From f04f27cce0359bdd95eafeb3348b9a1f9d750b72 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@orekit.org>
Date: Tue, 23 Aug 2016 15:02:14 +0200
Subject: [PATCH] Finalize inverse location derivatives test.
---
.../org/orekit/rugged/api/RuggedTest.java | 125 +++++++++++-------
1 file changed, 75 insertions(+), 50 deletions(-)
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index 12761a26..43771973 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -32,6 +32,8 @@ import java.util.Locale;
import java.util.Map;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
+import org.hipparchus.analysis.differentiation.FiniteDifferencesDifferentiator;
+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;
@@ -48,6 +50,7 @@ import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
+import org.orekit.errors.OrekitExceptionWrapper;
import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
import org.orekit.frames.Frame;
import org.orekit.frames.FramesFactory;
@@ -55,6 +58,7 @@ import org.orekit.orbits.Orbit;
import org.orekit.propagation.Propagator;
import org.orekit.rugged.TestUtils;
import org.orekit.rugged.errors.RuggedException;
+import org.orekit.rugged.errors.RuggedExceptionWrapper;
import org.orekit.rugged.errors.RuggedMessages;
import org.orekit.rugged.linesensor.LineDatation;
import org.orekit.rugged.linesensor.LineSensor;
@@ -168,7 +172,7 @@ public class RuggedTest {
" Orekit initialization and DEM creation : %5.1fs%n" +
" direct location and %3dM grid writing: %5.1fs (%.1f px/s)%n",
lastLine - firstLine, los.getNbPixels(),
- 1.0e-3 *(t1 - t0), sizeM, 1.0e-3 *(t2 - t1), pixels / (1.0e-3 * (t2 - t1)));
+ 1.0e-3 * (t1 - t0), sizeM, 1.0e-3 * (t2 - t1), pixels / (1.0e-3 * (t2 - t1)));
} catch (IOException ioe) {
Assert.fail(ioe.getLocalizedMessage());
}
@@ -1037,28 +1041,28 @@ public class RuggedTest {
public void testInverseLocationDerivativesWithoutCorrections()
throws RuggedException, OrekitException {
doTestInverseLocationDerivatives(2000, false, false,
- 7.0e-9, 4.0e-11, 1.0e-20, 3.0e-5);
+ 7.0e-9, 4.0e-11, 2.0e-12, 7.0e-8);
}
@Test
public void testInverseLocationDerivativesWithLightTimeCorrection()
throws RuggedException, OrekitException {
doTestInverseLocationDerivatives(2000, true, false,
- 3.0e-9, 9.0e-9, 1.0e-20, 2.0e-6);
+ 3.0e-9, 9.0e-9, 3.0e-13, 7.0e-8);
}
@Test
public void testInverseLocationDerivativesWithAberrationOfLightCorrection()
throws RuggedException, OrekitException {
doTestInverseLocationDerivatives(2000, false, true,
- 3.0e-10, 3.0e-10, 1.0e-20, 2.0e-6);
+ 3.0e-10, 3.0e-10, 7.0e-13, 7.0e-8);
}
@Test
public void testInverseLocationDerivativesWithAllCorrections()
throws RuggedException, OrekitException {
doTestInverseLocationDerivatives(2000, true, true,
- 3.0e-10, 5.0e-10, 1.0e-20, 2.0e-6);
+ 3.0e-10, 5.0e-10, 7.0e-14, 7.0e-8);
}
private void doTestInverseLocationDerivatives(int dimension,
@@ -1066,8 +1070,8 @@ public class RuggedTest {
boolean aberrationOfLightCorrection,
double lineTolerance,
double pixelTolerance,
- double lineDerivativeTolerance,
- double pixelDerivativeTolerance)
+ double lineDerivativeRelativeTolerance,
+ double pixelDerivativeRelativeTolerance)
throws RuggedException, OrekitException {
try {
@@ -1096,7 +1100,7 @@ public class RuggedTest {
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
int firstLine = 0;
int lastLine = dimension;
- LineSensor lineSensor = new LineSensor("line", lineDatation, position, los);
+ 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);
@@ -1161,51 +1165,72 @@ public class RuggedTest {
// check the partial derivatives
double h = 1.0e-6;
+ FiniteDifferencesDifferentiator differentiator = new FiniteDifferencesDifferentiator(8, h);
+
+ UnivariateDifferentiableFunction lineVSroll =
+ differentiator.differentiate((double roll) -> {
+ try {
+ rollDriver.setValue(roll);
+ pitchDriver.setValue(0);
+ return rugged.inverseLocation("line", gp[referencePixel], 0, dimension).getLineNumber();
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ } catch (RuggedException e) {
+ throw new RuggedExceptionWrapper(e);
+ }
+ });
+ double dLdR = lineVSroll.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
