From e0f1fa5be8470e43880a8771f13d183dd47aa315 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@orekit.org>
Date: Tue, 23 Aug 2016 18:18:26 +0200
Subject: [PATCH] First working version of viewing model parameters estimation.
---
.../java/org/orekit/rugged/api/Rugged.java | 177 +++++++++-----
.../rugged/api/SensorToGroundMapping.java | 19 +-
.../orekit/rugged/errors/DumpReplayer.java | 35 ++-
.../orekit/rugged/linesensor/LineSensor.java | 13 +-
.../org/orekit/rugged/los/FixedRotation.java | 28 +--
.../org/orekit/rugged/los/LOSBuilder.java | 32 ++-
.../org/orekit/rugged/los/LOSTransform.java | 9 +-
.../orekit/rugged/los/PolynomialRotation.java | 28 +--
.../orekit/rugged/los/TimeDependentLOS.java | 11 +-
.../los/TimeIndependentLOSTransform.java | 9 +-
.../org/orekit/rugged/utils/DSGenerator.java | 55 +++++
.../rugged/utils/ExtendedParameterDriver.java | 85 -------
.../org/orekit/rugged/api/RuggedTest.java | 226 +++++++++++++++---
13 files changed, 452 insertions(+), 275 deletions(-)
create mode 100644 src/main/java/org/orekit/rugged/utils/DSGenerator.java
delete mode 100644 src/main/java/org/orekit/rugged/utils/ExtendedParameterDriver.java
diff --git a/src/main/java/org/orekit/rugged/api/Rugged.java b/src/main/java/org/orekit/rugged/api/Rugged.java
index 82063c61..8b273060 100644
--- a/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -23,7 +23,6 @@ import java.util.HashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
-import java.util.stream.Collectors;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
@@ -35,6 +34,7 @@ import org.hipparchus.linear.RealVector;
import org.hipparchus.optim.ConvergenceChecker;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresBuilder;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer;
+import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresProblem;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LevenbergMarquardtOptimizer;
import org.hipparchus.optim.nonlinear.vector.leastsquares.MultivariateJacobianFunction;
@@ -54,13 +54,14 @@ import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorMeanPlaneCrossing;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.linesensor.SensorPixelCrossing;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.rugged.utils.ExtendedEllipsoid;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
import org.orekit.rugged.utils.NormalizedGeodeticPoint;
import org.orekit.rugged.utils.SpacecraftToObservedBody;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.Constants;
import org.orekit.utils.PVCoordinates;
+import org.orekit.utils.ParameterDriver;
/** Main class of Rugged library API.
* @see RuggedBuilder
@@ -630,6 +631,7 @@ public class Rugged {
* @param point point to localize
* @param minLine minimum line number
* @param maxLine maximum line number
+ * @param generator generator to use for building {@link DerivativeStructure} instances
* @return sensor pixel seeing point with derivatives, or null if point cannot be seen between the
* prescribed line numbers
* @exception RuggedException if line cannot be localized, or sensor is unknown
@@ -638,7 +640,8 @@ public class Rugged {
private DerivativeStructure[] inverseLocationDerivatives(final String sensorName,
final GeodeticPoint point,
final int minLine,
- final int maxLine)
+ final int maxLine,
+ final DSGenerator generator)
throws RuggedException {
final LineSensor sensor = getLineSensor(sensorName);
@@ -668,8 +671,8 @@ public class Rugged {
// (this pixel might point towards a direction slightly above or below the mean sensor plane)
final int lowIndex = FastMath.max(0, FastMath.min(sensor.getNbPixels() - 2, (int) FastMath.floor(coarsePixel)));
final FieldVector3D<DerivativeStructure> lowLOS =
- sensor.getLOSDerivatives(crossingResult.getDate(), lowIndex);
- final FieldVector3D<DerivativeStructure> highLOS = sensor.getLOSDerivatives(crossingResult.getDate(), lowIndex + 1);
+ sensor.getLOSDerivatives(crossingResult.getDate(), lowIndex, generator);
+ final FieldVector3D<DerivativeStructure> highLOS = sensor.getLOSDerivatives(crossingResult.getDate(), lowIndex + 1, generator);
final FieldVector3D<DerivativeStructure> localZ = FieldVector3D.crossProduct(lowLOS, highLOS).normalize();
final DerivativeStructure beta = FieldVector3D.dotProduct(crossingResult.getTargetDirection(), localZ).acos();
final DerivativeStructure s = FieldVector3D.dotProduct(crossingResult.getTargetDirectionDerivative(), localZ);
@@ -682,8 +685,8 @@ public class Rugged {
// fix neighbouring pixels
final AbsoluteDate fixedDate = sensor.getDate(fixedLine.getValue());
- final FieldVector3D<DerivativeStructure> fixedX = sensor.getLOSDerivatives(fixedDate, lowIndex);
- final FieldVector3D<DerivativeStructure> fixedZ = FieldVector3D.crossProduct(fixedX, sensor.getLOSDerivatives(fixedDate, lowIndex + 1));
+ final FieldVector3D<DerivativeStructure> fixedX = sensor.getLOSDerivatives(fixedDate, lowIndex, generator);
+ final FieldVector3D<DerivativeStructure> fixedZ = FieldVector3D.crossProduct(fixedX, sensor.getLOSDerivatives(fixedDate, lowIndex + 1, generator));
final FieldVector3D<DerivativeStructure> fixedY = FieldVector3D.crossProduct(fixedZ, fixedX);
// fix pixel
@@ -708,15 +711,15 @@ public class Rugged {
* like rotation angles polynomial coefficients.
* </p>
* <p>
- * Before using this method, the {@link ExtendedParameterDriver viewing model
+ * Before using this method, the {@link ParameterDriver viewing model
* parameters} retrieved by calling the {@link
* LineSensor#getExtendedParametersDrivers() getExtendedParametersDrivers()}
* method on the desired sensors must be configured. The parameters that should
- * be estimated must have their {@link ExtendedParameterDriver#setSelected(boolean)
+ * be estimated must have their {@link ParameterDriver#setSelected(boolean)
* selection status} set to {@link true} whereas the parameters that should retain
- * their current value must have their {@link ExtendedParameterDriver#setSelected(boolean)
+ * their current value must have their {@link ParameterDriver#setSelected(boolean)
* selection status} set to {@link false}. If needed, the {@link
- * ExtendedParameterDriver#setValue(double) value} of the estimated/selected parameters
+ * ParameterDriver#setValue(double) value} of the estimated/selected parameters
* can also be changed before calling the method, as this value will serve as the
* initial value in the estimation process.
* </p>
@@ -739,52 +742,27 @@ public class Rugged {
* @param maxEvaluations maximum number of evaluations
* @param parametersConvergenceThreshold convergence threshold on
* normalized parameters (dimensionless, related to parameters scales)
- * @return a list of the estimated parameters (this return value is for convenience
- * only, the viewing model is already aware of the estimated values, there is no need
- * to do any updating)
+ * @return optimum of the least squares problem
* @exception RuggedException if several parameters with the same name exist,
* or if parameters cannot be estimated (too few measurements, ill-conditioned problem ...)
