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Spice rotation update to use ALE #3977

Merged
merged 16 commits into from
Aug 21, 2020
Merged

Spice rotation update to use ALE #3977

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2afae72
Updated SpiceRotation to use ale::Orientations
kberryUSGS Jul 6, 2020
79073eb
Remove debug output
kberryUSGS Jul 7, 2020
d0d0481
Update to use correct interpolation
kberryUSGS Jul 7, 2020
f3002da
Update appjit to use updated SpiceRotation structure and fix memory e…
kberryUSGS Jul 7, 2020
c277c21
Fix memory error
kberryUSGS Jul 8, 2020
b557896
Resolve issues with merge
kberryUSGS Jul 9, 2020
3f2406d
This angular velocity check doesn't fail
kberryUSGS Jul 24, 2020
34fda35
Merge branch 'dev' of github.com:USGS-Astrogeology/ISIS3 into spice_r…
kberryUSGS Aug 10, 2020
eb9d6b3
Updated quaternions to always have w positive, since a rotation matri…
kberryUSGS Aug 14, 2020
5015664
Updated SpiceRotation to minimize useage of getAngularVelocities and …
kberryUSGS Aug 19, 2020
6caf239
Updated to remove no-longer applicable check
kberryUSGS Aug 19, 2020
30d7c75
Add updated unit test truth data
kberryUSGS Aug 20, 2020
81d0cb4
Forgot this test
kberryUSGS Aug 20, 2020
dae2d7c
Test updates
kberryUSGS Aug 20, 2020
078743f
Update SpiceRotation
kberryUSGS Aug 20, 2020
93ab082
Fix handling of angular velocities to fix CI test failures
kberryUSGS Aug 21, 2020
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40 changes: 35 additions & 5 deletions isis/src/base/apps/appjit/LineScanCameraRotation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
#include <cmath>
#include <iomanip>

#include<ale/Rotation.h>

#include "Cube.h"
#include "LineScanCameraRotation.h"
#include "Quaternion.h"
Expand Down Expand Up @@ -121,6 +123,7 @@ namespace Isis {
SpiceRotation *prot = p_spi->bodyRotation();
SpiceRotation *crot = p_spi->instrumentRotation();

std::vector<ale::Rotation> rotationCache;
for(std::vector<double>::iterator i = p_cacheTime.begin(); i < p_cacheTime.end(); i++) {
double et = *i;

Expand Down Expand Up @@ -155,8 +158,23 @@ namespace Isis {

// Put CI into parent cache to use the parent class methods on it
mxmt_c((SpiceDouble( *)[3]) &CI[0], (SpiceDouble( *)[3]) &IB[0], (SpiceDouble( *)[3]) &CI[0]);
p_cache.push_back(CI);
rotationCache.push_back(ale::Rotation(CI));
}

if (m_orientation) {
delete m_orientation;
m_orientation = NULL;
}

if (ConstantRotation().size() > 1) {
m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
ale::Rotation(ConstantMatrix()), ConstantFrameChain(), TimeFrameChain());
}
else {
m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
ale::Rotation(1,0,0,0), ConstantFrameChain(), TimeFrameChain());
}

p_cachesLoaded = true;
SetSource(Memcache);

Expand Down Expand Up @@ -185,9 +203,6 @@ namespace Isis {
throw IException(IException::Programmer, msg, _FILEINFO_);
}

// Clear existing matrices from cache
p_cache.clear();

// Create polynomials fit to angles & use to reload cache
Isis::PolynomialUnivariate function1(p_degree);
Isis::PolynomialUnivariate function2(p_degree);
Expand Down Expand Up @@ -218,6 +233,7 @@ namespace Isis {
std::vector<double> CJ;
CJ.resize(9);

std::vector<ale::Rotation> rotationCache;
for(std::vector<double>::size_type pos = 0; pos < p_cacheTime.size(); pos++) {
double et = p_cacheTime.at(pos);
rtime = (et - GetBaseTime()) / GetTimeScale();
Expand All @@ -242,7 +258,21 @@ namespace Isis {
mxm_c((SpiceDouble( *)[3]) & (p_cacheIB.at(pos))[0], (SpiceDouble( *)[3]) & (prot->Matrix())[0], IJ);
mxm_c(CI, IJ, (SpiceDouble( *)[3]) &CJ[0]);

