positionsVelocities, final int pvInterpolationOrder,
- final List<Pair<AbsoluteDate, Rotation>> quaternions, final int aInterpolationOrder)
+ final List<TimeStampedPVCoordinates> positionsVelocities, final int pvInterpolationOrder,
+ final List<TimeStampedAngularCoordinates> quaternions, final int aInterpolationOrder)
throws RuggedException {
// safety checks
- final AbsoluteDate minPVDate = positionsVelocities.get(0).getFirst();
- final AbsoluteDate maxPVDate = positionsVelocities.get(positionsVelocities.size() - 1).getFirst();
+ final AbsoluteDate minPVDate = positionsVelocities.get(0).getDate();
+ final AbsoluteDate maxPVDate = positionsVelocities.get(positionsVelocities.size() - 1).getDate();
if (minDate.compareTo(minPVDate) < 0) {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, minDate, minPVDate, maxPVDate);
}
@@ -81,8 +73,8 @@ public class SpacecraftToObservedBody {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, maxDate, minPVDate, maxPVDate);
}
- final AbsoluteDate minQDate = quaternions.get(0).getFirst();
- final AbsoluteDate maxQDate = quaternions.get(quaternions.size() - 1).getFirst();
+ final AbsoluteDate minQDate = quaternions.get(0).getDate();
+ final AbsoluteDate maxQDate = quaternions.get(quaternions.size() - 1).getDate();
if (minDate.compareTo(minQDate) < 0) {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, minDate, minQDate, maxQDate);
}
@@ -93,21 +85,11 @@ public class SpacecraftToObservedBody {
this.inertialFrame = inertialFrame;
this.bodyFrame = bodyFrame;
- // set up the orbit provider
- final List<Orbit> orbits = new ArrayList<Orbit>(positionsVelocities.size());
- for (final Pair<AbsoluteDate, PVCoordinates> pv : positionsVelocities) {
- final CartesianOrbit orbit = new CartesianOrbit(pv.getSecond(), inertialFrame,
- pv.getFirst(), Constants.EIGEN5C_EARTH_MU);
- orbits.add(orbit);
- }
- this.orbits = new ImmutableTimeStampedCache<Orbit>(pvInterpolationOrder, orbits);
+ // set up the cache for position-velocities
+ this.positionsVelocities = new ImmutableTimeStampedCache<TimeStampedPVCoordinates>(pvInterpolationOrder, positionsVelocities);
- // set up the attitude provider
- final List<Attitude> attitudes = new ArrayList<Attitude>(quaternions.size());
- for (final Pair<AbsoluteDate, Rotation> q : quaternions) {
- attitudes.add(new Attitude(q.getFirst(), inertialFrame, q.getSecond(), Vector3D.ZERO));
- }
- this.attitudes = new TabulatedProvider(attitudes, aInterpolationOrder, false);
+ // set up the cache for attitudes
+ this.quaternions = new ImmutableTimeStampedCache<TimeStampedAngularCoordinates>(aInterpolationOrder, quaternions);
}
@@ -119,17 +101,17 @@ public class SpacecraftToObservedBody {
public Transform getScToInertial(final AbsoluteDate date)
throws OrekitException {
- //interpolate orbit and attitude
- final List<Orbit> sample = orbits.getNeighbors(date);
- final Orbit orbit = sample.get(0).interpolate(date, sample);
- final PVCoordinates pv = orbit.getPVCoordinates(date, inertialFrame);
+ // interpolate position-velocity
+ final List<TimeStampedPVCoordinates> sample = positionsVelocities.getNeighbors(date);
+ final TimeStampedPVCoordinates pv = TimeStampedPVCoordinates.interpolate(date, true, sample);
- //interpolate attitude
- final Attitude attitude = attitudes.getAttitude(orbit, date, inertialFrame);
+ // interpolate attitude
