Commit 341d8ed0 authored by Ian Humphrey's avatar Ian Humphrey
Browse files

Merged SpiceRotation changes (target body support, documentation and testing)... 

Merged SpiceRotation changes (target body support, documentation and testing) from IPCE (r6874,5) to trunk. Fixes #4097, #3972.

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/trunk@6877 41f8697f-d340-4b68-9986-7bafba869bb8
parent 16292cbd

isis/src/base/objs/SpiceRotation/SpiceRotation.cpp

+506 −311

File changed.

Preview size limit exceeded, changes collapsed.

isis/src/base/objs/SpiceRotation/SpiceRotation.h

+104 −98
Original line number Diff line number Diff line
@@ -25,14 +25,14 @@ 
#include <string>

#include <vector>



#include <SpiceUsr.h>

#include <SpiceZfc.h>

#include <SpiceZmc.h>

//#include <SpiceUsr.h>

//#include <SpiceZfc.h>

//#include <SpiceZmc.h>



#include "Angle.h"

#include "Table.h"

#include "Quaternion.h"

#include "PolynomialUnivariate.h"

#include "Quaternion.h"



#define J2000Code    1
@@ -49,7 +49,7 @@ namespace Isis { 
   * loaded prior to using this class.  A position can be returned in either

   * the J2000 frame or the selected reference frame.  See NAIF required

   * reading for more information regarding this subject at

   * ftp://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/ascii/individual_docs/spk.req

   * ftp://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html

   * <p>

   * An important functionality of this class is the ability to cache the

   * rotations so they do not have to be constantly read from the NAIF kernels
@@ -192,7 +192,7 @@ namespace Isis { 
   *                           Added new methods 

   *                           loadPCFromSpice, loadPCFromTable, toJ2000Partial, poleRaCoefs,

   *                           poleDecCoefs, pmCoefs, poleRaNutPrecCoefs, poleDecNutPrecCoefs, 

   *                           mNutPrecCoefs, sysNutPrecConstants, sysNutPrecCoefs,

   *                           pmNutPrecCoefs, sysNutPrecConstants, sysNutPrecCoefs,

   *                           usePckPolynomial, setPckPolynomial(raCoef, decCoef, pmCoef),

   *                           getPckPolynomial, setEphemerisTimePckPolyFunction, getFrameType

   *                           and members m_frameType, m_tOrientationAvailable,
@@ -200,11 +200,12 @@ namespace Isis { 
   *                           m_sysNutPrec0, m_sysNutPrec1, m_dscale, m_Tscale to support request for 

   *                           solving for target body parameters.

   *                           Also added a new enumerated value for Source, PckPolyFunction, 

   *                            and 

   *                           PartialType, WRT_RotationRate.

   *                           and PartialType, WRT_RotationRate.

   *   @history 2016-02-15 Debbie A. Cook - Programmer notes - Added private method

   *                           setFrameType to set the frame type.  It also loads the planetary 

   *                           constants for a PCK type. 

   *   @history 2016-06-28 Ian Humphrey - Updated documentation and coding standards. Added new

   *                           tests to unit test. Fixes #3972.

   *

   *  @todo Downsize using Hermite cubic spline and allow Nadir tables to be downsized again.

   *  @todo Consider making this a base class with child classes based on frame type or
@@ -245,36 +246,39 @@ namespace Isis { 
       *       PckPolyFunction - The rotation is calculated using the IAU fit 

       *                  polynomials in one variable (time in Julian centuries and days).

       */

      enum Source { Spice,                              //!< Directly from the kernels 

      enum Source {            

        Spice,                   //!< Directly from the kernels 

        Nadir,                   //!< Nadir pointing

        Memcache,                //!< From cached table

        PolyFunction,            //!< From nth degree polynomial

        PolyFunctionOverSpice ,  //!< Kernels plus nth degree polynomial 

                               PckPolyFunction          //!< Quadratic polynomial function with

                                                        //   linear trignometric terms

        PckPolyFunction          //!< Quadratic polynomial function with linear trignometric terms

      };            



      /** 

       * This enumeration indicates whether the partial derivative is taken with 

       * respect to Right Ascension, Declination, or Twist (or Rotation). 

