List of usage examples for org.apache.commons.math3.geometry.euclidean.threed Vector3D ZERO
Vector3D ZERO
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From source file:fr.cs.examples.attitude.EarthObservation.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, 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:ch.zweivelo.renderer.simple.math.RayTest.java
@Before public void prepareTest() { ray = new Ray(Vector3D.ZERO, Vector3D.PLUS_I, new DoubleRange(EPSILON, EPSIPON_MAX)); }
From source file:jtrace.object.Plane.java
@Override public double getFirstCollisionObjectFrame(Ray ray) { double alpha = planeNormal.dotProduct(Vector3D.ZERO.subtract(ray.origin)) / planeNormal.dotProduct(ray.direction); if (alpha < 0) return Double.POSITIVE_INFINITY; incidentRay = ray;// w w w . j av a 2 s. co m Vector3D collisionLocation = ray.origin.add(alpha, ray.direction); normalRay = new Ray(collisionLocation, planeNormal); Vector3D q = collisionLocation; u = q.dotProduct(planeNorth); v = q.dotProduct(planeEast); return alpha; }
From source file:Engine.AlgebraUtils.java
public static Vector3D ReturnClosestWectorMirror(double[] v1, double[] v2, WorldMap worldMap) { double x = (worldMap.mapSize - 1) * GenerateTerrain.Size; double y = (worldMap.mapSize - 1) * GenerateTerrain.Size; double distance = DistanceBetweenDoubleTablesMirror(v1, v2, worldMap); if (Math.abs(DistanceBetweenDoubleTables(new double[] { v1[0], v1[1], v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0], v1[1], v1[2]); if (Math.abs(DistanceBetweenDoubleTables(new double[] { v1[0] + x, v1[1], v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0] + x, v1[1], v1[2]); if (Math.abs( DistanceBetweenDoubleTables(new double[] { v1[0] + x, v1[1] + y, v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0] + x, v1[1] + y, v1[2]); if (Math.abs( DistanceBetweenDoubleTables(new double[] { v1[0] + x, v1[1] - y, v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0] + x, v1[1] - y, v1[2]); if (Math.abs(DistanceBetweenDoubleTables(new double[] { v1[0] - x, v1[1], v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0] - x, v1[1], v1[2]); if (Math.abs( DistanceBetweenDoubleTables(new double[] { v1[0] - x, v1[1] + y, v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0] - x, v1[1] + y, v1[2]); if (Math.abs( DistanceBetweenDoubleTables(new double[] { v1[0] - x, v1[1] - y, v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0] - x, v1[1] - y, v1[2]); if (Math.abs(DistanceBetweenDoubleTables(new double[] { v1[0], v1[1] + y, v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0], v1[1] + y, v1[2]); if (Math.abs(DistanceBetweenDoubleTables(new double[] { v1[0], v1[1] - y, v1[2] }, v2) - distance) < 0.001) return new Vector3D(v1[0], v1[1] - y, v1[2]); return Vector3D.ZERO; }
From source file:magma.tools.benchmark.model.proxy.BenchmarkAgentProxyServer.java
public Vector3D getGroundTruthPosition() { if (agentProxies.isEmpty()) { return Vector3D.ZERO; }/* w w w. j a va2 s . c om*/ return getAgentProxy().getGroundTruthPosition(); }
From source file:com.diozero.sandpit.imu.invensense.MPU9150DriverTest.java
public MPU9150DriverTest() { // General defaults //axisRotation = AxisRotation.RTIMU_XNORTH_YEAST; axisRotation = AxisRotation.RTIMU_XEAST_YSOUTH; //axisRotation = AxisRotation.RTIMU_XNORTH_YWEST; //mpu9150AxisRotation = MPU9150AxisRotation.; // MPU9150 defaults gyroAccelSampleRate = 50;//from w w w . j a va 2 s .c o m compassSampleRate = 25; lpf = LowPassFilter.INV_FILTER_20HZ; gyroFsr = GyroFullScaleRange.INV_FSR_1000DPS; accelFsr = AccelFullScaleRange.INV_FSR_8G; fifoRate = DEFAULT_FIFO_RATE; fifoReadDelayMs = 1000 / fifoRate; gyroBiasValid = false; gyroBias = Vector3D.ZERO; previousAccel = Vector3D.ZERO; sampleRate = gyroAccelSampleRate; fusionType = FusionAlgorithmType.RTFUSION_TYPE_RTQF; switch (fusionType) { case RTFUSION_TYPE_KALMANSTATE4: fusion = new RTFusionKalman4(); break; case RTFUSION_TYPE_RTQF: fusion = new RTFusionRTQF(); break; default: fusion = new RTFusion(); } }
