Commit 6196720b authored by Kristin's avatar Kristin Committed by Jesse Mapel
Browse files

Add code to States to not interpolate if an exact solution exists (#374) 

* Update format of range conversion coefficients isd output to include a separate list for times. Also update driver, test data, and remove unneeded semicolons

* Fix documentaion error

* fix other documentation error

* Add code to states to not interpolate if there is already an exact value for a time (solves divide by 0 error in interpolation code.)

* Updated to be more efficient

* lower_bound can also return the last elt. don't do that

* Added test for when no interpolation is needed for getState
parent 6c3d066a

src/States.cpp

+11 −3
Original line number Original line Diff line number Diff line
@@ -111,6 +111,16 @@ namespace ale { 








  State States::getState(double time, PositionInterpolation interp) const {

  State States::getState(double time, PositionInterpolation interp) const {





    // If time is in times, don't need to interpolate!

    auto candidate_time = std::lower_bound(m_ephemTimes.begin(), m_ephemTimes.end(), time);



    if ( (candidate_time != m_ephemTimes.end()) && (*candidate_time == time) ) {

      int index = std::distance(m_ephemTimes.begin(), candidate_time);

      return m_states[index];

    }

  

    if (m_ephemTimes.size() > 1) {

    if (m_ephemTimes.size() > 1) {

      int lowerBound = interpolationIndex(m_ephemTimes, time); 

      int lowerBound = interpolationIndex(m_ephemTimes, time); 

      // try to copy the surrounding 8 points as that's the most possibly needed

      // try to copy the surrounding 8 points as that's the most possibly needed
@@ -132,7 +142,6 @@ namespace ale { 
      }

      }





      Vec3d position, velocity;

      Vec3d position, velocity;



      if ( interp == LINEAR || (interp == SPLINE && !hasVelocity())) {

      if ( interp == LINEAR || (interp == SPLINE && !hasVelocity())) {

        position = {interpolate(xs,  interpTimes, time, interp, 0),

        position = {interpolate(xs,  interpTimes, time, interp, 0),

                    interpolate(ys,  interpTimes, time, interp, 0),

                    interpolate(ys,  interpTimes, time, interp, 0),
@@ -145,7 +154,6 @@ namespace ale { 
      else if (interp == SPLINE && hasVelocity()){

      else if (interp == SPLINE && hasVelocity()){

        // Do hermite spline if velocities are available

        // Do hermite spline if velocities are available

        double baseTime = (interpTimes.front() + interpTimes.back()) / 2;

        double baseTime = (interpTimes.front() + interpTimes.back()) / 2;



        std::vector<double> scaledEphemTimes;

        std::vector<double> scaledEphemTimes;

        for(unsigned int i = 0; i < interpTimes.size(); i++) {

        for(unsigned int i = 0; i < interpTimes.size(); i++) {

          scaledEphemTimes.push_back(interpTimes[i] - baseTime);

          scaledEphemTimes.push_back(interpTimes[i] - baseTime);
@@ -169,7 +177,7 @@ namespace ale { 
      return State(position, velocity);

      return State(position, velocity);

    }

    }

    else { // Here we have: only 1 time and 1 state, so just return the only state.

    else { // Here we have: only 1 time and 1 state, so just return the only state.

      return State(m_states[0]);

      return m_states[0];

    }

    }

  }

  }

tests/ctests/StatesTests.cpp

+25 −0
Original line number Original line Diff line number Diff line
@@ -347,6 +347,31 @@ TEST(StatesTest, OneStateWithVelocity) { 
  EXPECT_NEAR(result.velocity.z, -1.0, 1e-6);

  EXPECT_NEAR(result.velocity.z, -1.0, 1e-6);

}

}





TEST(StatesTest, NoInterpNeeded) {

  std::vector<double> ephemTimes = {0.0, 1.0, 2.0};



  std::vector<Vec3d> positions = {

    Vec3d(5.0, 3.0, 0.0),

    Vec3d(6.5, 4.0, 1.0),

    Vec3d(15.0, 4.0, 5.0)};



  std::vector<Vec3d> velocities = {

    Vec3d(5.0, 3.0, 0.0),

    Vec3d(7.0, 6.0, 1.0),

    Vec3d(15.0, 4.0, 5.0)};





  States testState(ephemTimes, positions, velocities);

  State result = testState.getState(1.0);

  EXPECT_NEAR(result.position.x, 6.5, 1e-5);

  EXPECT_NEAR(result.position.y, 4.0, 1e-4);

  EXPECT_NEAR(result.position.z, 1.0, 1e-5);

  EXPECT_NEAR(result.velocity.x, 7.0, 1e-6);

  EXPECT_NEAR(result.velocity.y, 6.0, 1e-6);

  EXPECT_NEAR(result.velocity.z, 1.0, 1e-6);

}





// This test checks to see if the minimized cache looks identical to ISIS's minimized cache for

// This test checks to see if the minimized cache looks identical to ISIS's minimized cache for

// a Dawn IR image VIR_IR_1A_1_362681634_1 (located in dawnvir2isis's IR app test.)

// a Dawn IR image VIR_IR_1A_1_362681634_1 (located in dawnvir2isis's IR app test.)

// Values were obtained by adding strategic couts to SpicePosition.cpp, running spiceinit, and

// Values were obtained by adding strategic couts to SpicePosition.cpp, running spiceinit, and