List of usage examples for org.apache.commons.math3.geometry.euclidean.threed Vector3D angle
public static double angle(Vector3D v1, Vector3D v2) throws MathArithmeticException
From source file:fr.cs.examples.attitude.EarthObservation.java
/** Program entry point. * @param args program arguments (unused here) *//*from w w w .j av a 2 s. c om*/ public static void main(String[] args) { try { // configure Orekit Autoconfiguration.configureOrekit(); final SortedSet<String> output = new TreeSet<String>(); // Initial state definition : date, orbit final AbsoluteDate initialDate = new AbsoluteDate(2004, 01, 01, 23, 30, 00.000, TimeScalesFactory.getUTC()); final Vector3D position = new Vector3D(-6142438.668, 3492467.560, -25767.25680); final Vector3D velocity = new Vector3D(505.8479685, 942.7809215, 7435.922231); final Orbit initialOrbit = new KeplerianOrbit(new PVCoordinates(position, velocity), FramesFactory.getEME2000(), initialDate, Constants.EIGEN5C_EARTH_MU); // Attitudes sequence definition final AttitudeProvider dayObservationLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), FastMath.toRadians(40), 0); final AttitudeProvider nightRestingLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH); final PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); final PVCoordinatesProvider earth = CelestialBodyFactory.getEarth(); final EventDetector dayNightEvent = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new ContinueOnEvent<EclipseDetector>()); final EventDetector nightDayEvent = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new ContinueOnEvent<EclipseDetector>()); final AttitudesSequence attitudesSequence = new AttitudesSequence(); final AttitudesSequence.SwitchHandler switchHandler = new AttitudesSequence.SwitchHandler() { public void switchOccurred(AttitudeProvider preceding, AttitudeProvider following, SpacecraftState s) { if (preceding == dayObservationLaw) { output.add(s.getDate() + ": switching to night law"); } else { output.add(s.getDate() + ": switching to day law"); } } }; attitudesSequence.addSwitchingCondition(dayObservationLaw, nightRestingLaw, dayNightEvent, false, true, 10.0, AngularDerivativesFilter.USE_R, switchHandler); attitudesSequence.addSwitchingCondition(nightRestingLaw, dayObservationLaw, nightDayEvent, true, false, 10.0, AngularDerivativesFilter.USE_R, switchHandler); if (dayNightEvent.g(new SpacecraftState(initialOrbit)) >= 0) { // initial position is in daytime attitudesSequence.resetActiveProvider(dayObservationLaw); } else { // initial position is in nighttime attitudesSequence.resetActiveProvider(nightRestingLaw); } // Propagator : consider the analytical Eckstein-Hechler model final Propagator propagator = new EcksteinHechlerPropagator(initialOrbit, attitudesSequence, Constants.EIGEN5C_EARTH_EQUATORIAL_RADIUS, Constants.EIGEN5C_EARTH_MU, Constants.EIGEN5C_EARTH_C20, Constants.EIGEN5C_EARTH_C30, Constants.EIGEN5C_EARTH_C40, Constants.EIGEN5C_EARTH_C50, Constants.EIGEN5C_EARTH_C60); // Register the switching events to the propagator attitudesSequence.registerSwitchEvents(propagator); propagator.setMasterMode(180.0, new OrekitFixedStepHandler() { public void init(final SpacecraftState s0, final AbsoluteDate t) { } public void handleStep(SpacecraftState currentState, boolean isLast) throws PropagationException { try { DecimalFormatSymbols angleDegree = new DecimalFormatSymbols(Locale.US); angleDegree.setDecimalSeparator('\u00b0'); DecimalFormat ad = new DecimalFormat(" 00.000;-00.000", angleDegree); // the Earth position in spacecraft frame should be along spacecraft Z axis // during nigthtime and away from it during daytime due to roll and pitch offsets final Vector3D earth = currentState.toTransform().transformPosition(Vector3D.ZERO); final double pointingOffset = Vector3D.angle(earth, Vector3D.PLUS_K); // the g function is the eclipse indicator, its an angle between Sun and Earth limb, // positive when Sun is outside of Earth limb, negative when Sun is hidden by Earth limb final double eclipseAngle = dayNightEvent.g(currentState); output.add(currentState.getDate() + " " + ad.format(FastMath.toDegrees(eclipseAngle)) + " " + ad.format(FastMath.toDegrees(pointingOffset))); } catch (OrekitException oe) { throw new PropagationException(oe); } } }); // Propagate from the initial date for the fixed duration SpacecraftState finalState = propagator.propagate(initialDate.shiftedBy(12600.)); // we print the lines according to lexicographic order, which is chronological order here // to make sure out of orders calls between step handler and event handlers don't mess things up for (final String line : output) { System.out.println(line); } System.out.println("Propagation ended at " + finalState.getDate()); } catch (OrekitException oe) { System.err.println(oe.getMessage()); } }
From source file:edu.stanford.cfuller.imageanalysistools.filter.ConvexHullByLabelFilter.java
/** * Applies the convex hull filter to the supplied mask. * @param im The Image to process-- a mask whose regions will be replaced by their filled convex hulls. *//*w ww . jav a 2 s. c o m*/ @Override public void apply(WritableImage im) { RelabelFilter RLF = new RelabelFilter(); RLF.apply(im); Histogram h = new Histogram(im); java.util.Hashtable<Integer, java.util.Vector<Integer>> xLists = new java.util.Hashtable<Integer, java.util.Vector<Integer>>(); java.util.Hashtable<Integer, java.util.Vector<Integer>> yLists = new java.util.Hashtable<Integer, java.util.Vector<Integer>>(); java.util.Vector<Integer> minValues = new java.util.Vector<Integer>(h.getMaxValue() + 1); java.util.Vector<Integer> minIndices = new java.util.Vector<Integer>(h.getMaxValue() + 1); for (int i = 0; i < h.getMaxValue() + 1; i++) { minValues.add(im.getDimensionSizes().get(ImageCoordinate.X)); minIndices.add(0); } for (ImageCoordinate i : im) { int value = (int) im.getValue(i); if (value == 0) continue; if (!xLists.containsKey(value)) { xLists.put(value, new