diff --git a/.classpath b/.classpath new file mode 100644 index 0000000..d27e230 --- /dev/null +++ b/.classpath @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/.project b/.project new file mode 100644 index 0000000..7fd18cb --- /dev/null +++ b/.project @@ -0,0 +1,17 @@ + + + JAT + + + + + + org.eclipse.jdt.core.javabuilder + + + + + + org.eclipse.jdt.core.javanature + + diff --git a/.settings/org.eclipse.jdt.core.prefs b/.settings/org.eclipse.jdt.core.prefs new file mode 100644 index 0000000..7341ab1 --- /dev/null +++ b/.settings/org.eclipse.jdt.core.prefs @@ -0,0 +1,11 @@ +eclipse.preferences.version=1 +org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled +org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.7 +org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve +org.eclipse.jdt.core.compiler.compliance=1.7 +org.eclipse.jdt.core.compiler.debug.lineNumber=generate +org.eclipse.jdt.core.compiler.debug.localVariable=generate +org.eclipse.jdt.core.compiler.debug.sourceFile=generate +org.eclipse.jdt.core.compiler.problem.assertIdentifier=error +org.eclipse.jdt.core.compiler.problem.enumIdentifier=error +org.eclipse.jdt.core.compiler.source=1.7 diff --git a/ant_build_jat.xml b/ant_build_jat.xml new file mode 100644 index 0000000..f6db7d2 --- /dev/null +++ b/ant_build_jat.xml @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Main target + + + + + + + diff --git a/bin/jat/application/AttitudeSimulator/AttitudeSimulator$1.class b/bin/jat/application/AttitudeSimulator/AttitudeSimulator$1.class new file mode 100644 index 0000000..7f35407 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/AttitudeSimulator$1.class differ diff --git a/bin/jat/application/AttitudeSimulator/AttitudeSimulator$ButtonHandler.class 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a/bin/jat/application/AttitudeSimulator/animation/AnimationWindow.class b/bin/jat/application/AttitudeSimulator/animation/AnimationWindow.class new file mode 100644 index 0000000..44ee563 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/animation/AnimationWindow.class differ diff --git a/bin/jat/application/AttitudeSimulator/animation/AnimationWindow2.class b/bin/jat/application/AttitudeSimulator/animation/AnimationWindow2.class new file mode 100644 index 0000000..cce0b68 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/animation/AnimationWindow2.class differ diff --git a/bin/jat/application/AttitudeSimulator/help/2DFlexInputOutput.GIF b/bin/jat/application/AttitudeSimulator/help/2DFlexInputOutput.GIF new file mode 100644 index 0000000..f2309b4 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/2DFlexInputOutput.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/BangBang.GIF b/bin/jat/application/AttitudeSimulator/help/BangBang.GIF new file mode 100644 index 0000000..0f7d58e Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/BangBang.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/BangBangControl.html b/bin/jat/application/AttitudeSimulator/help/BangBangControl.html new file mode 100644 index 0000000..3a09190 --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/BangBangControl.html @@ -0,0 +1,57 @@ + + + + Bang-Bang control + + + + + +
Title + +
Description
+
+ A basic bang-bang control about single axis was implemented in this scenario. +
+
+
+ The model of a linearized spacecraft dynamics with a proportional and + derivative
+ control was considered, which is shown in the illustration below.
+
+ Block Diagram +
+
+ Inputs
+
+ J                             Spacecraft Moment +of inertia
+ wn                           Desired natural +frequency
+ damping                   Desired damping coefficient
+ Torque                    Torque level of the bang-bang +actuator
+ Dead Zone               Range in which no torque should +be applied
+ theta_com                Commanded angular position
+
+ Initial Condition
+
+ theta                     Spacecraft angular position +for an actuator with no constraint
+ thetaDot                Spacecraft angular velocity +for an actuator with no constraint
+ thetaBang              Spacecraft angular position for +the bang-bang actuator
+ thetaDotBang         Spacecraft angular velocity for the bang-bang +actuator
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/BangBangControl.rtf b/bin/jat/application/AttitudeSimulator/help/BangBangControl.rtf new file mode 100644 index 0000000..bc5ce7b Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/BangBangControl.rtf differ diff --git a/bin/jat/application/AttitudeSimulator/help/BangBangTitle.GIF b/bin/jat/application/AttitudeSimulator/help/BangBangTitle.GIF new file mode 100644 index 0000000..54f2250 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/BangBangTitle.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/CMG Maneuver.GIF b/bin/jat/application/AttitudeSimulator/help/CMG Maneuver.GIF new file mode 100644 index 0000000..dee3a21 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/CMG Maneuver.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/CMGControl.html b/bin/jat/application/AttitudeSimulator/help/CMGControl.html new file mode 100644 index 0000000..331eebb --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/CMGControl.html @@ -0,0 +1,62 @@ + + + + CMG Control + + + + + +
Title +
+ +
+
Description
+
+ In this project, to simulate a reorientation maneuver of a rigid spacecraft
+ using CMGs, a configuration of 3 single-gimbal control moment gyros (CMGs)
+ aligned with the principal axis was used. The illustration shows the CMG +
+ configuration used.
+
+ CMG Assembly +
+ Inputs
+
+ Ixx, Iyy, Izz                 +   Principal moments of inertia
+ J                                  + CMG inertia
+ A                             +     CMG ginbal rate
+ psi                             +   Commanded Euler angle
+ phi                          Commanded +Euler angle
+ theta                             Commanded +Euler angle
+
+ Initial Condition
+
+ w1, w2, w3:                 Spacecraft +angular velocities
+ q1, q2, q3, q4:             Quaternions
+ Omega 1                     Gimbal rate +of CMG 1
+ Omega 2                     Gimbal rate +of CMG 2
+ Omega 3                     Gimbal rate +of CMG 3
+
+
+
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/CMGControl.rtf b/bin/jat/application/AttitudeSimulator/help/CMGControl.rtf new file mode 100644 index 0000000..ca7fa14 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/CMGControl.rtf differ diff --git a/bin/jat/application/AttitudeSimulator/help/CMGassembly.GIF b/bin/jat/application/AttitudeSimulator/help/CMGassembly.GIF new file mode 100644 index 0000000..d4ee6ec Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/CMGassembly.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/ConstantTorque.GIF b/bin/jat/application/AttitudeSimulator/help/ConstantTorque.GIF new file mode 100644 index 0000000..65e05f8 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/ConstantTorque.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/ConstantTorque.html b/bin/jat/application/AttitudeSimulator/help/ConstantTorque.html new file mode 100644 index 0000000..dfb965a --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/ConstantTorque.html @@ -0,0 +1,44 @@ + + + + Constant Torque + + + + + +
+
Title +
+
Description
+
+
+ +
This scenario uses Eulerfs rotational equations of motion + to simulate the
+ attitude dynamics of a rigid spacecraft with optional body-fixed, constant +
+ torques. Eulerfs rotational equations of motion is found in most of the +
+ textbooks on spacecraft dynamics
+
+ Inputs
+
+ Ixx, Iyy, Izz Principal moments of inertia
+ M1,M2,M3 External torque acting in the b1 +direction
+
+ Initial Condition
+
+ w1, w2, w3: Spacecraft angular velocities +
+ q1, q2, q3, q4: Quaternions
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/ConstantTorque.rtf b/bin/jat/application/AttitudeSimulator/help/ConstantTorque.rtf new file mode 100644 index 0000000..f9bbbce Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/ConstantTorque.rtf differ diff --git a/bin/jat/application/AttitudeSimulator/help/DamperAndSpacecraft.GIF b/bin/jat/application/AttitudeSimulator/help/DamperAndSpacecraft.GIF new file mode 100644 index 0000000..4259018 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/DamperAndSpacecraft.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/Flexible202D.GIF b/bin/jat/application/AttitudeSimulator/help/Flexible202D.GIF new file mode 100644 index 0000000..cdf9d64 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/Flexible202D.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/FourRWControl.html b/bin/jat/application/AttitudeSimulator/help/FourRWControl.html new file mode 100644 index 0000000..1a2838d --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/FourRWControl.html @@ -0,0 +1,64 @@ + + + + Four Reaction Wheels + + + + + +
RW Control +
+ +
+
Description
+
+ An attitude maneuver via momentum transfer based on the conservation of
+ angular momentum was simulated. In this project, 4 reaction wheels in +
+ a pyramid configuration was used; this configuration provides redundancy +
+ such that if one wheels become unable to operate for some reason,
+ the other three reaction wheels can provide control torque in all three + direction.
+
+ Four Reaction wheels in a pyramid configuration +
+
+ Inputs
+
+ Ixx, Iyy, Izz             Moments of inertia
+ J                             +Reaction wheel inertia
+ RW angle             Tilt angle of reaction +wheel axis
+ psi                         Commanded +Euler angle
+ phi                          Commanded +Euler angle
+ theta                     Commanded Euler +angle
+
+ Initial Condition
+ w1, w2, w3:                 Spacecraft angular +velocities
+ q1, q2, q3, q4:             Quaternions
+ Omega1                      Angular velocity +of RW 1
+ Omega2                     Angular velocity +of RW 2
+ Omega3                      Angular velocity +of RW 3
+ Omega4                     Angular velocity +of RW 4
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/FourRWControl.rtf b/bin/jat/application/AttitudeSimulator/help/FourRWControl.rtf new file mode 100644 index 0000000..9a6f5c2 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/FourRWControl.rtf differ diff --git a/bin/jat/application/AttitudeSimulator/help/FourReactionWheel.GIF b/bin/jat/application/AttitudeSimulator/help/FourReactionWheel.GIF new file mode 100644 index 0000000..3582f30 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/FourReactionWheel.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/GGCircular.GIF b/bin/jat/application/AttitudeSimulator/help/GGCircular.GIF new file mode 100644 index 0000000..6206a91 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/GGCircular.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/GGCircular.html b/bin/jat/application/AttitudeSimulator/help/GGCircular.html new file mode 100644 index 0000000..ac212b4 --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/GGCircular.html @@ -0,0 +1,40 @@ + + + + GG Circular + + + + + +
Title + +
+
+
A rigid spacecraft is subjected to a gravity gradient + torque in a circular
+ orbit.
+
+ Inputs
+
+ Ixx, Iyy, Izz              Principal +moments of inertia
+
+ Initial Condition
+
+ w1, w2, w3:             Spacecraft angular +velocities
+ q1, q2, q3, q4:         Quaternions
+
+
+
+
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/GGCircular.rtf b/bin/jat/application/AttitudeSimulator/help/GGCircular.rtf new file mode 100644 index 0000000..f1bef4f Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/GGCircular.rtf differ diff --git a/bin/jat/application/AttitudeSimulator/help/GGEccentric.GIF b/bin/jat/application/AttitudeSimulator/help/GGEccentric.GIF new file mode 100644 index 0000000..137da0e Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/GGEccentric.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/GGEccentric.html b/bin/jat/application/AttitudeSimulator/help/GGEccentric.html new file mode 100644 index 0000000..ff14c37 --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/GGEccentric.html @@ -0,0 +1,48 @@ + + + + GG Eccentric + + + + + +
Title + +
+
+
+
+
Description
+
+ A rigid spacecraft is subjected to gravity gradient torque while it revolves
+ around an eccentric orbit.
+
+ Inputs
+
+ Ixx, Iyy, Izz Principal moments of inertia (kg + m2)
+ e Eccentricity
+
+
+ Initial Condition
+
+ w1, w2, w3: Spacecraft angular velocities +
+ q1, q2, q3, q4: Quaternions
+
+
+
+
+
+
+
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/GGEccentric.rtf b/bin/jat/application/AttitudeSimulator/help/GGEccentric.rtf new file mode 100644 index 0000000..93a62dd Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/GGEccentric.rtf differ diff --git a/bin/jat/application/AttitudeSimulator/help/RW Control.GIF b/bin/jat/application/AttitudeSimulator/help/RW Control.GIF new file mode 100644 index 0000000..4a14b56 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/RW Control.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/Simple2DFlexSC.GIF b/bin/jat/application/AttitudeSimulator/help/Simple2DFlexSC.GIF new file mode 100644 index 0000000..a172b9c Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/Simple2DFlexSC.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/Simple2DFlexSC.html b/bin/jat/application/AttitudeSimulator/help/Simple2DFlexSC.html new file mode 100644 index 0000000..9807099 --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/Simple2DFlexSC.html @@ -0,0 +1,65 @@ + + + + Simple 2D Flexible Spacecraft + + + + + +
Title + +
Simulation Control
+
+ time step: Time step for the numerical integration routine
+ time: Duration of the simulation periond in seconds
+
+
+ +
Description
+
+ A flexible spacecraft is modeled as a central rigid body with two massless + beams
+ attachd symmetrically to the side of the central body. Each beam has +a
+ concentrated mass at the tip. The flexibility comes from the flexural + rigidity EI of
+ the beams.
+ 2D Flexible Spacecraft Illustration +
+ Inputs
+
+ J:                     Moment of inertia
+ m:                     Tip mass
+ a:                     Distance as indicated in +the illustration above (m)
+ L:                     Length of the beam (m)
+ EI:                     Flexural rigidity of the +beam (N m2)
+
+ Initial Condition
+
+ Alpha:             Spacecraft angular position
+ u1:                 Position of the first mass
+ u2:                 Position of the second mass
+ AlphaDot:        Spacecraft angular velocity
+ u1Dot:             Velocity of the first mass
+ u2Dot:             Velocity of the second mass
+
+ Input and Output +
+ +


+
+

+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/Simple3DFlexSC.GIF b/bin/jat/application/AttitudeSimulator/help/Simple3DFlexSC.GIF new file mode 100644 index 0000000..2c53306 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/Simple3DFlexSC.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/Simple3DFlexSC.html b/bin/jat/application/AttitudeSimulator/help/Simple3DFlexSC.html new file mode 100644 index 0000000..2b3f864 --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/Simple3DFlexSC.html @@ -0,0 +1,69 @@ + + + + Simple 3D Flexible Spacecraft + + + + + +
Title + +
Simulation Control
+ time step: Time step for the numerical integration routine
+ time: Duration of the simulation periond in seconds
+
+ Description
+ A flexible spacecraft is modeled as a central rigid body with two massless + beams
+ attachd symmetrically to the side of the central body. Each beam has a +
+ concentrated mass at the tip. The flexibility comes from the flexural +rigidity EI of
+ the beams. Although the flexible elements are constrained to move in 1-2 + plane
+ only, the applet is able to simulate the effect of flexibility on the +spacecraft
+ attitude in three dimensional space.
+ 2D Flexible Spacecraft Illustration +
+ Inputs
+ Ixx, Iyy, Izz:             Principal moments if inertia
+ m:                            Tip mass (kg)
+ a:                             Distance as +indicated in the illustration (m)
+ L:                             Length of the +beam as illustrated (m)
+ EI:                             Flexural rigidity +(N m2)
+
+ Initial Condition
+ u1:                         Position of the +first mass
+ u2:                         Position of the +second mass
+ psi, theta, phi:         Euler angles in a sequence of 3-2-1
+ u1Dot:                     Velocity of the first +mass
+ u2Dot:                     Velocity of the second +mass
+ psiDot:                     Time rate of psi angle
+ thetaDot :                 Time rate of theta angle
+ phiDot:                     Time rate of phi angle
+
+
+
+ +


+

+
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/SphericalDamper.GIF b/bin/jat/application/AttitudeSimulator/help/SphericalDamper.GIF new file mode 100644 index 0000000..2985ae2 Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/SphericalDamper.GIF differ diff --git a/bin/jat/application/AttitudeSimulator/help/SphericalDamper.html b/bin/jat/application/AttitudeSimulator/help/SphericalDamper.html new file mode 100644 index 0000000..981f03b --- /dev/null +++ b/bin/jat/application/AttitudeSimulator/help/SphericalDamper.html @@ -0,0 +1,55 @@ + + + + Spherical Damper + + + + + +
Title + +
Simulation Control
+ time step: Time step for the numerical integration routine
+ time: Duration of the simulation periond in seconds
+
+ +
+
+
+

+ Description
+ A damper in a rigid spacecraft in a circular orbit may be able to stabilize + the spacecraft
+ that otherwise goes unstable without it. To simulate such a behavior, +a rigid spacecraft
+ with a damper of spherical shape was modeled as illustrated.
+
+ Illustration of a damper and spacecraft +
+
+ Inputs
+ Ixx, Iyy, Izz                 Principal moments +of inertia
+ c                            Damping +Coefficient
+ j                               +  Spherical damper inertia
+
+ Initial Condition
+ w1, w2, w3:                   Spacecraft +angular velocities
+ q1, q2, q3, q4:              Quaternions
+ alpha, beta, gamma:     Damper angular velocities
+
+
+
+
+
+
+
+
+ + diff --git a/bin/jat/application/AttitudeSimulator/help/SphericalDamper.rtf b/bin/jat/application/AttitudeSimulator/help/SphericalDamper.rtf new file mode 100644 index 0000000..b0e172b Binary files /dev/null and b/bin/jat/application/AttitudeSimulator/help/SphericalDamper.rtf differ diff --git a/bin/jat/application/DE405Propagator/DE405PropagatorEvents.class b/bin/jat/application/DE405Propagator/DE405PropagatorEvents.class new file mode 100644 index 0000000..b89420b Binary files /dev/null and b/bin/jat/application/DE405Propagator/DE405PropagatorEvents.class differ diff --git a/bin/jat/application/DE405Propagator/DE405PropagatorGUI.class b/bin/jat/application/DE405Propagator/DE405PropagatorGUI.class new file mode 100644 index 0000000..a228b3d Binary files /dev/null and b/bin/jat/application/DE405Propagator/DE405PropagatorGUI.class differ diff --git a/bin/jat/application/DE405Propagator/DE405PropagatorGlobals.class b/bin/jat/application/DE405Propagator/DE405PropagatorGlobals.class 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SVD sometimes fails on cases m < n, + the test code, apparently successfully, invokes + SVD to compute rank on an m + * Version 1.0.1 Released. + +2000-09-11 Bruce Miller + * Jama.Matrix print methods which create a NumberFormat, now set its + Locale to US so that the reader will recognize them even when the + default locale is not US. 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new file mode 100644 index 0000000..22e5312 Binary files /dev/null and b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Mcsrch.class differ diff --git a/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.class b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.class new file mode 100644 index 0000000..e77bdbb Binary files /dev/null and b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.class differ diff --git a/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java.out b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java.out new file mode 100644 index 0000000..4c789ff --- /dev/null +++ b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java.out @@ -0,0 +1,43 @@ +[robert@chromium lbfgs]$ java Sdrive +************************************************* + n = 100 number of corrections = 5 + initial values + f = 1209.9999999999995 gnorm = 1646.623211302451 +************************************************* + i nfn func gnorm steplength + 1 2 254.06529844571506 325.3654794369532 6.073034760690741E-4 + 2 3 207.81880203407715 54.52043168588771 1.0 + 3 4 206.3291507019513 12.687299850131478 1.0 + 4 5 206.15844568960662 12.97054248323166 1.0 + 5 6 204.5678456965679 36.064903295559134 1.0 + 6 7 201.0094372004203 69.97015214668981 1.0 + 7 11 132.0758614567623 99.10135319247112 2.308346701739148 + 8 13 131.55683402622435 80.10326454320003 0.1524355030945 + 9 15 120.19634067292273 66.24399158291132 5.0 + 10 16 105.9482950941662 116.62706737471676 1.0 + 11 17 87.40016532530913 17.132491452436582 1.0 + 12 18 72.77726062183008 32.69679126283766 1.0 + 13 20 67.73055206169346 49.58514091976311 0.21366183632087965 + 14 21 60.09132802349405 52.86780516534298 1.0 + 15 22 45.949250149787076 28.079553225929818 1.0 + 16 23 37.3669111798051 39.34871588344866 1.0 + 17 24 23.04923813108662 14.586694788879118 1.0 + 18 26 19.846763818859742 17.976190971553404 0.1567084445901764 + 19 27 17.66772948322983 48.60453475283912 1.0 + 20 28 13.946540025620127 22.2497644479062 1.0 + 21 29 9.116039598234147 28.01051413504546 1.0 + 22 30 5.821593371012087 10.215071102282428 1.0 + 23 32 4.759707087827105 28.511015294496403 0.43618148533529877 + 24 33 2.3580734888260872 22.65000691338413 1.0 + 25 34 1.557338618186901 15.475227595861682 1.0 + 26 36 0.8104982294709409 2.3864975414134992 0.4046321765614037 + 27 38 0.5087025915896217 9.9449892406875 0.2475122431613055 + 28 39 0.3634468899137064 15.212878994179144 1.0 + 29 40 0.16724709952520958 9.772802836532263 1.0 + 30 41 0.037237261107876535 1.32585635051252 1.0 + 31 42 0.009831601453161865 4.1419431389224215 1.0 + 32 43 4.7109807473003437E-4 0.5675946320690397 1.0 + 33 44 3.2788010270217695E-6 0.027547039721270785 1.0 + 34 45 2.3404386226737127E-8 0.006073633074318657 1.0 + 35 46 2.094688854675941E-13 1.3153506656671171E-5 1.0 + The minimization terminated without detecting errors. iflag = 0 diff --git a/bin/jat/coreNOSA/algorithm/optimization/LBFGS/sdrive.f2c.out b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/sdrive.f2c.out new file mode 100644 index 0000000..7d45752 --- /dev/null +++ b/bin/jat/coreNOSA/algorithm/optimization/LBFGS/sdrive.f2c.out @@ -0,0 +1,47 @@ +[robert@chromium lbfgs]$ sdrive > sdrive.f2c.out +************************************************* + N= 100 NUMBER OF CORRECTIONS= 5 + INITIAL VALUES + F= 1.210E+03 GNORM= 1.647E+03 +************************************************* + + I NFN FUNC GNORM STEPLENGTH + + 1 2 2.541E+02 3.254E+02 6.073E-04 + 2 3 2.078E+02 5.452E+01 1.000E+00 + 3 4 2.063E+02 1.269E+01 1.000E+00 + 4 5 2.062E+02 1.297E+01 1.000E+00 + 5 6 2.046E+02 3.606E+01 1.000E+00 + 6 7 2.010E+02 6.997E+01 1.000E+00 + 7 11 1.321E+02 9.910E+01 2.308E+00 + 8 13 1.316E+02 8.010E+01 1.524E-01 + 9 15 1.202E+02 6.624E+01 5.000E+00 + 10 16 1.059E+02 1.166E+02 1.000E+00 + 11 17 8.740E+01 1.713E+01 1.000E+00 + 12 18 7.278E+01 3.270E+01 1.000E+00 + 13 20 6.773E+01 4.959E+01 2.137E-01 + 14 21 6.009E+01 5.287E+01 1.000E+00 + 15 22 4.595E+01 2.808E+01 1.000E+00 + 16 23 3.737E+01 3.935E+01 1.000E+00 + 17 24 2.305E+01 1.459E+01 1.000E+00 + 18 26 1.985E+01 1.798E+01 1.567E-01 + 19 27 1.767E+01 4.860E+01 1.000E+00 + 20 28 1.395E+01 2.225E+01 1.000E+00 + 21 29 9.116E+00 2.801E+01 1.000E+00 + 22 30 5.822E+00 1.022E+01 1.000E+00 + 23 32 4.760E+00 2.851E+01 4.362E-01 + 24 33 2.358E+00 2.265E+01 1.000E+00 + 25 34 1.557E+00 1.548E+01 1.000E+00 + 26 36 8.105E-01 2.386E+00 4.046E-01 + 27 38 5.087E-01 9.945E+00 2.475E-01 + 28 39 3.634E-01 1.521E+01 1.000E+00 + 29 40 1.672E-01 9.773E+00 1.000E+00 + 30 41 3.724E-02 1.326E+00 1.000E+00 + 31 42 9.832E-03 4.142E+00 1.000E+00 + 32 43 4.711E-04 5.676E-01 1.000E+00 + 33 44 3.279E-06 2.755E-02 1.000E+00 + 34 45 2.340E-08 6.074E-03 1.000E+00 + 35 46 2.095E-13 1.315E-05 1.000E+00 + + THE MINIMIZATION TERMINATED WITHOUT DETECTING ERRORS. + IFLAG = 0 diff --git a/bin/jat/coreNOSA/algorithm/optimization/LineSearch.class b/bin/jat/coreNOSA/algorithm/optimization/LineSearch.class new file 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.;E:\SourceCode\Java;E:\SourceCode\Java\beans\j3d\j3dcore.jar;E:\SourceCode\Java\beans\j3d\j3dutils.jar;E:\SourceCode\Java\beans\j3d\vecmath.jar -mx64m jat.demo.IntegratorExample.SimpleIntegrator + + +pause \ No newline at end of file diff --git a/bin/jat/examplesNOSA/JulianDate/CalendarDate.class b/bin/jat/examplesNOSA/JulianDate/CalendarDate.class new file mode 100644 index 0000000..800a333 Binary files /dev/null and b/bin/jat/examplesNOSA/JulianDate/CalendarDate.class differ diff --git a/bin/jat/examplesNOSA/JulianDate/JulianDate.class b/bin/jat/examplesNOSA/JulianDate/JulianDate.class new file mode 100644 index 0000000..c3a2520 Binary files /dev/null and b/bin/jat/examplesNOSA/JulianDate/JulianDate.class differ diff --git a/bin/jat/examplesNOSA/JulianDate/package.html b/bin/jat/examplesNOSA/JulianDate/package.html new file mode 100644 index 0000000..192e6d2 --- /dev/null +++ b/bin/jat/examplesNOSA/JulianDate/package.html @@ -0,0 +1,4 @@ + +