       */ 

      enum PartialType { WRT_RightAscension, //!< With respect to Right Ascension

      enum PartialType { 

        WRT_RightAscension, //!< With respect to Right Ascension

        WRT_Declination,    //!< With respect to Declination

        WRT_Twist           //!< With respect to Twist or Prime Meridian Rotation

      };



      /** 

       *  

       * Status of downsizing the cache

       */ 

      enum DownsizeStatus { Yes,  //!< 

                            Done, //!< 

                            No    //!< 

      enum DownsizeStatus { 

        Yes,  //!< Downsize the cache 

        Done, //!< Cache is downsized

        No    //!< Do not downsize the cache 

      };



      /** 

       *  

       * Enumeration for the frame type of the rotation  

       */ 

      enum FrameType {UNKNOWN = 0,  // Isis specific code for unknown frame type

      enum FrameType {

        UNKNOWN = 0,      //!< Isis specific code for unknown frame type

        INERTL = 1,       //!< See Naif Frames.req document for 

        PCK  = 2,         //!< definitions

        CK = 3,           //!<
@@ -470,8 +474,7 @@ namespace Isis { 
                                          (after all time-based rotations in frame chain from

                                           J2000 to target) to the target frame*/

      std::vector<double> p_CJ;           /**< Rotation matrix from J2000 to first constant 

                                               rotation after all the time-based rotations 

                                               in frame chain from*/

                                               rotation*/

      std::vector<std::vector<double> > p_cacheAv;

      //!< Cached angular velocities for corresponding rotactions in p_cache

      std::vector<double> p_av;           //!< Angular velocity for rotation at time p_et
@@ -559,9 +562,9 @@ namespace Isis { 
      //                and pmNutPrec).

      //

      // The next three vectors will have length 3 (for a quadratic polynomial) if used.

      std::vector<Angle>m_raPole;        //!< Coefficients of a quadratic polynomial fitting pole ra

      std::vector<Angle>m_decPole;      //!< Coefficients of a quadratic polynomial fitting pole dec

      std::vector<Angle>m_pm ;             //!< Coefficients of a quadratic polynomial fitting pole pm

      std::vector<Angle>m_raPole;       //!< Coefficients of a quadratic polynomial fitting pole ra.

      std::vector<Angle>m_decPole;      //!< Coefficients of a quadratic polynomial fitting pole dec.

      std::vector<Angle>m_pm ;          //!< Coefficients of a quadratic polynomial fitting pole pm.

      //

      // Currently multiples (terms with periods matching other terms but varying amplitudes) 

      // are handled as additional terms added to the end of the vector as Naif does (see
@@ -574,10 +577,13 @@ namespace Isis { 
      std::vector<Angle>m_sysNutPrec0; //!< Constants of planetary system nut/prec periods

      std::vector<Angle>m_sysNutPrec1; //!< Linear terms of planetary system nut/prec periods



      // The following scalers are used in the IAU equations to convert p_et to the appropriate time

      // units for calculating target body ra, dec, and w.  These need to be initialized in every constructor.

      static const double m_centScale;   //!<  Seconds per Julian century for scaling time in seconds *** may need to put static in front of const

      static const double m_dayScale;    //!< Seconds per day for scaling time in seconds to get target body w

      // The following scalars are used in the IAU equations to convert p_et to the appropriate time

      // units for calculating target body ra, dec, and w.  These need to be initialized in every 

      // constructor.

      //! Seconds per Julian century for scaling time in seconds

      static const double m_centScale;

      //! Seconds per day for scaling time in seconds to get target body w

      static const double m_dayScale;

  };

};

isis/src/base/objs/SpiceRotation/SpiceRotation.truth

+219 −47
Original line number Diff line number Diff line 
Unit test for SpiceRotation

Naif code = -94031

Testing without cache ... 

Testing without cache (from SPICE)... 