java.util.Vector<Integer>()); yLists.put(value, new java.util.Vector<Integer>()); } xLists.get(value).add(i.get(ImageCoordinate.X)); yLists.get(value).add(i.get(ImageCoordinate.Y)); if (i.get(ImageCoordinate.X) < minValues.get(value)) { minValues.set(value, i.get(ImageCoordinate.X)); minIndices.set(value, xLists.get(value).size() - 1); } } java.util.Vector<Integer> hullPointsX = new java.util.Vector<Integer>(); java.util.Vector<Integer> hullPointsY = new java.util.Vector<Integer>(); ImageCoordinate ic = ImageCoordinate.createCoordXYZCT(0, 0, 0, 0, 0); for (int k = 1; k < h.getMaxValue() + 1; k++) { hullPointsX.clear(); hullPointsY.clear(); java.util.Vector<Integer> xList = xLists.get(k); java.util.Vector<Integer> yList = yLists.get(k); int minIndex = (int) minIndices.get(k); //start at the leftmost point int currentIndex = minIndex; int currentX = xList.get(currentIndex); int currentY = yList.get(currentIndex); hullPointsX.add(currentX); hullPointsY.add(currentY); org.apache.commons.math3.linear.RealVector angles = new org.apache.commons.math3.linear.ArrayRealVector( xList.size()); Vector3D currentVector = new Vector3D(0, -1, 0); java.util.HashSet<Integer> visited = new java.util.HashSet<Integer>(); do { visited.add(currentIndex); int maxIndex = 0; double maxAngle = -2 * Math.PI; double dist = Double.MAX_VALUE; for (int i = 0; i < xList.size(); i++) { if (i == currentIndex) continue; Vector3D next = new Vector3D(xList.get(i) - xList.get(currentIndex), yList.get(i) - yList.get(currentIndex), 0); double angle = Vector3D.angle(currentVector, next); angles.setEntry(i, angle); if (angle > maxAngle) { maxAngle = angle; maxIndex = i; dist = next.getNorm(); } else if (angle == maxAngle) { double tempDist = next.getNorm(); if (tempDist < dist) { dist = tempDist; maxAngle = angle; maxIndex = i; } } } currentX = xList.get(maxIndex); currentY = yList.get(maxIndex); currentVector = new Vector3D(xList.get(currentIndex) - currentX, yList.get(currentIndex) - currentY, 0); hullPointsX.add(currentX); hullPointsY.add(currentY); currentIndex = maxIndex; } while (!visited.contains(currentIndex)); //hull vertices have now been determined .. need to fill in the lines //between them so I can apply a fill filter //approach: x1, y1 to x0, y0: //start at min x, min y, go to max x, max y // if x_i, y_i = x0, y0 + slope to within 0.5 * sqrt(2), then add to hull double eps = Math.sqrt(2); for (int i = 0; i < hullPointsX.size() - 1; i++) { int x0 = hullPointsX.get(i); int y0 = hullPointsY.get(i); int x1 = hullPointsX.get(i + 1); int y1 = hullPointsY.get(i + 1); int xmin = (x0 < x1) ? x0 : x1; int ymin = (y0 < y1) ? y0 : y1; int xmax = (x0 > x1) ? x0 : x1; int ymax = (y0 > y1) ? y0 : y1; x1 -= x0; y1 -= y0; double denom = (x1 * x1 + y1 * y1); for (int x = xmin; x <= xmax; x++) { for (int y = ymin; y <= ymax; y++) { int rel_x = x - x0; int rel_y = y - y0; double projLength = (x1 * rel_x + y1 * rel_y) / denom; double projPoint_x = x1 * projLength; double projPoint_y = y1 * projLength; if (Math.hypot(rel_x - projPoint_x, rel_y - projPoint_y) < eps) { ic.set(ImageCoordinate.X, x); ic.set(ImageCoordinate.Y, y); im.setValue(ic, k); } } } } } ic.recycle(); FillFilter ff = new FillFilter(); ff.apply(im); }
From source file:Tester2.java
private boolean isNightTime(final SpacecraftState s) { // https://celestrak.com/columns/v03n01/ // when the sun's center is 6 degrees below the horizon, it is considered dark // enough to see earth satellites. try {/*from w w w . j a v a2 s .c om*/ // origin is the center of the Earth Vector3D curSunPos = sun.getPVCoordinates(s.getDate(), this.earthFrame).getPosition(); // origin has been offset to the ground station Vector3D stationToSun = curSunPos.subtract(this.stationPos); Vector3D stationZenith = this.groundstationFrame.getZenith(); double sunAngle = Vector3D.angle(stationToSun, stationZenith); // Sun center to station to zenith // angle required for darkness measured from observer's zenith double darkAngle = Math.PI / 2 + Math.toRadians(4.5); //System.out.println("--------------------------------- " + sunAngle + " >= " + darkAngle); return sunAngle >= darkAngle; } catch (OrekitException e) { // TODO Auto-generated catch block e.printStackTrace(); System.out.println("This broke"); return false; } }
From source file:fr.cs.examples.attitude.EarthObservation_day_night_switch_with_spinned_transitions.java
/** Program entry point. * @param args program arguments (unused here) *///from w ww . ja v a2 s . c o m public static void main(String[] args) { try { // configure Orekit Autoconfiguration.configureOrekit(); final SortedSet<String> output = new TreeSet<String>(); //---------------------------------------- // Initial state definition : date, orbit //---------------------------------------- final AbsoluteDate initialDate = new AbsoluteDate(2004, 01, 02, 00, 00, 00.000, TimeScalesFactory.getUTC()); final Vector3D position = new Vector3D(-6142438.668, 3492467.560, -25767.25680); final Vector3D velocity = new Vector3D(505.8479685, 942.7809215, 7435.922231); final Orbit initialOrbit = new KeplerianOrbit(new PVCoordinates(position, velocity), FramesFactory.getEME2000(), initialDate, Constants.EIGEN5C_EARTH_MU); //------------------------------ // Attitudes sequence definition //------------------------------ final AttitudesSequence attitudesSequence = new AttitudesSequence(); // Attitude laws definition final double settingRate = FastMath.toRadians(1.0); final AttitudeProvider dayObservationLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), FastMath.toRadians(40), 0); final AttitudeProvider nightRestingLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH); final AttitudeProvider transitionLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), 0, 0); final AttitudeProvider rollSetUpLaw = new SpinStabilized(nightRestingLaw, AbsoluteDate.J2000_EPOCH, Vector3D.PLUS_I, settingRate); final AttitudeProvider