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Removed SkyPlane frame: unclear this corresponds to sky plane frame as actually used in astronomical publications.

sensor-dev
Andrew Tribick 2010-07-25 18:38:48 +00:00
parent 2704ad0dde
commit 5705194ae7
3 changed files with 49 additions and 135 deletions
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33
src/celengine/frame.cpp
View File

@ -1,5 +1,5 @@
// frame.cpp
//
//
// Reference frame base class.
//
// Copyright (C) 2003-2009, the Celestia Development Team
@ -56,11 +56,11 @@ static UniversalCoord rotate(const UniversalCoord& uc, const Quaterniond& q)
{
Matrix3d r = q.toRotationMatrix();
UniversalCoord uc1;
uc1.x = uc.x * BigFix(r(0, 0)) + uc.y * BigFix(r(1, 0)) + uc.z * BigFix(r(2, 0));
uc1.y = uc.x * BigFix(r(0, 1)) + uc.y * BigFix(r(1, 1)) + uc.z * BigFix(r(2, 1));
uc1.z = uc.x * BigFix(r(0, 2)) + uc.y * BigFix(r(1, 2)) + uc.z * BigFix(r(2, 2));
return uc1;
}
@ -151,7 +151,7 @@ ReferenceFrame::convertToAstrocentric(const Vector3d& p, double tjd) const
// bad if the center object is a galaxy
// what about locations?
return Vector3d::Zero();
}
}
}
@ -215,7 +215,7 @@ getFrameDepth(const Selection& sel, unsigned int depth, unsigned int maxDepth,
if (orbitFrameDepth > maxDepth)
return orbitFrameDepth;
}
if (body->getBodyFrame(0.0) != NULL && frameType == ReferenceFrame::OrientationFrame)
{
bodyFrameDepth = body->getBodyFrame(0.0)->nestingDepth(depth + 1, maxDepth, frameType);
@ -525,7 +525,7 @@ Vector3d CachingFrame::computeAngularVelocity(double tjd) const
Quaterniond q0 = getOrientation(tjd);
// Call computeOrientation() instead of getOrientation() so that we
// don't affect the cached value.
// don't affect the cached value.
// TODO: check the valid ranges of the frame to make sure that
// jd+dt is still in range.
Quaterniond q1 = computeOrientation(tjd + ANGULAR_VELOCITY_DIFF_DELTA);
@ -638,7 +638,7 @@ TwoVectorFrame::computeOrientation(double tjd) const
}
// The axes are the rows of a rotation matrix. The getOrientation
// method must return the quaternion representation of the
// method must return the quaternion representation of the
// orientation, so convert the rotation matrix to a quaternion now.
Quatd q = Quatd::matrixToQuaternion(Mat3d(v[0], v[1], v[2]));
#endif
@ -734,7 +734,7 @@ FrameVector::operator=(const FrameVector& fv)
frame = fv.frame;
if (frame != NULL)
frame->addRef();
return *this;
}
@ -794,16 +794,6 @@ FrameVector::createConstantVector(const Vector3d& _vec,
}
FrameVector
FrameVector::createAbsolutePositionVector(const Selection& _target)
{
FrameVector fv(AbsolutePosition);
fv.target = _target;
return fv;
}
Vector3d
FrameVector::direction(double tjd) const
{
@ -830,10 +820,6 @@ FrameVector::direction(double tjd) const
v = frame->getOrientation(tjd).conjugate() * vec;
break;
case AbsolutePosition:
v = target.getPosition(tjd).toLy();
break;
default:
// unhandled vector type
v = Vector3d::Zero();
@ -873,9 +859,6 @@ FrameVector::nestingDepth(unsigned int depth,
return frame->nestingDepth(depth + 1, maxDepth, ReferenceFrame::OrientationFrame);
break;
case AbsolutePosition:
return getFrameDepth(target, depth, maxDepth, ReferenceFrame::PositionFrame);
default:
return depth;
}

12
src/celengine/frame.h
View File

@ -1,5 +1,5 @@
// frame.h
