diff --git a/core/src/main/java/org/orekit/rugged/api/FixedLOS.java b/core/src/main/java/org/orekit/rugged/api/FixedLOS.java
new file mode 100644
index 0000000000000000000000000000000000000000..5c24f8d0e43bb26a2b7eac70755b2d3f1516e91c
--- /dev/null
+++ b/core/src/main/java/org/orekit/rugged/api/FixedLOS.java
@@ -0,0 +1,43 @@
+/* Copyright 2013-2014 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.
+ */
+package org.orekit.rugged.api;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+import org.orekit.time.AbsoluteDate;
+
+/** Line-of-sight which does not depends on time.
+ * @see LineSensor
+ * @author Luc Maisonobe
+ */
+public class FixedLOS implements TimeDependentLOS {
+
+ /** Fixed direction for los. */
+ final Vector3D los;
+
+ /** Simple constructor.
+ * @param los fixed direction for the line of sight
+ */
+ public FixedLOS(final Vector3D los) {
+ this.los = los;
+ }
+
+ /** {@inheritDoc}} */
+ public Vector3D getLOS(AbsoluteDate date) {
+ return los;
+ }
+
+}
diff --git a/core/src/main/java/org/orekit/rugged/api/LineSensor.java b/core/src/main/java/org/orekit/rugged/api/LineSensor.java
index f0bfd9a8cb919a6d7117a330ae4e90b95a658e99..6971fa4fe288568bd4b3c66d22d9045818218d04 100644
--- a/core/src/main/java/org/orekit/rugged/api/LineSensor.java
+++ b/core/src/main/java/org/orekit/rugged/api/LineSensor.java
@@ -39,7 +39,7 @@ public class LineSensor {
private final Vector3D position;
/** Pixels lines-of-sight. */
- private final Vector3D[] x;
+ private final List<TimeDependentLOS> los;
/** Simple constructor.
* @param name name of the sensor
@@ -48,17 +48,12 @@ public class LineSensor {
* @param datationModel datation model
*/
public LineSensor(final String name, final LineDatation datationModel,
- final Vector3D position, final List<Vector3D> los) {
+ final Vector3D position, final List<TimeDependentLOS> los) {
this.name = name;
this.datationModel = datationModel;
this.position = position;
-
- // normalize lines-of-sight
- this.x = new Vector3D[los.size()];
- for (int i = 0; i < los.size(); ++i) {
- x[i] = los.get(i).normalize();
- }
+ this.los = los;
}
@@ -73,15 +68,16 @@ public class LineSensor {
* @return number of pixels
*/
public int getNbPixels() {
- return x.length;
+ return los.size();
}
- /** Get the pixel normalized line-of-sight.
+ /** Get the pixel normalized line-of-sight at some date.
+ * @param date current date
* @param i pixel index (must be between 0 and {@link #getNbPixels()}
* @return pixel normalized line-of-sight
*/
- public Vector3D getLos(final int i) {
- return x[i];
+ public Vector3D getLos(final AbsoluteDate date, final int i) {
+ return los.get(i).getLOS(date).normalize();
}
/** Get the date.