pitchSetUpLaw = new SpinStabilized(transitionLaw, AbsoluteDate.J2000_EPOCH, Vector3D.PLUS_J, settingRate); final AttitudeProvider pitchTearDownLaw = new SpinStabilized(dayObservationLaw, AbsoluteDate.J2000_EPOCH, Vector3D.PLUS_J, -settingRate); final AttitudeProvider rollTearDownLaw = new SpinStabilized(transitionLaw, AbsoluteDate.J2000_EPOCH, Vector3D.PLUS_I, -settingRate); // Event detectors definition //--------------------------- final PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); final PVCoordinatesProvider earth = CelestialBodyFactory.getEarth(); // Detectors : end day-night rdv 2 final DateDetector endDayNightRdV2Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to night law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-2 night-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endDayNightRdV2Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to night law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-2 night-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detectors : end day-night rdv 1 final DateDetector endDayNightRdV1Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to day-night rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-1 day-night-rdv2-mode"); endDayNightRdV2Event_increase.addEventDate(s.getDate().shiftedBy(20)); endDayNightRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(20)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endDayNightRdV1Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to day-night rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-1 day-night-rdv2-mode"); endDayNightRdV2Event_increase.addEventDate(s.getDate().shiftedBy(20)); endDayNightRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(20)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detector : eclipse entry final EventDetector dayNightEvent = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new EventHandler<EclipseDetector>() { public Action eventOccurred(final SpacecraftState s, final EclipseDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to day-night rdv 1 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " eclipse-entry day-night-rdv1-mode"); endDayNightRdV1Event_increase.addEventDate(s.getDate().shiftedBy(40)); endDayNightRdV1Event_decrease.addEventDate(s.getDate().shiftedBy(40)); } return Action.CONTINUE; } public SpacecraftState resetState(EclipseDetector detector, SpacecraftState oldState) { return oldState; } }); // Detectors : end night-day rdv 2 final DateDetector endNightDayRdV2Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to day law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-2 day-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endNightDayRdV2Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to day law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-2 day-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detectors : end night-day rdv 1 final DateDetector endNightDayRdV1Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to night-day rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-1 night-day-rdv2-mode"); endNightDayRdV2Event_increase.addEventDate(s.getDate().shiftedBy(40)); endNightDayRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(40)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endNightDayRdV1Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to night-day rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-1 night-day-rdv2-mode"); endNightDayRdV2Event_increase.addEventDate(s.getDate().shiftedBy(40)); endNightDayRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(40)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detector : eclipse exit final EventDetector nightDayEvent = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new EventHandler<EclipseDetector>() { public Action eventOccurred(final SpacecraftState s, final EclipseDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to night-day rdv 1 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " eclipse-exit night-day-rdv1-mode"); endNightDayRdV1Event_increase.addEventDate(s.getDate().shiftedBy(20)); endNightDayRdV1Event_decrease.addEventDate(s.getDate().shiftedBy(20)); } return Action.CONTINUE; } public SpacecraftState resetState(EclipseDetector detector, SpacecraftState oldState) { return oldState; } }); // Attitude sequences definition //------------------------------ attitudesSequence.addSwitchingCondition(dayObservationLaw, dayNightEvent, false, true, pitchTearDownLaw); attitudesSequence.addSwitchingCondition(pitchTearDownLaw, endDayNightRdV1Event_increase, true, false, rollTearDownLaw); attitudesSequence.addSwitchingCondition(pitchTearDownLaw, endDayNightRdV1Event_decrease, false, true, rollTearDownLaw); attitudesSequence.addSwitchingCondition(rollTearDownLaw, endDayNightRdV2Event_increase, true, false, nightRestingLaw); attitudesSequence.addSwitchingCondition(rollTearDownLaw, endDayNightRdV2Event_decrease, false, true, nightRestingLaw); attitudesSequence.addSwitchingCondition(nightRestingLaw, nightDayEvent, true, false, rollSetUpLaw); attitudesSequence.addSwitchingCondition(rollSetUpLaw, endNightDayRdV1Event_increase, true, false, pitchSetUpLaw); attitudesSequence.addSwitchingCondition(rollSetUpLaw, endNightDayRdV1Event_decrease, false, true, pitchSetUpLaw); attitudesSequence.addSwitchingCondition(pitchSetUpLaw, endNightDayRdV2Event_increase, true, false, dayObservationLaw); attitudesSequence.addSwitchingCondition(pitchSetUpLaw, endNightDayRdV2Event_decrease, false, true, dayObservationLaw); // Initialisation //--------------- if (dayNightEvent.g(new SpacecraftState(initialOrbit)) >= 0) { // initial position is in daytime attitudesSequence.resetActiveProvider(dayObservationLaw); System.out .println("# " + (initialDate.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " begin with day law"); } else { // initial position is in nighttime attitudesSequence.resetActiveProvider(nightRestingLaw); System.out .println("# " + (initialDate.