Commit 4131a93d authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Fixed constant rotations in Orientations (#350)

parent 84db83ad

include/ale/Isd.h

+0 −2
Original line number Diff line number Diff line
@@ -62,8 +62,6 @@ namespace ale { 


    PositionInterpolation interpMethod;



    Rotation const_rotation;



    States inst_pos;

    States sun_pos;

include/ale/Orientations.h

+0 −3
Original line number Diff line number Diff line
@@ -21,7 +21,6 @@ namespace ale { 
      const std::vector<Rotation> &rotations,

      const std::vector<double> &times,

      const std::vector<Vec3d> &avs = std::vector<ale::Vec3d>(),

      const int refFrame = 1,

      const Rotation &constRot = Rotation(1, 0, 0, 0),

      const std::vector<int> const_frames = std::vector<int>(),

      const std::vector<int> time_dependent_frames = std::vector<int>()
@@ -40,7 +39,6 @@ namespace ale { 
    std::vector<double> getTimes() const;

    std::vector<int> getConstantFrames() const;

    std::vector<int> getTimeDependentFrames() const;

    int getReferenceFrame() const;

    Rotation getConstantRotation() const;



    /**
@@ -89,7 +87,6 @@ namespace ale { 
    std::vector<int> m_timeDepFrames;

    std::vector<int> m_constFrames;

    Rotation m_constRotation;

    int m_refFrame;

  };

}

src/Orientations.cpp

+10 −10
Original line number Diff line number Diff line
@@ -8,12 +8,11 @@ namespace ale { 
    const std::vector<Rotation> &rotations,

    const std::vector<double> &times,

    const std::vector<Vec3d> &avs,

    const int refFrame,

    const Rotation &const_rot,

    const std::vector<int> const_frames,

    const std::vector<int> time_dependent_frames

  ) :

    m_rotations(rotations), m_avs(avs), m_times(times), m_refFrame(refFrame), m_timeDepFrames(time_dependent_frames), m_constFrames(const_frames), m_constRotation(const_rot) {

    m_rotations(rotations), m_avs(avs), m_times(times), m_timeDepFrames(time_dependent_frames), m_constFrames(const_frames), m_constRotation(const_rot) {

    if (m_rotations.size() < 2 || m_times.size() < 2) {

      throw std::invalid_argument("There must be at least two rotations and times.");

    }
@@ -48,10 +47,6 @@ namespace ale { 
    return m_constFrames;

  }



  int Orientations::getReferenceFrame() const {

    return m_refFrame;

  }



  Rotation Orientations::getConstantRotation() const {

    return m_constRotation;

  }
@@ -62,7 +57,7 @@ namespace ale { 
  ) const {

    int interpIndex = interpolationIndex(m_times, time);

    double t = (time - m_times[interpIndex]) / (m_times[interpIndex + 1] - m_times[interpIndex]);

    return m_rotations[interpIndex].interpolate(m_rotations[interpIndex + 1], t, interpType);

    return m_constRotation * m_rotations[interpIndex].interpolate(m_rotations[interpIndex + 1], t, interpType);

  }
@@ -80,6 +75,9 @@ namespace ale { 
    bool invert

  ) const {

    Rotation interpRot = interpolate(time, interpType);

    if (invert) {

      interpRot = interpRot.inverse();

    }

    return interpRot(vector);

  }
@@ -109,8 +107,10 @@ namespace ale { 
    std::vector<Rotation> mergedRotations;

    std::vector<Vec3d> mergedAvs;

    for (double time: mergedTimes) {

      // interpolate includes the constant rotation, so invert it to undo that

      Rotation inverseConst = m_constRotation.inverse();

      Rotation rhsRot = rhs.interpolate(time);

      mergedRotations.push_back(interpolate(time)*rhsRot);

      mergedRotations.push_back(inverseConst*interpolate(time)*rhsRot);

      Vec3d combinedAv = rhsRot.inverse()(interpolateAV(time));

      Vec3d rhsAv = rhs.interpolateAV(time);

      combinedAv.x += rhsAv.x;
@@ -133,10 +133,10 @@ namespace ale { 
      updatedRotations.push_back(m_rotations[i]*rhs);

    }



    Rotation inverse = rhs.inverse();

    Rotation inverseRhs = rhs.inverse();

    std::vector<Vec3d> updatedAvs;

    for (size_t i = 0; i < m_avs.size(); i++) {

      updatedAvs.push_back(inverse(m_avs[i]));

      updatedAvs.push_back(inverseRhs(m_avs[i]));

    }



    m_rotations = updatedRotations;

src/Util.cpp

+2 −5
Original line number Diff line number Diff line
@@ -534,7 +534,6 @@ Orientations getInstrumentPointing(json isd) { 
    std::vector<Rotation> rotations = getJsonQuatArray(pointing.at("quaternions"));

    std::vector<double> times = getJsonArray<double>(pointing.at("ephemeris_times"));

    std::vector<Vec3d> velocities = getJsonVec3dArray(pointing.at("angular_velocities"));

    int refFrame = pointing.at("reference_frame").get<int>();



    std::vector<int> constFrames;

    if (pointing.find("constant_frames") != pointing.end()){
@@ -553,7 +552,7 @@ Orientations getInstrumentPointing(json isd) { 


    Rotation constRot(rotArray);



    Orientations orientation(rotations, times, velocities, refFrame, constRot, constFrames, timeDepFrames);

    Orientations orientation(rotations, times, velocities, constRot, constFrames, timeDepFrames);



    return orientation;
@@ -569,8 +568,6 @@ Orientations getBodyRotation(json isd) { 
    std::vector<double> times = getJsonArray<double>(bodrot.at("ephemeris_times"));

    std::vector<Vec3d> velocities = getJsonVec3dArray(bodrot.at("angular_velocities"));



    int refFrame = bodrot.at("reference_frame").get<int>();



    std::vector<int> constFrames;

    if (bodrot.find("constant_frames") != bodrot.end()){

      constFrames  = getJsonArray<int>(bodrot.at("constant_frames"));
@@ -588,7 +585,7 @@ Orientations getBodyRotation(json isd) { 


    Rotation constRot(rotArray);



    Orientations orientation(rotations, times, velocities, refFrame, constRot, constFrames, timeDepFrames);

    Orientations orientation(rotations, times, velocities, constRot, constFrames, timeDepFrames);

    return orientation;



  } catch (...) {

tests/ctests/IsdTests.cpp

+0 −2
Original line number Diff line number Diff line
@@ -268,7 +268,6 @@ TEST(Isd, GetInstrumentPointing) { 
  std::vector<int> timeDepFrames = instPointing.getTimeDependentFrames();



  ASSERT_EQ(rotations.size(), 2);

  ASSERT_EQ(instPointing.getReferenceFrame(), 2);

  ASSERT_EQ(instPointing.getTimes()[0], 300);

  ASSERT_EQ(instPointing.getTimes()[1], 600);
@@ -339,7 +338,6 @@ TEST(Isd, GetBodyRotation) { 
  std::vector<int> timeDepFrames = bodyRot.getTimeDependentFrames();



  ASSERT_EQ(rotations.size(), 2);

  ASSERT_EQ(bodyRot.getReferenceFrame(), 2);

  ASSERT_EQ(bodyRot.getTimes()[0], 300);

  ASSERT_EQ(bodyRot.getTimes()[1], 600);