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src/main/java/org/orekit/attitudes/AlignedAndConstrained.java
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| /* Copyright 2002-2024 Luc Maisonobe | ||
| * 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.attitudes; | ||
|
|
||
| import org.hipparchus.CalculusFieldElement; | ||
| import org.hipparchus.Field; | ||
| import org.hipparchus.analysis.differentiation.FieldUnivariateDerivative2; | ||
| import org.hipparchus.analysis.differentiation.UnivariateDerivative2; | ||
| import org.hipparchus.analysis.differentiation.UnivariateDerivative2Field; | ||
| import org.hipparchus.geometry.euclidean.threed.FieldRotation; | ||
| import org.hipparchus.geometry.euclidean.threed.FieldVector3D; | ||
| import org.hipparchus.geometry.euclidean.threed.Rotation; | ||
| import org.hipparchus.geometry.euclidean.threed.Vector3D; | ||
| import org.orekit.bodies.OneAxisEllipsoid; | ||
| import org.orekit.frames.Frame; | ||
| import org.orekit.time.AbsoluteDate; | ||
| import org.orekit.time.FieldAbsoluteDate; | ||
| import org.orekit.utils.AngularCoordinates; | ||
| import org.orekit.utils.ExtendedPositionProvider; | ||
| import org.orekit.utils.FieldAngularCoordinates; | ||
| import org.orekit.utils.FieldPVCoordinatesProvider; | ||
| import org.orekit.utils.PVCoordinatesProvider; | ||
| import org.orekit.utils.TimeStampedFieldPVCoordinates; | ||
| import org.orekit.utils.TimeStampedPVCoordinates; | ||
|
|
||
| import java.util.HashMap; | ||
| import java.util.Map; | ||
|
|
||
| /** | ||
| * Attitude provider with one satellite vector aligned and another one constrained to two targets. | ||
| * @author Luc Maisonobe | ||
| * @since 12.2 | ||
| */ | ||
| public class AlignedAndConstrained implements AttitudeProvider | ||
| { | ||
|
|
||
| /** Satellite vector for primary target. */ | ||
| private final FieldVector3D<UnivariateDerivative2> primarySat; | ||
|
|
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| /** Primary target. */ | ||
| private final TargetProvider primaryTarget; | ||
|
|
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| /** Satellite vector for secondary target. */ | ||
| private final FieldVector3D<UnivariateDerivative2> secondarySat; | ||
|
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| /** Secondary target. */ | ||
| private final TargetProvider secondaryTarget; | ||
|
|
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| /** Sun model. */ | ||
| private final ExtendedPositionProvider sun; | ||
|
|
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| /** Earth model. */ | ||
| private final OneAxisEllipsoid earth; | ||
|
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| /** Cached field-based satellite vectors. */ | ||
| private final transient Map<Field<? extends CalculusFieldElement<?>>, Cache<? extends CalculusFieldElement<?>>> | ||
| cachedSatelliteVectors; | ||
|
|
||
| /** | ||
| * Simple constructor. | ||
| * @param primarySat satellite vector for primary target | ||
| * @param primaryTarget primary target | ||
| * @param secondarySat satellite vector for secondary target | ||
| * @param secondaryTarget secondary target | ||
| * @param sun Sun model | ||
| * @param earth Earth model | ||
| */ | ||
| public AlignedAndConstrained(final Vector3D primarySat, final TargetProvider primaryTarget, | ||
| final Vector3D secondarySat, final TargetProvider secondaryTarget, | ||
| final ExtendedPositionProvider sun, | ||
| final OneAxisEllipsoid earth) | ||
| { | ||
| this.primarySat = new FieldVector3D<>(UnivariateDerivative2Field.getInstance(), primarySat); | ||
| this.primaryTarget = primaryTarget; | ||
| this.secondarySat = new FieldVector3D<>(UnivariateDerivative2Field.getInstance(), secondarySat); | ||
| this.secondaryTarget = secondaryTarget; | ||
| this.sun = sun; | ||
| this.earth = earth; | ||
| this.cachedSatelliteVectors = new HashMap<>(); | ||
| } | ||
|
|
||
| /** {@inheritDoc} */ | ||
| @Override | ||
| public Rotation getAttitudeRotation(final PVCoordinatesProvider pvProv, final AbsoluteDate date, final Frame frame) { | ||
| final TimeStampedPVCoordinates satPV = pvProv.getPVCoordinates(date, frame); | ||
|
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| // compute targets references at the specified date | ||
| final Vector3D primaryDirection = primaryTarget.getTargetDirection(sun, earth, satPV, frame); | ||
| final Vector3D secondaryDirection = secondaryTarget.getTargetDirection(sun, earth, satPV, frame); | ||
|
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| // compute transform from inertial frame to satellite frame | ||
| return new Rotation(primaryDirection, secondaryDirection, primarySat.toVector3D(), secondarySat.toVector3D()); | ||
| } | ||
|
|
||
| /** {@inheritDoc} */ | ||
| @Override | ||
| public Attitude getAttitude(final PVCoordinatesProvider pvProv, | ||
| final AbsoluteDate date, | ||
| final Frame frame) | ||
| { | ||
| final TimeStampedPVCoordinates satPV = pvProv.getPVCoordinates(date, frame); | ||
|
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| // compute targets references at the specified date | ||