diff --git a/core/src/main/java/org/orekit/rugged/api/Rugged.java b/core/src/main/java/org/orekit/rugged/api/Rugged.java
index d37d8bd482e7db93b2b3a7f0e99eb9ba22caee3c..e7bdde20bdcadd6b5b5557348c23fdc88fb169fa 100644
--- a/core/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/core/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -742,7 +742,7 @@ public class Rugged {
final GeodeticPoint[] gp = new GeodeticPoint[sensor.getNbPixels()];
for (int i = 0; i < sensor.getNbPixels(); ++i) {
- final Vector3D obsLInert = scToInert.transformVector(sensor.getLos(i));
+ final Vector3D obsLInert = scToInert.transformVector(sensor.getLos(date, i));
final Vector3D lInert;
if (aberrationOfLightCorrection) {
// apply aberration of light correction
@@ -765,7 +765,7 @@ public class Rugged {
if (lightTimeCorrection) {
// compute DEM intersection with light time correction
final Vector3D sP = approximate.transformPosition(sensor.getPosition());
- final Vector3D sL = approximate.transformVector(sensor.getLos(i));
+ final Vector3D sL = approximate.transformVector(sensor.getLos(date, i));
final Vector3D eP1 = ellipsoid.transform(ellipsoid.pointOnGround(sP, sL, 0.0));
final double deltaT1 = eP1.distance(sP) / Constants.SPEED_OF_LIGHT;
final Transform shifted1 = inertToBody.shiftedBy(-deltaT1);
@@ -1005,7 +1005,7 @@ public class Rugged {
new SensorPixelCrossing(sensor, planeCrossing.getMeanPlaneNormal(),
crossingResult.getTargetDirection().toVector3D(),
MAX_EVAL, COARSE_INVERSE_LOCALIZATION_ACCURACY);
- final double coarsePixel = pixelCrossing.locatePixel();
+ final double coarsePixel = pixelCrossing.locatePixel(crossingResult.getDate());
if (Double.isNaN(coarsePixel)) {
// target is out of search interval
return null;
@@ -1014,10 +1014,9 @@ public class Rugged {
// fix line by considering the closest pixel exact position and line-of-sight
// (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 Vector3D lowLOS = sensor.getLos(lowIndex);
- final Vector3D highLOS = sensor.getLos(lowIndex + 1);
+ final Vector3D lowLOS = sensor.getLos(crossingResult.getDate(), lowIndex);
+ final Vector3D highLOS = sensor.getLos(crossingResult.getDate(), lowIndex + 1);
final Vector3D localZ = Vector3D.crossProduct(lowLOS, highLOS);
- final Vector3D localY = Vector3D.crossProduct(localZ, lowLOS);
final DerivativeStructure beta = FieldVector3D.angle(crossingResult.getTargetDirection(), localZ);
final double deltaL = (0.5 * FastMath.PI - beta.getValue()) / beta.getPartialDerivative(1);
final double fixedLine = crossingResult.getLine() + deltaL;
@@ -1025,11 +1024,17 @@ public class Rugged {
crossingResult.getTargetDirection().getY().taylor(deltaL),
crossingResult.getTargetDirection().getZ().taylor(deltaL)).normalize();
+ // fix neighbouring pixels
+ final AbsoluteDate fixedDate = sensor.getDate(fixedLine);
+ final Vector3D fixedX = sensor.getLos(fixedDate, lowIndex);
+ final Vector3D fixedZ = Vector3D.crossProduct(fixedX, sensor.getLos(fixedDate, lowIndex + 1));
+ final Vector3D fixedY = Vector3D.crossProduct(fixedZ, fixedX);
+
// fix pixel
- final double pixelWidth = FastMath.atan2(Vector3D.dotProduct(highLOS, localY),
- Vector3D.dotProduct(highLOS, lowLOS));
- final double alpha = FastMath.atan2(Vector3D.dotProduct(fixedDirection, localY),
- Vector3D.dotProduct(fixedDirection, lowLOS));
+ final double pixelWidth = FastMath.atan2(Vector3D.dotProduct(highLOS, fixedY),
+ Vector3D.dotProduct(highLOS, fixedX));
+ final double alpha = FastMath.atan2(Vector3D.dotProduct(fixedDirection, fixedY),
+ Vector3D.dotProduct(fixedDirection, fixedX));
final double fixedPixel = lowIndex + alpha / pixelWidth;
return new SensorPixel(fixedLine, fixedPixel);
diff --git a/core/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java b/core/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java
index 21a92acddcfaa885911a78d6261a208cba6c812e..a23434968881cea9d535c2e3d7215dc2f074be5a 100644
--- a/core/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java
+++ b/core/src/main/java/org/orekit/rugged/api/SensorMeanPlaneCrossing.java
@@ -101,16 +101,17 @@ class SensorMeanPlaneCrossing {
this.accuracy = accuracy;
this.scToBody = scToBody;
- this.midLine = 0.5 * (minLine + maxLine);
- final AbsoluteDate midDate = sensor.getDate(midLine);
- this.midBodyToInert = scToBody.getBodyToInertial(midDate);
- this.midScToInert = scToBody.getScToInertial(midDate);
+ this.midLine = 0.5 * (minLine + maxLine);
+ final AbsoluteDate midDate = sensor.getDate(midLine);
+ this.midBodyToInert = scToBody.getBodyToInertial(midDate);
+ this.midScToInert = scToBody.getScToInertial(midDate);
- this.meanPlaneNormal = computeMeanPlaneNormal();
+ this.meanPlaneNormal = computeMeanPlaneNormal(midDate);
}
/** Compute the plane containing origin that best fits viewing directions point cloud.