//
//
// Copyright (C) 2003-2009, the Celestia Development Team
// Original version by Chris Laurel <claurel@gmail.com>
//
@ -31,7 +31,7 @@ class ReferenceFrame
int addRef() const;
int release() const;
UniversalCoord convertFromUniversal(const UniversalCoord& uc, double tjd) const;
UniversalCoord convertToUniversal(const UniversalCoord& uc, double tjd) const;
Eigen::Quaterniond convertFromUniversal(const Eigen::Quaterniond& q, double tjd) const;
@ -39,7 +39,7 @@ class ReferenceFrame
Eigen::Vector3d convertFromAstrocentric(const Eigen::Vector3d& p, double tjd) const;
Eigen::Vector3d convertToAstrocentric(const Eigen::Vector3d& p, double tjd) const;
Selection getCenter() const;
virtual Eigen::Quaterniond getOrientation(double tjd) const = 0;
@ -192,16 +192,14 @@ class FrameVector
RelativePosition,
RelativeVelocity,
ConstantVector,
AbsolutePosition,
};
static FrameVector createRelativePositionVector(const Selection& _observer,
const Selection& _target);
static FrameVector createRelativeVelocityVector(const Selection& _observer,
const Selection& _target);
static FrameVector createConstantVector(const Eigen::Vector3d& _vec,
const ReferenceFrame* _frame);
static FrameVector createAbsolutePositionVector(const Selection& _target);
private:
/*! Type-only constructor is private. Code outside the class should
@ -231,7 +229,7 @@ class TwoVectorFrame : public CachingFrame
* the primary and secondary vectors:
* 1 = x, 2 = y, 3 = z, -1 = -x, -2 = -y, -3 = -z
*/
TwoVectorFrame(Selection center,
TwoVectorFrame(Selection center,
const FrameVector& prim,
int primAxis,
const FrameVector& sec,

139
src/celengine/parseobject.cpp
View File

@ -33,11 +33,11 @@ using namespace std;
/**
* Returns the default units scale for orbits.
*
*
* If the usePlanetUnits flag is set, this returns a distance scale of AU and a
* time scale of years. Otherwise the distace scale is kilometers and the time
* scale is days.
*
*
* @param[in] usePlanetUnits Controls whether to return planet units or satellite units.
* @param[out] distanceScale The default distance scale in kilometers.
* @param[out] timeScale The default time scale in days.
@ -60,10 +60,10 @@ GetDefaultUnits(bool usePlanetUnits, double& distanceScale, double& timeScale)
/**
* Returns the default distance scale for orbits.
*
*
* If the usePlanetUnits flag is set, this returns AU, otherwise it returns
* kilometers.
*
*
* @param[in] usePlanetUnits Controls whether to return planet units or satellite units.
* @param[out] distanceScale The default distance scale in kilometers.
*/
@ -98,7 +98,7 @@ ParseDate(Hash* hash, const string& name, double& jd)
/*!
* Create a new Keplerian orbit from an ssc property table:
*
*
* \code EllipticalOrbit
* {
* # One of the following is required to specify orbit size:
@ -107,7 +107,7 @@ ParseDate(Hash* hash, const string& name, double& jd)
*
* # Required
* Period <number>
*
*
* Eccentricity <number> (default: 0.0)
* Inclination <degrees> (default: 0.0)
* AscendingNode <degrees> (default: 0.0)
@ -128,7 +128,7 @@ ParseDate(Hash* hash, const string& name, double& jd)
* SemiMajorAxis or PericenterDistance is in AU
* Otherwise:
* Period is in Julian days
* SemiMajorAxis or PericenterDistance is in kilometers.
* SemiMajorAxis or PericenterDistance is in kilometers.