+ Assert.assertEquals(dLdR, result[0].getPartialDerivative(map.get("roll")), dLdR * lineDerivativeRelativeTolerance);
+
+ UnivariateDifferentiableFunction lineVSpitch =
+ differentiator.differentiate((double pitch) -> {
+ try {
+ rollDriver.setValue(0);
+ pitchDriver.setValue(pitch);
+ return rugged.inverseLocation("line", gp[referencePixel], 0, dimension).getLineNumber();
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ } catch (RuggedException e) {
+ throw new RuggedExceptionWrapper(e);
+ }
+ });
+ double dLdP = lineVSpitch.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
+ Assert.assertEquals(dLdP, result[0].getPartialDerivative(map.get("pitch")), dLdP * lineDerivativeRelativeTolerance);
+
+ UnivariateDifferentiableFunction pixelVSroll =
+ differentiator.differentiate((double roll) -> {
+ try {
+ rollDriver.setValue(roll);
+ pitchDriver.setValue(0);
+ return rugged.inverseLocation("line", gp[referencePixel], 0, dimension).getPixelNumber();
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ } catch (RuggedException e) {
+ throw new RuggedExceptionWrapper(e);
+ }
+ });
+ double dXdR = pixelVSroll.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
+ Assert.assertEquals(dXdR, result[1].getPartialDerivative(map.get("roll")), dXdR * pixelDerivativeRelativeTolerance);
+
+ UnivariateDifferentiableFunction pixelVSpitch =
+ differentiator.differentiate((double pitch) -> {
+ try {
+ rollDriver.setValue(0);
+ pitchDriver.setValue(pitch);
+ return rugged.inverseLocation("line", gp[referencePixel], 0, dimension).getPixelNumber();
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ } catch (RuggedException e) {
+ throw new RuggedExceptionWrapper(e);
+ }
+ });
+ double dXdP = pixelVSpitch.value(new DerivativeStructure(1, 1, 0, 0.0)).getPartialDerivative(1);
+ Assert.assertEquals(dXdP, result[1].getPartialDerivative(map.get("pitch")), dXdP * pixelDerivativeRelativeTolerance);
- rollDriver.setValue(-h);
- pitchDriver.setValue(0);
- SensorPixel rMp0 = rugged.inverseLocation("line", gp[referencePixel], 0, dimension);
- rollDriver.setValue(+h);
- pitchDriver.setValue(0);
- SensorPixel rPp0 = rugged.inverseLocation("line", gp[referencePixel], 0, dimension);
-
-// rollDriver.setValue(0);
-// pitchDriver.setValue(-h);
-// SensorPixel r0pM = rugged.inverseLocation("line", gp[referencePixel], 0, dimension);
-// rollDriver.setValue(0);
-// pitchDriver.setValue(+h);
- // TODO: the following line leads to a singular matrix
-// SensorPixel r0pP = rugged.inverseLocation("line", gp[referencePixel], 0, dimension);
-
- Assert.assertEquals("dLine/dRoll error : " +
- ((rPp0.getLineNumber() - rMp0.getLineNumber()) / h -
- result[0].getPartialDerivative(map.get("roll"))),
- (rPp0.getLineNumber() - rMp0.getLineNumber()) / h,
- result[0].getPartialDerivative(map.get("roll")),
- lineDerivativeTolerance);
- Assert.assertEquals("dPixel/dRoll error : " +
- ((rPp0.getPixelNumber() - rMp0.getPixelNumber()) / h -
- result[1].getPartialDerivative(map.get("roll"))),
- (rPp0.getPixelNumber() - rMp0.getPixelNumber()) / h,
- result[1].getPartialDerivative(map.get("roll")),
- pixelDerivativeTolerance);
-// Assert.assertEquals("dLine/dPitch error : " +
-// ((r0pP.getLineNumber() - r0pM.getLineNumber()) / h -
-// result[0].getPartialDerivative(map.get("pitch"))),
-// (r0pP.getLineNumber() - r0pM.getLineNumber()) / h,
-// result[0].getPartialDerivative(map.get("pitch")),
-// lineDerivativeTolerance);
-// Assert.assertEquals("dPixel/dPitch error : " +
-// ((r0pP.getPixelNumber() - r0pM.getPixelNumber()) / h -
-// result[1].getPartialDerivative(map.get("pitch"))),
-// (r0pP.getPixelNumber() - r0pM.getPixelNumber()) / h,
-// result[1].getPartialDerivative(map.get("picth")),
-// pixelDerivativeTolerance);
-
} catch (InvocationTargetException | NoSuchMethodException |
SecurityException | IllegalAccessException |
- IllegalArgumentException | URISyntaxException e) {
- e.printStackTrace();
+ IllegalArgumentException | URISyntaxException |
+ OrekitExceptionWrapper | RuggedExceptionWrapper e) {
Assert.fail(e.getLocalizedMessage());
}
}
--
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