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " begin with night law"); } //---------------------- // Propagator definition //---------------------- // Propagator : consider the analytical Eckstein-Hechler model final Propagator propagator = new EcksteinHechlerPropagator(initialOrbit, attitudesSequence, Constants.EIGEN5C_EARTH_EQUATORIAL_RADIUS, Constants.EIGEN5C_EARTH_MU, Constants.EIGEN5C_EARTH_C20, Constants.EIGEN5C_EARTH_C30, Constants.EIGEN5C_EARTH_C40, Constants.EIGEN5C_EARTH_C50, Constants.EIGEN5C_EARTH_C60); // Register the switching events to the propagator attitudesSequence.registerSwitchEvents(propagator); propagator.setMasterMode(10.0, new OrekitFixedStepHandler() { private DecimalFormat f1 = new DecimalFormat("0.0000000000000000E00", new DecimalFormatSymbols(Locale.US)); private Vector3DFormat f2 = new Vector3DFormat(" ", " ", " ", f1); private PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); private PVCoordinatesProvider moon = CelestialBodyFactory.getMoon(); private Frame eme2000 = FramesFactory.getEME2000(); private Frame itrf2005 = FramesFactory.getITRF(IERSConventions.IERS_2010, true); private String printVector3D(final String name, final Vector3D v) { return name + " " + f2.format(v); } private String printRotation(final String name, final Rotation r) { return name + " " + f1.format(r.getQ1()) + " " + f1.format(r.getQ2()) + " " + f1.format(r.getQ3()) + " " + f1.format(r.getQ0()); } private String printRotation2(final String name, final Rotation r) { return name + " " + f1.format(-r.getQ1()) + " " + f1.format(-r.getQ2()) + " " + f1.format(-r.getQ3()) + " " + f1.format(-r.getQ0()); } public void init(final SpacecraftState s0, final AbsoluteDate t) { } public void handleStep(SpacecraftState currentState, boolean isLast) throws PropagationException { try { // the Earth position in spacecraft should be along spacecraft Z axis // during nigthtime and away from it during daytime due to roll and pitch offsets final Vector3D earth = currentState.toTransform().transformPosition(Vector3D.ZERO); final double pointingOffset = Vector3D.angle(earth, Vector3D.PLUS_K); // the g function is the eclipse indicator, its an angle between Sun and Earth limb, // positive when Sun is outside of Earth limb, negative when Sun is hidden by Earth limb final double eclipseAngle = dayNightEvent.g(currentState); final double endNightDayTimer1 = endNightDayRdV1Event_decrease.g(currentState); final double endNightDayTimer2 = endNightDayRdV2Event_decrease.g(currentState); final double endDayNightTimer1 = endDayNightRdV1Event_decrease.g(currentState); final double endDayNightTimer2 = endDayNightRdV2Event_decrease.g(currentState); output.add(currentState.getDate() + " " + FastMath.toDegrees(eclipseAngle) + " " + endNightDayTimer1 + " " + endNightDayTimer2 + " " + endDayNightTimer1 + " " + endDayNightTimer2 + " " + FastMath.toDegrees(pointingOffset)); final AbsoluteDate date = currentState.getDate(); final PVCoordinates pv = currentState.getPVCoordinates(eme2000); final Rotation lvlhRot = new Rotation(pv.getPosition(), pv.getMomentum(), Vector3D.MINUS_K, Vector3D.MINUS_J); final Rotation earthRot = eme2000.getTransformTo(itrf2005, date).getRotation(); System.out.println("Scenario::setVectorMap 0x960b7e0 " + (date.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " " + printVector3D("sun", sun.getPVCoordinates(date, eme2000).getPosition()) + " " + printVector3D("moon", moon.getPVCoordinates(date, eme2000).getPosition()) + " " + printVector3D("satPos", pv.getPosition()) + " " + printVector3D("satVel", pv.getVelocity()) + " " + printVector3D("orbMom", pv.getMomentum())); System.out.println("Scenario::setQuatMap 0x960b7e0 " + (date.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " " + printRotation("earthFrame", earthRot) + " " + printRotation("LVLHFrame", lvlhRot)); System.out.println("Scenario::computeStep 0x960b7e0 " + (date.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY)); System.out.println(" -> " + printRotation2("", currentState.getAttitude().getRotation()) + " " + printVector3D("", currentState.getAttitude().getSpin())); } catch (OrekitException oe) { throw new PropagationException(oe); } } }); //---------- // Propagate //---------- // Propagate from the initial date for the fixed duration propagator.propagate(initialDate.shiftedBy(1.75 * 3600.)); //-------------- // Print results //-------------- // we print the lines according to lexicographic order, which is chronological order here // to make sure out of orders calls between step handler and event handlers don't mess things up for (final String line : output) { System.out.println(line); } } catch (OrekitException oe) { System.err.println(oe.getMessage()); } }
From source file:fr.cs.examples.attitude.EarthObservation_day_night_switch_with_fixed_transitions.java
/** Program entry point. * @param args program arguments (unused here) *//* w w w .j a va 2 s . c om*/ public static void main(String[] args) { try { // configure Orekit Autoconfiguration.configureOrekit(); final SortedSet<String> output = new TreeSet<String>(); //---------------------------------------- // Initial state definition : date, orbit //---------------------------------------- final AbsoluteDate initialDate = new AbsoluteDate(2004, 01, 02, 00, 00, 00.000, TimeScalesFactory.getUTC()); final Vector3D position = new Vector3D(-6142438.668, 3492467.560, -25767.25680); final Vector3D velocity = new Vector3D(505.8479685, 942.7809215, 7435.922231); final Orbit initialOrbit = new KeplerianOrbit(new PVCoordinates(position, velocity), FramesFactory.getEME2000(), initialDate, Constants.EIGEN5C_EARTH_MU); //------------------------------ // Attitudes sequence definition //------------------------------ final AttitudesSequence attitudesSequence = new AttitudesSequence(); // Attitude laws definition //------------------------- // Mode : day final AttitudeProvider dayObservationLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), FastMath.toRadians(40), 0); // Mode : night final AttitudeProvider nightRestingLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH); // Mode : day-night rdv 1 final AttitudeProvider dayNightRdV1Law = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), FastMath.toRadians(20), 0); // Mode : day-night rdv 2 final AttitudeProvider dayNightRdV2Law = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), 0, 0); // Mode : night-day rdv 1 final AttitudeProvider nightDayRdV1Law = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), 0, 0); // Mode : night-day rdv 2 final AttitudeProvider nightDayRdV2Law = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), FastMath.toRadians(20), 0); // Event detectors definition //--------------------------- final PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); final PVCoordinatesProvider earth = CelestialBodyFactory.getEarth(); // Detectors : end day-night rdv 2 final DateDetector endDayNightRdV2Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to night law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-2 night-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endDayNightRdV2Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to night law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-2 night-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detectors : end day-night rdv 1 final DateDetector endDayNightRdV1Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to day-night rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-1 day-night-rdv2-mode"); endDayNightRdV2Event_increase.addEventDate(s.getDate().shiftedBy(20)); endDayNightRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(20)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endDayNightRdV1Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to day-night rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-day-night-1 day-night-rdv2-mode"); endDayNightRdV2Event_increase.addEventDate(s.getDate().shiftedBy(20)); endDayNightRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(20)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detector : eclipse entry final EventDetector dayNightEvent = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new EventHandler<EclipseDetector>() { public Action eventOccurred(final SpacecraftState s, final EclipseDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to day-night rdv 1 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " eclipse-entry day-night-rdv1-mode"); endDayNightRdV1Event_increase.addEventDate(s.getDate().shiftedBy(40)); endDayNightRdV1Event_decrease.addEventDate(s.getDate().shiftedBy(40)); } return Action.CONTINUE; } public SpacecraftState resetState(EclipseDetector detector, SpacecraftState oldState) { return oldState; } }); // Detectors : end night-day rdv 2 final DateDetector endNightDayRdV2Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to day law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-2 day-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endNightDayRdV2Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to day law"); System.out.println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-2 day-mode"); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detectors : end night-day rdv 1 final DateDetector endNightDayRdV1Event_increase = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to night-day rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-1 night-day-rdv2-mode"); endNightDayRdV2Event_increase.addEventDate(s.getDate().shiftedBy(40)); endNightDayRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(40)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); final DateDetector endNightDayRdV1Event_decrease = new DateDetector(10, 1e-04) .withHandler(new EventHandler<DateDetector>() { public Action eventOccurred(final SpacecraftState s, final DateDetector detector, final boolean increasing) { if (!increasing) { output.add(s.getDate() + ": switching to night-day rdv 2 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " end-night-day-1 night-day-rdv2-mode"); endNightDayRdV2Event_increase.addEventDate(s.getDate().shiftedBy(40)); endNightDayRdV2Event_decrease.addEventDate(s.getDate().shiftedBy(40)); } return Action.CONTINUE; } public SpacecraftState resetState(DateDetector detector, SpacecraftState oldState) { return oldState; } }); // Detector : eclipse exit final EventDetector nightDayEvent = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new EventHandler<EclipseDetector>() { public Action eventOccurred(final SpacecraftState s, final EclipseDetector detector, final boolean increasing) { if (increasing) { output.add(s.getDate() + ": switching to night-day rdv 1 law"); System.out .println("# " + (s.getDate().durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " eclipse-exit night-day-rdv1-mode"); endNightDayRdV1Event_increase.addEventDate(s.getDate().shiftedBy(20)); endNightDayRdV1Event_decrease.addEventDate(s.getDate().shiftedBy(20)); } return Action.CONTINUE; } public SpacecraftState resetState(EclipseDetector detector, SpacecraftState oldState) { return oldState; } }); // Attitude sequences definition //------------------------------ attitudesSequence.addSwitchingCondition(dayObservationLaw, dayNightEvent, false, true, dayNightRdV1Law); attitudesSequence.addSwitchingCondition(dayNightRdV1Law, endDayNightRdV1Event_increase, true, false, dayNightRdV2Law); attitudesSequence.addSwitchingCondition(dayNightRdV1Law, endDayNightRdV1Event_decrease, false, true, dayNightRdV2Law); attitudesSequence.addSwitchingCondition(dayNightRdV2Law, endDayNightRdV2Event_increase, true, false, nightRestingLaw); attitudesSequence.addSwitchingCondition(dayNightRdV2Law, endDayNightRdV2Event_decrease, false, true, nightRestingLaw); attitudesSequence.addSwitchingCondition(nightRestingLaw, nightDayEvent, true, false, nightDayRdV1Law); attitudesSequence.addSwitchingCondition(nightDayRdV1Law, endNightDayRdV1Event_increase, true, false, nightDayRdV2Law); attitudesSequence.addSwitchingCondition(nightDayRdV1Law, endNightDayRdV1Event_decrease, false, true, nightDayRdV2Law); attitudesSequence.addSwitchingCondition(nightDayRdV2Law, endNightDayRdV2Event_increase, true, false, dayObservationLaw); attitudesSequence.addSwitchingCondition(nightDayRdV2Law, endNightDayRdV2Event_decrease, false, true, dayObservationLaw); // Initialisation //--------------- if (dayNightEvent.g(new SpacecraftState(initialOrbit)) >= 0) { // initial position is in daytime attitudesSequence.resetActiveProvider(dayObservationLaw); System.out .println("# " + (initialDate.