*/
- public List<ExtendedParameterDriver> estimateFreeParameters(final Collection<SensorToGroundMapping> references,
- final int maxEvaluations,
- final double parametersConvergenceThreshold)
+ public Optimum estimateFreeParameters(final Collection<SensorToGroundMapping> references,
+ final int maxEvaluations,
+ final double parametersConvergenceThreshold)
throws RuggedException {
try {
- // we are more stringent than Orekit orbit determination:
- // we do not allow different parameters with the same name
- final Set<String> names = new HashSet<>();
+ final List<LineSensor> selectedSensors = new ArrayList<>();
for (final SensorToGroundMapping reference : references) {
- reference.getSensor().getExtendedParametersDrivers().forEach(driver -> {
- if (names.contains(driver.getName())) {
- throw new RuggedExceptionWrapper(new RuggedException(RuggedMessages.DUPLICATED_PARAMETER_NAME,
- driver.getName()));
- }
- });
- }
-
- // gather free parameters from all reference mappings
- final List<ExtendedParameterDriver> freeParameters = new ArrayList<>();
- for (final SensorToGroundMapping reference : references) {
- freeParameters.addAll(reference.
- getSensor().
- getExtendedParametersDrivers().
- filter(driver -> driver.isSelected()).
- collect(Collectors.toList()));
- }
-
- // set up the indices and number of estimated parameters,
- // so DerivativeStructure instances with the proper characteristics can be built
- int index = 0;
- for (final ExtendedParameterDriver driver : freeParameters) {
- driver.setNbEstimated(freeParameters.size());
- driver.setIndex(index++);
+ selectedSensors.add(getLineSensor(reference.getSensorName()));
}
+ final DSGenerator generator = createGenerator(selectedSensors);
+ final List<ParameterDriver> selected = generator.getSelected();
// get start point (as a normalized value)
- final double[] start = new double[freeParameters.size()];
+ final double[] start = new double[selected.size()];
for (int i = 0; i < start.length; ++i) {
- start[i] = freeParameters.get(i).getNormalizedValue();
+ start[i] = selected.get(i).getNormalizedValue();
}
// set up target in sensor domain
@@ -812,7 +790,7 @@ public class Rugged {
final ParameterValidator validator = params -> {
try {
int i = 0;
- for (final ExtendedParameterDriver driver : freeParameters) {
+ for (final ParameterDriver driver : selected) {
// let the parameter handle min/max clipping
driver.setNormalizedValue(params.getEntry(i));
params.setEntry(i++, driver.getNormalizedValue());
@@ -834,32 +812,38 @@ public class Rugged {
// set the current parameters values
int i = 0;
- for (final ExtendedParameterDriver driver : freeParameters) {
+ for (final ParameterDriver driver : selected) {
driver.setNormalizedValue(point.getEntry(i++));
}
// compute inverse loc and its partial derivatives
final RealVector value = new ArrayRealVector(target.length);
- final RealMatrix jacobian = new Array2DRowRealMatrix(target.length, freeParameters.size());
+ final RealMatrix jacobian = new Array2DRowRealMatrix(target.length, selected.size());
int l = 0;
for (final SensorToGroundMapping reference : references) {
for (final Map.Entry<SensorPixel, GeodeticPoint> mapping : reference.getMappings()) {
final GeodeticPoint gp = mapping.getValue();
final DerivativeStructure[] ilResult =
- inverseLocationDerivatives(reference.getSensor().getName(),
- gp, minLine, maxLine);
-
- // extract the value
- value.setEntry(l, ilResult[0].getValue());
- value.setEntry(l + 1, ilResult[1].getValue());
-
- // extract the Jacobian
- final int[] orders = new int[freeParameters.size()];
- for (int m = 0; m < freeParameters.size(); ++m) {
- orders[m] = 1;
- jacobian.setEntry(l, m, ilResult[0].getPartialDerivative(orders));
- jacobian.setEntry(l + 1, m, ilResult[1].getPartialDerivative(orders));
- orders[m] = 0;
+ inverseLocationDerivatives(reference.getSensorName(),
+ gp, minLine, maxLine, generator);
+
+ if (ilResult == null) {
+ value.setEntry(l, minLine - 100.0); // arbitrary line far away
+ value.setEntry(l + 1, -100.0); // arbitrary pixel far away
+ } else {
+ // extract the value
+ value.setEntry(l, ilResult[0].getValue());
+ value.setEntry(l + 1, ilResult[1].getValue());
+
+ // extract the Jacobian
+ final int[] orders = new int[selected.size()];
+ for (int m = 0; m < selected.size(); ++m) {
+ final double scale = selected.get(m).getScale();
+ orders[m] = 1;
+ jacobian.setEntry(l, m, ilResult[0].getPartialDerivative(orders) * scale);
+ jacobian.setEntry(l + 1, m, ilResult[1].getPartialDerivative(orders) * scale);
+ orders[m] = 0;
+ }
}
l += 2;
@@ -880,6 +864,8 @@ public class Rugged {
// set up the least squares problem
final LeastSquaresProblem problem = new LeastSquaresBuilder().
lazyEvaluation(false).
+ maxIterations(maxEvaluations).
+ maxEvaluations(maxEvaluations).
weight(null).
start(start).
target(target).
@@ -892,9 +878,7 @@ public class Rugged {
final LeastSquaresOptimizer optimizer = new LevenbergMarquardtOptimizer();
// solve the least squares problem
- optimizer.optimize(problem);
-
- return freeParameters;
+ return optimizer.optimize(problem);
} catch (RuggedExceptionWrapper rew) {
throw rew.getException();
@@ -904,6 +888,67 @@ public class Rugged {
}
}
+ /** Create the generator for {@link DerivativeStructure} instances.
+ * @param selectedSensors sensors referencing the parameters drivers
+ * @return a new generator
+ * @exception RuggedException if several parameters with the same name exist
+ */
+ private DSGenerator createGenerator(final List<LineSensor> selectedSensors)
+ throws RuggedException {
+
+ // we are more stringent than Orekit orbit determination:
+ // we do not allow different parameters with the same name
+ final Set<String> names = new HashSet<>();
+ for (final LineSensor sensor : selectedSensors) {
+ sensor.getParametersDrivers().forEach(driver -> {
+ if (names.contains(driver.getName())) {
+ throw new RuggedExceptionWrapper(new RuggedException(RuggedMessages.DUPLICATED_PARAMETER_NAME,
+ driver.getName()));
+ }
+ });
+ }
+
+ // set up generator list and map
+ final List<ParameterDriver> selected = new ArrayList<>();
+ final Map<String, Integer> map = new HashMap<>();
+ for (final LineSensor sensor : selectedSensors) {
+ sensor.
