PolygonalFieldOfView.java
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* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
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* http://www.apache.org/licenses/LICENSE-2.0
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* Unless required by applicable law or agreed to in writing, software
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package org.orekit.geometry.fov;
import java.util.ArrayList;
import java.util.List;
import org.hipparchus.geometry.enclosing.EnclosingBall;
import org.hipparchus.geometry.euclidean.threed.Line;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.geometry.partitioning.Region;
import org.hipparchus.geometry.spherical.twod.Edge;
import org.hipparchus.geometry.spherical.twod.S2Point;
import org.hipparchus.geometry.spherical.twod.Sphere2D;
import org.hipparchus.geometry.spherical.twod.SphericalPolygonsSet;
import org.hipparchus.geometry.spherical.twod.Vertex;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.MathUtils;
import org.hipparchus.util.SinCos;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.bodies.OneAxisEllipsoid;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.frames.Frame;
import org.orekit.frames.Transform;
import org.orekit.propagation.events.VisibilityTrigger;
/** Class representing a spacecraft sensor Field Of View with polygonal shape.
* <p>Fields Of View are zones defined on the unit sphere centered on the
* spacecraft. They can have any shape, they can be split in several
* non-connected patches and can have holes.</p>
* @author Luc Maisonobe
* @since 10.1
*/
public class PolygonalFieldOfView extends AbstractFieldOfView {
/** Spherical zone. */
private final SphericalPolygonsSet zone;
/** Spherical cap surrounding the zone. */
private final EnclosingBall<Sphere2D, S2Point> cap;
/** Build a new instance.
* @param zone interior of the Field Of View, in spacecraft frame
* @param margin angular margin to apply to the zone (if positive,
* points outside of the raw FoV but close enough to the boundary are
* considered visible; if negative, points inside of the raw FoV
* but close enough to the boundary are considered not visible)
*/
public PolygonalFieldOfView(final SphericalPolygonsSet zone, final double margin) {
super(margin);
this.zone = zone;
this.cap = zone.getEnclosingCap();
}
/** Build Field Of View with a regular polygon shape.
* @param center center of the polygon (the center is in the inside part)
* @param coneType type of defining cone
* @param meridian point defining the reference meridian for one contact
* point between defining cone and polygon (i.e. either a polygon edge
* middle point or a polygon vertex)
* @param radius defining cone angular radius
* @param n number of sides of the polygon
* @param margin angular margin to apply to the zone (if positive,
* points outside of the raw FoV but close enough to the boundary are
* considered visible; if negative, points inside of the raw FoV
* but close enough to the boundary are considered not visible)
* @since 10.1
*/
public PolygonalFieldOfView(final Vector3D center, final DefiningConeType coneType,
final Vector3D meridian, final double radius,
final int n, final double margin) {
super(margin);
final double verticesRadius = coneType.verticesRadius(radius, n);
final Vector3D vertex = coneType.createVertex(center, meridian, verticesRadius, n);
this.zone = new SphericalPolygonsSet(center, vertex, verticesRadius,
n, 1.0e-12 * verticesRadius);
final Rotation r = new Rotation(center, MathUtils.TWO_PI / n, RotationConvention.VECTOR_OPERATOR);
final S2Point[] support = new S2Point[n];
support[0] = new S2Point(vertex);
for (int i = 1; i < n; ++i) {
support[i] = new S2Point(r.applyTo(support[i - 1].getVector()));
}
this.cap = new EnclosingBall<>(new S2Point(center), Vector3D.angle(center, vertex), support);
}
/** Get the interior zone.
* @return the interior zone
*/
public SphericalPolygonsSet getZone() {
return zone;
}
/** {@inheritDoc} */
@Override
public double offsetFromBoundary(final Vector3D lineOfSight, final double angularRadius,
final VisibilityTrigger trigger) {
final S2Point los = new S2Point(lineOfSight);
final double margin = getMargin();
final double correctedRadius = trigger.radiusCorrection(angularRadius);
final double deadBand = margin + angularRadius;
// for faster computation, we start using only the surrounding cap, to filter out
// far away points (which correspond to most of the points if the Field Of View is small)
final double crudeDistance = cap.getCenter().distance(los) - cap.getRadius();
if (crudeDistance > deadBand + 0.01) {
// we know we are strictly outside of the zone,
// use the crude distance to compute the (positive) return value
return crudeDistance + correctedRadius - margin;
}
// we are close, we need to compute carefully the exact offset;
// we project the point to the closest zone boundary
return zone.projectToBoundary(los).getOffset() + correctedRadius - margin;
}
/** {@inheritDoc} */
@Override
public Vector3D projectToBoundary(final Vector3D lineOfSight) {
return ((S2Point) zone.projectToBoundary(new S2Point(lineOfSight)).getProjected()).getVector();
}
/** {@inheritDoc} */
@Override
public List<List<GeodeticPoint>> getFootprint(final Transform fovToBody,
final OneAxisEllipsoid body,
final double angularStep) {
final Frame bodyFrame = body.getBodyFrame();
final Vector3D position = fovToBody.transformPosition(Vector3D.ZERO);