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " begin with day law"); } else { // initial position is in nighttime attitudesSequence.resetActiveProvider(nightRestingLaw); System.out .println("# " + (initialDate.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " begin with night law"); } //---------------------- // Propagator definition //---------------------- // Propagator : consider the analytical Eckstein-Hechler model final Propagator propagator = new EcksteinHechlerPropagator(initialOrbit, attitudesSequence, Constants.EIGEN5C_EARTH_EQUATORIAL_RADIUS, Constants.EIGEN5C_EARTH_MU, Constants.EIGEN5C_EARTH_C20, Constants.EIGEN5C_EARTH_C30, Constants.EIGEN5C_EARTH_C40, Constants.EIGEN5C_EARTH_C50, Constants.EIGEN5C_EARTH_C60); // Register the switching events to the propagator attitudesSequence.registerSwitchEvents(propagator); propagator.setMasterMode(10.0, new OrekitFixedStepHandler() { private DecimalFormat f1 = new DecimalFormat("0.0000000000000000E00", new DecimalFormatSymbols(Locale.US)); private Vector3DFormat f2 = new Vector3DFormat(" ", " ", " ", f1); private PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); private PVCoordinatesProvider moon = CelestialBodyFactory.getMoon(); private Frame eme2000 = FramesFactory.getEME2000(); private Frame itrf2005 = FramesFactory.getITRF(IERSConventions.IERS_2010, true); private String printVector3D(final String name, final Vector3D v) { return name + " " + f2.format(v); } private String printRotation(final String name, final Rotation r) { return name + " " + f1.format(r.getQ1()) + " " + f1.format(r.getQ2()) + " " + f1.format(r.getQ3()) + " " + f1.format(r.getQ0()); } private String printRotation2(final String name, final Rotation r) { return name + " " + f1.format(-r.getQ1()) + " " + f1.format(-r.getQ2()) + " " + f1.format(-r.getQ3()) + " " + f1.format(-r.getQ0()); } public void init(final SpacecraftState s0, final AbsoluteDate t) { } public void handleStep(SpacecraftState currentState, boolean isLast) throws PropagationException { try { // the Earth position in spacecraft should be along spacecraft Z axis // during nigthtime and away from it during daytime due to roll and pitch offsets final Vector3D earth = currentState.toTransform().transformPosition(Vector3D.ZERO); final double pointingOffset = Vector3D.angle(earth, Vector3D.PLUS_K); // the g function is the eclipse indicator, its an angle between Sun and Earth limb, // positive when Sun is outside of Earth limb, negative when Sun is hidden by Earth limb final double eclipseAngle = dayNightEvent.g(currentState); final double endNightDayTimer1 = endNightDayRdV1Event_decrease.g(currentState); final double endNightDayTimer2 = endNightDayRdV2Event_decrease.g(currentState); final double endDayNightTimer1 = endDayNightRdV1Event_decrease.g(currentState); final double endDayNightTimer2 = endDayNightRdV2Event_decrease.g(currentState); output.add(currentState.getDate() + " " + FastMath.toDegrees(eclipseAngle) + " " + endNightDayTimer1 + " " + endNightDayTimer2 + " " + endDayNightTimer1 + " " + endDayNightTimer2 + " " + FastMath.toDegrees(pointingOffset)); final AbsoluteDate date = currentState.getDate(); final PVCoordinates pv = currentState.getPVCoordinates(eme2000); final Rotation lvlhRot = new Rotation(pv.getPosition(), pv.getMomentum(), Vector3D.MINUS_K, Vector3D.MINUS_J); final Rotation earthRot = eme2000.getTransformTo(itrf2005, date).getRotation(); System.out.println("Scenario::setVectorMap 0x960b7e0 " + (date.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " " + printVector3D("sun", sun.getPVCoordinates(date, eme2000).getPosition()) + " " + printVector3D("moon", moon.getPVCoordinates(date, eme2000).getPosition()) + " " + printVector3D("satPos", pv.getPosition()) + " " + printVector3D("satVel", pv.getVelocity()) + " " + printVector3D("orbMom", pv.getMomentum())); System.out.println("Scenario::setQuatMap 0x960b7e0 " + (date.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY) + " " + printRotation("earthFrame", earthRot) + " " + printRotation("LVLHFrame", lvlhRot)); System.out.println("Scenario::computeStep 0x960b7e0 " + (date.durationFrom(AbsoluteDate.J2000_EPOCH) / Constants.JULIAN_DAY)); System.out.println(" -> " + printRotation2("", currentState.getAttitude().getRotation()) + " " + printVector3D("", currentState.getAttitude().getSpin())); } catch (OrekitException oe) { throw new PropagationException(oe); } } }); //---------- // Propagate //---------- // Propagate from the initial date for the fixed duration propagator.propagate(initialDate.shiftedBy(1.75 * 3600.)); //-------------- // Print results //-------------- // we print the lines according to lexicographic order, which is chronological order here // to make sure out of orders calls between step handler and event handlers don't mess things up for (final String line : output) { System.out.println(line); } } catch (OrekitException oe) { System.err.println(oe.getMessage()); } }
From source file:org.gearvrf.keyboard.util.Util.java
