LOSBuilder.java
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.rugged.los;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Stream;
import org.hipparchus.analysis.differentiation.Derivative;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.orekit.rugged.utils.DerivativeGenerator;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterObserver;
import org.orekit.utils.TimeSpanMap;
/** Builder for lines-of-sight list.
* <p>
* This class implements the <em>builder pattern</em> to create {@link TimeDependentLOS} instances.
* It does so by using a <em>fluent API</em> in order to clarify reading and allow
* later extensions with new configuration parameters.
* </p>
* <p>
* This builder aims at creating lines-of-sight directions which are
* the result of several transforms applied to an initial list of raw
* directions. It therefore allows to take into account the optical
* path due to mirrors and the alignments of sensors frames with respect
* to a spacecraft.
* </p>
* @see TimeDependentLOS
* @see <a href="https://en.wikipedia.org/wiki/Builder_pattern">Builder pattern (wikipedia)</a>
* @see <a href="https://en.wikipedia.org/wiki/Fluent_interface">Fluent interface (wikipedia)</a>
* @author Luc Maisonobe
*/
public class LOSBuilder {
/** Raw fixed line-of-sights. */
private final List<Vector3D> rawLOS;
/** Transforms to be applied. */
private final List<LOSTransform> transforms;
/** Flag for time-independent only transforms. */
private boolean timeIndependent;
/** Create builder.
* @param rawLOS raw fixed lines-of-sight
*/
public LOSBuilder(final List<Vector3D> rawLOS) {
this.rawLOS = rawLOS;
this.transforms = new ArrayList<>();
this.timeIndependent = true;
}
/** Add a transform to be applied after the already registered transforms.
* @param transform transform to be applied to the lines-of-sight
* @return the builder instance
*/
public LOSBuilder addTransform(final TimeIndependentLOSTransform transform) {
transforms.add(new TransformAdapter(transform));
return this;
}
/** Add a transform to be applied after the already registered transforms.
* @param transform transform to be applied to the lines-of-sight
* @return the builder instance
*/
public LOSBuilder addTransform(final LOSTransform transform) {
transforms.add(transform);
timeIndependent = false;
return this;
}
/** Build a lines-of-sight provider.
* @return lines-of-sight provider
*/
public TimeDependentLOS build() {
if (timeIndependent) {
// fast implementation for time-independent lines-of-sight
return new FixedLOS(rawLOS, transforms);
} else {
// regular implementation, for time-dependent lines-of-sight
return new TransformsSequenceLOS(rawLOS, transforms);
}
}
/** Adapter from time-independent transform to time-dependent transform. */
private static class TransformAdapter implements LOSTransform {
/** Underlying transform. */
private final TimeIndependentLOSTransform transform;
/** Simple constructor.
* @param transform underlying time-independent transform
*/
TransformAdapter(final TimeIndependentLOSTransform transform) {
this.transform = transform;
}
/** {@inheritDoc} */
@Override
public Vector3D transformLOS(final int i, final Vector3D los, final AbsoluteDate date) {
return transform.transformLOS(i, los);
}
/** {@inheritDoc} */
@Override
public <T extends Derivative<T>> FieldVector3D<T> transformLOS(final int i, final FieldVector3D<T> los,
final AbsoluteDate date, final DerivativeGenerator<T> generator) {
return transform.transformLOS(i, los, generator);
}
/** {@inheritDoc} */
@Override
public Stream<ParameterDriver> getParametersDrivers() {
return transform.getParametersDrivers();
}
}
/** Implement time-independent LOS by recomputing directions by applying all transforms each time. */
private static class TransformsSequenceLOS implements TimeDependentLOS {
/** Raw direction. */
private final Vector3D[] raw;
/** Transforms to be applied. */
private final List<LOSTransform> transforms;
/** Simple constructor.
* @param raw raw directions
* @param transforms transforms to apply
*/
TransformsSequenceLOS(final List<Vector3D> raw, final List<LOSTransform> transforms) {
// copy the lists, to ensure immutability of the built object,
// in case addTransform is called again after build
// or the raw LOS list is changed by caller
this.raw = new Vector3D[raw.size()];
for (int i = 0; i < raw.size(); ++i) {
this.raw[i] = raw.get(i);
}
this.transforms = new ArrayList<>(transforms);
}
/** {@inheritDoc} */
public int getNbPixels() {
return raw.length;
}
/** {@inheritDoc} */
@Override
public Vector3D getLOS(final int index, final AbsoluteDate date) {
Vector3D los = raw[index];
for (final LOSTransform transform : transforms) {
los = transform.transformLOS(index, los, date);
}
return los.normalize();
}
/** {@inheritDoc} */
@Override
public <T extends Derivative<T>> FieldVector3D<T> getLOSDerivatives(final int index, final AbsoluteDate date,
final DerivativeGenerator<T> generator) {
// the raw line of sights are considered to be constant
FieldVector3D<T> los = new FieldVector3D<>(generator.constant(raw[index].getX()),
generator.constant(raw[index].getY()),
generator.constant(raw[index].getZ()));
// apply the transforms, which depend on parameters and hence may introduce non-zero derivatives
for (final LOSTransform transform : transforms) {
los = transform.transformLOS(index, los, date, generator);
}
return los.normalize();
}
@Override
public Stream<ParameterDriver> getParametersDrivers() {
Stream<ParameterDriver> drivers = Stream.<ParameterDriver>empty();
for (final LOSTransform transform : transforms) {
drivers = Stream.concat(drivers, transform.getParametersDrivers());
}
return drivers;
}
}
/** Implement time-independent LOS by computing directions only when parameters are changed. */
private static class FixedLOS extends TransformsSequenceLOS {
/** transformed direction for los. */
private final Vector3D[] transformed;
/** Simple constructor.
* @param raw raw directions
* @param transforms transforms to apply (must be time-independent!)
*/
FixedLOS(final List<Vector3D> raw, final List<LOSTransform> transforms) {
super(raw, transforms);
transformed = new Vector3D[raw.size()];
// we will reset the transforms to null when parameters are changed
final ParameterObserver resettingObserver = new ParameterObserver() {
/** {@inheritDoc} */
@Override
public void valueChanged(final double previousValue, final ParameterDriver driver, final AbsoluteDate date) {
Arrays.fill(transformed, null);
}
/** {@inheritDoc} */
@Override
public void valueSpanMapChanged​(final TimeSpanMap<Double> previousValueSpanMap, final ParameterDriver driver) {
Arrays.fill(transformed, null);
}
};
getParametersDrivers().forEach(driver -> {
driver.addObserver(resettingObserver);
});
}
/** {@inheritDoc} */
@Override
public Vector3D getLOS(final int index, final AbsoluteDate date) {
if (transformed[index] == null) {
// recompute the transformed los direction only if needed
transformed[index] = super.getLOS(index, date);
}
return transformed[index];
}
}
}