Simple Julian date demo

+ + \ No newline at end of file diff --git a/bin/jat/examplesNOSA/Lambert/Lambert_test.class b/bin/jat/examplesNOSA/Lambert/Lambert_test.class new file mode 100644 index 0000000..326b9fe Binary files /dev/null and b/bin/jat/examplesNOSA/Lambert/Lambert_test.class differ diff --git a/bin/jat/examplesNOSA/Lambert/earth_mars.class b/bin/jat/examplesNOSA/Lambert/earth_mars.class new file mode 100644 index 0000000..dc9a879 Binary files /dev/null and b/bin/jat/examplesNOSA/Lambert/earth_mars.class differ diff --git a/bin/jat/examplesNOSA/Lambert/mars_odyssey.class b/bin/jat/examplesNOSA/Lambert/mars_odyssey.class new file mode 100644 index 0000000..2fc0666 Binary files /dev/null and b/bin/jat/examplesNOSA/Lambert/mars_odyssey.class differ diff --git a/bin/jat/examplesNOSA/Lambert/package.html b/bin/jat/examplesNOSA/Lambert/package.html new file mode 100644 index 0000000..2b14765 --- /dev/null +++ b/bin/jat/examplesNOSA/Lambert/package.html @@ -0,0 +1,2 @@ + +Lambert targeting demo \ No newline at end of file diff --git a/bin/jat/examplesNOSA/OST/OptimalTrajectory.class b/bin/jat/examplesNOSA/OST/OptimalTrajectory.class new file mode 100644 index 0000000..c7fa7d1 Binary files /dev/null and b/bin/jat/examplesNOSA/OST/OptimalTrajectory.class differ diff --git a/bin/jat/examplesNOSA/OST/Orbit.class b/bin/jat/examplesNOSA/OST/Orbit.class new file mode 100644 index 0000000..f67daa6 Binary files /dev/null and b/bin/jat/examplesNOSA/OST/Orbit.class differ diff --git a/bin/jat/examplesNOSA/OST/PerformanceIndex.class b/bin/jat/examplesNOSA/OST/PerformanceIndex.class new file mode 100644 index 0000000..d24785b Binary files /dev/null and b/bin/jat/examplesNOSA/OST/PerformanceIndex.class differ diff --git a/bin/jat/examplesNOSA/OST/ThrustDirection.class b/bin/jat/examplesNOSA/OST/ThrustDirection.class new file mode 100644 index 0000000..e0c76f1 Binary files /dev/null and b/bin/jat/examplesNOSA/OST/ThrustDirection.class differ diff --git a/bin/jat/examplesNOSA/OST/run.bat 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a/bin/jat/examplesNOSA/TwoBodyExample/run.bat b/bin/jat/examplesNOSA/TwoBodyExample/run.bat new file mode 100644 index 0000000..21042ef --- /dev/null +++ b/bin/jat/examplesNOSA/TwoBodyExample/run.bat @@ -0,0 +1,4 @@ + +java -cp .;E:\SourceCode\Java; jat.demo.TwoBodyExample.TwoBodyExample + +pause \ No newline at end of file diff --git a/bin/jat/examplesNOSA/ephemeris/ephemeris.class b/bin/jat/examplesNOSA/ephemeris/ephemeris.class new file mode 100644 index 0000000..a0853ae Binary files /dev/null and b/bin/jat/examplesNOSA/ephemeris/ephemeris.class differ diff --git a/bin/jat/examplesNOSA/ephemeris/package.html b/bin/jat/examplesNOSA/ephemeris/package.html new file mode 100644 index 0000000..2fd3eee --- /dev/null +++ b/bin/jat/examplesNOSA/ephemeris/package.html @@ -0,0 +1,2 @@ + +Simple Ephemeris reader demo \ No newline at end of file diff --git a/bin/jat/examplesNOSA/ephemeris/run.bat b/bin/jat/examplesNOSA/ephemeris/run.bat new file mode 100644 index 0000000..19fd12b --- /dev/null +++ b/bin/jat/examplesNOSA/ephemeris/run.bat @@ -0,0 +1,4 @@ + +java -cp .;E:\SourceCode\Java;E:\SourceCode\Java\beans\j3d\j3dcore.jar;E:\SourceCode\Java\beans\j3d\j3dutils.jar;E:\SourceCode\Java\beans\j3d\vecmath.jar -mx64m jat.demo.ephemeris.ephemeris + +pause \ No newline at end of file diff --git a/bin/jat/examplesNOSA/simulation/EarthMoonSim.class b/bin/jat/examplesNOSA/simulation/EarthMoonSim.class new file mode 100644 index 0000000..7796552 Binary files /dev/null and b/bin/jat/examplesNOSA/simulation/EarthMoonSim.class differ diff --git a/bin/jat/examplesNOSA/simulation/Simulation.class b/bin/jat/examplesNOSA/simulation/Simulation.class new file mode 100644 index 0000000..9ef37ff Binary files /dev/null and b/bin/jat/examplesNOSA/simulation/Simulation.class differ diff --git a/bin/jat/jat3D/Axes3D.class b/bin/jat/jat3D/Axes3D.class new file mode 100644 index 0000000..64f1417 Binary files /dev/null and b/bin/jat/jat3D/Axes3D.class differ diff --git a/bin/jat/jat3D/Body3D.class 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Create your run methods in here +using the SimModel.java class and it's methods. Currently, there are several examples +provided. The sequence is essentially this: + +1 - Initialize jat.sim.SimModel +2 - Create your filenames and other relevant variables +3 - Create/initialize your spacecraft either from file or manually using jat.spacecraft.* +3.5 - this includes any controllers or state estimation (see jat.spacecraft.SpacecraftModel) +4 - Create/initialize your force models either from jat.forces.* or create your own +5 - Initialize the integration parameters: stepsize, thinning, t0, tf, MJD_UTC_Start +6 - Use the SimModel.runloop() method to propagate + OR manually propagate using SimModel.step(dt) + +See jat.sim.SimModel for more details on simulation algorithms + +To use Matlab functions, use the jat.matlabinterface.MatlabFunc class which allows Java to +call any Matlab function so long as JAT is run from the current Matlab session. + +To use a Matlab controller, see jat.spacecraft.MatlabControlLaw + +To use JAT from Matlab, use the "javaaddpath" command to add your JAT home directory and +the external JAR directories to Matlab. 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b/bin/jat/tests/core/algorithm/optimization/functions/QuadraticFunction.class new file mode 100644 index 0000000..b1f5ee8 Binary files /dev/null and b/bin/jat/tests/core/algorithm/optimization/functions/QuadraticFunction.class differ diff --git a/bin/jat/tests/core/algorithm/optimization/functions/Rosenbrock.class b/bin/jat/tests/core/algorithm/optimization/functions/Rosenbrock.class new file mode 100644 index 0000000..8c2e920 Binary files /dev/null and b/bin/jat/tests/core/algorithm/optimization/functions/Rosenbrock.class differ diff --git a/bin/jat/tests/core/algorithm/optimization/output_DFP.txt b/bin/jat/tests/core/algorithm/optimization/output_DFP.txt new file mode 100644 index 0000000..2e44838 --- /dev/null +++ b/bin/jat/tests/core/algorithm/optimization/output_DFP.txt @@ -0,0 +1,27 @@ +Rosenbrock function, Numerical derivs, DFP + It | x(0) | x(1) | G | Gx(0) | Gx(1) |Gx| +0,000 -0001.20000000 0001.00000000 0024.20000000 0215.60000007 0088.00000000 0232.86768782 +0,001 -0001.03007671 0001.06935644 0004.12809782 0000.64095407 -0001.65968192 0001.77914761 +0,002 -0000.92948126 0000.82816873 0003.85082344 0017.15674470 0007.15333528 0018.58827842 +0,003 -0000.78587298 0000.55889940 0003.53387530 0022.02307980 0011.73938688 0024.95654720 +0,004 -0000.34773901 0000.08636843 0001.93579825 0007.50178603 0006.91079786 0010.19980003 +0,005 -0000.35855234 0000.12357139 0001.84815287 0003.43254382 0000.99767739 0003.57459330 +0,006 -0000.17315177 -0000.00401661 0001.49187248 0004.70103930 0006.79962952 0008.26648245 +0,007 -0000.01089957 -0000.04427713 0001.21901782 0002.21535786 0008.87918627 0009.15138018 +0,008 0000.04364026 0000.01206384 0000.92494523 0002.09006238 -0002.03187272 0002.91493868 +0,009 0000.17937724 0000.01027698 0000.72137926 0000.06995760 0004.37984206 0004.38040073 +0,010 0000.26283102 0000.03572714 0000.65466038 -0002.03214358 0006.67060058 0006.97327180 +0,011 0000.58920074 0000.33205440 0000.19156645 -0002.73790916 0003.02062386 0004.07680206 +0,012 0000.58063722 0000.33415933 0000.17675333 0000.14654618 0000.59605148 0000.61380221 +0,013 0000.70092943 0000.47726725 0000.10914078 -0003.33682214 0002.80696109 0004.36043720 +0,014 0000.84651318 0000.70480495 0000.03743411 -0003.68166272 0002.35592100 0004.37092715 +0,015 0000.84211389 0000.70854500 0000.02496533 0000.11002590 0000.12216061 0000.16440472 +0,016 0000.91959734 0000.84001641 0000.00964877 -0001.91485835 0001.12857201 0002.22269145 +0,017 0000.99708245 0000.99586872 0000.00029592 0000.68197829 -0000.33906084 0000.76161449 +0,018 0001.00373073 0001.00763215 0000.00001638 0000.05548162 -0000.03135458 0000.06372849 +0,019 0000.99992734 0000.99988820 0000.00000012 0000.01355095 -0000.00670332 0000.01511829 +0,020 0000.99999015 0000.99998012 0000.00000000 -0000.00004748 0000.00003357 0000.00005815 +0,021 0001.00000000 0001.00000000 0000.00000000 -0000.00000023 0000.00000009 0000.00000025 +Convergence: +x0= 1.0000000014532862 x1= 1.0000000024439781 +|Gx|= 2.4600470793411067E-7 diff --git a/bin/jat/tests/core/algorithm/optimization/output_gradient.txt b/bin/jat/tests/core/algorithm/optimization/output_gradient.txt new file mode 100644 index 0000000..57843f7 --- /dev/null +++ b/bin/jat/tests/core/algorithm/optimization/output_gradient.txt @@ -0,0 +1,46 @@ +Quadratic Function + It | x(0) | x(1) | G | Gx(0) | Gx(1) |Gx| +0,001 0001.00000000 0001.00000000 0001.50000000 -0001.99999999 -0000.99999999 0002.23606796 +0,002 -0000.11111111 0000.44444444 0000.11111111 0000.22222221 -0000.44444445 0000.49690400 +0,003 0000.07407407 0000.07407406 0000.00823045 -0000.14814815 -0000.07407407 0000.16563466 +0,004 -0000.00823045 0000.03292181 0000.00060966 0000.01646089 -0000.03292181 0000.03680770 +0,005 0000.00548696 0000.00548696 0000.00004516 -0000.01097393 -0000.00548696 0000.01226923 +0,006 -0000.00060966 0000.00243865 0000.00000335 0000.00121931 -0000.00243865 0000.00272649 +0,007 0000.00040644 0000.00040643 0000.00000025 -0000.00081288 -0000.00040644 0000.00090883 +Convergence: +x0= 4.064357208536746E-4 x1= 4.064312247335101E-4 +|Gx|= 9.088270699369263E-4 + +Rosenbrock function + It | x(0) | x(1) | G | Gx(0) | Gx(1) |Gx| +0,001 -0001.20000000 0001.00000000 0024.20000000 0215.59999415 0087.99999840 0232.86768174 +0,002 -0001.02971873 0001.06950256 0004.12818885 0000.27751979 -0001.83638267 0001.85723411 +0,003 -0001.02673784 0001.04977767 0004.10961366 0005.86583539 0000.88258258 0005.93186116 +0,004 -0001.02046772 0001.05072108 0004.09106335 0000.21755890 -0001.87334414 0001.88593482 +0,005 -0001.01857722 0001.03444243 0004.07558857 0005.28271392 0000.61142231 0005.31797927 +0,006 -0001.01271297 0001.03512116 0004.06010245 0000.16350640 -0001.90671870 0001.91371642 +0,007 -0001.01150780 0001.02106706 0004.04659666 0004.86497573 0000.41619160 0004.88274557 +0,008 -0001.00591096 0001.02154586 0004.03306645 0000.11331122 -0001.93779998 0001.94111004 +0,009 -0001.00518100 0001.00906237 0004.02092680 0004.54369671 0000.26529394 0004.55143501 +0,010 -0000.99977081 0001.00937826 0004.00875913 0000.06580594 -0001.96731772 0001.96841800 +0,011 -0000.99939253 0000.99806930 0003.99762178 0004.28505968 0000.14322530 0004.28745262 +0,012 -0000.99411619 0000.99824566 0003.98645674 0000.02024914 -0001.99573313 0001.99583586 +0,013 -0000.99401072 0000.98785087 0003.97608302 0004.07009937 0000.04128724 0004.07030877 +0,014 -0000.98883094 0000.98790342 0003.96568345 -0000.02385869 -0002.02335837 0002.02349903 +0,015 -0000.98894487 0000.97824119 0003.95590697 0003.88721006 -0000.04584577 0003.88748041 +0,016 -0000.98383375 0000.97818091 0003.94610682 -0000.06686478 -0002.05041273 0002.05150268 +0,017 -0000.98412927 0000.96911864 0003.93680597 0003.72883115 -0000.12164332 0003.73081477 +0,018 -0000.97906495 0000.96895343 0003.92748343 -0000.10901076 -0002.07705257 0002.07991123 +0,019 -0000.97951435 0000.96039071 0003.91856586 0003.58980614 -0000.18847133 0003.59475028 +0,020 -0000.97447905 0000.96012635 0003.90962810 -0000.15045942 -0002.10338831 0002.10876277 +Maximum number of iterations reached +x0= -0.9750614138354026 x1= 0.9519849818031909 +|Gx|= 2.1087627680689556 + +Function of 3 vars + It | x(0) | x(1) | x(2) | G | Gx(0) | Gx(1) | Gx(2) |Gx| +0,001 -0001.20000000 0001.00000000 0001.00000000 0238.44000000 0022.39999948 0016.00000132 0013.99999974 0030.88300523 +0,002 0009.99999967 0009.00000061 0007.99999982 0000.00000000 0000.00000056 -0000.00000131 0000.00000027 0000.00000145 +Convergence: +x0= 9.999999672402549 x1= 9.000000611886025 x2= 7.9999998248575395 +|Gx|= 1.4516515813830857E-6 diff --git a/bin/jat/tests/core/algorithm/optimization/output_linesearch.txt b/bin/jat/tests/core/algorithm/optimization/output_linesearch.txt new file mode 100644 index 0000000..37a1bf3 --- /dev/null +++ b/bin/jat/tests/core/algorithm/optimization/output_linesearch.txt @@ -0,0 +1,32 @@ +Expected output for linesearch test + +Function 1 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 10.0 + +Function 2, tolerance = 1.e-2 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 16.899987549236975 + +Function 2, tolerance = 1.e-4 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 17.190356243183874 + +Function 2, tolerance = 1.e-8 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 17.206575545564526 + +Function 3 +Initial Guess: xg0= 1.0 xg1= 1.0 +Search Direction: d0= 2.0 d1= 0.5 +The min is at: x0= 11.588235294117647 x1= 3.6470588235294117 + +Initial Guess: xg0= 1.0 xg1= 1.0 +Search Direction: d0= 1.0 d1= 2.0 +The min is at: x0= 6.4 x1= 11.8 + +Elapsed Time = 0.01 seconds diff --git a/bin/jat/tests/core/algorithm/optimization/package.html b/bin/jat/tests/core/algorithm/optimization/package.html new file mode 100644 index 0000000..c00d6f6 --- /dev/null +++ b/bin/jat/tests/core/algorithm/optimization/package.html @@ -0,0 +1,2 @@ + +Test examples for the optimization package \ No newline at end of file diff --git a/bin/jat/tests/core/algorithm/solver/GaussElimTest.class b/bin/jat/tests/core/algorithm/solver/GaussElimTest.class new file mode 100644 index 0000000..8c436c2 Binary files /dev/null and b/bin/jat/tests/core/algorithm/solver/GaussElimTest.class differ diff --git a/bin/jat/tests/core/algorithm/solver/GaussSeidel_test.class b/bin/jat/tests/core/algorithm/solver/GaussSeidel_test.class new file mode 100644 index 0000000..96bda71 Binary files /dev/null and b/bin/jat/tests/core/algorithm/solver/GaussSeidel_test.class differ diff --git a/bin/jat/tests/core/astronomy/StarCatalogTest.class b/bin/jat/tests/core/astronomy/StarCatalogTest.class new file mode 100644 index 0000000..538b64e Binary files /dev/null and b/bin/jat/tests/core/astronomy/StarCatalogTest.class differ diff --git a/bin/jat/tests/core/attitude/QuatToDegSimpleTester.class b/bin/jat/tests/core/attitude/QuatToDegSimpleTester.class new file mode 100644 index 0000000..0670af9 Binary files /dev/null and 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+ +java -cp .;E:\SourceCode\Java jat.test.interpolator_test.interpolator_test + +pause \ No newline at end of file diff --git a/bin/jat/tests/core/timeRef/EarthRefTest.class b/bin/jat/tests/core/timeRef/EarthRefTest.class new file mode 100644 index 0000000..3a666ff Binary files /dev/null and b/bin/jat/tests/core/timeRef/EarthRefTest.class differ diff --git a/bin/jat/tests/core/util/PathUtil/PathUtilTest.class b/bin/jat/tests/core/util/PathUtil/PathUtilTest.class new file mode 100644 index 0000000..5c1826d Binary files /dev/null and b/bin/jat/tests/core/util/PathUtil/PathUtilTest.class differ diff --git a/bin/jat/tests/core/util/PathUtil/PathUtilTestConsole.class b/bin/jat/tests/core/util/PathUtil/PathUtilTestConsole.class new file mode 100644 index 0000000..ff5ffbc Binary files /dev/null and b/bin/jat/tests/core/util/PathUtil/PathUtilTestConsole.class differ diff --git a/bin/jat/tests/core/util/messageConsole/MessageConsoleTest.class 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b/bin/jat/tests/propagator/GPS.xml new file mode 100644 index 0000000..c1b73b5 --- /dev/null +++ b/bin/jat/tests/propagator/GPS.xml @@ -0,0 +1,27 @@ + + + + + 5525.33668 + -15871.18494 + -20998.992446 + 2.750341 + 2.434198 + -1.068884 + + + + + GPS + 1.2 + 2.2 + 20 + 1000 + + diff --git a/bin/jat/tests/propagator/ISS.xml b/bin/jat/tests/propagator/ISS.xml new file mode 100644 index 0000000..d2e5e0f --- /dev/null +++ b/bin/jat/tests/propagator/ISS.xml @@ -0,0 +1,27 @@ + + + + + -4453.783586 + -5038.203756 + -426.384456 + 3.831888 + -2.887221 + -6.018232 + + + + + ISS + 1.2 + 2.2 + 20 + 1000 + + diff --git a/bin/jat/tests/propagator/Molniya.xml b/bin/jat/tests/propagator/Molniya.xml new file mode 100644 index 0000000..b51e510 --- /dev/null +++ b/bin/jat/tests/propagator/Molniya.xml @@ -0,0 +1,27 @@ + + + + + -1529.894287 + -2672.877357 + -6150.115340 + 8.717518 + -4.989709 + 0 + + + + + Molniya + 1.2 + 2.2 + 20 + 1000 + + diff --git a/bin/jat/tests/propagator/SimulationLoop.class b/bin/jat/tests/propagator/SimulationLoop.class new file mode 100644 index 0000000..380b87e Binary files /dev/null and b/bin/jat/tests/propagator/SimulationLoop.class differ diff --git a/bin/jat/tests/propagator/Sun-Sync.xml b/bin/jat/tests/propagator/Sun-Sync.xml new file mode 100644 index 0000000..23d5723 --- /dev/null +++ b/bin/jat/tests/propagator/Sun-Sync.xml @@ -0,0 +1,27 @@ + + + + + -2290.301063 + -6379.471940 + 0 + -0.883923 + 0.317338 + 7.610832 + + + + + Sun-Sync + 1.2 + 2.2 + 20 + 1000 + + diff --git a/bin/jat/tests/propagator/TwoBodyTest.class b/bin/jat/tests/propagator/TwoBodyTest.class new file mode 100644 index 0000000..e40a24b Binary files /dev/null and b/bin/jat/tests/propagator/TwoBodyTest.class differ diff --git a/bin/jat/tests/propagator/input.txt b/bin/jat/tests/propagator/input.txt new file mode 100644 index 0000000..367bddf --- /dev/null +++ b/bin/jat/tests/propagator/input.txt @@ -0,0 +1,23 @@ +# This is an input file for the simulation + +# Coordinate System Flag +1 # ( 1=ECI 2=ECF 3=HCF ) + +# Initial State +10000.0 # x +10000.0 # y +10000.0 # z +10.0 # xdot +20.0 # ydot +15.0 # zdot +0.0 # initial time + +# Propogation Parameters +1000.0 # final time +1.0 # time step + +# Force Model Flags (Assumes at least Two Body gravitation) +1 # Spherical Harmonic Earth +0 # Sun and Moon gravitation +0 # Harris Priester +1 # Solar Radiation \ No newline at end of file diff --git a/bin/jat/tests/propagator/input.xml b/bin/jat/tests/propagator/input.xml new file mode 100644 index 0000000..97b2ea0 --- /dev/null +++ b/bin/jat/tests/propagator/input.xml @@ -0,0 +1,12 @@ + + + +Input File for JAT Simulation +0 +2.2 +0.6 +30 +53158 +0 +604800 + diff --git a/bin/jat/tests/propagator/output/jat.m b/bin/jat/tests/propagator/output/jat.m new file mode 100644 index 0000000..42b65c9 --- /dev/null +++ b/bin/jat/tests/propagator/output/jat.m @@ -0,0 +1,24 @@ +function X = jat(file) +% jat +% simple function to read in the JAT output into the Matlab workspace + +X = dlmread(file,'\t',0,0); + +% max2 = max(max(X(1:num,2)),max(X(1:num,3))); +% min2 = min(min(X(1:num,2)),min(X(1:num,3))); +% max3 = max(max2,max(X(1:num,4))) +% min3 = min(min2,min(X(1:num,4))) +%figure(1); +%plot3(X(1:num,2),X(1:num,3),X(1:num,4)); +% xlim([min3 max3]); +% ylim([min3 max3]); +% zlim([min3 max3]); +%xlabel('x'); +%ylabel('y'); +%zlabel('z'); +%figure(2); +%plot(X(1:num,2),X(1:num,3)); +% xlim([min2 max2]); +% ylim([min2 max2]); +%xlabel('x'); +%ylabel('y'); \ No newline at end of file diff --git a/bin/jat/tests/propagator/sim_input.xml b/bin/jat/tests/propagator/sim_input.xml new file mode 100644 index 0000000..f0831f1 --- /dev/null +++ b/bin/jat/tests/propagator/sim_input.xml @@ -0,0 +1,29 @@ + + + + + 36607.358256 + -20921.723703 + 0 + + 4.525636 + 1.669451 + 0 + + + + + 0 + 2.2 + + 0.6 + + 30 + + diff --git a/bin/jat/tests/scaling/ScaledDerivs.class b/bin/jat/tests/scaling/ScaledDerivs.class new file mode 100644 index 0000000..d31562c Binary files /dev/null and b/bin/jat/tests/scaling/ScaledDerivs.class differ diff --git a/bin/jat/tests/scaling/SimpleIntegrator.class b/bin/jat/tests/scaling/SimpleIntegrator.class new file mode 100644 index 0000000..552e458 Binary files /dev/null and b/bin/jat/tests/scaling/SimpleIntegrator.class differ diff --git a/bin/jat/tests/system/SystemProperties.class b/bin/jat/tests/system/SystemProperties.class new file mode 100644 index 0000000..a1f23e1 Binary files /dev/null and b/bin/jat/tests/system/SystemProperties.class differ diff --git a/bin/jat/unittest/core/math/arbaxisrot/AllTests.class b/bin/jat/unittest/core/math/arbaxisrot/AllTests.class new file mode 100644 index 0000000..96055a0 Binary files /dev/null and b/bin/jat/unittest/core/math/arbaxisrot/AllTests.class differ diff --git a/bin/jat/unittest/core/math/arbaxisrot/RotationMatrix2005Test.class b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrix2005Test.class new file mode 100644 index 0000000..e22c0df Binary files /dev/null and b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrix2005Test.class differ diff --git a/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixFullTest.class b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixFullTest.class new file mode 100644 index 0000000..6a83b68 Binary files /dev/null and b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixFullTest.class differ diff --git a/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixProgressionTest.class b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixProgressionTest.class new file mode 100644 index 0000000..67293eb Binary files /dev/null and b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixProgressionTest.class differ diff --git a/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixTest.class b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixTest.class new file mode 100644 index 0000000..bcde744 Binary files /dev/null and b/bin/jat/unittest/core/math/arbaxisrot/RotationMatrixTest.class differ diff --git a/bin/jat/unittest/coreNOSA/JatUnitTest.class b/bin/jat/unittest/coreNOSA/JatUnitTest.class new file mode 100644 index 0000000..7105735 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/JatUnitTest.class differ diff --git a/bin/jat/unittest/coreNOSA/ephemeris/DE405Test.class b/bin/jat/unittest/coreNOSA/ephemeris/DE405Test.class new file mode 100644 index 0000000..ef27abf Binary files /dev/null and b/bin/jat/unittest/coreNOSA/ephemeris/DE405Test.class differ diff --git a/bin/jat/unittest/coreNOSA/ephemeris/ephemeris.txt b/bin/jat/unittest/coreNOSA/ephemeris/ephemeris.txt new file mode 100644 index 0000000..dd45c9c --- /dev/null +++ b/bin/jat/unittest/coreNOSA/ephemeris/ephemeris.txt @@ -0,0 +1,13 @@ +# Ephemeris file +# rx ry rz vx vy vz +5.4455372348148905E7 -6534824.032012511 -9065339.162956802 -1.1116101204328876 44.38254429049674 23.82214752958644 +-4.1919334139595926E7 -9.227786254927948E7 -3.883490684082438E7 31.986922390166832 -11.90662203573371 -7.38122742167401 +-4.812959243330177E7 -1.3206510866029094E8 -5.726887380725861E7 27.7196048553722 -8.860811393574892 -3.840443677718652 +-1.4512430894351864E8 1.7829700205711567E8 8.571014592745149E7 -18.589406065802496 -11.353975076332489 -4.705812837173442 +-8.012529325418527E8 1.1300531694018789E8 6.794460000296155E7 -2.2653546218931284 -11.305805646742124 -4.7909214587322575 +-3.5842437179425895E8 1.1993887000353508E9 5.10824027905485E8 -9.829518275042956 -2.5432458993581726 -0.6273103309470107 +2.6915234448172584E9 -1.198551709595592E9 -5.630038696094319E8 2.955319769452366 5.322375829799037 2.289270121802419 +3.099293656715799E9 -2.990632030926855E9 -1.3012426715733345E9 3.9043887558354196 3.53087964069645 1.348003987541617 +-7.293385851083924E8 -4.40117138440219E9 -1.1537225446744516E9 5.469911139134651 -1.1251653266575738 -1.9991920624488442 +-4.837343369569731E7 -1.3230810516238965E8 -5.737833840040948E7 28.549290841067496 -9.463186866046765 -4.2082987038704225 +590615.4638410409 -243790.751954238 -119044.65986740452 0.0044864363459902025 0.011159911585568368 0.00461161505233132 diff --git a/bin/jat/unittest/coreNOSA/forces/CIRAExponentialDragTest.class b/bin/jat/unittest/coreNOSA/forces/CIRAExponentialDragTest.class new file mode 100644 index 0000000..d1b35e5 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/forces/CIRAExponentialDragTest.class differ diff --git a/bin/jat/unittest/coreNOSA/forces/ForceModelTest.class b/bin/jat/unittest/coreNOSA/forces/ForceModelTest.class new file mode 100644 index 0000000..4458cb4 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/forces/ForceModelTest.class differ diff --git a/bin/jat/unittest/coreNOSA/forces/GravityModelTest.class b/bin/jat/unittest/coreNOSA/forces/GravityModelTest.class new file mode 100644 index 0000000..f8c2d3b Binary files /dev/null and b/bin/jat/unittest/coreNOSA/forces/GravityModelTest.class differ diff --git a/bin/jat/unittest/coreNOSA/forces/HarrisPriesterTest.class b/bin/jat/unittest/coreNOSA/forces/HarrisPriesterTest.class new file mode 100644 index 0000000..e9c85b8 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/forces/HarrisPriesterTest.class differ diff --git a/bin/jat/unittest/coreNOSA/forces/NRLMSISEDragTest.class b/bin/jat/unittest/coreNOSA/forces/NRLMSISEDragTest.class new file mode 100644 index 0000000..3e9b92c Binary files /dev/null and b/bin/jat/unittest/coreNOSA/forces/NRLMSISEDragTest.class differ diff --git a/bin/jat/unittest/coreNOSA/forces/SolarRadiationPressureTest.class b/bin/jat/unittest/coreNOSA/forces/SolarRadiationPressureTest.class new file mode 100644 index 0000000..c968045 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/forces/SolarRadiationPressureTest.class differ diff --git a/bin/jat/unittest/coreNOSA/forces/cira_drag.txt b/bin/jat/unittest/coreNOSA/forces/cira_drag.txt new file mode 100644 index 0000000..78f7143 --- /dev/null +++ b/bin/jat/unittest/coreNOSA/forces/cira_drag.txt @@ -0,0 +1,1443 @@ +# CIRA exponential atmosphere drag +# x y z +-2.335460905184493E-6 1.7273772925922401E-6 4.056966483531857E-6 +-2.526687869745685E-6 1.451926422711682E-6 3.978224428626931E-6 +-2.695547390940133E-6 1.173421963551286E-6 3.873868504916897E-6 +-2.8410052409470243E-6 8.951288849427453E-7 3.7460765737389855E-6 +-2.9625681989724386E-6 6.201081559590866E-7 3.5973718959296605E-6 +-3.0602665602984203E-6 3.5112506828870107E-7 3.43051525282178E-6 +-3.1346133589861E-6 9.057822823375747E-8 3.248393713021776E-6 +-3.1865442497563333E-6 -1.5954826822207575E-7 3.0539124202373406E-6 +-3.217342974543762E-6 -3.977090935679741E-7 2.849894900183767E-6 +-3.228558786360684E-6 -6.227997167056949E-7 2.6389972643924302E-6 +-3.2219221660201638E-6 -8.341389936108932E-7 2.423640136434422E-6 +-3.199263242885828E-6 -1.0314359324377065E-6 2.2059592251743316E-6 +-3.1624355660149633E-6 -1.2147443910241614E-6 1.987773428677684E-6 +-3.113247676528433E-6 -1.3844094515214838E-6 1.770569082807307E-6 +-3.0534051133652763E-6 -1.5410092041749526E-6 1.5554991006064988E-6 +-2.9844643975567623E-6 -1.685295279963762E-6 1.3433950994713516E-6 +-2.9077987519323827E-6 -1.818134711413174E-6 1.134789794518908E-6 +-2.8245745537050642E-6 -1.9404551677025926E-6 9.299469345755237E-7 +-2.7357378731812748E-6 -2.0531954060318643E-6 7.288965961282746E-7 +-2.642010344007788E-6 -2.157262127158816E-6 5.314738899052053E-7 +-2.543892504944236E-6 -2.2534930132495915E-6 3.373591400826598E-7 +-2.4416721602054695E-6 -2.3426246905798125E-6 1.4611805576779008E-7 +-2.3354364346978894E-6 -2.4252648939058237E-6 -4.2758700499494346E-8 +-2.225087908284617E-6 -2.501869521839481E-6 -2.29816627336678E-7 +-2.110365471731048E-6 -2.572725607255061E-6 -4.1559941791577136E-7 +-1.990869291255919E-6 -2.637939941872134E-6 -6.006123646348072E-7 +-1.8660884339082231E-6 -2.697431957838532E-6 -7.852873987184139E-7 +-1.735430458593474E-6 -2.7509301319271347E-6 -9.699498103592068E-7 +-1.598253500481027E-6 -2.7979728065936354E-6 -1.1547868982106256E-6 +-1.4539014473086264E-6 -2.837914787425221E-6 -1.3398191259929167E-6 +-1.3017418581969855E-6 -2.86994001941757E-6 -1.5248743620746574E-6 +-1.1412057105359245E-6 -2.893079905853431E-6 -1.7095657570096658E-6 +-9.71828344649417E-7 -2.9062375879688497E-6 -1.893274345864188E-6 +-7.932911334079375E-7 -2.9082194495474777E-6 -2.0751381822866906E-6 +-6.054627197180492E-7 -2.8977745051813114E-6 -2.254049766470868E-6 +-4.0843774364753735E-7 -2.8736407779210144E-6 -2.4286628568735253E-6 +-2.0257062013422052E-7 -2.8345972795187453E-6 -2.597409751955912E-6 +1.149810046085351E-8 -2.7795208710741406E-6 -2.758531014231608E-6 +2.3282549314395056E-7 -2.7074468487691718E-6 -2.9101194234769534E-6 +4.6016289813766397E-7 -2.617629562687466E-6 -3.0501771849394225E-6 +6.919673160222743E-7 -2.509597155445044E-6 -3.176682006297023E-6 +9.26427984003274E-7 -2.3831953900181328E-6 -3.2876571460673815E-6 +1.1615076303209668E-6 -2.238618534500071E-6 -3.38124305244398E-6 +1.394997456039995E-6 -2.076426741250341E-6 -3.455769594077224E-6 +1.624583710655793E-6 -1.8975481364554172E-6 -3.509825301556629E-6 +1.847921718354632E-6 -1.7032628838037174E-6 -3.542316529315322E-6 +2.062712209276633E-6 -1.4951685291666825E-6 -3.552510195287222E-6 +2.266775895621676E-6 -1.2751294808092683E-6 -3.5400586606641985E-6 +2.4581235607900146E-6 -1.045215074834969E-6 -3.505008684739799E-6 +2.635018139316967E-6 -8.076297858623447E-7 -3.4477947741562815E-6 +2.796023411516982E-6 -5.64638470701263E-7 -3.369214372180879E-6 +2.9400346057718713E-6 -3.1849067953314516E-7 -3.270383874398238E-6 +3.0662902576877377E-6 -7.134935695450023E-8 -3.1526799124475755E-6 +3.174368331605863E-6 1.7477138228662187E-7 -3.017673650708258E-6 +3.2641692462176553E-6 4.180566531002041E-7 -2.8670636319296093E-6 +3.335885738066197E-6 6.569278382406589E-7 -2.702608666191409E-6 +3.389959264465974E-6 8.900649773829678E-7 -2.5260617122389898E-6 +3.427026275172898E-6 1.1164140223391836E-6 -2.339108619032448E-6 +3.4478611216314783E-6 1.3351803036323103E-6 -2.1433172629342664E-6 +3.4533214538148625E-6 1.5458108726634154E-6 -1.940100250673662E-6 +3.4442976800633516E-6 1.7479679482953754E-6 -1.7306903761427588E-6 +3.4216651512607444E-6 1.9414944938804177E-6 -1.5161264059715308E-6 +3.386238836688503E-6 2.1263729134964994E-6 -1.2972482015881258E-6 +3.3387333559193576E-6 2.3026793005193827E-6 -1.0747019562412883E-6 +3.279732515966561E-6 2.4705369342181472E-6 -8.489560673521746E-7 +3.2096705817520677E-6 2.6300722242702887E-6 -6.203263049370056E-7 +3.1288242392775515E-6 2.7813743145279755E-6 -3.8900756427875083E-7 +3.0373123695463316E-6 2.9244578179303847E-6 -1.5510982325610214E-7 +2.9351015234690434E-6 3.0592281347073416E-6 8.130271816525313E-8 +2.8220172649730115E-6 3.185450324185508E-6 3.201694837960648E-7 +2.6977630949444574E-6 3.302723872961648E-6 5.613888761537375E-7 +2.561948120732758E-6 3.4104653736062175E-6 8.047725308800035E-7 +2.41412281254649E-6 3.507899493836617E-6 1.0500001523828748E-6 +2.2538211697884568E-6 3.59405784318427E-6 1.2965763124483359E-6 +2.0806083067222797E-6 3.667786794864944E-6 1.5437907581645883E-6 +1.894133376826845E-6 3.727767309077543E-6 1.790684843981099E-6 +1.6941869490632126E-6 3.7725491613899043E-6 2.036027426061791E-6 +1.4807597610814474E-6 3.800598289321363E-6 2.278302538713228E-6 +1.2540985663461693E-6 3.810352974078517E-6 2.515709270604677E-6 +1.0147557611962302E-6 3.800285884835211E-6 2.746174069179745E-6 +7.63630907785341E-7 3.7689730062947437E-6 2.967377934370263E-6 +5.020018724348337E-7 3.7151715603974065E-6 3.176802627745181E-6 +2.3154145984207309E-7 3.6379045625838486E-6 3.3717977843773033E-6 +-4.568526443029389E-8 3.536543664438404E-6 3.5496656595995144E-6 +-3.2724597949523956E-7 3.410880420532892E-6 3.7077567750078316E-6 +-6.103886361434222E-7 3.2611798016791736E-6 3.84357042975098E-6 +-8.921097578092338E-7 3.088213821400864E-6 3.954856226755816E-6 +-1.1692407410702642E-6 2.893273802275453E-6 4.0397125992871926E-6 +-1.4385482584291361E-6 2.6781586741149325E-6 4.09667611578644E-6 +-1.696843622827671E-6 2.4451374038518877E-6 4.124794583583607E-6 +-1.9410952704829476E-6 2.196886578109082E-6 4.123678834529113E-6 +-2.1685381143616763E-6 1.936406673867853E-6 4.093529961448274E-6 +-2.3767726472067576E-6 1.666921373656254E-6 4.03513883788835E-6 +-2.563845987015685E-6 1.3917649480292562E-6 3.9498551555718295E-6 +-2.7283084155841304E-6 1.1142645323519942E-6 3.839526773777502E-6 +-2.8692426512631005E-6 8.376258048950421E-7 3.706415519609395E-6 +-2.9862667531317357E-6 5.648301773149094E-7 3.5530983655263245E-6 +-3.0795129132662547E-6 2.9854927836906905E-7 3.3823614946416904E-6 +-3.1495841956662247E-6 4.1080054752571084E-8 3.1970922072682046E-6 +-3.1974920238760615E-6 -2.05697793331208E-7 3.0001733408919E-6 +-3.224579606362954E-6 -4.4034166582672426E-7 2.7943863623450577E-6 +-3.232438450077166E-6 -6.618445142732987E-7 2.5823293777558333E-6 +-3.222824581963932E-6 -8.696147507133234E-7 2.3663536064578577E-6 +-3.1975785289346065E-6 -1.0634411223791637E-6 2.148518277577797E-6 +-3.1585507883329254E-6 -1.2434458881083398E-6 1.9305620257464E-6 +-3.1075340761952744E-6 -1.4100294655832166E-6 1.713889190640942E-6 +-3.0462047043681263E-6 -1.563810123683561E-6 1.499570415800699E-6 +-2.9760763028848314E-6 -1.7055629396564594E-6 1.288356925773146E-6 +-2.8984681664308833E-6 -1.8361621433598523E-6 1.0807064897846329E-6 +-2.8144876348447592E-6 -1.956529444616438E-6 8.768174226050966E-7 +-2.725022857030614E-6 -2.067588515746998E-6 6.766664867059867E-7 +-2.630741482905937E-6 -2.170224170700565E-6 4.80047794430058E-7 +-2.5320930230911823E-6 -2.2652452528407215E-6 2.866117889720275E-7 +-2.4293156877720638E-6 -2.353352083092412E-6 9.590450018918201E-8 +-2.322449424980294E-6 -2.4351102085469452E-6 -9.259302838520404E-8 +-2.2113549988405736E-6 -2.5109308333486103E-6 -2.7942594876772316E-7 +-2.095736798293357E-6 -2.5810561987546033E-6 -4.6512818298381226E-7 +-1.9751672826044807E-6 -2.6455479218542675E-6 -6.501863839826219E-7 +-1.8491131752505765E-6 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a/bin/jat/unittest/coreNOSA/forces/nrlmsise_drag.txt b/bin/jat/unittest/coreNOSA/forces/nrlmsise_drag.txt new file mode 100644 index 0000000..6850964 --- /dev/null +++ b/bin/jat/unittest/coreNOSA/forces/nrlmsise_drag.txt @@ -0,0 +1,1443 @@ +# NRLMSISE atmosphere drag +# x y z +-1.93408850743668E-6 1.4305101670480842E-6 3.3597360732676955E-6 +-2.06841547454908E-6 1.1885864956267065E-6 3.256682817030875E-6 +-2.1788771466138773E-6 9.485057871028403E-7 3.1313430373067248E-6 +-2.2671831447311804E-6 7.143320579119094E-7 2.9894494893723874E-6 +-2.336434654875393E-6 4.890493949999913E-7 2.837073714299682E-6 +-2.3904511507988553E-6 2.7427261874965677E-7 2.679661713240164E-6 +-2.433021330796846E-6 7.030492636890924E-8 2.521335261955475E-6 +-2.4671850064850592E-6 -1.2353040294301962E-7 2.364494682571634E-6 +-2.49464346400718E-6 -3.0837321314376125E-7 2.2097338524684306E-6 +-2.5154057924434966E-6 -4.852301347436759E-7 2.056071902156056E-6 +-2.527757552212111E-6 -6.544233634604037E-7 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diff --git a/bin/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest$Entry.class b/bin/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest$Entry.class new file mode 100644 index 0000000..10f0470 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest$Entry.class differ diff --git a/bin/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest.class b/bin/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest.class new file mode 100644 index 0000000..e58b745 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest.class differ diff --git a/bin/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest$Entry.class b/bin/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest$Entry.class new file mode 100644 index 0000000..a2d487b Binary files /dev/null and b/bin/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest$Entry.class differ diff --git a/bin/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest.class b/bin/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest.class new file mode 100644 index 0000000..b888e37 Binary files /dev/null and b/bin/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest.class differ diff --git a/bin/jat/unittest/coreNOSA/spacetime/llo_ascii.txt b/bin/jat/unittest/coreNOSA/spacetime/llo_ascii.txt new file mode 100644 index 0000000..6a37df3 --- /dev/null +++ b/bin/jat/unittest/coreNOSA/spacetime/llo_ascii.txt @@ -0,0 +1,4040 @@ +# First column = time (seconds since jd0) +# Column 2-4 = Selenographic position (km) +# Column 5-7 = Selenographic velocity (km/s) +# Column 8-10 = Lunar-centered Inertial position(km) +# Column 11-13 = Lunar-centered Inertial velocity (km/s) +% num = 4033 +% jd0 = 2.458232499999999e+006 + 0.0000000000000000e+000 -7.0653447440413493e+002 9.2387238910403778e+002 -1.4232051310790273e+003 -7.6578459477044203e-001 1.0064446005845396e+000 1.0334979559135251e+000 1.7232607076253737e+002 1.6379287856614317e+003 -8.1592709137349675e+002 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6.0480000000000966e+005 -9.5238512128176944e+002 -6.6764753193294723e+002 1.4323002965248384e+003 -1.0472620408466731e+000 -7.1560503236825468e-001 -1.0188704335872976e+000 -1.7633698538600009e+002 -1.6415778644952095e+003 8.2365172733656755e+002 -1.5368153887820857e-001 -7.2087226238755708e-001 -1.4504035545032798e+000 diff --git a/data/core/astronomy/hyg_100.csv b/data/core/astronomy/hyg_100.csv new file mode 100644 index 0000000..0c49551 --- /dev/null +++ b/data/core/astronomy/hyg_100.csv @@ -0,0 +1,100 @@ +StarID,Hip,HD,HR,Gliese,BayerFlamsteed,ProperName,RA,Dec,Distance,Mag,AbsMag,Spectrum,ColorIndex +23440,32349,48915,2491,Gl 244 A, 9Alp CMa,Sirius,6.7525694,-16.71314306,2.6370612589,-1.43,1.4643989071,A0m... ,0.009 +21936,30438,45348,2326,, Alp Car,Canopus,6.39919184,-52.69571799,95.8772770853,-0.62,-5.5285784579,F0Ib ,0.164 +50628,69673,124897,5340,Gl 541 , 16Alp Boo,Arcturus,14.2612076,19.18726997,11.2549240293,-0.1,-0.3567128393,K2IIIp ,1.239 +51926,71683,128620,5459,Gl 559 A, Alp1Cen,Rigel Kentaurus A,14.66136068,-60.83514707,1.3474909718,0.01,4.3623706795,G2V ,0.71 +65795,91262,172167,7001,Gl 721 , 3Alp Lyr,Vega,18.61560722,38.78299311,7.7561467463,0.03,0.5817699133,A0Vvar ,-0.001 +17301,24436,34085,1713,, 19Bet Ori,Rigel,5.24229756,-8.20163919,236.9668246446,0.18,-6.6934377452,B8Ia ,-0.03 +27267,37279,61421,2943,Gl 280 A, 10Alp CMi,Procyon,7.65514946,5.22750767,3.4973594936,0.38,2.6612986213,F5IV-V ,0.432 +5297,7588,10144,472,, Alp Eri,Achernar,1.62854213,-57.23666007,44.0917107584,0.45,-2.7717847489,B3Vp ,-0.158 +19984,27989,39801,2061,, 58Alp Ori,Betelgeuse,5.91952477,7.40703634,131.0615989515,0.45,-5.1373773102,M2Ib ,1.5 +49969,68702,122451,5267,, Bet Cen,Hadar,14.06373459,-60.3729784,161.0305958132,0.61,-5.4245419991,B1III ,-0.231 +17425,24608,34029,1708,Gl 194 A, 13Alp Aur,Capella,5.27813767,45.99902927,12.9382843835,0.71,0.1506165365,M1: comp ,0.795 +44632,60718,108248,4730,, Alp1Cru,Acrux,12.44331705,-63.09905586,98.3284169125,0.77,-4.1933952354,B0.5IV ,-0.243 +70683,97649,187642,7557,Gl 768 , 53Alp Aql,Altair,19.84630057,8.86738491,5.1429746966,0.77,2.213928062,A7IV-V ,0.221 +15108,21421,29139,1457,Gl 171.1A, 87Alp Tau,Aldebaran,4.59866679,16.50976164,19.9640646836,0.85,-0.6512448416,K5III ,1.538 +86179,0, ,-0,Gl 194 B,-0, ,5.2778513412,46.0067085932,12.9382843835,0.96,0.4006165365, G0 III , +47773,65474,116658,5056,, 67Alp Vir,Spica,13.41989015,-11.16124491,80.38585209,0.98,-3.5458980982,B1V ,-0.235 +58094,80763,148478,6134,, 21Alp Sco,Antares,16.49012986,-26.43194608,185.1851851852,1.06,-5.2780312009,M1Ib + B2.5V,1.865 +27698,37826,62509,2990,Gl 286 , 78Bet Gem,Pollux,7.75537884,28.02631031,10.336985735,1.14,1.0680304153,K0IIIvar ,0.991 +82291,113368,216956,8728,Gl 881 , 24Alp PsA,Fomalhaut,22.96078488,-29.62183701,7.6875768758,1.16,1.7310526412,A3V ,0.145 +45767,62434,111123,4853,, Bet Cru, ,12.79536635,-59.68873246,108.1081081081,1.25,-3.9192913363,B0.5III ,-0.238 +74084,102098,197345,7924,, 50Alp Cyg,Deneb,20.69053151,45.28033423,990.099009901,1.25,-8.7283931311,A2Ia ,0.092 +51923,71681,128621,5460,Gl 559 B, Alp2Cen,Rigel Kentaurus B,14.66094188,-60.83947139,1.3474909718,1.34,5.6923706795,K1V ,0.9 +36830,49669,87901,3982,, 32Alp Leo,Regulus,10.13957205,11.96719513,23.758612497,1.36,-0.5191053713,B7V ,-0.087 +24404,33579,52089,2618,, 21Eps CMa,Adhara,6.9770963,-28.97208931,132.1003963012,1.5,-4.1045206025,B2II ,-0.211 +44890,61084,108903,4763,, Gam Cru, ,12.5194248,-57.11256922,26.9614451335,1.59,-0.5637158334,M4III ,1.6 +61845,85927,158926,6527,, 35Lam Sco,Shaula,17.56014624,-37.10374835,215.5172413793,1.62,-5.0474100972,B1.5IV+... ,-0.231 +17947,25336,35468,1790,, 24Gam Ori,Bellatrix,5.41885227,6.34973451,74.5156482861,1.64,-2.7212374208,B2III ,-0.224 +18021,25428,35497,1791,,112Bet Tau,Alnath,5.43819386,28.60787346,40.1767778224,1.65,-1.369875517,B7III ,-0.13 +33465,45238,80007,3685,, Bet Car, ,9.22006688,-69.71747245,34.0831629175,1.67,-0.9926994525,A2IV ,0.07 +18686,26311,37128,1903,, 46Eps Ori,Alnilam,5.60355904,-1.20191725,411.5226337449,1.69,-6.381968632,B0Ia ,-0.184 +19013,26727,37742,1948,, 50Zet Ori,Alnitak,5.67931244,-1.94257841,250.626566416,1.74,-5.2551355216,O9.5Ib SB ,-0.199 +79434,109268,209952,8425,Gl 848.2 , Alp Gru,Alnair,22.13718789,-46.96061593,31.0945273632,1.74,-0.7234197996,B7IV ,-0.07 +29352,39953,68273,3207,, Gam2Vel, ,8.15887648,-47.33661177,257.7319587629,1.75,-5.305841372,WC8 + O9I ,-0.145 +46117,62956,112185,4905,, 77Eps UMa,Alioth,12.9004536,55.95984301,24.8138957816,1.76,-0.2134747693,A0p ,-0.022 +11142,15863,20902,1017,, 33Alp Per,Mirphak,3.40537459,49.86124281,181.4882032668,1.79,-4.5042420057,F5Ib ,0.481 +64997,90185,169022,6879,, 20Eps Sgr,Kaus Australis,18.40287397,-34.3843146,44.3458980044,1.79,-1.4442672689,B9.5III ,-0.031 +40027,54061,95689,4301,, 50Alp UMa,Dubhe,11.06217691,61.75111888,37.9075056861,1.81,-1.0836260439,F7V comp ,1.061 +25082,34444,54605,2693,, 25Del CMa, ,7.13985723,-26.39320776,549.4505494505,1.83,-6.8696430601,F8Ia ,0.671 +49038,67301,120315,5191,, 85Eta UMa,Alkaid,13.79237392,49.31330288,30.8737264588,1.85,-0.5979452599,B3V SB ,-0.099 +30188,41037,71129,3307,, Eps Car, ,8.37524019,-59.50953829,193.7984496124,1.86,-4.5767514919,K3III+B2V ,1.196 +62069,86228,159532,6553,, The Sco, ,17.62197938,-42.99782155,83.4028356964,1.86,-2.7459040845,F1II ,0.406 +20254,28360,40183,2088,NN 3375 , 34Bet Aur, ,5.99215817,44.94743492,25.1762336354,1.9,-0.1049538009,A2V ,0.077 +59165,82273,150798,6217,, Alp TrA, ,16.81107382,-69.02763503,127.3885350318,1.91,-3.6156517163,K2IIb-IIIa ,1.447 +22916,31681,47105,2421,, 24Gam Gem,Alhena,6.62852842,16.39941482,32.1336760925,1.93,-0.6048020584,A0IV ,0.001 +26923,36850,60179,2891,Gl 278 A, 66Alp Gem,Castor,7.57666793,31.88863645,15.8052789632,1.94,0.9459891723,A2Vm ,0.034 +73075,100751,193924,7790,, Alp Pav, ,20.42745823,-56.73488071,56.1797752809,1.94,-1.8078999885,B2IV ,-0.118 +8222,11767,8890,424,, 1Alp UMi,Polaris,2.52974312,89.26413805,132.2751322751,1.97,-3.6373910225,F7:Ib-IIv SB,0.636 +21842,30324,44743,2294,, 2Bet CMa, ,6.37832983,-17.95591658,153.1393568147,1.98,-3.9454340936,B1II/III ,-0.24 +34371,46390,81797,3748,, 30Alp Hya,Alphard,9.45979217,-8.65868335,54.347826087,1.99,-1.685910885,K3III ,1.44 +6888,9884,12929,617,Gl 84.3 , 13Alp Ari,Hamal,2.11952383,23.46277743,20.2101859337,2,0.4721484548,K2III ,1.151 +37506,50583,89484,4057,, 41Gam1Leo,Algieba,10.3328227,19.84186032,38.5208012327,2.01,-0.9184765594,K0III ,1.128 +31663,42913,74956,3485,Gl 321.3A, Del Vel, ,8.7450548,-54.70856797,24.4498777506,2.02,0.07861654,A1V ,0.043 +2405,3419,4128,188,Gl 31 , 16Bet Cet,Diphda,0.7264523,-17.9866841,29.3772032902,2.04,-0.3000522429,K0III ,1.019 +3816,5447,6860,337,Gl 53.3 , 43Bet And,Mirach,1.16216599,35.62083048,61.1246943765,2.05,-1.8810835033,M0IIIvar ,1.576 +67014,92855,175191,7121,, 34Sig Sgr,Nunki,18.92108797,-26.29659428,68.7757909216,2.05,-2.1371779674,B2.5V ,-0.134 +50118,68933,123139,5288,Gl 539 , 5The Cen, ,14.11147907,-36.36869575,18.6846038864,2.06,0.7025805238,K0IIIb ,1.011 +495,677,358,15,, 21Alp And,Alpheratz,0.13976888,29.09082805,29.7619047619,2.07,-0.2983036131,B9p ,-0.038 +19506,27366,38771,2004,, 53Kap Ori,Saiph,5.79594109,-9.66960186,221.2389380531,2.07,-4.6543078259,B0.5Iavar ,-0.168 +52554,72607,131873,5563,, 7Bet UMi,Kochab,14.84510983,74.15547596,38.7747188833,2.07,-0.8727432893,K4IIIvar ,1.465 +81430,112122,214952,8636,, Bet Gru, ,22.71109302,-46.88456594,52.1648408972,2.07,-1.5168894356,M5III ,1.61 +61929,86032,159561,6556,Gl 681 , 55Alp Oph,Rasalhague,17.58222354,12.56057584,14.3184421535,2.08,1.3005211535,A5III ,0.155 +10217,14576,19356,936,, 26Bet Per,Algol,3.13614714,40.9556512,28.4575981787,2.09,-0.1809912142,B8V ,-0.003 +6724,9640,12533,603,, 57Gam1And, ,2.06497752,42.32984832,108.8139281828,2.1,-3.0834224431,B8V ,1.37 +42525,57632,102647,4534,Gl 448 , 94Bet Leo,Denebola,11.81774398,14.57233687,11.091393079,2.14,1.9150695152,A3Vvar ,0.09 +3084,4427,5394,264,, 27Gam Cas, ,0.9451392,60.71674966,187.969924812,2.15,-4.2204418385,B0IV:evar ,-0.046 +45444,61932,110304,4819,, Gam Cen, ,12.69200138,-48.95988553,39.9840063974,2.2,-0.8094315413,A1IV ,-0.023 +28941,39429,66811,3165,, Zet Pup, ,8.0597417,-40.00318846,429.1845493562,2.21,-5.9532203949,O5IAf ,-0.269 +33713,45556,80404,3699,, Iot Car, ,9.28484122,-59.27526115,212.3142250531,2.21,-4.4248954644,A8Ib ,0.189 +55027,76267,139006,5793,, 5Alp CrB,Alphekka,15.57810819,26.71491041,22.9095074456,2.22,0.4199212402,A0V ,0.032 +33156,44816,78647,3634,, Lam Vel, ,9.13327141,-43.43262406,175.7469244288,2.23,-3.994438668,K4Ib-II ,1.665 +72847,100453,194093,7796,, 37Gam Cyg, ,20.37047223,40.2566815,467.2897196262,2.23,-6.1179311333,F8Ib ,0.673 +2243,3179,3712,168,, 18Alp Cas,Shedir,0.67510756,56.53740928,70.0770847933,2.24,-1.9878801344,K0II-IIIvar ,1.17 +63252,87833,164058,6705,, 33Gam Dra,Etamin,17.94343829,51.48895101,45.2488687783,2.24,-1.0380386316,K5III ,1.521 +18386,25930,36486,1852,, 34Del Ori, ,5.53344437,-0.2990934,280.8988764045,2.25,-4.9927500101,O9.5II ,-0.175 +47710,65378,116656,5054,NN 3783 A, 79Zet UMa,Mizar,13.39872773,54.92541525,23.9635753654,2.25,0.3522419236,A2V ,0.057 +544,746,432,21,Gl 8 , 11Bet Cas,Caph,0.15280269,59.15021814,16.6972783436,2.27,1.1567715654,F2III-IV ,0.38 +48596,66657,118716,5132,, Eps Cen, ,13.66479797,-53.46636269,115.2073732719,2.29,-3.0174013741,B1III ,-0.171 +56460,78401,143275,5953,, 7Del Sco, ,16.00555881,-22.62162024,123.1527093596,2.29,-3.1622198538,B0.2IV ,-0.117 +59254,82396,151680,6241,, 26Eps Sco, ,16.83617915,-34.29260982,20.0601805416,2.29,0.7783258132,K2IIIb ,1.144 +52045,71860,129056,5469,, Alp Lup, ,14.69882606,-47.38814127,168.0672268908,2.3,-3.8274151714,B1.5III ,-0.154 +51714,71352,127972,5440,, Eta Cen, ,14.5917921,-42.15774562,94.6073793756,2.33,-2.5496250635,B1Vn + A ,-0.157 +52212,72105,129988,5505,, 36Eps Boo,Izar,14.74979191,27.07417383,64.308681672,2.35,-1.6913480332,A0 ,0.966 +39924,53910,95418,4295,Wo 9343 , 48Bet UMa,Merak,11.0306641,56.38234478,24.3486729973,2.37,0.4376235143,A1V ,0.033 +78021,107315,206778,8308,, 8Eps Peg,Enif,21.73642787,9.87500791,206.1855670103,2.38,-4.191291307,K2Ibvar ,1.52 +62385,86670,160578,6580,, Kap Sco, ,17.70813327,-39.02992092,142.2475106686,2.39,-3.3752233749,B1.5III ,-0.171 +1489,2081,2261,99,, Alp Phe,Ankaa,0.43801871,-42.30512197,23.7304224015,2.4,0.5234726564,K0III... ,1.083 +42763,58001,103287,4554,, 64Gam UMa,Phad,11.89715035,53.69473296,25.6476019492,2.41,0.3647661759,A0V SB ,0.044 +76423,105199,203280,8162,Gl 826 , 5Alp Cep,Alderamin,21.30960598,62.58545529,14.961101137,2.44,1.5651822061,A7IV-V ,0.257 +82663,113881,217906,8775,, 53Bet Peg,Scheat,23.06287038,28.08245462,61.0873549175,2.44,-1.4897566029,M2II-IIIvar ,1.655 +26214,35904,58350,2827,, 31Eta CMa, ,7.40158473,-29.30311979,980.3921568627,2.45,-7.5069991412,B5Ia ,-0.083 +74382,102488,197989,7949,Gl 806.1A, 53Eps Cyg, ,20.77012006,33.96945334,22.0945647371,2.45,0.7285727481,K0III ,1.021 +34012,45941,81188,3734,, Kap Vel, ,9.36856367,-55.01069531,165.2892561983,2.47,-3.6212231267,B2IV ,-0.141 +82712,113963,218045,8781,, 54Alp Peg,Markab,23.07933801,15.20536786,42.8082191781,2.49,-0.6676358078,B9.5III ,-0.002 +9907,14135,18884,911,, 92Alp Cet,Menkar,3.03799418,4.08992539,67.4763832659,2.54,-1.6057589818,M2III ,1.63 +58518,81377,149757,6175,, 13Zet Oph, ,16.61931389,-10.5671518,140.4494382022,2.54,-3.1976000318,O9.5V ,0.038 +49509,68002,121263,5231,, Zet Cen, ,13.92567635,-47.28826634,117.9245283019,2.55,-2.8080207387,B2.5IV ,-0.176 +40626,54872,97603,4357,Gl 419 , 68Del Leo, ,11.23511447,20.52403384,17.6928520878,2.56,1.3210107659,A4V ,0.128 +56747,78820,144217,5984,, 8Bet1Sco, ,16.0906208,-19.80539286,162.6016260163,2.56,-3.4956244211,B0.5V ,-0.065 +18430,25985,36673,1865,, 11Alp Lep,Arneb,5.54550386,-17.82229227,393.7007874016,2.58,-5.3958314169,F0Ib ,0.211 diff --git a/data/core/audio/sounds/Bidding01.wav b/data/core/audio/sounds/Bidding01.wav new file mode 100644 index 0000000..a46b5ae Binary files /dev/null and b/data/core/audio/sounds/Bidding01.wav differ diff --git a/data/core/audio/sounds/CannotBeDone.wav b/data/core/audio/sounds/CannotBeDone.wav new file mode 100644 index 0000000..6c355d2 Binary files /dev/null and b/data/core/audio/sounds/CannotBeDone.wav differ diff --git a/data/core/audio/sounds/ForceAlways.wav b/data/core/audio/sounds/ForceAlways.wav new file mode 100644 index 0000000..d2b1113 Binary files /dev/null and b/data/core/audio/sounds/ForceAlways.wav differ diff --git a/data/core/audio/sounds/LackOfFaith.wav b/data/core/audio/sounds/LackOfFaith.wav new file mode 100644 index 0000000..a8c25a6 Binary 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b/data/core/audio/sounds/entitled.wav new file mode 100644 index 0000000..5e83f40 Binary files /dev/null and b/data/core/audio/sounds/entitled.wav differ diff --git a/data/core/audio/sounds/enufinfo.wav b/data/core/audio/sounds/enufinfo.wav new file mode 100644 index 0000000..9387fea Binary files /dev/null and b/data/core/audio/sounds/enufinfo.wav differ diff --git a/data/core/audio/sounds/goodbye.wav b/data/core/audio/sounds/goodbye.wav new file mode 100644 index 0000000..361b4b1 Binary files /dev/null and b/data/core/audio/sounds/goodbye.wav differ diff --git a/data/core/audio/sounds/humanerror.wav b/data/core/audio/sounds/humanerror.wav new file mode 100644 index 0000000..f3c5f0c Binary files /dev/null and b/data/core/audio/sounds/humanerror.wav differ diff --git a/data/core/audio/sounds/iamhal.wav b/data/core/audio/sounds/iamhal.wav new file mode 100644 index 0000000..c8199d8 Binary files /dev/null and b/data/core/audio/sounds/iamhal.wav differ diff --git a/data/core/audio/sounds/imsorry.wav b/data/core/audio/sounds/imsorry.wav new file mode 100644 index 0000000..6d5f011 Binary files /dev/null and b/data/core/audio/sounds/imsorry.wav differ diff --git a/data/core/audio/sounds/incomplete.wav b/data/core/audio/sounds/incomplete.wav new file mode 100644 index 0000000..ffb873d Binary files /dev/null and b/data/core/audio/sounds/incomplete.wav differ diff --git a/data/core/audio/sounds/itisdone.wav b/data/core/audio/sounds/itisdone.wav new file mode 100644 index 0000000..8c9028a Binary files /dev/null and b/data/core/audio/sounds/itisdone.wav differ diff --git a/data/core/audio/sounds/justwhat.wav b/data/core/audio/sounds/justwhat.wav new file mode 100644 index 0000000..4278f70 Binary files /dev/null and b/data/core/audio/sounds/justwhat.wav differ diff --git a/data/core/audio/sounds/mindgoing.wav b/data/core/audio/sounds/mindgoing.wav new file mode 100644 index 0000000..a237136 Binary files /dev/null and b/data/core/audio/sounds/mindgoing.wav differ diff --git a/data/core/audio/sounds/notjedi.wav b/data/core/audio/sounds/notjedi.wav new file mode 100644 index 0000000..4dbe4f0 Binary files /dev/null and b/data/core/audio/sounds/notjedi.wav differ diff --git a/data/core/audio/sounds/powerofdarkside.wav b/data/core/audio/sounds/powerofdarkside.wav new file mode 100644 index 0000000..7b7dfff Binary files /dev/null and b/data/core/audio/sounds/powerofdarkside.wav differ diff --git a/data/core/cm/new_coast_50.dat b/data/core/cm/new_coast_50.dat new file mode 100644 index 0000000..d906d09 --- /dev/null +++ b/data/core/cm/new_coast_50.dat @@ -0,0 +1,43600 @@ + -7.0125780000000006e+001 6.0874555999999998e+001 + -6.9994358000000005e+001 6.0912106000000001e+001 + -6.9830078999999998e+001 6.0937921000000003e+001 + -6.9752634000000000e+001 6.0959041999999997e+001 + -6.9773754999999994e+001 6.1024754000000001e+001 + -6.9651719999999997e+001 6.1062303000000000e+001 + -6.9541419000000005e+001 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reference distance defined +# within this file are only used in gravity field calculations, +# they are not applied to the central body +# Source: http://cddisa.gsfc.nasa.gov/926/egm96/readme.egm96 +# Source: http://cddisa.gsfc.nasa.gov/926/egm96/egm96.html +# + +BEGIN Coefficients + 2 0 -4.841653717360e-04 0.000000000000e+00 + 3 0 9.572541737920e-07 0.000000000000e+00 + 4 0 5.398738637890e-07 0.000000000000e+00 + 5 0 6.853234756300e-08 0.000000000000e+00 + 6 0 -1.499579947140e-07 0.000000000000e+00 + 7 0 9.097893714500e-08 0.000000000000e+00 + 8 0 4.967116673240e-08 0.000000000000e+00 + 9 0 2.767143008530e-08 0.000000000000e+00 +10 0 5.262224885690e-08 0.000000000000e+00 +11 0 -5.096137075220e-08 0.000000000000e+00 +12 0 3.772526365580e-08 0.000000000000e+00 +13 0 4.229822064130e-08 0.000000000000e+00 +14 0 -2.427865029210e-08 0.000000000000e+00 +15 0 1.479100687080e-09 0.000000000000e+00 +16 0 -3.153229867220e-09 0.000000000000e+00 +17 0 1.976050663950e-08 0.000000000000e+00 +18 0 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index 0000000..9091d0b --- /dev/null +++ b/data/core/forces/earthGravity/GEMT1.grv @@ -0,0 +1,716 @@ +stk.v.4.0 + +Model GEM-T1 +Degree 36 +Order 36 +Gm 3.98600436000e+14 +RefDistance 6378137.0 +Normalized Yes + +# +# Note: The gravitational parameter and reference distance defined +# within this file are only used in gravity field calculations, +# they are not applied to the central body +# + +BEGIN Coefficients + 2 0 -0.484164990000e-03 0.000000000e+00 + 2 2 0.243892800000e-05 -0.139983970e-05 + 3 0 0.957237510000e-06 0.000000000e+00 + 3 1 0.202977370000e-05 0.249594630e-06 + 3 2 0.903549100000e-06 -0.620419820e-06 + 3 3 0.720986620000e-06 0.141316940e-05 + 4 0 0.538732190000e-06 0.000000000e+00 + 4 1 -0.533427220000e-06 -0.475118910e-06 + 4 2 0.347002080000e-06 0.664030420e-06 + 4 3 0.990977900000e-06 -0.200621490e-06 + 4 4 -0.190034800000e-06 0.308459550e-06 + 5 0 0.687801610000e-07 0.000000000e+00 + 5 1 -0.589503100000e-07 -0.955434630e-07 + 5 2 0.655790250000e-06 -0.323405590e-06 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new file mode 100644 index 0000000..2d9c371 --- /dev/null +++ b/data/core/forces/harrispriester/harrispriester.txt @@ -0,0 +1,861 @@ + July 21,2005 Java Astrodynamics Toolkit: Harris-Priester data taken from GTDS + Modified to include line numbers (first line = 0) and exponential format + + MAY 15,2002 TRAMP VERSION: GNCC 2.1 05/15/2002 PAGE 38 + + DATA MANAGEMENT REPORT OF THE PERMANENT FILES -- ATMOSPHERIC DENSITY + + DSNAME: \\Gncc1\Tools\Navigation\GTDS\Environment\atmosden.pc +*************************************************************************************************************** + + +MODEL NUMBER: 1 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=65 +LINE: 78 + +MODEL NUMBER: 2 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=75 +LINE: 158 + +MODEL NUMBER: 3 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=100 +LINE: 238 + +MODEL NUMBER: 4 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=125 +LINE: 318 + +MODEL NUMBER: 5 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=150 +LINE: 398 + +MODEL NUMBER: 6 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=175 +LINE: 478 + +MODEL NUMBER: 7 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=200 +LINE: 558 + +MODEL NUMBER: 8 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=225 +LINE: 638 + +MODEL NUMBER: 9 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=250 +LINE: 718 + +MODEL NUMBER: 10 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=275 +LINE: 798 +*************************************************************************************************************** + MAY 15,2002 TRAMP VERSION: GNCC 2.1 05/15/2002 PAGE 39 + + DATA MANAGEMENT REPORT OF THE PERMANENT FILES -- ATMOSPHERIC DENSITY + + DSNAME: \\Gncc1\Tools\Navigation\GTDS\Environment\atmosden.pc + + + +MODEL NUMBER: 1 +NUMBER OF ENTRIES IN DENSITY ARRAY: 59 +MODEL NAME: 1964 HARRIS/PRIESTER ATMOSPHERE (MIN-MAX) 0-2000 KM F=65 + +ATMOSPHERIC DENSITY MODEL + + ALTITUDE MINIMUM DENSITY MAXIMUM DENSITY + (IN KM) (IN KG/KM**3) (IN KG/KM**3) + + 1.1000000E+02 7.8000000E+01 7.8000000E+01 + 1.2000000E+02 2.4900000E+01 2.4900000E+01 + 1.3000000E+02 8.9780000E+00 9.3310000E+00 + 1.4000000E+02 4.0690000E+00 4.2120000E+00 + 1.5000000E+02 2.0860000E+00 2.1680000E+00 + 1.6000000E+02 1.1460000E+00 1.2360000E+00 + 1.7000000E+02 6.6160000E-01 7.5580000E-01 + 1.8000000E+02 4.0160000E-01 4.8850000E-01 + 1.9000000E+02 2.5300000E-01 3.2740000E-01 + 2.0000000E+02 1.6280000E-01 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-6.973608546294e-10 -9.592734918761e-11 +70 66 6.589507629522e-10 9.993522569046e-10 +70 67 1.611552222355e-09 9.019615962122e-10 +70 68 -1.921452713662e-09 -4.526194609488e-10 +70 69 1.037586298564e-09 -7.260039790825e-10 +70 70 -4.632128129925e-10 -3.960579830277e-09 + +END Coefficients diff --git a/data/core/forces/moonGravity/LP165P-Cov.grv b/data/core/forces/moonGravity/LP165P-Cov.grv new file mode 100644 index 0000000..d6b8234 --- /dev/null +++ b/data/core/forces/moonGravity/LP165P-Cov.grv @@ -0,0 +1,13892 @@ +STK.v.4.2.1 + +Model LP165P +Degree 165 +Order 165 +Gm 4.902801056E+12 +GmUncertainty .2170000000000000E+06 +RefDistance 1.7380000000000000E+06 +Normalized Yes + +# File created 30 Aug 2002 + +#This file contains coefficients and related data for the LP165P +#Spherical Harmonic model of the Moon's gravity field. + +#Input data are from: +# - Radio tracking of the Lunar Orbital 1 to 5 +# - Apollo 15 and 16 subsatellites +# - Clementine +# - All data (Jan 11, 1998 to July 30, 1999) from Lunar Prospector + +#The Lunar Prospector Lunar gravity model originates from the +#Spherical Harmonics Gravity ASCII Data Record (SHGADR) and is +#produced by the Lunar Prospector Gravity Science Team at JPL +#under the direction of A.S. Konopliv + +# See http://pds-geophys.wustl.edu/pds/lunar_prospector/ +# and ftp://pds-geophys.wustl.edu/pub/www/lunar_prospector/sha/jgl165p1.sha + + +BEGIN Coefficients +1 0 0.0000000000000000E+00 0.0000000000000000E+00 0.0000000000000000E+00 0.0000000000000000E+00 +1 1 0.0000000000000000E+00 0.0000000000000000E+00 0.0000000000000000E+00 0.0000000000000000E+00 +2 0 -9.0890180750600000E-05 0.0000000000000000E+00 5.4625253823900000E-09 0.0000000000000000E+00 +2 1 -2.7220323615900000E-09 -7.5751829208300000E-10 4.5053155828300000E-09 3.4859214171100000E-09 +2 2 3.4635499372200000E-05 1.6729490538300000E-08 3.6845873591800000E-09 3.0422206650000000E-09 +3 0 -3.2035914003000000E-06 0.0000000000000000E+00 6.4829919438900000E-09 0.0000000000000000E+00 +3 1 2.6327440121800000E-05 5.4643630898200000E-06 7.4968825042700000E-09 4.4654019480600000E-09 +3 2 1.4188179329400000E-05 4.8920365004800000E-06 6.7425248529300000E-09 6.0374027719200000E-09 +3 3 1.2286058944700000E-05 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data (Jan 11, 1998 to July 30, 1999) from Lunar Prospector + +#The Lunar Prospector Lunar gravity model originates from the +#Spherical Harmonics Gravity ASCII Data Record (SHGADR) and is +#produced by the Lunar Prospector Gravity Science Team at JPL +#under the direction of A.S. Konopliv + +# See http://pds-geophys.wustl.edu/pds/lunar_prospector/ +# and ftp://pds-geophys.wustl.edu/pub/www/lunar_prospector/sha/jgl165p1.sha + + +BEGIN Coefficients +1 0 0.0000000000000000E+00 0.0000000000000000E+00 +1 1 0.0000000000000000E+00 0.0000000000000000E+00 +2 0 -9.0890180750600000E-05 0.0000000000000000E+00 +2 1 -2.7220323615900000E-09 -7.5751829208300000E-10 +2 2 3.4635499372200000E-05 1.6729490538300000E-08 +3 0 -3.2035914003000000E-06 0.0000000000000000E+00 +3 1 2.6327440121800000E-05 5.4643630898200000E-06 +3 2 1.4188179329400000E-05 4.8920365004800000E-06 +3 3 1.2286058944700000E-05 -1.7854480816400000E-06 +4 0 3.1973095717200000E-06 0.0000000000000000E+00 +4 1 -5.9966018301500000E-06 1.6619345194700000E-06 +4 2 -7.0818069269700000E-06 -6.7836271726900000E-06 +4 3 -1.3622983381300000E-06 -1.3443472287100000E-05 +4 4 -6.0257787358300000E-06 3.9396371953800000E-06 +5 0 -2.1570382068200000E-07 0.0000000000000000E+00 +5 1 -1.0191956537600000E-06 -4.1092541507300000E-06 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+46.0 -9.19 +47.0 -8.79 +48.0 -8.32 +49.0 -7.84 +50.0 -7.40 +51.0 -7.05 +52.0 -6.81 +53.0 -6.66 +54.0 -6.61 +55.0 -6.65 +56.0 -6.78 +57.0 -7.02 +58.0 -7.36 +59.0 -7.82 +60.0 -8.40 +61.0 -9.12 +62.0 -9.98 +63.0 -11.00 +64.0 -12.17 +65.0 -13.52 \ No newline at end of file diff --git a/data/core/gps/antennas/ballhybrid_10db_60deg.txt b/data/core/gps/antennas/ballhybrid_10db_60deg.txt new file mode 100644 index 0000000..ba4cc1e --- /dev/null +++ b/data/core/gps/antennas/ballhybrid_10db_60deg.txt @@ -0,0 +1,15 @@ +-5.0000 9.8750 +0 10.0000 +5.0000 9.8750 +10.0000 9.3750 +12.0000 9.0000 +15.0000 8.2500 +20.0000 7.0000 +25.0000 5.2500 +30.0000 3.5000 +35.0000 1.2500 +40.0000 -0.7500 +45.0000 -2.7500 +50.0000 -4.5000 +55.0000 -7.0000 +60.0000 -10.000 \ No newline at end of file diff --git a/data/core/gps/antennas/patch.txt b/data/core/gps/antennas/patch.txt new file mode 100644 index 0000000..95d909d --- /dev/null +++ b/data/core/gps/antennas/patch.txt @@ -0,0 +1,13 @@ +0.0 4.00 +2.5 4.00 +7.5 4.00 +12.5 4.00 +17.5 4.00 +22.5 3.80 +27.5 3.60 +32.5 3.30 +37.5 3.00 +42.5 2.50 +47.5 2.00 +52.5 1.00 +57.5 0.30 \ No newline at end of file diff --git a/data/core/groundstations/DBS_NDOSL_WGS84.txt b/data/core/groundstations/DBS_NDOSL_WGS84.txt new file mode 100644 index 0000000..c1f51ed --- /dev/null +++ b/data/core/groundstations/DBS_NDOSL_WGS84.txt @@ -0,0 +1,3867 @@ + + + + + + + + + + + + + + + + + + + + # # ##### ##### ##### # + # # # # # # # # # # # + # # # # # # # # # + # # # # #### ##### ##### # # + # # # # # # # # ####### + # # # # # # # # # # + ## ## ##### ##### ##### # + + + ********************************************************** + ********************************************************** + ** ** + ** NN NN DDDDDD OOOOO SSSSS LLL ** + ** NNN NN DDDDDDD OOOOOOO SSSSSSS LLL ** + ** NNNN NN DD DD OO OO SS LLL ** + ** NN NN NN DD DD OO OO SSSSSSS LLL ** + ** NN NNNN DD DD OO OO SS LLL ** + ** NN NNN DDDDDDD OOOOOOO SSSSSSS LLLLLLL ** + ** NN NN DDDDDD OOOOO SSSSS LLLLLLL ** + ** ** + ** NASA DIRECTORY OF STATION LOCATIONS ** + ** ** + ********************************************************** + ********************************************************** + + Mar 07,2007 + + + + + + + + + + + + + + + + + ********************************************************** + ********************************************************** + ** ** + ** NN NN DDDDDD OOOOO SSSSS LLL ** + ** NNN NN DDDDDDD OOOOOOO SSSSSSS LLL ** + ** NNNN NN DD DD OO OO SS LLL ** + ** NN NN NN DD DD OO OO SSSSSSS LLL ** + ** NN NNNN DD DD OO OO SS LLL ** + ** NN NNN DDDDDDD OOOOOOO SSSSSSS LLLLLLL ** + ** NN NN DDDDDD OOOOO SSSSS LLLLLLL ** + ** ** + ** NASA DIRECTORY OF STATION LOCATIONS ** + ** ** + ********************************************************** + ********************************************************** + THE INFORMATION CONTAINED IN THIS BOOKLET IS COMPILED FOR + AND IS INTENDED TO BE USED PRIMARILY BY THE + FLIGHT DYNAMICS PERSONNEL + GODDARD SPACE FLIGHT CENTER, + GREENBELT, MARYLAND + + + GSFC IS NOT RESPONSIBLE FOR ANY POSSIBLE MISUSE OR + MISINTERPRETATION OF THE INFORMATION CONTAINED HEREIN. + + + PREPARED AND DISTRIBUTED FOR GSFC FDF + + + FORWARD ANY QUESTIONS OR COMMENTS TO: + FLIGHT DYNAMICSC SYSTEM SUPPORT + JENNY WANG (301)286-8782 + E-mail wang@ai-solutions.com + + + + + TABLE OF CONTENTS + + + SECT. A: MODIFICATIONS MADE SINCE THE LAST ISSUE. + + + SECT. B: FLAGS & FOOTNOTES USED THROUGHOUT DIRECTORY. + + + SECT. C: DEFINITIONS OF STATION ACRONYM SUFFIXES USED AT THE GSFC. + + + SECT. D: TABLE OF SPHEROID CONSTANTS AND DATUM SHIFT INFORMATION USED AT THE GSFC. + + + TABLE 1: GEODETIC POSITIONS ON WORLD SYSTEM BY STDN CODE. + + + TABLE 2: GEOCENTRIC POSITIONS ON WORLD SYSTEM BY STDN CODE. + + + TABLE 3: POSITIONS ON LOCAL DATUM BY STDN CODE. + + + TABLE 4: NASA NUMBER/STDN CODE CROSS REFERENCE. + + + TABLE 5: CROSS REFERENCE BY EQUIPMENT TYPE AND STDN CODE. + + + TABLE 12: CROSS REFERENCE LIST BY LOCATIONS. + + + TABLE 14: ESN NUMBER/STDN CODE CROSS REFERENCE OF ACTIVE STATIONS. + C-BAND ESN NUMBERS ARE DEFINED AS THE 2-DIGIT ID PLUS THE RADAR TYPE ID. + + + TABLE 15: STDN CODE/ESN NUMBER CROSS REFERENCE OF ACTIVE STATIONS. + C-BAND ESN NUMBERS ARE DEFINED AS THE 2-DIGIT ID PLUS THE RADAR TYPE ID. + + + TABLE 16: CROSS REFERENCE OF JSC AND GSFC IDS. + + + TABLE 17: CROSS REFERENCE OF GSFC AND JSC IDS. + + + + + + + + + + + SECT. A: MODIFICATIONS MADE SINCE LAST ISSUE AND CURRENT AS OF Mar 07,2007 + + + + SPECIFIC SITE INFORMATION IS CONTAINED IN THE REMARKS COLUMN OF TABLE 1. + THE DATE OF THE MOST CURRENT INFORMATION IS PRESENTED IN MONTH-YEAR FORMAT. + + + + + ALL TLRS SITES HAVE PAD GEODETICS ONLY. + ALL MOBLAS AND SAO SITES HAVE OCCUPANCY CORRECTIONS ADDED. + + + ************************************************************************ + **** THIS ISSUE SUPERSEDES AND REPLACES ALL ISSUES PRIOR **** + **** TO JANUARY 01,2007 **** + **** **** + **** IT IS INTENDED TO BE USED BY FLIGHT DYNAMICS PERSONNEL **** + **** AND IS NOT INTENDED FOR EXTERNAL DISTRIBUTION **** + **** **** + ************************************************************************ + + This edition replaces all issues prior to January 01, 2007 and + + contains the use of WGS-84 for all local station coordinates + + when available. The STDN-73 coordinate system has been + + re-defined so that all STDN-73 geocentric cartesian coordinates + + are identical to WGS-84 geocentric cartesian coordinates. + + + + SECT. B: FLAGS & FOOTNOTES USED THROUGHOUT LISTING + + + + + + + + + % Station deactivated or in caretaker status + + + * Insufficient data + + + # Approximate location + + + $ Datum shifts not available + + + & Proposed + + SECT. C: STATION ACRONYM SUFFIX LIST + + + -A: USB30: 9 METER, X-Y E-W + + -B: ATSR S-BD RELAY + + -C: CAMERA OR OPTICAL + + -D: DEEP SPACE, RADIO TELESCOPES AND VLBI + + -E: TLM 26 METER, X-Y PARABOLIC + + -F: C-BD: FPS-16, MPS-36, CAPRI, TRADEX, TACAN + + -G: GRARR S-BD + + -I: RANGE/VALIDATION + + -J: TDRSS BILATERATION RANGING TRANSPONDER + + -K: K-BD + + -L: LASERS + + -M: INTERFEROMETERS OR MINITRACKS + + -P: LAUNCH PADS, RUNWAYS, MPS LANDING STATIONS + + -Q: C-BD: FPQ SERIES, TPQ-18, ALCOR + + -R: ATSR AND TLM + + -S: SRE, USB 4 METER, S-BD TLM + + -T: C-BD: TPQ-18 + + -U: TDRS SATELLITE + + -V: VHF: GRARR, SATAN(TX+RX) + + -X: SRE-VHF: SATAN(TX), TLM + + -Y: SRE-VHF: SATAN(RX), TLM; AIRCRAFT + + -Z: SRE-VHF: SATAN(TX), SCAMP(TX), UHF, TLM, ALTA IR + + -3: USB30: 6, 9, 26 METER, X-Y N-S + + -4: TLM 12 METER & X-Y PARABOLIC + + -8: USB85: 26 METER, X-Y E-W + + -9: DOPPLER & GEOCEIVER + + -$: SECOR + + + + SECT. D1: SPHEROID CONSTANTS + + NO SPHEROID R (M) 1/F + + 1 AIRY 6377563.4000 299.325000000 + + 2 BESSEL 6377397.1550 299.152800000 + + 3 CLARKE66 6378206.4000 294.978700000 + + 4 CLARKE80 6378249.1450 293.465000000 + + 5 EVEREST 6377276.3450 300.810700000 + + 6 HOUGH 6378270.0000 297.000000000 + + 7 INTERNAT 6378388.0000 297.000000000 + + 8 REFEL67 6378160.0000 298.250000000 + + 9 KRASS 6378245.0000 298.300000000 + + 10 ASTRO 6378166.0000 298.300000000 + + 11 MERCURY 6378166.0000 298.300000000 + + 12 MODMERC 6378150.0000 298.300000000 + + 13 WGS72 6378135.0000 298.260000000 + + 14 NWL9D 6378145.0000 298.250000000 + + 15 SAOSEIII 6378140.0000 298.256000000 + + 16 GEM6 6378144.0000 298.257000000 + + 17 SAO66 6378155.0000 298.250000000 + + 18 SAO67 6378142.0000 298.255000000 + + 19 SAO69 6378155.0000 298.250000000 + + 20 SAO76 6378135.0000 298.296000000 + + 21 MARSH 6378155.0000 298.255000000 + + 22 WGS66 6378145.0000 298.250000000 + + 23 GEM10 6378140.0000 298.255000000 + + 24 GEM09 6378140.0000 298.250000000 + + 25 WGS84 6378137.0000 298.257223563 + + 26 GRS80 6378137.0000 298.257222101 + + + + Mar 07,2007 + + SECT. D2: DATUM SHIFTS STDN-73 + METERS + NO DATUM AREA SPHEROID DX DY DZ + + 1 INTERN 0-SHIFTS 7 0 0 0 + 2 CLAR80 0-SHIFTS 4 0 0 0 + 3 CLAR66 0-SHIFTS 3 0 0 0 + 4 BESSEL 0-SHIFTS 2 0 0 0 + 5 EVERST 0-SHIFTS 5 0 0 0 + 6 MERC60 0-SHIFTS 11 0 0 0 + 7 MODM68 0-SHIFTS 12 0 0 0 + 8 REF67 0-SHIFTS 8 0 0 0 + 9 WGS72 0-SHIFTS 13 0 0 0 + 10 ASTRO 0-SHIFTS 10 0 0 0 + 11 SAOSE3 0-SHIFTS 15 0 0 0 + 12 NWL9D 0-SHIFTS 14 0 0 0 + 13 NAD27 SE US 3 -7 158 181 + 14 EUR50 7 -87 -98 -121 + 15 TOKYO 2 -128 481 664 + 16 AGD66 W-AUST 8 -133 -48 148 + 17 ARC50 4 -143 -90 -294 + 18 INDIAN 5 214 836 303 + 19 OHAW KAUAI 3 61 -285 -181 + 20 SAD69 SANTIAGO 8 -57 1 -41 + 21 CANT63 7 0 0 0 + 22 ADINDN 4 -162 -12 206 + 23 JHNSTN 7 191 -77 -204 + 24 INCOMP 0-SHIFTS 11 0 0 0 + 25 0SHIFT 0-SHIFTS 11 0 0 0 + 26 EUR50 0-SHIFTS 7 0 0 0 + 27 AMSAM 3 -109 134 421 + 28 ASC58 7 -207 107 52 + 29 BERM57 3 -73 213 296 + 30 GUAM63 3 -100 -248 259 + 31 PICO 7 -307 -92 127 + 32 TANAN 7 -183 -256 -104 + 33 NAD27 NE-C-US 3 -8 160 176 + 34 NAD27 3 -8 160 176 + 35 NAD27 WEST US 3 -10 149 181 + 36 NAD27 ALASKA 3 -8 160 176 + 37 NAD27 S-C-US 3 -8 160 176 + 38 NAD27 CANADA 3 -10 158 187 + 39 AGD66 ACT 8 -133 -48 148 + 40 AGD66 CEN-AUST 8 -133 -48 148 + 41 SAD69 QUITO 8 -57 1 -41 + 42 SAD69 ARG 8 -57 1 -41 + 43 SAD69 PERU 8 -57 1 -41 + 44 EUR50 INDIA 7 -84 -103 -127 + 45 SAD69 CUR 8 -57 1 -41 + 46 EUR50 ENGLAND 7 -87 -98 -121 + 47 EUR50 IRAN 7 -87 -98 -121 + 48 EUR50 GREECE 7 -87 -98 -121 + 49 SAD69 BRAZIL 8 -57 1 -41 + 50 NZ49 7 84 -22 209 + 51 OHAW MAUI 3 61 -285 -181 + 52 OHAW OAHU 3 61 -285 -181 + 53 LUZON KWAJ 3 -133 -77 -51 + 54 WKEN60 KWAJ 6 101 52 -39 + + + Mar 07,2007 + + SECT. D2: DATUM SHIFTS STDN-73 + METERS + NO DATUM AREA SPHEROID DX DY DZ + + 55 WKEN60 WAKE 6 101 52 -39 + 56 WKEN60 ENIWETOK 6 101 52 -39 + 57 WAKE52 7 283 -44 141 + 58 CANT66 7 298 -304 -375 + 59 IGN67 DIANE 7 -201 188 104 + 60 SEISL 4 -31 -190 -284 + 61 MARSH 0-SHIFTS 21 0 0 0 + 62 WGS66 DODWGS66 22 5 1 -16 + 63 NAD27 WCT 3 -8 160 176 + 64 NAD27 EAFB 3 -8 160 176 + 65 GEM10 0-SHIFTS 23 0 0 0 + 66 OSGB70 (SN) 1 375 -111 431 + 67 EUR79 7 -86 -98 -119 + 68 GEM09 0-SHIFTS 24 0 0 0 + 69 WGS84 0-SHIFTS 25 0 0 0 + 70 NAD83 0-SHIFTS 26 0 0 0 + + + Mar 07,2007 + + SECT. D3: DATUM SHIFTS WGS-72 + METERS + NO DATUM AREA SPHEROID DX DY DZ + + 1 INTERN 0-SHIFTS 7 0 0 0 + 2 CLAR80 0-SHIFTS 4 0 0 0 + 3 CLAR66 0-SHIFTS 3 0 0 0 + 4 BESSEL 0-SHIFTS 2 0 0 0 + 5 EVERST 0-SHIFTS 5 0 0 0 + 6 MERC60 0-SHIFTS 11 0 0 0 + 7 MODM68 0-SHIFTS 12 0 0 0 + 8 REF67 0-SHIFTS 8 0 0 0 + 9 WGS72 0-SHIFTS 13 0 0 0 + 10 ASTRO 0-SHIFTS 10 0 0 0 + 11 SAOSE3 0-SHIFTS 15 0 0 0 + 12 NWL9D 0-SHIFTS 14 0 0 0 + 13 NAD27 SE US 3 -22 157 176 + 14 EUR50 7 -84 -103 -127 + 15 TOKYO 2 -140 516 673 + 16 AGD66 W-AUST 8 -122 -41 146 + 17 ARC50 4 -129 -131 -282 + 18 INDIAN 5 0 0 0 + 19 OHAW KAUAI 3 46 -271 -181 + 20 SAD69 SANTIAGO 8 -77 3 -45 + 21 CANT63 7 0 0 0 + 22 ADINDN 4 -152 -26 212 + 23 JHNSTN 7 192 -59 -213 + 24 INCOMP 0-SHIFTS 13 0 0 0 + 25 0SHIFT 0-SHIFTS 13 0 0 0 + 26 EUR50 0-SHIFTS 7 0 0 0 + 27 AMSAM 3 -109 134 421 + 28 ASC58 7 -214 93 49 + 29 BERM57 3 -89 213 289 + 30 GUAM63 3 -89 -235 254 + 31 PICO 7 -294 -104 149 + 32 TANAN 7 -183 -256 -104 + 33 NAD27 NE-C-US 3 -22 157 176 + 34 NAD27 3 -22 157 176 + 35 NAD27 WEST US 3 -22 157 176 + 36 NAD27 ALASKA 3 -9 139 173 + 37 NAD27 S-C-US 3 -22 157 176 + 38 NAD27 CANADA 3 -9 139 173 + 39 AGD66 ACT 8 -122 -41 146 + 40 AGD66 CEN-AUST 8 -122 -41 146 + 41 SAD69 QUITO 8 -77 3 -45 + 42 SAD69 ARG 8 -77 3 -45 + 43 SAD69 PERU 8 -77 3 -45 + 44 EUR50 INDIA 7 -84 -103 -127 + 45 SAD69 CUR 8 -77 3 -45 + 46 EUR50 ENGLAND 7 -84 -103 -127 + 47 EUR50 IRAN 7 -84 -103 -127 + 48 EUR50 GREECE 7 -84 -103 -127 + 49 SAD69 BRAZIL 8 -77 3 -45 + 50 NZ49 7 87 -29 204 + 51 OHAW MAUI 3 65 -272 -197 + 52 OHAW OAHU 3 56 -268 -187 + 53 LUZON KWAJ 3 -126 -80 -63 + 54 WKEN60 KWAJ 6 112 68 -44 + + + Mar 07,2007 + + SECT. D3: DATUM SHIFTS WGS-72 + METERS + NO DATUM AREA SPHEROID DX DY DZ + + 55 WKEN60 WAKE 6 121 62 -22 + 56 WKEN60 ENIWETOK 6 144 62 -38 + 57 WAKE52 7 283 -44 141 + 58 CANT66 7 294 -288 -382 + 59 IGN67 DIANE 7 -201 188 104 + 60 SEISL 4 -31 -190 -284 + 61 MARSH 0-SHIFTS 21 0 0 0 + 62 WGS66 DODWGS66 22 5 1 -16 + 63 NAD27 WCT 3 -30 159 178 + 64 NAD27 EAFB 3 -26 158 176 + 65 GEM10 0-SHIFTS 23 0 0 0 + 66 OSGB70 (SN) 1 370 -119 425 + 67 EUR79 7 -78 -101 -126 + 68 GEM09 0-SHIFTS 24 0 0 0 + 69 WGS84 0-SHIFTS 25 0 0 0 + 70 NAD83 0-SHIFTS 26 0 0 0 + + + Mar 07,2007 + + SECT. D4: DATUM SHIFTS WGS-84 + METERS + NO DATUM AREA SPHEROID DX DY DZ + + 1 INTERN 0-SHIFTS 7 0 0 0 + 2 CLAR80 0-SHIFTS 4 0 0 0 + 3 CLAR66 0-SHIFTS 3 0 0 0 + 4 BESSEL 0-SHIFTS 2 0 0 0 + 5 EVERST 0-SHIFTS 5 0 0 0 + 6 MERC60 0-SHIFTS 11 0 0 0 + 7 MODM68 0-SHIFTS 12 0 0 0 + 8 REF67 0-SHIFTS 8 0 0 0 + 9 WGS72 0-SHIFTS 13 0 0 0 + 10 ASTRO 0-SHIFTS 10 0 0 0 + 11 SAOSE3 0-SHIFTS 15 0 0 0 + 12 NWL9D 0-SHIFTS 14 0 0 0 + 13 NAD27 SE US 3 -7 158 181 + 14 EUR50 7 -87 -98 -121 + 15 TOKYO 2 -128 481 664 + 16 AGD66 W-AUST 8 -133 -48 148 + 17 ARC50 4 -143 -90 -294 + 18 INDIAN 5 214 836 303 + 19 OHAW KAUAI 3 61 -285 -181 + 20 SAD69 SANTIAGO 8 -57 1 -41 + 21 CANT63 7 0 0 0 + 22 ADINDN 4 -162 -12 206 + 23 JHNSTN 7 191 -77 -204 + 24 INCOMP 0-SHIFTS 25 0 0 0 + 25 0SHIFT 0-SHIFTS 25 0 0 0 + 26 EUR50 0-SHIFTS 7 0 0 0 + 27 AMSAM 3 -109 134 421 + 28 ASC58 7 -207 107 52 + 29 BERM57 3 -73 213 296 + 30 GUAM63 3 -100 -248 259 + 31 PICO 7 -307 -92 127 + 32 TANAN 7 -183 -256 -104 + 33 NAD27 NE-C-US 3 -8 160 176 + 34 NAD27 3 -8 160 176 + 35 NAD27 WEST US 3 -10 149 181 + 36 NAD27 ALASKA 3 -8 160 176 + 37 NAD27 S-C-US 3 -8 160 176 + 38 NAD27 CANADA 3 -10 158 187 + 39 AGD66 ACT 8 -133 -48 148 + 40 AGD66 CEN-AUST 8 -133 -48 148 + 41 SAD69 QUITO 8 -57 1 -41 + 42 SAD69 ARG 8 -57 1 -41 + 43 SAD69 PERU 8 -57 1 -41 + 44 EUR50 INDIA 7 -84 -103 -127 + 45 SAD69 CUR 8 -57 1 -41 + 46 EUR50 ENGLAND 7 -87 -98 -121 + 47 EUR50 IRAN 7 -87 -98 -121 + 48 EUR50 GREECE 7 -87 -98 -121 + 49 SAD69 BRAZIL 8 -57 1 -41 + 50 NZ49 7 84 -22 209 + 51 OHAW MAUI 3 61 -285 -181 + 52 OHAW OAHU 3 61 -285 -181 + 53 LUZON KWAJ 3 -133 -77 -51 + 54 WKEN60 KWAJ 6 101 52 -39 + + + Mar 07,2007 + + SECT. D4: DATUM SHIFTS WGS-84 + METERS + NO DATUM AREA SPHEROID DX DY DZ + + 55 WKEN60 WAKE 6 101 52 -39 + 56 WKEN60 ENIWETOK 6 101 52 -39 + 57 WAKE52 7 283 -44 141 + 58 CANT66 7 298 -304 -375 + 59 IGN67 DIANE 7 -201 188 104 + 60 SEISL 4 -31 -190 -284 + 61 MARSH 0-SHIFTS 21 0 0 0 + 62 WGS66 DODWGS66 22 5 1 -16 + 63 NAD27 WCT 3 -8 160 176 + 64 NAD27 EAFB 3 -8 160 176 + 65 GEM10 0-SHIFTS 23 0 0 0 + 66 OSGB70 (SN) 1 375 -111 431 + 67 EUR79 7 -86 -98 -119 + 68 GEM09 0-SHIFTS 24 0 0 0 + 69 WGS84 0-SHIFTS 25 0 0 0 + 70 NAD83 0-SHIFTS 26 0 0 0 + + + Mar 07,2007 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |A17P |Cape Canaveral, FL |1471 | |Launch station | 28 26 49.7798 |279 26 06.2658 | -7.210| 10-91 stand 17A | + | | | | | | | | | DELTA | + |A36P |Cape Canaveral, FL |1462 | |Launch station | 28 28 17.1779 |279 27 44.2004 | 1.360| 10-91 stand 36A | + | | | | | | | | | Atlas/Centaur | + |A39P |False Cape, FL |1458 | |Launch pad 39A | 28 36 29.7895 |279 23 45.1805 | 34.420| 10-91 Saturn | + | | | | | | | | | Shuttle KSC-39A | + | | | | | | | | | | + |A40P |Cape Canaveral, FL |1460 | |Launch Pad 40A | 28 33 43.1618 |279 25 22.1029 | -14.510| 03-97 stand 40A | + | | | | | | | | | Titan | + |A41P%|Cape Canaveral, FL |1461 %| |Launch Pad 41A | 28 35 00.4483%|279 25 01.6584 | -14.520| 03-97 stand 41A | + | | | | | | | | | Titan | + |A46P |Cape Canaveral, FL |1464 | 46|Launch Pad 46A | 28 27 30.5698 |279 28 17.7508 | -17.640| 03-97 stand 46A | + | | | | | | | | | Athena | + | | | | | | | | | | + |AC2J |Ascension Island |0208 | |BRT 2-ft manual az-el | -7 55 04.4961 |345 36 33.2355 | 71.470| 12-91 mid pt of | + | | | | | | | | | center of el | + | | | | | | | | | axes of 2 BRTS | + |ACN3%|Ascension Island |1306 %| 75|USB 9m X-Y n-s | -7 57 17.5769%|345 40 22.4282 | 561.403| 7-70 grav/topo | + |ACNJ |Ascension Island |0207 | |BRT 2-ft manual az-el | -7 55 04.4961 |345 36 33.2355 | 71.470| 12-91 mid pt of | + | | | | | | | | | center of el | + | | | | | | | | | axes of 2 BRTS | + | | | | | | | | | | + |ADRQ |Kourou, Fr.Guiana |4284 | |C-bd | 5 12 32.8581 |307 15 05.7560 | -13.808| 03-93 | + |AG1S |Poker Flats, AK |1701 | 29|S-bd X-bd, 11 meter, | 65 07 00.1210 |212 32 19.6650 | 436.700| 12-97 EOS tel., | + | | | | | az-el | | | | rep. | + | | | | | | | | | WT2S(4/99),09-2 | + |AG23 |Santiago, Chile |1377 | 73|S-bd 7-meter X-Y N-S |-33 09 06.4589 |289 19 57.6779 | 730.000| 09-97 Updated | + | | | | | | | | | | + |AG33 |Santiago, Chile |1404 | 70|USB S-bd 12-meter X-Y |-33 09 05.3227 |289 19 54.0928 | 730.853| 09-97 Updated, | + | | | | | N-S | | | | was AGO4 | + |AGO3 |Santiago, Chile |1319 | 54|USB S-band 9-meter X/Y |-33 09 03.9869 |289 20 00.9492 | 733.301| 09-97 Updated | + | | | | | N-S | | | | | + |ALAY |Alamo Peak, NM |1707 | 72|Tlm S-bd 7.3m TAS | 32 52 21.1192 |254 11 15.4339 | 2796.240| 2-78 US Army | + | | | | | az-el | | | | WSMR | + | | | | | | | | | | + |ALSJ |Alice Springs, N.T., |0204 | |BRT 2-ft manual az-el |-23 45 31.7176 |133 52 57.3546 | 576.542| 12-91 DMA | + | | Aust | | | | | | | center of el | + | | | | | | | | | axis | + |AMEY$|N.E. Pacific Ocean |0301 $| 26|Aircraft AMES C-141 | 36 11 00.0000*|226 37 00.0000 | 2500.000| 9-81 SHUTTLE | + | | | | | az-el | | | | re-entry acq | + | | | | | | | | | | + |AMSJ |Am Samoa, Tutuila |0205 | |BRT 2-ft manual az-el |-14 19 53.2000 |189 16 50.1000 | 55.400| 12-91 mid pt of | + | | | | | | | | | center of el | + | | | | | | | | | axes of 2 BRTS | + |AN3S |Antigua |1704 | 90|S-bd 10m az-el | 17 08 13.0230 |298 13 32.3400 | -16.590| GOES-L Early | + | | | | | | | | | Orbit Support, | + | | | | | | | | | telemetry stati | + ---------------------------------------------------------------------------------------------------------------------------------- + * Insufficient data + % Station closed or inactive & Proposed + T1- 1 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |AN8S |Antigua |1705 | 89|S-bd 24m az-el | 17 08 11.8496 |298 13 32.5566 | -4.560| GOES-L Early | + | | | | | | | | | Orbit Support, | + | | | | | | | | | telemetry stati | + |ANPC |Anderson Peak, CA |0623 | 3|Camera DMI TV az-el | 36 10 49.8851 |238 21 20.3577 | 1191.780| 10-91 WSMC | + | | | | | | | | | 100T03 | + | | | | | | | | | Vandenberg adj | + | | | | | | | | | | + |ANTQ |Antigua |4087 | 911|C-bd FPQ-14 8.8m az-el | 17 08 37.1440 |298 12 26.9550 | 3.630| 6-93 | + | | | | | on-axis | | | | ETR,ht.corr. | + |AREL |Arequipa, Peru |7907 |7907|Laser-SAO |-16 27 56.5286 |288 30 25.0031 | 2502.812| 5-86 | + | | | | | | | | | resurveyed; see | + | | | | | | | | | #9007-AR2C | + | | | | | | | | | | + |AS2Q |Ascension Island |4765 | 104|C-bd TPQ-11 8.8m, | -7 58 22.1025 |345 35 56.5769 | 143.500| 10-91 USAF ETR | + | | | | | az-el | | | | repl #4042, | + | | | | | | | | | 05/2002 | + |ASCQ |Ascension Island |4045 | 702|C-bd FPQ-15 8.5m az-el | -7 54 23.8867 |345 35 51.0000 | 56.000| 10-91 was | + | | | | | on-axis | | | | called TTR | + | | | | | | | | | radar | + | | | | | | | | | | + |ASNS |AscensioN Island |1726 | 41|S-bd 4m az-el | -7 55 00.0018 |345 40 00.0000 | 23.004| 12-91 STDN-73 | + | | | | | | | | | datum | + |ATDQ |Atlanta, Ga. |4862 | 156|S-bd | 33 55 51.1830 |275 53 28.9322 | 282.637| renamed ATDS | + | | | | | | | | | 10/92 | + | | | | | | | | | transportable | + | | | | | | | | | | + |ATDS |Atlanta, Ga. |4862 | 156|S-bd | 33 55 51.1830 |275 53 28.9322 | 282.637| old ATDQ 10/92 | + |ATLS |Atlanta, Georgia |1736 | 33|S-bd 11m az-el | 33 55 51.1200 |275 53 29.8800 | 260.000| 12-97 ACE test | + | | | | | | | | | station | + |ATMY |Atom Peak, NM |1708 | |Tlm S-bd 7.3m TAS | 33 44 22.6673 |253 38 07.5954 | 2395.244| 2-78 WSMR N. | + | | | | | az-el | | | | Oscuro Peak | + | | | | | | | | | | + |AUSS |Aussaguel, France |4259 | 18|S-bd az-el 11m | 43 25 43.3056 | 1 29 57.8832 | 260.479| uplink/downlink | + | | | | | | | | | 12/95 | + |AUWS |Dongara,WA Australia |1902 | |S-band, 13m az-el |-29 02 44.7651 |115 20 55.2050 | 250.600| 01-2003,USN | + | | | | | | | | | station | + |B17P |Cape Canaveral, FL |1472 | |Launch station | 28 26 44.8455 |279 26 03.6620 | -7.250| 10-91 stand 17B | + | | | | | | | | | DELTA | + | | | | | | | | | | + |B36P |Cape Canaveral, FL |1463 | |Launch station | 28 28 06.1239 |279 27 32.5653 | 0.460| 10-91 stand 36B | + | | | | | | | | | Atlas/Centaur | + |B37P |Cape Canaveral, FL |1451 | |Launch Pad 37B | 28 31 52.3900 |279 26 07.9510 | -19.970| 06/2001 CX 37B | + | | | | | | | | | Flame Chute | + |B39P |False Cape, FL |1459 | |Launch station | 28 37 37.7783 |279 22 44.9412 | 37.940| 10-91 Shuttle | + | | | | | | | | | KSC-39B | + ---------------------------------------------------------------------------------------------------------------------------------- + T1- 2 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |BANF |Bangalore |4020 | 9|C-bd az-el | 13 01 48.0000 | 77 30 36.0000 | 838.000| 12-99 ACE RTSW | + | | | | | | | | | tracking | + | | | | | | | | | prediction | + |BDA3%|Bermuda |1303 %| 2|USB 9m X-Y n-s | 32 21 04.5631%|295 20 31.6020 | -11.380| 12-91 same as | + | | | | | | | | | BDD3 | + | | | | | | | | | (Deactivated) | + | | | | | | | | | | + |BDAA%|Bermuda |1360 %| 36|USB 9m X-Y e-w | 32 21 04.1494%|295 20 28.3574 | -7.323| 7-87 relocated | + | | | | | | | | | from Madrid; | + | | | | | | | | | (Deactivated) | + |BDAL |Bermuda |7067 | |Laser-mobile | 32 21 13.7408 |295 20 38.0177 | -15.731| 7-75 ML0103 | + | | | | | | | | | ML0107 | + | | | | | | | | | (Deactivated) | + | | | | | | | | | | + |BDAQ%|Bermuda |4760 %| 1|C-bd FPQ-6 8.8m az-el | 32 20 52.5955%|295 20 47.5819 | -9.880| 6/93 - ETR | + | | | | | | | | | ht.corr. | + | | | | | | | | | (Deactivated) | + |BDDQ%|Bermuda |4760 %| 1|C-bd FPQ-6 8.8m az-el | 32 20 52.5955%|295 20 47.5819 | -9.880| 6/93 - | + | | | | | | | | | ETR,ht.corr. | + | | | | | | | | | (Deactivated) | + | | | | | | | | | | + |BLKQ |Black Is. Antarctica |4263 | 6|K-band az-el |-78 07 46.4840 |166 09 01.5580 | 162.512| TDRSS Relay | + | | | | | | | | | Antenna for | + | | | | | | | | | Poker Flat TOTS | + |BLT3%|Greenbelt, MD |1915 %| 77|USB 9m X-Y n-s | 38 59 54.4110%|283 09 26.0397 | 18.333| 9-71 old ETC3. | + | | | | | | | | | 2-86 moved to | + | | | | | | | | | WPSA. | + | | | | | | | | | | + |BLTA |Greenbelt, MD |1316 | 91|USB 9m X-Y e-w | 38 59 53.6910 |283 09 29.0198 | 24.834| 6-74 old | + | | | | | | | | | ETCA;BLDA=MDDF | + | | | | | | | | | site | + |BLTD%|Greenbelt, MD |1315 %| 77|USB 9m X-Y n-s K-bd | 38 59 54.4110%|283 09 26.0397 | 18.333| 9-71 see 1915 | + | | | | | rcvr | | | | old ETCD | + | | | | | | | | | | + |BLTJ |Greenbelt, MD |0290 | |BRT 3-ft manual az-el | 39 00 09.7327 |283 09 43.4598 | 60.060| 8-82 GSFC SOC | + |BREQ |Kourou, Fr Guiana |4283 | |C-bd | 4 56 55.9641 |307 41 25.6406 | 51.960| az-el, 3/15/93 | + |BRKS |Berkeley, CA |1732 | 111|S-bd 11m az-el | 37 52 45.7557 |237 45 25.9783 | 357.034| 07-99 ACE | + |CA2F |Tranquillon Peak, CA |4241 | 490|C-bd FPS-16 3.7m az-el | 34 34 58.9020 |239 26 19.9864 | 627.550| 10-91 WSMC | + | | | | | SN 18 | | | | 023002 #2 | + | | | | | | | | | | + |CALC |Tranquillon Pk,CA |0625 | 67|Camera | 34 34 56.5901 |239 26 15.2370 | 611.030| 10-91, LA 24 | + | | | | | | | | | Optical Track. | + | | | | | | | | | Telescope | + |CALF |Vandenberg AFB, CA |4018 | 470|C-bd FPS-16 3.7m az-el | 34 34 57.8588 |239 26 18.3396 | 627.540| 10-91 WSMC | + | | | | | SN 21 | | | | 023001 | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1- 3 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |CALT |Vandenberg AFB, CA |4280 | 484|C-bd TPQ-18 8.8m az-el | 34 39 57.0402 |239 25 06.7919 | 88.520| 10-91 WSMC | + | | | | | | | | | 023003 | + |CALY |S.Vandenberg AFB, CA |1835 | 4|Tlm S-bd VTRS 10m | 34 33 56.2455 |239 29 56.3529 | 623.910| 10-91 Sudden Pk | + | | | | | az-el | | | | Oak Mt | + |CANS |Canberra, Australia |4723 | 79|S-bd 9m az-el YAGI VHF |-35 24 16.8000 |148 58 59.0088 | 680.000| 11-97 IMP-8 | + | | | | | array | | | | telemetry | + | | | | | | | | | | + |CHAS%|Chantilly, VA |1340 %| 93|S-bd az-el 4m (12ft) | 38 53 25.2000%|282 33 28.2000 | 135.000| 03-96 TRW Lewis | + | | | | | | | | | Mission | + |CN2F%|Cape Canaveral, FL |4088 %| 66|C-bd MPS-36 mod 4.3m | 28 31 43.9399%|279 24 33.9781 | -20.471| 12-80 SSO old | + | | | | | az-el TPQ-1 | | | | CNMF moved 6-80 | + |CN4F |Cape Canaveral, FL |4223 | 66|C-bd MCB-17 4.2m az-el | 28 27 47.4045 |279 25 00.7987 | -14.810| 10-91 Press | + | | | | | | | | | site 3 | + | | | | | | | | | | + |CN5F |Cape Canaveral, Fl. |4344 | |C-bd MPS-39 az-el | 28 31 01.2878 |279 26 11.6884 | 13.690| 2-93 TLM | + | | | | | | | | | ETR-011901 | + |CNVF |Cape Canaveral, FL |4041 | 650|C-bd FPS-16 3.7m az-el | 28 28 53.7812 |279 25 24.5670 | -14.220| 10-91 ESMC | + | | | | | | | | | 011601 R 1.16 | + |COCS |Cocos Island, Australia|4085 | |C-bd az-el |-12 12 00.0000 | 96 51 00.0000 | 0.000| ACE support | + | | | | | | | | | | + |CT2J |White Sands, NM |0294 | |BRT CTV2 | 32 30 01.7716 |253 23 29.1941 | 1450.172| 5-83 uses WH3K | + | | | | | | | | | position | + |CTSS |Colorado Spgs. CO. |1756 | 51|S-bd 10m az-el | 38 48 21.5583 |255 28 17.5111 | 1907.519| 12-89 Remote | + | | | | | | | | | Tracking | + |CTVJ |White Sands, NM |0293 | |BRT CTV | 32 30 01.7716 |253 23 29.1941 | 1450.172| 5-83 uses WH3K | + | | | | | | | | | position | + | | | | | | | | | | + |D26D |Goldstone, CA |1526 | 26|X/Ka band, 34m BWG | 35 20 08.4817 |243 07 37.1456 | 969.454| JPL DS26,GDTS | + | | | | | | | | | constraint,chg | + | | | | | | | | | DS62 01/2004,ch | + |D27D |Goldstone, CA |1516 | 27|USB,DSN 34m az-el | 35 14 17.7720 |243 13 24.1320 | 1061.618| 06/94- not DSN, | + | | | | | | | | | 2005 add DSN | + | | | | | | | | | | + |DA2P |Dakar, Senegal |0916 | |Runway 19 | 14 45 27.1239 |342 31 07.8940 | 43.066| 7-84 az true n | + | | | | | | | | | 172.607 deg | + |DAKP |Dakar, Senegal |0915 | |Runway 01 | 14 43 34.5239 |342 31 22.9840 | 46.417| 7-84 az true n | + | | | | | | | | | 352.572 deg.Add | + | | | | | | | | | 165m for STS | + | | | | | | | | | | + |DAKS |Dakar, Senegal |4072 | 31|Tlm S-bd 4.3m az-el | 14 43 29.1440 |342 52 16.4392 | 91.278| 8-82 old TULS | + | | | | | | | | | 4078 Dakar IGN | + |DFRS |Dryden FRC, CA |4067 | 89|S-bd and L-bd 4.3m | 34 56 59.2467 |242 06 45.3814 | 679.907| 11-83 roof 4800 | + | | | | | az-el | | | | bld: phone to | + | | | | | | | | | DFRC | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1- 4 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |DGIS |Diego Garcia Island |4073 | 69|S-bd 10m az-el | -7 16 12.1100 | 72 22 11.9950 | -68.375| 10-91 | + |DS12 |Goldstone, CA |1612 | 12|USB-DSN 34m HA-DEC | 35 17 59.7819 |243 11 40.4038 | 969.669| 11-89 JPL | + |DS14 |Goldstone, CA |1514 | 14|USB-DSN 70m az-el | 35 25 33.2817 |243 06 37.6236 | 964.131| 11-89 JPL | + |DS15 |Goldstone, CA |1515 | 15|USB-DSN 34m S/X-bd | 35 25 18.7108 |243 06 46.0581 | 955.221| 11-89 JPL | + |DS16 |Goldstone, CA |1312 | 16|USB-DSN 26m x-y e-w | 35 20 29.5535 |243 07 35.0232 | 941.441| 11-89 JPL; | + | | | | | | | | | GDD8=MDDF site | + | | | | | | | | | | + |DS17 |Goldstone, CA |1327 | 17|USB-DSN 9m x-y n-s | 35 20 32.0278 |243 07 35.5610 | 942.701| 11-89 JPL; | + | | | | | | | | | GDD3=MDDF site | + |DS24 |Goldstone, Ca. |4252 | 24|S-bd az-el 34m | 35 20 23.6659 |243 07 30.7141 | 956.059| Polar SOHO, | + | | | | | | | | | 11/95 | + |DS25 |Goldstone, CA |1525 | 25|X/Ka band 34m BWG | 35 20 15.4045 |243 07 28.7024 | 959.676| DSN for | + | | | | | | | | | JPL,01/2004 | + | | | | | | | | | | + |DS34 |Canberra, Australia |1534 | 34|S-bd 34-meter az-el |-35 23 54.6107 |148 58 55.0632 | 688.960| 04-98 | + |DS42 |Canberra, Aust |1547 | 42|USB-DSN 34m HA-DEC |-35 24 02.4619 |148 58 52.4791 | 684.755| 11-89 JPL | + |DS43 |Canberra, Aust |1548 | 43|USB-DSN 70m az-el |-35 24 08.7616 |148 58 52.4794 | 699.060| 11-89 JPL | + |DS45 |Canberra, Aust |1549 | 45|USB-DSN 34m az-el |-35 23 54.4820 |148 58 39.5856 | 684.606| 10-89 JPL | + | | | | | S/X-Bd | | | | | + | | | | | | | | | | + |DS46 |Canberra, Aust |1546 | 46|USB-DSN 26m X-Y e-w |-35 24 18.0726 |148 58 59.0114 | 686.995| 11-89 JPL | + |DS54 |Madrid, Spain |1554 | 54|S-bd 34-meter az-el | 40 25 32.3215 |355 44 45.2435 | 833.734| 04-98 | + |DS55 |Madrid Spain |1555 | 55|X/Ka band 34m BWG | 40 25 27.4653 |355 44 50.5201 | 819.016| DSN for | + |DS61 |Madrid, SPAIN |1662 | 61|USB-DSN 34m HA-DEC | 40 25 43.4800 |355 45 03.8591 | 848.658| 11-89 JPL | + |DS63 |Madrid, Spain |1564 | 63|USB-DSN 70m az-el | 40 25 52.3733 |355 45 07.5100 | 864.846| 11-89 JPL | + | | | | | | | | | | + |DS65 |Madrid Spain |1565 | 65|USB-DSN 34m S/X-bd HEF | 40 25 37.9126 |355 44 57.5591 | 834.210| 11-89,DSN | + | | | | | | | | | JPL,08/2005 | + | | | | | | | | | relocate | + |DS66 |Madrid, Spain |1566 | 66|USB-DSN 26m X-Y e-w | 40 25 47.9262 |355 44 55.2380 | 850.059| 11-89 JPL | + |DS87 |Wallops Island, VA |1587 | 87|S-bd 18m az-el ADAS | 37 55 35.7235 |284 31 25.3037 | -12.762| 07-97 for | + | | | | | receive only | | | | ISTP,same as | + | | | | | | | | | WPSS | + | | | | | | | | | | + |DX2S |Poker Flats, Alaska |1715 | 76|S-bd, 7.3 meter, az-el | 65 07 04.2020 |212 34 07.8150 | 514.650| 04/2004, | + | | | | | | | | | DataLynx | + |DXAS |Poker Flats, Alaska |1711 | 88|S-bd, 11 meter, az-el | 65 07 04.5470 |212 33 59.3860 | 518.900| 08-2000, | + | | | | | | | | | DataLynx Alaska | + | | | | | | | | | Site | + | | | | | | | | | | + |E10P |Edwards AFB, CA |0926 | |Runway 18 | 34 59 40.0486 |242 09 12.1458 | 657.830| 7-84 az true n | + | | | | | | | | | 199.224 deg | + |EA2F |Edwards AFB, CA |4065 | 42|C-bd FPS-16 3.7m az-el | 34 58 13.6340 |242 04 09.9780 | 799.726| 11/16/92 | + | | | | | R-41 | | | | Defense Map | + | | | | | | | | | Agency | + ---------------------------------------------------------------------------------------------------------------------------------- + T1- 5 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |EA2P |Edwards AFB, CA |0906 | |Runway 35R B2 | 34 53 25.0338 |242 09 15.7098 | 657.832| 7-84 az true n | + | | | | | | | | | 10.065 deg | + |EA3F |Edwards AFB, CA |4221 | |TACAN C-bd mobile | 34 56 17.2116 |241 54 31.2131 | 743.537| 10-79 not | + | | | | | | | | | verified | + |EA3P |Edwards AFB, CA |0903 | |Runway 17L B3 | 34 55 51.0954 |242 09 47.1891 | 657.821| 7-84 az true n | + | | | | | | | | | 190.073 deg | + | | | | | | | | | | + |EA4P |Edwards AFB, CA |0905 | |Runway 22 B4 | 34 54 58.5169 |242 08 15.2736 | 660.898| 7-84 az true n | + | | | | | | | | | 238.242 deg | + |EA5P |Edwards AFB, CA |0904 | |Runway 04 B5 | 34 53 40.4317 |242 05 42.2284 | 667.348| 7-84 az true n | + | | | | | | | | | 58.217 deg | + |EA6P |Edwards AFB, CA |0909 | |Runway 23 | 34 57 58.9382 |242 10 49.2477 | 657.496| 7-84 az true n | + | | | | | | | | | 244.414 deg | + | | | | | | | | | | + |EA7P |Edwards AFB, CA |0911 | |Runway 05 | 34 56 55.3367 |242 08 08.0022 | 657.547| 7-84 az true n | + | | | | | | | | | 64.388 deg | + |EA8P |Edwards AFB, CA |0912 | |Runway 15 | 34 57 32.9299 |242 08 00.9494 | 657.243| 7-84 az true n | + | | | | | | | | | 167.545 deg | + |EA9P |Edwards AFB, CA |0925 | |Runway 33 | 34 55 04.2135 |242 08 40.8275 | 657.232| 7-84 az true n | + | | | | | | | | | 347.552 deg | + | | | | | | | | | | + |EAFF |Edward AFB, CA |4064 | 39|C-bd FPS-16, 3.7 | 34 57 38.3754 |242 05 18.4166 | 780.567| 11/16/92 | + | | | | | meter, az-el | | | | Defense Map | + | | | | | | | | | Agency. 05-2000 | + |EG2F |Eglin AFB, FL |4345 | |C-bd FPS-85 az-el | 30 34 21.1006 |273 47 07.0173 | 37.711| 6-81 pts + or - | + | | | | | | | | | 60deg. Landing | + | | | | | | | | | aid. | + | | | | | | | | | | + |EG3F%|Eglin AFB, FL |4346 %| 56|C-bd TPQ-13 | 30 25 17.9961%|273 12 07.1568 | 1.143| 2-84 phone frm | + | | | | | | | | | JSC LNDG & ACQ | + | | | | | | | | | AID | + |EULY |Merritt Island, FL |4205 | |Tlm S-bd 10.1m az-el | 28 27 48.8307 |279 20 49.1561 | -10.510| 10-91 ESMC | + | | | | | | | | | 193202 TEL-4 | + | | | | | | | | | TAA-3A | + | | | | | | | | | | + |EVCS |Cape Canaveral,Fl. |1363 | 41|Tlm S-bd 9m, az-el | 28 29 09.6000 |279 25 26.4000 | 14.996| Dept. Air Force | + | | | | | | | | | 8/94 | + |FR2F |Edwards AFB, CA |4249 | 9|C-bd FPS-16 3.7m az-el | 34 57 27.8577 |242 05 17.2503 | 743.498| 11/16/92 | + | | | | | | | | | Defense Map | + | | | | | | | | | Agency | + | | | | | | | | | | + |FRCF |Edwards AFB, CA |4069 | 43|C-bd FPS-16V 4.9m | 34 57 38.8969 |242 05 18.6141 | 751.842| 05-97 | + | | | | | az-el R-34 | | | | Updated,11-92 | + | | | | | | | | | DMA | + |FT2F |Fort.Huachuca, AZ |4138 | 44|C-bd FPS-16 3.7m az-el | 31 33 24.3607 |249 33 42.5760 | 1794.960| 10-91 USAEPG | + | | | | | | | | | R12.6 Scott Pk | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1- 6 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |FTHF |Fort.Huachuca, AZ |4115 | 63|C-bd FPS-16 3.7m az-el | 31 34 15.6873 |249 37 45.1273 | 1486.316| 2-81 USAEPG | + | | | | | | | | | R12.1 Laundry | + | | | | | | | | | Ridge | + |GB2Y |Grand.Bahama Island |1814 | 15|Tlm S-bd 10.1m az-el | 26 37 31.6966 |281 42 05.3088 | -10.997| 6-81 TAA-3B | + | | | | | | | | | ESMC 033201 | + | | | | | | | | | | + |GBIQ%|Grand.Bahama Island |4013 %| 419|C-bd FPQ-13 6.1m az-el | 26 36 56.3112%|281 39 07.7758 | -13.684| 11-86 closed | + | | | | | on-axis | | | | 1-87, see | + | | | | | | | | | JDIQ-4248 | + |GBIY |Grand.Bahama Island |1813 | 19|Tlm S-bd 26m az-el | 26 37 31.6076 |281 42 03.2717 | 0.878| 6-81 TAA-2 ESMC | + | | | | | | | | | 033101 | + | | | | | | | | | | + |GD28 |Goldstone, CA |1517 | 28|USB-DSN 26m X-Y e-w | 35 20 29.5535 |243 07 35.0232 | 940.941| 5-84 for GSTDN | + | | | | | | | | | see 1312-GDS8; | + | | | | | | | | | ESN# was 17 | + |GDSA%|Goldstone, CA |1317 %| 14|USB 9m X-Y n-s | 35 20 29.5535%|243 07 37.1952 | 935.541| 6-74 moved 50 m | + | | | | | | | | | north #1327 | + | | | | | | | | | | + |GILD&|Gilmore Creek, AK |7225 &| |Tlm 26m X-Y | 64 58 42.6333&|212 30 07.1993 | 320.131| 10-87 | + |GILE |Gilmore Creek, AK |4047 | 64|Tlm 26m X-Y n-s | 64 58 42.6256 |212 30 07.1983 | 322.434| 1-76 NOAA | + | | | | | | | | | command data | + | | | | | | | | | acq antenna | + |GLAS |Gilmore Creek, AK |1712 | 68|s/x/l band, 13 meter | 64 58 25.2191 |212 29 13.7808 | 387.482| NOAA stations, | + | | | | | | | | | 03/2004, | + | | | | | | | | | 06/2004(NAD27) | + | | | | | | | | | | + |GLBS |Gilmore Creek, AK |1713 | 74|s/x/l band, 13 meter | 64 58 24.5353 |212 29 28.6853 | 405.478| NOAA stations, | + | | | | | | | | | 03/2004,06/2004 | + |GLCS |Gilmore Creek, AK |1714 | 75|s/x/l band, 13 meter | 64 58 23.3116 |212 29 42.7979 | 424.474| NOAA stations, | + | | | | | | | | | 03/2004, 6/2004 | + |GT2S |Guam |1375 | 64|Tlm-SGLS S-bd 46-ft | 13 36 57.1703 |144 51 19.5759 | 209.160| 11-84 TT&C | + | | | | | az-el | | | | GUAM-B | + | | | | | | | | | | + |GTKL |Grand.Turk Island |7068 | |Laser-mobile | 21 27 37.8908 |288 52 04.9986 | -13.162| 5-76 GRTLAS | + | | | | | | | | | ML0204 ML0209 | + |GTKQ |Grand.Turk Island |4086 | 511|C-bd FPQ-14 8.8m az-el | 21 27 45.4738 |288 52 04.4824 | -5.582| 5-76 ETR was | + | | | | | on-axis | | | | #4081 AF 071801 | + |GTSS |Guam |1368 | 60|Tlm-SGLS S-bd 60-ft | 13 36 54.6808 |144 51 21.7881 | 219.060| 2-82 TT&C | + | | | | | az-el | | | | GUAM-A | + | | | | | | | | | | + |GW2K |Guam |1968 | 123|S-bd, 16 meters az-el | 13 35 15.3178 |144 50 27.1481 | 197.665| 05/2006, 2nd | + | | | | | | | | | Guam Antenna | + | | | | | | | | | System | + |GW2S |Guam |1969 | 124|S-bd, 16 meters az-el | 13 35 15.3178 |144 50 27.1481 | 197.665| 05/2006, 2nd | + | | | | | | | | | Guam Antenna | + | | | | | | | | | System | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1- 7 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |GW3S |Guam |1970 | 112|Ku-bd, S-bd, 16 meters | 13 35 14.3146 |144 50 27.1498 | 197.738| 05/2006, Space | + | | | | | az-el | | | | Network | + | | | | | | | | | Expansion | + |GWM3 |Guam |1309 | 24|USB 9m X-Y n-s | 13 18 38.4820 |144 44 12.5351 | 148.640| 7-70 precise | + | | | | | | | | | survey | + | | | | | | | | | | + |GWMJ |Guam |1971 | 125|TDRS grnd xpnder | 13 35 12.3230 |144 50 26.8951 | 191.148| 05/2006, SGAS | + | | | | | | | | | EET | + |GWMK |Guam |1965 | 94|S-bd 11-meter K-bd | 13 35 16.8643 |144 50 27.3462 | 192.610| TDRS Remote | + | | | | | az-el | | | | Ground Terminal | + |GWMS |Guam |1966 | 94|S-bd 11-meter az-el | 13 35 16.8643 |144 50 27.3462 | 192.610| TDRS Remote | + | | | | | TT&C | | | | Ground Terminal | + | | | | | | | | | TT&C | + | | | | | | | | | | + |HAW3 |Kauai, HI |1311 | 12|USB 9m X-Y n-s | 22 07 34.5812 |200 20 05.4419 | 1157.200| 7-70 2nd order | + |HAWQ |Hawaii, Univ. |4285 | |C-bd az-el TLM | 21 18 57.9600 |202 06 48.9600 | 0.000| 06-96 SAMPEX | + | | | | | | | | | support | + |HAWS |South Point, Hawaii |1706 | |S-bd telemetry, | 19 00 48.9014 |204 20 13.2000 | 274.314| 01-99 | + | | | | | command | | | | | + | | | | | | | | | | + |HB33 |Hartbeehoek., S. Africa|1325 | 63|S-bd 12m x-y (n/s) |-25 53 11.1400 | 27 42 26.8100 | 1563.720| rec. ant. | + | | | | | | | | | 8/23/95 | + |HB5S |Hartbeehoek, S. Africa |1403 | 116|S-band 10 m |-25 53 12.9606 | 27 42 24.0186 | 1568.221| 11/2005,10/2006 | + |HBK3 |Hartbeehoek., S. Africa|1324 | 62|S-bd 9m x-y (n/s) |-25 53 12.2200 | 27 42 45.3600 | 1549.040| transmit ant. | + | | | | | | | | | 8/23/95 | + | | | | | | | | | | + |HBKS |Hartebeeshoek, S. |1402 | 54|S-bd x-y 12m |-25 53 13.2000 | 27 42 43.2000 | 1544.830| ACE tracking | + | | Africa | | | | | | | for CNES test | + |HN2P |Hickam AFB, HI |0922 | |Runway 26L | 21 18 24.5234 |202 05 21.8788 | 22.518| 7-84 az true n | + | | | | | | | | | 270.002 deg | + |HNLP |Hickam AFB, HI |0921 | |Runway 08R | 21 18 24.5155 |202 03 15.0098 | 22.353| 7-84 az true n | + | | | | | | | | | 89.989 deg | + | | | | | | | | | | + |HOLF |Holloman AFB, NM |4144 | 61|C-bd FPS-16 3.7m az-el | 32 54 05.2699 |253 54 02.9896 | 1241.500| 10-91 USAF WSMR | + | | | | | | | | | SN 9 R123 | + |HOPL%|Mt.Hopkins, AZ |7921 %|7921|Laser-SAO | 31 41 03.2894%|249 07 18.9801 | 2355.659| 2-73 HOPLAS SAO | + |HR1S |Wallops, VA |1718 | 101|S-bd, 16.4 meter, | 37 56 43.7970 |284 32 19.9120 | -18.510| GOES and | + | | | | | az-el | | | | METEOSAT | + | | | | | | | | | Hurricane-rated | + | | | | | | | | | | + |HR2S |Wallops, VA |1719 | 102|S-bd, 16.4 meter, | 37 56 43.5330 |284 32 16.4760 | -17.430| GOES and | + | | | | | az-el | | | | METEOSAT | + | | | | | | | | | hurricane-rated | + |HT2S |Kaena Point, HI |1373 | 35|Tlm-SGLS S-bd 46-ft | 21 34 08.2985 |201 44 15.7962 | 319.658| 11-84 TT&C | + | | | | | az-el | | | | HULA-B | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1- 8 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |HTSS |Kaena Point, HI |1367 | 58|Tlm-SGLS S-bd 60-ft | 21 33 44.1799 |201 45 28.4776 | 430.423| 2-82 TT&C | + | | | | | az-el | | | | HULA-A | + |HWIS |South Point, HI |1903 | |S-band az-el, 13m | 19 00 50.0562 |204 20 12.1155 | 367.200| 01-2003, USN | + | | | | | | | | | station | + |JD2Y |Jonathan Dickenson, FL |1818 | 204|Tlm S-Bd 24.4m az-el | 26 58 56.0275 |279 53 32.7811 | -1.960| 10-91 | + | | | | | | | | | | + |JDIQ |Jonathan Dickinson, |4248 | 221|C-bd FPQ-14 | 26 58 58.7989 |279 53 30.4654 | -6.403| 6-87 replaces | + | | Fla. | | | | | | | GBIQ-4013 | + |JDIY |Jonathan Dickinson, FL |1817 | 201|Tlm S-Bd 15m az-el | 26 59 01.6942 |279 53 28.5099 | -10.530| 10-91 | + |JSCJ |JSC, TX |0291 | 36|BRT STS gnd xpnder | 29 33 42.0826 |264 54 36.0000 | 49.531| 6-85 ESTL | + | | | | | | | | | Shuttle | + | | | | | | | | | simulator,11-20 | + | | | | | | | | | | + |JSCS |Houston, TX |0303 | |Space.Center | 29 34 00.0826 |275 04 00.0000 | 32.721| 12-91 Johnson | + | | | | | | | | | Space Center | + |KA2S |Tokyo, Japan |1735 | 34|S-bd 11-meter Az-El | 35 42 31.5427 |139 29 30.4000 | -641.245| 06-97 ACE | + | | | | | | | | | support | + |KENS |Malindi, Kenya |4722 | 12|S-bd 10m az-el | -2 59 44.0070 | 40 11 40.2180 | 12.314| 11-96 | + | | | | | | | | | Iridium/Delta | + | | | | | | | | | support | + | | | | | | | | | | + |KERS |Kergueles Is. |4253 | 80|S-bd az-el 10m |-49 21 10.4616 | 70 15 26.2152 | 82.471| Polar Mission, | + | | | | | | | | | 11/95 | + |KGLQ |S.Pac.Fr.Kerguelen |4261 | 67|C-bd az-el 9m |-49 21 06.8956 | 70 15 21.5420 | 6.100| POLAR Miss.(ACQ | + | | | | | | | | | only) 12/95 | + |KI2S |Kiruna, Sweden |1727 | 52|S-bd 15m az-el | 67 51 25.6506 | 20 57 51.6301 | 402.275| For Mission | + | | | | | | | | | NOAA-1 | + | | | | | | | | | | + |KICS |Kiruna, Sweden |4255 | 21|S-bd az-el 6m | 67 53 03.2352 | 21 03 38.7684 | 440.604| uplink - 12/95 | + |KILS |Kiruna, Sweden |4256 | 26|S-bd az-el 9m | 67 52 35.5152 | 21 03 44.4132 | 514.892| Redundant | + | | | | | | | | | downlink 12/95 | + |KIXS |Kiruna, Sweden |4257 | 28|S-bd az-el 9m | 67 52 41.3652 | 21 03 48.2328 | 508.573| Nominal | + | | | | | | | | | downlink 12/95 | + | | | | | | | | | | + |KL2P |Koln.Bonn, FRG |0930 | |Runway 14L | 50 52 50.0981 | 7 07 45.5540 | 117.505| 7-84 az true n | + | | | | | | | | | 138.092 deg | + |KLMS |Svalbard, Norway |1710 | 86|S-bd X-bd, 13 meter, | 78 13 48.7980 | 15 23 53.2973 | 498.520| 08-2000,Datron | + | | | | | az-el | | | | | + |KLNP |Koln.Bonn, FRG |0929 | |Runway 32R | 50 51 19.0982 | 7 09 54.5540 | 139.450| 7-84 az true n | + | | | | | | | | | 318.120 deg | + | | | | | | | | | | + |KM2F |Kwajalein Atoll |4971 | 92|C-bd ALTAIR 46m az-el | 9 23 43.5437 |167 28 45.4380 | 62.860| 10-91 WSMC | + | | | | | | | | | 623802 Roi | + | | | | | | | | | Namur | + |KMRF |Kwajalein Atoll |4968 | 2|C-bd TRADEX 26m | 9 23 55.4896 |167 28 55.7335 | 57.370| 10-91 missile | + | | | | | | | | | range WSMC | + | | | | | | | | | 623801 | + ---------------------------------------------------------------------------------------------------------------------------------- + T1- 9 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |KMRQ |Kwajalein Atoll |4969 | 696|C-bd ALCOR 12.2m az-el | 9 23 54.9585 |167 28 58.2577 | 42.480| 10-91 Roi Namur | + | | | | | | | | | WSMC 623001 | + |KMRT%|Kwajalein Atoll |4970 %| 744|C-bd FPQ-19 az-el | 8 43 10.3635%|167 43 06.6874 | 59.040| 10-91 missile | + | | | | | | | | | range WSMC | + | | | | | | | | | 623005 | + | | | | | | | | | | + |KOOL |Kootwijk, Neth |8833 |8833|Laser-SAO | 52 10 42.2310 | 5 48 35.1597 | 87.017| 10-85 CDP-118 | + | | | | | | | | | Renumbered from | + | | | | | | | | | 7833 | + |KPTQ |Oahu, HI |4282 | 681|C-bd FPQ-14 8.8m az-el | 21 34 19.6310 |201 44 00.2928 | 301.320| 10-91 WSMC | + | | | | | on-axis | | | | 313001 Kaena Pt | + | | | | | | | | | | + |KR2P |Kourou, Fr Guiana |8459 | |Launch station | 5 13 56.6642 |307 13 27.5824 | 4.489| 2-86 pad NR-2 | + |KR3P |Kourou, Fr.Guiana |8460 | |Launch Station | 5 14 25.3073 |307 14 53.5867 | -34.088| 08-97 pad ELA3 | + | | | | | | | | | ARIANE | + |KRCS |Weipa, Australia |1797 | |Tlm S-bd, az-el |-12 41 38.4000 |141 55 50.4000 | 21.000| 07-2001,Air | + | | | | | | | | | Force | + | | | | | | | | | Delta/Genesis l | + | | | | | | | | | | + |KRUF |Kourou, Fr Guiana |8501 | 92|C-bd Bretagne | 5 06 50.4231 |307 21 18.0363 | 148.008| 6-73 Radar | + | | | | | | | | | Bretagne 1 | + | | | | | | | | | Montagne Leblon | + |KRUP |Kourou, Fr Guiana |8458 | |Launch station | 5 15 06.6775 |307 11 39.0301 | 1.840| 12-81 MARECS-A | + |KRUS |Kourou, Fr. Guiana |4258 | 19|S-bd az-el 11m | 5 05 55.8528 |307 21 36.4608 | 110.039| uplink/downlink | + | | | | | | | | | 12/95 | + | | | | | | | | | | + |KS2P |KSC, FL |0902 | |Runway NW | 28 37 58.1162 |279 17 37.6811 | -23.405| 6-79 heading= | + | | | | | | | | | 150 deg true | + | | | | | | | | | north | + |KS3P |KSC, FL |0919 | |Runway 15 | 28 37 58.0562 |279 17 38.0451 | -23.462| 7-84 az true n | + | | | | | | | | | 149.990 deg | + | | | | | | | | | | + |KS4P |KSC, FL |0920 | |Runway 33 | 28 35 49.4303 |279 19 02.2172 | -23.477| 7-84 az true n | + | | | | | | | | | 330.001 deg | + |KSCP |KSC, FL |0901 | |Runway SE | 28 35 49.1323 |279 19 01.6712 | -24.940| 6-79 extends to | + | | | | | | | | | nw 4571.778m | + | | | | | | | | | zero slope | + | | | | | | | | | | + |LANS |Lannion, France |1728 | 13|S-bd az-el | 48 45 05.0953 | -3 28 12.0000 | 110.676| For Mission | + | | | | | | | | | NOAA-1 | + |LBVS |Liberville, Africa |4250 | 56|S-bd 10m az-el | 0 21 16.6672 | 9 40 31.0810 | 111.269| 12-91 STDN-73 | + | | | | | | | | | datum | + |LE1S |Poker Flats, AK |1721 | 106|S-bd, 5 meter, az-el | 65 07 00.6660 |212 32 15.8820 | 414.000| 02-01 Low earth | + | | | | | | | | | orbiter | + | | | | | | | | | terminal | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1-10 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |LE2S |Wallops Island. VA |1722 | 107|S-bd, 5 meter, az-el | 37 55 24.7060 |284 31 25.8990 | -33.501| 02-01 Low earth | + | | | | | | | | | orbiter | + | | | | | | | | | terminal | + |LR1S |White Sands, NM |1931 | 119|S-bd, ku-bd | 32 32 26.7038 |253 23 16.4800 | 213.360| 06/2006, LRO | + |MA2C |Maui, HI |7398 | 3|Camera DMI | 20 42 02.0637 |203 44 33.0000 | 3087.578| 01-89 | + | | | | | | | | | | + |MAD8%|Madrid, Spain |1307 %| 23|USB 26m X-Y e-w | 40 27 19.6178%|355 49 53.8141 | 837.886| 2-84 moved to | + | | | | | | | | | DSN area | + |MC1S |McMurdo,Antarctica |4848 | 84|S-bd 10m az-el |-77 50 20.8662 |166 40 01.4964 | 153.000| 5-95,tlm | + |MCMS |McMurdo,Antarctica |4847 | |S-bd 6m az-el |-77 48 00.0000 |166 24 00.0000 | 20.000| 2-92,unofficial | + | | | | | | | | | survey | + | | | | | | | | | | + |MDLS |Laurel, Maryland |1904 | |S-band 18m az-el | 39 10 02.5000 |283 06 04.4000 | 146.400| 01-2003, USN | + | | | | | | | | | station | + |MIL3 |Merritt Island, FL |1301 | 71|USB 9m X-Y n-s | 28 30 29.2460 |279 18 23.7602 | -25.950| 10-91 AFETR | + | | | | | | | | | 193301 same as | + | | | | | | | | | MDD3 (MDDF site | + | | | | | | | | | | + |MILA |Merritt Island, FL |1901 | 40|USB 9m&K-bd(rx+1.3m | 28 30 29.3769 |279 18 26.0902 | -27.340| 10-91 | + | | | | | tx) X-Y e-w | | | | | + |MILJ |Merritt Island, FL |0292 | |BRT | 28 30 21.5621 |279 18 25.1536 | -21.310| 5-83 on tower | + | | | | | | | | | uses TDRSS EAST | + | | | | | | | | | antenna pos | + | | | | | | | | | | + |MIMF |Merritt Island, FL |4220 |6748|C-bd MCB-17 4.2m az-el | 28 37 33.3955 |279 19 01.9423 | -18.120| 6-93 ETR, | + | | | | | | | | | ht.corr. | + |MLAQ |Merritt Island, FL |4084 | 711|C-bd FPQ-14 8.8m az-el | 28 25 28.9603 |279 20 08.2044 | -17.350| 6-93 ETR 191401 | + | | | | | on-axis | | | | R 19.14 | + |MMTF |Merritt Island, FL |4347 | |C-bd, MPS-39, az-el | 28 28 42.8765 |279 19 30.7609 | -12.298| 04/2004, | + | | | | | | | | | Formerly CN5F | + | | | | | | | | | | + |MPLS |Maspalomas, Spain |1967 | |S-bd, 11 meter, az-el | 27 45 46.4112 |344 21 58.3200 | 204.900| 09/2002, | + | | | | | | | | | TDRS/Perth-site | + | | | | | | | | | views | + |MR2P |Moron AFB, Spain |0931 | |Runway 21 | 37 11 30.5316 |354 23 28.7009 | 121.098| 7-84 az true n | + | | | | | | | | | 199.794 deg | + | | | | | | | | | Sevilla | + | | | | | | | | | | + |MRNP |Moron AFB, Spain |0910 | |Runway 03 | 37 09 40.5296 |354 22 38.7019 | 125.764| 7-84 az true n | + | | | | | | | | | 19.794 deg | + | | | | | | | | | Sevilla | + |MTLF |Mt.Lemmon, AZ |4155 | 14|C-bd Capri 4.9m az-el | 32 26 29.9876 |249 12 40.3090 | 2772.820| 10-91 USAEPG | + | | | | | | | | | R1.1 | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1-11 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |MTLS |Mt.Lemmon, AZ |4156 | 15|Tlm S-bd 4.3m az-el | 32 26 31.6916 |249 12 37.9777 | 2769.192| 10-79 acq aid | + | | | | | | | | | Northrup Strip | + | | | | | | | | | #4155 | + |NATC |Natal, Brazil |9039 |9039|Camera Baker Nunn | -5 55 40.0982 |324 50 08.3603 | 48.006| 9-76 SAO no | + | | | | | | | | | details | + | | | | | | | | | | + |NATL%|Natal, Brazil |7929 %|7929|Laser-SAO | -5 55 40.1022%|324 50 07.6193 | 52.006| 9-76 SAOsee | + | | | | | | | | | #9029 | + |NH2S |New.Boston, NH |1374 | 37|Tlm-SGLS S-bd 46-ft | 42 56 41.0700 |288 22 10.8418 | 193.259| 11-84 TT&C | + | | | | | az-el | | | | BOSS-B | + |NHSS |New.Boston, NH |1366 | 5|Tlm-SGLS S-bd 60-ft | 42 56 52.1568 |288 22 24.3749 | 203.280| 10-91 TT&C | + | | | | | az-el | | | | BOSS-A | + | | | | | | | | | | + |NO2P |Northrup Strip, NM |0908 | |Runway 23 | 32 57 02.5070 |253 35 48.0102 | 1172.002| 7-84 az true n | + | | | | | | | | | 244.472 deg | + | | | | | | | | | Holloman AFB | + |NO3P |Northrup Strip, NM |0923 | |Runway 17 | 32 57 37.1731 |253 34 57.4342 | 1171.733| 7-84 az true n | + | | | | | | | | | 187.243 deg | + | | | | | | | | | | + |NO4P |Northrup Strip, NM |0924 | |Runway 35 | 32 55 09.9807 |253 34 35.2565 | 1170.123| 7-84 az true n | + | | | | | | | | | 7.239 deg | + |NORP |Northrup Strip, NM |0907 | |Runway 05 | 32 55 58.5279 |253 33 09.2172 | 1170.116| 7-84 az true n | + | | | | | | | | | 64.448 deg | + | | | | | | | | | Holloman AFB | + | | | | | | | | | | + |ORR3%|Orroral, Aust |1320 %| 37|USB 9m X-Y n-s |-35 37 40.4144%|148 57 25.2836 | 951.982| 2-84 removed & | + | | | | | | | | | sent to | + | | | | | | | | | Vandenberg | + |ORRL |Orroral, Aust |7943 |7943|Laser-SAO |-35 37 29.7380 |148 57 17.2967 | 948.067| 5-77 SAO | + |OTSS |Oakhanger, UK |1364 | 95|Tlm-SGLS S-bd 60-ft | 51 06 50.8224 |359 06 18.3706 | -18.852| 7-83 OAKR LION | + | | | | | az-el | | | | wheel & track | + | | | | | | | | | | + |PA2Q |Patrick AFB, FL |4089 | 209|C-bd FPQ-13 6.1m az-el | 28 13 38.3814 |279 23 38.0465 | -14.380| 10-91 ESMC | + | | | | | on-axis | | | | 001301 R 0.13 | + |PATQ |Patrick AFB, FL |4060 | 211|C-bd FPQ-14 8.8m az-el | 28 13 35.0487 |279 24 02.6051 | -13.760| 6-93 ETR 001401 | + | | | | | on-axis | | | | R 0.14 | + |PDLS |Ponce de Leon Inlet, FL|4054 | 38|Tlm S-bd 4.0m az-el | 29 03 59.9342 |279 05 13.1231 | -22.690| 10-91 65km N of | + | | | | | c&v | | | | Merrit, New | + | | | | | | | | | Smyrna | + | | | | | | | | | | + |PFTQ |Poker Flats, Ak. |4864 | 157|S-bd | 65 07 00.4551 |212 32 12.1530 | 413.284| renamed PFTS, | + | | | | | | | | | 10/92 | + |PFTS |Poker Flats, Ak. |4864 | 157|S-bd | 65 07 00.4551 |212 32 12.1530 | 413.284| old PFTQ-10/92 | + |PIOD%|Goldstone, CA |1511 %| 11|DSS 11 26m HA-Dec | 35 23 22.2658%|243 09 02.2426 | 1004.213| 7-74 JPL | + | | | | | Pioneer | | | | Pioneer | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1-12 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |PM2F |Point.Mugu, CA |4445 | 24|C-bd FPS-16 3.7m az-el | 34 07 21.0105 |240 50 46.3252 | -22.200| 10-91 WSMC | + | | | | | SN 10 | | | | 003003 | + |PM3F |Point.Mugu, CA |4446 | 18|C-bd FPS-16V 4.9m | 34 07 22.3958 |240 50 42.8373 | -21.670| 10-91 WSMC | + | | | | | az-el SN 24 | | | | 003004 | + |PM4F |Point.Mugu, CA |4441 | 54|C-bd FPS-16 3.7m az-el | 34 07 19.6257 |240 50 49.8115 | -22.190| 10-91 WSMC | + | | | | | SN 3 | | | | 003002 | + | | | | | | | | | | + |PMKS%|Pomonkey, Md. |1729 %| 88|S-bd 30m az-el | 38 33 27.7579%|282 56 32.1316 | 41.940| Dn-Lnk for | + | | | | | | | | | DSPSE Support | + |PP2F |Pt. Pillar, Ca. |7399 | 25|C-bd MPS-36 4.3m az-el | 37 29 48.6757 |237 30 11.9380 | 3.780| 10-91 | + |PPTF |Pillar Point, CA |4240 | 00|C-bd FPS-16V 4.9m | 37 29 51.7080 |237 30 04.6837 | 15.049| 7-84 WSMC | + | | | | | az-el | | | | 213001 | + | | | | | | | | | | + |PPTQ |Pillar Point, CA |4260 | 463|C-bd FPQ-6 8.8m az-el | 37 29 52.1409 |237 30 01.0270 | 20.150| 10-91 WSMC | + | | | | | | | | | 213002 | + |PPTY |Pillar Point, CA |4216 | 45|Tlm 12m S-bd az-el | 37 29 51.9868 |237 30 02.9494 | 27.690| 10-91 WSMC | + | | | | | | | | | 217701 DYNA | + |PRTS |Perth, Australia |1342 | 96|S-bd az-el 15m |-31 48 07.2000 |115 53 06.0000 | 22.160| 04-96 GOES | + | | | | | | | | | support | + | | | | | | | | | | + |RALS |Rutherford Appelton |1700 | 95|S-bd 12-meter az-el | 51 34 19.2936 |358 41 18.7300 | 163.120| 07-97 ACE | + | | Laboratory, UK | | | | | | | support | + |RAML%|Patrick AFB, FL |7069 %| 79|Laser-fixed | 28 13 40.7883%|279 23 39.3201 | -16.459| 9-76 RAMLAS | + | | | | | | | | | closed 1980 | + |RGTS |Tidbinbilla, Aust |1963 | 55|S-bd 9m az-el |-35 24 16.3308 |148 58 56.7059 | 663.255| 10/93 TDRSS | + | | | | | | | | | Ground Term | + | | | | | | | | | | + |RO2P |Rota, Spain |0927 | |Runway 28 | 36 38 35.4795 |353 40 16.6930 | 59.182| 7-84 az true n | + | | | | | | | | | 276.752 deg | + |ROTP |Rota, Spain |0918 | |Runway 10 AOG | 36 38 49.4782 |353 37 49.6906 | 59.843| 7-84 az true n | + | | | | | | | | | 96.728 deg | + |RTKS |Tidbinbilla, Aust |1964 | 57|S-bd 4.5m az-el |-35 24 17.0818 |148 58 57.3775 | 661.430| 10/93 TDRSS | + | | | | | | | | | Ground Term | + | | | | | | | | | | + |SARS |Saudi Arabia |1739 | 108|S-bd, az-el | 17 40 01.2000 | 53 52 58.8000 | 30.480| 04-2001,ODYSSEY | + |SEYS |Seychelles, Mahe |4071 | 50|Tlm S-bd 18m az-el | -4 40 18.2932 | 55 28 40.1539 | 560.495| 10-77 TT&C IOS | + |SF1S |Sioux Falls, S. Dakota |1703 | 39|S-bd az-el | 43 44 09.8615 |263 22 38.9474 | 468.752| 2-98,telemetry | + | | | | | | | | | station for | + | | | | | | | | | Lsat-7,4-99 | + | | | | | | | | | | + |SF2S |Sioux Falls, S. Dakota |1716 | 109|S-bd, 5m, x-y | 43 44 03.4320 |263 22 50.0240 | 459.336| 05/2004, | + | | | | | | | | | tracking/tlm | + |SG1S |Svalbard, Norway |1702 | 30|S-bd X-bd, 11 meter, | 78 13 50.6003 | 15 23 22.9052 | 497.335| 12-97 EOS | + | | | | | az-el | | | | telem. | + | | | | | | | | | sta.,(03-99),09 | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1-13 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |SG3S |Svalbard, Norway |1733 | |S-band az-el 13.6 | 78 13 47.0460 | 15 24 29.1450 | 501.378| 05/2003 | + | | | | | meters | | | | | + |SG4S |Svalbard, Norway |1723 | 20|S-band | 78 13 40.8490 | 15 24 34.9542 | 508.384| 08/2005 | + |SIPQ |Saipan |4003 | 47|C-bd az-el | 15 14 56.9250 |145 47 46.3800 | 348.200| 10-91 | + |SN2F |San.Nicolas Island, CA |4443 | 97|C-bd FPS-16V 4.9m | 33 14 51.6660 |240 28 45.3259 | 246.680| 10-91 PMTC WSMC | + | | | | | az-el SN 13 | | | | 013003 | + | | | | | | | | | | + |SN3F |San.Nicolas Island, CA |4444 | 96|C-bd FPS-16 3.7m az-el | 33 14 54.2139 |240 28 42.9918 | 246.120| 10-91 PMTC WSMC | + | | | | | SN 15 | | | | 013004 | + |SNDL%|Otay Mt, CA |7062 %| |Laser-mobile TLRS PAD | 32 36 02.6341%|243 09 33.1054 | 989.226| 10-83 ML0202 | + | | | | | | | | | ML0303 ML0306 | + | | | | | | | | | TL0115 TL0203 | + | | | | | | | | | | + |SNIF |San.Nicolas Island, CA |4442 | 98|C-bd FPS-16 3.7m az-el | 33 14 49.1193 |240 28 47.6604 | 246.160| 10-91 PMTC WSMC | + | | | | | SN 7 | | | | 013002 | + |SNYC |Santa.Ynez Peak, CA |0624 | 90|Camera ROTI TV az-el | 34 31 49.1191 |240 00 50.9447 | 124.490| 10-91 WSMC | + | | | | | | | | | 100T01 | + |SOCA |Suitland, Md. |4139 | |S-bd 30ft x-y | 38 51 00.0940 |283 04 04.0000 | 118.566| 12/93 Rec'd. in | + | | | | | | | | | STDN-73 datum | + | | | | | | | | | | + |ST1F |St. Thomas, Virgin |4224 | 77|Capri | 18 21 26.1120 | 64 58 23.5793 | 130.454| 03/2006, | + | | Island | | | | | | | Soyuz-13S | + |ST2K |White Sands, NM |4751 | 48|TDRSS-STGT 18m K-bd | 32 32 34.7185 |253 23 16.4798 | 1452.310| 10-91 STGT | + | | | | | az-el | | | | Central Antenna | + | | | | | | | | | DMA | + | | | | | | | | | | + |ST3K |White Sands, NM |4752 | 49|TDRSS-STGT 18m K-bd | 32 32 33.6300 |253 23 16.4800 | 1452.300| 10-91 STGT | + | | | | | az-el | | | | South Antenna | + | | | | | | | | | DMA | + |STAL%|Greenbelt, MD |7063 %| 80|Laser-fixed | 39 01 13.0614%|283 10 20.0247 | 20.897| 5-75 STALAS | + | | | | | | | | | closed 8-81 | + | | | | | | | | | | + |STGK |White Sands, NM |4750 | 47|TDRSS-STGT 18m K-bd | 32 32 35.8065 |253 23 16.4798 | 1452.280| 10-91 STGT | + | | | | | az-el | | | | North Antenna | + | | | | | | | | | DMA | + |STGS |White Sands, NM |4753 | 25|TDRSS-STGT TT&C S1 | 32 32 32.8260 |253 23 16.4798 | 1449.460| 10-91 STGT | + |STSS |White Sands, NM |1929 | 117|S-bd | 32 29 58.2011 |253 23 29.2143 | 106.680| 06/2006, SDO | + | | | | | | | | | | + |STWS |White Sands, NM |1930 | 118|S-bd | 32 32 30.1669 |253 23 16.4800 | 106.680| 06/2006,SDO | + |SWNS |Port Hedland, Australia|1796 | |Tlm S-bd,az-el |-20 22 48.0000 |118 38 06.0000 | 242.000| 07-2001, Air | + | | | | | | | | | Force, | + | | | | | | | | | Delta/Genesis l | + |SYOQ |Syoma, Antarctica |4262 | 93|C-bd az-el 9m |-69 00 21.9472 | 39 35 24.5540 | 5.372| POLAR | + | | | | | | | | | Miss.Japanese | + | | | | | | | | | Sta. 12/96 | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1-14 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |TH2S |Thule, Greenland |1731 | 23|S-bd az-el | 76 30 55.3100 |291 24 04.2670 | 147.370| 10/93 geodetics | + |THUS |Thule, Greenland |1730 | 22|S-bd az-el | 76 30 58.6550 |291 24 03.5360 | 141.160| 10/93 geodetics | + |TSMF |University of Tasmania,|4080 | 17|C-bd az-el |-42 48 18.0000 |147 26 20.4000 | 43.000| 07-99 | + | | Australia | | | | | | | Globalstar-5 | + | | | | | | | | | Launch | + | | | | | | | | | | + |TT2S |Thule, Greenland |1376 | 94|Tlm-SGLS S-bd 46-ft | 76 30 55.3119 |291 24 04.1101 | 146.985| 11-84 TT&C POGO | + | | | | | az-el | | | | | + |TTSS |Thule, Greenland |1369 | 59|Tlm-SGLS S-bd 14-ft | 76 30 57.3644 |291 24 00.0998 | 135.906| 2-81 TT&C POGO | + | | | | | az-el | | | | | + |TULF |Tularosa, NM |4151 | 93|C-bd FPS-16 3.7m az-el | 33 05 46.1815 |253 50 27.0450 | 1241.254| 2-81 USAF WSMR | + | | | | | | | | | | + |TULS%|Tula Peak, NM |4078 %| 89|Tlm S-bd 4.3m az-el | 33 01 37.0016%|253 51 39.2724 | 1328.633| 4-82 svyed with | + | | | | | c&v | | | | TULZ mved to | + | | | | | | | | | DAKS | + |UL23 |Fairbanks, AK |1371 | 79|USB 6m X-Y n-s | 64 58 20.6656 |212 28 54.9636 | 331.108| 2-81 Slavable | + | | | | | | | | | cmd and tx see | + | | | | | | | | | #1370 | + | | | | | | | | | | + |UL33 |Fairbanks, AK |1332 | 90|USB 26m X-Y n-s | 64 58 36.5300 |212 28 54.9618 | 308.056| 6-84 USB mode | + | | | | | | | | | for ULAE-1853 | + |ULA3%|Fairbanks, AK |1328 %| 18|USB 9m X-Y n-s | 64 58 19.7049%|212 29 11.8002 | 344.054| 6-76 was S-bd | + | | | | | | | | | GRARR | + | | | | | | | | | (Deactivated) | + | | | | | | | | | | + |ULA4 |Gilmore Creek, AK |1401 | 27|X-Y tracker 12m n-s | 64 58 35.7447 |212 28 43.3816 | 299.159| 1-85 frost | + | | | | | | | | | movement NOAA | + |ULAE |Fairbanks, AK |1853 | 32|X-Y tracker 26m n-s | 64 58 36.5300 |212 28 54.9618 | 308.056| 12-76 Gilmore | + | | | | | | | | | Center or | + | | | | | | | | | Ulaska | + | | | | | | | | | | + |USAS |Bradway Rd, AK |1709 | 00|S-bd X-bd, 13 meter, | 64 48 15.2680 |212 29 59.2290 | 160.580| 09-2000, USN, | + | | | | | az-el | | | | 07-2003 | + |USDS |Dongara, Australia |1717 | |S-bd, az-el |-29 02 44.7792 |115 20 55.2408 | 251.840| 07-2004,USN | + |USHS |USN, Hawaii |1778 | 105|S-bd X-bd, 13.4 meter, | 19 00 50.0562 |204 20 12.1155 | 385.194| 02-2001,USN | + | | | | | az-el | | | | | + | | | | | | | | | | + |USPS |Perth, Australia |1770 | 103|S-bd X-bd, 13.4 meter, |-29 02 44.7798 |115 20 55.2395 | 250.470| 02-2001, USN, | + | | | | | az-el | | | | 07-2003 | + |VD2F |Vandenberg AFB, CA |4247 | 761|C-bd FPQ-14 8.8m az-el | 34 45 29.6346 |239 22 22.3630 | 26.040| 10-91 | + | | | | | HAIR | | | | | + |VD3F |Vandenberg AFB, Ca. |4251 | 73|C-bd TLM 9m az-el | 34 34 58.9546 |239 26 19.9862 | 627.252| rev.geod.5/95 | + ---------------------------------------------------------------------------------------------------------------------------------- + % Station closed or inactive & Proposed + T1-15 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |VD4F |Vandenberg AFB, CA. |4254 | 72|C-bd MPS-39 MOTR 9m | 34 34 58.9546 |239 26 19.9862 | 627.248| 10/98, STS | + | | | | | az-el | | | | 11/95 | + |VDB3 |Vandenberg AFB, CA |1333 | 3|USB 9m X-Y n-s | 34 33 56.2533 |239 29 54.1777 | 609.440| 10-91 moved | + | | | | | | | | | from ORR3. | + |VDBF |Vandenberg AFB, CA |4246 | 250|C-bd MPS-36 #2 4.3m | 34 46 29.5597 |239 27 50.0050 | 122.607| 1-85 R19 WSMC | + | | | | | az-el | | | | 033002 | + | | | | | | | | | | + |VEND |Goldstone, CA |1513 | 13|DSS 13 26m HA-Dec | 35 14 51.7548 |243 12 18.3602 | 1064.078| 10-85 JPL VENUS | + | | | | | Venus | | | | R & D | + |VT2S |Vandenberg AFB, CA |1372 | 6|Tlm-SGLS S-bd 46-ft | 34 49 32.3068 |239 29 40.5684 | 268.610| 10-91 TT&C | + | | | | | az-el | | | | COOK-B | + |VTSS |Vandenberg AFB, CA |1365 | 8|Tlm-SGLS S-bd 60-ft | 34 49 21.4196 |239 29 53.3456 | 272.510| 2-82 TT&C | + | | | | | az-el | | | | Lompoc COOK-A | + | | | | | | | | | | + |WAPS |Wallops Island, VA |1341 | 64|S-bd az-el 11m | 37 55 29.7320 |284 31 24.5190 | -20.100| 04-96 STS - Not | + | | | | | | | | | a | + | | | | | | | | | transportable | + |WD3F |Wallops Island, VA |4846 | 870|C-bd FPS-16V 4.9m | 37 51 22.9149 |284 29 18.8327 | -18.126| 12-91 MDDF high | + | | | | | az-el | | | | speed | + | | | | | | | | | | + |WD4F |Wallops Island, VA |4843 | 313|C-band RIR-778C 12-ft | 37 51 22.9190 |284 29 18.8196 | 18.660| 03/2006 for | + | | | | | | | | | MDDF data | + |WH2J |White Sands, NM |0202 | |BRT 2-ft manual az-el | 32 30 22.6133 |253 23 16.9233 | 1442.610| 10-91 DMA | + | | | | | | | | | center of el | + | | | | | | | | | axis of ctr BRT | + | | | | | | | | | | + |WH2K |White Sands, NM |1921 | 10|TDRSS 18m K-bd az-el | 32 30 02.6539 |253 23 29.2138 | 1459.740| 10-91 WSGT #2 | + | | | | | | | | | Central Antenna | + | | | | | | | | | DMA | + |WH2S |White Sands, NM |1962 | |TDRSS S-bd 3m az-el | 32 30 04.6676 |253 23 29.2060 | 1457.665| 4-84 WSGT | + | | | | | sim | | | | Western Union | + | | | | | | | | | roof mtd sim | + | | | | | | | | | | + |WH3K |White Sands, NM |1922 | 11|TDRSS 18m K-bd az-el | 32 30 01.6642 |253 23 29.2143 | 1459.740| 10-91 WSGT #3 | + | | | | | | | | | South Antenna | + | | | | | | | | | DMA | + |WH4K |White Sands, NM |1925 | |TDRSS 4.5m K-bd az-el | 32 30 05.0026 |253 23 29.2060 | 1458.675| 4-84 WSGT | + | | | | | sim | | | | Western Union | + | | | | | | | | | roof mtd sim | + | | | | | | | | | | + |WH5K |White Sands, NM |1940 | |TDRSS K/S-bd 2m az-el | 32 30 04.4706 |253 23 29.2070 | 1456.635| 4-84 WSGT | + | | | | | axial rati | | | | Western Union | + | | | | | | | | | roof mtd | + |WH6F |White Sands, NM |4145 | 29|C-bd FPS-16V 4.9m | 33 48 49.9102 |253 20 27.5558 | 1508.970| 10-91 WSMR | + | | | | | az-el SN 12 | | | | Stallion | + | | | | | | | | | Station | + ---------------------------------------------------------------------------------------------------------------------------------- + T1-16 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |WH6K&|White Sands, NM |1941 &| |TDRSS K-bd 4.6m TT&C | 32 30 05.2631&|253 23 26.7549 | 1448.046| 1-80 WSGT | + | | | | | | | | | Western Union | + |WH7F |White Sands, NM |4147 | |C-bd FPS-16V 4.9m | 33 48 47.0818 |253 20 27.5479 | 1497.454| 3-79 WSMR | + | | | | | az-el SN 22 | | | | Stallion | + | | | | | | | | | Station | + | | | | | | | | | | + |WH9F |Phillips Hill, NM |4146 | 30|C-bd FPS-16 3.7m az-el | 33 26 42.7872 |253 52 04.4098 | 1592.508| 2-81 USAF WSMR | + |WHSF |White Sands, NM |4143 | 7|C-bd FPS-16 3.7m az-el | 32 21 28.9516 |253 37 48.6933 | 1209.860| 10-91 WSMR C | + | | | | | SN 6 | | | | Station | + |WHSJ |White Sands, NM |0201 | |BRT 2-ft manual az-el | 32 30 22.6133 |253 23 16.9233 | 1442.610| 10-91 DMA | + | | | | | | | | | center of el | + | | | | | | | | | axis of ctr BRT | + | | | | | | | | | | + |WHSK |White Sands, NM |1920 | 9|TDRSS 18m K-bd az-el | 32 30 03.6434 |253 23 29.2138 | 1459.730| 10-91 WSGT #1 | + | | | | | | | | | North Antenna | + | | | | | | | | | DMA | + |WHSS |White Sands, NM |1961 | |TDRSS S-bd 6m az-el | 32 30 00.9712 |253 23 29.2132 | 1452.260| 10-91 WSGT DMA | + | | | | | TT&C | | | | | + | | | | | | | | | | + |WHSX |White Sands |1842 | 52|S-bd X-Y VHF | 32 30 03.3890 |253 23 31.1385 | 1477.061| 07-97 MIR/STS | + |WL2F |Wallops Island, VA |4841 | 520|C-bd FPS-16V 4.9m | 37 56 38.7569 |284 32 08.7959 | -14.040| 10-91 Airport | + | | | | | az-el | | | | | + |WL2S |Wallops Island, VA |4206 | |Tlm S-bd 18m az-el | 37 56 47.1469 |284 32 16.5917 | -6.765| 12-76 GOES-B | + | | | | | | | | | antenna | + | | | | | | | | | | + |WL3F |Wallops Island, VA |4845 | 877|C-bd FPS-16V 4.9m | 37 51 22.9149 |284 29 18.8327 | -18.126| 12-91 low speed | + | | | | | az-el | | | | | + |WL3S |Wallops Island, VA |4207 | 48|S-bd 18m az-el | 37 56 44.8619 |284 32 22.4279 | -5.689| GEOS-A | + |WL4F |Wallops Island, VA |4842 | 887|C-band RIR-778C 12-ft | 37 51 22.9190 |284 29 18.8196 | 18.660| 03/2006 | + |WL4S |Wallops Island, VA |4208 | 49|S-bd 13m az-el | 37 56 46.7279 |284 32 21.8419 | -28.793| GOES-A | + | | | | | | | | | | + |WL53 |Wallops |4209 | 49|S-bd 14.2 meter X-Y | 37 56 48.4800 |284 32 23.6400 | -25.806| For GOES | + | | | | | N-S CDA | | | | support | + |WL6S |Wallops |4210 | 49|S-bd 7-meter Az-El CDA | 37 56 44.1600 |284 32 20.0400 | 13.216| For GOES | + | | | | | | | | | support | + |WLPF |Wallops Island, VA |4840 | 530|C-bd FPS-16 3.7m az-el | 37 50 28.8230 |284 30 53.6793 | -24.000| 10-91 Island | + | | | | | | | | | | + |WLPQ |Wallops Island, VA |4860 | 863|C-bd FPQ-6 8.8m az-el | 37 51 36.9413 |284 29 26.5360 | -21.700| 10-91 LASER on | + | | | | | | | | | mount is #7066 | + |WP2S |Wallops Island, VA |1337 | 8|S-bd 7.3m az-el | 37 55 41.0411 |284 31 32.1015 | -20.961| 11-91 NIMBUS | + | | | | | receive only | | | | backup | + |WP2Y |Wallops Island, VA |1838 | 21|Tlm Satan RCVR | 37 55 32.1066 |284 31 23.3133 | -15.234| New Geodetics | + | | | | | (SRE-VHF) | | | | 5/93 | + ---------------------------------------------------------------------------------------------------------------------------------- + T1-17 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |WP2Z |Wallops Island, Va. |1840 | |UHF & VHF 24-ft X-Y | 37 55 44.0844 |284 31 34.4959 | -17.846| 6-91 | + |WP3S |Wallops Island, VA |1338 | 37|S-bd North 7.3m az-el | 37 55 42.1002 |284 31 32.9233 | -19.631| 11-91 | + | | | | | recr | | | | | + |WP3Z |Wallops Island, VA |1841 | |S-bd X-Y Quad Yagi | 37 55 41.5500 |284 31 26.7700 | -1.520| 04-98 MIR/STS | + |WPDA |Wallops Island, VA |1339 | 154|USB 9m X-Y e-w | 37 55 38.5427 |284 31 30.1701 | -10.538| 11-89 Possible | + | | | | | | | | | Launch | + | | | | | | | | | Support(MDDF) | + | | | | | | | | | | + |WPS8 |Wallops Island, VA |1336 | 7|S-bd 6m X-Y e-w xmit | 37 55 38.4925 |284 31 27.0005 | -20.647| 11-91 | + |WPSA |Wallops Island, VA |1334 | 4|USB 9m X-Y e-w | 37 55 38.1996 |284 31 30.0511 | -19.736| 2-86 moved from | + | | | | | | | | | BLT3. | + | | | | | | | | | (Deactivated) | + |WPSS |Wallops Island, VA |1335 | 5|S-bd 18m az-el receive | 37 55 35.7235 |284 31 25.3037 | -12.762| 11-91 ADAS | + | | | | | only | | | | antenna, 1997 | + | | | | | | | | | updated geodeti | + | | | | | | | | | | + |WSGT |White Sands, NM |0302 | |Space.Center | 32 30 04.9302 |253 23 29.2350 | 1457.555| 12-91 White | + | | | | | | | | | Sands Ground | + | | | | | | | | | Terminal | + |WSSH |White Sands Space |1870 | 114|UHF | 32 52 49.0000 |253 32 07.0000 | 1198.474| 02/2005,use | + | | Harbor | | | | | | | Suffix H(JSC | + | | | | | | | | | WSSH) instead o | + | | | | | | | | | | + |WT1S |Poker Flats, AK |4865 | 81|S-bd TOTS | 65 07 02.0529 |212 32 27.3830 | 431.444| 6/6/94 TOTS, | + | | | | | | | | | old loc. | + | | | | | | | | | Wallops Is. | + |WT2S |Poker Flats, Ak. |4866 | 82|S-bd TOTS | 65 07 00.2397 |212 32 18.4247 | 430.342| 6-94; | + | | | | | | | | | Transportable. | + | | | | | | | | | Replaced by AG1 | + | | | | | | | | | | + |WT3P |S.Vandenberg AFB, CA |1483 | |Launch station SLC-3W | 34 38 37.2310 |239 24 25.7147 | 233.504| 10-91 WSMC | + | | | | | ATLAS | | | | 024307 SLC-3W | + | | | | | | | | | ATLAS | + |WT3S |Wallops Island, Va. |4867 | 83|S-bd 26ft az-el TOTS | 37 55 23.0373 |284 31 21.1120 | -10.644| 7/95 moved to | + | | | | | | | | | Wallops from | + | | | | | | | | | Atlanta | + | | | | | | | | | | + |WT6P |Vandenberg AFB, CA |1482 | |Launch station SLC-6 | 34 34 53.8762 |239 22 26.0694 | 251.655| 10-91 WSMC | + | | | | | | | | | 024306 | + |WTDQ |Wallops Island, Va. |4861 | 155|S-bd | 37 55 23.0373 |284 31 21.1120 | -10.644| renamed | + | | | | | | | | | WTDS-10/92 | + |WTDS |Wallops Island, Va. |4861 | 155|S-bd | 37 55 23.0373 |284 31 21.1120 | -10.644| old WTDQ-10/92 | + | | | | | | | | | | + |WTRP |Vandenberg AFB, CA |1480 | |Launch station SLC-2W | 34 45 20.2760 |239 22 39.4380 | 75.781| 10-91 WSMC | + | | | | | THOR | | | | 034312 SLC-2W | + |WULY |Vandenberg AFB, CA |4215 | |Tlm S-bd 8.5m az-el | 34 39 19.4881 |239 26 38.4550 | 75.230| 10-91 WSMC | + | | | | | | | | | 027603 | + |YARZ$|Yarragedee, Aust Irwin |8566 $| 85|UHF A-G |-29 02 47.9239*|115 20 48.0000 | 192.350| 10-80 SSO | + ---------------------------------------------------------------------------------------------------------------------------------- + * Insufficient data + T1-18 Mar 07,2007 + GEODETIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | REMARKS | + |--------------------------------------------------------------------+-----------------------------------------+-----------------| + | STDN| LOCATION | NASA |ESN | EQUIPMENT | LATITUDE | LONGITUDE(E) |HEIGHT(M)| MONTH-YEAR OF | + | CODE| |NUMBER|CODE| | | | | LATEST DATA | + |-----+-----------------------+------+----+--------------------------+---------------+---------------+---------+-----------------| + |ZZ2P |Zaragoza, Spain |0928 | |Runway 13R | 41 40 56.1151 |358 55 14.5540 | 303.989| 7-84 az true n | + | | | | | | | | | 119.503 deg | + |ZZAP |Zaragoza, Spain |0917 | |Runway 31L | 41 39 57.1151 |358 57 33.5540 | 312.522| 7-84 az true n | + | | | | | | | | | 299.529 deg | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + | | | | | | | | | | + ---------------------------------------------------------------------------------------------------------------------------------- + T1-19 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |A17P | 920 019.984 |-5 536 355.114 | 3 020 165.752 | 6 373 308.865 | 28 17 10.5709| + |A36P | 922 438.999 |-5 534 660.392 | 3 022 535.267 | 6 373 309.878 | 28 18 37.6486| + |A39P | 914 846.675 |-5 528 605.891 | 3 035 873.630 | 6 373 300.262 | 28 26 48.4605| + |A40P | 917 839.227 |-5 530 554.312 | 3 031 345.723 | 6 373 265.783 | 28 24 02.4366| + |A41P% | 917 104.850 |-5 529 522.620 | 3 033 435.262 | 6 373 259.072 | 28 25 19.4408| + | | | | | | | + |A46P | 923 449.026 |-5 535 168.355 | 3 021 264.830 | 6 373 294.909 | 28 17 51.2100| + |AC2J | 6 119 570.414 |-1 570 187.618 | -872 799.026 | 6 377 805.998 | -7 51 56.0746| + |ACN3% | 6 121 234.544 |-1 563 367.220 | -876 916.086 | 6 378 292.188 | -7 54 08.3127| + |ACNJ | 6 119 570.414 |-1 570 187.618 | -872 799.026 | 6 377 805.998 | -7 51 56.0746| + |ADRQ | 3 844 955.494 |-5 056 052.126 | 575 221.377 | 6 377 948.376 | 5 10 28.1480| + | | | | | | | + |AG1S |-2 268 877.449 |-1 447 595.089 | 5 763 592.810 | 6 361 001.376 | 64 58 10.1681| + |AG23 | 1 769 774.590 |-5 044 455.083 |-3 468 464.581 | 6 372 509.375 |-32 58 33.0676| + |AG33 | 1 769 693.486 |-5 044 504.582 |-3 468 435.737 | 6 372 510.335 |-32 58 31.9345| + |AGO3 | 1 769 869.297 |-5 044 468.924 |-3 468 402.619 | 6 372 512.910 |-32 58 30.6026| + |ALAY |-1 461 765.186 |-5 161 511.748 | 3 443 611.939 | 6 374 670.515 | 32 41 50.6910| + | | | | | | | + |ALSJ |-4 049 081.851 | 4 210 177.112 |-2 554 089.087 | 6 375 266.756 |-23 37 02.0456| + |AMEY$ |-3 547 115.564 |-3 753 155.845 | 3 752 029.833 | 6 383 254.302 | 36 00 01.8810| + |AMSJ |-6 100 064.718 | -996 801.370 |-1 568 551.673 | 6 376 892.416 |-14 14 21.9097| + |AN3S | 2 883 416.802 |-5 371 773.802 | 1 867 317.299 | 6 376 277.921 | 17 01 43.9936| + |AN8S | 2 883 432.907 |-5 371 790.268 | 1 867 286.373 | 6 376 290.019 | 17 01 42.8274| + | | | | | | | + |ANPC |-2 704 629.376 |-4 388 697.735 | 3 745 082.085 | 6 371 917.113 | 35 59 50.5243| + |ANTQ | 2 881 619.668 |-5 372 512.006 | 1 868 031.848 | 6 376 296.742 | 17 02 07.9821| + |AREL | 1 942 802.437 |-5 804 086.195 |-1 796 917.885 | 6 378 935.002 |-16 21 41.1450| + |AS2Q | 6 118 547.564 |-1 571 084.239 | -878 821.468 | 6 377 872.463 | -7 55 12.4104| + |ASCQ | 6 119 400.266 |-1 571 479.555 | -871 561.202 | 6 377 791.666 | -7 51 15.7264| + | | | | | | | + |ASNS | 6 121 113.247 |-1 564 045.259 | -872 655.595 | 6 377 757.658 | -7 51 51.6078| + |ATDQ | 543 778.102 |-5 269 794.708 | 3 540 245.969 | 6 371 795.070 | 33 45 10.3679| + |ATDS | 543 778.102 |-5 269 794.708 | 3 540 245.969 | 6 371 795.070 | 33 45 10.3679| + |ATLS | 543 800.501 |-5 269 774.604 | 3 540 231.724 | 6 371 772.439 | 33 45 10.3028| + |ATMY |-1 496 460.775 |-5 096 174.488 | 3 523 797.487 | 6 373 973.485 | 33 33 43.8320| + | | | | | | | + |AUSS | 4 637 942.464 | 121 401.168 | 4 362 391.023 | 6 368 336.045 | 43 14 11.7794| + |AUWS |-2 389 196.388 | 5 043 292.026 |-3 078 458.620 | 6 373 379.113 |-28 52 57.7810| + |B17P | 919 961.950 |-5 536 438.072 | 3 020 032.171 | 6 373 309.252 | 28 17 05.6548| + |B36P | 922 153.192 |-5 534 870.853 | 3 022 235.253 | 6 373 309.014 | 28 18 26.6350| + |B37P | 919 334.896 |-5 531 953.011 | 3 028 347.521 | 6 373 269.920 | 28 22 12.0695| + | | | | | | | + |B39P | 913 069.141 |-5 527 886.761 | 3 037 712.723 | 6 373 297.882 | 28 27 56.2018| + |BANF | 1 344 283.512 | 6 068 683.366 | 1 428 827.804 | 6 377 896.586 | 12 56 44.6325| + |BDA3% | 2 308 454.921 |-4 874 298.517 | 3 393 395.047 | 6 372 038.928 | 32 10 39.1667| + |BDAA% | 2 308 382.635 |-4 874 344.093 | 3 393 386.450 | 6 372 043.026 | 32 10 38.7545| + |BDAL | 2 308 540.204 |-4 874 086.669 | 3 393 631.539 | 6 372 033.722 | 32 10 48.3174| + | | | | | | | + |BDAQ% | 2 308 917.525 |-4 874 299.072 | 3 393 084.420 | 6 372 041.546 | 32 10 27.2337| + |BDDQ% | 2 308 917.525 |-4 874 299.072 | 3 393 084.420 | 6 372 041.546 | 32 10 27.2337| + |BLKQ |-1 277 969.621 | 315 071.982 |-6 220 087.376 | 6 357 826.961 |-78 03 06.7395| + |BLT3% | 1 129 800.887 |-4 833 154.906 | 3 992 194.617 | 6 369 729.527 | 38 48 37.3076| + |BLTA | 1 129 875.046 |-4 833 157.107 | 3 992 181.452 | 6 369 736.100 | 38 48 36.5894| + --------------------------------------------------------------------------------------- + T2- 1 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |BLTD% | 1 129 800.887 |-4 833 154.906 | 3 992 194.617 | 6 369 729.527 | 38 48 37.3076| + |BLTJ | 1 130 148.742 |-4 832 801.509 | 3 992 588.065 | 6 369 769.702 | 38 48 52.6121| + |BREQ | 3 885 166.921 |-5 028 521.661 | 546 561.102 | 6 378 031.133 | 4 54 57.4298| + |BRKS |-2 689 383.334 |-4 263 604.399 | 3 895 104.129 | 6 370 474.186 | 37 41 34.9123| + |CA2F |-2 673 130.818 |-4 527 026.645 | 3 600 234.983 | 6 371 914.198 | 34 24 12.3078| + | | | | | | | + |CALC |-2 673 248.702 |-4 526 988.204 | 3 600 166.948 | 6 371 897.902 | 34 24 09.9998| + |CALF |-2 673 176.235 |-4 527 021.009 | 3 600 208.509 | 6 371 914.289 | 34 24 11.2671| + |CALT |-2 671 855.504 |-4 521 201.671 | 3 607 489.149 | 6 371 346.353 | 34 29 09.6768| + |CALY |-2 668 935.246 |-4 530 769.741 | 3 598 643.008 | 6 371 916.611 | 34 23 09.8018| + |CANS |-4 460 849.015 | 2 682 144.084 |-3 674 945.826 | 6 371 679.343 |-35 13 23.3620| + | | | | | | | + |CHAS% | 1 080 837.968 |-4 852 161.998 | 3 982 933.025 | 6 369 885.576 | 38 42 08.6655| + |CN2F% | 916 834.719 |-5 532 493.424 | 3 028 118.729 | 6 373 270.152 | 28 22 03.6503| + |CN4F | 918 123.344 |-5 535 806.390 | 3 021 721.803 | 6 373 296.283 | 28 18 07.9831| + |CN5F | 919 563.153 |-5 532 706.612 | 3 026 981.349 | 6 373 308.006 | 28 21 21.1576| + |CNVF | 918 601.823 |-5 534 740.042 | 3 023 518.348 | 6 373 291.132 | 28 19 14.1161| + | | | | | | | + |COCS | -743 654.178 | 6 190 517.724 |-1 339 035.599 | 6 377 189.629 |-12 07 14.7045| + |CT2J |-1 539 392.792 |-5 160 974.944 | 3 408 148.381 | 6 373 450.237 | 32 19 34.9778| + |CTSS |-1 248 871.410 |-4 819 147.899 | 3 976 751.404 | 6 371 688.787 | 38 37 05.6527| + |CTVJ |-1 539 392.792 |-5 160 974.944 | 3 408 148.381 | 6 373 450.237 | 32 19 34.9778| + |D26D |-2 354 890.967 |-4 647 166.925 | 3 668 872.212 | 6 371 993.032 | 35 09 15.6279| + | | | | | | | + |D27D |-2 349 917.184 |-4 656 764.018 | 3 660 101.587 | 6 372 119.390 | 35 03 25.7171| + |DA2P | 5 884 208.076 |-1 853 137.139 | 1 614 186.705 | 6 376 803.326 | 14 39 46.9908| + |DAKP | 5 885 186.724 |-1 852 972.105 | 1 610 840.689 | 6 376 812.380 | 14 37 55.0481| + |DAKS | 5 896 416.182 |-1 817 215.616 | 1 610 687.885 | 6 376 857.521 | 14 37 49.5587| + |DFRS |-2 448 209.705 |-4 626 324.556 | 3 633 692.145 | 6 371 838.688 | 34 46 09.5348| + | | | | | | | + |DGIS | 1 916 292.209 | 6 029 961.560 | -801 757.344 | 6 377 728.992 | -7 13 18.7581| + |DS12 |-2 350 442.984 |-4 651 987.980 | 3 665 635.488 | 6 372 005.800 | 35 07 07.2170| + |DS14 |-2 353 608.253 |-4 641 313.334 | 3 677 031.689 | 6 371 956.004 | 35 14 39.7029| + |DS15 |-2 353 532.904 |-4 641 635.280 | 3 676 660.536 | 6 371 948.517 | 35 14 25.1634| + |DS16 |-2 354 758.642 |-4 646 787.204 | 3 669 385.838 | 6 371 962.964 | 35 09 36.6496| + | | | | | | | + |DS17 |-2 354 727.048 |-4 646 754.910 | 3 669 448.777 | 6 371 963.982 | 35 09 39.1185| + |DS24 |-2 354 908.558 |-4 646 842.281 | 3 669 246.259 | 6 371 978.155 | 35 09 30.7767| + |DS25 |-2 355 021.795 |-4 646 953.324 | 3 669 040.627 | 6 371 982.578 | 35 09 22.5342| + |DS34 |-4 461 143.512 | 2 682 437.342 |-3 674 393.543 | 6 371 690.470 |-35 13 01.2231| + |DS42 |-4 460 986.836 | 2 682 419.231 |-3 674 588.364 | 6 371 685.501 |-35 13 09.0564| + | | | | | | | + |DS43 |-4 460 900.435 | 2 682 367.269 |-3 674 754.919 | 6 371 699.191 |-35 13 15.3435| + |DS45 |-4 460 941.145 | 2 682 771.446 |-3 674 387.789 | 6 371 686.131 |-35 13 01.0943| + |DS54 | 4 849 430.291 | -360 723.775 | 4 114 618.644 | 6 370 022.164 | 40 14 08.8645| + |DS55 | 4 849 525.222 | -360 606.091 | 4 114 495.055 | 6 370 007.942 | 40 14 04.0119| + |DS61 | 4 849 251.543 | -360 270.411 | 4 114 890.365 | 6 370 035.951 | 40 14 20.0125| + | | | | | | | + |DS63 | 4 849 092.775 | -360 172.313 | 4 115 109.699 | 6 370 051.230 | 40 14 28.8978| + |DS65 | 4 849 340.639 | -360 425.962 | 4 114 750.253 | 6 370 022.068 | 40 14 14.4496| + |DS66 | 4 849 148.838 | -360 466.577 | 4 114 995.682 | 6 370 036.897 | 40 14 24.4540| + |DS87 | 1 263 289.970 |-4 876 455.563 | 3 899 012.031 | 6 370 087.344 | 37 44 24.5578| + |DX2S |-2 268 049.131 |-1 448 740.450 | 5 763 716.709 | 6 361 079.001 | 64 58 14.2733| + --------------------------------------------------------------------------------------- + T2- 2 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |DXAS |-2 268 101.670 |-1 448 643.510 | 5 763 725.060 | 6 361 083.223 | 64 58 14.6202| + |E10P |-2 443 581.980 |-4 625 537.699 | 3 637 740.511 | 6 371 800.996 | 34 48 49.9613| + |EA2F |-2 451 125.222 |-4 623 404.813 | 3 635 639.730 | 6 371 951.283 | 34 47 23.7614| + |EA2P |-2 446 594.100 |-4 631 433.197 | 3 628 266.213 | 6 371 837.401 | 34 42 35.8191| + |EA3F |-2 465 034.835 |-4 618 281.880 | 3 632 666.635 | 6 371 906.397 | 34 45 27.6039| + | | | | | | | + |EA3P |-2 444 684.253 |-4 629 528.417 | 3 631 957.688 | 6 371 823.217 | 34 45 01.5398| + |EA4P |-2 447 181.746 |-4 629 260.927 | 3 630 630.816 | 6 371 831.397 | 34 44 09.0842| + |EA5P |-2 451 262.869 |-4 628 665.522 | 3 628 660.900 | 6 371 845.423 | 34 42 51.1820| + |EA6P |-2 442 237.797 |-4 628 267.324 | 3 635 187.056 | 6 371 810.481 | 34 47 09.0853| + |EA7P |-2 446 380.102 |-4 627 349.657 | 3 633 580.562 | 6 371 816.707 | 34 46 05.6316| + | | | | | | | + |EA8P |-2 446 227.943 |-4 626 678.969 | 3 634 530.003 | 6 371 812.754 | 34 46 43.1373| + |EA9P |-2 446 559.853 |-4 629 472.564 | 3 630 772.680 | 6 371 827.178 | 34 44 14.7671| + |EAFF |-2 449 875.212 |-4 624 754.285 | 3 634 738.213 | 6 371 935.548 | 34 46 48.5827| + |EG2F | 362 851.228 |-5 484 290.204 | 3 225 199.121 | 6 372 676.786 | 30 24 15.3674| + |EG3F% | 307 473.393 |-5 496 142.945 | 3 210 769.576 | 6 372 689.262 | 30 15 14.0347| + | | | | | | | + |EULY | 911 366.206 |-5 536 905.461 | 3 021 762.451 | 6 373 300.460 | 28 18 09.4045| + |EVCS | 918 617.184 |-5 534 528.097 | 3 023 960.321 | 6 373 318.979 | 28 19 29.8795| + |FR2F |-2 449 974.089 |-4 624 877.718 | 3 634 451.306 | 6 371 899.500 | 34 46 38.0857| + |FRCF |-2 449 855.455 |-4 624 727.689 | 3 634 734.925 | 6 371 906.773 | 34 46 49.1001| + |FT2F |-1 900 141.997 |-5 098 927.190 | 3 319 591.480 | 6 374 110.580 | 31 23 07.6277| + | | | | | | | + |FTHF |-1 893 765.084 |-5 100 135.606 | 3 320 777.240 | 6 373 797.210 | 31 23 58.7679| + |GB2Y | 1 157 166.016 |-5 587 019.180 | 2 841 174.345 | 6 373 859.754 | 26 28 17.7537| + |GBIQ% | 1 152 454.889 |-5 588 488.663 | 2 840 199.532 | 6 373 859.992 | 26 27 42.5106| + |GBIY | 1 157 112.923 |-5 587 040.668 | 2 841 176.432 | 6 373 869.881 | 26 28 17.6659| + |GD28 |-2 354 758.458 |-4 646 786.840 | 3 669 385.549 | 6 371 962.464 | 35 09 36.6496| + | | | | | | | + |GDSA% |-2 354 707.534 |-4 646 807.707 | 3 669 382.425 | 6 371 957.063 | 35 09 36.6490| + |GILD& |-2 281 547.137 |-1 453 617.781 | 5 756 986.906 | 6 360 924.479 | 64 49 50.5206| + |GILE |-2 281 548.147 |-1 453 618.409 | 5 756 988.892 | 6 360 926.782 | 64 49 50.5131| + |GLAS |-2 282 359.792 |-1 453 304.655 | 5 756 819.792 | 6 360 993.221 | 64 49 33.0370| + |GLBS |-2 282 277.378 |-1 453 483.970 | 5 756 827.140 | 6 361 011.272 | 64 49 32.3518| + | | | | | | | + |GLCS |-2 282 213.670 |-1 453 662.887 | 5 756 828.319 | 6 361 030.366 | 64 49 31.1244| + |GT2S |-5 069 957.299 | 3 569 099.448 | 1 491 765.571 | 6 377 170.407 | 13 31 41.2830| + |GTKL | 1 920 479.571 |-5 619 483.603 | 2 318 918.930 | 6 375 282.170 | 21 19 47.3083| + |GTKQ | 1 920 440.195 |-5 619 414.338 | 2 319 138.757 | 6 375 289.219 | 21 19 54.8546| + |GTSS |-5 070 009.450 | 3 569 075.201 | 1 491 689.219 | 6 377 180.438 | 13 31 38.6650| + | | | | | | | + |GW2K |-5 069 633.921 | 3 570 819.690 | 1 488 716.101 | 6 377 163.710 | 13 29 59.8935| + |GW2S |-5 069 633.921 | 3 570 819.690 | 1 488 716.101 | 6 377 163.710 | 13 29 59.8935| + |GW3S |-5 069 639.930 | 3 570 823.861 | 1 488 686.150 | 6 377 163.830 | 13 29 58.8963| + |GWM3 |-5 068 919.220 | 3 584 107.247 | 1 458 909.475 | 6 377 161.098 | 13 13 29.0128| + |GWMJ |-5 069 642.039 | 3 570 834.712 | 1 488 625.107 | 6 377 157.334 | 13 29 56.9162| + | | | | | | | + |GWMK |-5 069 624.204 | 3 570 805.562 | 1 488 761.112 | 6 377 158.582 | 13 30 01.4305| + |GWMS |-5 069 624.204 | 3 570 805.562 | 1 488 761.112 | 6 377 158.582 | 13 30 01.4305| + |HAW3 |-5 543 837.138 |-2 054 561.368 | 2 387 807.155 | 6 376 282.274 | 21 59 32.4305| + |HAWQ |-5 507 156.219 |-2 237 747.135 | 2 304 033.987 | 6 375 331.716 | 21 11 09.9410| + |HAWS |-5 496 488.298 |-2 486 033.976 | 2 064 860.467 | 6 376 158.506 | 18 53 43.3027| + --------------------------------------------------------------------------------------- + T2- 3 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |HB33 | 5 084 675.595 | 2 670 357.493 |-2 768 430.258 | 6 375 652.212 |-25 44 08.2223| + |HB5S | 5 084 693.655 | 2 670 279.188 |-2 768 482.640 | 6 375 656.565 |-25 44 10.0358| + |HBK3 | 5 084 410.879 | 2 670 801.870 |-2 768 453.757 | 6 375 637.444 |-25 44 09.2966| + |HBKS | 5 084 423.835 | 2 670 740.740 |-2 768 479.058 | 6 375 633.155 |-25 44 10.2722| + |HN2P |-5 508 466.228 |-2 235 570.354 | 2 303 084.140 | 6 375 356.582 | 21 10 36.6719| + | | | | | | | + |HNLP |-5 509 840.175 |-2 232 181.772 | 2 303 083.854 | 6 375 356.418 | 21 10 36.6640| + |HOLF |-1 486 737.063 |-5 151 201.605 | 3 445 462.905 | 6 373 105.970 | 32 43 34.3994| + |HOPL% |-1 936 760.782 |-5 077 708.310 | 3 331 925.912 | 6 374 628.953 | 31 30 45.2172| + |HR1S | 1 264 254.932 |-4 874 867.543 | 3 900 663.845 | 6 370 074.766 | 37 45 32.5178| + |HR2S | 1 264 175.196 |-4 874 894.272 | 3 900 658.091 | 6 370 075.873 | 37 45 32.2543| + | | | | | | | + |HT2S |-5 512 486.535 |-2 197 889.845 | 2 330 212.242 | 6 375 587.555 | 21 26 15.8250| + |HTSS |-5 512 060.651 |-2 199 971.403 | 2 329 563.033 | 6 375 700.018 | 21 25 51.8328| + |HWIS |-5 496 570.843 |-2 486 036.499 | 2 064 924.301 | 6 376 251.318 | 18 53 44.4576| + |JD2Y | 977 155.190 |-5 603 212.335 | 2 876 460.164 | 6 373 762.140 | 26 49 36.9587| + |JDIQ | 977 099.681 |-5 603 176.798 | 2 876 537.863 | 6 373 757.454 | 26 49 39.8531| + | | | | | | | + |JDIY | 977 024.256 |-5 603 147.085 | 2 876 611.703 | 6 373 753.097 | 26 49 42.6022| + |JSCJ | -492 614.252 |-5 530 535.974 | 3 128 228.812 | 6 373 014.394 | 29 23 48.5627| + |JSCS | 490 336.495 |-5 530 449.178 | 3 128 702.589 | 6 372 995.989 | 29 24 06.4989| + |KA2S |-3 941 769.778 | 3 367 567.842 | 3 701 626.103 | 6 370 251.013 | 35 31 35.5696| + |KENS | 4 865 387.245 | 4 110 771.216 | -331 084.391 | 6 378 091.400 | -2 58 31.9451| + | | | | | | | + |KERS | 1 406 177.993 | 3 918 095.786 |-4 816 278.802 | 6 365 952.610 |-49 09 45.3798| + |KGLQ | 1 406 268.370 | 3 918 101.505 |-4 816 147.314 | 6 365 876.615 |-49 09 41.7134| + |KI2S | 2 251 508.434 | 862 665.784 | 5 885 477.653 | 6 360 214.594 | 67 43 20.8293| + |KICS | 2 247 453.165 | 865 452.488 | 5 886 652.118 | 6 360 245.820 | 67 44 58.8862| + |KILS | 2 248 198.088 | 865 809.994 | 5 886 397.535 | 6 360 322.125 | 67 44 31.0385| + | | | | | | | + |KIXS | 2 248 023.140 | 865 790.423 | 5 886 459.941 | 6 360 315.380 | 67 44 36.9162| + |KL2P | 4 001 240.215 | 500 471.225 | 4 925 266.537 | 6 365 425.764 | 50 41 31.5638| + |KLMS | 1 258 450.688 | 346 591.075 | 6 222 718.041 | 6 358 147.790 | 78 09 11.3030| + |KLNP | 4 003 104.466 | 503 247.351 | 4 923 508.817 | 6 365 456.962 | 50 40 00.4439| + |KM2F |-6 143 532.173 | 1 364 318.434 | 1 034 345.582 | 6 377 634.603 | 9 20 01.1159| + | | | | | | | + |KMRF |-6 143 536.475 | 1 363 997.622 | 1 034 706.781 | 6 377 628.718 | 9 20 12.9859| + |KMRQ |-6 143 541.427 | 1 363 919.833 | 1 034 688.251 | 6 377 613.845 | 9 20 12.4576| + |KMRT% |-6 160 670.456 | 1 341 157.041 | 960 522.887 | 6 377 708.593 | 8 39 43.4242| + |KOOL | 3 899 220.840 | 396 739.935 | 5 015 068.667 | 6 364 922.582 | 51 59 30.5907| + |KPTQ |-5 512 516.827 |-2 197 421.737 | 2 330 529.638 | 6 375 568.402 | 21 26 27.1001| + | | | | | | | + |KR2P | 3 842 417.901 |-5 057 709.578 | 577 786.685 | 6 377 965.111 | 5 11 51.4026| + |KR3P | 3 844 441.246 |-5 056 023.154 | 578 654.871 | 6 377 926.002 | 5 12 19.7112| + |KRCS |-4 899 360.701 | 3 837 356.743 |-1 392 404.750 | 6 377 133.607 |-12 36 42.2961| + |KRUF | 3 854 733.375 |-5 049 995.275 | 564 755.242 | 6 378 116.505 | 5 04 47.8267| + |KRUS | 3 855 252.039 |-5 049 739.461 | 563 082.213 | 6 378 079.530 | 5 03 53.6152| + | | | | | | | + |KS2P | 904 776.429 |-5 528 891.564 | 3 038 232.898 | 6 373 234.771 | 28 28 16.4600| + |KS3P | 904 786.321 |-5 528 890.791 | 3 038 231.249 | 6 373 234.720 | 28 28 16.4002| + |KS4P | 907 349.501 |-5 530 392.532 | 3 034 755.049 | 6 373 245.867 | 28 26 08.2431| + |KSCP | 907 335.365 |-5 530 397.999 | 3 034 746.294 | 6 373 244.430 | 28 26 07.9461| + |LANS | 4 205 607.409 | -255 015.751 | 4 772 460.378 | 6 366 203.325 | 48 33 38.0132| + --------------------------------------------------------------------------------------- + T2- 4 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |LBVS | 6 287 404.512 | 1 071 936.300 | 39 213.374 | 6 378 247.457 | 0 21 08.1211| + |LE1S |-2 268 883.037 |-1 447 540.102 | 5 763 579.320 | 6 360 978.632 | 64 58 10.7136| + |LE2S | 1 263 351.330 |-4 876 638.193 | 3 898 731.331 | 6 370 067.711 | 37 44 13.5564| + |LR1S |-1 538 726.487 |-5 157 580.415 | 3 411 248.463 | 6 372 199.857 | 32 21 59.3755| + |MA2C |-5 466 328.654 |-2 404 388.146 | 2 241 506.346 | 6 378 572.098 | 20 34 25.3183| + | | | | | | | + |MAD8% | 4 847 826.263 | -353 312.827 | 4 117 140.529 | 6 370 015.351 | 40 15 56.0448| + |MC1S |-1 311 619.414 | 310 849.461 |-6 213 327.250 | 6 357 861.935 |-77 45 34.6911| + |MCMS |-1 314 279.421 | 317 957.655 |-6 212 275.504 | 6 357 735.006 |-77 43 12.9549| + |MDLS | 1 122 418.287 |-4 822 839.186 | 4 006 831.716 | 6 369 795.996 | 38 58 44.5601| + |MIL3 | 907 079.925 |-5 535 208.775 | 3 026 095.646 | 6 373 271.140 | 28 20 49.2296| + | | | | | | | + |MILA | 907 141.943 |-5 535 195.424 | 3 026 098.523 | 6 373 269.739 | 28 20 49.3599| + |MILJ | 907 136.235 |-5 535 318.083 | 3 025 889.987 | 6 373 276.445 | 28 20 41.5743| + |MIMF | 907 094.748 |-5 528 885.910 | 3 037 567.429 | 6 373 242.203 | 28 27 51.8299| + |MLAQ | 910 598.613 |-5 539 104.115 | 3 017 973.070 | 6 373 305.710 | 28 15 50.0479| + |MMTF | 909 132.947 |-5 536 467.211 | 3 023 224.187 | 6 373 293.997 | 28 19 03.2516| + | | | | | | | + |MPLS | 5 439 227.115 |-1 522 118.921 | 2 953 375.176 | 6 373 732.230 | 27 36 16.4442| + |MR2P | 5 062 895.252 | -497 196.873 | 3 834 445.800 | 6 370 485.669 | 37 00 23.9946| + |MRNP | 5 064 817.640 | -498 625.252 | 3 831 746.578 | 6 370 501.292 | 36 58 34.1945| + |MTLF |-1 913 142.953 |-5 039 350.768 | 3 403 352.733 | 6 374 792.699 | 32 16 03.9291| + |MTLS |-1 913 188.828 |-5 039 299.946 | 3 403 395.104 | 6 374 788.911 | 32 16 05.6279| + | | | | | | | + |NATC | 5 186 492.239 |-3 653 836.212 | -654 322.358 | 6 377 958.809 | -5 53 18.2477| + |NATL% | 5 186 482.355 |-3 653 857.129 | -654 322.893 | 6 377 962.809 | -5 53 18.2517| + |NH2S | 1 473 725.771 |-4 437 983.516 | 4 323 144.348 | 6 368 448.978 | 42 45 10.4285| + |NHSS | 1 473 945.782 |-4 437 672.558 | 4 323 401.616 | 6 368 457.854 | 42 45 21.5108| + |NO2P |-1 513 206.963 |-5 140 333.008 | 3 450 009.008 | 6 373 019.763 | 32 46 31.1400| + | | | | | | | + |NO3P |-1 514 303.036 |-5 139 404.233 | 3 450 905.131 | 6 373 016.224 | 32 47 05.7106| + |NO4P |-1 515 552.496 |-5 141 605.586 | 3 447 098.029 | 6 373 028.494 | 32 44 38.9241| + |NORP |-1 517 466.872 |-5 140 193.143 | 3 448 353.593 | 6 373 023.910 | 32 45 27.3373| + |ORR3% |-4 447 490.567 | 2 676 864.396 |-3 695 265.487 | 6 371 872.751 |-35 26 45.2360| + |ORRL |-4 447 548.425 | 2 677 133.829 |-3 694 995.705 | 6 371 869.882 |-35 26 34.5823| + | | | | | | | + |OTSS | 4 011 653.083 | -62 651.927 | 4 941 511.536 | 6 365 204.001 | 50 55 33.4294| + |PA2Q | 917 927.866 |-5 548 417.601 | 2 998 718.876 | 6 373 369.936 | 28 04 02.0993| + |PATQ | 918 596.488 |-5 548 356.681 | 2 998 628.776 | 6 373 370.843 | 28 03 58.7791| + |PDLS | 881 148.723 |-5 509 212.382 | 3 080 348.963 | 6 373 099.236 | 28 54 12.6574| + |PFTQ |-2 268 913.950 |-1 447 502.106 | 5 763 575.925 | 6 360 977.936 | 64 58 10.5018| + | | | | | | | + |PFTS |-2 268 913.950 |-1 447 502.106 | 5 763 575.925 | 6 360 977.936 | 64 58 10.5018| + |PIOD% |-2 351 425.019 |-4 645 079.100 | 3 673 763.423 | 6 372 008.879 | 35 12 28.9826| + |PM2F |-2 574 923.965 |-4 616 020.390 | 3 557 691.315 | 6 371 424.108 | 33 56 38.4219| + |PM3F |-2 574 990.569 |-4 615 956.321 | 3 557 726.948 | 6 371 424.505 | 33 56 39.8038| + |PM4F |-2 574 857.608 |-4 616 084.822 | 3 557 655.998 | 6 371 424.251 | 33 56 37.0406| + | | | | | | | + |PMKS% | 1 118 526.163 |-4 867 242.565 | 3 954 067.106 | 6 369 913.472 | 38 22 12.9859| + |PP2F |-2 722 045.769 |-4 273 301.751 | 3 861 289.414 | 6 370 258.783 | 37 18 40.1574| + |PPTF |-2 722 170.289 |-4 273 165.559 | 3 861 370.445 | 6 370 269.750 | 37 18 43.1855| + |PPTQ |-2 722 243.851 |-4 273 113.862 | 3 861 384.137 | 6 370 274.807 | 37 18 43.6182| + |PPTY |-2 722 208.793 |-4 273 146.717 | 3 861 384.958 | 6 370 282.362 | 37 18 43.4651| + --------------------------------------------------------------------------------------- + T2- 5 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |PRTS |-2 368 668.601 | 4 881 332.363 |-3 341 803.942 | 6 372 256.286 |-31 37 47.6246| + |RALS | 3 971 434.755 | -90 919.490 | 4 973 474.826 | 6 365 218.944 | 51 23 04.2200| + |RAML% | 917 956.105 |-5 548 375.551 | 2 998 783.175 | 6 373 367.650 | 28 04 04.4971| + |RGTS |-4 460 814.553 | 2 682 191.173 |-3 674 924.337 | 6 371 662.644 |-35 13 22.8922| + |RO2P | 5 092 547.054 | -564 804.246 | 3 785 731.014 | 6 370 619.957 | 36 27 32.6668| + | | | | | | | + |ROTP | 5 091 887.793 | -568 404.983 | 3 786 077.636 | 6 370 619.231 | 36 27 46.6383| + |RTKS |-4 460 810.519 | 2 682 168.971 |-3 674 942.147 | 6 371 660.746 |-35 13 23.6413| + |SARS | 3 583 314.339 | 4 910 889.142 | 1 923 308.743 | 6 376 212.852 | 17 33 21.6645| + |SEYS | 3 603 024.733 | 5 238 118.593 | -516 055.659 | 6 378 556.817 | -4 38 26.0653| + |SF1S | -532 367.518 |-4 585 336.096 | 4 387 274.282 | 6 368 429.784 | 43 32 37.9655| + | | | | | | | + |SF2S | -532 136.312 |-4 585 494.198 | 4 387 124.384 | 6 368 421.034 | 43 32 31.5370| + |SG1S | 1 258 448.749 | 346 391.051 | 6 222 728.287 | 6 358 146.534 | 78 09 13.1164| + |SG3S | 1 258 442.280 | 346 824.070 | 6 222 709.754 | 6 358 150.721 | 78 09 09.5403| + |SG4S | 1 258 615.287 | 346 909.891 | 6 222 677.403 | 6 358 157.986 | 78 09 03.3054| + |SIPQ |-5 090 727.091 | 3 460 145.982 | 1 666 804.734 | 6 377 017.371 | 15 09 06.3916| + | | | | | | | + |SN2F |-2 631 061.716 |-4 646 460.109 | 3 477 099.687 | 6 371 993.372 | 33 04 17.2931| + |SN3F |-2 631 092.857 |-4 646 392.477 | 3 477 165.029 | 6 371 992.570 | 33 04 19.8341| + |SNDL% |-2 428 822.028 |-4 799 753.713 | 3 417 272.214 | 6 372 955.479 | 32 25 34.7694| + |SNIF |-2 631 030.109 |-4 646 526.941 | 3 477 033.783 | 6 371 993.093 | 33 04 14.7532| + |SNYC |-2 628 995.093 |-4 556 151.495 | 3 595 133.075 | 6 371 429.469 | 34 21 02.9315| + | | | | | | | + |SOCA | 1 124 611.887 |-4 845 073.220 | 3 979 438.834 | 6 369 883.817 | 38 39 43.7677| + |ST1F | 2 561 813.076 | 5 487 127.624 | 1 995 993.584 | 6 376 162.340 | 18 14 33.1017| + |ST2K |-1 538 987.113 |-5 158 453.975 | 3 412 123.070 | 6 373 438.050 | 32 22 07.4894| + |ST3K |-1 538 992.263 |-5 158 471.256 | 3 412 094.792 | 6 373 438.142 | 32 22 06.4040| + |STAL% | 1 130 718.372 |-4 831 374.483 | 3 994 080.874 | 6 369 724.127 | 38 49 55.8471| + | | | | | | | + |STGK |-1 538 981.950 |-5 158 436.670 | 3 412 151.313 | 6 373 437.918 | 32 22 08.5743| + |STGS |-1 538 995.393 |-5 158 481.730 | 3 412 072.381 | 6 373 435.378 | 32 22 05.6020| + |STSS |-1 539 085.306 |-5 159 945.916 | 3 407 333.750 | 6 372 107.086 | 32 19 31.2853| + |STWS |-1 538 684.371 |-5 157 439.247 | 3 411 281.013 | 6 372 092.853 | 32 22 02.8182| + |SWNS |-2 866 523.936 | 5 249 943.686 |-2 207 264.552 | 6 375 804.654 |-20 15 16.8901| + | | | | | | | + |SYOQ | 1 766 098.390 | 1 460 540.505 |-5 932 221.080 | 6 359 522.704 |-68 52 37.3258| + |TH2S | 544 442.333 |-1 389 168.498 | 6 180 523.421 | 6 358 071.746 | 76 25 40.2143| + |THUS | 544 400.075 |-1 389 075.166 | 6 180 541.569 | 6 358 065.377 | 76 25 43.5791| + |TSMF |-3 950 066.291 | 2 522 386.033 |-4 311 662.762 | 6 368 350.711 |-42 36 47.4909| + |TT2S | 544 444.549 |-1 389 166.279 | 6 180 523.327 | 6 358 071.359 | 76 25 40.2533| + | | | | | | | + |TTSS | 544 394.014 |-1 389 116.833 | 6 180 527.394 | 6 358 060.183 | 76 25 42.3175| + |TULF |-1 488 855.633 |-5 138 344.555 | 3 463 575.820 | 6 373 039.567 | 32 55 13.3858| + |TULS% |-1 488 240.942 |-5 142 959.547 | 3 457 188.619 | 6 373 150.489 | 32 51 04.8956| + |UL23 |-2 282 580.045 |-1 453 152.253 | 5 756 709.049 | 6 360 937.212 | 64 49 28.4592| + |UL33 |-2 282 196.261 |-1 452 907.898 | 5 756 896.010 | 6 360 912.891 | 64 49 44.3900| + | | | | | | | + |ULA3% |-2 282 488.783 |-1 453 355.989 | 5 756 708.191 | 6 360 950.234 | 64 49 27.4954| + |ULA4 |-2 282 293.244 |-1 452 789.581 | 5 756 877.662 | 6 360 904.057 | 64 49 43.6006| + |ULAE |-2 282 196.261 |-1 452 907.898 | 5 756 896.010 | 6 360 912.891 | 64 49 44.3900| + |USAS |-2 296 384.869 |-1 462 946.440 | 5 748 597.566 | 6 360 815.178 | 64 39 20.4482| + |USDS |-2 389 197.637 | 5 043 292.400 |-3 078 459.602 | 6 373 380.351 |-28 52 57.7951| + --------------------------------------------------------------------------------------- + T2- 6 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |USHS |-5 496 586.343 |-2 486 043.510 | 2 064 930.163 | 6 376 269.312 | 18 53 44.4588| + |USPS |-2 389 197.089 | 5 043 291.325 |-3 078 458.953 | 6 373 378.981 |-28 52 57.7956| + |VD2F |-2 672 459.337 |-4 514 003.897 | 3 615 878.587 | 6 371 251.686 | 34 34 41.4741| + |VD3F |-2 673 130.230 |-4 527 025.639 | 3 600 236.148 | 6 371 913.895 | 34 24 12.3603| + |VD4F |-2 673 130.228 |-4 527 025.636 | 3 600 236.146 | 6 371 913.891 | 34 24 12.3603| + | | | | | | | + |VDB3 |-2 668 976.908 |-4 530 731.211 | 3 598 634.996 | 6 371 902.140 | 34 23 09.8081| + |VDBF |-2 664 777.714 |-4 517 409.881 | 3 617 453.822 | 6 371 342.438 | 34 35 41.3925| + |VEND |-2 351 130.400 |-4 655 476.722 | 3 660 958.481 | 6 372 118.538 | 35 03 59.6234| + |VT2S |-2 660 798.458 |-4 516 166.466 | 3 622 158.401 | 6 371 470.746 | 34 38 43.5983| + |VTSS |-2 660 617.570 |-4 516 499.124 | 3 621 885.202 | 6 371 475.701 | 34 38 32.7371| + | | | | | | | + |WAPS | 1 263 297.470 |-4 876 564.680 | 3 898 861.805 | 6 370 080.607 | 37 44 18.5755| + |WD3F | 1 261 495.391 |-4 881 860.033 | 3 892 857.492 | 6 370 107.335 | 37 40 12.1707| + |WD4F | 1 261 502.328 |-4 881 888.159 | 3 892 880.167 | 6 370 144.120 | 37 40 12.1787| + |WH2J |-1 539 599.343 |-5 160 546.581 | 3 408 685.892 | 6 373 440.724 | 32 19 55.7593| + |WH2K |-1 539 390.429 |-5 160 968.827 | 3 408 176.451 | 6 373 459.723 | 32 19 35.8585| + | | | | | | | + |WH2S |-1 539 366.125 |-5 160 937.240 | 3 408 231.004 | 6 373 457.448 | 32 19 37.9945| + |WH3K |-1 539 395.099 |-5 160 984.532 | 3 408 150.732 | 6 373 459.816 | 32 19 34.8717| + |WH4K |-1 539 364.783 |-5 160 932.742 | 3 408 240.252 | 6 373 458.427 | 32 19 38.3286| + |WH5K |-1 539 366.784 |-5 160 939.541 | 3 408 225.331 | 6 373 456.436 | 32 19 37.7979| + |WH6F |-1 521 107.332 |-5 083 323.896 | 3 530 150.983 | 6 373 061.691 | 33 38 10.2966| + | | | | | | | + |WH6K& |-1 539 436.788 |-5 160 899.629 | 3 408 237.971 | 6 373 447.785 | 32 19 38.4592| + |WH7F |-1 521 118.690 |-5 083 361.142 | 3 530 072.154 | 6 373 050.445 | 33 38 07.4744| + |WH9F |-1 480 609.185 |-5 118 922.520 | 3 496 143.727 | 6 373 271.709 | 33 16 06.6479| + |WHSF |-1 520 204.686 |-5 175 279.621 | 3 394 683.287 | 6 373 257.885 | 32 11 03.6047| + |WHSJ |-1 539 599.343 |-5 160 546.581 | 3 408 685.892 | 6 373 440.724 | 32 19 55.7593| + | | | | | | | + |WHSK |-1 539 385.744 |-5 160 953.121 | 3 408 202.158 | 6 373 459.620 | 32 19 36.8452| + |WHSS |-1 539 396.603 |-5 160 989.472 | 3 408 128.705 | 6 373 452.401 | 32 19 34.1799| + |WHSX |-1 539 342.967 |-5 160 985.527 | 3 408 204.860 | 6 373 476.975 | 32 19 36.5933| + |WL2F | 1 264 017.079 |-4 875 031.577 | 3 900 544.048 | 6 370 079.742 | 37 45 27.4865| + |WL2S | 1 264 162.844 |-4 874 835.380 | 3 900 752.518 | 6 370 086.175 | 37 45 35.8634| + | | | | | | | + |WL3F | 1 261 495.391 |-4 881 860.033 | 3 892 857.492 | 6 370 107.335 | 37 40 12.1707| + |WL3S | 1 264 311.863 |-4 874 842.366 | 3 900 697.621 | 6 370 087.480 | 37 45 33.5822| + |WL4F | 1 261 502.328 |-4 881 888.159 | 3 892 880.167 | 6 370 144.120 | 37 40 12.1787| + |WL4S | 1 264 284.558 |-4 874 794.077 | 3 900 728.783 | 6 370 064.189 | 37 45 35.4427| + |WL53 | 1 264 319.305 |-4 874 753.180 | 3 900 773.220 | 6 370 067.000 | 37 45 37.1922| + | | | | | | | + |WL6S | 1 264 262.510 |-4 874 884.314 | 3 900 692.180 | 6 370 106.456 | 37 45 32.8835| + |WLPF | 1 263 995.386 |-4 882 265.582 | 3 891 536.993 | 6 370 106.884 | 37 39 18.1690| + |WLPQ | 1 261 610.595 |-4 881 553.226 | 3 893 196.735 | 6 370 102.355 | 37 40 26.1732| + |WP2S | 1 263 422.813 |-4 876 310.113 | 3 899 136.315 | 6 370 078.612 | 37 44 29.8657| + |WP2Y | 1 263 258.643 |-4 876 532.217 | 3 898 922.548 | 6 370 085.235 | 37 44 20.9467| + | | | | | | | + |WP2Z | 1 263 465.569 |-4 876 241.993 | 3 899 212.241 | 6 370 081.421 | 37 44 32.9043| + |WP3S | 1 263 437.470 |-4 876 286.665 | 3 899 162.889 | 6 370 079.835 | 37 44 30.9232| + |WP3Z | 1 263 298.198 |-4 876 348.276 | 3 899 160.641 | 6 370 098.002 | 37 44 30.3758| + |WPDA | 1 263 391.090 |-4 876 375.736 | 3 899 081.961 | 6 370 089.286 | 37 44 27.3726| + |WPS8 | 1 263 314.395 |-4 876 388.352 | 3 899 074.526 | 6 370 079.181 | 37 44 27.3214| + --------------------------------------------------------------------------------------- + T2- 7 Mar 07,2007 + GEOCENTRIC POSITIONS ON WORLD GEODETIC SYSTEM 1984 + DATUM: WGS-84 ELLIPSOID: DOD WGS 1984 + --------------------------------------------------------------------------------------- + | STDN | GEOCENTRIC COORDINATES | + | |------------------------------------------------------------------------------| + | CODE | X(M) | Y(M) | Z(M) | R(M) | LATITUDE | + |------+---------------+---------------+---------------+---------------+--------------| + |WPSA | 1 263 388.090 |-4 876 375.735 | 3 899 067.963 | 6 370 080.122 | 37 44 27.0291| + |WPSS | 1 263 289.970 |-4 876 455.563 | 3 899 012.031 | 6 370 087.344 | 37 44 24.5578| + |WSGT |-1 539 378.600 |-5 160 931.106 | 3 408 234.429 | 6 373 457.325 | 32 19 38.1282| + |WSSH |-1 519 923.208 |-5 142 800.491 | 3 443 466.195 | 6 373 070.130 | 32 42 18.3365| + |WT1S |-2 268 775.658 |-1 447 649.597 | 5 763 613.219 | 6 360 995.966 | 64 58 12.1079| + | | | | | | | + |WT2S |-2 268 881.085 |-1 447 578.212 | 5 763 588.589 | 6 360 995.008 | 64 58 10.2869| + |WT3P |-2 673 528.271 |-4 521 975.971 | 3 605 548.514 | 6 371 499.054 | 34 27 50.0731| + |WT3S | 1 263 250.603 |-4 876 715.576 | 3 898 704.795 | 6 370 090.735 | 37 44 11.8929| + |WT6P |-2 678 150.150 |-4 523 801.576 | 3 599 894.115 | 6 371 538.791 | 34 24 07.2560| + |WTDQ | 1 263 250.603 |-4 876 715.576 | 3 898 704.795 | 6 370 090.735 | 37 44 11.8929| + | | | | | | | + |WTDS | 1 263 250.603 |-4 876 715.576 | 3 898 704.795 | 6 370 090.735 | 37 44 11.8929| + |WTRP |-2 672 190.214 |-4 514 401.764 | 3 615 670.007 | 6 371 302.334 | 34 34 32.1427| + |WULY |-2 670 175.052 |-4 522 945.891 | 3 606 529.764 | 6 371 336.694 | 34 28 32.2131| + |YARZ$ |-2 388 988.797 | 5 043 309.144 |-3 078 531.982 | 6 373 350.277 |-28 53 01.0073| + |ZZ2P | 4 769 919.652 | -89 849.619 | 4 219 516.160 | 6 369 028.424 | 41 29 28.4465| + | | | | | | | + |ZZAP | 4 771 195.629 | -86 657.287 | 4 218 162.142 | 6 369 043.026 | 41 28 29.4947| + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + | | | | | | | + --------------------------------------------------------------------------------------- + $ Datum shifts not available + T2- 8 Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |A17P|1471| Cape Canaveral, FL | WGS84 69 | 28 26 49.779|279 26 06.265| -7.21| 10.71| 920 020.0|-5 536 355.1| 3 020 165.8| + |A36P|1462| Cape Canaveral, FL | WGS84 69 | 28 28 17.177|279 27 44.200| 1.36| 14.99| 922 439.0|-5 534 660.4| 3 022 535.3| + |A39P|1458| False Cape, FL | WGS84 69 | 28 36 29.789|279 23 45.180| 34.42| 31.53| 914 846.7|-5 528 605.9| 3 035 873.6| + |A40P|1460| Cape Canaveral, FL | WGS84 69 | 28 33 43.161|279 25 22.102| -14.51| 6.92| 917 839.2|-5 530 554.3| 3 031 345.7| + |A41P|1461| Cape Canaveral, FL | WGS84 69%| 28 35 00.448|279 25 01.658| -14.52| 6.96| 917 104.8|-5 529 522.6| 3 033 435.3| + | | | | | | | | | | | | + |A46P|1464| Cape Canaveral, FL | WGS84 69 | 28 27 30.569|279 28 17.750| -17.64| 5.51| 923 449.0|-5 535 168.4| 3 021 264.8| + |AC2J|0208| Ascension Island | WGS84 69 | -7 55 04.496|345 36 33.235| 71.47| 71.47| 6 119 570.4|-1 570 187.6| -872 799.0| + |ACN3|1306| Ascension Island | ASC58 28%| -7 57 19.043|345 40 20.716| 544.20| 544.20| 6 121 441.5|-1 563 474.2| -876 968.1| + |ACNJ|0207| Ascension Island | WGS84 69 | -7 55 04.496|345 36 33.235| 71.47| 71.47| 6 119 570.4|-1 570 187.6| -872 799.0| + |ADRQ|4284| Kourou, Fr.Guiana | WGS72 9 | 5 12 32.712|307 15 05.202| -13.62| -13.62| 3 844 927.7|-5 056 070.0| 575 212.3| + | | | | | | | | | | | | + |AG1S|1701| Poker Flats, AK | WGS84 69 | 65 07 00.121|212 32 19.665| 436.70| 0.00|-2 268 877.4|-1 447 595.1| 5 763 592.8| + |AG23|1377| Santiago, Chile | WGS84 69 |-33 09 06.458|289 19 57.677| 730.00| 0.00| 1 769 774.6|-5 044 455.1|-3 468 464.6| + |AG33|1404| Santiago, Chile | WGS84 69 |-33 09 05.322|289 19 54.092| 730.85| 0.00| 1 769 693.5|-5 044 504.6|-3 468 435.7| + |AGO3|1319| Santiago, Chile | WGS84 69 |-33 09 03.986|289 20 00.949| 733.30| 0.00| 1 769 869.3|-5 044 468.9|-3 468 402.6| + |ALAY|1707| Alamo Peak, NM | NAD27 37 | 32 52 20.678|254 11 17.406|2828.70| 2826.70|-1 461 757.2|-5 161 671.7| 3 443 435.9| + | | | | | | | | | | | | + |ALSJ|0204| Alice Springs, N.T., | WGS84 69 |-23 45 31.717|133 52 57.354| 576.54| 576.54|-4 049 081.9| 4 210 177.1|-2 554 089.1| + | | | Aust | | | | | | | | | + |AMEY|0301| N.E. Pacific Ocean |# 24 | 36 11 00.000|226 37 00.000|2500.00| 2500.00|-3 547 115.6|-3 753 155.8| 3 752 029.8| + |AMSJ|0205| Am Samoa, Tutuila | WGS84 69 |-14 19 53.200|189 16 50.100| 55.40| 55.40|-6 100 064.7| -996 801.4|-1 568 551.7| + |AN3S|1704| Antigua | WGS84 69 | 17 08 13.023|298 13 32.340| -16.59| 0.00| 2 883 416.8|-5 371 773.8| 1 867 317.3| + | | | | | | | | | | | | + |AN8S|1705| Antigua | WGS84 69 | 17 08 11.849|298 13 32.556| -4.56| 0.00| 2 883 432.9|-5 371 790.3| 1 867 286.4| + |ANPC|0623| Anderson Peak, CA | WGS84 69 | 36 10 49.885|238 21 20.357|1191.78| 1191.78|-2 704 629.4|-4 388 697.7| 3 745 082.1| + |ANTQ|4087| Antigua | WGS84 69 | 17 08 37.144|298 12 26.955| 3.63| 0.00| 2 881 619.7|-5 372 512.0| 1 868 031.8| + |AREL|7907| Arequipa, Peru | SAD69 43 |-16 27 55.085|288 30 26.814|2486.50| 2452.27| 1 942 859.4|-5 804 087.2|-1 796 876.9| + |AS2Q|4765| Ascension Island | WGS84 69 | -7 58 22.102|345 35 56.576| 143.50| 0.00| 6 118 547.6|-1 571 084.2| -878 821.5| + | | | | | | | | | | | | + |ASCQ|4045| Ascension Island | WGS84 69 | -7 54 23.886|345 35 51.000| 56.00| 56.00| 6 119 400.3|-1 571 479.6| -871 561.2| + |ASNS|1726| AscensioN Island | MERC60 6 | -7 54 59.975|345 40 00.000| -6.05| -6.05| 6 121 113.2|-1 564 045.3| -872 655.6| + |ATDQ|4862| Atlanta, Ga. | WGS84 69 | 33 55 51.183|275 53 28.932| 282.64| 282.64| 543 778.1|-5 269 794.7| 3 540 246.0| + |ATDS|4862| Atlanta, Ga. | WGS84 69 | 33 55 51.183|275 53 28.932| 282.64| 282.64| 543 778.1|-5 269 794.7| 3 540 246.0| + |ATLS|1736| Atlanta, Georgia | WGS84 69 | 33 55 51.120|275 53 29.880| 260.00| 0.00| 543 800.5|-5 269 774.6| 3 540 231.7| + | | | | | | | | | | | | + |ATMY|1708| Atom Peak, NM | NAD27 37 | 33 44 22.314|253 38 09.644|2427.10| 2427.10|-1 496 452.8|-5 096 334.5| 3 523 621.5| + |AUSS|4259| Aussaguel, France | WGS84 69 | 43 25 43.305| 1 29 57.883| 260.48| 0.00| 4 637 942.5| 121 401.2| 4 362 391.0| + |AUWS|1902| Dongara,WA Australia | WGS84 69 |-29 02 44.765|115 20 55.205| 250.60| 250.60|-2 389 196.4| 5 043 292.0|-3 078 458.6| + |B17P|1472| Cape Canaveral, FL | WGS84 69 | 28 26 44.845|279 26 03.662| -7.25| 10.71| 919 961.9|-5 536 438.1| 3 020 032.2| + |B36P|1463| Cape Canaveral, FL | WGS84 69 | 28 28 06.123|279 27 32.565| 0.46| 14.09| 922 153.2|-5 534 870.9| 3 022 235.3| + | | | | | | | | | | | | + |B37P|1451| Cape Canaveral, FL | WGS84 69 | 28 31 52.390|279 26 07.951| -19.97| 0.00| 919 334.9|-5 531 953.0| 3 028 347.5| + |B39P|1459| False Cape, FL | WGS84 69 | 28 37 37.778|279 22 44.941| 37.94| 33.29| 913 069.1|-5 527 886.8| 3 037 712.7| + |BANF|4020| Bangalore | WGS84 69 | 13 01 48.000| 77 30 36.000| 838.00| 0.00| 1 344 283.5| 6 068 683.4| 1 428 827.8| + |BDA3|1303| Bermuda | WGS84 69%| 32 21 04.563|295 20 31.602| -11.38| -11.38| 2 308 454.9|-4 874 298.5| 3 393 395.0| + |BDAA|1360| Bermuda | BERM57 29%| 32 20 59.117|295 20 27.394| 21.87| 21.87| 2 308 455.6|-4 874 557.1| 3 393 090.4| + ----------------------------------------------------------------------------------------------------------------------------------- + * Insufficient data + $ Datum shifts not available + # Approximate location + % Station deactivated or in caretaker status T3- 1 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |BDAL|7067| Bermuda | BERM57 29 | 32 21 08.709|295 20 37.054| 13.45| 13.45| 2 308 613.2|-4 874 299.7| 3 393 335.5| + |BDAQ|4760| Bermuda | WGS84 69%| 32 20 52.595|295 20 47.581| -9.88| 0.00| 2 308 917.5|-4 874 299.1| 3 393 084.4| + |BDDQ|4760| Bermuda | WGS84 69%| 32 20 52.595|295 20 47.581| -9.88| 0.00| 2 308 917.5|-4 874 299.1| 3 393 084.4| + |BLKQ|4263| Black Is. Antarctica | WGS84 69 |-78 07 46.484|166 09 01.558| 162.51| 0.00|-1 277 969.6| 315 072.0|-6 220 087.4| + |BLT3|1915| Greenbelt, MD | NAD27 33%| 38 59 54.300|283 09 24.850| 54.70| 53.70| 1 129 808.9|-4 833 314.9| 3 992 018.6| + | | | | | | | | | | | | + |BLTA|1316| Greenbelt, MD | NAD27 33 | 38 59 53.580|283 09 27.830| 61.20| 60.20| 1 129 883.0|-4 833 317.1| 3 992 005.5| + |BLTD|1315| Greenbelt, MD | NAD27 33%| 38 59 54.300|283 09 24.850| 54.70| 53.70| 1 129 808.9|-4 833 314.9| 3 992 018.6| + |BLTJ|0290| Greenbelt, MD | NAD83 70 | 39 00 09.732|283 09 43.459| 60.06| 46.40| 1 130 148.7|-4 832 801.5| 3 992 588.1| + |BREQ|4283| Kourou, Fr Guiana | WGS72 9 | 4 56 55.818|307 41 25.086| 52.17| 52.17| 3 885 139.3|-5 028 541.7| 546 552.0| + |BRKS|1732| Berkeley, CA | NAD83 70 | 37 52 45.755|237 45 25.978| 357.03| 0.00|-2 689 383.3|-4 263 604.4| 3 895 104.1| + | | | | | | | | | | | | + |CA2F|4241| Tranquillon Peak, CA | WGS84 69 | 34 34 58.902|239 26 19.986| 627.55| 627.55|-2 673 130.8|-4 527 026.6| 3 600 235.0| + |CALC|0625| Tranquillon Pk,CA | WGS84 69 | 34 34 56.590|239 26 15.237| 611.03| 611.03|-2 673 248.7|-4 526 988.2| 3 600 166.9| + |CALF|4018| Vandenberg AFB, CA | WGS84 69 | 34 34 57.858|239 26 18.339| 627.54| 627.54|-2 673 176.2|-4 527 021.0| 3 600 208.5| + |CALT|4280| Vandenberg AFB, CA | WGS84 69 | 34 39 57.040|239 25 06.791| 88.52| 88.52|-2 671 855.5|-4 521 201.7| 3 607 489.1| + |CALY|1835| S.Vandenberg AFB, CA | WGS84 69 | 34 33 56.245|239 29 56.352| 623.91| 623.91|-2 668 935.2|-4 530 769.7| 3 598 643.0| + | | | | | | | | | | | | + |CANS|4723| Canberra, Australia | WGS84 69 |-35 24 16.800|148 58 59.008| 680.00| 0.00|-4 460 849.0| 2 682 144.1|-3 674 945.8| + |CHAS|1340| Chantilly, VA | WGS84 69%| 38 53 25.200|282 33 28.200| 135.00| 0.00| 1 080 838.0|-4 852 160.0| 3 982 933.0| + |CN2F|4088| Cape Canaveral, FL | NAD27 13%| 28 31 42.812|279 24 33.282| 15.76| 5.76| 916 841.7|-5 532 651.4| 3 027 937.7| + |CN4F|4223| Cape Canaveral, FL | WGS84 69 | 28 27 47.404|279 25 00.798| -14.81| -14.81| 918 123.3|-5 535 806.4| 3 021 721.8| + |CN5F|4344| Cape Canaveral, Fl. | WGS84 69 | 28 31 01.287|279 26 11.688| 13.69| 13.69| 919 563.2|-5 532 706.6| 3 026 981.3| + | | | | | | | | | | | | + |CNVF|4041| Cape Canaveral, FL | WGS84 69 | 28 28 53.781|279 25 24.567| -14.22| -14.22| 918 601.8|-5 534 740.0| 3 023 518.3| + |COCS|4085| Cocos Island, Austra | WGS84 69 |-12 12 00.000| 96 51 00.000| 0.00| 0.00| -743 654.2| 6 190 517.7|-1 339 035.6| + |CT2J|0294| White Sands, NM | NAD27 37 | 32 30 01.308|253 23 31.239|1482.11| 1483.51|-1 539 384.8|-5 161 134.9| 3 407 972.4| + |CTSS|1756| Colorado Spgs. CO. | MERC60 6 | 38 48 21.464|255 28 17.511|1877.36| 1877.36|-1 248 871.4|-4 819 147.9| 3 976 751.4| + |CTVJ|0293| White Sands, NM | NAD27 37 | 32 30 01.308|253 23 31.239|1482.11| 1483.51|-1 539 384.8|-5 161 134.9| 3 407 972.4| + | | | | | | | | | | | | + |D26D|1526| Goldstone, CA | WGS84 69 | 35 20 08.481|243 07 37.145| 969.45| 0.00|-2 354 889.0|-4 647 166.9| 3 668 872.2| + |D27D|1516| Goldstone, CA | NAD83 70 | 35 14 17.772|243 13 24.132|1061.62| 1061.62|-2 349 917.2|-4 656 764.0| 3 660 101.6| + |DA2P|0916| Dakar, Senegal | WGS72 9 | 14 45 26.980|342 31 07.340| 42.51| 19.51| 5 884 197.9|-1 853 168.7| 1 614 177.6| + |DAKP|0915| Dakar, Senegal | WGS72 9 | 14 43 34.380|342 31 22.430| 45.86| 22.86| 5 885 176.5|-1 853 003.6| 1 610 831.6| + |DAKS|4072| Dakar, Senegal | ADINDN 22 | 14 43 26.986|342 52 18.417| 95.60| 95.60| 5 896 578.2|-1 817 203.6| 1 610 481.9| + | | | | | | | | | | | | + |DFRS|4067| Dryden FRC, CA | NAD27 35 | 34 56 59.313|242 06 48.476| 688.83| 713.13|-2 448 199.7|-4 626 473.6| 3 633 511.1| + |DGIS|4073| Diego Garcia Island | WGS84 69 | -7 16 12.110| 72 22 11.995| -68.38| -68.38| 1 916 292.2| 6 029 961.6| -801 757.3| + |DS12|1612| Goldstone, CA | NAD27 35 | 35 17 59.853|243 11 43.416| 979.80| 1001.30|-2 350 431.0|-4 652 135.0| 3 665 454.5| + |DS14|1514| Goldstone, CA | NAD27 35 | 35 25 33.366|243 06 40.648| 974.18| 993.40|-2 353 598.3|-4 641 462.3| 3 676 850.7| + |DS15|1515| Goldstone, CA | NAD27 35 | 35 25 18.794|243 06 49.082| 965.27| 984.49|-2 353 522.9|-4 641 784.3| 3 676 479.5| + | | | | | | | | | | | | + |DS16|1312| Goldstone, CA | NAD27 35 | 35 20 29.630|243 07 38.043| 951.50| 973.00|-2 354 748.6|-4 646 936.2| 3 669 204.8| + |DS17|1327| Goldstone, CA | MERC60 6 | 35 20 31.937|243 07 35.561| 912.71| 912.71|-2 354 727.0|-4 646 754.9| 3 669 448.8| + |DS24|4252| Goldstone, Ca. | WGS84 69 | 35 20 23.665|243 07 30.714| 956.06| 0.00|-2 354 908.6|-4 646 842.3| 3 669 246.3| + |DS25|1525| Goldstone, CA | WGS84 69 | 35 20 15.404|243 07 28.702| 959.68| 0.00|-2 355 021.8|-4 646 953.3| 3 669 040.6| + |DS34|1534| Canberra, Australia | WGS84 69 |-35 23 54.610|148 58 55.063| 688.96| 0.00|-4 461 143.5| 2 682 437.3|-3 674 393.5| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 2 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |DS42|1547| Canberra, Aust | AGD66 39 |-35 24 08.071|148 58 48.133| 674.95| 655.55|-4 460 853.8| 2 682 467.2|-3 674 736.4| + |DS43|1548| Canberra, Aust | AGD66 39 |-35 24 14.371|148 58 48.133| 689.26| 669.86|-4 460 767.4| 2 682 415.3|-3 674 902.9| + |DS45|1549| Canberra, Aust | AGD66 39 |-35 24 00.091|148 58 35.239| 674.80| 655.40|-4 460 808.1| 2 682 819.4|-3 674 535.8| + |DS46|1546| Canberra, Aust | AGD66 39 |-35 24 23.682|148 58 54.665| 677.20| 657.80|-4 460 701.5| 2 682 183.3|-3 675 129.9| + |DS54|1554| Madrid, Spain | WGS84 69 | 40 25 32.321|355 44 45.243| 833.73| 0.00| 4 849 430.3| -360 723.8| 4 114 618.6| + | | | | | | | | | | | | + |DS55|1555| Madrid Spain | WGS84 69 | 40 25 27.465|355 44 50.520| 819.02| 0.00| 4 849 525.2| -360 606.1| 4 114 495.1| + |DS61|1662| Madrid, SPAIN | EUR50 14 | 40 25 47.717|355 45 08.278| 775.00| 796.10| 4 849 338.5| -360 172.4| 4 115 011.4| + |DS63|1564| Madrid, Spain | EUR50 14 | 40 25 56.610|355 45 11.929| 791.19| 812.29| 4 849 179.8| -360 074.3| 4 115 230.7| + |DS65|1565| Madrid Spain | WGS84 69 | 40 25 37.912|355 44 57.559| 834.21| 0.00| 4 849 340.6| -360 424.0| 4 114 750.3| + |DS66|1566| Madrid, Spain | EUR50 14 | 40 25 52.163|355 44 59.657| 776.40| 797.50| 4 849 235.8| -360 368.6| 4 115 116.7| + | | | | | | | | | | | | + |DS87|1587| Wallops Island, VA | WGS84 69 | 37 55 35.723|284 31 25.303| -12.76| -2.00| 1 263 289.0|-4 876 455.6| 3 899 012.0| + |DX2S|1715| Poker Flats, Alaska | WGS84 69 | 65 07 04.202|212 34 07.815| 514.65| 0.00|-2 268 049.1|-1 448 740.5| 5 763 716.7| + |DXAS|1711| Poker Flats, Alaska | WGS84 69 | 65 07 04.547|212 33 59.386| 518.90| 0.00|-2 268 101.7|-1 448 643.5| 5 763 725.1| + |E10P|0926| Edwards AFB, CA | NAD27 35 | 34 59 40.118|242 09 15.238| 666.80| 692.20|-2 443 570.0|-4 625 686.7| 3 637 559.5| + |EA2F|4065| Edwards AFB, CA | WGS84 69 | 34 58 13.634|242 04 09.978| 799.73| 830.00|-2 451 125.2|-4 623 404.8| 3 635 639.7| + | | | | | | | | | | | | + |EA2P|0906| Edwards AFB, CA | NAD27 35 | 34 53 25.093|242 09 18.798| 666.80| 692.20|-2 446 584.1|-4 631 582.2| 3 628 085.2| + |EA3F|4221| Edwards AFB, CA | NAD27 35 | 34 56 17.282|241 54 34.325| 752.23| 776.53|-2 465 024.8|-4 618 430.9| 3 632 485.6| + |EA3P|0903| Edwards AFB, CA | NAD27 35 | 34 55 51.158|242 09 50.278| 666.80| 692.20|-2 444 674.3|-4 629 677.4| 3 631 776.7| + |EA4P|0905| Edwards AFB, CA | NAD27 35 | 34 54 58.579|242 08 18.364| 669.85| 695.25|-2 447 171.7|-4 629 409.9| 3 630 449.8| + |EA5P|0904| Edwards AFB, CA | NAD27 35 | 34 53 40.493|242 05 45.322| 676.25| 701.65|-2 451 252.9|-4 628 814.5| 3 628 479.9| + | | | | | | | | | | | | + |EA6P|0909| Edwards AFB, CA | NAD27 35 | 34 57 59.004|242 10 52.337| 666.50| 691.90|-2 442 227.8|-4 628 416.3| 3 635 006.1| + |EA7P|0911| Edwards AFB, CA | NAD27 35 | 34 56 55.402|242 08 11.094| 666.50| 691.90|-2 446 370.1|-4 627 498.7| 3 633 399.6| + |EA8P|0912| Edwards AFB, CA | NAD27 35 | 34 57 32.996|242 08 04.042| 666.19| 691.59|-2 446 217.9|-4 626 826.0| 3 634 349.0| + |EA9P|0925| Edwards AFB, CA | NAD27 35 | 34 55 04.276|242 08 43.918| 666.19| 691.59|-2 446 549.9|-4 629 621.6| 3 630 591.7| + |EAFF|4064| Edward AFB, CA | WGS84 69 | 34 57 38.375|242 05 18.416| 780.57| 0.00|-2 449 875.2|-4 624 754.3| 3 634 738.2| + | | | | | | | | | | | | + |EG2F|4345| Eglin AFB, FL | NAD27 13 | 30 34 20.184|273 47 06.888| 73.78| 64.58| 362 858.2|-5 484 448.2| 3 225 018.1| + |EG3F|4346| Eglin AFB, FL | NAD27 13%| 30 25 17.063|273 12 07.088| 37.31| 28.41| 307 480.4|-5 496 300.9| 3 210 588.6| + |EULY|4205| Merritt Island, FL | WGS84 69 | 28 27 48.830|279 20 49.156| -10.51| -10.51| 911 366.2|-5 536 905.5| 3 021 762.5| + |EVCS|1363| Cape Canaveral,Fl. | WGS84 69 | 28 29 09.600|279 25 26.400| 15.00| 0.00| 918 617.2|-5 534 528.1| 3 023 960.3| + |FR2F|4249| Edwards AFB, CA | WGS84 69 | 34 57 27.857|242 05 17.250| 743.50| 773.80|-2 449 974.1|-4 624 877.7| 3 634 451.3| + | | | | | | | | | | | | + |FRCF|4069| Edwards AFB, CA | WGS84 69 | 34 57 38.896|242 05 18.614| 751.84| -30.00|-2 449 855.5|-4 624 727.7| 3 634 734.9| + |FT2F|4138| Fort.Huachuca, AZ | WGS84 69 | 31 33 24.360|249 33 42.576|1794.96| 1794.96|-1 900 140.0|-5 098 927.2| 3 319 591.5| + |FTHF|4115| Fort.Huachuca, AZ | NAD27 35 | 31 34 15.246|249 37 47.449|1503.25| 1512.15|-1 893 755.1|-5 100 284.6| 3 320 596.2| + |GB2Y|1814| Grand.Bahama Island | NAD27 13 | 26 37 30.347|281 42 04.398| 25.72| 25.72| 1 157 173.0|-5 587 177.2| 2 840 993.3| + |GBIQ|4013| Grand.Bahama Island | NAD27 13%| 26 36 54.960|281 39 06.870| 23.06| 14.91| 1 152 461.9|-5 588 646.7| 2 840 018.5| + | | | | | | | | | | | | + |GBIY|1813| Grand.Bahama Island | NAD27 13 | 26 37 30.258|281 42 02.361| 35.84| 35.84| 1 157 119.9|-5 587 198.7| 2 840 995.4| + |GD28|1517| Goldstone, CA | NAD27 35 | 35 20 29.630|243 07 38.043| 951.00| 973.00|-2 354 748.5|-4 646 935.8| 3 669 204.5| + |GDSA|1317| Goldstone, CA | NAD27 35%| 35 20 29.630|243 07 40.215| 945.60| 967.60|-2 354 697.5|-4 646 956.7| 3 669 201.4| + |GILD|7225| Gilmore Creek, AK | NAD27 36&| 64 58 43.812|212 30 17.815| 320.00| 320.00|-2 281 539.1|-1 453 777.8| 5 756 810.9| + |GILE|4047| Gilmore Creek, AK | NAD27 36 | 64 58 43.805|212 30 17.814| 322.30| 320.00|-2 281 540.1|-1 453 778.4| 5 756 812.9| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 3 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |GLAS|1712| Gilmore Creek, AK | NAD27 36 | 64 58 26.400|212 29 24.396| 387.33| 0.00|-2 282 351.8|-1 453 464.7| 5 756 643.8| + |GLBS|1713| Gilmore Creek, AK | NAD27 36 | 64 58 25.716|212 29 39.300| 405.33| 0.00|-2 282 269.4|-1 453 642.0| 5 756 651.1| + |GLCS|1714| Gilmore Creek, AK | NAD27 36 | 64 58 24.492|212 29 53.412| 424.33| 0.00|-2 282 205.7|-1 453 822.9| 5 756 652.3| + |GT2S|1375| Guam | WGS72 9 | 13 36 57.025|144 51 19.021| 208.69| 208.69|-5 069 937.9| 3 569 126.5| 1 491 756.5| + |GTKL|7068| Grand.Turk Island | NAD27 13 | 21 27 35.863|288 52 03.454| 24.22| 28.42| 1 920 486.6|-5 619 641.6| 2 318 737.9| + | | | | | | | | | | | | + |GTKQ|4086| Grand.Turk Island | NAD27 13 | 21 27 43.446|288 52 02.937| 31.80| 36.00| 1 920 447.2|-5 619 572.3| 2 318 957.8| + |GTSS|1368| Guam | GUAM63 30 | 13 36 49.553|144 51 13.127| 161.12| 161.12|-5 069 909.4| 3 569 323.2| 1 491 430.2| + |GW2K|1968| Guam | WGS84 69 | 13 35 15.317|144 50 27.148| 197.66| 0.00|-5 069 633.9| 3 570 819.7| 1 488 716.1| + |GW2S|1969| Guam | WGS84 69 | 13 35 15.317|144 50 27.148| 197.66| 0.00|-5 069 633.9| 3 570 819.7| 1 488 716.1| + |GW3S|1970| Guam | WGS84 69 | 13 35 14.314|144 50 27.149| 197.74| 0.00|-5 069 639.9| 3 570 823.9| 1 488 686.1| + | | | | | | | | | | | | + |GWM3|1309| Guam | GUAM63 30 | 13 18 33.277|144 44 03.889| 92.07| 92.07|-5 068 819.2| 3 584 355.2| 1 458 650.5| + |GWMJ|1971| Guam | WGS84 69 | 13 35 12.323|144 50 26.895| 191.15| 0.00|-5 069 642.0| 3 570 834.7| 1 488 625.1| + |GWMK|1965| Guam | WGS84 69 | 13 35 16.864|144 50 27.346| 192.61| 192.61|-5 069 624.2| 3 570 805.6| 1 488 761.1| + |GWMS|1966| Guam | WGS84 69 | 13 35 16.864|144 50 27.346| 192.61| 192.61|-5 069 624.2| 3 570 805.6| 1 488 761.1| + |HAW3|1311| Kauai, HI | OHAW 19 | 22 07 45.928|200 19 55.379|1150.90| 1150.90|-5 543 898.1|-2 054 276.4| 2 387 988.2| + | | | | | | | | | | | | + |HAWQ|4285| Hawaii, Univ. | WGS84 69 | 21 18 57.960|202 06 48.960| 0.00| 0.00|-5 507 156.2|-2 237 747.1| 2 304 034.0| + |HAWS|1706| South Point, Hawaii | MERC60 6 | 19 00 48.842|204 20 13.200| 245.00| 0.00|-5 496 488.3|-2 486 032.0| 2 064 860.5| + |HB33|1325| Hartbeehoek., S. Afr | WGS84 69 |-25 53 11.140| 27 42 26.810|1563.72| 1563.72| 5 084 675.6| 2 670 357.5|-2 768 430.3| + |HB5S|1403| Hartbeehoek, S. Afri | WGS84 69 |-25 53 12.960| 27 42 24.018|1568.22| 0.00| 5 084 693.7| 2 670 279.2|-2 768 482.6| + |HBK3|1324| Hartbeehoek., S. Afr | WGS84 69 |-25 53 12.220| 27 42 45.360|1549.04| 1549.04| 5 084 410.9| 2 670 801.9|-2 768 453.8| + | | | | | | | | | | | | + |HBKS|1402| Hartebeeshoek, S. | WGS84 69 |-25 53 13.200| 27 42 43.200|1544.83| 0.00| 5 084 423.8| 2 670 740.7|-2 768 479.1| + | | | Africa | | | | | | | | | + |HN2P|0922| Hickam AFB, HI | OHAW 52 | 21 18 35.830|202 05 11.920| 3.05| 3.05|-5 508 527.2|-2 235 285.4| 2 303 265.1| + |HNLP|0921| Hickam AFB, HI | OHAW 52 | 21 18 35.820|202 03 05.050| 3.05| 3.05|-5 509 901.2|-2 231 896.8| 2 303 264.9| + |HOLF|4144| Holloman AFB, NM | WGS84 69 | 32 54 05.269|253 54 02.989|1241.50| 1241.50|-1 486 737.1|-5 151 201.6| 3 445 462.9| + | | | | | | | | | | | | + |HOPL|7921| Mt.Hopkins, AZ | NAD27 35%| 31 41 02.870|249 07 21.350|2372.10| 2383.10|-1 936 750.8|-5 077 857.3| 3 331 744.9| + |HR1S|1718| Wallops, VA | WGS84 69 | 37 56 43.797|284 32 19.912| -18.51| 0.00| 1 264 254.9|-4 874 867.5| 3 900 663.8| + |HR2S|1719| Wallops, VA | WGS84 69 | 37 56 43.533|284 32 16.476| -17.43| 0.00| 1 264 175.2|-4 874 894.3| 3 900 658.1| + |HT2S|1373| Kaena Point, HI | OHAW 52 | 21 34 19.632|201 44 05.809| 303.42| 303.42|-5 512 547.5|-2 197 604.8| 2 330 393.2| + |HTSS|1367| Kaena Point, HI | OHAW 52 | 21 33 55.513|201 45 18.492| 414.05| 413.45|-5 512 121.7|-2 199 686.4| 2 329 744.0| + | | | | | | | | | | | | + |HWIS|1903| South Point, HI | WGS84 69 | 19 00 50.056|204 20 12.115| 367.20| 367.20|-5 496 570.8|-2 486 036.5| 2 064 924.3| + |JD2Y|1818| Jonathan Dickenson, | WGS84 69 | 26 58 56.027|279 53 32.781| -1.96| -1.96| 977 155.2|-5 603 212.3| 2 876 460.2| + |JDIQ|4248| Jonathan Dickinson, | WGS72 9 | 26 58 58.664|279 53 29.911| -7.89| -7.89| 977 069.7|-5 603 182.7| 2 876 529.0| + | | | Fla. | | | | | | | | | + |JDIY|1817| Jonathan Dickinson, | WGS84 69 | 26 59 01.694|279 53 28.509| -10.53| -10.53| 977 024.3|-5 603 147.1| 2 876 611.7| + | | | | | | | | | | | | + |JSCJ|0291| JSC, TX | MERC60 6 | 29 33 42.000|264 54 36.000| 19.81| 19.81| -492 614.3|-5 530 534.0| 3 128 228.8| + |JSCS|0303| Houston, TX | MERC60 6 | 29 34 00.000|275 04 00.000| 3.00| 3.00| 490 336.5|-5 530 449.2| 3 128 702.6| + |KA2S|1735| Tokyo, Japan | BESSEL 4 | 35 42 29.500|139 29 30.400| 76.00| 0.00|-3 941 769.8| 3 367 567.8| 3 701 626.1| + |KENS|4722| Malindi, Kenya | WGS84 69 | -2 59 44.007| 40 11 40.218| 12.31| 0.00| 4 865 387.2| 4 110 771.2| -331 084.4| + |KERS|4253| Kergueles Is. | WGS84 69 |-49 21 10.461| 70 15 26.215| 82.47| 0.00| 1 406 178.0| 3 918 095.8|-4 816 278.8| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 4 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |KGLQ|4261| S.Pac.Fr.Kerguelen | WGS72 9 |-49 21 06.984| 70 15 20.988| 10.00| 0.00| 1 406 288.4| 3 918 091.1|-4 816 152.5| + |KI2S|1727| Kiruna, Sweden | WGS84 69 | 67 51 25.650| 20 57 51.630| 402.27| 402.27| 2 251 508.4| 862 665.8| 5 885 477.7| + |KICS|4255| Kiruna, Sweden | WGS84 69 | 67 53 03.235| 21 03 38.768| 440.60| 0.00| 2 247 453.2| 865 452.5| 5 886 652.1| + |KILS|4256| Kiruna, Sweden | WGS84 69 | 67 52 35.515| 21 03 44.413| 514.89| 0.00| 2 248 198.1| 865 810.0| 5 886 397.5| + |KIXS|4257| Kiruna, Sweden | WGS84 69 | 67 52 41.365| 21 03 48.232| 508.57| 0.00| 2 248 023.1| 865 790.4| 5 886 459.9| + | | | | | | | | | | | | + |KL2P|0930| Koln.Bonn, FRG | WGS72 9 | 50 52 50.000| 7 07 45.000| 114.49| 69.49| 4 001 244.4| 500 449.9| 4 925 259.0| + |KLMS|1710| Svalbard, Norway | WGS84 69 | 78 13 48.798| 15 23 53.297| 498.52| 0.00| 1 258 450.7| 346 591.1| 6 222 718.0| + |KLNP|0929| Koln.Bonn, FRG | WGS72 9 | 50 51 19.000| 7 09 54.000| 136.44| 91.44| 4 003 108.6| 503 226.0| 4 923 501.3| + |KM2F|4971| Kwajalein Atoll | WGS84 69 | 9 23 43.543|167 28 45.438| 62.86| 62.86|-6 143 532.2| 1 364 318.4| 1 034 345.6| + |KMRF|4968| Kwajalein Atoll | WGS84 69 | 9 23 55.489|167 28 55.733| 57.37| 57.37|-6 143 536.5| 1 363 997.6| 1 034 706.8| + | | | | | | | | | | | | + |KMRQ|4969| Kwajalein Atoll | WGS84 69 | 9 23 54.958|167 28 58.257| 42.48| 42.48|-6 143 541.4| 1 363 919.8| 1 034 688.3| + |KMRT|4970| Kwajalein Atoll | WGS84 69%| 8 43 10.363|167 43 06.687| 59.04| 59.04|-6 160 670.5| 1 341 157.0| 960 522.9| + |KOOL|8833| Kootwijk, Neth | EUR50 14 | 52 10 45.032| 5 48 39.827| 47.70| 49.80| 3 899 307.8| 396 837.9| 5 015 189.7| + |KPTQ|4282| Oahu, HI | WGS84 69 | 21 34 19.631|201 44 00.292| 301.32| 301.32|-5 512 516.8|-2 197 421.7| 2 330 529.6| + |KR2P|8459| Kourou, Fr Guiana | WGS72 9 | 5 13 56.518|307 13 27.028| 4.68| 4.68| 3 842 390.1|-5 057 729.4| 577 777.6| + | | | | | | | | | | | | + |KR3P|8460| Kourou, Fr.Guiana | WGS84 69 | 5 14 25.307|307 14 53.586| -34.09| 0.00| 3 844 441.2|-5 056 023.2| 578 654.9| + |KRCS|1797| Weipa, Australia | WGS84 69 |-12 41 38.400|141 55 50.400| 21.00| 0.00|-4 899 360.7| 3 837 356.7|-1 392 404.7| + |KRUF|8501| Kourou, Fr Guiana | IGN67 59 | 5 06 46.790|307 21 19.520| 158.78| 158.78| 3 854 934.4|-5 050 183.3| 564 651.2| + |KRUP|8458| Kourou, Fr Guiana | IGN67 59 | 5 15 03.038|307 11 40.538| 12.21| 12.21| 3 839 822.9|-5 059 771.1| 579 819.6| + |KRUS|4258| Kourou, Fr. Guiana | WGS84 69 | 5 05 55.852|307 21 36.460| 110.04| 0.00| 3 855 252.0|-5 049 739.5| 563 082.2| + | | | | | | | | | | | | + |KS2P|0902| KSC, FL | NAD27 13 | 28 37 57.000|279 17 36.996| 12.80| 2.80| 904 783.4|-5 529 049.6| 3 038 051.9| + |KS3P|0919| KSC, FL | NAD27 13 | 28 37 56.940|279 17 37.360| 12.74| 2.74| 904 793.3|-5 529 048.8| 3 038 050.2| + |KS4P|0920| KSC, FL | NAD27 13 | 28 35 48.310|279 19 01.530| 12.74| 2.74| 907 356.5|-5 530 550.5| 3 034 574.0| + |KSCP|0901| KSC, FL | NAD27 13 | 28 35 48.012|279 19 00.984| 11.28| 1.28| 907 342.4|-5 530 554.0| 3 034 565.3| + |LANS|1728| Lannion, France | MERC60 6 | 48 45 05.000| -3 28 12.000| 80.00| 80.00| 4 205 607.4| -255 015.8| 4 772 460.4| + | | | | | | | | | | | | + |LBVS|4250| Liberville, Africa | MERC60 6 | 0 21 16.666| 9 40 31.081| 82.27| 82.27| 6 287 404.5| 1 071 936.3| 39 213.4| + |LE1S|1721| Poker Flats, AK | WGS84 69 | 65 07 00.666|212 32 15.882| 414.00| 0.00|-2 268 883.0|-1 447 540.1| 5 763 579.3| + |LE2S|1722| Wallops Island. VA | WGS84 69 | 37 55 24.706|284 31 25.899| -33.50| 0.00| 1 263 351.3|-4 876 638.2| 3 898 731.3| + |LR1S|1931| White Sands, NM | WGS84 69 | 32 32 26.703|253 23 16.480| 213.36| 0.00|-1 538 726.5|-5 157 580.4| 3 411 248.5| + |MA2C|7398| Maui, HI | MERC60 6 | 20 42 02.000|203 44 33.000|3058.21| 3058.21|-5 466 328.7|-2 404 388.1| 2 241 506.3| + | | | | | | | | | | | | + |MAD8|1307| Madrid, Spain | EUR50 14%| 40 27 23.850|355 49 58.230| 764.40| 785.50| 4 847 913.3| -353 214.8| 4 117 261.5| + |MC1S|4848| McMurdo,Antarctica | WGS84 69 |-77 50 20.866|166 40 01.496| 153.00| 153.00|-1 311 619.4| 310 849.5|-6 213 327.3| + |MCMS|4847| McMurdo,Antarctica | WGS84 69 |-77 48 00.000|166 24 00.000| 20.00| 20.00|-1 314 279.4| 317 957.7|-6 212 275.5| + |MDLS|1904| Laurel, Maryland | WGS84 69 | 39 10 02.500|283 06 04.400| 146.40| 146.40| 1 122 418.3|-4 822 839.2| 4 006 831.7| + |MIL3|1301| Merritt Island, FL | WGS84 69 | 28 30 29.246|279 18 23.760| -25.95| -25.95| 907 079.9|-5 535 208.8| 3 026 095.6| + | | | | | | | | | | | | + |MILA|1901| Merritt Island, FL | WGS84 69 | 28 30 29.376|279 18 26.090| -27.34| -27.34| 907 141.9|-5 535 195.4| 3 026 098.5| + |MILJ|0292| Merritt Island, FL | NAD27 13 | 28 30 20.431|279 18 24.468| 14.97| 4.97| 907 143.2|-5 535 476.1| 3 025 709.0| + |MIMF|4220| Merritt Island, FL | WGS84 69 | 28 37 33.395|279 19 01.942| -18.12| 0.00| 907 094.7|-5 528 885.9| 3 037 567.4| + |MLAQ|4084| Merritt Island, FL | WGS84 69 | 28 25 28.960|279 20 08.204| -17.35| 0.00| 910 598.6|-5 539 104.1| 3 017 973.1| + |MMTF|4347| Merritt Island, FL | WGS84 69 | 28 28 42.876|279 19 30.760| -12.30| 0.00| 909 132.9|-5 536 467.2| 3 023 224.2| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 5 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |MPLS|1967| Maspalomas, Spain | WGS84 69 | 27 45 46.411|344 21 58.320| 204.90| 0.00| 5 439 227.1|-1 522 118.9| 2 953 375.2| + |MR2P|0931| Moron AFB, Spain | EUR50 14 | 37 11 35.000|354 23 33.000| 37.91| 82.91| 5 062 982.3| -497 098.9| 3 834 566.8| + |MRNP|0910| Moron AFB, Spain | EUR50 14 | 37 09 45.000|354 22 43.000| 42.48| 87.48| 5 064 904.6| -498 527.3| 3 831 867.6| + |MTLF|4155| Mt.Lemmon, AZ | WGS84 69 | 32 26 29.987|249 12 40.309|2772.82| 2772.82|-1 913 141.0|-5 039 350.8| 3 403 352.7| + |MTLS|4156| Mt.Lemmon, AZ | NAD27 35 | 32 26 31.352|249 12 40.359|2785.56| 2794.86|-1 913 178.8|-5 039 448.9| 3 403 214.1| + | | | | | | | | | | | | + |NATC|9039| Natal, Brazil | SAD69 49 | -5 55 38.616|324 50 09.401| 67.70| 41.60| 5 186 549.2|-3 653 837.2| -654 281.4| + |NATL|7929| Natal, Brazil | SAD69 49%| -5 55 38.620|324 50 08.660| 71.70| 45.60| 5 186 539.4|-3 653 858.1| -654 281.9| + |NH2S|1374| New.Boston, NH | WGS72 9 | 42 56 40.957|288 22 10.287| 190.70| 190.70| 1 473 702.4|-4 437 992.7| 4 323 136.4| + |NHSS|1366| New.Boston, NH | WGS72 9 | 42 56 52.043|288 22 23.820| 200.72| 232.42| 1 473 922.4|-4 437 681.8| 4 323 393.6| + |NO2P|0908| Northrup Strip, NM | NAD27 35 | 32 57 02.143|253 35 49.999|1191.94| 1191.94|-1 513 195.0|-5 140 482.0| 3 449 828.0| + | | | | | | | | | | | | + |NO3P|0923| Northrup Strip, NM | NAD27 35 | 32 57 36.810|253 34 59.424|1191.66| 1191.66|-1 514 293.0|-5 139 553.2| 3 450 724.1| + |NO4P|0924| Northrup Strip, NM | NAD27 35 | 32 55 09.613|253 34 37.246|1190.06| 1190.06|-1 515 542.5|-5 141 754.6| 3 446 917.0| + |NORP|0907| Northrup Strip, NM | NAD27 35 | 32 55 58.162|253 33 11.209|1190.03| 1190.03|-1 517 456.9|-5 140 342.1| 3 448 172.6| + |ORR3|1320| Orroral, Aust | AGD66 39%|-35 37 46.020|148 57 20.924| 942.90| 933.45|-4 447 357.6| 2 676 912.4|-3 695 413.5| + |ORRL|7943| Orroral, Aust | AGD66 39 |-35 37 35.344|148 57 12.937| 938.98| 929.53|-4 447 415.4| 2 677 181.8|-3 695 143.7| + | | | | | | | | | | | | + |OTSS|1364| Oakhanger, UK | WGS72 9 | 51 06 50.724|359 06 17.816| -21.88| -21.88| 4 011 654.2| -62 673.5| 4 941 504.1| + |PA2Q|4089| Patrick AFB, FL | WGS84 69 | 28 13 38.381|279 23 38.046| -14.38| -14.38| 917 927.9|-5 548 417.6| 2 998 718.9| + |PATQ|4060| Patrick AFB, FL | WGS84 69 | 28 13 35.048|279 24 02.605| -13.76| 0.00| 918 596.5|-5 548 356.7| 2 998 628.8| + |PDLS|4054| Ponce de Leon Inlet, | WGS84 69 | 29 03 59.934|279 05 13.123| -22.69| -22.69| 881 148.7|-5 509 212.4| 3 080 349.0| + |PFTQ|4864| Poker Flats, Ak. | NAD27 36 | 65 07 01.618|212 32 22.820| 413.27| 413.27|-2 268 904.0|-1 447 662.1| 5 763 399.9| + | | | | | | | | | | | | + |PFTS|4864| Poker Flats, Ak. | NAD27 36 | 65 07 01.618|212 32 22.820| 413.27| 413.27|-2 268 904.0|-1 447 662.1| 5 763 399.9| + |PIOD|1511| Goldstone, CA | NAD27 35%| 35 23 22.346|243 09 05.262|1014.30| 1036.30|-2 351 415.0|-4 645 228.1| 3 673 582.4| + |PM2F|4445| Point.Mugu, CA | WGS84 69 | 34 07 21.010|240 50 46.325| -22.20| -22.20|-2 574 922.0|-4 616 020.4| 3 557 691.3| + |PM3F|4446| Point.Mugu, CA | WGS84 69 | 34 07 22.395|240 50 42.837| -21.67| -21.67|-2 574 990.6|-4 615 956.3| 3 557 726.9| + |PM4F|4441| Point.Mugu, CA | WGS84 69 | 34 07 19.625|240 50 49.811| -22.19| -22.19|-2 574 857.6|-4 616 084.8| 3 557 656.0| + | | | | | | | | | | | | + |PMKS|1729| Pomonkey, Md. | WGS84 69%| 38 33 27.757|282 56 32.131| 41.94| 0.00| 1 118 526.2|-4 867 242.6| 3 954 067.1| + |PP2F|7399| Pt. Pillar, Ca. | WGS84 69 | 37 29 48.675|237 30 11.938| 3.78| 3.78|-2 722 045.8|-4 273 301.8| 3 861 289.4| + |PPTF|4240| Pillar Point, CA | NAD27 63 | 37 29 52.046|237 30 08.457| 30.14| 60.88|-2 722 162.3|-4 273 325.6| 3 861 194.4| + |PPTQ|4260| Pillar Point, CA | WGS84 69 | 37 29 52.140|237 30 01.027| 20.15| 20.15|-2 722 243.9|-4 273 113.9| 3 861 384.1| + |PPTY|4216| Pillar Point, CA | WGS84 69 | 37 29 51.986|237 30 02.949| 27.69| 27.69|-2 722 208.8|-4 273 146.7| 3 861 385.0| + | | | | | | | | | | | | + |PRTS|1342| Perth, Australia | WGS84 69 |-31 48 07.200|115 53 06.000| 22.16| 0.00|-2 368 668.6| 4 881 332.4|-3 341 803.9| + |RALS|1700| Rutherford Appelton | MERC60 6 | 51 34 19.200|358 41 18.730| 132.30| 132.30| 3 971 434.8| -90 919.5| 4 973 474.8| + | | | Laboratory, UK | | | | | | | | | + |RAML|7069| Patrick AFB, FL | NAD27 13%| 28 13 39.624|279 23 38.627| 19.96| 9.96| 917 963.1|-5 548 533.6| 2 998 602.2| + |RGTS|1963| Tidbinbilla, Aust | WGS84 69 |-35 24 16.330|148 58 56.705| 663.25| 0.00|-4 460 814.6| 2 682 191.2|-3 674 924.3| + | | | | | | | | | | | | + |RO2P|0927| Rota, Spain | EUR50 14 | 36 38 40.000|353 40 21.000| -26.41| 18.59| 5 092 634.1| -564 706.2| 3 785 852.0| + |ROTP|0918| Rota, Spain | EUR50 14 | 36 38 54.000|353 37 54.000| -25.80| 19.20| 5 091 974.8| -568 305.0| 3 786 198.6| + |RTKS|1964| Tidbinbilla, Aust | WGS84 69 |-35 24 17.081|148 58 57.377| 661.43| 0.00|-4 460 810.5| 2 682 169.0|-3 674 942.1| + |SARS|1739| Saudi Arabia | WGS84 69 | 17 40 01.200| 53 52 58.800| 30.48| 0.00| 3 583 314.3| 4 910 889.1| 1 923 308.7| + |SEYS|4071| Seychelles, Mahe | WGS72 9 | -4 40 18.437| 55 28 39.599| 561.46| 600.56| 3 603 051.9| 5 238 097.8| -516 064.4| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 6 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |SF1S|1703| Sioux Falls, S. Dako | WGS84 69 | 43 44 09.861|263 22 38.947| 468.75| 468.75| -532 367.5|-4 585 336.1| 4 387 274.3| + |SF2S|1716| Sioux Falls, S. Dako | WGS84 69 | 43 44 03.432|263 22 50.024| 459.34| 0.00| -532 136.3|-4 585 494.2| 4 387 124.4| + |SG1S|1702| Svalbard, Norway | EUR79 67 | 78 13 49.125| 15 23 34.228| 472.61| 0.00| 1 258 534.7| 346 489.1| 6 222 847.3| + |SG3S|1733| Svalbard, Norway | WGS84 69 | 78 13 47.046| 15 24 29.145| 501.38| 0.00| 1 258 442.3| 346 824.1| 6 222 709.8| + |SG4S|1723| Svalbard, Norway | WGS84 69 | 78 13 40.849| 15 24 34.954| 508.38| 0.00| 1 258 615.3| 346 909.9| 6 222 677.4| + | | | | | | | | | | | | + |SIPQ|4003| Saipan | WGS84 69 | 15 14 56.925|145 47 46.380| 348.20| 348.20|-5 090 727.1| 3 460 146.0| 1 666 804.7| + |SN2F|4443| San.Nicolas Island, | WGS84 69 | 33 14 51.666|240 28 45.325| 246.68| 246.68|-2 631 061.7|-4 646 460.1| 3 477 099.7| + |SN3F|4444| San.Nicolas Island, | WGS84 69 | 33 14 54.213|240 28 42.991| 246.12| 246.12|-2 631 092.9|-4 646 392.5| 3 477 165.0| + |SNDL|7062| Otay Mt, CA | NAD27 35%| 32 36 02.439|243 09 36.027| 999.40| 1024.10|-2 428 812.0|-4 799 902.7| 3 417 091.2| + |SNIF|4442| San.Nicolas Island, | WGS84 69 | 33 14 49.119|240 28 47.660| 246.16| 246.16|-2 631 030.1|-4 646 526.9| 3 477 033.8| + | | | | | | | | | | | | + |SNYC|0624| Santa.Ynez Peak, CA | WGS84 69 | 34 31 49.119|240 00 50.944| 124.49| 124.49|-2 628 995.1|-4 556 151.5| 3 595 133.1| + |SOCA|4139| Suitland, Md. | MERC60 6 | 38 51 00.000|283 04 04.000| 88.40| 0.00| 1 124 611.9|-4 845 073.2| 3 979 438.8| + |ST1F|4224| St. Thomas, Virgin | WGS84 69 | 18 21 26.112| 64 58 23.579| 130.45| 0.00| 2 561 813.1| 5 487 127.6| 1 995 993.6| + | | | Island | | | | | | | | | + |ST2K|4751| White Sands, NM | WGS84 69 | 32 32 34.718|253 23 16.479|1452.31| 1452.31|-1 538 987.1|-5 158 452.0| 3 412 123.1| + | | | | | | | | | | | | + |ST3K|4752| White Sands, NM | WGS84 69 | 32 32 33.630|253 23 16.480|1452.30| 1452.30|-1 538 992.3|-5 158 471.3| 3 412 094.8| + |STAL|7063| Greenbelt, MD | NAD27 33%| 39 01 12.951|283 10 18.832| 57.26| 56.16| 1 130 726.4|-4 831 534.5| 3 993 904.9| + |STGK|4750| White Sands, NM | WGS84 69 | 32 32 35.806|253 23 16.479|1452.28| 1452.28|-1 538 981.9|-5 158 436.7| 3 412 151.3| + |STGS|4753| White Sands, NM | WGS84 69 | 32 32 32.826|253 23 16.479|1449.46| 1449.46|-1 538 995.4|-5 158 481.7| 3 412 072.4| + |STSS|1929| White Sands, NM | WGS84 69 | 32 29 58.201|253 23 29.214| 106.68| 0.00|-1 539 085.3|-5 159 945.9| 3 407 333.8| + | | | | | | | | | | | | + |STWS|1930| White Sands, NM | WGS84 69 | 32 32 30.166|253 23 16.480| 106.68| 0.00|-1 538 684.4|-5 157 439.2| 3 411 281.0| + |SWNS|1796| Port Hedland, Austra | WGS84 69 |-20 22 48.000|118 38 06.000| 242.00| 0.00|-2 866 523.9| 5 249 943.7|-2 207 264.6| + |SYOQ|4262| Syoma, Antarctica | WGS72 9 |-69 00 21.995| 39 35 24.000| 10.00| 0.00| 1 766 104.8| 1 460 529.8|-5 932 224.8| + |TH2S|1731| Thule, Greenland | WGS84 69 | 76 30 55.310|291 24 04.267| 147.37| 0.00| 544 442.3|-1 389 168.5| 6 180 523.4| + |THUS|1730| Thule, Greenland | WGS84 69 | 76 30 58.655|291 24 03.536| 141.16| 0.00| 544 400.1|-1 389 075.2| 6 180 541.6| + | | | | | | | | | | | | + |TSMF|4080| University of Tasman | WGS84 69 |-42 48 18.000|147 26 20.400| 43.00| 0.00|-3 950 066.3| 2 522 386.0|-4 311 662.8| + | | | Australia | | | | | | | | | + |TT2S|1376| Thule, Greenland | WGS72 9 | 76 30 55.275|291 24 03.556| 143.02| 143.02| 544 437.4|-1 389 169.9| 6 180 517.2| + |TTSS|1369| Thule, Greenland | WGS72 9 | 76 30 57.327|291 23 59.545| 131.94| 131.94| 544 386.8|-1 389 120.5| 6 180 521.3| + |TULF|4151| Tularosa, NM | NAD27 37 | 33 05 45.767|253 50 29.058|1273.40| 1272.70|-1 488 847.6|-5 138 504.6| 3 463 399.8| + | | | | | | | | | | | | + |TULS|4078| Tula Peak, NM | NAD27 35%| 33 01 36.641|253 51 41.238|1348.76| 1347.76|-1 488 230.9|-5 143 108.5| 3 457 007.6| + |UL23|1371| Fairbanks, AK | NAD27 36 | 64 58 21.847|212 29 05.579| 330.95| 328.95|-2 282 572.0|-1 453 312.3| 5 756 533.0| + |UL33|1332| Fairbanks, AK | NAD27 36 | 64 58 37.711|212 29 05.579| 307.90| 305.90|-2 282 188.3|-1 453 067.9| 5 756 720.0| + |ULA3|1328| Fairbanks, AK | NAD27 36%| 64 58 20.886|212 29 22.415| 343.90| 341.60|-2 282 480.8|-1 453 514.0| 5 756 532.2| + |ULA4|1401| Gilmore Creek, AK | NAD27 36 | 64 58 36.926|212 28 53.999| 299.00| 297.00|-2 282 285.2|-1 452 949.6| 5 756 701.7| + | | | | | | | | | | | | + |ULAE|1853| Fairbanks, AK | NAD27 36 | 64 58 37.711|212 29 05.579| 307.90| 305.90|-2 282 188.3|-1 453 067.9| 5 756 720.0| + |USAS|1709| Bradway Rd, AK | WGS84 69 | 64 48 15.268|212 29 59.229| 160.58| 0.00|-2 296 384.9|-1 462 946.4| 5 748 597.6| + |USDS|1717| Dongara, Australia | WGS84 69 |-29 02 44.779|115 20 55.240| 251.84| 0.00|-2 389 197.6| 5 043 292.4|-3 078 459.6| + |USHS|1778| USN, Hawaii | WGS84 69 | 19 00 50.056|204 20 12.115| 385.19| 0.00|-5 496 586.3|-2 486 043.5| 2 064 930.2| + |USPS|1770| Perth, Australia | WGS84 69 |-29 02 44.779|115 20 55.239| 250.47| 0.00|-2 389 197.1| 5 043 291.3|-3 078 457.0| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 7 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |VD2F|4247| Vandenberg AFB, CA | WGS84 69 | 34 45 29.634|239 22 22.363| 26.04| 26.04|-2 672 459.3|-4 514 003.9| 3 615 878.6| + |VD3F|4251| Vandenberg AFB, Ca. | WGS84 69 | 34 34 58.954|239 26 19.986| 627.25| 0.00|-2 673 130.2|-4 527 025.6| 3 600 236.1| + |VD4F|4254| Vandenberg AFB, CA. | WGS84 69 | 34 34 58.954|239 26 19.986| 627.25| 0.00|-2 673 130.2|-4 527 025.6| 3 600 236.1| + |VDB3|1333| Vandenberg AFB, CA | WGS84 69 | 34 33 56.253|239 29 54.177| 609.44| 609.44|-2 668 976.9|-4 530 731.2| 3 598 635.0| + |VDBF|4246| Vandenberg AFB, CA | WGS72 9 | 34 46 29.434|239 27 49.451| 120.58| 120.58|-2 664 802.5|-4 517 396.5| 3 617 445.4| + | | | | | | | | | | | | + |VEND|1513| Goldstone, CA | NAD27 35 | 35 14 51.820|243 12 21.369|1074.22| 1095.72|-2 351 120.4|-4 655 625.7| 3 660 777.5| + |VT2S|1372| Vandenberg AFB, CA | WGS84 69 | 34 49 32.306|239 29 40.568| 268.61| 268.61|-2 660 798.5|-4 516 166.5| 3 622 158.4| + |VTSS|1365| Vandenberg AFB, CA | WGS84 69 | 34 49 21.419|239 29 53.345| 272.51| 272.51|-2 660 617.6|-4 516 499.1| 3 621 885.2| + |WAPS|1341| Wallops Island, VA | WGS84 69 | 37 55 29.732|284 31 24.519| -20.10| 0.00| 1 263 297.5|-4 876 564.7| 3 898 861.8| + |WD3F|4846| Wallops Island, VA | WGS84 69 | 37 51 22.914|284 29 18.832| -18.13| -18.13| 1 261 495.4|-4 881 860.0| 3 892 857.5| + | | | | | | | | | | | | + |WD4F|4843| Wallops Island, VA | WGS84 69 | 37 51 22.919|284 29 18.819| 18.66| 0.00| 1 261 502.3|-4 881 888.2| 3 892 880.2| + |WH2J|0202| White Sands, NM | WGS84 69 | 32 30 22.613|253 23 16.923|1442.61| 1442.61|-1 539 599.3|-5 160 546.6| 3 408 685.9| + |WH2K|1921| White Sands, NM | WGS84 69 | 32 30 02.653|253 23 29.213|1459.74| 1459.74|-1 539 390.4|-5 160 968.8| 3 408 176.5| + |WH2S|1962| White Sands, NM | WGS72 9 | 32 30 04.539|253 23 28.652|1455.79| 1455.79|-1 539 394.1|-5 160 929.9| 3 408 222.4| + |WH3K|1922| White Sands, NM | WGS84 69 | 32 30 01.664|253 23 29.214|1459.74| 1459.74|-1 539 395.1|-5 160 984.5| 3 408 150.7| + | | | | | | | | | | | | + |WH4K|1925| White Sands, NM | WGS72 9 | 32 30 04.874|253 23 28.652|1456.80| 1456.80|-1 539 392.8|-5 160 925.4| 3 408 231.7| + |WH5K|1940| White Sands, NM | WGS72 9 | 32 30 04.342|253 23 28.653|1454.76| 1454.76|-1 539 394.8|-5 160 932.2| 3 408 216.8| + |WH6F|4145| White Sands, NM | WGS84 69 | 33 48 49.910|253 20 27.555|1508.97| 1508.97|-1 521 107.3|-5 083 323.9| 3 530 151.0| + |WH6K|1941| White Sands, NM | NAD27 37&| 32 30 04.800|253 23 28.800|1479.98| 1481.38|-1 539 428.8|-5 161 059.6| 3 408 062.0| + |WH7F|4147| White Sands, NM | NAD27 37 | 33 48 46.740|253 20 29.628|1529.07| 1529.27|-1 521 110.7|-5 083 521.1| 3 529 896.2| + | | | | | | | | | | | | + |WH9F|4146| Phillips Hill, NM | NAD27 37 | 33 26 42.404|253 52 06.428|1624.60| 1623.60|-1 480 601.2|-5 119 082.5| 3 495 967.7| + |WHSF|4143| White Sands, NM | WGS84 69 | 32 21 28.951|253 37 48.693|1209.86| 1209.86|-1 520 204.7|-5 175 279.6| 3 394 683.3| + |WHSJ|0201| White Sands, NM | WGS84 69 | 32 30 22.613|253 23 16.923|1442.61| 1442.61|-1 539 599.3|-5 160 546.6| 3 408 685.9| + |WHSK|1920| White Sands, NM | WGS84 69 | 32 30 03.643|253 23 29.213|1459.73| 1459.73|-1 539 385.7|-5 160 953.1| 3 408 202.2| + |WHSS|1961| White Sands, NM | WGS84 69 | 32 30 00.971|253 23 29.213|1452.26| 1452.26|-1 539 396.6|-5 160 989.5| 3 408 128.7| + | | | | | | | | | | | | + |WHSX|1842| White Sands | WGS84 69 | 32 30 03.389|253 23 31.138|1477.06| 0.00|-1 539 341.0|-5 160 985.5| 3 408 204.9| + |WL2F|4841| Wallops Island, VA | WGS84 69 | 37 56 38.756|284 32 08.795| -14.04| -14.04| 1 264 017.1|-4 875 031.6| 3 900 544.0| + |WL2S|4206| Wallops Island, VA | NAD27 33 | 37 56 46.994|284 32 15.264| 29.10| 31.10| 1 264 170.8|-4 874 995.4| 3 900 576.5| + |WL3F|4845| Wallops Island, VA | WGS84 69 | 37 51 22.914|284 29 18.832| -18.13| -18.13| 1 261 495.4|-4 881 860.0| 3 892 857.5| + |WL3S|4207| Wallops Island, VA | WGS84 69 | 37 56 44.861|284 32 22.427| -5.69| -5.69| 1 264 311.9|-4 874 842.4| 3 900 697.6| + | | | | | | | | | | | | + |WL4F|4842| Wallops Island, VA | WGS84 69 | 37 51 22.919|284 29 18.819| 18.66| 0.00| 1 261 502.3|-4 881 888.2| 3 892 880.2| + |WL4S|4208| Wallops Island, VA | WGS84 69 | 37 56 46.727|284 32 21.841| -28.79| -28.79| 1 264 284.6|-4 874 794.1| 3 900 728.8| + |WL53|4209| Wallops | WGS84 69 | 37 56 48.480|284 32 23.640| -25.81| 0.00| 1 264 319.3|-4 874 753.2| 3 900 773.2| + |WL6S|4210| Wallops | WGS84 69 | 37 56 44.160|284 32 20.040| 13.22| 0.00| 1 264 262.5|-4 874 884.3| 3 900 692.2| + |WLPF|4840| Wallops Island, VA | WGS84 69 | 37 50 28.823|284 30 53.679| -24.00| -24.00| 1 263 995.4|-4 882 265.6| 3 891 537.0| + | | | | | | | | | | | | + |WLPQ|4860| Wallops Island, VA | WGS84 69 | 37 51 36.941|284 29 26.536| -21.70| -21.70| 1 261 610.6|-4 881 553.2| 3 893 196.7| + |WP2S|1337| Wallops Island, VA | WGS84 69 | 37 55 41.041|284 31 32.101| -20.96| -18.96| 1 263 422.8|-4 876 310.1| 3 899 136.3| + |WP2Y|1838| Wallops Island, VA | WGS84 69 | 37 55 32.106|284 31 23.313| -15.23| -15.23| 1 263 258.6|-4 876 532.2| 3 898 922.5| + |WP2Z|1840| Wallops Island, Va. | WGS84 69 | 37 55 44.084|284 31 34.495| -17.85| 0.00| 1 263 465.6|-4 876 240.0| 3 899 212.2| + |WP3S|1338| Wallops Island, VA | WGS84 69 | 37 55 42.100|284 31 32.923| -19.63| -19.63| 1 263 437.5|-4 876 286.7| 3 899 162.9| + ----------------------------------------------------------------------------------------------------------------------------------- + % Station deactivated or in caretaker status T3- 8 & Proposed Mar 07,2007 + + P O S I T I O N S O N L O C A L O R M A J O R D A T U M S + + ---------------------------------------------------------------------------------------------------------------------------------- + | STATION | GEODETIC COORDINATES | ELEV | GEOCENTRIC COORDINATES | + |---------------------------------+-----------------------------------------------+--------+--------------------------------------| + |CODE| NO | LOCATION | DATUM | LATITUDE |LONGITUDE(E) | H(M) |MSL(M) | X(M) | Y(M) | Z(M) | + |----+----+-----------------------+-----------+-------------+-------------+-------+--------+------------+------------+------------| + |WP3Z|1841| Wallops Island, VA | WGS84 69 | 37 55 41.550|284 31 26.770| -1.52| 0.00| 1 263 298.2|-4 876 348.3| 3 899 160.6| + |WPDA|1339| Wallops Island, VA | MERC60 6 | 37 55 38.449|284 31 30.170| -40.66| -40.66| 1 263 391.1|-4 876 375.7| 3 899 082.0| + |WPS8|1336| Wallops Island, VA | WGS84 69 | 37 55 38.492|284 31 27.000| -20.65| -18.65| 1 263 314.4|-4 876 388.4| 3 899 074.5| + |WPSA|1334| Wallops Island, VA | NAD27 33 | 37 55 38.045|284 31 28.725| 16.14| 18.14| 1 263 396.1|-4 876 535.7| 3 898 892.0| + |WPSS|1335| Wallops Island, VA | WGS84 69 | 37 55 35.723|284 31 25.303| -12.76| -2.00| 1 263 289.0|-4 876 455.6| 3 899 012.0| + | | | | | | | | | | | | + |WSGT|0302| White Sands, NM | MERC60 6 | 32 30 04.843|253 23 29.235|1427.70| 1427.70|-1 539 378.6|-5 160 931.1| 3 408 234.4| + |WSSH|1870| White Sands Space | WGS84 69 | 32 52 49.000|253 32 07.000|1198.47| 0.00|-1 519 923.2|-5 142 800.5| 3 443 466.2| + | | | Harbor | | | | | | | | | + |WT1S|4865| Poker Flats, AK | WGS84 69 | 65 07 02.052|212 32 27.383| 431.44| 431.44|-2 268 775.7|-1 447 649.6| 5 763 613.2| + |WT2S|4866| Poker Flats, Ak. | WGS84 69 | 65 07 00.239|212 32 18.424| 430.34| 430.34|-2 268 881.1|-1 447 578.2| 5 763 588.6| + | | | | | | | | | | | | + |WT3P|1483| S.Vandenberg AFB, CA | WGS84 69 | 34 38 37.231|239 24 25.714| 233.50| 134.12|-2 673 528.3|-4 521 974.0| 3 605 548.5| + |WT3S|4867| Wallops Island, Va. | MERC60 6 | 37 55 22.944|284 31 21.112| -40.76| 0.00| 1 263 250.6|-4 876 715.6| 3 898 704.8| + |WT6P|1482| Vandenberg AFB, CA | WGS84 69 | 34 34 53.876|239 22 26.069| 251.65| 143.18|-2 678 150.1|-4 523 801.6| 3 599 894.1| + |WTDQ|4861| Wallops Island, Va. | MERC60 6 | 37 55 22.944|284 31 21.112| -40.76| -40.76| 1 263 250.6|-4 876 715.6| 3 898 704.8| + |WTDS|4861| Wallops Island, Va. | MERC60 6 | 37 55 22.944|284 31 21.112| -40.76| -40.76| 1 263 250.6|-4 876 715.6| 3 898 704.8| + | | | | | | | | | | | | + |WTRP|1480| Vandenberg AFB, CA | WGS84 69 | 34 45 20.276|239 22 39.438| 75.78| 56.00|-2 672 190.2|-4 514 401.8| 3 615 670.0| + |WULY|4215| Vandenberg AFB, CA | WGS84 69 | 34 39 19.488|239 26 38.455| 75.23| 75.23|-2 670 175.1|-4 522 945.9| 3 606 529.8| + |YARZ|8566| Yarragedee, Aust Irw |# 24 |-29 02 47.923|115 20 48.000| 192.35| 0.00|-2 388 988.8| 5 043 309.1|-3 078 530.0| + |ZZ2P|0928| Zaragoza, Spain | WGS72 9 | 41 40 56.000|358 55 14.000| 301.51| 254.51| 4 769 920.5| -89 875.3| 4 219 508.1| + |ZZAP|0917| Zaragoza, Spain | WGS72 9 | 41 39 57.000|358 57 33.000| 310.04| 263.04| 4 771 196.5| -86 682.9| 4 218 154.1| + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + | | | | | | | | | | | | + ----------------------------------------------------------------------------------------------------------------------------------- + # Approximate location + % Station deactivated or in caretaker status T3- 9 & Proposed Mar 07,2007 + NASA NUMBER/STDN CODE CROSS REFERENCE + T4-1 Mar 07,2007 + + NASA STDN NASA STDN NASA STDN NASA STDN NASA STDN + NUMBER CODE NUMBER CODE NUMBER CODE NUMBER CODE NUMBER CODE + ------------ ------------ ------------ ------------ ------------ + + 0201 WHSJ 1309 GWM3 1471 A17P 1727 KI2S 1971 GWMJ + 0202 WH2J 1311 HAW3 1472 B17P 1728 LANS 4003 SIPQ + 0204 ALSJ 1312 DS16 1480 WTRP 1729 PMKS 4013 GBIQ + 0205 AMSJ 1315 BLTD 1482 WT6P 1730 THUS 4018 CALF + 0207 ACNJ 1316 BLTA 1483 WT3P 1731 TH2S 4020 BANF + 0208 AC2J 1317 GDSA 1511 PIOD 1732 BRKS 4041 CNVF + 0290 BLTJ 1319 AGO3 1513 VEND 1733 SG3S 4045 ASCQ + 0291 JSCJ 1320 ORR3 1514 DS14 1735 KA2S 4047 GILE + 0292 MILJ 1324 HBK3 1515 DS15 1736 ATLS 4054 PDLS + 0293 CTVJ 1325 HB33 1516 D27D 1739 SARS 4060 PATQ + + 0294 CT2J 1327 DS17 1517 GD28 1756 CTSS 4064 EAFF + 0301 AMEY 1328 ULA3 1525 DS25 1770 USPS 4065 EA2F + 0302 WSGT 1332 UL33 1526 D26D 1778 USHS 4067 DFRS + 0303 JSCS 1333 VDB3 1534 DS34 1796 SWNS 4069 FRCF + 0623 ANPC 1334 WPSA 1546 DS46 1797 KRCS 4071 SEYS + 0624 SNYC 1335 WPSS 1547 DS42 1813 GBIY 4072 DAKS + 0625 CALC 1336 WPS8 1548 DS43 1814 GB2Y 4073 DGIS + 0901 KSCP 1337 WP2S 1549 DS45 1817 JDIY 4078 TULS + 0902 KS2P 1338 WP3S 1554 DS54 1818 JD2Y 4080 TSMF + 0903 EA3P 1339 WPDA 1555 DS55 1835 CALY 4084 MLAQ + + 0904 EA5P 1340 CHAS 1564 DS63 1838 WP2Y 4085 COCS + 0905 EA4P 1341 WAPS 1565 DS65 1840 WP2Z 4086 GTKQ + 0906 EA2P 1342 PRTS 1566 DS66 1841 WP3Z 4087 ANTQ + 0907 NORP 1360 BDAA 1587 DS87 1842 WHSX 4088 CN2F + 0908 NO2P 1363 EVCS 1612 DS12 1853 ULAE 4089 PA2Q + 0909 EA6P 1364 OTSS 1662 DS61 1870 WSSH 4115 FTHF + 0910 MRNP 1365 VTSS 1700 RALS 1901 MILA 4138 FT2F + 0911 EA7P 1366 NHSS 1701 AG1S 1902 AUWS 4139 SOCA + 0912 EA8P 1367 HTSS 1702 SG1S 1903 HWIS 4143 WHSF + 0915 DAKP 1368 GTSS 1703 SF1S 1904 MDLS 4144 HOLF + + 0916 DA2P 1369 TTSS 1704 AN3S 1915 BLT3 4145 WH6F + 0917 ZZAP 1371 UL23 1705 AN8S 1920 WHSK 4146 WH9F + 0918 ROTP 1372 VT2S 1706 HAWS 1921 WH2K 4147 WH7F + 0919 KS3P 1373 HT2S 1707 ALAY 1922 WH3K 4151 TULF + 0920 KS4P 1374 NH2S 1708 ATMY 1925 WH4K 4155 MTLF + 0921 HNLP 1375 GT2S 1709 USAS 1929 STSS 4156 MTLS + 0922 HN2P 1376 TT2S 1710 KLMS 1930 STWS 4205 EULY + 0923 NO3P 1377 AG23 1711 DXAS 1931 LR1S 4206 WL2S + 0924 NO4P 1401 ULA4 1712 GLAS 1940 WH5K 4207 WL3S + 0925 EA9P 1402 HBKS 1713 GLBS 1941 WH6K 4208 WL4S + + 0926 E10P 1403 HB5S 1714 GLCS 1961 WHSS 4209 WL53 + 0927 RO2P 1404 AG33 1715 DX2S 1962 WH2S 4210 WL6S + 0928 ZZ2P 1451 B37P 1716 SF2S 1963 RGTS 4215 WULY + 0929 KLNP 1458 A39P 1717 USDS 1964 RTKS 4216 PPTY + 0930 KL2P 1459 B39P 1718 HR1S 1965 GWMK 4220 MIMF + 0931 MR2P 1460 A40P 1719 HR2S 1966 GWMS 4221 EA3F + 1301 MIL3 1461 A41P 1721 LE1S 1967 MPLS 4223 CN4F + 1303 BDA3 1462 A36P 1722 LE2S 1968 GW2K 4224 ST1F + 1306 ACN3 1463 B36P 1723 SG4S 1969 GW2S 4240 PPTF + 1307 MAD8 1464 A46P 1726 ASNS 1970 GW3S 4241 CA2F + + NASA NUMBER/STDN CODE CROSS REFERENCE + T4-2 Mar 07,2007 + + NASA STDN NASA STDN NASA STDN NASA STDN NASA STDN + NUMBER CODE NUMBER CODE NUMBER CODE NUMBER CODE NUMBER CODE + ------------ ------------ ------------ ------------ ------------ + + 4246 VDBF 4860 WLPQ + 4247 VD2F 4861 WTDQ + 4248 JDIQ 4861 WTDS + 4249 FR2F 4862 ATDQ + 4250 LBVS 4862 ATDS + 4251 VD3F 4864 PFTQ + 4252 DS24 4864 PFTS + 4253 KERS 4865 WT1S + 4254 VD4F 4866 WT2S + 4255 KICS 4867 WT3S + + 4256 KILS 4968 KMRF + 4257 KIXS 4969 KMRQ + 4258 KRUS 4970 KMRT + 4259 AUSS 4971 KM2F + 4260 PPTQ 7062 SNDL + 4261 KGLQ 7063 STAL + 4262 SYOQ 7067 BDAL + 4263 BLKQ 7068 GTKL + 4280 CALT 7069 RAML + 4282 KPTQ 7225 GILD + + 4283 BREQ 7398 MA2C + 4284 ADRQ 7399 PP2F + 4285 HAWQ 7907 AREL + 4344 CN5F 7921 HOPL + 4345 EG2F 7929 NATL + 4346 EG3F 7943 ORRL + 4347 MMTF 8458 KRUP + 4441 PM4F 8459 KR2P + 4442 SNIF 8460 KR3P + 4443 SN2F 8501 KRUF + + 4444 SN3F 8566 YARZ + 4445 PM2F 8833 KOOL + 4446 PM3F 9039 NATC + 4722 KENS + 4723 CANS + 4750 STGK + 4751 ST2K + 4752 ST3K + 4753 STGS + 4760 BDAQ + + 4760 BDDQ + 4765 AS2Q + 4840 WLPF + 4841 WL2F + 4842 WL4F + 4843 WD4F + 4845 WL3F + 4846 WD3F + 4847 MCMS + 4848 MC1S + + CROSS REFERENCE LIST OF EQUIPMENT TYPES + + STDN NASA STDN NASA + CODE NUMBER LOCATION CODE NUMBER LOCATION + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Aircraft HOLF 4144 Holloman AFB, NM + JDIQ 4248 Jonathan Dickinson, Fla. + AMEY 0301 N.E. Pacific Ocean KGLQ 4261 S.Pac.Fr.Kerguelen + KM2F 4971 Kwajalein Atoll + KMRF 4968 Kwajalein Atoll + BRT KMRQ 4969 Kwajalein Atoll + KMRT 4970 Kwajalein Atoll + AC2J 0208 Ascension Island KPTQ 4282 Oahu, HI + ACNJ 0207 Ascension Island KRUF 8501 Kourou, Fr Guiana + ALSJ 0204 Alice Springs, N.T., Aust MIMF 4220 Merritt Island, FL + AMSJ 0205 Am Samoa, Tutuila MLAQ 4084 Merritt Island, FL + BLTJ 0290 Greenbelt, MD MTLF 4155 Mt.Lemmon, AZ + CT2J 0294 White Sands, NM PA2Q 4089 Patrick AFB, FL + CTVJ 0293 White Sands, NM PATQ 4060 Patrick AFB, FL + JSCJ 0291 JSC, TX PM2F 4445 Point.Mugu, CA + MILJ 0292 Merritt Island, FL PM3F 4446 Point.Mugu, CA + WH2J 0202 White Sands, NM PM4F 4441 Point.Mugu, CA + WHSJ 0201 White Sands, NM PP2F 7399 Pt. Pillar, Ca. + PPTF 4240 Pillar Point, CA + PPTQ 4260 Pillar Point, CA + C-band SIPQ 4003 Saipan + SN2F 4443 San.Nicolas Island, CA + WD4F 4843 Wallops Island, VA SN3F 4444 San.Nicolas Island, CA + WL4F 4842 Wallops Island, VA SNIF 4442 San.Nicolas Island, CA + SYOQ 4262 Syoma, Antarctica + TSMF 4080 University of Tasmania, Australia + C-bd TULF 4151 Tularosa, NM + VD2F 4247 Vandenberg AFB, CA + ADRQ 4284 Kourou, Fr.Guiana VD3F 4251 Vandenberg AFB, Ca. + ANTQ 4087 Antigua VD4F 4254 Vandenberg AFB, CA. + AS2Q 4765 Ascension Island VDBF 4246 Vandenberg AFB, CA + ASCQ 4045 Ascension Island WD3F 4846 Wallops Island, VA + BANF 4020 Bangalore WH6F 4145 White Sands, NM + BDAQ 4760 Bermuda WH7F 4147 White Sands, NM + BDDQ 4760 Bermuda WH9F 4146 Phillips Hill, NM + BREQ 4283 Kourou, Fr Guiana WHSF 4143 White Sands, NM + CA2F 4241 Tranquillon Peak, CA WL2F 4841 Wallops Island, VA + CALF 4018 Vandenberg AFB, CA WL3F 4845 Wallops Island, VA + CALT 4280 Vandenberg AFB, CA WLPF 4840 Wallops Island, VA + CN2F 4088 Cape Canaveral, FL WLPQ 4860 Wallops Island, VA + CN4F 4223 Cape Canaveral, FL + CN5F 4344 Cape Canaveral, Fl. + CNVF 4041 Cape Canaveral, FL C-bd, + COCS 4085 Cocos Island, Australia + EA2F 4065 Edwards AFB, CA MMTF 4347 Merritt Island, FL + EAFF 4064 Edward AFB, CA + EG2F 4345 Eglin AFB, FL + EG3F 4346 Eglin AFB, FL Camera + FR2F 4249 Edwards AFB, CA + FRCF 4069 Edwards AFB, CA ANPC 0623 Anderson Peak, CA + FT2F 4138 Fort.Huachuca, AZ CALC 0625 Tranquillon Pk,CA + FTHF 4115 Fort.Huachuca, AZ MA2C 7398 Maui, HI + GBIQ 4013 Grand.Bahama Island NATC 9039 Natal, Brazil + GTKQ 4086 Grand.Turk Island SNYC 0624 Santa.Ynez Peak, CA + HAWQ 4285 Hawaii, Univ. + % Station closed or inactive & Proposed T5- 1 Mar 07,2007 + CROSS REFERENCE LIST OF EQUIPMENT TYPES + + STDN NASA STDN NASA + CODE NUMBER LOCATION CODE NUMBER LOCATION + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Capri KR2P 8459 Kourou, Fr Guiana + KR3P 8460 Kourou, Fr.Guiana + ST1F 4224 St. Thomas, Virgin Island KRUP 8458 Kourou, Fr Guiana + WT3P 1483 S.Vandenberg AFB, CA + WT6P 1482 Vandenberg AFB, CA + DSS WTRP 1480 Vandenberg AFB, CA + + PIOD 1511 Goldstone, CA + VEND 1513 Goldstone, CA Runway + + DA2P 0916 Dakar, Senegal + K-band DAKP 0915 Dakar, Senegal + E10P 0926 Edwards AFB, CA + BLKQ 4263 Black Is. Antarctica EA2P 0906 Edwards AFB, CA + EA3P 0903 Edwards AFB, CA + EA4P 0905 Edwards AFB, CA + Ku-bd, EA5P 0904 Edwards AFB, CA + EA6P 0909 Edwards AFB, CA + GW3S 1970 Guam EA7P 0911 Edwards AFB, CA + EA8P 0912 Edwards AFB, CA + EA9P 0925 Edwards AFB, CA + Laser-SAO HN2P 0922 Hickam AFB, HI + HNLP 0921 Hickam AFB, HI + AREL 7907 Arequipa, Peru KL2P 0930 Koln.Bonn, FRG + HOPL 7921 Mt.Hopkins, AZ KLNP 0929 Koln.Bonn, FRG + KOOL 8833 Kootwijk, Neth KS2P 0902 KSC, FL + NATL 7929 Natal, Brazil KS3P 0919 KSC, FL + ORRL 7943 Orroral, Aust KS4P 0920 KSC, FL + KSCP 0901 KSC, FL + MR2P 0931 Moron AFB, Spain + Laser-fixed MRNP 0910 Moron AFB, Spain + NO2P 0908 Northrup Strip, NM + RAML 7069 Patrick AFB, FL NO3P 0923 Northrup Strip, NM + STAL 7063 Greenbelt, MD NO4P 0924 Northrup Strip, NM + NORP 0907 Northrup Strip, NM + RO2P 0927 Rota, Spain + Laser-mobile ROTP 0918 Rota, Spain + ZZ2P 0928 Zaragoza, Spain + BDAL 7067 Bermuda ZZAP 0917 Zaragoza, Spain + GTKL 7068 Grand.Turk Island + SNDL 7062 Otay Mt, CA + S-band + + Launch HB5S 1403 Hartbeehoek, S. Africa + HWIS 1903 South Point, HI + A17P 1471 Cape Canaveral, FL MDLS 1904 Laurel, Maryland + A36P 1462 Cape Canaveral, FL SG3S 1733 Svalbard, Norway + A39P 1458 False Cape, FL SG4S 1723 Svalbard, Norway + A40P 1460 Cape Canaveral, FL + A41P 1461 Cape Canaveral, FL + A46P 1464 Cape Canaveral, FL S-band, + B17P 1472 Cape Canaveral, FL + B36P 1463 Cape Canaveral, FL AUWS 1902 Dongara,WA Australia + B37P 1451 Cape Canaveral, FL + B39P 1459 False Cape, FL + % Station closed or inactive & Proposed T5- 2 Mar 07,2007 + CROSS REFERENCE LIST OF EQUIPMENT TYPES + + STDN NASA STDN NASA + CODE NUMBER LOCATION CODE NUMBER LOCATION + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + S-bd USHS 1778 USN, Hawaii + USPS 1770 Perth, Australia + AG1S 1701 Poker Flats, AK WAPS 1341 Wallops Island, VA + AG23 1377 Santiago, Chile WHSX 1842 White Sands + AN3S 1704 Antigua WL3S 4207 Wallops Island, VA + AN8S 1705 Antigua WL4S 4208 Wallops Island, VA + ASNS 1726 AscensioN Island WL53 4209 Wallops + ATDQ 4862 Atlanta, Ga. WL6S 4210 Wallops + ATDS 4862 Atlanta, Ga. WP2S 1337 Wallops Island, VA + ATLS 1736 Atlanta, Georgia WP3S 1338 Wallops Island, VA + AUSS 4259 Aussaguel, France WP3Z 1841 Wallops Island, VA + BRKS 1732 Berkeley, CA WPS8 1336 Wallops Island, VA + CANS 4723 Canberra, Australia WPSS 1335 Wallops Island, VA + CHAS 1340 Chantilly, VA WT1S 4865 Poker Flats, AK + CTSS 1756 Colorado Spgs. CO. WT2S 4866 Poker Flats, Ak. + DFRS 4067 Dryden FRC, CA WT3S 4867 Wallops Island, Va. + DGIS 4073 Diego Garcia Island WTDQ 4861 Wallops Island, Va. + DS24 4252 Goldstone, Ca. WTDS 4861 Wallops Island, Va. + DS34 1534 Canberra, Australia + DS54 1554 Madrid, Spain + DS87 1587 Wallops Island, VA S-bd, + GWMK 1965 Guam + GWMS 1966 Guam DX2S 1715 Poker Flats, Alaska + HAWS 1706 South Point, Hawaii DXAS 1711 Poker Flats, Alaska + HB33 1325 Hartbeehoek., S. Africa GW2K 1968 Guam + HBK3 1324 Hartbeehoek., S. Africa GW2S 1969 Guam + HBKS 1402 Hartebeeshoek, S. Africa HR1S 1718 Wallops, VA + KA2S 1735 Tokyo, Japan HR2S 1719 Wallops, VA + KENS 4722 Malindi, Kenya LE1S 1721 Poker Flats, AK + KERS 4253 Kergueles Is. LE2S 1722 Wallops Island. VA + KI2S 1727 Kiruna, Sweden LR1S 1931 White Sands, NM + KICS 4255 Kiruna, Sweden MPLS 1967 Maspalomas, Spain + KILS 4256 Kiruna, Sweden SARS 1739 Saudi Arabia + KIXS 4257 Kiruna, Sweden SF2S 1716 Sioux Falls, S. Dakota + KLMS 1710 Svalbard, Norway USDS 1717 Dongara, Australia + KRUS 4258 Kourou, Fr. Guiana + LANS 1728 Lannion, France + LBVS 4250 Liberville, Africa Space.Center + MC1S 4848 McMurdo,Antarctica + MCMS 4847 McMurdo,Antarctica JSCS 0303 Houston, TX + PFTQ 4864 Poker Flats, Ak. WSGT 0302 White Sands, NM + PFTS 4864 Poker Flats, Ak. + PMKS 1729 Pomonkey, Md. + PRTS 1342 Perth, Australia TACAN + RALS 1700 Rutherford Appelton Laboratory, UK + RGTS 1963 Tidbinbilla, Aust EA3F 4221 Edwards AFB, CA + RTKS 1964 Tidbinbilla, Aust + SF1S 1703 Sioux Falls, S. Dakota + SG1S 1702 Svalbard, Norway TDRS + SOCA 4139 Suitland, Md. + STSS 1929 White Sands, NM GWMJ 1971 Guam + STWS 1930 White Sands, NM + TH2S 1731 Thule, Greenland + THUS 1730 Thule, Greenland + USAS 1709 Bradway Rd, AK + % Station closed or inactive & Proposed T5- 3 Mar 07,2007 + CROSS REFERENCE LIST OF EQUIPMENT TYPES + + STDN NASA STDN NASA + CODE NUMBER LOCATION CODE NUMBER LOCATION + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + TDRSS TT2S 1376 Thule, Greenland + TTSS 1369 Thule, Greenland + WH2K 1921 White Sands, NM VT2S 1372 Vandenberg AFB, CA + WH2S 1962 White Sands, NM VTSS 1365 Vandenberg AFB, CA + WH3K 1922 White Sands, NM + WH4K 1925 White Sands, NM + WH5K 1940 White Sands, NM UHF + WH6K 1941 White Sands, NM + WHSK 1920 White Sands, NM WP2Z 1840 Wallops Island, Va. + WHSS 1961 White Sands, NM WSSH 1870 White Sands Space Harbor + YARZ 8566 Yarragedee, Aust Irwin + + TDRSS-STGT + USB + ST2K 4751 White Sands, NM + ST3K 4752 White Sands, NM ACN3 1306 Ascension Island + STGK 4750 White Sands, NM AG33 1404 Santiago, Chile + STGS 4753 White Sands, NM AGO3 1319 Santiago, Chile + BDA3 1303 Bermuda + BDAA 1360 Bermuda + Tlm BLT3 1915 Greenbelt, MD + BLTA 1316 Greenbelt, MD + ALAY 1707 Alamo Peak, NM BLTD 1315 Greenbelt, MD + ATMY 1708 Atom Peak, NM GDSA 1317 Goldstone, CA + CALY 1835 S.Vandenberg AFB, CA GWM3 1309 Guam + DAKS 4072 Dakar, Senegal HAW3 1311 Kauai, HI + EULY 4205 Merritt Island, FL MAD8 1307 Madrid, Spain + EVCS 1363 Cape Canaveral,Fl. MIL3 1301 Merritt Island, FL + GB2Y 1814 Grand.Bahama Island MILA 1901 Merritt Island, FL + GBIY 1813 Grand.Bahama Island ORR3 1320 Orroral, Aust + GILD 7225 Gilmore Creek, AK UL23 1371 Fairbanks, AK + GILE 4047 Gilmore Creek, AK UL33 1332 Fairbanks, AK + JD2Y 1818 Jonathan Dickenson, FL ULA3 1328 Fairbanks, AK + JDIY 1817 Jonathan Dickinson, FL VDB3 1333 Vandenberg AFB, CA + KRCS 1797 Weipa, Australia WPDA 1339 Wallops Island, VA + MTLS 4156 Mt.Lemmon, AZ WPSA 1334 Wallops Island, VA + PDLS 4054 Ponce de Leon Inlet, FL + PPTY 4216 Pillar Point, CA + SEYS 4071 Seychelles, Mahe USB,DSN + SWNS 1796 Port Hedland, Australia + TULS 4078 Tula Peak, NM D27D 1516 Goldstone, CA + WL2S 4206 Wallops Island, VA + WP2Y 1838 Wallops Island, VA + WULY 4215 Vandenberg AFB, CA USB-DSN + + DS12 1612 Goldstone, CA + Tlm-SGLS DS14 1514 Goldstone, CA + DS15 1515 Goldstone, CA + GT2S 1375 Guam DS16 1312 Goldstone, CA + GTSS 1368 Guam DS17 1327 Goldstone, CA + HT2S 1373 Kaena Point, HI DS42 1547 Canberra, Aust + HTSS 1367 Kaena Point, HI DS43 1548 Canberra, Aust + NH2S 1374 New.Boston, NH DS45 1549 Canberra, Aust + NHSS 1366 New.Boston, NH DS46 1546 Canberra, Aust + OTSS 1364 Oakhanger, UK DS61 1662 Madrid, SPAIN + % Station closed or inactive & Proposed T5- 4 Mar 07,2007 + CROSS REFERENCE LIST OF EQUIPMENT TYPES + + STDN NASA STDN NASA + CODE NUMBER LOCATION CODE NUMBER LOCATION + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + USB-DSN + + DS63 1564 Madrid, Spain + DS65 1565 Madrid Spain + DS66 1566 Madrid, Spain + GD28 1517 Goldstone, CA + + + X-Y + + ULA4 1401 Gilmore Creek, AK + ULAE 1853 Fairbanks, AK + + + X/Ka + + D26D 1526 Goldstone, CA + DS25 1525 Goldstone, CA + DS55 1555 Madrid Spain + + + s/x/l + + GLAS 1712 Gilmore Creek, AK + GLBS 1713 Gilmore Creek, AK + GLCS 1714 Gilmore Creek, AK + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + % Station closed or inactive & Proposed T5- 5 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Alamo Peak Atom Peak + + ALAY 1707 Tlm S-bd 7.3m TAS az-el ATMY 1708 Tlm S-bd 7.3m TAS az-el + + + Alice Springs Aussaguel + + ALSJ 0204 BRT 2-ft manual az-el AUSS 4259 S-bd az-el 11m + + + Am Samoa Bangalore + + AMSJ 0205 BRT 2-ft manual az-el BANF 4020 C-bd az-el + + + Anderson Peak Berkeley + + ANPC 0623 Camera DMI TV az-el BRKS 1732 S-bd 11m az-el + + + Antigua Bermuda + + AN3S 1704 S-bd 10m az-el BDA3 1303 USB 9m X-Y n-s + AN8S 1705 S-bd 24m az-el BDAA 1360 USB 9m X-Y e-w + ANTQ 4087 C-bd FPQ-14 8.8m az-el on-axis BDAL 7067 Laser-mobile + BDAQ 4760 C-bd FPQ-6 8.8m az-el + BDDQ 4760 C-bd FPQ-6 8.8m az-el + Arequipa + + AREL 7907 Laser-SAO Black Is. Antarctica + + BLKQ 4263 K-band az-el + AscensioN Island + + ASNS 1726 S-bd 4m az-el Bradway Rd + + USAS 1709 S-bd X-bd, 13 meter, az-el + Ascension Island + + AC2J 0208 BRT 2-ft manual az-el Canberra + ACN3 1306 USB 9m X-Y n-s + ACNJ 0207 BRT 2-ft manual az-el CANS 4723 S-bd 9m az-el YAGI VHF array + AS2Q 4765 C-bd TPQ-11 8.8m, az-el DS34 1534 S-bd 34-meter az-el + ASCQ 4045 C-bd FPQ-15 8.5m az-el on-axis DS42 1547 USB-DSN 34m HA-DEC + DS43 1548 USB-DSN 70m az-el + DS45 1549 USB-DSN 34m az-el S/X-Bd + Atlanta DS46 1546 USB-DSN 26m X-Y e-w + + ATDQ 4862 S-bd + ATDS 4862 S-bd Cape Canaveral + ATLS 1736 S-bd 11m az-el + A17P 1471 Launch station + A36P 1462 Launch station + A40P 1460 Launch Pad 40A + A41P 1461 Launch Pad 41A + % Station closed or inactive & Proposed T12- 1 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Cape Canavera Edward AFB + + A46P 1464 Launch Pad 46A EAFF 4064 C-bd FPS-16, 3.7 meter, az-el + B17P 1472 Launch station + B36P 1463 Launch station + B37P 1451 Launch Pad 37B Edwards AFB + CN2F 4088 C-bd MPS-36 mod 4.3m az-el TPQ-1 + CN4F 4223 C-bd MCB-17 4.2m az-el E10P 0926 Runway 18 + CN5F 4344 C-bd MPS-39 az-el EA2F 4065 C-bd FPS-16 3.7m az-el R-41 + CNVF 4041 C-bd FPS-16 3.7m az-el EA2P 0906 Runway 35R B2 + EVCS 1363 Tlm S-bd 9m, az-el EA3F 4221 TACAN C-bd mobile + EA3P 0903 Runway 17L B3 + EA4P 0905 Runway 22 B4 + Chantilly EA5P 0904 Runway 04 B5 + EA6P 0909 Runway 23 + CHAS 1340 S-bd az-el 4m (12ft) EA7P 0911 Runway 05 + EA8P 0912 Runway 15 + EA9P 0925 Runway 33 + Cocos Island FR2F 4249 C-bd FPS-16 3.7m az-el + FRCF 4069 C-bd FPS-16V 4.9m az-el R-34 + COCS 4085 C-bd az-el + + Eglin AFB + Colorado Spgs. CO. + EG2F 4345 C-bd FPS-85 az-el + CTSS 1756 S-bd 10m az-el EG3F 4346 C-bd TPQ-13 + + + Dakar Fairbanks + + DA2P 0916 Runway 19 UL23 1371 USB 6m X-Y n-s + DAKP 0915 Runway 01 UL33 1332 USB 26m X-Y n-s + DAKS 4072 Tlm S-bd 4.3m az-el ULA3 1328 USB 9m X-Y n-s + ULAE 1853 X-Y tracker 26m n-s + + Diego Garcia Island + False Cape + DGIS 4073 S-bd 10m az-el + A39P 1458 Launch pad 39A + B39P 1459 Launch station + Dongara + + AUWS 1902 S-band, 13m az-el Fort.Huachuca + USDS 1717 S-bd, az-el + FT2F 4138 C-bd FPS-16 3.7m az-el + FTHF 4115 C-bd FPS-16 3.7m az-el + Dryden FRC + + DFRS 4067 S-bd and L-bd 4.3m az-el Gilmore Creek + + GILD 7225 Tlm 26m X-Y + GILE 4047 Tlm 26m X-Y n-s + GLAS 1712 s/x/l band, 13 meter + GLBS 1713 s/x/l band, 13 meter + GLCS 1714 s/x/l band, 13 meter + % Station closed or inactive & Proposed T12- 2 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Gilmore Cree Hartbeehoek + + ULA4 1401 X-Y tracker 12m n-s HB5S 1403 S-band 10 m + HB33 1325 S-bd 12m x-y (n/s) + HBK3 1324 S-bd 9m x-y (n/s) + Goldstone + + D26D 1526 X/Ka band, 34m BWG Hartebeeshoek + D27D 1516 USB,DSN 34m az-el + DS12 1612 USB-DSN 34m HA-DEC HBKS 1402 S-bd x-y 12m + DS14 1514 USB-DSN 70m az-el + DS15 1515 USB-DSN 34m S/X-bd + DS16 1312 USB-DSN 26m x-y e-w Hawaii + DS17 1327 USB-DSN 9m x-y n-s + DS24 4252 S-bd az-el 34m HAWQ 4285 C-bd az-el TLM + DS25 1525 X/Ka band 34m BWG + GD28 1517 USB-DSN 26m X-Y e-w + GDSA 1317 USB 9m X-Y n-s Hickam AFB + PIOD 1511 DSS 11 26m HA-Dec Pioneer + VEND 1513 DSS 13 26m HA-Dec Venus HN2P 0922 Runway 26L + HNLP 0921 Runway 08R + + Grand.Bahama Island + Holloman AFB + GB2Y 1814 Tlm S-bd 10.1m az-el + GBIQ 4013 C-bd FPQ-13 6.1m az-el on-axis HOLF 4144 C-bd FPS-16 3.7m az-el + GBIY 1813 Tlm S-bd 26m az-el + + Houston + Grand.Turk Island + JSCS 0303 Space.Center + GTKL 7068 Laser-mobile + GTKQ 4086 C-bd FPQ-14 8.8m az-el on-axis + JSC + + Greenbelt JSCJ 0291 BRT STS gnd xpnder + + BLT3 1915 USB 9m X-Y n-s + BLTA 1316 USB 9m X-Y e-w Jonathan Dickenson + BLTD 1315 USB 9m X-Y n-s K-bd rcvr + BLTJ 0290 BRT 3-ft manual az-el JD2Y 1818 Tlm S-Bd 24.4m az-el + STAL 7063 Laser-fixed + + Jonathan Dickinson + Guam + JDIQ 4248 C-bd FPQ-14 + GT2S 1375 Tlm-SGLS S-bd 46-ft az-el JDIY 1817 Tlm S-Bd 15m az-el + GTSS 1368 Tlm-SGLS S-bd 60-ft az-el + GW2K 1968 S-bd, 16 meters az-el + GW2S 1969 S-bd, 16 meters az-el KSC + GW3S 1970 Ku-bd, S-bd, 16 meters az-el + GWM3 1309 USB 9m X-Y n-s KS2P 0902 Runway NW + GWMJ 1971 TDRS grnd xpnder KS3P 0919 Runway 15 + GWMK 1965 S-bd 11-meter K-bd az-el KS4P 0920 Runway 33 + GWMS 1966 S-bd 11-meter az-el TT&C KSCP 0901 Runway SE + % Station closed or inactive & Proposed T12- 3 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + KS KMRT 4970 C-bd FPQ-19 az-el + + + Lannion + Kaena Point + LANS 1728 S-bd az-el + HT2S 1373 Tlm-SGLS S-bd 46-ft az-el + HTSS 1367 Tlm-SGLS S-bd 60-ft az-el + Laurel + + Kauai MDLS 1904 S-band 18m az-el + + HAW3 1311 USB 9m X-Y n-s + Liberville + + Kergueles Is. LBVS 4250 S-bd 10m az-el + + KERS 4253 S-bd az-el 10m + Madrid + + Kiruna DS54 1554 S-bd 34-meter az-el + DS61 1662 USB-DSN 34m HA-DEC + KI2S 1727 S-bd 15m az-el DS63 1564 USB-DSN 70m az-el + KICS 4255 S-bd az-el 6m DS66 1566 USB-DSN 26m X-Y e-w + KILS 4256 S-bd az-el 9m MAD8 1307 USB 26m X-Y e-w + KIXS 4257 S-bd az-el 9m DS55 1555 X/Ka band 34m BWG + DS65 1565 USB-DSN 34m S/X-bd HEF + + Koln.Bonn + Malindi + KL2P 0930 Runway 14L + KLNP 0929 Runway 32R KENS 4722 S-bd 10m az-el + + + Kootwijk Maspalomas + + KOOL 8833 Laser-SAO MPLS 1967 S-bd, 11 meter, az-el + + + Kourou Maui + + ADRQ 4284 C-bd MA2C 7398 Camera DMI + BREQ 4283 C-bd + KR2P 8459 Launch station + KR3P 8460 Launch Station McMurdo + KRUF 8501 C-bd Bretagne + KRUP 8458 Launch station MC1S 4848 S-bd 10m az-el + KRUS 4258 S-bd az-el 11m MCMS 4847 S-bd 6m az-el + + + Kwajalein Atoll Merritt Island + + KM2F 4971 C-bd ALTAIR 46m az-el EULY 4205 Tlm S-bd 10.1m az-el + KMRF 4968 C-bd TRADEX 26m MIL3 1301 USB 9m X-Y n-s + KMRQ 4969 C-bd ALCOR 12.2m az-el MILA 1901 USB 9m&K-bd(rx+1.3m tx) X-Y e-w + % Station closed or inactive & Proposed T12- 4 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Merritt Islan Oakhanger + + MILJ 0292 BRT OTSS 1364 Tlm-SGLS S-bd 60-ft az-el + MIMF 4220 C-bd MCB-17 4.2m az-el + MLAQ 4084 C-bd FPQ-14 8.8m az-el on-axis + MMTF 4347 C-bd, MPS-39, az-el Orroral + + ORR3 1320 USB 9m X-Y n-s + Moron AFB ORRL 7943 Laser-SAO + + MR2P 0931 Runway 21 + MRNP 0910 Runway 03 Otay Mt + + SNDL 7062 Laser-mobile TLRS PAD + Mt.Hopkins + + HOPL 7921 Laser-SAO Patrick AFB + + PA2Q 4089 C-bd FPQ-13 6.1m az-el on-axis + Mt.Lemmon PATQ 4060 C-bd FPQ-14 8.8m az-el on-axis + RAML 7069 Laser-fixed + MTLF 4155 C-bd Capri 4.9m az-el + MTLS 4156 Tlm S-bd 4.3m az-el + Perth + + N.E. Pacific Ocean PRTS 1342 S-bd az-el 15m + USPS 1770 S-bd X-bd, 13.4 meter, az-el + AMEY 0301 Aircraft AMES C-141 az-el + + Phillips Hill + Natal + WH9F 4146 C-bd FPS-16 3.7m az-el + NATC 9039 Camera Baker Nunn + NATL 7929 Laser-SAO + Pillar Point + + New.Boston PPTF 4240 C-bd FPS-16V 4.9m az-el + PPTQ 4260 C-bd FPQ-6 8.8m az-el + NH2S 1374 Tlm-SGLS S-bd 46-ft az-el PPTY 4216 Tlm 12m S-bd az-el + NHSS 1366 Tlm-SGLS S-bd 60-ft az-el + + Point.Mugu + Northrup Strip + PM2F 4445 C-bd FPS-16 3.7m az-el SN 10 + NO2P 0908 Runway 23 PM3F 4446 C-bd FPS-16V 4.9m az-el SN 24 + NO3P 0923 Runway 17 PM4F 4441 C-bd FPS-16 3.7m az-el SN 3 + NO4P 0924 Runway 35 + NORP 0907 Runway 05 + Poker Flats + + Oahu AG1S 1701 S-bd X-bd, 11 meter, az-el + DX2S 1715 S-bd, 7.3 meter, az-el + KPTQ 4282 C-bd FPQ-14 8.8m az-el on-axis DXAS 1711 S-bd, 11 meter, az-el + LE1S 1721 S-bd, 5 meter, az-el + PFTQ 4864 S-bd + % Station closed or inactive & Proposed T12- 5 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Poker Flat San.Nicolas Island + + PFTS 4864 S-bd SN2F 4443 C-bd FPS-16V 4.9m az-el SN 13 + WT1S 4865 S-bd TOTS SN3F 4444 C-bd FPS-16 3.7m az-el SN 15 + WT2S 4866 S-bd TOTS SNIF 4442 C-bd FPS-16 3.7m az-el SN 7 + + + Pomonkey Santa.Ynez Peak + + PMKS 1729 S-bd 30m az-el SNYC 0624 Camera ROTI TV az-el + + + Ponce de Leon Inlet Santiago + + PDLS 4054 Tlm S-bd 4.0m az-el c&v AG23 1377 S-bd 7-meter X-Y N-S + AG33 1404 USB S-bd 12-meter X-Y N-S + AGO3 1319 USB S-band 9-meter X/Y N-S + Port Hedland + + SWNS 1796 Tlm S-bd,az-el Saudi Arabia + + SARS 1739 S-bd, az-el + Pt. Pillar + + PP2F 7399 C-bd MPS-36 4.3m az-el Seychelles + + SEYS 4071 Tlm S-bd 18m az-el + Rota + + RO2P 0927 Runway 28 Sioux Falls + ROTP 0918 Runway 10 AOG + SF1S 1703 S-bd az-el + SF2S 1716 S-bd, 5m, x-y + Rutherford Appelton Laboratory + + RALS 1700 S-bd 12-meter az-el South Point + + HAWS 1706 S-bd telemetry, command + S.Pac.Fr.Kerguelen HWIS 1903 S-band az-el, 13m + + KGLQ 4261 C-bd az-el 9m + St. Thomas + + S.Vandenberg AFB ST1F 4224 Capri + + CALY 1835 Tlm S-bd VTRS 10m az-el + WT3P 1483 Launch station SLC-3W ATLAS Suitland + + SOCA 4139 S-bd 30ft x-y + Saipan + + SIPQ 4003 C-bd az-el + + + + % Station closed or inactive & Proposed T12- 6 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Svalbard USN + + KLMS 1710 S-bd X-bd, 13 meter, az-el USHS 1778 S-bd X-bd, 13.4 meter, az-el + SG1S 1702 S-bd X-bd, 11 meter, az-el + SG3S 1733 S-band az-el 13.6 meters + SG4S 1723 S-band University of Tasmania + + TSMF 4080 C-bd az-el + Syoma + + SYOQ 4262 C-bd az-el 9m Vandenberg AFB + + CALF 4018 C-bd FPS-16 3.7m az-el SN 21 + Thule CALT 4280 C-bd TPQ-18 8.8m az-el + VD2F 4247 C-bd FPQ-14 8.8m az-el HAIR + TH2S 1731 S-bd az-el VD3F 4251 C-bd TLM 9m az-el + THUS 1730 S-bd az-el VD4F 4254 C-bd MPS-39 MOTR 9m az-el + TT2S 1376 Tlm-SGLS S-bd 46-ft az-el VDB3 1333 USB 9m X-Y n-s + TTSS 1369 Tlm-SGLS S-bd 14-ft az-el VDBF 4246 C-bd MPS-36 #2 4.3m az-el + VT2S 1372 Tlm-SGLS S-bd 46-ft az-el + VTSS 1365 Tlm-SGLS S-bd 60-ft az-el + Tidbinbilla WT6P 1482 Launch station SLC-6 + WTRP 1480 Launch station SLC-2W THOR + RGTS 1963 S-bd 9m az-el WULY 4215 Tlm S-bd 8.5m az-el + RTKS 1964 S-bd 4.5m az-el + + Wallops + Tokyo + HR1S 1718 S-bd, 16.4 meter, az-el + KA2S 1735 S-bd 11-meter Az-El HR2S 1719 S-bd, 16.4 meter, az-el + WL53 4209 S-bd 14.2 meter X-Y N-S CDA + WL6S 4210 S-bd 7-meter Az-El CDA + Tranquillon Peak DS87 1587 S-bd 18m az-el ADAS receive only + WAPS 1341 S-bd az-el 11m + CA2F 4241 C-bd FPS-16 3.7m az-el SN 18 WD3F 4846 C-bd FPS-16V 4.9m az-el + WD4F 4843 C-band RIR-778C 12-ft + WL2F 4841 C-bd FPS-16V 4.9m az-el + Tranquillon Pk WL2S 4206 Tlm S-bd 18m az-el + WL3F 4845 C-bd FPS-16V 4.9m az-el + CALC 0625 Camera WL3S 4207 S-bd 18m az-el + WL4F 4842 C-band RIR-778C 12-ft + WL4S 4208 S-bd 13m az-el + Tula Peak WLPF 4840 C-bd FPS-16 3.7m az-el + WLPQ 4860 C-bd FPQ-6 8.8m az-el + TULS 4078 Tlm S-bd 4.3m az-el c&v WP2S 1337 S-bd 7.3m az-el receive only + WP2Y 1838 Tlm Satan RCVR (SRE-VHF) + WP2Z 1840 UHF & VHF 24-ft X-Y + Tularosa WP3S 1338 S-bd North 7.3m az-el recr + WP3Z 1841 S-bd X-Y Quad Yagi + TULF 4151 C-bd FPS-16 3.7m az-el WPDA 1339 USB 9m X-Y e-w + WPS8 1336 S-bd 6m X-Y e-w xmit + WPSA 1334 USB 9m X-Y e-w + WPSS 1335 S-bd 18m az-el receive only + WT3S 4867 S-bd 26ft az-el TOTS + WTDQ 4861 S-bd + % Station closed or inactive & Proposed T12- 7 Mar 07,2007 + CROSS REFERENCE LIST OF LOCATIONS + + STDN NASA STDN NASA + CODE NUMBER EQUIPMENT CODE NUMBER EQUIPMENT + ----------- ----------------------------------------------- ----------- ----------------------------------------------- + + Wallop + + WTDS 4861 S-bd + LE2S 1722 S-bd, 5 meter, az-el + + + Weipa + + KRCS 1797 Tlm S-bd, az-el + + + White Sands + + CT2J 0294 BRT CTV2 + CTVJ 0293 BRT CTV + LR1S 1931 S-bd, ku-bd + ST2K 4751 TDRSS-STGT 18m K-bd az-el + ST3K 4752 TDRSS-STGT 18m K-bd az-el + STGK 4750 TDRSS-STGT 18m K-bd az-el + STGS 4753 TDRSS-STGT TT&C S1 + STSS 1929 S-bd + STWS 1930 S-bd + WH2J 0202 BRT 2-ft manual az-el + WH2K 1921 TDRSS 18m K-bd az-el + WH2S 1962 TDRSS S-bd 3m az-el sim + WH3K 1922 TDRSS 18m K-bd az-el + WH4K 1925 TDRSS 4.5m K-bd az-el sim + WH5K 1940 TDRSS K/S-bd 2m az-el axial rati + WH6F 4145 C-bd FPS-16V 4.9m az-el SN 12 + WH6K 1941 TDRSS K-bd 4.6m TT&C + WH7F 4147 C-bd FPS-16V 4.9m az-el SN 22 + WHSF 4143 C-bd FPS-16 3.7m az-el SN 6 + WHSJ 0201 BRT 2-ft manual az-el + WHSK 1920 TDRSS 18m K-bd az-el + WHSS 1961 TDRSS S-bd 6m az-el TT&C + WHSX 1842 S-bd X-Y VHF + WSGT 0302 Space.Center + WSSH 1870 UHF + + + Yarragedee + + YARZ 8566 UHF A-G + + + Zaragoza + + ZZ2P 0928 Runway 13R + ZZAP 0917 Runway 31L + + + + + + + % Station closed or inactive & Proposed T12- 8 Mar 07,2007 + ESN NUMBER/STDN CODE CROSS REFERENCE + ACTIVE SITES T14-1 Mar 07,2007 + + ESN STDN ESN STDN ESN STDN ESN STDN ESN STDN + NUMBER CODE NUMBER CODE NUMBER CODE NUMBER CODE NUMBER CODE + ------------ ------------ ------------ ------------ ------------ + + 2 KMRF 27 D27D 56 LBVS 93 SYOQ 511 GTKQ + 3 ANPC 27 ULA4 57 RTKS 93 TULF 520 WL2F + 3 MA2C 28 GD28 58 HTSS 94 GWMK 530 WLPF + 3 VDB3 28 KIXS 59 TTSS 94 GWMS 650 CNVF + 4 CALY 29 AG1S 60 GTSS 94 TT2S 681 KPTQ + 4 WPSA 29 WH6F 61 DS61 95 OTSS 696 KMRQ + 5 NHSS 30 SG1S 61 HOLF 95 RALS 702 ASCQ + 5 WPSS 30 WH9F 62 HBK3 96 PRTS 711 MLAQ + 6 BLKQ 31 DAKS 63 DS63 96 SN3F 761 VD2F + 6 VT2S 32 ULAE 63 FTHF 97 SN2F 863 WLPQ + + 7 WHSF 33 ATLS 63 HB33 98 SNIF 870 WD3F + 7 WPS8 34 DS34 64 GILE 100 USAS 877 WL3F + 8 VTSS 34 KA2S 64 GT2S 101 HR1S 887 WL4F + 8 WP2S 35 HT2S 64 WAPS 102 HR2S 911 ANTQ + 9 BANF 36 JSCJ 65 DS65 103 USPS 6748 MIMF + 9 FR2F 37 NH2S 66 CN4F 104 AS2Q 7907 AREL + 9 WHSK 37 WP3S 66 DS66 105 USHS 7943 ORRL + 10 WH2K 38 PDLS 67 CALC 106 LE1S 8833 KOOL + 11 WH3K 39 EAFF 67 KGLQ 107 LE2S 9039 NATC + 12 DS12 39 SF1S 68 GLAS 108 SARS + + 12 HAW3 40 MILA 69 DGIS 109 SF2S + 12 KENS 41 ASNS 70 AG33 111 BRKS + 13 LANS 41 EVCS 71 MIL3 112 GW3S + 13 VEND 42 DS42 72 ALAY 114 WSSH + 14 DS14 42 EA2F 72 VD4F 116 HB5S + 14 MTLF 43 DS43 73 AG23 117 STSS + 15 DS15 43 FRCF 73 VD3F 118 STWS + 15 GB2Y 44 FT2F 74 GLBS 119 LR1S + 15 MTLS 45 DS45 75 GLCS 123 GW2K + 16 DS16 45 PPTY 76 DX2S 124 GW2S + + 17 DS17 46 A46P 77 ST1F 125 GWMJ + 17 TSMF 46 DS46 79 CANS 154 WPDA + 18 AUSS 47 SIPQ 79 UL23 155 WTDQ + 18 PM3F 47 STGK 80 KERS 155 WTDS + 19 GBIY 48 ST2K 81 WT1S 156 ATDQ + 19 KRUS 48 WL3S 82 WT2S 156 ATDS + 20 SG4S 49 ST3K 83 WT3S 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68.7906 -1.22217 4.26114 + } + + } + ] + } + + collide FALSE + proxy NULL + + } + + } + ] + translation 149.829 67.9787 2.715 + } + ] + translation 377.337 -513.01 270.917 + rotation -0.082112 0.181523 0.979953 3.2051 + scale 0.999999 1 1 + scaleOrientation -0.978405 0.161304 0.12925 0.463086 +} +DEF VP1 Viewpoint { + position 3553.73 1167.53 -3745.42 + orientation 0.724294 -0.659224 0.202044 3.81468 + fieldOfView 0.785398 + description "Overview" +} +DEF VP2 Viewpoint { + position 1758.39 107.675 -910.114 + orientation 0.67003 -0.630674 0.391548 4.00188 + fieldOfView 0.785398 + description "Close-up View" +} +DEF VP3 Viewpoint { + position 727.859 1553.9 259.265 + orientation -0.890352 0.378337 -0.253249 1.43049 + fieldOfView 0.785398 + description "Side View" +} +DEF VP4 Viewpoint { + position -3906.95 -376.54 1370.42 + orientation -0.450991 -0.501837 0.738083 1.94904 + fieldOfView 0.785398 + description "AFT View" +} diff --git a/data/jat3D/ISS/kavant.jpg b/data/jat3D/ISS/kavant.jpg 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b/data/jat3D/ISS/us.jpg differ diff --git a/data/jat3D/Lightwave/spaceshuttle.lwo b/data/jat3D/Lightwave/spaceshuttle.lwo new file mode 100644 index 0000000..f3b4bf0 Binary files /dev/null and b/data/jat3D/Lightwave/spaceshuttle.lwo differ diff --git a/data/jat3D/Lightwave/spaceshuttle.lws b/data/jat3D/Lightwave/spaceshuttle.lws new file mode 100644 index 0000000..1d3178b --- /dev/null +++ b/data/jat3D/Lightwave/spaceshuttle.lws @@ -0,0 +1,85 @@ +LWSC +1 + +FirstFrame 1 +LastFrame 60 +FrameStep 1 +PreviewFirstFrame 1 +PreviewLastFrame 1 +PreviewFrameStep 1 +FramesPerSecond 30.000000 + +LoadObject SpaceShuttle.lwo +ShowObject 8 7 +ObjectMotion (unnamed) + 9 + 1 + -0.01741125 0 -0.07866688 0 0 0 1 1 1 + 0 0 0 0 0 +EndBehavior 1 +ShadowOptions 7 + +AmbientColor 255 255 255 +AmbIntensity 0.250000 + +AddLight +LightName Light +ShowLight 1 7 +LightMotion (unnamed) + 9 + 1 + -2 2 -2 45 35 0 1 1 1 + 0 0 0 0 0 +EndBehavior 1 +LightColor 255 255 255 +LgtIntensity 1.000000 +LightType 0 +ShadowType 1 + +ShowCamera 1 7 +CameraMotion (unnamed) + 9 + 1 + 0 1.097071 -15.54507 0 0 0 1 1 1 + 0 0 0 0 0 +EndBehavior 1 +ZoomFactor 3.200000 +Resolution 1 +PixelAspectRatio 2 +SegmentMemory 50000000 +Antialiasing 0 +AdaptiveSampling 1 +AdaptiveThreshold 16 +FilmSize 2 +FieldRendering 0 +MotionBlur 0 +DepthOfField 0 + +SolidBackdrop 1 +BackdropColor 0 0 0 +ZenithColor 0 40 80 +SkyColor 120 180 240 +GroundColor 50 40 30 +NadirColor 100 80 60 +FogType 0 +DitherIntensity 1 +AnimatedDither 0 + +RenderMode 2 +RayTraceEffects 0 +ClipRayColors 0 +DataOverlayLabel +FullSceneParamEval 0 + +ViewMode 3 +ViewAimpoint -0.017411 0.000000 -0.078667 +ViewDirection 0.301942 -0.312414 0.000000 +ViewZoomFactor 4.000000 +GridNumber 50 +GridSize 2.000000 +ShowMotionPath 1 +ShowBGImage 0 +ShowFogRadius 0 +ShowRedraw 0 +ShowSafeAreas 0 +ShowFieldChart 0 diff --git a/data/jat3D/Wavefront/readme.txt b/data/jat3D/Wavefront/readme.txt new file mode 100644 index 0000000..c37a2b4 --- /dev/null +++ b/data/jat3D/Wavefront/readme.txt @@ -0,0 +1,3 @@ +Note: +rename the filename extension from obj2 to obj before use. The extension obj2 +is used temporarily because subversion ignores files with the extension obj. \ No newline at end of file diff --git a/data/jat3D/Wavefront/shuttle.obj2 b/data/jat3D/Wavefront/shuttle.obj2 new file mode 100644 index 0000000..86ba78f --- /dev/null +++ b/data/jat3D/Wavefront/shuttle.obj2 @@ -0,0 +1,744 @@ +# Viewpoint Datalabs International, Inc. Copyright 1996 + + +mtllib ./vp.mtl + +g +v 3.070224 -0.119728 0.996443 +v 5.942016 -0.012019 4.157199 +v 6.614015 -0.063428 4.157199 +v 5.759114 0.000000 1.664500 +v 3.070224 -0.449143 0.929434 +v 5.000295 -0.539011 1.315104 +v 3.070224 -0.604752 0.872464 +v 3.070224 -0.866525 0.730690 +v 3.070224 -0.959007 0.650256 +v 3.070224 -1.053631 0.163277 +v 2.983248 -1.080021 -0.880639 +v 6.130317 -1.100022 -1.106943 +v 3.739287 -4.334102 -0.876958 +v 4.400283 -4.682100 -0.952940 +v 3.038248 -4.334102 -0.811319 +v 3.180259 -4.550090 -0.921939 +v 2.700250 -4.334102 -0.947940 +v 0.840214 -2.480049 -1.050312 +v 1.208789 -1.060728 0.203820 +v 1.208789 -1.054148 0.411073 +v 1.208789 -0.958092 0.610367 +v 1.208789 -0.875165 0.685964 +v 1.208789 -0.621528 0.854704 +v 1.208789 -0.467365 0.922276 +v -4.649089 -1.039587 0.209476 +v -4.649345 -0.922345 0.432259 +v -4.649708 -0.652575 0.753550 +v -4.999902 -1.012545 0.094530 +v -4.999240 -0.870266 0.347384 +v -4.999321 -0.802315 0.416133 +v -4.906714 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5, -1, + 5, 5, 5, -1, 0, 0, 0, -1, + 0, 0, 0, -1, 9, 9, 9, -1, + 9, 9, 9, -1, 9, 9, 9, -1, + 9, 9, 9, -1, 9, 9, 9, -1, + 9, 9, 9, -1, 9, 9, 9, -1, + 9, 9, 9, -1, 9, 9, 9, -1, + 71, 71, 71, -1, 71, 71, 71, -1, + 71, 71, 71, -1, 71, 71, 71, -1, + 71, 71, 71, -1, 71, 71, 71, -1, + 71, 71, 71, -1, 71, 71, 71, -1, + 71, 71, 71, -1, 71, 71, 71, -1, + 71, 71, 71, -1, 71, 71, 71, -1 ] + creaseAngle 0.5 + } + + } + + } + + translation 0 0 0 + center 0.86859 0.691742 0.1931 + } + + } + + translation 55.81 95.35 46.45 + rotation -0.563652 -0.583569 0.584589 2.05303 + scale 68 68 68 + scaleOrientation 0 0 1 0 + center 0.86859 0.691742 0.1931 + } + ] + } + + collide FALSE + proxy NULL + + } + + } + ] +} +DEF VP1 Viewpoint { + position -20.9027 29.5794 179.825 + orientation 0.0149456 -0.48554 0.874086 1.42699 + fieldOfView 0.785398 + description "OrbiterSide" +} +DEF VP2 Viewpoint { + position -79.5193 -23.1692 85.1823 + orientation 0.294215 -0.861257 0.414335 1.56745 + fieldOfView 0.785398 + description "OrbiterTop" +} +DEF VP3 Viewpoint { + position 34.5626 7.34885 88.6438 + orientation 0.200153 -0.592605 0.780229 1.7294 + fieldOfView 0.785398 + description "OrbiterCloseUp" +} diff --git a/data/jat3D/orbiter/tail2.jpg b/data/jat3D/orbiter/tail2.jpg new file mode 100644 index 0000000..6983b59 Binary files /dev/null and b/data/jat3D/orbiter/tail2.jpg differ diff --git a/data/jat3D/orbiter/whttile2.jpg b/data/jat3D/orbiter/whttile2.jpg new file mode 100644 index 0000000..9f23005 Binary files /dev/null and b/data/jat3D/orbiter/whttile2.jpg differ diff --git a/data/jat3D/orbiter/wingtopS3.jpg b/data/jat3D/orbiter/wingtopS3.jpg new file mode 100644 index 0000000..6dd5f11 Binary files /dev/null and b/data/jat3D/orbiter/wingtopS3.jpg differ diff --git a/data/jat3D/orbiter/wingtopS4.jpg b/data/jat3D/orbiter/wingtopS4.jpg new file mode 100644 index 0000000..44dee6d Binary files /dev/null and b/data/jat3D/orbiter/wingtopS4.jpg differ diff --git a/data/simulation/input/GEO.xml b/data/simulation/input/GEO.xml new file mode 100644 index 0000000..b22d259 --- /dev/null +++ b/data/simulation/input/GEO.xml @@ -0,0 +1,27 @@ + + + + + 36607.358256 + -20921.723703 + 0 + 1.525636 + 2.669451 + 0 + + + + + GEO + 1.2 + 2.2 + 20 + 1000 + + diff --git a/data/simulation/input/GPS.xml b/data/simulation/input/GPS.xml new file mode 100644 index 0000000..c1b73b5 --- /dev/null +++ b/data/simulation/input/GPS.xml @@ -0,0 +1,27 @@ + + + + + 5525.33668 + -15871.18494 + -20998.992446 + 2.750341 + 2.434198 + -1.068884 + + + + + GPS + 1.2 + 2.2 + 20 + 1000 + + diff --git a/data/simulation/input/ISS.prop b/data/simulation/input/ISS.prop new file mode 100644 index 0000000..bab0411 --- /dev/null +++ b/data/simulation/input/ISS.prop @@ -0,0 +1,28 @@ +#Mon Feb 20 12:41:02 CST 2006 +venus=false +moon=false +earth=true +sun=false +neptune=false +target_z=0.0 +target_y=0.0 +target_x=0.0 +mars=false +tf=0.0 +mjd_utc=0.0 +uranus=false +z=-10.3 +jupiter=true +y=0.0 +JGM3=false +x=42000.2 +saturn=false +t0=0.0 +target_xdot=0.0 +xdot=0.0 +target_ydot=0.0 +ydot=0.2 +target_zdot=0.0 +zdot=-10.512 +mercury=false +stepsize=0.0 diff --git a/data/simulation/input/ISS.xml b/data/simulation/input/ISS.xml new file mode 100644 index 0000000..d2e5e0f --- /dev/null +++ b/data/simulation/input/ISS.xml @@ -0,0 +1,27 @@ + + + + + -4453.783586 + -5038.203756 + -426.384456 + 3.831888 + -2.887221 + -6.018232 + + + + + ISS + 1.2 + 2.2 + 20 + 1000 + + diff --git a/data/simulation/input/Molniya.xml b/data/simulation/input/Molniya.xml new file mode 100644 index 0000000..b51e510 --- /dev/null +++ b/data/simulation/input/Molniya.xml @@ -0,0 +1,27 @@ + + + + + -1529.894287 + -2672.877357 + -6150.115340 + 8.717518 + -4.989709 + 0 + + + + + Molniya + 1.2 + 2.2 + 20 + 1000 + + diff --git a/data/simulation/input/Sun-Sync.xml b/data/simulation/input/Sun-Sync.xml new file mode 100644 index 0000000..23d5723 --- /dev/null +++ b/data/simulation/input/Sun-Sync.xml @@ -0,0 +1,27 @@ + + + + + -2290.301063 + -6379.471940 + 0 + -0.883923 + 0.317338 + 7.610832 + + + + + Sun-Sync + 1.2 + 2.2 + 20 + 1000 + + diff --git a/data/simulation/input/default.prop b/data/simulation/input/default.prop new file mode 100644 index 0000000..37771f6 --- /dev/null +++ b/data/simulation/input/default.prop @@ -0,0 +1,35 @@ +#default simulation file +#Fri Jun 16 10:54:37 EDT 2006 +venus=false +moon=false +spacecraft_reflectivity_coefficient=1.2 +earth=true +sun=false +neptune=false +thinning=12.0 +spacecraft_name=spacecraft_name +target_z=0.0 +target_y=0.0 +target_x=0.0 +mars=false +tf=86400.0 +uranus=false +jupiter=false +mjd_utc=53157.5 +z=-426384.456 +JGM3=false +y=-5038203.756 +saturn=false +x=-4453783.586 +t0=0.0 +target_xdot=0.0 +xdot=3831.888 +target_ydot=0.0 +ydot=-2887.221 +spacecraft_drag_coefficient=2.2 +spacecraft_mass=1000.0 +target_zdot=0.0 +spacecraft_cross-section=20.0 +zdot=-6018.232 +mercury=false +stepsize=60.0 diff --git a/data/simulation/input/initialConditions.txt b/data/simulation/input/initialConditions.txt new file mode 100644 index 0000000..88712b0 --- /dev/null +++ b/data/simulation/input/initialConditions.txt @@ -0,0 +1,165 @@ + +# Simulator Input List +# Moon to Earth 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57044 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57044 +init.TF 259200 + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +#GEONS TRUE +TRUE_STATE.0.X 2.82505882900000e+008 +TRUE_STATE.0.Y 2.82505882900000e+008 +TRUE_STATE.0.Z -0.64261622210000e+008 +TRUE_STATE.0.VX -0.00000795264000e+008 +TRUE_STATE.0.VY 0.00000721616000e+008 +TRUE_STATE.0.VZ 0.00000922000000e+008 + +#GEONS REFERENCE +REF_STATE.0.X 2.79680824071000E+08 +REF_STATE.0.Y -2.10596670900000E+08 +REF_STATE.0.Z -0.63619005987900E+08 +REF_STATE.0.VX -0.00000787311360E+08 +REF_STATE.0.VY 0.00000714399840E+08 +REF_STATE.0.VZ 0.00000912780000E+08 + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 60 +FILTER.states 6 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-13 +Q.0.Y 1e-13 +Q.0.Z 1e-13 +Q.0.VX 1e-13 +Q.0.VY 1e-13 +Q.0.VZ 1e-13 +Q.0.clockBias .12 +Q.0.clockDrift 1e-4 + +#Set the Initial Position and Velocity Covariance (m and m/s) +P0.0.X 1e12 +P0.0.Y 1e12 +P0.0.Z 1e12 +P0.0.VX 10 +P0.0.VY 10 +P0.0.VZ 10 + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 3 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 259200 +MEAS.0.type y_angle_star +MEAS.0.ustar.1 1.0 +MEAS.0.ustar.2 0.0 +MEAS.0.ustar.3 0.0 +MEAS.0.cbody earth +MEAS.0.R 2.741556778080377e-007 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 259200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 +MEAS.0.R 2.741556778080377e-007 + +MEAS.1.desc OPT +MEAS.1.satellite 0 +MEAS.1.frequency 60 +MEAS.1.t0 0 +MEAS.1.tf 259200 +MEAS.1.type range +MEAS.1.cbody earth +MEAS.1.R 2.741556778080377e-007 diff --git a/data/simulation/input/initialConditions_cev_e2m.txt b/data/simulation/input/initialConditions_cev_e2m.txt new file mode 100644 index 0000000..9b14ad8 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_e2m.txt @@ -0,0 +1,241 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 +init.runMonteCarlo true +MONTE.num_runs 3 +MONTE.r_error 1000 +MONTE.v_error 10 +MONTE.lm_error 100 +# To turn on plotting specify possible values jat, truth, geonsref, geonsboth, and measurements +# If omitted, will default to whatever the program specifies. If blank, nothing plotted. +output.plot +# output.plot jat,truth,measurements + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57038 +#init.MJDF 57040 +init.TF 000 + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +#GEONS TRUE + +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + + +#GEONS REFERENCE +#REF_STATE.0.X 7500 +#REF_STATE.0.Y 6600000 +#REF_STATE.0.Z 2000000 +#REF_STATE.0.VX -9000 +#REF_STATE.0.VY -1000 +#REF_STATE.0.VZ 4000 + +#REF_STATE.0.X 7605.608 +#REF_STATE.0.Y 6361752.47 +#REF_STATE.0.Z 2337664.704 +#REF_STATE.0.VX -10062.402 +#REF_STATE.0.VY -1309.862 +#REF_STATE.0.VZ 3596.46 + +REF_STATE.0.X 7705.608 +REF_STATE.0.Y 6361652.47 +REF_STATE.0.Z 2337564.704 +REF_STATE.0.VX -10061.402 +REF_STATE.0.VY -1308.862 +REF_STATE.0.VZ 3597.46 + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar false + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 60 +FILTER.states 6 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-4 +Q.0.VY 1e-4 +Q.0.VZ 1e-4 + +#Q.0.X 1e-13 +#Q.0.Y 1e-13 +#Q.0.Z 1e-13 +#Q.0.VX 1e-8 +#Q.0.VY 1e-8 +#Q.0.VZ 1e-8 + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 1e3 +P0.0.Y 1e3 +P0.0.Z 1e3 +P0.0.VX 3 +P0.0.VY 3 +P0.0.VZ 3 + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 2 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-007 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 259200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 +MEAS.0.R 2.741556778080377e-007 + +#MEAS.0.R 4e-4 + +MEAS.1.desc OPT +MEAS.1.satellite 0 +MEAS.1.frequency 60 +MEAS.1.t0 0 +MEAS.1.tf 259200 +MEAS.1.type range +MEAS.1.cbody earth +MEAS.1.vbody moon +MEAS.1.R 2.741556778080377e-007 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_e2m_30Sec_WFOV.txt b/data/simulation/input/initialConditions_cev_e2m_30Sec_WFOV.txt new file mode 100644 index 0000000..1cc94fd --- /dev/null +++ b/data/simulation/input/initialConditions_cev_e2m_30Sec_WFOV.txt @@ -0,0 +1,291 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57040 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 30 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +#REF_STATE.0.X 0.00778266408000e6 +#REF_STATE.0.Y 6.42526899470000e6 +#REF_STATE.0.Z 2.36094035104000e6 +#REF_STATE.0.VX -0.01016201602000e6 +#REF_STATE.0.VY -0.00132195062000e6 +#REF_STATE.0.VZ 0.00363343460000e6 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + + + +#RUE_STATE.0.X 282406920.7 +#TRUE_STATE.0.Y -212684538. +#TRUE_STATE.0.Z -64186635.16 +#TRUE_STATE.0.VX -1662.899 +#TRUE_STATE.0.VY 0639.598 +#TRUE_STATE.0.VZ 1214.703 + +#REF_STATE.0.X 282406920.7 +#REF_STATE.0.Y -212684538. +#REF_STATE.0.Z -64186635.16 +#REF_STATE.0.VX -1662.899 +#REF_STATE.0.VY 0639.598 +#REF_STATE.0.VZ 1214.703 + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 30 +FILTER.states 7 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-15 +Q.0.VY 1e-15 +Q.0.VZ 1e-15 + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 10 +P0.0.Y 10 +P0.0.Z 10 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 30 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 + +MEAS.0.R 3.6e-4 +#MEAS.0.R 3.6e-5 +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_e2m_30sec_NFOV.txt b/data/simulation/input/initialConditions_cev_e2m_30sec_NFOV.txt new file mode 100644 index 0000000..aca9ec2 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_e2m_30sec_NFOV.txt @@ -0,0 +1,290 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57040 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 30 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +#REF_STATE.0.X 0.00778266408000e6 +#REF_STATE.0.Y 6.42526899470000e6 +#REF_STATE.0.Z 2.36094035104000e6 +#REF_STATE.0.VX -0.01016201602000e6 +#REF_STATE.0.VY -0.00132195062000e6 +#REF_STATE.0.VZ 0.00363343460000e6 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + + + +#RUE_STATE.0.X 282406920.7 +#TRUE_STATE.0.Y -212684538. +#TRUE_STATE.0.Z -64186635.16 +#TRUE_STATE.0.VX -1662.899 +#TRUE_STATE.0.VY 0639.598 +#TRUE_STATE.0.VZ 1214.703 + +#REF_STATE.0.X 282406920.7 +#REF_STATE.0.Y -212684538. +#REF_STATE.0.Z -64186635.16 +#REF_STATE.0.VX -1662.899 +#REF_STATE.0.VY 0639.598 +#REF_STATE.0.VZ 1214.703 + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 30 +FILTER.states 7 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-10 +Q.0.VY 1e-10 +Q.0.VZ 1e-10 + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 10 +P0.0.Y 10 +P0.0.Z 10 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 30 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 30 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 +MEAS.0.R 3.6e-3 + +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_e2m_60Sec_WFOV.txt b/data/simulation/input/initialConditions_cev_e2m_60Sec_WFOV.txt new file mode 100644 index 0000000..e4619e3 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_e2m_60Sec_WFOV.txt @@ -0,0 +1,290 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57040 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +#REF_STATE.0.X 0.00778266408000e6 +#REF_STATE.0.Y 6.42526899470000e6 +#REF_STATE.0.Z 2.36094035104000e6 +#REF_STATE.0.VX -0.01016201602000e6 +#REF_STATE.0.VY -0.00132195062000e6 +#REF_STATE.0.VZ 0.00363343460000e6 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + + + +#RUE_STATE.0.X 282406920.7 +#TRUE_STATE.0.Y -212684538. +#TRUE_STATE.0.Z -64186635.16 +#TRUE_STATE.0.VX -1662.899 +#TRUE_STATE.0.VY 0639.598 +#TRUE_STATE.0.VZ 1214.703 + +#REF_STATE.0.X 282406920.7 +#REF_STATE.0.Y -212684538. +#REF_STATE.0.Z -64186635.16 +#REF_STATE.0.VX -1662.899 +#REF_STATE.0.VY 0639.598 +#REF_STATE.0.VZ 1214.703 + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 60 +FILTER.states 7 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-10 +Q.0.VY 1e-10 +Q.0.VZ 1e-10 + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 10 +P0.0.Y 10 +P0.0.Z 10 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 + +MEAS.0.R 3.6e-2 +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_e2m_60sec_NFOV.txt b/data/simulation/input/initialConditions_cev_e2m_60sec_NFOV.txt new file mode 100644 index 0000000..415bbb7 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_e2m_60sec_NFOV.txt @@ -0,0 +1,290 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57040 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +#REF_STATE.0.X 0.00778266408000e6 +#REF_STATE.0.Y 6.42526899470000e6 +#REF_STATE.0.Z 2.36094035104000e6 +#REF_STATE.0.VX -0.01016201602000e6 +#REF_STATE.0.VY -0.00132195062000e6 +#REF_STATE.0.VZ 0.00363343460000e6 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + + + +#RUE_STATE.0.X 282406920.7 +#TRUE_STATE.0.Y -212684538. +#TRUE_STATE.0.Z -64186635.16 +#TRUE_STATE.0.VX -1662.899 +#TRUE_STATE.0.VY 0639.598 +#TRUE_STATE.0.VZ 1214.703 + +#REF_STATE.0.X 282406920.7 +#REF_STATE.0.Y -212684538. +#REF_STATE.0.Z -64186635.16 +#REF_STATE.0.VX -1662.899 +#REF_STATE.0.VY 0639.598 +#REF_STATE.0.VZ 1214.703 + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 60 +FILTER.states 7 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-10 +Q.0.VY 1e-10 +Q.0.VZ 1e-10 + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 10 +P0.0.Y 10 +P0.0.Z 10 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 +MEAS.0.R 3.6e-3 + +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_e2m_high_freq.txt b/data/simulation/input/initialConditions_cev_e2m_high_freq.txt new file mode 100644 index 0000000..415bbb7 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_e2m_high_freq.txt @@ -0,0 +1,290 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57040 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +#REF_STATE.0.X 0.00778266408000e6 +#REF_STATE.0.Y 6.42526899470000e6 +#REF_STATE.0.Z 2.36094035104000e6 +#REF_STATE.0.VX -0.01016201602000e6 +#REF_STATE.0.VY -0.00132195062000e6 +#REF_STATE.0.VZ 0.00363343460000e6 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + + + +#RUE_STATE.0.X 282406920.7 +#TRUE_STATE.0.Y -212684538. +#TRUE_STATE.0.Z -64186635.16 +#TRUE_STATE.0.VX -1662.899 +#TRUE_STATE.0.VY 0639.598 +#TRUE_STATE.0.VZ 1214.703 + +#REF_STATE.0.X 282406920.7 +#REF_STATE.0.Y -212684538. +#REF_STATE.0.Z -64186635.16 +#REF_STATE.0.VX -1662.899 +#REF_STATE.0.VY 0639.598 +#REF_STATE.0.VZ 1214.703 + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 60 +FILTER.states 7 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-10 +Q.0.VY 1e-10 +Q.0.VZ 1e-10 + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 10 +P0.0.Y 10 +P0.0.Z 10 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 +MEAS.0.R 3.6e-3 + +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_gps_e2m_30Sec_WFOV.txt b/data/simulation/input/initialConditions_cev_gps_e2m_30Sec_WFOV.txt new file mode 100644 index 0000000..2de86eb --- /dev/null +++ b/data/simulation/input/initialConditions_cev_gps_e2m_30Sec_WFOV.txt @@ -0,0 +1,300 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 50986 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 50989 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 30 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#Earth to Moon Trajectory +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + +#GEO Trajectory +#ECI position and velocity (m and m/s) +#TRUE_STATE.0.X 42000000 +#TRUE_STATE.0.Y 0.0 +#TRUE_STATE.0.Z 0.0 +#TRUE_STATE.0.VX 0.0 +#TRUE_STATE.0.VY 3.080661648165243e+003 +#TRUE_STATE.0.VZ 0.0 + +#REF_STATE.0.X 42002000 +#REF_STATE.0.Y 100.0 +#REF_STATE.0.Z -100.0 +#REF_STATE.0.VX 4 +#REF_STATE.0.VY 3.180661648165243e+003 +#REF_STATE.0.VZ 2.0 + + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp true + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 30 +FILTER.states 9 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm JGM4x4SRPProcess9state + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-13 +Q.0.Y 1e-13 +Q.0.Z 1e-13 +Q.0.VX 1e-15 +Q.0.VY 1e-15 +Q.0.VZ 1e-15 + +Q.0.clockBias 1e8 +Q.0.clockDrift 1e-3 +Q.0.Cr 1e-10 + + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 1e1 +P0.0.Y 1e1 +P0.0.Z 1e1 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 +P0.0.Cr 1e-12 + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +P0.0.clockBias 100 +P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 2 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + + +MEAS.1.desc GPS +MEAS.1.satellite 0 +MEAS.1.frequency 30 +MEAS.1.size 1 +MEAS.1.R 2.4495 +GPS.const week963.rnx + + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 30 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 + +MEAS.0.R 3.6e-4 +#MEAS.0.R 3.6e-5 +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/initialConditions_cev_llo_1ULMwD.txt b/data/simulation/input/initialConditions_cev_llo_1ULMwD.txt new file mode 100644 index 0000000..6ca9b73 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_llo_1ULMwD.txt @@ -0,0 +1,300 @@ + +# Simulator Input List +# Low Lunar Orbit + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 +init.runMonteCarlo false +MONTE.num_runs 3 +MONTE.r_error 1000 +MONTE.v_error 10 +MONTE.lm_error 100 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 58232 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 58234 +init.TF 0 + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 +FILTER.dt 60 + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +#GEONS TRUE + +#lci [km] +#1.7232607076253737e+002 1.6379287856614317e+003 -8.1592709137349675e+002 1.3836671664810035e-001 7.1393322649210633e-001 1.4624051437086556e+000 +#seleno [km] +#-7.0653447440413493e+002 9.2387238910403778e+002 -1.4232051310790273e+003 -7.6578459477044203e-001 1.0064446005845396e+000 1.0334979559135251e+000 + +TRUE_STATE.0.X -7.0653447440413493e+002 +TRUE_STATE.0.Y 9.2387238910403778e+002 +TRUE_STATE.0.Z -1.4232051310790273e+003 +TRUE_STATE.0.VX -7.6578459477044203e-001 +TRUE_STATE.0.VY 1.0064446005845396e+000 +TRUE_STATE.0.VZ 1.0334979559135251e+000 + +# exact +#REF_STATE.0.X -7.0653447440413493e+002 +#REF_STATE.0.Y 9.2387238910403778e+002 +#REF_STATE.0.Z -1.4232051310790273e+003 +#REF_STATE.0.VX -7.6578459477044203e-001 +#REF_STATE.0.VY 1.0064446005845396e+000 +#REF_STATE.0.VZ 1.0334979559135251e+000 + +# skew 99.9% +REF_STATE.0.X -7.0582793993e+002 +REF_STATE.0.Y 9.22948516715e+002 +REF_STATE.0.Z -1.42178192595e+003 +REF_STATE.0.VX -7.6501810176e-001 +REF_STATE.0.VY 1.00543815598e000 +REF_STATE.0.VZ 1.03246445796e+000 + +# skew - 99% and 1.01% alternate +#REF_STATE.0.X -6.9946912966e+002 +#REF_STATE.0.Y 9.33111112995e+002 +#REF_STATE.0.Z -1.40897307977e+003 +#REF_STATE.0.VX -7.73442440718e-001 +#REF_STATE.0.VY 9.96380154579e-001 +#REF_STATE.0.VZ 1.04383293547e+000 + + +# skew - 100 m and 1 m/s error +#REF_STATE.0.X -7.0643447440413493e+002 +#REF_STATE.0.Y 9.2397238910403778e+002 +#REF_STATE.0.Z -1.4231051310790273e+003 +#REF_STATE.0.VX -7.6678459477044203e-001 +#REF_STATE.0.VY 1.0054446005845396e+000 +#REF_STATE.0.VZ 1.0344979559135251e+000 + +#-668428.2069244173 874267.8019608951 -1344570.5796060965 +#REF_STATE.0.LX -668428.2069244173 +#REF_STATE.0.LY 874267.8019608951 +#REF_STATE.0.LZ -1344570.5796060965 +#above is actual +#skew 99% 101% 99% +#REF_STATE.0.LX -661743.924855 +#REF_STATE.0.LY 883010.479981 +#REF_STATE.0.LZ -1331124.87381 +#skew 100 m +REF_STATE.0.LX -668528.2069244173 +REF_STATE.0.LY 874247.8019608951 +REF_STATE.0.LZ -1344670.5796060965 + +#MEAS.0.0.latitude -50.7 +#MEAS.0.0.longitude 127.4 +#MEAS.0.0.altitude 0 +#MEAS.0.0.bounding_diameter 20 + + +#TRUE_STATE.0.X 1.7232607076253737e+002 +#TRUE_STATE.0.Y 1.6379287856614317e+003 +#TRUE_STATE.0.Z -8.1592709137349675e+002 +#TRUE_STATE.0.VX 1.3836671664810035e-001 +#TRUE_STATE.0.VY 7.1393322649210633e-001 +#TRUE_STATE.0.VZ 1.4624051437086556e+000 + +#REF_STATE.0.X 1.7232607076253737e+002 +#REF_STATE.0.Y 1.6379287856614317e+003 +#REF_STATE.0.Z -8.1592709137349675e+002 +#REF_STATE.0.VX 1.3836671664810035e-001 +#REF_STATE.0.VY 7.1393322649210633e-001 +#REF_STATE.0.VZ 1.4624051437086556e+000 + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar false + +#Include Lunar Gravity Acceleration +jat.0.lunar true +jat.0.lunarHarmonic true +jat.0.lunar_n.filter 20 +jat.0.lunar_n.jat 20 +jat.0.lunar.monte true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +#FILTER.dt 1 #see above +FILTER.states 9 + + +#Set the process model used +FILTER.pm Lunar + +#PROCESS NOISE +#Set the process noise for each of the states +#Q.0.X 1e-11 +#Q.0.Y 1e-11 +#Q.0.Z 1e-11 +#Q.0.VX 1e-13 +#Q.0.VY 1e-13 +#Q.0.VZ 1e-13 + +#*** *** +#Q.0.X 1e0 +#Q.0.Y 1e0 +#Q.0.Z 1e0 +#Q.0.VX 1e-4 +#Q.0.VY 1e-4 +#Q.0.VZ 1e-4 + +Q.0.X 2e0 +Q.0.Y 2e0 +Q.0.Z 2e0 +Q.0.VX 5e-4 +Q.0.VY 5e-4 +Q.0.VZ 5e-4 + +#*** +#Q.0.X 1e-9 +#Q.0.Y 1e-9 +#Q.0.Z 1e-9 +#Q.0.VX 1e-11 +#Q.0.VY 1e-11 +#Q.0.VZ 1e-11 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + +Q.0.LX 1e-15 +Q.0.LY 1e-15 +Q.0.LZ 1e-15 + +#Set the Initial Position and Velocity Covariance (m and m/s) +P0.0.X 2e3 +P0.0.Y 2e3 +P0.0.Z 2e3 +P0.0.VX 1e0 +P0.0.VY 1e0 +P0.0.VZ 1e0 + +#*** *** +#P0.0.X 3e3 +#P0.0.Y 3e3 +#P0.0.Z 3e3 +#P0.0.VX 2e0 +#P0.0.VY 2e0 +#P0.0.VZ 2e0 + +#P0.0.X 1 +#P0.0.Y 1 +#P0.0.Z 1 +#P0.0.VX 0.1 +#P0.0.VY 0.1 +#P0.0.VZ 0.1 + +#P0.0.LX 1e9 +#P0.0.LY 1e9 +#P0.0.LZ 1e9 +P0.0.LX 2e4 +P0.0.LY 2e4 +P0.0.LZ 2e4 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 2 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#units for altitude & diameter = km +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 604800 +MEAS.0.type landmark +MEAS.0.cbody moon +MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-007 +#MEAS.0.R 0.001221730476 +#MEAS.0.Rdeg 0.07 +#MEAS.0.R 1.492625356955e-6 +MEAS.0.Rdeg 0.001 +MEAS.0.R 3.046174197867e-10 +#MEAS.0.Rdeg 0.01 +#MEAS.0.R 3.046174197867e-8 +#MEAS.0.Rdeg 0.1 +#MEAS.0.R 3.046174197867e-6 +MEAS.0.datacount 1 +MEAS.0.0.known unknown +MEAS.0.0.latitude -50.7 +MEAS.0.0.longitude 127.4 +MEAS.0.0.altitude 0 +MEAS.0.0.bounding_diameter 20 + +MEAS.1.desc OPT +MEAS.1.satellite 0 +MEAS.1.frequency 60 +MEAS.1.t0 0 +MEAS.1.tf 604800 +MEAS.1.type range +MEAS.1.cbody moon +MEAS.1.vbody moon +# 4.5 deg +#MEAS.1.R 0.006168502751 +# 0.45 deg +MEAS.1.R 0.00006168502751 + +#MEAS.1.R 4e-4 diff --git a/data/simulation/input/initialConditions_cev_llo_3KLM.txt b/data/simulation/input/initialConditions_cev_llo_3KLM.txt new file mode 100644 index 0000000..8168d94 --- /dev/null +++ b/data/simulation/input/initialConditions_cev_llo_3KLM.txt @@ -0,0 +1,311 @@ + +# Simulator Input List +# Low Lunar Orbit + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 +init.runMonteCarlo true +MONTE.num_runs 3 +MONTE.r_error 1000 +MONTE.v_error 10 +MONTE.lm_error 100 +MONTE.start_case_num 50 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 58232 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 58235 +init.TF 0 + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 +FILTER.dt 60 + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +#GEONS TRUE + +#lci [km] +#1.7232607076253737e+002 1.6379287856614317e+003 -8.1592709137349675e+002 1.3836671664810035e-001 7.1393322649210633e-001 1.4624051437086556e+000 +#seleno [km] +#-7.0653447440413493e+002 9.2387238910403778e+002 -1.4232051310790273e+003 -7.6578459477044203e-001 1.0064446005845396e+000 1.0334979559135251e+000 + +TRUE_STATE.0.X -7.0653447440413493e+002 +TRUE_STATE.0.Y 9.2387238910403778e+002 +TRUE_STATE.0.Z -1.4232051310790273e+003 +TRUE_STATE.0.VX -7.6578459477044203e-001 +TRUE_STATE.0.VY 1.0064446005845396e+000 +TRUE_STATE.0.VZ 1.0334979559135251e+000 + +# exact +#REF_STATE.0.X -7.0653447440413493e+002 +#REF_STATE.0.Y 9.2387238910403778e+002 +#REF_STATE.0.Z -1.4232051310790273e+003 +#REF_STATE.0.VX -7.6578459477044203e-001 +#REF_STATE.0.VY 1.0064446005845396e+000 +#REF_STATE.0.VZ 1.0334979559135251e+000 + +# skew +#REF_STATE.0.X -7.0643447440413493e+002 +#REF_STATE.0.Y 9.2397238910403778e+002 +#REF_STATE.0.Z -1.4231051310790273e+003 +#REF_STATE.0.VX -7.6678459477044203e-001 +#REF_STATE.0.VY 1.0054446005845396e+000 +#REF_STATE.0.VZ 1.0344979559135251e+000 + +# skew 99.9% +REF_STATE.0.X -7.0582793993e+002 +REF_STATE.0.Y 9.22948516715e+002 +REF_STATE.0.Z -1.42178192595e+003 +REF_STATE.0.VX -7.6501810176e-001 +REF_STATE.0.VY 1.00543815598e000 +REF_STATE.0.VZ 1.03246445796e+000 + +#-668428.2069244173 874267.8019608951 -1344570.5796060965 +REF_STATE.0.LX -668428.2069244173 +REF_STATE.0.LY 874267.8019608951 +REF_STATE.0.LZ -1344570.5796060965 +#above is actual +#REF_STATE.0.LX -668528.2069244173 +#REF_STATE.0.LY 874247.8019608951 +#REF_STATE.0.LZ -1344670.5796060965 + +#MEAS.0.0.latitude -50.7 +#MEAS.0.0.longitude 127.4 +#MEAS.0.0.altitude 0 +#MEAS.0.0.bounding_diameter 20 + + +#TRUE_STATE.0.X 1.7232607076253737e+002 +#TRUE_STATE.0.Y 1.6379287856614317e+003 +#TRUE_STATE.0.Z -8.1592709137349675e+002 +#TRUE_STATE.0.VX 1.3836671664810035e-001 +#TRUE_STATE.0.VY 7.1393322649210633e-001 +#TRUE_STATE.0.VZ 1.4624051437086556e+000 + +#REF_STATE.0.X 1.7232607076253737e+002 +#REF_STATE.0.Y 1.6379287856614317e+003 +#REF_STATE.0.Z -8.1592709137349675e+002 +#REF_STATE.0.VX 1.3836671664810035e-001 +#REF_STATE.0.VY 7.1393322649210633e-001 +#REF_STATE.0.VZ 1.4624051437086556e+000 + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar false + +#Include Lunar Gravity Acceleration +jat.0.lunar true +jat.0.lunarHarmonic true +jat.0.lunar_n.filter 20 +jat.0.lunar_n.jat 20 +jat.0.lunar.monte true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +#FILTER.dt 1 #see above +FILTER.states 6 + + +#Set the process model used +FILTER.pm Lunar + +#PROCESS NOISE +#Set the process noise for each of the states +#Q.0.X 1e-11 +#Q.0.Y 1e-11 +#Q.0.Z 1e-11 +#Q.0.VX 1e-13 +#Q.0.VY 1e-13 +#Q.0.VZ 1e-13 + +Q.0.X 1e-4 +Q.0.Y 1e-4 +Q.0.Z 1e-4 +Q.0.VX 5e-6 +Q.0.VY 5e-6 +Q.0.VZ 5e-6 + +#*** +#Q.0.X 1e-9 +#Q.0.Y 1e-9 +#Q.0.Z 1e-9 +#Q.0.VX 1e-11 +#Q.0.VY 1e-11 +#Q.0.VZ 1e-11 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + +Q.0.LX 1e-15 +Q.0.LY 1e-15 +Q.0.LZ 1e-15 + +#Set the Initial Position and Velocity Covariance (m and m/s) +P0.0.X 2e3 +P0.0.Y 2e3 +P0.0.Z 2e3 +P0.0.VX 2e0 +P0.0.VY 2e0 +P0.0.VZ 2e0 +#P0.0.X 2e4 +#P0.0.Y 2e4 +#P0.0.Z 2e4 +#P0.0.VX 2e1 +#P0.0.VY 2e1 +#P0.0.VZ 2e1 +#P0.0.X 1 +#P0.0.Y 1 +#P0.0.Z 1 +#P0.0.VX 0.1 +#P0.0.VY 0.1 +#P0.0.VZ 0.1 + +#P0.0.LX 1e9 +#P0.0.LY 1e9 +#P0.0.LZ 1e9 +P0.0.LX 1e4 +P0.0.LY 1e4 +P0.0.LZ 1e4 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#units for altitude & diameter = km +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 604800 +MEAS.0.type landmark +MEAS.0.cbody moon +MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-007 +#MEAS.0.R 0.001221730476 +#MEAS.0.Rdeg 0.07 +#MEAS.0.R 1.492625356955e-6 +MEAS.0.Rdeg 0.001 +MEAS.0.R 3.046174197867e-10 +#MEAS.0.Rdeg 0.01 +#MEAS.0.R 3.046174197867e-8 +#MEAS.0.Rdeg 0.1 +#MEAS.0.R 3.046174197867e-6 +MEAS.0.datacount 1 +MEAS.0.0.known true +MEAS.0.0.latitude 10 +MEAS.0.0.longitude 120 +MEAS.0.0.altitude 0 +MEAS.0.0.bounding_diameter 20 +MEAS.0.1.known true +MEAS.0.1.latitude 10 +MEAS.0.1.longitude 90 +MEAS.0.1.altitude 0 +MEAS.0.1.bounding_diameter 20 +MEAS.0.2.known true +MEAS.0.2.latitude 10 +MEAS.0.2.longitude 55.4 +MEAS.0.2.altitude 0 +MEAS.0.2.bounding_diameter 20 + + +#MEAS.0.0.known true +#MEAS.0.0.latitude -50.7 +#MEAS.0.0.longitude 127.4 +#MEAS.0.0.altitude 0 +#MEAS.0.0.bounding_diameter 20 +#MEAS.0.1.known true +#MEAS.0.1.latitude 0 +#MEAS.0.1.longitude 127.4 +#MEAS.0.1.altitude 0 +#MEAS.0.1.bounding_diameter 20 +#MEAS.0.2.known true +#MEAS.0.2.latitude 50.7 +#MEAS.0.2.longitude 127.4 +#MEAS.0.2.altitude 0 +#MEAS.0.2.bounding_diameter 20 +#MEAS.0.3.known true +#MEAS.0.3.latitude 50.7 +#MEAS.0.3.longitude 60.0 +#MEAS.0.3.altitude 0 +#MEAS.0.3.bounding_diameter 20 +#MEAS.0.4.known true +#MEAS.0.4.latitude -50.7 +#MEAS.0.4.longitude 60.0 +#MEAS.0.4.altitude 0 +#MEAS.0.4.bounding_diameter 20 + + +MEAS.1.desc OPT +MEAS.1.satellite 0 +MEAS.1.frequency 30 +MEAS.1.t0 0 +MEAS.1.tf 604800 +MEAS.1.type range +MEAS.1.cbody moon +MEAS.1.vbody moon +MEAS.1.R 2.741556778080377e-007 + +#MEAS.1.R 4e-4 diff --git a/data/simulation/input/initialConditions_cev_m2e.txt b/data/simulation/input/initialConditions_cev_m2e.txt new file mode 100644 index 0000000..443bdde --- /dev/null +++ b/data/simulation/input/initialConditions_cev_m2e.txt @@ -0,0 +1,216 @@ + +# Simulator Input List +# Moon to Earth 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57044.00069 +#init.T0 21600.0 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +#init.MJDF 57047.00069 +init.MJDF 57044.01069 +#init.TF 21600 +init.TF 0 + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 60 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +#GEONS TRUE +#TRUE_STATE.0.X 2.675264403e8 +#TRUE_STATE.0.Y -2.039608462e8 +#TRUE_STATE.0.Z -0.6456322161e8 +#TRUE_STATE.0.VX -496.811 +#TRUE_STATE.0.VY 460.144 +#TRUE_STATE.0.VZ -52.466 +TRUE_STATE.0.X 282406920.7 +TRUE_STATE.0.Y -212684538. +TRUE_STATE.0.Z -64186635.16 +TRUE_STATE.0.VX -1662.899 +TRUE_STATE.0.VY 0639.598 +TRUE_STATE.0.VZ 1214.703 + +#GEONS REFERENCE +#REF_STATE.0.X 264851175.897 +#REF_STATE.0.Y -201921237.738 +#REF_STATE.0.Z -63917589.3939 +#REF_STATE.0.VX -491.84289 +#REF_STATE.0.VY 455.54256 +#REF_STATE.0.VZ -51.94134 +#REF_STATE.0.X 282407715.3 +#REF_STATE.0.Y -212684885.1 +#REF_STATE.0.Z -64183163.7 +#REF_STATE.0.VX -1664.312505 +#REF_STATE.0.VY 639.2041685 +#REF_STATE.0.VZ 1214.517541 +REF_STATE.0.X 282406920.7 +REF_STATE.0.Y -212684538. +REF_STATE.0.Z -64186635.16 +REF_STATE.0.VX -1662.899 +REF_STATE.0.VY 0639.598 +REF_STATE.0.VZ 1214.703 + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 60 +FILTER.states 6 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-13 +Q.0.Y 1e-13 +Q.0.Z 1e-13 +Q.0.VX 1e-3 +Q.0.VY 1e-3 +Q.0.VZ 1e-3 + +#Set the Initial Position and Velocity Covariance (m and m/s) +P0.0.X 1e7 +P0.0.Y 1e7 +P0.0.Z 1e7 +P0.0.VX 3e1 +P0.0.VY 3e1 +P0.0.VZ 3e1 +#P0.0.X 1 +#P0.0.Y 1 +#P0.0.Z 1 +#P0.0.VX 0.01 +#P0.0.VY 0.01 +#P0.0.VZ 0.01 + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +P0.0.clockBias 10000 +P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +P0.0.Cr .12 +P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-007 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_los +#MEAS.0.cbody earth +#MEAS.0.vbody earth +#MEAS.0.q.1 0 +#MEAS.0.q.2 0 +#MEAS.0.q.3 0 +#MEAS.0.q.4 1 +#MEAS.0.R 2.741556778080377e-007 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 60 +MEAS.0.t0 0 +MEAS.0.tf 259200 +MEAS.0.type range +MEAS.0.cbody earth +MEAS.0.vbody earth +MEAS.0.R 2.741556778080377e-007 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 10 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 \ No newline at end of file diff --git a/data/simulation/input/initialConditions_montecarlo_cev_e2m_30sec_NFOV.txt b/data/simulation/input/initialConditions_montecarlo_cev_e2m_30sec_NFOV.txt new file mode 100644 index 0000000..875380b --- /dev/null +++ b/data/simulation/input/initialConditions_montecarlo_cev_e2m_30sec_NFOV.txt @@ -0,0 +1,299 @@ + +# Simulator Input List +# Earth to Moon 3 Day from NG + +# Mode: 0 = Trajectory Generation Only, 1 = Trajectory and Filter +init.mode 1 + +# Monte Carlo setup. All the following properties are optional, but the +# presence of MONTE.num_runs indicates to run in Monte Carlo mode (no plots) +MONTE.num_runs 10 +MONTE.start_case_num 1 +MONTE.r_error 1000 +MONTE.v_error 10 +MONTE.lm_error 100 +# Errors will be used whether or not doing Monte Carlo. Really should be +# REF_STATE not MONTE + + +# Flag indicating whether to read observations from a file or generate them +init.fromfile false + +#Initial MJD and Seconds past MJD0 for simulation start +init.MJD0 57037 +init.T0 0.0 + +#Final MJD and Seconds past MJDF for simulation end +init.MJDF 57040 +#init.MJDF 57040 +init.TF 0000 + + +#The step size in the propagation step. +#NOTE: This number should be smaller than the desired measurement period +init.dt 30 + + + +# Space Craft Properties/Initial Conditions (start numbering from 0) +# Each satellite needs a true state and a reference state +prop.NumSpacecraft 1 + +#ECI position and velocity (m and m/s) +TRUE_STATE.0.X 7705.608 +TRUE_STATE.0.Y 6361652.47 +TRUE_STATE.0.Z 2337564.704 +TRUE_STATE.0.VX -10061.402 +TRUE_STATE.0.VY -1308.862 +TRUE_STATE.0.VZ 3597.46 + +#REF_STATE.0.X 0.00778266408000e6 +#REF_STATE.0.Y 6.42526899470000e6 +#REF_STATE.0.Z 2.36094035104000e6 +#REF_STATE.0.VX -0.01016201602000e6 +#REF_STATE.0.VY -0.00132195062000e6 +#REF_STATE.0.VZ 0.00363343460000e6 + +REF_STATE.0.X 7715.608 +REF_STATE.0.Y 6361662.47 +REF_STATE.0.Z 2337574.704 +REF_STATE.0.VX -10061.412 +REF_STATE.0.VY -1308.872 +REF_STATE.0.VZ 3597.56 + +#RUE_STATE.0.X 282406920.7 +#TRUE_STATE.0.Y -212684538. +#TRUE_STATE.0.Z -64186635.16 +#TRUE_STATE.0.VX -1662.899 +#TRUE_STATE.0.VY 0639.598 +#TRUE_STATE.0.VZ 1214.703 + +#REF_STATE.0.X 282406920.7 +#REF_STATE.0.Y -212684538. +#REF_STATE.0.Z -64186635.16 +#REF_STATE.0.VX -1662.899 +#REF_STATE.0.VY 0639.598 +#REF_STATE.0.VZ 1214.703 + + +#Initial Clock Bias Term +jat.0.clockBias 0.0 +jat.0.clockDrift 0.0 + +#Solar Radiation Pressure Coefficient and Drag Doefficient +#Area (m^2) and mass (kg) +jat.0.Cr 0.0 +jat.0.Cd 0.0 +jat.0.area 10.0 +jat.0.mass 1000 + +#Orbital Force Parameters (for each spacecraft) + +#Use Gravitational Gradient (not currently implimented) +jat.0.GravGrad false + +#Use only 2-body force models +jat.0.2body false + +#Include Solar Gravity Acceleration +jat.0.solar true + +#Include Lunar Gravity Acceleration +jat.0.lunar true + +#Include Drag Acceleration +jat.0.drag false + +#Include Solar Radiation Pressure Acceleration +jat.0.srp false + +#Include only jgm2 gravity model (False = JGM3) +jat.0.jgm2 false + +#Estimator Properties + +#Set the number of states the filter will have +#X Y Z Vx Vy Vz B Bdot Srp +FILTER.dt 30 +FILTER.states 7 +FILTER.clock 6 +FILTER.bias 7 + +#Set the process model used +FILTER.pm Simple + +#PROCESS NOISE +#Set the process noise for each of the states +Q.0.X 1e-8 +Q.0.Y 1e-8 +Q.0.Z 1e-8 +Q.0.VX 1e-10 +Q.0.VY 1e-10 +Q.0.VZ 1e-10 + +#Q.0.X 1e-55 +#Q.0.Y 1e-55 +#Q.0.Z 1e-55 +#Q.0.VX 1e-55 +#Q.0.VY 1e-55 +#Q.0.VZ 1e-55 + +Q.0.E1bias 5e-9 +Q.0.M1bias 5e-9 + + +#Q.0.X 1e-20 +#Q.0.Y 1e-20 +#Q.0.Z 1e-20 +#Q.0.VX 1e-26 +#Q.0.VY 1e-26 +#Q.0.VZ 1e-26 + + +#Set the Initial Position and Velocity Covariance (m and m/s) +#P0.0.X 1e5 +#P0.0.Y 1e5 +#P0.0.Z 1e5 +#P0.0.VX 1e3 +#P0.0.VY 1e3 +#P0.0.VZ 1e3 +P0.0.X 10 +P0.0.Y 10 +P0.0.Z 10 +P0.0.VX 1 +P0.0.VY 1 +P0.0.VZ 1 + +#P0.0.E1bias 100 +#P0.0.M1bias 100 +P0.0.E1bias 1.0E-2 +P0.0.M1bias 1.0E-2 + + +#Set thhe Initial Clock Offset and Drift Covariance (m and m/s) +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 +#P0.0.clockBias 10000 +#P0.0.clockDrift 10 + + +#Set the Initial Solar Radiation Pressure and Drag Coefficient Covariances +#P0.0.Cr .12 +#P0.0.Cd 1e-30 + + + +#MEASUREMENTS + +#Set the number of types of measurements +MEAS.types 1 + +#Measurement type position. Assumed an ECI absolute position can +#be measured or provided by a ground station. The associated +#measurement noise is also provided + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 30 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.type y_angle_star +#MEAS.0.ustar.1 1.0 +#MEAS.0.ustar.2 0.0 +#MEAS.0.ustar.3 0.0 +#MEAS.0.cbody earth +#MEAS.0.R 2.741556778080377e-003 + +MEAS.0.desc OPT +MEAS.0.satellite 0 +MEAS.0.frequency 30 +MEAS.0.t0 0 +MEAS.0.tf 241200 +MEAS.0.type y_angle_los +MEAS.0.cbody earth +MEAS.0.vbody moon +MEAS.0.q.1 0 +MEAS.0.q.2 0 +MEAS.0.q.3 0 +MEAS.0.q.4 1 +MEAS.0.R 3.6e-3 + +#MEAS.0.R 4e-4 + +#MEAS.0.desc OPT +#MEAS.0.satellite 0 +#MEAS.0.frequency 60 +#MEAS.0.t0 0 +#MEAS.0.tf 259200 +#MEAS.0.tf 2e11 +#MEAS.0.type range +#MEAS.0.cbody earth +#MEAS.0.vbody moon +#MEAS.0.R 2.741556778080377e-3 + +#MEAS.1.desc OPT +#MEAS.1.satellite 0 +#MEAS.1.frequency 60 +#MEAS.1.t0 0 +#MEAS.1.tf 259200 +#MEAS.1.tf 2e11 +#MEAS.1.type range +#MEAS.1.cbody earth +#MEAS.1.vbody moon +#MEAS.1.R 2.741556778080377e-2 + + + + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 1e5 +#MEAS.2.tf 259200 +#MEAS.2.tf 259200 +#MEAS.2.type range +#MEAS.2.cbody earth +#MEAS.2.vbody earth +#MEAS.2.R 2.741556778080377e-9 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 1e5 +#MEAS.1.tf 259200 +#MEAS.3.tf 259200 +#MEAS.3.type y_angle_los +#MEAS.3.cbody earth +#MEAS.3.vbody earth +#MEAS.3.q.1 0 +#MEAS.3.q.2 0 +#MEAS.3.q.3 0 +#MEAS.3.q.4 1 +#MEAS.3.R 2.741556778080377e-9 + +#MEAS.1.R 4e-4 + +#MEAS.2.desc OPT +#MEAS.2.satellite 0 +#MEAS.2.frequency 60 +#MEAS.2.t0 0 +#MEAS.2.tf 259200 +#MEAS.2.type y_angle_los +#MEAS.2.cbody earth +#MEAS.2.vbody moon +#MEAS.2.q.1 0 +#MEAS.2.q.2 0 +#MEAS.2.q.3 0 +#MEAS.2.q.4 1 +#MEAS.2.R 2.741556778080377e-007 + +#MEAS.3.desc OPT +#MEAS.3.satellite 0 +#MEAS.3.frequency 60 +#MEAS.3.t0 0 +#MEAS.3.tf 259200 +#MEAS.3.type range +#MEAS.3.cbody earth +#MEAS.3.vbody moon +#MEAS.3.R 2.741556778080377e-007 +# \ No newline at end of file diff --git a/data/simulation/input/sim_input.xml b/data/simulation/input/sim_input.xml new file mode 100644 index 0000000..f0831f1 --- /dev/null +++ b/data/simulation/input/sim_input.xml @@ -0,0 +1,29 @@ + + + + + 36607.358256 + -20921.723703 + 0 + + 4.525636 + 1.669451 + 0 + + + + + 0 + 2.2 + + 0.6 + + 30 + + diff --git a/data/simulation/input/sim_input.xsd b/data/simulation/input/sim_input.xsd new file mode 100644 index 0000000..cba0b43 --- /dev/null +++ b/data/simulation/input/sim_input.xsd @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/simulation/input/week963.rnx b/data/simulation/input/week963.rnx new file mode 100644 index 0000000..7180e4c --- /dev/null +++ b/data/simulation/input/week963.rnx @@ -0,0 +1,7999 @@ + 2 NAVIGATION DATA RINEX VERSION / TYPE +CCRINEXN V1.6.0 UX CDDIS 01-MAR-00 19:56 PGM / RUN BY / DATE +IGS BROADCAST EPHEMERIS FILE COMMENT + -0.3353D-07 0.8848D-08 -0.8754D-07 0.2328D-06 ION ALPHA + -0.5888D+04 0.5632D+04 0.8192D+04 0.2908D+06 ION BETA + 0.000000000000D+00-0.888178419700D-14 589824 79 DELTA-UTC: A0,A1,T,W + END OF HEADER + 1 98 6 21 0 0 12.0 5.149841308600D-05 0.000000000000D+00 0.000000000000D+00 + 1.000000000000D+00 0.000000000000D+00 0.000000000000D+00 1.771441696405D+00 + 0.000000000000D+00 4.240036010700D-03 0.000000000000D+00 5.153627930000D+03 + 1.200000000000D+01 0.000000000000D+00 4.037767900229D+00 0.000000000000D+00 + 9.559481144000D-01 0.000000000000D+00-1.645014286000D+00-7.714607619400D-09 + 0.000000000000D+00 0.000000000000D+00 9.630000000000D+02 0.000000000000D+00 + 2.000000000000D+00 0.000000000000D+00 0.000000000000D+00 1.000000000000D+00 + 5.995320000000D+05 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 + 2 98 6 21 0 0 12.0-5.025863647500D-04-3.637978807100D-12 0.000000000000D+00 + 1.000000000000D+00 0.000000000000D+00 0.000000000000D+00 3.577852367236D+00 + 0.000000000000D+00 1.803779602100D-02 0.000000000000D+00 5.153610840000D+03 + 1.200000000000D+01 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0.000000000000D+00 5.153395996000D+03 + 2.592120000000D+05 0.000000000000D+00 3.991194490134D+00 0.000000000000D+00 + 9.555286765000D-01 0.000000000000D+00-1.974244952000D+00-7.714607619400D-09 + 0.000000000000D+00 0.000000000000D+00 9.630000000000D+02 0.000000000000D+00 + 2.000000000000D+00 0.000000000000D+00 0.000000000000D+00 3.700000000000D+01 + 2.539320000000D+05 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 +30 98 6 24 0 0 12.0-4.482269287100D-05 0.000000000000D+00 0.000000000000D+00 + 3.700000000000D+01 0.000000000000D+00 0.000000000000D+00 3.771562594032D+00 + 0.000000000000D+00 5.181789398200D-03 0.000000000000D+00 5.153730469000D+03 + 2.592120000000D+05 0.000000000000D+00 6.099565113134D+00 0.000000000000D+00 + 9.489073753000D-01 0.000000000000D+00 1.598541021000D+00-8.000333728800D-09 + 0.000000000000D+00 0.000000000000D+00 9.630000000000D+02 0.000000000000D+00 + 2.000000000000D+00 0.000000000000D+00 0.000000000000D+00 3.700000000000D+01 + 2.539320000000D+05 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 +31 98 6 24 0 0 12.0 4.768371582000D-06 0.000000000000D+00 0.000000000000D+00 + 3.700000000000D+01 0.000000000000D+00 0.000000000000D+00 1.208216744722D+00 + 0.000000000000D+00 8.115291595500D-03 0.000000000000D+00 5.153562012000D+03 + 2.592120000000D+05 0.000000000000D+00 8.584326715564D-01 0.000000000000D+00 + 9.583929181000D-01 0.000000000000D+00 7.606361510000D-01-7.783181210600D-09 + 0.000000000000D+00 0.000000000000D+00 9.630000000000D+02 0.000000000000D+00 + 2.000000000000D+00 0.000000000000D+00 0.000000000000D+00 3.700000000000D+01 + 2.539320000000D+05 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 diff --git a/data/tests/core/util/PathUtil/inputFile.txt b/data/tests/core/util/PathUtil/inputFile.txt new file mode 100644 index 0000000..1607489 --- /dev/null +++ b/data/tests/core/util/PathUtil/inputFile.txt @@ -0,0 +1,3 @@ +input file for test of loading of data files +line 2 +line 3 \ No newline at end of file diff --git a/deploy/AttitudeSimulator.html b/deploy/AttitudeSimulator.html new file mode 100644 index 0000000..3460631 --- /dev/null +++ b/deploy/AttitudeSimulator.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/AttitudeSimulator.sh b/deploy/AttitudeSimulator.sh new file mode 100644 index 0000000..3c8a4bf --- /dev/null +++ b/deploy/AttitudeSimulator.sh @@ -0,0 +1,14 @@ + + +export LD_LIBRARY_PATH=/usr/lib/jni +export LD_LIBRARY_PATH=/usr/lib/jni + +ECHO $LD_LIBRARY_PATH=/home/user/Desktop/j3d-1_5_2-linux-i586/lib/i386 + +java -cp ../dist/jatapplication.jar:../dist/jatcore.jar:../dist/jatcoreNOSA.jar:../lib/plot.jar:../lib/j3dcore.jar:../lib/j3dutils.jar:../lib/vecmath.jar jat.application.AttitudeSimulator.AttitudeSimulator + +echo press enter + +read input + + diff --git a/deploy/DE405Propagator.html b/deploy/DE405Propagator.html new file mode 100644 index 0000000..15cd6d4 --- /dev/null +++ b/deploy/DE405Propagator.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/DateConverter.html b/deploy/DateConverter.html new file mode 100644 index 0000000..0dbc010 --- /dev/null +++ b/deploy/DateConverter.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/EarthMoon.html b/deploy/EarthMoon.html new file mode 100644 index 0000000..60c28c8 --- /dev/null +++ b/deploy/EarthMoon.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/JulianDate.sh b/deploy/JulianDate.sh new file mode 100644 index 0000000..d2924c5 --- /dev/null +++ b/deploy/JulianDate.sh @@ -0,0 +1,8 @@ + +java -cp ../dist/jatexamples.jar:../dist/jatcore.jar:../dist/jatcoreNOSA.jar jat.examples.JulianDate.JulianDate + +echo press enter + +read input + + diff --git a/deploy/SimpleIntegrator.sh b/deploy/SimpleIntegrator.sh new file mode 100644 index 0000000..dffd17b --- /dev/null +++ b/deploy/SimpleIntegrator.sh @@ -0,0 +1,8 @@ + +java -cp ../dist/jatcore.jar:../dist/jatexamples.jar:../lib/plot.jar jat.examples.IntegratorExample.SimpleIntegrator + +echo press enter + +read input + + diff --git a/deploy/images/AttitudeSimulator.png b/deploy/images/AttitudeSimulator.png new file mode 100644 index 0000000..dba93f7 Binary files /dev/null and b/deploy/images/AttitudeSimulator.png differ diff --git a/deploy/images/DE405Propagator.png b/deploy/images/DE405Propagator.png new file mode 100644 index 0000000..1b53055 Binary files /dev/null and b/deploy/images/DE405Propagator.png differ diff --git a/deploy/images/DateConverter.png b/deploy/images/DateConverter.png new file mode 100644 index 0000000..f007d61 Binary files /dev/null and b/deploy/images/DateConverter.png differ diff --git a/deploy/images/EarthMoon.png b/deploy/images/EarthMoon.png new file mode 100644 index 0000000..d23c99c Binary files /dev/null and b/deploy/images/EarthMoon.png differ diff --git a/deploy/images/missionPlan1.png b/deploy/images/missionPlan1.png new file mode 100644 index 0000000..17b5a03 Binary files /dev/null and b/deploy/images/missionPlan1.png differ diff --git a/deploy/images/orbitviewer.png b/deploy/images/orbitviewer.png new file mode 100644 index 0000000..e7ae971 Binary files /dev/null and b/deploy/images/orbitviewer.png differ diff --git a/deploy/images/porkChopPlot.png b/deploy/images/porkChopPlot.png new file mode 100644 index 0000000..a8fd6d5 Binary files /dev/null and b/deploy/images/porkChopPlot.png differ diff --git a/deploy/index.html b/deploy/index.html new file mode 100644 index 0000000..7712500 --- /dev/null +++ b/deploy/index.html @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + +
Attitude Simulator
+ Attitude Simulator Image
+ 		Date Converter
+ DateConverter Image
+
Orbit Viewer
+ orbitviewer
+ 		DE405 Propagator
+ DE405
+
Solar System Mission Planner
+ mission + plan applet web page
+ 		Pork Chop Plot
+ Pork Chop Plot
Earth-Moon Free Trajectory
+ Earth Moon
+
+
+ + diff --git a/deploy/missionPlan.html b/deploy/missionPlan.html new file mode 100644 index 0000000..0b73162 --- /dev/null +++ b/deploy/missionPlan.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/missionPlan.sh b/deploy/missionPlan.sh new file mode 100644 index 0000000..72029d8 --- /dev/null +++ b/deploy/missionPlan.sh @@ -0,0 +1,24 @@ +#!/bin/bash +# To run from within Eclipse, use Run->External Tools->External Tools Configurations and add this shell script. + + +export LD_LIBRARY_PATH=/usr/lib/jni +echo $LD_LIBRARY_PATH + +#From within Eclipse: +#JARDISTPATH="/media/data/workspace/jat/dist" +#JARLIBPATH="/media/data/workspace/jat/lib" + +# From command line: +JARDISTPATH="../dist" +JARLIBPATH="../lib" + +pwd + +java -cp $JARDISTPATH/jatapplication.jar:$JARDISTPATH/jatcore.jar:$JARLIBPATH/j3dcore.jar:$JARLIBPATH/j3dutils.jar:$JARLIBPATH/vecmath.jar:$JARLIBPATH/jdatepicker-1.3.2.jar:$JARLIBPATH/jgoodies-forms-1.5.0.jar:$JARLIBPATH/jgoodies-common-1.3.0.jar:$JARLIBPATH/opencsv-2.3.jar jat.application.missionPlan.MissionPlanMain + +echo press enter + +read input + + diff --git a/deploy/orbitviewer.html b/deploy/orbitviewer.html new file mode 100644 index 0000000..7fe0c10 --- /dev/null +++ b/deploy/orbitviewer.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/porkChopPlot.html b/deploy/porkChopPlot.html new file mode 100644 index 0000000..d04b263 --- /dev/null +++ b/deploy/porkChopPlot.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deploy/porkChopPlot.sh b/deploy/porkChopPlot.sh new file mode 100644 index 0000000..8e906a7 --- /dev/null +++ b/deploy/porkChopPlot.sh @@ -0,0 +1,24 @@ +#!/bin/bash +# To run from within Eclipse, use Run->External Tools->External Tools Configurations and add this shell script. + + +export LD_LIBRARY_PATH=/usr/lib/jni +echo $LD_LIBRARY_PATH + +#From within Eclipse: +#JARDISTPATH="/media/data/workspace/jat/dist" +#JARLIBPATH="/media/data/workspace/jat/lib" + +# From command line: +JARDISTPATH="../dist" +JARLIBPATH="../lib" + +pwd + +java -cp $JARDISTPATH/jatapplication.jar:$JARDISTPATH/jatcore.jar:$JARDISTPATH/jat3D.jar:$JARLIBPATH/j3dcore.jar:$JARLIBPATH/j3dutils.jar:$JARLIBPATH/vecmath.jar:$JARLIBPATH/jdatepicker-1.3.2.jar jat.application.porkChopPlot.PorkChopPlotMain + +echo press enter + +read input + + diff --git a/deploy/readme.txt b/deploy/readme.txt new file mode 100644 index 0000000..dcc8b77 --- /dev/null +++ b/deploy/readme.txt @@ -0,0 +1,5 @@ +Java Astrodynamics Toolkit +Readme + +To run the applications, open index.html. + diff --git a/deployTest/CRTBPPlot.html b/deployTest/CRTBPPlot.html new file mode 100644 index 0000000..e453d5d --- /dev/null +++ b/deployTest/CRTBPPlot.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deployTest/EarthRefTest.html b/deployTest/EarthRefTest.html new file mode 100644 index 0000000..5116eaf --- /dev/null +++ b/deployTest/EarthRefTest.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deployTest/EphemerisTest.html b/deployTest/EphemerisTest.html new file mode 100644 index 0000000..1b3a7c6 --- /dev/null +++ b/deployTest/EphemerisTest.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deployTest/MessageConsoleTest.html b/deployTest/MessageConsoleTest.html new file mode 100644 index 0000000..d4a1d02 --- /dev/null +++ b/deployTest/MessageConsoleTest.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deployTest/PathUtilTest.html b/deployTest/PathUtilTest.html new file mode 100644 index 0000000..fa309b5 --- /dev/null +++ b/deployTest/PathUtilTest.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deployTest/SystemProperties.html b/deployTest/SystemProperties.html new file mode 100644 index 0000000..480129b --- /dev/null +++ b/deployTest/SystemProperties.html @@ -0,0 +1,10 @@ + + + + + + diff --git a/deployTest/images/CRTBP02.png b/deployTest/images/CRTBP02.png new file mode 100644 index 0000000..e43244e Binary files /dev/null and b/deployTest/images/CRTBP02.png differ diff --git a/deployTest/images/EarthRefTest.png b/deployTest/images/EarthRefTest.png new file mode 100644 index 0000000..cfe467a Binary files /dev/null and b/deployTest/images/EarthRefTest.png differ diff --git a/deployTest/images/EphemerisTest.png b/deployTest/images/EphemerisTest.png new file mode 100644 index 0000000..c5ae817 Binary files /dev/null and b/deployTest/images/EphemerisTest.png differ diff --git a/deployTest/images/MessageConsoleTest.png b/deployTest/images/MessageConsoleTest.png new file mode 100644 index 0000000..2a6317e Binary files /dev/null and b/deployTest/images/MessageConsoleTest.png differ diff --git a/deployTest/images/PathUtilTest.png b/deployTest/images/PathUtilTest.png new file mode 100644 index 0000000..0f4aa98 Binary files /dev/null and b/deployTest/images/PathUtilTest.png differ diff --git a/deployTest/images/SystemProperties.png b/deployTest/images/SystemProperties.png new file mode 100644 index 0000000..7655d15 Binary files /dev/null and b/deployTest/images/SystemProperties.png differ diff --git a/deployTest/index.html b/deployTest/index.html new file mode 100644 index 0000000..e178b5b --- /dev/null +++ b/deployTest/index.html @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + +
Message Console
+ MessageConsoleTest
+ 		System Properties
+ System Properties
+
File Loading Test
+ PathUtilTest
+
+
Earth Reference Frame Test
+ Earth Reference Frame + Test
+ 		Ephemeris Test
+ Ephemeris Test
+