CJ(0) = -0.87506927 0.25477955 -0.41151081

         0.011442263 0.86088548 0.50867009

         0.48386242 0.44041295 -0.75624969
@@ -151,107 +151,107 @@ Testing with polynomial functions over Spice ... 
Source = 4

Time           = -69382819

CJ(0) = -0.87809698 0.25267525 -0.40632612

         0.01085749 0.85950052 0.51101954

         0.010857485 0.85950052 0.51101953

         0.4783595 0.44431303 -0.75746823

av(0) = 3.6136802e-05 -0.001148937 -0.0007178313

av(0) = 3.6136802e-05 -0.001148937 -0.00071783127

Time           = -69382785

CJ(1) = -0.85534528 0.27482047 -0.43915619

         0.013830533 0.85950782 0.51093545

         0.01383053 0.85950782 0.51093544

         0.5178737 0.43095246 -0.73897687

av(1) = 2.6818529e-05 -0.0011482899 -0.00072824247

av(1) = 2.6818529e-05 -0.0011482899 -0.00072824243

Time           = -69382751

CJ(2) = -0.83089148 0.29534676 -0.47158206

         0.015622985 0.85955538 0.51080376

         0.015622983 0.85955538 0.51080376

         0.55621513 0.41705497 -0.71881144

av(2) = 1.5045992e-05 -0.0011468841 -0.00073507985

av(2) = 1.5045992e-05 -0.0011468841 -0.00073507982

Time           = -69382717

CJ(3) = -0.80487479 0.31420086 -0.50344253

         0.016285301 0.8597142 0.5105157

         0.0162853 0.8597142 0.5105157

         0.59322117 0.40270251 -0.69707915

av(3) = 6.7201932e-06 -0.00114088 -0.00073822293

av(3) = 6.7201932e-06 -0.00114088 -0.0007382229

Time           = -69382683

CJ(4) = -0.77730696 0.33143284 -0.53473934

         0.015873612 0.86003946 0.50998054

         0.015873612 0.86003947 0.50998054

         0.62892123 0.38792318 -0.6737757

av(4) = -5.6601096e-06 -0.0011345655 -0.00074475062

av(4) = -5.6601096e-06 -0.0011345655 -0.00074475059

Time           = -69382648

CJ(5) = -0.74837985 0.34697393 -0.56527576

         0.014476129 0.86059696 0.50908086

         0.01447613 0.86059696 0.50908086

         0.66311239 0.37280285 -0.64907626

av(5) = -1.3898006e-05 -0.001126288 -0.00074801569

av(5) = -1.3898006e-05 -0.001126288 -0.00074801566

Time           = -69382614

CJ(6) = -0.71811664 0.36084246 -0.59506403

         0.012135219 0.86143483 0.50772312

CJ(6) = -0.71811664 0.36084247 -0.59506403

         0.012135221 0.86143483 0.50772312

         0.69581695 0.35738319 -0.62298959

av(6) = -2.1224594e-05 -0.0011158407 -0.00075276265

av(6) = -2.1224594e-05 -0.0011158407 -0.00075276262

Time           = -69382580

CJ(7) = -0.68675883 0.37311393 -0.62381752

         0.0090314639 0.86251995 0.50594245

         0.0090314657 0.86251995 0.50594245

         0.72682924 0.34182646 -0.59571296

av(7) = -3.5938808e-05 -0.0011049021 -0.0007547869

av(7) = -3.5938808e-05 -0.0011049021 -0.00075478687

Time           = -69382546

CJ(8) = -0.65434784 0.38366055 -0.65163908

         0.0051328027 0.86396924 0.50351842

CJ(8) = -0.65434784 0.38366056 -0.65163908

         0.005132805 0.86396924 0.50351842

         0.75617628 0.32613145 -0.56730566

av(8) = -4.4387854e-05 -0.0010910882 -0.00075256003

av(8) = -4.4387854e-05 -0.0010910882 -0.00075255999

Time           = -69382512

CJ(9) = -0.62100725 0.39254656 -0.67842258

         0.00050302029 0.86574982 0.50047676

CJ(9) = -0.62100725 0.39254656 -0.67842257

         0.00050302319 0.86574982 0.50047677

         0.78380466 0.31045844 -0.53783438

av(9) = -5.6369117e-05 -0.0010744677 -0.00075515741

av(9) = -5.6369117e-05 -0.0010744677 -0.00075515738



Test fitting polynomial function over cache to new cache

Source = 2

Time           = -69382819

