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 89312672c2fb1f705d9f781d0db8c9d68e69d5c3..bd3b4d9256fb1dc20861de6b7978a54f325808a9 100644
--- a/core/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/core/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -108,6 +108,7 @@ public class Rugged {
* @param bodyRotatingFrameID identifier of body rotating frame
* @param minDate start of search time span
* @param maxDate end of search time span
+ * @param overshootTolerance tolerance in seconds allowed for {@code minDate} and {@code maxDate} overshooting
* @param positionsVelocities satellite position and velocity
* @param pvInterpolationOrder order to use for position/velocity interpolation
* @param quaternions satellite quaternions
@@ -118,13 +119,13 @@ public class Rugged {
public Rugged(final TileUpdater updater, final int maxCachedTiles,
final AlgorithmId algorithmID, final EllipsoidId ellipsoidID,
final InertialFrameId inertialFrameID, final BodyRotatingFrameId bodyRotatingFrameID,
- final AbsoluteDate minDate, final AbsoluteDate maxDate,
+ final AbsoluteDate minDate, final AbsoluteDate maxDate, final double overshootTolerance,
final List<TimeStampedPVCoordinates> positionsVelocities, final int pvInterpolationOrder,
final List<TimeStampedAngularCoordinates> quaternions, final int aInterpolationOrder)
throws RuggedException {
this(updater, maxCachedTiles, algorithmID,
selectEllipsoid(ellipsoidID, selectBodyRotatingFrame(bodyRotatingFrameID)),
- selectInertialFrame(inertialFrameID), minDate, maxDate,
+ selectInertialFrame(inertialFrameID), minDate, maxDate, overshootTolerance,
positionsVelocities, pvInterpolationOrder, quaternions, aInterpolationOrder);
}
@@ -144,6 +145,7 @@ public class Rugged {
* @param inertialFrame inertial frame
* @param minDate start of search time span
* @param maxDate end of search time span
+ * @param overshootTolerance tolerance in seconds allowed for {@code minDate} and {@code maxDate} overshooting
* @param positionsVelocities satellite position and velocity
* @param pvInterpolationOrder order to use for position/velocity interpolation
* @param quaternions satellite quaternions
@@ -153,7 +155,7 @@ 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 AbsoluteDate minDate, final AbsoluteDate maxDate, final double overshootTolerance,
final List<TimeStampedPVCoordinates> positionsVelocities, final int pvInterpolationOrder,
final List<TimeStampedAngularCoordinates> quaternions, final int aInterpolationOrder)
throws RuggedException {
@@ -163,7 +165,7 @@ public class Rugged {
// orbit/attitude to body converter
this.scToBody = new SpacecraftToObservedBody(inertialFrame, ellipsoid.getBodyFrame(),
- minDate, maxDate,
+ minDate, maxDate, overshootTolerance,
positionsVelocities, pvInterpolationOrder,
quaternions, aInterpolationOrder,
FRAMES_TRANSFORMS_INTERPOLATION_STEP);
@@ -196,6 +198,7 @@ public class Rugged {
* @param bodyRotatingFrameID identifier of body rotating frame
* @param minDate start of search time span
* @param maxDate end of search time span
+ * @param overshootTolerance tolerance in seconds allowed for {@code minDate} and {@code maxDate} overshooting
* @param interpolationStep step to use for inertial/Earth/spacraft transforms interpolations
* @param interpolationOrder order to use for inertial/Earth/spacraft transforms interpolations
* @param propagator global propagator
@@ -204,12 +207,12 @@ public class Rugged {
public Rugged(final TileUpdater updater, final int maxCachedTiles,
final AlgorithmId algorithmID, final EllipsoidId ellipsoidID,
final InertialFrameId inertialFrameID, final BodyRotatingFrameId bodyRotatingFrameID,
- final AbsoluteDate minDate, final AbsoluteDate maxDate,
+ final AbsoluteDate minDate, final AbsoluteDate maxDate, final double overshootTolerance,
final double interpolationStep, final int interpolationOrder, final Propagator propagator)
