Commit 72e490a1 authored by Kristin's avatar Kristin Committed by Jesse Mapel
Browse files

Update State::getState() to handle the case of one state (like a framing camera.) (#364) 

* 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

* Added the case of 1 state (1 position, time, and maybe velocity) to getState()

* Roll back ale version # and accidental json submodule deletion
parent 28a4c5af

include/ale/InterpUtils.h

+1 −1
Original line number Diff line number Diff line
@@ -75,7 +75,7 @@ namespace ale { 
                                     double time, int order=8);



   /**

    *@brief Interpolates the spacecrafts position along a path generated from a set of points,

    *@brief Interpolates the spacecraft's position along a path generated from a set of points,

              times, and a time of observation

    *@param points A double vector of points

    *@param times A double vector of times

src/States.cpp

+54 −42
Original line number Diff line number Diff line
@@ -111,6 +111,7 @@ namespace ale { 




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

    if (m_ephemTimes.size() > 1) {

      int lowerBound = interpolationIndex(m_ephemTimes, time); 

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

      int interpStart = std::max(0, lowerBound - 3);
@@ -160,6 +161,17 @@ namespace ale { 
      }

      return State(position, velocity);

    }

    else if (hasVelocity()) {

      // Here we have: 1 state (1 time, 1 position, 1 velocity)

      // x_f = x_i + v * (t_f - t-i)

      Vec3d position = m_states[0].position + m_states[0].velocity*(time - m_ephemTimes[0]);

      Vec3d velocity = m_states[0].velocity;

      return State(position, velocity);

    }

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

      return State(m_states[0]);

    }

  }





  Vec3d States::getPosition(double time, PositionInterpolation interp) const {

tests/ctests/StatesTests.cpp

+34 −0
Original line number Diff line number Diff line
@@ -313,6 +313,40 @@ TEST(StatesTest, minimizeCache_false) { 
}





TEST(StatesTest, OneStateNoVelocity) {

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

  std::vector<Vec3d> positions = {Vec3d(2.0, 3.0, 4.0)};



  States testState(ephemTimes, positions);

  State result = testState.getState(1.0);

  EXPECT_NEAR(result.position.x, 2.0, 1e-5);

  EXPECT_NEAR(result.position.y, 3.0, 1e-4);

  EXPECT_NEAR(result.position.z, 4.0, 1e-5);

}



TEST(StatesTest, OneStateWithVelocity) {

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

  std::vector<Vec3d> positions = {Vec3d(2.0, 3.0, 4.0)};

  std::vector<Vec3d> velocities = {Vec3d(5.0, 6.0, -1.0)};



  States testState(ephemTimes, positions, velocities);

  State result = testState.getState(2.0);

  EXPECT_NEAR(result.position.x, 7.0, 1e-5);

  EXPECT_NEAR(result.position.y, 9.0, 1e-4);

  EXPECT_NEAR(result.position.z, 3.0, 1e-5);

  EXPECT_NEAR(result.velocity.x, 5.0, 1e-6);

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

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



  result = testState.getState(-1.0);

  EXPECT_NEAR(result.position.x, -8.0, 1e-5);

  EXPECT_NEAR(result.position.y, -9.0, 1e-4);

  EXPECT_NEAR(result.position.z, 6.0, 1e-5);

  EXPECT_NEAR(result.velocity.x, 5.0, 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

// 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