LineSensor.java
/* Copyright 2013-2020 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.linesensor;
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.hipparchus.util.FastMath;
import org.orekit.rugged.errors.DumpManager;
import org.orekit.rugged.los.TimeDependentLOS;
import org.orekit.rugged.utils.DerivativeGenerator;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.ParameterDriver;
/** Line sensor model.
* @author Luc Maisonobe
* @author Guylaine Prat
*/
public class LineSensor {
/** Name of the sensor. */
private final String name;
/** Datation model. */
private final LineDatation datationModel;
/** Sensor position. */
private final Vector3D position;
/** Pixels lines-of-sight. */
private final TimeDependentLOS los;
/** Simple constructor.
* @param name name of the sensor
* @param datationModel datation model
* @param position sensor position in spacecraft frame
* @param los pixels lines-of-sight in spacecraft frame
* @see org.orekit.rugged.los.LOSBuilder
*/
public LineSensor(final String name, final LineDatation datationModel,
final Vector3D position, final TimeDependentLOS los) {
this.name = name;
this.datationModel = datationModel;
this.position = position;
this.los = los;
}
/** Get the name of the sensor.
* @return name of the sensor
*/
public String getName() {
return name;
}
/** Get the number of pixels.
* @return number of pixels
*/
public int getNbPixels() {
return los.getNbPixels();
}
/** Get the drivers for LOS parameters.
* @return drivers for LOS parameters
* @since 2.0
*/
public Stream<ParameterDriver> getParametersDrivers() {
return los.getParametersDrivers();
}
/** Get the pixel normalized line-of-sight at some date.
* @param date current date
* @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
* @return pixel normalized line-of-sight
*/
public Vector3D getLOS(final AbsoluteDate date, final int i) {
final Vector3D l = los.getLOS(i, date);
DumpManager.dumpSensorLOS(this, date, i, l);
return l;
}
/** Get the pixel normalized interpolated line-of-sight at some date.
* @param date current date
* @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
* @return pixel normalized line-of-sight
* @since 2.0
*/
public Vector3D getLOS(final AbsoluteDate date, final double i) {
final int iInf = FastMath.max(0, FastMath.min(getNbPixels() - 2, (int) FastMath.floor(i)));
final int iSup = iInf + 1;
final Vector3D interpolatedLos = new Vector3D(iSup - i, los.getLOS(iInf, date),
i - iInf, los.getLOS(iSup, date));
return interpolatedLos;
}
/** Get the pixel normalized line-of-sight at some date,
* and their derivatives with respect to estimated parameters.
* @param <T> derivative type
* @param date current date
* @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
* @param generator generator to use for building {@link Derivative} instances
* @return pixel normalized line-of-sight
*/
public <T extends Derivative<T>> FieldVector3D<T> getLOSDerivatives(final AbsoluteDate date, final int i,
final DerivativeGenerator<T> generator) {
return los.getLOSDerivatives(i, date, generator);
}
/** Get the pixel normalized line-of-sight at some date,
* and their derivatives with respect to estimated parameters.
* @param <T> derivative type
* @param date current date
* @param i pixel index (must be between 0 and {@link #getNbPixels()} - 1
* @param generator generator to use for building {@link Derivative} instances
* @return pixel normalized line-of-sight
* @since 2.0
*/
public <T extends Derivative<T>> FieldVector3D<T> getLOSDerivatives(final AbsoluteDate date, final double i,
final DerivativeGenerator<T> generator) {
// find surrounding pixels of pixelB (in order to interpolate LOS from pixelB (that is not an integer)
final int iInf = FastMath.max(0, FastMath.min(getNbPixels() - 2, (int) FastMath.floor(i)));
final int iSup = iInf + 1;
final FieldVector3D<T> interpolatedLos =
new FieldVector3D<> (iSup - i, los.getLOSDerivatives(iInf, date, generator),
i - iInf, los.getLOSDerivatives(iSup, date, generator)).normalize();
return interpolatedLos;
}
/** Get the date.
* @param lineNumber line number
* @return date corresponding to line number
*/
public AbsoluteDate getDate(final double lineNumber) {
final AbsoluteDate date = datationModel.getDate(lineNumber);
DumpManager.dumpSensorDatation(this, lineNumber, date);
return date;
}
/** Get the line number.
* @param date date
* @return line number corresponding to date
*/
public double getLine(final AbsoluteDate date) {
final double lineNumber = datationModel.getLine(date);
DumpManager.dumpSensorDatation(this, lineNumber, date);
return lineNumber;
}
/** Get the rate of lines scanning.
* @param lineNumber line number
* @return rate of lines scanning (lines / seconds)
*/
public double getRate(final double lineNumber) {
final double rate = datationModel.getRate(lineNumber);
DumpManager.dumpSensorRate(this, lineNumber, rate);
return rate;
}
/** Get the sensor position.
* @return position
*/
public Vector3D getPosition() {
return position;
}
/** Dump the rate for the current line number.
* @param lineNumber line number
*/
public void dumpRate(final double lineNumber) {
final double rate = datationModel.getRate(lineNumber);
DumpManager.dumpSensorRate(this, lineNumber, rate);
}
}