final double r = position.getNorm();
if (body.isInside(position)) {
throw new OrekitException(OrekitMessages.POINT_INSIDE_ELLIPSOID);
}
final List<List<GeodeticPoint>> footprint = new ArrayList<>();
final List<Vertex> boundary = zone.getBoundaryLoops();
for (final Vertex loopStart : boundary) {
int count = 0;
final List<GeodeticPoint> loop = new ArrayList<>();
boolean intersectionsFound = false;
for (Edge edge = loopStart.getOutgoing();
count == 0 || edge.getStart() != loopStart;
edge = edge.getEnd().getOutgoing()) {
++count;
final int n = (int) FastMath.ceil(edge.getLength() / angularStep);
final double delta = edge.getLength() / n;
for (int i = 0; i < n; ++i) {
final Vector3D awaySC = new Vector3D(r, edge.getPointAt(i * delta));
final Vector3D awayBody = fovToBody.transformPosition(awaySC);
final Line lineOfSight = new Line(position, awayBody, 1.0e-3);
GeodeticPoint gp = body.getIntersectionPoint(lineOfSight, position,
bodyFrame, null);
if (gp != null &&
Vector3D.dotProduct(awayBody.subtract(position),
body.transform(gp).subtract(position)) < 0) {
// the intersection is in fact on the half-line pointing
// towards the back side, it is a spurious intersection
gp = null;
}
if (gp != null) {
// the line of sight does intersect the body
intersectionsFound = true;
} else {
// the line of sight does not intersect body
// we use a point on the limb
gp = body.transform(body.pointOnLimb(position, awayBody), bodyFrame, null);
}
// add the point in front of the list
// (to ensure the loop will be in trigonometric orientation)
loop.add(0, gp);
}
}
if (intersectionsFound) {
// at least some of the points did intersect the body,
// this loop contributes to the footprint
footprint.add(loop);
}
}
if (footprint.isEmpty()) {
// none of the Field Of View loops cross the body
// either the body is outside of Field Of View, or it is fully contained
// we check the center
final Vector3D bodyCenter = fovToBody.toStaticTransform().getInverse().transformPosition(Vector3D.ZERO);
if (zone.checkPoint(new S2Point(bodyCenter)) != Region.Location.OUTSIDE) {
// the body is fully contained in the Field Of View
// we use the full limb as the footprint
final Vector3D x = bodyCenter.orthogonal();
final Vector3D y = Vector3D.crossProduct(bodyCenter, x).normalize();
final double sinEta = body.getEquatorialRadius() / r;
final double sinEta2 = sinEta * sinEta;
final double cosAlpha = (FastMath.cos(angularStep) + sinEta2 - 1) / sinEta2;
final int n = (int) FastMath.ceil(MathUtils.TWO_PI / FastMath.acos(cosAlpha));
final double delta = MathUtils.TWO_PI / n;
final List<GeodeticPoint> loop = new ArrayList<>(n);
for (int i = 0; i < n; ++i) {
final SinCos sc = FastMath.sinCos(i * delta);
final Vector3D outside = new Vector3D(r * sc.cos(), x,
r * sc.sin(), y);
loop.add(body.transform(body.pointOnLimb(position, outside), bodyFrame, null));
}
footprint.add(loop);
}
}
return footprint;
}
/** Enumerate for cone/polygon relative position.
* @since 10.1
*/
public enum DefiningConeType {
/** Constant for cones inside polygons and touching it at polygon edges middle points. */
INSIDE_CONE_TOUCHING_POLYGON_AT_EDGES_MIDDLE() {
/** {@inheritDoc}*/
@Override
protected double verticesRadius(final double radius, final int n) {
// convert the inside (edges middle points) radius to outside (vertices) radius
return FastMath.atan(FastMath.tan(radius) / FastMath.cos(FastMath.PI / n));
}
/** {@inheritDoc}*/
@Override
protected Vector3D createVertex(final Vector3D center, final Vector3D meridian,
final double verticesRadius, final int n) {
// convert the edge middle meridian to a vertex
final SinCos scA = FastMath.sinCos(FastMath.PI / n);
final SinCos scR = FastMath.sinCos(verticesRadius);
final Vector3D z = center.normalize();
final Vector3D y = Vector3D.crossProduct(center, meridian).normalize();
final Vector3D x = Vector3D.crossProduct(y, z);
return new Vector3D(scR.sin() * scA.cos(), x, scR.sin() * scA.sin(), y, scR.cos(), z);
}
},
/** Constant for cones outside polygons and touching it at polygon vertices. */
OUTSIDE_CONE_TOUCHING_POLYGON_AT_VERTICES() {
/** {@inheritDoc}*/
@Override
protected double verticesRadius(final double radius, final int n) {
return radius;
}
/** {@inheritDoc}*/
@Override
protected Vector3D createVertex(final Vector3D center, final Vector3D meridian,
final double verticesRadius, final int n) {
// convert the vertex meridian to a vertex
final SinCos scR = FastMath.sinCos(verticesRadius);
final Vector3D z = center.normalize();
final Vector3D y = Vector3D.crossProduct(center, meridian).normalize();
final Vector3D x = Vector3D.crossProduct(y, z);
return new Vector3D(scR.sin(), x, scR.cos(), z);
}
};
/** Compute radius of cone going through vertices.
* @param radius defining cone angular radius
* @param n number of sides of the polygon
* @return radius of cone going through vertices
*/
protected abstract double verticesRadius(double radius, int n);
/** Create a vertex.
* @param center center of the polygon (the center is in the inside part)
* @param meridian point defining the reference meridian for one contact
* point between defining cone and polygon (i.e. either a polygon edge
* middle point or a polygon vertex)
* @param verticesRadius defining radius of cone passing through vertices
* @param n number of sides of the polygon
* @return created vertex
*/
protected abstract Vector3D createVertex(Vector3D center, Vector3D meridian,
double verticesRadius, int n);
}
}