TimeStampedAngularCoordinates.java
/* Copyright 2002-2019 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
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* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
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package org.orekit.utils;
import java.util.Collection;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.analysis.interpolation.HermiteInterpolator;
import org.hipparchus.geometry.euclidean.threed.FieldRotation;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.MathArrays;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitInternalError;
import org.orekit.errors.OrekitMessages;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeStamped;
/** {@link TimeStamped time-stamped} version of {@link AngularCoordinates}.
* <p>Instances of this class are guaranteed to be immutable.</p>
* @author Luc Maisonobe
* @since 7.0
*/
public class TimeStampedAngularCoordinates extends AngularCoordinates implements TimeStamped {
/** Serializable UID. */
private static final long serialVersionUID = 20140723L;
/** The date. */
private final AbsoluteDate date;
/** Builds a rotation/rotation rate pair.
* @param date coordinates date
* @param rotation rotation
* @param rotationRate rotation rate Ω (rad/s)
* @param rotationAcceleration rotation acceleration dΩ/dt (rad²/s²)
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final Rotation rotation,
final Vector3D rotationRate,
final Vector3D rotationAcceleration) {
super(rotation, rotationRate, rotationAcceleration);
this.date = date;
}
/** Build the rotation that transforms a pair of pv coordinates into another pair.
* <p><em>WARNING</em>! This method requires much more stringent assumptions on
* its parameters than the similar {@link Rotation#Rotation(Vector3D, Vector3D,
* Vector3D, Vector3D) constructor} from the {@link Rotation Rotation} class.
* As far as the Rotation constructor is concerned, the {@code v₂} vector from
* the second pair can be slightly misaligned. The Rotation constructor will
* compensate for this misalignment and create a rotation that ensure {@code
* v₁ = r(u₁)} and {@code v₂ ∈ plane (r(u₁), r(u₂))}. <em>THIS IS NOT
* TRUE ANYMORE IN THIS CLASS</em>! As derivatives are involved and must be
* preserved, this constructor works <em>only</em> if the two pairs are fully
* consistent, i.e. if a rotation exists that fulfill all the requirements: {@code
* v₁ = r(u₁)}, {@code v₂ = r(u₂)}, {@code dv₁/dt = dr(u₁)/dt}, {@code dv₂/dt
* = dr(u₂)/dt}, {@code d²v₁/dt² = d²r(u₁)/dt²}, {@code d²v₂/dt² = d²r(u₂)/dt²}.</p>
* @param date coordinates date
* @param u1 first vector of the origin pair
* @param u2 second vector of the origin pair
* @param v1 desired image of u1 by the rotation
* @param v2 desired image of u2 by the rotation
* @param tolerance relative tolerance factor used to check singularities
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final PVCoordinates u1, final PVCoordinates u2,
final PVCoordinates v1, final PVCoordinates v2,
final double tolerance) {
super(u1, u2, v1, v2, tolerance);
this.date = date;
}
/** Build one of the rotations that transform one pv coordinates into another one.
* <p>Except for a possible scale factor, if the instance were
* applied to the vector u it will produce the vector v. There is an
* infinite number of such rotations, this constructor choose the
* one with the smallest associated angle (i.e. the one whose axis
* is orthogonal to the (u, v) plane). If u and v are collinear, an
* arbitrary rotation axis is chosen.</p>
* @param date coordinates date
* @param u origin vector
* @param v desired image of u by the rotation
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final PVCoordinates u, final PVCoordinates v) {
super(u, v);
this.date = date;
}
/** Builds a TimeStampedAngularCoordinates from a {@link FieldRotation}<{@link DerivativeStructure}>.
* <p>
* The rotation components must have time as their only derivation parameter and
* have consistent derivation orders.
* </p>
* @param date coordinates date
* @param r rotation with time-derivatives embedded within the coordinates
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final FieldRotation<DerivativeStructure> r) {
super(r);
this.date = date;
}
/** {@inheritDoc} */
public AbsoluteDate getDate() {
return date;
}
/** Revert a rotation/rotation rate pair.
* Build a pair which reverse the effect of another pair.
* @return a new pair whose effect is the reverse of the effect
* of the instance
*/
public TimeStampedAngularCoordinates revert() {
return new TimeStampedAngularCoordinates(date,
getRotation().revert(),
getRotation().applyInverseTo(getRotationRate().negate()),
getRotation().applyInverseTo(getRotationAcceleration().negate()));
}
/** Get a time-shifted state.