public static void rotateWithOpenGLLookAt(Vector3D cameraVector, Vector3D parentVector, GVRSceneObject object) { Vector3D globalUpVector = new Vector3D(0, 1, 0); Vector3D lookVector = parentVector.normalize(); Vector3D rightVector = lookVector.crossProduct(globalUpVector); Vector3D upVector = rightVector.crossProduct(lookVector); Vector3D zAxis = cameraVector.subtract(parentVector).normalize(); // Vector3D xAxis = upVector.crossProduct(zAxis).normalize(); Vector3D xAxis = zAxis.crossProduct(upVector).normalize(); Vector3D yAxis = xAxis.crossProduct(zAxis).normalize(); // Vector3D yAxis = xAxis.crossProduct(zAxis).normalize(); zAxis = zAxis.scalarMultiply(-1.f);/*from w w w. j av a 2 s . c om*/ float angle = (float) Vector3D.angle(parentVector, cameraVector); angle = (float) Math.toDegrees(angle); object.getTransform().rotateByAxis(angle, (float) xAxis.getX(), (float) xAxis.getY(), (float) xAxis.getZ()); object.getTransform().rotateByAxis(angle, (float) yAxis.getX(), (float) yAxis.getY(), (float) yAxis.getZ()); object.getTransform().rotateByAxis(angle, (float) zAxis.getX(), (float) zAxis.getY(), (float) zAxis.getZ()); }
From source file:org.hbird.business.navigation.processors.orekit.EclipseCalculator.java
public static double calculateEclipse(SpacecraftState s) throws OrekitException { double occultedRadius = Constants.EQUATORIAL_RADIUS_OF_SUN; double occultingRadius = Constants.EQUATORIAL_RADIUS_OF_THE_EARTH; final Vector3D pted = CelestialBodyFactory.getSun().getPVCoordinates(s.getDate(), s.getFrame()) .getPosition();//from www . j ava 2 s.c o m final Vector3D ping = CelestialBodyFactory.getEarth().getPVCoordinates(s.getDate(), s.getFrame()) .getPosition(); final Vector3D psat = s.getPVCoordinates().getPosition(); final Vector3D ps = pted.subtract(psat); final Vector3D po = ping.subtract(psat); final double angle = Vector3D.angle(ps, po); final double rs = Math.asin(occultedRadius / ps.getNorm()); final double ro = Math.asin(occultingRadius / po.getNorm()); return angle - ro - rs; }
From source file:org.micromanager.plugins.magellan.surfacesandregions.SurfaceInterpolatorSimple.java
protected void interpolateSurface(LinkedList<Point3d> points) throws InterruptedException { double pixSize = Magellan.getCore().getPixelSizeUm(); //provide interpolator with current list of data points Point_dt triangulationPoints[] = new Point_dt[points.size()]; for (int i = 0; i < points.size(); i++) { triangulationPoints[i] = new Point_dt(points.get(i).x, points.get(i).y, points.get(i).z); }/*from ww w . j a v a 2s. com*/ Delaunay_Triangulation dTri = new Delaunay_Triangulation(triangulationPoints); int maxPixelDimension = (int) (Math.max(boundXMax_ - boundXMin_, boundYMax_ - boundYMin_) / pixSize); //Start with at least 20 interp points and go smaller and smaller until every pixel interped? int pixelsPerInterpPoint = 1; while (maxPixelDimension / (pixelsPerInterpPoint + 1) > 20) { pixelsPerInterpPoint *= 2; } if (Thread.interrupted()) { throw new InterruptedException(); } while (pixelsPerInterpPoint >= MIN_PIXELS_PER_INTERP_POINT) { int numInterpPointsX = (int) (((boundXMax_ - boundXMin_) / pixSize) / pixelsPerInterpPoint); int numInterpPointsY = (int) (((boundYMax_ - boundYMin_) / pixSize) / pixelsPerInterpPoint); double dx = (boundXMax_ - boundXMin_) / (numInterpPointsX - 1); double dy = (boundYMax_ - boundYMin_) / (numInterpPointsY - 1); float[][] interpVals = new float[numInterpPointsY][numInterpPointsX]; float[][] interpNormals = new float[numInterpPointsY][numInterpPointsX]; boolean[][] interpDefined = new boolean[numInterpPointsY][numInterpPointsX]; for (int yInd = 0; yInd < interpVals.length; yInd++) { for (int xInd = 0; xInd < interpVals[0].length; xInd++) { if (Thread.interrupted()) { throw new InterruptedException(); } double xVal = boundXMin_ + dx * xInd; double yVal = boundYMin_ + dy * yInd; boolean inHull = convexHullRegion_ .checkPoint(new Vector2D(xVal, yVal)) == Region.Location.INSIDE; if (inHull) { Triangle_dt tri = dTri.find(new Point_dt(xVal, yVal)); //convert to apache commons coordinates to make a plane Vector3D v1 = new Vector3D(tri.p1().x(), tri.p1().y(), tri.p1().z()); Vector3D v2 = new Vector3D(tri.p2().x(), tri.p2().y(), tri.p2().z()); Vector3D v3 = new Vector3D(tri.p3().x(), tri.p3().y(), tri.p3().z()); Plane plane = new Plane(v1, v2, v3, TOLERANCE); //intersetion of vertical line at these x+y values with plane gives point in plane Vector3D pointInPlane = plane.intersection( new Line(new Vector3D(xVal, yVal, 0), new Vector3D(xVal, yVal, 1), TOLERANCE)); float zVal = (float) pointInPlane.getZ(); interpVals[yInd][xInd] = zVal; float angle = (float) (Vector3D.angle(plane.getNormal(), new Vector3D(0, 0, 1)) / Math.PI * 180.0); interpNormals[yInd][xInd] = angle; interpDefined[yInd][xInd] = true; } else { interpDefined[yInd][xInd] = false; } } } if (Thread.interrupted()) { throw new InterruptedException(); } synchronized (interpolationLock_) { currentInterpolation_ = new SingleResolutionInterpolation(pixelsPerInterpPoint, interpDefined, interpVals, interpNormals, boundXMin_, boundXMax_, boundYMin_, boundYMax_, convexHullRegion_, convexHullVertices_, getPoints()); interpolationLock_.notifyAll(); } // System.gc(); pixelsPerInterpPoint /= 2; } }
From source file:org.orekit.attitudes.AttitudesSequenceTest.java