+ getParametersDrivers().
+ filter(driver -> driver.isSelected()).
+ forEach(driver -> {
+ selected.add(driver);
+ map.put(driver.getName(), map.size());
+ });
+ }
+
+ return new DSGenerator() {
+
+ /** {@inheritDoc} */
+ @Override
+ public List<ParameterDriver> getSelected() {
+ return selected;
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public DerivativeStructure constant(final double value) {
+ return new DerivativeStructure(map.size(), 1, value);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public DerivativeStructure variable(final ParameterDriver driver) {
+ final Integer index = map.get(driver.getName());
+ if (index == null) {
+ return constant(driver.getValue());
+ } else {
+ return new DerivativeStructure(map.size(), 1, index.intValue(), driver.getValue());
+ }
+ }
+
+ };
+ }
+
/** Get transform from spacecraft to inertial frame.
* @param date date of the transform
* @return transform from spacecraft to inertial frame
diff --git a/src/main/java/org/orekit/rugged/api/SensorToGroundMapping.java b/src/main/java/org/orekit/rugged/api/SensorToGroundMapping.java
index 3de6f880..fea1ff25 100644
--- a/src/main/java/org/orekit/rugged/api/SensorToGroundMapping.java
+++ b/src/main/java/org/orekit/rugged/api/SensorToGroundMapping.java
@@ -22,7 +22,6 @@ import java.util.Map;
import java.util.Set;
import org.orekit.bodies.GeodeticPoint;
-import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorPixel;
/** Container for mapping between sensor pixels and ground points.
@@ -31,8 +30,8 @@ import org.orekit.rugged.linesensor.SensorPixel;
*/
public class SensorToGroundMapping {
- /** Sensor to which mapping applies. */
- private final LineSensor sensor;
+ /** Name of the sensor to which mapping applies. */
+ private final String sensorName;
/** Mapping from sensor to ground. */
private final Map<SensorPixel, GeodeticPoint> sensorToGround;
@@ -41,19 +40,19 @@ public class SensorToGroundMapping {
private final Map<GeodeticPoint, SensorPixel> groundToSensor;
/** Build a new instance.
- * @param sensor sensor to which mapping applies
+ * @param sensorName name of the sensor to which mapping applies
*/
- public SensorToGroundMapping(final LineSensor sensor) {
- this.sensor = sensor;
+ public SensorToGroundMapping(final String sensorName) {
+ this.sensorName = sensorName;
this.sensorToGround = new IdentityHashMap<>();
this.groundToSensor = new IdentityHashMap<>();
}
- /** Get the sensor to which mapping applies.
- * @return sensor to which mapping applies
+ /** Get the name of the sensor to which mapping applies.
+ * @return name of the sensor to which mapping applies
*/
- public LineSensor getSensor() {
- return sensor;
+ public String getSensorName() {
+ return sensorName;
}
/** Add a mapping between one sensor pixel and one ground point.
diff --git a/src/main/java/org/orekit/rugged/errors/DumpReplayer.java b/src/main/java/org/orekit/rugged/errors/DumpReplayer.java
index 40f6c2d4..57dc7516 100644
--- a/src/main/java/org/orekit/rugged/errors/DumpReplayer.java
+++ b/src/main/java/org/orekit/rugged/errors/DumpReplayer.java
@@ -16,14 +16,6 @@
*/
package org.orekit.rugged.errors;
-import org.hipparchus.analysis.differentiation.DerivativeStructure;
-import org.hipparchus.exception.LocalizedCoreFormats;
-import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
-import org.hipparchus.geometry.euclidean.threed.Rotation;
-import org.hipparchus.geometry.euclidean.threed.Vector3D;
-import org.hipparchus.util.FastMath;
-import org.hipparchus.util.OpenIntToDoubleHashMap;
-import org.hipparchus.util.Pair;
import java.io.BufferedReader;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
@@ -40,10 +32,17 @@ import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.NavigableMap;
-import java.util.Optional;
import java.util.TreeMap;
import java.util.stream.Stream;
+import org.hipparchus.analysis.differentiation.DerivativeStructure;
+import org.hipparchus.exception.LocalizedCoreFormats;
+import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
+import org.hipparchus.geometry.euclidean.threed.Rotation;
+import org.hipparchus.geometry.euclidean.threed.Vector3D;
+import org.hipparchus.util.FastMath;
+import org.hipparchus.util.OpenIntToDoubleHashMap;
+import org.hipparchus.util.Pair;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.bodies.OneAxisEllipsoid;
import org.orekit.errors.OrekitException;
@@ -62,10 +61,11 @@ import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.los.TimeDependentLOS;
import org.orekit.rugged.raster.TileUpdater;
import org.orekit.rugged.raster.UpdatableTile;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.rugged.utils.SpacecraftToObservedBody;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeScalesFactory;
+import org.orekit.utils.ParameterDriver;
/** Replayer for Rugged debug dumps.
* @author Luc Maisonobe
@@ -1209,13 +1209,12 @@ public class DumpReplayer {
/** {@inheritDoc} */
@Override
- public FieldVector3D<DerivativeStructure> getLOSDerivatives(final int index, final AbsoluteDate date) {
- final Optional<ExtendedParameterDriver> first = getExtendedParametersDrivers().findFirst();
- final int nbEstimated = first.isPresent() ? first.get().getNbEstimated() : 0;
+ public FieldVector3D<DerivativeStructure> getLOSDerivatives(final int index, final AbsoluteDate date,
+ final DSGenerator generator) {
final Vector3D los = getLOS(index, date);
- return new FieldVector3D<DerivativeStructure>(new DerivativeStructure(nbEstimated, 1, los.getX()),
- new DerivativeStructure(nbEstimated, 1, los.getY()),
- new DerivativeStructure(nbEstimated, 1, los.getZ()));
+ return new FieldVector3D<DerivativeStructure>(generator.constant(los.getX()),
+ generator.constant(los.getY()),
+ generator.constant(los.getZ()));
}
/** Set a datation pair.
@@ -1333,8 +1332,8 @@ public class DumpReplayer {
/** {@inheritDoc} */
@Override
- public Stream<ExtendedParameterDriver> getExtendedParametersDrivers() {
- return Stream.<ExtendedParameterDriver>empty();
+ public Stream<ParameterDriver> getParametersDrivers() {
+ return Stream.<ParameterDriver>empty();
}
}
diff --git a/src/main/java/org/orekit/rugged/linesensor/LineSensor.java b/src/main/java/org/orekit/rugged/linesensor/LineSensor.java
index 5705184f..cf86debd 100644
--- a/src/main/java/org/orekit/rugged/linesensor/LineSensor.java
+++ b/src/main/java/org/orekit/rugged/linesensor/LineSensor.java
@@ -24,8 +24,9 @@ import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.orekit.rugged.errors.DumpManager;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.los.TimeDependentLOS;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.time.AbsoluteDate;
+import org.orekit.utils.ParameterDriver;
/** Line sensor model.