+ CRTBP
+
+
+
+
+ + diff --git a/docs/JAT.txt b/docs/JAT.txt new file mode 100644 index 0000000..e2afb9c --- /dev/null +++ b/docs/JAT.txt @@ -0,0 +1,18 @@ +HOW JAT BEGAN + +A small group of aerospace engineering graduate students at the University of Texas at Austin decided to use Java for their homework assignments in Celestial Mechanics I, Estimation Theory and Optimal Spacecraft Trajectories classes. They started by sharing a numerical integrator and discussing homework problems. Frustrated by the lack of existing Java numerical and engineering code, they decided to create the Java Astrodynamics Toolkit. + +WHERE JAT IS GOING + +JAT is quickly becoming an excellent six degree-of-freedom space mission simulation environment. Many orbit and attitude propagation and estimation functions exist in JAT and 2D and 3D visualization tools are coming together. Over the next six months, the interfaces between the numerical propagation and visualization classes will be refined to enhance flexibility and ease of use. + +Eventually we would like JAT to be able to compete with existing commercial-off-the-shelf (COTS) space mission analysis and design software in terms of features, accuracy and ease of use but with more flexibility to serve the serious space mission designer. In the near term, we hope that JAT becomes the standard space mission analysis and design software in the Aerospace Engineering Department at the University of Texas. We hope that JAT will eventually become to the space mission design world what Linux is to the operating system world. + +WHY JAT AND WHY OPEN SOURCE? + +All of the well-established space mission design organizations have a large base of heritage software at their disposal. The problem with the heritage code is that most of it was developed in Fortran to run on large mainframe computers. The support for these computers and Fortran compilers has steadily grown more expensive as vendors abandon the market. Unfortunately it is a costly and time-consuming effort to port the existing heritage code to a modern programming language and most organizations do not have the time and money to dedicate to such an effort. + +Some organizations are turning to COTS software that has been developed over the last decade. The problem with this solution is cost and flexibility. Since the market for space mission analysis and design software is small, the COTS vendors must charge a very large licensing fee. Prices of $20,000 or more per single user are common, with additional charges for each new feature and for yearly upgrades. Furthermore, COTS software does not allow the users to modify the code as their needs change and the users are totally dependent on the vendor to provide fixes. + +By enlisting the help of many programmers via the Internet who donate their time and effort to JAT, we will be able to deliver a space mission simulation system that rivals existing software at a very low cost. Since the JAT code is written in Java, it is inherently portable so that it can be run on almost any hardware. Java compilers are freely available and there is a large and growing support infrastructure in place for the Java programming language. By making the code open source, it allows the user the flexibility to modify or fix the code as necessary. Furthermore, these tools may allow new companies to compete in the space mission analysis and design field which could help reduce the cost of future space missions. + diff --git a/docs/Java performance/18500097.pdf b/docs/Java performance/18500097.pdf new file mode 100644 index 0000000..17e8b3b Binary files /dev/null and b/docs/Java performance/18500097.pdf differ diff --git a/docs/Java performance/Pozo-slides.ppt b/docs/Java performance/Pozo-slides.ppt new file mode 100644 index 0000000..73603aa Binary files /dev/null and b/docs/Java performance/Pozo-slides.ppt differ diff --git a/docs/Java3D.txt b/docs/Java3D.txt new file mode 100644 index 0000000..183bffa --- /dev/null +++ b/docs/Java3D.txt @@ -0,0 +1,9 @@ +Getting Java 3D to run under Windows + +OpenGL installed (check Display-> properties-> settings-> advanced) +download Java3D-JRE or SDK +the system PATH must be set to where J3D.DLL resides +or put the dll's to where the system PATH is set +to compile: in CLASSPATH must be location of j3d... .jar + + diff --git a/docs/Results of JAT Propagator Comparison with STK and FreeFlyer.html b/docs/Results of JAT Propagator Comparison with STK and FreeFlyer.html new file mode 100644 index 0000000..23536eb --- /dev/null +++ b/docs/Results of JAT Propagator Comparison with STK and FreeFlyer.html @@ -0,0 +1,655 @@ + + + + + + + + + Testing of the Java Astrodynamics Toolkit Propagator + +