*/
static EllipticalOrbit*
CreateEllipticalOrbit(Hash* orbitData,
@ -136,7 +136,7 @@ CreateEllipticalOrbit(Hash* orbitData,
{
// default units for planets are AU and years, otherwise km and days
double distanceScale;
double timeScale;
GetDefaultUnits(usePlanetUnits, distanceScale, timeScale);
@ -153,23 +153,23 @@ CreateEllipticalOrbit(Hash* orbitData,
return NULL;
}
}
double period = 0.0;
if (!orbitData->getTime("Period", period, 1.0, timeScale))
{
clog << "Period missing! Skipping planet . . .\n";
return NULL;
}
double eccentricity = 0.0;
orbitData->getNumber("Eccentricity", eccentricity);
double inclination = 0.0;
orbitData->getAngle("Inclination", inclination);
double ascendingNode = 0.0;
orbitData->getAngle("AscendingNode", ascendingNode);
double argOfPericenter = 0.0;
if (!orbitData->getAngle("ArgOfPericenter", argOfPericenter))
{
@ -266,13 +266,13 @@ CreateSampledTrajectory(Hash* trajData, const string& path)
/** Create a new FixedPosition trajectory.
*
*
* A FixedPosition is a property list with one of the following 3-vector properties:
*
*
* - \c Rectangular
* - \c Planetographic
* - \c Planetocentric
*
*
* Planetographic and planetocentric coordinates are given in the order longitude,
* latitude, altitude. Units of altitude are kilometers. Planetographic and
* and planetocentric coordinates are only practical when the coordinate system
@ -283,10 +283,10 @@ CreateFixedPosition(Hash* trajData, const Selection& centralObject, bool usePlan
{
double distanceScale;
GetDefaultUnits(usePlanetUnits, distanceScale);
Vector3d position = Vector3d::Zero();
Vector3d v = Vector3d::Zero();
Vector3d v = Vector3d::Zero();
if (trajData->getLengthVector("Rectangular", v, 1.0, distanceScale))
{
// Convert to Celestia's coordinate system
@ -384,7 +384,7 @@ ParseStringList(Hash* table,
* Ending <number> # optional
* } \endcode
*
* The Kernel property specifies one or more SPK files that must be loaded. Any
* The Kernel property specifies one or more SPK files that must be loaded. Any
* already loaded kernels will also be used if they contain trajectories for
* the target or origin.
* Target and origin are strings that give NAIF IDs for the target and origin
@ -409,9 +409,9 @@ CreateSpiceOrbit(Hash* orbitData,
list<string> kernelList;
double distanceScale;
double timeScale;
GetDefaultUnits(usePlanetUnits, distanceScale, timeScale);
if (orbitData->getValue("Kernel") != NULL)
{
// Kernel list is optional; a SPICE orbit may rely on kernels already loaded into
@ -481,7 +481,7 @@ CreateSpiceOrbit(Hash* orbitData,
clog << "Invalid ending date specified for SPICE orbit.\n";
return NULL;
}
orbit = new SpiceOrbit(targetBodyName,
originName,
period,
@ -524,7 +524,7 @@ CreateSpiceOrbit(Hash* orbitData,
* } \endcode
*
* The Kernel property specifies one or more SPICE kernel files that must be
* loaded in order for the frame to be defined over the required range. Any
* loaded in order for the frame to be defined over the required range. Any
* already loaded kernels will be used if they contain information relevant
* for defining the frame.
* Frame and base name are strings that give SPICE names for the frames. The
@ -604,7 +604,7 @@ CreateSpiceRotation(Hash* rotationData,
clog << "Invalid ending date specified for SPICE rotation.\n";
return NULL;
}
rotation = new SpiceRotation(frameName,
baseFrameName,
period,
@ -807,7 +807,7 @@ CreateOrbit(const Selection& centralObject,
fixedPosition = Vector3d(fixedPosition.x(),
fixedPosition.z(),
-fixedPosition.y());
return new FixedOrbit(fixedPosition);
}
else if (fixedPositionValue->getType() == Value::HashType)
@ -942,19 +942,19 @@ CreateFixedAttitudeRotationModel(Hash* rotationData)
{
heading = degToRad(heading);
}
double tilt = 0.0;
if (rotationData->getAngle("Tilt", tilt))
{
tilt = degToRad(tilt);
}
double roll = 0.0;
if (rotationData->getAngle("Roll", roll))
{
roll = degToRad(roll);
}
Quaterniond q = YRotation(-PI - heading) *
XRotation(-tilt) *
ZRotation(-roll);
@ -1189,7 +1189,7 @@ CreateRotationModel(Hash* planetData,
return CreateFixedRotationModel(fixedRotationValue->getHash());
}
}
Value* fixedAttitudeValue = planetData->getValue("FixedAttitude");
if (fixedAttitudeValue != NULL)
{
@ -1667,66 +1667,13 @@ CreateTwoVectorFrame(const Universe& universe,
}
/**
* Creates a sky-plane frame from ssc file data.