* @author Luc Maisonobe
@@ -79,8 +80,8 @@ public class LineSensor {
* @return drivers for LOS parameters
* @since 2.0
*/
- public Stream<ExtendedParameterDriver> getExtendedParametersDrivers() {
- return los.getExtendedParametersDrivers();
+ public Stream<ParameterDriver> getParametersDrivers() {
+ return los.getParametersDrivers();
}
/** Get the pixel normalized line-of-sight at some date.
@@ -100,10 +101,12 @@ public class LineSensor {
* and their derivatives with respect to estimated parameters.
* @param date current date
* @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
+ * @param generator generator to use for building {@link DerivativeStructure} instances
* @return pixel normalized line-of-sight
*/
- public FieldVector3D<DerivativeStructure> getLOSDerivatives(final AbsoluteDate date, final int i) {
- return los.getLOSDerivatives(i, date);
+ public FieldVector3D<DerivativeStructure> getLOSDerivatives(final AbsoluteDate date, final int i,
+ final DSGenerator generator) {
+ return los.getLOSDerivatives(i, date, generator);
}
/** Get the date.
diff --git a/src/main/java/org/orekit/rugged/los/FixedRotation.java b/src/main/java/org/orekit/rugged/los/FixedRotation.java
index 8f6aba22..3638aee9 100644
--- a/src/main/java/org/orekit/rugged/los/FixedRotation.java
+++ b/src/main/java/org/orekit/rugged/los/FixedRotation.java
@@ -27,7 +27,7 @@ import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.errors.OrekitException;
import org.orekit.rugged.errors.RuggedException;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterObserver;
@@ -55,7 +55,7 @@ public class FixedRotation implements TimeIndependentLOSTransform {
private FieldRotation<DerivativeStructure> rDS;
/** Driver for rotation angle. */
- private final ExtendedParameterDriver angleDriver;
+ private final ParameterDriver angleDriver;
/** Simple constructor.
* <p>
@@ -70,7 +70,7 @@ public class FixedRotation implements TimeIndependentLOSTransform {
this.rotation = null;
this.rDS = null;
try {
- this.angleDriver = new ExtendedParameterDriver(name, angle, SCALE, -2 * FastMath.PI, 2 * FastMath.PI);
+ this.angleDriver = new ParameterDriver(name, angle, SCALE, -2 * FastMath.PI, 2 * FastMath.PI);
angleDriver.addObserver(new ParameterObserver() {
@Override
public void valueChanged(final double previousValue, final ParameterDriver driver) {
@@ -87,7 +87,7 @@ public class FixedRotation implements TimeIndependentLOSTransform {
/** {@inheritDoc} */
@Override
- public Stream<ExtendedParameterDriver> getExtendedParametersDrivers() {
+ public Stream<ParameterDriver> getParametersDrivers() {
return Stream.of(angleDriver);
}
@@ -103,23 +103,15 @@ public class FixedRotation implements TimeIndependentLOSTransform {
/** {@inheritDoc} */
@Override
- public FieldVector3D<DerivativeStructure> transformLOS(final int i, final FieldVector3D<DerivativeStructure> los) {
+ public FieldVector3D<DerivativeStructure> transformLOS(final int i, final FieldVector3D<DerivativeStructure> los,
+ final DSGenerator generator) {
if (rDS == null) {
// lazy evaluation of the rotation
- final int nbEstimated = angleDriver.getNbEstimated();
final FieldVector3D<DerivativeStructure> axisDS =
- new FieldVector3D<DerivativeStructure>(new DerivativeStructure(nbEstimated, 1, axis.getX()),
- new DerivativeStructure(nbEstimated, 1, axis.getY()),
- new DerivativeStructure(nbEstimated, 1, axis.getZ()));
- final double value = angleDriver.getValue();
- final DerivativeStructure angleDS;
- if (angleDriver.isSelected()) {
- // the angle is estimated
- angleDS = new DerivativeStructure(nbEstimated, 1, angleDriver.getIndex(), value);
- } else {
- // the angle is not estimated
- angleDS = new DerivativeStructure(nbEstimated, 1, value);
- }
+ new FieldVector3D<DerivativeStructure>(generator.constant(axis.getX()),
+ generator.constant(axis.getY()),
+ generator.constant(axis.getZ()));
+ final DerivativeStructure angleDS = generator.variable(angleDriver);
rDS = new FieldRotation<DerivativeStructure>(axisDS, angleDS, RotationConvention.VECTOR_OPERATOR);
}
return rDS.applyTo(los);
diff --git a/src/main/java/org/orekit/rugged/los/LOSBuilder.java b/src/main/java/org/orekit/rugged/los/LOSBuilder.java
index c61be99a..4857bd58 100644
--- a/src/main/java/org/orekit/rugged/los/LOSBuilder.java
+++ b/src/main/java/org/orekit/rugged/los/LOSBuilder.java
@@ -19,7 +19,6 @@ package org.orekit.rugged.los;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
-import java.util.Optional;
import java.util.stream.Stream;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
@@ -27,7 +26,7 @@ import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.orekit.errors.OrekitException;
import org.orekit.rugged.errors.RuggedException;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterObserver;
@@ -126,14 +125,14 @@ public class LOSBuilder {
/** {@inheritDoc} */
@Override
public FieldVector3D<DerivativeStructure> transformLOS(final int i, final FieldVector3D<DerivativeStructure> los,
- final AbsoluteDate date) {
- return transform.transformLOS(i, los);
+ final AbsoluteDate date, final DSGenerator generator) {
+ return transform.transformLOS(i, los, generator);
}
/** {@inheritDoc} */
@Override
- public Stream<ExtendedParameterDriver> getExtendedParametersDrivers() {
- return transform.getExtendedParametersDrivers();
+ public Stream<ParameterDriver> getParametersDrivers() {
+ return transform.getParametersDrivers();
}
}
@@ -182,19 +181,18 @@ public class LOSBuilder {
/** {@inheritDoc} */
@Override
- public FieldVector3D<DerivativeStructure> getLOSDerivatives(final int index, final AbsoluteDate date) {
+ public FieldVector3D<DerivativeStructure> getLOSDerivatives(final int index, final AbsoluteDate date,
+ final DSGenerator generator) {
// the raw line of sights are considered to be constant
- final Optional<ExtendedParameterDriver> first = getExtendedParametersDrivers().findFirst();
- final int nbEstimated = first.isPresent() ? first.get().getNbEstimated() : 0;
FieldVector3D<DerivativeStructure> los =
- new FieldVector3D<DerivativeStructure>(new DerivativeStructure(nbEstimated, 1, raw[index].getX()),
- new DerivativeStructure(nbEstimated, 1, raw[index].getY()),
- new DerivativeStructure(nbEstimated, 1, raw[index].getZ()));
+ new FieldVector3D<DerivativeStructure>(generator.constant(raw[index].getX()),
+ generator.constant(raw[index].getY()),
+ generator.constant(raw[index].getZ()));
// apply the transforms, which depend on parameters and hence may introduce non-zero derivatives
for (final LOSTransform transform : transforms) {
- los = transform.transformLOS(index, los, date);
+ los = transform.transformLOS(index, los, date, generator);
}
return los.normalize();
@@ -202,10 +200,10 @@ public class LOSBuilder {
}
@Override
- public Stream<ExtendedParameterDriver> getExtendedParametersDrivers() {
- Stream<ExtendedParameterDriver> drivers = Stream.<ExtendedParameterDriver>empty();
+ public Stream<ParameterDriver> getParametersDrivers() {
+ Stream<ParameterDriver> drivers = Stream.<ParameterDriver>empty();
for (final LOSTransform transform : transforms) {
- drivers = Stream.concat(drivers, transform.getExtendedParametersDrivers());
+ drivers = Stream.concat(drivers, transform.getParametersDrivers());
}
return drivers;
}
@@ -235,7 +233,7 @@ public class LOSBuilder {
Arrays.fill(transformed, null);
}
};
- getExtendedParametersDrivers().forEach(driver -> {
+ getParametersDrivers().forEach(driver -> {
try {
driver.addObserver(resettingObserver);
} catch (OrekitException oe) {
diff --git a/src/main/java/org/orekit/rugged/los/LOSTransform.java b/src/main/java/org/orekit/rugged/los/LOSTransform.java
index b54f6289..1e894b08 100644
--- a/src/main/java/org/orekit/rugged/los/LOSTransform.java
+++ b/src/main/java/org/orekit/rugged/los/LOSTransform.java
@@ -21,8 +21,9 @@ import java.util.stream.Stream;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.time.AbsoluteDate;
+import org.orekit.utils.ParameterDriver;
/** Interface for lines-of-sight tranforms.