+ * @param midDate middle date
* <p>
* The normal is oriented such traversing pixels in increasing indices
* order corresponds is consistent with trigonometric order (i.e.
@@ -118,14 +119,14 @@ class SensorMeanPlaneCrossing {
* </p>
* @return normal of the mean plane
*/
- private Vector3D computeMeanPlaneNormal() {
+ private Vector3D computeMeanPlaneNormal(final AbsoluteDate midDate) {
// build a centered data matrix
// (for each viewing direction, we add both the direction and its
// opposite, thus ensuring the plane will contain origin)
final RealMatrix matrix = MatrixUtils.createRealMatrix(3, 2 * sensor.getNbPixels());
for (int i = 0; i < sensor.getNbPixels(); ++i) {
- final Vector3D l = sensor.getLos(i);
+ final Vector3D l = sensor.getLos(midDate, i);
matrix.setEntry(0, 2 * i, l.getX());
matrix.setEntry(1, 2 * i, l.getY());
matrix.setEntry(2, 2 * i, l.getZ());
@@ -143,8 +144,8 @@ class SensorMeanPlaneCrossing {
final Vector3D singularVector = new Vector3D(svd.getU().getColumn(2)).normalize();
// check rotation order
- final Vector3D first = sensor.getLos(0);
- final Vector3D last = sensor.getLos(sensor.getNbPixels() - 1);
+ final Vector3D first = sensor.getLos(midDate, 0);
+ final Vector3D last = sensor.getLos(midDate, sensor.getNbPixels() - 1);
if (Vector3D.dotProduct(singularVector, Vector3D.crossProduct(first, last)) >= 0) {
return singularVector;
} else {
@@ -182,6 +183,9 @@ class SensorMeanPlaneCrossing {
/** Container for mean plane crossing result. */
public static class CrossingResult {
+ /** Crossing date. */
+ private final AbsoluteDate crossingDate;
+
/** Crossing line. */
private final double crossingLine;
@@ -189,15 +193,24 @@ class SensorMeanPlaneCrossing {
private final FieldVector3D<DerivativeStructure> targetDirection;
/** Simple constructor.
+ * @param crossingDate crossing date
* @param crossingLine crossing line
* @param targetDirection target direction in spacecraft frame
*/
- private CrossingResult(final double crossingLine,
+ private CrossingResult(final AbsoluteDate crossingDate, final double crossingLine,
final FieldVector3D<DerivativeStructure> targetDirection) {
+ this.crossingDate = crossingDate;
this.crossingLine = crossingLine;
this.targetDirection = targetDirection;
}
+ /** Get the crossing date.
+ * @return crossing date
+ */
+ public AbsoluteDate getDate() {
+ return crossingDate;
+ }
+
/** Get the crossing line.
* @return crossing line
*/
@@ -246,7 +259,7 @@ class SensorMeanPlaneCrossing {
final double deltaL = (0.5 * FastMath.PI - beta.getValue()) / beta.getPartialDerivative(1);
if (FastMath.abs(deltaL) <= accuracy) {
// return immediately, without doing any additional evaluation!
- return new CrossingResult(crossingLine, targetDirection);
+ return new CrossingResult(sensor.getDate(crossingLine), crossingLine, targetDirection);
}
crossingLine += deltaL;
diff --git a/core/src/main/java/org/orekit/rugged/api/SensorPixelCrossing.java b/core/src/main/java/org/orekit/rugged/api/SensorPixelCrossing.java
index 6cd31e53edb56dc3e90b3bba6b0b7cda3eedd76e..157cbb1c1f67a786cd4443976c9198c5305a964f 100644
--- a/core/src/main/java/org/orekit/rugged/api/SensorPixelCrossing.java
+++ b/core/src/main/java/org/orekit/rugged/api/SensorPixelCrossing.java
@@ -24,6 +24,7 @@ import org.apache.commons.math3.exception.TooManyEvaluationsException;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.util.FastMath;
import org.orekit.errors.OrekitExceptionWrapper;
+import org.orekit.time.AbsoluteDate;
/** Class devoted to locate where ground point crosses a sensor line.
