Unverified Commit b8e7a387 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Fixed seg fault when using an ISD without angular velocities (#327) 

* Updated embedded ALE to get orientations fix

* Added workaround for old ALE versions
parent d0020883

ale @ 7bd25687

Compare 37bb560a to 7bd25687
Original line number Diff line number Diff line 
Subproject commit 37bb560ac6a5327063f6c36d8259b3dbb6880bab
 
Subproject commit 7bd25687480f8e6b60319026ef0982ae41ef027e

src/UsgsAstroFrameSensorModel.cpp

+24 −0
Original line number Diff line number Diff line
@@ -964,6 +964,30 @@ std::string UsgsAstroFrameSensorModel::constructStateFromIsd( 


  // get sensor_orientation quaternion

  ale::Orientations j2000_to_sensor = ale::getInstrumentPointing(parsedIsd);



  // Work-around for issues in ALE <=0.8.5 where Orientations without angular

  // velocities seg fault when you multiply them. This will make the angular

  // velocities in the final Orientations dubious but they are not used

  // in any calculations so this is okay.

  if (j2000_to_sensor.getAngularVelocities().empty()) {

    j2000_to_sensor = ale::Orientations(

        j2000_to_sensor.getRotations(),

        j2000_to_sensor.getTimes(),

        std::vector<ale::Vec3d>(j2000_to_sensor.getTimes().size()),

        j2000_to_sensor.getConstantRotation(),

        j2000_to_sensor.getConstantFrames(),

        j2000_to_sensor.getTimeDependentFrames());

  }

  if (j2000_to_target.getAngularVelocities().empty()) {

    j2000_to_target = ale::Orientations(

        j2000_to_target.getRotations(),

        j2000_to_target.getTimes(),

        std::vector<ale::Vec3d>(j2000_to_target.getTimes().size()),

        j2000_to_target.getConstantRotation(),

        j2000_to_target.getConstantFrames(),

        j2000_to_target.getTimeDependentFrames());

  }



  ale::Orientations sensor_to_j2000 = j2000_to_sensor.inverse();

  ale::Orientations sensor_to_target = j2000_to_target * sensor_to_j2000;

  ephemTime = sensor_to_target.getTimes();

src/UsgsAstroLsSensorModel.cpp

+23 −0
Original line number Diff line number Diff line
@@ -2413,6 +2413,29 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd( 
  state["m_velocities"] = velocities;

  MESSAGE_LOG("m_velocities: {}", state["m_velocities"].dump())



  // Work-around for issues in ALE <=0.8.5 where Orientations without angular

  // velocities seg fault when you multiply them. This will make the angular

  // velocities in the final Orientations dubious but they are not used

  // in any calculations so this is okay.

  if (j2000_to_sensor.getAngularVelocities().empty()) {

    j2000_to_sensor = ale::Orientations(

        j2000_to_sensor.getRotations(),

        j2000_to_sensor.getTimes(),

        std::vector<ale::Vec3d>(j2000_to_sensor.getTimes().size()),

        j2000_to_sensor.getConstantRotation(),

        j2000_to_sensor.getConstantFrames(),

        j2000_to_sensor.getTimeDependentFrames());

  }

  if (j2000_to_target.getAngularVelocities().empty()) {

    j2000_to_target = ale::Orientations(

        j2000_to_target.getRotations(),

        j2000_to_target.getTimes(),

        std::vector<ale::Vec3d>(j2000_to_target.getTimes().size()),

        j2000_to_target.getConstantRotation(),

        j2000_to_target.getConstantFrames(),

        j2000_to_target.getTimeDependentFrames());

  }



  ale::Orientations sensor_to_j2000 = j2000_to_sensor.inverse();

  ale::Orientations sensor_to_target = j2000_to_target * sensor_to_j2000;

  ephemTime = sensor_to_target.getTimes();