+ final List<TimeStampedAngularCoordinates> sampleAC = quaternions.getNeighbors(date);
+ final TimeStampedAngularCoordinates quaternion = TimeStampedAngularCoordinates.interpolate(date, false, sampleAC);
// compute transform from spacecraft frame to inertial frame
return new Transform(date,
- new Transform(date, attitude.getOrientation().revert()),
+ new Transform(date, quaternion.revert()),
new Transform(date, pv));
}
diff --git a/core/src/test/java/org/orekit/rugged/api/RuggedTest.java b/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
index 486f63c5db7b02727fdc7783018e7d890a91d12c..e5b186f37ab147304be5d4d3fa5a97361fd33715 100644
--- a/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -33,7 +33,6 @@ import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator;
import org.apache.commons.math3.stat.descriptive.SummaryStatistics;
import org.apache.commons.math3.util.FastMath;
-import org.apache.commons.math3.util.Pair;
import org.junit.Assert;
import org.junit.Ignore;
import org.junit.Rule;
@@ -75,6 +74,8 @@ import org.orekit.time.TimeScalesFactory;
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 RuggedTest {
@@ -89,8 +90,7 @@ public class RuggedTest {
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(new File(path)));
AbsoluteDate t0 = new AbsoluteDate("2012-01-01T00:00:00", TimeScalesFactory.getUTC());
- @SuppressWarnings("unchecked")
- List<Pair<AbsoluteDate, PVCoordinates>> pv = Arrays.asList(
+ List<TimeStampedPVCoordinates> pv = Arrays.asList(
createPV(t0, 0.000, -1545168.478, -7001985.361, 0.000, -1095.152224, 231.344922, -7372.851944),
createPV(t0, 1.000, -1546262.794, -7001750.226, -7372.851, -1093.478904, 238.925123, -7372.847995),
createPV(t0, 2.000, -1547355.435, -7001507.511, -14745.693, -1091.804408, 246.505033, -7372.836044),
@@ -113,8 +113,7 @@ public class RuggedTest {
createPV(t0,19.000, -1565673.105, -6996221.923, -140075.049, -1063.159684, 375.311060, -7371.408591),
createPV(t0,20.000, -1566735.417, -6995842.825, -147446.380, -1061.464319, 382.884328, -7371.252616));
- @SuppressWarnings("unchecked")
- List<Pair<AbsoluteDate, Rotation>> q = Arrays.asList(
+ List<TimeStampedAngularCoordinates> q = Arrays.asList(
createQ(t0, 0.000, 0.516354347549, -0.400120145429, 0.583012133139, 0.483093065155),
createQ(t0, 1.000, 0.516659035405, -0.399867643627, 0.582741754688, 0.483302551263),
createQ(t0, 2.000, 0.516963581177, -0.399615033309, 0.582471217473, 0.483511904409),
@@ -144,7 +143,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- pv.get(0).getFirst(), pv.get(pv.size() - 1).getFirst(),
+ pv.get(0).getDate(), pv.get(pv.size() - 1).getDate(),
pv, 8, q, 8);
Assert.assertTrue(rugged.isLightTimeCorrected());
@@ -194,8 +193,7 @@ public class RuggedTest {
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(new File(path)));
AbsoluteDate t0 = new AbsoluteDate("2012-01-01T00:00:00", TimeScalesFactory.getUTC());
- @SuppressWarnings("unchecked")
- List<Pair<AbsoluteDate, PVCoordinates>> pv = Arrays.asList(
+ List<TimeStampedPVCoordinates> pv = Arrays.asList(
createPV(t0, 0.000, -1545168.478, -7001985.361, 0.000, -1095.152224, 231.344922, -7372.851944),
createPV(t0, 1.000, -1546262.794, -7001750.226, -7372.851, -1093.478904, 238.925123, -7372.847995),
createPV(t0, 2.000, -1547355.435, -7001507.511, -14745.693, -1091.804408, 246.505033, -7372.836044),