CJ(0) = -0.87809698 0.25267525 -0.40632612

         0.01085749 0.85950052 0.51101954

         0.010857485 0.85950052 0.51101953

         0.4783595 0.44431303 -0.75746823

av(0) = 3.6136802e-05 -0.001148937 -0.0007178313

av(0) = 3.6136802e-05 -0.001148937 -0.00071783127

Time           = -69382785

CJ(1) = -0.85534528 0.27482047 -0.43915619

         0.013830533 0.85950782 0.51093545

         0.01383053 0.85950782 0.51093544

         0.5178737 0.43095246 -0.73897687

av(1) = 2.6818529e-05 -0.0011482899 -0.00072824247

av(1) = 2.6818529e-05 -0.0011482899 -0.00072824243

Time           = -69382751

CJ(2) = -0.83089148 0.29534676 -0.47158206

         0.015622985 0.85955538 0.51080376

         0.015622983 0.85955538 0.51080376

         0.55621513 0.41705497 -0.71881144

av(2) = 1.5045992e-05 -0.0011468841 -0.00073507985

av(2) = 1.5045992e-05 -0.0011468841 -0.00073507982

Time           = -69382717

CJ(3) = -0.80487479 0.31420086 -0.50344253

         0.016285301 0.8597142 0.5105157

         0.0162853 0.8597142 0.5105157

         0.59322117 0.40270251 -0.69707915

av(3) = 6.7201932e-06 -0.00114088 -0.00073822293

av(3) = 6.7201932e-06 -0.00114088 -0.0007382229

Time           = -69382683

CJ(4) = -0.77730696 0.33143284 -0.53473934

         0.015873612 0.86003946 0.50998054

         0.015873612 0.86003947 0.50998054

         0.62892123 0.38792318 -0.6737757

av(4) = -5.6601096e-06 -0.0011345655 -0.00074475062

av(4) = -5.6601096e-06 -0.0011345655 -0.00074475059

Time           = -69382648

CJ(5) = -0.74837985 0.34697393 -0.56527576

         0.014476129 0.86059696 0.50908086

         0.01447613 0.86059696 0.50908086

         0.66311239 0.37280285 -0.64907626

av(5) = -1.3898006e-05 -0.001126288 -0.00074801569

av(5) = -1.3898006e-05 -0.001126288 -0.00074801566

Time           = -69382614

CJ(6) = -0.71811664 0.36084246 -0.59506403

         0.012135219 0.86143483 0.50772312

CJ(6) = -0.71811664 0.36084247 -0.59506403

         0.012135221 0.86143483 0.50772312

         0.69581695 0.35738319 -0.62298959

av(6) = -2.1224594e-05 -0.0011158407 -0.00075276265

av(6) = -2.1224594e-05 -0.0011158407 -0.00075276262

Time           = -69382580

CJ(7) = -0.68675883 0.37311393 -0.62381752

         0.0090314639 0.86251995 0.50594245

         0.0090314657 0.86251995 0.50594245

         0.72682924 0.34182646 -0.59571296

av(7) = -3.5938808e-05 -0.0011049021 -0.0007547869

av(7) = -3.5938808e-05 -0.0011049021 -0.00075478687

Time           = -69382546

CJ(8) = -0.65434784 0.38366055 -0.65163908

         0.0051328027 0.86396924 0.50351842

CJ(8) = -0.65434784 0.38366056 -0.65163908

         0.005132805 0.86396924 0.50351842

         0.75617628 0.32613145 -0.56730566

av(8) = -4.4387854e-05 -0.0010910882 -0.00075256003

av(8) = -4.4387854e-05 -0.0010910882 -0.00075255999

Time           = -69382512

CJ(9) = -0.62100725 0.39254656 -0.67842258

         0.00050302029 0.86574982 0.50047676

CJ(9) = -0.62100725 0.39254656 -0.67842257

         0.00050302319 0.86574982 0.50047677

         0.78380466 0.31045844 -0.53783438

av(9) = -5.6369117e-05 -0.0010744677 -0.00075515741

av(9) = -5.6369117e-05 -0.0010744677 -0.00075515738



Testing ToReferencePartial method

For angles (ra,dec,twist) = 1.9429654 2.1356375 -0.92665897
@@ -481,3 +481,175 @@ Testing angle wrapping... 
   Using anchor angle of 30, -10 changes to -10

   Using anchor angle of 30, -180 changes to 180

   Using anchor angle of 30, 90 changes to 90





Begin tests for PCK data...