p_cache.push_back(CJ); // J2000 to constant frame
rotationCache.push_back(ale::Rotation(CJ));
}

if (m_orientation) {
delete m_orientation;
m_orientation = NULL;
}

if (ConstantRotation().size() > 1) {
m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
ale::Rotation(ConstantMatrix()), ConstantFrameChain(), TimeFrameChain());
}
else {
m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
ale::Rotation(1,0,0,0), ConstantFrameChain(), TimeFrameChain());
}

// Set source to cache to get updated values
Expand Down
2 changes: 0 additions & 2 deletions isis/src/base/apps/appjit/LineScanCameraRotation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -103,11 +103,9 @@ namespace Isis {
class LineScanCameraRotation : public Isis::SpiceRotation {
public:
//! Constructors
// LineScanCameraRotation( int frameCode, SpiceRotation *crot, SpiceRotation *prot, SpicePosition *spos );
LineScanCameraRotation(int frameCode, Isis::Cube &cube, std::vector<double> timeCache, double tol);

//! Destructor
// virtual ~LineScanCameraRotation() { };
virtual ~LineScanCameraRotation();

void LoadCache();
Expand Down
12 changes: 6 additions & 6 deletions isis/src/base/objs/CameraPointInfo/CameraPointInfo.truth
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@ Group = GroundPoint
Declination = 67.288137235407 <DEGREE>
PlanetocentricLatitude = -85.539935681585 <DEGREE>
PlanetographicLatitude = -85.539935681585 <DEGREE>
PositiveEast360Longitude = 27.089555271673 <DEGREE>
PositiveEast180Longitude = 27.089555271673 <DEGREE>
PositiveEast360Longitude = 27.089555271672 <DEGREE>
PositiveEast180Longitude = 27.089555271672 <DEGREE>
PositiveWest360Longitude = 332.91044472833 <DEGREE>
PositiveWest180Longitude = -27.089555271672 <DEGREE>
BodyFixedCoordinate = (120.6493939079, 61.711663528734,
Expand All @@ -21,13 +21,13 @@ Group = GroundPoint
ObliqueSampleResolution = 187.44583818806 <meters>

# Spacecraft Information
SpacecraftPosition = (216.77599432924, 54.260221515166,
SpacecraftPosition = (216.77599432924, 54.260221515165,
-2462.1104393388) <km>
SpacecraftAzimuth = 38.331 <DEGREE>
SlantDistance = 731.11938668312 <km>
TargetCenterDistance = 2472.2305351357 <km>
SubSpacecraftLatitude = -84.813985589411 <DEGREE>
SubSpacecraftLongitude = 14.052715974499 <DEGREE>
SubSpacecraftLongitude = 14.052715974498 <DEGREE>
SpacecraftAltitude = 735.29826910549 <km>
OffNadirAngle = 3.124 <DEGREE>
SubSpacecraftGroundAzimuth = 296.906 <DEGREE>
Expand Down Expand Up @@ -84,13 +84,13 @@ Group = GroundPoint
ObliqueSampleResolution = 187.61662252249 <meters>

# Spacecraft Information
SpacecraftPosition = (216.77599432924, 54.260221515166,
SpacecraftPosition = (216.77599432924, 54.260221515165,
-2462.1104393388) <km>
SpacecraftAzimuth = 284.604 <DEGREE>
SlantDistance = 733.84767049682 <km>
TargetCenterDistance = 2472.2305351357 <km>
SubSpacecraftLatitude = -84.813985589411 <DEGREE>
SubSpacecraftLongitude = 14.052715974499 <DEGREE>
SubSpacecraftLongitude = 14.052715974498 <DEGREE>
SpacecraftAltitude = 735.29826910549 <km>
OffNadirAngle = 0.773 <DEGREE>
SubSpacecraftGroundAzimuth = 195.221 <DEGREE>
Expand Down
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