*
* The x-axis points North, the z-axis points back towards the Sun.
*
* @param[in] universe Universe object used for object lookups.
* @param[in] frameData Hash containing the name-value pairs defining the frame.
* @param[in] defaultCenter Default center object if not specified in the ssc.
*/
static TwoVectorFrame*
CreateSkyPlaneFrame(const Universe& universe,
Hash* frameData,
const Selection& defaultCenter)
{
Selection center = getFrameCenter(universe, frameData, defaultCenter);
if (center.empty())
return NULL;
// default target object to the top-level parent, this should usually be
// the system barycenter.
Selection target = center;
while(!target.parent().empty())
{
target = target.parent();
}
string targetName;
if (frameData->getString("Target", targetName))
{
target = universe.findPath(targetName, NULL, 0);
if (target.empty())
{
clog << "Bad sky-plane frame: target object '" << targetName << "' not found.\n";
return NULL;
}
}
ReferenceFrame* equatorFrame = new J2000EquatorFrame(target);
FrameVector* primaryVector = new FrameVector(FrameVector::createAbsolutePositionVector(target));
FrameVector* secondaryVector = new FrameVector(FrameVector::createConstantVector(Vector3d::UnitY(), equatorFrame));
TwoVectorFrame* frame = new TwoVectorFrame(center,
*primaryVector, -2,
*secondaryVector, 1);
delete primaryVector;
delete secondaryVector;
return frame;
}
static J2000EclipticFrame*
CreateJ2000EclipticFrame(const Universe& universe,
Hash* frameData,
const Selection& defaultCenter)
{
Selection center = getFrameCenter(universe, frameData, defaultCenter);
if (center.empty())
return NULL;
else
@ -1740,7 +1687,7 @@ CreateJ2000EquatorFrame(const Universe& universe,
const Selection& defaultCenter)
{
Selection center = getFrameCenter(universe, frameData, defaultCenter);
if (center.empty())
return NULL;
else
@ -1760,8 +1707,8 @@ CreateTopocentricFrame(const Selection& center,
BodyMeanEquatorFrame* eqFrame = new BodyMeanEquatorFrame(target, target);
FrameVector north = FrameVector::createConstantVector(Vector3d::UnitY(), eqFrame);
FrameVector up = FrameVector::createRelativePositionVector(observer, target);
return new TwoVectorFrame(center, up, -2, north, -3);
return new TwoVectorFrame(center, up, -2, north, -3);
}
@ -1775,15 +1722,15 @@ CreateTopocentricFrame(const Selection& center,
* \code TwoVector
* {
* Center <center>
* Primary
* Primary
* {
* Axis "z"
* RelativePosition { Target <target> Observer <observer> }
* }
* Secondary
* Secondary
* {
* Axis "x"
* ConstantVector
* ConstantVector
* {
* Vector [ 0 0 1]
* Frame { BodyFixed { Center <target> } }
@ -1830,7 +1777,7 @@ CreateTopocentricFrame(const Universe& universe,
observer = center;
target = center.parent();
}
}
else
{
// When no center is provided, use the default observer as the center. This
@ -1932,20 +1879,6 @@ CreateComplexFrame(const Universe& universe, Hash* frameData, const Selection& d
}
}
value = frameData->getValue("SkyPlane");
if (value != NULL)
{
if (value->getType() != Value::HashType)
{
clog << "Object has incorrect sky-plane frame syntax.\n";
return NULL;
}
else
{
return CreateSkyPlaneFrame(universe, value->getHash(), defaultCenter);
}
}
value = frameData->getValue("Topocentric");
if (value != NULL)
{