Test LoadPCFromSpice and all the coefficient accessors...

Test CacheLabel for PCK data...

Test LoadPCFromTable...

Io Pole RA coefficients = 268.05,-0.009,0

Io Pole DEC coefficients = 64.5,0.003,0

Io PM coefficients = 200.39,203.48895,0

Io Pole RA Nutation/Precession coefficients = 0,0,0.094,0.024,0,0,0,0,0,0,0,0,0,0,0,

Io Pole DEC Nutation/Precession coefficients = 0,0,0.04,0.011,0,0,0,0,0,0,0,0,0,0,0,

Io PM Nutation/Precession coefficients = 0,0,-0.085,-0.022,0,0,0,0,0,0,0,0,0,0,0,

Io System Nutation/Precession constants = 73.32,24.62,283.9,355.8,119.9,229.8,352.25,113.35,146.64,49.24,99.360714,175.89537,300.32316,114.0123,49.511251,

Io System Nutation/Precession coefficients = 91472.9,45137.2,4850.7,1191.3,262.1,64.3,2382.6,6070,182945.8,90274.4,4850.4046,1191.9605,262.5475,6070.2476,64.3,



Testing with PCK polynomial ... 

Io    Angles = -2.0466383,25.496441,-24.093155





  Mars original SPICE values for target body orientation unadjusted

  Source = 2

    Time           = -69382819

CJ(0) = 0.65330574 -0.46117449 -0.60042459

         0.61166293 0.78886884 0.059619006

         0.44616149 -0.4062069 0.79745588

    Time           = -69382785

CJ(1) = 0.65478275 -0.45926576 -0.60027869

         0.61008153 0.78998159 0.061070579

         0.44616149 -0.4062069 0.79745588

    Time           = -69382751

CJ(2) = 0.65625594 -0.45735435 -0.60012927

         0.60849657 0.79108972 0.062521795

         0.44616149 -0.4062069 0.79745588

    Time           = -69382717

CJ(3) = 0.65772528 -0.45544026 -0.59997635

         0.60690805 0.79219323 0.063972645

         0.44616149 -0.4062069 0.79745588

    Time           = -69382683

CJ(4) = 0.65919078 -0.45352351 -0.59981992

         0.60531598 0.79329211 0.065423122

         0.44616149 -0.4062069 0.79745588

    Time           = -69382648

CJ(5) = 0.66065243 -0.45160411 -0.59965998

         0.60372038 0.79438635 0.066873216

         0.44616149 -0.4062069 0.79745588

    Time           = -69382614

CJ(6) = 0.66211021 -0.44968207 -0.59949654

         0.60212124 0.79547595 0.068322919

         0.44616149 -0.4062069 0.79745588

    Time           = -69382580

CJ(7) = 0.66356413 -0.4477574 -0.59932959

         0.60051859 0.7965609 0.069772222

         0.44616149 -0.4062069 0.79745588

    Time           = -69382546

CJ(8) = 0.66501416 -0.44583011 -0.59915914

         0.59891242 0.79764119 0.071221118

         0.44616149 -0.4062069 0.79745588

    Time           = -69382512

CJ(9) = 0.66646031 -0.44390022 -0.59898518

         0.59730276 0.79871681 0.072669597

         0.44616149 -0.4062069 0.79745588





Now PCK polynomial values for angles unadjusted ...