* @author Luc Maisonobe
@@ -48,14 +49,16 @@ public interface LOSTransform {
* @param index los pixel index
* @param date date
* @param los line-of-sight to transform
+ * @param generator generator to use for building {@link DerivativeStructure} instances
* @return line of sight, and its first partial derivatives with respect to the parameters
*/
- FieldVector3D<DerivativeStructure> transformLOS(int index, FieldVector3D<DerivativeStructure> los, AbsoluteDate date);
+ FieldVector3D<DerivativeStructure> transformLOS(int index, FieldVector3D<DerivativeStructure> los,
+ AbsoluteDate date, DSGenerator generator);
/** Get the drivers for LOS parameters.
* @return drivers for LOS parameters
* @since 2.0
*/
- Stream<ExtendedParameterDriver> getExtendedParametersDrivers();
+ Stream<ParameterDriver> getParametersDrivers();
}
diff --git a/src/main/java/org/orekit/rugged/los/PolynomialRotation.java b/src/main/java/org/orekit/rugged/los/PolynomialRotation.java
index 49df76a8..158c6dce 100644
--- a/src/main/java/org/orekit/rugged/los/PolynomialRotation.java
+++ b/src/main/java/org/orekit/rugged/los/PolynomialRotation.java
@@ -28,7 +28,7 @@ import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.errors.OrekitException;
import org.orekit.rugged.errors.RuggedException;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterObserver;
@@ -63,7 +63,7 @@ public class PolynomialRotation implements LOSTransform {
private final AbsoluteDate referenceDate;
/** Drivers for rotation angle polynomial coefficients. */
- private final ExtendedParameterDriver[] coefficientsDrivers;
+ private final ParameterDriver[] coefficientsDrivers;
/** Simple constructor.
* <p>
@@ -84,7 +84,7 @@ public class PolynomialRotation implements LOSTransform {
final double ... angleCoeffs) {
this.axis = axis;
this.referenceDate = referenceDate;
- this.coefficientsDrivers = new ExtendedParameterDriver[angleCoeffs.length];
+ this.coefficientsDrivers = new ParameterDriver[angleCoeffs.length];
final ParameterObserver resettingObserver = new ParameterObserver() {
@Override
public void valueChanged(final double previousValue, final ParameterDriver driver) {
@@ -96,7 +96,7 @@ public class PolynomialRotation implements LOSTransform {
};
try {
for (int i = 0; i < angleCoeffs.length; ++i) {
- coefficientsDrivers[i] = new ExtendedParameterDriver(name + "[" + i + "]", angleCoeffs[i], SCALE,
+ coefficientsDrivers[i] = new ParameterDriver(name + "[" + i + "]", angleCoeffs[i], SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
coefficientsDrivers[i].addObserver(resettingObserver);
}
@@ -127,7 +127,7 @@ public class PolynomialRotation implements LOSTransform {
/** {@inheritDoc} */
@Override
- public Stream<ExtendedParameterDriver> getExtendedParametersDrivers() {
+ public Stream<ParameterDriver> getParametersDrivers() {
return Stream.of(coefficientsDrivers);
}
@@ -150,24 +150,16 @@ public class PolynomialRotation implements LOSTransform {
/** {@inheritDoc} */
@Override
public FieldVector3D<DerivativeStructure> transformLOS(final int i, final FieldVector3D<DerivativeStructure> los,
- final AbsoluteDate date) {
+ final AbsoluteDate date, final DSGenerator generator) {
if (angleDS == null) {
// lazy evaluation of the rotation
- final int nbEstimated = coefficientsDrivers[0].getNbEstimated();
- axisDS = new FieldVector3D<DerivativeStructure>(new DerivativeStructure(nbEstimated, 1, axis.getX()),
- new DerivativeStructure(nbEstimated, 1, axis.getY()),
- new DerivativeStructure(nbEstimated, 1, axis.getZ()));
+ axisDS = new FieldVector3D<DerivativeStructure>(generator.constant(axis.getX()),
+ generator.constant(axis.getY()),
+ generator.constant(axis.getZ()));
angleDS = new DerivativeStructure[coefficientsDrivers.length];
for (int k = 0; k < angleDS.length; ++k) {
- final double value = coefficientsDrivers[k].getValue();
- if (coefficientsDrivers[k].isSelected()) {
- // the coefficient is estimated
- angleDS[k] = new DerivativeStructure(nbEstimated, 1, coefficientsDrivers[k].getIndex(), value);
- } else {
- // the coefficient is not estimated
- angleDS[k] = new DerivativeStructure(nbEstimated, 1, value);
- }
+ angleDS[k] = generator.variable(coefficientsDrivers[k]);
}
}
// evaluate polynomial, with all its partial derivatives
diff --git a/src/main/java/org/orekit/rugged/los/TimeDependentLOS.java b/src/main/java/org/orekit/rugged/los/TimeDependentLOS.java
index 9cf3ac73..2a17c61b 100644
--- a/src/main/java/org/orekit/rugged/los/TimeDependentLOS.java
+++ b/src/main/java/org/orekit/rugged/los/TimeDependentLOS.java
@@ -21,8 +21,9 @@ import java.util.stream.Stream;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.time.AbsoluteDate;
+import org.orekit.utils.ParameterDriver;
/** Interface representing a line-of-sight which depends on time.
