Spice rotation update to use ALE (#3977) (db9177c2) · Commits · aflab / astrogeology / ISIS3

isis/src/base/apps/appjit/LineScanCameraRotation.cpp

+35 −5

Original line number	Diff line number	Diff line
		@@ -5,6 +5,8 @@
		#include <cmath>
		#include <iomanip>

		#include<ale/Rotation.h>

		#include "Cube.h"
		#include "LineScanCameraRotation.h"
		#include "Quaternion.h"
		@@ -121,6 +123,7 @@ namespace Isis {
		SpiceRotation *prot = p_spi->bodyRotation();
		SpiceRotation *crot = p_spi->instrumentRotation();

		std::vector<ale::Rotation> rotationCache;
		for(std::vector<double>::iterator i = p_cacheTime.begin(); i < p_cacheTime.end(); i++) {
		double et = *i;

		@@ -155,8 +158,23 @@ namespace Isis {

		// Put CI into parent cache to use the parent class methods on it
		mxmt_c((SpiceDouble( )[3]) &CI[0], (SpiceDouble( )[3]) &IB[0], (SpiceDouble( *)[3]) &CI[0]);
		p_cache.push_back(CI);
		rotationCache.push_back(ale::Rotation(CI));
		}

		if (m_orientation) {
		delete m_orientation;
		m_orientation = NULL;
		}

		if (ConstantRotation().size() > 1) {
		m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
		ale::Rotation(ConstantMatrix()), ConstantFrameChain(), TimeFrameChain());
		}
		else {
		m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
		ale::Rotation(1,0,0,0), ConstantFrameChain(), TimeFrameChain());
		}

		p_cachesLoaded = true;
		SetSource(Memcache);

		@@ -185,9 +203,6 @@ namespace Isis {
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// Clear existing matrices from cache
		p_cache.clear();

		// Create polynomials fit to angles & use to reload cache
		Isis::PolynomialUnivariate function1(p_degree);
		Isis::PolynomialUnivariate function2(p_degree);
		@@ -218,6 +233,7 @@ namespace Isis {
		std::vector<double> CJ;
		CJ.resize(9);

		std::vector<ale::Rotation> rotationCache;
		for(std::vector<double>::size_type pos = 0; pos < p_cacheTime.size(); pos++) {
		double et = p_cacheTime.at(pos);
		rtime = (et - GetBaseTime()) / GetTimeScale();
		@@ -242,7 +258,21 @@ namespace Isis {
		mxm_c((SpiceDouble( )[3]) & (p_cacheIB.at(pos))[0], (SpiceDouble( )[3]) & (prot->Matrix())[0], IJ);
		mxm_c(CI, IJ, (SpiceDouble( *)[3]) &CJ[0]);

		p_cache.push_back(CJ); // J2000 to constant frame
		rotationCache.push_back(ale::Rotation(CJ));
		}

		if (m_orientation) {
		delete m_orientation;
		m_orientation = NULL;
		}

		if (ConstantRotation().size() > 1) {
		m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
		ale::Rotation(ConstantMatrix()), ConstantFrameChain(), TimeFrameChain());
		}
		else {
		m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
		ale::Rotation(1,0,0,0), ConstantFrameChain(), TimeFrameChain());
		}

		// Set source to cache to get updated values

isis/src/base/apps/appjit/LineScanCameraRotation.h

+0 −2

Original line number	Diff line number	Diff line
		@@ -103,11 +103,9 @@ namespace Isis {
		class LineScanCameraRotation : public Isis::SpiceRotation {
		public:
		//! Constructors
		// LineScanCameraRotation( int frameCode, SpiceRotation crot, SpiceRotation prot, SpicePosition *spos );
		LineScanCameraRotation(int frameCode, Isis::Cube &cube, std::vector<double> timeCache, double tol);