  Io PCK polynomial output

  Source = 5

    Angles = -2.0466383,25.496441,-24.093155



  Mars PCK polynomial output

  Source = 5

    Time           = -69382819

CJ(0) = 0.65330574 -0.46117449 -0.60042459

         0.61166293 0.78886884 0.059619006

         0.44616149 -0.4062069 0.79745588

    Time           = -69382785

CJ(1) = 0.65478275 -0.45926576 -0.60027869

         0.61008153 0.78998159 0.061070579

         0.44616149 -0.4062069 0.79745588

    Time           = -69382751

CJ(2) = 0.65625594 -0.45735435 -0.60012927

         0.60849657 0.79108972 0.062521795

         0.44616149 -0.4062069 0.79745588

    Time           = -69382717

CJ(3) = 0.65772528 -0.45544026 -0.59997635

         0.60690805 0.79219323 0.063972645

         0.44616149 -0.4062069 0.79745588

    Time           = -69382683

CJ(4) = 0.65919078 -0.45352351 -0.59981992

         0.60531598 0.79329211 0.065423122

         0.44616149 -0.4062069 0.79745588

    Time           = -69382648

CJ(5) = 0.66065243 -0.45160411 -0.59965998

         0.60372038 0.79438635 0.066873216

         0.44616149 -0.4062069 0.79745588

    Time           = -69382614

CJ(6) = 0.66211021 -0.44968207 -0.59949654

         0.60212124 0.79547595 0.068322919

         0.44616149 -0.4062069 0.79745588

    Time           = -69382580

CJ(7) = 0.66356413 -0.4477574 -0.59932959

         0.60051859 0.7965609 0.069772222

         0.44616149 -0.4062069 0.79745588

    Time           = -69382546

CJ(8) = 0.66501416 -0.44583011 -0.59915914

         0.59891242 0.79764119 0.071221118

         0.44616149 -0.4062069 0.79745588

    Time           = -69382512

CJ(9) = 0.66646031 -0.44390022 -0.59898518

         0.59730276 0.79871681 0.072669597

         0.44616149 -0.4062069 0.79745588





Testing angular velocity with Io data ...

SpiceRotation av = -6.3193326e-07 -1.7682968e-05 3.7102704e-05

J2000 to body-fixed Naif av = -6.3193326e-07 -1.7682968e-05 3.7102704e-05







Testing partials for target body parameters...

For angles (ra,dec,rotation) = 1.9429654 2.1356375 -0.92665897

Beginning with J2000 vector 0.78673052 0.30824564 -0.53482681

lookB = 0.69294371 0.69249343 -0.20070344



 dLookB with respect to ra = 0.56419869 -0.43208476 0.4571027

  Right ascension partial on A applied to dlookB =:  0.78673052 0.30824564 0



 dLookB with respect to dec = -0.19972128 0.019831273 -0.62112827

  Declination partial on A applied to dlookB =:  0.27671521 -0.25193486 -0.53482681



 dLookB with respect to rotation rate = -556.10123 556.46282 0

  Rotation rate partial on A applied to dlookB =:  565090.03 146205.39 -241683.3



 dLookB with respect to rotation = 0.69249343 -0.69294371 0

  Rotation partial on A applied to dlookB =:  0.87627666 0.22671852 -0.37477468





... Testing failure of body rotation with binary PCK

 Source = 0

Frame type is binary PCK and cannot be updated

End of PCK testing





Testing exceptions...



**I/O ERROR** Cannot find [INS-99999_TRANSX] in text kernels.



**PROGRAMMER ERROR** Argument cacheSize must not be less or equal to zero.



**PROGRAMMER ERROR** Argument startTime must be less than or equal to endTime.



**PROGRAMMER ERROR** Cache size must be more than 1 if startTime and endTime differ.



**PROGRAMMER ERROR** A SpiceRotation cache has already been created.



**PROGRAMMER ERROR** The SpiceRotation has not yet been fit to a function.



**PROGRAMMER ERROR** Only cached rotations can be returned as a line cache of quaternions and time.



**PROGRAMMER ERROR** To create table source of data must be either Memcache or PolyFunction.



**USER ERROR** Target body orientation information not available.  Rerun spiceinit.



**PROGRAMMER ERROR** Unable to evaluate the derivative of the SPICE rotation fit polynomial for the given coefficient index [-1]. Index is negative or exceeds degree of polynomial [2].



**PROGRAMMER ERROR** Unable to evaluate the derivative of the target body rotation fit polynomial for the given coefficient index [100]. Index is negative or exceeds degree of polynomial [2].



**PROGRAMMER ERROR** A rotation axis is outside the valid range of 1 to 3.



**USER ERROR** Time cache not available -- rerun spiceinit.



**PROGRAMMER ERROR** The SpiceRotation pointing angles must be fit to polynomials in order to compute angular velocity.

isis/src/base/objs/SpiceRotation/unitTest.cpp

+476 −87

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