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EIVE/eive-obsw/pipeline/pr-main This commit looks good
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EIVE/eive-obsw/pipeline/pr-main This commit looks good
Details
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@ -8,8 +8,8 @@ void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
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const double sunDirI[3], const double posSatF[4],
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double targetQuat[4], double targetSatRotRate[3]) {
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// positive z-Axis of EIVE in direction of sun
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double zAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::normalize(sunDirI, zAxisXI, 3);
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(sunDirI, zAxisIX, 3);
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// determine helper vector to point x-Axis and therefore the STR away from Earth
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double helperXI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
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@ -17,20 +17,20 @@ void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
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VectorOperations<double>::normalize(posSatI, helperXI, 3);
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// construct y-axis from helper vector and z-axis
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double yAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisXI, helperXI, yAxisXI);
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VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, helperXI, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// x-axis completes RHS
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double xAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::cross(yAxisXI, zAxisXI, xAxisXI);
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VectorOperations<double>::normalize(xAxisXI, xAxisXI, 3);
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(yAxisIX, zAxisIX, xAxisIX);
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VectorOperations<double>::normalize(xAxisIX, xAxisIX, 3);
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// join transformation matrix
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double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
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{xAxisXI[1], yAxisXI[1], zAxisXI[1]},
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{xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
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QuaternionOperations::fromDcm(dcmXI, targetQuat);
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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// calculate of reference rotation rate
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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@ -59,8 +59,8 @@ void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
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// x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirI, xAxisXI, 3);
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirI, xAxisIX, 3);
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// transform velocity into inertial frame
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double velSatI[3] = {0, 0, 0};
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@ -73,18 +73,18 @@ void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
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// y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
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// resolution
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double yAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalI, xAxisXI, yAxisXI);
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VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalI, xAxisIX, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// z-axis completes RHS
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double zAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxisXI, yAxisXI, zAxisXI);
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxisIX, yAxisIX, zAxisIX);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
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{xAxisXI[1], yAxisXI[1], zAxisXI[1]},
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{xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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@ -111,32 +111,32 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, dou
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// negative x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::normalize(groundStationDirI, xAxisXI, 3);
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VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(groundStationDirI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// get sun vector model in ECI
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VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
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// calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
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// z = sPerpenticular = s - sParallel = s - (x*s)/norm(x)^2 * x
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double xDotS = VectorOperations<double>::dot(xAxisXI, sunDirI);
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xDotS /= pow(VectorOperations<double>::norm(xAxisXI, 3), 2);
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double sunParallel[3], zAxisXI[3];
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VectorOperations<double>::mulScalar(xAxisXI, xDotS, sunParallel, 3);
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VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisXI, 3);
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VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
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double xDotS = VectorOperations<double>::dot(xAxisIX, sunDirI);
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xDotS /= pow(VectorOperations<double>::norm(xAxisIX, 3), 2);
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double sunParallel[3], zAxisIX[3];
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VectorOperations<double>::mulScalar(xAxisIX, xDotS, sunParallel, 3);
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VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisIX, 3);
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VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
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// y-axis completes RHS
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double yAxisXI[3];
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VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
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VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
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double yAxisIX[3];
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VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// join transformation matrix
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double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
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{xAxisXI[1], yAxisXI[1], zAxisXI[1]},
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{xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
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QuaternionOperations::fromDcm(dcmXI, targetQuat);
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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}
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@ -153,26 +153,26 @@ void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta,
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// negative x-axis aligned with position vector
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// this aligns with the camera, E- and S-band antennas
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double xAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::normalize(posSatI, xAxisXI, 3);
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VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(posSatI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// make z-Axis parallel to major part of camera resolution
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double zAxisXI[3] = {0, 0, 0};
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double zAxisIX[3] = {0, 0, 0};
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double velSatI[3] = {0, 0, 0};
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CoordinateTransformations::velocityEcfToEci(velSatE, posSatE, velSatI, &timeAbsolute);
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VectorOperations<double>::cross(xAxisXI, velSatI, zAxisXI);
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VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
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VectorOperations<double>::cross(xAxisIX, velSatI, zAxisIX);
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VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
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// y-Axis completes RHS
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double yAxisXI[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
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// join transformation matrix
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double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
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{xAxisXI[1], yAxisXI[1], zAxisXI[1]},
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{xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
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QuaternionOperations::fromDcm(dcmXI, targetQuat);
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, refSatRate);
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}
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