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Commit d3ab67e6 authored by Luc Maisonobe's avatar Luc Maisonobe
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Initialized site documentation.

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src/site/resources/images/rugged-architecture.png

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src/site/site.xml
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...@@ -16,12 +16,12 @@ ...@@ -16,12 +16,12 @@
<project name="Rugged"> <project name="Rugged">
<bannerLeft> <bannerLeft>
<name>CS Syst&#232;mes d&#039;Information</name> <name>CS Syst&#232;mes d&#039;Information</name>
<src>/images/logo_cs_2008_ang.jpg</src> <src>/images/cs_logiciel_dev_32pixelsgri.png</src>
<href>http://uk.c-s.fr/</href> <href>http://www.c-s.fr/</href>
</bannerLeft> </bannerLeft>
<bannerRight> <bannerRight>
<name>Rugged</name> <name>Rugged</name>
<src>/images/orekit-logo.png</src> <src>/images/rugged-logo.png</src>
<href>/index.html</href> <href>/index.html</href>
</bannerRight> </bannerRight>
<body> <body>
...@@ -29,33 +29,15 @@ ...@@ -29,33 +29,15 @@
<item name="Overview" href="/index.html" /> <item name="Overview" href="/index.html" />
<item name="Getting the sources" href="/sources.html" /> <item name="Getting the sources" href="/sources.html" />
<item name="Building" href="/building.html" /> <item name="Building" href="/building.html" />
<item name="Configuration" href="/configuration.html" />
<item name="FAQ" href="/faq.html" /> <item name="FAQ" href="/faq.html" />
<item name="License" href="/license.html" /> <item name="License" href="/license.html" />
<item name="Downloads" href="/downloads.html" /> <item name="Downloads" href="/downloads.html" />
<item name="Changes" href="/changes-report.html" /> <item name="Changes" href="/changes-report.html" />
<item name="Training" href="/training.html" />
<item name="Contact" href="/contact.html" /> <item name="Contact" href="/contact.html" />
</menu> </menu>
<menu name="Architecture"> <menu name="Design">
<item name="Attitudes" href="/architecture/attitudes.html" /> <item name="Overview" href="/design/overview.html" />
<item name="Bodies" href="/architecture/bodies.html" />
<item name="Errors" href="/architecture/errors.html" />
<item name="Forces" href="/architecture/forces.html" />
<item name="Frames" href="/architecture/frames.html" />
<item name="Orbits" href="/architecture/orbits.html" />
<item name="Propagation" href="/architecture/propagation.html" />
<item name="Time" href="/architecture/time.html" />
<item name="Tle" href="/architecture/tle.html" />
<item name="Utils" href="/architecture/utils.html" />
</menu> </menu>
<menu name="Tutorial">
<item name="Attitude" href="/tutorial/attitude.html" />
<item name="Frames" href="/tutorial/frames.html" />
<item name="Propagation" href="/tutorial/propagation.html" />
<item name="Time" href="/tutorial/time.html" />
<item name="Geomagnetic field" href="/tutorial/geomagnetic-field.html" />
</menu>
<menu name="Development"> <menu name="Development">
<item name="Contributing" href="/contributing.html" /> <item name="Contributing" href="/contributing.html" />
<item name="Guidelines" href="/guidelines.html" /> <item name="Guidelines" href="/guidelines.html" />
......
src/site/xdoc/changes.xml 0 → 100644
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<?xml version="1.0" encoding="UTF-8" ?>
<!-- Copyright 2002-2014 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.
-->
<document>
<properties>
<title>Rugged Changes</title>
</properties>
<body>
<release version="1.0" date="TBD"
description="TBD">
<action dev="luc" type="update">
Swtiched maven configuration to multi-modules.
</action>
<action dev="luc" type="update">
Updated UML diagrams.
</action>
<action dev="luc" type="update">
Moved TileUpdate to raster package.
</action>
<action dev="luc" type="update">
Finalized direct localization diagrams.
</action>
<action dev="luc" type="update">
renamed core package into intersection.
</action>
<action dev="luc" type="update">
Created a utils package.
</action>
<action dev="luc" type="update">
Moved raster package one level up.
</action>
<action dev="luc" type="fix">
Fixed top package name.
</action>
<action dev="luc" type="update">
Updated maven plugins versions.
</action>
<action dev="luc" type="update">
Updated Apache Commons Version as 3.3 has now been released.
</action>
<action dev="luc" type="update">
Updated Orekit version.
</action>
<action dev="luc" type="update">
Improved performance.
</action>
<action dev="luc" type="update">
Disabled timing test for inverse localization.
