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Commit f04f27cc authored by Luc Maisonobe's avatar Luc Maisonobe
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Finalize inverse location derivatives test.

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src/test/java/org/orekit/rugged/api/RuggedTest.java
+ 75
− 50
View file @ f04f27cc
......@@ -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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