From source file:com.diozero.sandpit.imu.invensense.MPU9150DriverMqttPublisher.java
public MPU9150DriverMqttPublisher(String mqttServer) { // General defaults //axisRotation = AxisRotation.RTIMU_XNORTH_YEAST; axisRotation = AxisRotation.RTIMU_XEAST_YSOUTH; //axisRotation = AxisRotation.RTIMU_XNORTH_YWEST; //mpu9150AxisRotation = MPU9150AxisRotation.; // MPU9150 defaults gyroAccelSampleRate = 50;//from w ww. jav a 2 s . c o m compassSampleRate = 25; lpf = LowPassFilter.INV_FILTER_20HZ; gyroFsr = GyroFullScaleRange.INV_FSR_1000DPS; accelFsr = AccelFullScaleRange.INV_FSR_8G; fifoRate = DEFAULT_FIFO_RATE; fifoReadDelayMs = 1000 / fifoRate; gyroBiasValid = false; gyroBias = Vector3D.ZERO; previousAccel = Vector3D.ZERO; sampleRate = gyroAccelSampleRate; fusionType = FusionAlgorithmType.RTFUSION_TYPE_RTQF; switch (fusionType) { case RTFUSION_TYPE_KALMANSTATE4: fusion = new RTFusionKalman4(); break; case RTFUSION_TYPE_RTQF: fusion = new RTFusionRTQF(); break; default: fusion = new RTFusion(); } this.mqttServer = mqttServer; }
From source file:magma.tools.benchmark.model.proxy.BenchmarkAgentProxy.java
private Vector3D getForce(String message, String which) { int forceIndex = message.indexOf(which); if (forceIndex >= 0) { int fIndex = message.indexOf("(f", forceIndex); if (fIndex >= 0) { int eIndex = message.indexOf(")", fIndex); String forceString = message.substring(fIndex + 3, eIndex); String[] values = forceString.split(" "); if (values.length == 3) { float x = Float.valueOf(values[0]); float y = Float.valueOf(values[1]); float z = Float.valueOf(values[2]); return new Vector3D(x, y, z); }/*w w w . j a va 2 s .c om*/ } System.out.println("Strange force message: " + message.substring(forceIndex, forceIndex + 30)); return null; } return Vector3D.ZERO; }
From source file:jtrace.Scene.java
/** * Add a set of axes to an image. If the object parameter is not null, * the axes corresponding to the object's coordinate system are drawn. * //from www.j a v a 2 s .co m * @param image Image generated using scene's camera * @param object (Possibly null) object */ private void renderAxes(BufferedImage image, SceneObject object) { Graphics gr = image.getGraphics(); int[] origin, xhat, yhat, zhat; if (object == null) { origin = camera.getPixel(image.getWidth(), image.getHeight(), Vector3D.ZERO); xhat = camera.getPixel(image.getWidth(), image.getHeight(), Vector3D.PLUS_I); yhat = camera.getPixel(image.getWidth(), image.getHeight(), Vector3D.PLUS_J); zhat = camera.getPixel(image.getWidth(), image.getHeight(), Vector3D.PLUS_K); } else { origin = camera.getPixel(image.getWidth(), image.getHeight(), object.objectToSceneVector(Vector3D.ZERO)); xhat = camera.getPixel(image.getWidth(), image.getHeight(), object.objectToSceneVector(Vector3D.PLUS_I)); yhat = camera.getPixel(image.getWidth(), image.getHeight(), object.objectToSceneVector(Vector3D.PLUS_J)); zhat = camera.getPixel(image.getWidth(), image.getHeight(), object.objectToSceneVector(Vector3D.PLUS_K)); } String objName; if (object == null) objName = ""; else objName = "(" + object.getClass().getSimpleName() + ")"; gr.setColor(Color.red); gr.drawLine(origin[0], origin[1], xhat[0], xhat[1]); gr.setColor(Color.white); gr.drawString("x " + objName, xhat[0], xhat[1]); gr.setColor(Color.green); gr.drawLine(origin[0], origin[1], yhat[0], yhat[1]); gr.setColor(Color.white); gr.drawString("y " + objName, yhat[0], yhat[1]); gr.setColor(Color.blue); gr.drawLine(origin[0], origin[1], zhat[0], zhat[1]); gr.setColor(Color.white); gr.drawString("z " + objName, zhat[0], zhat[1]); }
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 ww w. ja v a 2s .co 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()); } }