* <p>
@@ -65,11 +66,12 @@ class SensorPixelCrossing {
}
/** Locate pixel along sensor line.
+ * @param date current date
* @return pixel location ({@code Double.NaN} if the first and last
* pixels of the line do not bracket a location)
* @exception RuggedException if the maximum number of evaluations is exceeded
*/
- public double locatePixel() throws RuggedException {
+ public double locatePixel(final AbsoluteDate date) throws RuggedException {
try {
// set up function evaluating to 0.0 where target matches pixel
@@ -77,7 +79,7 @@ class SensorPixelCrossing {
/** {@inheritDoc} */
@Override
public double value(final double x) throws OrekitExceptionWrapper {
- return Vector3D.angle(cross, getLOS(x)) - 0.5 * FastMath.PI;
+ return Vector3D.angle(cross, getLOS(date, x)) - 0.5 * FastMath.PI;
}
};
@@ -95,17 +97,19 @@ class SensorPixelCrossing {
}
/** Interpolate sensor pixels at some pixel index.
+ * @param date current date
* @param x pixel index
* @return interpolated direction for specified index
*/
- private Vector3D getLOS(final double x) {
+ private Vector3D getLOS(final AbsoluteDate date, final double x) {
// find surrounding pixels
final int iInf = FastMath.max(0, FastMath.min(sensor.getNbPixels() - 2, (int) FastMath.floor(x)));
final int iSup = iInf + 1;
// interpolate
- return new Vector3D(iSup - x, sensor.getLos(iInf), x - iInf, sensor.getLos(iSup)).normalize();
+ return new Vector3D(iSup - x, sensor.getLos(date, iInf),
+ x - iInf, sensor.getLos(date, iSup)).normalize();
}
diff --git a/core/src/main/java/org/orekit/rugged/api/TimeDependentLOS.java b/core/src/main/java/org/orekit/rugged/api/TimeDependentLOS.java
new file mode 100644
index 0000000000000000000000000000000000000000..d7f6014a141bba5a5d6c623e5275acaf2adb3e8a
--- /dev/null
+++ b/core/src/main/java/org/orekit/rugged/api/TimeDependentLOS.java
@@ -0,0 +1,34 @@
+/* Copyright 2013-2014 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.
+ */
+package org.orekit.rugged.api;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+import org.orekit.time.AbsoluteDate;
+
+/** Interface representing a line-of-sight which depends on time.
+ * @see LineSensor
+ * @author Luc Maisonobe
+ */
+public interface TimeDependentLOS {
+
+ /** Get the line of sight for a given date.
