/* 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.
    * 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.
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  package org.orekit.estimation.measurements.modifiers;
  
  import java.util.Arrays;
  import java.util.List;
  
  import org.hipparchus.Field;
  import org.hipparchus.RealFieldElement;
  import org.hipparchus.analysis.differentiation.DerivativeStructure;
  import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
  import org.hipparchus.geometry.euclidean.threed.Vector3D;
  import org.orekit.estimation.measurements.EstimatedMeasurement;
  import org.orekit.estimation.measurements.EstimationModifier;
  import org.orekit.estimation.measurements.GroundStation;
  import org.orekit.estimation.measurements.Range;
  import org.orekit.models.earth.DiscreteTroposphericModel;
  import org.orekit.models.earth.TroposphericModel;
  import org.orekit.orbits.OrbitType;
  import org.orekit.orbits.PositionAngle;
  import org.orekit.propagation.FieldSpacecraftState;
  import org.orekit.propagation.Propagator;
  import org.orekit.propagation.SpacecraftState;
  import org.orekit.utils.Differentiation;
  import org.orekit.utils.ParameterDriver;
  import org.orekit.utils.ParameterFunction;
  import org.orekit.utils.StateFunction;
  
  /** Class modifying theoretical range measurement with tropospheric delay.
   * The effect of tropospheric correction on the range is directly computed
   * through the computation of the tropospheric delay.
   *
   * In general, for GNSS, VLBI, ... there is hardly any frequency dependence in the delay.
   * For SLR techniques however, the frequency dependence is sensitive.
   *
   * @author Maxime Journot
   * @author Joris Olympio
   * @since 8.0
   */
  public class RangeTroposphericDelayModifier implements EstimationModifier<Range> {
  
      /** Tropospheric delay model. */
      private final DiscreteTroposphericModel tropoModel;
  
      /** Constructor.
       *
       * @param model  Tropospheric delay model appropriate for the current range measurement method.
       */
      public RangeTroposphericDelayModifier(final DiscreteTroposphericModel model) {
          tropoModel = model;
      }
  
      /** Get the station height above mean sea level.
       *
       * @param station  ground station (or measuring station)
       * @return the measuring station height above sea level, m
       */
      private double getStationHeightAMSL(final GroundStation station) {
          // FIXME heigth should be computed with respect to geoid WGS84+GUND = EGM2008 for example
          final double height = station.getBaseFrame().getPoint().getAltitude();
          return height;
      }
  
      /** Get the station height above mean sea level.
      * @param <T> type of the elements
      * @param field field of the elements
      * @param station  ground station (or measuring station)
      * @return the measuring station height above sea level, m
      */
      private <T extends RealFieldElement<T>> T getStationHeightAMSL(final Field<T> field, final GroundStation station) {
          // FIXME heigth should be computed with respect to geoid WGS84+GUND = EGM2008 for example
          final T height = station.getBaseFrame().getPoint(field).getAltitude();
          return height;
      }
  
      /** Compute the measurement error due to Troposphere.
       * @param station station
       * @param state spacecraft state
       * @return the measurement error due to Troposphere
       */
      private double rangeErrorTroposphericModel(final GroundStation station, final SpacecraftState state) {
          //
          final Vector3D position = state.getPVCoordinates().getPosition();
  
          // elevation
         final double elevation = station.getBaseFrame().getElevation(position,
                                                                      state.getFrame(),
                                                                      state.getDate());
 
         // only consider measures above the horizon
         if (elevation > 0) {
             // altitude AMSL in meters
             final double height = getStationHeightAMSL(station);
 
             // delay in meters
             final double delay = tropoModel.pathDelay(elevation, height, tropoModel.getParameters(), state.getDate());
 
             return delay;
         }
 
         return 0;
     }
 
     /** Compute the measurement error due to Troposphere.
      * @param <T> type of the element
      * @param station station
      * @param state spacecraft state
      * @param parameters tropospheric model parameters
      * @return the measurement error due to Troposphere
      */
     private <T extends RealFieldElement<T>> T rangeErrorTroposphericModel(final GroundStation station,
                                                                           final FieldSpacecraftState<T> state,
                                                                           final T[] parameters) {
 
         // Field
         final Field<T> field = state.getDate().getField();
         final T zero         = field.getZero();
 
         // satellite elevation
         final FieldVector3D<T> position     = state.getPVCoordinates().getPosition();
         final T elevation                   = station.getBaseFrame().getElevation(position,
                                                                                   state.getFrame(),
                                                                                   state.getDate());
 
 
         // only consider measures above the horizon
         if (elevation.getReal() > 0) {
             // altitude AMSL in meters
             final T height = getStationHeightAMSL(field, station);
 
             // delay in meters
             final T delay = tropoModel.pathDelay(elevation, height, parameters, state.getDate());
 
             return delay;
         }
 
         return zero;
     }
 
     /** Compute the Jacobian of the delay term wrt state using
     * automatic differentiation.
     *
     * @param derivatives tropospheric delay derivatives
     * @param freeStateParameters dimension of the state.
     *
     * @return Jacobian of the delay wrt state
     */
     private double[][] rangeErrorJacobianState(final double[] derivatives, final int freeStateParameters) {
         final double[][] finiteDifferencesJacobian = new double[1][6];
         for (int i = 0; i < freeStateParameters; i++) {
             // First element is the value of the delay
             finiteDifferencesJacobian[0][i] = derivatives[i + 1];
         }
         return finiteDifferencesJacobian;
     }
 
