Commit 6c2d0f77 authored by Ken Edmundson's avatar Ken Edmundson
Browse files

updates to SpiceRotation.cpp and SpiceRotation.h 

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/branches/ipce@6445 41f8697f-d340-4b68-9986-7bafba869bb8
parent 651593ef

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

+196 −132

File changed.

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

+37 −29
Original line number Diff line number Diff line
@@ -185,23 +185,23 @@ namespace Isis { 
   *   @history 2014-03-11 Stuart Sides - Programmers notes - Fixed a bug in the copy constructor

   *                           that was going out of array bounds.

   *   @history 2015-02-20 Jeannie Backer - Improved error messages.

   *   @history 2015-07-05 Debbie A. Cook - Programmer notes - Modified LoadCache, 

   *   @history 2015-07-21 Kristin Berry - Added additional NaifStatus::CheckErrors() calls to see if

   *                           any NAIF errors were signaled. References #2248.

   *   @history 2015-08-05 Debbie A. Cook - Programmer notes - Modified LoadCache, 

   *                           and ComputeAv.

   *                           Added new methods 

   *                           LoadPCFromSpice, LoadPCFromTable, ToJ2000Partial, PoleRaCoefs,

   *                           PoleDecCoefs, PmCoefs, PoleRaNutPrecCoefs, PoleDecNutPrecCoefs, 

   *                           PmNutPrecCoefs, SysNutPrecConstants, SysNutPrecCoefs,

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

   *                           GetPckPolynomial, SetEphemerisTimePckPolyFunction,

   *                           and members p_frameType, p_tOrientationAvailable, 

   *                           p_raPole, p_decPole, p_pm, p_raNutPrec, p_decNutPrec, p_pmNutPrec,

   *                           p_sysNutPrec0, p_sysNutPrec1, p_dscale, p_Tscale  to support request for 

   *                           loadPCFromSpice, loadPCFromTable, toJ2000Partial, poleRaCoefs,

   *                           poleDecCoefs, pmCoefs, poleRaNutPrecCoefs, poleDecNutPrecCoefs, 

   *                           mNutPrecCoefs, sysNutPrecConstants, sysNutPrecCoefs,

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

   *                           getPckPolynomial, setEphemerisTimePckPolyFunction, getFrameType

   *                           and members m_frameType, m_tOrientationAvailable, 

   *                           m_raPole, m_decPole, m_pm, m_raNutPrec, m_decNutPrec, m_pmNutPrec,

   *                           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.

   *   @history 2015-07-21 Kristin Berry - Added additional NaifStatus::CheckErrors() calls to see if

   *                           any NAIF errors were signaled. References #2248.

   *

   *  @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
@@ -248,6 +248,7 @@ namespace Isis { 
                               PolyFunction,            //!< From nth degree polynomial

                               PolyFunctionOverSpice ,  //!< Kernels plus nth degree polynomial 

                               PckPolyFunction          //!< Quadratic polynomial function with

                                                        //   linear trignometric terms

                  };            



      /**
@@ -270,11 +271,14 @@ namespace Isis { 
      /** 

       *  

       */ 

      enum NaifFrameType { INERTL = 1,       //!< 

                           PCK  = INERTL + 1, //!< 

                           CK = PCK + 1,     //!< 

                           TK = CK + 1,      //!< 

                           DYN = TK + 1      //!< 

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

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

                           PCK  = 2,         //!< definitions

                           CK = 3,           //!< 

                           TK = 4,           //!< 

                           DYN = 5,          //!<

                           BPC = 6,          //!< Isis specific code for binary pck

                           NOTJ2000PCK = 7   //!< PCK frame not referenced to J2000

      };                                   



      void SetEphemerisTime(double et);
@@ -317,8 +321,8 @@ namespace Isis { 


      std::vector<double> EvaluatePolyFunction();



      void LoadPCFromSpice();

      void LoadPCFromTable(const PvlObject &Label);

      void loadPCFromSpice();

      void loadPCFromTable(const PvlObject &Label);



      void MinimizeCache(DownsizeStatus status);
@@ -358,7 +362,7 @@ namespace Isis { 
                         std::vector<double>& abcAng2,

                         std::vector<double>& abcAng3);



      void GetPckPolynomial(std::vector<Angle>& raCoeff,

      void getPckPolynomial(std::vector<Angle>& raCoeff,

                            std::vector<Angle>& decCoeff,

                            std::vector<Angle>& pmCoeff);
@@ -367,18 +371,22 @@ namespace Isis { 
      Source GetSource();

      void SetSource(Source source);

      void ComputeBaseTime();

      FrameType getFrameType();

      double GetBaseTime();

      double GetTimeScale();



      void SetOverrideBaseTime(double baseTime, double timeScale);



      // Derivative methods

      double DPolynomial(const int coeffIndex);

      double DPckPolynomial(PartialType partialVar, const int coeffIndex);



      std::vector<double> ToJ2000Partial(const std::vector<double>& lookT,

      std::vector<double> toJ2000Partial(const std::vector<double>& lookT,

                                             PartialType partialVar, int coeffIndex);

      std::vector<double> ToReferencePartial(std::vector<double>& lookJ,

                                             PartialType partialVar, int coeffIndex);

      void DCJdt(std::vector<double> &dRJ);



      double WrapAngle(double compareAngle, double angle);

      void SetAxes(int axis1, int axis2, int axis3);

      std::vector<double> GetFullCacheTime();
@@ -388,21 +396,21 @@ namespace Isis { 
      std::vector<int>  ConstantFrameChain();

      std::vector<int>  TimeFrameChain();

      void InitConstantRotation(double et);

      void DCJdt(std::vector<double> &dRJ);

      bool HasAngularVelocity();



      void ComputeAv();

      std::vector<double> Extrapolate(double timeEt);



      void checkForBinaryPck();



    protected:

      void SetFullCacheParameters(double startTime, double endTime, int cacheSize);

      void SetEphemerisTimeMemcache();

      void SetEphemerisTimeNadir();

      void SetEphemerisTimeSpice();

      void SetEphemerisTimePolyFunction();

      void SetEphemerisTimePolyFunctionOverSpice();

      void SetEphemerisTimePckPolyFunction();

      void setEphemerisTimeMemcache();

      void setEphemerisTimeNadir();

      void setEphemerisTimeSpice();

      void setEphemerisTimePolyFunction();

      void setEphemerisTimePolyFunctionOverSpice();

      void setEphemerisTimePckPolyFunction();

      std::vector<double> p_cacheTime;  //!< iTime for corresponding rotation

      std::vector<std::vector<double> > p_cache; /**< Cached rotations, stored as 

                                                      rotation matrix from J2000
@@ -428,10 +436,10 @@ namespace Isis { 
                                                                  rotation at et*/



      bool p_matrixSet;                    //!< Flag indicating p_TJ has been set

      bool p_tOrientationAvailable;  //!< Target orientation constants are available

      bool m_tOrientationAvailable;  //!< Target orientation constants are available

 



      NaifFrameType p_frameType;          //!< The type of rotation frame

      FrameType m_frameType;  //!< The type of rotation frame

      Source p_source;                    //!< The source of the rotation data

      int p_axisP;                        /**< The axis defined by the spacecraft

                                               vector for defining a nadir rotation*/