throws RuggedException {
this(updater, maxCachedTiles, algorithmID,
selectEllipsoid(ellipsoidID, selectBodyRotatingFrame(bodyRotatingFrameID)),
- selectInertialFrame(inertialFrameID), minDate, maxDate,
+ selectInertialFrame(inertialFrameID), minDate, maxDate, overshootTolerance,
interpolationStep, interpolationOrder, propagator);
}
@@ -229,6 +232,7 @@ public class Rugged {
* @param inertialFrame inertial frame
* @param minDate start of search time span
* @param maxDate end of search time span
+ * @param overshootTolerance tolerance in seconds allowed for {@code minDate} and {@code maxDate} overshooting
* @param interpolationStep step to use for inertial/Earth/spacraft transforms interpolations
* @param interpolationOrder order to use for inertial/Earth/spacraft transforms interpolations
* @param propagator global propagator
@@ -236,7 +240,7 @@ 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 AbsoluteDate minDate, final AbsoluteDate maxDate, final double overshootTolerance,
final double interpolationStep, final int interpolationOrder, final Propagator propagator)
throws RuggedException {
try {
@@ -276,7 +280,7 @@ public class Rugged {
// orbit/attitude to body converter
this.scToBody = new SpacecraftToObservedBody(inertialFrame, ellipsoid.getBodyFrame(),
- minDate, maxDate,
+ minDate, maxDate, overshootTolerance,
positionsVelocities, interpolationOrder,
quaternions, interpolationOrder,
FRAMES_TRANSFORMS_INTERPOLATION_STEP);
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 bad7398da486fd09b4763b35fd783835ccb46bd5..8fe52aaf90cbdb5bce62e63722431518149a3251 100644
--- a/core/src/main/java/org/orekit/rugged/utils/SpacecraftToObservedBody.java
+++ b/core/src/main/java/org/orekit/rugged/utils/SpacecraftToObservedBody.java
@@ -61,16 +61,19 @@ public class SpacecraftToObservedBody {
* @param bodyFrame observed body frame
* @param minDate start of search time span
* @param maxDate end of search time span
+ * @param overshootTolerance tolerance in seconds allowed for {@code minDate} and {@code maxDate} overshooting
+ * slightly the position, velocity and quaternions ephemerides
* @param positionsVelocities satellite position and velocity
* @param pvInterpolationOrder order to use for position/velocity interpolation
* @param quaternions satellite quaternions
* @param aInterpolationOrder order to use for attitude interpolation
* @param tStep step to use for inertial frame to body frame transforms cache computations
- * @exception RuggedException if position or attitude samples do not fully cover the
- * [{@code minDate}, {@code maxDate}] search time span
+ * @exception RuggedException if [{@code minDate}, {@code maxDate}] search time span overshoots
+ * position or attitude samples by more than {@code overshootTolerance}
+ * ,
*/
public SpacecraftToObservedBody(final Frame inertialFrame, final Frame bodyFrame,
- final AbsoluteDate minDate, final AbsoluteDate maxDate,
+ final AbsoluteDate minDate, final AbsoluteDate maxDate, final double overshootTolerance,
final List<TimeStampedPVCoordinates> positionsVelocities, final int pvInterpolationOrder,
final List<TimeStampedAngularCoordinates> quaternions, final int aInterpolationOrder,
final double tStep)
@@ -83,19 +86,19 @@ public class SpacecraftToObservedBody {
// safety checks
final AbsoluteDate minPVDate = positionsVelocities.get(0).getDate();
final AbsoluteDate maxPVDate = positionsVelocities.get(positionsVelocities.size() - 1).getDate();
- if (minDate.compareTo(minPVDate) < 0) {
+ if (minPVDate.durationFrom(minDate) > overshootTolerance) {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, minDate, minPVDate, maxPVDate);
}
- if (maxDate.compareTo(maxPVDate) > 0) {
+ if (maxDate.durationFrom(maxDate) > overshootTolerance) {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, maxDate, minPVDate, maxPVDate);
}