Testing of the Java Astrodynamics Toolkit Propagator

+ +

Dr. David E. Gaylor1 + , Richard C. Page III2
+  and Kathryn V. Bradley3
+ + Emergent Space Technologies, Greenbelt, MD, 20770, USA
+

+ +

7 August 2006

+ +

Abstract

+The Java Astrodynamics Toolkit (JAT) is an open source software +library of reusable software components for mission design, +trajectory optimization, and simulation of navigation, guidance and +control systems. This paper provides results of comparing various +Earth orbit ephemerides created with JAT with those created using +Analytical Graphics Inc.'s Satellite Tool Kit/High Precision Orbit +Propagator (STK/HPOP) and a.i. solutions, Inc.'s FreeFlyer. +Ephemerides produced using STK and FreeFlyer are also compared to +each other. With careful attention to parameters and models, results +show agreement of millimeter to meter level over several days. +Differences are discussed including potential sources of error. + +
+ +

+1  Introduction

+The Java Astrodynamics Toolkit (JAT) is an open source library of +reusable software components written in the Java programming +language to support rapid development of spacecraft simulations +including 2-D and 3-D visualization capabilities. JAT is distributed +under the GNU General Public License and is available at +http://jat.sourceforge.net. Potential applications of JAT include: + +
    +
  • Simulations of autonomous spacecraft navigation, guidance and +control +
    +
    • + +
  • Space mission design and analysis including trajectory +optimization +
    +
    • + +
  • Operational orbit determination and orbital events +generation +
    +
    • +
+ +
+This paper provides results of comparing ephemerides created by +propagating various Earth orbits using JAT with those created using +Satellite Tool Kit/High Precision Orbit Propagator (STK/HPOP) from +Analytical Graphics, Inc. (AGI) and FreeFlyer (FF) from a.i. +solutions, Inc. Ephemerides produced using STK and FreeFlyer are +also compared to each other. FreeFlyer is a spacecraft simulation +package currently in use at the NASA Goddard Space Flight Center. +Version 5.5, build 5.5.0.25 of FreeFlyer and STK version 6.1 were +used for comparison in the propagator validation. + +
+

+2  Initial State Vectors

The following orbits were selected for testing: Sun-Synchronous, Geostationary (GEO), Molniya, International Space Station +(ISS) and the Global Positioning Satellite System (GPS) orbit. The +initial epoch was chosen to be June 1, 2004, 12:00:00. The initial +conditions which were used for the test case orbits are presented in +Table 1. The corresponding osculating orbital elements +at the initial epoch are presented in Table 2. +The orbit naming convention is based on the approximate altitude of +the orbit and does not follow the exact path of any particular +orbiting body. For example, ISS refers to an orbit which +approximates that of the International Space Station, but does not +refer to the actual location of the International Space Station. + +
+ +
Table 1: Initial Conditions
+ + + + + + + + + +
Category Orbit X Y Z Vx Vy Vz
Type (km)(km)(km)(km/s)(km/s) (km/s)
LEO ISS -4453.783586 -5038.203756 -426.384456 3.831888 -2.887221 -6.018232
LEO Sun-Sync -2290.301063 -6379.471940 0 -0.883923 0.317338 7.610832
MEO GPS 5525.33668 -15871.18494 -20998.992446 2.750341 2.434198 -1.068884
HEO Molniya -1529.894287 -2672.877357 -6150.115340 8.717518 -4.989709 0
GEO GEO 36607.358256 -20921.723703 0 1.525636 2.669451 0
+ +
+
+ +
+ +
Table 2: Initial Osculating Orbital Elements
+ + + + + + + + + +
Orbit a e i Arg of Perigee RAAN True Anomaly
Type km Deg Deg Deg Deg
ISS 6747.414767 .001646462 51.667871 151.908712 45.649594 32.718375
Sun-Sync 6778.137291 .000000046 97.034619 337.556006 250.251300 22.443994
GPS 26558.859022 .015930402 56.286490 33.142451 52.707850 216.676430
Molniya 26553.376213 .740969399 63.4 270.000001 330.214160 359.999998
GEO 42164.165718 .000000135 0 103.882708 0 226.368596
+ +
+
+The integrator step size, propagation length and output frequency +were varied for the different test cases as shown in +Table 3. The propagation length and output frequency +were chosen based on a previous study performed by The Aerospace +Corporation to validate STK/HPOP[1]. + +
+ +
Table 3: Step Size, Propagation Length and Output +Frequency
+ + + + + + + + + + +
Orbit Type Integrator Propagation Output
Type Step Size Length Frequency
(s) (days) (mins)
ISS 5 1 1
Sun-Sync 5 1 1
GPS 60 2 2
Molniya 5 3 5
GEO 60 7 10
+ +
+
+Twelve test cases were performed for each orbit type. Test cases +were run to verify JAT's ability to perform accurate propagation of +Earth orbits using various force models. The force models considered +in this study were two-body Earth gravity, JGM2 and JGM3 spherical +harmonic gravity models; Solar/Lunar third-body perturbation +effects; atmospheric drag using the Harris-Priester density model, +and the Naval Research Laboratory Mass Spectrometer and Incoherent +Scatter Radar Exosphere (NRLMSISE 2000) atmospheric density model; +and solar radiation pressure (SRP). Each of the force models was run +independently to test their individual accuracy, using two-body +Earth except for spherical harmonic cases. A final test case was run +for each satellite orbit which included an atmospheric drag model, +the SRP model, a spherical harmonic gravity model and third-body +perturbations from both the Sun and the Moon. These last test cases +were performed to validate the capability of JAT to accurately +propagate satellite orbits with multiple models. + +
+

+3  Earth Orientation Parameters

+The use of spherical harmonic gravity +models requires precise calculation of the Earth's orientation. +Earth orientation involves parameters for the following +transformations: Nutation, Precession, Pole Wander, and Sidereal +Time, including the exact UT1 time obtained from the UT1-UTC +correction in the International Earth Rotation Service (IERS) +Bulletin A [4]. It is important to understand how the +numerical integrators handle the rotation. FreeFlyer does not appear +to update the perturbations in the Earth's orientation during a +propagation run. Our testing seemed to indicate that STK/HPOP is +updating some information less frequently than every time step. +Currently, JAT updates the Earth orientation every time the +integrator calls for the derivatives. This was done to ensure that +JAT was at its highest accuracy. + +
+JAT implements the conventions established by the International +Astronomical Union (IAU), in the Explanatory Supplement to the +Astronomical Almanac [6]  [7], +and by the IERS 1996 conventions [8] . Exhaustive +comparisons were conducted between the Almanac, and IERS 96 +conventions for Nutation, Precession, and Greenwhich Hour Angle. + +
+The Earth orientation computation in FreeFlyer, however, does not +seem to implement pole wander, though it uses the UT1-UTC value from +the IERS. Because of this discrepancy, pole wander was turned off +for the purpose of validation between the three programs. + +
+

+4  Integrator

The JAT fixed step-size, 8th order Runge-Kutta numerical integrator was used. The Runge-Kutta 8th order integrator within FreeFlyer was utilized in fixed step size mode for all of the +propagation comparisons. The Runge-Kutta-Fehlberg 7th order +integrator with 8th order error control within STK/HPOP was used as +a fixed step integrator with error control turned off. + +
+

+5  Atmospheric Drag

Currently, JAT contains two high +fidelity atmospheric drag models: NRLMSISE2000 and Harris-Priester. +The NRLMSISE2000 model was adapted from code developed by the Naval +Research Laboratory [13]. The Harris Priester Model is +based on the model in Satellite Orbits [14]. +STK/HPOP also has both the NRLMSISE2000 and Harris-Priester models +available in version 6.1 and later. FreeFlyer does not have the +NRLMSISE2000 model, but it does have the Harris-Priester model. The +value used for the F10.7 cm solar flux was 150 W/m2/Hz and +ap was 14.918648166. + +
+

+5.1  Ap/Kp Indicies

+When using the NRLMSISE 2000 in STK, the geomagnetic index (kp), +was set to 3 for this study. STK allows the user to input kp (the +planetary index) and F10.7 values in the force model. However, STK +does not allow the user to enter in an ap (planetary amplitude) +value. The NRLMSISE 2000 model in JAT requires the ap value in +order to calculate the density in the drag model. Therefore a +correlation between the kp value and the ap value was needed. +Wertz presents the equation for the correlation as: +[12] + + +
+
+ ap = e[(kp+1.6)/1.75]
+		(1)
+ + +As previously mentioned, a kp value of 3 was used for the test +cases, which according to Equation 1 above +results in an ap value of 13.85396. However, when this value is +entered into JAT the error in position is approximately 500 meters +for the LEO satellite orbits. Therefore, it was determined that the +ap was incorrect. In order to validate the value of ap which +should be used in the JAT, other sources were investigated. + +
+According to NOAA, for a kp value of 3, the corresponding value +of ap is 15 [5]. Since the nature of atmospheric +density is empirical, there are several different analytical +approaches which disagree slightly on the exact value which should +be used in the calculation of density for atmospheric drag. When a +value of 15 is used for the ap in JAT, the position error is +approximately 51 meters for the ISS case and 28 meters for Sun-Sync. + +
+NOAA presents the following equation for the correlation: + [5] + + +
+
+ 28*kp+0.03*ekp = ap + 100*1-e-0.08*ap
+		(2)
+ + + +
+When a kp value of 3 is used in Equation 2 the +ap value is 14.918648166. A position error of approximately 1 +meter over a day is found when this value of ap is used with the +ISS orbit. + +
+

+6  Third Body Perturbations

Models for Solar and +Lunar perturbations have been created in JAT. These models use the +JPL DE405 ephemerides for the Sun and Moon. FreeFlyer and STK/HPOP +were also set to utilize Sun and Moon positions obtained from the +DE405 ephemeris. + +
+

+7  Gravity Models

JAT and STK/HPOP contain both JGM2 and +JGM3 spherical harmonic gravity models. FreeFlyer only contains the +JGM2 model. For all cases using the JGM2 and JGM3 models, the degree +and order were both set to 20 for all three programs. STK/HPOP has +the ability to model solid and ocean tides. JAT currently does not +have this ability and so this was option turned off in STK/HPOP. +STK/HPOP was also set to not include relativistic accelerations. In +STK/HPOP, JGM2 and JGM3 gravity files were applied with a zero +degree and order for the two-body cases. + +
+

+8  Solar Radiation Pressure

A solar radiation pressure (SRP) +model is also included in JAT. The SRP model assumes a uniform +spherical spacecraft with a given cross-sectional area. The SRP +model has a discontinuity at the boundary between full illumination +and entering the shadow of the Earth. To handle this, a cylindrical +partial illumination model is implemented to provide some continuity +in the derivatives as the radiation component becomes zero. The +vector to the sun is computed using the JPL DE405 ephemeris. In +FreeFlyer, a basic solar radiation pressure model is available, +although documentation on this model is not very detailed. The +settings for the altitude of the atmosphere for the Earth's shadow +were set to zero in STK/HPOP and JAT. + +

+9  Ephemeris Comparison Results and Discussion

+The ephemerides produced by JAT, STK/HPOP and FreeFlyer were +compared with each other. Table 4 presents the maximum +position and velocity differences for the ISS orbit. In all cases, +JAT agrees well with STK/HPOP. The largest differences in this set +of tests was between JAT and FreeFlyer when using the +Harris-Priester model, however, it is interesting to note that +STK/HPOP and FreeFlyer also do not agree well in these cases. + +
+ +
+ +
Table 4: Position and Velocity Differences for ISS +Orbit
+ + + + + + + + + + + + + + + + + +
Description JAT-STK JAT-STK JAT-FF JAT-FF FF-STK FF-STK
Position Velocity Position Velocity Position Velocity
(m) (m/s) (m) (m/s) (m) (m/s)
2-body 0.000829 0.000808 0.000048 0.0000008 0.000838 0.000809
2-body+Moon 0.000830 0.000815 0.000329 0.000001 0.000996 0.000815
2-body+Sun 0.000827 0.000838 0.000037 0.0000008 0.000826 0.000838
2-body+NRL 0.269426 0.000995 - - - -
2-body+HP 1.031710 0.001802 2.33001 0.002665 5.495820 0.006752
2-body+SRP 0.103515 0.000875 0.069386 0.000071 0.136046 0.000885
JGM2 0.368138 0.001085 0.500248 0.000552 0.836881 0.001576
JGM3 0.368124 0.001076 - - - -
All+JGM2+NRL 0.857388 0.001496 - - - -
All+JGM2+HP 1.053890 0.001723 4.39748 0.005034 5.441040 0.006492
All+JGM3+NRL 0.857146 0.001572 - - - -
All+JGM3+HP 1.053360 0.001730 - - - -
+ +
+
+Table 5 presents the maximum position and velocity +differences for the Sun Synchronous orbit. JAT and STK/HPOP agree +well for all cases except for the cases that include atmospheric +drag as would be expected based on the previous discussion on the +difficulties in matching atmospheric density models. + +
+ +
+ +
Table 5: Position and Velocity Differences for Sun-Sync +Orbit
+ + + + + + + + + + + + + + + + + +
Description JAT-STK JAT-STK JAT-FF JAT-FF FF-STK FF-STK
Position Velocity Position Velocity Position Velocity
(m) (m/s) (m) (m/s) (m) (m/s)
2-body 0.00081 0.00080 0.00003 0.0000008 0.00082 0.00080
2-body+Moon 0.00083 0.00083 0.00028 0.0000009 0.00093 0.00083
2-body+Sun 0.00082 0.00082 0.00003 0.0000008 0.00081 0.00082
2-body+NRL 8.66478 0.01035 - - - -
2-body+HP 3.33383 0.00439 1.61195 0.00181 1.77066 0.00261
2-body+SRP 0.09203 0.00083 0.03162 0.00003 0.09110 0.00083
JGM2 0.17022 0.00096 0.27362 0.000296 0.37380 0.00111
JGM3 0.16998 0.00089 - - - -
All+JGM2+NRL 8.22196 0.00970 - - - -
All+JGM2+HP 3.53857 0.00461 1.8332 0.00209 1.70622 0.00258
All+JGM3+NRL 8.22146 0.00995 - - - -
All+JGM3+HP 3.53792 0.00455 - - - -
+ +
+
+Table 6 presents the maximum position and velocity +differences for the GPS orbit. All three programs have close +agreement in this case due to the nature of the GPS orbit, which was +chosen to minimize the effects of perturbations. + +
+ +
+ +
Table 6: Position and Velocity Differences for GPS +Orbit
+ + + + + + + + + + + + + + + + + +
Description JAT-STK JAT-STK JAT-FF JAT-FF FF-STK FF-STK
Position Velocity Position Velocity Position Velocity
(m) (m/s) (m) (m/s) (m) (m/s)
2-body 0.00080 0.00083 0.000008 0.0000008 0.00080 0.00083
2-body+Moon 0.00080 0.00085 0.03287 0.000005 0.03298 0.00085
2-body+Sun 0.00084 0.00080 0.00064 0.0000008 0.00122 0.00080
2-body+NRL 0.00782 0.00083 - - - -
2-body+HP 0.00080 0.00083 0.000008 0.0000008 0.00080 0.00083
2-body+SRP 0.08960 0.00084 0.72128 0.00008 0.72511 0.00088
JGM2 0.01950 0.00081 0.01660 0.000002 0.02076 0.00081
JGM3 0.01940 0.00081 - - - -
All+JGM2+NRL 0.11936 0.00083 - - - -
All+JGM2+HP 0.12493 0.00083 0.61088 0.00006 0.52284 0.00086
All+JGM3+NRL 0.11951 0.00085 - - - -
All+JGM3+HP 0.12509 0.00085 - - - -
+ +
+
+Table 7 presents the maximum position and velocity +differences for the Molniya orbit. The Molniya orbit is the most +challenging for a number of reasons. JAT and STK/HPOP agree well for +the cases that did not include atmospheric drag or a spherical +harmonic gravity model. It is interesting to note that JAT and +FreeFlyer did agree well in the cases with atmospheric drag. + +
+ +
+ +
Table 7: Position and Velocity Differences for Molniya +Orbit
+ + + + + + + + + + + + + + + + + +
Description JAT-STK JAT-STK JAT-FF JAT-FF FF-STK FF-STK
Position Velocity Position Velocity Position Velocity
(m) (m/s) (m) (m/s) (m) (m/s)
2-body 0.00090 0.00084 0.00047 0.0000008 0.00082 0.00084
2-body+Moon 0.00082 0.00080 0.08194 0.000068 0.08180 0.00080
2-body+Sun 0.00085 0.00082 0.03110 0.000025 0.03129 0.00082
2-body+NRL 28.39440 0.02389 - - - -
2-body+HP 15.16700 0.01287 0.02214 0.000018 15.18920 0.01289
2-body+SRP 0.63727 0.00092 2.77142 0.00229 2.13422 0.00190
JGM2 5.57807 0.00456 7.72931 .006160 2.30217 0.00184
JGM3 5.57807 0.00481 - - - -
All+JGM2+NRL 27.86270 0.02052 - - - -
All+JGM2+HP 7.57025 0.00460 5.43094 0.00417 12.97950 0.00862
All+JGM3+NRL 27.86160 0.02082 - - - -
All+JGM3+HP 7.57107 0.00493 - - - -
+ +
+
+Table 8 presents the maximum position and velocity +differences for the GEO orbit. In all cases, JAT agrees well with +STK/HPOP. The largest differences in this set of tests was between +JAT and FreeFlyer when including SRP, however, it is interesting to +note that STK/HPOP and FreeFlyer also do not agree well in these +cases. + +
+ +
+ +
Table 8: Position and Velocity Differences for GEO +Orbit
+ + + + + + + + + + + + + + + + + +
Description JAT-STK JAT-STK JAT-FF JAT-FF FF-STK FF-STK
Position Velocity Position Velocity Position Velocity
(m) (m/s) (m) (m/s) (m) (m/s)
2-body 0.00070 0.00070 0.00009 0.0000007 0.00070 0.00070
2-body+Moon 0.00090 0.00081 0.07980 0.00005 0.07989 0.00081
2-body+Sun 0.00087 0.00081 0.05206 0.000004 0.05230 0.00081
2-body+NRL 0.00070 0.00070
2-body+HP 0.00070 0.00070 0.00009 0.0000007 0.00070 0.00070
2-body+SRP 0.00080 0.00082 2.73497 0.00012 2.89851 0.00087
JGM2 0.07287 0.00081 1.58727 0.000116 1.65447 0.00083
JGM3 0.07276 0.00081
All+JGM2+NRL 0.72280 0.00084
All+JGM2+HP 0.72280 0.00084 2.99845 0.00014 3.41299 0.00090
All+JGM3+NRL 0.72298 0.00082
All+JGM3+HP 0.72298 0.00082
+ +
+ +

+10  Conclusions

+JAT achieves agreement below meter levels for all cases except those +with atmospheric drag. The sensitivity to differences in the density +calculation make an exact match difficult. Atmospheric drag depends +on proper modeling of geomagnetic and molecular behavior influencing +atmospheric density. Care must be taken to model the geomagnetic +index correctly. However, given that the range of modeling error can +be on the order of kilometers or more for low Earth orbits, meters +or tens of meters in the Molniya case is expected. + +
+The verification of the spherical harmonic gravity models revealed +ambiguities in which IERS convention and update procedure is used in +the rotation from the Earth Centered Inertial frame to the Earth +Centered Earth Fixed frame. Ultimately, due to the complexity of the +IAU and IERS conventions and their subsequent corrections, it is +extremely difficult to match algorithms exactly without knowledge of +all equations and values used or access to the source code. + +
+This study shows that JAT has the capability to closely match the +ability of commercial packages. However, the uncertainty of the +models for both spherical harmonic and atmospheric drag indicates +that exact agreement does not necessarily correspond to accurate +propagation. It is recommended that propagators seek to ensure the +current, correct algorithms for Earth rotation from the IAU and IERS +as well as the correct atmospheric data from NOAA in addition to +validation against existing codes. Commercial packages such as +STK/HPOP and FreeFlyer often implement different conventions and +data sets in different versions, so care should be taken in +determining the standards used. + +
+

+11  Future Work

+The goal of JAT is to provide high-fidelity models for simulation of +guidance, navigation, and control of spacecraft. As an open source +project, the Java Astrodynamics Toolkit will continue to be updated +with new conventions and updated data from the IERS, IAU, and NOAA. +It will grow in both accuracy and functionality as the project +progresses. + +
+ +

References

+ +
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[1]
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[2]
+J. R. Carpenter, editor. + Global Positioning Service Enhanced Onboard Navigation System, +Mathematical Specifications. + Version 2, Release 2.1 December 2003. + Goddard Space Flight Center, Mission Engineering and Systems +Analysis Division/Code 595. + +
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+D. Gaylor, R. Page, T. Berthold. + Java Astrodynamics Toolkit. + URL: http://jat.sourceforge.net, Accessed July 2006. + +
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+D. A. Vallado. + Fundamentals of Astrodynamics and Applications, 2nd Edition. + Microcosm Press. El Segundo, CA. 2001:[528] + +
+
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+D. A. Vallado. 2005. + “An Analysis of State Vector Propagation using Differing Flight Dynamics +Programs.” + Paper AAS 05-199 presented at the AAS/AIAA +Space Flight Mechanics Conference. Copper Mountain, CO. + +
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+M. Picone, A.E. Hedin, and D. Drob. + NRLMSISE-00 Model 2001. + URL: +http://modelweb.gsfc.nasa.gov/atmos/nrlmsise00.html, Accessed +July 2006. + +
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+
+ +
+

Footnotes:

+ +
+1VP Aerospace Systems, dave.gaylor@emergentspace.com +
+2Aerospace Engineer, richard.page@emergentspace.com +
+3Aerospace Engineer, kate.bradley@emergentspace.com +

File translated from +TEX +by +TTH, +version 3.74.
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All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + +- Redistribution of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. +- Redistribution in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the + distribution. + +Neither the name of Sun Microsystems, Inc. or the names of +contributors may be used to endorse or promote products derived +from this software without specific prior written permission. + +This software is provided "AS IS," without a warranty of any +kind. ALL EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND +WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT, ARE HEREBY +EXCLUDED. SUN MICROSYSTEMS, INC. ("SUN") AND ITS LICENSORS SHALL +NOT BE LIABLE FOR ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF +USING, MODIFYING OR DISTRIBUTING THIS SOFTWARE OR ITS +DERIVATIVES. IN NO EVENT WILL SUN OR ITS LICENSORS BE LIABLE FOR +ANY LOST REVENUE, PROFIT OR DATA, OR FOR DIRECT, INDIRECT, SPECIAL, +CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER CAUSED AND +REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF OR +INABILITY TO USE THIS SOFTWARE, EVEN IF SUN HAS BEEN ADVISED OF THE +POSSIBILITY OF SUCH DAMAGES. + +You acknowledge that this software is not designed, licensed or +intended for use in the design, construction, operation or +maintenance of any nuclear facility. diff --git a/docs/licenses/starfire_2003.txt b/docs/licenses/starfire_2003.txt new file mode 100644 index 0000000..f6a34e3 --- /dev/null +++ b/docs/licenses/starfire_2003.txt @@ -0,0 +1,8 @@ +http://www.mnstarfire.com/download/inspector3ds.html + +License: +This code is being provided as a service to the Java 3D community. It may be +used and improved royalty free. It may not be modified and sold. All rights +are reserved by the author, John Wright, and Starfire Research. We are asking +for a "donation" of $10 to help defray the cost of development and +distribution. \ No newline at end of file diff --git a/input/burns/rbar_burns.jat b/input/burns/rbar_burns.jat new file mode 100644 index 0000000..4059ee1 Binary files /dev/null and b/input/burns/rbar_burns.jat differ diff --git a/input/burns/rbar_burns.txt b/input/burns/rbar_burns.txt new file mode 100644 index 0000000..58cc39d --- /dev/null +++ b/input/burns/rbar_burns.txt @@ -0,0 +1,6 @@ +994.0 1006.0 0.0741796570654275 -0.2991014284938670 -0.9539121774785570 -0.0242877156407632 +5614.0 5626.0 0.0911287285934320 -0.8087351151291870 0.5880082492731510 -0.0139216501788969 +6394.0 6406.0 0.0110890250232679 -0.8643106556285960 -0.3872844429306860 0.3209016217327910 +7141.0 7159.0 0.0119756235198349 0.7499111726134680 0.6615333032589670 0.0026309444639917 +7896.0 7904.0 0.0118485075533153 0.7565655199559670 0.6539174914126960 -0.0007269376066729 +8648.0 8652.0 0.0124616063081256 0.7306457715874320 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0.000000000000D+00 + 0.300000000000D+01 0.000000000000D+00-0.419095158577D-08 0.162000000000D+03 + 0.428628000000D+06 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 +28 01 3 1 23 59 44.0 0.162371434271D-04-0.125055521494D-11 0.000000000000D+00 + 0.110000000000D+02 0.270000000000D+02 0.429517891144D-08 0.311302682426D+01 + 0.146403908730D-05 0.515483401250D-02 0.104326754808D-04 0.515371965790D+04 + 0.431984000000D+06-0.186264514923D-08 0.112801255937D+01-0.335276126862D-07 + 0.959943180915D+00 0.177531250000D+03-0.244034041898D+01-0.782175437889D-08 + 0.221437795202D-10 0.100000000000D+01 0.110300000000D+04 0.000000000000D+00 + 0.400000000000D+01 0.000000000000D+00-0.107102096081D-07 0.110000000000D+02 + 0.427608000000D+06 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 diff --git a/lib/StarfireExt.jar b/lib/StarfireExt.jar new file mode 100644 index 0000000..f957b97 Binary files /dev/null and b/lib/StarfireExt.jar differ diff --git a/lib/commons-lang3-3.1.jar 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differ diff --git a/lib/vecmath.jar b/lib/vecmath.jar new file mode 100644 index 0000000..3eda5f9 Binary files /dev/null and b/lib/vecmath.jar differ diff --git a/scripts/jat.bat b/scripts/jat.bat new file mode 100644 index 0000000..68501d9 --- /dev/null +++ b/scripts/jat.bat @@ -0,0 +1,38 @@ +@echo off + +REM Find the path to java. First look in JAT_JAVA, then JAVA_HOME, then in PATH +if defined JAT_JAVA if exist "%JAT_JAVA%\bin\java.exe" set _JAVA_CMD="%JAT_JAVA%\bin\java.exe"&& goto have_java +if defined JAVA_HOME if exist "%JAVA_HOME%\bin\java.exe" set _JAVA_CMD="%JAVA_HOME%\bin\java.exe"&& goto have_java +for %%d in (%PATH%) do if exist "%%d\java.exe" set _JAVA_CMD="%%d\java.exe"&& goto have_java +echo Cannot find java.exe in JAT_JAVA, JAVA_HOME, or path && goto error +:have_java + +REM Determine where JAT classes are. If not running from JAT root, then JAT_HOME must +REM be defined. +if defined JAT_HOME if exist "%JAT_HOME%\jat.bat" goto have_home +if exist ".\jat.bat" set JAT_HOME=.&& goto have_home +:have_home + +REM Setup the classpath - the JAT source tree and everything in external_jar +set JAT_CLASSPATH=%JAT_HOME% +set _JAT_LIBDIR=%JAT_HOME%\external_jar +REM The next statement is confusing but just combines names of all jars in +REM \external_jar into %JAT_CLASSPATH% +for /R %_JAT_LIBDIR% %%X in (*.jar) do for /f "tokens=2 delims==" %%Y in ('set JAT_CLASSPATH') DO set JAT_CLASSPATH=%%Y;%%X + +REM Now figure out the Java class to execute. Defaults to CEVSim. +if "%1" == "" set _MAIN_CLASS=jat.sim.CEVSim&& goto have_class +set _MAIN_CLASS=%1 +:have_class + +REM remove the first argument and pass the rest to the Java program +%_JAVA_CMD% -classpath %JAT_CLASSPATH% %_MAIN_CLASS% %2 %3 %4 %5 %6 +if not errorlevel 1 goto done + +:error +pause + +:done +set _JAVA_CMD= +set _JAT_LIBDIR= +set _MAIN_CLASS= \ No newline at end of file diff --git a/scripts/jat.sh b/scripts/jat.sh new file mode 100644 index 0000000..d3c34bf --- /dev/null +++ b/scripts/jat.sh @@ -0,0 +1,75 @@ +#!/bin/csh + +############################################################################ +# Find the path to java. First look in JAT_JAVA, then JAVA_HOME, then in PATH +if ((! $?JAT_JAVA) && ($?JAVA_HOME)) then + if (-r ${JAVA_HOME}/bin/java) then + setenv JAT_JAVA ${JAVA_HOME} + endif +endif + +if (! $?JAT_JAVA) then + foreach dir ($path) + if (-r $dir/java) then + setenv JAT_JAVA $dir/.. + break + endif + end +endif + +if (! $?JAT_JAVA) then + echo -n "Java could not be found. Please specify " + echo "location in environment variable JAT_JAVA." + exit 1 +else if (! -r ${JAT_JAVA}/bin/java) then + echo -n "JAT_JAVA environment variable is set, but does not " + echo -n "seem to point to Java installation. JAT_JAVA/bin/java" + echo " not found" + exit 1 +endif + +############################################################# +# Determine the JAT root directory. We look first in the +# JAT_HOME environment variable then in the current directory +if (! $?JAT_HOME) then + if (-r ./jat.sh) then + setenv JAT_HOME . + endif +endif + +if (! $?JAT_HOME) then + echo -n "JAT could not be found. Please run from JAT's root " + echo "directory or specify location in environment variable JAT_HOME." + exit 1 +else if !(-r ${JAT_HOME}/jat.sh) then + echo -n "JAT_HOME environment variable is set, but does not " + echo -n "seem to point to JAT system. JAT_HOME/jat.sh " + echo "not found." + exit 1 +endif + +######################################################################## +# Setup the classpath - the JAT source tree and everything in external_jar + +setenv JAT_CLASSPATH ${JAT_HOME} + +# Add all jars in external_jar/ directory to classpath. +foreach lib (`find ${JAT_HOME}/external_jar -name '*.jar'`) + setenv JAT_CLASSPATH ${JAT_CLASSPATH}:$lib +end + +################################################################### +# Now figure out the Java class to execute. Defaults to CEVSim. + +if ($#argv == 0) then + setenv _MAIN_CLASS jat.sim.CEVSim +else + setenv _MAIN_CLASS $1 +endif + +######################################################################### +# Now run the command + +${JAT_JAVA}/bin/java -classpath ${JAT_CLASSPATH} $_MAIN_CLASS $argv[2-$#argv] + +unsetenv _MAIN_CLASS diff --git a/scripts/list_all_folders.sh b/scripts/list_all_folders.sh new file mode 100644 index 0000000..8240d50 --- /dev/null +++ b/scripts/list_all_folders.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +find .. -not -path '*/.*/*' -not -name '*.*' | sort >folderlist.txt + +echo press enter + +read input + diff --git a/scripts/list_all_folders_and_files.sh b/scripts/list_all_folders_and_files.sh new file mode 100644 index 0000000..89ef1d7 --- /dev/null +++ b/scripts/list_all_folders_and_files.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +find .. -not -path '*/.*/*' -not -name '.*' -not -name '*.*~' | sort >filelist.txt + +echo press enter + +read input + diff --git a/scripts/make_installer_zip.sh b/scripts/make_installer_zip.sh new file mode 100644 index 0000000..1bf290d --- /dev/null +++ b/scripts/make_installer_zip.sh @@ -0,0 +1 @@ +zip -9 -r --exclude=*.svn* jat_source_all.zip ../src diff --git a/scripts/remove_class_files.sh b/scripts/remove_class_files.sh new file mode 100644 index 0000000..987388e --- /dev/null +++ b/scripts/remove_class_files.sh @@ -0,0 +1,18 @@ +#!/bin/bash + + +echo Before Clean +find .. -name "*.class" + +find .. -name "*.class" -exec rm -rf {} \; + +echo After Clean +find .. -name "*.class" + + +echo press enter + +read input + + + diff --git a/scripts/remove_svn_folders.sh b/scripts/remove_svn_folders.sh new file mode 100644 index 0000000..4a95569 --- /dev/null +++ b/scripts/remove_svn_folders.sh @@ -0,0 +1,18 @@ +#!/bin/bash + + +echo Before Clean +find .. -name ".svn" + +find .. -name ".svn" -exec rm -rf {} \; + +echo After Clean +find .. -name ".svn" + + +echo press enter + +read input + + + diff --git a/scripts/svn_checkout.sh b/scripts/svn_checkout.sh new file mode 100644 index 0000000..85e2a78 --- /dev/null +++ b/scripts/svn_checkout.sh @@ -0,0 +1,10 @@ +#!/bin/bash + + +svn co https://jat.svn.sourceforge.net/svnroot/jat/trunk /home/user/workspace/jat + + +echo press enter + +read input + diff --git a/scripts/svn_commands.sh b/scripts/svn_commands.sh new file mode 100644 index 0000000..0b1ad01 --- /dev/null +++ b/scripts/svn_commands.sh @@ -0,0 +1,10 @@ +#!/bin/bash + + + +svn import https://jat.svn.sourceforge.net/svnroot/jat/trunk/jat /home/user/workspace/jat/src/jat/examples + +echo press enter + +read input + diff --git a/scripts/zip_source_all.sh b/scripts/zip_source_all.sh new file mode 100644 index 0000000..1bf290d --- /dev/null +++ b/scripts/zip_source_all.sh @@ -0,0 +1 @@ +zip -9 -r --exclude=*.svn* jat_source_all.zip ../src diff --git a/scripts/zip_source_core.sh b/scripts/zip_source_core.sh new file mode 100644 index 0000000..316bc2a --- /dev/null +++ b/scripts/zip_source_core.sh @@ -0,0 +1 @@ +zip -9 -r --exclude=*.svn* jat_source_core.zip ../src/jat/core diff --git a/src/jat/application/AttitudeSimulator/AttitudeSimulator.java b/src/jat/application/AttitudeSimulator/AttitudeSimulator.java new file mode 100644 index 0000000..5d4c63c --- /dev/null +++ b/src/jat/application/AttitudeSimulator/AttitudeSimulator.java @@ -0,0 +1,1506 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.application.AttitudeSimulator; + +import jat.coreNOSA.attitude.DegToQuat; +import jat.jat3D.util; + +import java.awt.BorderLayout; +import java.awt.CardLayout; +import java.awt.Color; +import java.awt.Container; +import java.awt.Dimension; +import java.awt.Font; +import java.awt.Toolkit; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.ItemEvent; +import java.awt.event.ItemListener; +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; + +import javax.swing.BorderFactory; +import javax.swing.Box; +import javax.swing.BoxLayout; +import javax.swing.ButtonGroup; +import javax.swing.JApplet; +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JComboBox; +import javax.swing.JFrame; +import javax.swing.JLabel; +import javax.swing.JOptionPane; +import javax.swing.JPanel; +import javax.swing.JRadioButton; +import javax.swing.JScrollPane; +import javax.swing.JTextField; +import javax.swing.border.TitledBorder; + +/** + *

+ * AttitudeSimulator is a JApplet developed as a Master's thesis Project at + * California Polytechnic State University, San Luis Obispo (Cal Poly) + * + * @author Noriko Takada + * @version 1.2 (03/09/2004) Modification since the last version Removed: import + * javax.swing.border.Border; import javax.swing.border.EtchedBorder; + * import javax.swing.border.LineBorder; import javax.swing.event.*; + * import jat.attitude.util.AnimationWindow; + * @author Tobias Berthold + * @version 1.3 (04/03/2012) Modifications: change layout so that start button + * is visible. Load help pages locally. + * + */ + +public class AttitudeSimulator extends JApplet // implements ItemListener +{ + /** + * + */ + private static final long serialVersionUID = 5907632930552441343L; + private static AttitudeSimulator theApplet; // Applet itself! + private static JFrame theFrame; // Frame is used in main() + private static String LastUpdate = "Last Update: 03/31/2012, 12:25"; + + // Instantiate a Font object + Font fancyFont = new Font("Serif", Font.BOLD | Font.ITALIC, 25); + Font titlef = new Font("Dialog", Font.BOLD, 16); + Font boldf = new Font("Dialog", Font.BOLD, 12); + Font italicf = new Font("Dialog", Font.ITALIC, 12); + Font normalf = new Font("Dialog", Font.PLAIN, 12); + + /* GUI Dimensions */ + static int appletwidth = 750; // Width of Applet + static int appletheight = 500; + // static int comboBoxPane_width = 750; + // static int thirdPanelWidth = 200; + + // Dimension of J components + // Dimension maxSize = new Dimension(150, 20); + // Dimension level3_Pane_simulation_size = new Dimension(750, appletheight); + // // width, height + // Dimension level3_Pane_conversion_size = new Dimension(200, appletheight); + // Dimension panelSize = new Dimension(755, 400); + // Dimension scrollPanelSize = new Dimension(755, 300); + // Dimension inertiaPaneSize = new Dimension(525, 50); + + /* Buttons */ + JButton startButton = new JButton("Start Button"); + JButton convertButton = new JButton("Convert Button"); + JButton resetButton = new JButton("Reset Button"); + JButton simHelpButton = new JButton("Simulation Help"); + + JComboBox combo; + JCheckBox twoDeeBox; + JCheckBox threeDeeBox; + JRadioButton threeRWRadio; + JRadioButton fourRWRadio; + + /* Note: Each case is identified by the number from 1 to 8 */ + /* (1) Constant Torque case */ + String input1row1[] = { "Ixx", "Iyy", "Izz" }; + String input1row2[] = { "M1", "M2", "M3" }; + String input1row3[] = { "w1", "w2", "w3" }; + String input1row4[] = { "q1", "q2", "q3", "q4" }; + int length1row1 = input1row1.length; + int length1row2 = input1row2.length; + int length1row3 = input1row3.length; + int length1row4 = input1row4.length; + JTextField inputField1row1[] = new JTextField[length1row1]; + JTextField inputField1row2[] = new JTextField[length1row2]; + JTextField inputField1row3[] = new JTextField[length1row3]; + JTextField inputField1row4[] = new JTextField[length1row4]; + // Default Initial Condition + String defaultIc1row1[] = { "10.42", "35.42", "41.67" }; + String defaultIc1row2[] = { "0.0", "0.0", "1.0" }; + String defaultIc1row3[] = { "0.0", "0.0", "0.0" }; + String defaultIc1row4[] = { "0.0", "0.0", "0.0", "1.0" }; + + /* (2) Gravity Gradient (Circular Orbit) case */ + String input2row1[] = { "Ixx", "Iyy", "Izz" }; + String input2row2[] = { "w1", "w2", "w3" }; + String input2row3[] = { "q1", "q2", "q3", "q4" }; + int length2row1 = input2row1.length; + int length2row2 = input2row2.length; + int length2row3 = input2row3.length; + JTextField inputField2row1[] = new JTextField[length2row1]; + JTextField inputField2row2[] = new JTextField[length2row2]; + JTextField inputField2row3[] = new JTextField[length2row3]; + String defautlIc2row1[] = { "10.42", "35.42", "41.67" }; + String defaultIc2row2[] = { "0.1", "0.0", "1.0" }; + String defaultIc2row3[] = { "0.0", "0.0", "0.0", "1.0" }; + + /* (3) Gravity Gradient (Eccentric Orbit) case */ + String input3row1[] = { "Ixx", "Iyy", "Izz" }; + String input3row2[] = { "e" }; + String input3row3[] = { "w1", "w2", "w3" }; + String input3row4[] = { "q1", "q2", "q3", "q4" }; + int length3row1 = input3row1.length; + int length3row2 = input3row2.length; + int length3row3 = input3row3.length; + int length3row4 = input3row4.length; + JTextField inputField3row1[] = new JTextField[length3row1]; + JTextField inputField3row2[] = new JTextField[length3row2]; + JTextField inputField3row3[] = new JTextField[length3row3]; + JTextField inputField3row4[] = new JTextField[length3row4]; + String defaultIc3row1[] = { "10.42", "35.42", "41.67" }; + String defaultIc3row2[] = { "0.3" }; + String defaultIc3row3[] = { "0.0", "0.0", "1.0" }; + String defaultIc3row4[] = { "0.0", "0.0", "0.0", "1.0", "0.3" }; + + /* (4) Spherical Damper case */ + String input4row1[] = { "Ixx", "Iyy", "Izz" }; + String input4row2[] = { "c", "j" }; + String input4row3[] = { "w1", "w2", "w3" }; + String input4row4[] = { "q1", "q2", "q3", "q4" }; + String input4row5[] = { "alpha", "beta", "gamma" }; + int length4row1 = input4row1.length; + int length4row2 = input4row2.length; + int length4row3 = input4row3.length; + int length4row4 = input4row4.length; + int length4row5 = input4row5.length; + JTextField inputField4row1[] = new JTextField[length4row1]; + JTextField inputField4row2[] = new JTextField[length4row2]; + JTextField inputField4row3[] = new JTextField[length4row3]; + JTextField inputField4row4[] = new JTextField[length4row4]; + JTextField inputField4row5[] = new JTextField[length4row5]; + String defaultIc4row1[] = { "10.42", "35.42", "41.67" }; + String defaultIc4row2[] = { "5", "5" }; + String defaultIc4row3[] = { "0.0", "0.0", "1.0" }; + String defaultIc4row4[] = { "0.0", "0.0", "0.0", "1.0" }; + String defaultIc4row5[] = { "0.0", "0.0", "0.0" }; + + /* (5) 4RW Control case */ + String input5row1[] = { "Ixx", "Iyy", "Izz" }; + String input5row2[] = { "J", "RW angle" }; + String input5row3[] = { "psi", "theta", "phi" }; + String input5row4[] = { "w1", "w2", "w3" }; + String input5row5[] = { "q1", "q2", "q3", "q4" }; + String input5row6[] = { "Omega1", "Omega2", "Omega3", "Omega4" }; + int length5row1 = input5row1.length; + int length5row2 = input5row2.length; + int length5row3 = input5row3.length; + int length5row4 = input5row4.length; + int length5row5 = input5row5.length; + int length5row6 = input5row6.length; + JTextField inputField5row1[] = new JTextField[length5row1]; + JTextField inputField5row2[] = new JTextField[length5row2]; + JTextField inputField5row3[] = new JTextField[length5row3]; + JTextField inputField5row4[] = new JTextField[length5row4]; + JTextField inputField5row5[] = new JTextField[length5row5]; + JTextField inputField5row6[] = new JTextField[length5row6]; + String defaultIc5row1[] = { "10.42", "35.42", "41.67" }; + String defaultIc5row2[] = { "10.0", "25" }; + String defaultIc5row3[] = { "10", "60", "50" }; + String defaultIc5row4[] = { "0.0", "0.0", "0.0" }; + String defaultIc5row5[] = { "0.0", "0.0", "0.0", "1.0" }; + String defaultIc5row6[] = { "0.0", "0.0", "0.0", "0.0" }; + + /* (6) 3CMG Control case */ + String input6row1[] = { "Ixx", "Iyy", "Izz" }; + String input6row2[] = { "J", "A" }; + String input6row3[] = { "psi", "theta", "phi" }; + String input6row4[] = { "w1", "w2", "w3" }; + String input6row5[] = { "q1", "q2", "q3", "q4" }; + String input6row6[] = { "Omega1", "Omega2", "Omega3" }; + int length6row1 = input6row1.length; + int length6row2 = input6row2.length; + int length6row3 = input6row3.length; + int length6row4 = input6row4.length; + int length6row5 = input6row5.length; + int length6row6 = input6row6.length; + JTextField inputField6row1[] = new JTextField[length6row1]; + JTextField inputField6row2[] = new JTextField[length6row2]; + JTextField inputField6row3[] = new JTextField[length6row3]; + JTextField inputField6row4[] = new JTextField[length6row4]; + JTextField inputField6row5[] = new JTextField[length6row5]; + JTextField inputField6row6[] = new JTextField[length6row6]; + String defaultIc6row1[] = { "10.42", "35.42", "41.67" }; + String defaultIc6row2[] = { "10.0", "25" }; + String defaultIc6row3[] = { "10", "60", "50" }; + String defaultIc6row4[] = { "0.0", "0.0", "0.1" }; + String defaultIc6row5[] = { "0.0", "0.0", "0.0", "1.0" }; + String defaultIc6row6[] = { "0.0", "0.0", "0.0" }; + + /* (7) Bang-Bang Control */ + + String input7row1[] = { "J" }; + String input7row2[] = { "wn", "damping" }; + String input7row3[] = { "K", "Kd", "K_Bang", "Kd_Bang" }; + String input7row4[] = { "Torque", "Dead Zone", "theta_com" }; + String input7row5[] = { "theta", "thetaDot", "thetaBang", "thetaDotBang" }; + int length7row1 = input7row1.length; + int length7row2 = input7row2.length; + int length7row3 = input7row3.length; + int length7row4 = input7row4.length; + int length7row5 = input7row5.length; + JTextField inputField7row1[] = new JTextField[length7row1]; + JTextField inputField7row2[] = new JTextField[length7row2]; + JTextField inputField7row3[] = new JTextField[length7row3]; + JTextField inputField7row4[] = new JTextField[length7row4]; + JTextField inputField7row5[] = new JTextField[length7row5]; + String defaultIc7row1[] = { "600" }; + String defaultIc7row2[] = { "1", "1" }; + String defaultIc7row3[] = { "0", "0", "0", "0" }; + String defaultIc7row4[] = { "1", "0.001", "2.0" }; + String defaultIc7row5[] = { "0", "0", "0", "0" }; + + /* (8) 2D Simple Flexible Spacecraft */ + + String input8row1[] = { "J" }; + String input8row2[] = { "m", "a", "L", "EI" }; + String input8row3[] = { "K", "Kd", "alpha_com" }; + String input8row4[] = { "Alpha", "u1", "u2" }; + String input8row5[] = { "AlphaDot", "u1Dot", "u2Dot" }; + int length8row1 = input8row1.length; + int length8row2 = input8row2.length; + int length8row3 = input8row3.length; + int length8row4 = input8row4.length; + int length8row5 = input8row5.length; + JTextField inputField8row1[] = new JTextField[length8row1]; + JTextField inputField8row2[] = new JTextField[length8row2]; + JTextField inputField8row3[] = new JTextField[length8row3]; + JTextField inputField8row4[] = new JTextField[length8row4]; + JTextField inputField8row5[] = new JTextField[length8row5]; + String defaultIc8row1[] = { "13.35" }; + String defaultIc8row2[] = { "1", "0.40", "1.80", "15.52" }; + String defaultIc8row3[] = { " 0.0", "0.0", "0.0" }; + String defaultIc8row4[] = { "0", "0.1", "0.1" }; + String defaultIc8row5[] = { "0", "0", "0" }; + + /* (9) 3D Simple Flexible Spacecraft */ + + String input9row1[] = { "Ixx", "Iyy", "Izz" }; + String input9row2[] = { "m", "a", "L", "EI" }; + String input9row3[] = { "u1", "u2", "psi", "theta", "phi" }; + String input9row4[] = { "u1Dot", "u2Dot", "psiDot", "thetaDot", "phiDot" }; + int length9row1 = input9row1.length; + int length9row2 = input9row2.length; + int length9row3 = input9row3.length; + int length9row4 = input9row4.length; + JTextField inputField9row1[] = new JTextField[length9row1]; + JTextField inputField9row2[] = new JTextField[length9row2]; + JTextField inputField9row3[] = new JTextField[length9row3]; + JTextField inputField9row4[] = new JTextField[length9row4]; + String defaultIc9row1[] = { "45.42", "35.42", "13.35" }; + String defaultIc9row2[] = { "1", "0.40", "1.80", "15.52" }; + String defaultIc9row3[] = { "0.1", "0.1", "0", "0", "0" }; + String defaultIc9row4[] = { "0", "0", "0", "0", "0" }; + + /* Euler Angle Converter */ + + JTextFieldPanel eulerPanel; + JTextFieldPanel quaternionPanel; + String eulerInput[] = { "Psi", "Theta", "Phi" }; + String quaternionOutput[] = { "q1", "q2", "q3", "q4" }; + int lengthEulerInput = eulerInput.length; + int lengthQuaternionOutput = quaternionOutput.length; + JTextField eulerInputField[] = new JTextField[lengthEulerInput]; + JTextField quaternionOutputField[] = new JTextField[lengthQuaternionOutput]; + String defaultEulerInput[] = { "0", "0", "0" }; + String defaultQuaternionOuputField[] = { "0", "0", "0", "1" }; + + /* Simulation Control Panel */ + JTextFieldPanel controlPanel; + String controlInput[] = { "time step", "time" }; + int lengthControlInput = controlInput.length; + JTextField controlInputField[] = new JTextField[lengthControlInput]; + String defaultControlInput[] = { "0.1", "20" }; + + /* CardLayout-JPanel for scenario specific inputs */ + JPanel inputCards; + // JPanel instructionCards; + final static String SCENARIO_1 = "1. Constant Torque"; + final static String SCENARIO_2 = "2. GG Circular"; + final static String SCENARIO_3 = "3. GG Eccentric"; + final static String SCENARIO_4 = "4. Spherical Damper"; + final static String SCENARIO_5 = "5. Reaction Wheel Maneuver"; + final static String SCENARIO_6 = "6. CMG Maneuver"; + final static String SCENARIO_7 = "7. 1 axis Bang-Bang Control"; + final static String SCENARIO_8 = "8. Simple 2D Flexible S/C"; + final static String SCENARIO_9 = "9. Simple 3D Flexible S/C"; + + final static String[] helpfile = { "ConstantTorque.html", + "GGCircular.html", "GGEccentric.html", "SphericalDamper.html", + "FourRWControl.html", "CMGControl.html", "BangBangControl.html", + "Simple2DFlexSC.html", "Simple3DFlexSC.html" }; + + /* Declare Panels for simulation inputs for each panels */ + JTextFieldPanel inertiaPane; + JTextFieldPanel inertiaJPane; + JPanel scenario1Pane; + JPanel scenario2Pane; + JPanel scenario3Pane; + JPanel scenario4Pane; + JPanel scenario5Pane; + JPanel scenario6Pane; + JPanel scenario7Pane; + JPanel scenario8Pane; + JPanel scenario9Pane; + + // FileUtil2 f = new FileUtil2(); + + /** + * Builds the applet's graphical user interface + */ + public void init() { + + /* Register ActionListener to the buttons */ + startButton.addActionListener(new ButtonHandler()); + convertButton.addActionListener(new ButtonHandler()); + resetButton.addActionListener(new ButtonHandler()); + simHelpButton.addActionListener(new ButtonHandler()); + + /* Build Input Panels */ + // Put the JComboBox in a JPanel + String comboBoxItems[] = { SCENARIO_1, SCENARIO_2, SCENARIO_3, + SCENARIO_4, SCENARIO_5, SCENARIO_6, SCENARIO_7, SCENARIO_8, + SCENARIO_9 }; + combo = new JComboBox(comboBoxItems); + combo.setEditable(false); + combo.setBackground(Color.cyan); + combo.setAlignmentX(LEFT_ALIGNMENT); + combo.addItemListener(new ChoiceHandler()); + + JLabel comboLabel = new JLabel("Please select a scenario:"); + comboLabel.setAlignmentX(LEFT_ALIGNMENT); + + JPanel level5_Pane_top_left = new JPanel(); + level5_Pane_top_left.setLayout(new BoxLayout(level5_Pane_top_left, + BoxLayout.Y_AXIS)); + level5_Pane_top_left.setBackground(Color.pink); + level5_Pane_top_left.add(comboLabel); + level5_Pane_top_left.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_top_left.add(combo); + level5_Pane_top_left.add(Box.createRigidArea(new Dimension(0, 5))); + + JPanel level5_Pane_top_right = new JPanel(); + level5_Pane_top_right.setLayout(new BoxLayout(level5_Pane_top_right, + BoxLayout.Y_AXIS)); + level5_Pane_top_right.setBackground(Color.pink); + level5_Pane_top_right.add(new JLabel(LastUpdate)); + level5_Pane_top_right.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_top_right.add(simHelpButton); + level5_Pane_top_right.add(Box.createRigidArea(new Dimension(0, 5))); + + JPanel level4_Pane_scenario = new JPanel(); + level4_Pane_scenario.setBackground(Color.pink); + level4_Pane_scenario.setLayout(new BoxLayout(level4_Pane_scenario, + BoxLayout.X_AXIS)); + level4_Pane_scenario.add(level5_Pane_top_left); + level4_Pane_scenario.add(Box.createRigidArea(new Dimension(10, 0))); + level4_Pane_scenario.add(level5_Pane_top_right); + + // Input panels + makeInputPanels(); + + /* Add Scenario panels to the card Panel */ + /* Associate the comboBox elements with the corresponding JPanel */ + inputCards = new JPanel(); + // inputCards.setPreferredSize(panelSize); + // inputCards.setMinimumSize(panelSize); + // inputCards.setMaximumSize(panelSize); + inputCards.setAlignmentX(LEFT_ALIGNMENT); + inputCards.setBackground(Color.white); + + inputCards.setLayout(new CardLayout()); + inputCards.add(SCENARIO_1, scenario1Pane); + inputCards.add(SCENARIO_2, scenario2Pane); + inputCards.add(SCENARIO_3, scenario3Pane); + inputCards.add(SCENARIO_4, scenario4Pane); + inputCards.add(SCENARIO_5, scenario5Pane); + inputCards.add(SCENARIO_6, scenario6Pane); + inputCards.add(SCENARIO_7, scenario7Pane); + inputCards.add(SCENARIO_8, scenario8Pane); + inputCards.add(SCENARIO_9, scenario9Pane); + + JScrollPane level5_inputScrollPane = new JScrollPane(inputCards); + level5_inputScrollPane + .setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + // level4_inputScrollPane.setPreferredSize(scrollPanelSize); + // level4_inputScrollPane.setMinimumSize(scrollPanelSize); + level5_inputScrollPane.setAlignmentX(LEFT_ALIGNMENT); + level5_inputScrollPane.setBackground(Color.cyan); + + JPanel level4_inputPane = new JPanel(); + level4_inputPane.setLayout(new BorderLayout()); + level4_inputPane.add(level5_inputScrollPane); + + // Create the check boxes. + twoDeeBox = new JCheckBox("2D Plots"); + twoDeeBox.setSelected(true); + twoDeeBox.setBackground(Color.pink); + threeDeeBox = new JCheckBox("3D Animation"); + threeDeeBox.setSelected(false); + threeDeeBox.setBackground(Color.pink); + // Register a listener for the check boxes. + twoDeeBox.addItemListener(new ButtonHandler()); + threeDeeBox.addItemListener(new ButtonHandler()); + + // Create a JPanel for putting check boxes + JPanel level6_Pane_simcheckboxes = new JPanel(); + level6_Pane_simcheckboxes.setLayout(new BoxLayout( + level6_Pane_simcheckboxes, BoxLayout.X_AXIS)); + // level6_Pane_simcheckboxes.setPreferredSize(new + // Dimension(comboBoxPane_width, 30)); + // level5_Pane_simcheckboxes.setMaximumSize(new + // Dimension(comboBoxPane_width, 30)); + // level5_Pane_simcheckboxes.setMinimumSize(new + // Dimension(comboBoxPane_width, 30)); + level6_Pane_simcheckboxes.setBackground(Color.pink); + level6_Pane_simcheckboxes.setAlignmentX(LEFT_ALIGNMENT); + level6_Pane_simcheckboxes.add(twoDeeBox); + level6_Pane_simcheckboxes.add(threeDeeBox); + + JPanel level5_Pane_bottom_left = new JPanel(); + level5_Pane_bottom_left.setLayout(new BoxLayout( + level5_Pane_bottom_left, BoxLayout.Y_AXIS)); + // level5_Pane_bottom_left.setPreferredSize(new + // Dimension(comboBoxPane_width/2, 100)); + // level5_Pane_bottom_left.setMaximumSize(new + // Dimension(comboBoxPane_width/2, 100)); + // level5_Pane_left.setMinimumSize(new Dimension(comboBoxPane_width/2, + // 100)); + level5_Pane_bottom_left.setBackground(Color.pink); + level5_Pane_bottom_left.setAlignmentX(LEFT_ALIGNMENT); + level5_Pane_bottom_left.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_bottom_left.add(new JLabel("Simulation Time")); + level5_Pane_bottom_left.add(Box.createRigidArea(new Dimension(0, 5))); + for (int i = 0; i < lengthControlInput; ++i) + controlInputField[i] = new JTextField(defaultControlInput[i], 5); + controlPanel = new JTextFieldPanel(1, "", controlInput, + controlInputField, Color.pink); + level5_Pane_bottom_left.add(controlPanel); + + JPanel level5_Pane_bottom_center = new JPanel(); + level5_Pane_bottom_center.setLayout(new BoxLayout( + level5_Pane_bottom_center, BoxLayout.Y_AXIS)); + level5_Pane_bottom_center.setBackground(Color.pink); + level5_Pane_bottom_center.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_bottom_center.add(new JLabel("Output Option")); + level5_Pane_bottom_center.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_bottom_center.add(level6_Pane_simcheckboxes); + + JPanel level5_Pane_bottom_right = new JPanel(); + level5_Pane_bottom_right.setLayout(new BoxLayout( + level5_Pane_bottom_right, BoxLayout.Y_AXIS)); + // level5_Pane_bottom_right.setPreferredSize(new + // Dimension(comboBoxPane_width/2, 80)); + // level5_Pane_bottom_right.setMaximumSize(new + // Dimension(comboBoxPane_width/2, 80)); + // level5_Pane_right.setMinimumSize(new Dimension(comboBoxPane_width/2, + // 80)); + level5_Pane_bottom_right.setBackground(Color.pink); + level5_Pane_bottom_right.setAlignmentX(LEFT_ALIGNMENT); + level5_Pane_bottom_right.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_bottom_right.add(new JLabel("Simulation Start")); + level5_Pane_bottom_right.add(Box.createRigidArea(new Dimension(0, 5))); + level5_Pane_bottom_right.add(startButton); + + JPanel level4_Pane_simulation_control = new JPanel(); + level4_Pane_simulation_control.setBackground(Color.pink); + level4_Pane_simulation_control.setLayout(new BoxLayout( + level4_Pane_simulation_control, BoxLayout.X_AXIS)); + level4_Pane_simulation_control.add(level5_Pane_bottom_left); + level4_Pane_simulation_control.add(Box.createRigidArea(new Dimension( + 10, 0))); + level4_Pane_simulation_control.add(level5_Pane_bottom_center); + level4_Pane_simulation_control.add(Box.createRigidArea(new Dimension( + 10, 0))); + level4_Pane_simulation_control.add(level5_Pane_bottom_right); + + // Simulation Pane + JPanel level3_Pane_simulation = new JPanel(); + // level3_Pane_simulation.setMaximumSize(level3_Pane_simulation_size); + // level3_Pane_simulation.setPreferredSize(level3_Pane_simulation_size); + // level3_Pane_simulation.setMinimumSize(level3_Pane_simulation_size); + level3_Pane_simulation.setLayout(new BoxLayout(level3_Pane_simulation, + BoxLayout.PAGE_AXIS)); + level3_Pane_simulation.setAlignmentX(LEFT_ALIGNMENT); + level3_Pane_simulation.setBackground(Color.pink); + TitledBorder titled; + titled = BorderFactory.createTitledBorder(""); + level3_Pane_simulation.setBorder(titled); + level3_Pane_simulation.add(level4_Pane_scenario); + level3_Pane_simulation.add(level4_inputPane); + level3_Pane_simulation.add(level4_Pane_simulation_control); + + // Conversion Pane + JPanel level3_Pane_conversion = new JPanel(); + // level3_Pane_conversion.setMaximumSize(level3_Pane_conversion_size); + // level3_Pane_conversion.setPreferredSize(level3_Pane_conversion_size); + // level3_Pane_conversion.setMinimumSize(level3_Pane_conversion_size); + level3_Pane_conversion.setLayout(new BoxLayout(level3_Pane_conversion, + BoxLayout.Y_AXIS)); + level3_Pane_conversion.setBackground(Color.pink); + level3_Pane_conversion.setBorder(BorderFactory.createTitledBorder("")); + + level3_Pane_conversion.add(new JLabel("Euler Angle Converter")); + level3_Pane_conversion.add(new JLabel("Sequence: 3-2-1")); + for (int i = 0; i < lengthEulerInput; ++i) + eulerInputField[i] = new JTextField(defaultEulerInput[i], 5); + eulerPanel = new JTextFieldPanel(2, "Input", eulerInput, + eulerInputField, Color.pink); + for (int i = 0; i < lengthQuaternionOutput; ++i) + quaternionOutputField[i] = new JTextField( + defaultQuaternionOuputField[i], 5); + for (int i = 0; i < lengthQuaternionOutput; ++i) + quaternionOutputField[i].setEditable(false); + quaternionPanel = new JTextFieldPanel(2, "Output", quaternionOutput, + quaternionOutputField, Color.pink); + level3_Pane_conversion.add(eulerPanel); + level3_Pane_conversion.add(quaternionPanel); + level3_Pane_conversion.add(Box.createRigidArea(new Dimension(0, 5))); + level3_Pane_conversion.add(convertButton); + level3_Pane_conversion.add(Box.createRigidArea(new Dimension(0, 5))); + level3_Pane_conversion.add(resetButton); + level3_Pane_conversion.add(Box.createRigidArea(new Dimension(0, 5))); + level3_Pane_conversion.add(Box.createRigidArea(new Dimension(0, 5))); + level3_Pane_conversion.add(new JLabel("Suggested gain from")); + level3_Pane_conversion.add(new JLabel("Linear Control Theory")); + level3_Pane_conversion.add(new JLabel("K = wn*wn*J")); + level3_Pane_conversion.add(new JLabel("Kd = 2*J*damping*wn")); + level3_Pane_conversion.add(Box.createVerticalGlue()); + + JPanel level2_Pane = new JPanel(); + level2_Pane.setLayout(new BoxLayout(level2_Pane, BoxLayout.X_AXIS)); + level2_Pane.setBackground(Color.pink); + level2_Pane.add(level3_Pane_simulation); + level2_Pane.add(level3_Pane_conversion); + + Container level1_Pane = getContentPane(); + level1_Pane.add(level2_Pane, BorderLayout.CENTER); + this.setSize(appletwidth, appletheight); + // System.out.println("applet init end"); + + }// End of init() + + /** + * Makes panels for prompting users to input necessary fields + */ + void makeInputPanels() { + + scenario1Pane = new JPanel(); + for (int i = 0; i < length1row1; ++i) + inputField1row1[i] = new JTextField(defaultIc1row1[i], 5); + for (int i = 0; i < length1row2; ++i) + inputField1row2[i] = new JTextField(defaultIc1row2[i], 5); + for (int i = 0; i < length1row3; ++i) + inputField1row3[i] = new JTextField(defaultIc1row3[i], 5); + for (int i = 0; i < length1row4; ++i) + inputField1row4[i] = new JTextField(defaultIc1row4[i], 5); + + JTextFieldPanel row1 = new JTextFieldPanel(1, "", input1row1, + inputField1row1, Color.cyan); + JTextFieldPanel row2 = new JTextFieldPanel(1, "", input1row2, + inputField1row2, Color.cyan); + JTextFieldPanel row3 = new JTextFieldPanel(1, "", input1row3, + inputField1row3, Color.cyan); + JTextFieldPanel row4 = new JTextFieldPanel(1, "", input1row4, + inputField1row4, Color.cyan); + // scenario1Pane.setMaximumSize(panelSize); + // scenario1Pane.setPreferredSize(panelSize); + // scenario1Pane.setMinimumSize(panelSize); + scenario1Pane.setLayout(new BoxLayout(scenario1Pane, BoxLayout.Y_AXIS)); + scenario1Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario1Pane.setBackground(Color.cyan); + scenario1Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario1Label = new JLabel("1. Constant Torque"); + scenario1Label.setFont(fancyFont); + scenario1Pane.add(scenario1Label); + scenario1Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario1Pane.add(new JLabel("Principal Moments of Inertia")); + scenario1Pane.add(row1); + scenario1Pane.add(new JLabel("Constants")); + scenario1Pane.add(row2); + scenario1Pane.add(new JLabel("Initial Condition")); + scenario1Pane.add(row3); + scenario1Pane.add(row4); + + scenario2Pane = new JPanel(); + for (int i = 0; i < length2row1; ++i) + inputField2row1[i] = new JTextField(defautlIc2row1[i], 5); + for (int i = 0; i < length2row2; ++i) + inputField2row2[i] = new JTextField(defaultIc2row2[i], 5); + for (int i = 0; i < length2row3; ++i) + inputField2row3[i] = new JTextField(defaultIc2row3[i], 5); + row1 = new JTextFieldPanel(1, "", input2row1, inputField2row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input2row2, inputField2row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input2row3, inputField2row3, + Color.cyan); + // scenario2Pane.setMaximumSize(panelSize); + // scenario2Pane.setPreferredSize(panelSize); + // scenario2Pane.setMinimumSize(panelSize); + scenario2Pane.setLayout(new BoxLayout(scenario2Pane, BoxLayout.Y_AXIS)); + scenario2Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario2Pane.setBackground(Color.cyan); + scenario2Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario2Label = new JLabel("2. Gravity Gradient (Circular)"); + scenario2Label.setFont(fancyFont); + scenario2Pane.add(scenario2Label); + scenario2Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario2Pane.add(new JLabel("Principal Moments of Inertia")); + scenario2Pane.add(row1); + scenario2Pane.add(new JLabel("Initial Condition")); + scenario2Pane.add(row2); + scenario2Pane.add(row3); + + scenario3Pane = new JPanel(); + for (int i = 0; i < length3row1; ++i) + inputField3row1[i] = new JTextField(defaultIc3row1[i], 5); + for (int i = 0; i < length3row2; ++i) + inputField3row2[i] = new JTextField(defaultIc3row2[i], 5); + for (int i = 0; i < length3row3; ++i) + inputField3row3[i] = new JTextField(defaultIc3row3[i], 5); + for (int i = 0; i < length3row4; ++i) + inputField3row4[i] = new JTextField(defaultIc3row4[i], 5); + row1 = new JTextFieldPanel(1, "", input3row1, inputField3row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input3row2, inputField3row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input3row3, inputField3row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input3row4, inputField3row4, + Color.cyan); + // scenario3Pane.setMaximumSize(panelSize); + // scenario3Pane.setPreferredSize(panelSize); + // scenario3Pane.setMinimumSize(panelSize); + scenario3Pane.setLayout(new BoxLayout(scenario3Pane, BoxLayout.Y_AXIS)); + scenario3Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario3Pane.setBackground(Color.cyan); + scenario3Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario3Label = new JLabel("3. Gravity Gradient (Eccentric)"); + scenario3Label.setFont(fancyFont); + scenario3Pane.add(scenario3Label); + scenario3Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario3Pane.add(new JLabel("Principal Moments of Inertia")); + scenario3Pane.add(row1); + scenario3Pane.add(new JLabel("Constans")); + scenario3Pane.add(row2); + scenario3Pane.add(new JLabel("Initial Condition")); + scenario3Pane.add(row3); + scenario3Pane.add(row4); + + scenario4Pane = new JPanel(); + for (int i = 0; i < length4row1; ++i) + inputField4row1[i] = new JTextField(defaultIc4row1[i], 5); + for (int i = 0; i < length4row2; ++i) + inputField4row2[i] = new JTextField(defaultIc4row2[i], 5); + for (int i = 0; i < length4row3; ++i) + inputField4row3[i] = new JTextField(defaultIc4row3[i], 5); + for (int i = 0; i < length4row4; ++i) + inputField4row4[i] = new JTextField(defaultIc4row4[i], 5); + for (int i = 0; i < length4row5; ++i) + inputField4row5[i] = new JTextField(defaultIc4row5[i], 5); + row1 = new JTextFieldPanel(1, "", input4row1, inputField4row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input4row2, inputField4row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input4row3, inputField4row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input4row4, inputField4row4, + Color.cyan); + JTextFieldPanel row5 = new JTextFieldPanel(1, "", input4row5, + inputField4row5, Color.cyan); + // scenario4Pane.setMaximumSize(panelSize); + // scenario4Pane.setPreferredSize(panelSize); + // scenario4Pane.setMinimumSize(panelSize); + scenario4Pane.setLayout(new BoxLayout(scenario4Pane, BoxLayout.Y_AXIS)); + scenario4Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario4Pane.setBackground(Color.cyan); + scenario4Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario4Label = new JLabel("4. Spherical Damper"); + scenario4Label.setFont(fancyFont); + scenario4Pane.add(scenario4Label); + scenario4Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario4Pane.add(new JLabel("Principal Moments of Inertia")); + scenario4Pane.add(row1); + scenario4Pane.add(new JLabel("Constants")); + scenario4Pane.add(row2); + scenario4Pane.add(new JLabel("Initial Condition")); + scenario4Pane.add(row3); + scenario4Pane.add(row4); + scenario4Pane.add(row5); + + scenario5Pane = new JPanel(); + for (int i = 0; i < length5row1; ++i) + inputField5row1[i] = new JTextField(defaultIc5row1[i], 5); + for (int i = 0; i < length5row2; ++i) + inputField5row2[i] = new JTextField(defaultIc5row2[i], 5); + for (int i = 0; i < length5row3; ++i) + inputField5row3[i] = new JTextField(defaultIc5row3[i], 5); + for (int i = 0; i < length5row4; ++i) + inputField5row4[i] = new JTextField(defaultIc5row4[i], 5); + for (int i = 0; i < length5row5; ++i) + inputField5row5[i] = new JTextField(defaultIc5row5[i], 5); + for (int i = 0; i < length5row6; ++i) + inputField5row6[i] = new JTextField(defaultIc5row6[i], 5); + row1 = new JTextFieldPanel(1, "", input5row1, inputField5row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input5row2, inputField5row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input5row3, inputField5row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input5row4, inputField5row4, + Color.cyan); + row5 = new JTextFieldPanel(1, "", input5row5, inputField5row5, + Color.cyan); + JTextFieldPanel row6 = new JTextFieldPanel(1, "", input5row6, + inputField5row6, Color.cyan); + // scenario5Pane.setMaximumSize(panelSize); + // scenario5Pane.setPreferredSize(panelSize); + // scenario5Pane.setMinimumSize(panelSize); + scenario5Pane.setLayout(new BoxLayout(scenario5Pane, BoxLayout.Y_AXIS)); + scenario5Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario5Pane.setBackground(Color.cyan); + scenario5Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario5Label = new JLabel("5. Reaction Wheel Control"); + scenario5Label.setFont(fancyFont); + scenario5Pane.add(scenario5Label); + scenario5Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario5Pane.add(new JLabel( + "Please select one from following options.")); + // Create the check boxes. + threeRWRadio = new JRadioButton("3 RW"); + threeRWRadio.setSelected(false); + threeRWRadio.setActionCommand("threeRW"); + threeRWRadio.setBackground(Color.cyan); + + fourRWRadio = new JRadioButton("4 RW"); + fourRWRadio.setSelected(true); + fourRWRadio.setActionCommand("fourRW"); + fourRWRadio.setBackground(Color.cyan); + + ButtonGroup group = new ButtonGroup(); + group.add(threeRWRadio); + group.add(fourRWRadio); + + // Register a listener for the check boxes. + threeRWRadio.addActionListener(new ButtonHandler()); + fourRWRadio.addActionListener(new ButtonHandler()); + // Create a JPanel for putting check boxes + JPanel boxPane = new JPanel(); + boxPane.setLayout(new BoxLayout(boxPane, BoxLayout.X_AXIS)); + // boxPane.setPreferredSize(new Dimension(comboBoxPane_width, 30)); + // boxPane.setMaximumSize(new Dimension(comboBoxPane_width, 30)); + // boxPane.setMinimumSize(new Dimension(comboBoxPane_width, 30)); + boxPane.setBackground(Color.cyan); + boxPane.setAlignmentX(LEFT_ALIGNMENT); + boxPane.add(threeRWRadio); + boxPane.add(fourRWRadio); + boxPane.add(Box.createHorizontalGlue()); + scenario5Pane.add(boxPane); + scenario5Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario5Pane.add(new JLabel("Principal Moments of Inertia")); + scenario5Pane.add(row1); + scenario5Pane.add(new JLabel("Constants")); + scenario5Pane.add(row2); + scenario5Pane.add(new JLabel("Commanded Posision")); + scenario5Pane.add(row3); + scenario5Pane.add(new JLabel("Initial Condition")); + scenario5Pane.add(row4); + scenario5Pane.add(row5); + scenario5Pane.add(row6); + + scenario6Pane = new JPanel(); + for (int i = 0; i < length6row1; ++i) + inputField6row1[i] = new JTextField(defaultIc6row1[i], 5); + for (int i = 0; i < length6row2; ++i) + inputField6row2[i] = new JTextField(defaultIc6row2[i], 5); + for (int i = 0; i < length6row3; ++i) + inputField6row3[i] = new JTextField(defaultIc6row3[i], 5); + for (int i = 0; i < length6row4; ++i) + inputField6row4[i] = new JTextField(defaultIc6row4[i], 5); + for (int i = 0; i < length6row5; ++i) + inputField6row5[i] = new JTextField(defaultIc6row5[i], 5); + for (int i = 0; i < length6row6; ++i) + inputField6row6[i] = new JTextField(defaultIc6row6[i], 5); + row1 = new JTextFieldPanel(1, "", input6row1, inputField6row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input6row2, inputField6row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input6row3, inputField6row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input6row4, inputField6row4, + Color.cyan); + row5 = new JTextFieldPanel(1, "", input6row5, inputField6row5, + Color.cyan); + row6 = new JTextFieldPanel(1, "", input6row6, inputField6row6, + Color.cyan); + // scenario6Pane.setMaximumSize(panelSize); + // scenario6Pane.setPreferredSize(panelSize); + // scenario6Pane.setMinimumSize(panelSize); + scenario6Pane.setLayout(new BoxLayout(scenario6Pane, BoxLayout.Y_AXIS)); + scenario6Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario6Pane.setBackground(Color.cyan); + scenario6Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario6Label = new JLabel("6. CMG Control"); + scenario6Label.setFont(fancyFont); + scenario6Pane.add(scenario6Label); + scenario6Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario6Pane.add(new JLabel("Principal Moments of Inertia")); + scenario6Pane.add(row1); + scenario6Pane.add(new JLabel("Constants")); + scenario6Pane.add(row2); + scenario6Pane.add(new JLabel("Commanded Posision")); + scenario6Pane.add(row3); + scenario6Pane.add(new JLabel("Initial Condition")); + scenario6Pane.add(row4); + scenario6Pane.add(row5); + scenario6Pane.add(row6); + + scenario7Pane = new JPanel(); + for (int i = 0; i < length7row1; ++i) + inputField7row1[i] = new JTextField(defaultIc7row1[i], 5); + for (int i = 0; i < length7row2; ++i) + inputField7row2[i] = new JTextField(defaultIc7row2[i], 5); + for (int i = 0; i < length7row3; ++i) + inputField7row3[i] = new JTextField(defaultIc7row3[i], 5); + for (int i = 0; i < length7row3; ++i) + inputField7row3[i].setEditable(false); + for (int i = 0; i < length7row4; ++i) + inputField7row4[i] = new JTextField(defaultIc7row4[i], 5); + for (int i = 0; i < length7row5; ++i) + inputField7row5[i] = new JTextField(defaultIc7row5[i], 5); + + row1 = new JTextFieldPanel(1, "", input7row1, inputField7row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input7row2, inputField7row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input7row3, inputField7row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input7row4, inputField7row4, + Color.cyan); + row5 = new JTextFieldPanel(1, "", input7row5, inputField7row5, + Color.cyan); + // scenario7Pane.setMaximumSize(panelSize); + // scenario7Pane.setPreferredSize(panelSize); + // scenario7Pane.setMinimumSize(panelSize); + scenario7Pane.setLayout(new BoxLayout(scenario7Pane, BoxLayout.Y_AXIS)); + scenario7Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario7Pane.setBackground(Color.cyan); + scenario7Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario7Label = new JLabel("7. Bang-Bang Control"); + scenario7Label.setFont(fancyFont); + scenario7Pane.add(scenario7Label); + scenario7Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario7Pane.add(new JLabel("Moment of Inertia")); + scenario7Pane.add(row1); + scenario7Pane.add(new JLabel("Constants")); + scenario7Pane.add(row2); + scenario7Pane.add(row3); + scenario7Pane.add(row4); + scenario7Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario7Pane.add(new JLabel("Initial Condition")); + scenario7Pane.add(row5); + + scenario8Pane = new JPanel(); + for (int i = 0; i < length8row1; ++i) + inputField8row1[i] = new JTextField(defaultIc8row1[i], 5); + for (int i = 0; i < length8row2; ++i) + inputField8row2[i] = new JTextField(defaultIc8row2[i], 5); + for (int i = 0; i < length8row3; ++i) + inputField8row3[i] = new JTextField(defaultIc8row3[i], 5); + for (int i = 0; i < length8row4; ++i) + inputField8row4[i] = new JTextField(defaultIc8row4[i], 5); + for (int i = 0; i < length8row5; ++i) + inputField8row5[i] = new JTextField(defaultIc8row5[i], 5); + + row1 = new JTextFieldPanel(1, "", input8row1, inputField8row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input8row2, inputField8row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input8row3, inputField8row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input8row4, inputField8row4, + Color.cyan); + row5 = new JTextFieldPanel(1, "", input8row5, inputField8row5, + Color.cyan); + + // scenario8Pane.setMaximumSize(panelSize); + // scenario8Pane.setPreferredSize(panelSize); + // scenario8Pane.setMinimumSize(panelSize); + scenario8Pane.setLayout(new BoxLayout(scenario8Pane, BoxLayout.Y_AXIS)); + scenario8Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario8Pane.setBackground(Color.cyan); + scenario8Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario8Label = new JLabel("8. 2D Flexible Spacecraft"); + scenario8Label.setFont(fancyFont); + scenario8Pane.add(scenario8Label); + scenario8Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario8Pane.add(new JLabel("Moment of Inertia")); + scenario8Pane.add(row1); + scenario8Pane.add(new JLabel("Constants")); + scenario8Pane.add(row2); + scenario8Pane.add(new JLabel("Control Option")); + scenario8Pane.add(row3); + scenario8Pane.add(new JLabel("Initial Condition")); + scenario8Pane.add(row4); + scenario8Pane.add(row5); + + scenario9Pane = new JPanel(); + for (int i = 0; i < length9row1; ++i) + inputField9row1[i] = new JTextField(defaultIc9row1[i], 5); + for (int i = 0; i < length9row2; ++i) + inputField9row2[i] = new JTextField(defaultIc9row2[i], 5); + for (int i = 0; i < length9row3; ++i) + inputField9row3[i] = new JTextField(defaultIc9row3[i], 5); + for (int i = 0; i < length9row4; ++i) + inputField9row4[i] = new JTextField(defaultIc9row4[i], 5); + row1 = new JTextFieldPanel(1, "", input9row1, inputField9row1, + Color.cyan); + row2 = new JTextFieldPanel(1, "", input9row2, inputField9row2, + Color.cyan); + row3 = new JTextFieldPanel(1, "", input9row3, inputField9row3, + Color.cyan); + row4 = new JTextFieldPanel(1, "", input9row4, inputField9row4, + Color.cyan); + // scenario9Pane.setMaximumSize(panelSize); + // scenario9Pane.setPreferredSize(panelSize); + // scenario9Pane.setMinimumSize(panelSize); + scenario9Pane.setLayout(new BoxLayout(scenario9Pane, BoxLayout.Y_AXIS)); + scenario9Pane.setAlignmentX(LEFT_ALIGNMENT); + scenario9Pane.setBackground(Color.cyan); + scenario9Pane.setBorder(BorderFactory.createTitledBorder("")); + JLabel scenario9Label = new JLabel("9. 3D Flexible Spacecraft"); + scenario9Label.setFont(fancyFont); + scenario9Pane.add(scenario9Label); + scenario9Pane.add(Box.createRigidArea(new Dimension(0, 5))); + scenario9Pane.add(new JLabel("Principal Moments of Inertia")); + scenario9Pane.add(row1); + scenario9Pane.add(new JLabel("Constants")); + scenario9Pane.add(row2); + scenario9Pane.add(new JLabel("Initial Condition")); + scenario9Pane.add(row3); + scenario9Pane.add(row4); + + }// End of makeInputPanels() + + /** + * Used when run as an application + * + * @param args + * (String[]) Argument + */ + public static void main(String[] args) { + theApplet = new AttitudeSimulator(); + theFrame = new JFrame(); + // Initialize the applet + theApplet.init(); + theFrame.setTitle("Attitude Simulator"); + theFrame.addWindowListener(new WindowAdapter() { + + public void windowClosing(WindowEvent e) { + System.exit(0); + } + }); + // When running this file as a stand-alone app, add the applet to + // the frame. + theFrame.getContentPane().add(theApplet, BorderLayout.CENTER); + + theFrame.setSize(appletwidth, appletheight); + Dimension d = Toolkit.getDefaultToolkit().getScreenSize(); + theFrame.setLocation((d.width - theFrame.getSize().width) / 2, + (d.height - theFrame.getSize().height) / 2); + theFrame.setVisible(true); + }// End of main() + + /** + * Handles the event associated with clicking of a mouse. + * + */ + + class ButtonHandler implements ActionListener, ItemListener { + // double time_step = 0.1; + // double timeDuration = 10; + // double I1 = 10.42; + // double I2 = 35.42; + // double I3 = 41.67; + + public void itemStateChanged(ItemEvent e) { + /** Listens to the check boxes. */ + Object source = e.getItemSelectable(); + + if (source == threeDeeBox) { + + // System.out.println("3dbox"); + } + // Now that we know which button was pushed, find out + // whether it was selected or deselected. + if (e.getStateChange() == ItemEvent.SELECTED) { + // System.out.println("3dbox selected"); + util u = new util(); + // System.out.println(u.check_for_Java3D_b()); + if (!u.check_for_Java3D_b()) { + JOptionPane.showMessageDialog(theFrame, + "Java3D not installed."); + threeDeeBox.setSelected(false); + + } + } + + } + + public void actionPerformed(ActionEvent ev) { + + // Read in values + if (ev.getSource() == startButton) { + + double time_step = Double.parseDouble(controlInputField[0] + .getText()); + double timeDuration = Double.parseDouble(controlInputField[1] + .getText()); + boolean errorFree = false; + + // Set up eomObject with new parameter values + EomRunner eomObject = new EomRunner(time_step, timeDuration); + // eomObject.setParameters(time_step, timeDuration, I1, I2, I3); + if (threeDeeBox.isSelected() == true) + eomObject.animationYes = 1; + else + eomObject.animationYes = 0; + if (twoDeeBox.isSelected() == true) + eomObject.plotYes = 1; + else + eomObject.plotYes = 0; + + if (combo.getSelectedItem() == SCENARIO_1) { + // Read Inertia + double I1 = Double + .parseDouble(inputField1row1[0].getText()); + double I2 = Double + .parseDouble(inputField1row1[1].getText()); + double I3 = Double + .parseDouble(inputField1row1[2].getText()); + double M1 = Double + .parseDouble(inputField1row2[0].getText()); // External + // torque + double M2 = Double + .parseDouble(inputField1row2[1].getText()); + double M3 = Double + .parseDouble(inputField1row2[2].getText()); + // initialize the variables + double[] x0 = new double[7]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField1row3[i].getText()); + for (int i = 3; i < 7; ++i) + x0[i] = Double.parseDouble(inputField1row4[i - 3] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3, x0[3], x0[4], x0[5], + x0[6]); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doConstantTorque(x0, M1, M2, M3); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + /*-------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_2) { + // Read Inertia + double I1 = Double + .parseDouble(inputField2row1[0].getText()); + double I2 = Double + .parseDouble(inputField2row1[1].getText()); + double I3 = Double + .parseDouble(inputField2row1[2].getText()); + // initialize the variables + double[] x0 = new double[7]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField2row2[i].getText()); + for (int i = 3; i < 7; ++i) + x0[i] = Double.parseDouble(inputField2row3[i - 3] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3, x0[3], x0[4], x0[5], + x0[6]); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doGGCircular(x0); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + /*--------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_3) { + // Read Inertia + double I1 = Double + .parseDouble(inputField3row1[0].getText()); + double I2 = Double + .parseDouble(inputField3row1[1].getText()); + double I3 = Double + .parseDouble(inputField3row1[2].getText()); + double e = Double.parseDouble(inputField3row2[0].getText()); + // initialize the variables + double[] x0 = new double[7]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField3row3[i].getText()); + for (int i = 3; i < 7; ++i) + x0[i] = Double.parseDouble(inputField3row4[i - 3] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3, x0[3], x0[4], x0[5], + x0[6]); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doGGEccentric(x0, e); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + /*--------------------------------------------------------------------------------*/ + + else if (combo.getSelectedItem() == SCENARIO_4) { + // Read Inertia + double I1 = Double + .parseDouble(inputField4row1[0].getText()); + double I2 = Double + .parseDouble(inputField4row1[1].getText()); + double I3 = Double + .parseDouble(inputField4row1[2].getText()); + double c = Double.parseDouble(inputField4row2[0].getText()); // damping + // coefficient + double j = Double.parseDouble(inputField4row2[1].getText()); + // Initial Condition + double[] x0 = new double[10]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField4row3[i].getText()); + for (int i = 3; i < 7; ++i) + x0[i] = Double.parseDouble(inputField4row4[i - 3] + .getText()); + for (int i = 7; i < 10; ++i) + x0[i] = Double.parseDouble(inputField4row5[i - 7] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3, x0[3], x0[4], x0[5], + x0[6]); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doSphericalDamper(x0, c, j); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + /*--------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_5) { + if (threeRWRadio.isSelected() == true) + eomObject.number_of_RW = 3; + + if (fourRWRadio.isSelected() == true) + eomObject.number_of_RW = 4; + + // Read Inertia + double I1 = Double + .parseDouble(inputField5row1[0].getText()); + double I2 = Double + .parseDouble(inputField5row1[1].getText()); + double I3 = Double + .parseDouble(inputField5row1[2].getText()); + double J = Double.parseDouble(inputField5row2[0].getText()); + double angle = Double.parseDouble(inputField5row2[1] + .getText()); + double psi = Double.parseDouble(inputField5row3[0] + .getText()); + double theta = Double.parseDouble(inputField5row3[1] + .getText()); + double phi = Double.parseDouble(inputField5row3[2] + .getText()); + // initialize the variables + double[] x0 = new double[11]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField5row4[i].getText()); + for (int i = 3; i < 7; ++i) + x0[i] = Double.parseDouble(inputField5row5[i - 3] + .getText()); + for (int i = 7; i < 11; ++i) + x0[i] = Double.parseDouble(inputField5row6[i - 7] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3, x0[3], x0[4], x0[5], + x0[6]); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doFourRW(x0, J, angle, psi, theta, phi); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + /*-------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_6) { + // Read Inertia + double I1 = Double + .parseDouble(inputField6row1[0].getText()); + double I2 = Double + .parseDouble(inputField6row1[1].getText()); + double I3 = Double + .parseDouble(inputField6row1[2].getText()); + double J = Double.parseDouble(inputField6row2[0].getText()); + double A = Double.parseDouble(inputField6row2[1].getText()); + double psi = Double.parseDouble(inputField6row3[0] + .getText()); + double theta = Double.parseDouble(inputField6row3[1] + .getText()); + double phi = Double.parseDouble(inputField6row3[2] + .getText()); + // initialize the variables + double[] x0 = new double[10]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField6row4[i].getText()); + for (int i = 3; i < 7; ++i) + x0[i] = Double.parseDouble(inputField6row5[i - 3] + .getText()); + for (int i = 7; i < 10; ++i) + x0[i] = Double.parseDouble(inputField6row6[i - 7] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3, x0[3], x0[4], x0[5], + x0[6]); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doCMGManeuver(x0, J, A, psi, phi, theta); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + /*-------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_7) { + double J = Double.parseDouble(inputField7row1[0].getText()); + double wn = Double + .parseDouble(inputField7row2[0].getText()); + double damping = Double.parseDouble(inputField7row2[1] + .getText()); + double K = wn * wn * J; + double Kd = 2 * J * damping * wn; + double K_bang = K; + double Kd_bang = Kd; + // Display calculated gain + inputField7row3[0].setText(Double.toString(K)); + inputField7row3[1].setText(Double.toString(Kd)); + inputField7row3[2].setText(Double.toString(K_bang)); + inputField7row3[3].setText(Double.toString(Kd_bang)); + double torque = Double.parseDouble(inputField7row4[0] + .getText()); + double dz = Double + .parseDouble(inputField7row4[1].getText()); + double theta_com = Double.parseDouble(inputField7row4[2] + .getText()); + // initialize the variables + double[] x0 = new double[4]; + for (int i = 0; i < 4; ++i) + x0[i] = Double + .parseDouble(inputField7row5[i].getText()); + eomObject.setInertiaTwoD(J); + eomObject.doBangBang(x0, wn, damping, K, Kd, K_bang, + Kd_bang, torque, dz, theta_com); + } + /*-------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_8) { + double J = Double.parseDouble(inputField8row1[0].getText()); + double m = Double.parseDouble(inputField8row2[0].getText()); + double a = Double.parseDouble(inputField8row2[1].getText()); + double L = Double.parseDouble(inputField8row2[2].getText()); + double EI = Double + .parseDouble(inputField8row2[3].getText()); + double K = Double.parseDouble(inputField8row3[0].getText()); + double Kd = Double + .parseDouble(inputField8row3[1].getText()); + double alpha_com = Double.parseDouble(inputField8row3[2] + .getText()); + + // initialize the variables + double[] x0 = new double[6]; + for (int i = 0; i < 3; ++i) + x0[i] = Double + .parseDouble(inputField8row4[i].getText()); + for (int i = 3; i < 6; ++i) + x0[i] = Double.parseDouble(inputField8row5[i - 3] + .getText()); + eomObject.setInertiaTwoD(J); + eomObject.doTwoDFlex(x0, a, L, EI, m, K, Kd, alpha_com); + } + /*-------------------------------------------------------------------------------*/ + else if (combo.getSelectedItem() == SCENARIO_9) { + // Read Inertia + double I1 = Double + .parseDouble(inputField9row1[0].getText()); + double I2 = Double + .parseDouble(inputField9row1[1].getText()); + double I3 = Double + .parseDouble(inputField9row1[2].getText()); + double m = Double.parseDouble(inputField9row2[0].getText()); + double a = Double.parseDouble(inputField9row2[1].getText()); + double L = Double.parseDouble(inputField9row2[2].getText()); + double EI = Double + .parseDouble(inputField9row2[3].getText()); + // initialize the variables + double[] x0 = new double[10]; + for (int i = 0; i < 5; ++i) + x0[i] = Double + .parseDouble(inputField9row3[i].getText()); + for (int i = 5; i < 10; ++i) + x0[i] = Double.parseDouble(inputField9row4[i - 5] + .getText()); + // Check for errors + errorFree = checkForError(I1, I2, I3); + // System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + System.out.println("I1 = " + I1 + "\n"); + System.out.println("I2 = " + I2 + "\n"); + System.out.println("I3 = " + I3 + "\n"); + System.out.println("x0[]= " + x0[0] + " " + x0[1] + " " + + x0[2] + " " + x0[3] + " " + x0[4] + " " + x0[5] + + " " + x0[6] + " " + x0[7] + " " + x0[8] + " " + + x0[9]); + System.out.println("a= " + a); + System.out.println("L= " + L); + System.out.println("EI= " + EI); + System.out.println("m= " + m); + if (errorFree == true) { + eomObject.setInertiaThreeD(I1, I2, I3); + eomObject.doThreeDFlex(x0, a, L, EI, m); + } else + JOptionPane.showMessageDialog(null, + "Please correct the errors and try again."); + } + + }// End of if(ev.getSource() == startButton) + + if (ev.getSource() == convertButton) { + double psi = Double.parseDouble(eulerInputField[0].getText()); + double theta = Double.parseDouble(eulerInputField[1].getText()); + double phi = Double.parseDouble(eulerInputField[2].getText()); + DegToQuat tester = new DegToQuat(psi, theta, phi); + double[] quat = new double[4]; + quat = tester.calculateQuat(); + quaternionOutputField[0].setText(Double.toString(quat[0])); + quaternionOutputField[1].setText(Double.toString(quat[1])); + quaternionOutputField[2].setText(Double.toString(quat[2])); + quaternionOutputField[3].setText(Double.toString(quat[3])); + } + + if (ev.getSource() == resetButton) { + eulerInputField[0].setText("0"); + eulerInputField[1].setText("0"); + eulerInputField[2].setText("0"); + quaternionOutputField[0].setText("0"); + quaternionOutputField[1].setText("0"); + quaternionOutputField[2].setText("0"); + quaternionOutputField[3].setText("1"); + } + + if (ev.getSource() == simHelpButton) { + new HelpWindow("help/" + helpfile[combo.getSelectedIndex()]); + + if (ev.getSource() == threeDeeBox) { + + System.out.println("3dbox"); + } + + } + + }// End of ActionPerformed + }// End of Button Handler + + /** + * Checks to see that (e1^2 + e2^2 + e3^2 + e4^2)^0.5 is close to 1.0 Checks + * to see principal inertias are correct sum of any two is larger than + * remaining inertia + */ + boolean checkForError(double I1, double I2, double I3, double q1, + double q2, double q3, double q4) { + boolean errorFree = true; + + float quattest = (float) Math.pow( + (double) (q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4), 0.5); + if ((quattest < 0.99) || (quattest > 1.01)) { + JOptionPane + .showMessageDialog( + null, + "Quaternion values are unreasonable.\n(\u03B51^2 + \u03B52^2 + \u03B53^2 + \u03B54^2)^0.5 = 1"); + errorFree = false; + } + double inertiatotal = I1 + I2 + I3; + double maxinertia = Math.max(I1, I2); + maxinertia = Math.max(maxinertia, I3); + double testinertia = inertiatotal - maxinertia; + if (testinertia <= maxinertia) { + JOptionPane + .showMessageDialog( + null, + "Spacecraft inertias are unreasonable.\nSum of any two inertias must be greater than the third."); + errorFree = false; + } + + return errorFree; + } + + /** + * Checks to see principal inertias are correct sum of any two is larger + * than remaining inertia + */ + boolean checkForError(double I1, double I2, double I3) { + boolean errorFree = true; + double inertiatotal = I1 + I2 + I3; + // System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + // System.out.println("Inertiatotal= " + inertiatotal+"\n"); + double maxinertia = Math.max(I1, I2); + maxinertia = Math.max(maxinertia, I3); + // System.out.println("maxinertia= " + maxinertia+"\n"); + double testinertia = inertiatotal - maxinertia; + // System.out.println("testinertia=" + testinertia+"\n"); + if (testinertia <= maxinertia) { + JOptionPane + .showMessageDialog( + null, + "Spacecraft inertias are unreasonable.\nSum of any two inertias must be greater than the third."); + errorFree = false; + } + + return errorFree; + } + + /** + * Handles the events associated with the MyChoice object assigned to + * simulationChoice. It does so by updating the input panel according to the + * selection + */ + class ChoiceHandler implements ItemListener { + public void itemStateChanged(ItemEvent e) { + + CardLayout cl = (CardLayout) (inputCards.getLayout()); + // CardLayout c2 = (CardLayout) (instructionCards.getLayout()); + cl.show(inputCards, (String) e.getItem()); + // c2.show(instructionCards, (String) e.getItem()); + + } + + }// End of ChoiceHandler + +}// End of file + diff --git a/src/jat/application/AttitudeSimulator/EomRunner.java b/src/jat/application/AttitudeSimulator/EomRunner.java new file mode 100644 index 0000000..cf53170 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/EomRunner.java @@ -0,0 +1,598 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.application.AttitudeSimulator; + +import jat.application.AttitudeSimulator.animation.AnimationWindow; +import jat.application.AttitudeSimulator.animation.AnimationWindow2; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.attitude.eom.BangBangTwoD; +import jat.coreNOSA.attitude.eom.CMGManeuver; +import jat.coreNOSA.attitude.eom.FlexibleThreeD; +import jat.coreNOSA.attitude.eom.FlexibleTwoD; +import jat.coreNOSA.attitude.eom.FourRWManeuver; +import jat.coreNOSA.attitude.eom.RConstantTorque; +import jat.coreNOSA.attitude.eom.RGGCircularOrbit; +import jat.coreNOSA.attitude.eom.RGGEccentricOrbit; +import jat.coreNOSA.attitude.eom.RSphericalDamper; + +/** + * EomRunner class - call simulation scenarios + * + * @author Noriko Takada + * @version 1.6 (8/15/2004) + * + * scenario = 1 -> Constant torque scenario = 2 -> Gravity gradient + * (circular orbit) scenario = 3 -> Gravity gradient (eccentric orbit) + * scenario = 4 -> Rigid spacecraft with a spherical damper scenario = + * 5 -> Four reaction wheel maneuver scenario = 6 -> Three + * single-gimbal control moment gyro maneuver scenario = 7 -> Bang-bang + * control (Under development) scenario = 8 -> Simple 2D flexible + * spacecraft (Under development) scenario = 9 -> Simple 3D flexible + * spacecraft (Under development) + * + * Modification since the last version --> Removed: import.jat.attitude + */ +public class EomRunner { + static EomRunner EOM; + private double time_step = 0.1; + private double timeDuration = 10; + + double i = 10.42; + double j = 35.42; + double k = 41.67; + private double I1 = i;// 45.42; + private double I2 = j;// 35.42; + private double I3 = k;// 13.35; + + private double J = 600; // Moment of Inertia for a single axis simulation + public int animationYes = 1; + public int plotYes = 0; + public int number_of_RW = 3; + public float quat_values[][] = null; + + /** + * Default Constructor + */ + public EomRunner(double time_step, double time) { + this.time_step = time_step; + this.timeDuration = time; + } + + /** + * Constructor + */ + public EomRunner(double time_step, double time, double I1, double I2, + double I3) { + this.time_step = time_step; + this.timeDuration = time; + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + } + + /** + * Sets up the private variables from outside + */ + public void setInertiaThreeD(double I1, double I2, double I3) { + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + } + + /** + * Set moment of inertia for two dimensional simulation + */ + public void setInertiaTwoD(double J) { + this.J = J; + } + + /** + * Method doConstantTorque. + */ + public void doConstantTorque(double[] x0, double M1, double M2, double M3) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + quat_values = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + // create an instance + RConstantTorque si = new RConstantTorque(time_step, M1, M2, M3, I1, I2, + I3, quat_values); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + // Animation + quat_values = si.getQuaternion(); + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "else"); + } + } + + /** + * Method doGGCircular. + */ + public void doGGCircular(double[] x0) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + // create an instance + RGGCircularOrbit si = new RGGCircularOrbit(time_step, I1, I2, I3, + quat_values); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + // Animation + quat_values = si.getQuaternion(); + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "Gravity Gradient"); + } + } + + /** + * Method doGGEccentric. + */ + public void doGGEccentric(double[] x0, double e) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + // create an instance + RGGEccentricOrbit si = new RGGEccentricOrbit(time_step, I1, I2, I3, e, + quat_values); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + // Animation + quat_values = si.getQuaternion(); + + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "Gravity Gradient"); + } + } + + /** + * Method doSphericalDamper. + */ + public void doSphericalDamper(double[] x0, double c, double j) { + double tf = timeDuration; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + // create an instance + RSphericalDamper si = new RSphericalDamper(time_step, I1, I2, I3, c, j, + quat_values); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + // Animation + quat_values = si.getQuaternion(); + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "Else"); + } + } + + /** + * Method doFourRW. + */ + public void doFourRW(double[] x0, double J, double angle, double psi, + double theta, double phi) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + // create an instance + FourRWManeuver si = new FourRWManeuver(time_step, I1, I2, I3, J, angle, + psi, theta, phi, quat_values); + + // Set the number of RW + si.number_of_RW = number_of_RW; + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + + // Animation + quat_values = si.getQuaternion(); + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "else"); + } + } + + public void doCMGManeuver(double[] x0, double J, double A, double psi, + double phi, double theta) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + // create an instance + CMGManeuver si = new CMGManeuver(time_step, I1, I2, I3, J, A, psi, phi, + theta, quat_values); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + // / make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "else"); + } + } + + /** + * Method doBangBang. + */ + public void doBangBang(double[] x0, double wn, double damping, double K, + double Kd, double K_bang, double Kd_bang, double torque, double dz, + double theta_com) { + double time_step = 0.01; + double timeDuration = 30; + + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + // RungeKuttaFehlberg78 rk78 = new RungeKuttaFehlberg78(1e-6); + double tf = timeDuration;// Duration of the simulation time is the same + // as the final time + + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + + // create an instance + // BangBangTwoD si = new BangBangTwoD(time_step, quat_values); + BangBangTwoD si = new BangBangTwoD(time_step, J, wn, damping, K, Kd, + K_bang, Kd_bang, torque, dz, theta_com, quat_values); + // initialize the variables + // double [] x0 = new double[4]; + // x0[0] = 0.0; + // x0[1] = 0.0; + // x0[2] = 0.0; + // x0[3] = 0.0; + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + I3 = J; + I2 = J; // Just for convenience + I1 = J; // Just for convenience + if (animationYes == 1) { + AnimationWindow theAnimWindow = new AnimationWindow("Animation", + (float) I1, (float) I2, (float) I3, numberOfPts, + quat_values, "else"); + } + } + + + /** + * Method doTwoDFlex. + */ + public void doTwoDFlex(double[] x0, double a, double L, double EI, + double m, double K, double Kd, double alpha_com) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + // RungeKuttaFehlberg78 rk78 = new RungeKuttaFehlberg78(1e-12); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + float quatBeam1[][] = new float[5][size_quat_values + 1]; + float quatBeam2[][] = new float[5][size_quat_values + 1]; + // create an instance + FlexibleTwoD si = new FlexibleTwoD(time_step, m, a, L, EI, I3, K, Kd, + alpha_com, quat_values, quatBeam1, quatBeam2); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + + // double [] xf = rk78f.integrate(x0, t0, tf, orbit, lp, true); + // rk78.integrate(t0, x0, tf, si, si, true); + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + + // Animation + quat_values = si.getQuaternion(); + quatBeam1 = si.getQuatBeam1(); + quatBeam2 = si.getQuatBeam2(); + if (animationYes == 1) { + + AnimationWindow2 theAnimWindow = new AnimationWindow2("Animation", + (float) I3, (float) I3, (float) I3, numberOfPts, + quat_values, "else", quatBeam1, quatBeam2, (float) a, + (float) L); + + /* + * AnimationWithAppendages theAnimWindow = new + * AnimationWithAppendages("Animation", (float)I1, (float)I2, + * (float)I3, numberOfPts, quat_values , "else", quatBeam1, + * quatBeam2); + */ + } + } + + + + /** + * Method doThreeDFlex. + */ + public void doThreeDFlex(double[] x0, double a, double L, double EI, + double m) { + double tf = timeDuration; + double t0 = 0.0; + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; // Duration of the simulation time is the same as the + // final time + int size_quat_values = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][size_quat_values + 1];// +1 is for + // AnimationWindow + float quatBeam1[][] = new float[5][size_quat_values + 1]; + float quatBeam2[][] = new float[5][size_quat_values + 1]; + // create an instance + FlexibleThreeD si = new FlexibleThreeD(time_step, m, a, L, EI, I1, I2, + I3, quat_values, quatBeam1, quatBeam2); + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + int numberOfPts = si.currentPts - 1; + // make the plot visible + if (plotYes == 1) + si.makePlotsVisible(); + + // Animation + quat_values = si.getQuaternion(); + if (animationYes == 1) { + /* + * AnimationWindow theAnimWindow = new AnimationWindow("Animation", + * (float)I1, (float)I2, (float)I3, numberOfPts, quat_values , + * "else"); + */ + AnimationWindow2 theAnimWindow = new AnimationWindow2("Animation", + (float) I3, (float) I3, (float) I3, numberOfPts, + quat_values, "else", quatBeam1, quatBeam2, (float) a, + (float) L); + } + } + + + public static void main(String[] args) { + EOM = new EomRunner(0.1, 20.0); + // EOM = new EomTest(0.1, 10.0, 600); + int scenario = 2; + + if (scenario == 1) { + double M1 = 1; // External torque + double M2 = 0; + double M3 = 0; + // initialize the variables + double[] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.1; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + EOM.doConstantTorque(x0, M1, M2, M3); + } else if (scenario == 2) { + // initialize the variables + double[] x0 = new double[7]; + x0[0] = 0.1; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + EOM.doGGCircular(x0); + } else if (scenario == 3) { + double e = 0.3; + // initialize the variables + double[] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + EOM.doGGEccentric(x0, e); + } else if (scenario == 4) { + double c = 5; // damping coefficient + double j = 5; + // Initial Condition + double[] x0 = new double[10]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + EOM.doSphericalDamper(x0, c, j); + } else if (scenario == 5) { + double J = 10; + double angle = 25; + double psi = 10; + double theta = 60; + double phi = 50; + // initialize the variables + double[] x0 = new double[11]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + x0[10] = 0.0; + EOM.doFourRW(x0, J, angle, psi, theta, phi); + } else if (scenario == 6) { + double J = 10; + double A = 500; + double psi = 30; + double phi = 20; + double theta = 50; + // initialize the variables + double[] x0 = new double[10]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + EOM.doCMGManeuver(x0, J, A, psi, phi, theta); + } else if (scenario == 7) { + + double J = 600; + double wn = 1; + double damping = 1; + double K = wn * wn * J; + double Kd = J * 2 * damping * wn; + double K_bang = K; + double Kd_bang = Kd; + double torque_level = 1; + double no_torque_zone = 0.001; + //double theta_com = 4 * Math.PI / 180; + double theta_com = 15.; + // initialize the variables + double[] x0 = new double[4]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 0.0; + x0[3] = 0.0; + EOM.setInertiaTwoD(J); + EOM.doBangBang(x0, wn, damping, K, Kd, K_bang, Kd_bang, + torque_level, no_torque_zone, theta_com); + } else if (scenario == 8) { + // double J = 13.5; + double a = 0.40; + double L = 1.8; + double EI = 15.52; + double m = 1; + double K = 0; + double Kd = 0; + double alpha_com = 0; + // initialize the variables + double[] x0 = new double[6]; + x0[0] = 0.0; + x0[1] = 0.1; + x0[2] = 0.1; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + + EOM.doTwoDFlex(x0, a, L, EI, m, K, Kd, alpha_com); + } else if (scenario == 9) { + double a = 0.40; + double L = 1.8; + double EI = 15.52; + double m = 1; + // initialize the variables + double[] x0 = new double[10]; + x0[0] = 0.1; + x0[1] = 0.1; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 0.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + + EOM.doThreeDFlex(x0, a, L, EI, m); + } + } + +} \ No newline at end of file diff --git a/src/jat/application/AttitudeSimulator/HelpWindow.java b/src/jat/application/AttitudeSimulator/HelpWindow.java new file mode 100644 index 0000000..f4ce5da --- /dev/null +++ b/src/jat/application/AttitudeSimulator/HelpWindow.java @@ -0,0 +1,98 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.AttitudeSimulator; + + +import jat.core.util.ResourceLoader; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; +import java.awt.HeadlessException; +import java.io.IOException; +import java.net.URL; + +import javax.swing.JEditorPane; +import javax.swing.JFrame; +import javax.swing.JLabel; +import javax.swing.JScrollPane; + + + +public class HelpWindow extends JFrame { + + private static final long serialVersionUID = 1L; + + public HelpWindow(String name) throws HeadlessException { + + super("Simulation Instruction"); + setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE); + JLabel emptyLabel = new JLabel(""); + emptyLabel.setPreferredSize(new Dimension(175, 100)); + + JScrollPane helpScrollPane = new JScrollPane(createEditorPane(name)); + + getContentPane().add(helpScrollPane, BorderLayout.CENTER); + + pack(); + setVisible(true); + } + + private JEditorPane createEditorPane(String relative_path) { + + + JEditorPane editorPane = new JEditorPane(); + editorPane.setEditable(false); + editorPane.setBackground(Color.white); + Dimension mysize = new Dimension(600, 400); + editorPane.setPreferredSize(mysize); + + try { + ResourceLoader c=new ResourceLoader(); + URL helpURL2 = c.loadURL(this.getClass(), relative_path); + + displayURL(helpURL2, editorPane, relative_path); + + } catch (Exception e) { + System.err.println("Couldn't create help URL!!: " + relative_path); + System.exit(0); + } + + return editorPane; + } + + /** + * Displays URL + * + * @author Sun's Swing tutorial example + * @param url + * (URL) + * @param editorPane + * (JEditorPane) + * @param fileName + * (String) + */ + private void displayURL(URL url, JEditorPane editorPane, String fileName) { + try { + editorPane.setPage(url); + } catch (IOException e) { + System.err.println("Attempted to read a bad URL: " + url); + } + } + +} diff --git a/src/jat/application/AttitudeSimulator/JTextFieldPanel.java b/src/jat/application/AttitudeSimulator/JTextFieldPanel.java new file mode 100644 index 0000000..fb6560f --- /dev/null +++ b/src/jat/application/AttitudeSimulator/JTextFieldPanel.java @@ -0,0 +1,277 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.application.AttitudeSimulator; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; +import java.awt.Font; +import java.awt.Label; +import java.awt.Toolkit; +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; + +import javax.swing.BorderFactory; +import javax.swing.Box; +import javax.swing.BoxLayout; +import javax.swing.JFrame; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.JTextField; + +/** + *