* @see org.orekit.rugged.linesensor.LineSensor
@@ -53,18 +54,20 @@ public interface TimeDependentLOS {
* Note that in order for the partial derivatives to be properly set up, the
* {@link org.orekit.utils.ParameterDriver#setSelected(boolean) setSelected}
* method must have been set to {@code true} for the various parameters returned
- * by {@link #getExtendedParametersDrivers()} that should be estimated.
+ * by {@link #getParametersDrivers()} that should be estimated.
* </p>
* @param index los pixel index
* @param date date
+ * @param generator generator to use for building {@link DerivativeStructure} instances
* @return line of sight, and its first partial derivatives with respect to the parameters
*/
- FieldVector3D<DerivativeStructure> getLOSDerivatives(int index, AbsoluteDate date);
+ FieldVector3D<DerivativeStructure> getLOSDerivatives(int index, AbsoluteDate date,
+ DSGenerator generator);
/** Get the drivers for LOS parameters.
* @return drivers for LOS parameters
* @since 2.0
*/
- Stream<ExtendedParameterDriver> getExtendedParametersDrivers();
+ Stream<ParameterDriver> getParametersDrivers();
}
diff --git a/src/main/java/org/orekit/rugged/los/TimeIndependentLOSTransform.java b/src/main/java/org/orekit/rugged/los/TimeIndependentLOSTransform.java
index 59ecbddf..17b16449 100644
--- a/src/main/java/org/orekit/rugged/los/TimeIndependentLOSTransform.java
+++ b/src/main/java/org/orekit/rugged/los/TimeIndependentLOSTransform.java
@@ -21,7 +21,8 @@ import java.util.stream.Stream;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
+import org.orekit.utils.ParameterDriver;
/** Interface for lines-of-sight tranforms that do not depend on time.
* @author Luc Maisonobe
@@ -53,14 +54,16 @@ public interface TimeIndependentLOSTransform {
* </p>
* @param index los pixel index
* @param los line-of-sight to transform
+ * @param generator generator to use for building {@link DerivativeStructure} instances
* @return line of sight, and its first partial derivatives with respect to the parameters
*/
- FieldVector3D<DerivativeStructure> transformLOS(int index, FieldVector3D<DerivativeStructure> los);
+ FieldVector3D<DerivativeStructure> transformLOS(int index, FieldVector3D<DerivativeStructure> los,
+ DSGenerator generator);
/** Get the drivers for LOS parameters.
* @return drivers for LOS parameters
* @since 2.0
*/
- Stream<ExtendedParameterDriver> getExtendedParametersDrivers();
+ Stream<ParameterDriver> getParametersDrivers();
}
diff --git a/src/main/java/org/orekit/rugged/utils/DSGenerator.java b/src/main/java/org/orekit/rugged/utils/DSGenerator.java
new file mode 100644
index 00000000..d757e2ea
--- /dev/null
+++ b/src/main/java/org/orekit/rugged/utils/DSGenerator.java
@@ -0,0 +1,55 @@
+/* Copyright 2013-2016 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.
+ */
+package org.orekit.rugged.utils;
+
+import java.util.List;
+
+import org.hipparchus.analysis.differentiation.DerivativeStructure;
+import org.orekit.utils.ParameterDriver;
+
+/** Generator for {@link DerivativeStructure} instances from {@link ParameterDriver}.
+ * <p>
+ * Note that this interface is for Rugged library internal use only.
+ * </p>
+ * @author Luc Maisonobe
+ * @since 2.0
+ */
+public interface DSGenerator {
+
+ /** Get the parameters selected for estimation.
+ * @return parameters selected for estimation
+ */
+ List<ParameterDriver> getSelected();
+
+ /** Generate a constant {@link DerivativeStructure}.
+ * @param value value of the constant
+ * @return constant {@link DerivativeStructure}
+ */
+ DerivativeStructure constant(double value);
+
+ /** Generate a {@link DerivativeStructure} representing the
+ * parameter driver either as a canonical variable or a constant.
+ * <p>
+ * The instance created is a variable only if the parameter
+ * has been selected for estimation, otherwise it is a constant.
+ * </p>
+ * @param driver driver for the variable
+ * @return variable {@link DerivativeStructure}
+ */
+ DerivativeStructure variable(ParameterDriver driver);
+
+}
diff --git a/src/main/java/org/orekit/rugged/utils/ExtendedParameterDriver.java b/src/main/java/org/orekit/rugged/utils/ExtendedParameterDriver.java
deleted file mode 100644
index 0fafb4a8..00000000
--- a/src/main/java/org/orekit/rugged/utils/ExtendedParameterDriver.java
+++ /dev/null
@@ -1,85 +0,0 @@
-/* Copyright 2013-2016 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.
- */
-package org.orekit.rugged.utils;
-
-import org.orekit.errors.OrekitException;
-import org.orekit.utils.ParameterDriver;
-
-/** {@link ParameterDriver} belonging to a list.
- * @since 2.0
- * @author Luc Maisonobe
- */
-public class ExtendedParameterDriver extends ParameterDriver {
-
- /** Total number of estimated parameters. */
- private int nbEstimated;
-
- /** Index of this parameter in the estimated parameters list. */
- private int index;
-
- /** Simple constructor.
- * <p>
- * At construction, the parameter is configured as <em>not</em> selected,
- * and the value is set to the {@code referenceValue}.
- * </p>
- * @param name name of the parameter
- * @param referenceValue reference value of the parameter
- * @param scale scaling factor to convert the parameters value to
- * non-dimensional (typically set to the expected standard deviation of the
- * parameter), it must be non-zero
- * @param minValue minimum value
- * @param maxValue maximum value
- * @exception OrekitException if scale is too close to zero
- */
- public ExtendedParameterDriver(final String name, final double referenceValue,
- final double scale, final double minValue,
- final double maxValue)
- throws OrekitException {
- super(name, referenceValue, scale, minValue, maxValue);
- nbEstimated = 0;
- index = -1;
- }
-
- /** Set the total number of estimated parameters.
- * @param nbEstimated total number of estimated parameters
- */
- public void setNbEstimated(final int nbEstimated) {
- this.nbEstimated = nbEstimated;
- }
-
- /** Get the total number of estimated parameters.
- * @return total number of estimated parameters
- */
- public int getNbEstimated() {
- return nbEstimated;
- }
-
- /** Set the index of this parameter in the estimated parameters list.
- * @param index index of this parameter in the estimated parameters list
- */
- public void setIndex(final int index) {
- this.index = index;
- }
-
- /** Get the index of this parameter in the estimated parameters list.