final AbsoluteDate minQDate = quaternions.get(0).getDate();
final AbsoluteDate maxQDate = quaternions.get(quaternions.size() - 1).getDate();
- if (minDate.compareTo(minQDate) < 0) {
+ if (minQDate.durationFrom(minDate) > overshootTolerance) {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, minDate, minQDate, maxQDate);
}
- if (maxDate.compareTo(maxQDate) > 0) {
+ if (maxDate.durationFrom(maxQDate) > overshootTolerance) {
throw new RuggedException(RuggedMessages.OUT_OF_TIME_RANGE, maxDate, minQDate, maxQDate);
}
@@ -114,13 +117,35 @@ public class SpacecraftToObservedBody {
this.scToInertial = new ArrayList<Transform>(n);
for (AbsoluteDate date = minDate; bodyToInertial.size() < n; date = date.shiftedBy(tStep)) {
- // interpolate position-velocity
- final TimeStampedPVCoordinates pv =
- TimeStampedPVCoordinates.interpolate(date, CartesianDerivativesFilter.USE_PV, pvCache.getNeighbors(date));
-
- // interpolate attitude
- final TimeStampedAngularCoordinates quaternion =
- TimeStampedAngularCoordinates.interpolate(date, AngularDerivativesFilter.USE_R, aCache.getNeighbors(date));
+ // interpolate position-velocity, allowing slight extrapolation near the boundaries
+ final AbsoluteDate pvInterpolationDate;
+ if (date.compareTo(pvCache.getEarliest().getDate()) < 0) {
+ pvInterpolationDate = pvCache.getEarliest().getDate();
+ } else if (date.compareTo(pvCache.getLatest().getDate()) > 0) {
+ pvInterpolationDate = pvCache.getLatest().getDate();
+ } else {
+ pvInterpolationDate = date;
+ }
+ final TimeStampedPVCoordinates interpolatedPV =
+ TimeStampedPVCoordinates.interpolate(pvInterpolationDate,
+ CartesianDerivativesFilter.USE_PV,
+ pvCache.getNeighbors(pvInterpolationDate));
+ final TimeStampedPVCoordinates pv = interpolatedPV.shiftedBy(date.durationFrom(pvInterpolationDate));
+
+ // interpolate attitude, allowing slight extrapolation near the boundaries
+ final AbsoluteDate aInterpolationDate;
+ if (date.compareTo(aCache.getEarliest().getDate()) < 0) {
+ aInterpolationDate = aCache.getEarliest().getDate();
+ } else if (date.compareTo(aCache.getLatest().getDate()) > 0) {
+ aInterpolationDate = aCache.getLatest().getDate();
+ } else {
+ aInterpolationDate = date;
+ }
+ final TimeStampedAngularCoordinates interpolatedQuaternion =
+ TimeStampedAngularCoordinates.interpolate(aInterpolationDate,
+ AngularDerivativesFilter.USE_R,
+ aCache.getNeighbors(aInterpolationDate));
+ final TimeStampedAngularCoordinates quaternion = interpolatedQuaternion.shiftedBy(date.durationFrom(aInterpolationDate));
// store transform from spacecraft frame to inertial frame
scToInertial.add(new Transform(date,
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 632c3faef088061055c24d5511ff665fb341c7f7..48546ba8e5a5fee1404a61496cf532514d06b354 100644
--- a/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -143,7 +143,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- pv.get(0).getDate(), pv.get(pv.size() - 1).getDate(),
+ pv.get(0).getDate(), pv.get(pv.size() - 1).getDate(), 5.0,
pv, 8, q, 8);
Assert.assertTrue(rugged.isLightTimeCorrected());
@@ -173,7 +173,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- orbit.getDate().shiftedBy(-10.0), orbit.getDate().shiftedBy(+10.0),
+ orbit.getDate().shiftedBy(-10.0), orbit.getDate().shiftedBy(+10.0), 5.0,
1.0, 8, propagator);
Assert.assertTrue(rugged.isLightTimeCorrected());
@@ -220,11 +220,11 @@ public class RuggedTest {
Assert.assertNotNull(new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- t0.shiftedBy(4), t0.shiftedBy(6), pv, 2, q, 2));
+ t0.shiftedBy(4), t0.shiftedBy(6), 5.0, pv, 2, q, 2));
try {
new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- t0.shiftedBy(-1), t0.shiftedBy(6), pv, 2, q, 2);
+ t0.shiftedBy(-1), t0.shiftedBy(6), 0.0001, pv, 2, q, 2);
} catch (RuggedException re) {
Assert.assertEquals(RuggedMessages.OUT_OF_TIME_RANGE, re.getSpecifier());