+ * The JTextFieldPanel provides an efficient way of creating and organizing + * TextField objects. The class extends JPanel and is therefore a JPanel itself. + * And all the components constructed in this class is swing components. The + * main objective of this class is to create input fields with labels + * identifying the fields. + *

+ * JTextFieldPanel uses BoxLayout to construct a JPanel with 1 row or column of + * JTextField components along with labels. + * + * @author Noriko Takada + * @version Last Modified: 08/12003 + */ + +public class JTextFieldPanel extends JPanel // This class is the JPanel itself +{ + private static final long serialVersionUID = 1810937096232967192L; + // Instantiate a Font object + Font fancyFont = new Font("Serif", Font.BOLD | Font.ITALIC, 32); + Font titlef = new Font("Dialog", Font.BOLD, 16); + Font boldf = new Font("Dialog", Font.BOLD, 12); + Font italicf = new Font("Dialog", Font.ITALIC, 12); + Font normalf = new Font("Dialog", Font.PLAIN, 12); + + // theFrame is used in main() for demonstration purpose + private static JFrame theFrame; + + public JTextFieldPanel() { + } + + /** + * @param direction + * (int)1-> X_AXIS, 2-> Y_AXIS + * @param title + * (String) Title of the panel + * @param labels + * (String[]) Labels of the corresponding TextFields + * @param fields + * (JTextField[]) TextFields to be laid out + * @param c + * (Color) Color of the panel + */ + public JTextFieldPanel(int direction, String title, String labels[], + JTextField fields[], Color c) { + // Since labels are supposed to be associated with the text fields, + // labels[] and fields[] are assumed to have the same length. + super(); + int length = labels.length; + + if (direction == 1) { + setLayout(new BoxLayout(this, BoxLayout.X_AXIS)); + int panelRowWidth = length * 100 + length * 5 + 5 + 5; + int panelRowHeight = 30; + Dimension rowSize = new Dimension(panelRowWidth, panelRowHeight); + this.setMaximumSize(rowSize); + this.setPreferredSize(rowSize); + this.setMinimumSize(rowSize); + } else { + setLayout(new BoxLayout(this, BoxLayout.Y_AXIS)); + int panelColumnWidth = 110; + int panelColumnHeight = (length + 1) * 25 + length * 5 + 5; + Dimension columnSize = new Dimension(panelColumnWidth, + panelColumnHeight); + this.setMaximumSize(columnSize); + this.setPreferredSize(columnSize); + this.setMinimumSize(columnSize); + } + + this.setBackground(c); + this.setBorder(BorderFactory.createTitledBorder(title)); + + /* Add JLabel and JTextField component to this JPanel */ + for (int i = 0; i < length; ++i) { + int fieldWidth = 50; + int fieldHeight = 25; + JPanel unitPanel = new JPanel(); + unitPanel.setLayout(new BoxLayout(unitPanel, BoxLayout.X_AXIS)); + Dimension unitSize = new Dimension(2 * fieldWidth, fieldHeight); + unitPanel.setMaximumSize(unitSize); + unitPanel.setPreferredSize(unitSize); + unitPanel.setMinimumSize(unitSize); + unitPanel.setBackground(c); + if (direction == 1) // X direction + unitPanel.setAlignmentY(CENTER_ALIGNMENT); + else + unitPanel.setAlignmentX(LEFT_ALIGNMENT); + + Dimension fieldSize = new Dimension(fieldWidth, fieldHeight); + fields[i].setMaximumSize(fieldSize); + fields[i].setPreferredSize(fieldSize); + fields[i].setMinimumSize(fieldSize); + + JLabel label = new JLabel(labels[i], Label.RIGHT); + unitPanel.add(Box.createHorizontalGlue()); + unitPanel.add(label); + unitPanel.add(fields[i]); + + this.add(Box.createRigidArea(new Dimension(5, 5))); + this.add(unitPanel); + } + this.add(Box.createRigidArea(new Dimension(5, 5))); + this.setAlignmentX(LEFT_ALIGNMENT); + + }// End of constructor + + /* + * /** Constructor 2 + * + * @param direction 1-> X_AXIS 2-> Y_AXIS + * + * @param title Title of the panel + * + * @param labels[] Labels of the corresponding TextFields + * + * @param fields[] TextFields to be laid out + * + * @param c Color of the panel + * + * @param titleImage Icon image to be added with the title label + */ + /* + * + * public JTextFieldPanel(int direction, String title, String labels[], + * JTextField fields[], Color c, ImageIcon titleImage) { // Since labels are + * supposed to be associated with the text fields, // labels[] and fields[] + * are assumed to have the same length. super(); int length = labels.length; + * + * // The target of BoxLayout is 'this' JPanel. / if(direction == 1) { + * setLayout(new BoxLayout(this, BoxLayout.Y_AXIS)); JPanel rowPanel = new + * JPanel(); rowPanel.setLayout(new BoxLayout(rowPanel, BoxLayout.X_AXIS)); + * + * int panelRowWidth = length*150 + length * 5 + 5; int panelRowHeight = 70; + * Dimension rowSize = new Dimension (panelRowWidth, panelRowHeight); + * Dimension panelSize = new Dimension (panelRowWidth, panelRowHeight + 50); + * rowPanel.setMaximumSize(rowSize); rowPanel.setPreferredSize(rowSize); + * rowPanel.setMinimumSize(rowSize); rowPanel.setAlignmentX(LEFT_ALIGNMENT); + * this.setMaximumSize(panelSize); this.setPreferredSize(panelSize); + * this.setMinimumSize(panelSize); + * + * rowPanel.setBackground(c); this.setBackground(c); + * this.setBorder(BorderFactory.createLineBorder(Color.red)); + * + * JLabel titleLabel = new JLabel(title); // Associate the font with the + * label titleLabel.setFont(titlef); titleLabel.setIcon(titleImage); // + * Align the text to the right of the Icon + * titleLabel.setHorizontalAlignment(JLabel.RIGHT); + * titleLabel.setAlignmentX(LEFT_ALIGNMENT); + * + * this.add(titleLabel); + * + * // Add JLabel and JTextField component to this JPanel for(int + * i=0;i + * AnimationWindow creates a pop-up Java3D animation window + * + * @author Daniel Quock + * @version 1.3 (03/09/2004) Modification since the last version Removed: import + * java.applet.*; import com.sun.j3d.utils.geometry.*; + */ +// ************************************************************************ +// * +// * AnimationWindow class +// * +// * Written by: Date: +// * Daniel Quock December 2001 +// * Original AnimationWindow +// * Daniel Quock July 2002 +// * Moved the AnimationWindow class into it's own file +// * +// * Description: +// * This routine creates the pop-up Java3D animation window +// * +// * Global Variables: +// * theAnimWindow (HelpWindow) = instance of itself +// * animFrame (JFrame) = frame displayed in theHelpWindow +// * i_xaxes (float) = location of reference x-axis +// * i_yaxes (float) = location of reference y-axis +// * i_zaxes (float) = location of reference z-axis +// * axeslength (float) = length of graphical axis lines +// * xcolor (Color) = color of x-axis +// * ycolor (Color) = color of y-axis +// * zcolor (Color) = color of z-axis +// * mtx (float) = initial model translation x-axis +// * mty (float) = initial model translation y-axis +// * mtz (float) = initial model translation z-axis +// * modelScale (double) = scale of model +// * xlength (float) = length of satellite, x-axis +// * ylength (float) = length of satellite, y-axis +// * zlength (float) = length of satellite, z-axis +// * time_values (float array) = array of time values +// * quat_values(float arrayx2) = double array of quaternions +// * ixx (float) = satellite principal moments of inertia +// * iyy (float) = satellite principal moments of inertia +// * izz (float) = satellite principal moments of inertia +// * simType (String) = string of simulation type being run +// * curr_pt (int) = current point in animation +// * tot_pts (int) = total number of points in animation +// * start_button (Button) = start animation button +// * stop_button (Button) = stop animation button +// * reset_button (Button) = reset view axis button +// * timeLabel (Label) = label of current time +// * animSpeedLabel (Label) = label of "Animation Speed" +// * plus_button (Button) = Plus Button (increase animation speed) +// * minus_button (Button) = Minus Button (decrease animation speed) +// * animControl (Timer) = timer for controlling animation +// * nf (NumberFormat) = NumberFormat +// * modelTrans(TransformGroup) = Java3D transform group of model +// * sattlTrans(TransformGroup) = Java3D transform group of satellite +// * iner_axisTrans(TrnsfrmGrp) = Java3D transform group of inertial axis +// * axislabelTrans(TrnsfrmGrp) = Java3D transform group of inertial axis +// * labels +// * SatTrans (Transform3D) = Java3D transformation +// * satellite (..geometry.Box) = Java3D shape (box) +// * inertial_axes (LineArray) = line array of points to draw +// * inertial axes +// * body_axes (LineArray) = line array of points to draw +// * body axes on satellite +// * satelliteApp (Appearance) = appearance of satellite +// * GraphicPanel (Panel) = graphical panel containing 3D scene +// * CtrlPanel (Panel) = panel containing animation interface +// * anim_slider (JSlider) = slider to show time in animation +// * delayvalue (int) = shows delay between frames in animation +// * +// ************************************************************************/ + +public class AnimationWindow extends JPanel implements ActionListener, + ChangeListener { + /** + * + */ + private static final long serialVersionUID = 3712882429670450841L; + private static AnimationWindow theAnimWindow; + JFrame animFrame = new JFrame(" "); + + // Location of Inertial Axes + final float i_xaxes = -7.0f; + final float i_yaxes = -7.0f; + final float i_zaxes = 0.0f; + final float axeslength = 2.0f; + + // Assigns the inertial and body axes' colors + Color3f xcolor = new Color3f(1.0f, 0.0f, 0.0f); + Color3f ycolor = new Color3f(1.0f, 1.0f, 1.0f); + Color3f zcolor = new Color3f(0.0f, 0.0f, 1.0f); + + // Initial model translation + final float mtx = 0f; + final float mty = 0f; + final float mtz = -10.0f; + + // Model Constants + final double modelScale = 0.5d; + + // Lengths of Satellite + float xlength, ylength, zlength; + + // Time values + float time_values[]; + + // Quaternion values + float quat_values[][]; + + // Satellite principal moments of inertia + float ixx, iyy, izz; + + String simType; + + int curr_pt; // Current point in animation + int tot_pts; // Total number of points in anim + + Button help_button; + Button start_button, stop_button, reset_button; + JCheckBox repeatBox; + Label timeLabel, animSpeedLabel; + Button plus_button, minus_button; + + Timer animControl; + + // Set Number of digits right of decimal + NumberFormat nf = NumberFormat.getNumberInstance(); + + // Initialize The transformationGroups + TransformGroup modelTrans; + TransformGroup sattlTrans; + TransformGroup iner_axisTrans; + TransformGroup axislabelTrans; + + Transform3D SatTrans = new Transform3D(); + + // Initialize Box + com.sun.j3d.utils.geometry.Box satellite; + + // Initialize LineArray for inertial and body axes + LineArray inertial_axes; + LineArray body_axes; + + // Initialize Appearance attributes + Appearance satelliteApp; + + // Panel for the buttons + Panel GraphicPanel; + Panel CtrlPanel; + + // Slider at bottom of window to display animation + JSlider anim_slider; + + // Delay value for animation + int delayValue; + + // ** + // * + // * Description:
+ // * This routine creates the pop-up animation window
+ // * + // * Inputs:
+ // * title (String) = title that goes in window title bar
+ // * ixxt (float) = temp principal moment of inertia, x-axis
+ // * iyyt (float) = temp principal moment of inertia, y-axis
+ // * izzt (float) = temp princiapl moment of inertia, z-axis
+ // * pts (int) = number of animation points
+ // * tvars (float arrayx2) = array of values
+ // * tsimType (String) = temp type of simulation
+ // * (e.g. "Gravity Gradient")
+ // * Outputs:
+ // * None
+ // * + // * Local Variables:
+ // * frameWidth (int) = width of frame
+ // * frameHeight (int) = height of frame
+ // * content (Container) = Container of objects
+ // * c (Canvas3D) = Java3D canvas
+ // * scene (BranchGroup) = Java3D branchgroup
+ // * u (SimpleUniverse) = Java3D simple universe
+ // * + // */ + /** + * Creates the pop-up animation window + * + * @param title + * (String) title that goes in window title bar + * @param ixxt + * (float) temp principal moment of inertia, x-axis + * @param iyyt + * (float) temp principal moment of inertia, y-axis + * @param izzt + * (float) temp principal moment of inertia, z-axis + * @param pts + * (int) number of animation points + * @param tvars + * (float[][]) array of values + * @param tsimType + * (String) temp type of simulation (e.g. "Gravity Gradient") + * + */ + public AnimationWindow(String title, float ixxt, float iyyt, float izzt, + int pts, float tvars[][], String simTypet) { + int frameWidth = 800; + int frameHeight = 600; + + animFrame.setTitle(title); + Container content = animFrame.getContentPane(); + content.setLayout(new BorderLayout()); + animFrame.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE); + animFrame.setBounds(50, 100, frameWidth, frameHeight); + content.setBackground(Color.white); + + delayValue = 100; + + // Assign passed parameters into frame class + tot_pts = pts; + + curr_pt = 0; + + nf.setMaximumFractionDigits(1); + + // Time Array + time_values = new float[tot_pts + 1]; + + // Quaternions array + quat_values = new float[4][tot_pts + 1]; + + // Assign the time and quaternion values + for (int index = 0; index <= tot_pts; index++) { + time_values[index] = tvars[0][index]; + quat_values[0][index] = tvars[1][index]; // e1 + quat_values[1][index] = tvars[2][index]; // e2 + quat_values[2][index] = tvars[3][index]; // e3 + quat_values[3][index] = tvars[4][index]; // e4 + } + + // Assign the principal moments of inertia + ixx = ixxt; + iyy = iyyt; + izz = izzt; + + // Assigns the simulation type + simType = simTypet; + + // Creates JSlider with points 0 to total points + anim_slider = new JSlider(SwingConstants.HORIZONTAL, 0, tot_pts, 0); + anim_slider.addChangeListener(this); + // Fills the slider as it is finished + anim_slider.putClientProperty("JSlider.isFilled", Boolean.TRUE); + + GraphicPanel = new Panel(); + GraphicPanel.setLayout(new BorderLayout()); + + GraphicsConfiguration config = SimpleUniverse + .getPreferredConfiguration(); + Canvas3D c = new Canvas3D(config); + + // Create a simple scene and attach it to the virtual universe + BranchGroup scene = createSceneGraph(); + SimpleUniverse u = new SimpleUniverse(c); + // This will move the ViewPlatform back + u.getViewingPlatform().setNominalViewingTransform(); + u.addBranchGraph(scene); + + GraphicPanel.add("Center", c); + content.add("Center", GraphicPanel); + + // Adds a Panel with all the control buttons on it + CtrlPanel = new Panel(); + + // *** GridBagLayout Routine *** + // Sets up the GridBagLayout to add into Panel + GridBagLayout anim_gbl = new GridBagLayout(); + // Sets up the GridBagConstraints + GridBagConstraints constraints = new GridBagConstraints(); + CtrlPanel.setLayout(anim_gbl); + + // Sets variables to determine which line the fields appear in + int buttonline = 0; // Button Lines + int scrolline = 1; // Scrollbar Line + int animline = 2; // Animation Speed Line + + stop_button = new Button("Stop"); + buildConstraints(constraints, 0, buttonline, 1, 1); + anim_gbl.setConstraints(stop_button, constraints); + CtrlPanel.add(stop_button); + stop_button.addActionListener(this); + + start_button = new Button("Start"); + buildConstraints(constraints, 1, buttonline, 1, 1); + anim_gbl.setConstraints(start_button, constraints); + CtrlPanel.add(start_button); + start_button.addActionListener(this); + + if (simType == "Gravity Gradient") + timeLabel = new Label("Time: " + nf.format(time_values[0]) + + " orbits "); + else + timeLabel = new Label("Time: " + nf.format(time_values[0]) + + " secs "); + buildConstraints(constraints, 2, buttonline, 3, 1); + anim_gbl.setConstraints(timeLabel, constraints); + CtrlPanel.add(timeLabel); + + reset_button = new Button("Reset Axes"); + buildConstraints(constraints, 5, buttonline, 2, 1); + anim_gbl.setConstraints(reset_button, constraints); + CtrlPanel.add(reset_button); + reset_button.addActionListener(this); + + buildConstraints(constraints, 0, scrolline, 7, 1); + anim_gbl.setConstraints(anim_slider, constraints); + CtrlPanel.add(anim_slider); + + minus_button = new Button("-"); + buildConstraints(constraints, 1, animline, 1, 1); + anim_gbl.setConstraints(minus_button, constraints); + CtrlPanel.add(minus_button); + minus_button.addActionListener(this); + + animSpeedLabel = new Label("Animation Speed"); + buildConstraints(constraints, 2, animline, 3, 1); + anim_gbl.setConstraints(animSpeedLabel, constraints); + CtrlPanel.add(animSpeedLabel); + + plus_button = new Button("+"); + buildConstraints(constraints, 5, animline, 1, 1); + anim_gbl.setConstraints(plus_button, constraints); + CtrlPanel.add(plus_button); + plus_button.addActionListener(this); + + repeatBox = new JCheckBox("repeat"); + CtrlPanel.add(repeatBox); + + help_button = new Button("Help"); + CtrlPanel.add(help_button); + help_button.addActionListener(this); + + // Adds Panel to BorderLayout + content.add("South", CtrlPanel); + + // Parameters for animation control + // 100 = 1 sec + animControl = new Timer(delayValue, this); + animControl.start(); + + animFrame.setVisible(true); + } // End AnimationWindow constructor + + // ************************************************************************ + // * + // * buildConstraints + // * + // * Description: + // * This sets the constraints for a cell in the Grid Bag Layout + // * + // * Inputs: + // * gbc (GridBagConstraints) = Grid Bag Constraints + // * gx (int) = grid x-location + // * gy (int) = grid y-location + // * gw (int) = grid width + // * gh (int) = grid height + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * None + // * + // ************************************************************************/ + /** + * Sets the constraints for a cell in the Grid Bag Layout + * + * @param gbc + * (GridBangConstraints) Grid Bang Constraints + * @param gx + * (int) grid x-location + * @param gy + * (int) grid y-location + * @param gw + * (int) grid width + * @param gh + * (int) grid height + */ + void buildConstraints(GridBagConstraints gbc, int gx, int gy, int gw, int gh) { + // Location of field in the layout + gbc.gridx = gx; + gbc.gridy = gy; + // Number of cell widths and heights field requires + gbc.gridwidth = gw; + gbc.gridheight = gh; + } + + // ************************************************************************ + // * + // * stateChanged + // * + // * Description: + // * This routine handles events caused by the JSlider + // * + // * Inputs: + // * e (ChangeEvent) = ChangeEvent + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * new_point (int) = new point in slider with changed loc + // * jslider1 (JSlider) = temp slider with changed location + // * + // * + // ************************************************************************/ + /** + * Handles events caused by the JSlider + * + * @param e + * (ChangeEvent) ChangeEvent) + */ + public void stateChanged(ChangeEvent e) { + int new_point; + JSlider jslider1 = (JSlider) e.getSource(); + + // Find the new point of animation if slider is used + new_point = jslider1.getValue(); + // Assign the current point to the new point + curr_pt = new_point; + + // Stop the animation if the current point is at the end + if (curr_pt == tot_pts) { + if (repeatBox.isSelected()) { + curr_pt = 0; + } else + animControl.stop(); + } + // Updates the control panel and graphic if animation is not running + if (animControl.isRunning() == false) { + animControl.start(); + SatTrans.setRotation(new Quat4f(quat_values[0][curr_pt], + quat_values[1][curr_pt], quat_values[2][curr_pt], + quat_values[3][curr_pt])); + sattlTrans.setTransform(SatTrans); + if (simType == "Gravity Gradient") + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " orbits "); + else + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " secs "); + animControl.stop(); + } + + } + + // ************************************************************************ + // * + // * actionPerformed + // * + // * Description: + // * This routine handles any button presses and the animation + // * of the satellite by drawing the next frame and updating the + // * slider + // * + // * Inputs: + // * e (ActionEvent) = ActionEvent + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * modTrans (Transform3D) = Java3D transformation + // * + // ************************************************************************/ + /** + * Handles any button presses and the animation of the satellite by drawing + * the next frame and updating the slider + * + * @param e + * (ActionEvent) ActionEvent + */ + public void actionPerformed(ActionEvent e) { + // Transform3D for satellite and model + Transform3D modTrans = new Transform3D(); + + if ((e.getSource() == start_button) && (curr_pt >= tot_pts)) { + curr_pt = 0; + animControl.start(); + } else if (e.getSource() == start_button) + animControl.start(); + else if (e.getSource() == stop_button) + animControl.stop(); + else if (e.getSource() == reset_button) { + modTrans.setTranslation(new Vector3f(mtx, mty, mtz)); + modTrans.setRotation(new Quat4f(0.0f, 0.0f, 0.0f, 1.0f)); + modTrans.setScale(new Vector3d(modelScale, modelScale, modelScale)); + modelTrans.setTransform(modTrans); + } else if (e.getSource() == minus_button) { + if (delayValue < 1000) + delayValue = delayValue * 5; + animControl.setDelay(delayValue); + } else if (e.getSource() == plus_button) { + if (delayValue > 5) + delayValue = delayValue / 5; + animControl.setDelay(delayValue); + + } else if (e.getSource() == help_button) { + JOptionPane + .showMessageDialog( + null, + "Left mouse button drag : rotate\nMiddle mouse button drag : zoom\nCTRL-ALT-Left mouse button drag: zoom\nRight mouse button drag: translate "); + } else // Run animation + { + SatTrans.setRotation(new Quat4f(quat_values[0][curr_pt], + quat_values[1][curr_pt], quat_values[2][curr_pt], + quat_values[3][curr_pt])); + sattlTrans.setTransform(SatTrans); + // Increment to next point + curr_pt = curr_pt + 1; + } + + // Moves the slider as the animation is changed + anim_slider.setValue(curr_pt); + + // Updates the timeLabel + if (simType == "Gravity Gradient") + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " orbits "); + else + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " secs "); + // Stop animation at end + if (curr_pt >= tot_pts) + if (repeatBox.isSelected()) { + curr_pt = 0; + } else + animControl.stop(); + } // End actionPerformed + + // ************************************************************************ + // * + // * createSceneGraph + // * + // * Description: + // * This routine creates the scene graph of the universe, populates + // * it with lights, the initial camera location, and allows + // * mouse interaction with the scene + // * + // * Inputs: + // * None + // * + // * Outputs: + // * objRoot (BranchGroup) = Java3D BranchGroup + // * + // * Local Variables: + // * objRoot (BranchGroup) = Java3D BranchGroup + // * bounds (BoundingSphere) = Java3D BoundingSphere + // * light (DirectionalLight) = Java3D light source + // * trans (Transform3D) = Java3D transformation + // * + // ************************************************************************/ + /** + * Create the scene graph of the universe, populates it with lights, the + * initial camera location, and allows mouse interaction with the scene + */ + public BranchGroup createSceneGraph() { + // Create the root of the branch graph + BranchGroup objRoot = new BranchGroup(); + + // Create light source + // first bound its influence + BoundingSphere bounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), + 100.0); + + // now make the light itself + DirectionalLight light = new DirectionalLight(new Color3f(1.0f, 1.0f, + 1.0f), new Vector3f(0f, 0f, -1f)); + + light.setInfluencingBounds(bounds); + objRoot.addChild(light); + + // TransformGroup that moves the whole model + modelTrans = new TransformGroup(); + + // Transform3D + Transform3D trans = new Transform3D(); + // Initially move it away from camera + trans.setTranslation(new Vector3f(mtx, mty, mtz)); + // and shrink everything so it fits in field of view + trans.setScale(new Vector3d(modelScale, modelScale, modelScale)); + modelTrans.setTransform(trans); + + // Allows mouse to alter scene + modelTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + modelTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + + // Create Mouse Rotate + MouseRotate modelRot = new MouseRotate(); + modelRot.setTransformGroup(modelTrans); + modelTrans.addChild(modelRot); + modelRot.setSchedulingBounds(bounds); + + // Create the Zoom + MouseZoom modelZoom = new MouseZoom(); + modelZoom.setTransformGroup(modelTrans); + modelTrans.addChild(modelZoom); + modelZoom.setSchedulingBounds(bounds); + + // Create the translate + MouseTranslate modelTranslate = new MouseTranslate(); + modelTranslate.setTransformGroup(modelTrans); + modelTrans.addChild(modelTranslate); + modelTranslate.setSchedulingBounds(bounds); + + modelTrans.addChild(generateAxes()); + modelTrans.addChild(generateAxesLabels()); + modelTrans.addChild(generateSatellite()); + + objRoot.addChild(modelTrans); + return objRoot; + } // End createSceneGraph + + // ************************************************************************ + // * + // * generateAxes + // * + // * Description: + // * This routine creates the inertial reference axis in the + // * animation + // * + // * Inputs: + // * None + // * + // * Outputs: + // * iner_axisTrans (TransformGroup) = Java3D TransformGroup + // * + // * Local Variables: + // * iner_axisTrans (TransformGroup) = Java3D TransformGroup + // * origin (Point3f) = origin point + // * trans (Transform3D) = Java3D transformation + // * + // ************************************************************************/ + /** + * Creates the inertial reference axis in the animation + */ + public TransformGroup generateAxes() { + Point3f origin = new Point3f(0.0f, 0.0f, 0.0f); + + iner_axisTrans = new TransformGroup(); + + Transform3D trans = new Transform3D(); + trans.setTranslation(new Vector3f(i_xaxes, i_yaxes, i_zaxes)); + iner_axisTrans.setTransform(trans); + + inertial_axes = new LineArray(6, LineArray.COORDINATES + | LineArray.COLOR_3); + + // X-Axis + inertial_axes.setCoordinate(0, origin); + inertial_axes.setCoordinate(1, new Point3f(axeslength, 0.0f, 0.0f)); + inertial_axes.setColor(0, xcolor); + inertial_axes.setColor(1, xcolor); + + // Y-Axis + inertial_axes.setCoordinate(2, origin); + inertial_axes.setCoordinate(3, new Point3f(0.0f, axeslength, 0.0f)); + inertial_axes.setColor(2, ycolor); + inertial_axes.setColor(3, ycolor); + + // Z-Axis + inertial_axes.setCoordinate(4, origin); + inertial_axes.setCoordinate(5, new Point3f(0.0f, 0.0f, axeslength)); + inertial_axes.setColor(4, zcolor); + inertial_axes.setColor(5, zcolor); + + iner_axisTrans.addChild(new Shape3D(inertial_axes)); + return iner_axisTrans; + } // End generateAxes + + // ************************************************************************ + // * + // * generateAxesLabels + // * + // * Description: + // * This routine creates the labels for the inertial reference + // * axis in the animation (The white "X", "Y", and "Z") + // * + // * Inputs: + // * None + // * + // * Outputs: + // * axislabelTrans (TransformGroup) = Java3D TransformGroup + // * + // * Local Variables: + // * axislabelTrans (TransformGroup) = Java3D TransformGroup + // * font3d (Font3D) = Java3D Font3D + // * xfont (Text3D) = 3D "X" + // * xshape (Shape3D) = Java3D Shape3D of xfont + // * yfont (Text3D) = 3D "Y" + // * yshape (Shape3D) = Java3D Shape3D of yfont + // * zfont (Text3D) = 3D "Z" + // * zshape (Shape3D) = Java3D Shape3D of zfont + // * + // ************************************************************************/ + /** + * Creates the labels for the inertial reference axis in the animation (The + * white "X", "Y"m and "Z") + */ + public TransformGroup generateAxesLabels() { + axislabelTrans = new TransformGroup(); + + Font3D font3d = new Font3D(new Font("Display", Font.PLAIN, 1), + new FontExtrusion()); + + // X-Axis Label + Text3D xfont = new Text3D(font3d, new String("X"), new Point3f((i_xaxes + + axeslength + 0.5f), (i_yaxes - 0.25f), 0.0f)); + Shape3D xshape = new Shape3D(xfont); + + // Y-Axis Label + Text3D yfont = new Text3D(font3d, new String("Y"), new Point3f( + (i_xaxes - 0.25f), (i_yaxes + axeslength + 0.5f), 0.0f)); + Shape3D yshape = new Shape3D(yfont); + + // Z-Axis Label + Text3D zfont = new Text3D(font3d, new String("Z"), new Point3f( + (i_xaxes - 0.5f), (i_yaxes - 0.5f), (axeslength + 0.5f))); + Shape3D zshape = new Shape3D(zfont); + + axislabelTrans.addChild(xshape); + axislabelTrans.addChild(yshape); + axislabelTrans.addChild(zshape); + + return axislabelTrans; + } // End generateAxesLabels + + // ************************************************************************ + // * + // * generateSatellite + // * + // * Description: + // * This routine creates the box shape of the satellite using the + // * principal moments of inertia. + // * + // * Inputs: + // * None + // * + // * Outputs: + // * sattlTrans (TransformGroup) = Java3D TransformGroup + // * + // * Local Variables: + // * sattlTrans (TransformGroup) = Java3D TransformGroup + // * black (Color3f) = color black + // * origin (Point3f) = origin point + // * trans (Transform3D) = Java3D Transform3D + // * + // ************************************************************************/ + /** + * Create the box shape of the satellite using the principal moments of + * inertia + */ + public TransformGroup generateSatellite() { + // Assigns colors + Color3f black = new Color3f(0.0f, 0.0f, 0.0f); + + Point3f origin = new Point3f(0.0f, 0.0f, 0.0f); + + Quat4f init_quats = new Quat4f(quat_values[0][0], quat_values[1][0], + quat_values[2][0], quat_values[3][0]); + sattlTrans = new TransformGroup(); + sattlTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + + Transform3D trans = new Transform3D(); + trans.setTranslation(new Vector3d(0.0d, 0.0d, 0.0d)); + // Set initial Quaternion Values + trans.setRotation(init_quats); + sattlTrans.setTransform(trans); + + satelliteApp = new Appearance(); + satelliteApp.setCapability(Appearance.ALLOW_MATERIAL_WRITE); + satelliteApp.setMaterial(new Material(black, black, new Color3f(1.0f, + 0.0f, 0.0f), black, 0f)); + + // Find the satellite dimensions + findDimensions(); + + satellite = new com.sun.j3d.utils.geometry.Box(xlength, ylength, + zlength, satelliteApp); + + // Places body axes on satellite + body_axes = new LineArray(6, LineArray.COORDINATES | LineArray.COLOR_3); + + // X-Axis + body_axes.setCoordinate(0, origin); + body_axes.setCoordinate(1, new Point3f(xlength + 1.5f, 0.0f, 0.0f)); + body_axes.setColor(0, xcolor); + body_axes.setColor(1, xcolor); + + // Y-Axis + body_axes.setCoordinate(2, origin); + body_axes.setCoordinate(3, new Point3f(0.0f, ylength + 1.5f, 0.0f)); + body_axes.setColor(2, ycolor); + body_axes.setColor(3, ycolor); + + // Z-Axis + body_axes.setCoordinate(4, origin); + body_axes.setCoordinate(5, new Point3f(0.0f, 0.0f, zlength + 1.5f)); + body_axes.setColor(4, zcolor); + body_axes.setColor(5, zcolor); + + sattlTrans.addChild(new Shape3D(body_axes)); + sattlTrans.addChild(satellite); + return sattlTrans; + + } // End generateSatellite + + // ************************************************************************ + // * + // * findDimensions + // * + // * Description: + // * This routine finds the normalized lengths of the satellite + // * based on the principal moments of inertia + // * + // * Inputs: + // * None + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * x_temp (float) = temp length along x-axis + // * y_temp (float) = temp length along y-axis + // * y_temp (float) = temp length along y-axis + // * max_length (float) = maximum length of temp lengths + // * largest_length (float) = length of largest side + // * + // ************************************************************************/ + /** + * Finds the normalized lengths of the satellite based on the principal + * moments of inertia + */ + public void findDimensions() { + float x_temp, y_temp, z_temp; + float max_length; + final float largest_length; + + largest_length = 3f; + + // Assuming that the satellite is rectangular-shaped + // and homogeneous, then the equations for inertias are: + // Ixx = (m/12)*(b^2 + c^2) + // Iyy = (m/12)*(a^2 + c^2) + // Izz = (m/12)*(a^2 + b^2) + // drop the (m/12) and we can solve for a, b, and c: + // a^2 = Iyy - 0.5*(Ixx + Iyy - Izz) + // b^2 = Izz - Iyy + 0.5*(Ixx + Iyy - Izz) + // c^2 = 0.5*(Izz + Iyy - Izz) + + x_temp = (float) Math.sqrt((double) (iyy - 0.5f * (ixx + iyy - izz))); + y_temp = (float) Math + .sqrt((double) (izz - iyy + 0.5f * (ixx + iyy - izz))); + z_temp = (float) Math.sqrt((double) (0.5f * (izz + iyy - izz))); + + // Find the maximum between a_temp, b_temp, and c_temp + max_length = Math.max(x_temp, y_temp); + max_length = Math.max(max_length, z_temp); + + // Set max_length so that you will get + max_length = max_length / largest_length; + + // Divide each length by max_length for the largest length + xlength = x_temp / max_length; + ylength = y_temp / max_length; + zlength = z_temp / max_length; + } // End findDimensions + +} // End AnimationWindow \ No newline at end of file diff --git a/src/jat/application/AttitudeSimulator/animation/AnimationWindow2.java b/src/jat/application/AttitudeSimulator/animation/AnimationWindow2.java new file mode 100644 index 0000000..58c5dd4 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/animation/AnimationWindow2.java @@ -0,0 +1,1146 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.application.AttitudeSimulator.animation; + +import java.awt.BorderLayout; +import java.awt.Button; +import java.awt.Color; +import java.awt.Container; +import java.awt.Font; +import java.awt.GraphicsConfiguration; +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; +import java.awt.Label; +import java.awt.Panel; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.text.NumberFormat; + +import javax.media.j3d.Appearance; +import javax.media.j3d.BoundingSphere; +import javax.media.j3d.BranchGroup; +import javax.media.j3d.Canvas3D; +import javax.media.j3d.DirectionalLight; +import javax.media.j3d.Font3D; +import javax.media.j3d.FontExtrusion; +import javax.media.j3d.LineArray; +import javax.media.j3d.Material; +import javax.media.j3d.Shape3D; +import javax.media.j3d.Text3D; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.swing.JCheckBox; +import javax.swing.JFrame; +import javax.swing.JOptionPane; +import javax.swing.JPanel; +import javax.swing.JSlider; +import javax.swing.SwingConstants; +import javax.swing.Timer; +import javax.swing.WindowConstants; +import javax.swing.event.ChangeEvent; +import javax.swing.event.ChangeListener; +import javax.vecmath.Color3f; +import javax.vecmath.Point3d; +import javax.vecmath.Point3f; +import javax.vecmath.Quat4f; +import javax.vecmath.Vector3d; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.behaviors.mouse.MouseRotate; +import com.sun.j3d.utils.behaviors.mouse.MouseTranslate; +import com.sun.j3d.utils.behaviors.mouse.MouseZoom; +import com.sun.j3d.utils.universe.SimpleUniverse; + +/** + *

+ * AnimatioWindow2 is a modification of AnimationWindow to include flexible + * beams and concentrated masses at the tip for 3D visualization of spacecraft + * attitude dynamics defined in jat.eom.FlexibleThreeD.java and + * jat.eom.FlexibleTwoD.java. + * + * @author Daniel Quock December 2001, July 2002 + * @author Noriko Takada + * @version 1.5 (03/09/2004) Modification since the last version Removed: import + * java.applet.*; import com.sun.j3d.utils.geometry.*; + */ + +// ************************************************************************ +// * +// * AnimationWindow class +// * +// * Written by: Date: +// * Daniel Quock December 2001 +// * Original AnimationWindow +// * Daniel Quock July 2002 +// * Moved the AnimationWindow class into it's own file +// * +// * Description: +// * This routine creates the pop-up Java3D animation window +// * +// * Global Variables: +// * theAnimWindow (HelpWindow) = instance of itself +// * animFrame (JFrame) = frame displayed in theHelpWindow +// * i_xaxes (float) = location of reference x-axis +// * i_yaxes (float) = location of reference y-axis +// * i_zaxes (float) = location of reference z-axis +// * axeslength (float) = length of graphical axis lines +// * xcolor (Color) = color of x-axis +// * ycolor (Color) = color of y-axis +// * zcolor (Color) = color of z-axis +// * mtx (float) = initial model translation x-axis +// * mty (float) = initial model translation y-axis +// * mtz (float) = initial model translation z-axis +// * modelScale (double) = scale of model +// * xlength (float) = length of satellite, x-axis +// * ylength (float) = length of satellite, y-axis +// * zlength (float) = length of satellite, z-axis +// * time_values (float array) = array of time values +// * quat_values(float arrayx2) = double array of quaternions +// * ixx (float) = satellite principal moments of inertia +// * iyy (float) = satellite principal moments of inertia +// * izz (float) = satellite principal moments of inertia +// * simType (String) = string of simulation type being run +// * curr_pt (int) = current point in animation +// * tot_pts (int) = total number of points in animation +// * start_button (Button) = start animation button +// * stop_button (Button) = stop animation button +// * reset_button (Button) = reset view axis button +// * timeLabel (Label) = label of current time +// * animSpeedLabel (Label) = label of "Animation Speed" +// * plus_button (Button) = Plus Button (increase animation speed) +// * minus_button (Button) = Minus Button (decrease animation speed) +// * animControl (Timer) = timer for controlling animation +// * nf (NumberFormat) = NumberFormat +// * modelTrans(TransformGroup) = Java3D transform group of model +// * sattlTrans(TransformGroup) = Java3D transform group of satellite +// * iner_axisTrans(TrnsfrmGrp) = Java3D transform group of inertial axis +// * axislabelTrans(TrnsfrmGrp) = Java3D transform group of inertial axis +// * labels +// * SatTrans (Transform3D) = Java3D transformation +// * satellite (..geometry.Box) = Java3D shape (box) +// * inertial_axes (LineArray) = line array of points to draw +// * inertial axes +// * body_axes (LineArray) = line array of points to draw +// * body axes on satellite +// * satelliteApp (Appearance) = appearance of satellite +// * GraphicPanel (Panel) = graphical panel containing 3D scene +// * CtrlPanel (Panel) = panel containing animation interface +// * anim_slider (JSlider) = slider to show time in animation +// * delayvalue (int) = shows delay between frames in animation +// * +// ************************************************************************/ +// package thesis; + +public class AnimationWindow2 extends JPanel implements ActionListener, + ChangeListener { + // ---Naming Convention------------------------------- + // * Fields and constants + // Nonconstant field names follow the same capitalization conventions + // as method names. If a field is a static final constant, it should + // be written in uppercase. If the name of a constant includes more + // than one word, the words should be separated with underscores. + // A field name should be chosen to best describe the purpose of + // the field or the value it holds + // + // * Parameters + // The names of method parameters appear in the documentation for a + // method, so you should choose names that make the purpose of the + // parameters as clear as possible. Try to keep parameter names to + // a single word and use them consistently. For example, if a + // WidgetProcessor + // class defines many methods that accept a Widget object as the first + // parameter, name this parameter widget or even w in each method. + // + // * Local variables + // Local variable names are an implementation detail and never visible + // outside your class. Nevertheless, choosing good names makes your + // code easier to read, understand, and maintain. Variables are typically + // named following the same convensions as methods and fields + + /** + * + */ + private static final long serialVersionUID = -8852112197036891596L; + + /** + * AnimationWindow2: A variable of AnimationWindow2 + */ + private static AnimationWindow2 theAnimWindow; + + /** + * JFrame: Used for the animation frame + */ + JFrame animFrame = new JFrame(" "); + + // Location of Inertial Axes + final float i_xaxes = -7.0f; + final float i_yaxes = -7.0f; + final float i_zaxes = 0.0f; + final float axeslength = 2.0f; + + // Assigns the inertial and body axes' colors + Color3f xcolor = new Color3f(1.0f, 0.0f, 0.0f); // red + Color3f ycolor = new Color3f(1.0f, 1.0f, 1.0f); // white + Color3f zcolor = new Color3f(0.0f, 0.0f, 1.0f); // blue + Color3f green = new Color3f(0.0f, 1.0f, 0.0f); // green + + Color3f white = new Color3f(1.0f, 1.0f, 1.0f); + Color3f black = new Color3f(0.0f, 0.0f, 0.0f); + Color3f red = new Color3f(0.9f, 0.1f, 0.2f); + Color3f blue = new Color3f(0.3f, 0.3f, 0.8f); + Color3f yellow = new Color3f(1.0f, 1.0f, 0.0f); + Color3f ambRed = new Color3f(0.3f, 0.03f, 0.03f); + Color3f ambBlue = new Color3f(0.03f, 0.03f, 0.3f); + Color3f ambYellow = new Color3f(0.3f, 0.3f, 0.03f); + Color3f ambWhite = new Color3f(0.3f, 0.3f, 0.3f); + Color3f specular = new Color3f(1.0f, 1.0f, 1.0f); + + // Initial model translation + final float mtx = 0f; + final float mty = 0f; + final float mtz = -10.0f; + + // Model Constants + final double modelScale = 0.5d; + + // Lengths of Satellite + float xlength, ylength, zlength; + + // Time values + float time_values[]; + + // Quaternion values + float quat_values[][]; + + // Satellite principal moments of inertia + float ixx, iyy, izz; + + String simType; + + int curr_pt; // Current point in animation + int tot_pts; // Total number of points in anim + + Button help_button; + Button start_button, stop_button, reset_button; + JCheckBox repeatBox; + Label timeLabel, animSpeedLabel; + Button plus_button, minus_button; + + Timer animControl; + + // Set Number of digits right of decimal + NumberFormat nf = NumberFormat.getNumberInstance(); + + // Initialize The transformationGroups + TransformGroup modelTrans; + TransformGroup sattlTrans; + TransformGroup iner_axisTrans; + TransformGroup axislabelTrans; + + Transform3D SatTrans = new Transform3D(); + + // Initialize Box + com.sun.j3d.utils.geometry.Box satellite; + + // Initialize LineArray for inertial and body axes + LineArray inertial_axes; + LineArray body_axes; + + // Initialize Appearance attributes + Appearance satelliteApp; + + // Panel for the buttons + Panel GraphicPanel; + Panel CtrlPanel; + + // Slider at bottom of window to display animation + JSlider anim_slider; + + // Delay value for animation + int delayValue; + + // Newly added variables since AnimationWindow------------------------ + public TransformGroup Beam1TG = new TransformGroup(); + public TransformGroup Beam2TG = new TransformGroup(); + public Transform3D BeamTrans1 = new Transform3D(); + public Transform3D BeamTrans2 = new Transform3D(); + LineArray beam1_line; + LineArray beam2_line; + com.sun.j3d.utils.geometry.Sphere mass1; + com.sun.j3d.utils.geometry.Sphere mass2; + float quatBeam1[][]; + float quatBeam2[][]; + float a; + float L; + + // -------------------------------------------------------------------- + + // ** + // * + // * Description:
+ // * This routine creates the pop-up animation window
+ // * + // * Inputs:
+ // * title (String) = title that goes in window title bar
+ // * ixxt (float) = temp principal moment of inertia, x-axis
+ // * iyyt (float) = temp principal moment of inertia, y-axis
+ // * izzt (float) = temp princiapl moment of inertia, z-axis
+ // * pts (int) = number of animation points
+ // * tvars (float arrayx2) = array of values
+ // * tsimType (String) = temp type of simulation
+ // * (e.g. "Gravity Gradient")
+ // * Outputs:
+ // * None
+ // * + // * Local Variables:
+ // * frameWidth (int) = width of frame
+ // * frameHeight (int) = height of frame
+ // * content (Container) = Container of objects
+ // * c (Canvas3D) = Java3D canvas
+ // * scene (BranchGroup) = Java3D branchgroup
+ // * u (SimpleUniverse) = Java3D simple universe
+ // * + // */ + /** + * Creates the pop-up animation window + * + * @param title + * (String) title that goes in window title bar + * @param ixxt + * (float) temp principal moment of inertia, x-axis + * @param iyyt + * (float) temp principal moment of inertia, y-axis + * @param izzt + * (float) temp principal moment of inertia, z-axis + * @param pts + * (int) number of animation points + * @param tvars + * (float[][]) array of values + * @param tsimType + * (String) temp type of simulation (e.g. "Gravity Gradient") + * @param Beam1 + * (float[][]) array of quaternion values for Transform3D + * @param Beam2 + * (float[][]) array of quaternion values for Transform3D + * @param a + * (float) deimension of half the x_length of the spacecraft + * @param L + * (float) Length of the beam + */ + public AnimationWindow2(String title, float ixxt, float iyyt, float izzt, + int pts, float tvars[][], String simTypet, float Beam1[][], + float Beam2[][], float a, float L) { + int frameWidth = 800; + int frameHeight = 600; + + animFrame.setTitle(title); + Container content = animFrame.getContentPane(); + content.setLayout(new BorderLayout()); + animFrame.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE); + animFrame.setBounds(50, 100, frameWidth, frameHeight); + content.setBackground(Color.white); + + delayValue = 100; + + // Assign passed parameters into frame class + tot_pts = pts; + + curr_pt = 0; + + nf.setMaximumFractionDigits(1); + + // Time Array + time_values = new float[tot_pts + 1]; + + // Quaternions array + quat_values = new float[4][tot_pts + 1]; + quatBeam1 = new float[4][tot_pts + 1]; + quatBeam2 = new float[4][tot_pts + 1]; + + // Assign the time and quaternion values + for (int index = 0; index <= tot_pts; index++) { + time_values[index] = tvars[0][index]; + quat_values[0][index] = tvars[1][index]; // e1 + quat_values[1][index] = tvars[2][index]; // e2 + quat_values[2][index] = tvars[3][index]; // e3 + quat_values[3][index] = tvars[4][index]; // e4 + } + + if (quatBeam1 == null) + System.out.println("quatBeam1 is null"); + if (quatBeam2 == null) + System.out.println("quatBeam2 is null"); + // ---------------------------------------------------------------- + // Assign the time and quaternion values + for (int index = 0; index <= tot_pts; index++) { + time_values[index] = tvars[0][index]; + quatBeam1[0][index] = Beam1[1][index]; // e1 + quatBeam1[1][index] = Beam1[2][index]; // e2 + quatBeam1[2][index] = Beam1[3][index]; // e3 + quatBeam1[3][index] = Beam1[4][index]; // e4 + } + + // Assign the time and quaternion values + for (int index = 0; index <= tot_pts; index++) { + time_values[index] = tvars[0][index]; + quatBeam2[0][index] = Beam2[1][index]; // e1 + quatBeam2[1][index] = Beam2[2][index]; // e2 + quatBeam2[2][index] = Beam2[3][index]; // e3 + quatBeam2[3][index] = Beam2[4][index]; // e4 + } + this.a = a; + this.L = L; + // -------------------------------------------------------------------- + + // Assign the principal moments of inertia + ixx = ixxt; + iyy = iyyt; + izz = izzt; + + // Assigns the simulation type + simType = simTypet; + + // Creates JSlider with points 0 to total points + anim_slider = new JSlider(SwingConstants.HORIZONTAL, 0, tot_pts, 0); + anim_slider.addChangeListener(this); + // Fills the slider as it is finished + anim_slider.putClientProperty("JSlider.isFilled", Boolean.TRUE); + + GraphicPanel = new Panel(); + GraphicPanel.setLayout(new BorderLayout()); + + GraphicsConfiguration config = SimpleUniverse + .getPreferredConfiguration(); + Canvas3D c = new Canvas3D(config); + + // Create a simple scene and attach it to the virtual universe + BranchGroup scene = createSceneGraph(); + SimpleUniverse u = new SimpleUniverse(c); + // This will move the ViewPlatform back + u.getViewingPlatform().setNominalViewingTransform(); + u.addBranchGraph(scene); + + GraphicPanel.add("Center", c); + content.add("Center", GraphicPanel); + + // Adds a Panel with all the control buttons on it + CtrlPanel = new Panel(); + + // *** GridBagLayout Routine *** + // Sets up the GridBagLayout to add into Panel + GridBagLayout anim_gbl = new GridBagLayout(); + // Sets up the GridBagConstraints + GridBagConstraints constraints = new GridBagConstraints(); + CtrlPanel.setLayout(anim_gbl); + + // Sets variables to determine which line the fields appear in + int buttonline = 0; // Button Lines + int scrolline = 1; // Scrollbar Line + int animline = 2; // Animation Speed Line + + stop_button = new Button("Stop"); + buildConstraints(constraints, 0, buttonline, 1, 1); + anim_gbl.setConstraints(stop_button, constraints); + CtrlPanel.add(stop_button); + stop_button.addActionListener(this); + + start_button = new Button("Start"); + buildConstraints(constraints, 1, buttonline, 1, 1); + anim_gbl.setConstraints(start_button, constraints); + CtrlPanel.add(start_button); + start_button.addActionListener(this); + + if (simType == "Gravity Gradient") + timeLabel = new Label("Time: " + nf.format(time_values[0]) + + " orbits "); + else + timeLabel = new Label("Time: " + nf.format(time_values[0]) + + " secs "); + buildConstraints(constraints, 2, buttonline, 3, 1); + anim_gbl.setConstraints(timeLabel, constraints); + CtrlPanel.add(timeLabel); + + reset_button = new Button("Reset Axes"); + buildConstraints(constraints, 5, buttonline, 2, 1); + anim_gbl.setConstraints(reset_button, constraints); + CtrlPanel.add(reset_button); + reset_button.addActionListener(this); + + buildConstraints(constraints, 0, scrolline, 7, 1); + anim_gbl.setConstraints(anim_slider, constraints); + CtrlPanel.add(anim_slider); + + minus_button = new Button("-"); + buildConstraints(constraints, 1, animline, 1, 1); + anim_gbl.setConstraints(minus_button, constraints); + CtrlPanel.add(minus_button); + minus_button.addActionListener(this); + + animSpeedLabel = new Label("Animation Speed"); + buildConstraints(constraints, 2, animline, 3, 1); + anim_gbl.setConstraints(animSpeedLabel, constraints); + CtrlPanel.add(animSpeedLabel); + + plus_button = new Button("+"); + buildConstraints(constraints, 5, animline, 1, 1); + anim_gbl.setConstraints(plus_button, constraints); + CtrlPanel.add(plus_button); + plus_button.addActionListener(this); + + repeatBox = new JCheckBox("repeat"); + CtrlPanel.add(repeatBox); + + help_button = new Button("Help"); + CtrlPanel.add(help_button); + help_button.addActionListener(this); + + // Adds Panel to BorderLayout + content.add("South", CtrlPanel); + + // Parameters for animation control + // 100 = 1 sec + animControl = new Timer(delayValue, this); + animControl.start(); + + animFrame.setVisible(true); + } // End AnimationWindow constructor + + // ************************************************************************ + // * + // * buildConstraints + // * + // * Description: + // * This sets the constraints for a cell in the Grid Bag Layout + // * + // * Inputs: + // * gbc (GridBagConstraints) = Grid Bag Constraints + // * gx (int) = grid x-location + // * gy (int) = grid y-location + // * gw (int) = grid width + // * gh (int) = grid height + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * None + // * + // ************************************************************************/ + /** + * Sets the constraints for a cell in the Grid Bag Layout + * + * @param gbc + * (GridBangConstraints) Grid Bang Constraints + * @param gx + * (int) grid x-location + * @param gy + * (int) grid y-location + * @param gw + * (int) grid width + * @param gh + * (int) grid height + */ + void buildConstraints(GridBagConstraints gbc, int gx, int gy, int gw, int gh) { + // Location of field in the layout + gbc.gridx = gx; + gbc.gridy = gy; + // Number of cell widths and heights field requires + gbc.gridwidth = gw; + gbc.gridheight = gh; + } + + // ************************************************************************ + // * + // * stateChanged + // * + // * Description: + // * This routine handles events caused by the JSlider + // * + // * Inputs: + // * e (ChangeEvent) = ChangeEvent + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * new_point (int) = new point in slider with changed loc + // * jslider1 (JSlider) = temp slider with changed location + // * + // * + // ************************************************************************/ + /** + * Handles events caused by the JSlider + * + * @param e + * (ChangeEvent) ChangeEvent) + */ + public void stateChanged(ChangeEvent e) { + int new_point; + JSlider jslider1 = (JSlider) e.getSource(); + + // Find the new point of animation if slider is used + new_point = jslider1.getValue(); + // Assign the current point to the new point + curr_pt = new_point; + + // Stop the animation if the current point is at the end + if (curr_pt == tot_pts) { + if (repeatBox.isSelected()) { + curr_pt = 0; + } else + animControl.stop(); + } + + // Updates the control panel and graphic if animation is not running + if (animControl.isRunning() == false) { + animControl.start(); + SatTrans.setRotation(new Quat4f(quat_values[0][curr_pt], + quat_values[1][curr_pt], quat_values[2][curr_pt], + quat_values[3][curr_pt])); + sattlTrans.setTransform(SatTrans); + if (simType == "Gravity Gradient") + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " orbits "); + else + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " secs "); + animControl.stop(); + } + + } + + // ************************************************************************ + // * + // * actionPerformed + // * + // * Description: + // * This routine handles any button presses and the animation + // * of the satellite by drawing the next frame and updating the + // * slider + // * + // * Inputs: + // * e (ActionEvent) = ActionEvent + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * modTrans (Transform3D) = Java3D transformation + // * + // ************************************************************************/ + /** + * Handles any button presses and the animation of the satellite by drawing + * the next frame and updating the slider + * + * @param e + * (ActionEvent) ActionEvent + */ + public void actionPerformed(ActionEvent e) { + // Transform3D for satellite and model + Transform3D modTrans = new Transform3D(); + + if ((e.getSource() == start_button) && (curr_pt >= tot_pts)) { + curr_pt = 0; + animControl.start(); + } else if (e.getSource() == start_button) + animControl.start(); + else if (e.getSource() == stop_button) + animControl.stop(); + else if (e.getSource() == reset_button) { + modTrans.setTranslation(new Vector3f(mtx, mty, mtz)); + modTrans.setRotation(new Quat4f(0.0f, 0.0f, 0.0f, 1.0f)); + modTrans.setScale(new Vector3d(modelScale, modelScale, modelScale)); + modelTrans.setTransform(modTrans); + } else if (e.getSource() == minus_button) { + if (delayValue < 1000) + delayValue = delayValue * 5; + animControl.setDelay(delayValue); + } else if (e.getSource() == plus_button) { + if (delayValue > 5) + delayValue = delayValue / 5; + animControl.setDelay(delayValue); + } else if (e.getSource() == help_button) { + JOptionPane + .showMessageDialog( + null, + "Left mouse button drag : rotate\nMiddle mouse button drag : zoom\nCTRL-ALT-Left mouse button drag: zoom\nRight mouse button drag: translate "); + } else // Run animation + { + SatTrans.setRotation(new Quat4f(quat_values[0][curr_pt], + quat_values[1][curr_pt], quat_values[2][curr_pt], + quat_values[3][curr_pt])); + sattlTrans.setTransform(SatTrans); + + BeamTrans1.setRotation(new Quat4f(quatBeam1[0][curr_pt], + quatBeam1[1][curr_pt], quatBeam1[2][curr_pt], + quatBeam1[3][curr_pt])); + Beam1TG.setTransform(BeamTrans1); + + BeamTrans2.setRotation(new Quat4f(quatBeam2[0][curr_pt], + quatBeam2[1][curr_pt], quatBeam2[2][curr_pt], + quatBeam2[3][curr_pt])); + Beam2TG.setTransform(BeamTrans2); + + // Increment to next point + curr_pt = curr_pt + 1; + } + + // Moves the slider as the animation is changed + anim_slider.setValue(curr_pt); + + // Updates the timeLabel + if (simType == "Gravity Gradient") + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " orbits "); + else + timeLabel.setText("Time: " + nf.format(time_values[curr_pt]) + + " secs "); + // Stop animation at end + // Stop animation at end + if (curr_pt >= tot_pts) + if (repeatBox.isSelected()) { + curr_pt = 0; + } else + animControl.stop(); + }// End actionPerformed + + // ************************************************************************ + // * + // * createSceneGraph + // * + // * Description: + // * This routine creates the scene graph of the universe, populates + // * it with lights, the initial camera location, and allows + // * mouse interaction with the scene + // * + // * Inputs: + // * None + // * + // * Outputs: + // * objRoot (BranchGroup) = Java3D BranchGroup + // * + // * Local Variables: + // * objRoot (BranchGroup) = Java3D BranchGroup + // * bounds (BoundingSphere) = Java3D BoundingSphere + // * light (DirectionalLight) = Java3D light source + // * trans (Transform3D) = Java3D transformation + // * + // ************************************************************************/ + /** + * Create the scene graph of the universe, populates it with lights, the + * initial camera location, and allows mouse interaction with the scene + */ + public BranchGroup createSceneGraph() { + // Create the root of the branch graph + BranchGroup objRoot = new BranchGroup(); + + // Create light source + // first bound its influence + BoundingSphere bounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), + 100.0); + + // now make the light itself + DirectionalLight light = new DirectionalLight(new Color3f(1.0f, 1.0f, + 1.0f), new Vector3f(0f, 0f, -1f)); + + light.setInfluencingBounds(bounds); + objRoot.addChild(light); + + // TransformGroup that moves the whole model + modelTrans = new TransformGroup(); + + // Transform3D + Transform3D trans = new Transform3D(); + // Initially move it away from camera + trans.setTranslation(new Vector3f(mtx, mty, mtz)); + // and shrink everything so it fits in field of view + trans.setScale(new Vector3d(modelScale, modelScale, modelScale)); + modelTrans.setTransform(trans); + + // Allows mouse to alter scene + modelTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + modelTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + Beam1TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + Beam1TG.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + Beam2TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + Beam2TG.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + + // Create Mouse Rotate + MouseRotate modelRot = new MouseRotate(); + modelRot.setTransformGroup(modelTrans); + modelTrans.addChild(modelRot); + modelRot.setSchedulingBounds(bounds); + + // Create the Zoom + MouseZoom modelZoom = new MouseZoom(); + modelZoom.setTransformGroup(modelTrans); + modelTrans.addChild(modelZoom); + modelZoom.setSchedulingBounds(bounds); + + // Create the translate + MouseTranslate modelTranslate = new MouseTranslate(); + modelTranslate.setTransformGroup(modelTrans); + modelTrans.addChild(modelTranslate); + modelTranslate.setSchedulingBounds(bounds); + + modelTrans.addChild(generateAxes()); + modelTrans.addChild(generateAxesLabels()); + modelTrans.addChild(generateSatellite()); + + objRoot.addChild(modelTrans); + return objRoot; + } // End createSceneGraph + + // ************************************************************************ + // * + // * generateAxes + // * + // * Description: + // * This routine creates the inertial reference axis in the + // * animation + // * + // * Inputs: + // * None + // * + // * Outputs: + // * iner_axisTrans (TransformGroup) = Java3D TransformGroup + // * + // * Local Variables: + // * iner_axisTrans (TransformGroup) = Java3D TransformGroup + // * origin (Point3f) = origin point + // * trans (Transform3D) = Java3D transformation + // * + // ************************************************************************/ + /** + * Creates the inertial reference axis in the animation + */ + public TransformGroup generateAxes() { + Point3f origin = new Point3f(0.0f, 0.0f, 0.0f); + + iner_axisTrans = new TransformGroup(); + + Transform3D trans = new Transform3D(); + trans.setTranslation(new Vector3f(i_xaxes, i_yaxes, i_zaxes)); + iner_axisTrans.setTransform(trans); + + inertial_axes = new LineArray(6, LineArray.COORDINATES + | LineArray.COLOR_3); + + // X-Axis + inertial_axes.setCoordinate(0, origin); + inertial_axes.setCoordinate(1, new Point3f(axeslength, 0.0f, 0.0f)); + inertial_axes.setColor(0, xcolor); + inertial_axes.setColor(1, xcolor); + + // Y-Axis + inertial_axes.setCoordinate(2, origin); + inertial_axes.setCoordinate(3, new Point3f(0.0f, axeslength, 0.0f)); + inertial_axes.setColor(2, ycolor); + inertial_axes.setColor(3, ycolor); + + // Z-Axis + inertial_axes.setCoordinate(4, origin); + inertial_axes.setCoordinate(5, new Point3f(0.0f, 0.0f, axeslength)); + inertial_axes.setColor(4, zcolor); + inertial_axes.setColor(5, zcolor); + + iner_axisTrans.addChild(new Shape3D(inertial_axes)); + return iner_axisTrans; + } // End generateAxes + + // ************************************************************************ + // * + // * generateAxesLabels + // * + // * Description: + // * This routine creates the labels for the inertial reference + // * axis in the animation (The white "X", "Y", and "Z") + // * + // * Inputs: + // * None + // * + // * Outputs: + // * axislabelTrans (TransformGroup) = Java3D TransformGroup + // * + // * Local Variables: + // * axislabelTrans (TransformGroup) = Java3D TransformGroup + // * font3d (Font3D) = Java3D Font3D + // * xfont (Text3D) = 3D "X" + // * xshape (Shape3D) = Java3D Shape3D of xfont + // * yfont (Text3D) = 3D "Y" + // * yshape (Shape3D) = Java3D Shape3D of yfont + // * zfont (Text3D) = 3D "Z" + // * zshape (Shape3D) = Java3D Shape3D of zfont + // * + // ************************************************************************/ + /** + * Creates the labels for the inertial reference axis in the animation (The + * white "X", "Y"m and "Z") + */ + public TransformGroup generateAxesLabels() { + /** + * Local Variables:
+ * axislabelTrans (TransformGroup) = Java3D TransformGroup
+ * font3d (Font3D) = Java3D Font3D
+ * xfont (Text3D) = 3D "X"
+ * xshape (Shape3D) = Java3D Shape3D of xfont
+ * yfont (Text3D) = 3D "Y"
+ * yshape (Shape3D) = Java3D Shape3D of yfont
+ * zfont (Text3D) = 3D "Z"
+ * zshape (Shape3D) = Java3D Shape3D of zfont
+ */ + axislabelTrans = new TransformGroup(); + + Font3D font3d = new Font3D(new Font("Display", Font.PLAIN, 1), + new FontExtrusion()); + + // X-Axis Label + Text3D xfont = new Text3D(font3d, new String("X"), new Point3f((i_xaxes + + axeslength + 0.5f), (i_yaxes - 0.25f), 0.0f)); + Shape3D xshape = new Shape3D(xfont); + + // Y-Axis Label + Text3D yfont = new Text3D(font3d, new String("Y"), new Point3f( + (i_xaxes - 0.25f), (i_yaxes + axeslength + 0.5f), 0.0f)); + Shape3D yshape = new Shape3D(yfont); + + // Z-Axis Label + Text3D zfont = new Text3D(font3d, new String("Z"), new Point3f( + (i_xaxes - 0.5f), (i_yaxes - 0.5f), (axeslength + 0.5f))); + Shape3D zshape = new Shape3D(zfont); + + axislabelTrans.addChild(xshape); + axislabelTrans.addChild(yshape); + axislabelTrans.addChild(zshape); + + return axislabelTrans; + } // End generateAxesLabels + + // ************************************************************************ + // * + // * generateSatellite + // * + // * Description: + // * This routine creates the box shape of the satellite using the + // * principal moments of inertia. + // * + // * Inputs: + // * None + // * + // * Outputs: + // * sattlTrans (TransformGroup) = Java3D TransformGroup + // * + // * Local Variables: + // * sattlTrans (TransformGroup) = Java3D TransformGroup + // * black (Color3f) = color black + // * origin (Point3f) = origin point + // * trans (Transform3D) = Java3D Transform3D + // * + // ************************************************************************/ + /** + * Create the box shape of the satellite using the principal moments of + * inertia + */ + public TransformGroup generateSatellite() { + // Assigns colors + Color3f black = new Color3f(0.0f, 0.0f, 0.0f); + + Point3f origin = new Point3f(0.0f, 0.0f, 0.0f); + + Quat4f init_quats = new Quat4f(quat_values[0][0], quat_values[1][0], + quat_values[2][0], quat_values[3][0]); + sattlTrans = new TransformGroup(); + sattlTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + + Transform3D trans = new Transform3D(); + trans.setTranslation(new Vector3d(0.0d, 0.0d, 0.0d)); + // Set initial Quaternion Values + trans.setRotation(init_quats); + sattlTrans.setTransform(trans); + + satelliteApp = new Appearance(); + satelliteApp.setCapability(Appearance.ALLOW_MATERIAL_WRITE); + satelliteApp.setMaterial(new Material(black, black, new Color3f(1.0f, + 0.0f, 0.0f), black, 0f)); + + // Find the satellite dimensions + findDimensions(); + + satellite = new com.sun.j3d.utils.geometry.Box(xlength, ylength, + zlength, satelliteApp); + + // Places body axes on satellite + body_axes = new LineArray(6, LineArray.COORDINATES | LineArray.COLOR_3); + + // X-Axis + body_axes.setCoordinate(0, origin); + body_axes.setCoordinate(1, new Point3f(xlength + 1.5f, 0.0f, 0.0f)); + body_axes.setColor(0, xcolor); + body_axes.setColor(1, xcolor); + + // Y-Axis + body_axes.setCoordinate(2, origin); + body_axes.setCoordinate(3, new Point3f(0.0f, ylength + 1.5f, 0.0f)); + body_axes.setColor(2, ycolor); + body_axes.setColor(3, ycolor); + + // Z-Axis + body_axes.setCoordinate(4, origin); + body_axes.setCoordinate(5, new Point3f(0.0f, 0.0f, zlength + 1.5f)); + body_axes.setColor(4, zcolor); + body_axes.setColor(5, zcolor); + + sattlTrans.addChild(new Shape3D(body_axes)); + sattlTrans.addChild(satellite); + sattlTrans.addChild(generateBeam1()); + sattlTrans.addChild(generateBeam2()); + return sattlTrans; + + } // End generateSatellite + + // ************************************************************************ + // * + // * findDimensions + // * + // * Description: + // * This routine finds the normalized lengths of the satellite + // * based on the principal moments of inertia + // * + // * Inputs: + // * None + // * + // * Outputs: + // * None + // * + // * Local Variables: + // * x_temp (float) = temp length along x-axis + // * y_temp (float) = temp length along y-axis + // * y_temp (float) = temp length along y-axis + // * max_length (float) = maximum length of temp lengths + // * largest_length (float) = length of largest side + // * + // ************************************************************************/ + /** + * Finds the normalized lengths of the satellite based on the principal + * moments of inertia + */ + public void findDimensions() { + float x_temp, y_temp, z_temp; + float max_length; + final float largest_length; + + largest_length = 3f; + + // Assuming that the satellite is rectangular-shaped + // and homogeneous, then the equations for inertias are: + // Ixx = (m/12)*(b^2 + c^2) + // Iyy = (m/12)*(a^2 + c^2) + // Izz = (m/12)*(a^2 + b^2) + // drop the (m/12) and we can solve for a, b, and c: + // a^2 = Iyy - 0.5*(Ixx + Iyy - Izz) + // b^2 = Izz - Iyy + 0.5*(Ixx + Iyy - Izz) + // c^2 = 0.5*(Izz + Iyy - Izz) + + x_temp = (float) Math.sqrt((double) (iyy - 0.5f * (ixx + iyy - izz))); + y_temp = (float) Math + .sqrt((double) (izz - iyy + 0.5f * (ixx + iyy - izz))); + z_temp = (float) Math.sqrt((double) (0.5f * (izz + iyy - izz))); + + // Find the maximum between a_temp, b_temp, and c_temp + max_length = Math.max(x_temp, y_temp); + max_length = Math.max(max_length, z_temp); + + // Set max_length so that you will get + max_length = max_length / largest_length; + + // Divide each length by max_length for the largest length + // xlength = x_temp / max_length; + // ylength = y_temp / max_length; + // zlength = z_temp / max_length; + xlength = (float) 2 * a; + ylength = (float) 2 * a; + zlength = (float) 2 * a; + + } // End findDimensions + + /** + * Generates a massless beam and a tip mass on the negative side of the + * satellite x-axis + * + * @since August 2003 + */ + public TransformGroup generateBeam1() { + Point3f origin = new Point3f(0.0f, 0.0f, 0.0f); + + TransformGroup mass1TG = new TransformGroup(); + Transform3D trans = new Transform3D(); + trans.setTranslation(new Vector3d((double) (xlength / 2 + L), 0.0d, + 0.0d)); + mass1TG.setTransform(trans); + // Places body axes on satellite + beam1_line = new LineArray(2, LineArray.COORDINATES | LineArray.COLOR_3); + + // Beam + beam1_line.setCoordinate(0, new Point3f(xlength, 0.0f, 0.0f)); + beam1_line.setCoordinate(1, new Point3f(xlength / 2 + L, 0.0f, 0.0f)); + beam1_line.setColor(0, yellow); + beam1_line.setColor(1, yellow); + + mass1 = new com.sun.j3d.utils.geometry.Sphere((xlength) / 3); + mass1TG.addChild(mass1); + Beam1TG.addChild(mass1TG); + Beam1TG.addChild(new Shape3D(beam1_line)); + + return Beam1TG; + } // End generateAxes + + /** + * Generates a massless beam and a tip mass on the positive side of the + * satellite y-axis + * + * @since August 2003 + */ + public TransformGroup generateBeam2() { + Point3f origin = new Point3f(0.0f, 0.0f, 0.0f); + + TransformGroup mass2TG = new TransformGroup(); + Transform3D trans = new Transform3D(); + trans.setTranslation(new Vector3d(-(double) (xlength / 2 + L), 0.0d, + 0.0d)); + mass2TG.setTransform(trans); + // Places body axes on satellite + beam2_line = new LineArray(2, LineArray.COORDINATES | LineArray.COLOR_3); + + // Beam + beam2_line.setCoordinate(0, new Point3f(-xlength, 0.0f, 0.0f)); + beam2_line + .setCoordinate(1, new Point3f(-(xlength / 2 + L), 0.0f, 0.0f)); + beam2_line.setColor(0, yellow); + beam2_line.setColor(1, yellow); + + mass2 = new com.sun.j3d.utils.geometry.Sphere((xlength) / 3); + mass2TG.addChild(mass2); + Beam2TG.addChild(mass2TG); + Beam2TG.addChild(new Shape3D(beam2_line)); + // Beam1TG.setTransform(beamTrans); + return Beam2TG; + } // End generateAxes + +} // End AnimationWindow \ No newline at end of file diff --git a/src/jat/application/AttitudeSimulator/help/2DFlexInputOutput.GIF b/src/jat/application/AttitudeSimulator/help/2DFlexInputOutput.GIF new file mode 100644 index 0000000..f2309b4 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/2DFlexInputOutput.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/BangBang.GIF b/src/jat/application/AttitudeSimulator/help/BangBang.GIF new file mode 100644 index 0000000..0f7d58e Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/BangBang.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/BangBangControl.html b/src/jat/application/AttitudeSimulator/help/BangBangControl.html new file mode 100644 index 0000000..3a09190 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/BangBangControl.html @@ -0,0 +1,57 @@ + + + + Bang-Bang control + + + + + +

Title + +
Description
+
+ A basic bang-bang control about single axis was implemented in this scenario. +
+
+
+ The model of a linearized spacecraft dynamics with a proportional and + derivative
+ control was considered, which is shown in the illustration below.
+
+ Block Diagram +
+
+ Inputs
+
+ J                             Spacecraft Moment +of inertia
+ wn                           Desired natural +frequency
+ damping                   Desired damping coefficient
+ Torque                    Torque level of the bang-bang +actuator
+ Dead Zone               Range in which no torque should +be applied
+ theta_com                Commanded angular position
+
+ Initial Condition
+
+ theta                     Spacecraft angular position +for an actuator with no constraint
+ thetaDot                Spacecraft angular velocity +for an actuator with no constraint
+ thetaBang              Spacecraft angular position for +the bang-bang actuator
+ thetaDotBang         Spacecraft angular velocity for the bang-bang +actuator
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/BangBangControl.rtf b/src/jat/application/AttitudeSimulator/help/BangBangControl.rtf new file mode 100644 index 0000000..bc5ce7b Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/BangBangControl.rtf differ diff --git a/src/jat/application/AttitudeSimulator/help/BangBangTitle.GIF b/src/jat/application/AttitudeSimulator/help/BangBangTitle.GIF new file mode 100644 index 0000000..54f2250 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/BangBangTitle.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/CMG Maneuver.GIF b/src/jat/application/AttitudeSimulator/help/CMG Maneuver.GIF new file mode 100644 index 0000000..dee3a21 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/CMG Maneuver.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/CMGControl.html b/src/jat/application/AttitudeSimulator/help/CMGControl.html new file mode 100644 index 0000000..331eebb --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/CMGControl.html @@ -0,0 +1,62 @@ + + + + CMG Control + + + + + +
Title +
+ +
+
Description
+
+ In this project, to simulate a reorientation maneuver of a rigid spacecraft
+ using CMGs, a configuration of 3 single-gimbal control moment gyros (CMGs)
+ aligned with the principal axis was used. The illustration shows the CMG +
+ configuration used.
+
+ CMG Assembly +
+ Inputs
+
+ Ixx, Iyy, Izz                 +   Principal moments of inertia
+ J                                  + CMG inertia
+ A                             +     CMG ginbal rate
+ psi                             +   Commanded Euler angle
+ phi                          Commanded +Euler angle
+ theta                             Commanded +Euler angle
+
+ Initial Condition
+
+ w1, w2, w3:                 Spacecraft +angular velocities
+ q1, q2, q3, q4:             Quaternions
+ Omega 1                     Gimbal rate +of CMG 1
+ Omega 2                     Gimbal rate +of CMG 2
+ Omega 3                     Gimbal rate +of CMG 3
+
+
+
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/CMGControl.rtf b/src/jat/application/AttitudeSimulator/help/CMGControl.rtf new file mode 100644 index 0000000..ca7fa14 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/CMGControl.rtf differ diff --git a/src/jat/application/AttitudeSimulator/help/CMGassembly.GIF b/src/jat/application/AttitudeSimulator/help/CMGassembly.GIF new file mode 100644 index 0000000..d4ee6ec Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/CMGassembly.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/ConstantTorque.GIF b/src/jat/application/AttitudeSimulator/help/ConstantTorque.GIF new file mode 100644 index 0000000..65e05f8 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/ConstantTorque.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/ConstantTorque.html b/src/jat/application/AttitudeSimulator/help/ConstantTorque.html new file mode 100644 index 0000000..dfb965a --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/ConstantTorque.html @@ -0,0 +1,44 @@ + + + + Constant Torque + + + + + +
+
Title +
+
Description
+
+
+ +
This scenario uses Eulerfs rotational equations of motion + to simulate the
+ attitude dynamics of a rigid spacecraft with optional body-fixed, constant +
+ torques. Eulerfs rotational equations of motion is found in most of the +
+ textbooks on spacecraft dynamics
+
+ Inputs
+
+ Ixx, Iyy, Izz Principal moments of inertia
+ M1,M2,M3 External torque acting in the b1 +direction
+
+ Initial Condition
+
+ w1, w2, w3: Spacecraft angular velocities +
+ q1, q2, q3, q4: Quaternions
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/ConstantTorque.rtf b/src/jat/application/AttitudeSimulator/help/ConstantTorque.rtf new file mode 100644 index 0000000..f9bbbce Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/ConstantTorque.rtf differ diff --git a/src/jat/application/AttitudeSimulator/help/DamperAndSpacecraft.GIF b/src/jat/application/AttitudeSimulator/help/DamperAndSpacecraft.GIF new file mode 100644 index 0000000..4259018 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/DamperAndSpacecraft.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/Flexible202D.GIF b/src/jat/application/AttitudeSimulator/help/Flexible202D.GIF new file mode 100644 index 0000000..cdf9d64 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/Flexible202D.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/FourRWControl.html b/src/jat/application/AttitudeSimulator/help/FourRWControl.html new file mode 100644 index 0000000..1a2838d --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/FourRWControl.html @@ -0,0 +1,64 @@ + + + + Four Reaction Wheels + + + + + +
RW Control +
+ +
+
Description
+
+ An attitude maneuver via momentum transfer based on the conservation of
+ angular momentum was simulated. In this project, 4 reaction wheels in +
+ a pyramid configuration was used; this configuration provides redundancy +
+ such that if one wheels become unable to operate for some reason,
+ the other three reaction wheels can provide control torque in all three + direction.
+
+ Four Reaction wheels in a pyramid configuration +
+
+ Inputs
+
+ Ixx, Iyy, Izz             Moments of inertia
+ J                             +Reaction wheel inertia
+ RW angle             Tilt angle of reaction +wheel axis
+ psi                         Commanded +Euler angle
+ phi                          Commanded +Euler angle
+ theta                     Commanded Euler +angle
+
+ Initial Condition
+ w1, w2, w3:                 Spacecraft angular +velocities
+ q1, q2, q3, q4:             Quaternions
+ Omega1                      Angular velocity +of RW 1
+ Omega2                     Angular velocity +of RW 2
+ Omega3                      Angular velocity +of RW 3
+ Omega4                     Angular velocity +of RW 4
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/FourRWControl.rtf b/src/jat/application/AttitudeSimulator/help/FourRWControl.rtf new file mode 100644 index 0000000..9a6f5c2 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/FourRWControl.rtf differ diff --git a/src/jat/application/AttitudeSimulator/help/FourReactionWheel.GIF b/src/jat/application/AttitudeSimulator/help/FourReactionWheel.GIF new file mode 100644 index 0000000..3582f30 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/FourReactionWheel.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/GGCircular.GIF b/src/jat/application/AttitudeSimulator/help/GGCircular.GIF new file mode 100644 index 0000000..6206a91 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/GGCircular.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/GGCircular.html b/src/jat/application/AttitudeSimulator/help/GGCircular.html new file mode 100644 index 0000000..ac212b4 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/GGCircular.html @@ -0,0 +1,40 @@ + + + + GG Circular + + + + + +
Title + +
+
+
A rigid spacecraft is subjected to a gravity gradient + torque in a circular
+ orbit.
+
+ Inputs
+
+ Ixx, Iyy, Izz              Principal +moments of inertia
+
+ Initial Condition
+
+ w1, w2, w3:             Spacecraft angular +velocities
+ q1, q2, q3, q4:         Quaternions
+
+
+
+
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/GGCircular.rtf b/src/jat/application/AttitudeSimulator/help/GGCircular.rtf new file mode 100644 index 0000000..f1bef4f Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/GGCircular.rtf differ diff --git a/src/jat/application/AttitudeSimulator/help/GGEccentric.GIF b/src/jat/application/AttitudeSimulator/help/GGEccentric.GIF new file mode 100644 index 0000000..137da0e Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/GGEccentric.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/GGEccentric.html b/src/jat/application/AttitudeSimulator/help/GGEccentric.html new file mode 100644 index 0000000..ff14c37 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/GGEccentric.html @@ -0,0 +1,48 @@ + + + + GG Eccentric + + + + + +
Title + +
+
+
+
+
Description
+
+ A rigid spacecraft is subjected to gravity gradient torque while it revolves
+ around an eccentric orbit.
+
+ Inputs
+
+ Ixx, Iyy, Izz Principal moments of inertia (kg + m2)
+ e Eccentricity
+
+
+ Initial Condition
+
+ w1, w2, w3: Spacecraft angular velocities +
+ q1, q2, q3, q4: Quaternions
+
+
+
+
+
+
+
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/GGEccentric.rtf b/src/jat/application/AttitudeSimulator/help/GGEccentric.rtf new file mode 100644 index 0000000..93a62dd Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/GGEccentric.rtf differ diff --git a/src/jat/application/AttitudeSimulator/help/RW Control.GIF b/src/jat/application/AttitudeSimulator/help/RW Control.GIF new file mode 100644 index 0000000..4a14b56 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/RW Control.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/Simple2DFlexSC.GIF b/src/jat/application/AttitudeSimulator/help/Simple2DFlexSC.GIF new file mode 100644 index 0000000..a172b9c Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/Simple2DFlexSC.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/Simple2DFlexSC.html b/src/jat/application/AttitudeSimulator/help/Simple2DFlexSC.html new file mode 100644 index 0000000..9807099 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/Simple2DFlexSC.html @@ -0,0 +1,65 @@ + + + + Simple 2D Flexible Spacecraft + + + + + +
Title + +
Simulation Control
+
+ time step: Time step for the numerical integration routine
+ time: Duration of the simulation periond in seconds
+
+
+ +
Description
+
+ A flexible spacecraft is modeled as a central rigid body with two massless + beams
+ attachd symmetrically to the side of the central body. Each beam has +a
+ concentrated mass at the tip. The flexibility comes from the flexural + rigidity EI of
+ the beams.
+ 2D Flexible Spacecraft Illustration +
+ Inputs
+
+ J:                     Moment of inertia
+ m:                     Tip mass
+ a:                     Distance as indicated in +the illustration above (m)
+ L:                     Length of the beam (m)
+ EI:                     Flexural rigidity of the +beam (N m2)
+
+ Initial Condition
+
+ Alpha:             Spacecraft angular position
+ u1:                 Position of the first mass
+ u2:                 Position of the second mass
+ AlphaDot:        Spacecraft angular velocity
+ u1Dot:             Velocity of the first mass
+ u2Dot:             Velocity of the second mass
+
+ Input and Output +
+ +


+
+

+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/Simple3DFlexSC.GIF b/src/jat/application/AttitudeSimulator/help/Simple3DFlexSC.GIF new file mode 100644 index 0000000..2c53306 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/Simple3DFlexSC.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/Simple3DFlexSC.html b/src/jat/application/AttitudeSimulator/help/Simple3DFlexSC.html new file mode 100644 index 0000000..2b3f864 --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/Simple3DFlexSC.html @@ -0,0 +1,69 @@ + + + + Simple 3D Flexible Spacecraft + + + + + +
Title + +
Simulation Control
+ time step: Time step for the numerical integration routine
+ time: Duration of the simulation periond in seconds
+
+ Description
+ A flexible spacecraft is modeled as a central rigid body with two massless + beams
+ attachd symmetrically to the side of the central body. Each beam has a +
+ concentrated mass at the tip. The flexibility comes from the flexural +rigidity EI of
+ the beams. Although the flexible elements are constrained to move in 1-2 + plane
+ only, the applet is able to simulate the effect of flexibility on the +spacecraft
+ attitude in three dimensional space.
+ 2D Flexible Spacecraft Illustration +
+ Inputs
+ Ixx, Iyy, Izz:             Principal moments if inertia
+ m:                            Tip mass (kg)
+ a:                             Distance as +indicated in the illustration (m)
+ L:                             Length of the +beam as illustrated (m)
+ EI:                             Flexural rigidity +(N m2)
+
+ Initial Condition
+ u1:                         Position of the +first mass
+ u2:                         Position of the +second mass
+ psi, theta, phi:         Euler angles in a sequence of 3-2-1
+ u1Dot:                     Velocity of the first +mass
+ u2Dot:                     Velocity of the second +mass
+ psiDot:                     Time rate of psi angle
+ thetaDot :                 Time rate of theta angle
+ phiDot:                     Time rate of phi angle
+
+
+
+ +


+

+
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/SphericalDamper.GIF b/src/jat/application/AttitudeSimulator/help/SphericalDamper.GIF new file mode 100644 index 0000000..2985ae2 Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/SphericalDamper.GIF differ diff --git a/src/jat/application/AttitudeSimulator/help/SphericalDamper.html b/src/jat/application/AttitudeSimulator/help/SphericalDamper.html new file mode 100644 index 0000000..981f03b --- /dev/null +++ b/src/jat/application/AttitudeSimulator/help/SphericalDamper.html @@ -0,0 +1,55 @@ + + + + Spherical Damper + + + + + +
Title + +
Simulation Control
+ time step: Time step for the numerical integration routine
+ time: Duration of the simulation periond in seconds
+
+ +
+
+
+