| final FieldVector3D<UnivariateDerivative2> primaryDirection = primaryTarget.getDerivative2TargetDirection(sun, earth, satPV, frame); | ||
| final FieldVector3D<UnivariateDerivative2> secondaryDirection = secondaryTarget.getDerivative2TargetDirection(sun, earth, satPV, frame); | ||
|
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| // compute transform from inertial frame to satellite frame | ||
| final FieldRotation<UnivariateDerivative2> inertToSatRotation = | ||
| new FieldRotation<>(primaryDirection, secondaryDirection, primarySat, secondarySat); | ||
|
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| // build the attitude | ||
| return new Attitude(date, frame, new AngularCoordinates(inertToSatRotation)); | ||
|
|
||
| } | ||
|
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| /** {@inheritDoc} */ | ||
| @Override | ||
| public <T extends CalculusFieldElement<T>> FieldRotation<T> getAttitudeRotation(final FieldPVCoordinatesProvider<T> pvProv, | ||
| final FieldAbsoluteDate<T> date, | ||
| final Frame frame) { | ||
| final TimeStampedFieldPVCoordinates<T> satPV = pvProv.getPVCoordinates(date, frame); | ||
|
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| // compute targets references at the specified date | ||
| final FieldVector3D<T> primaryDirection = primaryTarget.getTargetDirection(sun, earth, satPV, frame); | ||
| final FieldVector3D<T> secondaryDirection = secondaryTarget.getTargetDirection(sun, earth, satPV, frame); | ||
|
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| // compute transform from inertial frame to satellite frame | ||
| final Field<T> field = date.getField(); | ||
| return new FieldRotation<>(primaryDirection, secondaryDirection, | ||
| new FieldVector3D<>(field, primarySat.toVector3D()), new FieldVector3D<>(field, secondarySat.toVector3D())); | ||
| } | ||
|
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| /** {@inheritDoc} */ | ||
| @Override | ||
| public <T extends CalculusFieldElement<T>> FieldAttitude<T> getAttitude(final FieldPVCoordinatesProvider<T> pvProv, | ||
| final FieldAbsoluteDate<T> date, | ||
| final Frame frame) | ||
| { | ||
| // get the satellite vectors for specified field | ||
| @SuppressWarnings("unchecked") | ||
| final Cache<T> satVectors = | ||
| (Cache<T>) cachedSatelliteVectors.computeIfAbsent(date.getField(), | ||
| f -> new Cache<>(date.getField(), primarySat, secondarySat)); | ||
|
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| final TimeStampedFieldPVCoordinates<T> satPV = pvProv.getPVCoordinates(date, frame); | ||
|
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| // compute targets references at the specified date | ||
| final FieldVector3D<FieldUnivariateDerivative2<T>> primaryDirection = primaryTarget.getDerivative2TargetDirection(sun, earth, satPV, frame); | ||
| final FieldVector3D<FieldUnivariateDerivative2<T>> secondaryDirection = secondaryTarget.getDerivative2TargetDirection(sun, earth, satPV, frame); | ||
|
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| // compute transform from inertial frame to satellite frame | ||
| final FieldRotation<FieldUnivariateDerivative2<T>> inertToSatRotation = | ||
| new FieldRotation<>(primaryDirection, secondaryDirection, satVectors.primarySat, satVectors.secondarySat); | ||
|
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| // build the attitude | ||
| return new FieldAttitude<>(date, frame, new FieldAngularCoordinates<>(inertToSatRotation)); | ||
|
|
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| } | ||
|
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| /** Container for cached satellite vectors. */ | ||
| private static class Cache<T extends CalculusFieldElement<T>> { | ||
|
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| /** Satellite vector for primary target. */ | ||
| private final FieldVector3D<FieldUnivariateDerivative2<T>> primarySat; | ||
|
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| /** Satellite vector for primary target. */ | ||
| private final FieldVector3D<FieldUnivariateDerivative2<T>> secondarySat; | ||
|
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| /** Simple constructor. | ||
| * @param field field to which the elements belong | ||
| * @param primarySat satellite vector for primary target | ||
| * @param secondarySat satellite vector for primary target | ||
| */ | ||
| Cache(final Field<T> field, | ||
| final FieldVector3D<UnivariateDerivative2> primarySat, | ||
| final FieldVector3D<UnivariateDerivative2> secondarySat) { | ||
| final FieldUnivariateDerivative2<T> zero = | ||
| new FieldUnivariateDerivative2<>(field.getZero(), field.getZero(), field.getZero()); | ||
| this.primarySat = new FieldVector3D<>(zero.newInstance(primarySat.getX().getValue()), | ||
| zero.newInstance(primarySat.getY().getValue()), | ||
| zero.newInstance(primarySat.getZ().getValue())); | ||
| this.secondarySat = new FieldVector3D<>(zero.newInstance(secondarySat.getX().getValue()), | ||
| zero.newInstance(secondarySat.getY().getValue()), | ||
| zero.newInstance(secondarySat.getZ().getValue())); | ||
| } | ||
|
|
||
| } | ||
|
|
||
| } |
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