- * @return index of this parameter in the estimated parameters list
- */
- public int getIndex() {
- return index;
- }
-
-}
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index 43771973..f882dd9c 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -26,10 +26,9 @@ import java.net.URISyntaxException;
import java.nio.MappedByteBuffer;
import java.nio.channels.FileChannel;
import java.util.ArrayList;
-import java.util.HashMap;
+import java.util.Collections;
import java.util.List;
import java.util.Locale;
-import java.util.Map;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.analysis.differentiation.FiniteDifferencesDifferentiator;
@@ -37,6 +36,7 @@ import org.hipparchus.analysis.differentiation.UnivariateDifferentiableFunction;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
+import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import org.hipparchus.stat.descriptive.StreamingStatistics;
import org.hipparchus.stat.descriptive.rank.Percentile;
import org.hipparchus.util.FastMath;
@@ -70,7 +70,7 @@ import org.orekit.rugged.los.TimeDependentLOS;
import org.orekit.rugged.raster.RandomLandscapeUpdater;
import org.orekit.rugged.raster.TileUpdater;
import org.orekit.rugged.raster.VolcanicConeElevationUpdater;
-import org.orekit.rugged.utils.ExtendedParameterDriver;
+import org.orekit.rugged.utils.DSGenerator;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeScale;
import org.orekit.time.TimeScalesFactory;
@@ -78,6 +78,7 @@ import org.orekit.utils.AngularDerivativesFilter;
import org.orekit.utils.CartesianDerivativesFilter;
import org.orekit.utils.Constants;
import org.orekit.utils.IERSConventions;
+import org.orekit.utils.ParameterDriver;
import org.orekit.utils.TimeStampedAngularCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
@@ -1124,40 +1125,33 @@ public class RuggedTest {
build();
// we want to adjust sensor roll and pitch angles
- ExtendedParameterDriver rollDriver =
- rugged.getLineSensor("line").getExtendedParametersDrivers().
- filter(driver -> driver.getName().equals("roll")).findFirst().get();
+ ParameterDriver rollDriver =
+ lineSensor.getParametersDrivers().
+ filter(driver -> driver.getName().equals("roll")).findFirst().get();
rollDriver.setSelected(true);
- ExtendedParameterDriver pitchDriver =
- rugged.getLineSensor("line").getExtendedParametersDrivers().
- filter(driver -> driver.getName().equals("pitch")).findFirst().get();
+ ParameterDriver pitchDriver =
+ lineSensor.getParametersDrivers().
+ filter(driver -> driver.getName().equals("pitch")).findFirst().get();
pitchDriver.setSelected(true);
- // prepare parameters (this is normally done by Rugged.estimateFreeParameters)
- // this setup may seem complex, but DerivativeStructure are really an
- // internal feature, user do not need to deal with them
- final Map<String, int[]> map = new HashMap<>();
- rugged.getLineSensor("line").getExtendedParametersDrivers().
- filter(driver -> driver.isSelected()).
- forEach(driver -> {
- driver.setNbEstimated(2);
- driver.setIndex(map.size());
- int[] orders = new int[2];
- orders[map.size()] = 1;
- map.put(driver.getName(), orders);
- });
+ // prepare generator
+ Method createGenerator = Rugged.class.getDeclaredMethod("createGenerator", List.class);
+ createGenerator.setAccessible(true);
+ DSGenerator generator = (DSGenerator) createGenerator.invoke(rugged, Collections.singletonList(lineSensor));
double referenceLine = 0.87654 * dimension;
GeodeticPoint[] gp = rugged.directLocation("line", referenceLine);
Method inverseLoc = Rugged.class.getDeclaredMethod("inverseLocationDerivatives",
String.class, GeodeticPoint.class,
- Integer.TYPE, Integer.TYPE);
+ Integer.TYPE, Integer.TYPE,
+ DSGenerator.class);
inverseLoc.setAccessible(true);
int referencePixel = (3 * dimension) / 4;
DerivativeStructure[] result =
(DerivativeStructure[]) inverseLoc.invoke(rugged,
- "line", gp[referencePixel], 0, dimension);
+ "line", gp[referencePixel], 0, dimension,
+ generator);
Assert.assertEquals(referenceLine, result[0].getValue(), lineTolerance);
Assert.assertEquals(referencePixel, result[1].getValue(), pixelTolerance);
Assert.assertEquals(2, result[0].getFreeParameters());
@@ -1180,7 +1174,7 @@ public class RuggedTest {
}
});
double dLdR = lineVSroll.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
- Assert.assertEquals(dLdR, result[0].getPartialDerivative(map.get("roll")), dLdR * lineDerivativeRelativeTolerance);
+ Assert.assertEquals(dLdR, result[0].getPartialDerivative(1, 0), dLdR * lineDerivativeRelativeTolerance);
UnivariateDifferentiableFunction lineVSpitch =
differentiator.differentiate((double pitch) -> {
@@ -1195,7 +1189,7 @@ public class RuggedTest {
}
});
double dLdP = lineVSpitch.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
- Assert.assertEquals(dLdP, result[0].getPartialDerivative(map.get("pitch")), dLdP * lineDerivativeRelativeTolerance);
+ Assert.assertEquals(dLdP, result[0].getPartialDerivative(0, 1), dLdP * lineDerivativeRelativeTolerance);
UnivariateDifferentiableFunction pixelVSroll =
differentiator.differentiate((double roll) -> {
@@ -1210,7 +1204,7 @@ public class RuggedTest {
}
});
double dXdR = pixelVSroll.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
- Assert.assertEquals(dXdR, result[1].getPartialDerivative(map.get("roll")), dXdR * pixelDerivativeRelativeTolerance);
+ Assert.assertEquals(dXdR, result[1].getPartialDerivative(1, 0), dXdR * pixelDerivativeRelativeTolerance);
UnivariateDifferentiableFunction pixelVSpitch =
differentiator.differentiate((double pitch) -> {
@@ -1225,7 +1219,7 @@ public class RuggedTest {
}
});
double dXdP = pixelVSpitch.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
- Assert.assertEquals(dXdP, result[1].getPartialDerivative(map.get("pitch")), dXdP * pixelDerivativeRelativeTolerance);
+ Assert.assertEquals(dXdP, result[1].getPartialDerivative(0, 1), dXdP * pixelDerivativeRelativeTolerance);
} catch (InvocationTargetException | NoSuchMethodException |
SecurityException | IllegalAccessException |
@@ -1235,6 +1229,182 @@ public class RuggedTest {
}
}
+ @Test
+ public void testViewingModelParametersEstimationWithoutCorrections()
+ throws OrekitException, RuggedException {
+ doTestViewingModelParametersEstimation(2000, false, false,
+ FastMath.toRadians( 0.01), 1.0e-8,
+ FastMath.toRadians(-0.03), 2.0e-9,
+ 6);
+ }
+
+ @Test
+ public void testViewingModelParametersEstimationWithLightTimeCorrection()
+ throws OrekitException, RuggedException {
+ doTestViewingModelParametersEstimation(2000, true, false,
+ FastMath.toRadians( 0.01), 1.0e-8,
+ FastMath.toRadians(-0.03), 2.0e-9,
+ 6);
+ }
+
+ @Test
+ public void testViewingModelParametersEstimationWithAberrationOfLightCorrection()
+ throws OrekitException, RuggedException {
+ doTestViewingModelParametersEstimation(2000, false, true,
+ FastMath.toRadians( 0.01), 1.0e-8,
+ FastMath.toRadians(-0.03), 2.0e-9,
+ 6);
+ }
+
+ @Test
+ public void testViewingModelParametersEstimationWithAllCorrections()
+ throws OrekitException, RuggedException {
+ doTestViewingModelParametersEstimation(2000, true, true,
+ FastMath.toRadians( 0.01), 1.0e-8,
+ FastMath.toRadians(-0.03), 3.0e-9,
+ 6);
+ }
+
+ private void doTestViewingModelParametersEstimation(int dimension,
+ boolean lightTimeCorrection,
+ boolean aberrationOfLightCorrection,
+ double rollValue, double rollTolerance,
+ double pitchValue, double pitchTolerance,
+ int expectedEvaluations)
+ throws OrekitException, RuggedException {
+ try {
+
+ // set up a perfect Rugged instance, with prescribed roll and pitch values
+ Rugged perfect = createParameterEstimationContext(dimension,
+ lightTimeCorrection,
+ aberrationOfLightCorrection);
+ perfect.