     /** Compute the Jacobian of the delay term wrt state.
     *
     * @param station station
     * @param refstate reference spacecraft state
     *
     * @return Jacobian of the delay wrt state
     */
     private double[][] rangeErrorJacobianState(final GroundStation station, final SpacecraftState refstate) {
         final double[][] finiteDifferencesJacobian =
                        Differentiation.differentiate(new StateFunction() {
                            public double[] value(final SpacecraftState state) {
                                // evaluate target's elevation with a changed target position
                                final double value = rangeErrorTroposphericModel(station, state);
 
                                return new double[] {value };
                            }
                        }, 1, Propagator.DEFAULT_LAW, OrbitType.CARTESIAN,
                        PositionAngle.TRUE, 15.0, 3).value(refstate);
 
         return finiteDifferencesJacobian;
     }
 
     /** Compute the derivative of the delay term wrt parameters.
      *
      * @param station ground station
      * @param driver driver for the station offset parameter
      * @param state spacecraft state
      * @return derivative of the delay wrt station offset parameter
      */
     private double rangeErrorParameterDerivative(final GroundStation station,
                                                  final ParameterDriver driver,
                                                  final SpacecraftState state) {
 
         final ParameterFunctionParameterFunction">ParameterFunction rangeError = new ParameterFunction() {
             /** {@inheritDoc} */
             @Override
             public double value(final ParameterDriver parameterDriver) {
                 return rangeErrorTroposphericModel(station, state);
             }
         };
 
         final ParameterFunction rangeErrorDerivative =
                         Differentiation.differentiate(rangeError, 3, 10.0 * driver.getScale());
 
         return rangeErrorDerivative.value(driver);
 
     }
 
     /** Compute the derivative of the delay term wrt parameters using
     * automatic differentiation.
     *
     * @param derivatives tropospheric delay derivatives
     * @param freeStateParameters dimension of the state.
     * @return derivative of the delay wrt tropospheric model parameters
     */
     private double[] rangeErrorParameterDerivative(final double[] derivatives, final int freeStateParameters) {
         // 0                               -> value of the delay
         // 1 ... freeStateParameters       -> derivatives of the delay wrt state
         // freeStateParameters + 1 ... n   -> derivatives of the delay wrt tropospheric parameters
         final int dim = derivatives.length - 1 - freeStateParameters;
         final double[] rangeError = new double[dim];
 
         for (int i = 0; i < dim; i++) {
             rangeError[i] = derivatives[1 + freeStateParameters + i];
         }
 
         return rangeError;
     }
 
     /** {@inheritDoc} */
     @Override
     public List<ParameterDriver> getParametersDrivers() {
         return tropoModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     public void modify(final EstimatedMeasurement<Range> estimated) {
         final Range           measurement = estimated.getObservedMeasurement();
         final GroundStation   station     = measurement.getStation();
         final SpacecraftState state       = estimated.getStates()[0];
 
         final double[] oldValue = estimated.getEstimatedValue();
 
         // update estimated derivatives with Jacobian of the measure wrt state
         final TroposphericDSConverterTroposphericDSConverter.html#TroposphericDSConverter">TroposphericDSConverter converter = new TroposphericDSConverter(state, 6, Propagator.DEFAULT_LAW);
         final FieldSpacecraftState<DerivativeStructure> dsState = converter.getState(tropoModel);
         final DerivativeStructure[] dsParameters = converter.getParameters(dsState, tropoModel);
         final DerivativeStructure dsDelay = rangeErrorTroposphericModel(station, dsState, dsParameters);
         final double[] derivatives = dsDelay.getAllDerivatives();
 
         double[][] djac = new double[1][6];
         // This implementation will disappear when the implementations of TroposphericModel
         // will directly be implementations of DiscreteTroposphericModel
         if (tropoModel instanceof TroposphericModel) {
             djac = rangeErrorJacobianState(station, state);
         } else {
             djac = rangeErrorJacobianState(derivatives, converter.getFreeStateParameters());
         }
 
         final double[][] stateDerivatives = estimated.getStateDerivatives(0);
         for (int irow = 0; irow < stateDerivatives.length; ++irow) {
             for (int jcol = 0; jcol < stateDerivatives[0].length; ++jcol) {
                 stateDerivatives[irow][jcol] += djac[irow][jcol];
             }
         }
         estimated.setStateDerivatives(0, stateDerivatives);
 
         int index = 0;
         for (final ParameterDriver driver : getParametersDrivers()) {
             if (driver.isSelected()) {
                 // update estimated derivatives with derivative of the modification wrt tropospheric parameters
                 double parameterDerivative = estimated.getParameterDerivatives(driver)[0];
                 final double[] dDelaydP    = rangeErrorParameterDerivative(derivatives, converter.getFreeStateParameters());
                 parameterDerivative += dDelaydP[index];
                 estimated.setParameterDerivatives(driver, parameterDerivative);
                 index = index + 1;
             }
 
         }
 
         for (final ParameterDriver driver : Arrays.asList(station.getClockOffsetDriver(),
                                                           station.getEastOffsetDriver(),
                                                           station.getNorthOffsetDriver(),
                                                           station.getZenithOffsetDriver())) {
             if (driver.isSelected()) {
                 // update estimated derivatives with derivative of the modification wrt station parameters
                 double parameterDerivative = estimated.getParameterDerivatives(driver)[0];
                 parameterDerivative += rangeErrorParameterDerivative(station, driver, state);
                 estimated.setParameterDerivatives(driver, parameterDerivative);
             }
         }
 
         // update estimated value taking into account the tropospheric delay.
         // The tropospheric delay is directly added to the range.
         final double[] newValue = oldValue.clone();
         newValue[0] = newValue[0] + dsDelay.getReal();
         estimated.setEstimatedValue(newValue);
 
     }
 
 }