Assert.assertEquals(t0.shiftedBy(-1), re.getParts()[0]);
@@ -233,7 +233,7 @@ public class RuggedTest {
try {
new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- t0.shiftedBy(2), t0.shiftedBy(6), pv, 2, q, 2);
+ t0.shiftedBy(2), t0.shiftedBy(6), 0.0001, pv, 2, q, 2);
} catch (RuggedException re) {
Assert.assertEquals(RuggedMessages.OUT_OF_TIME_RANGE, re.getSpecifier());
Assert.assertEquals(t0.shiftedBy(2), re.getParts()[0]);
@@ -242,7 +242,7 @@ public class RuggedTest {
try {
new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- t0.shiftedBy(4), t0.shiftedBy(9), pv, 2, q, 2);
+ t0.shiftedBy(4), t0.shiftedBy(9), 0.0001, pv, 2, q, 2);
} catch (RuggedException re) {
Assert.assertEquals(RuggedMessages.OUT_OF_TIME_RANGE, re.getSpecifier());
Assert.assertEquals(t0.shiftedBy(9), re.getParts()[0]);
@@ -251,7 +251,7 @@ public class RuggedTest {
try {
new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- t0.shiftedBy(4), t0.shiftedBy(12), pv, 2, q, 2);
+ t0.shiftedBy(4), t0.shiftedBy(12), 0.0001, pv, 2, q, 2);
} catch (RuggedException re) {
Assert.assertEquals(RuggedMessages.OUT_OF_TIME_RANGE, re.getSpecifier());
Assert.assertEquals(t0.shiftedBy(12), re.getParts()[0]);
@@ -305,7 +305,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- lineDatation.getDate(firstLine), lineDatation.getDate(lastLine),
+ lineDatation.getDate(firstLine), lineDatation.getDate(lastLine), 5.0,
1.0 / lineDatation.getRate(0.0), 8, ephemeris);
rugged.setLightTimeCorrection(true);
rugged.setAberrationOfLightCorrection(true);
@@ -380,7 +380,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(null, -1, AlgorithmId.IGNORE_DEM_USE_ELLIPSOID,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- minDate, maxDate,
+ minDate, maxDate, 5.0,
orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 8,
orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 2);
@@ -433,7 +433,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(null, -1, AlgorithmId.IGNORE_DEM_USE_ELLIPSOID,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- minDate, maxDate,
+ minDate, maxDate, 5.0,
orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 8,
orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 2);
@@ -491,7 +491,7 @@ public class RuggedTest {
Rugged ruggedFull = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- minDate, maxDate,
+ minDate, maxDate, 5.0,
orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 8,
orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 2);
ruggedFull.addLineSensor(lineSensor);
@@ -499,7 +499,7 @@ public class RuggedTest {
Rugged ruggedFlat = new Rugged(updater, 8, AlgorithmId.DUVENHAGE_FLAT_BODY,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- minDate, maxDate,
+ minDate, maxDate, 5.0,
orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 8,
orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 2);
ruggedFlat.addLineSensor(lineSensor);
@@ -562,7 +562,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- minDate, maxDate,
+ minDate, maxDate, 5.0,
orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 8,
orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 2);
rugged.setLightTimeCorrection(true);
@@ -671,7 +671,7 @@ 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).getDate(), satellitePVList.get(satellitePVList.size() - 1).getDate(),
+ satellitePVList.get(0).getDate(), satellitePVList.get(satellitePVList.size() - 1).getDate(), 5.0,
satellitePVList, 8,
satelliteQList, 8);
@@ -824,7 +824,7 @@ public class RuggedTest {
Rugged rugged = new Rugged(updater, 8, AlgorithmId.DUVENHAGE,
EllipsoidId.WGS84, InertialFrameId.EME2000, BodyRotatingFrameId.ITRF,
- minDate, maxDate,
+ minDate, maxDate, 5.0,
orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 8,
orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25), 2);
rugged.setLightTimeCorrection(lightTimeCorrection);