+ Description
+ A damper in a rigid spacecraft in a circular orbit may be able to stabilize + the spacecraft
+ that otherwise goes unstable without it. To simulate such a behavior, +a rigid spacecraft
+ with a damper of spherical shape was modeled as illustrated.
+
+ Illustration of a damper and spacecraft +
+
+ Inputs
+ Ixx, Iyy, Izz                 Principal moments +of inertia
+ c                            Damping +Coefficient
+ j                               +  Spherical damper inertia
+
+ Initial Condition
+ w1, w2, w3:                   Spacecraft +angular velocities
+ q1, q2, q3, q4:              Quaternions
+ alpha, beta, gamma:     Damper angular velocities
+
+
+
+
+
+
+
+
+ + diff --git a/src/jat/application/AttitudeSimulator/help/SphericalDamper.rtf b/src/jat/application/AttitudeSimulator/help/SphericalDamper.rtf new file mode 100644 index 0000000..b0e172b Binary files /dev/null and b/src/jat/application/AttitudeSimulator/help/SphericalDamper.rtf differ diff --git a/src/jat/application/DE405Propagator/DE405PropagatorEvents.java b/src/jat/application/DE405Propagator/DE405PropagatorEvents.java new file mode 100644 index 0000000..5770dab --- /dev/null +++ b/src/jat/application/DE405Propagator/DE405PropagatorEvents.java @@ -0,0 +1,103 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.DE405Propagator; + +import jat.core.ephemeris.DE405Body.body; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.ItemEvent; +import java.awt.event.ItemListener; + +class DE405PropagatorEvents implements ActionListener, ItemListener { + DE405PropagatorGUI dpGUI; + DE405PropagatorMain dpMain; + + // DE405PropagatorParameters dpParam; + + public DE405PropagatorEvents(DE405PropagatorMain dpMain) { + this.dpMain = dpMain; + // this.dpParam = dpMain.dpParam; + } + + public void actionPerformed(ActionEvent ev) { + + // Read in values + if (ev.getSource() == dpMain.dpGUI.btnPlot) { + this.dpGUI = dpMain.dpGUI; + // System.out.println("plot button pressed"); + + dpGUI.GUIToParam(); + dpMain.dpPlot.plot.removeAllPlots(); + dpMain.dpPlot.add_scene(); + } + + if (ev.getSource() == dpMain.dpGUI.comboBoxFrame) { + System.out.println("[DE405PropagatorEvents] Frame combo box"); + } + + if (ev.getSource() == dpMain.dpGUI.comboBoxParameterSet) { + //System.out.println("[DE405PropagatorEvents] ParameterSet combo box"); + + boolean changed = true; + if (changed) { + + int index = dpMain.dpGUI.comboBoxParameterSet.getSelectedIndex(); + dpMain.dpParam = dpMain.ParameterSetList.get(index); + dpMain.dpGUI.ParamToGUI(); + } + + } + + } + + // }// End of ActionPerformed + + @Override + public void itemStateChanged(ItemEvent e) { + + Object source = e.getItemSelectable(); + + if (source == dpMain.dpGUI.chckbxRotation) { + System.out.println("rot"); + if (dpMain.dpGUI.chckbxRotation.isSelected()) + dpMain.dpPlot.plot.plotCanvas.timer.start(); + else + dpMain.dpPlot.plot.plotCanvas.timer.stop(); + } + + if (source == dpMain.dpGUI.chckbxSun) + dpMain.dpParam.bodyGravOnOff[body.SUN.ordinal()] = dpMain.dpGUI.chckbxSun.isSelected(); + if (source == dpMain.dpGUI.chckbxMercury) + dpMain.dpParam.bodyGravOnOff[body.MERCURY.ordinal()] = dpMain.dpGUI.chckbxMercury.isSelected(); + if (source == dpMain.dpGUI.chckbxVenus) + dpMain.dpParam.bodyGravOnOff[body.VENUS.ordinal()] = dpMain.dpGUI.chckbxVenus.isSelected(); + if (source == dpMain.dpGUI.chckbxEarth) + dpMain.dpParam.bodyGravOnOff[body.EARTH.ordinal()] = dpMain.dpGUI.chckbxEarth.isSelected(); + if (source == dpMain.dpGUI.chckbxMars) + dpMain.dpParam.bodyGravOnOff[body.EARTH.ordinal()] = dpMain.dpGUI.chckbxMars.isSelected(); + if (source == dpMain.dpGUI.chckbxMoon) + dpMain.dpParam.bodyGravOnOff[body.MOON.ordinal()] = dpMain.dpGUI.chckbxMoon.isSelected(); + if (source == dpMain.dpGUI.chckbxJupiter) + dpMain.dpParam.bodyGravOnOff[body.JUPITER.ordinal()] = dpMain.dpGUI.chckbxJupiter.isSelected(); + if (source == dpMain.dpGUI.chckbxSaturn) + dpMain.dpParam.bodyGravOnOff[body.JUPITER.ordinal()] = dpMain.dpGUI.chckbxSaturn.isSelected(); + + } + +} diff --git a/src/jat/application/DE405Propagator/DE405PropagatorGUI.java b/src/jat/application/DE405Propagator/DE405PropagatorGUI.java new file mode 100644 index 0000000..0781a7b --- /dev/null +++ b/src/jat/application/DE405Propagator/DE405PropagatorGUI.java @@ -0,0 +1,315 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.DE405Propagator; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; +import java.awt.GridLayout; +import java.awt.Insets; + +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JComboBox; +import javax.swing.JComponent; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.JSpinner; +import javax.swing.SpinnerNumberModel; +import javax.swing.border.LineBorder; +import javax.swing.border.TitledBorder; + +import net.sourceforge.jdatepicker.JDateComponentFactory; +import net.sourceforge.jdatepicker.JDatePicker; + + +public class DE405PropagatorGUI extends JPanel { + private static final long serialVersionUID = 1321470082814219656L; + DE405PropagatorEvents dpE; + JPanel level2_Pane_Plot; + DE405PropagatorMain dpMain; + //DE405PropagatorParameters dpParam; + public JCheckBox chckbxRotation; + public JFormattedTextField tf_x, tf_y, tf_z, tf_vx, tf_vy, tf_vz; + JFormattedTextField tf_tf; + public JButton btnPlot; + JDatePicker depart_date_picker; + public JCheckBox chckbxMercury, chckbxEarth, chckbxJupiter; + public JCheckBox chckbxVenus; + public JCheckBox chckbxMars; + public JCheckBox chckbxSaturn; + public JCheckBox chckbxSun; + public JCheckBox chckbxMoon; + public JComboBox comboBoxFrame; + public JComboBox comboBoxParameterSet; + public JSpinner spinnerHour; + private JPanel panel; + public JSpinner spinnerMinute; + private JLabel lblNewLabel_2; + + public DE405PropagatorGUI(DE405PropagatorMain dpMain) { + this.dpMain = dpMain; + //this.dpParam = dpMain.dpParam; + dpE = new DE405PropagatorEvents(dpMain); + + depart_date_picker = JDateComponentFactory.createJDatePicker(); + depart_date_picker.setTextEditable(true); + depart_date_picker.setShowYearButtons(true); + + setLayout(new BorderLayout(0, 0)); + JPanel level1_Pane = new JPanel(); + + add(level1_Pane, BorderLayout.WEST); + GridBagLayout gbl_level1_Pane = new GridBagLayout(); + gbl_level1_Pane.columnWidths = new int[] { 0, 0 }; + gbl_level1_Pane.rowHeights = new int[] { 60, 60, 60, 60, 0, 0 }; + gbl_level1_Pane.columnWeights = new double[] { 1.0, 1.0 }; + gbl_level1_Pane.rowWeights = new double[] { 0.0, 0.0, 0.0, 0.0, 0.0, Double.MIN_VALUE }; + level1_Pane.setLayout(gbl_level1_Pane); + + JPanel panelPlanets = new JPanel(); + GridBagConstraints gbc_panelPlanets = new GridBagConstraints(); + gbc_panelPlanets.fill = GridBagConstraints.BOTH; + gbc_panelPlanets.insets = new Insets(0, 0, 5, 5); + gbc_panelPlanets.gridx = 0; + gbc_panelPlanets.gridy = 0; + level1_Pane.add(panelPlanets, gbc_panelPlanets); + panelPlanets.setBorder(new TitledBorder(new LineBorder(new Color(184, 207, 229)), "Body On/Off", + TitledBorder.LEADING, TitledBorder.TOP, null, null)); + panelPlanets.setLayout(new GridLayout(0, 2, 0, 0)); + + chckbxSun = new JCheckBox("Sun"); + panelPlanets.add(chckbxSun); + + chckbxMercury = new JCheckBox("Mercury"); + panelPlanets.add(chckbxMercury); + + chckbxVenus = new JCheckBox("Venus"); + panelPlanets.add(chckbxVenus); + + chckbxEarth = new JCheckBox("Earth"); + panelPlanets.add(chckbxEarth); + + chckbxMoon = new JCheckBox("Moon"); + panelPlanets.add(chckbxMoon); + + chckbxMars = new JCheckBox("Mars"); + panelPlanets.add(chckbxMars); + + chckbxJupiter = new JCheckBox("Jupiter"); + panelPlanets.add(chckbxJupiter); + + chckbxSaturn = new JCheckBox("Saturn"); + panelPlanets.add(chckbxSaturn); + + JPanel panelFrame = new JPanel(); + panelFrame.setBorder(new TitledBorder(null, "Frame", TitledBorder.LEADING, TitledBorder.TOP, null, null)); + GridBagConstraints gbc_panelFrame = new GridBagConstraints(); + gbc_panelFrame.fill = GridBagConstraints.BOTH; + gbc_panelFrame.insets = new Insets(0, 0, 5, 5); + gbc_panelFrame.gridx = 0; + gbc_panelFrame.gridy = 1; + level1_Pane.add(panelFrame, gbc_panelFrame); + panelFrame.setLayout(new GridLayout(1, 1, 0, 0)); + + comboBoxFrame = new JComboBox(frame.name); + panelFrame.add(comboBoxFrame); + + JPanel panelDate = new JPanel(); + panelDate.setBorder(new TitledBorder(new LineBorder(new Color(184, 207, 229)), "Start Date, Flight Time [s]", + TitledBorder.LEADING, TitledBorder.TOP, null, null)); + GridBagConstraints gbc_panelDate = new GridBagConstraints(); + gbc_panelDate.fill = GridBagConstraints.BOTH; + gbc_panelDate.insets = new Insets(0, 0, 5, 5); + gbc_panelDate.gridx = 0; + gbc_panelDate.gridy = 2; + level1_Pane.add(panelDate, gbc_panelDate); + panelDate.add((JComponent) depart_date_picker); + panelDate.setLayout(new GridLayout(3, 1, 0, 0)); + + panel = new JPanel(); + panelDate.add(panel); + + spinnerHour = new JSpinner(); + spinnerHour.setModel(new SpinnerNumberModel(0, 0, 23, 1)); + panel.add(spinnerHour); + + lblNewLabel_2 = new JLabel(":"); + panel.add(lblNewLabel_2); + + spinnerMinute = new JSpinner(); + spinnerMinute.setModel(new SpinnerNumberModel(0, 0, 59, 1)); + panel.add(spinnerMinute); + + tf_tf = new JFormattedTextField(); + tf_tf.setColumns(2); + panelDate.add(tf_tf); + + JPanel panelIC = new JPanel(); + GridBagConstraints gbc_panelIC = new GridBagConstraints(); + gbc_panelIC.fill = GridBagConstraints.BOTH; + gbc_panelIC.insets = new Insets(0, 0, 5, 5); + gbc_panelIC.gridx = 0; + gbc_panelIC.gridy = 3; + level1_Pane.add(panelIC, gbc_panelIC); + panelIC.setBorder(new TitledBorder(null, "Initial Condition", TitledBorder.LEADING, TitledBorder.TOP, null, + null)); + panelIC.setLayout(new GridLayout(9, 1, 0, 0)); + + JLabel lblNewLabel = new JLabel("x y z [km]"); + panelIC.add(lblNewLabel); + + tf_x = new JFormattedTextField(); + panelIC.add(tf_x); + + tf_y = new JFormattedTextField(); + panelIC.add(tf_y); + + tf_z = new JFormattedTextField(); + panelIC.add(tf_z); + + JLabel lblNewLabel_1 = new JLabel("vx vy vz [km/s]"); + panelIC.add(lblNewLabel_1); + + tf_vx = new JFormattedTextField(); + panelIC.add(tf_vx); + + tf_vy = new JFormattedTextField(); + panelIC.add(tf_vy); + + tf_vz = new JFormattedTextField(); + panelIC.add(tf_vz); + + btnPlot = new JButton("Plot"); + panelIC.add(btnPlot); + + JPanel panelParameters = new JPanel(); + panelParameters.setBorder(new TitledBorder(null, "Parameter Set", TitledBorder.LEADING, TitledBorder.TOP, null, + null)); + GridBagConstraints gbc_panelParameters = new GridBagConstraints(); + gbc_panelParameters.fill = GridBagConstraints.BOTH; + gbc_panelParameters.insets = new Insets(0, 0, 5, 5); + gbc_panelParameters.gridx = 0; + gbc_panelParameters.gridy = 4; + level1_Pane.add(panelParameters, gbc_panelParameters); + panelParameters.setLayout(new GridLayout(1, 1, 0, 0)); + + String[] ParameterSetNames = new String[dpMain.ParameterSetList.size()]; + for (int i = 0; i < dpMain.ParameterSetList.size(); i++) { + System.out.println(dpMain.ParameterSetList.get(i).Name); + ParameterSetNames[i] = dpMain.ParameterSetList.get(i).Name; + } + + // Iterator iterator = + // dpMain.ParameterSetList.iterator(); + + // for(DE405PropagatorParameters element: dpMain.ParameterSetList){ + // System.out.println(element); + // } + + // for (dpMain.ParameterSetList p : EnumSet.allOf(body.class)) { + // int bodyNumber = q.ordinal(); + // posUserFrame[bodyNumber] = posICRF[bodyNumber]; + // velUserFrame[bodyNumber] = velICRF[bodyNumber]; + // } + + comboBoxParameterSet = new JComboBox(ParameterSetNames); + panelParameters.add(comboBoxParameterSet); + + chckbxRotation = new JCheckBox("Rotate"); + GridBagConstraints gbc_chckbxRotation = new GridBagConstraints(); + gbc_chckbxRotation.insets = new Insets(0, 0, 5, 5); + gbc_chckbxRotation.fill = GridBagConstraints.BOTH; + gbc_chckbxRotation.gridx = 0; + gbc_chckbxRotation.gridy = 5; + level1_Pane.add(chckbxRotation, gbc_chckbxRotation); + + ParamToGUI(); + + chckbxRotation.addItemListener(dpE); + chckbxSun.addItemListener(dpE); + chckbxEarth.addItemListener(dpE); + chckbxMoon.addItemListener(dpE); + chckbxJupiter.addItemListener(dpE); + btnPlot.addActionListener(dpE); + comboBoxFrame.addActionListener(dpE); + comboBoxParameterSet.addActionListener(dpE); + } + + public void ParamToGUI() { + chckbxSun.setSelected(dpMain.dpParam.bodyGravOnOff[body.SUN.ordinal()]); + chckbxMercury.setSelected(dpMain.dpParam.bodyGravOnOff[body.MERCURY.ordinal()]); + chckbxVenus.setSelected(dpMain.dpParam.bodyGravOnOff[body.VENUS.ordinal()]); + chckbxEarth.setSelected(dpMain.dpParam.bodyGravOnOff[body.EARTH.ordinal()]); + chckbxMoon.setSelected(dpMain.dpParam.bodyGravOnOff[body.MOON.ordinal()]); + chckbxMars.setSelected(dpMain.dpParam.bodyGravOnOff[body.MARS.ordinal()]); + chckbxJupiter.setSelected(dpMain.dpParam.bodyGravOnOff[body.JUPITER.ordinal()]); + chckbxSaturn.setSelected(dpMain.dpParam.bodyGravOnOff[body.SATURN.ordinal()]); + + comboBoxFrame.setSelectedIndex(dpMain.dpParam.Frame.ordinal()); + + depart_date_picker.getModel().setYear(dpMain.dpParam.simulationDate.getYear()); + depart_date_picker.getModel().setMonth(dpMain.dpParam.simulationDate.getMonth()-1); + depart_date_picker.getModel().setMonth(dpMain.dpParam.simulationDate.getMonth()-1); + //depart_date_picker.getModel().setMonth(3); + depart_date_picker.getModel().setDay(dpMain.dpParam.simulationDate.getDay()); + depart_date_picker.getModel().setSelected(true); + spinnerHour.setValue(dpMain.dpParam.simulationDate.getHour()); + spinnerMinute.setValue(dpMain.dpParam.simulationDate.getMinute()); + tf_tf.setValue(dpMain.dpParam.tf); + tf_x.setValue(dpMain.dpParam.y0[0]); + tf_y.setValue(dpMain.dpParam.y0[1]); + tf_z.setValue(dpMain.dpParam.y0[2]); + tf_vx.setValue(dpMain.dpParam.y0[3]); + tf_vy.setValue(dpMain.dpParam.y0[4]); + tf_vz.setValue(dpMain.dpParam.y0[5]); + + //comboBoxParameterSet.setSelectedIndex(dpMain.selectedParameterSet); + + } + + public void GUIToParam() { + + dpMain.dpParam.y0[0] = (Double) dpMain.dpGUI.tf_x.getValue(); + dpMain.dpParam.y0[1] = (Double) dpMain.dpGUI.tf_y.getValue(); + dpMain.dpParam.y0[2] = (Double) dpMain.dpGUI.tf_z.getValue(); + dpMain.dpParam.y0[3] = (Double) dpMain.dpGUI.tf_vx.getValue(); + dpMain.dpParam.y0[4] = (Double) dpMain.dpGUI.tf_vy.getValue(); + dpMain.dpParam.y0[5] = (Double) dpMain.dpGUI.tf_vz.getValue(); + dpMain.dpParam.tf = (Double) dpMain.dpGUI.tf_tf.getValue(); + // retrieve start date from date picker + int year = depart_date_picker.getModel().getYear(); + int month = depart_date_picker.getModel().getMonth() + 1; + //System.out.println("[DE405PropagatorGUI] month "+ month); + int day = depart_date_picker.getModel().getDay(); + int hour = (Integer) spinnerHour.getValue(); + int minute = (Integer) spinnerMinute.getValue(); + //System.out.println("[DE405PropagatorGUI] hour "+ hour); + dpMain.dpParam.simulationDate = new TimeAPL(year, month, day, hour, minute, 0); + int selection=comboBoxFrame.getSelectedIndex(); + dpMain.dpParam.Frame=frame.fromInt(selection); + + } + +} diff --git a/src/jat/application/DE405Propagator/DE405PropagatorGlobals.java b/src/jat/application/DE405Propagator/DE405PropagatorGlobals.java new file mode 100644 index 0000000..1197c98 --- /dev/null +++ b/src/jat/application/DE405Propagator/DE405PropagatorGlobals.java @@ -0,0 +1,19 @@ +package jat.application.DE405Propagator; + +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Plus; +import jat.core.units.unitCheck; +import jat.core.util.jatMessages; + +public class DE405PropagatorGlobals { + unitCheck uc = new unitCheck(); + SolarSystemBodies sb = new SolarSystemBodies(); + DE405Plus Eph; + // PathUtil path; + jatMessages messages; + + public DE405PropagatorGlobals() { + messages = new jatMessages(); + } + +} diff --git a/src/jat/application/DE405Propagator/DE405PropagatorMain.java b/src/jat/application/DE405Propagator/DE405PropagatorMain.java new file mode 100644 index 0000000..b5256da --- /dev/null +++ b/src/jat/application/DE405Propagator/DE405PropagatorMain.java @@ -0,0 +1,79 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.DE405Propagator; + +import jat.application.DE405Propagator.ParameterSet.EarthToJupiter; +import jat.application.DE405Propagator.ParameterSet.earthMoonMEOP; +import jat.application.DE405Propagator.ParameterSet.earthOrbitECI; +import jat.application.DE405Propagator.ParameterSet.sunOrbit; +import jat.core.ephemeris.DE405Plus; +import jat.core.util.PathUtil; + +import java.awt.BorderLayout; +import java.awt.Container; +import java.util.ArrayList; +import java.util.List; + +import javax.swing.JApplet; + +public class DE405PropagatorMain extends JApplet { + + private static final long serialVersionUID = -6469847628986520750L; + DE405PropagatorGUI dpGUI; + DE405PropagatorPlot dpPlot; + DE405PropagatorParameters dpParam; + DE405PropagatorGlobals dpGlobals; + public List ParameterSetList = new ArrayList(); + public int selectedParameterSet = 0; + + public void init() { + } + + public void start() { + ParameterSetList.add(new earthMoonMEOP()); + ParameterSetList.add(new earthOrbitECI()); + ParameterSetList.add(new sunOrbit()); + ParameterSetList.add(new EarthToJupiter()); + // dpParam = new testOrbit(); + // dpParam = new earthMoonMEOP(); + + dpParam = ParameterSetList.get(selectedParameterSet); + dpGlobals = new DE405PropagatorGlobals(); + + PathUtil path = new PathUtil(this); + dpGlobals.Eph = new DE405Plus(path); + dpGlobals.Eph.setUnitsMaster(dpGlobals.uc); + dpGlobals.uc.addUser(dpGlobals.Eph.getUnits()); + dpGlobals.uc.addUser(dpGlobals.sb.getUnits()); + // dpParam.Eph.printSteps = true; + + Container level1_Pane; + level1_Pane = getContentPane(); + dpGUI = new DE405PropagatorGUI(this); + level1_Pane.add(dpGUI, BorderLayout.WEST); + // dpGUI.updateGUI(); + + dpPlot = new DE405PropagatorPlot(this); + dpPlot.make_plot(); + + level1_Pane.add(dpPlot.plot); + + dpGlobals.uc.printList(); + + } +} diff --git a/src/jat/application/DE405Propagator/DE405PropagatorParameters.java b/src/jat/application/DE405Propagator/DE405PropagatorParameters.java new file mode 100644 index 0000000..03c0748 --- /dev/null +++ b/src/jat/application/DE405Propagator/DE405PropagatorParameters.java @@ -0,0 +1,29 @@ +package jat.application.DE405Propagator; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class DE405PropagatorParameters { + public String Name; + public TimeAPL simulationDate; + int numberOfBodies = body.values().length; + boolean[] showPlanet = new boolean[numberOfBodies]; + public boolean[] bodyGravOnOff = new boolean[numberOfBodies]; + public frame Frame; + public double[] y0=new double[6] ; // initial position and velocity + public double tf; + + public DE405PropagatorParameters() { + + for (int i = 0; i < numberOfBodies; i++) { + this.showPlanet[i] = true; + bodyGravOnOff[i] = false; + } + } + + public DE405PropagatorParameters(boolean[] planetOnOff) { + this.showPlanet = planetOnOff; + } + +} diff --git a/src/jat/application/DE405Propagator/DE405PropagatorPlot.java b/src/jat/application/DE405Propagator/DE405PropagatorPlot.java new file mode 100644 index 0000000..0831821 --- /dev/null +++ b/src/jat/application/DE405Propagator/DE405PropagatorPlot.java @@ -0,0 +1,225 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.DE405Propagator; + +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.ephemeris.EphemerisPlotData; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.plots.LinePlot; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.awt.Color; +import java.io.IOException; +import java.util.ArrayList; + +import javax.swing.JPanel; + +import org.apache.commons.lang3.ArrayUtils; +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.FirstOrderIntegrator; +import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator; + +public class DE405PropagatorPlot extends JPanel { + + private static final long serialVersionUID = 4814672707864836820L; + Plot3DPanel plot; + int steps = 200; + double[][] XYZ = new double[steps][3]; + double[][] points = new double[1][3]; + int step; + DE405PropagatorMain dpMain; + DE405Plus Eph; + static boolean print = false; + double plotBounds; + SolarSystemBodies sb = new SolarSystemBodies(); + + public DE405PropagatorPlot(DE405PropagatorMain dpMain) { + this.dpMain = dpMain; + this.Eph = dpMain.dpGlobals.Eph; + } + + public void make_plot() { + // create your PlotPanel (you can use it as a JPanel) with a legend at + // SOUTH + plot = new Plot3DPanel("SOUTH"); + // add grid plot to the PlotPanel + add_scene(); + } + + public void add_scene() { + + // Update Ephemeris to current user parameters + for (body b : body.values()) { + Eph.bodyGravOnOff[b.ordinal()] = dpMain.dpParam.bodyGravOnOff[b.ordinal()]; + } + Eph.setIntegrationStartTime(dpMain.dpParam.simulationDate); + try { + Eph.setEarthMoonPlaneNormal(dpMain.dpParam.simulationDate); + } catch (IOException e1) { + e1.printStackTrace(); + } + Eph.setFrame(dpMain.dpParam.Frame); + Eph.reset(); + + // Spacecraft Trajectory + FirstOrderIntegrator dp853 = new DormandPrince853Integrator(1.0e-8, dpMain.dpParam.tf, 1.0e-10, 1.0e-10); + dp853.addStepHandler(Eph.stepHandler); + FirstOrderDifferentialEquations ode = Eph; + double[] y = new double[6]; + dp853.integrate(ode, 0.0, dpMain.dpParam.y0, dpMain.dpParam.tf, y); + if (print) { + String nf = "%10.3f "; + String format = nf + nf + nf + nf + nf; + System.out.printf(format, dpMain.dpParam.tf, y[0], y[1], y[2], Eph.energy(dpMain.dpParam.tf, y)); + System.out.println(); + } + + LinePlot l1 = new LinePlot("spacecraft", Color.RED, getXYZforPlot(Eph.xsol, Eph.ysol, Eph.zsol)); + l1.closed_curve = false; + plot.addPlot(l1); + + addBodies(); + + // Vector3D y0v=new Vector3D(dpParam.y0[0],dpParam.y0[1],dpParam.y0[2]); + // double plotBounds = 2*y0v.getNorm(); + plot.setFixedBounds(0, -plotBounds, plotBounds); + plot.setFixedBounds(1, -plotBounds, plotBounds); + plot.setFixedBounds(2, -plotBounds, plotBounds); + plot.setLegendOrientation(PlotPanel.SOUTH); + } + + void addBodies() { + int bodyNumber; + // int x, y, z; + VectorN BodyPos; + EphemerisPlotData epd; + LinePlot l; + + // central body gets as sphere + + switch (Eph.ephFrame) { + case ICRF: + plot.addSpherePlot("Sun", java.awt.Color.ORANGE, sb.Bodies[body.SUN.ordinal()].radius); + break; + case HEE: + plot.addSpherePlot("Sun", java.awt.Color.ORANGE, sb.Bodies[body.SUN.ordinal()].radius); + break; + case ECI: + plot.addSpherePlot("Earth", java.awt.Color.BLUE, sb.Bodies[body.EARTH.ordinal()].radius); + break; + case MEOP: + plot.addSpherePlot("Earth", java.awt.Color.BLUE, sb.Bodies[body.EARTH.ordinal()].radius); + break; + default: + break; + } + + // other bodies get a point + for (body b : body.values()) { + bodyNumber = b.ordinal(); + if (Eph.bodyGravOnOff[bodyNumber] == true) { + try { + BodyPos = Eph.get_planet_pos(b, dpMain.dpParam.simulationDate); + addPoint(plot, body.name[bodyNumber], sb.Bodies[bodyNumber].color, BodyPos.x[0], BodyPos.x[1], + BodyPos.x[2]); + + epd = new EphemerisPlotData(Eph, b, dpMain.dpParam.simulationDate, dpMain.dpParam.tf, 100); + l = new LinePlot(body.name[bodyNumber], sb.Bodies[bodyNumber].color, epd.XYZ); + l.closed_curve = false; + plot.addPlot(l); + + } catch (IOException e) { + e.printStackTrace(); + } + + } + } + + // VectorN EarthPos = null; + // VectorN MoonPost0 = null; + // VectorN MoonPostf = null; + // VectorN SunPos = null; + // try { + // SunPos = Eph.get_planet_pos(body.SUN, dpMain.dpParam.simulationDate); + // EarthPos = Eph.get_planet_pos(body.EARTH, + // dpMain.dpParam.simulationDate); + // MoonPost0 = Eph.get_planet_pos(body.MOON, + // dpMain.dpParam.simulationDate); + // MoonPostf = Eph.get_planet_pos(body.MOON, + // dpMain.dpParam.simulationDate.plus(dpMain.dpParam.tf)); + // } catch (IOException e) { + // e.printStackTrace(); + // } + + // addPoint(plot, "Sun", java.awt.Color.ORANGE, SunPos.x[0], + // SunPos.x[1], SunPos.x[2]); + // addPoint(plot, "Moon t0", java.awt.Color.GRAY, MoonPost0.x[0], + // MoonPost0.x[1], MoonPost0.x[2]); + // addPoint(plot, "Moon tf", java.awt.Color.GRAY, MoonPostf.x[0], + // MoonPostf.x[1], MoonPostf.x[2]); + // addPoint(plot, "Earth", java.awt.Color.MAGENTA, EarthPos.x[0], + // EarthPos.x[1], EarthPos.x[2]); + +// EphemerisPlotData epd = new EphemerisPlotData(Eph, body.MOON, dpMain.dpParam.simulationDate, dpMain.dpParam.tf, +// 100); +// LinePlot lMoon = new LinePlot("Moon", Color.green, epd.XYZ); +// lMoon.closed_curve = false; +// plot.addPlot(lMoon); + + } + + double[][] getXYZforPlot(ArrayList xsol, ArrayList ysol, ArrayList zsol) { + int arraySize = xsol.size(); + double[] xsolArray = ArrayUtils.toPrimitive(xsol.toArray(new Double[arraySize])); + double[] ysolArray = ArrayUtils.toPrimitive(ysol.toArray(new Double[arraySize])); + double[] zsolArray = ArrayUtils.toPrimitive(zsol.toArray(new Double[arraySize])); + double[][] XYZ = new double[arraySize][3]; + plotBounds = 0.; + for (int i = 0; i < arraySize; i++) { + XYZ[i][0] = xsolArray[i]; + XYZ[i][1] = ysolArray[i]; + XYZ[i][2] = zsolArray[i]; + plotBounds = Math.max(plotBounds, Math.abs(XYZ[i][0])); + plotBounds = Math.max(plotBounds, Math.abs(XYZ[i][1])); + plotBounds = Math.max(plotBounds, Math.abs(XYZ[i][2])); + } + plotBounds /= 1.5; + return XYZ; + } + + void addPoint(Plot3DPanel p, String s, Color c, double x, double y, double z) { + double[][] points = new double[1][3]; + points[0][0] = x; + points[0][1] = y; + points[0][2] = z; + p.addScatterPlot(s, c, points); + } + +} + +// VectorN v = Eph.EarthMoonPlaneNormal.times(100000); +// addPoint(plot, "Moon-Earth normal", java.awt.Color.pink, v.x[0], +// v.x[1], v.x[2]); +// +// VectorN vr = Eph.rotationAxis.times(100000); +// addPoint(plot, "rot axis", java.awt.Color.MAGENTA, vr.x[0], vr.x[1], +// vr.x[2]); + diff --git a/src/jat/application/DE405Propagator/ParameterSet/EarthToJupiter.java b/src/jat/application/DE405Propagator/ParameterSet/EarthToJupiter.java new file mode 100644 index 0000000..20064dd --- /dev/null +++ b/src/jat/application/DE405Propagator/ParameterSet/EarthToJupiter.java @@ -0,0 +1,30 @@ +package jat.application.DE405Propagator.ParameterSet; + +import jat.application.DE405Propagator.DE405PropagatorParameters; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class EarthToJupiter extends DE405PropagatorParameters{ + + public EarthToJupiter() { + super(); + + Name = "EarthToJupiter"; + + bodyGravOnOff[body.SUN.ordinal()] = true; + bodyGravOnOff[body.EARTH.ordinal()] = true; + bodyGravOnOff[body.JUPITER.ordinal()] = true; + + Frame=frame.HEE; + simulationDate = new TimeAPL(2003, 2, 1, 12, 0, 0); + + y0[0] = -98728754.; + y0[1] = 108554675.; + y0[2] = -1941.; + y0[4] = 24.2; + tf = 1000.; + + } + +} diff --git a/src/jat/application/DE405Propagator/ParameterSet/earthMoonMEOP.java b/src/jat/application/DE405Propagator/ParameterSet/earthMoonMEOP.java new file mode 100644 index 0000000..aacae47 --- /dev/null +++ b/src/jat/application/DE405Propagator/ParameterSet/earthMoonMEOP.java @@ -0,0 +1,40 @@ +package jat.application.DE405Propagator.ParameterSet; + +import jat.application.DE405Propagator.DE405PropagatorParameters; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class earthMoonMEOP extends DE405PropagatorParameters { + + public earthMoonMEOP() { + super(); + + Name = "earthMoonMEOP"; + // bodyGravOnOff[body.SUN.ordinal()] = true; + bodyGravOnOff[body.EARTH.ordinal()] = true; + bodyGravOnOff[body.MOON.ordinal()] = true; + + Frame = frame.MEOP; + + simulationDate = new TimeAPL(2003, 2, 28, 13, 30, 0); + //simulationDate = new TimeAPL(); + + // earth orbit to moon and back + + // SolarSystemBodies sb = new SolarSystemBodies(); + // double altitude = 150.; + // y0[0] = sb.Bodies[body.EARTH.ordinal()].radius+altitude; + + + y0[0] = -7000.; + y0[1] = 0.; + y0[2] = 0; + y0[3] = 0.; + y0[4] = -10.6; + y0[5] = 0; + tf = 700000.; + + } + +} diff --git a/src/jat/application/DE405Propagator/ParameterSet/earthOrbitECI.java b/src/jat/application/DE405Propagator/ParameterSet/earthOrbitECI.java new file mode 100644 index 0000000..887c781 --- /dev/null +++ b/src/jat/application/DE405Propagator/ParameterSet/earthOrbitECI.java @@ -0,0 +1,37 @@ +package jat.application.DE405Propagator.ParameterSet; + +import jat.application.DE405Propagator.DE405PropagatorParameters; +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class earthOrbitECI extends DE405PropagatorParameters { + + public earthOrbitECI() { + super(); + + Name = "earthMoonECI"; + + // bodyGravOnOff[body.SUN.ordinal()] = true; + bodyGravOnOff[body.EARTH.ordinal()] = true; + + Frame = frame.ECI; + + simulationDate = new TimeAPL(2003, 3, 1, 12, 0, 0); + + // earth orbit + SolarSystemBodies sb = new SolarSystemBodies(); + double altitude = 150.; + + y0[0] = sb.Bodies[body.EARTH.ordinal()].radius+altitude; + y0[1] = 0; + y0[2] = 0; + y0[3] = 0; + y0[4] = 8; + y0[5] = 0; + tf = 3*60*60; + + } + +} diff --git a/src/jat/application/DE405Propagator/ParameterSet/earthOrbitHEE.java b/src/jat/application/DE405Propagator/ParameterSet/earthOrbitHEE.java new file mode 100644 index 0000000..66da384 --- /dev/null +++ b/src/jat/application/DE405Propagator/ParameterSet/earthOrbitHEE.java @@ -0,0 +1,30 @@ +package jat.application.DE405Propagator.ParameterSet; + +import jat.application.DE405Propagator.DE405PropagatorParameters; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class earthOrbitHEE extends DE405PropagatorParameters { + + public earthOrbitHEE() { + super(); + + bodyGravOnOff[body.SUN.ordinal()] = true; + bodyGravOnOff[body.EARTH.ordinal()] = true; + bodyGravOnOff[body.MOON.ordinal()] = true; + + Frame=frame.HEE; + + simulationDate = new TimeAPL(2003, 3, 1, 12, 0, 0); + + // earth orbit + y0[0] = -1.394163164819393E8; + y0[1] = 48928187.1; + y0[2] = -6558.3; + y0[4] = -30; + tf = 10000.; + + } + +} diff --git a/src/jat/application/DE405Propagator/ParameterSet/sunOrbit.java b/src/jat/application/DE405Propagator/ParameterSet/sunOrbit.java new file mode 100644 index 0000000..14ad4f4 --- /dev/null +++ b/src/jat/application/DE405Propagator/ParameterSet/sunOrbit.java @@ -0,0 +1,31 @@ +package jat.application.DE405Propagator.ParameterSet; + +import jat.application.DE405Propagator.DE405PropagatorParameters; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class sunOrbit extends DE405PropagatorParameters{ + + public sunOrbit() { + super(); + + Name = "sunOrbit"; + + bodyGravOnOff[body.SUN.ordinal()] = true; +// bodyGravOnOff[body.MARS.ordinal()] = true; +// bodyGravOnOff[body.JUPITER.ordinal()] = true; + + Frame=frame.HEE; +// Frame=frame.ICRF; + simulationDate = new TimeAPL(2010, 2, 10, 12, 0, 0); + + y0[0] = 200000000.; + y0[1] = 0; + y0[2] = 0; + y0[4] = 24.2; + tf = 40000000.; + + } + +} diff --git a/src/jat/application/DE405Propagator/ParameterSet/testOrbit.java b/src/jat/application/DE405Propagator/ParameterSet/testOrbit.java new file mode 100644 index 0000000..a27745d --- /dev/null +++ b/src/jat/application/DE405Propagator/ParameterSet/testOrbit.java @@ -0,0 +1,32 @@ +package jat.application.DE405Propagator.ParameterSet; + +import jat.application.DE405Propagator.DE405PropagatorParameters; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.TimeAPL; + +public class testOrbit extends DE405PropagatorParameters{ + + public testOrbit() { + super(); + + bodyGravOnOff[body.SUN.ordinal()] = true; +// bodyGravOnOff[body.MARS.ordinal()] = true; +// bodyGravOnOff[body.JUPITER.ordinal()] = true; + + Frame=frame.HEE; +// Frame=frame.ICRF; + simulationDate = new TimeAPL(2003, 3, 1, 12, 0, 0); + + y0[0] = 150.; + y0[1] = 0; + y0[2] = 0; + y0[4] = 40; + tf = 10.; + + } + + + + +} diff --git a/src/jat/application/EarthMoon/EarthMoonEvents.java b/src/jat/application/EarthMoon/EarthMoonEvents.java new file mode 100644 index 0000000..0342444 --- /dev/null +++ b/src/jat/application/EarthMoon/EarthMoonEvents.java @@ -0,0 +1,216 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.EarthMoon; + +import jat.application.missionPlan.Flight; +import jat.core.ephemeris.DE405Body; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.core.util.jatMessages; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.CalDate; +import jat.jat3D.behavior.jat_Rotate; +import jat.jat3D.plot3D.Rainbow3f; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.ItemEvent; +import java.awt.event.ItemListener; +import java.io.IOException; +import java.util.Calendar; + +import javax.swing.JOptionPane; +import javax.swing.Timer; +import javax.vecmath.Vector3f; + +class EarthMoonEvents implements ActionListener, ItemListener { + + EarthMoonMain emMain; + EarthMoonParameters param; + EarthMoonGUI emGUI; + jat_Rotate jat_rotate; + jatMessages messages; + public Timer timer; + int i; + int time_advance = 10; // seconds + DE405Plus Eph; // Ephemeris class + Flight f; + Rainbow3f rainbow = new Rainbow3f(); + boolean directionDown; + + public EarthMoonEvents(EarthMoonMain mpmain) { + this.emMain = mpmain; + param = emMain.emParam; + Eph = emMain.emParam.Eph; + messages = emMain.emParam.messages; + timer = new Timer(50, this); + // timer = new Timer(1000, this); + // timer.start(); + } + + public void actionPerformed(ActionEvent ev) { + this.emGUI = emMain.emGUI; + this.jat_rotate = emMain.emPlot.jat_rotate; + i++; + + if (ev.getSource() == emGUI.btn_stop) { + time_advance = 0; + } + + if (ev.getSource() == emGUI.btn_rewind) { + int sign = (int) Math.signum(time_advance); + switch (sign) { + case -1: + time_advance *= 2; + break; + case -0: + time_advance = -10; + break; + case 1: + time_advance /= 2; + break; + } + } + if (ev.getSource() == emGUI.btn_forward) { + int sign = (int) Math.signum(time_advance); + switch (sign) { + case -1: + time_advance /= 2; + break; + case -0: + time_advance = 10; + break; + case 1: + time_advance *= 2; + break; + } + } + + // Periodic timer events + + CalDate caldate; + if (emGUI.realtime_chk.isSelected()) { + + Calendar cal = Calendar.getInstance(); + int Y, M, D, h, m, s; + Y = cal.get(Calendar.YEAR); + M = cal.get(Calendar.MONTH); + D = cal.get(Calendar.DAY_OF_MONTH); + h = cal.get(Calendar.HOUR_OF_DAY); + m = cal.get(Calendar.MINUTE); + s = cal.get(Calendar.SECOND); + caldate = new CalDate(Y, M, D, h, m, s); + emMain.emParam.simulationDate = new TimeAPL(caldate); + } else { + emMain.emParam.simulationDate.step_seconds(time_advance); + emGUI.timestepfield.setText("" + time_advance); + caldate = new CalDate(emMain.emParam.simulationDate.mjd_utc()); + } + + emGUI.yearfield.setText("" + caldate.year()); + emGUI.monthfield.setText("" + caldate.month()); + emGUI.dayfield.setText("" + caldate.day()); + emGUI.hourfield.setText("" + caldate.hour()); + emGUI.minutefield.setText("" + caldate.min()); + emGUI.secondfield.setText("" + (int) caldate.sec()); + + update_scene(emMain.emParam.simulationDate); + + if (emGUI.chckbxCameraRotate.isSelected()) { + Vector3f sphereCoord = jat_rotate.getV_current_sphere(); + // System.out.println(sphereCoord.x + " " + sphereCoord.y + " " + + // sphereCoord.z); + + if (sphereCoord.z > 1) + directionDown = true; + if (sphereCoord.z < -1) + directionDown = false; + if (directionDown) + jat_rotate.jat_rotate(.01f, -.002f); + else + jat_rotate.jat_rotate(.01f, .002f); + } + }// End of ActionPerformed + + public void itemStateChanged(ItemEvent e) { + + Object source = e.getItemSelectable(); + + if (source == emGUI.realtime_chk) { + if (emGUI.realtime_chk.isSelected()) { + emGUI.btn_stop.setEnabled(false); + emGUI.btn_forward.setEnabled(false); + emGUI.btn_rewind.setEnabled(false); + } else { + emGUI.btn_stop.setEnabled(true); + emGUI.btn_forward.setEnabled(true); + emGUI.btn_rewind.setEnabled(true); + } + } + } + + void update_scene(TimeAPL mytime) { + + try { + for (int i = 1; i < 11; i++) { + if (param.planetOnOff[i]) { + + emMain.emPlot.planets[i].set_position(Eph.get_planet_pos(body.fromInt(i), mytime)); + } + } + + } catch (IOException e) { + JOptionPane.showMessageDialog(emGUI, "DE405 Ephemeris data file not found."); + e.printStackTrace(); + System.exit(0); + // e.printStackTrace(); + } + + try { + // for (int i = 1; i < 7; i++) { + // mpmain.mpPlot.planet[i].set_position(ecliptic_obliquity_rotate(myEph.get_planet_pos(body.fromInt(i), + // mytime))); + + // myEph.get_planet_pos(DE405Plus.body.MOON, mytime).print("Moon"); + // myEph.get_planet_pos(DE405Plus.body.EARTH_MOON_BARY, + // mytime).print("EARTH_MOON_BARY"); + + VectorN moonPos = Eph.get_planet_pos(DE405Body.body.MOON, mytime); + VectorN earthPos = Eph.get_planet_pos(DE405Body.body.EARTH, mytime); + + // moonPos.print("Moon pos "+Eph.ephFrame); + + // VectorN moonPosEC=earthPosHC.minus(moonPosHC); + // VectorN moonPosEC=new VectorN(3); + + // moonPos.x[0]= + // mpmain.mpPlot.planet[1].set_position(myEph.get_planet_pos(body[10], + // mytime)); + // mpmain.emPlot.bodies[DE405Plus.body.MOON.ordinal()].set_position(moonPosEC); + + } catch (IOException e) { + JOptionPane.showMessageDialog(emGUI, "DE405 Ephemeris data file not found."); + e.printStackTrace(); + System.exit(0); + // e.printStackTrace(); + } + + } + +} diff --git a/src/jat/application/EarthMoon/EarthMoonGUI.java b/src/jat/application/EarthMoon/EarthMoonGUI.java new file mode 100644 index 0000000..f88908d --- /dev/null +++ b/src/jat/application/EarthMoon/EarthMoonGUI.java @@ -0,0 +1,227 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.EarthMoon; + +import java.awt.BorderLayout; +import java.awt.Component; +import java.awt.FlowLayout; +import java.awt.GridLayout; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; + +import javax.swing.BoxLayout; +import javax.swing.ImageIcon; +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.SwingConstants; +import javax.swing.border.TitledBorder; + +import com.jgoodies.forms.factories.FormFactory; +import com.jgoodies.forms.layout.ColumnSpec; +import com.jgoodies.forms.layout.FormLayout; +import com.jgoodies.forms.layout.RowSpec; + +public class EarthMoonGUI extends JPanel { + private static final long serialVersionUID = 1321470082814219656L; + JFormattedTextField yearfield; + JFormattedTextField monthfield; + JFormattedTextField dayfield; + JFormattedTextField hourfield; + JFormattedTextField minutefield; + JFormattedTextField secondfield; + JFormattedTextField timestepfield; + JFormattedTextField viewdistancefield; + public EarthMoonMain mpmain; + JPanel level2_Pane_Plot; + JPanel button_panel; + JPanel mission_panel; + public JButton btn_stop; + public JButton btn_forward; + public JButton btn_rewind; + JCheckBox realtime_chk; + public JButton btnAddFlight; + private JLabel label; + private JLabel label_1; + public JButton btnManageFlights; + public EarthMoonEvents emE; + public JCheckBox chckbxCameraRotate; + + public EarthMoonGUI(EarthMoonMain mpmain) { + this.mpmain = mpmain; + emE = new EarthMoonEvents(mpmain); + + setLayout(new BorderLayout(0, 0)); + JPanel level1_Pane = new JPanel(); + + add(level1_Pane); + level1_Pane.setLayout(new BoxLayout(level1_Pane, BoxLayout.X_AXIS)); + + // o = new solarsystemplot(this); + // o.make_plot(); + JPanel level2_Pane_Control = new JPanel(); + level1_Pane.add(level2_Pane_Control); + level2_Pane_Control.setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5)); + + JPanel level3_panel_box = new JPanel(); + level2_Pane_Control.add(level3_panel_box); + level3_panel_box.setLayout(new BoxLayout(level3_panel_box, BoxLayout.Y_AXIS)); + + JPanel level4_panel_Date = new JPanel(); + level4_panel_Date.setBorder(new TitledBorder(null, "Date", TitledBorder.LEADING, TitledBorder.TOP, null, null)); + level3_panel_box.add(level4_panel_Date); + level4_panel_Date.setLayout(new BoxLayout(level4_panel_Date, BoxLayout.Y_AXIS)); + + realtime_chk = new JCheckBox("Realtime"); + realtime_chk.setAlignmentX(Component.CENTER_ALIGNMENT); + level4_panel_Date.add(realtime_chk); + realtime_chk.setHorizontalAlignment(SwingConstants.CENTER); + JPanel level5_Pane_numbers = new JPanel(); + level4_panel_Date.add(level5_Pane_numbers); + level5_Pane_numbers.setLayout(new FormLayout(new ColumnSpec[] { FormFactory.RELATED_GAP_COLSPEC, + ColumnSpec.decode("right:default"), FormFactory.RELATED_GAP_COLSPEC, FormFactory.DEFAULT_COLSPEC, + FormFactory.RELATED_GAP_COLSPEC, ColumnSpec.decode("left:max(17dlu;default)"), }, new RowSpec[] { + FormFactory.DEFAULT_ROWSPEC, FormFactory.RELATED_GAP_ROWSPEC, FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, FormFactory.DEFAULT_ROWSPEC, FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, })); + level5_Pane_numbers.setBorder(null); + + JLabel lblY = new JLabel("Y"); + lblY.setHorizontalAlignment(SwingConstants.CENTER); + level5_Pane_numbers.add(lblY, "2, 1, center, default"); + + JLabel lblM = new JLabel("M"); + lblM.setHorizontalAlignment(SwingConstants.CENTER); + level5_Pane_numbers.add(lblM, "4, 1"); + + JLabel lblD = new JLabel("D"); + level5_Pane_numbers.add(lblD, "6, 1, center, default"); + + yearfield = new JFormattedTextField(); + yearfield.setColumns(4); + yearfield.setValue(8000.); + level5_Pane_numbers.add(yearfield, "2, 3, left, fill"); + yearfield.requestFocusInWindow(); + + monthfield = new JFormattedTextField(); + monthfield.setColumns(2); + monthfield.setValue(0.1); + level5_Pane_numbers.add(monthfield, "4, 3, left, fill"); + + dayfield = new JFormattedTextField(); + dayfield.setColumns(2); + level5_Pane_numbers.add(dayfield, "6, 3, left, fill"); + + JLabel lblHr = new JLabel("hr"); + level5_Pane_numbers.add(lblHr, "2, 5"); + + JLabel lblMi = new JLabel("mi"); + level5_Pane_numbers.add(lblMi, "4, 5"); + + JLabel lblSc = new JLabel("sc"); + level5_Pane_numbers.add(lblSc, "6, 5"); + + hourfield = new JFormattedTextField(); + hourfield.setColumns(2); + level5_Pane_numbers.add(hourfield, "2, 7, right, fill"); + + minutefield = new JFormattedTextField(); + minutefield.setColumns(2); + level5_Pane_numbers.add(minutefield, "4, 7, left, fill"); + + secondfield = new JFormattedTextField(); + secondfield.setColumns(2); + level5_Pane_numbers.add(secondfield, "6, 7, left, fill"); + + button_panel = new JPanel(); + level4_panel_Date.add(button_panel); + button_panel.setLayout(new BoxLayout(button_panel, BoxLayout.X_AXIS)); + + + String iconPath="/jat/application/missionPlan/icons/"; + + + btn_rewind = new JButton(""); + btn_rewind.setIcon(new ImageIcon(EarthMoonGUI.class + .getResource(iconPath+"Rewind12.gif"))); + button_panel.add(btn_rewind); + + btn_stop = new JButton(""); + btn_stop.setIcon(new ImageIcon(EarthMoonGUI.class + .getResource(iconPath+"Stop12.gif"))); + button_panel.add(btn_stop); + + btn_forward = new JButton(""); + btn_forward.setIcon(new ImageIcon(EarthMoonGUI.class + .getResource(iconPath+"FastForward12.gif"))); + button_panel.add(btn_forward); + + + JLabel lblNewLabel = new JLabel("time step"); + level4_panel_Date.add(lblNewLabel); + + timestepfield = new JFormattedTextField(); + timestepfield.setColumns(8); + level4_panel_Date.add(timestepfield); + + JLabel lblNewLabel_1 = new JLabel("Mission Time"); + lblNewLabel_1.setHorizontalAlignment(SwingConstants.LEFT); + level3_panel_box.add(lblNewLabel_1); + + viewdistancefield = new JFormattedTextField(); + viewdistancefield.setColumns(5); + level3_panel_box.add(viewdistancefield); + + chckbxCameraRotate = new JCheckBox("Camera Rotate"); + chckbxCameraRotate.setAlignmentX(Component.CENTER_ALIGNMENT); + chckbxCameraRotate.setHorizontalAlignment(SwingConstants.LEFT); + level3_panel_box.add(chckbxCameraRotate); + + mission_panel = new JPanel(); + mission_panel.setBorder(new TitledBorder(null, "Mission", TitledBorder.LEADING, TitledBorder.TOP, null, null)); + level3_panel_box.add(mission_panel); + mission_panel.setLayout(new GridLayout(0, 1, 0, 0)); + + btnAddFlight = new JButton("Add Flight"); + mission_panel.add(btnAddFlight); + + btnManageFlights = new JButton("Manage Flights"); + btnManageFlights.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent arg0) { + } + }); + mission_panel.add(btnManageFlights); + + label = new JLabel(""); + mission_panel.add(label); + + label_1 = new JLabel(""); + mission_panel.add(label_1); + + + realtime_chk.addItemListener(emE); + btnAddFlight.addActionListener(emE); + btnManageFlights.addActionListener(emE); + btn_stop.addActionListener(emE); + btn_rewind.addActionListener(emE); + btn_forward.addActionListener(emE); + chckbxCameraRotate.addItemListener(emE); + } +} diff --git a/src/jat/application/EarthMoon/EarthMoonMain.java b/src/jat/application/EarthMoon/EarthMoonMain.java new file mode 100644 index 0000000..23fa30e --- /dev/null +++ b/src/jat/application/EarthMoon/EarthMoonMain.java @@ -0,0 +1,124 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.EarthMoon; + +import jat.application.missionPlan.Flight; +import jat.core.ephemeris.DE405Frame; +import jat.core.ephemeris.DE405Plus; +import jat.core.util.PathUtil; + +import java.awt.BorderLayout; +import java.awt.Container; +import java.awt.Dimension; +import java.util.ArrayList; +import java.util.List; + +import javax.swing.JApplet; +import javax.swing.JFrame; +import javax.swing.JScrollPane; +import javax.swing.JTextArea; +import javax.swing.JTextPane; + +public class EarthMoonMain extends JApplet { + + private static final long serialVersionUID = 1L; + public EarthMoonGUI emGUI; + public EarthMoonPlot emPlot; + public EarthMoonParameters emParam; + static int appletwidth = 900; // Width of Applet + static int appletheight = 700; + static com.tornadolabs.j3dtree.Java3dTree m_Java3dTree = null; + private static boolean Java3dTree_debug = false; + Container level1_Pane; + JFrame sFrame; + List flightList = new ArrayList(); + public JTextPane textPane; + public JTextArea textArea; + + public void init() { + textPane = new JTextPane(); +// JScrollPane paneScrollPane = new JScrollPane(textArea); +// paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); +// paneScrollPane.setPreferredSize(new Dimension(300, 155)); +// paneScrollPane.setMinimumSize(new Dimension(10, 10)); +// getContentPane().add(paneScrollPane, BorderLayout.NORTH); + + + textArea = new JTextArea(5, 20); + JScrollPane paneScrollPane = new JScrollPane(textArea); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(300, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.NORTH); + + } + + public void start() { + // Ephemeris data + + emParam = new EarthMoonParameters(); + emParam.path = new PathUtil(this); + emParam.path = new PathUtil(this,emParam.messages); + emParam.Eph = new DE405Plus(emParam.path,emParam.messages); + //emParam.Eph.setFrame(DE405Frame.frame.ECI); + emParam.Eph.setFrame(DE405Frame.frame.MEOP); + //emParam.Eph.setFrame(DE405Frame.frame.ICRF); + emParam.planetOnOff[3]=true; + emParam.planetOnOff[10]=true; + + emGUI = new EarthMoonGUI(this); + emPlot = new EarthMoonPlot(this); + level1_Pane = getContentPane(); + level1_Pane.add(emGUI, BorderLayout.WEST); + level1_Pane.add(emPlot, BorderLayout.CENTER); + + emGUI.emE.timer.start(); + emParam.messages.printMessages(); + emParam.messages.printMessagesToTextArea(textArea); +} + + /** + * Used when run as an application + */ + public static void main(String[] args) { + EarthMoonMain mApplet = new EarthMoonMain(); + mApplet.init(); + + mApplet.sFrame = new JFrame(); + mApplet.sFrame.setTitle("JAT Solar System Mission Planner"); + mApplet.sFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + // When running this file as a stand-alone app, add the applet to + // the frame. + mApplet.sFrame.getContentPane().add(mApplet, BorderLayout.CENTER); + mApplet.sFrame.setSize(appletwidth, appletheight); + mApplet.sFrame.setVisible(true); + + // sApplet.ssp.mouseZoom.setupCallback(sApplet.ssE); + mApplet.emPlot.requestFocusInWindow(); + + // mApplet.mpGUI.mpE.timer.start(); + mApplet.start(); + if (Java3dTree_debug) { + m_Java3dTree = new com.tornadolabs.j3dtree.Java3dTree(); + m_Java3dTree.recursiveApplyCapability(mApplet.emPlot.jatScene); + m_Java3dTree.updateNodes(mApplet.emPlot.universe); + } + }// End of main() + +} diff --git a/src/jat/application/EarthMoon/EarthMoonParameters.java b/src/jat/application/EarthMoon/EarthMoonParameters.java new file mode 100644 index 0000000..a33ccaa --- /dev/null +++ b/src/jat/application/EarthMoon/EarthMoonParameters.java @@ -0,0 +1,34 @@ +package jat.application.EarthMoon; + +import jat.core.ephemeris.DE405Body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; + +public class EarthMoonParameters { + TimeAPL simulationDate; + int numberOfBodies = DE405Body.body.values().length; + boolean[] planetOnOff; + float[] planetMagnification; + PathUtil path; + jatMessages messages; + DE405Plus Eph; + + public EarthMoonParameters() { + messages = new jatMessages(); + planetOnOff = new boolean[numberOfBodies]; + planetMagnification=new float[numberOfBodies]; + simulationDate = new TimeAPL(2003, 3, 1, 12, 0, 0); + + for (int i = 0; i < numberOfBodies; i++) { + planetOnOff[i] = false; + planetMagnification[i]=1.f; + } + } + + public EarthMoonParameters(boolean[] planetOnOff) { + this.planetOnOff = planetOnOff; + } + +} diff --git a/src/jat/application/EarthMoon/EarthMoonPlot.java b/src/jat/application/EarthMoon/EarthMoonPlot.java new file mode 100644 index 0000000..08596f7 --- /dev/null +++ b/src/jat/application/EarthMoon/EarthMoonPlot.java @@ -0,0 +1,126 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.EarthMoon; + +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.jat3D.BodyGroup3D; +import jat.jat3D.Ephemeris3D; +import jat.jat3D.Planet3D; +import jat.jat3D.RGBAxes3D; +import jat.jat3D.Star3D; +import jat.jat3D.StarsBackground3D; +import jat.jat3D.jatScene3D; +import jat.jat3D.plot3D.BoundingBox3D; +import jat.jat3D.plot3D.JatPlot3D; + +import javax.media.j3d.Group; +import javax.media.j3d.Node; +import javax.vecmath.Point3d; + +public class EarthMoonPlot extends JatPlot3D { + private static final long serialVersionUID = 599884902601254854L; + Star3D sun; + EarthMoonMain emMain; + EarthMoonParameters param; + DE405Plus Eph; // Ephemeris class + Planet3D[] planets; + Ephemeris3D[] ephemerisPlanets; + + public EarthMoonPlot(EarthMoonMain emMain) { + super(); + this.emMain = emMain; + this.param = emMain.emParam; + this.Eph = param.Eph; + } + + public Node createScene() { + Group g = new Group(); + jatScene = new jatScene3D(); + initialViewingPosition = new Point3d(1, -3, 1); + sun = new Star3D(param.path, param.messages, 3.f); + jatScene.add(sun, "sun"); + + ephemerisPlanets = new Ephemeris3D[emMain.emParam.numberOfBodies]; + planets = new Planet3D[emMain.emParam.numberOfBodies]; + SolarSystemBodies sb = new SolarSystemBodies(); + + for (int i = 1; i < 11; i++) { + if (param.planetOnOff[i]) { + planets[i] = new Planet3D(param.path, param.messages, body.fromInt(i), param.planetMagnification[i]); + jatScene.add(planets[i], body.name[i]); + boolean later=true; + if (later) + { + ephemerisPlanets[i] = new Ephemeris3D(Eph, body.fromInt(i), param.simulationDate, + sb.Bodies[i].orbitalPeriod); + jatScene.add(ephemerisPlanets[i], "ephemeris" + body.name[i]); + } + } + } + + g.addChild(jatScene); + StarsBackground3D s = new StarsBackground3D(emMain.emParam.path, 15f); + g.addChild(s); + // initial zoom: exponent of ten times kilometers + exponent = 4; + jatScene.add(new RGBAxes3D(10e3), "Axis"); + // Bounding Box + bbox = new BoundingBox3D(-.5f, .5f); + bbox.createAxes(exponent, " km", " km", " km"); + bboxgroup = new BodyGroup3D(bbox, "Box"); + g.addChild(bboxgroup); + return g; + } + + public void update_user() { + // mpGUI.viewdistancefield.setText("" + mpGUI.mpp.get_vp_t().length()); + } +} + +// which planets +//emMain.emParam.planetOnOff[DE405Body.body.EARTH_MOON_BARY.ordinal()] = true; +//emMain.emParam.planetOnOff[DE405Body.body.MOON.ordinal()] = true; + +// planet[0] = new Planet3D(DE405Plus.body.EARTH_MOON_BARY, 10.f); +// jatScene.add(planet[0], DE405Plus.name[3]); +// planet[1] = new Planet3D(DE405Plus.body.MOON, 10.f); +// jatScene.add(planet[1], DE405Plus.name[10]); + +// sun = new Star3D(emMain.emParam.path,emMain.emParam.messages, .001f); +// jatScene.add(sun, "sun"); + +//moon = new Planet3D(emMain.emParam.path, emMain.emParam.messages, DE405Body.body.EARTH_MOON_BARY, 1.f); +//jatScene.add(moon, "moon"); +// for (int i = 1; i < emMain.emParam.numberOfBodies; i++) { +// if (emMain.emParam.planetOnOff[i]) { +// bodies[i] = new +// Planet3D(emMain.emParam.path,emMain.emParam.messages,DE405Plus.body.fromInt(i), +// 1.f); +// jatScene.add(bodies[i], DE405Plus.name[i]); +// // if (i == 3) +// { +// ephemerisPlanet[i] = new Ephemeris3D(myEph, body[i], +// emMain.emParam.simulationDate, +// SolarSystemBodies.Bodies[i].orbitalPeriod); +// jatScene.add(ephemerisPlanet[i], "ephemeris" + DE405Plus.name[i]); +// } +// } +// } + diff --git a/src/jat/application/missionPlan/AddFlightDialog.java b/src/jat/application/missionPlan/AddFlightDialog.java new file mode 100644 index 0000000..a3b3f7d --- /dev/null +++ b/src/jat/application/missionPlan/AddFlightDialog.java @@ -0,0 +1,85 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.missionPlan; + +import jat.application.porkChopPlot.PorkChopPlotMain; + +import java.awt.BorderLayout; +import java.awt.FlowLayout; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; + +import javax.swing.JButton; +import javax.swing.JDialog; +import javax.swing.JPanel; + +public class AddFlightDialog extends JDialog implements ActionListener { + + private static final long serialVersionUID = 6771932082871532590L; + JButton okButton; + JButton cancelButton; + MissionPlanMain mpMain; + PorkChopPlotMain pcpMain; + public boolean OK_pressed; + + public AddFlightDialog(MissionPlanMain mpMain) { + super(mpMain.sFrame, true); // modal + setTitle("Optimal Launch Date Finder"); + this.mpMain = mpMain; + setBounds(50, 50, 900, 700); + getContentPane().setLayout(new BorderLayout()); + pcpMain = new PorkChopPlotMain(mpMain.mpParam.path,mpMain.mpParam.Eph); + pcpMain.init(); + pcpMain.start(); + pcpMain.setVisible(true); + getContentPane().add(pcpMain); + { + JPanel buttonPane = new JPanel(); + buttonPane.setLayout(new FlowLayout(FlowLayout.RIGHT)); + getContentPane().add(buttonPane, BorderLayout.SOUTH); + { + okButton = new JButton("OK"); + okButton.setActionCommand("OK"); + okButton.addActionListener(this); + buttonPane.add(okButton); + getRootPane().setDefaultButton(okButton); + } + { + cancelButton = new JButton("Cancel"); + cancelButton.setActionCommand("Cancel"); + cancelButton.addActionListener(this); + buttonPane.add(cancelButton); + } + } + setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE); + + setVisible(true); + + } + + public void actionPerformed(ActionEvent e) { + if (okButton == e.getSource()) { + OK_pressed=true; + setVisible(false); + } else if (cancelButton == e.getSource()) { + OK_pressed=false; + setVisible(false); + } + } + +} diff --git a/src/jat/application/missionPlan/Flight.java b/src/jat/application/missionPlan/Flight.java new file mode 100644 index 0000000..254e5dd --- /dev/null +++ b/src/jat/application/missionPlan/Flight.java @@ -0,0 +1,31 @@ +package jat.application.missionPlan; + +import jat.core.ephemeris.DE405Body; +import jat.core.spacetime.TimeAPL; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.jat3D.Sphere3D; +import jat.jat3D.TwoBodyOrbit3D; + +import javax.vecmath.Color3f; + +public class Flight { + String flightName; + Color3f color; + String satelliteName; + public double mu; + DE405Body.body departure_planet; + String departurePlanetName; + String arrivalPlanetName; + DE405Body.body arrival_planet; + TimeAPL departureDate; + TimeAPL arrivalDate; + double tof; + Lambert lambert; + VectorN r0, v0, rf, vf, dv0, dvf; + public double totaldv; + double t0_on_orbit; + TwoBodyOrbit3D orbit; + Sphere3D satellite; + +} diff --git a/src/jat/application/missionPlan/ManageFlightsDialog.java b/src/jat/application/missionPlan/ManageFlightsDialog.java new file mode 100644 index 0000000..c95b3f8 --- /dev/null +++ b/src/jat/application/missionPlan/ManageFlightsDialog.java @@ -0,0 +1,232 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.missionPlan; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.FlowLayout; +import java.awt.GridLayout; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; + +import javax.swing.DefaultListModel; +import javax.swing.JButton; +import javax.swing.JDialog; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JList; +import javax.swing.JPanel; +import javax.swing.ListSelectionModel; +import javax.swing.border.TitledBorder; +import javax.swing.event.ListSelectionEvent; +import javax.swing.event.ListSelectionListener; + +public class ManageFlightsDialog extends JDialog implements ActionListener, ListSelectionListener { + + private static final long serialVersionUID = 6771932082871532590L; + JButton okButton; + JButton cancelButton; + MissionPlanMain ssmain; + public boolean OK_pressed; + private JList list; + private DefaultListModel model = new DefaultListModel(); + private JPanel panel; + private JPanel panel_1; + private JLabel lblNewLabel; + private JPanel panelFlightList; + private JFormattedTextField field_departureDate; + private JLabel lblNewLabel_1; + private JFormattedTextField field_name; + private JLabel lblNewLabel_2; + private JFormattedTextField field_departurePlanet; + private JLabel lblNewLabel_3; + private JFormattedTextField field_arrivalPlanet; + private JLabel lblNewLabel_4; + private JFormattedTextField field_arrivalDate; + private JButton btnDelete; + private JLabel lblColor; + private JButton btnColor; + private JLabel lblNewLabel_5; + private JFormattedTextField field_totaldv; + + public ManageFlightsDialog(MissionPlanMain ssmain) { + super(ssmain.sFrame, true); // modal + setTitle("Manage Flights"); + this.ssmain = ssmain; + setBounds(50, 50, 900, 700); + getContentPane().setLayout(new BorderLayout()); + { + panel = new JPanel(); + getContentPane().add(panel, BorderLayout.NORTH); + panel.setLayout(new GridLayout(0, 2, 0, 0)); + { + panelFlightList = new JPanel(); + panelFlightList.setBorder(new TitledBorder(null, "Flight List", TitledBorder.LEADING, TitledBorder.TOP, + null, null)); + panel.add(panelFlightList); + { + // list = new JList(); + list = new JList(model); + for (int i = 0; i < ssmain.flightList.size(); i++) + model.addElement(ssmain.flightList.get(i)); + // model.addElement("Java"); + // model.addElement("Visual Basic"); + // model.addElement("C++"); + // model.addElement("C"); + // list = new JList(ssmain.flightList.toArray()); + list.setSelectionMode(ListSelectionModel.SINGLE_SELECTION); + list.setModel(model); + panelFlightList.add(list); + } + { + btnDelete = new JButton("Delete"); + panelFlightList.add(btnDelete); + } + btnDelete.addActionListener(this); + } + { + panel_1 = new JPanel(); + panel.add(panel_1); + panel_1.setLayout(new GridLayout(20, 1, 0, 0)); + { + lblNewLabel_1 = new JLabel("Flight Name"); + panel_1.add(lblNewLabel_1); + } + { + field_name = new JFormattedTextField(); + panel_1.add(field_name); + } + { + lblColor = new JLabel("Color"); + panel_1.add(lblColor); + } + { + btnColor = new JButton(""); + btnColor.setBackground(new Color(175, 238, 238)); + panel_1.add(btnColor); + } + { + lblNewLabel_2 = new JLabel("Departure Planet"); + panel_1.add(lblNewLabel_2); + } + { + field_departurePlanet = new JFormattedTextField(); + panel_1.add(field_departurePlanet); + } + { + lblNewLabel_3 = new JLabel("Arrival Planet"); + panel_1.add(lblNewLabel_3); + } + { + field_arrivalPlanet = new JFormattedTextField(); + panel_1.add(field_arrivalPlanet); + } + { + lblNewLabel = new JLabel("Departure Date"); + panel_1.add(lblNewLabel); + } + { + field_departureDate = new JFormattedTextField(); + panel_1.add(field_departureDate); + } + { + lblNewLabel_4 = new JLabel("Arrival Date"); + panel_1.add(lblNewLabel_4); + } + { + field_arrivalDate = new JFormattedTextField(); + panel_1.add(field_arrivalDate); + } + { + lblNewLabel_5 = new JLabel("Total Delta-V [km/sec]"); + panel_1.add(lblNewLabel_5); + } + { + field_totaldv = new JFormattedTextField(); + panel_1.add(field_totaldv); + } + } + } + { + JPanel buttonPane = new JPanel(); + buttonPane.setLayout(new FlowLayout(FlowLayout.RIGHT)); + getContentPane().add(buttonPane, BorderLayout.SOUTH); + { + okButton = new JButton("OK"); + okButton.setActionCommand("OK"); + okButton.addActionListener(this); + buttonPane.add(okButton); + getRootPane().setDefaultButton(okButton); + } + { + cancelButton = new JButton("Cancel"); + cancelButton.setActionCommand("Cancel"); + cancelButton.addActionListener(this); + buttonPane.add(cancelButton); + } + } + setDefaultCloseOperation(JDialog.DISPOSE_ON_CLOSE); + + list.addListSelectionListener(this); + setVisible(true); + + } + + public void actionPerformed(ActionEvent e) { + if (okButton == e.getSource()) { + OK_pressed = true; + setVisible(false); + } else if (cancelButton == e.getSource()) { + OK_pressed = false; + setVisible(false); + } + if (e.getSource() == btnDelete) { + // Flight f = ssmain.flightList.get(list.getSelectedIndex()); + int index = list.getSelectedIndex(); + System.out.println("removing flight list index " + index); + + ssmain.mpPlot.jatScene.remove(ssmain.flightList.get(index).flightName); + ssmain.mpPlot.jatScene.remove(ssmain.flightList.get(index).satelliteName); + + model.removeElement(list.getSelectedValue()); // change the MODEL + ssmain.flightList.remove(index); + } + } + + public void valueChanged(ListSelectionEvent evt) { + if (ssmain.flightList.size() > 0) { + if (list.getSelectedIndex() > -1) { + Flight f = ssmain.flightList.get(list.getSelectedIndex()); + // System.out.println("Selected from " + evt.getFirstIndex() + + // " to " + + // evt.getLastIndex()); + field_name.setText(f.flightName); + Color col=new Color(f.color.x,f.color.y,f.color.z); + btnColor.setBackground(col); + field_departurePlanet.setText(f.departurePlanetName); + field_arrivalPlanet.setText(f.arrivalPlanetName); + String dateformat = "%tD"; + String dateText = String.format(dateformat, f.departureDate.getCalendar()); + field_departureDate.setText(dateText); + dateText = String.format(dateformat, f.arrivalDate.getCalendar()); + field_arrivalDate.setText(dateText); + field_totaldv.setText(String.format("%f",f.totaldv)); + } + } + } +} diff --git a/src/jat/application/missionPlan/MissionPlanConsole.java b/src/jat/application/missionPlan/MissionPlanConsole.java new file mode 100644 index 0000000..c183be1 --- /dev/null +++ b/src/jat/application/missionPlan/MissionPlanConsole.java @@ -0,0 +1,43 @@ +package jat.application.missionPlan; + +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class MissionPlanConsole extends JApplet { + + private static final long serialVersionUID = -5288937301478318959L; + + public void init() { + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + + // Redirect stdout and stderr to the text pane + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + //System.out.println("PathUtilTestConsole init out"); + System.out.println("[MissionPlanConsole] "); + + + } + + public void start() { + + + } + +} diff --git a/src/jat/application/missionPlan/MissionPlanEvents.java b/src/jat/application/missionPlan/MissionPlanEvents.java new file mode 100644 index 0000000..71d7d00 --- /dev/null +++ b/src/jat/application/missionPlan/MissionPlanEvents.java @@ -0,0 +1,279 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.missionPlan; + +import jat.core.cm.TwoBodyAPL; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.core.util.jatMessages; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.LambertException; +import jat.coreNOSA.spacetime.CalDate; +import jat.jat3D.Colors; +import jat.jat3D.Sphere3D; +import jat.jat3D.TwoBodyOrbit3D; +import jat.jat3D.behavior.jat_Rotate; +import jat.jat3D.plot3D.Rainbow3f; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.ItemEvent; +import java.awt.event.ItemListener; +import java.io.IOException; +import java.util.Calendar; + +import javax.swing.JOptionPane; +import javax.swing.Timer; +import javax.vecmath.Vector3f; + +class MissionPlanEvents implements ActionListener, ItemListener { + + MissionPlanMain mpMain; + MissionPlanGUI mpGUI; + MissionPlanParameters param; + jat_Rotate jat_rotate; + jatMessages messages; + public Timer timer; + int i; + int time_advance = 10; // seconds + DE405Plus Eph; // Ephemeris class + Flight f; + Rainbow3f rainbow = new Rainbow3f(); + ManageFlightsDialog myDialog; + boolean directionDown; + + public MissionPlanEvents(MissionPlanMain mpMain) { + this.mpMain = mpMain; + this.param = mpMain.mpParam; + this.Eph = param.Eph; + messages = param.messages; + timer = new Timer(50, this); + // timer = new Timer(1000, this); + // timer.start(); + } + + public void actionPerformed(ActionEvent ev) { + this.mpGUI = mpMain.mpGUI; + this.jat_rotate = mpMain.mpPlot.jat_rotate; + i++; + + if (ev.getSource() == mpGUI.btn_stop) { + time_advance = 0; + } + + if (ev.getSource() == mpGUI.btn_rewind) { + int sign = (int) Math.signum(time_advance); + switch (sign) { + case -1: + time_advance *= 2; + break; + case -0: + time_advance = -10; + break; + case 1: + time_advance /= 2; + break; + } + } + if (ev.getSource() == mpGUI.btn_forward) { + int sign = (int) Math.signum(time_advance); + switch (sign) { + case -1: + time_advance /= 2; + break; + case -0: + time_advance = 10; + break; + case 1: + time_advance *= 2; + break; + } + } + + if (ev.getSource() == mpGUI.btnAddFlight) { + messages.addln("[MissionPlanEvents add flight]"); + // System.out.println("add flight"); + AddFlightDialog myDialog = new AddFlightDialog(mpMain); + // Get the resulting dates and delta-v's and add trajectory to + // plot + if (myDialog.pcpMain.pReturn.DepartureDate > 0.) { + + try { + f = new Flight(); + f.flightName = "flight" + i; + // retrieve selected values from dialog and store + f.departure_planet = myDialog.pcpMain.pReturn.departure_planet; + f.departurePlanetName = body.name[f.departure_planet.ordinal()]; + f.arrival_planet = myDialog.pcpMain.pReturn.arrival_planet; + f.arrivalPlanetName = body.name[f.arrival_planet.ordinal()]; + f.departureDate = new TimeAPL(myDialog.pcpMain.pReturn.DepartureDate); + f.arrivalDate = new TimeAPL(myDialog.pcpMain.pReturn.ArrivalDate); + + f.mu = Constants.GM_Sun / 1.e9; + + f.tof = TimeAPL.minus(f.arrivalDate, f.departureDate) * 86400.0; + + f.lambert = new Lambert(Constants.GM_Sun / 1.e9); + f.r0 = Eph.get_planet_pos(f.departure_planet, f.departureDate); + f.v0 = Eph.get_planet_vel(f.departure_planet, f.departureDate); + f.rf = Eph.get_planet_pos(f.arrival_planet, f.arrivalDate); + f.vf = Eph.get_planet_vel(f.arrival_planet, f.arrivalDate); + try { + f.totaldv = f.lambert.compute(f.r0, f.v0, f.rf, f.vf, f.tof); + messages.addln("[MissionPlanEvents] total DV " + f.totaldv + "km/s"); + // totaldv = -1; + + // apply the first delta-v + f.dv0 = f.lambert.deltav0; + f.v0 = f.v0.plus(f.dv0); + // System.out.println(ssmain.flightList.size()); + + TwoBodyAPL temp = new TwoBodyAPL(f.mu, f.r0, f.v0); + f.t0_on_orbit = temp.t_from_ta(); + // VectorN rot_r0 = f.r0; + // VectorN rot_v0 = f.v0; + f.color = rainbow.colorFor(10 * mpMain.flightList.size()); + // f.orbit = new TwoBodyOrbit3D(f.mu, rot_r0, rot_v0, + // f.t0_on_orbit, f.t0_on_orbit + f.tof, + // f.color); + f.orbit = new TwoBodyOrbit3D(f.mu, f.r0, f.v0, f.t0_on_orbit, f.t0_on_orbit + f.tof, f.color); + mpMain.mpPlot.jatScene.add(f.orbit, f.flightName); + f.satellite = new Sphere3D(5000000.f, Colors.gold); + mpMain.mpPlot.jatScene.add(f.satellite, f.satelliteName); + mpMain.flightList.add(f); + + } catch (LambertException e) { + messages.addln("Lambert failed"); // totaldv = -1; + // System.out.println(e.message); + // e.printStackTrace(); + } + } catch (IOException e1) { + e1.printStackTrace(); + } + } + + } // End of button Add Flight pressed + + if (ev.getSource() == mpGUI.btnManageFlights) { + // System.out.println("manage flights"); + myDialog = new ManageFlightsDialog(mpMain); + } + + // Periodic timer events + // System.out.println("alive"); + CalDate caldate; + if (mpGUI.realtime_chk.isSelected()) { + Calendar cal = Calendar.getInstance(); + int Y, M, D, h, m, s; + Y = cal.get(Calendar.YEAR); + M = cal.get(Calendar.MONTH); + D = cal.get(Calendar.DAY_OF_MONTH); + h = cal.get(Calendar.HOUR_OF_DAY); + m = cal.get(Calendar.MINUTE); + s = cal.get(Calendar.SECOND); + caldate = new CalDate(Y, M, D, h, m, s); + param.simulationDate = new TimeAPL(caldate); + } else { + param.simulationDate.step_seconds(time_advance); + mpGUI.timestepfield.setText("" + time_advance); + caldate = new CalDate(param.simulationDate.mjd_utc()); + } + + mpGUI.yearfield.setText("" + caldate.year()); + mpGUI.monthfield.setText("" + caldate.month()); + mpGUI.dayfield.setText("" + caldate.day()); + mpGUI.hourfield.setText("" + caldate.hour()); + mpGUI.minutefield.setText("" + caldate.min()); + mpGUI.secondfield.setText("" + (int) caldate.sec()); + + update_scene(param.simulationDate); + + if (mpGUI.chckbxCameraRotate.isSelected()) { + Vector3f sphereCoord = jat_rotate.getV_current_sphere(); + // System.out.println(sphereCoord.x + " " + sphereCoord.y + " " + + // sphereCoord.z); + + if (sphereCoord.z > 1) + directionDown = true; + if (sphereCoord.z < -1) + directionDown = false; + if (directionDown) + jat_rotate.jat_rotate(.005f, -.002f); + else + jat_rotate.jat_rotate(.005f, .002f); + } + if (messages.changed) { + messages.printMessages(); + messages.printMessagesToTextArea(mpMain.textArea); + } + }// End of ActionPerformed + + public void itemStateChanged(ItemEvent e) { + + Object source = e.getItemSelectable(); + + if (source == mpGUI.realtime_chk) { + if (mpGUI.realtime_chk.isSelected()) { + mpGUI.btn_stop.setEnabled(false); + mpGUI.btn_forward.setEnabled(false); + mpGUI.btn_rewind.setEnabled(false); + } else { + mpGUI.btn_stop.setEnabled(true); + mpGUI.btn_forward.setEnabled(true); + mpGUI.btn_rewind.setEnabled(true); + } + } + } + + void update_scene(TimeAPL mytime) { + + try { + + for (int i = 1; i < 6; i++) { + if (param.planetOnOff[i]) { + + mpMain.mpPlot.planets[i].set_position(Eph.get_planet_pos(body.fromInt(i), mytime)); + } + } + + } catch (IOException e) { + JOptionPane.showMessageDialog(mpGUI, "DE405 Ephemeris data file not found."); + e.printStackTrace(); + System.exit(0); + // e.printStackTrace(); + } + + for (int i = 0; i < mpMain.flightList.size(); i++) { + + double satelliteTime; + Flight f = mpMain.flightList.get(i); + satelliteTime = TimeAPL.minus(mytime, f.departureDate); + + mpMain.mpGUI.viewdistancefield.setText("" + satelliteTime); + if (satelliteTime > 0 && satelliteTime < f.tof / 86400.) { + f.satellite.set_position(f.orbit.sat.position(satelliteTime * 86400)); + + } else + f.satellite.set_position(0, 0, 0); + + } + } + +} diff --git a/src/jat/application/missionPlan/MissionPlanGUI.java b/src/jat/application/missionPlan/MissionPlanGUI.java new file mode 100644 index 0000000..d080156 --- /dev/null +++ b/src/jat/application/missionPlan/MissionPlanGUI.java @@ -0,0 +1,258 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.missionPlan; + +import jat.core.util.ResourceLoader; + +import java.awt.BorderLayout; +import java.awt.Component; +import java.awt.FlowLayout; +import java.awt.GridLayout; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.net.MalformedURLException; +import java.net.URL; + +import javax.swing.BoxLayout; +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.SwingConstants; +import javax.swing.border.TitledBorder; + +import com.jgoodies.forms.factories.FormFactory; +import com.jgoodies.forms.layout.ColumnSpec; +import com.jgoodies.forms.layout.FormLayout; +import com.jgoodies.forms.layout.RowSpec; + +public class MissionPlanGUI extends JPanel { + private static final long serialVersionUID = 1321470082814219656L; + JFormattedTextField yearfield; + JFormattedTextField monthfield; + JFormattedTextField dayfield; + JFormattedTextField hourfield; + JFormattedTextField minutefield; + JFormattedTextField secondfield; + JFormattedTextField timestepfield; + JFormattedTextField viewdistancefield; + public MissionPlanMain mpMain; + JPanel level2_Pane_Plot; + JPanel button_panel; + JPanel mission_panel; + public JButton btn_stop; + public JButton btn_forward; + public JButton btn_rewind; + JCheckBox realtime_chk; + public JButton btnAddFlight; + private JLabel label; + private JLabel label_1; + public JButton btnManageFlights; + public MissionPlanEvents mpE; + public JCheckBox chckbxCameraRotate; + + public MissionPlanGUI(MissionPlanMain mpMain) { + this.mpMain = mpMain; + mpE = new MissionPlanEvents(mpMain); + + setLayout(new BorderLayout(0, 0)); + JPanel level1_Pane = new JPanel(); + + add(level1_Pane); + level1_Pane.setLayout(new BoxLayout(level1_Pane, BoxLayout.X_AXIS)); + + // o = new solarsystemplot(this); + // o.make_plot(); + JPanel level2_Pane_Control = new JPanel(); + level1_Pane.add(level2_Pane_Control); + level2_Pane_Control.setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5)); + + JPanel level3_panel_box = new JPanel(); + level2_Pane_Control.add(level3_panel_box); + level3_panel_box.setLayout(new BoxLayout(level3_panel_box, + BoxLayout.Y_AXIS)); + + JPanel level4_panel_Date = new JPanel(); + level4_panel_Date.setBorder(new TitledBorder(null, "Date", + TitledBorder.LEADING, TitledBorder.TOP, null, null)); + level3_panel_box.add(level4_panel_Date); + level4_panel_Date.setLayout(new BoxLayout(level4_panel_Date, + BoxLayout.Y_AXIS)); + + realtime_chk = new JCheckBox("Realtime"); + realtime_chk.setAlignmentX(Component.CENTER_ALIGNMENT); + level4_panel_Date.add(realtime_chk); + realtime_chk.setHorizontalAlignment(SwingConstants.CENTER); + JPanel level5_Pane_numbers = new JPanel(); + level4_panel_Date.add(level5_Pane_numbers); + level5_Pane_numbers.setLayout(new FormLayout(new ColumnSpec[] { + FormFactory.RELATED_GAP_COLSPEC, + ColumnSpec.decode("right:default"), + FormFactory.RELATED_GAP_COLSPEC, FormFactory.DEFAULT_COLSPEC, + FormFactory.RELATED_GAP_COLSPEC, + ColumnSpec.decode("left:max(17dlu;default)"), }, new RowSpec[] { + FormFactory.DEFAULT_ROWSPEC, FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, })); + level5_Pane_numbers.setBorder(null); + + JLabel lblY = new JLabel("Y"); + lblY.setHorizontalAlignment(SwingConstants.CENTER); + level5_Pane_numbers.add(lblY, "2, 1, center, default"); + + JLabel lblM = new JLabel("M"); + lblM.setHorizontalAlignment(SwingConstants.CENTER); + level5_Pane_numbers.add(lblM, "4, 1"); + + JLabel lblD = new JLabel("D"); + level5_Pane_numbers.add(lblD, "6, 1, center, default"); + + yearfield = new JFormattedTextField(); + yearfield.setColumns(4); + yearfield.setValue(8000.); + level5_Pane_numbers.add(yearfield, "2, 3, left, fill"); + yearfield.requestFocusInWindow(); + + monthfield = new JFormattedTextField(); + monthfield.setColumns(2); + monthfield.setValue(0.1); + level5_Pane_numbers.add(monthfield, "4, 3, left, fill"); + + dayfield = new JFormattedTextField(); + dayfield.setColumns(2); + level5_Pane_numbers.add(dayfield, "6, 3, left, fill"); + + JLabel lblHr = new JLabel("hr"); + level5_Pane_numbers.add(lblHr, "2, 5"); + + JLabel lblMi = new JLabel("mi"); + level5_Pane_numbers.add(lblMi, "4, 5"); + + JLabel lblSc = new JLabel("sc"); + level5_Pane_numbers.add(lblSc, "6, 5"); + + hourfield = new JFormattedTextField(); + hourfield.setColumns(2); + level5_Pane_numbers.add(hourfield, "2, 7, right, fill"); + + minutefield = new JFormattedTextField(); + minutefield.setColumns(2); + level5_Pane_numbers.add(minutefield, "4, 7, left, fill"); + + secondfield = new JFormattedTextField(); + secondfield.setColumns(2); + level5_Pane_numbers.add(secondfield, "6, 7, left, fill"); + + button_panel = new JPanel(); + level4_panel_Date.add(button_panel); + button_panel.setLayout(new BoxLayout(button_panel, BoxLayout.X_AXIS)); + URL iconsUrl = null; + try { + ResourceLoader c = new ResourceLoader(); + iconsUrl = c.loadURL(this.getClass(), "icons/"); + //System.out.println("[MissionPlanGUI] " + iconsUrl); + mpMain.mpParam.messages.addln("[MissionPlanGUI] " + iconsUrl); + // displayURL(helpURL2, editorPane, relative_path); + + } catch (Exception e) { + System.err.println("[MissionPlanGUI Exception]"); + System.exit(0); + } + URL rewindURL = null; + try { + rewindURL = new URL(iconsUrl.toExternalForm() + "Rewind12.gif"); + } catch (MalformedURLException e) { + e.printStackTrace(); + } + + // String iconPath="/jat/application/missionPlan/icons/"; + // String iconPath=iconUrl.getFile(); + + //System.out.println("[MissionPlanGUI before button icons] "); + + btn_rewind = new JButton(""); + // btn_rewind.setIcon(new ImageIcon(rewindURL)); + // btn_rewind.setIcon(new ImageIcon(MissionPlanGUI.class + // .getResource(iconPath+"Rewind12.gif"))); + button_panel.add(btn_rewind); + + btn_stop = new JButton(""); + // btn_stop.setIcon(new ImageIcon(MissionPlanGUI.class + // .getResource(iconPath+"Stop12.gif"))); + button_panel.add(btn_stop); + + btn_forward = new JButton(""); + // btn_forward.setIcon(new ImageIcon(MissionPlanGUI.class + // .getResource(iconPath+"FastForward12.gif"))); + button_panel.add(btn_forward); + + //System.out.println("[MissionPlanGUI after button icons] "); + + JLabel lblNewLabel = new JLabel("time step"); + level4_panel_Date.add(lblNewLabel); + + timestepfield = new JFormattedTextField(); + timestepfield.setColumns(8); + level4_panel_Date.add(timestepfield); + + JLabel lblNewLabel_1 = new JLabel("Mission Time"); + lblNewLabel_1.setHorizontalAlignment(SwingConstants.LEFT); + level3_panel_box.add(lblNewLabel_1); + + viewdistancefield = new JFormattedTextField(); + viewdistancefield.setColumns(5); + level3_panel_box.add(viewdistancefield); + + chckbxCameraRotate = new JCheckBox("Camera Rotate"); + chckbxCameraRotate.setAlignmentX(Component.CENTER_ALIGNMENT); + chckbxCameraRotate.setHorizontalAlignment(SwingConstants.LEFT); + level3_panel_box.add(chckbxCameraRotate); + + mission_panel = new JPanel(); + mission_panel.setBorder(new TitledBorder(null, "Mission", + TitledBorder.LEADING, TitledBorder.TOP, null, null)); + level3_panel_box.add(mission_panel); + mission_panel.setLayout(new GridLayout(0, 1, 0, 0)); + + btnAddFlight = new JButton("Add Flight"); + mission_panel.add(btnAddFlight); + + btnManageFlights = new JButton("Manage Flights"); + btnManageFlights.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent arg0) { + } + }); + mission_panel.add(btnManageFlights); + + label = new JLabel(""); + mission_panel.add(label); + + label_1 = new JLabel(""); + mission_panel.add(label_1); + + realtime_chk.addItemListener(mpE); + btnAddFlight.addActionListener(mpE); + btnManageFlights.addActionListener(mpE); + btn_stop.addActionListener(mpE); + btn_rewind.addActionListener(mpE); + btn_forward.addActionListener(mpE); + chckbxCameraRotate.addItemListener(mpE); + } +} diff --git a/src/jat/application/missionPlan/MissionPlanMain.java b/src/jat/application/missionPlan/MissionPlanMain.java new file mode 100644 index 0000000..7e5f526 --- /dev/null +++ b/src/jat/application/missionPlan/MissionPlanMain.java @@ -0,0 +1,139 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.missionPlan; + +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.ephemeris.DE405Plus; +import jat.core.util.PathUtil; + +import java.awt.BorderLayout; +import java.awt.Container; +import java.awt.Dimension; +import java.util.ArrayList; +import java.util.List; + +import javax.swing.JApplet; +import javax.swing.JFrame; +import javax.swing.JScrollPane; +import javax.swing.JTextArea; +import javax.swing.JTextPane; + +public class MissionPlanMain extends JApplet { + + private static final long serialVersionUID = 1L; + public MissionPlanGUI mpGUI; + public MissionPlanPlot mpPlot; + public MissionPlanParameters mpParam; + static int appletwidth = 900; // Width of Applet + static int appletheight = 700; + static com.tornadolabs.j3dtree.Java3dTree m_Java3dTree = null; + private static boolean Java3dTree_debug = false; + Container level1_Pane; + JFrame sFrame; + List flightList = new ArrayList(); + public JTextPane textPane; + public JTextArea textArea; + + public void init() { + // Create a text pane. + textPane = new JTextPane(); +// JScrollPane paneScrollPane = new JScrollPane(textPane); +// paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); +// paneScrollPane.setPreferredSize(new Dimension(300, 155)); +// paneScrollPane.setMinimumSize(new Dimension(10, 10)); +// getContentPane().add(paneScrollPane, BorderLayout.NORTH); + + // Redirect stdout and stderr to the text pane + // MessageConsole mc = new MessageConsole(textPane); + // mc.redirectOut(); + // mc.redirectErr(Color.RED, null); + // mc.setMessageLines(100); + + textArea = new JTextArea(5, 20); + JScrollPane paneScrollPane = new JScrollPane(textArea); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(300, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.NORTH); + + //System.out.println("[MissionPlanMain]"); + + } + + public void start() { + //Message console + // MissionPlanConsole E = new MissionPlanConsole(); + // JFrame jf = new JFrame(); + // jf.setSize(800, 400); + // jf.getContentPane().add(E); + // jf.setVisible(true); + // E.init(); + + mpParam = new MissionPlanParameters(); + mpParam.path = new PathUtil(this,mpParam.messages); + mpParam.Eph = new DE405Plus(mpParam.path,mpParam.messages); + mpParam.Eph.setFrame(frame.HEE); + + //mpParam.messages.printMessages(); + + mpGUI = new MissionPlanGUI(this); + mpPlot = new MissionPlanPlot(this); + level1_Pane = getContentPane(); + level1_Pane.add(mpGUI, BorderLayout.WEST); + level1_Pane.add(mpPlot, BorderLayout.CENTER); + + // if (debug) + // System.out.println("[PathUtilTest] Console created"); + //System.out.println("[MissionPlanMain before starting timer]"); + mpGUI.mpE.timer.start(); + + //mpParam.messages.printMessages(); + //mpParam.messages.printMessagesToTextArea(textArea); + + } + + /** + * Used when run as an application + */ + // public static void main(String[] args) { + // MissionPlanMain mApplet = new MissionPlanMain(); + // mApplet.init(); + // + // mApplet.sFrame = new JFrame(); + // mApplet.sFrame.setTitle("JAT Solar System Mission Planner"); + // mApplet.sFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + // + // // When running this file as a stand-alone app, add the applet to + // // the frame. + // mApplet.sFrame.getContentPane().add(mApplet, BorderLayout.CENTER); + // mApplet.sFrame.setSize(appletwidth, appletheight); + // mApplet.sFrame.setVisible(true); + // + // // sApplet.ssp.mouseZoom.setupCallback(sApplet.ssE); + // mApplet.mpPlot.requestFocusInWindow(); + // + // // mApplet.mpGUI.mpE.timer.start(); + // mApplet.start(); + // if (Java3dTree_debug) { + // m_Java3dTree = new com.tornadolabs.j3dtree.Java3dTree(); + // m_Java3dTree.recursiveApplyCapability(mApplet.mpPlot.jatScene); + // m_Java3dTree.updateNodes(mApplet.mpPlot.universe); + // } + // }// End of main() + +} diff --git a/src/jat/application/missionPlan/MissionPlanParameters.java b/src/jat/application/missionPlan/MissionPlanParameters.java new file mode 100644 index 0000000..69c1287 --- /dev/null +++ b/src/jat/application/missionPlan/MissionPlanParameters.java @@ -0,0 +1,30 @@ +package jat.application.missionPlan; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; + +public class MissionPlanParameters { + TimeAPL simulationDate; + int number = body.values().length; + boolean[] planetOnOff; + PathUtil path; + jatMessages messages; + DE405Plus Eph; + + public MissionPlanParameters() { + messages=new jatMessages(); + planetOnOff=new boolean[number]; + simulationDate = new TimeAPL(2003, 3, 1, 12, 0, 0); + + for (int i = 0; i < number; i++) + this.planetOnOff[i] = true; + } + + public MissionPlanParameters(boolean[] planetOnOff) { + this.planetOnOff = planetOnOff; + } + +} diff --git a/src/jat/application/missionPlan/MissionPlanPlot.java b/src/jat/application/missionPlan/MissionPlanPlot.java new file mode 100644 index 0000000..de6c75e --- /dev/null +++ b/src/jat/application/missionPlan/MissionPlanPlot.java @@ -0,0 +1,94 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.missionPlan; + +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.jat3D.BodyGroup3D; +import jat.jat3D.Ephemeris3D; +import jat.jat3D.Planet3D; +import jat.jat3D.RGBAxes3D; +import jat.jat3D.Star3D; +import jat.jat3D.StarsBackground3D; +import jat.jat3D.jatScene3D; +import jat.jat3D.plot3D.BoundingBox3D; +import jat.jat3D.plot3D.JatPlot3D; + +import javax.media.j3d.Group; +import javax.media.j3d.Node; +import javax.vecmath.Point3d; + +public class MissionPlanPlot extends JatPlot3D { + private static final long serialVersionUID = 599884902601254854L; + Star3D sun; + MissionPlanMain mpMain; + MissionPlanParameters param; + DE405Plus Eph; // Ephemeris class + Planet3D[] planets; + Ephemeris3D[] ephemerisPlanets; + + public MissionPlanPlot(MissionPlanMain mpMain) { + super(); + this.mpMain = mpMain; + this.param = mpMain.mpParam; + this.Eph = param.Eph; + } + + public Node createScene() { + Group g = new Group(); + jatScene = new jatScene3D(param.messages); + initialViewingPosition = new Point3d(1, -3, 1); + sun = new Star3D(param.path, param.messages, 3.f); + jatScene.add(sun, "sun"); + + ephemerisPlanets = new Ephemeris3D[10]; + SolarSystemBodies sb = new SolarSystemBodies(); + planets = new Planet3D[10]; + + for (int i = 1; i < 6; i++) { + if (param.planetOnOff[i]) { + planets[i] = new Planet3D(param.path, param.messages, body.fromInt(i), 30.f); + jatScene.add(planets[i], body.name[i]); + // if (i == 3) + { + ephemerisPlanets[i] = new Ephemeris3D(Eph, body.fromInt(i), param.simulationDate, + sb.Bodies[i].orbitalPeriod); + jatScene.add(ephemerisPlanets[i], "ephemeris" + body.name[i]); + } + } + } + + g.addChild(jatScene); + StarsBackground3D s = new StarsBackground3D(param.path, param.messages, 15f); + g.addChild(s); + // initial zoom: exponent of ten times kilometers + exponent = 8; + jatScene.add(new RGBAxes3D(1e8), "Axis"); + // Bounding Box + bbox = new BoundingBox3D(-.5f, .5f); + bbox.createAxes(exponent, " km", " km", " km"); + bboxgroup = new BodyGroup3D(bbox, "Box"); + g.addChild(bboxgroup); + return g; + } + + public void update_user() { + // mpGUI.viewdistancefield.setText("" + mpGUI.mpp.get_vp_t().length()); + } +} diff --git a/src/jat/application/missionPlan/icons/FastForward12.gif b/src/jat/application/missionPlan/icons/FastForward12.gif new file mode 100644 index 0000000..6be390d Binary files /dev/null and b/src/jat/application/missionPlan/icons/FastForward12.gif differ diff --git a/src/jat/application/missionPlan/icons/Play12.gif b/src/jat/application/missionPlan/icons/Play12.gif new file mode 100644 index 0000000..a75f156 Binary files /dev/null and b/src/jat/application/missionPlan/icons/Play12.gif differ diff --git a/src/jat/application/missionPlan/icons/Reverse12.gif b/src/jat/application/missionPlan/icons/Reverse12.gif new file mode 100644 index 0000000..69a0aa9 Binary files /dev/null and b/src/jat/application/missionPlan/icons/Reverse12.gif differ diff --git a/src/jat/application/missionPlan/icons/Rewind12.gif b/src/jat/application/missionPlan/icons/Rewind12.gif new file mode 100644 index 0000000..c2d40ea Binary files /dev/null and b/src/jat/application/missionPlan/icons/Rewind12.gif differ diff --git a/src/jat/application/missionPlan/icons/Stop12.gif b/src/jat/application/missionPlan/icons/Stop12.gif new file mode 100644 index 0000000..3aa90ec Binary files /dev/null and b/src/jat/application/missionPlan/icons/Stop12.gif differ diff --git a/src/jat/application/orbitviewer/orbitviewerEvents.java b/src/jat/application/orbitviewer/orbitviewerEvents.java new file mode 100644 index 0000000..c69d0c3 --- /dev/null +++ b/src/jat/application/orbitviewer/orbitviewerEvents.java @@ -0,0 +1,67 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.orbitviewer; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.ItemEvent; +import java.awt.event.ItemListener; + +class orbitviewerEvents implements ActionListener, ItemListener { + orbitviewerGUI d; + + public orbitviewerEvents(orbitviewerGUI d) { + this.d = d; + } + + public void actionPerformed(ActionEvent ev) { + + // Read in values + if (ev.getSource() == d.setButton) { + //System.out.println("button 1 pressed"); + + d.o.a = (Double) d.semimajorfield.getValue(); + d.o.e = (Double) d.EccentricityField.getValue(); + d.o.i = (Double) d.InclinationField.getValue(); + d.o.raan = (Double) d.RightAscensionField.getValue(); + d.o.w = (Double) d.ArgumentofPerigeeField.getValue(); + d.o.ta = (Double) d.TrueAnomalyField.getValue(); + //System.out.println("a "+ d.o.a); + + d.o.plot.removeAllPlots(); + d.o.add_scene(); + + } + }// End of ActionPerformed + + @Override + public void itemStateChanged(ItemEvent e) { + + Object source = e.getItemSelectable(); + + if (source == d.rotationCheckBox) { + System.out.println("rot"); + if(d.rotationCheckBox.isSelected()) + d.o.plot.plotCanvas.timer.start(); + else + d.o.plot.plotCanvas.timer.stop(); + + } + } + +} diff --git a/src/jat/application/orbitviewer/orbitviewerGUI.java b/src/jat/application/orbitviewer/orbitviewerGUI.java new file mode 100644 index 0000000..9b478e6 --- /dev/null +++ b/src/jat/application/orbitviewer/orbitviewerGUI.java @@ -0,0 +1,167 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.orbitviewer; + +import java.awt.BorderLayout; + +import javax.swing.BorderFactory; +import javax.swing.BoxLayout; +import javax.swing.JApplet; +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JPanel; + +import com.jgoodies.forms.factories.FormFactory; +import com.jgoodies.forms.layout.ColumnSpec; +import com.jgoodies.forms.layout.FormLayout; +import com.jgoodies.forms.layout.RowSpec; + +public class orbitviewerGUI extends JApplet { + private static final long serialVersionUID = 1321470082814219656L; + JFormattedTextField semimajorfield; + JFormattedTextField EccentricityField; + JFormattedTextField InclinationField; + JCheckBox rotationCheckBox; + JButton setButton; + orbitviewerEvents myb; + JPanel level2_Pane_Plot; + orbitviewerplot o; + private JLabel lblNewLabel_2; + JFormattedTextField RightAscensionField; + private JLabel lblNewLabel_3; + JFormattedTextField ArgumentofPerigeeField; + private JLabel lblNewLabel_4; + JFormattedTextField TrueAnomalyField; + + /** + * Create the applet. + */ + public orbitviewerGUI() { + myb = new orbitviewerEvents(this); + getContentPane().setLayout(new BorderLayout(0, 0)); + JPanel level1_Pane = new JPanel(); + + getContentPane().add(level1_Pane); + level1_Pane.setLayout(new BoxLayout(level1_Pane, BoxLayout.LINE_AXIS)); + + o = new orbitviewerplot(); + o.make_plot(); + JPanel level2_Pane_Control = new JPanel(); + JPanel level3_Pane_Control = new JPanel(); + level3_Pane_Control.setLayout(new FormLayout(new ColumnSpec[] { + FormFactory.RELATED_GAP_COLSPEC, + ColumnSpec.decode("146px:grow"),}, + new RowSpec[] { + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC,})); + level3_Pane_Control.setBorder(BorderFactory.createTitledBorder("Kepler Elements")); + level2_Pane_Control.add(level3_Pane_Control); + level1_Pane.add(level2_Pane_Control); + + JLabel lblJulianDate = new JLabel("Semimajor Axis [km]"); + level3_Pane_Control.add(lblJulianDate, "2, 1, fill, fill"); + + semimajorfield = new JFormattedTextField(); + semimajorfield.setColumns(12); + semimajorfield.setValue(8000.); + level3_Pane_Control.add(semimajorfield, "2, 3, fill, fill"); + + JLabel lblNewLabel = new JLabel("Eccentricity"); + level3_Pane_Control.add(lblNewLabel, "2, 5, fill, fill"); + + EccentricityField = new JFormattedTextField(); + EccentricityField.setColumns(12); + EccentricityField.setValue(0.1); + level3_Pane_Control.add(EccentricityField, "2, 7, fill, fill"); + + JLabel lblNewLabel_1 = new JLabel("Inclination"); + level3_Pane_Control.add(lblNewLabel_1, "2, 9, fill, fill"); + + InclinationField = new JFormattedTextField(); + InclinationField.setColumns(12); + InclinationField.setValue(15.); + level3_Pane_Control.add(InclinationField, "2, 11, fill, fill"); + + lblNewLabel_2 = new JLabel("Right Ascension"); + level3_Pane_Control.add(lblNewLabel_2, "2, 13, fill, fill"); + + RightAscensionField = new JFormattedTextField(); + RightAscensionField.setColumns(12); + RightAscensionField.setValue(0.); + level3_Pane_Control.add(RightAscensionField, "2, 14, fill, fill"); + + lblNewLabel_3 = new JLabel("Argument of Perigee"); + level3_Pane_Control.add(lblNewLabel_3, "2, 16, fill, fill"); + + ArgumentofPerigeeField = new JFormattedTextField(); + ArgumentofPerigeeField.setColumns(12); + ArgumentofPerigeeField.setValue(0.); + level3_Pane_Control.add(ArgumentofPerigeeField, "2, 18, fill, fill"); + + lblNewLabel_4 = new JLabel("True Anomaly"); + level3_Pane_Control.add(lblNewLabel_4, "2, 19"); + + TrueAnomalyField = new JFormattedTextField(); + TrueAnomalyField.setColumns(12); + TrueAnomalyField.setValue(0.); + level3_Pane_Control.add(TrueAnomalyField, "2, 21, fill, default"); + + setButton = new JButton("Set Orbit"); + level3_Pane_Control.add(setButton, "2, 23, fill, fill"); + + setButton.addActionListener(myb); + + rotationCheckBox = new JCheckBox("rotation"); + level3_Pane_Control.add(rotationCheckBox, "2, 25, fill, fill"); + rotationCheckBox.addItemListener(myb); + level2_Pane_Plot = new JPanel(); + + level1_Pane.add(level2_Pane_Plot); + + level2_Pane_Plot.setLayout(new BorderLayout(0, 0)); + level2_Pane_Plot.add(o.plot); + + } +} diff --git a/src/jat/application/orbitviewer/orbitviewermain.java b/src/jat/application/orbitviewer/orbitviewermain.java new file mode 100644 index 0000000..7939601 --- /dev/null +++ b/src/jat/application/orbitviewer/orbitviewermain.java @@ -0,0 +1,67 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.orbitviewer; + +import java.awt.BorderLayout; +import java.awt.Dimension; +import java.awt.Toolkit; +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; + +import javax.swing.JFormattedTextField; +import javax.swing.JFrame; + +public class orbitviewermain { + private static orbitviewerGUI theApplet; + static int appletwidth = 900; // Width of Applet + static int appletheight = 700; + JFormattedTextField yearfield; + orbitviewerEvents myb; + + + /** + * Used when run as an application + * + * @param args + * (String[]) Argument + */ + public static void main(String[] args) { + theApplet = new orbitviewerGUI(); + JFrame theFrame = new JFrame(); + // Initialize the applet + theApplet.init(); + theFrame.setTitle("Orbit Viewer"); + theFrame.addWindowListener(new WindowAdapter() { + + public void windowClosing(WindowEvent e) { + System.exit(0); + } + }); + // When running this file as a stand-alone app, add the applet to + // the frame. + theFrame.getContentPane().add(theApplet, BorderLayout.CENTER); + + theFrame.setSize(appletwidth, appletheight); + Dimension d = Toolkit.getDefaultToolkit().getScreenSize(); + //theFrame.setLocation((d.width - theFrame.getSize().width) / 2, + // (d.height - theFrame.getSize().height) / 2); + theFrame.setVisible(true); + }// End of main() + + +} diff --git a/src/jat/application/orbitviewer/orbitviewerplot.java b/src/jat/application/orbitviewer/orbitviewerplot.java new file mode 100644 index 0000000..43bc00c --- /dev/null +++ b/src/jat/application/orbitviewer/orbitviewerplot.java @@ -0,0 +1,116 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.orbitviewer; + +import jat.core.plot.plot.Plot3DPanel; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.cm.cm; + + +public class orbitviewerplot implements Printable { + + public double a = 8000.; // sma in km + double e = 0.1; // eccentricity + double i = 15.; // inclination in degrees + double raan; // right ascension of ascending node in degrees + double w; // argument of perigee in degrees + double ta; // true anomaly in degrees + double max; + + Plot3DPanel plot; + int steps = 200; + double[][] XYZ = new double[steps][3]; + double[][] points = new double[1][3]; + int step; + + public void add_scene() { + System.out.println("a " + a); + + TwoBody sat = new TwoBody(a, e, i, raan, w, ta); + + // find out the period of the orbit + double period = sat.period(); + + // set the final time = one orbit period + double tf = period; + + // set the initial time to zero + double t0 = 0.0; + sat.setSteps(steps); + // propagate the orbit + + step = 0; + max = 0; + sat.propagate(t0, tf, this, true); + + points=new double[1][3] ; + points[0][0]=sat.rv.x[0]; + points[0][1]=sat.rv.x[1]; + points[0][2]=sat.rv.x[2]; + + + plot.addSpherePlot("earth", cm.earth_radius); + plot.addLinePlot("orbit", XYZ, true); + plot.addScatterPlot("satellite" ,1,5, points); + + double size = max; + plot.setFixedBounds(0, -size, size); + plot.setFixedBounds(1, -size, size); + plot.setFixedBounds(2, -size, size); + } + + public void make_plot() { + // create your PlotPanel (you can use it as a JPanel) with a legend at + // SOUTH + plot = new Plot3DPanel("SOUTH"); + // add grid plot to the PlotPanel + add_scene(); + } + + public void print(double t, double[] y) { + + // add data point to the plot + if (step < XYZ.length) { + XYZ[step][0] = y[0]; + XYZ[step][1] = y[1]; + XYZ[step][2] = y[2]; + if (y[0] > max) + max = y[0]; + if (y[1] > max) + max = y[1]; + if (y[2] > max) + max = y[2]; + + step++; + } + // also print to the screen for warm fuzzy feeling + // System.out.println(t + " " + y[0] + " " + y[1]); + } + + /* + * public static void main(String[] args) { + * + * + * // put the PlotPanel in a JFrame like a JPanel JFrame frame = new + * JFrame("a plot panel"); frame.setSize(600, 600); + * frame.setContentPane(plot); frame.setVisible(true); + * + * } + */ +} diff --git a/src/jat/application/porkChopPlot/PorkChopPlotData.java b/src/jat/application/porkChopPlot/PorkChopPlotData.java new file mode 100644 index 0000000..a2a8e5f --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotData.java @@ -0,0 +1,95 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.core.cm.porkChopPlot; +import jat.jat3D.plot3D.Binned2DData; +import jat.jat3D.plot3D.Rainbow; + +import java.io.IOException; + +import javax.vecmath.Color3b; + +public class PorkChopPlotData implements Binned2DData { + private int xBins; + private int yBins; + private Rainbow rainbow = new Rainbow(0, 100); + public float[][] data; + porkChopPlot pcpPlot; + PorkChopPlotParameters pcpParams; + + public PorkChopPlotData(PorkChopPlotMain pcMain) throws IOException { + this.pcpParams = pcMain.pcpParams; + pcpPlot = new porkChopPlot(pcpParams.Eph); + pcpPlot.make_porkchop_plot(pcpParams.departure_planet, pcpParams.arrival_planet, pcpParams.search_depart_time_start, + pcpParams.search_arrival_time_start, pcpParams.searchDays, pcpParams.steps); + update(); + } + + public void update() { + xBins = pcpPlot.steps; + yBins = pcpPlot.steps; + data = new float[xBins][yBins]; + for (int i = 0; i < xBins; i++) + for (int j = 0; j < yBins; j++) + if (pcpPlot.A.A[i][j] < 0) + data[i][j] = (float) pcpPlot.maxtotaldv; + else + data[i][j] = (float) pcpPlot.A.A[i][j]; + } + + public int xBins() { + return xBins; + } + + public int yBins() { + return yBins; + } + + public float xMin() { + return 0f; + } + + public float xMax() { + return 1f; + } + + public float yMin() { + return 0f; + } + + public float yMax() { + return 1f; + } + + public float zMin() { + return (float) pcpPlot.mintotaldv; + } + + public float zMax() { + return (float) pcpPlot.maxtotaldv; + } + + public float zAt(int xIndex, int yIndex) { + return data[xIndex][yIndex]; + } + + public Color3b colorAt(int xIndex, int yIndex) { + return rainbow.colorFor(zAt(xIndex, yIndex)); + } +} diff --git a/src/jat/application/porkChopPlot/PorkChopPlotEvents.java b/src/jat/application/porkChopPlot/PorkChopPlotEvents.java new file mode 100644 index 0000000..71a6046 --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotEvents.java @@ -0,0 +1,143 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.core.algorithm.optimization.DataArraySearch; +import jat.core.ephemeris.DE405Body.body; +import jat.core.spacetime.TimeAPL; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.io.IOException; + +import javax.swing.JOptionPane; + +public class PorkChopPlotEvents implements ActionListener { + + PorkChopPlotGUI pcpGUI; + PorkChopPlotMain main; + PorkChopPlotParameters params; + + public PorkChopPlotEvents(PorkChopPlotGUI pcpGUI) { + this.pcpGUI = pcpGUI; + } + + public void setMain(PorkChopPlotMain main) { + this.main = main; + } + + public void actionPerformed(ActionEvent ev) { + params = main.pcpParams; + if (ev.getSource() == pcpGUI.btn_make_plot) { + // System.out.println("make plot button"); + + // retrieve parameters from GUI + + params.departure_planet=body.fromInt(main.pcpGUI.comboDepartPlanet.getSelectedIndex()); + params.arrival_planet=body.fromInt(main.pcpGUI.comboArrivalPlanet.getSelectedIndex()); + //System.out.println("[PorkChopPlot_Events.java] sel. index dep " + params.departure_planet + " sel. index planet " + params.arrival_planet); + params.dep_year = pcpGUI.depart_date_picker.getModel().getYear(); + params.dep_month = pcpGUI.depart_date_picker.getModel().getMonth() + 1; + params.dep_day = pcpGUI.depart_date_picker.getModel().getDay(); + params.arr_year = pcpGUI.arrival_date_picker.getModel().getYear(); + params.arr_month = pcpGUI.arrival_date_picker.getModel().getMonth() + 1; + params.arr_day = pcpGUI.arrival_date_picker.getModel().getDay(); + + // System.out.println(year+"/"+day); + Object sp2 = main.pcpGUI.spinner_days.getValue(); + params.searchDays = Integer.parseInt(sp2.toString()); + Object sp1 = main.pcpGUI.spinner_steps.getValue(); + params.steps = Integer.parseInt(sp1.toString()); + + params.search_depart_time_start = new TimeAPL(params.dep_year, params.dep_month, + params.dep_day, 1, 1, 1); + params.search_arrival_time_start = new TimeAPL(params.arr_year, params.arr_month, + params.arr_day, 1, 1, 1); + + try { + main.pcpPlot.pcplot_data.pcpPlot.make_porkchop_plot( + params.departure_planet, params.arrival_planet, + params.search_depart_time_start, + params.search_arrival_time_start, params.searchDays, + params.steps); + main.pcpPlot.pcplot_data.update(); + } catch (IOException e) { + JOptionPane.showMessageDialog(main, + "DE405 Ephemeris data file not found."); + e.printStackTrace(); + System.exit(0); + } + + main.pcpPlot.setData(main.pcpPlot.pcplot_data); + main.pcpPlot.keyBehavior_u.reset(); + + main.repaint(); + + } + + if (ev.getSource() == pcpGUI.btnGoMin) { + goToMinimum(); + } + + if (ev.getSource() == pcpGUI.btnStep) { + step(); + } + + if (pcpGUI.rdbtnPlotRotate.isSelected()) { + main.pcpPlot.requestFocusInWindow(); + main.pcpPlot.keyBehaviorSwitch.setWhichChild(0); + main.pcpPlot.flightSelectorSwitch.setWhichChild(0); + main.pcpGUI.btnGoMin.setEnabled(false); + main.pcpGUI.btnStep.setEnabled(false); + } + + if (pcpGUI.rdbtnFlightSelect.isSelected()) { + // System.out.println("flightselect"); + main.pcpPlot.requestFocusInWindow(); + main.pcpPlot.keyBehaviorSwitch.setWhichChild(2); + main.pcpPlot.flightSelectorSwitch.setWhichChild(1); + main.pcpPlot.keyBehavior_u.updateMarker(); + main.pcpGUI.btnGoMin.setEnabled(true); + main.pcpGUI.btnStep.setEnabled(true); + // System.out.println("flightselect out"); + } + } + + public void step() { + int x_index = main.pcpPlot.keyBehavior_u.x_index; + int y_index = main.pcpPlot.keyBehavior_u.y_index; + DataArraySearch d = new DataArraySearch(main.pcpPlot.pcplot_data.data, + x_index, y_index); + d.step(); + main.pcpPlot.keyBehavior_u.x_index = d.x_index; + main.pcpPlot.keyBehavior_u.y_index = d.y_index; + main.pcpPlot.keyBehavior_u.updateMarker(); + } + + public void goToMinimum() { + int x_index = main.pcpPlot.keyBehavior_u.x_index; + int y_index = main.pcpPlot.keyBehavior_u.y_index; + DataArraySearch d = new DataArraySearch(main.pcpPlot.pcplot_data.data, + x_index, y_index); + d.goToLocalMinimum(); + main.pcpPlot.keyBehavior_u.x_index = d.x_index; + main.pcpPlot.keyBehavior_u.y_index = d.y_index; + main.pcpPlot.keyBehavior_u.updateMarker(); + } + +} diff --git a/src/jat/application/porkChopPlot/PorkChopPlotGUI.java b/src/jat/application/porkChopPlot/PorkChopPlotGUI.java new file mode 100644 index 0000000..424c6d3 --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotGUI.java @@ -0,0 +1,230 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.core.ephemeris.DE405Body.body; + +import java.awt.GridLayout; + +import javax.swing.BoxLayout; +import javax.swing.ButtonGroup; +import javax.swing.JButton; +import javax.swing.JComboBox; +import javax.swing.JComponent; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.JRadioButton; +import javax.swing.JSpinner; +import javax.swing.SpinnerNumberModel; +import javax.swing.border.TitledBorder; + +import net.sourceforge.jdatepicker.JDateComponentFactory; +import net.sourceforge.jdatepicker.JDatePicker; +import net.sourceforge.jdatepicker.impl.JDatePickerImpl; + + + +public class PorkChopPlotGUI extends JPanel { + private static final long serialVersionUID = 7907463395861359469L; + PorkChopPlotEvents pcpE; + private JPanel SearchIntervalPanel; + private JPanel MissionSelectPanel; + private JPanel DatesPanel; + private JPanel IntervalPanel; + private JPanel KeyboardPanel; + public JButton btn_make_plot; + private JLabel lbldepart; + private JLabel lblarrive; + JDatePicker depart_date_picker; + JDatePicker arrival_date_picker; + JDatePickerImpl datePicker1; + JSpinner spinner_days; + private JLabel lblDays; + JSpinner spinner_steps; + private JLabel lblSteps; + private JLabel lblDepartureDate; + public JFormattedTextField field_selected_departure_date; + private JLabel lblArrivalDate; + public JFormattedTextField field_selected_arrival_date; + private JLabel lblTotalDeltav; + public JFormattedTextField field_total_deltav; + public JRadioButton rdbtnPlotRotate; + public JRadioButton rdbtnFlightSelect; + public JButton btnGoMin; + private JLabel lblNewLabel; + public JButton btnStep; + private JPanel PlanetSelectionPanel; + private JLabel lblDeparturePlanet; + public JComboBox comboDepartPlanet; + private JLabel lblArrivalPlanet; + public JComboBox comboArrivalPlanet; + PorkChopPlotMain main; + + public PorkChopPlotGUI(PorkChopPlotMain main) { + this.main = main; + pcpE = new PorkChopPlotEvents(this); + SearchIntervalPanel = new JPanel(); + MissionSelectPanel = new JPanel(); + DatesPanel = new JPanel(); + IntervalPanel = new JPanel(); + DatesPanel.setLayout(new GridLayout(5, 1, 5, 5)); + IntervalPanel.setLayout(new GridLayout(2, 2, 5, 5)); + KeyboardPanel = new JPanel(); + + SearchIntervalPanel.setBorder(new TitledBorder(null, "Search Interval", TitledBorder.LEADING, TitledBorder.TOP, + null, null)); + MissionSelectPanel.setBorder(new TitledBorder(null, "Flight Selection", TitledBorder.LEADING, TitledBorder.TOP, + null, null)); + KeyboardPanel.setBorder(new TitledBorder(null, "Keyboard Mode", TitledBorder.LEADING, TitledBorder.TOP, null, + null)); + + setLayout(new BoxLayout(this, BoxLayout.Y_AXIS)); + + depart_date_picker = JDateComponentFactory.createJDatePicker(); + // depart_date_picker = (JDatePickerImpl) + // JDateComponentFactory.createJDatePicker(); + depart_date_picker.setTextEditable(true); + depart_date_picker.setShowYearButtons(true); + // depart_date_picker.getModel().setYear(2012); + // depart_date_picker.getModel().setSelected(true); + + arrival_date_picker = JDateComponentFactory.createJDatePicker(); + arrival_date_picker.setTextEditable(true); + arrival_date_picker.setShowYearButtons(true); + + PlanetSelectionPanel = new JPanel(); + add(PlanetSelectionPanel); + PlanetSelectionPanel.setLayout(new GridLayout(0, 1, 0, 0)); + + lblDeparturePlanet = new JLabel("Departure Planet"); + PlanetSelectionPanel.add(lblDeparturePlanet); + + comboDepartPlanet = new JComboBox(body.name); + PlanetSelectionPanel.add(comboDepartPlanet); + + lblArrivalPlanet = new JLabel("Arrival Planet"); + PlanetSelectionPanel.add(lblArrivalPlanet); + + comboArrivalPlanet = new JComboBox(body.name); + PlanetSelectionPanel.add(comboArrivalPlanet); + + add(SearchIntervalPanel); + + SearchIntervalPanel.setLayout(new BoxLayout(SearchIntervalPanel, BoxLayout.Y_AXIS)); + SearchIntervalPanel.add(DatesPanel); + SearchIntervalPanel.add(IntervalPanel); + + lbldepart = new JLabel("Departure"); + DatesPanel.add(lbldepart); + DatesPanel.add((JComponent) depart_date_picker); + + lblarrive = new JLabel("Earliest Arrival"); + DatesPanel.add(lblarrive); + + DatesPanel.add((JComponent) arrival_date_picker); + + lblNewLabel = new JLabel("Interval"); + DatesPanel.add(lblNewLabel); + + spinner_days = new JSpinner(); + IntervalPanel.add(spinner_days); + spinner_days.setModel(new SpinnerNumberModel(new Integer(500), null, null, new Integer(1))); + + lblDays = new JLabel("Days"); + IntervalPanel.add(lblDays); + + spinner_steps = new JSpinner(); + IntervalPanel.add(spinner_steps); + spinner_steps.setModel(new SpinnerNumberModel(new Integer(10), null, null, new Integer(1))); + + lblSteps = new JLabel("Steps"); + IntervalPanel.add(lblSteps); + + btn_make_plot = new JButton("Make Plot"); + SearchIntervalPanel.add(btn_make_plot); + + btn_make_plot.addActionListener(pcpE); + + add(KeyboardPanel); + KeyboardPanel.setLayout(new BoxLayout(KeyboardPanel, BoxLayout.Y_AXIS)); + + rdbtnPlotRotate = new JRadioButton("Plot Rotate/Zoom"); + rdbtnPlotRotate.setSelected(true); + KeyboardPanel.add(rdbtnPlotRotate); + + rdbtnFlightSelect = new JRadioButton("Flight Select"); + KeyboardPanel.add(rdbtnFlightSelect); + + // Group the radio buttons. + ButtonGroup group = new ButtonGroup(); + group.add(rdbtnPlotRotate); + group.add(rdbtnFlightSelect); + + add(MissionSelectPanel); + // MissionSelectPanel.setLayout(new BoxLayout(MissionSelectPanel, + // BoxLayout.Y_AXIS)); + MissionSelectPanel.setLayout(new GridLayout(8, 1)); + + lblDepartureDate = new JLabel("Departure Date"); + MissionSelectPanel.add(lblDepartureDate); + + field_selected_departure_date = new JFormattedTextField(); + + // field_selected_departure_date.setMaximumSize(maximumSize); + MissionSelectPanel.add(field_selected_departure_date); + + lblArrivalDate = new JLabel("Arrival Date"); + MissionSelectPanel.add(lblArrivalDate); + + field_selected_arrival_date = new JFormattedTextField(); + MissionSelectPanel.add(field_selected_arrival_date); + + lblTotalDeltav = new JLabel("Total DeltaV"); + MissionSelectPanel.add(lblTotalDeltav); + + field_total_deltav = new JFormattedTextField(); + MissionSelectPanel.add(field_total_deltav); + + btnGoMin = new JButton("Go To Minimum"); + btnGoMin.setEnabled(false); + MissionSelectPanel.add(btnGoMin); + btnGoMin.addActionListener(pcpE); + + btnStep = new JButton("Step"); + btnStep.setEnabled(false); + MissionSelectPanel.add(btnStep); + btnStep.addActionListener(pcpE); + + rdbtnPlotRotate.addActionListener(pcpE); + rdbtnFlightSelect.addActionListener(pcpE); + + // set initial parameters + depart_date_picker.getModel().setYear(main.pcpParams.dep_year); + depart_date_picker.getModel().setMonth(main.pcpParams.dep_month); + depart_date_picker.getModel().setDay(main.pcpParams.dep_day); + depart_date_picker.getModel().setSelected(true); + arrival_date_picker.getModel().setYear(main.pcpParams.arr_year); + arrival_date_picker.getModel().setMonth(main.pcpParams.arr_month); + arrival_date_picker.getModel().setDay(main.pcpParams.arr_day); + arrival_date_picker.getModel().setSelected(true); + comboDepartPlanet.setSelectedIndex(main.pcpParams.departure_planet.ordinal()); + comboArrivalPlanet.setSelectedIndex(main.pcpParams.arrival_planet.ordinal()); + + } + +} \ No newline at end of file diff --git a/src/jat/application/porkChopPlot/PorkChopPlotKeyBehavior.java b/src/jat/application/porkChopPlot/PorkChopPlotKeyBehavior.java new file mode 100644 index 0000000..842069c --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotKeyBehavior.java @@ -0,0 +1,100 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.core.ephemeris.DE405Body.body; +import jat.jat3D.behavior.jat_KeyBehavior_UserCall; + +import javax.vecmath.Point3d; + +public class PorkChopPlotKeyBehavior extends jat_KeyBehavior_UserCall { + Point3d r; + private PorkChopPlotMain main; + public int x_index, y_index; + + public PorkChopPlotKeyBehavior(PorkChopPlotMain main) { + this.main = main; + r = new Point3d(); + } + + public void keyup() { + if (y_index < main.pcpPlot.pcplot_data.pcpPlot.steps - 1) { + // r.y += main.surf.pcplot_data.p.step_size; + y_index++; + updateMarker(); + } + } + + public void keydown() { + if (y_index > 0) { + // r.y -= main.surf.pcplot_data.p.step_size; + y_index--; + updateMarker(); + } + } + + public void keyright() { + // System.out.println("right"); + if (x_index < main.pcpPlot.pcplot_data.pcpPlot.steps - 1) { + // r.x += main.surf.pcplot_data.p.step_size; + x_index++; + updateMarker(); + } + } + + public void keyleft() { + // System.out.println("left"); + if (x_index > 0) { + // r.x -= main.surf.pcplot_data.p.step_size; + x_index--; + updateMarker(); + } + } + + public void updateMarker() { + float step_size = main.pcpPlot.pcplot_data.pcpPlot.step_size; + r.x = x_index * step_size + step_size / 2; + r.y = y_index * step_size + step_size / 2; + r.z = main.pcpPlot.ndata.zAt(x_index, y_index); + main.pcpPlot.m.set_position(r); + // System.out.println(x_index + " " + y_index + " " + r.z); + main.pcpGUI.field_total_deltav.setText("" + main.pcpPlot.pcplot_data.zAt(x_index, y_index)); + main.pcpGUI.field_selected_departure_date.setText(main.pcpPlot.pcplot_data.pcpPlot.A.RowLabels[x_index]); + main.pcpGUI.field_selected_arrival_date.setText(main.pcpPlot.pcplot_data.pcpPlot.A.ColumnLabels[y_index]); + + // Keep selected dates as return value if package used in dialog + // System.out.print("Dep "); + // new + // TimeAPL(main.pcpPlot.pcplot_data.p.DepartureDate[x_index]).print(); + // System.out.print("Arr "); + // new TimeAPL(main.pcpPlot.pcplot_data.p.ArrivalDate[y_index]).print(); + main.pReturn.departure_planet = body.fromInt(main.pcpGUI.comboDepartPlanet.getSelectedIndex()); + main.pReturn.arrival_planet = body.fromInt(main.pcpGUI.comboArrivalPlanet.getSelectedIndex()); + main.pReturn.DepartureDate = main.pcpPlot.pcplot_data.pcpPlot.DepartureDate[x_index]; + main.pReturn.ArrivalDate = main.pcpPlot.pcplot_data.pcpPlot.ArrivalDate[y_index]; + } + + public void reset() { + r.x = 0; + // r.x = main.surf.pcplot_data.p.step_size; + r.y = 0; + x_index = 0; + y_index = 0; + main.pcpPlot.m.set_position(r); + } +} diff --git a/src/jat/application/porkChopPlot/PorkChopPlotMain.java b/src/jat/application/porkChopPlot/PorkChopPlotMain.java new file mode 100644 index 0000000..d7cf6ca --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotMain.java @@ -0,0 +1,97 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.ephemeris.DE405Plus; +import jat.core.util.PathUtil; + +import java.awt.BorderLayout; +import java.awt.Container; + +import javax.swing.JApplet; + +public class PorkChopPlotMain extends JApplet { + private static final long serialVersionUID = 1122861326294482666L; + static int appletwidth = 900; // Width of Applet + static int appletheight = 700; + public PorkChopPlotGUI pcpGUI; + public PorkChopPlotPlot pcpPlot; + Container level1_Pane; + public PorkChopPlotReturnValue pReturn = new PorkChopPlotReturnValue(); + PorkChopPlotParameters pcpParams; + + public PorkChopPlotMain(PathUtil path, DE405Plus Eph) { + // PathUtil p =new PathUtil(this); + pcpParams = new PorkChopPlotParameters(body.EARTH, body.MARS, 2003, 1, 1, 2003, 7, 1, 500, 10); + pcpParams.path = path; + pcpParams.Eph = Eph; + } + + public PorkChopPlotMain() { + pcpParams = new PorkChopPlotParameters(body.EARTH, body.MARS, 2003, 1, 1, 2003, 7, 1, 500, 10); + } + + public void init() { + } + + public void start() { + + // if we are the first class called, create PathUtil and Ephemeris + if (pcpParams.path == null) { + pcpParams.path = new PathUtil(this); + pcpParams.Eph = new DE405Plus(pcpParams.path); + pcpParams.Eph.setFrame(frame.HEE); + } + pcpGUI = new PorkChopPlotGUI(this); + pcpGUI.pcpE.setMain(this); + pcpPlot = new PorkChopPlotPlot(this); + + level1_Pane = getContentPane(); + level1_Pane.add(pcpGUI, BorderLayout.WEST); + level1_Pane.add(pcpPlot, BorderLayout.CENTER); + } + + // public static void main(String[] args) { + // PorkChopPlot_main pApplet = new PorkChopPlot_main(); + // pApplet.init(); + // + // JFrame pFrame = new JFrame(); + // pFrame.setTitle("Optimal Launch Date Finder"); + // pFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + // + // // When running this file as a stand-alone app, add the applet to + // // the frame. + // pFrame.getContentPane().add(pApplet, BorderLayout.CENTER); + // pFrame.setSize(appletwidth, appletheight); + // pFrame.setVisible(true); + // + // // sApplet.ssp.mouseZoom.setupCallback(sApplet.ssE); + // pApplet.pcpPlot.requestFocusInWindow(); + // + // // sApplet.ssE.timer.start(); + // + // }// End of main() + +} + +// params = new PorkChopPlot_Parameters(DE405Plus.MERCURY, DE405Plus.MARS, +// 2003, 1, 1, 2003, 7, 1, 500, 10); +// params = new PorkChopPlot_Parameters(DE405Plus.VENUS, DE405Plus.MARS, +// 2003, 1, 1, 2003, 7, 1, 500, 10); diff --git a/src/jat/application/porkChopPlot/PorkChopPlotParameters.java b/src/jat/application/porkChopPlot/PorkChopPlotParameters.java new file mode 100644 index 0000000..5984d6f --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotParameters.java @@ -0,0 +1,55 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.core.util.PathUtil; + +public class PorkChopPlotParameters { + body departure_planet; + body arrival_planet; + int dep_year, dep_month, dep_day; + int arr_year, arr_month, arr_day; + TimeAPL search_depart_time_start; + TimeAPL search_arrival_time_start; + int searchDays; + int steps; + PathUtil path; + DE405Plus Eph; + + public PorkChopPlotParameters(body departure_planet, body arrival_planet, int dep_year, int dep_month, + int dep_day, int arr_year, int arr_month, int arr_day, int searchDays, int steps) { + super(); + this.departure_planet = departure_planet; + this.arrival_planet = arrival_planet; + this.dep_year = dep_year; + this.dep_month = dep_month; + this.dep_day = dep_day; + this.arr_year = arr_year; + this.arr_month = arr_month; + this.arr_day = arr_day; + this.searchDays = searchDays; + this.steps = steps; + search_depart_time_start = new TimeAPL(dep_year, dep_month, dep_day, 1, 1, 1); + search_arrival_time_start = new TimeAPL(arr_year, arr_month, arr_day, 1, 1, 1); + + } + +} diff --git a/src/jat/application/porkChopPlot/PorkChopPlotPlot.java b/src/jat/application/porkChopPlot/PorkChopPlotPlot.java new file mode 100644 index 0000000..a2f9b50 --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotPlot.java @@ -0,0 +1,167 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.application.porkChopPlot; + +import jat.jat3D.BodyGroup3D; +import jat.jat3D.ColorCube3D; +import jat.jat3D.Marker3D; +import jat.jat3D.jatScene3D; +import jat.jat3D.behavior.jat_KeyBehavior_Translate; +import jat.jat3D.plot3D.BoundingBox3D; +import jat.jat3D.plot3D.JatPlot3D; +import jat.jat3D.plot3D.NormalizedBinned2DData; +import jat.jat3D.plot3D.NormalizedBinned2DLogData; +import jat.jat3D.plot3D.SurfaceBuilder; + +import java.io.IOException; + +import javax.media.j3d.Group; +import javax.media.j3d.Node; +import javax.media.j3d.Switch; +import javax.swing.JOptionPane; + +public class PorkChopPlotPlot extends JatPlot3D { + private static final long serialVersionUID = 4491485448719846256L; + private PorkChopPlotMain pcMain; + public PorkChopPlotData pcplot_data; + NormalizedBinned2DData ndata; + public SurfaceBuilder builder; + public Node plot; + public boolean logZscaling = false; + public Switch flightSelectorSwitch; + public Marker3D m; + public PorkChopPlotKeyBehavior keyBehavior_u; + + + public PorkChopPlotPlot(PorkChopPlotMain pcMain) { + super(); + initialViewingPosition.x = -.5; + initialViewingPosition.y = -1; + initialViewingPosition.z = 2; + this.pcMain = pcMain; + } + + public Node createScene() { + Group g = new Group(); + jatScene = new jatScene3D(); + + try { + pcplot_data = new PorkChopPlotData(pcMain); + } catch (IOException e) { + JOptionPane.showMessageDialog(this, "DE405 Ephemeris data file not found."); + e.printStackTrace(); + System.exit(0); + } + + builder = new SurfaceBuilder(); + + if (logZscaling) + plot = builder.buildContent(new NormalizedBinned2DLogData(pcplot_data)); + else { + ndata = new NormalizedBinned2DData(pcplot_data); + plot = builder.buildContent(ndata); + } + float boxsize = 1; + + // setData(pcplot_data); + jatScene.InitialTranslation.x = boxsize / 2; + jatScene.InitialTranslation.y = boxsize / 2; + jatScene.addChild(plot); + + viewingCenter.x = boxsize / 2; + viewingCenter.y = boxsize / 2; + viewingCenter.z = boxsize / 2; + + // RGBAxes3D r = new RGBAxes3D(); + // jatScene.addChild(r); + + g.addChild(jatScene); + + // initial zoom: exponent of ten times graph unit + exponent = 0; + bbox = new BoundingBox3D(0, 1); + bbox.xAxisLabel = "Dep " + pcplot_data.pcpPlot.A.RowLabels[0] + " to " + + pcplot_data.pcpPlot.A.RowLabels[pcplot_data.xBins() - 1]; + bbox.yAxisLabel = "Arr " + pcplot_data.pcpPlot.A.ColumnLabels[0] + " to " + + pcplot_data.pcpPlot.A.ColumnLabels[pcplot_data.xBins() - 1]; + bbox.zAxisLabel = (int) pcplot_data.zMin() + " to " + (int) pcplot_data.zMax(); + bbox.zunitsPart = " km/s"; + bbox.createAxes(exponent); + bboxgroup = new BodyGroup3D(bbox, "Box"); + + g.addChild(bboxgroup); + + flightSelectorSwitch = new Switch(); + flightSelectorSwitch.setCapability(Switch.ALLOW_SWITCH_WRITE); + flightSelectorSwitch.addChild(new ColorCube3D(.00001)); + + m = new Marker3D(); + flightSelectorSwitch.addChild(m); + flightSelectorSwitch.setWhichChild(0); + g.addChild(flightSelectorSwitch); + + return g; + } + + public void setData(PorkChopPlotData data) { + this.pcplot_data = data; + + // System.out.println(pcplot_data.p.A.ColumnLabels[0]); + bbox.xAxisLabel = "Dep " + pcplot_data.pcpPlot.A.RowLabels[0] + " to " + + pcplot_data.pcpPlot.A.RowLabels[pcplot_data.xBins() - 1]; + bbox.yAxisLabel = "Arr " + pcplot_data.pcpPlot.A.ColumnLabels[0] + " to " + + pcplot_data.pcpPlot.A.ColumnLabels[pcplot_data.xBins() - 1]; + bbox.zAxisLabel = (int) pcplot_data.zMin() + " to " + (int) pcplot_data.zMax(); + bbox.setLabels(exponent); + + if (logZscaling) + builder.updatePlot(new NormalizedBinned2DLogData(data)); + else { + ndata = new NormalizedBinned2DData(pcplot_data); + builder.updatePlot(ndata); + } + } + + public void addBehavior() { + jat_KeyBehavior_Translate keyBehavior_t = new jat_KeyBehavior_Translate(this); + keyBehavior_t.setSchedulingBounds(getDefaultBounds()); + keyBehaviorSwitch.addChild(keyBehavior_t); + // pcplot_Jat3D_main main = null; + keyBehavior_u = new PorkChopPlotKeyBehavior(pcMain); + keyBehavior_u.setSchedulingBounds(getDefaultBounds()); + keyBehaviorSwitch.addChild(keyBehavior_u); + } + + public boolean getLogZscaling() { + return logZscaling; + } + + public void setLogZscaling(boolean b) { + // System.out.println("setting Log Scaling to: " + b + " from: " + + // logZscaling); + if (logZscaling != b) { + logZscaling = b; + if (pcplot_data != null) { + if (logZscaling) + builder.updatePlot(new NormalizedBinned2DLogData(pcplot_data)); + else + builder.updatePlot(new NormalizedBinned2DData(pcplot_data)); + } + } + } +} diff --git a/src/jat/application/porkChopPlot/PorkChopPlotReturnValue.java b/src/jat/application/porkChopPlot/PorkChopPlotReturnValue.java new file mode 100644 index 0000000..1c86599 --- /dev/null +++ b/src/jat/application/porkChopPlot/PorkChopPlotReturnValue.java @@ -0,0 +1,17 @@ +package jat.application.porkChopPlot; + +import jat.core.ephemeris.DE405Body.body; + + + + +public class PorkChopPlotReturnValue { + + public body departure_planet; + public body arrival_planet; + public double DepartureDate; + public double ArrivalDate; + +} + + diff --git a/src/jat/core/algorithm/optimization/DataArraySearch.java b/src/jat/core/algorithm/optimization/DataArraySearch.java new file mode 100644 index 0000000..662097f --- /dev/null +++ b/src/jat/core/algorithm/optimization/DataArraySearch.java @@ -0,0 +1,250 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.algorithm.optimization; + +public class DataArraySearch { + float[][] fdata; + double[][] ddata; + int size; + public int x_index; + public int y_index; + + public DataArraySearch(float[][] data) { + this(data, 1, 2); + } + + public DataArraySearch(float[][] data, int x_index, int y_index) { + this.fdata = data; + this.size = data.length; + this.x_index = x_index; + this.y_index = y_index; + ddata = new double[size][size]; + for (int i = 0; i < size; i++) + for (int j = 0; j < size; j++) + ddata[i][j] = fdata[i][j]; + } + + public DataArraySearch(double[][] data, int x_index, int y_index) { + this.ddata = data; + this.size = data.length; + this.x_index = x_index; + this.y_index = y_index; + } + + + public int goToLocalMinimum() + { + + while (step() > 0); + + return 0; + } + + + public int step() { + double left_x, right_x, left_y, right_y, current_z; + int success; + + current_z = ddata[x_index][y_index]; + + // on x=0 edge + if (x_index == 0) { + // on x=0 corner + if (y_index == 0 || y_index == size - 1) { + if (y_index == 0) { + right_x = ddata[1][0]; + right_y = ddata[0][1]; + success = find_min(current_z, right_x, right_y); + if (success == 1) + x_index = 1; + if (success == 2) + y_index = 1; + return success; + } + if (y_index == size - 1) { + right_x = ddata[1][size - 1]; + right_y = ddata[0][size - 2]; + success = find_min(current_z, right_x, right_y); + if (success == 1) + x_index = 1; + if (success == 2) + y_index = size - 2; + return success; + } + } else { + // not on corner + // System.out.println("left x edge"); + right_x = ddata[x_index + 1][y_index]; + left_y = ddata[x_index][y_index - 1]; + right_y = ddata[x_index][y_index + 1]; + success = find_min(current_z, right_x, left_y, right_y); + if (success == 1) + x_index++; + if (success == 2) + y_index--; + if (success == 3) + y_index++; + return success; + } + } + + // on x=size-1 edge + if (x_index == size - 1) { + // on x=size-1 corner + if (y_index == 0 || y_index == size - 1) { + if (y_index == 0) { + right_x = ddata[size - 2][0]; + right_y = ddata[size - 1][1]; + success = find_min(current_z, right_x, right_y); + if (success == 1) + x_index = size - 2; + if (success == 2) + y_index = 1; + return success; + } + if (y_index == size - 1) { + right_x = ddata[size - 2][size - 1]; + right_y = ddata[size - 1][size - 2]; + success = find_min(current_z, right_x, right_y); + if (success == 1) + x_index = size - 2; + if (success == 2) + y_index = size - 2; + return success; + } + } else { + // not on corner + // System.out.println("right x edge"); + left_x = ddata[x_index - 1][y_index]; + left_y = ddata[x_index][y_index - 1]; + right_y = ddata[x_index][y_index + 1]; + success = find_min(current_z, left_x, left_y, right_y); + if (success == 1) + x_index--; + if (success == 2) + y_index--; + if (success == 3) + y_index++; + return success; + } + } + + // on y=0 edge + if (y_index == 0) { + right_y = ddata[x_index][y_index + 1]; + left_x = ddata[x_index - 1][y_index]; + right_x = ddata[x_index + 1][y_index]; + success = find_min(current_z, right_y, left_x, right_x); + if (success == 1) + y_index++; + if (success == 2) + x_index--; + if (success == 3) + x_index++; + return success; + } + + // on y=size-1 edge + if (y_index == size - 1) { + left_y = ddata[x_index][y_index - 1]; + left_x = ddata[x_index - 1][y_index]; + right_x = ddata[x_index + 1][y_index]; + success = find_min(current_z, left_y, left_x, right_x); + if (success == 1) + y_index--; + if (success == 2) + x_index--; + if (success == 3) + x_index++; + return success; + } + + // in the middle + left_x = ddata[x_index - 1][y_index]; + right_x = ddata[x_index + 1][y_index]; + left_y = ddata[x_index][y_index - 1]; + right_y = ddata[x_index][y_index + 1]; + success = find_min(current_z, left_x, right_x, left_y, right_y); + if (success == 1) + x_index--; + if (success == 2) + x_index++; + if (success == 3) + y_index--; + if (success == 4) + y_index++; + return success; + } + + private int find_min(double current_z, double x, double y) { + int result = 0; + double temp; + if (x < current_z) { + result = 1; + temp = x; + } else + temp = current_z; + if (y < temp) + result = 2; + return result; + } + + private int find_min(double current_z, double z1, double z2, double z3) { + int result = 0; + double temp; + if (z1 < z2) { + temp = z1; + result = 1; + } else { + temp = z2; + result = 2; + } + if (z3 < temp) + result = 3; + return result; + } + + private int find_min(double current_z, double left_x, double right_x, double left_y, double right_y) { + int result = 0; + int result_x, result_y, result_xy; + double temp_x, temp_y; + if (left_x < right_x) { + temp_x = left_x; + result_x = 1; + } else { + temp_x = right_x; + result_x = 2; + } + if (left_y < right_y) { + temp_y = left_y; + result_y = 3; + } else { + temp_y = right_y; + result_y = 4; + } + if (temp_x < temp_y) + result_xy = result_x; + else + result_xy = result_y; // picks y in case of equality + if (temp_x < current_z) + result = result_xy; + + return result; + } + +} diff --git a/src/jat/core/astronomy/SolarSystemBodies.java b/src/jat/core/astronomy/SolarSystemBodies.java new file mode 100644 index 0000000..72009f8 --- /dev/null +++ b/src/jat/core/astronomy/SolarSystemBodies.java @@ -0,0 +1,110 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.astronomy; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.units.unitCheck; +import jat.core.units.unitModel; +import jat.core.units.unitSet; +import jat.core.units.unitSet.distanceUnit; +import jat.core.units.unitSet.massUnit; +import jat.core.units.unitSet.timeUnit; + +import java.awt.Color; + +public class SolarSystemBodies implements unitModel { + + public Body[] Bodies; + unitSet uS = new unitSet("SolarSystemBodies", distanceUnit.km, timeUnit.sec, massUnit.kg); + + public class Body { + body body; + public double radius; // km + public double mass; // kg + public double orbitalPeriod; // earth days + public double mu; // (km^3 * s^−2) + public Color color; + + public Body(jat.core.ephemeris.DE405Body.body body, double radius, double mass, double orbitalPeriod) { + this.body = body; + this.radius = radius; // km + this.mass = mass; // kg + this.orbitalPeriod = orbitalPeriod; // earth days + } + + } + + public SolarSystemBodies() { + + Bodies = new SolarSystemBodies.Body[12]; + + Bodies[0] = new Body(body.SUN, 6.96342e5, 1.9891e30, 0); + Bodies[1] = new Body(body.MERCURY, 2439.7, 330.2e21, 88); + Bodies[2] = new Body(body.VENUS, 6051.8, 4868.5e21, 225); + Bodies[3] = new Body(body.EARTH, 6378.1, 5972.2E21, 365); + Bodies[4] = new Body(body.MARS, 3396., 641.85e21, 687); + Bodies[5] = new Body(body.JUPITER, 69911, 1898600.0e21, 4332.59); + Bodies[6] = new Body(body.SATURN, 54364, 568460.0e21, 10759.22); + Bodies[7] = new Body(body.NEPTUNE, 24764, 1.0243e26, 60190.03); + Bodies[8] = new Body(body.URANUS, 25559, 8.6810e25, 30799.095); + Bodies[9] = new Body(body.PLUTO, 1153, 1.305e22, 89865); + Bodies[10] = new Body(body.MOON, 1737.1, 7.3477e22, 27.321582); + + Bodies[body.SUN.ordinal()].mu = 132712440018.; + Bodies[body.MERCURY.ordinal()].mu = 22032.; + Bodies[body.VENUS.ordinal()].mu = 324859.; + Bodies[body.EARTH.ordinal()].mu = 398600.4418; + Bodies[body.MARS.ordinal()].mu = 42828.; + Bodies[body.JUPITER.ordinal()].mu = 126686534.; + Bodies[body.SATURN.ordinal()].mu = 37931187.; + Bodies[body.URANUS.ordinal()].mu = 5793939.; + Bodies[body.NEPTUNE.ordinal()].mu = 6836529.; + Bodies[body.PLUTO.ordinal()].mu = 871.; + Bodies[body.MOON.ordinal()].mu = 4902.7779; + + Bodies[body.SUN.ordinal()].color = Color.ORANGE; + Bodies[body.EARTH.ordinal()].color = Color.BLUE; + Bodies[body.JUPITER.ordinal()].color = Color.MAGENTA; + Bodies[body.MOON.ordinal()].color = Color.GRAY; + + } + + @Override + public void setUnits(unitSet u) { + // TODO Auto-generated method stub + + } + + @Override + public unitSet getUnits() { + return uS; + } + + @Override + public void setUnitsMaster(unitCheck uc) { + // TODO Auto-generated method stub + + } + + @Override + public void addUnitsUser(unitSet u) { + // TODO Auto-generated method stub + + } + +} diff --git a/src/jat/core/astronomy/StarCatalog.java b/src/jat/core/astronomy/StarCatalog.java new file mode 100644 index 0000000..7ebaf1e --- /dev/null +++ b/src/jat/core/astronomy/StarCatalog.java @@ -0,0 +1,121 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.astronomy; + +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; + +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.net.MalformedURLException; +import java.net.URL; +import java.util.ArrayList; +import java.util.List; + +public class StarCatalog { + public List manystardata; + PathUtil p; + public int a; + jatMessages messages; + + // boolean bugFound = true; + + public StarCatalog(PathUtil p) { + this.p = p; + } + + public StarCatalog(PathUtil p, jatMessages messages) { + this.p = p; + this.messages = messages; + } + + public void load() { + // if (bugFound) { + + manystardata = new ArrayList(); + + String fileName = p.data_path + "core/astronomy/hyg_100.csv"; + if (messages != null) + messages.addln("[StarCatalog] " + fileName); + // System.out.println("[StarCatalog] " + fileName); + + try { + // Create a URL for the desired page + // If it is called from an applet, it starts with "file:" or + // "http:" + // If it's an application, we need to add "file:" so that + // BufferReader works + boolean application; + if (fileName.startsWith("file") || fileName.startsWith("http")) + application = false; + else + application = true; + if (application) + fileName = "file:" + fileName; + URL url = new URL(fileName); + BufferedReader in = new BufferedReader(new InputStreamReader( + url.openStream())); + +// Scanner s=new Scanner(in); +// s.useLocale(Locale.US); + + + String line; + // read over first row header line + in.readLine(); + + while (null != (line = in.readLine())) { + // System.out.println("[StarCatalog] " + line); +// if (messages != null) +// messages.addln("[StarCatalog] " + line); + String[] tokens = line.split(","); +// for (int i = 0; i < tokens.length; i++) +// System.out.println("[StarCatalog] " + tokens[i]); + //System.out.println("[StarCatalog] " + tokens[6]+" "+tokens[7]+" "+tokens[8]); + Stardata sd=new Stardata(tokens[6],Double.parseDouble(tokens[7]), Double.parseDouble(tokens[8])); + manystardata.add(sd); + + } + in.close(); + } catch (MalformedURLException e) { + System.out.println("MalformedURLException"); + } catch (IOException e) { + } + + } + // System.out.println("[StarCatalog] load out"); + // } +} + +// try { +// reader = new CSVReader(new FileReader(star_data_file)); +// reader.readNext(); // read over header line +// while ((nextLine = reader.readNext()) != null) { +// // for (int i = 0; i < nextLine.length; i++) +// // System.out.print(nextLine[i] + " | "); +// // System.out.println(); +// manystardata.add(new Stardata(nextLine[6], +// Double.parseDouble(nextLine[7]), Double +// .parseDouble(nextLine[8]))); +// } +// } catch (IOException e) { +// System.out.println("Problem loading star database"); +// e.printStackTrace(); +// } + diff --git a/src/jat/core/astronomy/Stardata.java b/src/jat/core/astronomy/Stardata.java new file mode 100644 index 0000000..a53cf3f --- /dev/null +++ b/src/jat/core/astronomy/Stardata.java @@ -0,0 +1,35 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.astronomy; + +public class Stardata { + + + public String ProperName; + public double RA; + public double dec; + + public Stardata(String ProperName, double RA, double dec) { + this.ProperName= ProperName; + this.RA=RA; + this.dec=dec; + } + + + +} diff --git a/src/jat/core/cm/CRTBP.java b/src/jat/core/cm/CRTBP.java new file mode 100644 index 0000000..184653e --- /dev/null +++ b/src/jat/core/cm/CRTBP.java @@ -0,0 +1,252 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.cm; + +import java.util.ArrayList; + +import org.apache.commons.math3.analysis.UnivariateFunction; +import org.apache.commons.math3.analysis.solvers.BisectionSolver; +import org.apache.commons.math3.analysis.solvers.BrentSolver; +import org.apache.commons.math3.exception.NoBracketingException; +import org.apache.commons.math3.geometry.euclidean.threed.Vector3D; +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.sampling.StepHandler; +import org.apache.commons.math3.ode.sampling.StepInterpolator; + +/** + * @author Tobias Berthold + * + * Central Restricted Three Body Problem + */ +public class CRTBP implements FirstOrderDifferentialEquations { + public static double mu; // CRTBP parameter + public boolean printSteps = false; + public ArrayList time = new ArrayList(); + public ArrayList xsol = new ArrayList(); + public ArrayList ysol = new ArrayList(); + public ArrayList zsol = new ArrayList(); + public ArrayList xzv = new ArrayList(); + public ArrayList yzv = new ArrayList(); + // public double[][] zerovel2D; + double[] yStart; + public double C; + public Vector3D LibPoints[]; + public double C1, C2, C3, C4, C5; + + // double[] Ci = new double[5]; + + public CRTBP(double mu) { + this.mu = mu; + LibPoints = new Vector3D[5]; + } + + public void computeDerivatives(double t, double[] yval, double[] yDot) { + double x, y, z, xdot, ydot, zdot; + double r1, r2; + double r1cubed, r2cubed; + double fac1, fac2; + + x = yval[0]; + y = yval[1]; + z = yval[2]; + xdot = yval[3]; + ydot = yval[4]; + zdot = yval[5]; + + r1 = Math.sqrt((x + mu) * ((x + mu)) + y * y + z * z); + r2 = Math.sqrt((x - 1 + mu) * (x - 1 + mu) + y * y + z * z); + r1cubed = r1 * r1 * r1; + r2cubed = r2 * r2 * r2; + fac1 = -(1 - mu) / r1cubed; + fac2 = -mu / r2cubed; + + // Derivatives + yDot[0] = yval[3]; + yDot[1] = yval[4]; + yDot[2] = yval[5]; + yDot[3] = fac1 * (x + mu) + fac2 * (x - 1 + mu) + 2 * ydot + x; + yDot[4] = fac1 * (y) + fac2 * (y) - 2 * xdot + y; + yDot[5] = fac1 * (z) + fac2 * (z); + } + + public int getDimension() { + return 6; + } + + public StepHandler stepHandler = new StepHandler() { + public void init(double t0, double[] y0, double t) { + C = JacobiIntegral(y0); + } + + public void handleStep(StepInterpolator interpolator, boolean isLast) { + double t = interpolator.getCurrentTime(); + double[] y = interpolator.getInterpolatedState(); + // System.out.println(t + " " + y[0] + " " + y[1] + " " + y[2] + " " + // + JacobiIntegral(y)); + if (printSteps) { + System.out.printf("%9.6f %9.6f %9.6f %9.6f %9.6f", t, y[0], y[1], y[2], JacobiIntegral(y)); + System.out.println(); + } + time.add(t); + xsol.add(y[0]); + ysol.add(y[1]); + } + }; + + + public double JacobiIntegral(double yin[]) { + // double[] yin = new double[6]; + double x = yin[0]; + double y = yin[1]; + double z = yin[2]; + double xdot = yin[3]; + double ydot = yin[4]; + double zdot = yin[5]; + return JacobiIntegral(x, y, z, xdot, ydot, zdot); + } + + public double JacobiIntegral(double x, double y, double z, double xdot, double ydot, double zdot) { + double x2 = x * x; + double y2 = y * y; + double z2 = z * z; + double xdot2 = xdot * xdot; + double ydot2 = ydot * ydot; + double zdot2 = zdot * zdot; + + double r1 = Math.sqrt((x + mu) * (x + mu) + y2 + z2); + double r2 = Math.sqrt((x - 1 + mu) * (x - 1 + mu) + y2 + z2); + + double C = x2 + y2 + 2.0 * (1. - mu) / r1 + 2.0 * mu / r2 - xdot2 - ydot2 - zdot2; + return C; + } + + private static class L123Func implements UnivariateFunction { + public double value(double x) { + + double xpmu = x + mu; + double omu = 1 - mu; + double xmomu = x - omu; + double denominator1 = Math.abs(xpmu * xpmu * xpmu); + + double y = x - xpmu * omu / Math.abs(xpmu * xpmu * xpmu) - mu * xmomu / Math.abs(xmomu * xmomu * xmomu); + + return y; + } + } + + public void findLibrationPoints() { + + BisectionSolver bs = new BisectionSolver(); + + UnivariateFunction Lfunction = new L123Func(); + double L1 = bs.solve(100, Lfunction, 0, 1.); + LibPoints[0] = new Vector3D(L1, 0, 0); + C1 = JacobiIntegral(L1, 0, 0, 0, 0, 0); + double L2 = bs.solve(100, Lfunction, 1, 2.); + LibPoints[1] = new Vector3D(L2, 0, 0); + C2 = JacobiIntegral(L2, 0, 0, 0, 0, 0); + double L3 = bs.solve(100, Lfunction, -2.0, 0); + LibPoints[2] = new Vector3D(L3, 0, 0); + C3 = JacobiIntegral(L3, 0, 0, 0, 0, 0); + double y45 = Math.sqrt(3.) / 2; + LibPoints[3] = new Vector3D(.5 - mu, y45, 0); + LibPoints[4] = new Vector3D(.5 - mu, -y45, 0); + + System.out.println("L1: " + L1 + " C1 " + C1); + System.out.println("L2: " + L2 + " C2 " + C2); + System.out.println("L3: " + L3 + " C3 " + C3); + System.out.println("L4= (" + LibPoints[3].getX() + "," + LibPoints[3].getY() + ")"); + System.out.println("L5= (" + LibPoints[4].getX() + "," + LibPoints[4].getY() + ")"); + + } + + private static class JacobiFixedx implements UnivariateFunction { + double x, C; + double z = 0; + + public JacobiFixedx() { + this.x = .2; + this.C = 3.0; + } + + public JacobiFixedx(double x, double C) { + this.x = x; + this.C = C; + } + + public void setx(double x) { + this.x = x; + } + + public void setC(double C) { + this.C = C; + } + + public double value(double y) { + + double J; + + double x2 = x * x; + double y2 = y * y; + double z2 = z * z; + + double r1 = Math.sqrt((x + mu) * (x + mu) + y2 + z2); + double r2 = Math.sqrt((x - 1 + mu) * (x - 1 + mu) + y2 + z2); + + J = -C + x2 + y2 + 2.0 * (1. - mu) / r1 + 2.0 * mu / r2; + return J; + } + } + + public void findZeroVelocity() { + JacobiFixedx JF = new JacobiFixedx(); + BisectionSolver bis = new BisectionSolver(); + BrentSolver brs = new BrentSolver(); + JF.setC(C); + double x = -1.; + double lasty = 0; + while ((x += .01) < 1.3) { + JF.setx(x); + + double y = 0; + boolean success = false; + try { + success = true; + y = brs.solve(100, JF, lasty - .4, lasty + .4); + // y = brs.solve(100, JF, -.1, .8); + // double y = bis.solve(100, JF, 0, 2); + } catch (NoBracketingException e) { + success = false; + // System.out.println("exception at x y " + x + " " + y); + + } finally { + + if (success) { + // System.out.println("x y " + x + " " + y); + + xzv.add(x); + yzv.add(y); + lasty = y; + //System.out.println("last y " + lasty); + } + + } + } + } + +} diff --git a/src/jat/core/cm/TwoBodyAPL.java b/src/jat/core/cm/TwoBodyAPL.java new file mode 100644 index 0000000..598545c --- /dev/null +++ b/src/jat/core/cm/TwoBodyAPL.java @@ -0,0 +1,274 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.cm; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.util.ArrayList; + +import org.apache.commons.math3.geometry.euclidean.threed.Vector3D; +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.sampling.StepHandler; +import org.apache.commons.math3.ode.sampling.StepInterpolator; + +public class TwoBodyAPL extends TwoBody implements FirstOrderDifferentialEquations { + double initial_ta; + public ArrayList time = new ArrayList(); + public ArrayList xsol = new ArrayList(); + public ArrayList ysol = new ArrayList(); + public ArrayList zsol = new ArrayList(); + + public TwoBodyAPL(double mu, VectorN r, VectorN v) { + super(mu, r, v); + initial_ta = ta; + } + + public TwoBodyAPL(double a, double e, double i, double raan, double w, double ta) { + super(a, e, i, raan, w, ta); + } + + @Override + public void computeDerivatives(double t, double[] y, double[] yDot) { + + Vector3D r = new Vector3D(y[0], y[1], y[2]); + double rnorm = r.getNorm(); + double r3 = rnorm * rnorm * rnorm; + double k = -1. * this.mu / r3; + yDot[0] = y[3]; + yDot[1] = y[4]; + yDot[2] = y[5]; + yDot[3] = k * y[0]; + yDot[4] = k * y[1]; + yDot[5] = k * y[2]; + } + + public StepHandler stepHandler = new StepHandler() { + public void init(double t0, double[] y0, double t) { + } + + public void handleStep(StepInterpolator interpolator, boolean isLast) { + double t = interpolator.getCurrentTime(); + double[] y = interpolator.getInterpolatedState(); + // System.out.println(t + " " + y[0] + " " + y[1]+ " " + y[2]); + time.add(t); + xsol.add(y[0]); + ysol.add(y[1]); + zsol.add(y[2]); + } + }; + + @Override + public int getDimension() { + return 6; + } + + public VectorN position(double t) { + + double[] temp = new double[6]; + + // Determine step size + double n = this.meanMotion(); + + // determine initial E and M + double sqrome2 = Math.sqrt(1.0 - this.e * this.e); + double cta = Math.cos(this.ta); + double sta = Math.sin(this.ta); + double sine0 = (sqrome2 * sta) / (1.0 + this.e * cta); + double cose0 = (this.e + cta) / (1.0 + this.e * cta); + double e0 = Math.atan2(sine0, cose0); + + double ma = e0 - this.e * Math.sin(e0); + + ma = ma + n * t; + double ea = solveKepler(ma, this.e); + + double sinE = Math.sin(ea); + double cosE = Math.cos(ea); + double den = 1.0 - this.e * cosE; + + double sinv = (sqrome2 * sinE) / den; + double cosv = (cosE - this.e) / den; + + this.ta = Math.atan2(sinv, cosv); + if (this.ta < 0.0) { + this.ta = this.ta + 2.0 * Constants.pi; + } + + temp = this.randv(); + this.rv = new VectorN(temp); + + // Reset everything to before + this.ta = initial_ta; + + VectorN out = new VectorN(3); + out.x[0] = temp[0]; + out.x[1] = temp[1]; + out.x[2] = temp[2]; + // out.print("sat pos at t"); + return out; + + } + + // propagates from whatever ta is starting from time t=0 relative to the + // starting point + public void propagate(double t0, double tf, Printable pr, boolean print_switch, double steps) { + double[] temp = new double[6]; + // double ta_save = this.ta; + this.steps = steps; + + // Determine step size + double n = this.meanMotion(); + double period = this.period(); + double dt = period / steps; + if ((t0 + dt) > tf) // check to see if we're going past tf + { + dt = tf - t0; + } + + // determine initial E and M + double sqrome2 = Math.sqrt(1.0 - this.e * this.e); + double cta = Math.cos(this.ta); + double sta = Math.sin(this.ta); + double sine0 = (sqrome2 * sta) / (1.0 + this.e * cta); + double cose0 = (this.e + cta) / (1.0 + this.e * cta); + double e0 = Math.atan2(sine0, cose0); + + double ma = e0 - this.e * Math.sin(e0); + + // initialize t + + double t = t0; + + if (print_switch) { + temp = this.randv(); + pr.print(t, temp); + } + + while (t < tf) { + ma = ma + n * dt; + double ea = solveKepler(ma, this.e); + + double sinE = Math.sin(ea); + double cosE = Math.cos(ea); + double den = 1.0 - this.e * cosE; + + double sinv = (sqrome2 * sinE) / den; + double cosv = (cosE - this.e) / den; + + this.ta = Math.atan2(sinv, cosv); + if (this.ta < 0.0) { + this.ta = this.ta + 2.0 * Constants.pi; + } + + t = t + dt; + + temp = this.randv(); + this.rv = new VectorN(temp); + + if (print_switch) { + pr.print(t, temp); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + } + // Reset everything to before + this.ta = initial_ta; + + } + + public double[] randv(double ta) { + double p = a * (1.0 - e * e); + double cta = Math.cos(ta); + double sta = Math.sin(ta); + double opecta = 1.0 + e * cta; + double sqmuop = Math.sqrt(this.mu / p); + + VectorN xpqw = new VectorN(6); + xpqw.x[0] = p * cta / opecta; + xpqw.x[1] = p * sta / opecta; + xpqw.x[2] = 0.0; + xpqw.x[3] = -sqmuop * sta; + xpqw.x[4] = sqmuop * (e + cta); + xpqw.x[5] = 0.0; + + Matrix cmat = PQW2ECI(); + + VectorN rpqw = new VectorN(xpqw.x[0], xpqw.x[1], xpqw.x[2]); + VectorN vpqw = new VectorN(xpqw.x[3], xpqw.x[4], xpqw.x[5]); + + VectorN rijk = cmat.times(rpqw); + VectorN vijk = cmat.times(vpqw); + + double[] out = new double[6]; + + for (int i = 0; i < 3; i++) { + out[i] = rijk.x[i]; + out[i + 3] = vijk.x[i]; + } + + return out; + } + + public double eccentricAnomaly(double ta) { + double cta = Math.cos(ta); + double e0 = Math.acos((e + cta) / (1.0 + e * cta)); + return e0; + } + + public double meanAnomaly(double t) { + + return 2. * Math.PI * t / period(); + } + + public double t_from_ta() { + + double M = meanAnomaly(); + double P = period(); + + return P * M / 2. / Math.PI; + + } + + public double ta_from_t(double t) { + + double M = meanAnomaly(t); + double ea = solveKepler(M, this.e); + + double sinE = Math.sin(ea); + double cosE = Math.cos(ea); + double den = 1.0 - this.e * cosE; + double sqrome2 = Math.sqrt(1.0 - this.e * this.e); + double sinv = (sqrome2 * sinE) / den; + double cosv = (cosE - this.e) / den; + + double ta = Math.atan2(sinv, cosv); + if (this.ta < 0.0) { + this.ta = this.ta + 2.0 * Constants.pi; + } + + return ta; + } + +} diff --git a/src/jat/core/cm/porkChopPlot.java b/src/jat/core/cm/porkChopPlot.java new file mode 100644 index 0000000..d73bad4 --- /dev/null +++ b/src/jat/core/cm/porkChopPlot.java @@ -0,0 +1,152 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.cm; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.math.MatrixVector.util.LabeledMatrix; +import jat.core.spacetime.TimeAPL; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.LambertException; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.IOException; + +public class porkChopPlot { + public LabeledMatrix A; + public double mintotaldv, maxtotaldv; + public double DepartureDate[]; + public double ArrivalDate[]; + public int steps; + public float step_size; + DE405Plus Eph; + +// public porkChopPlot() { +// my_eph = new DE405Plus(); +// } + + public porkChopPlot(DE405Plus Eph) { + this.Eph = Eph; + } + + public void make_porkchop_plot(body departure_planet, body arrival_planet, TimeAPL search_depart_time_start, + TimeAPL search_arrival_time_start, int searchDays, int steps) throws IOException { + double totaldv; + this.steps = steps; + step_size = 1.f / steps; + + TimeAPL search_depart_time = new TimeAPL(search_depart_time_start.mjd_utc()); + TimeAPL search_arrival_time = new TimeAPL(search_arrival_time_start.mjd_utc()); + int search_time = 86400 * searchDays; + int time_increment = search_time / steps; + + // System.out.print(" days " + days); + // System.out.print(" search_time " + search_time); + // System.out.print(" steps " + steps); + // System.out.println(" time_increment " + time_increment); + // search_arrival_time_start.print(); + + A = new LabeledMatrix(steps, steps); + DepartureDate = new double[steps]; + ArrivalDate = new double[steps]; + mintotaldv = 1e9; + maxtotaldv = 0; + + // System.out.println("[porkChopPlot.java] dep planet " + + // departure_planet + " arr planet " + arrival_planet); + // callLambert(departure_planet, arrival_planet,search_depart_time, + // search_arrival_time); + + A.cornerlabel = "Dep / Arr"; + String dateformat = "%tD"; + for (int i = 0; i < steps; i++) { + A.RowLabels[i] = String.format(dateformat, search_depart_time.getCalendar()); + DepartureDate[i] = search_depart_time.mjd_utc(); + // System.out.println(search_depart_time.mjd_utc()); + for (int j = 0; j < steps; j++) { + + A.ColumnLabels[j] = String.format(dateformat, search_arrival_time.getCalendar()); + ArrivalDate[j] = search_arrival_time.mjd_utc(); + // System.out.println(search_arrival_time.mjd_utc()); + + double tof = TimeAPL.minus(search_arrival_time, search_depart_time) * 86400.0; + + Lambert lambert = new Lambert(Constants.GM_Sun / 1.e9); + VectorN r0 = Eph.get_planet_pos(departure_planet, search_depart_time); + VectorN v0 = Eph.get_planet_vel(departure_planet, search_depart_time); + VectorN rf = Eph.get_planet_pos(arrival_planet, search_arrival_time); + VectorN vf = Eph.get_planet_vel(arrival_planet, search_arrival_time); + // r0.print("r0"); + // v0.print("v0"); + // System.out.println("orbital velocity of departure planet " + + // v0.mag()); + // rf.print("rf"); + // vf.print("vf"); + // System.out.println("orbital velocity of arrival planet " + + // vf.mag()); + + try { + totaldv = lambert.compute(r0, v0, rf, vf, tof); + } catch (LambertException e) { + totaldv = -1; + // System.out.println(e.message); + // e.printStackTrace(); + } + if (totaldv > maxtotaldv) + maxtotaldv = totaldv; + if (totaldv > 0 && totaldv < mintotaldv) + mintotaldv = totaldv; + // lambert.deltav0.print("deltav0"); + // lambert.deltavf.print("deltavf"); + // System.out.println("Total DeltaV " + totaldv); + A.A[i][j] = totaldv; + search_arrival_time.step_seconds(time_increment); + } + search_arrival_time = new TimeAPL(search_arrival_time_start.mjd_utc()); + search_depart_time.step_seconds(time_increment); + } + // A.print(); + + } + + public double callLambert(body departure_planet, body arrival_planet, TimeAPL search_depart_time, + TimeAPL search_arrival_time) { + double tof = TimeAPL.minus(search_arrival_time, search_depart_time) * 86400.0; + double totaldv = -1.; + + Lambert lambert = new Lambert(Constants.GM_Sun / 1.e9); + + try { + VectorN r0 = Eph.get_planet_pos(departure_planet, search_depart_time); + System.out.println("length of r0 " + r0.mag()); + VectorN v0 = Eph.get_planet_vel(departure_planet, search_depart_time); + VectorN rf = Eph.get_planet_pos(arrival_planet, search_arrival_time); + VectorN vf = Eph.get_planet_vel(arrival_planet, search_arrival_time); + totaldv = lambert.compute(r0, v0, rf, vf, tof); + } catch (IOException e1) { + e1.printStackTrace(); + } catch (LambertException e) { + totaldv = -1; + // System.out.println(e.message); + // e.printStackTrace(); + } + + return totaldv; + } + +} diff --git a/src/jat/core/ephemeris/DE405APL.java b/src/jat/core/ephemeris/DE405APL.java new file mode 100644 index 0000000..0a76151 --- /dev/null +++ b/src/jat/core/ephemeris/DE405APL.java @@ -0,0 +1,587 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ +// Original code by Jim Baer from ftp://ssd.jpl.nasa.gov/pub/eph/planets/JAVA-version/ +/* + * This class contains the methods necessary to parse the JPL DE405 + * ephemeris files (text versions), and compute the position and velocity of + * the planets, Moon, and Sun. + * + * IMPORTANT: In order to use these methods, the user should: - save this + * class in a directory of his/her choosing; - save to the same directory + * the text versions of the DE405 ephemeris files, which must be named + * "ascpxxxx.txt", where xxxx represents the start-year of the 20-year + * block; - have at least Java 1.1.8 installed. + * + * The input is the julian date (jultime) for which the ephemeris is needed. + * Note that only julian dates from 2414992.5 to 2524624.5 are supported. + * This input must be specified in the "main" method, which contains the + * call to "planetary_ephemeris". + * + * GENERAL IDEA: The "get_ephemeris_coefficients" method reads the ephemeris + * file corresponding to the input julian day, and stores the ephemeris + * coefficients needed to calculate planetary positions and velocities in + * the array "ephemeris_coefficients". The "get_planet_posvel" method calls + * "get_ephemeris_coefficients" if needed, then calculates the position and + * velocity of the specified planet. The "planetary_ephemeris" method calls + * "get_planet_posvel" for each planet, and resolves the position and + * velocity of the Earth/Moon barycenter and geocentric Moon into the + * position and velocity of the Earth and Moon. + * + * Since the "ephemeris_coefficients" array is declared as an instance + * variable, its contents will remain intact, should this code be modified + * to call "planetary_ephemeris" more than once. As a result, assuming the + * julian date of the subsequent call fell within the same 20-year file as + * the initial call, there would be no need to reread the ephemeris file; + * this would save on i/o time. + * + * The outputs are the arrays "planet_r" and "planet_rprime", also declared + * as instance variables. + * + * Several key constants and variables follow. As noted, they are configured + * for DE405; however, they could be adjusted to use the DE200 ephemeris, + * whose format is quite similar. + */ +/* + * Chebyshev coefficients for the DE405 ephemeris are contained in the files + * "ascpxxxx.txt". These files are broken into intervals of length + * "interval_duration", in days. + */ +/* + * Each interval contains an interval number, length, start and end + * jultimes, and Chebyshev coefficients. We keep only the coefficients. + */ + +package jat.core.ephemeris; + +import jat.core.util.PathUtil; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.applet.Applet; +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.net.MalformedURLException; +import java.net.URL; + +public class DE405APL { + + // static final double au = 149597870.691; // Length of an A.U., in km + static double emrat = 81.30056; // Ratio of mass of Earth to mass of Moon + static int interval_duration = 32; // duration of interval section in + // ascpxxxx.txt files + static int numbers_per_interval = 816; + + /* + * For each planet (and the Moon makes 10, and the Sun makes 11), each + * interval contains several complete sets of coefficients, each covering a + * fraction of the interval duration + */ + static int number_of_coef_sets_1 = 4; + static int number_of_coef_sets_2 = 2; + static int number_of_coef_sets_3 = 2; + static int number_of_coef_sets_4 = 1; + static int number_of_coef_sets_5 = 1; + static int number_of_coef_sets_6 = 1; + static int number_of_coef_sets_7 = 1; + static int number_of_coef_sets_8 = 1; + static int number_of_coef_sets_9 = 1; + static int number_of_coef_sets_10 = 8; + static int number_of_coef_sets_11 = 2; + + /* + * Each planet (and the Moon makes 10, and the Sun makes 11) has a different + * number of Chebyshev coefficients used to calculate each component of + * position and velocity. + */ + static int number_of_coefs_1 = 14; + static int number_of_coefs_2 = 10; + static int number_of_coefs_3 = 13; + static int number_of_coefs_4 = 11; + static int number_of_coefs_5 = 8; + static int number_of_coefs_6 = 7; + static int number_of_coefs_7 = 6; + static int number_of_coefs_8 = 6; + static int number_of_coefs_9 = 6; + static int number_of_coefs_10 = 13; + static int number_of_coefs_11 = 11; + + /* DEFINE INSTANCE VARIABLES */ + + /* Define ephemeris dates and coefficients as instance variables */ + double[] ephemeris_coefficients = new double[187681]; + double[] ephemeris_dates = new double[3]; + + /* + * Define the positions and velocities of the major planets as instance + * variables. Note that the first subscript is the planet number, while the + * second subscript specifies x, y, or z component. + */ + double[][] planet_r = new double[12][4]; + double[][] planet_rprime = new double[12][4]; + public VectorN posICRF[] = new VectorN[12]; + public VectorN velICRF[] = new VectorN[12]; + + public PathUtil path; + String DE405_path; + + public DE405APL() { + + path = new PathUtil(); + DE405_path = path.DE405Path; + // System.out.println("[DE405APL 1 DE405_path] " + DE405_path); + } + + public DE405APL(Applet myApplet) { + + path = new PathUtil(myApplet); + DE405_path = path.DE405Path; + // System.out.println("[DE405APL 2 DE405_path] " + DE405_path); + } + + /** + * Procedure to calculate the position and velocity at jultime of the major + * planets. Note that the planets are enumerated as follows: Mercury = 1, + * Venus = 2, Earth-Moon barycenter = 3, Mars = 4, ... , Pluto = 9, + * Geocentric Moon = 10, Sun = 11. + * + * @param jultime + * @throws IOException + */ + protected void update_planetary_ephemeris(Time t) throws IOException { + + double jultime = t.jd_tt(); + //System.out.println("[DE405APL jultime]" + jultime); + int i = 0, j = 0; + double[] ephemeris_r = new double[4]; + double[] ephemeris_rprime = new double[4]; + + /* Get the ephemeris positions and velocities of each major planet */ + for (i = 1; i <= 11; i++) { + get_ephemeris_posvel(jultime, i, ephemeris_r, ephemeris_rprime); + for (j = 1; j <= 3; j++) { + planet_r[i][j] = ephemeris_r[j]; + planet_rprime[i][j] = ephemeris_rprime[j]; + } + + } + + /* + * The positions and velocities of the Earth and Moon are found + * indirectly. We already have the pos/vel of the Earth-Moon barycenter + * (i = 3). We have also calculated planet_r(10,j), a geocentric vector + * from the Earth to the Moon. Using the ratio of masses, we get vectors + * from the Earth-Moon barycenter to the Moon and to the Earth. + */ + for (j = 1; j <= 3; j++) { + planet_r[3][j] = planet_r[3][j] - planet_r[10][j] / (1 + emrat); + planet_r[10][j] = planet_r[3][j] + planet_r[10][j]; + planet_rprime[3][j] = planet_rprime[3][j] - planet_rprime[10][j] / (1 + emrat); + planet_rprime[10][j] = planet_rprime[3][j] + planet_rprime[10][j]; + } + + // in vector form + // Sun + posICRF[0] = new VectorN(0, 0, 0); + velICRF[0] = new VectorN(0, 0, 0); + double daysec = 3600. * 24.; + for (i = 1; i <= 11; i++) { + posICRF[i] = new VectorN(planet_r[i][1], planet_r[i][2], planet_r[i][3]); + velICRF[i] = new VectorN(planet_rprime[i][1] / daysec, planet_rprime[i][2] / daysec, planet_rprime[i][3] + / daysec); + } + + } + + /** + * Procedure to calculate the position and velocity of planet i, subject to + * the JPL DE405 ephemeris. The positions and velocities are calculated + * using Chebyshev polynomials, the coefficients of which are stored in the + * files "ascpxxxx.txt". The general idea is as follows: First, check to be + * sure the proper ephemeris coefficients (corresponding to jultime) are + * available. Then read the coefficients corresponding to jultime, and + * calculate the positions and velocities of the planet. + * + * @param jultime + * @param i + * @param ephemeris_r + * @param ephemeris_rprime + * @throws IOException + */ + private void get_ephemeris_posvel(double jultime, int i, double ephemeris_r[], double ephemeris_rprime[]) + throws IOException { + + int interval = 0, numbers_to_skip = 0, pointer = 0, j = 0, k = 0, subinterval = 0; + + double interval_start_time = 0, subinterval_duration = 0, chebyshev_time = 0; + + double[] position_poly = new double[20]; + double[][] coef = new double[4][20]; + double[] velocity_poly = new double[20]; + + int[] number_of_coef_sets = new int[12]; + int[] number_of_coefs = new int[12]; + + /* + * Initialize arrays + */ + number_of_coefs[1] = number_of_coefs_1; + number_of_coefs[2] = number_of_coefs_2; + number_of_coefs[3] = number_of_coefs_3; + number_of_coefs[4] = number_of_coefs_4; + number_of_coefs[5] = number_of_coefs_5; + number_of_coefs[6] = number_of_coefs_6; + number_of_coefs[7] = number_of_coefs_7; + number_of_coefs[8] = number_of_coefs_8; + number_of_coefs[9] = number_of_coefs_9; + number_of_coefs[10] = number_of_coefs_10; + number_of_coefs[11] = number_of_coefs_11; + number_of_coef_sets[1] = number_of_coef_sets_1; + number_of_coef_sets[2] = number_of_coef_sets_2; + number_of_coef_sets[3] = number_of_coef_sets_3; + number_of_coef_sets[4] = number_of_coef_sets_4; + number_of_coef_sets[5] = number_of_coef_sets_5; + number_of_coef_sets[6] = number_of_coef_sets_6; + number_of_coef_sets[7] = number_of_coef_sets_7; + number_of_coef_sets[8] = number_of_coef_sets_8; + number_of_coef_sets[9] = number_of_coef_sets_9; + number_of_coef_sets[10] = number_of_coef_sets_10; + number_of_coef_sets[11] = number_of_coef_sets_11; + + /* + * Begin by determining whether the current ephemeris coefficients are + * appropriate for jultime, or if we need to load a new set. + */ + if ((jultime < ephemeris_dates[1]) || (jultime > ephemeris_dates[2])) + get_ephemeris_coefficients(jultime); + + interval = (int) (Math.floor((jultime - ephemeris_dates[1]) / interval_duration) + 1); + interval_start_time = (interval - 1) * interval_duration + ephemeris_dates[1]; + subinterval_duration = interval_duration / number_of_coef_sets[i]; + subinterval = (int) (Math.floor((jultime - interval_start_time) / subinterval_duration) + 1); + numbers_to_skip = (interval - 1) * numbers_per_interval; + + /* + * Starting at the beginning of the coefficient array, skip the first + * "numbers_to_skip" coefficients. This puts the pointer on the first + * piece of data in the correct interval. + */ + pointer = numbers_to_skip + 1; + + /* Skip the coefficients for the first (i-1) planets */ + for (j = 1; j <= (i - 1); j++) + pointer = pointer + 3 * number_of_coef_sets[j] * number_of_coefs[j]; + + /* Skip the next (subinterval - 1)*3*number_of_coefs(i) coefficients */ + pointer = pointer + (subinterval - 1) * 3 * number_of_coefs[i]; + + for (j = 1; j <= 3; j++) { + for (k = 1; k <= number_of_coefs[i]; k++) { + /* Read the pointer'th coefficient as the array entry coef[j][k] */ + // System.out.println("[DE405APL j k pointer]" + j + " " + k + + // " " + pointer); + coef[j][k] = ephemeris_coefficients[pointer]; + pointer = pointer + 1; + } + } + + /* + * Calculate the chebyshev time within the subinterval, between -1 and + * +1 + */ + chebyshev_time = 2 * (jultime - ((subinterval - 1) * subinterval_duration + interval_start_time)) + / subinterval_duration - 1; + + /* Calculate the Chebyshev position polynomials */ + position_poly[1] = 1; + position_poly[2] = chebyshev_time; + for (j = 3; j <= number_of_coefs[i]; j++) + position_poly[j] = 2 * chebyshev_time * position_poly[j - 1] - position_poly[j - 2]; + + /* Calculate the position of the i'th planet at jultime */ + for (j = 1; j <= 3; j++) { + ephemeris_r[j] = 0; + for (k = 1; k <= number_of_coefs[i]; k++) + ephemeris_r[j] = ephemeris_r[j] + coef[j][k] * position_poly[k]; + + /* DON'T Convert from km to A.U. */ + // ephemeris_r[j] = ephemeris_r[j] / au; + } + + /* Calculate the Chebyshev velocity polynomials */ + velocity_poly[1] = 0; + velocity_poly[2] = 1; + velocity_poly[3] = 4 * chebyshev_time; + for (j = 4; j <= number_of_coefs[i]; j++) + velocity_poly[j] = 2 * chebyshev_time * velocity_poly[j - 1] + 2 * position_poly[j - 1] + - velocity_poly[j - 2]; + + /* Calculate the velocity of the i'th planet */ + for (j = 1; j <= 3; j++) { + ephemeris_rprime[j] = 0; + for (k = 1; k <= number_of_coefs[i]; k++) + ephemeris_rprime[j] = ephemeris_rprime[j] + coef[j][k] * velocity_poly[k]; + /* + * The next line accounts for differentiation of the iterative + * formula with respect to chebyshev time. Essentially, if dx/dt = + * (dx/dct) times (dct/dt), the next line includes the factor + * (dct/dt) so that the units are km/day + */ + ephemeris_rprime[j] = ephemeris_rprime[j] * (2.0 * number_of_coef_sets[i] / interval_duration); + + /* DON'T Convert from km to A.U. */ + // ephemeris_rprime[j] = ephemeris_rprime[j] / au; + + } + + } + + /** + * Procedure to read the DE405 ephemeris file corresponding to jultime. The + * start and end dates of the ephemeris file are returned, as are the + * Chebyshev coefficients for Mercury, Venus, Earth-Moon, Mars, Jupiter, + * Saturn, Uranus, Neptune, Pluto, Geocentric Moon, and Sun. + * + * @param jultime + * @throws IOException + * different method of reading a file that works with files read + * from the Internet + */ + + private void get_ephemeris_coefficients(double jultime) throws IOException { + + int mantissa1 = 0, mantissa2 = 0, exponent = 0, i = 0, records = 0, j = 0; + String fileName = null; + String line = " "; + + try { + + /* Select the proper ephemeris file */ + if ((jultime >= 2414992.5) && (jultime < 2422320.5)) { + ephemeris_dates[1] = 2414992.5; + ephemeris_dates[2] = 2422320.5; + fileName = DE405_path + "ascp1900.405"; + records = 230; + } else if ((jultime >= 2422320.5) && (jultime < 2429616.5)) { + ephemeris_dates[1] = 2422320.5; + ephemeris_dates[2] = 2429616.5; + fileName = DE405_path + "ascp1920.405"; + records = 229; + } else if ((jultime >= 2429616.5) && (jultime < 2436912.5)) { + ephemeris_dates[1] = 2429616.5; + ephemeris_dates[2] = 2436912.5; + fileName = DE405_path + "ascp1940.405"; + records = 229; + } else if ((jultime >= 2436912.5) && (jultime < 2444208.5)) { + ephemeris_dates[1] = 2436912.5; + ephemeris_dates[2] = 2444208.5; + fileName = DE405_path + "ascp1960.405"; + records = 229; + } else if ((jultime >= 2444208.5) && (jultime < 2451536.5)) { + ephemeris_dates[1] = 2444208.5; + ephemeris_dates[2] = 2451536.5; + fileName = DE405_path + "ascp1980.405"; + records = 230; + } else if ((jultime >= 2451536.5) && (jultime < 2458832.5)) { + ephemeris_dates[1] = 2451536.5; + ephemeris_dates[2] = 2458832.5; + fileName = DE405_path + "ascp2000.405"; + records = 229; + } else if ((jultime >= 2458832.5) && (jultime < 2466128.5)) { + ephemeris_dates[1] = 2458832.5; + ephemeris_dates[2] = 2466128.5; + fileName = DE405_path + "ascp2020.405"; + records = 229; + } else if ((jultime >= 2466128.5) && (jultime < 2473456.5)) { + ephemeris_dates[1] = 2466128.5; + ephemeris_dates[2] = 2473456.5; + fileName = DE405_path + "ascp2040.405"; + records = 230; + } else if ((jultime >= 2473456.5) && (jultime < 2480752.5)) { + ephemeris_dates[1] = 2473456.5; + ephemeris_dates[2] = 2480752.5; + fileName = DE405_path + "ascp2060.405"; + records = 229; + } else if ((jultime >= 2480752.5) && (jultime < 2488048.5)) { + ephemeris_dates[1] = 2480752.5; + ephemeris_dates[2] = 2488048.5; + fileName = DE405_path + "ascp2080.405"; + records = 229; + } else if ((jultime >= 2488048.5) && (jultime < 2495344.5)) { + ephemeris_dates[1] = 2488048.5; + ephemeris_dates[2] = 2495344.5; + fileName = DE405_path + "ascp2100.405"; + records = 229; + } else if ((jultime >= 2495344.5) && (jultime < 2502672.5)) { + ephemeris_dates[1] = 2495344.5; + ephemeris_dates[2] = 2502672.5; + fileName = DE405_path + "ascp2120.405"; + records = 230; + } else if ((jultime >= 2502672.5) && (jultime < 2509968.5)) { + ephemeris_dates[1] = 2502672.5; + ephemeris_dates[2] = 2509968.5; + fileName = DE405_path + "ascp2140.405"; + records = 229; + } else if ((jultime >= 2509968.5) && (jultime < 2517264.5)) { + ephemeris_dates[1] = 2509968.5; + ephemeris_dates[2] = 2517264.5; + fileName = DE405_path + "ascp2160.405"; + records = 229; + } else if ((jultime >= 2517264.5) && (jultime < 2524624.5)) { + ephemeris_dates[1] = 2517264.5; + ephemeris_dates[2] = 2524624.5; + fileName = DE405_path + "ascp2180.405"; + records = 230; + } + + // System.out.println("[DE405APL DE405_path] " + DE405_path); + // System.out.println("[DE405APL filename] " + filename); + + if (fileName == null) { + System.out.println("Time period unavailable"); + System.exit(0); + } + + try { + // Create a URL for the desired page + // If it is called from an applet, it starts with "file:" or + // "http:" + // If it's an application, we need to add "file:" so that + // BufferReader works + boolean application; + if (fileName.startsWith("file") || fileName.startsWith("http")) + application = false; + else + application = true; + if (application) + fileName = "file:" + fileName; + URL url = new URL(fileName); + // System.out.println("[DE405APL filename] " + fileName); + BufferedReader in = new BufferedReader(new InputStreamReader(url.openStream())); + + /* Read each record in the file */ + for (j = 1; j <= records; j++) { + + /* read line 1 and ignore */ + line = in.readLine(); + // System.out.println("[DE405APL line ] " + line); + + /* read lines 2 through 274 and parse as appropriate */ + for (i = 2; i <= 274; i++) { + line = in.readLine(); + if (i > 2) { + /* parse first entry */ + mantissa1 = Integer.parseInt(line.substring(4, 13)); + mantissa2 = Integer.parseInt(line.substring(13, 22)); + exponent = Integer.parseInt(line.substring(24, 26)); + if (line.substring(23, 24).equals("+")) + ephemeris_coefficients[(j - 1) * 816 + (3 * (i - 2) - 1)] = mantissa1 + * Math.pow(10, (exponent - 9)) + mantissa2 * Math.pow(10, (exponent - 18)); + else + ephemeris_coefficients[(j - 1) * 816 + (3 * (i - 2) - 1)] = mantissa1 + * Math.pow(10, -(exponent + 9)) + mantissa2 * Math.pow(10, -(exponent + 18)); + if (line.substring(1, 2).equals("-")) + ephemeris_coefficients[(j - 1) * 816 + (3 * (i - 2) - 1)] = -ephemeris_coefficients[(j - 1) + * 816 + (3 * (i - 2) - 1)]; + } + if (i > 2) { + /* parse second entry */ + mantissa1 = Integer.parseInt(line.substring(30, 39)); + mantissa2 = Integer.parseInt(line.substring(39, 48)); + exponent = Integer.parseInt(line.substring(50, 52)); + if (line.substring(49, 50).equals("+")) + ephemeris_coefficients[(j - 1) * 816 + 3 * (i - 2)] = mantissa1 + * Math.pow(10, (exponent - 9)) + mantissa2 * Math.pow(10, (exponent - 18)); + else + ephemeris_coefficients[(j - 1) * 816 + 3 * (i - 2)] = mantissa1 + * Math.pow(10, -(exponent + 9)) + mantissa2 * Math.pow(10, -(exponent + 18)); + if (line.substring(27, 28).equals("-")) + ephemeris_coefficients[(j - 1) * 816 + 3 * (i - 2)] = -ephemeris_coefficients[(j - 1) + * 816 + 3 * (i - 2)]; + } + if (i < 274) { + /* parse third entry */ + mantissa1 = Integer.parseInt(line.substring(56, 65)); + mantissa2 = Integer.parseInt(line.substring(65, 74)); + exponent = Integer.parseInt(line.substring(76, 78)); + if (line.substring(75, 76).equals("+")) + ephemeris_coefficients[(j - 1) * 816 + (3 * (i - 2) + 1)] = mantissa1 + * Math.pow(10, (exponent - 9)) + mantissa2 * Math.pow(10, (exponent - 18)); + else + ephemeris_coefficients[(j - 1) * 816 + (3 * (i - 2) + 1)] = mantissa1 + * Math.pow(10, -(exponent + 9)) + mantissa2 * Math.pow(10, -(exponent + 18)); + if (line.substring(53, 54).equals("-")) + ephemeris_coefficients[(j - 1) * 816 + (3 * (i - 2) + 1)] = -ephemeris_coefficients[(j - 1) + * 816 + (3 * (i - 2) + 1)]; + } + } + + /* read lines 275 through 341 and ignore */ + for (i = 275; i <= 341; i++) + line = in.readLine(); + + } + + in.close(); + } catch (MalformedURLException e) { + System.out.println("MalformedURLException"); + } catch (IOException e) { + } + + } catch (StringIndexOutOfBoundsException e) { + System.out.println("String index out of bounds at i = " + i); + } + + } + +} + +// public static void main(String args[]) { +// +// /* USER MUST SPECIFY jultime HERE. Example value is 2451545.0 */ +// double jultime = 2451545.0; +// +// int i = 0, j = 0; +// +// DE405APL testBody = new DE405APL(); +// +// /* +// * This is the call to "planetary_ephemeris", which will put planetary +// * positions into the array "planet_r", and planetary velocities into +// * the array "planet_rprime". +// */ +// try { +// testBody.planetary_ephemeris(jultime); +// } catch (IOException e) { +// System.out.println("exception caught in DE405APL main:"); +// e.printStackTrace(); +// } +// +// /* The following simply sends the output to the screen */ +// for (i = 1; i <= 11; i++) { +// +// System.out.println("Planet " + i); +// System.out.println(" position"); +// for (j = 1; j <= 3; j++) +// System.out.println(testBody.planet_r[i][j]); +// System.out.println(" velocity"); +// for (j = 1; j <= 3; j++) +// System.out.println(testBody.planet_rprime[i][j]); +// +// } +// +// } diff --git a/src/jat/core/ephemeris/DE405Body.java b/src/jat/core/ephemeris/DE405Body.java new file mode 100644 index 0000000..55d99c0 --- /dev/null +++ b/src/jat/core/ephemeris/DE405Body.java @@ -0,0 +1,47 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.ephemeris; + +import java.util.EnumSet; + +public class DE405Body { + + public enum body { + SUN, MERCURY, VENUS, EARTH, MARS, JUPITER, SATURN, URANUS, NEPTUNE, PLUTO, MOON; + static final int amount = EnumSet.allOf(body.class).size(); + private static body[] val = new body[amount]; + static { + for (body q : EnumSet.allOf(body.class)) { + val[q.ordinal()] = q; + } + } + + public static body fromInt(int i) { + return val[i]; + } + + public body next() { + return fromInt((ordinal() + 1) % amount); + } + public static String[] name = { "===", "Mercury", "Venus", "Earth", "Mars", "Jupiter", "Saturn", "Uranus", + "Neptune", "Pluto", "Moon" }; + + }; + + +} diff --git a/src/jat/core/ephemeris/DE405Frame.java b/src/jat/core/ephemeris/DE405Frame.java new file mode 100644 index 0000000..156b853 --- /dev/null +++ b/src/jat/core/ephemeris/DE405Frame.java @@ -0,0 +1,86 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.ephemeris; + +import java.util.EnumSet; + + +/** + * @author Tobias Berthold + * + * + * ECEF + * + * Earth-Centered Earth-Fixed + * + * ECI + * + * Earth-Centered Inertial + * + * ICRF + * + * International Celestial Reference Frame + * + * HEEQ - Heliocentric Earth equatorial + * + * This system has its Z axis parallel to the Sun's rotation axis (positive to + * the North) and its X axis towards the intersection of the solar equator and + * the solar central meridian as seen from the Earth. This system is sometimes + * known as heliocentric solar (HS). + * + * HEE - Heliocentric Earth ecliptic + * + * This system has its X axis towards the Earth and its Z axis perpendicular to + * the plane of the Earth's orbit around the Sun (positive North). This system + * is fixed with respect to the Earth-Sun line. + * + * HAE - Heliocentric Aries ecliptic + * + * This system has its Z axis perpendicular to the plane of the Earth's orbit + * around the Sun (positive North) and its X axis towards the First Point of + * Aries (the direction in space defined by the intersection between the Earth's + * equatorial plane and the plane of its orbit around the Sun (the plane of the + * ecliptic). This system is (to first order) fixed with respect to the distant + * stars. It is subject to slow change owing to the various slow motions of the + * Earth's rotation axis with respect to the fixed stars. + + * MEOP - Moon Earth Orbit Plane + * + */ +public class DE405Frame { + + public enum frame { + J2000, ICRF, GCRF,ECEF, ECI, HEEQ, HEE, HAE, MEOP; + private static final int amount = EnumSet.allOf(frame.class).size(); + private static frame[] val = new frame[amount]; + static { + for (frame q : EnumSet.allOf(frame.class)) { + val[q.ordinal()] = q; + } + } + + public static frame fromInt(int i) { + return val[i]; + } + + public static String[] name = { "J2000","ICRF", "GCRF","ECEF", "ECI", "HEEQ", "HEE", "HAE","MEOP" }; + + } + + +} diff --git a/src/jat/core/ephemeris/DE405Plus.java b/src/jat/core/ephemeris/DE405Plus.java new file mode 100644 index 0000000..c9be3cd --- /dev/null +++ b/src/jat/core/ephemeris/DE405Plus.java @@ -0,0 +1,366 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.ephemeris; + +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.spacetime.ReferenceFrame; +import jat.core.spacetime.TimeAPL; +import jat.core.units.unitCheck; +import jat.core.units.unitModel; +import jat.core.units.unitSet; +import jat.core.units.unitSet.distanceUnit; +import jat.core.units.unitSet.massUnit; +import jat.core.units.unitSet.timeUnit; +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.io.IOException; +import java.util.ArrayList; +import java.util.EnumSet; + +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.sampling.StepHandler; +import org.apache.commons.math3.ode.sampling.StepInterpolator; + +/** + * The DE405 Ephemeris data files from JPL are given in the ICRF frame. This + * class allows to choose the frame for which position and velocity are + * calculated (See DE405Frame.java) + * + */ +public class DE405Plus extends DE405APL implements FirstOrderDifferentialEquations, unitModel { + + public frame ephFrame; + public boolean bodyGravOnOff[] = new boolean[DE405Body.body.amount]; + public VectorN[] posUserFrame = new VectorN[11]; + public VectorN[] velUserFrame = new VectorN[11]; + SolarSystemBodies sb; + public TimeAPL integrationStartTime; + public ArrayList time = new ArrayList(); + public ArrayList xsol = new ArrayList(); + public ArrayList ysol = new ArrayList(); + public ArrayList zsol = new ArrayList(); + jatMessages messages; + public boolean printSteps = false; + public boolean printBodyPos = false; + unitSet uS = new unitSet("DE405Plus", distanceUnit.km, timeUnit.sec, massUnit.kg); + public VectorN EarthMoonPlaneNormal; + public VectorN rotationAxis; + + public DE405Plus() { + super(); + ephFrame = frame.ICRF; + sb = new SolarSystemBodies(); + } + + public DE405Plus(PathUtil path, jatMessages messages) { + this.path = path; + DE405_path = path.DE405Path; + if (messages != null) + messages.addln("[DE405Plus path] " + DE405_path); + ephFrame = frame.ICRF; + sb = new SolarSystemBodies(); + } + + public DE405Plus(PathUtil path) { + this.path = path; + DE405_path = path.DE405Path; + ephFrame = frame.ICRF; + sb = new SolarSystemBodies(); + } + + public void setFrame(frame ephFrame) { + this.ephFrame = ephFrame; + } + + /** + * The plane of the moon's orbit around the earth changes over time. Choose + * one for your simulation. + * + * @param t + * Time + * @throws IOException + */ + public void setEarthMoonPlaneNormal(TimeAPL t) throws IOException { + + int MOON = body.MOON.ordinal(); + int EARTH = body.EARTH.ordinal(); + + update_planetary_ephemeris(t); + + VectorN MoonPos = posICRF[MOON].minus(posICRF[EARTH]); + VectorN MoonVel = velICRF[MOON].minus(velICRF[EARTH]); + MoonPos.unitize(); + MoonVel.unitize(); + //MoonPos.print("[DE405Plus pos unit] " + body.name[MOON]); + //MoonVel.print("[DE405Plus vel unit] " + body.name[MOON]); + + EarthMoonPlaneNormal=MoonPos.crossProduct(MoonVel); + + VectorN zAxis=new VectorN(0,0,1); + rotationAxis=EarthMoonPlaneNormal.crossProduct(zAxis); + //rotationAxis.print("[DE405Plus rotation axis] "); + } + + /** + * See setIntegrationStartTime + * + * @return User integration start time + */ + public TimeAPL getIntegrationStartTime() { + return integrationStartTime; + } + + /** + * The integrator starts with time 0 for numerical reasons. The user may + * start with the launch date given in any epoch + * + * @param integrationStartTime + */ + public void setIntegrationStartTime(TimeAPL integrationStartTime) { + this.integrationStartTime = integrationStartTime; + } + + /** + * Clear data for next integration + */ + public void reset() { + time.clear(); + xsol.clear(); + ysol.clear(); + zsol.clear(); + } + + public void computeDerivatives(double t, double[] yval, double[] yDot) { + double mu_body; + double xBody = 0, yBody = 0, zBody = 0; // xyz coords of body i in frame + double x, y, z; // x, y, z distance from spacecraft to body i + double x2, y2, z2; // squares of distances x, y, z spacecraft to body + double r_sc_body, r_sc_body3; // distance from spacecraft to body i + VectorN bodyPos; + TimeAPL EphTime; + + EphTime = integrationStartTime.plus(t); + // integrationStartTime.println(); + // EphTime.println(); + yDot[0] = yval[3]; + yDot[1] = yval[4]; + yDot[2] = yval[5]; + yDot[3] = 0; + yDot[4] = 0; + yDot[5] = 0; + + try { + + for (body b : body.values()) { + if (bodyGravOnOff[b.ordinal()])// if (b.ordinal() == 0) + { + mu_body = sb.Bodies[b.ordinal()].mu; + bodyPos = get_planet_pos(b, EphTime); + // bodyPos.print("[DE405Plus] position of " + b.ordinal()); + xBody = bodyPos.x[0]; + yBody = bodyPos.x[1]; + zBody = bodyPos.x[2]; + x = yval[0] - xBody; + x2 = x * x; + y = yval[1] - yBody; + y2 = y * y; + z = yval[2] - zBody; + z2 = z * z; + r_sc_body = Math.sqrt(x2 + y2 + z2); + r_sc_body3 = r_sc_body * r_sc_body * r_sc_body; + yDot[3] += -mu_body * x / r_sc_body3; + yDot[4] += -mu_body * y / r_sc_body3; + yDot[5] += -mu_body * z / r_sc_body3; + if (printBodyPos) { + String nf = "%16.3f "; + String format = "%8s " + nf + nf + nf + nf + nf; + System.out.printf(format, b.name[b.ordinal()], mu_body, xBody, yBody, zBody, bodyPos.mag()); + System.out.println(); + } + } + } + + } catch (IOException e) { + e.printStackTrace(); + } + + } + + public int getDimension() { + return 6; + } + + public StepHandler stepHandler = new StepHandler() { + public void init(double t0, double[] y0, double t) { + } + + public void handleStep(StepInterpolator interpolator, boolean isLast) { + double t = interpolator.getCurrentTime(); + double[] y = interpolator.getInterpolatedState(); + if (printSteps) { + String nf = "%14.3f "; + String format = nf + nf + nf + nf + nf + nf + nf + nf; + System.out.printf(format, t, y[0], y[1], y[2], y[3], y[4], y[5], energy(t, y)); + System.out.println(); + } + time.add(t); + xsol.add(y[0]); + ysol.add(y[1]); + zsol.add(y[2]); + } + }; + + public double energy(double t, double[] yval) { + double mu_body; + double xBody = 0, yBody = 0, zBody = 0; // xyz coords of body i in frame + double x, y, z; // x, y, z distance from spacecraft to body i + double x2, y2, z2; // squares of distances x, y, z spacecraft to body + double vx, vy, vz, v2; // velocities x, y, z of spacecraft, square + double r_sc_body; // distance from spacecraft to body i + VectorN bodyPos; + TimeAPL EphTime; + double potential = 0; + + EphTime = integrationStartTime.plus(t); + vx = yval[3]; + vy = yval[4]; + vz = yval[5]; + v2 = vx * vx + vy * vy + vz + vz; + try { + for (body b : body.values()) { + if (bodyGravOnOff[b.ordinal()]) { + // System.out.println(b.name[b.ordinal()]); + mu_body = sb.Bodies[b.ordinal()].mu; + bodyPos = get_planet_pos(b, EphTime); + // bodyPos.print("pos" + b.ordinal()); + xBody = bodyPos.x[0]; + yBody = bodyPos.x[1]; + zBody = bodyPos.x[2]; + x = yval[0] - xBody; + x2 = x * x; + y = yval[1] - yBody; + y2 = y * y; + z = yval[2] - zBody; + z2 = z * z; + r_sc_body = Math.sqrt(x2 + y2 + z2); + // System.out.println(r_sc_body); + potential += -mu_body / r_sc_body; + // System.out.println(potential); + } + } + + } catch (IOException e) { + e.printStackTrace(); + } + return v2 / 2. + potential; + // return v2; + + } + + public void update_posvel_and_frame(Time t) throws IOException { + + update_planetary_ephemeris(t); + + // Default frame is ICRF + for (body q : EnumSet.allOf(body.class)) { + int bodyNumber = q.ordinal(); + posUserFrame[bodyNumber] = posICRF[bodyNumber]; + velUserFrame[bodyNumber] = velICRF[bodyNumber]; + // System.out.println("[DE405Plus bodyNumber]" + bodyNumber); + } + + // transform pos and vel to desired reference frame + switch (ephFrame) { + case ICRF: + break; + case HEE: + ReferenceFrame.ICRFtoHEE(this); + break; + case ECI: + ReferenceFrame.ICRFtoECI(this); + break; + case MEOP: + ReferenceFrame.ICRFtoMEOP(this); + break; + default: + // posUserFrame[bodyNumber] = posICRF[bodyNumber]; + // velUserFrame[bodyNumber] = velICRF[bodyNumber]; + break; + } + + } + + public VectorN get_planet_posvel(body bodyEnum, Time t) throws IOException { + update_posvel_and_frame(t); + + VectorN posvel = new VectorN(6); + + posvel.x[0] = posUserFrame[bodyEnum.ordinal()].x[0]; + posvel.x[1] = posUserFrame[bodyEnum.ordinal()].x[1]; + posvel.x[2] = posUserFrame[bodyEnum.ordinal()].x[2]; + posvel.x[3] = velUserFrame[bodyEnum.ordinal()].x[0]; + posvel.x[4] = velUserFrame[bodyEnum.ordinal()].x[1]; + posvel.x[5] = velUserFrame[bodyEnum.ordinal()].x[2]; + + return posvel; + } + + public VectorN get_planet_pos(body bodyEnum, Time t) throws IOException { + + update_posvel_and_frame(t); + + return posUserFrame[bodyEnum.ordinal()]; + + } + + public VectorN get_planet_vel(body bodyEnum, Time t) throws IOException { + + update_posvel_and_frame(t); + + return velUserFrame[bodyEnum.ordinal()]; + + } + + public void setUnits(unitSet u) { + // TODO Auto-generated method stub + + } + + @Override + public unitSet getUnits() { + return uS; + } + + @Override + public void setUnitsMaster(unitCheck uc) { + // TODO Auto-generated method stub + + } + + @Override + public void addUnitsUser(unitSet u) { + // TODO Auto-generated method stub + + } + +} diff --git a/src/jat/core/ephemeris/EphemerisPlotData.java b/src/jat/core/ephemeris/EphemerisPlotData.java new file mode 100644 index 0000000..ad467fc --- /dev/null +++ b/src/jat/core/ephemeris/EphemerisPlotData.java @@ -0,0 +1,73 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.ephemeris; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.spacetime.TimeAPL; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.awt.Color; +import java.io.IOException; + +/** + * @author Tobias Berthold + * + */ +public class EphemerisPlotData { + float size; + DE405Plus myEph; + body body; + double jd; + int steps; + int seconds; + Color Color = java.awt.Color.GRAY; + TimeAPL startTime; + public double[][] XYZ; + + public EphemerisPlotData(DE405Plus myEph, body body, TimeAPL startTime, double seconds, int steps) { + this.myEph = myEph; + this.body = body; + this.startTime = startTime; + this.seconds = (int) seconds; + this.steps = steps; + draw(); + } + + private void draw() { + XYZ = new double[steps][3]; + VectorN r; + TimeAPL time = new TimeAPL(startTime.mjd_utc()); + double step = seconds / steps; + try { + for (int k = 0; k < steps; k++) { + + r = new VectorN(myEph.get_planet_pos(body, time)); + // double x, y, z; + XYZ[k][0] = r.get(0); + XYZ[k][1] = r.get(1); + XYZ[k][2] = r.get(2); + + time.step_seconds(step); + // time.println(); + } + } catch (IOException e) { + e.printStackTrace(); + } + } + +} diff --git a/src/jat/core/ephemeris/package.html b/src/jat/core/ephemeris/package.html new file mode 100644 index 0000000..df0c883 --- /dev/null +++ b/src/jat/core/ephemeris/package.html @@ -0,0 +1,2 @@ + +Read JPL DE405 Ephemerides and compute planet positions and velocities \ No newline at end of file diff --git a/src/jat/core/math/MathUtilsAPL.java b/src/jat/core/math/MathUtilsAPL.java new file mode 100644 index 0000000..887f71a --- /dev/null +++ b/src/jat/core/math/MathUtilsAPL.java @@ -0,0 +1,57 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.math; + +public class MathUtilsAPL { + + final static double factor1 = Math.PI / 180.; + final static double factor2 = 180. / Math.PI; + + public static double Radians(double Degrees) { + return Degrees * factor1; + } + + public static double Degrees(double Radians) { + return Radians * factor2; + } + + /** + * Machine precision for float. + */ + public final static float MACHEPS = 1.1920929E-7f; + + public static void calculateMachineEpsilonFloat() { + float machEps = 1.0f; + + do { + machEps /= 2.0f; + } while ((float) (1.0 + (machEps / 2.0)) != 1.0); + + System.out.println("Calculated machine epsilon (float): " + machEps); + } + + public static void main(String[] args) { + + System.out.println("2 PI radians = "+Degrees(2*Math.PI)+" Degrees"); + System.out.println("180 Degrees = "+Radians(180.)+" Radians"); + + calculateMachineEpsilonFloat(); + + } + + +} diff --git a/src/jat/core/math/MatrixVector/ChangeLog b/src/jat/core/math/MatrixVector/ChangeLog new file mode 100644 index 0000000..dbbc995 --- /dev/null +++ b/src/jat/core/math/MatrixVector/ChangeLog @@ -0,0 +1,34 @@ +2005-07-13 Bruce Miller + * Version 1.0.2 Released. + +2005-07-12 Bruce Miller + * Although SVD sometimes fails on cases m < n, + the test code, apparently successfully, invokes + SVD to compute rank on an m + * Version 1.0.1 Released. + +2000-09-11 Bruce Miller + * Jama.Matrix print methods which create a NumberFormat, now set its + Locale to US so that the reader will recognize them even when the + default locale is not US. Similar change to Jama.test.TestMatrix. + (Thanks Ulrich Eberhardinger ) + +1998-08-05 The Jama Team + * Initial Version released (1.0.0) + diff --git a/src/jat/core/math/MatrixVector/CholeskyDecomposition.java b/src/jat/core/math/MatrixVector/CholeskyDecomposition.java new file mode 100644 index 0000000..980d588 --- /dev/null +++ b/src/jat/core/math/MatrixVector/CholeskyDecomposition.java @@ -0,0 +1,204 @@ +package jat.core.math.MatrixVector; + + /** Cholesky Decomposition. +