</action>
<action dev="luc" type="update">
Improved inverse localization speed again!
</action>
<action dev="luc" type="update">
Added inverse localization from latitude and longitude only.
When only latitude and longitude are specified, the elevation is
automatically computed from the Digital Elevation Model.
</action>
<action dev="luc" type="update">
Simplified direct localization.
</action>
<action dev="luc" type="update">
Improved inverse localization performances.
</action>
<action dev="luc" type="update">
Added rate to the LineDatation interface.
</action>
<action dev="luc" type="update">
Disable timing test by default.
</action>
<action dev="luc" type="update">
Renamed setLineSensor into addLineSensor.
The new name explains more clearly that several sensors can be set up at
once.
</action>
<action dev="luc" type="fix">
First working version of inverse localization.
</action>
<action dev="luc" type="update">
Streamlined line sensor model.
We now use a single position for all pixels (but of course still
different line-of-sight vectors), as it doesn't really make sense to
consider different positions as pixels are only a few microns away from
each other.
</action>
<action dev="luc" type="update">
Ensure sensor mean plane normal has a deterministic orientation.
</action>
<action dev="luc" type="update">
Slightly changed the intersection refinement in flat-body.
</action>
<action dev="luc" type="update">
Added a flat-body implementation of refineIntersection.
The former implementation ignored the flat-body flag and in fact
corrected the flat-body ...
</action>
<action dev="luc" type="fix">
Fixed mean reference point position.
</action>
<action dev="luc" type="update">
Improved light time correction.
The current altitude must be considered when computing light time
correction. Previous computation was slightly wrong as it only computed
light time from the ellipsoid. This induced problems when computing
inverse correction.
</action>
<action dev="luc" type="fix">
Fixed computation of latitude crossings for line of sight.
In some cases, the line of sight has two intersections with a given
iso-latitude cone, and the selecting the closes one to spacecraft was
not always the appropriate choice. An hint from the caller was needed,
as a point close to the desired intersection.
</action>
<action dev="luc" type="fix">
Fixed non-bracketing error near start of sensor line.
</action>
<action dev="luc" type="update">
Moved reference date from Rugged top class to LineDatation model.
</action>
<action dev="luc" type="update">
Remove check for context, which is ensured since construction.
</action>
<action dev="luc" type="update">
Improved speed of inverse localization test.
</action>
<action dev="luc" type="fix">
First working version of inverse localization.
It works in simple cases (no light time correction and no aberration of
light correction), and is still really slow.
</action>
<action dev="luc" type="add">
Started implementation of inverse localization (not working yet).
</action>
<action dev="luc" type="update">
Removed a check that is not needed anymore.
The indices are now checked at caller level.
</action>
<action dev="luc" type="update">
Added an option to use Duvenhage algorithm with flat-Earth hypothesis.
This option is mainly intended for comparison with existing systems. It
should not be used for operational systems and the full Duvenhage
algorithm with line-of-sight bending in geodetic coordinates should be
used instead.
</action>
<action dev="luc" type="fix">
Avoid array bounds error when interpolating exactly at tile edges.
</action>
<action dev="luc" type="update">
Added automatic mean plane computation for line sensors.
This will allow implementing inverse localization.
</action>
<action dev="luc" type="update">
Allow direct use of Orekit inertial frames and ellipsoids.
</action>
<action dev="luc" type="update">
Added optional aberration of light correction.
</action>
<action dev="luc" type="update">
Renamed ligth travel time compensation into light time correction.
This better matches physics naming conventions.
</action>
<action dev="luc" type="update">
Moved light travel compensation setting out of construction.
This setting is not intended to be used often (in fact it should be used
only for validation against other systems), so forcing user to set it in
all cases was a bad idea. Now the default configuration is to compensate
and if user does not want to compensate, he can inhibate it by calling a
separate method after construction.
</action>
<action dev="luc" type="update">
Fixing light travel time or not is now a user setting.
</action>
<action dev="luc" type="update">
Configure tiles updater at construction time.
</action>
<action dev="luc" type="update">
Replaced setGeneralContext with constructors.
</action>
<action dev="luc" type="update">
Replaced Rugged interface with a class.
</action>
<action dev="luc" type="update">
Moved enumerates out of Rugged top level interface.
</action>
<action dev="luc" type="update">
Removed SatellitePV and SatelliteQ classes.
We now use directly Orekit PVCoordinates and Apache Commons Math
Rotation classes.
</action>
<action dev="luc" type="update">
Remove GroundPoint class.
We use directly the Orekit GeodeticPoint now.