+ * @param date date
+ * @return line of sight
+ */
+ Vector3D getLOS(AbsoluteDate date);
+
+}
diff --git a/core/src/test/java/org/orekit/rugged/api/RuggedTest.java b/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
index fb2c2158fd271c3ba0e1e265fb276c01abae1ca1..b6a46d3a1287b66d6e29bbb81b4a5383312d7a92 100644
--- a/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/core/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -303,8 +303,8 @@ public class RuggedTest {
// position: 1.5m in front (+X) and 20 cm above (-Z) of the S/C center of mass
// los: swath in the (YZ) plane, centered at +Z, ±10° aperture, 960 pixels
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
- FastMath.toRadians(10.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
+ FastMath.toRadians(10.0), dimension);
// linear datation model: at reference time we get line 1000, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -384,8 +384,8 @@ public class RuggedTest {
// position: 1.5m in front (+X) and 20 cm above (-Z) of the S/C center of mass
// los: swath in the (YZ) plane, centered at +Z, ±10° aperture, 960 pixels
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
- FastMath.toRadians(10.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
+ FastMath.toRadians(10.0), dimension);
// linear datation model: at reference time we get line 200, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -451,8 +451,8 @@ public class RuggedTest {
// position: 1.5m in front (+X) and 20 cm above (-Z) of the S/C center of mass
// los: swath in the (YZ) plane, centered at +Z, ±10° aperture, 960 pixels
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
- FastMath.toRadians(10.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
+ FastMath.toRadians(10.0), dimension);
// linear datation model: at reference time we get line 200, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -506,9 +506,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -571,9 +570,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -599,7 +597,8 @@ public class RuggedTest {
for (int i = 0; i < gpLine.length; ++i) {
GeodeticPoint gpPixel =
- rugged.directLocalization(lineSensor.getDate(100), lineSensor.getPosition(), lineSensor.getLos(i));
+ rugged.directLocalization(lineSensor.getDate(100), lineSensor.getPosition(),
+ lineSensor.getLos(lineSensor.getDate(100), i));
Assert.assertEquals(gpLine[i].getLatitude(), gpPixel.getLatitude(), 1.0e-10);
Assert.assertEquals(gpLine[i].getLongitude(), gpPixel.getLongitude(), 1.0e-10);
Assert.assertEquals(gpLine[i].getAltitude(), gpPixel.getAltitude(), 1.0e-10);
@@ -624,9 +623,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -654,7 +652,8 @@ public class RuggedTest {
for (int i = 0; i < gpLine.length; ++i) {
GeodeticPoint gpPixel =
- rugged.directLocalization(lineSensor.getDate(100), lineSensor.getPosition(), lineSensor.getLos(i));
+ rugged.directLocalization(lineSensor.getDate(100), lineSensor.getPosition(),
+ lineSensor.getLos(lineSensor.getDate(100), i));
Assert.assertEquals(gpLine[i].getLatitude(), gpPixel.getLatitude(), 1.0e-10);
Assert.assertEquals(gpLine[i].getLongitude(), gpPixel.getLongitude(), 1.0e-10);
Assert.assertEquals(gpLine[i].getAltitude(), gpPixel.getAltitude(), 1.0e-10);
@@ -679,9 +678,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -741,9 +739,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -803,9 +800,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -850,9 +846,8 @@ public class RuggedTest {
// 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, ±1° aperture
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(1.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(1.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -1001,10 +996,9 @@ public class RuggedTest {
// 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 roughly at 50° roll (sensor-dependent), 2.6" per pixel
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
- FastMath.toRadians(50.0 - 0.001 * i)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I,
+ FastMath.toRadians(50.0 - 0.001 * i)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I, FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
// linear datation model: at reference time we get roughly middle line, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, i + dimension / 2, 1.0 / 1.5e-3);
@@ -1146,35 +1140,35 @@ public class RuggedTest {
satellitePVList, 8, CartesianDerivativesFilter.USE_PV,
satelliteQList, 8, AngularDerivativesFilter.USE_R, 0.001);
- List<Vector3D> lineOfSight = new ArrayList<Vector3D>();
- lineOfSight.add(new Vector3D(-0.011204, 0.181530, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181518, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181505, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181492, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181480, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181467, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181455, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181442, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181430, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181417, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181405, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.181392, 1d).normalize());