+ For a symmetric, positive definite matrix A, the Cholesky decomposition + is an lower triangular matrix L so that A = L*L'. +

+ If the matrix is not symmetric or positive definite, the constructor + returns a partial decomposition and sets an internal flag that may + be queried by the isSPD() method. + */ + +public class CholeskyDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = 509703549500585374L; + +/** Array for internal storage of decomposition. + @serial internal array storage. + */ + private double[][] L; + + /** Row and column dimension (square matrix). + @serial matrix dimension. + */ + private int n; + + /** Symmetric and positive definite flag. + @serial is symmetric and positive definite flag. + */ + private boolean isspd; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Cholesky algorithm for symmetric and positive definite matrix. + @param A Square, symmetric matrix. + @return Structure to access L and isspd flag. + */ + + public CholeskyDecomposition (Matrix Arg) { + + + // Initialize. + double[][] A = Arg.getArray(); + n = Arg.getRowDimension(); + L = new double[n][n]; + isspd = (Arg.getColumnDimension() == n); + // Main loop. + for (int j = 0; j < n; j++) { + double[] Lrowj = L[j]; + double d = 0.0; + for (int k = 0; k < j; k++) { + double[] Lrowk = L[k]; + double s = 0.0; + for (int i = 0; i < k; i++) { + s += Lrowk[i]*Lrowj[i]; + } + Lrowj[k] = s = (A[j][k] - s)/L[k][k]; + d = d + s*s; + isspd = isspd & (A[k][j] == A[j][k]); + } + d = A[j][j] - d; + isspd = isspd & (d > 0.0); + L[j][j] = Math.sqrt(Math.max(d,0.0)); + for (int k = j+1; k < n; k++) { + L[j][k] = 0.0; + } + } + } + +/* ------------------------ + Temporary, experimental code. + * ------------------------ *\ + + \** Right Triangular Cholesky Decomposition. +

+ For a symmetric, positive definite matrix A, the Right Cholesky + decomposition is an upper triangular matrix R so that A = R'*R. + This constructor computes R with the Fortran inspired column oriented + algorithm used in LINPACK and MATLAB. In Java, we suspect a row oriented, + lower triangular decomposition is faster. We have temporarily included + this constructor here until timing experiments confirm this suspicion. + *\ + + \** Array for internal storage of right triangular decomposition. **\ + private transient double[][] R; + + \** Cholesky algorithm for symmetric and positive definite matrix. + @param A Square, symmetric matrix. + @param rightflag Actual value ignored. + @return Structure to access R and isspd flag. + *\ + + public CholeskyDecomposition (Matrix Arg, int rightflag) { + // Initialize. + double[][] A = Arg.getArray(); + n = Arg.getColumnDimension(); + R = new double[n][n]; + isspd = (Arg.getColumnDimension() == n); + // Main loop. + for (int j = 0; j < n; j++) { + double d = 0.0; + for (int k = 0; k < j; k++) { + double s = A[k][j]; + for (int i = 0; i < k; i++) { + s = s - R[i][k]*R[i][j]; + } + R[k][j] = s = s/R[k][k]; + d = d + s*s; + isspd = isspd & (A[k][j] == A[j][k]); + } + d = A[j][j] - d; + isspd = isspd & (d > 0.0); + R[j][j] = Math.sqrt(Math.max(d,0.0)); + for (int k = j+1; k < n; k++) { + R[k][j] = 0.0; + } + } + } + + \** Return upper triangular factor. + @return R + *\ + + public Matrix getR () { + return new Matrix(R,n,n); + } + +\* ------------------------ + End of temporary code. + * ------------------------ */ + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Is the matrix symmetric and positive definite? + @return true if A is symmetric and positive definite. + */ + + public boolean isSPD () { + return isspd; + } + + /** Return triangular factor. + @return L + */ + + public Matrix getL () { + return new Matrix(L,n,n); + } + + /** Solve A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X so that L*L'*X = B + @exception IllegalArgumentException Matrix row dimensions must agree. + @exception RuntimeException Matrix is not symmetric positive definite. + */ + + public Matrix solve (Matrix B) { + if (B.getRowDimension() != n) { + throw new IllegalArgumentException("Matrix row dimensions must agree."); + } + if (!isspd) { + throw new RuntimeException("Matrix is not symmetric positive definite."); + } + + // Copy right hand side. + double[][] X = B.getArrayCopy(); + int nx = B.getColumnDimension(); + + // Solve L*Y = B; + for (int k = 0; k < n; k++) { + for (int j = 0; j < nx; j++) { + for (int i = 0; i < k ; i++) { + X[k][j] -= X[i][j]*L[k][i]; + } + X[k][j] /= L[k][k]; + } + } + + // Solve L'*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + for (int i = k+1; i < n ; i++) { + X[k][j] -= X[i][j]*L[i][k]; + } + X[k][j] /= L[k][k]; + } + } + + + return new Matrix(X,n,nx); + } +} + diff --git a/src/jat/core/math/MatrixVector/EigenvalueDecomposition.java b/src/jat/core/math/MatrixVector/EigenvalueDecomposition.java new file mode 100644 index 0000000..c337a0f --- /dev/null +++ b/src/jat/core/math/MatrixVector/EigenvalueDecomposition.java @@ -0,0 +1,961 @@ +package jat.core.math.MatrixVector; + +import jat.core.math.MatrixVector.util.Maths; + +/** Eigenvalues and eigenvectors of a real matrix. +

+ If A is symmetric, then A = V*D*V' where the eigenvalue matrix D is + diagonal and the eigenvector matrix V is orthogonal. + I.e. A = V.times(D.times(V.transpose())) and + V.times(V.transpose()) equals the identity matrix. +

+ If A is not symmetric, then the eigenvalue matrix D is block diagonal + with the real eigenvalues in 1-by-1 blocks and any complex eigenvalues, + lambda + i*mu, in 2-by-2 blocks, [lambda, mu; -mu, lambda]. The + columns of V represent the eigenvectors in the sense that A*V = V*D, + i.e. A.times(V) equals V.times(D). The matrix V may be badly + conditioned, or even singular, so the validity of the equation + A = V*D*inverse(V) depends upon V.cond(). +**/ + +public class EigenvalueDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = 3367825708225016637L; + +/** Row and column dimension (square matrix). + @serial matrix dimension. + */ + private int n; + + /** Symmetry flag. + @serial internal symmetry flag. + */ + private boolean issymmetric; + + /** Arrays for internal storage of eigenvalues. + @serial internal storage of eigenvalues. + */ + private double[] d, e; + + /** Array for internal storage of eigenvectors. + @serial internal storage of eigenvectors. + */ + private double[][] V; + + /** Array for internal storage of nonsymmetric Hessenberg form. + @serial internal storage of nonsymmetric Hessenberg form. + */ + private double[][] H; + + /** Working storage for nonsymmetric algorithm. + @serial working storage for nonsymmetric algorithm. + */ + private double[] ort; + +/* ------------------------ + Private Methods + * ------------------------ */ + + // Symmetric Householder reduction to tridiagonal form. + + private void tred2 () { + + // This is derived from the Algol procedures tred2 by + // Bowdler, Martin, Reinsch, and Wilkinson, Handbook for + // Auto. Comp., Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + for (int j = 0; j < n; j++) { + d[j] = V[n-1][j]; + } + + // Householder reduction to tridiagonal form. + + for (int i = n-1; i > 0; i--) { + + // Scale to avoid under/overflow. + + double scale = 0.0; + double h = 0.0; + for (int k = 0; k < i; k++) { + scale = scale + Math.abs(d[k]); + } + if (scale == 0.0) { + e[i] = d[i-1]; + for (int j = 0; j < i; j++) { + d[j] = V[i-1][j]; + V[i][j] = 0.0; + V[j][i] = 0.0; + } + } else { + + // Generate Householder vector. + + for (int k = 0; k < i; k++) { + d[k] /= scale; + h += d[k] * d[k]; + } + double f = d[i-1]; + double g = Math.sqrt(h); + if (f > 0) { + g = -g; + } + e[i] = scale * g; + h = h - f * g; + d[i-1] = f - g; + for (int j = 0; j < i; j++) { + e[j] = 0.0; + } + + // Apply similarity transformation to remaining columns. + + for (int j = 0; j < i; j++) { + f = d[j]; + V[j][i] = f; + g = e[j] + V[j][j] * f; + for (int k = j+1; k <= i-1; k++) { + g += V[k][j] * d[k]; + e[k] += V[k][j] * f; + } + e[j] = g; + } + f = 0.0; + for (int j = 0; j < i; j++) { + e[j] /= h; + f += e[j] * d[j]; + } + double hh = f / (h + h); + for (int j = 0; j < i; j++) { + e[j] -= hh * d[j]; + } + for (int j = 0; j < i; j++) { + f = d[j]; + g = e[j]; + for (int k = j; k <= i-1; k++) { + V[k][j] -= (f * e[k] + g * d[k]); + } + d[j] = V[i-1][j]; + V[i][j] = 0.0; + } + } + d[i] = h; + } + + // Accumulate transformations. + + for (int i = 0; i < n-1; i++) { + V[n-1][i] = V[i][i]; + V[i][i] = 1.0; + double h = d[i+1]; + if (h != 0.0) { + for (int k = 0; k <= i; k++) { + d[k] = V[k][i+1] / h; + } + for (int j = 0; j <= i; j++) { + double g = 0.0; + for (int k = 0; k <= i; k++) { + g += V[k][i+1] * V[k][j]; + } + for (int k = 0; k <= i; k++) { + V[k][j] -= g * d[k]; + } + } + } + for (int k = 0; k <= i; k++) { + V[k][i+1] = 0.0; + } + } + for (int j = 0; j < n; j++) { + d[j] = V[n-1][j]; + V[n-1][j] = 0.0; + } + V[n-1][n-1] = 1.0; + e[0] = 0.0; + } + + // Symmetric tridiagonal QL algorithm. + + private void tql2 () { + + // This is derived from the Algol procedures tql2, by + // Bowdler, Martin, Reinsch, and Wilkinson, Handbook for + // Auto. Comp., Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + for (int i = 1; i < n; i++) { + e[i-1] = e[i]; + } + e[n-1] = 0.0; + + double f = 0.0; + double tst1 = 0.0; + double eps = Math.pow(2.0,-52.0); + for (int l = 0; l < n; l++) { + + // Find small subdiagonal element + + tst1 = Math.max(tst1,Math.abs(d[l]) + Math.abs(e[l])); + int m = l; + while (m < n) { + if (Math.abs(e[m]) <= eps*tst1) { + break; + } + m++; + } + + // If m == l, d[l] is an eigenvalue, + // otherwise, iterate. + + if (m > l) { + int iter = 0; + do { + iter = iter + 1; // (Could check iteration count here.) + + // Compute implicit shift + + double g = d[l]; + double p = (d[l+1] - g) / (2.0 * e[l]); + double r = Maths.hypot(p,1.0); + if (p < 0) { + r = -r; + } + d[l] = e[l] / (p + r); + d[l+1] = e[l] * (p + r); + double dl1 = d[l+1]; + double h = g - d[l]; + for (int i = l+2; i < n; i++) { + d[i] -= h; + } + f = f + h; + + // Implicit QL transformation. + + p = d[m]; + double c = 1.0; + double c2 = c; + double c3 = c; + double el1 = e[l+1]; + double s = 0.0; + double s2 = 0.0; + for (int i = m-1; i >= l; i--) { + c3 = c2; + c2 = c; + s2 = s; + g = c * e[i]; + h = c * p; + r = Maths.hypot(p,e[i]); + e[i+1] = s * r; + s = e[i] / r; + c = p / r; + p = c * d[i] - s * g; + d[i+1] = h + s * (c * g + s * d[i]); + + // Accumulate transformation. + + for (int k = 0; k < n; k++) { + h = V[k][i+1]; + V[k][i+1] = s * V[k][i] + c * h; + V[k][i] = c * V[k][i] - s * h; + } + } + p = -s * s2 * c3 * el1 * e[l] / dl1; + e[l] = s * p; + d[l] = c * p; + + // Check for convergence. + + } while (Math.abs(e[l]) > eps*tst1); + } + d[l] = d[l] + f; + e[l] = 0.0; + } + + // Sort eigenvalues and corresponding vectors. + + for (int i = 0; i < n-1; i++) { + int k = i; + double p = d[i]; + for (int j = i+1; j < n; j++) { + if (d[j] < p) { + k = j; + p = d[j]; + } + } + if (k != i) { + d[k] = d[i]; + d[i] = p; + for (int j = 0; j < n; j++) { + p = V[j][i]; + V[j][i] = V[j][k]; + V[j][k] = p; + } + } + } + } + + // Nonsymmetric reduction to Hessenberg form. + + private void orthes () { + + // This is derived from the Algol procedures orthes and ortran, + // by Martin and Wilkinson, Handbook for Auto. Comp., + // Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutines in EISPACK. + + int low = 0; + int high = n-1; + + for (int m = low+1; m <= high-1; m++) { + + // Scale column. + + double scale = 0.0; + for (int i = m; i <= high; i++) { + scale = scale + Math.abs(H[i][m-1]); + } + if (scale != 0.0) { + + // Compute Householder transformation. + + double h = 0.0; + for (int i = high; i >= m; i--) { + ort[i] = H[i][m-1]/scale; + h += ort[i] * ort[i]; + } + double g = Math.sqrt(h); + if (ort[m] > 0) { + g = -g; + } + h = h - ort[m] * g; + ort[m] = ort[m] - g; + + // Apply Householder similarity transformation + // H = (I-u*u'/h)*H*(I-u*u')/h) + + for (int j = m; j < n; j++) { + double f = 0.0; + for (int i = high; i >= m; i--) { + f += ort[i]*H[i][j]; + } + f = f/h; + for (int i = m; i <= high; i++) { + H[i][j] -= f*ort[i]; + } + } + + for (int i = 0; i <= high; i++) { + double f = 0.0; + for (int j = high; j >= m; j--) { + f += ort[j]*H[i][j]; + } + f = f/h; + for (int j = m; j <= high; j++) { + H[i][j] -= f*ort[j]; + } + } + ort[m] = scale*ort[m]; + H[m][m-1] = scale*g; + } + } + + // Accumulate transformations (Algol's ortran). + + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + V[i][j] = (i == j ? 1.0 : 0.0); + } + } + + for (int m = high-1; m >= low+1; m--) { + if (H[m][m-1] != 0.0) { + for (int i = m+1; i <= high; i++) { + ort[i] = H[i][m-1]; + } + for (int j = m; j <= high; j++) { + double g = 0.0; + for (int i = m; i <= high; i++) { + g += ort[i] * V[i][j]; + } + // Double division avoids possible underflow + g = (g / ort[m]) / H[m][m-1]; + for (int i = m; i <= high; i++) { + V[i][j] += g * ort[i]; + } + } + } + } + } + + + // Complex scalar division. + + private transient double cdivr, cdivi; + private void cdiv(double xr, double xi, double yr, double yi) { + double r,d; + if (Math.abs(yr) > Math.abs(yi)) { + r = yi/yr; + d = yr + r*yi; + cdivr = (xr + r*xi)/d; + cdivi = (xi - r*xr)/d; + } else { + r = yr/yi; + d = yi + r*yr; + cdivr = (r*xr + xi)/d; + cdivi = (r*xi - xr)/d; + } + } + + + // Nonsymmetric reduction from Hessenberg to real Schur form. + + private void hqr2 () { + + // This is derived from the Algol procedure hqr2, + // by Martin and Wilkinson, Handbook for Auto. Comp., + // Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + // Initialize + + int nn = this.n; + int n = nn-1; + int low = 0; + int high = nn-1; + double eps = Math.pow(2.0,-52.0); + double exshift = 0.0; + double p=0,q=0,r=0,s=0,z=0,t,w,x,y; + + // Store roots isolated by balanc and compute matrix norm + + double norm = 0.0; + for (int i = 0; i < nn; i++) { + if (i < low | i > high) { + d[i] = H[i][i]; + e[i] = 0.0; + } + for (int j = Math.max(i-1,0); j < nn; j++) { + norm = norm + Math.abs(H[i][j]); + } + } + + // Outer loop over eigenvalue index + + int iter = 0; + while (n >= low) { + + // Look for single small sub-diagonal element + + int l = n; + while (l > low) { + s = Math.abs(H[l-1][l-1]) + Math.abs(H[l][l]); + if (s == 0.0) { + s = norm; + } + if (Math.abs(H[l][l-1]) < eps * s) { + break; + } + l--; + } + + // Check for convergence + // One root found + + if (l == n) { + H[n][n] = H[n][n] + exshift; + d[n] = H[n][n]; + e[n] = 0.0; + n--; + iter = 0; + + // Two roots found + + } else if (l == n-1) { + w = H[n][n-1] * H[n-1][n]; + p = (H[n-1][n-1] - H[n][n]) / 2.0; + q = p * p + w; + z = Math.sqrt(Math.abs(q)); + H[n][n] = H[n][n] + exshift; + H[n-1][n-1] = H[n-1][n-1] + exshift; + x = H[n][n]; + + // Real pair + + if (q >= 0) { + if (p >= 0) { + z = p + z; + } else { + z = p - z; + } + d[n-1] = x + z; + d[n] = d[n-1]; + if (z != 0.0) { + d[n] = x - w / z; + } + e[n-1] = 0.0; + e[n] = 0.0; + x = H[n][n-1]; + s = Math.abs(x) + Math.abs(z); + p = x / s; + q = z / s; + r = Math.sqrt(p * p+q * q); + p = p / r; + q = q / r; + + // Row modification + + for (int j = n-1; j < nn; j++) { + z = H[n-1][j]; + H[n-1][j] = q * z + p * H[n][j]; + H[n][j] = q * H[n][j] - p * z; + } + + // Column modification + + for (int i = 0; i <= n; i++) { + z = H[i][n-1]; + H[i][n-1] = q * z + p * H[i][n]; + H[i][n] = q * H[i][n] - p * z; + } + + // Accumulate transformations + + for (int i = low; i <= high; i++) { + z = V[i][n-1]; + V[i][n-1] = q * z + p * V[i][n]; + V[i][n] = q * V[i][n] - p * z; + } + + // Complex pair + + } else { + d[n-1] = x + p; + d[n] = x + p; + e[n-1] = z; + e[n] = -z; + } + n = n - 2; + iter = 0; + + // No convergence yet + + } else { + + // Form shift + + x = H[n][n]; + y = 0.0; + w = 0.0; + if (l < n) { + y = H[n-1][n-1]; + w = H[n][n-1] * H[n-1][n]; + } + + // Wilkinson's original ad hoc shift + + if (iter == 10) { + exshift += x; + for (int i = low; i <= n; i++) { + H[i][i] -= x; + } + s = Math.abs(H[n][n-1]) + Math.abs(H[n-1][n-2]); + x = y = 0.75 * s; + w = -0.4375 * s * s; + } + + // MATLAB's new ad hoc shift + + if (iter == 30) { + s = (y - x) / 2.0; + s = s * s + w; + if (s > 0) { + s = Math.sqrt(s); + if (y < x) { + s = -s; + } + s = x - w / ((y - x) / 2.0 + s); + for (int i = low; i <= n; i++) { + H[i][i] -= s; + } + exshift += s; + x = y = w = 0.964; + } + } + + iter = iter + 1; // (Could check iteration count here.) + + // Look for two consecutive small sub-diagonal elements + + int m = n-2; + while (m >= l) { + z = H[m][m]; + r = x - z; + s = y - z; + p = (r * s - w) / H[m+1][m] + H[m][m+1]; + q = H[m+1][m+1] - z - r - s; + r = H[m+2][m+1]; + s = Math.abs(p) + Math.abs(q) + Math.abs(r); + p = p / s; + q = q / s; + r = r / s; + if (m == l) { + break; + } + if (Math.abs(H[m][m-1]) * (Math.abs(q) + Math.abs(r)) < + eps * (Math.abs(p) * (Math.abs(H[m-1][m-1]) + Math.abs(z) + + Math.abs(H[m+1][m+1])))) { + break; + } + m--; + } + + for (int i = m+2; i <= n; i++) { + H[i][i-2] = 0.0; + if (i > m+2) { + H[i][i-3] = 0.0; + } + } + + // Double QR step involving rows l:n and columns m:n + + for (int k = m; k <= n-1; k++) { + boolean notlast = (k != n-1); + if (k != m) { + p = H[k][k-1]; + q = H[k+1][k-1]; + r = (notlast ? H[k+2][k-1] : 0.0); + x = Math.abs(p) + Math.abs(q) + Math.abs(r); + if (x != 0.0) { + p = p / x; + q = q / x; + r = r / x; + } + } + if (x == 0.0) { + break; + } + s = Math.sqrt(p * p + q * q + r * r); + if (p < 0) { + s = -s; + } + if (s != 0) { + if (k != m) { + H[k][k-1] = -s * x; + } else if (l != m) { + H[k][k-1] = -H[k][k-1]; + } + p = p + s; + x = p / s; + y = q / s; + z = r / s; + q = q / p; + r = r / p; + + // Row modification + + for (int j = k; j < nn; j++) { + p = H[k][j] + q * H[k+1][j]; + if (notlast) { + p = p + r * H[k+2][j]; + H[k+2][j] = H[k+2][j] - p * z; + } + H[k][j] = H[k][j] - p * x; + H[k+1][j] = H[k+1][j] - p * y; + } + + // Column modification + + for (int i = 0; i <= Math.min(n,k+3); i++) { + p = x * H[i][k] + y * H[i][k+1]; + if (notlast) { + p = p + z * H[i][k+2]; + H[i][k+2] = H[i][k+2] - p * r; + } + H[i][k] = H[i][k] - p; + H[i][k+1] = H[i][k+1] - p * q; + } + + // Accumulate transformations + + for (int i = low; i <= high; i++) { + p = x * V[i][k] + y * V[i][k+1]; + if (notlast) { + p = p + z * V[i][k+2]; + V[i][k+2] = V[i][k+2] - p * r; + } + V[i][k] = V[i][k] - p; + V[i][k+1] = V[i][k+1] - p * q; + } + } // (s != 0) + } // k loop + } // check convergence + } // while (n >= low) + + // Backsubstitute to find vectors of upper triangular form + + if (norm == 0.0) { + return; + } + + for (n = nn-1; n >= 0; n--) { + p = d[n]; + q = e[n]; + + // Real vector + + if (q == 0) { + int l = n; + H[n][n] = 1.0; + for (int i = n-1; i >= 0; i--) { + w = H[i][i] - p; + r = 0.0; + for (int j = l; j <= n; j++) { + r = r + H[i][j] * H[j][n]; + } + if (e[i] < 0.0) { + z = w; + s = r; + } else { + l = i; + if (e[i] == 0.0) { + if (w != 0.0) { + H[i][n] = -r / w; + } else { + H[i][n] = -r / (eps * norm); + } + + // Solve real equations + + } else { + x = H[i][i+1]; + y = H[i+1][i]; + q = (d[i] - p) * (d[i] - p) + e[i] * e[i]; + t = (x * s - z * r) / q; + H[i][n] = t; + if (Math.abs(x) > Math.abs(z)) { + H[i+1][n] = (-r - w * t) / x; + } else { + H[i+1][n] = (-s - y * t) / z; + } + } + + // Overflow control + + t = Math.abs(H[i][n]); + if ((eps * t) * t > 1) { + for (int j = i; j <= n; j++) { + H[j][n] = H[j][n] / t; + } + } + } + } + + // Complex vector + + } else if (q < 0) { + int l = n-1; + + // Last vector component imaginary so matrix is triangular + + if (Math.abs(H[n][n-1]) > Math.abs(H[n-1][n])) { + H[n-1][n-1] = q / H[n][n-1]; + H[n-1][n] = -(H[n][n] - p) / H[n][n-1]; + } else { + cdiv(0.0,-H[n-1][n],H[n-1][n-1]-p,q); + H[n-1][n-1] = cdivr; + H[n-1][n] = cdivi; + } + H[n][n-1] = 0.0; + H[n][n] = 1.0; + for (int i = n-2; i >= 0; i--) { + double ra,sa,vr,vi; + ra = 0.0; + sa = 0.0; + for (int j = l; j <= n; j++) { + ra = ra + H[i][j] * H[j][n-1]; + sa = sa + H[i][j] * H[j][n]; + } + w = H[i][i] - p; + + if (e[i] < 0.0) { + z = w; + r = ra; + s = sa; + } else { + l = i; + if (e[i] == 0) { + cdiv(-ra,-sa,w,q); + H[i][n-1] = cdivr; + H[i][n] = cdivi; + } else { + + // Solve complex equations + + x = H[i][i+1]; + y = H[i+1][i]; + vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q; + vi = (d[i] - p) * 2.0 * q; + if (vr == 0.0 & vi == 0.0) { + vr = eps * norm * (Math.abs(w) + Math.abs(q) + + Math.abs(x) + Math.abs(y) + Math.abs(z)); + } + cdiv(x*r-z*ra+q*sa,x*s-z*sa-q*ra,vr,vi); + H[i][n-1] = cdivr; + H[i][n] = cdivi; + if (Math.abs(x) > (Math.abs(z) + Math.abs(q))) { + H[i+1][n-1] = (-ra - w * H[i][n-1] + q * H[i][n]) / x; + H[i+1][n] = (-sa - w * H[i][n] - q * H[i][n-1]) / x; + } else { + cdiv(-r-y*H[i][n-1],-s-y*H[i][n],z,q); + H[i+1][n-1] = cdivr; + H[i+1][n] = cdivi; + } + } + + // Overflow control + + t = Math.max(Math.abs(H[i][n-1]),Math.abs(H[i][n])); + if ((eps * t) * t > 1) { + for (int j = i; j <= n; j++) { + H[j][n-1] = H[j][n-1] / t; + H[j][n] = H[j][n] / t; + } + } + } + } + } + } + + // Vectors of isolated roots + + for (int i = 0; i < nn; i++) { + if (i < low | i > high) { + for (int j = i; j < nn; j++) { + V[i][j] = H[i][j]; + } + } + } + + // Back transformation to get eigenvectors of original matrix + + for (int j = nn-1; j >= low; j--) { + for (int i = low; i <= high; i++) { + z = 0.0; + for (int k = low; k <= Math.min(j,high); k++) { + z = z + V[i][k] * H[k][j]; + } + V[i][j] = z; + } + } + } + + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Check for symmetry, then construct the eigenvalue decomposition + @param A Square matrix + @return Structure to access D and V. + */ + + public EigenvalueDecomposition (Matrix Arg) { + double[][] A = Arg.getArray(); + n = Arg.getColumnDimension(); + V = new double[n][n]; + d = new double[n]; + e = new double[n]; + + issymmetric = true; + for (int j = 0; (j < n) & issymmetric; j++) { + for (int i = 0; (i < n) & issymmetric; i++) { + issymmetric = (A[i][j] == A[j][i]); + } + } + + if (issymmetric) { + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + V[i][j] = A[i][j]; + } + } + + // Tridiagonalize. + tred2(); + + // Diagonalize. + tql2(); + + } else { + H = new double[n][n]; + ort = new double[n]; + + for (int j = 0; j < n; j++) { + for (int i = 0; i < n; i++) { + H[i][j] = A[i][j]; + } + } + + // Reduce to Hessenberg form. + orthes(); + + // Reduce Hessenberg to real Schur form. + hqr2(); + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Return the eigenvector matrix + @return V + */ + + public Matrix getV () { + return new Matrix(V,n,n); + } + + /** Return the real parts of the eigenvalues + @return real(diag(D)) + */ + + public double[] getRealEigenvalues () { + return d; + } + + /** Return the imaginary parts of the eigenvalues + @return imag(diag(D)) + */ + + public double[] getImagEigenvalues () { + return e; + } + + /** Return the block diagonal eigenvalue matrix + @return D + */ + + public Matrix getD () { + Matrix X = new Matrix(n,n); + double[][] D = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + D[i][j] = 0.0; + } + D[i][i] = d[i]; + if (e[i] > 0) { + D[i][i+1] = e[i]; + } else if (e[i] < 0) { + D[i][i-1] = e[i]; + } + } + return X; + } +} diff --git a/src/jat/core/math/MatrixVector/LUDecomposition.java b/src/jat/core/math/MatrixVector/LUDecomposition.java new file mode 100644 index 0000000..4d11163 --- /dev/null +++ b/src/jat/core/math/MatrixVector/LUDecomposition.java @@ -0,0 +1,316 @@ +package jat.core.math.MatrixVector; + + /** LU Decomposition. +

+ For an m-by-n matrix A with m >= n, the LU decomposition is an m-by-n + unit lower triangular matrix L, an n-by-n upper triangular matrix U, + and a permutation vector piv of length m so that A(piv,:) = L*U. + If m < n, then L is m-by-m and U is m-by-n. +

+ The LU decompostion with pivoting always exists, even if the matrix is + singular, so the constructor will never fail. The primary use of the + LU decomposition is in the solution of square systems of simultaneous + linear equations. This will fail if isNonsingular() returns false. + */ + +public class LUDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = 3028051971576583698L; + +/** Array for internal storage of decomposition. + @serial internal array storage. + */ + private double[][] LU; + + /** Row and column dimensions, and pivot sign. + @serial column dimension. + @serial row dimension. + @serial pivot sign. + */ + private int m, n, pivsign; + + /** Internal storage of pivot vector. + @serial pivot vector. + */ + private int[] piv; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** LU Decomposition + @param A Rectangular matrix + @return Structure to access L, U and piv. + */ + + public LUDecomposition (Matrix A) { + + // Use a "left-looking", dot-product, Crout/Doolittle algorithm. + + LU = A.getArrayCopy(); + m = A.getRowDimension(); + n = A.getColumnDimension(); + piv = new int[m]; + for (int i = 0; i < m; i++) { + piv[i] = i; + } + pivsign = 1; + double[] LUrowi; + double[] LUcolj = new double[m]; + + // Outer loop. + + for (int j = 0; j < n; j++) { + + // Make a copy of the j-th column to localize references. + + for (int i = 0; i < m; i++) { + LUcolj[i] = LU[i][j]; + } + + // Apply previous transformations. + + for (int i = 0; i < m; i++) { + LUrowi = LU[i]; + + // Most of the time is spent in the following dot product. + + int kmax = Math.min(i,j); + double s = 0.0; + for (int k = 0; k < kmax; k++) { + s += LUrowi[k]*LUcolj[k]; + } + + LUrowi[j] = LUcolj[i] -= s; + } + + // Find pivot and exchange if necessary. + + int p = j; + for (int i = j+1; i < m; i++) { + if (Math.abs(LUcolj[i]) > Math.abs(LUcolj[p])) { + p = i; + } + } + if (p != j) { + for (int k = 0; k < n; k++) { + double t = LU[p][k]; LU[p][k] = LU[j][k]; LU[j][k] = t; + } + int k = piv[p]; piv[p] = piv[j]; piv[j] = k; + pivsign = -pivsign; + } + + // Compute multipliers. + + if (j < m & LU[j][j] != 0.0) { + for (int i = j+1; i < m; i++) { + LU[i][j] /= LU[j][j]; + } + } + } + } + +/* ------------------------ + Temporary, experimental code. + ------------------------ *\ + + \** LU Decomposition, computed by Gaussian elimination. +

+ This constructor computes L and U with the "daxpy"-based elimination + algorithm used in LINPACK and MATLAB. In Java, we suspect the dot-product, + Crout algorithm will be faster. We have temporarily included this + constructor until timing experiments confirm this suspicion. +

+ @param A Rectangular matrix + @param linpackflag Use Gaussian elimination. Actual value ignored. + @return Structure to access L, U and piv. + *\ + + public LUDecomposition (Matrix A, int linpackflag) { + // Initialize. + LU = A.getArrayCopy(); + m = A.getRowDimension(); + n = A.getColumnDimension(); + piv = new int[m]; + for (int i = 0; i < m; i++) { + piv[i] = i; + } + pivsign = 1; + // Main loop. + for (int k = 0; k < n; k++) { + // Find pivot. + int p = k; + for (int i = k+1; i < m; i++) { + if (Math.abs(LU[i][k]) > Math.abs(LU[p][k])) { + p = i; + } + } + // Exchange if necessary. + if (p != k) { + for (int j = 0; j < n; j++) { + double t = LU[p][j]; LU[p][j] = LU[k][j]; LU[k][j] = t; + } + int t = piv[p]; piv[p] = piv[k]; piv[k] = t; + pivsign = -pivsign; + } + // Compute multipliers and eliminate k-th column. + if (LU[k][k] != 0.0) { + for (int i = k+1; i < m; i++) { + LU[i][k] /= LU[k][k]; + for (int j = k+1; j < n; j++) { + LU[i][j] -= LU[i][k]*LU[k][j]; + } + } + } + } + } + +\* ------------------------ + End of temporary code. + * ------------------------ */ + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Is the matrix nonsingular? + @return true if U, and hence A, is nonsingular. + */ + + public boolean isNonsingular () { + for (int j = 0; j < n; j++) { + if (LU[j][j] == 0) + return false; + } + return true; + } + + /** Return lower triangular factor + @return L + */ + + public Matrix getL () { + Matrix X = new Matrix(m,n); + double[][] L = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + if (i > j) { + L[i][j] = LU[i][j]; + } else if (i == j) { + L[i][j] = 1.0; + } else { + L[i][j] = 0.0; + } + } + } + return X; + } + + /** Return upper triangular factor + @return U + */ + + public Matrix getU () { + Matrix X = new Matrix(n,n); + double[][] U = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (i <= j) { + U[i][j] = LU[i][j]; + } else { + U[i][j] = 0.0; + } + } + } + return X; + } + + /** Return pivot permutation vector + @return piv + */ + + public int[] getPivot () { + int[] p = new int[m]; + for (int i = 0; i < m; i++) { + p[i] = piv[i]; + } + return p; + } + + /** Return pivot permutation vector as a one-dimensional double array + @return (double) piv + */ + + public double[] getDoublePivot () { + double[] vals = new double[m]; + for (int i = 0; i < m; i++) { + vals[i] = (double) piv[i]; + } + return vals; + } + + /** Determinant + @return det(A) + @exception IllegalArgumentException Matrix must be square + */ + + public double det () { + if (m != n) { + throw new IllegalArgumentException("Matrix must be square."); + } + double d = (double) pivsign; + for (int j = 0; j < n; j++) { + d *= LU[j][j]; + } + return d; + } + + /** Solve A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X so that L*U*X = B(piv,:) + @exception IllegalArgumentException Matrix row dimensions must agree. + @exception RuntimeException Matrix is singular. + */ + + public Matrix solve (Matrix B) { + if (B.getRowDimension() != m) { + throw new IllegalArgumentException("Matrix row dimensions must agree."); + } + if (!this.isNonsingular()) { + throw new RuntimeException("Matrix is singular."); + } + + // Copy right hand side with pivoting + int nx = B.getColumnDimension(); + Matrix Xmat = B.getMatrix(piv,0,nx-1); + double[][] X = Xmat.getArray(); + + // Solve L*Y = B(piv,:) + for (int k = 0; k < n; k++) { + for (int i = k+1; i < n; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*LU[i][k]; + } + } + } + // Solve U*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + X[k][j] /= LU[k][k]; + } + for (int i = 0; i < k; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*LU[i][k]; + } + } + } + return Xmat; + } +} diff --git a/src/jat/core/math/MatrixVector/Matrix.java b/src/jat/core/math/MatrixVector/Matrix.java new file mode 100644 index 0000000..b5ff41a --- /dev/null +++ b/src/jat/core/math/MatrixVector/Matrix.java @@ -0,0 +1,1051 @@ +package jat.core.math.MatrixVector; + +import jat.core.math.MatrixVector.util.Maths; + +import java.io.BufferedReader; +import java.io.PrintWriter; +import java.io.StreamTokenizer; +import java.text.DecimalFormat; +import java.text.DecimalFormatSymbols; +import java.text.NumberFormat; +import java.util.Locale; + +/** + Jama = Java Matrix class. +

+ The Java Matrix Class provides the fundamental operations of numerical + linear algebra. Various constructors create Matrices from two dimensional + arrays of double precision floating point numbers. Various "gets" and + "sets" provide access to submatrices and matrix elements. Several methods + implement basic matrix arithmetic, including matrix addition and + multiplication, matrix norms, and element-by-element array operations. + Methods for reading and printing matrices are also included. All the + operations in this version of the Matrix Class involve real matrices. + Complex matrices may be handled in a future version. +

+ Five fundamental matrix decompositions, which consist of pairs or triples + of matrices, permutation vectors, and the like, produce results in five + decomposition classes. These decompositions are accessed by the Matrix + class to compute solutions of simultaneous linear equations, determinants, + inverses and other matrix functions. The five decompositions are: +

    +
  • Cholesky Decomposition of symmetric, positive definite matrices. +
  • LU Decomposition of rectangular matrices. +
  • QR Decomposition of rectangular matrices. +
  • Singular Value Decomposition of rectangular matrices. + +
  • Eigenvalue Decomposition of both symmetric and nonsymmetric square matrices. +
+
+
Example of use:
+

+

Solve a linear system A x = b and compute the residual norm, ||b - A x||. +

+      double[][] vals = {{1.,2.,3},{4.,5.,6.},{7.,8.,10.}};
+      Matrix A = new Matrix(vals);
+      Matrix b = Matrix.random(3,1);
+      Matrix x = A.solve(b);
+      Matrix r = A.times(x).minus(b);
+      double rnorm = r.normInf();
+
+
+ +@author The MathWorks, Inc. and the National Institute of Standards and Technology. +@version 5 August 1998 +*/ + +public class Matrix implements Cloneable, java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = 7524239944075562711L; + +/** Array for internal storage of elements. + @serial internal array storage. + */ + private double[][] A; + + /** Row and column dimensions. + @serial row dimension. + @serial column dimension. + */ + private int m, n; + +/* ------------------------ + Constructors + * ------------------------ */ + + /** Construct an m-by-n matrix of zeros. + @param m Number of rows. + @param n Number of colums. + */ + + public Matrix (int m, int n) { + this.m = m; + this.n = n; + A = new double[m][n]; + } + + /** Construct an m-by-n constant matrix. + @param m Number of rows. + @param n Number of colums. + @param s Fill the matrix with this scalar value. + */ + + public Matrix (int m, int n, double s) { + this.m = m; + this.n = n; + A = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = s; + } + } + } + + /** Construct a matrix from a 2-D array. + @param A Two-dimensional array of doubles. + @exception IllegalArgumentException All rows must have the same length + @see #constructWithCopy + */ + + public Matrix (double[][] A) { + m = A.length; + n = A[0].length; + for (int i = 0; i < m; i++) { + if (A[i].length != n) { + throw new IllegalArgumentException("All rows must have the same length."); + } + } + this.A = A; + } + + /** Construct a matrix quickly without checking arguments. + @param A Two-dimensional array of doubles. + @param m Number of rows. + @param n Number of colums. + */ + + public Matrix (double[][] A, int m, int n) { + this.A = A; + this.m = m; + this.n = n; + } + + /** Construct a matrix from a one-dimensional packed array + @param vals One-dimensional array of doubles, packed by columns (ala Fortran). + @param m Number of rows. + @exception IllegalArgumentException Array length must be a multiple of m. + */ + + public Matrix (double vals[], int m) { + this.m = m; + n = (m != 0 ? vals.length/m : 0); + if (m*n != vals.length) { + throw new IllegalArgumentException("Array length must be a multiple of m."); + } + A = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = vals[i+j*m]; + } + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Construct a matrix from a copy of a 2-D array. + @param A Two-dimensional array of doubles. + @exception IllegalArgumentException All rows must have the same length + */ + + public static Matrix constructWithCopy(double[][] A) { + int m = A.length; + int n = A[0].length; + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + if (A[i].length != n) { + throw new IllegalArgumentException + ("All rows must have the same length."); + } + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j]; + } + } + return X; + } + + /** Make a deep copy of a matrix + */ + + public Matrix copy () { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j]; + } + } + return X; + } + + /** Clone the Matrix object. + */ + + public Object clone () { + return this.copy(); + } + + /** Access the internal two-dimensional array. + @return Pointer to the two-dimensional array of matrix elements. + */ + + public double[][] getArray () { + return A; + } + + /** Copy the internal two-dimensional array. + @return Two-dimensional array copy of matrix elements. + */ + + public double[][] getArrayCopy () { + double[][] C = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j]; + } + } + return C; + } + + /** Make a one-dimensional column packed copy of the internal array. + @return Matrix elements packed in a one-dimensional array by columns. + */ + + public double[] getColumnPackedCopy () { + double[] vals = new double[m*n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + vals[i+j*m] = A[i][j]; + } + } + return vals; + } + + /** Make a one-dimensional row packed copy of the internal array. + @return Matrix elements packed in a one-dimensional array by rows. + */ + + public double[] getRowPackedCopy () { + double[] vals = new double[m*n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + vals[i*n+j] = A[i][j]; + } + } + return vals; + } + + /** Get row dimension. + @return m, the number of rows. + */ + + public int getRowDimension () { + return m; + } + + /** Get column dimension. + @return n, the number of columns. + */ + + public int getColumnDimension () { + return n; + } + + /** Get a single element. + @param i Row index. + @param j Column index. + @return A(i,j) + @exception ArrayIndexOutOfBoundsException + */ + + public double get (int i, int j) { + return A[i][j]; + } + + /** Get a submatrix. + @param i0 Initial row index + @param i1 Final row index + @param j0 Initial column index + @param j1 Final column index + @return A(i0:i1,j0:j1) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public Matrix getMatrix (int i0, int i1, int j0, int j1) { + Matrix X = new Matrix(i1-i0+1,j1-j0+1); + double[][] B = X.getArray(); + try { + for (int i = i0; i <= i1; i++) { + for (int j = j0; j <= j1; j++) { + B[i-i0][j-j0] = A[i][j]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + return X; + } + + /** Get a submatrix. + @param r Array of row indices. + @param c Array of column indices. + @return A(r(:),c(:)) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public Matrix getMatrix (int[] r, int[] c) { + Matrix X = new Matrix(r.length,c.length); + double[][] B = X.getArray(); + try { + for (int i = 0; i < r.length; i++) { + for (int j = 0; j < c.length; j++) { + B[i][j] = A[r[i]][c[j]]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + return X; + } + + /** Get a submatrix. + @param i0 Initial row index + @param i1 Final row index + @param c Array of column indices. + @return A(i0:i1,c(:)) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public Matrix getMatrix (int i0, int i1, int[] c) { + Matrix X = new Matrix(i1-i0+1,c.length); + double[][] B = X.getArray(); + try { + for (int i = i0; i <= i1; i++) { + for (int j = 0; j < c.length; j++) { + B[i-i0][j] = A[i][c[j]]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + return X; + } + + /** Get a submatrix. + @param r Array of row indices. + @param i0 Initial column index + @param i1 Final column index + @return A(r(:),j0:j1) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public Matrix getMatrix (int[] r, int j0, int j1) { + Matrix X = new Matrix(r.length,j1-j0+1); + double[][] B = X.getArray(); + try { + for (int i = 0; i < r.length; i++) { + for (int j = j0; j <= j1; j++) { + B[i][j-j0] = A[r[i]][j]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + return X; + } + + /** Set a single element. + @param i Row index. + @param j Column index. + @param s A(i,j). + @exception ArrayIndexOutOfBoundsException + */ + + public void set (int i, int j, double s) { + A[i][j] = s; + } + + /** Set a submatrix. + @param i0 Initial row index + @param i1 Final row index + @param j0 Initial column index + @param j1 Final column index + @param X A(i0:i1,j0:j1) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix (int i0, int i1, int j0, int j1, Matrix X) { + try { + for (int i = i0; i <= i1; i++) { + for (int j = j0; j <= j1; j++) { + A[i][j] = X.get(i-i0,j-j0); + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Set a submatrix. + @param r Array of row indices. + @param c Array of column indices. + @param X A(r(:),c(:)) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix (int[] r, int[] c, Matrix X) { + try { + for (int i = 0; i < r.length; i++) { + for (int j = 0; j < c.length; j++) { + A[r[i]][c[j]] = X.get(i,j); + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Set a submatrix. + @param r Array of row indices. + @param j0 Initial column index + @param j1 Final column index + @param X A(r(:),j0:j1) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix (int[] r, int j0, int j1, Matrix X) { + try { + for (int i = 0; i < r.length; i++) { + for (int j = j0; j <= j1; j++) { + A[r[i]][j] = X.get(i,j-j0); + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Set a submatrix. + @param i0 Initial row index + @param i1 Final row index + @param c Array of column indices. + @param X A(i0:i1,c(:)) + @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix (int i0, int i1, int[] c, Matrix X) { + try { + for (int i = i0; i <= i1; i++) { + for (int j = 0; j < c.length; j++) { + A[i][c[j]] = X.get(i-i0,j); + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Matrix transpose. + @return A' + */ + + public Matrix transpose () { + Matrix X = new Matrix(n,m); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[j][i] = A[i][j]; + } + } + return X; + } + + /** One norm + @return maximum column sum. + */ + + public double norm1 () { + double f = 0; + for (int j = 0; j < n; j++) { + double s = 0; + for (int i = 0; i < m; i++) { + s += Math.abs(A[i][j]); + } + f = Math.max(f,s); + } + return f; + } + + /** Two norm + @return maximum singular value. + */ + + public double norm2 () { + return (new SingularValueDecomposition(this).norm2()); + } + + /** Infinity norm + @return maximum row sum. + */ + + public double normInf () { + double f = 0; + for (int i = 0; i < m; i++) { + double s = 0; + for (int j = 0; j < n; j++) { + s += Math.abs(A[i][j]); + } + f = Math.max(f,s); + } + return f; + } + + /** Frobenius norm + @return sqrt of sum of squares of all elements. + */ + + public double normF () { + double f = 0; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + f = Maths.hypot(f,A[i][j]); + } + } + return f; + } + + /** Unary minus + @return -A + */ + + public Matrix uminus () { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = -A[i][j]; + } + } + return X; + } + + /** C = A + B + @param B another matrix + @return A + B + */ + + public Matrix plus (Matrix B) { + checkMatrixDimensions(B); + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j] + B.A[i][j]; + } + } + return X; + } + + /** A = A + B + @param B another matrix + @return A + B + */ + + public Matrix plusEquals (Matrix B) { + checkMatrixDimensions(B); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = A[i][j] + B.A[i][j]; + } + } + return this; + } + + /** C = A - B + @param B another matrix + @return A - B + */ + + public Matrix minus (Matrix B) { + checkMatrixDimensions(B); + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j] - B.A[i][j]; + } + } + return X; + } + + /** A = A - B + @param B another matrix + @return A - B + */ + + public Matrix minusEquals (Matrix B) { + checkMatrixDimensions(B); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = A[i][j] - B.A[i][j]; + } + } + return this; + } + + /** Element-by-element multiplication, C = A.*B + @param B another matrix + @return A.*B + */ + + public Matrix arrayTimes (Matrix B) { + checkMatrixDimensions(B); + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j] * B.A[i][j]; + } + } + return X; + } + + /** Element-by-element multiplication in place, A = A.*B + @param B another matrix + @return A.*B + */ + + public Matrix arrayTimesEquals (Matrix B) { + checkMatrixDimensions(B); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = A[i][j] * B.A[i][j]; + } + } + return this; + } + + /** Element-by-element right division, C = A./B + @param B another matrix + @return A./B + */ + + public Matrix arrayRightDivide (Matrix B) { + checkMatrixDimensions(B); + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j] / B.A[i][j]; + } + } + return X; + } + + /** Element-by-element right division in place, A = A./B + @param B another matrix + @return A./B + */ + + public Matrix arrayRightDivideEquals (Matrix B) { + checkMatrixDimensions(B); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = A[i][j] / B.A[i][j]; + } + } + return this; + } + + /** Element-by-element left division, C = A.\B + @param B another matrix + @return A.\B + */ + + public Matrix arrayLeftDivide (Matrix B) { + checkMatrixDimensions(B); + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = B.A[i][j] / A[i][j]; + } + } + return X; + } + + /** Element-by-element left division in place, A = A.\B + @param B another matrix + @return A.\B + */ + + public Matrix arrayLeftDivideEquals (Matrix B) { + checkMatrixDimensions(B); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = B.A[i][j] / A[i][j]; + } + } + return this; + } + + /** Multiply a matrix by a scalar, C = s*A + @param s scalar + @return s*A + */ + + public Matrix times (double s) { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = s*A[i][j]; + } + } + return X; + } + + /** Multiply a matrix by a scalar in place, A = s*A + @param s scalar + @return replace A by s*A + */ + + public Matrix timesEquals (double s) { + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = s*A[i][j]; + } + } + return this; + } + + /** Linear algebraic matrix multiplication, A * B + @param B another matrix + @return Matrix product, A * B + @exception IllegalArgumentException Matrix inner dimensions must agree. + */ + + public Matrix times (Matrix B) { + if (B.m != n) { + throw new IllegalArgumentException("Matrix inner dimensions must agree."); + } + Matrix X = new Matrix(m,B.n); + double[][] C = X.getArray(); + double[] Bcolj = new double[n]; + for (int j = 0; j < B.n; j++) { + for (int k = 0; k < n; k++) { + Bcolj[k] = B.A[k][j]; + } + for (int i = 0; i < m; i++) { + double[] Arowi = A[i]; + double s = 0; + for (int k = 0; k < n; k++) { + s += Arowi[k]*Bcolj[k]; + } + C[i][j] = s; + } + } + return X; + } + + /** LU Decomposition + @return LUDecomposition + @see LUDecomposition + */ + + public LUDecomposition lu () { + return new LUDecomposition(this); + } + + /** QR Decomposition + @return QRDecomposition + @see QRDecomposition + */ + + public QRDecomposition qr () { + return new QRDecomposition(this); + } + + /** Cholesky Decomposition + @return CholeskyDecomposition + @see CholeskyDecomposition + */ + + public CholeskyDecomposition chol () { + return new CholeskyDecomposition(this); + } + + /** Singular Value Decomposition + @return SingularValueDecomposition + @see SingularValueDecomposition + */ + + public SingularValueDecomposition svd () { + return new SingularValueDecomposition(this); + } + + /** Eigenvalue Decomposition + @return EigenvalueDecomposition + @see EigenvalueDecomposition + */ + + public EigenvalueDecomposition eig () { + return new EigenvalueDecomposition(this); + } + + /** Solve A*X = B + @param B right hand side + @return solution if A is square, least squares solution otherwise + */ + + public Matrix solve (Matrix B) { + return (m == n ? (new LUDecomposition(this)).solve(B) : + (new QRDecomposition(this)).solve(B)); + } + + /** Solve X*A = B, which is also A'*X' = B' + @param B right hand side + @return solution if A is square, least squares solution otherwise. + */ + + public Matrix solveTranspose (Matrix B) { + return transpose().solve(B.transpose()); + } + + /** Matrix inverse or pseudoinverse + @return inverse(A) if A is square, pseudoinverse otherwise. + */ + + public Matrix inverse () { + return solve(identity(m,m)); + } + + /** Matrix determinant + @return determinant + */ + + public double det () { + return new LUDecomposition(this).det(); + } + + /** Matrix rank + @return effective numerical rank, obtained from SVD. + */ + + public int rank () { + return new SingularValueDecomposition(this).rank(); + } + + /** Matrix condition (2 norm) + @return ratio of largest to smallest singular value. + */ + + public double cond () { + return new SingularValueDecomposition(this).cond(); + } + + /** Matrix trace. + @return sum of the diagonal elements. + */ + + public double trace () { + double t = 0; + for (int i = 0; i < Math.min(m,n); i++) { + t += A[i][i]; + } + return t; + } + + /** Generate matrix with random elements + @param m Number of rows. + @param n Number of colums. + @return An m-by-n matrix with uniformly distributed random elements. + */ + + public static Matrix random (int m, int n) { + Matrix A = new Matrix(m,n); + double[][] X = A.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + X[i][j] = Math.random(); + } + } + return A; + } + + /** Generate identity matrix + @param m Number of rows. + @param n Number of colums. + @return An m-by-n matrix with ones on the diagonal and zeros elsewhere. + */ + + public static Matrix identity (int m, int n) { + Matrix A = new Matrix(m,n); + double[][] X = A.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + X[i][j] = (i == j ? 1.0 : 0.0); + } + } + return A; + } + + + /** Print the matrix to stdout. Line the elements up in columns + * with a Fortran-like 'Fw.d' style format. + @param w Column width. + @param d Number of digits after the decimal. + */ + + public void print (int w, int d) { + print(new PrintWriter(System.out,true),w,d); } + + /** Print the matrix to the output stream. Line the elements up in + * columns with a Fortran-like 'Fw.d' style format. + @param output Output stream. + @param w Column width. + @param d Number of digits after the decimal. + */ + + public void print (PrintWriter output, int w, int d) { + DecimalFormat format = new DecimalFormat(); + format.setDecimalFormatSymbols(new DecimalFormatSymbols(Locale.US)); + format.setMinimumIntegerDigits(1); + format.setMaximumFractionDigits(d); + format.setMinimumFractionDigits(d); + format.setGroupingUsed(false); + print(output,format,w+2); + } + + /** Print the matrix to stdout. Line the elements up in columns. + * Use the format object, and right justify within columns of width + * characters. + * Note that is the matrix is to be read back in, you probably will want + * to use a NumberFormat that is set to US Locale. + @param format A Formatting object for individual elements. + @param width Field width for each column. + @see java.text.DecimalFormat#setDecimalFormatSymbols + */ + + public void print (NumberFormat format, int width) { + print(new PrintWriter(System.out,true),format,width); } + + // DecimalFormat is a little disappointing coming from Fortran or C's printf. + // Since it doesn't pad on the left, the elements will come out different + // widths. Consequently, we'll pass the desired column width in as an + // argument and do the extra padding ourselves. + + /** Print the matrix to the output stream. Line the elements up in columns. + * Use the format object, and right justify within columns of width + * characters. + * Note that is the matrix is to be read back in, you probably will want + * to use a NumberFormat that is set to US Locale. + @param output the output stream. + @param format A formatting object to format the matrix elements + @param width Column width. + @see java.text.DecimalFormat#setDecimalFormatSymbols + */ + + public void print (PrintWriter output, NumberFormat format, int width) { + output.println(); // start on new line. + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + String s = format.format(A[i][j]); // format the number + int padding = Math.max(1,width-s.length()); // At _least_ 1 space + for (int k = 0; k < padding; k++) + output.print(' '); + output.print(s); + } + output.println(); + } + output.println(); // end with blank line. + } + + /** Read a matrix from a stream. The format is the same the print method, + * so printed matrices can be read back in (provided they were printed using + * US Locale). Elements are separated by + * whitespace, all the elements for each row appear on a single line, + * the last row is followed by a blank line. + @param input the input stream. + */ + + public static Matrix read (BufferedReader input) throws java.io.IOException { + StreamTokenizer tokenizer= new StreamTokenizer(input); + + // Although StreamTokenizer will parse numbers, it doesn't recognize + // scientific notation (E or D); however, Double.valueOf does. + // The strategy here is to disable StreamTokenizer's number parsing. + // We'll only get whitespace delimited words, EOL's and EOF's. + // These words should all be numbers, for Double.valueOf to parse. + + tokenizer.resetSyntax(); + tokenizer.wordChars(0,255); + tokenizer.whitespaceChars(0, ' '); + tokenizer.eolIsSignificant(true); + java.util.Vector v = new java.util.Vector(); + + // Ignore initial empty lines + while (tokenizer.nextToken() == StreamTokenizer.TT_EOL); + if (tokenizer.ttype == StreamTokenizer.TT_EOF) + throw new java.io.IOException("Unexpected EOF on matrix read."); + do { + v.addElement(Double.valueOf(tokenizer.sval)); // Read & store 1st row. + } while (tokenizer.nextToken() == StreamTokenizer.TT_WORD); + + int n = v.size(); // Now we've got the number of columns! + double row[] = new double[n]; + for (int j=0; j= n) throw new java.io.IOException + ("Row " + v.size() + " is too long."); + row[j++] = Double.valueOf(tokenizer.sval).doubleValue(); + } while (tokenizer.nextToken() == StreamTokenizer.TT_WORD); + if (j < n) throw new java.io.IOException + ("Row " + v.size() + " is too short."); + } + int m = v.size(); // Now we've got the number of rows. + double[][] A = new double[m][]; + v.copyInto(A); // copy the rows out of the vector + return new Matrix(A); + } + + +/* ------------------------ + Private Methods + * ------------------------ */ + + /** Check if size(A) == size(B) **/ + + private void checkMatrixDimensions (Matrix B) { + if (B.m != m || B.n != n) { + throw new IllegalArgumentException("Matrix dimensions must agree."); + } + } + +} diff --git a/src/jat/core/math/MatrixVector/QRDecomposition.java b/src/jat/core/math/MatrixVector/QRDecomposition.java new file mode 100644 index 0000000..aca65a7 --- /dev/null +++ b/src/jat/core/math/MatrixVector/QRDecomposition.java @@ -0,0 +1,224 @@ +package jat.core.math.MatrixVector; + +import jat.core.math.MatrixVector.util.Maths; + +/** QR Decomposition. +

+ For an m-by-n matrix A with m >= n, the QR decomposition is an m-by-n + orthogonal matrix Q and an n-by-n upper triangular matrix R so that + A = Q*R. +

+ The QR decompostion always exists, even if the matrix does not have + full rank, so the constructor will never fail. The primary use of the + QR decomposition is in the least squares solution of nonsquare systems + of simultaneous linear equations. This will fail if isFullRank() + returns false. +*/ + +public class QRDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -8130861632613854651L; + +/** Array for internal storage of decomposition. + @serial internal array storage. + */ + private double[][] QR; + + /** Row and column dimensions. + @serial column dimension. + @serial row dimension. + */ + private int m, n; + + /** Array for internal storage of diagonal of R. + @serial diagonal of R. + */ + private double[] Rdiag; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** QR Decomposition, computed by Householder reflections. + @param A Rectangular matrix + @return Structure to access R and the Householder vectors and compute Q. + */ + + public QRDecomposition (Matrix A) { + // Initialize. + QR = A.getArrayCopy(); + m = A.getRowDimension(); + n = A.getColumnDimension(); + Rdiag = new double[n]; + + // Main loop. + for (int k = 0; k < n; k++) { + // Compute 2-norm of k-th column without under/overflow. + double nrm = 0; + for (int i = k; i < m; i++) { + nrm = Maths.hypot(nrm,QR[i][k]); + } + + if (nrm != 0.0) { + // Form k-th Householder vector. + if (QR[k][k] < 0) { + nrm = -nrm; + } + for (int i = k; i < m; i++) { + QR[i][k] /= nrm; + } + QR[k][k] += 1.0; + + // Apply transformation to remaining columns. + for (int j = k+1; j < n; j++) { + double s = 0.0; + for (int i = k; i < m; i++) { + s += QR[i][k]*QR[i][j]; + } + s = -s/QR[k][k]; + for (int i = k; i < m; i++) { + QR[i][j] += s*QR[i][k]; + } + } + } + Rdiag[k] = -nrm; + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Is the matrix full rank? + @return true if R, and hence A, has full rank. + */ + + public boolean isFullRank () { + for (int j = 0; j < n; j++) { + if (Rdiag[j] == 0) + return false; + } + return true; + } + + /** Return the Householder vectors + @return Lower trapezoidal matrix whose columns define the reflections + */ + + public Matrix getH () { + Matrix X = new Matrix(m,n); + double[][] H = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + if (i >= j) { + H[i][j] = QR[i][j]; + } else { + H[i][j] = 0.0; + } + } + } + return X; + } + + /** Return the upper triangular factor + @return R + */ + + public Matrix getR () { + Matrix X = new Matrix(n,n); + double[][] R = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (i < j) { + R[i][j] = QR[i][j]; + } else if (i == j) { + R[i][j] = Rdiag[i]; + } else { + R[i][j] = 0.0; + } + } + } + return X; + } + + /** Generate and return the (economy-sized) orthogonal factor + @return Q + */ + + public Matrix getQ () { + Matrix X = new Matrix(m,n); + double[][] Q = X.getArray(); + for (int k = n-1; k >= 0; k--) { + for (int i = 0; i < m; i++) { + Q[i][k] = 0.0; + } + Q[k][k] = 1.0; + for (int j = k; j < n; j++) { + if (QR[k][k] != 0) { + double s = 0.0; + for (int i = k; i < m; i++) { + s += QR[i][k]*Q[i][j]; + } + s = -s/QR[k][k]; + for (int i = k; i < m; i++) { + Q[i][j] += s*QR[i][k]; + } + } + } + } + return X; + } + + /** Least squares solution of A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X that minimizes the two norm of Q*R*X-B. + @exception IllegalArgumentException Matrix row dimensions must agree. + @exception RuntimeException Matrix is rank deficient. + */ + + public Matrix solve (Matrix B) { + if (B.getRowDimension() != m) { + throw new IllegalArgumentException("Matrix row dimensions must agree."); + } + if (!this.isFullRank()) { + throw new RuntimeException("Matrix is rank deficient."); + } + + // Copy right hand side + int nx = B.getColumnDimension(); + double[][] X = B.getArrayCopy(); + + // Compute Y = transpose(Q)*B + for (int k = 0; k < n; k++) { + for (int j = 0; j < nx; j++) { + double s = 0.0; + for (int i = k; i < m; i++) { + s += QR[i][k]*X[i][j]; + } + s = -s/QR[k][k]; + for (int i = k; i < m; i++) { + X[i][j] += s*QR[i][k]; + } + } + } + // Solve R*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + X[k][j] /= Rdiag[k]; + } + for (int i = 0; i < k; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*QR[i][k]; + } + } + } + return (new Matrix(X,n,nx).getMatrix(0,n-1,0,nx-1)); + } +} diff --git a/src/jat/core/math/MatrixVector/SingularValueDecomposition.java b/src/jat/core/math/MatrixVector/SingularValueDecomposition.java new file mode 100644 index 0000000..de278c9 --- /dev/null +++ b/src/jat/core/math/MatrixVector/SingularValueDecomposition.java @@ -0,0 +1,553 @@ +package jat.core.math.MatrixVector; + +import jat.core.math.MatrixVector.util.Maths; + + /** Singular Value Decomposition. +

+ For an m-by-n matrix A with m >= n, the singular value decomposition is + an m-by-n orthogonal matrix U, an n-by-n diagonal matrix S, and + an n-by-n orthogonal matrix V so that A = U*S*V'. +

+ The singular values, sigma[k] = S[k][k], are ordered so that + sigma[0] >= sigma[1] >= ... >= sigma[n-1]. +

+ The singular value decompostion always exists, so the constructor will + never fail. The matrix condition number and the effective numerical + rank can be computed from this decomposition. + */ + +public class SingularValueDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -4299878099895052527L; + +/** Arrays for internal storage of U and V. + @serial internal storage of U. + @serial internal storage of V. + */ + private double[][] U, V; + + /** Array for internal storage of singular values. + @serial internal storage of singular values. + */ + private double[] s; + + /** Row and column dimensions. + @serial row dimension. + @serial column dimension. + */ + private int m, n; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Construct the singular value decomposition + @param A Rectangular matrix + @return Structure to access U, S and V. + */ + + public SingularValueDecomposition (Matrix Arg) { + + // Derived from LINPACK code. + // Initialize. + double[][] A = Arg.getArrayCopy(); + m = Arg.getRowDimension(); + n = Arg.getColumnDimension(); + + /* Apparently the failing cases are only a proper subset of (m= n"); } + */ + int nu = Math.min(m,n); + s = new double [Math.min(m+1,n)]; + U = new double [m][nu]; + V = new double [n][n]; + double[] e = new double [n]; + double[] work = new double [m]; + boolean wantu = true; + boolean wantv = true; + + // Reduce A to bidiagonal form, storing the diagonal elements + // in s and the super-diagonal elements in e. + + int nct = Math.min(m-1,n); + int nrt = Math.max(0,Math.min(n-2,m)); + for (int k = 0; k < Math.max(nct,nrt); k++) { + if (k < nct) { + + // Compute the transformation for the k-th column and + // place the k-th diagonal in s[k]. + // Compute 2-norm of k-th column without under/overflow. + s[k] = 0; + for (int i = k; i < m; i++) { + s[k] = Maths.hypot(s[k],A[i][k]); + } + if (s[k] != 0.0) { + if (A[k][k] < 0.0) { + s[k] = -s[k]; + } + for (int i = k; i < m; i++) { + A[i][k] /= s[k]; + } + A[k][k] += 1.0; + } + s[k] = -s[k]; + } + for (int j = k+1; j < n; j++) { + if ((k < nct) & (s[k] != 0.0)) { + + // Apply the transformation. + + double t = 0; + for (int i = k; i < m; i++) { + t += A[i][k]*A[i][j]; + } + t = -t/A[k][k]; + for (int i = k; i < m; i++) { + A[i][j] += t*A[i][k]; + } + } + + // Place the k-th row of A into e for the + // subsequent calculation of the row transformation. + + e[j] = A[k][j]; + } + if (wantu & (k < nct)) { + + // Place the transformation in U for subsequent back + // multiplication. + + for (int i = k; i < m; i++) { + U[i][k] = A[i][k]; + } + } + if (k < nrt) { + + // Compute the k-th row transformation and place the + // k-th super-diagonal in e[k]. + // Compute 2-norm without under/overflow. + e[k] = 0; + for (int i = k+1; i < n; i++) { + e[k] = Maths.hypot(e[k],e[i]); + } + if (e[k] != 0.0) { + if (e[k+1] < 0.0) { + e[k] = -e[k]; + } + for (int i = k+1; i < n; i++) { + e[i] /= e[k]; + } + e[k+1] += 1.0; + } + e[k] = -e[k]; + if ((k+1 < m) & (e[k] != 0.0)) { + + // Apply the transformation. + + for (int i = k+1; i < m; i++) { + work[i] = 0.0; + } + for (int j = k+1; j < n; j++) { + for (int i = k+1; i < m; i++) { + work[i] += e[j]*A[i][j]; + } + } + for (int j = k+1; j < n; j++) { + double t = -e[j]/e[k+1]; + for (int i = k+1; i < m; i++) { + A[i][j] += t*work[i]; + } + } + } + if (wantv) { + + // Place the transformation in V for subsequent + // back multiplication. + + for (int i = k+1; i < n; i++) { + V[i][k] = e[i]; + } + } + } + } + + // Set up the final bidiagonal matrix or order p. + + int p = Math.min(n,m+1); + if (nct < n) { + s[nct] = A[nct][nct]; + } + if (m < p) { + s[p-1] = 0.0; + } + if (nrt+1 < p) { + e[nrt] = A[nrt][p-1]; + } + e[p-1] = 0.0; + + // If required, generate U. + + if (wantu) { + for (int j = nct; j < nu; j++) { + for (int i = 0; i < m; i++) { + U[i][j] = 0.0; + } + U[j][j] = 1.0; + } + for (int k = nct-1; k >= 0; k--) { + if (s[k] != 0.0) { + for (int j = k+1; j < nu; j++) { + double t = 0; + for (int i = k; i < m; i++) { + t += U[i][k]*U[i][j]; + } + t = -t/U[k][k]; + for (int i = k; i < m; i++) { + U[i][j] += t*U[i][k]; + } + } + for (int i = k; i < m; i++ ) { + U[i][k] = -U[i][k]; + } + U[k][k] = 1.0 + U[k][k]; + for (int i = 0; i < k-1; i++) { + U[i][k] = 0.0; + } + } else { + for (int i = 0; i < m; i++) { + U[i][k] = 0.0; + } + U[k][k] = 1.0; + } + } + } + + // If required, generate V. + + if (wantv) { + for (int k = n-1; k >= 0; k--) { + if ((k < nrt) & (e[k] != 0.0)) { + for (int j = k+1; j < nu; j++) { + double t = 0; + for (int i = k+1; i < n; i++) { + t += V[i][k]*V[i][j]; + } + t = -t/V[k+1][k]; + for (int i = k+1; i < n; i++) { + V[i][j] += t*V[i][k]; + } + } + } + for (int i = 0; i < n; i++) { + V[i][k] = 0.0; + } + V[k][k] = 1.0; + } + } + + // Main iteration loop for the singular values. + + int pp = p-1; + int iter = 0; + double eps = Math.pow(2.0,-52.0); + double tiny = Math.pow(2.0,-966.0); + while (p > 0) { + int k,kase; + + // Here is where a test for too many iterations would go. + + // This section of the program inspects for + // negligible elements in the s and e arrays. On + // completion the variables kase and k are set as follows. + + // kase = 1 if s(p) and e[k-1] are negligible and k