</action>
<action dev="luc" type="add">
Added ITRF equinox, for applications that rely on it...
</action>
<action dev="luc" type="fix">
Fixed virtual "wall" appearing at tiles boundaries.
</action>
<action dev="luc" type="fix">
Avoid an infinite loop near tiles boundaries.
</action>
<action dev="luc" type="fix">
Fixed error loading elevation from Aster files.
</action>
<action dev="luc" type="update">
Improved accuracy by taking speed of light into account in transforms.
</action>
<action dev="luc" type="update">
Slight speed-up with a dedicated pointOnGround method.
</action>
<action dev="luc" type="update">
Added writing of grid file to full test.
</action>
<action dev="luc" type="update">
Don't use a numerical propagator within direct localization.
As the time between each line is really small (milliseconds), it is
better to propagate first and use an ephemeris later.
</action>
<action dev="luc" type="add">
New global test (temporary, much too computing intensive).
</action>
<action dev="luc" type="add">
Added a default linear model for line datation.
</action>
<action dev="luc" type="update">
Avoid line-of-sight splitting before its start.
</action>
<action dev="luc" type="fix">
Fixed a numerical issue at tile exit.
The low point at tile minimum elevation was computed with a tiny
positive error, meaning the point really was above min elevation (at
micrometer level). The line segment between entry and exit stopped just
before traversing the Digital Elevation Model, and an error was
triggered.
The solution was to take some margin when computing the segment
endpoints at entry and exit: we now start above max elevation and end
below min elevation so the intersection should be really on the line.
</action>
<action dev="luc" type="update">
Greatly improved accuracy of direct localization.
There were some small errors (at centimeter level) as result points may
be slightly out of line of sight. These errors seemed to be due to the
final linear line-of-sight model that is used at pixel level.
An iterative correction step is performed to ensure the point is really
on the line-of-sight.
The residual error is now at nanometer level.
</action>
<action dev="luc" type="add">
Allow tolerance for intersections close to pixel edges.
</action>
<action dev="luc" type="update">
Use the four corners of each pixel to initialize min/max kd-tree.
</action>
<action dev="luc" type="update">
Use point and direction rather than two points for pixel intersection.
</action>
<action dev="luc" type="update">
Added a los conversion between Cartesian and geodetic coordinates.
The conversion is of course accurate only in the neighborhood of the
reference point, as a straight line in Cartesian is not a straight line
in geodetic coordinates. What is converted is the initial direction so
the two curves are tangent at the reference point.
Near Earth surface, the two curves remain within one millimeter of each
other after about 100 m travel.
</action>
<action dev="luc" type="fix">
First working version of Duvenhage algorithm!
</action>
<action dev="luc" type="fix">
Handle degenerate intersection cases.
The cases handled include linear cases (when Digital Elevation Model has
zero curvature) and constant cases (no curvature and line-of-sight
parallel to tile, both in or out-of-tile).
</action>
<action dev="luc" type="fix">
First working version of BasicScanAlgorithm.
The case where the line-of-sight enters the Digital Elevation Model in
one tile on top and exit it in another tile on bottom is not tested yet.
</action>
<action dev="luc" type="add">
Added tests for BasicScanAlgorithm.
</action>
<action dev="luc" type="update">
Don't exclude endpoints when un-merging tiles.
</action>
<action dev="luc" type="update">
Changed private method arguments order for easier understanding.
</action>
<action dev="luc" type="fix">
Fixed computation of sub-tiles crossings.
</action>
<action dev="luc" type="update">
Added library setup test, with and without Orekit.
</action>
<action dev="luc" type="add">
Prepared framework for more complete flight dynamics tests.
</action>
<action dev="luc" type="update">
Implemented intersection at pixel level.
</action>
<action dev="luc" type="update">
Delegate final pixel intersection to Tile.
</action>
<action dev="luc" type="fix">
Added a basic scan algorithm, for testing and validation purposes.
</action>
<action dev="luc" type="update">
Added line-of-sight splitting at sub-tiles boundaries.
</action>
<action dev="luc" type="update">
Added test for level 0 merging row and tall tile.
</action>
<action dev="luc" type="update">
Added methods getLatitudeAtIndex and getLongitudeAtIndex in Tile.
</action>
<action dev="luc" type="update">
Changed semantics of merge methods so they refer to current level.
</action>
<action dev="luc" type="update">
Renamed package dem into raster.
</action>
<action dev="luc" type="update">
Work In Progress on duvenhage algorithm.
</action>
<action dev="luc" type="update">
Added getMergingRow and getMergingColumn methods.