-
- lineOfSight.add(new Vector3D(-0.011204, 0.149762, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149749, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149737, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149724, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149712, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149699, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149686, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149674, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149661, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149649, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149636, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149624, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149611, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149599, 1d).normalize());
- lineOfSight.add(new Vector3D(-0.011204, 0.149586, 1d).normalize());
+ List<TimeDependentLOS> lineOfSight = new ArrayList<TimeDependentLOS>();
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181530, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181518, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181505, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181492, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181480, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181467, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181455, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181442, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181430, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181417, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181405, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.181392, 1d).normalize()));
+
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149762, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149749, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149737, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149724, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149712, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149699, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149686, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149674, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149661, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149649, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149636, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149624, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149611, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149599, 1d).normalize()));
+ lineOfSight.add(new FixedLOS(new Vector3D(-0.011204, 0.149586, 1d).normalize()));
AbsoluteDate absDate = new AbsoluteDate("2009-12-11T16:58:51.593", gps);
LinearLineDatation lineDatation = new LinearLineDatation(absDate, 1d, 638.5696040868454);
@@ -1298,10 +1292,10 @@ public class RuggedTest {
satellitePVList.get(0).getDate(), satellitePVList.get(satellitePVList.size() - 1).getDate(), 10.0, satellitePVList, 6,
CartesianDerivativesFilter.USE_P, satelliteQList, 8, AngularDerivativesFilter.USE_R, 0.1);
- List<Vector3D> lineOfSight = new ArrayList<Vector3D>();
- lineOfSight.add(new Vector3D(0.0046536264d, -0.1851800945d, 1d).normalize());
- lineOfSight.add(new Vector3D(0.0000001251d, -0.0002815246d, 1d).normalize());
- lineOfSight.add(new Vector3D(0.0046694108d, 0.1853863933d, 1d).normalize());
+ List<TimeDependentLOS> lineOfSight = new ArrayList<TimeDependentLOS>();
+ lineOfSight.add(new FixedLOS(new Vector3D(0.0046536264d, -0.1851800945d, 1d)));
+ lineOfSight.add(new FixedLOS(new Vector3D(0.0000001251d, -0.0002815246d, 1d)));
+ lineOfSight.add(new FixedLOS(new Vector3D(0.0046694108d, 0.1853863933d, 1d)));
AbsoluteDate absDate = new AbsoluteDate("2013-07-07T17:16:36.857", gps);
LinearLineDatation lineDatation = new LinearLineDatation(absDate, 0.03125d, 19.95565693384045);
@@ -1340,10 +1334,10 @@ public class RuggedTest {
// 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 nadir, 2.6" per pixel, 3" sagitta
Vector3D position = new Vector3D(1.5, 0, -0.2);
- List<Vector3D> los = createLOSCurvedLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
- FastMath.toRadians(dimension * 2.6 / 3600.0),
- FastMath.toRadians(3.0 / 3600.0),
- dimension);
+ List<TimeDependentLOS> los = createLOSCurvedLine(Vector3D.PLUS_K, Vector3D.PLUS_I,
+ FastMath.toRadians(dimension * 2.6 / 3600.0),
+ FastMath.toRadians(3.0 / 3600.0),
+ dimension);
// 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);
@@ -1414,9 +1408,9 @@ public class RuggedTest {
// 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);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I,
+ FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
// 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);
@@ -1500,9 +1494,9 @@ public class RuggedTest {
// 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);
- List<Vector3D> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
- Vector3D.PLUS_I,
- FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
+ List<TimeDependentLOS> los = createLOSPerfectLine(new Rotation(Vector3D.PLUS_I, FastMath.toRadians(50.0)).applyTo(Vector3D.PLUS_K),
+ Vector3D.PLUS_I,
+ FastMath.toRadians(dimension * 2.6 / 3600.0), dimension);
// linear datation model: at reference time we get line 100, and the rate is one line every 1.5ms
LineDatation lineDatation = new LinearLineDatation(crossing, dimension / 2, 1.0 / 1.5e-3);
@@ -1624,24 +1618,24 @@ public class RuggedTest {
}
- private List<Vector3D> createLOSPerfectLine(Vector3D center, Vector3D normal, double halfAperture, int n) {
- List<Vector3D> list = new ArrayList<Vector3D>(n);
+ private List<TimeDependentLOS> createLOSPerfectLine(Vector3D center, Vector3D normal, double halfAperture, int n) {
+ List<TimeDependentLOS> list = new ArrayList<TimeDependentLOS>(n);
for (int i = 0; i < n; ++i) {
double alpha = (halfAperture * (2 * i + 1 - n)) / (n - 1);
- list.add(new Rotation(normal, alpha).applyTo(center));
+ list.add(new FixedLOS(new Rotation(normal, alpha).applyTo(center)));
}
return list;
}
- private List<Vector3D> createLOSCurvedLine(Vector3D center, Vector3D normal,
- double halfAperture, double sagitta, int n) {
+ private List<TimeDependentLOS> createLOSCurvedLine(Vector3D center, Vector3D normal,
+ double halfAperture, double sagitta, int n) {
Vector3D u = Vector3D.crossProduct(center, normal);
- List<Vector3D> list = new ArrayList<Vector3D>(n);
+ List<TimeDependentLOS> list = new ArrayList<TimeDependentLOS>(n);
for (int i = 0; i < n; ++i) {
double x = (2.0 * i + 1.0 - n) / (n - 1);
double alpha = x * halfAperture;
double beta = x * x * sagitta;
- list.add(new Rotation(normal, alpha).applyTo(new Rotation(u, beta).applyTo(center)));
+ list.add(new FixedLOS(new Rotation(normal, alpha).applyTo(new Rotation(u, beta).applyTo(center))));
}
return list;
}
diff --git a/core/src/test/java/org/orekit/rugged/api/SensorMeanPlaneCrossingTest.java b/core/src/test/java/org/orekit/rugged/api/SensorMeanPlaneCrossingTest.java
index 4c799351ebfccda5e694cbe14ef5dc65afa33126..e8ddb1e47a11e4b591993b7fbc30596807995128 100644
--- a/core/src/test/java/org/orekit/rugged/api/SensorMeanPlaneCrossingTest.java
+++ b/core/src/test/java/org/orekit/rugged/api/SensorMeanPlaneCrossingTest.java
@@ -66,10 +66,10 @@ public class SensorMeanPlaneCrossingTest {
final Vector3D cross = Vector3D.crossProduct(normal, fovCenter);
// build lists of pixels regularly spread on a perfect plane
- final List<Vector3D> los = new ArrayList<Vector3D>();
+ final List<TimeDependentLOS> los = new ArrayList<TimeDependentLOS>();
for (int i = -1000; i <= 1000; ++i) {
final double alpha = i * 0.17 / 1000;
- los.add(new Vector3D(FastMath.cos(alpha), fovCenter, FastMath.sin(alpha), cross));
+ los.add(new FixedLOS(new Vector3D(FastMath.cos(alpha), fovCenter, FastMath.sin(alpha), cross)));
}
final LineSensor sensor = new LineSensor("perfect line",
@@ -96,7 +96,7 @@ public class SensorMeanPlaneCrossingTest {
final Vector3D cross = Vector3D.crossProduct(normal, fovCenter);
// build lists of pixels regularly spread on a perfect plane
- final List<Vector3D> los = new ArrayList<Vector3D>();
+ final List<TimeDependentLOS> los = new ArrayList<TimeDependentLOS>();
for (int i = -1000; i <= 1000; ++i) {
final double alpha = i * 0.17 / 10 + 1.0e-5 * random.nextDouble();
final double delta = 1.0e-5 * random.nextDouble();
@@ -104,7 +104,7 @@ public class SensorMeanPlaneCrossingTest {
final double sA = FastMath.sin(alpha);
final double cD = FastMath.cos(delta);
final double sD = FastMath.sin(delta);
- los.add(new Vector3D(cA * cD, fovCenter, sA * cD, cross, sD, normal));
+ los.add(new FixedLOS(new Vector3D(cA * cD, fovCenter, sA * cD, cross, sD, normal)));
}
final LineSensor sensor = new LineSensor("noisy line",
diff --git a/design/direct-localization-class-diagram.puml b/design/direct-localization-class-diagram.puml
index e4e73d4fb2e786a2907851f45fbf7f6f78daa04c..f49203d89438e3bc3e8dc3d79a94dd110c3f241d 100644
--- a/design/direct-localization-class-diagram.puml
+++ b/design/direct-localization-class-diagram.puml
@@ -61,7 +61,7 @@
class LineSensor
IntersectionAlgorithm "1" <--o Rugged : delegate DEM intersection
ExtendedEllipsoid <-- Rugged : convert geodetic points
- Rugged --> LineSensor : getLOS(pixel)
+ Rugged --> LineSensor : getLOS(date, pixel)
Rugged --> LineSensor : getDate(line)
SpacecraftToObservedBody <-- Rugged : convert positions/directions
}
diff --git a/design/rugged-design.odt b/design/rugged-design.odt
index 296c73fdaf4e1e7af50aaae2bcbb85dcd59ba407..4be3e90bf3bcb9d3582705071aa026c82f87e9d0 100644
Binary files a/design/rugged-design.odt and b/design/rugged-design.odt differ