+ getLineSensor("line").
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals("roll")).
+ findFirst().get().setValue(rollValue);
+
+ perfect.
+ getLineSensor("line").
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals("pitch")).
+ findFirst().get().setValue(pitchValue);
+
+ // generate reference mapping
+ SensorToGroundMapping mapping = new SensorToGroundMapping("line");
+ LineSensor sensor = perfect.getLineSensor(mapping.getSensorName());
+ for (double line = 0; line < dimension; line += 100) {
+ AbsoluteDate date = sensor.getDate(line);
+ for (int pixel = 0; pixel < sensor.getNbPixels(); pixel += 100) {
+ GeodeticPoint gp = perfect.directLocation(date, sensor.getPosition(),
+ sensor.getLOS(date, pixel));
+ mapping.addMapping(new SensorPixel(line, pixel), gp);
+ }
+ }
+
+ // set up a completely independent Rugged instance,
+ // with 0.0 roll and pitch values and estimating rool and pitch
+ Rugged normal = createParameterEstimationContext(dimension,
+ lightTimeCorrection,
+ aberrationOfLightCorrection);
+ normal.
+ getLineSensor("line").
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals("roll") || driver.getName().equals("pitch")).
+ forEach(driver -> {
+ try {
+ driver.setSelected(true);
+ driver.setValue(0.0);
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ }
+ });
+
+ // perform parameters estimation
+ Optimum optimum = normal.estimateFreeParameters(Collections.singletonList(mapping), 10, 1.0e-9);
+ Assert.assertEquals(expectedEvaluations, optimum.getEvaluations());
+
+ // check estimated values
+ double estimatedRoll = normal.getLineSensor("line").
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals("roll")).
+ findFirst().get().getValue();
+ Assert.assertEquals("roll error = " + (estimatedRoll - rollValue),
+ rollValue, estimatedRoll, rollTolerance);
+
+ double estimatedPitch = normal.getLineSensor("line").
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals("pitch")).
+ findFirst().get().getValue();
+ Assert.assertEquals("pitch error = " + (estimatedPitch - pitchValue),
+ pitchValue, estimatedPitch, pitchTolerance);
+
+ } catch (OrekitExceptionWrapper oew) {
+ throw oew.getException();
+ }
+ }
+
+ private Rugged createParameterEstimationContext(int dimension,
+ boolean lightTimeCorrection,
+ boolean aberrationOfLightCorrection)
+ throws OrekitException, RuggedException {
+
+ try {
+
+ String path = getClass().getClassLoader().getResource("orekit-data").toURI().getPath();
+ DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(new File(path)));
+ final BodyShape earth = TestUtils.createEarth();
+ final Orbit orbit = TestUtils.createOrbit(Constants.EIGEN5C_EARTH_MU);
+
+ AbsoluteDate crossing = new AbsoluteDate("2012-01-01T12:30:00.000", TimeScalesFactory.getUTC());
+
+ // one line sensor
+ // position: 1.5m in front (+X) and 20 cm above (-Z) of the S/C center of mass
+ // los: swath in the (YZ) plane, looking at 50° roll, 2.6" per pixel
+ Vector3D position = new Vector3D(1.5, 0, -0.2);
+ LOSBuilder losBuilder =
+ TestUtils.createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
+ FastMath.toRadians(50.0),
+ RotationConvention.VECTOR_OPERATOR).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I,
+ FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
+ losBuilder.addTransform(new FixedRotation("roll", Vector3D.MINUS_I, 0.0));
+ losBuilder.addTransform(new FixedRotation("pitch", Vector3D.MINUS_J, 0.0));
+ TimeDependentLOS los = losBuilder.build();
+
+ // linear datation model: at reference time we get the middle line, and the rate is one line every 1.5ms
+ LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
+ int firstLine = 0;
+ int lastLine = dimension;
+ final LineSensor lineSensor = new LineSensor("line", lineDatation, position, los);
+ AbsoluteDate minDate = lineSensor.getDate(firstLine).shiftedBy(-1.0);
+ AbsoluteDate maxDate = lineSensor.getDate(lastLine).shiftedBy(+1.0);
+
+ TileUpdater updater =
+ new RandomLandscapeUpdater(0.0, 9000.0, 0.3, 0xf0a401650191f9f6l,
+ FastMath.toRadians(1.0), 257);
+
+ return new RuggedBuilder().
+ setDigitalElevationModel(updater, 8).
+ setAlgorithm(AlgorithmId.DUVENHAGE).
+ setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF).
+ setTimeSpan(minDate, maxDate, 0.001, 5.0).
+ setTrajectory(InertialFrameId.EME2000,
+ TestUtils.orbitToPV(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25),
+ 8, CartesianDerivativesFilter.USE_PV,
+ TestUtils.orbitToQ(orbit, earth, minDate.shiftedBy(-1.0), maxDate.shiftedBy(+1.0), 0.25),
+ 2, AngularDerivativesFilter.USE_R).
+ setLightTimeCorrection(lightTimeCorrection).
+ setAberrationOfLightCorrection(aberrationOfLightCorrection).
+ addLineSensor(lineSensor).
+ build();
+
+ } catch (URISyntaxException e) {
+ Assert.fail(e.getLocalizedMessage());
+ return null; // never reached
+ }
+ }
+
private void checkDateLocation(int dimension, boolean lightTimeCorrection, boolean aberrationOfLightCorrection,
double maxDateError)
throws RuggedException, OrekitException, URISyntaxException {
--
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