From dd1c79a51fea7e140731100dca02b8abcd6965b8 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@orekit.org>
Date: Wed, 14 May 2014 09:29:37 +0200
Subject: [PATCH] Fixed inverse localization.
---
.../rugged/api/SensorMeanPlaneCrossing.java | 41 ++++++++-----------
.../org/orekit/rugged/api/RuggedTest.java | 1 -
2 files changed, 16 insertions(+), 26 deletions(-)
diff --git a/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java b/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java
index f211cc51..4be92b45 100644
--- a/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java
+++ b/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java
@@ -16,7 +16,7 @@
*/
package org.orekit.rugged.api;
-import java.util.ArrayList;
+import java.util.Arrays;
import java.util.List;
import org.apache.commons.math3.analysis.differentiation.DerivativeStructure;
@@ -33,17 +33,17 @@ import org.orekit.utils.PVCoordinates;
/** Class dedicated to when ground point crosses mean sensor plane. */
class SensorMeanPlaneCrossing {
- /** Number of points for frames interpolation. */
- private static final int INTERPOLATION_POINTS = 5;
+ /** Converter between spacecraft and body. */
+ private final SpacecraftToObservedBody scToBody;
/** Line numbers of the middle sample point. */
- private final int midLine;
+ private final double midLine;
/** Transforms sample from observed body frame to inertial frame. */
private final List<Transform> bodyToInertial;
- /** Transforms sample from spacecraft frame to inertial frame. */
- private final List<Transform> scToInertial;
+ /** Transform from inertial frame to spacecraft frame, for middle line. */
+ private final Transform midLineScToInert;
/** Minimum line number in the search interval. */
private final int minLine;
@@ -87,6 +87,7 @@ class SensorMeanPlaneCrossing {
try {
this.sensor = sensor;
+ this.scToBody = scToBody;
this.minLine = minLine;
this.maxLine = maxLine;
this.lightTimeCorrection = lightTimeCorrection;
@@ -94,21 +95,11 @@ class SensorMeanPlaneCrossing {
this.maxEval = maxEval;
this.accuracy = accuracy;
- // compute one the transforms for middle line, as they will be reused
- // as the start point for all searches
- bodyToInertial = new ArrayList<Transform>(INTERPOLATION_POINTS);
- scToInertial = new ArrayList<Transform>(INTERPOLATION_POINTS);
- int middle = -1;
- for (int i = 0; i < INTERPOLATION_POINTS; ++i) {
- final int line = (i * maxLine + (INTERPOLATION_POINTS - i) * minLine) / INTERPOLATION_POINTS;
- if (i == INTERPOLATION_POINTS / 2) {
- middle = line;
- }
- final AbsoluteDate date = sensor.getDate(line);
- bodyToInertial.add(scToBody.getInertialToBody(date).getInverse());
- scToInertial.add(scToBody.getScToInertial(date));
- }
- midLine = middle;
+ midLine = 0.5 * (minLine + maxLine);
+ bodyToInertial = Arrays.asList(scToBody.getInertialToBody(sensor.getDate(minLine)).getInverse(),
+ scToBody.getInertialToBody(sensor.getDate(midLine)).getInverse(),
+ scToBody.getInertialToBody(sensor.getDate(maxLine)).getInverse());
+ midLineScToInert = scToBody.getScToInertial(sensor.getDate(midLine));
} catch (OrekitException oe) {
throw new RuggedException(oe, oe.getSpecifier(), oe.getParts());
@@ -184,8 +175,8 @@ class SensorMeanPlaneCrossing {
// We expect two or three evaluations only. Each new evaluation shows up quickly in
// the performances as it involves frames conversions
double crossingLine = midLine;
- Transform bodyToInert = bodyToInertial.get(INTERPOLATION_POINTS / 2);
- Transform scToInert = scToInertial.get(INTERPOLATION_POINTS / 2);
+ Transform bodyToInert = bodyToInertial.get(1);
+ Transform scToInert = midLineScToInert;
boolean atMin = false;
boolean atMax = false;
for (int i = 0; i < maxEval; ++i) {
@@ -224,8 +215,8 @@ class SensorMeanPlaneCrossing {
}
final AbsoluteDate date = sensor.getDate(crossingLine);
- bodyToInert = Transform.interpolate(date, false, false, bodyToInertial);
- scToInert = Transform.interpolate(date, false, false, scToInertial);
+ bodyToInert = Transform.interpolate(date, true, true, bodyToInertial);
+ scToInert = scToBody.getScToInertial(date);
}
return null;
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index f75497c1..982e087b 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -431,7 +431,6 @@ public class RuggedTest {
// the following test is disabled by default
// it is only used to check timings, and also create a small (2M) temporary file
@Test
- @Ignore
public void testInverseLocalizationTiming()
throws RuggedException, OrekitException, URISyntaxException {
--
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