@Test public void testDayNightSwitch() throws OrekitException { // Initial state definition : date, orbit final AbsoluteDate initialDate = new AbsoluteDate(2004, 01, 01, 23, 30, 00.000, TimeScalesFactory.getUTC()); final Vector3D position = new Vector3D(-6142438.668, 3492467.560, -25767.25680); final Vector3D velocity = new Vector3D(505.8479685, 942.7809215, 7435.922231); final Orbit initialOrbit = new KeplerianOrbit(new PVCoordinates(position, velocity), FramesFactory.getEME2000(), initialDate, Constants.EIGEN5C_EARTH_MU); final/*ww w.j a v a2 s.c o m*/ // Attitudes sequence definition EventsLogger logger = new EventsLogger(); final AttitudesSequence attitudesSequence = new AttitudesSequence(); final AttitudeProvider dayObservationLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH, RotationOrder.XYZ, FastMath.toRadians(20), FastMath.toRadians(40), 0); final AttitudeProvider nightRestingLaw = new LofOffset(initialOrbit.getFrame(), LOFType.VVLH); final PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); final PVCoordinatesProvider earth = CelestialBodyFactory.getEarth(); final EclipseDetector ed = new EclipseDetector(sun, 696000000., earth, Constants.WGS84_EARTH_EQUATORIAL_RADIUS).withHandler(new ContinueOnEvent<EclipseDetector>() { public EventHandler.Action eventOccurred(final SpacecraftState s, final EclipseDetector d, final boolean increasing) { setInEclipse(s.getDate(), !increasing); return EventHandler.Action.CONTINUE; } }); final EventDetector monitored = logger.monitorDetector(ed); final Handler dayToNightHandler = new Handler(dayObservationLaw, nightRestingLaw); final Handler nightToDayHandler = new Handler(nightRestingLaw, dayObservationLaw); attitudesSequence.addSwitchingCondition(dayObservationLaw, nightRestingLaw, monitored, false, true, 300.0, AngularDerivativesFilter.USE_RRA, dayToNightHandler); attitudesSequence.addSwitchingCondition(nightRestingLaw, dayObservationLaw, monitored, true, false, 300.0, AngularDerivativesFilter.USE_RRA, nightToDayHandler); if (ed.g(new SpacecraftState(initialOrbit)) >= 0) { // initial position is in daytime setInEclipse(initialDate, false); attitudesSequence.resetActiveProvider(dayObservationLaw); } else { // initial position is in nighttime setInEclipse(initialDate, true); attitudesSequence.resetActiveProvider(nightRestingLaw); } // Propagator : consider the analytical Eckstein-Hechler model final Propagator propagator = new EcksteinHechlerPropagator(initialOrbit, attitudesSequence, Constants.EIGEN5C_EARTH_EQUATORIAL_RADIUS, Constants.EIGEN5C_EARTH_MU, Constants.EIGEN5C_EARTH_C20, Constants.EIGEN5C_EARTH_C30, Constants.EIGEN5C_EARTH_C40, Constants.EIGEN5C_EARTH_C50, Constants.EIGEN5C_EARTH_C60); // Register the switching events to the propagator attitudesSequence.registerSwitchEvents(propagator); propagator.setMasterMode(60.0, new OrekitFixedStepHandler() { public void init(final SpacecraftState s0, final AbsoluteDate t) { } public void handleStep(SpacecraftState currentState, boolean isLast) throws PropagationException { try { // the Earth position in spacecraft frame should be along spacecraft Z axis // during night time and away from it during day time due to roll and pitch offsets final Vector3D earth = currentState.toTransform().transformPosition(Vector3D.ZERO); final double pointingOffset = Vector3D.angle(earth, Vector3D.PLUS_K); // the g function is the eclipse indicator, its an angle between Sun and Earth limb, // positive when Sun is outside of Earth limb, negative when Sun is hidden by Earth limb final double eclipseAngle = ed.g(currentState); if (currentState.getDate().durationFrom(lastChange) > 300) { if (inEclipse) { Assert.assertTrue(eclipseAngle <= 0); Assert.assertEquals(0.0, pointingOffset, 1.0e-6); } else { Assert.assertTrue(eclipseAngle >= 0); Assert.assertEquals(0.767215, pointingOffset, 1.0e-6); } } else { // we are in transition Assert.assertTrue(pointingOffset + " " + (0.767215 - pointingOffset), pointingOffset <= 0.7672155); } } catch (OrekitException oe) { throw new PropagationException(oe); } } }); // Propagate from the initial date for the fixed duration propagator.propagate(initialDate.shiftedBy(12600.)); // as we have 2 switch events (even if they share the same underlying event detector), // and these events are triggered at both eclipse entry and exit, we get 8 // raw events on 2 orbits Assert.assertEquals(8, logger.getLoggedEvents().size()); // we have 4 attitudes switch on 2 orbits, 2 of each type Assert.assertEquals(2, dayToNightHandler.dates.size()); Assert.assertEquals(2, nightToDayHandler.dates.size()); }
From source file:org.orekit.attitudes.CelestialBodyPointingTest.java
@Test public void testSunPointing() throws OrekitException { PVCoordinatesProvider sun = CelestialBodyFactory.getSun(); final Frame frame = FramesFactory.getGCRF(); AbsoluteDate date = new AbsoluteDate(new DateComponents(1970, 01, 01), new TimeComponents(3, 25, 45.6789), TimeScalesFactory.getTAI()); AttitudeProvider sunPointing = new CelestialBodyPointed(frame, sun, Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K);//from www .j a va 2 s . com PVCoordinates pv = new PVCoordinates(new Vector3D(28812595.32120171334, 5948437.45881852374, 0.0), new Vector3D(0, 0, 3680.853673522056)); Orbit orbit = new KeplerianOrbit(pv, frame, date, 3.986004415e14); Attitude attitude = sunPointing.getAttitude(orbit, date, frame); Vector3D xDirection = attitude.getRotation().applyInverseTo(Vector3D.PLUS_I); Vector3D zDirection = attitude.getRotation().applyInverseTo(Vector3D.PLUS_K); Assert.assertEquals(0, Vector3D.dotProduct(zDirection, Vector3D.crossProduct(xDirection, Vector3D.PLUS_K)), 1.0e-15); // the following statement checks we take parallax into account // Sun-Earth-Sat are in quadrature, with distance (Earth, Sat) == distance(Sun, Earth) / 5000 Assert.assertEquals(FastMath.atan(1.0 / 5000.0), Vector3D.angle(xDirection, sun.getPVCoordinates(date, frame).getPosition()), 1.0e-15); double h = 0.1; Attitude aMinus = sunPointing.getAttitude(orbit.shiftedBy(-h), date.shiftedBy(-h), frame); Attitude a0 = sunPointing.getAttitude(orbit, date, frame); Attitude aPlus = sunPointing.getAttitude(orbit.shiftedBy(h), date.shiftedBy(h), frame); // check spin is consistent with attitude evolution double errorAngleMinus = Rotation.distance(aMinus.shiftedBy(h).getRotation(), a0.getRotation()); double evolutionAngleMinus = Rotation.distance(aMinus.getRotation(), a0.getRotation()); Assert.assertEquals(0.0, errorAngleMinus, 1.0e-6 * evolutionAngleMinus); double errorAnglePlus = Rotation.distance(a0.getRotation(), aPlus.shiftedBy(-h).getRotation()); double evolutionAnglePlus = Rotation.distance(a0.getRotation(), aPlus.getRotation()); Assert.assertEquals(0.0, errorAnglePlus, 1.0e-6 * evolutionAnglePlus); }