@@ -208,8 +206,7 @@ public class RuggedTest {
createPV(t0, 9.000, -1554956.960, -6999596.289, -66354.697, -1080.050134, 299.555578, -7372.528320),
createPV(t0,10.000, -1556036.168, -6999292.945, -73727.188, -1078.366288, 307.132868, -7372.452352));
- @SuppressWarnings("unchecked")
- List<Pair<AbsoluteDate, Rotation>> q = Arrays.asList(
+ List<TimeStampedAngularCoordinates> q = Arrays.asList(
createQ(t0, 4.000, 0.517572246112, -0.399109487434, 0.581929667081, 0.483930211565),
createQ(t0, 5.000, 0.517876365096, -0.398856552030, 0.581658654071, 0.484139165451),
createQ(t0, 6.000, 0.518180341637, -0.398603508416, 0.581387482627, 0.484347986126),
@@ -623,8 +620,8 @@ public class RuggedTest {
TimeScale gps = TimeScalesFactory.getGPS();
Frame eme2000 = FramesFactory.getEME2000();
Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, true);
- ArrayList<Pair<AbsoluteDate, Rotation>> satelliteQList = new ArrayList<Pair<AbsoluteDate, Rotation>>();
- ArrayList<Pair<AbsoluteDate, PVCoordinates>> satellitePVList = new ArrayList<Pair<AbsoluteDate, PVCoordinates>>();
+ 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);
@@ -653,7 +650,7 @@ public class RuggedTest {
TileUpdater updater = new RandomLandscapeUpdater(0.0, 9000.0, 0.5, 0xf0a401650191f9f6l, FastMath.toRadians(1.0), 257);
Rugged rugged = new Rugged(updater, 8,
AlgorithmId.DUVENHAGE, EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- satellitePVList.get(0).getFirst(), satellitePVList.get(satellitePVList.size() - 1).getFirst(),
+ satellitePVList.get(0).getDate(), satellitePVList.get(satellitePVList.size() - 1).getDate(),
satellitePVList, 8,
satelliteQList, 8);
@@ -727,7 +724,7 @@ public class RuggedTest {
* @throws OrekitException
*/
protected void addSatellitePV(TimeScale gps, Frame eme2000, Frame itrf,
- ArrayList<Pair<AbsoluteDate, PVCoordinates>> satellitePVList,
+ ArrayList<TimeStampedPVCoordinates> satellitePVList,
String absDate,
double px, double py, double pz, double vx, double vy, double vz)
throws OrekitException {
@@ -738,9 +735,7 @@ public class RuggedTest {
Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
Vector3D pEME2000 = transform.transformPosition(pvITRF.getPosition());
Vector3D vEME2000 = transform.transformVector(pvITRF.getVelocity());
- PVCoordinates pvCoords = new PVCoordinates(pEME2000, vEME2000);
- Pair<AbsoluteDate, PVCoordinates> pair = new Pair<AbsoluteDate, PVCoordinates>(ephemerisDate, pvCoords);
- satellitePVList.add(pair);
+ satellitePVList.add(new TimeStampedPVCoordinates(ephemerisDate, pEME2000, vEME2000));
}
/**
@@ -753,11 +748,11 @@ public class RuggedTest {
* @param q2
* @param q3
*/
- protected void addSatelliteQ(TimeScale gps, ArrayList<Pair<AbsoluteDate, Rotation>> satelliteQList, String absDate, double q0, double q1, double q2,
+ protected 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);
- Pair<AbsoluteDate, Rotation> pair = new Pair<AbsoluteDate, Rotation>(attitudeDate, rotation);
+ TimeStampedAngularCoordinates pair = new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO);
satelliteQList.add(pair);
}
@@ -903,53 +898,57 @@ public class RuggedTest {
return list;
}
- private Pair<AbsoluteDate, PVCoordinates> createPV(AbsoluteDate t0, double dt,
- double px, double py, double pz,
- double vx, double vy, double vz) {
- return new Pair<AbsoluteDate, PVCoordinates>(t0.shiftedBy(dt),