* <p>
* The state can be slightly shifted to close dates. This shift is based on
* a simple linear model. It is <em>not</em> intended as a replacement for
* proper attitude propagation but should be sufficient for either small
* time shifts or coarse accuracy.
* </p>
* @param dt time shift in seconds
* @return a new state, shifted with respect to the instance (which is immutable)
*/
public TimeStampedAngularCoordinates shiftedBy(final double dt) {
final AngularCoordinates sac = super.shiftedBy(dt);
return new TimeStampedAngularCoordinates(date.shiftedBy(dt),
sac.getRotation(), sac.getRotationRate(), sac.getRotationAcceleration());
}
/** Add an offset from the instance.
* <p>
* We consider here that the offset rotation is applied first and the
* instance is applied afterward. Note that angular coordinates do <em>not</em>
* commute under this operation, i.e. {@code a.addOffset(b)} and {@code
* b.addOffset(a)} lead to <em>different</em> results in most cases.
* </p>
* <p>
* The two methods {@link #addOffset(AngularCoordinates) addOffset} and
* {@link #subtractOffset(AngularCoordinates) subtractOffset} are designed
* so that round trip applications are possible. This means that both {@code
* ac1.subtractOffset(ac2).addOffset(ac2)} and {@code
* ac1.addOffset(ac2).subtractOffset(ac2)} return angular coordinates equal to ac1.
* </p>
* @param offset offset to subtract
* @return new instance, with offset subtracted
* @see #subtractOffset(AngularCoordinates)
*/
@Override
public TimeStampedAngularCoordinates addOffset(final AngularCoordinates offset) {
final Vector3D rOmega = getRotation().applyTo(offset.getRotationRate());
final Vector3D rOmegaDot = getRotation().applyTo(offset.getRotationAcceleration());
return new TimeStampedAngularCoordinates(date,
getRotation().compose(offset.getRotation(), RotationConvention.VECTOR_OPERATOR),
getRotationRate().add(rOmega),
new Vector3D( 1.0, getRotationAcceleration(),
1.0, rOmegaDot,
-1.0, Vector3D.crossProduct(getRotationRate(), rOmega)));
}
/** Subtract an offset from the instance.
* <p>
* We consider here that the offset rotation is applied first and the
* instance is applied afterward. Note that angular coordinates do <em>not</em>
* commute under this operation, i.e. {@code a.subtractOffset(b)} and {@code
* b.subtractOffset(a)} lead to <em>different</em> results in most cases.
* </p>
* <p>
* The two methods {@link #addOffset(AngularCoordinates) addOffset} and
* {@link #subtractOffset(AngularCoordinates) subtractOffset} are designed
* so that round trip applications are possible. This means that both {@code
* ac1.subtractOffset(ac2).addOffset(ac2)} and {@code
* ac1.addOffset(ac2).subtractOffset(ac2)} return angular coordinates equal to ac1.
* </p>
* @param offset offset to subtract
* @return new instance, with offset subtracted
* @see #addOffset(AngularCoordinates)
*/
@Override
public TimeStampedAngularCoordinates subtractOffset(final AngularCoordinates offset) {
return addOffset(offset.revert());
}
/** Interpolate angular coordinates.
* <p>
* The interpolated instance is created by polynomial Hermite interpolation
* on Rodrigues vector ensuring rotation rate remains the exact derivative of rotation.
* </p>
* <p>
* This method is based on Sergei Tanygin's paper <a
* href="http://www.agi.com/downloads/resources/white-papers/Attitude-interpolation.pdf">Attitude
* Interpolation</a>, changing the norm of the vector to match the modified Rodrigues
* vector as described in Malcolm D. Shuster's paper <a
* href="http://www.ladispe.polito.it/corsi/Meccatronica/02JHCOR/2011-12/Slides/Shuster_Pub_1993h_J_Repsurv_scan.pdf">A
* Survey of Attitude Representations</a>. This change avoids the singularity at π.
* There is still a singularity at 2π, which is handled by slightly offsetting all rotations
* when this singularity is detected. Another change is that the mean linear motion
* is first removed before interpolation and added back after interpolation. This allows
* to use interpolation even when the sample covers much more than one turn and even
* when sample points are separated by more than one turn.
* </p>
* <p>
* Note that even if first and second time derivatives (rotation rates and acceleration)
* from sample can be ignored, the interpolated instance always includes
* interpolated derivatives. This feature can be used explicitly to
* compute these derivatives when it would be too complex to compute them
* from an analytical formula: just compute a few sample points from the
* explicit formula and set the derivatives to zero in these sample points,
* then use interpolation to add derivatives consistent with the rotations.