		//! Destructor
		// virtual ~LineScanCameraRotation() { };
		virtual ~LineScanCameraRotation();

		void LoadCache();

isis/src/base/objs/CameraPointInfo/CameraPointInfo.truth

+6 −6

Original line number	Diff line number	Diff line
		@@ -6,8 +6,8 @@ Group = GroundPoint
		Declination = 67.288137235407 <DEGREE>
		PlanetocentricLatitude = -85.539935681585 <DEGREE>
		PlanetographicLatitude = -85.539935681585 <DEGREE>
		PositiveEast360Longitude = 27.089555271673 <DEGREE>
		PositiveEast180Longitude = 27.089555271673 <DEGREE>
		PositiveEast360Longitude = 27.089555271672 <DEGREE>
		PositiveEast180Longitude = 27.089555271672 <DEGREE>
		PositiveWest360Longitude = 332.91044472833 <DEGREE>
		PositiveWest180Longitude = -27.089555271672 <DEGREE>
		BodyFixedCoordinate = (120.6493939079, 61.711663528734,
		@@ -21,13 +21,13 @@ Group = GroundPoint
		ObliqueSampleResolution = 187.44583818806 <meters>

		# Spacecraft Information
		SpacecraftPosition = (216.77599432924, 54.260221515166,
		SpacecraftPosition = (216.77599432924, 54.260221515165,
		-2462.1104393388) <km>
		SpacecraftAzimuth = 38.331 <DEGREE>
		SlantDistance = 731.11938668312 <km>
		TargetCenterDistance = 2472.2305351357 <km>
		SubSpacecraftLatitude = -84.813985589411 <DEGREE>
		SubSpacecraftLongitude = 14.052715974499 <DEGREE>
		SubSpacecraftLongitude = 14.052715974498 <DEGREE>
		SpacecraftAltitude = 735.29826910549 <km>
		OffNadirAngle = 3.124 <DEGREE>
		SubSpacecraftGroundAzimuth = 296.906 <DEGREE>
		@@ -84,13 +84,13 @@ Group = GroundPoint
		ObliqueSampleResolution = 187.61662252249 <meters>

		# Spacecraft Information
		SpacecraftPosition = (216.77599432924, 54.260221515166,
		SpacecraftPosition = (216.77599432924, 54.260221515165,
		-2462.1104393388) <km>
		SpacecraftAzimuth = 284.604 <DEGREE>
		SlantDistance = 733.84767049682 <km>
		TargetCenterDistance = 2472.2305351357 <km>
		SubSpacecraftLatitude = -84.813985589411 <DEGREE>
		SubSpacecraftLongitude = 14.052715974499 <DEGREE>
		SubSpacecraftLongitude = 14.052715974498 <DEGREE>
		SpacecraftAltitude = 735.29826910549 <km>
		OffNadirAngle = 0.773 <DEGREE>
		SubSpacecraftGroundAzimuth = 195.221 <DEGREE>

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

+216 −112

File changed.

Preview size limit exceeded, changes collapsed.

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

+10 −14

Original line number	Diff line number	Diff line
		@@ -25,18 +25,16 @@
		#include <string>
		#include <vector>

		//#include <SpiceUsr.h>
		//#include <SpiceZfc.h>
		//#include <SpiceZmc.h>

		#include <nlohmann/json.hpp>

		#include <ale/Orientations.h>

		#include "Angle.h"
		#include "Table.h"
		#include "PolynomialUnivariate.h"
		#include "Quaternion.h"



		#define J2000Code 1

		namespace Isis {
		@@ -426,7 +424,10 @@ namespace Isis {
		void checkForBinaryPck();

		int cacheSize() {
		return p_cache.size();
		if (m_orientation) {
		return m_orientation->getRotations().size();
		}
		return 0;
		}

		protected:
		@@ -438,15 +439,11 @@ namespace Isis {
		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
		to 1st constant frame (CJ) or
		coefficients of polynomial
		fit to rotation angles.*/
		int p_degree; //!< Degree of fit polynomial for angles
		int p_axis1; //!< Axis of rotation for angle 1 of rotation
		int p_axis2; //!< Axis of rotation for angle 2 of rotation
		int p_axis3; //!< Axis of rotation for angle 3 of rotation
		ale::Orientations *m_orientation; //! Cached orientation information

		private:
		// method
		@@ -494,8 +491,6 @@ namespace Isis {
		J2000 to target) to the target frame*/
		std::vector<double> p_CJ; /**< Rotation matrix from J2000 to first constant
		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
		bool p_hasAngularVelocity; /**< Flag indicating whether the rotation
		includes angular velocity*/
		@@ -603,6 +598,7 @@ namespace Isis {
		static const double m_centScale;
		//! Seconds per day for scaling time in seconds to get target body w
		static const double m_dayScale;

		};
		};