- new PVCoordinates(new Vector3D(px, py, pz),
- new Vector3D(vx, vy, vz)));
+ private TimeStampedPVCoordinates createPV(AbsoluteDate t0, double dt,
+ double px, double py, double pz,
+ double vx, double vy, double vz) {
+ return new TimeStampedPVCoordinates(t0.shiftedBy(dt),
+ new Vector3D(px, py, pz),
+ new Vector3D(vx, vy, vz));
}
- private Pair<AbsoluteDate, Rotation> createQ(AbsoluteDate t0, double dt,
+ private TimeStampedAngularCoordinates createQ(AbsoluteDate t0, double dt,
double q0, double q1, double q2, double q3) {
- return new Pair<AbsoluteDate, Rotation>(t0.shiftedBy(dt), new Rotation(q0, q1, q2, q3, true));
+ return new TimeStampedAngularCoordinates(t0.shiftedBy(dt),
+ new Rotation(q0, q1, q2, q3, true),
+ Vector3D.ZERO);
}
- private List<Pair<AbsoluteDate, PVCoordinates>> orbitToPV(Orbit orbit, BodyShape earth,
- LineDatation lineDatation, int firstLine, int lastLine,
- double step)
+ private List<TimeStampedPVCoordinates> orbitToPV(Orbit orbit, BodyShape earth,
+ LineDatation lineDatation, int firstLine, int lastLine,
+ double step)
throws PropagationException {
Propagator propagator = new KeplerianPropagator(orbit);
propagator.setAttitudeProvider(new YawCompensation(new NadirPointing(earth)));
propagator.propagate(lineDatation.getDate(firstLine).shiftedBy(-1.0));
- final List<Pair<AbsoluteDate, PVCoordinates>> list = new ArrayList<Pair<AbsoluteDate, PVCoordinates>>();
+ final List<TimeStampedPVCoordinates> list = new ArrayList<TimeStampedPVCoordinates>();
propagator.setMasterMode(step, new OrekitFixedStepHandler() {
public void init(SpacecraftState s0, AbsoluteDate t) {
}
public void handleStep(SpacecraftState currentState, boolean isLast) {
- list.add(new Pair<AbsoluteDate, PVCoordinates>(currentState.getDate(),
- currentState.getPVCoordinates()));
+ list.add(new TimeStampedPVCoordinates(currentState.getDate(),
+ currentState.getPVCoordinates().getPosition(),
+ currentState.getPVCoordinates().getVelocity()));
}
});
propagator.propagate(lineDatation.getDate(lastLine).shiftedBy(+1.0));
return list;
}
- private List<Pair<AbsoluteDate, Rotation>> orbitToQ(Orbit orbit, BodyShape earth,
- LineDatation lineDatation, int firstLine, int lastLine,
- double step)
+ private List<TimeStampedAngularCoordinates> orbitToQ(Orbit orbit, BodyShape earth,
+ LineDatation lineDatation, int firstLine, int lastLine,
+ double step)
throws PropagationException {
Propagator propagator = new KeplerianPropagator(orbit);
propagator.setAttitudeProvider(new YawCompensation(new NadirPointing(earth)));
propagator.propagate(lineDatation.getDate(firstLine).shiftedBy(-1.0));
- final List<Pair<AbsoluteDate, Rotation>> list = new ArrayList<Pair<AbsoluteDate, Rotation>>();
+ final List<TimeStampedAngularCoordinates> list = new ArrayList<TimeStampedAngularCoordinates>();
propagator.setMasterMode(step, new OrekitFixedStepHandler() {
public void init(SpacecraftState s0, AbsoluteDate t) {
}
public void handleStep(SpacecraftState currentState, boolean isLast) {
- list.add(new Pair<AbsoluteDate, Rotation>(currentState.getDate(),
- currentState.getAttitude().getRotation()));
+ list.add(new TimeStampedAngularCoordinates(currentState.getDate(),
+ currentState.getAttitude().getRotation(),
+ Vector3D.ZERO));
}
});
propagator.propagate(lineDatation.getDate(lastLine).shiftedBy(+1.0));