* </p>
* @param date interpolation date
* @param filter filter for derivatives from the sample to use in interpolation
* @param sample sample points on which interpolation should be done
* @return a new position-velocity, interpolated at specified date
*/
public static TimeStampedAngularCoordinates interpolate(final AbsoluteDate date,
final AngularDerivativesFilter filter,
final Collection<TimeStampedAngularCoordinates> sample) {
// set up safety elements for 2π singularity avoidance
final double epsilon = 2 * FastMath.PI / sample.size();
final double threshold = FastMath.min(-(1.0 - 1.0e-4), -FastMath.cos(epsilon / 4));
// set up a linear model canceling mean rotation rate
final Vector3D meanRate;
if (filter != AngularDerivativesFilter.USE_R) {
Vector3D sum = Vector3D.ZERO;
for (final TimeStampedAngularCoordinates datedAC : sample) {
sum = sum.add(datedAC.getRotationRate());
}
meanRate = new Vector3D(1.0 / sample.size(), sum);
} else {
if (sample.size() < 2) {
throw new OrekitException(OrekitMessages.NOT_ENOUGH_DATA_FOR_INTERPOLATION,
sample.size());
}
Vector3D sum = Vector3D.ZERO;
TimeStampedAngularCoordinates previous = null;
for (final TimeStampedAngularCoordinates datedAC : sample) {
if (previous != null) {
sum = sum.add(estimateRate(previous.getRotation(), datedAC.getRotation(),
datedAC.date.durationFrom(previous.date)));
}
previous = datedAC;
}
meanRate = new Vector3D(1.0 / (sample.size() - 1), sum);
}
TimeStampedAngularCoordinates offset =
new TimeStampedAngularCoordinates(date, Rotation.IDENTITY, meanRate, Vector3D.ZERO);
boolean restart = true;
for (int i = 0; restart && i < sample.size() + 2; ++i) {
// offset adaptation parameters
restart = false;
// set up an interpolator taking derivatives into account
final HermiteInterpolator interpolator = new HermiteInterpolator();
// add sample points
double sign = +1.0;
Rotation previous = Rotation.IDENTITY;
for (final TimeStampedAngularCoordinates ac : sample) {
// remove linear offset from the current coordinates
final double dt = ac.date.durationFrom(date);
final TimeStampedAngularCoordinates fixed = ac.subtractOffset(offset.shiftedBy(dt));
// make sure all interpolated points will be on the same branch
final double dot = MathArrays.linearCombination(fixed.getRotation().getQ0(), previous.getQ0(),
fixed.getRotation().getQ1(), previous.getQ1(),
fixed.getRotation().getQ2(), previous.getQ2(),
fixed.getRotation().getQ3(), previous.getQ3());
sign = FastMath.copySign(1.0, dot * sign);
previous = fixed.getRotation();
// check modified Rodrigues vector singularity
if (fixed.getRotation().getQ0() * sign < threshold) {
// the sample point is close to a modified Rodrigues vector singularity
// we need to change the linear offset model to avoid this
restart = true;
break;
}
final double[][] rodrigues = fixed.getModifiedRodrigues(sign);
switch (filter) {
case USE_RRA:
// populate sample with rotation, rotation rate and acceleration data
interpolator.addSamplePoint(dt, rodrigues[0], rodrigues[1], rodrigues[2]);
break;
case USE_RR:
// populate sample with rotation and rotation rate data
interpolator.addSamplePoint(dt, rodrigues[0], rodrigues[1]);
break;
case USE_R:
// populate sample with rotation data only
interpolator.addSamplePoint(dt, rodrigues[0]);
break;
default :
// this should never happen
throw new OrekitInternalError(null);
}
}
if (restart) {
// interpolation failed, some intermediate rotation was too close to 2π
// we need to offset all rotations to avoid the singularity
offset = offset.addOffset(new AngularCoordinates(new Rotation(Vector3D.PLUS_I,
epsilon,
RotationConvention.VECTOR_OPERATOR),
Vector3D.ZERO, Vector3D.ZERO));
} else {
// interpolation succeeded with the current offset
final double[][] p = interpolator.derivatives(0.0, 2);
final AngularCoordinates ac = createFromModifiedRodrigues(p);
return new TimeStampedAngularCoordinates(offset.getDate(),
ac.getRotation(),
ac.getRotationRate(),
ac.getRotationAcceleration()).addOffset(offset);
}
}
// this should never happen
throw new OrekitInternalError(null);
}
}