These methods are essential to identify where to split the line-of-sight
in the Duvenhage algorithm, when going from one level in the min/max
kd-tree to the next level.
</action>
<action dev="luc" type="update">
Added isColumnMerging predicate.
</action>
<action dev="luc" type="update">
Added a tolerance around tile for elevation interpolation.
Elevation is going to be interpolated at tiles entry and exit points,
which are computed from geodetic conversions. The result points may be
very slightly out of tiles, at numerical accuracy level. These points
should nevertheless be allowed to be interpolated using the closest
pixel data, so a tolerance was needed.
The SimpleTile class uses a fixed tolerance, arbitrarily set to 1/8
pixel.
</action>
<action dev="luc" type="fix">
Fixed interpolation error.
</action>
<action dev="luc" type="add">
started implementation of the Duvenhage algorithm.
</action>
<action dev="luc" type="update">
Added getLatitudeIndex and getLongitudeIndex in Tile.
</action>
<action dev="luc" type="fix">
Handle properly tiles boundaries.
Tiles are expected to have no inter-tile gap, i.e. the boundary row/columns are repeated in neighboring tiles.
</action>
<action dev="luc" type="update">
Improved identification of point location with respect to tile.
</action>
<action dev="luc" type="update">
Sensor directly uses points and vectors, and no more Line.
</action>
<action dev="luc" type="update">
Intersection algorithms can use the new ExtendedEllipsoid.
This allows them to chop off line-of-sight at DEM cells boundaries.
</action>
<action dev="luc" type="fix">
Fixed wrong package in tests.
</action>
<action dev="luc" type="add">
Added ExtendedEllipsoid to chop off line-of-sight according to DEM.
</action>
<action dev="luc" type="update">
Split top level class from DEM intersection algorithm.
</action>
<action dev="luc" type="update">
Line numbers are double.
</action>
<action dev="luc" type="add">
Started implementation of direct localization ...
</action>
<action dev="luc" type="update">
Added a protection against unknown sensors.
</action>
<action dev="luc" type="add">
Added configuration for sensor lines of sight.
</action>
<action dev="luc" type="update">
Use an offset from a reference date for all computation.
</action>
<action dev="luc" type="update">
Added a getMergeLevel method to identify when pixels share min/max.
This is a first step towards duvenhage's algorithm.
</action>
<action dev="luc" type="fix">
Working version of min/max kd-tree tile.
</action>
<action dev="luc" type="add">
Started implementation of min/max KD-tree tile.
This is work in progress, the min/max computation seems wrong for now.
</action>
<action dev="luc" type="update">
pixels are double.
</action>
<action dev="luc" type="update">
Added protection against empty tiles.
</action>
<action dev="luc" type="update">
Removed AbastractTile.
Specialized tiles should directly extend SimpleTile.
</action>
<action dev="luc" type="add">
Added global min/max handling for any tile.
</action>
<action dev="luc" type="add">
Prepared first implementation for Duvenhage algorithm.
For now, only the (incomplete) API and classes hierarchy has been set
up. The tile is still a simple tile and does not yet creates the min/max
kd-tree. The algorithm doesn't do anything.
</action>
<action dev="luc" type="update">
Boilerplate part for Rugged interface implementation.
</action>
<action dev="luc" type="update">
Added API for global context initialization.
</action>
<action dev="luc" type="update">
Added containers for parsed position/velocity and attitude.
</action>
<action dev="luc" type="update">
Added a hook called after tile update completion.
</action>
<action dev="luc" type="update">
Force use of factory to create simple tiles.
</action>
<action dev="luc" type="update">
Extract an AbstractTile from SimpleTile
</action>
<action dev="luc" type="update">
Added a simple container for inverse localization result.
</action>
<action dev="luc" type="update">
Expanded API.
</action>
<action dev="luc" type="update">
Use new specialized exceptions.
</action>
<action dev="luc" type="update">
Added error messages handling, with translation.
</action>
<action dev="luc" type="update">
Added design document and diagrams.
</action>
<action dev="luc" type="update">
Implemented TilesCache.
</action>
<action dev="luc" type="update">
Added factory for tiles.
The factory is to be implemented by the DEM intersection algorithm, at
very low level (typically tiles based on min/max kd-tree for Duvenhage
algorithm).
The tile updater on the other hand is the responsibility of the mission
specific interface.
</action>
<action dev="luc" type="update">
Added method to check ground point coverage.
</action>
<action dev="luc" type="update">
Reference latitude/longitude must be the minimum.
This ensures simple search for tiles given a ground point.
</action>
</release>
</body>
</document>
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