= -1; k--) { + if (k == -1) { + break; + } + if (Math.abs(e[k]) <= + tiny + eps*(Math.abs(s[k]) + Math.abs(s[k+1]))) { + e[k] = 0.0; + break; + } + } + if (k == p-2) { + kase = 4; + } else { + int ks; + for (ks = p-1; ks >= k; ks--) { + if (ks == k) { + break; + } + double t = (ks != p ? Math.abs(e[ks]) : 0.) + + (ks != k+1 ? Math.abs(e[ks-1]) : 0.); + if (Math.abs(s[ks]) <= tiny + eps*t) { + s[ks] = 0.0; + break; + } + } + if (ks == k) { + kase = 3; + } else if (ks == p-1) { + kase = 1; + } else { + kase = 2; + k = ks; + } + } + k++; + + // Perform the task indicated by kase. + + switch (kase) { + + // Deflate negligible s(p). + + case 1: { + double f = e[p-2]; + e[p-2] = 0.0; + for (int j = p-2; j >= k; j--) { + double t = Maths.hypot(s[j],f); + double cs = s[j]/t; + double sn = f/t; + s[j] = t; + if (j != k) { + f = -sn*e[j-1]; + e[j-1] = cs*e[j-1]; + } + if (wantv) { + for (int i = 0; i < n; i++) { + t = cs*V[i][j] + sn*V[i][p-1]; + V[i][p-1] = -sn*V[i][j] + cs*V[i][p-1]; + V[i][j] = t; + } + } + } + } + break; + + // Split at negligible s(k). + + case 2: { + double f = e[k-1]; + e[k-1] = 0.0; + for (int j = k; j < p; j++) { + double t = Maths.hypot(s[j],f); + double cs = s[j]/t; + double sn = f/t; + s[j] = t; + f = -sn*e[j]; + e[j] = cs*e[j]; + if (wantu) { + for (int i = 0; i < m; i++) { + t = cs*U[i][j] + sn*U[i][k-1]; + U[i][k-1] = -sn*U[i][j] + cs*U[i][k-1]; + U[i][j] = t; + } + } + } + } + break; + + // Perform one qr step. + + case 3: { + + // Calculate the shift. + + double scale = Math.max(Math.max(Math.max(Math.max( + Math.abs(s[p-1]),Math.abs(s[p-2])),Math.abs(e[p-2])), + Math.abs(s[k])),Math.abs(e[k])); + double sp = s[p-1]/scale; + double spm1 = s[p-2]/scale; + double epm1 = e[p-2]/scale; + double sk = s[k]/scale; + double ek = e[k]/scale; + double b = ((spm1 + sp)*(spm1 - sp) + epm1*epm1)/2.0; + double c = (sp*epm1)*(sp*epm1); + double shift = 0.0; + if ((b != 0.0) | (c != 0.0)) { + shift = Math.sqrt(b*b + c); + if (b < 0.0) { + shift = -shift; + } + shift = c/(b + shift); + } + double f = (sk + sp)*(sk - sp) + shift; + double g = sk*ek; + + // Chase zeros. + + for (int j = k; j < p-1; j++) { + double t = Maths.hypot(f,g); + double cs = f/t; + double sn = g/t; + if (j != k) { + e[j-1] = t; + } + f = cs*s[j] + sn*e[j]; + e[j] = cs*e[j] - sn*s[j]; + g = sn*s[j+1]; + s[j+1] = cs*s[j+1]; + if (wantv) { + for (int i = 0; i < n; i++) { + t = cs*V[i][j] + sn*V[i][j+1]; + V[i][j+1] = -sn*V[i][j] + cs*V[i][j+1]; + V[i][j] = t; + } + } + t = Maths.hypot(f,g); + cs = f/t; + sn = g/t; + s[j] = t; + f = cs*e[j] + sn*s[j+1]; + s[j+1] = -sn*e[j] + cs*s[j+1]; + g = sn*e[j+1]; + e[j+1] = cs*e[j+1]; + if (wantu && (j < m-1)) { + for (int i = 0; i < m; i++) { + t = cs*U[i][j] + sn*U[i][j+1]; + U[i][j+1] = -sn*U[i][j] + cs*U[i][j+1]; + U[i][j] = t; + } + } + } + e[p-2] = f; + iter = iter + 1; + } + break; + + // Convergence. + + case 4: { + + // Make the singular values positive. + + if (s[k] <= 0.0) { + s[k] = (s[k] < 0.0 ? -s[k] : 0.0); + if (wantv) { + for (int i = 0; i <= pp; i++) { + V[i][k] = -V[i][k]; + } + } + } + + // Order the singular values. + + while (k < pp) { + if (s[k] >= s[k+1]) { + break; + } + double t = s[k]; + s[k] = s[k+1]; + s[k+1] = t; + if (wantv && (k < n-1)) { + for (int i = 0; i < n; i++) { + t = V[i][k+1]; V[i][k+1] = V[i][k]; V[i][k] = t; + } + } + if (wantu && (k < m-1)) { + for (int i = 0; i < m; i++) { + t = U[i][k+1]; U[i][k+1] = U[i][k]; U[i][k] = t; + } + } + k++; + } + iter = 0; + p--; + } + break; + } + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Return the left singular vectors + @return U + */ + + public Matrix getU () { + return new Matrix(U,m,Math.min(m+1,n)); + } + + /** Return the right singular vectors + @return V + */ + + public Matrix getV () { + return new Matrix(V,n,n); + } + + /** Return the one-dimensional array of singular values + @return diagonal of S. + */ + + public double[] getSingularValues () { + return s; + } + + /** Return the diagonal matrix of singular values + @return S + */ + + public Matrix getS () { + Matrix X = new Matrix(n,n); + double[][] S = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + S[i][j] = 0.0; + } + S[i][i] = this.s[i]; + } + return X; + } + + /** Two norm + @return max(S) + */ + + public double norm2 () { + return s[0]; + } + + /** Two norm condition number + @return max(S)/min(S) + */ + + public double cond () { + return s[0]/s[Math.min(m,n)-1]; + } + + /** Effective numerical matrix rank + @return Number of nonnegligible singular values. + */ + + public int rank () { + double eps = Math.pow(2.0,-52.0); + double tol = Math.max(m,n)*s[0]*eps; + int r = 0; + for (int i = 0; i < s.length; i++) { + if (s[i] > tol) { + r++; + } + } + return r; + } +} diff --git a/src/jat/core/math/MatrixVector/examples/MagicSquareExample.java b/src/jat/core/math/MatrixVector/examples/MagicSquareExample.java new file mode 100644 index 0000000..b17ba10 --- /dev/null +++ b/src/jat/core/math/MatrixVector/examples/MagicSquareExample.java @@ -0,0 +1,163 @@ +package jat.core.math.MatrixVector.examples; + +import jat.core.math.MatrixVector.EigenvalueDecomposition; import jat.core.math.MatrixVector.LUDecomposition; import jat.core.math.MatrixVector.Matrix; import jat.core.math.MatrixVector.QRDecomposition; import java.util.Date; + +/** Example of use of Matrix Class, featuring magic squares. **/ + +public class MagicSquareExample { + + /** Generate magic square test matrix. **/ + + public static Matrix magic (int n) { + + double[][] M = new double[n][n]; + + // Odd order + + if ((n % 2) == 1) { + int a = (n+1)/2; + int b = (n+1); + for (int j = 0; j < n; j++) { + for (int i = 0; i < n; i++) { + M[i][j] = n*((i+j+a) % n) + ((i+2*j+b) % n) + 1; + } + } + + // Doubly Even Order + + } else if ((n % 4) == 0) { + for (int j = 0; j < n; j++) { + for (int i = 0; i < n; i++) { + if (((i+1)/2)%2 == ((j+1)/2)%2) { + M[i][j] = n*n-n*i-j; + } else { + M[i][j] = n*i+j+1; + } + } + } + + // Singly Even Order + + } else { + int p = n/2; + int k = (n-2)/4; + Matrix A = magic(p); + for (int j = 0; j < p; j++) { + for (int i = 0; i < p; i++) { + double aij = A.get(i,j); + M[i][j] = aij; + M[i][j+p] = aij + 2*p*p; + M[i+p][j] = aij + 3*p*p; + M[i+p][j+p] = aij + p*p; + } + } + for (int i = 0; i < p; i++) { + for (int j = 0; j < k; j++) { + double t = M[i][j]; M[i][j] = M[i+p][j]; M[i+p][j] = t; + } + for (int j = n-k+1; j < n; j++) { + double t = M[i][j]; M[i][j] = M[i+p][j]; M[i+p][j] = t; + } + } + double t = M[k][0]; M[k][0] = M[k+p][0]; M[k+p][0] = t; + t = M[k][k]; M[k][k] = M[k+p][k]; M[k+p][k] = t; + } + return new Matrix(M); + } + + /** Shorten spelling of print. **/ + + private static void print (String s) { + System.out.print(s); + } + + /** Format double with Fw.d. **/ + + public static String fixedWidthDoubletoString (double x, int w, int d) { + java.text.DecimalFormat fmt = new java.text.DecimalFormat(); + fmt.setMaximumFractionDigits(d); + fmt.setMinimumFractionDigits(d); + fmt.setGroupingUsed(false); + String s = fmt.format(x); + while (s.length() < w) { + s = " " + s; + } + return s; + } + + /** Format integer with Iw. **/ + + public static String fixedWidthIntegertoString (int n, int w) { + String s = Integer.toString(n); + while (s.length() < w) { + s = " " + s; + } + return s; + } + + + public static void main (String argv[]) { + + /* + | Tests LU, QR, SVD and symmetric Eig decompositions. + | + | n = order of magic square. + | trace = diagonal sum, should be the magic sum, (n^3 + n)/2. + | max_eig = maximum eigenvalue of (A + A')/2, should equal trace. + | rank = linear algebraic rank, + | should equal n if n is odd, be less than n if n is even. + | cond = L_2 condition number, ratio of singular values. + | lu_res = test of LU factorization, norm1(L*U-A(p,:))/(n*eps). + | qr_res = test of QR factorization, norm1(Q*R-A)/(n*eps). + */ + + print("\n Test of Matrix Class, using magic squares.\n"); + print(" See MagicSquareExample.main() for an explanation.\n"); + print("\n n trace max_eig rank cond lu_res qr_res\n\n"); + + Date start_time = new Date(); + double eps = Math.pow(2.0,-52.0); + for (int n = 3; n <= 32; n++) { + print(fixedWidthIntegertoString(n,7)); + + Matrix M = magic(n); + + int t = (int) M.trace(); + print(fixedWidthIntegertoString(t,10)); + + EigenvalueDecomposition E = + new EigenvalueDecomposition(M.plus(M.transpose()).times(0.5)); + double[] d = E.getRealEigenvalues(); + print(fixedWidthDoubletoString(d[n-1],14,3)); + + int r = M.rank(); + print(fixedWidthIntegertoString(r,7)); + + double c = M.cond(); + print(c < 1/eps ? fixedWidthDoubletoString(c,12,3) : + " Inf"); + + LUDecomposition LU = new LUDecomposition(M); + Matrix L = LU.getL(); + Matrix U = LU.getU(); + int[] p = LU.getPivot(); + Matrix R = L.times(U).minus(M.getMatrix(p,0,n-1)); + double res = R.norm1()/(n*eps); + print(fixedWidthDoubletoString(res,12,3)); + + QRDecomposition QR = new QRDecomposition(M); + Matrix Q = QR.getQ(); + R = QR.getR(); + R = Q.times(R).minus(M); + res = R.norm1()/(n*eps); + print(fixedWidthDoubletoString(res,12,3)); + + print("\n"); + } + Date stop_time = new Date(); + double etime = (stop_time.getTime() - start_time.getTime())/1000.; + print("\nElapsed Time = " + + fixedWidthDoubletoString(etime,12,3) + " seconds\n"); + print("Adios\n"); + } +} diff --git a/src/jat/core/math/MatrixVector/test/TestMatrix.java b/src/jat/core/math/MatrixVector/test/TestMatrix.java new file mode 100644 index 0000000..45b39d1 --- /dev/null +++ b/src/jat/core/math/MatrixVector/test/TestMatrix.java @@ -0,0 +1,955 @@ +package jat.core.math.MatrixVector.test; +import jat.core.math.MatrixVector.CholeskyDecomposition; +import jat.core.math.MatrixVector.EigenvalueDecomposition; +import jat.core.math.MatrixVector.LUDecomposition; +import jat.core.math.MatrixVector.Matrix; +import jat.core.math.MatrixVector.QRDecomposition; +import jat.core.math.MatrixVector.SingularValueDecomposition; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.PrintWriter; +import java.text.DecimalFormat; +import java.text.DecimalFormatSymbols; +import java.util.Locale; + +/** TestMatrix tests the functionality of the Jama Matrix class and associated decompositions. +

+Run the test from the command line using +


+ java Jama.test.TestMatrix 
+
+Detailed output is provided indicating the functionality being tested +and whether the functionality is correctly implemented. Exception handling +is also tested. +

+The test is designed to run to completion and give a summary of any implementation errors +encountered. The final output should be: +


+      TestMatrix completed.
+      Total errors reported: n1
+      Total warning reported: n2
+
+If the test does not run to completion, this indicates that there is a +substantial problem within the implementation that was not anticipated in the test design. +The stopping point should give an indication of where the problem exists. +**/ +public class TestMatrix { + public static void main (String argv[]) { + Matrix A,B,C,Z,O,I,R,S,X,SUB,M,T,SQ,DEF,SOL; + // Uncomment this to test IO in a different locale. + // Locale.setDefault(Locale.GERMAN); + int errorCount=0; + int warningCount=0; + double tmp, s; + double[] columnwise = {1.,2.,3.,4.,5.,6.,7.,8.,9.,10.,11.,12.}; + double[] rowwise = {1.,4.,7.,10.,2.,5.,8.,11.,3.,6.,9.,12.}; + double[][] avals = {{1.,4.,7.,10.},{2.,5.,8.,11.},{3.,6.,9.,12.}}; + double[][] rankdef = avals; + double[][] tvals = {{1.,2.,3.},{4.,5.,6.},{7.,8.,9.},{10.,11.,12.}}; + double[][] subavals = {{5.,8.,11.},{6.,9.,12.}}; + double[][] rvals = {{1.,4.,7.},{2.,5.,8.,11.},{3.,6.,9.,12.}}; + double[][] pvals = {{4.,1.,1.},{1.,2.,3.},{1.,3.,6.}}; + double[][] ivals = {{1.,0.,0.,0.},{0.,1.,0.,0.},{0.,0.,1.,0.}}; + double[][] evals = + {{0.,1.,0.,0.},{1.,0.,2.e-7,0.},{0.,-2.e-7,0.,1.},{0.,0.,1.,0.}}; + double[][] square = {{166.,188.,210.},{188.,214.,240.},{210.,240.,270.}}; + double[][] sqSolution = {{13.},{15.}}; + double[][] condmat = {{1.,3.},{7.,9.}}; + int rows=3,cols=4; + int invalidld=5;/* should trigger bad shape for construction with val */ + int raggedr=0; /* (raggedr,raggedc) should be out of bounds in ragged array */ + int raggedc=4; + int validld=3; /* leading dimension of intended test Matrices */ + int nonconformld=4; /* leading dimension which is valid, but nonconforming */ + int ib=1,ie=2,jb=1,je=3; /* index ranges for sub Matrix */ + int[] rowindexset = {1,2}; + int[] badrowindexset = {1,3}; + int[] columnindexset = {1,2,3}; + int[] badcolumnindexset = {1,2,4}; + double columnsummax = 33.; + double rowsummax = 30.; + double sumofdiagonals = 15; + double sumofsquares = 650; + +/** + Constructors and constructor-like methods: + double[], int + double[][] + int, int + int, int, double + int, int, double[][] + constructWithCopy(double[][]) + random(int,int) + identity(int) +**/ + + print("\nTesting constructors and constructor-like methods...\n"); + try{ + /** check that exception is thrown in packed constructor with invalid length **/ + A = new Matrix(columnwise,invalidld); + errorCount = try_failure(errorCount,"Catch invalid length in packed constructor... ", + "exception not thrown for invalid input"); + } catch ( IllegalArgumentException e ) { + try_success("Catch invalid length in packed constructor... ", + e.getMessage()); + } + try{ + /** check that exception is thrown in default constructor + if input array is 'ragged' **/ + A = new Matrix(rvals); + tmp = A.get(raggedr,raggedc); + } catch ( IllegalArgumentException e ) { + try_success("Catch ragged input to default constructor... ", + e.getMessage()); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"Catch ragged input to constructor... ", + "exception not thrown in construction...ArrayIndexOutOfBoundsException thrown later"); + } + try{ + /** check that exception is thrown in constructWithCopy + if input array is 'ragged' **/ + A = Matrix.constructWithCopy(rvals); + tmp = A.get(raggedr,raggedc); + } catch ( IllegalArgumentException e ) { + try_success("Catch ragged input to constructWithCopy... ",e.getMessage()); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"Catch ragged input to constructWithCopy... ","exception not thrown in construction...ArrayIndexOutOfBoundsException thrown later"); + } + + A = new Matrix(columnwise,validld); + B = new Matrix(avals); + tmp = B.get(0,0); + avals[0][0] = 0.0; + C = B.minus(A); + avals[0][0] = tmp; + B = Matrix.constructWithCopy(avals); + tmp = B.get(0,0); + avals[0][0] = 0.0; + if ( ( tmp - B.get(0,0) ) != 0.0 ) { + /** check that constructWithCopy behaves properly **/ + errorCount = try_failure(errorCount,"constructWithCopy... ","copy not effected... data visible outside"); + } else { + try_success("constructWithCopy... ",""); + } + avals[0][0] = columnwise[0]; + I = new Matrix(ivals); + try { + check(I,Matrix.identity(3,4)); + try_success("identity... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"identity... ","identity Matrix not successfully created"); + } + +/** + Access Methods: + getColumnDimension() + getRowDimension() + getArray() + getArrayCopy() + getColumnPackedCopy() + getRowPackedCopy() + get(int,int) + getMatrix(int,int,int,int) + getMatrix(int,int,int[]) + getMatrix(int[],int,int) + getMatrix(int[],int[]) + set(int,int,double) + setMatrix(int,int,int,int,Matrix) + setMatrix(int,int,int[],Matrix) + setMatrix(int[],int,int,Matrix) + setMatrix(int[],int[],Matrix) +**/ + + print("\nTesting access methods...\n"); + +/** + Various get methods: +**/ + + B = new Matrix(avals); + if (B.getRowDimension() != rows) { + errorCount = try_failure(errorCount,"getRowDimension... ",""); + } else { + try_success("getRowDimension... ",""); + } + if (B.getColumnDimension() != cols) { + errorCount = try_failure(errorCount,"getColumnDimension... ",""); + } else { + try_success("getColumnDimension... ",""); + } + B = new Matrix(avals); + double[][] barray = B.getArray(); + if ( barray != avals ) { + errorCount = try_failure(errorCount,"getArray... ",""); + } else { + try_success("getArray... ",""); + } + barray = B.getArrayCopy(); + if ( barray == avals ) { + errorCount = try_failure(errorCount,"getArrayCopy... ","data not (deep) copied"); + } + try { + check(barray,avals); + try_success("getArrayCopy... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getArrayCopy... ","data not successfully (deep) copied"); + } + double[] bpacked = B.getColumnPackedCopy(); + try { + check(bpacked,columnwise); + try_success("getColumnPackedCopy... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getColumnPackedCopy... ","data not successfully (deep) copied by columns"); + } + bpacked = B.getRowPackedCopy(); + try { + check(bpacked,rowwise); + try_success("getRowPackedCopy... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getRowPackedCopy... ","data not successfully (deep) copied by rows"); + } + try { + tmp = B.get(B.getRowDimension(),B.getColumnDimension()-1); + errorCount = try_failure(errorCount,"get(int,int)... ","OutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + tmp = B.get(B.getRowDimension()-1,B.getColumnDimension()); + errorCount = try_failure(errorCount,"get(int,int)... ","OutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("get(int,int)... OutofBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"get(int,int)... ","OutOfBoundsException expected but not thrown"); + } + try { + if (B.get(B.getRowDimension()-1,B.getColumnDimension()-1) != + avals[B.getRowDimension()-1][B.getColumnDimension()-1] ) { + errorCount = try_failure(errorCount,"get(int,int)... ","Matrix entry (i,j) not successfully retreived"); + } else { + try_success("get(int,int)... ",""); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"get(int,int)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + SUB = new Matrix(subavals); + try { + M = B.getMatrix(ib,ie+B.getRowDimension()+1,jb,je); + errorCount = try_failure(errorCount,"getMatrix(int,int,int,int)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + M = B.getMatrix(ib,ie,jb,je+B.getColumnDimension()+1); + errorCount = try_failure(errorCount,"getMatrix(int,int,int,int)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("getMatrix(int,int,int,int)... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"getMatrix(int,int,int,int)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + M = B.getMatrix(ib,ie,jb,je); + try { + check(SUB,M); + try_success("getMatrix(int,int,int,int)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getMatrix(int,int,int,int)... ","submatrix not successfully retreived"); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"getMatrix(int,int,int,int)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + + try { + M = B.getMatrix(ib,ie,badcolumnindexset); + errorCount = try_failure(errorCount,"getMatrix(int,int,int[])... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + M = B.getMatrix(ib,ie+B.getRowDimension()+1,columnindexset); + errorCount = try_failure(errorCount,"getMatrix(int,int,int[])... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("getMatrix(int,int,int[])... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"getMatrix(int,int,int[])... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + M = B.getMatrix(ib,ie,columnindexset); + try { + check(SUB,M); + try_success("getMatrix(int,int,int[])... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getMatrix(int,int,int[])... ","submatrix not successfully retreived"); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"getMatrix(int,int,int[])... ","Unexpected ArrayIndexOutOfBoundsException"); + } + try { + M = B.getMatrix(badrowindexset,jb,je); + errorCount = try_failure(errorCount,"getMatrix(int[],int,int)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + M = B.getMatrix(rowindexset,jb,je+B.getColumnDimension()+1); + errorCount = try_failure(errorCount,"getMatrix(int[],int,int)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("getMatrix(int[],int,int)... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"getMatrix(int[],int,int)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + M = B.getMatrix(rowindexset,jb,je); + try { + check(SUB,M); + try_success("getMatrix(int[],int,int)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getMatrix(int[],int,int)... ","submatrix not successfully retreived"); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"getMatrix(int[],int,int)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + try { + M = B.getMatrix(badrowindexset,columnindexset); + errorCount = try_failure(errorCount,"getMatrix(int[],int[])... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + M = B.getMatrix(rowindexset,badcolumnindexset); + errorCount = try_failure(errorCount,"getMatrix(int[],int[])... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("getMatrix(int[],int[])... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"getMatrix(int[],int[])... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + M = B.getMatrix(rowindexset,columnindexset); + try { + check(SUB,M); + try_success("getMatrix(int[],int[])... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"getMatrix(int[],int[])... ","submatrix not successfully retreived"); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + errorCount = try_failure(errorCount,"getMatrix(int[],int[])... ","Unexpected ArrayIndexOutOfBoundsException"); + } + +/** + Various set methods: +**/ + + try { + B.set(B.getRowDimension(),B.getColumnDimension()-1,0.); + errorCount = try_failure(errorCount,"set(int,int,double)... ","OutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + B.set(B.getRowDimension()-1,B.getColumnDimension(),0.); + errorCount = try_failure(errorCount,"set(int,int,double)... ","OutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("set(int,int,double)... OutofBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"set(int,int,double)... ","OutOfBoundsException expected but not thrown"); + } + try { + B.set(ib,jb,0.); + tmp = B.get(ib,jb); + try { + check(tmp,0.); + try_success("set(int,int,double)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"set(int,int,double)... ","Matrix element not successfully set"); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e1) { + errorCount = try_failure(errorCount,"set(int,int,double)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + M = new Matrix(2,3,0.); + try { + B.setMatrix(ib,ie+B.getRowDimension()+1,jb,je,M); + errorCount = try_failure(errorCount,"setMatrix(int,int,int,int,Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + B.setMatrix(ib,ie,jb,je+B.getColumnDimension()+1,M); + errorCount = try_failure(errorCount,"setMatrix(int,int,int,int,Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("setMatrix(int,int,int,int,Matrix)... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int,int,int,int,Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + B.setMatrix(ib,ie,jb,je,M); + try { + check(M.minus(B.getMatrix(ib,ie,jb,je)),M); + try_success("setMatrix(int,int,int,int,Matrix)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"setMatrix(int,int,int,int,Matrix)... ","submatrix not successfully set"); + } + B.setMatrix(ib,ie,jb,je,SUB); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int,int,int,int,Matrix)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + try { + B.setMatrix(ib,ie+B.getRowDimension()+1,columnindexset,M); + errorCount = try_failure(errorCount,"setMatrix(int,int,int[],Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + B.setMatrix(ib,ie,badcolumnindexset,M); + errorCount = try_failure(errorCount,"setMatrix(int,int,int[],Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("setMatrix(int,int,int[],Matrix)... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int,int,int[],Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + B.setMatrix(ib,ie,columnindexset,M); + try { + check(M.minus(B.getMatrix(ib,ie,columnindexset)),M); + try_success("setMatrix(int,int,int[],Matrix)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"setMatrix(int,int,int[],Matrix)... ","submatrix not successfully set"); + } + B.setMatrix(ib,ie,jb,je,SUB); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int,int,int[],Matrix)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + try { + B.setMatrix(rowindexset,jb,je+B.getColumnDimension()+1,M); + errorCount = try_failure(errorCount,"setMatrix(int[],int,int,Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + B.setMatrix(badrowindexset,jb,je,M); + errorCount = try_failure(errorCount,"setMatrix(int[],int,int,Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("setMatrix(int[],int,int,Matrix)... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int[],int,int,Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + B.setMatrix(rowindexset,jb,je,M); + try { + check(M.minus(B.getMatrix(rowindexset,jb,je)),M); + try_success("setMatrix(int[],int,int,Matrix)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"setMatrix(int[],int,int,Matrix)... ","submatrix not successfully set"); + } + B.setMatrix(ib,ie,jb,je,SUB); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int[],int,int,Matrix)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + try { + B.setMatrix(rowindexset,badcolumnindexset,M); + errorCount = try_failure(errorCount,"setMatrix(int[],int[],Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e ) { + try { + B.setMatrix(badrowindexset,columnindexset,M); + errorCount = try_failure(errorCount,"setMatrix(int[],int[],Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + try_success("setMatrix(int[],int[],Matrix)... ArrayIndexOutOfBoundsException... ",""); + } + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int[],int[],Matrix)... ","ArrayIndexOutOfBoundsException expected but not thrown"); + } + try { + B.setMatrix(rowindexset,columnindexset,M); + try { + check(M.minus(B.getMatrix(rowindexset,columnindexset)),M); + try_success("setMatrix(int[],int[],Matrix)... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"setMatrix(int[],int[],Matrix)... ","submatrix not successfully set"); + } + } catch ( java.lang.ArrayIndexOutOfBoundsException e1 ) { + errorCount = try_failure(errorCount,"setMatrix(int[],int[],Matrix)... ","Unexpected ArrayIndexOutOfBoundsException"); + } + +/** + Array-like methods: + minus + minusEquals + plus + plusEquals + arrayLeftDivide + arrayLeftDivideEquals + arrayRightDivide + arrayRightDivideEquals + arrayTimes + arrayTimesEquals + uminus +**/ + + print("\nTesting array-like methods...\n"); + S = new Matrix(columnwise,nonconformld); + R = Matrix.random(A.getRowDimension(),A.getColumnDimension()); + A = R; + try { + S = A.minus(S); + errorCount = try_failure(errorCount,"minus conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("minus conformance check... ",""); + } + if (A.minus(R).norm1() != 0.) { + errorCount = try_failure(errorCount,"minus... ","(difference of identical Matrices is nonzero,\nSubsequent use of minus should be suspect)"); + } else { + try_success("minus... ",""); + } + A = R.copy(); + A.minusEquals(R); + Z = new Matrix(A.getRowDimension(),A.getColumnDimension()); + try { + A.minusEquals(S); + errorCount = try_failure(errorCount,"minusEquals conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("minusEquals conformance check... ",""); + } + if (A.minus(Z).norm1() != 0.) { + errorCount = try_failure(errorCount,"minusEquals... ","(difference of identical Matrices is nonzero,\nSubsequent use of minus should be suspect)"); + } else { + try_success("minusEquals... ",""); + } + + A = R.copy(); + B = Matrix.random(A.getRowDimension(),A.getColumnDimension()); + C = A.minus(B); + try { + S = A.plus(S); + errorCount = try_failure(errorCount,"plus conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("plus conformance check... ",""); + } + try { + check(C.plus(B),A); + try_success("plus... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"plus... ","(C = A - B, but C + B != A)"); + } + C = A.minus(B); + C.plusEquals(B); + try { + A.plusEquals(S); + errorCount = try_failure(errorCount,"plusEquals conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("plusEquals conformance check... ",""); + } + try { + check(C,A); + try_success("plusEquals... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"plusEquals... ","(C = A - B, but C = C + B != A)"); + } + A = R.uminus(); + try { + check(A.plus(R),Z); + try_success("uminus... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"uminus... ","(-A + A != zeros)"); + } + A = R.copy(); + O = new Matrix(A.getRowDimension(),A.getColumnDimension(),1.0); + C = A.arrayLeftDivide(R); + try { + S = A.arrayLeftDivide(S); + errorCount = try_failure(errorCount,"arrayLeftDivide conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("arrayLeftDivide conformance check... ",""); + } + try { + check(C,O); + try_success("arrayLeftDivide... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"arrayLeftDivide... ","(M.\\M != ones)"); + } + try { + A.arrayLeftDivideEquals(S); + errorCount = try_failure(errorCount,"arrayLeftDivideEquals conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("arrayLeftDivideEquals conformance check... ",""); + } + A.arrayLeftDivideEquals(R); + try { + check(A,O); + try_success("arrayLeftDivideEquals... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"arrayLeftDivideEquals... ","(M.\\M != ones)"); + } + A = R.copy(); + try { + A.arrayRightDivide(S); + errorCount = try_failure(errorCount,"arrayRightDivide conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("arrayRightDivide conformance check... ",""); + } + C = A.arrayRightDivide(R); + try { + check(C,O); + try_success("arrayRightDivide... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"arrayRightDivide... ","(M./M != ones)"); + } + try { + A.arrayRightDivideEquals(S); + errorCount = try_failure(errorCount,"arrayRightDivideEquals conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("arrayRightDivideEquals conformance check... ",""); + } + A.arrayRightDivideEquals(R); + try { + check(A,O); + try_success("arrayRightDivideEquals... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"arrayRightDivideEquals... ","(M./M != ones)"); + } + A = R.copy(); + B = Matrix.random(A.getRowDimension(),A.getColumnDimension()); + try { + S = A.arrayTimes(S); + errorCount = try_failure(errorCount,"arrayTimes conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("arrayTimes conformance check... ",""); + } + C = A.arrayTimes(B); + try { + check(C.arrayRightDivideEquals(B),A); + try_success("arrayTimes... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"arrayTimes... ","(A = R, C = A.*B, but C./B != A)"); + } + try { + A.arrayTimesEquals(S); + errorCount = try_failure(errorCount,"arrayTimesEquals conformance check... ","nonconformance not raised"); + } catch ( IllegalArgumentException e ) { + try_success("arrayTimesEquals conformance check... ",""); + } + A.arrayTimesEquals(B); + try { + check(A.arrayRightDivideEquals(B),R); + try_success("arrayTimesEquals... ",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"arrayTimesEquals... ","(A = R, A = A.*B, but A./B != R)"); + } + +/** + I/O methods: + read + print + serializable: + writeObject + readObject +**/ + print("\nTesting I/O methods...\n"); + try { + DecimalFormat fmt = new DecimalFormat("0.0000E00"); + fmt.setDecimalFormatSymbols(new DecimalFormatSymbols(Locale.US)); + + PrintWriter FILE = new PrintWriter(new FileOutputStream("JamaTestMatrix.out")); + A.print(FILE,fmt,10); + FILE.close(); + R = Matrix.read(new BufferedReader(new FileReader("JamaTestMatrix.out"))); + if (A.minus(R).norm1() < .001 ) { + try_success("print()/read()...",""); + } else { + errorCount = try_failure(errorCount,"print()/read()...","Matrix read from file does not match Matrix printed to file"); + } + } catch ( java.io.IOException ioe ) { + warningCount = try_warning(warningCount,"print()/read()...","unexpected I/O error, unable to run print/read test; check write permission in current directory and retry"); + } catch(Exception e) { + try { + e.printStackTrace(System.out); + warningCount = try_warning(warningCount,"print()/read()...","Formatting error... will try JDK1.1 reformulation..."); + DecimalFormat fmt = new DecimalFormat("0.0000"); + PrintWriter FILE = new PrintWriter(new FileOutputStream("JamaTestMatrix.out")); + A.print(FILE,fmt,10); + FILE.close(); + R = Matrix.read(new BufferedReader(new FileReader("JamaTestMatrix.out"))); + if (A.minus(R).norm1() < .001 ) { + try_success("print()/read()...",""); + } else { + errorCount = try_failure(errorCount,"print()/read() (2nd attempt) ...","Matrix read from file does not match Matrix printed to file"); + } + } catch ( java.io.IOException ioe ) { + warningCount = try_warning(warningCount,"print()/read()...","unexpected I/O error, unable to run print/read test; check write permission in current directory and retry"); + } + } + + R = Matrix.random(A.getRowDimension(),A.getColumnDimension()); + String tmpname = "TMPMATRIX.serial"; + try { + ObjectOutputStream out = new ObjectOutputStream(new FileOutputStream(tmpname)); + out.writeObject(R); + ObjectInputStream sin = new ObjectInputStream(new FileInputStream(tmpname)); + A = (Matrix) sin.readObject(); + + try { + check(A,R); + try_success("writeObject(Matrix)/readObject(Matrix)...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"writeObject(Matrix)/readObject(Matrix)...","Matrix not serialized correctly"); + } + } catch ( java.io.IOException ioe ) { + warningCount = try_warning(warningCount,"writeObject()/readObject()...","unexpected I/O error, unable to run serialization test; check write permission in current directory and retry"); + } catch(Exception e) { + errorCount = try_failure(errorCount,"writeObject(Matrix)/readObject(Matrix)...","unexpected error in serialization test"); + } + +/** + LA methods: + transpose + times + cond + rank + det + trace + norm1 + norm2 + normF + normInf + solve + solveTranspose + inverse + chol + eig + lu + qr + svd +**/ + + print("\nTesting linear algebra methods...\n"); + A = new Matrix(columnwise,3); + T = new Matrix(tvals); + T = A.transpose(); + try { + check(A.transpose(),T); + try_success("transpose...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"transpose()...","transpose unsuccessful"); + } + A.transpose(); + try { + check(A.norm1(),columnsummax); + try_success("norm1...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"norm1()...","incorrect norm calculation"); + } + try { + check(A.normInf(),rowsummax); + try_success("normInf()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"normInf()...","incorrect norm calculation"); + } + try { + check(A.normF(),Math.sqrt(sumofsquares)); + try_success("normF...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"normF()...","incorrect norm calculation"); + } + try { + check(A.trace(),sumofdiagonals); + try_success("trace()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"trace()...","incorrect trace calculation"); + } + try { + check(A.getMatrix(0,A.getRowDimension()-1,0,A.getRowDimension()-1).det(),0.); + try_success("det()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"det()...","incorrect determinant calculation"); + } + SQ = new Matrix(square); + try { + check(A.times(A.transpose()),SQ); + try_success("times(Matrix)...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"times(Matrix)...","incorrect Matrix-Matrix product calculation"); + } + try { + check(A.times(0.),Z); + try_success("times(double)...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"times(double)...","incorrect Matrix-scalar product calculation"); + } + + A = new Matrix(columnwise,4); + QRDecomposition QR = A.qr(); + R = QR.getR(); + try { + check(A,QR.getQ().times(R)); + try_success("QRDecomposition...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"QRDecomposition...","incorrect QR decomposition calculation"); + } + SingularValueDecomposition SVD = A.svd(); + try { + check(A,SVD.getU().times(SVD.getS().times(SVD.getV().transpose()))); + try_success("SingularValueDecomposition...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"SingularValueDecomposition...","incorrect singular value decomposition calculation"); + } + DEF = new Matrix(rankdef); + try { + check(DEF.rank(),Math.min(DEF.getRowDimension(),DEF.getColumnDimension())-1); + try_success("rank()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"rank()...","incorrect rank calculation"); + } + B = new Matrix(condmat); + SVD = B.svd(); + double [] singularvalues = SVD.getSingularValues(); + try { + check(B.cond(),singularvalues[0]/singularvalues[Math.min(B.getRowDimension(),B.getColumnDimension())-1]); + try_success("cond()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"cond()...","incorrect condition number calculation"); + } + int n = A.getColumnDimension(); + A = A.getMatrix(0,n-1,0,n-1); + A.set(0,0,0.); + LUDecomposition LU = A.lu(); + try { + check(A.getMatrix(LU.getPivot(),0,n-1),LU.getL().times(LU.getU())); + try_success("LUDecomposition...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"LUDecomposition...","incorrect LU decomposition calculation"); + } + X = A.inverse(); + try { + check(A.times(X),Matrix.identity(3,3)); + try_success("inverse()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"inverse()...","incorrect inverse calculation"); + } + O = new Matrix(SUB.getRowDimension(),1,1.0); + SOL = new Matrix(sqSolution); + SQ = SUB.getMatrix(0,SUB.getRowDimension()-1,0,SUB.getRowDimension()-1); + try { + check(SQ.solve(SOL),O); + try_success("solve()...",""); + } catch ( java.lang.IllegalArgumentException e1 ) { + errorCount = try_failure(errorCount,"solve()...",e1.getMessage()); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"solve()...",e.getMessage()); + } + A = new Matrix(pvals); + CholeskyDecomposition Chol = A.chol(); + Matrix L = Chol.getL(); + try { + check(A,L.times(L.transpose())); + try_success("CholeskyDecomposition...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"CholeskyDecomposition...","incorrect Cholesky decomposition calculation"); + } + X = Chol.solve(Matrix.identity(3,3)); + try { + check(A.times(X),Matrix.identity(3,3)); + try_success("CholeskyDecomposition solve()...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"CholeskyDecomposition solve()...","incorrect Choleskydecomposition solve calculation"); + } + EigenvalueDecomposition Eig = A.eig(); + Matrix D = Eig.getD(); + Matrix V = Eig.getV(); + try { + check(A.times(V),V.times(D)); + try_success("EigenvalueDecomposition (symmetric)...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"EigenvalueDecomposition (symmetric)...","incorrect symmetric Eigenvalue decomposition calculation"); + } + A = new Matrix(evals); + Eig = A.eig(); + D = Eig.getD(); + V = Eig.getV(); + try { + check(A.times(V),V.times(D)); + try_success("EigenvalueDecomposition (nonsymmetric)...",""); + } catch ( java.lang.RuntimeException e ) { + errorCount = try_failure(errorCount,"EigenvalueDecomposition (nonsymmetric)...","incorrect nonsymmetric Eigenvalue decomposition calculation"); + } + + print("\nTestMatrix completed.\n"); + print("Total errors reported: " + Integer.toString(errorCount) + "\n"); + print("Total warnings reported: " + Integer.toString(warningCount) + "\n"); + } + + /** private utility routines **/ + + /** Check magnitude of difference of scalars. **/ + + private static void check(double x, double y) { + double eps = Math.pow(2.0,-52.0); + if (x == 0 & Math.abs(y) < 10*eps) return; + if (y == 0 & Math.abs(x) < 10*eps) return; + if (Math.abs(x-y) > 10*eps*Math.max(Math.abs(x),Math.abs(y))) { + throw new RuntimeException("The difference x-y is too large: x = " + Double.toString(x) + " y = " + Double.toString(y)); + } + } + + /** Check norm of difference of "vectors". **/ + + private static void check(double[] x, double[] y) { + if (x.length == y.length ) { + for (int i=0;i 1000*eps*Math.max(X.norm1(),Y.norm1())) { + throw new RuntimeException("The norm of (X-Y) is too large: " + Double.toString(X.minus(Y).norm1())); + } + } + + /** Shorten spelling of print. **/ + + private static void print (String s) { + System.out.print(s); + } + + /** Print appropriate messages for successful outcome try **/ + + private static void try_success (String s,String e) { + print("> " + s + "success\n"); + if ( e != "" ) { + print("> Message: " + e + "\n"); + } + } + /** Print appropriate messages for unsuccessful outcome try **/ + + private static int try_failure (int count, String s,String e) { + print("> " + s + "*** failure ***\n> Message: " + e + "\n"); + return ++count; + } + + /** Print appropriate messages for unsuccessful outcome try **/ + + private static int try_warning (int count, String s,String e) { + print("> " + s + "*** warning ***\n> Message: " + e + "\n"); + return ++count; + } + + /** Print a row vector. **/ + + private static void print(double[] x, int w, int d) { + // Use format Fw.d for all elements. + System.out.print("\n"); + new Matrix(x,1).print(w,d); + print("\n"); + } + +} diff --git a/src/jat/core/math/MatrixVector/util/LabeledMatrix.java b/src/jat/core/math/MatrixVector/util/LabeledMatrix.java new file mode 100644 index 0000000..4b5372f --- /dev/null +++ b/src/jat/core/math/MatrixVector/util/LabeledMatrix.java @@ -0,0 +1,126 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.math.MatrixVector.util; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class LabeledMatrix extends Matrix { + private static final long serialVersionUID = -2882712126083407423L; + public String cornerlabel; + public String[] RowLabels; + public String[] ColumnLabels; + public String rowlabelformat; + public String collabelformat; + + public LabeledMatrix(int m, int n) { + super(m, n); + defaultLabels(); + } + + public LabeledMatrix(int n) { + super(n); + defaultLabels(); + } + + public LabeledMatrix(Matrix in) { + super(in); + // TODO Auto-generated constructor stub + } + + public LabeledMatrix(int m, int n, double s) { + super(m, n, s); + // TODO Auto-generated constructor stub + } + + public LabeledMatrix(VectorN X) { + super(X); + // TODO Auto-generated constructor stub + } + + public LabeledMatrix(double[][] B) { + super(B); + // TODO Auto-generated constructor stub + } + + public LabeledMatrix(double[][] B, int m, int n) { + super(B, m, n); + // TODO Auto-generated constructor stub + } + + public LabeledMatrix(double[] vals, int m) { + super(vals, m); + // TODO Auto-generated constructor stub + } + + private void defaultLabels() { + RowLabels = new String[m]; + ColumnLabels = new String[n]; + cornerlabel = "r/c"; + for (int i = 0; i < m; i++) + RowLabels[i] = "" + i; + for (int j = 0; j < n; j++) + ColumnLabels[j] = "" + j; + } + + public void print() { + + int width = 9; + int precision = 2; + String numberformat = "%" + width + "." + precision + "f"; + rowlabelformat = "%" + width + "s"; + collabelformat = "%" + width + "s"; + System.out.println(this.m + " X " + this.n + " Matrix:"); + + System.out.printf(collabelformat, cornerlabel); + for (int j = 0; j < this.n; j++) { + System.out.printf(collabelformat, ColumnLabels[j]); + } + System.out.println(); + for (int i = 0; i < this.m; i++) { + System.out.printf(rowlabelformat, RowLabels[i]); + for (int j = 0; j < this.n; j++) { + System.out.printf(numberformat, this.A[i][j]); + } + + System.out.println(); + } + System.out.println(); + + } + + public static void main(String args[]) { + + int rows = 6; + int cols = 4; + LabeledMatrix A = new LabeledMatrix(rows, cols); + + A.cornerlabel = "row/col"; + for (int i = 0; i < rows; i++) { + A.RowLabels[i] = new String("row" + (i + 1)); + for (int j = 0; j < cols; j++) { + A.ColumnLabels[j] = new String("col" + (j + 1)); + A.A[i][j] = i * 10 + j + 11; + } + } + + A.print(); + + } + +} diff --git a/src/jat/core/math/MatrixVector/util/Maths.java b/src/jat/core/math/MatrixVector/util/Maths.java new file mode 100644 index 0000000..5ff88a1 --- /dev/null +++ b/src/jat/core/math/MatrixVector/util/Maths.java @@ -0,0 +1,20 @@ +package jat.core.math.MatrixVector.util; + +public class Maths { + + /** sqrt(a^2 + b^2) without under/overflow. **/ + + public static double hypot(double a, double b) { + double r; + if (Math.abs(a) > Math.abs(b)) { + r = b/a; + r = Math.abs(a)*Math.sqrt(1+r*r); + } else if (b != 0) { + r = a/b; + r = Math.abs(b)*Math.sqrt(1+r*r); + } else { + r = 0.0; + } + return r; + } +} diff --git a/src/jat/core/math/arbaxisrot/AbstractRotationMatrix.java b/src/jat/core/math/arbaxisrot/AbstractRotationMatrix.java new file mode 100644 index 0000000..abbf244 --- /dev/null +++ b/src/jat/core/math/arbaxisrot/AbstractRotationMatrix.java @@ -0,0 +1,249 @@ +/* Copyright 2011 Glenn Murray + * + * Licensed 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 jat.core.math.arbaxisrot; + +import java.text.DecimalFormat; + +/** + * A class to do 3D rotations of a point about a line. + * + * @author Glenn Murray + */ +public abstract class AbstractRotationMatrix { + + // Static initialization--------------------------------------------- + + /** How close a double must be to a double to be "equal". */ + public static final double TOLERANCE = 1E-9; + + + // Instance variables------------------------------------------------ + + /** The rotation matrix. This is a 4x4 matrix. */ + protected double[][] matrix; + + // The parameters for the rotation. + /** x-coordinate of a point on the line of rotation. */ + protected double a; + + /** y-coordinate of a point on the line of rotation. */ + protected double b; + + /** z-coordinate of a point on the line of rotation. */ + protected double c; + + /** x-coordinate of the line's direction vector. */ + protected double u; + + /** y-coordinate of the line's direction vector. */ + protected double v; + + /** z-coordinate of the line's direction vector. */ + protected double w; + + // Some intermediate values... + /** An intermediate value used in computations (u^2). */ + protected double u2; + protected double v2; + protected double w2; + protected double cosT; + protected double oneMinusCosT; + protected double sinT; + + /** The 1,1 entry in the matrix. */ + protected double m11; + protected double m12; + protected double m13; + protected double m14; + protected double m21; + protected double m22; + protected double m23; + protected double m24; + protected double m31; + protected double m32; + protected double m33; + protected double m34; + + + // Constructors------------------------------------------------------ + + // Methods----------------------------------------------------------- + + /** + * Multiply this matrix times the given coordinates (x, y, z, 1), + * representing a point P(x, y, z).. + * + * @param x The point's x-coordinate. + * @param y The point's y-coordinate. + * @param z The point's z-coordinate. + * @return The product, in a vector <#, #, #, 1>, representing the + * rotated point. + */ + public double[] timesXYZ(double x, double y, double z) { + double[] p = new double[4]; + p[0] = m11*x + m12*y + m13*z + m14; + p[1] = m21*x + m22*y + m23*z + m24; + p[2] = m31*x + m32*y + m33*z + m34; + p[3] = 1; + + return p; + } + + + /** + * Multiply this matrix times the given coordinates (x, y, z, 1), + * representing a point P(x, y, z).. + * + * @param point The point as double[] {x, y, z}. + * @return The product, in a vector <#, #, #, 1>, representing the + * rotated point. + */ + public double[] timesXYZ(double[] point) { + return timesXYZ(point[0], point[1], point[2]); + } + + + /** + * Compute the rotated point from the formula given in the paper, + * as opposed to multiplying this matrix by the given point. + * Theoretically this should give the same answer as {@link + * #timesXYZ(double[])}. For repeated calculations this will be + * slower than using {@link #timesXYZ(double[])} because in effect + * it repeats the calculations done in the constructor. + * + * + * @param a x-coordinate of a point on the line of rotation. + * @param b y-coordinate of a point on the line of rotation. + * @param c z-coordinate of a point on the line of rotation. + * @param u x-coordinate of the line's direction vector. + * @param v y-coordinate of the line's direction vector. + * @param w z-coordinate of the line's direction vector. + * @param x The point's x-coordinate. + * @param y The point's y-coordinate. + * @param z The point's z-coordinate. + * @param theta The angle of rotation, in radians. + * @return The product, in a vector <#, #, #>, representing the + * rotated point. + */ + public abstract double[] rotPointFromFormula(double a, double b, double c, + double u, double v, double w, + double x, double y, double z, + double theta); + + + /** + *

Compute the rotated point from the formula given in the paper, + * as opposed to multiplying this matrix by the given point.

+ * + *

This delegates to {@link #rotPointFromFormula(double, double, double, + * double, double, double, double, double, double, double)}.

. + * + * @param rInfo The information for the rotation as an array + * [a,b,c,u,v,w,x,y,z,theta]. + * @return The product, in a vector <#, #, #>, representing the + * rotated point. + */ + public double[] rotPointFromFormula(double[] rInfo) { + return rotPointFromFormula(rInfo[0], rInfo[1], rInfo[2], + rInfo[3], rInfo[4], rInfo[5], + rInfo[6], rInfo[7], rInfo[8], rInfo[9]); + } + + + /** + * Check whether a vector's length is less than {@link #TOLERANCE}. + * + * @param u The vector's x-coordinate. + * @param v The vector's y-coordinate. + * @param w The vector's z-coordinate. + * @return length = Math.sqrt(u^2 + v^2 + w^2) if it is greater than + * {@link #TOLERANCE}, or -1 if not. + */ + public double longEnough(double u, double v, double w) { + double l = Math.sqrt(u*u + v*v + w*w); + if (l > TOLERANCE) { + return l; + } else { + return -1; + } + } + + + /** + * Find the distance from the line representing the axis of + * rotation of this matrix and a given point (x, y, z). This is + * useful for testing. We use the ff. formula for the distance + * (cf. "Point-Line distance in MathWorld). + * + * 
+     *                |(u, v, w) x (a-x, b-y, c-z)|
+     *                -----------------------------
+     *                        |(u, v, w)|
+     *
+ * + * This method assumes that constructors in derived classes check that the + * length of the direction vector is nonzero. + * + * @param x The point's x-coordinate. + * @param y The point's y-coordinate. + * @param z The point's z-coordinate. + * @return The distance from the point (x, y, z) to the axis of + * rotation ( a line through (a, b, c) with direction ). + */ + public double distanceFromAxis(double x, double y, double z) { + // Some intermediate values. + double n1 = v*(c - z) - w*(b - y); + double n2 = -(u*(c - z) - w*(a - x)); + double n3 = u*(b - y) - v*(a - x); + double l = Math.sqrt(u*u + v*v + w*w); + + return Math.sqrt(n1*n1 + n2*n2 + n3*n3)/l; + } + + + /** + * Get the matrix. + * @return The matrix as a 4x4 double[][]. + */ + public double[][] getMatrix() { + if (matrix==null) { + matrix = new double[][] {{m11, m12, m13, m14}, + {m21, m22, m23, m24}, + {m31, m32, m33, m34}, + {0, 0, 0, 1}}; + } + return matrix; + } + + /** + * Print out the matrix. + */ + public void logMatrix() { + DecimalFormat df = new DecimalFormat("#.###"); + System.out.println(); + System.out.println("\t"+df.format(m11)+"\t"+df.format(m12) + +"\t"+df.format(m13)+"\t"+df.format(m14)); + System.out.println("\t"+df.format(m21)+"\t"+df.format(m22) + +"\t"+df.format(m23)+"\t"+df.format(m24)); + System.out.println("\t"+df.format(m31)+"\t"+df.format(m32) + +"\t"+df.format(m33)+"\t"+df.format(m34)); + System.out.println("\t0\t0\t0\t1"); + System.out.println(); + } + + + // Inner classes----------------------------------------------------- +}//end class + diff --git a/src/jat/core/math/arbaxisrot/RotationMatrix.java b/src/jat/core/math/arbaxisrot/RotationMatrix.java new file mode 100644 index 0000000..d213a0d --- /dev/null +++ b/src/jat/core/math/arbaxisrot/RotationMatrix.java @@ -0,0 +1,175 @@ +/* Copyright 2011 Glenn Murray + * + * Licensed 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 jat.core.math.arbaxisrot; + + +/** + *

A class to do 3D rotations of a point about a line.

+ * + *

This uses simplified formulas obtained by normalizing the direction + * vector for the line. The matrix obtained is identical to that in {@link + * RotationMatrixFull}, but this class may offer better performance. + * + * @author Glenn Murray + */ +public class RotationMatrix extends AbstractRotationMatrix { + + // Static initialization--------------------------------------------- + /** For debugging. */ + private static final boolean LOG = false; + + // Instance variables------------------------------------------------ + + // Constructors------------------------------------------------------ + + /** + * Default constructor. + */ + public RotationMatrix() {} + + + /** + * Build a rotation matrix for rotations about the line through (a, b, c) + * parallel to < u, v, w > by the angle theta. + * + * @param a x-coordinate of a point on the line of rotation. + * @param b y-coordinate of a point on the line of rotation. + * @param c z-coordinate of a point on the line of rotation. + * @param uUn x-coordinate of the line's direction vector (unnormalized). + * @param vUn y-coordinate of the line's direction vector (unnormalized). + * @param wUn z-coordinate of the line's direction vector (unnormalized). + * @param theta The angle of rotation, in radians. + */ + public RotationMatrix(double a, + double b, + double c, + double uUn, + double vUn, + double wUn, + double theta) { + double l = 0; + if ( (l = longEnough(uUn, vUn, wUn)) < 0) { + System.out.println("RotationMatrix: direction vector too short!"); + return; // Don't bother. + } + + this.a = a; + this.b = b; + this.c = c; + + // In this instance we normalize the direction vector. + u = uUn/l; + v = vUn/l; + w = wUn/l; + + // Set some intermediate values. + u2 = u*u; + v2 = v*v; + w2 = w*w; + cosT = Math.cos(theta); + oneMinusCosT = 1-cosT; + sinT = Math.sin(theta); + + // Build the matrix entries element by element. + m11 = u2 + (v2 + w2) * cosT; + m12 = u*v * oneMinusCosT - w*sinT; + m13 = u*w * oneMinusCosT + v*sinT; + m14 = (a*(v2 + w2) - u*(b*v + c*w))*oneMinusCosT + + (b*w - c*v)*sinT; + + m21 = u*v * oneMinusCosT + w*sinT; + m22 = v2 + (u2 + w2) * cosT; + m23 = v*w * oneMinusCosT - u*sinT; + m24 = (b*(u2 + w2) - v*(a*u + c*w))*oneMinusCosT + + (c*u - a*w)*sinT; + + m31 = u*w * oneMinusCosT - v*sinT; + m32 = v*w * oneMinusCosT + u*sinT; + m33 = w2 + (u2 + v2) * cosT; + m34 = (c*(u2 + v2) - w*(a*u + b*v))*oneMinusCosT + + (a*v - b*u)*sinT; + + if(LOG) logMatrix(); + } + + + // Methods----------------------------------------------------------- + + /** + * Compute the rotated point from the formula given in the paper, as opposed + * to multiplying this matrix by the given point. Theoretically this should + * give the same answer as {@link #timesXYZ(double[])}. For repeated + * calculations this will be slower than using {@link + * AbstractRotationMatrix#timesXYZ(double[])} because in effect it repeats + * the calculations done in the constructor. + * + * + * @param a x-coordinate of a point on the line of rotation. + * @param b y-coordinate of a point on the line of rotation. + * @param c z-coordinate of a point on the line of rotation. + * @param u x-coordinate of the line's direction vector. + * @param v y-coordinate of the line's direction vector. + * @param w z-coordinate of the line's direction vector. + * @param x The point's x-coordinate. + * @param y The point's y-coordinate. + * @param z The point's z-coordinate. + * @param theta The angle of rotation, in radians. + * @return The product, in a vector <#, #, #>, representing the + * rotated point. + */ + @Override + public double[] rotPointFromFormula(double a, double b, double c, + double u, double v, double w, + double x, double y, double z, + double theta) { + // In this instance we normalize the direction vector. + double l = 0; + if ( (l = longEnough(u, v, w)) < 0) { + System.out.println("RotationMatrixFull direction vector too short"); + return null; // Don't bother. + } + // Normalize the direction vector. + u = u/l; + v = v/l; + w = w/l; + // Set some intermediate values. + double u2 = u*u; + double v2 = v*v; + double w2 = w*w; + double cosT = Math.cos(theta); + double oneMinusCosT = 1 - cosT; + double sinT = Math.sin(theta); + + // Use the formula in the paper. + double[] p = new double[3]; + p[0] = (a*(v2 + w2) - u*(b*v + c*w - u*x - v*y - w*z)) * oneMinusCosT + + x*cosT + + (-c*v + b*w - w*y + v*z)*sinT; + + p[1] = (b*(u2 + w2) - v*(a*u + c*w - u*x - v*y - w*z)) * oneMinusCosT + + y*cosT + + (c*u - a*w + w*x - u*z)*sinT; + + p[2] = (c*(u2 + v2) - w*(a*u + b*v - u*x - v*y - w*z)) * oneMinusCosT + + z*cosT + + (-b*u + a*v - v*x + u*y)*sinT; + + return p; + } + + + // Inner classes----------------------------------------------------- +}//end class + diff --git a/src/jat/core/math/arbaxisrot/RotationMatrix2005.java b/src/jat/core/math/arbaxisrot/RotationMatrix2005.java new file mode 100644 index 0000000..0a88a8b --- /dev/null +++ b/src/jat/core/math/arbaxisrot/RotationMatrix2005.java @@ -0,0 +1,300 @@ +/* Copyright 2011 Glenn Murray + * + * Licensed 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 jat.core.math.arbaxisrot; + +import java.text.DecimalFormat; + + +/** + * This is the 2005 version of a class to do 3D rotations of a point about a + * line. + * + * @version $Revision: 1.2 $
+ * $Date: 2005/09/07 20:25:19 $ + * @author Last modified by $Author: gmurray $ + */ +public class RotationMatrix2005 { + + // Static initialization--------------------------------------------- + /** For debugging. */ + private static final boolean LOG = false; + + // Instance variables------------------------------------------------ + + /** The rotation matrix. This is a 4x4 matrix. */ + private double[][] matrix; + + // The parameters for the rotation. + /** x-coordinate of a point on the line of rotation. */ + private double a; + + /** y-coordinate of a point on the line of rotation. */ + private double b; + + /** z-coordinate of a point on the line of rotation. */ + private double c; + + /** x-coordinate of the line's direction vector. */ + private double u; + + /** y-coordinate of the line's direction vector. */ + private double v; + + /** z-coordinate of the line's direction vector. */ + private double w; + + // Some intermediate values... + /** An intermediate value used in computations (u^2). */ + private double u2; + private double v2; + private double w2; + private double cosT; + private double sinT; + private double l2; + /** The length of the direction vector. */ + private double l; + + /** The 1,1 entry in the matrix. */ + private double m11; + private double m12; + private double m13; + private double m14; + private double m21; + private double m22; + private double m23; + private double m24; + private double m31; + private double m32; + private double m33; + private double m34; + + + // Constructors------------------------------------------------------ + + /** + * Build a rotation matrix for rotations about the line through + * $P_1(a, b, c)$ parallel to $\langle u, v, w\rangle$ by the + * angle $\theta$. + * + * @param a x-coordinate of a point on the line of rotation. + * @param b y-coordinate of a point on the line of rotation. + * @param c z-coordinate of a point on the line of rotation. + * @param u x-coordinate of the line's direction vector. + * @param v y-coordinate of the line's direction vector. + * @param w z-coordinate of the line's direction vector. + * @param theta The angle of rotation. + */ + public RotationMatrix2005(double a, + double b, + double c, + double u, + double v, + double w, + double theta) { + this.a = a; + this.b = b; + this.c = c; + this.u = u; + this.v = v; + this.w = w; + // Set some intermediate values. + u2 = u*u; + v2 = v*v; + w2 = w*w; + cosT = Math.cos(theta); + sinT = Math.sin(theta); + l2 = u2 + v2 + w2; + l = Math.sqrt(l2); + + if(l2 < 0.000000001) { + System.out.println("RotationMatrix: direction vector too short!"); + return; // Don't bother. + } + + // Build the matrix entries element by element. + m11 = (u2 + (v2 + w2) * cosT)/l2; + m12 = (u*v * (1 - cosT) - w*l*sinT)/l2; + m13 = (u*w * (1 - cosT) + v*l*sinT)/l2; + m14 = (a*(v2 + w2) - u*(b*v + c*w) + + (u*(b*v + c*w) - a*(v2 + w2))*cosT + (b*w - c*v)*l*sinT)/l2; + + m21 = (u*v * (1 - cosT) + w*l*sinT)/l2; + m22 = (v2 + (u2 + w2) * cosT)/l2; + m23 = (v*w * (1 - cosT) - u*l*sinT)/l2; + m24 = (b*(u2 + w2) - v*(a*u + c*w) + + (v*(a*u + c*w) - b*(u2 + w2))*cosT + (c*u - a*w)*l*sinT)/l2; + + m31 = (u*w * (1 - cosT) - v*l*sinT)/l2; + m32 = (v*w * (1 - cosT) + u*l*sinT)/l2; + m33 = (w2 + (u2 + v2) * cosT)/l2; + m34 = (c*(u2 + v2) - w*(a*u + b*v) + + (w*(a*u + b*v) - c*(u2 + v2))*cosT + (a*v - b*u)*l*sinT)/l2; + + if(LOG) logMatrix(); + } + + + // Methods----------------------------------------------------------- + + /** + * Multiply this matrix times the given coordinates (x, y, z, 1), + * representing a point P(x, y, z).. + * + * @param x The point's x-coordinate. + * @param y The point's x-coordinate. + * @param z The point's x-coordinate. + * @return The product, in a vector [#, #, #, 1], representing the + * rotated point. + */ + public double[] timesXYZ(double x, double y, double z) { + double[] p = new double[4]; + p[0] = m11*x + m12*y + m13*z + m14; + p[1] = m21*x + m22*y + m23*z + m24; + p[2] = m31*x + m32*y + m33*z + m34; + p[3] = 1; + + return p; + } + + /** + * Multiply this matrix times the given coordinates (x, y, z, 1), + * representing a point P(x, y, z).. + * + * @param point The point as double[] {x, y, z}. + * @return The product, in a vector [#, #, #, 1], representing the + * rotated point. + */ + public double[] timesXYZ(double[] point) { + return timesXYZ(point[0], point[1], point[2]); + } + + /** + * Compute the rotated point from the formula given in the paper, + * as opposed to multiplying this matrix by the given point. + * Theoretically this should give the same answer as {@link + * #timesXYZ(double[])}. For repeated calculations this will be + * slower than using {@link #timesXYZ(double[])} because in effect + * it repeats the calculations done in the constructor. + * + * @param x The point's x-coordinate. + * @param y The point's x-coordinate. + * @param z The point's x-coordinate. + * @return The product, in a vector [#, #, #], representing the + * rotated point. + */ + public double[] rotPointFromFormula(double x, double y, double z) { + + // Compute the formula + double[] f = new double[3]; + f[0] = a*(v2 + w2) + u*(-b*v - c*w + u*x + v*y + w*z) + + (-a*(v2 + w2) + u*(b*v + c*w - v*y - w*z) + (v2 + w2)*x)*cosT + + l*(-c*v + b*w - w*y + v*z)*sinT; + f[0] = f[0]/l2; + + f[1] = b*(u2 + w2) + v*(-a*u - c*w + u*x + v*y + w*z) + + (-b*(u2 + w2) + v*(a*u + c*w - u*x - w*z) + (u2 + w2)*y)*cosT + + l*(c*u - a*w + w*x - u*z)*sinT; + f[1] = f[1]/l2; + + f[2] = c*(u2 + v2) + w*(-a*u - b*v + u*x + v*y + w*z) + + (-c*(u2 + v2) + w*(a*u + b*v - u*x - v*y) + (u2 + v2)*z)*cosT + + l*(-b*u + a*v - v*x + u*y)*sinT; + f[2] = f[2]/l2; + + return f; + } + + /** + * Compute the rotated point from the formula given in the paper, + * as opposed to multiplying this matrix by the given point. + * Theoretically this should give the same answer as {@link + * #timesXYZ(double[])}. For repeated calculations this will be + * slower than using {@link #timesXYZ(double[])} because in effect + * it repeats the calculations done in the constructor. + * + * @param point A point (x, y, z). + * @return The product, in a vector [#, #, #], representing the + * rotated point. + */ + public double[] rotPointFromFormula(double[] point) { + return rotPointFromFormula(point[0], point[1], point[2]); + } + + /** + * Find the distance from the line representing the axis of + * rotation of this matrix and a given point (x, y, z). This is + * useful for testing. We use the ff. formula for the distance + * (cf. "Point-Line distance in MathWorld). + * + * 

+     *                |(u, v, w) x (a-x, b-y, c-z)|
+     *                -----------------------------
+     *                        |(u, v, w)|
+     *
+ * + * @param x The point's x-coordinate. + * @param y The point's x-coordinate. + * @param z The point's x-coordinate. + * @return The distance from the point (x, y, z) to the axis of + * rotation ( a line through (a, b, c) with direction (u, v, w)). + */ + public double distanceFromAxis(double x, double y, double z) { + if(l2 < 0.000000001) { + System.out.println("RotationMatrix: direction vector too short!"); + return 0; // Don't bother. + } + + // Some intermediate values. + double n1 = v*(c - z) - w*(b - y); + double n2 = -(u*(c - z) - w*(a - x)); + double n3 = u*(b - y) - v*(a - x); + + return Math.sqrt(n1*n1 + n2*n2 + n3*n3)/l; + } + + + /** + * Get the matrix. + * @return The matrix as a 4x4 double[][]. + */ + public double[][] getMatrix() { + if (matrix==null) { + matrix = new double[][] {{m11, m12, m13, m14}, + {m21, m22, m23, m24}, + {m31, m32, m33, m34}, + {0, 0, 0, 1}}; + } + return matrix; + } + + /** + * Print out the matrix. + */ + public void logMatrix() { + DecimalFormat df = new DecimalFormat("#.###"); + System.out.println(); + System.out.println("\t"+df.format(m11)+"\t"+df.format(m12) + +"\t"+df.format(m13)+"\t"+df.format(m14)); + System.out.println("\t"+df.format(m21)+"\t"+df.format(m22) + +"\t"+df.format(m23)+"\t"+df.format(m24)); + System.out.println("\t"+df.format(m31)+"\t"+df.format(m32) + +"\t"+df.format(m33)+"\t"+df.format(m34)); + System.out.println("\t0\t0\t0\t1"); + System.out.println(); + } + + // Inner classes----------------------------------------------------- +}//end class + diff --git a/src/jat/core/math/arbaxisrot/RotationMatrixFull.java b/src/jat/core/math/arbaxisrot/RotationMatrixFull.java new file mode 100644 index 0000000..62ff5cc --- /dev/null +++ b/src/jat/core/math/arbaxisrot/RotationMatrixFull.java @@ -0,0 +1,174 @@ +/* Copyright 2011 Glenn Murray + * + * Licensed 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 jat.core.math.arbaxisrot; + + +/** + *

A class to do 3D rotations of a point about a line.

+ * + *

This class checks that the formulas in the paper are correct.

+ * + * @author Glenn Murray + */ +public class RotationMatrixFull extends AbstractRotationMatrix { + + // Static initialization--------------------------------------------- + /** For debugging. */ + protected static final boolean LOG = false; + + + // Instance variables------------------------------------------------ + + /** The square of {@link #l}. */ + private double l2; + + /** The length of the direction vector. */ + private double l; + + + // Constructors------------------------------------------------------ + + /** + * Default constructor. + */ + public RotationMatrixFull() {} + + + /** + * Build a rotation matrix for rotations about the line through (a, b, c) + * parallel to < u, v, w > by the angle theta. + * + * @param a x-coordinate of a point on the line of rotation. + * @param b y-coordinate of a point on the line of rotation. + * @param c z-coordinate of a point on the line of rotation. + * @param u x-coordinate of the line's direction vector. + * @param v y-coordinate of the line's direction vector. + * @param w z-coordinate of the line's direction vector. + * @param theta The angle of rotation, in radians. + */ + public RotationMatrixFull(double a, + double b, + double c, + double u, + double v, + double w, + double theta) { + if ( (l = longEnough(u, v, w)) < 0) { + System.out.println("RotationMatrixFull direction vector too short"); + return; // Don't bother. + } + + this.a = a; + this.b = b; + this.c = c; + this.u = u; + this.v = v; + this.w = w; + // Set some intermediate values. + u2 = u*u; + v2 = v*v; + w2 = w*w; + cosT = Math.cos(theta); + oneMinusCosT = 1 - cosT; + sinT = Math.sin(theta); + l2 = u2 + v2 + w2; + + // Build the matrix entries element by element. + m11 = (u2 + (v2 + w2) * cosT)/l2; + m12 = (u*v * oneMinusCosT - w*l*sinT)/l2; + m13 = (u*w * oneMinusCosT + v*l*sinT)/l2; + m14 = ((a*(v2 + w2) - u*(b*v + c*w)) * oneMinusCosT + + (b*w - c*v)*l*sinT)/l2; + + m21 = (u*v * oneMinusCosT + w*l*sinT)/l2; + m22 = (v2 + (u2 + w2) * cosT)/l2; + m23 = (v*w * oneMinusCosT - u*l*sinT)/l2; + m24 = ((b*(u2 + w2) - v*(a*u + c*w)) * oneMinusCosT + + (c*u - a*w)*l*sinT)/l2; + + m31 = (u*w * oneMinusCosT - v*l*sinT)/l2; + m32 = (v*w * oneMinusCosT + u*l*sinT)/l2; + m33 = (w2 + (u2 + v2) * cosT)/l2; + m34 = ((c*(u2 + v2) - w*(a*u + b*v)) * oneMinusCosT + + (a*v - b*u)*l*sinT)/l2; + + if(LOG) logMatrix(); + } + + + // Methods----------------------------------------------------------- + + /** + * Compute the rotated point from the formula given in the paper, + * as opposed to multiplying this matrix by the given point. + * Theoretically this should give the same answer as {@link + * #timesXYZ(double[])}. For repeated calculations this will be + * slower than using {@link #timesXYZ(double[])} because in effect + * it repeats the calculations done in the constructor. + * + * + * @param a x-coordinate of a point on the line of rotation. + * @param b y-coordinate of a point on the line of rotation. + * @param c z-coordinate of a point on the line of rotation. + * @param u x-coordinate of the line's direction vector. + * @param v y-coordinate of the line's direction vector. + * @param w z-coordinate of the line's direction vector. + * @param x The point's x-coordinate. + * @param y The point's y-coordinate. + * @param z The point's z-coordinate. + * @param theta The angle of rotation, in radians. + * @return The product, in a vector <#, #, #>, representing the + * rotated point. + */ + @Override + public double[] rotPointFromFormula(double a, double b, double c, + double u, double v, double w, + double x, double y, double z, + double theta) { + if ( (l = longEnough(u, v, w)) < 0) { + System.out.println("RotationMatrixFull direction vector too short"); + return null; // Don't bother. + } + l2 = l*l; + + // Set some intermediate values. + double u2 = u*u; + double v2 = v*v; + double w2 = w*w; + double cosT = Math.cos(theta); + double oneMinusCosT = 1 - cosT; + double sinT = Math.sin(theta); + + // Use the formula in the paper. + double[] p = new double[3]; + p[0] = ((a*(v2 + w2) - u*(b*v + c*w - u*x - v*y - w*z)) * oneMinusCosT + + l2*x*cosT + + l*(-c*v + b*w - w*y + v*z)*sinT)/l2; + + p[1] = ((b*(u2 + w2) - v*(a*u + c*w - u*x - v*y - w*z)) * oneMinusCosT + + l2*y*cosT + + l*(c*u - a*w + w*x - u*z)*sinT)/l2; + + p[2] = ((c*(u2 + v2) - w*(a*u + b*v - u*x - v*y - w*z)) * oneMinusCosT + + l2*z*cosT + + l*(-b*u + a*v - v*x + u*y)*sinT)/l2; + + return p; + } + + + // Inner classes----------------------------------------------------- +}//end class + diff --git a/src/jat/core/plot/io/ClipBoardPrintable.java b/src/jat/core/plot/io/ClipBoardPrintable.java new file mode 100644 index 0000000..2106f43 --- /dev/null +++ b/src/jat/core/plot/io/ClipBoardPrintable.java @@ -0,0 +1,11 @@ +package jat.core.plot.io; + +/** + * BSD License + * + * @author Yann RICHET + */ + +public interface ClipBoardPrintable { + public void toClipBoard(); +} \ No newline at end of file diff --git a/src/jat/core/plot/io/FilePrintable.java b/src/jat/core/plot/io/FilePrintable.java new file mode 100644 index 0000000..bdcce3d --- /dev/null +++ b/src/jat/core/plot/io/FilePrintable.java @@ -0,0 +1,12 @@ +package jat.core.plot.io; + +import java.io.File; + +/** + * BSD License + * + * @author Yann RICHET + */ +public interface FilePrintable { + public void toASCIIFile(File f); +} \ No newline at end of file diff --git a/src/jat/core/plot/io/StringPrintable.java b/src/jat/core/plot/io/StringPrintable.java new file mode 100644 index 0000000..1572645 --- /dev/null +++ b/src/jat/core/plot/io/StringPrintable.java @@ -0,0 +1,10 @@ +package jat.core.plot.io; + +/** + * BSD License + * + * @author Yann RICHET + */ +public interface StringPrintable { + public String getText(); +} \ No newline at end of file diff --git a/src/jat/core/plot/io/files/ASCIIFile.java b/src/jat/core/plot/io/files/ASCIIFile.java new file mode 100644 index 0000000..9874b69 --- /dev/null +++ b/src/jat/core/plot/io/files/ASCIIFile.java @@ -0,0 +1,241 @@ +package jat.core.plot.io.files; + +import jat.core.plot.io.parser.ArrayString; + +import java.io.BufferedInputStream; +import java.io.BufferedOutputStream; +import java.io.BufferedReader; +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.FileWriter; +import java.io.IOException; +import java.util.Calendar; +import java.util.Vector; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class ASCIIFile extends DataFile { + + public ASCIIFile(File f) { + super(f); + } + + public static String read(File f) { + ASCIIFile af = new ASCIIFile(f); + return af.read(); + } + + public static String[] readLines(File f) { + ASCIIFile af = new ASCIIFile(f); + return af.readLines(); + } + + public static String readLine(File f, int i) { + ASCIIFile af = new ASCIIFile(f); + return af.readLine(i); + } + + public static double[] readDouble1DArray(File f) { + return ArrayString.readString1DDouble(ASCIIFile.read(f)); + } + + public static double[][] readDoubleArray(File f) { + return ArrayString.readStringDouble(ASCIIFile.read(f)); + } + + public static int[] readInt1DArray(File f) { + return ArrayString.readString1DInt(ASCIIFile.read(f)); + } + public static int[][] readIntArray(File f) { + return ArrayString.readStringInt(ASCIIFile.read(f)); + } + + public static void write(File f, String t) { + ASCIIFile af = new ASCIIFile(f); + af.write(t, false); + } + + public static void writeDoubleArray(File f, double[] array) { + write(f,ArrayString.printDoubleArray(array)); + } + + public static void writeDoubleArray(File f, double[][] array) { + write(f,ArrayString.printDoubleArray(array)); + } + + public static void writeIntArray(File f, int[] array) { + write(f,ArrayString.printIntArray(array)); + } + + public static void writeIntArray(File f, int[][] array) { + write(f,ArrayString.printIntArray(array)); + } + + public static void append(File f, String t) { + ASCIIFile af = new ASCIIFile(f); + af.write(t, true); + } + + /** + * Read an ASCII File + * + * @return String + */ + public String read() { + StringBuffer text = new StringBuffer((int) file.length()); + try { + FileReader fr = new FileReader(file); + BufferedReader b = new BufferedReader(fr); + boolean eof = false; + String line; + String ret = "\n"; + while (!eof) { + line = b.readLine(); + if (line == null) { + eof = true; + } else { + text.append(line); + text.append(ret); + } + } + b.close(); + } catch (IOException e) { + throw new IllegalArgumentException("File " + file.getName() + + " is unreadable : " + e.toString()); + } + return text.toString(); + } + + /** + * Read lines of an ASCII File + * + * @return an Array of String + */ + public String[] readLines() { + Vector linesVector = new Vector(); + ; + try { + FileReader fr = new FileReader(file); + BufferedReader b = new BufferedReader(fr); + boolean eof = false; + while (!eof) { + String line = b.readLine(); + if (line == null) { + eof = true; + } else { + linesVector.add(line); + } + } + b.close(); + } catch (IOException e) { + throw new IllegalArgumentException("File " + file.getName() + + " is unreadable : " + e.toString()); + } + String[] lines = new String[linesVector.size()]; + for (int i = 0; i < lines.length; i++) { + lines[i] = (String) (linesVector.get(i)); + } + return lines; + } + + /** + * Read only one line in an ASCII File + * + * @param i + * line index + * @return String + */ + public String readLine(int i) { + String line = new String(""); + try { + FileReader fr = new FileReader(file); + BufferedReader b = new BufferedReader(fr); + boolean eof = false; + for (int j = 0; j < i; j++) { + if (eof) { + throw new IllegalArgumentException("Line " + i + + " is not found in the file " + file.getName() + + "."); + } + line=b.readLine(); + if (line == null) { + eof = true; + } + } + line = b.readLine(); + b.close(); + } catch (IOException e) { + throw new IllegalArgumentException("File " + file.getName() + + " is unreadable : " + e.toString()); + } + return line; + } + + /** + * Write a text in an ASCII File + * + * @param text + * String + * @param append + * boolean + */ + public void write(String text, boolean append) { + if (file.exists() && !append) { + System.out.println("Warning : the file " + file.getName() + + " already exists !"); + } + try { + FileWriter fw = new FileWriter(file, append); + BufferedWriter bw = new BufferedWriter(fw); + bw.write(text); + bw.close(); + } catch (IOException e) { + throw new IllegalArgumentException("File " + file.getName() + + " is unwritable : " + e.toString()); + } + } + + public static void concatenate(File f1, File f2) { + try { + FileInputStream fis = new FileInputStream(f2); + BufferedInputStream bis = new BufferedInputStream(fis); + FileOutputStream fos = new FileOutputStream(f1, true); + BufferedOutputStream bos = new BufferedOutputStream(fos); + + int c; + + while ((c = bis.read()) != -1) { + bos.write(c); + } + + bis.close(); + bos.close(); + } catch (IOException e) { + System.err.println("Concatenate: " + e); + } + + } + + public static void main(String[] args) { + File f = new File("read.txt"); + System.out.println(ASCIIFile.read(f)); + + String[] lines = ASCIIFile.readLines(f); + for (int i = 0; i < lines.length; i++) { + System.out.println("line " + i + " : " + lines[i]); + } + + System.out.println(ASCIIFile.readLine(f, 0)); + System.out.println(ASCIIFile.readLine(f, lines.length - 1)); + + ASCIIFile.append(new File("write.txt"), Calendar.getInstance() + .getTime().toString()); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/io/files/BinaryFile.java b/src/jat/core/plot/io/files/BinaryFile.java new file mode 100644 index 0000000..59d0b74 --- /dev/null +++ b/src/jat/core/plot/io/files/BinaryFile.java @@ -0,0 +1,427 @@ +package jat.core.plot.io.files; + +import jat.core.plot.io.stream.BinaryInputStream; +import jat.core.plot.io.stream.BinaryOutputStream; + +import java.io.BufferedInputStream; +import java.io.BufferedOutputStream; +import java.io.File; +import java.io.FileInputStream; +import java.io.FileNotFoundException; +import java.io.FileOutputStream; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class BinaryFile { + + public static String LITTLE_ENDIAN = "LITTLE_ENDIAN"; + + public static String BIG_ENDIAN = "BIG_ENDIAN"; + + private boolean bigEndian; + + private File file; + + public BinaryFile(File f, String endian) { + file = f; + bigEndian = isBigEndian(endian); + } + + private boolean isBigEndian(String endian) { + boolean be; + if (endian.equals(LITTLE_ENDIAN)) { + be = false; + } else if (endian.equals(BIG_ENDIAN)) { + be = true; + } else { + throw new IllegalArgumentException( + "The Endian type : " + + endian + + "is unknown. You must specify LITTLE_ENDIAN or BIG_ENDIAN."); + } + return be; + } + + public static double[] readDoubleArray(File f, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + return bf.readDoubleArray(); + } + + public static float[] readFloatArray(File f, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + return bf.readFloatArray(); + } + + public static int[] readIntArray(File f, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + return bf.readIntArray(); + } + + public static void writeDoubleArray(File f, double[] array, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + bf.writeDoubleArray(array, false); + } + + public static void appendDoubleArray(File f, double[] array, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + bf.writeDoubleArray(array, true); + } + + public static void writeFloatArray(File f, float[] array, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + bf.writeFloatArray(array, false); + } + + public static void appendFloatArray(File f, float[] array, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + bf.writeFloatArray(array, true); + } + + public static void writeIntArray(File f, int[] array, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + bf.writeIntArray(array, false); + } + + public static void appendIntArray(File f, int[] array, String endian) { + BinaryFile bf = new BinaryFile(f, endian); + bf.writeIntArray(array, true); + } + + /** + * Read a binary File + * + * @return int[] + */ + public int[] readIntArray() { + FileInputStream fis = null; + try { + fis = new FileInputStream(file); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedInputStream bis = new BufferedInputStream(fis); + + BinaryInputStream bs = new BinaryInputStream(bis, bigEndian); + + return bs.readIntArray(); + } + + /** + * Read a binary File + * + * @return float[] + */ + public float[] readFloatArray() { + FileInputStream fis = null; + try { + fis = new FileInputStream(file); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedInputStream bis = new BufferedInputStream(fis); + + BinaryInputStream bs = new BinaryInputStream(bis, bigEndian); + + return bs.readFloatArray(); + } + + /** + * Read a binary File + * + * @return double[] + */ + public double[] readDoubleArray() { + FileInputStream fis = null; + try { + fis = new FileInputStream(file); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedInputStream bis = new BufferedInputStream(fis); + + BinaryInputStream bs = new BinaryInputStream(bis, bigEndian); + + return bs.readDoubleArray(); + } + + /** + * Read a binary File + * + * @return byte[] + */ + public byte[] readByteArray() { + FileInputStream fis = null; + try { + fis = new FileInputStream(file); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedInputStream bis = new BufferedInputStream(fis); + + BinaryInputStream bs = new BinaryInputStream(bis, bigEndian); + + return bs.readByteArray(); + } + + /** + * Write an int array in a binary File + * + * @param array + * int[] + * @param append + * boolean + */ + + public void writeIntArray(int[] array, boolean append) { + if (file.exists()) { + System.out.println("Warning : the file " + file.getName() + + " already exists !"); + } + + FileOutputStream fos = null; + try { + fos = new FileOutputStream(file, append); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedOutputStream bos = new BufferedOutputStream(fos); + + BinaryOutputStream bs = new BinaryOutputStream(bos, bigEndian); + + bs.writeIntArray(array, append); + } + + /** + * Write a float array in a binary File + * + * @param array + * float[] + * @param append + * boolean + */ + + public void writeFloatArray(float[] array, boolean append) { + if (file.exists()) { + System.out.println("Warning : the file " + file.getName() + + " already exists !"); + } + + FileOutputStream fos = null; + try { + fos = new FileOutputStream(file, append); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedOutputStream bos = new BufferedOutputStream(fos); + + BinaryOutputStream bs = new BinaryOutputStream(bos, bigEndian); + + bs.writeFloatArray(array, append); + } + + /** + * Write a double array in a binary File + * + * @param array + * float[] + * @param append + * boolean + */ + + public void writeDoubleArray(double[] array, boolean append) { + if (file.exists()) { + System.out.println("Warning : the file " + file.getName() + + " already exists !"); + } + + FileOutputStream fos = null; + try { + fos = new FileOutputStream(file, append); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedOutputStream bos = new BufferedOutputStream(fos); + + BinaryOutputStream bs = new BinaryOutputStream(bos, bigEndian); + + bs.writeDoubleArray(array, append); + } + + /** + * Write a text in a binary File + * + * @param bytes + * byte[] + * @param append + * boolean + */ + + public void writeByteArray(byte[] bytes, boolean append) { + if (file.exists()) { + System.out.println("Warning : the file " + file.getName() + + " already exists !"); + } + + FileOutputStream fos = null; + try { + fos = new FileOutputStream(file, append); + } catch (FileNotFoundException ex) { + throw new IllegalArgumentException(ex.toString()); + } + + BufferedOutputStream bos = new BufferedOutputStream(fos); + + BinaryOutputStream bs = new BinaryOutputStream(bos, bigEndian); + + bs.writeByteArray(bytes, append); + } + + /** + * Read a binary File + * + * @return int + */ + public int readInt() { + return readIntArray()[0]; + } + + /** + * Read a binary File + * + * @return float + */ + public float readFloat() { + return readFloatArray()[0]; + } + + /** + * Read a binary File + * + * @return double + */ + public double readDouble() { + return readDoubleArray()[0]; + } + + /** + * Read a binary File + * + * @return byte + */ + public byte readByte() { + return readByteArray()[0]; + } + + /** + * Write an int in a binary File + * + * @param i + * int + * @param append + * boolean + */ + + public void writeInt(int i, boolean append) { + writeIntArray(new int[] { i }, append); + } + + /** + * Write a float in a binary File + * + * @param f + * float + * @param append + * boolean + */ + + public void writeFloat(float f, boolean append) { + writeFloatArray(new float[] { f }, append); + } + + /** + * Write a double in a binary File + * + * @param d + * double + * @param append + * boolean + */ + + public void writeDouble(double d, boolean append) { + writeDoubleArray(new double[] { d }, append); + } + + /** + * Write a text in a binary File + * + * @param b + * byte + * @param append + * boolean + */ + + public void writeByte(byte b, boolean append) { + writeByteArray(new byte[] { b }, append); + } + + public static void main(String[] args) { + if (args[0].equals("-readarray")) { + String man = "Usage: BinaryFile -readarray file [option]\n[options] are:\n -endian \n -data "; + + File file = null; + String data = "double"; + String endian = BIG_ENDIAN; + + for (int i = 1; i < args.length; i++) { + if (args[i].equals("-endian")) { + if (args[i + 1].equals("little")) + endian = LITTLE_ENDIAN; + i++; + } else if (args[i].equals("-data")) { + data = args[i + 1]; + i++; + } else { + file = new File(args[i]); + if (!file.exists()) + System.out.println("File " + file + + " doesn't exists.\n" + man); + i++; + } + } + + if (data.equals("double")) { + double[] d = readDoubleArray(file, endian); + for (int j = 0; j < d.length; j++) { + System.out.println(d[j] + ""); + } + } else if (data.equals("float")) { + float[] d = readFloatArray(file, endian); + for (int j = 0; j < d.length; j++) { + System.out.println(d[j] + ""); + } + } else if (data.equals("int")) { + int[] d = readIntArray(file, endian); + for (int j = 0; j < d.length; j++) { + System.out.println(d[j] + ""); + } + } else + System.out.println(man); + + } else { + System.out.println("Option not implemented."); + } + + } +} \ No newline at end of file diff --git a/src/jat/core/plot/io/files/DataFile.java b/src/jat/core/plot/io/files/DataFile.java new file mode 100644 index 0000000..5dc06e9 --- /dev/null +++ b/src/jat/core/plot/io/files/DataFile.java @@ -0,0 +1,34 @@ +package jat.core.plot.io.files; + +import java.io.File; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.IOException; + +/** + * BSD License + * + * @author Yann RICHET + */ + +public abstract class DataFile { + + protected File file; + + public DataFile(File f) { + file = f; + } + + public static void copyFile(File in, File out) throws IOException { + FileInputStream fis = new FileInputStream(in); + FileOutputStream fos = new FileOutputStream(out); + byte[] buf = new byte[1024]; + int i = 0; + while ((i = fis.read(buf)) != -1) { + fos.write(buf, 0, i); + } + fis.close(); + fos.close(); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/io/littleendian/LEDataInputStream.java b/src/jat/core/plot/io/littleendian/LEDataInputStream.java new file mode 100644 index 0000000..559c9c9 --- /dev/null +++ b/src/jat/core/plot/io/littleendian/LEDataInputStream.java @@ -0,0 +1,111 @@ +package jat.core.plot.io.littleendian; + +import java.io.DataInput; +import java.io.DataInputStream; +import java.io.IOException; +import java.io.InputStream; + +/** + * This class was designed on the base of Roedy Green LEDataInputStream + * + * Thanks to Roedy Green, Canadian Mind Products mailto:roedy@mindprod.com + * http://mindprod.com + * + * @author Yann RICHET + */ + +public class LEDataInputStream implements DataInput { + + protected DataInputStream d; + + protected InputStream in; + + byte w[]; + + public LEDataInputStream(InputStream in) { + this.in = in; + this.d = new DataInputStream(in); + w = new byte[8]; + } + + public short readShort() throws IOException { + d.readFully(w, 0, 2); + return (short) ((w[1] & 0xff) << 8 | (w[0] & 0xff)); + } + + public int readUnsignedShort() throws IOException { + d.readFully(w, 0, 2); + return ((w[1] & 0xff) << 8 | (w[0] & 0xff)); + } + + public char readChar() throws IOException { + d.readFully(w, 0, 2); + return (char) ((w[1] & 0xff) << 8 | (w[0] & 0xff)); + } + + public int readInt() throws IOException { + d.readFully(w, 0, 4); + return (w[3]) << 24 | (w[2] & 0xff) << 16 | (w[1] & 0xff) << 8 + | (w[0] & 0xff); + } + + public long readLong() throws IOException { + d.readFully(w, 0, 8); + return (long) (w[7]) << 56 | (long) (w[6] & 0xff) << 48 + | (long) (w[5] & 0xff) << 40 | (long) (w[4] & 0xff) << 32 + | (long) (w[3] & 0xff) << 24 | (long) (w[2] & 0xff) << 16 + | (long) (w[1] & 0xff) << 8 | (long) (w[0] & 0xff); + } + + public float readFloat() throws IOException { + return Float.intBitsToFloat(readInt()); + } + + public double readDouble() throws IOException { + return Double.longBitsToDouble(readLong()); + } + + public int read(byte b[], int off, int len) throws IOException { + return in.read(b, off, len); + } + + public void readFully(byte b[]) throws IOException { + d.readFully(b, 0, b.length); + } + + public void readFully(byte b[], int off, int len) throws IOException { + d.readFully(b, off, len); + } + + public int skipBytes(int n) throws IOException { + return d.skipBytes(n); + } + + public boolean readBoolean() throws IOException { + return d.readBoolean(); + } + + public byte readByte() throws IOException { + return d.readByte(); + } + + public int readUnsignedByte() throws IOException { + return d.readUnsignedByte(); + } + + public String readLine() throws IOException { + return null;// d.readLine(); + } + + public String readUTF() throws IOException { + return d.readUTF(); + } + + public static String readUTF(DataInput in) throws IOException { + return DataInputStream.readUTF(in); + } + + public void close() throws IOException { + d.close(); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/io/littleendian/LEDataOutputStream.java b/src/jat/core/plot/io/littleendian/LEDataOutputStream.java new file mode 100644 index 0000000..91ec35b --- /dev/null +++ b/src/jat/core/plot/io/littleendian/LEDataOutputStream.java @@ -0,0 +1,116 @@ +package jat.core.plot.io.littleendian; + +import java.io.DataOutput; +import java.io.DataOutputStream; +import java.io.IOException; +import java.io.OutputStream; + +/** + * This class was designed on the base of Roedy Green LEDataInputStream + * + * Thanks to Roedy Green, Canadian Mind Products mailto:roedy@mindprod.com + * http://mindprod.com + * + * @author Yann RICHET + */ + +public class LEDataOutputStream implements DataOutput { + + protected DataOutputStream d; + + byte w[]; + + public LEDataOutputStream(OutputStream out) { + this.d = new DataOutputStream(out); + w = new byte[8]; + } + + public final void writeShort(int v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + d.write(w, 0, 2); + } + + public final void writeChar(int v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + d.write(w, 0, 2); + } + + public final void writeInt(int v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + w[2] = (byte) (v >> 16); + w[3] = (byte) (v >> 24); + d.write(w, 0, 4); + } + + public final void writeLong(long v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + w[2] = (byte) (v >> 16); + w[3] = (byte) (v >> 24); + w[4] = (byte) (v >> 32); + w[5] = (byte) (v >> 40); + w[6] = (byte) (v >> 48); + w[7] = (byte) (v >> 56); + d.write(w, 0, 8); + } + + public final void writeFloat(float v) throws IOException { + writeInt(Float.floatToIntBits(v)); + } + + public final void writeDouble(double v) throws IOException { + writeLong(Double.doubleToLongBits(v)); + } + + public final void writeChars(String s) throws IOException { + int len = s.length(); + for (int i = 0; i < len; i++) { + writeChar(s.charAt(i)); + } + } + + public final synchronized void write(int b) throws IOException { + d.write(b); + } + + public final synchronized void write(byte b[], int off, int len) + throws IOException { + d.write(b, off, len); + } + + public void flush() throws IOException { + d.flush(); + } + + public final void writeBoolean(boolean v) throws IOException { + d.writeBoolean(v); + } + + public final void writeByte(int v) throws IOException { + d.writeByte(v); + } + + public final void writeBytes(String s) throws IOException { + d.writeBytes(s); + } + + public final void writeUTF(String str) throws IOException { + d.writeUTF(str); + } + + public final int size() { + return d.size(); + } + + public final void write(byte b[]) throws IOException { + d.write(b, 0, b.length); + } + + public final void close() throws IOException { + d.close(); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/io/littleendian/LERandomAccessFile.java b/src/jat/core/plot/io/littleendian/LERandomAccessFile.java new file mode 100644 index 0000000..21c4009 --- /dev/null +++ b/src/jat/core/plot/io/littleendian/LERandomAccessFile.java @@ -0,0 +1,278 @@ +package jat.core.plot.io.littleendian; + +import java.io.DataInput; +import java.io.DataOutput; +import java.io.File; +import java.io.FileDescriptor; +import java.io.IOException; +import java.io.RandomAccessFile; + +/** + * This class was designed on the base of Roedy Green LEDataInputStream + * + * Thanks to Roedy Green, Canadian Mind Products mailto:roedy@mindprod.com + * http://mindprod.com + * + * @author Yann RICHET + */ + +public class LERandomAccessFile implements DataInput, DataOutput { + /** + * constructors + */ + public LERandomAccessFile(String f, String rw) throws IOException { + r = new RandomAccessFile(f, rw); + w = new byte[8]; + } + + public LERandomAccessFile(File f, String rw) throws IOException { + r = new RandomAccessFile(f, rw); + w = new byte[8]; + } + + // L I T T L E E N D I A N R E A D E R S + // Little endian methods for multi-byte numeric types. + // Big-endian do fine for single-byte types and strings. + + /** + * like RandomAcessFile.readShort except little endian. + */ + public final short readShort() throws IOException { + r.readFully(w, 0, 2); + return (short) ((w[1] & 0xff) << 8 | (w[0] & 0xff)); + } + + /** + * like RandomAcessFile.readUnsignedShort except little endian. Note, + * returns int even though it reads a short. + */ + public final int readUnsignedShort() throws IOException { + r.readFully(w, 0, 2); + return ((w[1] & 0xff) << 8 | (w[0] & 0xff)); + } + + /** + * like RandomAcessFile.readChar except little endian. + */ + public final char readChar() throws IOException { + r.readFully(w, 0, 2); + return (char) ((w[1] & 0xff) << 8 | (w[0] & 0xff)); + } + + /** + * like RandomAcessFile.readInt except little endian. + */ + public final int readInt() throws IOException { + r.readFully(w, 0, 4); + return (w[3]) << 24 | (w[2] & 0xff) << 16 | (w[1] & 0xff) << 8 + | (w[0] & 0xff); + } + + /** + * like RandomAcessFile.readLong except little endian. + */ + public final long readLong() throws IOException { + r.readFully(w, 0, 8); + return (long) (w[7]) << 56 | /* + * long cast necessary or shift done + * modulo 32 + */ + (long) (w[6] & 0xff) << 48 | (long) (w[5] & 0xff) << 40 + | (long) (w[4] & 0xff) << 32 | (long) (w[3] & 0xff) << 24 + | (long) (w[2] & 0xff) << 16 | (long) (w[1] & 0xff) << 8 + | (long) (w[0] & 0xff); + } + + /** + * like RandomAcessFile.readFloat except little endian. + */ + public final float readFloat() throws IOException { + return Float.intBitsToFloat(readInt()); + } + + /** + * like RandomAcessFile.readDouble except little endian. + */ + public final double readDouble() throws IOException { + return Double.longBitsToDouble(readLong()); + } + + // L I T T L E E N D I A N W R I T E R S + // Little endian methods for multi-byte numeric types. + // Big-endian do fine for single-byte types and strings. + + /** + * like RandomAcessFile.writeShort. also acts as a writeUnsignedShort + */ + public final void writeShort(int v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + r.write(w, 0, 2); + } + + /** + * like RandomAcessFile.writeChar. Note the parm is an int even though this + * as a writeChar + */ + public final void writeChar(int v) throws IOException { + // same code as writeShort + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + r.write(w, 0, 2); + } + + /** + * like RandomAcessFile.writeInt. + */ + public final void writeInt(int v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + w[2] = (byte) (v >> 16); + w[3] = (byte) (v >> 24); + r.write(w, 0, 4); + } + + /** + * like RandomAcessFile.writeLong. + */ + public final void writeLong(long v) throws IOException { + w[0] = (byte) v; + w[1] = (byte) (v >> 8); + w[2] = (byte) (v >> 16); + w[3] = (byte) (v >> 24); + w[4] = (byte) (v >> 32); + w[5] = (byte) (v >> 40); + w[6] = (byte) (v >> 48); + w[7] = (byte) (v >> 56); + r.write(w, 0, 8); + } + + /** + * like RandomAcessFile.writeFloat. + */ + public final void writeFloat(float v) throws IOException { + writeInt(Float.floatToIntBits(v)); + } + + /** + * like RandomAcessFile.writeDouble. + */ + public final void writeDouble(double v) throws IOException { + writeLong(Double.doubleToLongBits(v)); + } + + /** + * like RandomAcessFile.writeChars, has to flip each char. + */ + public final void writeChars(String s) throws IOException { + int len = s.length(); + for (int i = 0; i < len; i++) { + writeChar(s.charAt(i)); + } + } // end writeChars + + // p u r e l y w r a p p e r m e t h o d s + + public final FileDescriptor getFD() throws IOException { + return r.getFD(); + } + + public final long getFilePointer() throws IOException { + return r.getFilePointer(); + } + + public final long length() throws IOException { + return r.length(); + } + + public final int read(byte b[], int off, int len) throws IOException { + return r.read(b, off, len); + } + + public final int read(byte b[]) throws IOException { + return r.read(b); + } + + public final int read() throws IOException { + return r.read(); + } + + public final void readFully(byte b[]) throws IOException { + r.readFully(b, 0, b.length); + } + + public final void readFully(byte b[], int off, int len) throws IOException { + r.readFully(b, off, len); + } + + public final int skipBytes(int n) throws IOException { + return r.skipBytes(n); + } + + /* OK, reads only only 1 byte */ + public final boolean readBoolean() throws IOException { + return r.readBoolean(); + } + + public final byte readByte() throws IOException { + return r.readByte(); + } + + // note: returns an int, even though says Byte. + public final int readUnsignedByte() throws IOException { + return r.readUnsignedByte(); + } + + public final String readLine() throws IOException { + return r.readLine(); + } + + public final String readUTF() throws IOException { + return r.readUTF(); + } + + public final void seek(long pos) throws IOException { + r.seek(pos); + } + + /* Only writes one byte even though says int */ + public final synchronized void write(int b) throws IOException { + r.write(b); + } + + public final synchronized void write(byte b[], int off, int len) + throws IOException { + r.write(b, off, len); + } + + public final void writeBoolean(boolean v) throws IOException { + r.writeBoolean(v); + } + + public final void writeByte(int v) throws IOException { + r.writeByte(v); + } + + public final void writeBytes(String s) throws IOException { + r.writeBytes(s); + } + + public final void writeUTF(String str) throws IOException { + r.writeUTF(str); + } + + public final void write(byte b[]) throws IOException { + r.write(b, 0, b.length); + } + + public final void close() throws IOException { + r.close(); + } + + // i n s t a n c e v a r i a b l e s + + protected RandomAccessFile r; + + byte w[]; // work array for buffering input/output + +} // end class LERandomAccessFile diff --git a/src/jat/core/plot/io/parser/ArrayString.java b/src/jat/core/plot/io/parser/ArrayString.java new file mode 100644 index 0000000..a7a00ee --- /dev/null +++ b/src/jat/core/plot/io/parser/ArrayString.java @@ -0,0 +1,165 @@ +package jat.core.plot.io.parser; + +/** + * BSD License + * + * @author Yann RICHET + */ +public class ArrayString { + + //private static int decimalSize = 10; + public static String defaultColumnDelimiter = " "; + public static String defaultRowDelimiter = "\n"; + public static String NotFoundDelimiter = "ZYXWV"; + + public static String printDoubleArray(double[] m) { + return printDoubleArray(new double[][]{m}); + } + + public static String printDoubleArray(double[][] m) { + return printDoubleArray(m, defaultColumnDelimiter, defaultRowDelimiter); + } + + public static String printDoubleArray(double[][] m, String wordDelimiter, String sentenceDelimiter) { + + StringBuffer str = new StringBuffer(25 * m.length * m[0].length); + + // //can't use format because of infinty which become "?" strings... + // DecimalFormat format = new DecimalFormat(); + // format.setDecimalFormatSymbols(new DecimalFormatSymbols(Locale.US)); + // format.setMinimumIntegerDigits(1); + // format.setMaximumFractionDigits(decimalSize); + // format.setMinimumFractionDigits(decimalSize); + // format.setGroupingUsed(false); + + for (int i = 0; i < m.length; i++) { + for (int j = 0; j < m[i].length - 1; j++) { + // String s = format.format(m[i][j]); // format the number + str = str.append(Double.toString(m[i][j])); + str = str.append(wordDelimiter); + } + str = str.append(Double.toString(m[i][m[i].length - 1])); + + if (i < m.length - 1) { + str = str.append(sentenceDelimiter); + } + } + return str.toString(); + + } + + public static String printIntArray(int[] m) { + return printIntArray(new int[][]{m}); + } + + public static String printIntArray(int[][] m) { + return printIntArray(m, defaultColumnDelimiter, defaultRowDelimiter); + } + + public static String printIntArray(int[][] m, String wordDelimiter, String sentenceDelimiter) { + + StringBuffer str = new StringBuffer(25 * m.length * m[0].length); + + for (int i = 0; i < m.length; i++) { + for (int j = 0; j < m[i].length - 1; j++) { + str = str.append(Integer.toString(m[i][j])); + str = str.append(wordDelimiter); + } + str = str.append(Integer.toString(m[i][m[i].length - 1])); + + if (i < m.length - 1) { + str = str.append(sentenceDelimiter); + } + } + return str.toString(); + } + + public static double[] readString1DDouble(String s) { + return readString1DDouble(s, defaultColumnDelimiter); + } + + public static double[] readString1DDouble(String s, String columnDelimiter) { + double[][] d = readStringDouble(s, columnDelimiter, NotFoundDelimiter); + double[] d1D = null; + if (d.length > 1) { + d1D = new double[d.length]; + for (int i = 0; i < d1D.length; i++) { + d1D[i] = d[i][0]; + } + } else { + d1D = d[0]; + } + return d1D; + } + + public static int[] readString1DInt(String s) { + return readString1DInt(s, defaultColumnDelimiter); + } + + public static int[] readString1DInt(String s, String columnDelimiter) { + int[][] d = readStringInt(s, columnDelimiter, NotFoundDelimiter); + int[] d1D = null; + if (d.length > 1) { + d1D = new int[d.length]; + for (int i = 0; i < d1D.length; i++) { + d1D[i] = d[i][0]; + } + } else { + d1D = d[0]; + } + return d1D; + } + + public static double[][] readStringDouble(String s) { + return readStringDouble(s, defaultColumnDelimiter, defaultRowDelimiter); + } + + public static double[][] readStringDouble(String s, String columnDelimiter, String rowDelimiter) { + double[][] array; + + String[] rows = null; + if (s.contains(rowDelimiter)) { + rows = s.split(rowDelimiter); + } else { + rows = new String[]{s}; + } + array = new double[rows.length][]; + for (int i = 0; i < rows.length; i++) { + String[] cols = rows[i].split(columnDelimiter); + array[i] = new double[cols.length]; + for (int j = 0; j < cols.length; j++) { + try { + array[i][j] = Double.parseDouble(cols[j]); + } catch (NumberFormatException e) { + array[i][j] = Double.NaN; + } + } + } + + return array; + } + + public static int[][] readStringInt(String s) { + return readStringInt(s, defaultColumnDelimiter, defaultRowDelimiter); + } + + public static int[][] readStringInt(String s, String columnDelimiter, String rowDelimiter) { + int[][] array; + + String[] rows = s.split(rowDelimiter); + array = new int[rows.length][]; + for (int i = 0; i < rows.length; i++) { + String[] cols = rows[i].split(columnDelimiter); + array[i] = new int[cols.length]; + for (int j = 0; j < cols.length; j++) { + try { + array[i][j] = Integer.parseInt(cols[j]); + } catch (NumberFormatException e) { + array[i][j] = Integer.MAX_VALUE; + } + } + } + + return array; + } +} diff --git a/src/jat/core/plot/io/stream/BinaryInputStream.java b/src/jat/core/plot/io/stream/BinaryInputStream.java new file mode 100644 index 0000000..eb9f764 --- /dev/null +++ b/src/jat/core/plot/io/stream/BinaryInputStream.java @@ -0,0 +1,290 @@ +package jat.core.plot.io.stream; + +import jat.core.plot.io.littleendian.LEDataInputStream; + +import java.io.DataInput; +import java.io.DataInputStream; +import java.io.EOFException; +import java.io.IOException; +import java.io.InputStream; +import java.util.Vector; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class BinaryInputStream extends InputStream { + + private InputStream stream; + + public static String LITTLE_ENDIAN = "LITTLE_ENDIAN"; + + public static String BIG_ENDIAN = "BIG_ENDIAN"; + + protected boolean bigEndian; + + public BinaryInputStream(InputStream in, String endian) { + bigEndian = isBigEndian(endian); + stream = in; + } + + public BinaryInputStream(InputStream in, boolean endian) { + bigEndian = endian; + stream = in; + } + + private boolean isBigEndian(String endian) { + boolean be; + if (endian.equals(LITTLE_ENDIAN)) { + be = false; + } else if (endian.equals(BIG_ENDIAN)) { + be = true; + } else { + throw new IllegalArgumentException( + "The Endian type : " + + endian + + "is unknown. You must specify LITTLE_ENDIAN or BIG_ENDIAN."); + } + return be; + } + + public static double[] readDoubleArray(InputStream in, String endian) { + BinaryInputStream bi = new BinaryInputStream(in, endian); + return bi.readDoubleArray(); + } + + public static float[] readFloatArray(InputStream in, String endian) { + BinaryInputStream bi = new BinaryInputStream(in, endian); + return bi.readFloatArray(); + } + + public static int[] readIntArray(InputStream in, String endian) { + BinaryInputStream bi = new BinaryInputStream(in, endian); + return bi.readIntArray(); + } + + /** + * Read a binary File + * + * @return int[] + */ + public int[] readIntArray() { + try { + DataInput dis; + if (bigEndian) { + dis = new DataInputStream(stream); + } else { + dis = new LEDataInputStream(stream); + } + + Vector intV = new Vector(); + + try { + while (true) { + int i = dis.readInt(); + intV.add(new Integer(i)); + } + } catch (EOFException eof) { + stream.close(); + } + + int[] array = new int[intV.size()]; + for (int i = 0; i < array.length; i++) { + array[i] = ((Integer) intV.get(i)).intValue(); + } + + return array; + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unreadable : " + + e.toString()); + } + } + + /** + * Read a binary File + * + * @return float[] + */ + public float[] readFloatArray() { + try { + DataInput dis; + if (bigEndian) { + dis = new DataInputStream(stream); + } else { + dis = new LEDataInputStream(stream); + } + + Vector floatV = new Vector(); + + try { + while (true) { + float f = dis.readFloat(); + floatV.add(new Float(f)); + } + } catch (EOFException eof) { + stream.close(); + } + + float[] array = new float[floatV.size()]; + for (int i = 0; i < array.length; i++) { + array[i] = ((Float) floatV.get(i)).floatValue(); + } + + return array; + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unreadable : " + + e.toString()); + } + } + + /** + * Read a binary File + * + * @return double[] + */ + public double[] readDoubleArray() { + try { + DataInput dis; + if (bigEndian) { + dis = new DataInputStream(stream); + } else { + dis = new LEDataInputStream(stream); + } + + Vector doubleV = new Vector(); + + try { + while (true) { + double f = dis.readDouble(); + doubleV.add(new Double(f)); + } + } catch (EOFException eof) { + stream.close(); + } + + double[] array = new double[doubleV.size()]; + for (int i = 0; i < array.length; i++) { + array[i] = ((Double) doubleV.get(i)).doubleValue(); + } + + return array; + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unreadable : " + + e.toString()); + } + } + + /** + * Read a binary File + * + * @return double[] + */ + public double[] readDoubleArray(int n1, int n2) { + try { + DataInput dis; + if (bigEndian) { + dis = new DataInputStream(stream); + } else { + dis = new LEDataInputStream(stream); + } + + double[] array = new double[n2 - n1]; + + dis.skipBytes(n1 * 4); + for (int i = 0; i < array.length; i++) { + array[i] = dis.readDouble(); + } + + return array; + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unreadable : " + + e.toString()); + } + } + + /** + * Read a binary File + * + * @return byte[] + */ + public byte[] readByteArray() { + try { + DataInput dis; + if (bigEndian) { + dis = new DataInputStream(stream); + } else { + dis = new LEDataInputStream(stream); + } + + Vector bytesV = new Vector(); + + try { + while (true) { + byte b = dis.readByte(); + bytesV.add(new Byte(b)); + } + } catch (EOFException eof) { + stream.close(); + } + + byte[] bytes = new byte[bytesV.size()]; + for (int i = 0; i < bytes.length; i++) { + bytes[i] = ((Byte) bytesV.get(i)).byteValue(); + } + + return bytes; + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unreadable : " + + e.toString()); + } + } + + /** + * Read a binary File + * + * @return int + */ + public int readInt() { + return readIntArray()[0]; + } + + /** + * Read a binary File + * + * @return float + */ + public float readFloat() { + return readFloatArray()[0]; + } + + /** + * Read a binary File + * + * @return double + */ + public double readDouble() { + return readDoubleArray()[0]; + } + + /** + * Read a binary File + * + * @return byte + */ + public byte readByte() { + return readByteArray()[0]; + } + + /** + * Read a binary File + * + * @return byte + */ + public int read() { + return readInt(); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/io/stream/BinaryOutputStream.java b/src/jat/core/plot/io/stream/BinaryOutputStream.java new file mode 100644 index 0000000..74edb6d --- /dev/null +++ b/src/jat/core/plot/io/stream/BinaryOutputStream.java @@ -0,0 +1,223 @@ +package jat.core.plot.io.stream; + +import jat.core.plot.io.littleendian.LEDataOutputStream; + +import java.io.DataOutput; +import java.io.DataOutputStream; +import java.io.IOException; +import java.io.OutputStream; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class BinaryOutputStream extends OutputStream { + + private OutputStream stream; + public static String LITTLE_ENDIAN = "LITTLE_ENDIAN"; + public static String BIG_ENDIAN = "BIG_ENDIAN"; + protected boolean bigEndian; + + public BinaryOutputStream(OutputStream out, String endian) { + bigEndian = isBigEndian(endian); + stream = out; + } + + public BinaryOutputStream(OutputStream out, boolean endian) { + bigEndian = endian; + stream = out; + } + + private boolean isBigEndian(String endian) { + boolean be; + if (endian.equals(LITTLE_ENDIAN)) { + be = false; + } else if (endian.equals(BIG_ENDIAN)) { + be = true; + } else { + throw new IllegalArgumentException( + "The Endian type : " + endian + "is unknown. You must specify LITTLE_ENDIAN or BIG_ENDIAN."); + } + return be; + } + + public static void writeDoubleArray(OutputStream out, double[] array, + String endian) { + BinaryOutputStream bs = new BinaryOutputStream(out, endian); + bs.writeDoubleArray(array, false); + } + + public static void appendDoubleArray(OutputStream out, double[] array, + String endian) { + BinaryOutputStream bs = new BinaryOutputStream(out, endian); + bs.writeDoubleArray(array, true); + } + + public static void writeFloatArray(OutputStream out, float[] array, + String endian) { + BinaryOutputStream bs = new BinaryOutputStream(out, endian); + bs.writeFloatArray(array, false); + } + + public static void appendFloatArray(OutputStream out, float[] array, + String endian) { + BinaryOutputStream bs = new BinaryOutputStream(out, endian); + bs.writeFloatArray(array, true); + } + + public static void writeIntArray(OutputStream out, int[] array, + String endian) { + BinaryOutputStream bs = new BinaryOutputStream(out, endian); + bs.writeIntArray(array, false); + } + + public static void appendIntArray(OutputStream out, int[] array, + String endian) { + BinaryOutputStream bs = new BinaryOutputStream(out, endian); + bs.writeIntArray(array, true); + } + + /** + * Write an int array in a binary File + * + * @param array int[] + * @param append boolean + */ + public void writeIntArray(int[] array, boolean append) { + try { + DataOutput dos; + if (bigEndian) { + dos = new DataOutputStream(stream); + } else { + dos = new LEDataOutputStream(stream); + } + + for (int i = 0; i < array.length; i++) { + dos.writeInt(array[i]); + } + + stream.close(); + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unwritable : " + e.toString()); + } + } + + /** + * Write a float array in a binary File + * + * @param array float[] + * @param append boolean + */ + public void writeFloatArray(float[] array, boolean append) { + try { + DataOutput dos; + if (bigEndian) { + dos = new DataOutputStream(stream); + } else { + dos = new LEDataOutputStream(stream); + } + + for (int i = 0; i < array.length; i++) { + dos.writeFloat(array[i]); + } + + stream.close(); + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unwritable : " + e.toString()); + } + } + + /** + * Write a double array in a binary File + * + * @param array float[] + * @param append boolean + */ + public void writeDoubleArray(double[] array, boolean append) { + try { + DataOutput dos; + if (bigEndian) { + dos = new DataOutputStream(stream); + } else { + dos = new LEDataOutputStream(stream); + } + + for (int i = 0; i < array.length; i++) { + dos.writeDouble(array[i]); + } + + stream.close(); + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unwritable : " + e.toString()); + } + } + + /** + * Write a text in a binary File + * + * @param bytes byte[] + * @param append boolean + */ + public void writeByteArray(byte[] bytes, boolean append) { + try { + DataOutputStream dos = new DataOutputStream(stream); + + dos.write(bytes); + + stream.close(); + + } catch (IOException e) { + throw new IllegalArgumentException("InputStream is unwritable : " + e.toString()); + } + } + + /** + * Write an int in a binary File + * + * @param i int + * @param append boolean + */ + public void writeInt(int i, boolean append) { + writeIntArray(new int[]{i}, append); + } + + /** + * Write a float in a binary File + * + * @param f float + * @param append boolean + */ + public void writeFloat(float f, boolean append) { + writeFloatArray(new float[]{f}, append); + } + + /** + * Write a double in a binary File + * + * @param d double + * @param append boolean + */ + public void writeDouble(double d, boolean append) { + writeDoubleArray(new double[]{d}, append); + } + + /** + * Write a text in a binary File + * + * @param b byte + * @param append boolean + */ + public void writeByte(byte b, boolean append) { + writeByteArray(new byte[]{b}, append); + } + + /** + * Write an int in a binary File + * @param i int + */ + public void write(int i) { + writeInt(i, false); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/package.html b/src/jat/core/plot/package.html new file mode 100644 index 0000000..5b02f7b --- /dev/null +++ b/src/jat/core/plot/package.html @@ -0,0 +1,3 @@ + +A plot library based on JMathTools, adapted to JAT + \ No newline at end of file diff --git a/src/jat/core/plot/plot/DataPanel.java b/src/jat/core/plot/plot/DataPanel.java new file mode 100644 index 0000000..7878a37 --- /dev/null +++ b/src/jat/core/plot/plot/DataPanel.java @@ -0,0 +1,87 @@ +package jat.core.plot.plot; + +import jat.core.plot.io.ClipBoardPrintable; +import jat.core.plot.io.FilePrintable; +import jat.core.plot.io.StringPrintable; +import jat.core.plot.plot.components.DataToolBar; + +import java.awt.BorderLayout; +import java.awt.event.ComponentEvent; +import java.awt.event.ComponentListener; +import java.io.File; + +import javax.swing.JPanel; +import javax.swing.JScrollPane; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public abstract class DataPanel extends JPanel implements ComponentListener, FilePrintable, ClipBoardPrintable, StringPrintable { + + /** + * + */ + private static final long serialVersionUID = 1677970683091143235L; + + protected DataToolBar toolBar; + + protected JScrollPane scrollPane; + + public static int[] dimension = new int[] { 400, 400 }; + + public DataPanel() { + setLayout(new BorderLayout()); + initToolBar(); + init(); + } + + protected void initToolBar() { + toolBar = new DataToolBar(this); + add(toolBar, BorderLayout.NORTH); + toolBar.setFloatable(false); + } + + protected void initSize() { + scrollPane.setSize(this.getSize()); + // scrollPane.setPreferredSize(this.getSize()); + } + + protected void init() { + // initSize(); + addComponentListener(this); + } + + public void update() { + // this.remove(scrollPane); + toWindow(); + repaint(); + } + + protected abstract void toWindow(); + + public abstract void toClipBoard(); + + public abstract void toASCIIFile(File file); + + public void componentHidden(ComponentEvent e) { + } + + public void componentMoved(ComponentEvent e) { + } + + public void componentResized(ComponentEvent e) { + /* + * dimension = new int[] { (int) (this.getSize().getWidth()), (int) + * (this.getSize().getHeight()) }; + */ + initSize(); + } + + public void componentShown(ComponentEvent e) { + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/DataSelectPanel.java b/src/jat/core/plot/plot/DataSelectPanel.java new file mode 100644 index 0000000..ed0e4ec --- /dev/null +++ b/src/jat/core/plot/plot/DataSelectPanel.java @@ -0,0 +1,828 @@ +/* + * Created on 6 juil. 07 by richet + */ +package jat.core.plot.plot; + +import jat.core.plot.plot.utils.Array; + +import java.awt.BorderLayout; +import java.awt.Dimension; +import java.awt.Font; +import java.awt.GridLayout; +import java.awt.event.ActionEvent; +import java.beans.PropertyChangeListener; +import java.util.LinkedList; +import java.util.Vector; + +import javax.swing.Action; +import javax.swing.BorderFactory; +import javax.swing.ButtonGroup; +import javax.swing.JCheckBox; +import javax.swing.JComponent; +import javax.swing.JFrame; +import javax.swing.JLabel; +import javax.swing.JList; +import javax.swing.JPanel; +import javax.swing.JRadioButton; +import javax.swing.JScrollPane; +import javax.swing.JSlider; +import javax.swing.event.ChangeEvent; +import javax.swing.event.ChangeListener; +import javax.swing.event.ListSelectionEvent; +import javax.swing.event.ListSelectionListener; + + +/** + * Panel designed to select a given number of columns in a multi columns matrix. + * Useful to provide a 3d plot view of Nd data matrix. + */ +public class DataSelectPanel extends JPanel { + + private static final long serialVersionUID = 419181752327223313L; + ParameterRow[] rows; + private Object[][] _data, _selecteddata; + private LinkedList _tmpselecteddata; + boolean dataUpdated = false; + private int[] _tmpselectedIndex; + private int _nbselected; + private int[] _selectedindex; + private String[] _parametersNames; + //boolean Zselected = false; + int _dimension; + + public DataSelectPanel(Object[][] data, int dimension, String... parametersNames) { + _data = data; + _dimension = dimension; + + _parametersNames = parametersNames; + + if (_dimension > parametersNames.length) { + throw new IllegalArgumentException("Number of parameters must be > to dimension=" + _dimension); + } + + setLayout(new GridLayout(_parametersNames.length /*+ 1*/, 1)); + //JPanel title = new JPanel(); + //title.setLayout(new GridLayout(1, 2)); + //title.add(new JLabel("Variable")); + //title.add(new JLabel("Axis / Parameter")); + //add(title); + + if (_dimension == 0) { + buildRows(); + } else if (_dimension == 1) { + buildRows(0); + } else if (_dimension == 2) { + buildRows(0, 1); + } else if (_dimension == 3) { + buildRows(0, 1, 2); + } + + fireSelectedDataChanged(null); + } + + void buildRows(int... selectedaxis) { + ButtonGroup xgrp = new ButtonGroup(); + ButtonGroup ygrp = new ButtonGroup(); + ButtonGroup zgrp = new ButtonGroup(); + rows = new ParameterRow[_parametersNames.length]; + for (int i = 0; i < _parametersNames.length; i++) { + rows[i] = new ParameterRow(_parametersNames[i], getColumn(i, _data)); + + if (selectedaxis != null && selectedaxis.length > 0) { + if (selectedaxis.length >= 1) { + rows[i].xaxis.setSelected(selectedaxis[0] == i); + } + if (selectedaxis.length >= 2) { + rows[i].yaxis.setSelected(selectedaxis[1] == i); + } + if (selectedaxis.length == 3) { + rows[i].zaxis.setSelected(selectedaxis[2] == i); + } + } + + xgrp.add(rows[i].xaxis); + ygrp.add(rows[i].yaxis); + zgrp.add(rows[i].zaxis); + + add(rows[i]); + } + setPreferredSize(new Dimension(row_width, row_height * _parametersNames.length)); + setSize(new Dimension(row_width, row_height * _parametersNames.length)); + + updateSelectedData(); + } + + public void setData(Object[][] data) { + if (data[0].length != _data[0].length) { + throw new IllegalArgumentException("new data dimension is not consistent with previous one."); + } + _data = data; + + int[] selectedaxis = new int[_dimension]; + for (int i = 0; i < rows.length; i++) { + if (selectedaxis.length >= 1) { + if (rows[i].xaxis.isSelected()) { + selectedaxis[0] = i; + } + } + if (selectedaxis.length >= 2) { + if (rows[i].yaxis.isSelected()) { + selectedaxis[1] = i; + } + } + if (selectedaxis.length == 3) { + if (rows[i].zaxis.isSelected()) { + selectedaxis[2] = i; + } + } + remove(rows[i]); + } + + dataUpdated = false; + buildRows(selectedaxis); + + fireSelectedDataChanged("setData"); + } + + void updateSelectedData() { + if (dataUpdated) { + return; + } + + for (ParameterRow row : rows) { + boolean isaxis = row.xaxis.isSelected() || row.yaxis.isSelected() || row.zaxis.isSelected(); + if (row._isNumber) { + row.min.setEnabled(!isaxis); + row.max.setEnabled(!isaxis); + } else { + row.list.setEnabled(!isaxis); + } + if (!isaxis) { + if (row._isNumber) { + row.name.setText(row._paramName + "=[" + row._kernelDoubleValues[row.min.getValue() - 1] + "," + row._kernelDoubleValues[row.max.getValue() - 1] + "]"); + } else { + row.name.setText(row._paramName + "={" + Array.cat(row.list.getSelectedValues()) + "}"); + } + } else { + row.name.setText(row._paramName); + } + } + + _tmpselectedIndex = new int[_data.length]; + _nbselected = 0; + _tmpselecteddata = new LinkedList(); + for (int i = 0; i < _data.length; i++) { + boolean sel = true; + for (int j = 0; j < rows.length; j++) { + ParameterRow row = rows[j]; + if (!row.xaxis.isSelected() && !row.yaxis.isSelected() && !row.zaxis.isSelected() && !row.check(_data[i][j])) { + sel = false; + } + } + + if (sel) { + _tmpselecteddata.add(_data[i]); + _tmpselectedIndex[_nbselected] = i; + _nbselected++; + /*System.out.print("OK:"); + for (int j = 0; j < _tmpselecteddata.getLast().length; j++) + System.out.print(_tmpselecteddata.getLast()[j]+","); + System.out.println("");*/ + } + } + dataUpdated = true; + } + + /**Method to override if you want to link to any gui component (for instance, a plotpanel).*/ + public void fireSelectedDataChanged(String from) { + System.out.println("fireSelectedDataChanged from " + from); + Object[][] sel = getSelectedFullData(); + System.out.println("selected full data :"); + System.out.println(Array.cat(_parametersNames)); + if (sel.length > 0) { + System.out.println(Array.cat(getSelectedFullData())); + } + + sel = getSelectedProjectedData(); + System.out.println("selected projected data :"); + switch (_dimension) { + case 0: + System.out.println("No axis selected"); + break; + case 1: + System.out.println(Array.cat(new String[]{getSelectedXAxis()})); + break; + case 2: + System.out.println(Array.cat(new String[]{getSelectedXAxis(), getSelectedYAxis()})); + break; + case 3: + System.out.println(Array.cat(new String[]{getSelectedXAxis(), getSelectedYAxis(), getSelectedZAxis()})); + break; + } + if (sel.length > 0) { + System.out.println(Array.cat(getSelectedProjectedData())); + } + + } + + /**return selected data*/ + public int[] getSelectedDataIndex() { + updateSelectedData(); + _selectedindex = new int[_nbselected]; + for (int i = 0; i < _nbselected; i++) { + _selectedindex[i] = _tmpselectedIndex[i]; + } + return _selectedindex; + } + + /**return selected data*/ + public Object[][] getSelectedFullData() { + updateSelectedData(); + _selecteddata = new Object[_tmpselecteddata.size()][_data[0].length]; + for (int i = 0; i < _selecteddata.length; i++) { + for (int j = 0; j < _selecteddata[i].length; j++) { + _selecteddata[i][j] = _tmpselecteddata.get(i)[j]; + } + } + return _selecteddata; + } + + /**return selected data projected on axis selected*/ + public Object[][] getSelectedProjectedData() { + updateSelectedData(); + /*if (_dimension == 0) { + return getSelectedFullData(); + }*/ + int[] selextedaxis = getSelectedAxisIndex(); + _selecteddata = new Object[_tmpselecteddata.size()][_dimension]; + for (int i = 0; i < _selecteddata.length; i++) { + for (int j = 0; j < _dimension; j++) { + _selecteddata[i][j] = _tmpselecteddata.get(i)[selextedaxis[j]]; + } + } + return _selecteddata; + } + + public int[] getSelectedAxisIndex() { + int[] selextedaxis = new int[_dimension]; + updateSelectedData(); + for (int i = 0; i < rows.length; i++) { + if (rows[i].xaxis.isSelected()) { + //System.out.println("selextedaxis[0] =" + i); + selextedaxis[0] = i; + } + if (rows[i].yaxis.isSelected()) { + //System.out.println("selextedaxis[1] =" + i); + selextedaxis[1] = i; + } + if (rows[i].zaxis.isSelected()) { + //System.out.println("selextedaxis[2] =" + i); + selextedaxis[2] = i; + } + } + return selextedaxis; + } + + /**return selected X axis name*/ + public String getSelectedXAxis() { + updateSelectedData(); + for (ParameterRow row : rows) { + if (row.xaxis.isSelected()) { + return row._paramName; + } + } + return null; + } + + /**return selected Y axis name*/ + public String getSelectedYAxis() { + updateSelectedData(); + for (ParameterRow row : rows) { + if (row.yaxis.isSelected()) { + return row._paramName; + } + } + return null; + } + + /**return selected Z axis name*/ + public String getSelectedZAxis() { + updateSelectedData(); + for (ParameterRow row : rows) { + if (row.zaxis.isSelected()) { + return row._paramName; + } + } + return null; + } + + static Object[] getColumn(int j, Object[][] mat) { + Object[] col = new Object[mat.length]; + for (int i = 0; i < col.length; i++) { + col[i] = mat[i][j]; + } + return col; + } + public Font font = new Font("Arial", Font.PLAIN, 10); + public int row_height = 60; + public int row_width = 300; + + class ParameterRow extends JPanel { + + /** + * + */ + private static final long serialVersionUID = 8990268655548889372L; + String _paramName; + JLabel name; + JRadioButton xaxis, yaxis, zaxis; + JComponent parameter; + JSlider min, max; + JCheckBox linkminmax; + JList list; + //Object[] _values; + Vector _kernelStringValues; + boolean _isNumber; + //double[] _dvalues; + double[] _kernelDoubleValues; + + /** + * Quick Sort algoritm. + *

+ * Allows to sort a column quickly, Using a generic version of C.A.R Hoare's + * Quick Sort algorithm. + *

+ */ + public class Sorting { + + /* + * ------------------------ Class variables ------------------------ + */ + /** + * Array for internal storage of the matrix to sort. + */ + private double[] A; + /** + * Array for internal storage of the order. + */ + private int[] order; + + /* + * ------------------------ Constructors ------------------------ + */ + /** + * Construct an ascending order. + * + * @param array + * Array to sort. + * @param copyArray + * Specify if the sort is made directly : true -> array is + * modified (usefull for big arrays !), false -> array is copied + * and not modified (more memory used). + */ + public Sorting(double[] array, boolean copyArray) { + if (copyArray) { + A = new double[array.length]; + System.arraycopy(array, 0, A, 0, array.length); + // for (int i = 0; i < A.length; i++) { + // A[i] = array[i]; + // } + } else { + A = array; + } + + order = new int[A.length]; + for (int i = 0; i < A.length; i++) { + order[i] = i; + } + sort(A); + } + + /* + * ------------------------ Public Methods ------------------------ + */ + public int[] invertIndex(int[] ind) { + int[] invind = new int[ind.length]; + for (int i = 0; i < ind.length; i++) { + invind[ind[i]] = i; + + } + return invind; + } + + /** + * Get the ascending order of one line. + * + * @param i + * Line number. + * @return Ascending order of the line. + */ + public int getIndex(int i) { + return order[i]; + } + + /** + * Get the ascending order of all lines. + * + * @return Ascending order of lines. + */ + public int[] getIndex() { + return order; + } + + /* + * ------------------------ Private Methods ------------------------ + */ + /** + * This is a generic version of C.A.R Hoare's Quick Sort algorithm. This + * will handle arrays that are already sorted, and arrays with duplicate + * keys.
+ * + * If you think of a one dimensional array as going from the lowest index on + * the left to the highest index on the right then the parameters to this + * function are lowest index or left and highest index or right. The first + * time you call this function it will be with the parameters 0, a.length - + * 1. + * + * @param a + * A double array. + * @param lo0 + * Int. + * @param hi0 + * Int. + */ + private void QuickSort(double a[], int lo0, int hi0) { + + int lo = lo0; + int hi = hi0; + double mid; + + if (hi0 > lo0) { + // Arbitrarily establishing partition element as the midpoint of the + // array. + mid = a[(lo0 + hi0) / 2]; + + // loop through the array until indices cross + while (lo <= hi) { + // find the first element that is greater than or equal to the + // partition element starting from the left Index. + while ((lo < hi0) && (a[lo] < mid)) { + ++lo; + } + // find an element that is smaller than or equal to the + // partition element starting from the right Index. + while ((hi > lo0) && (a[hi] > mid)) { + --hi; + } + // if the indexes have not crossed, swap + if (lo <= hi) { + swap(a, lo, hi); + ++lo; + --hi; + } + } + + // If the right index has not reached the left side of array must + // now sort the left partition. + if (lo0 < hi) { + QuickSort(a, lo0, hi); + + // If the left index has not reached the right side of array + // must now sort the right partition. + } + if (lo < hi0) { + QuickSort(a, lo, hi0); + + } + } + } + + /** + * Swap two positions. + * + * @param a + * Array. + * @param i + * Line number. + * @param j + * Line number. + */ + private void swap(double a[], int i, int j) { + double T; + T = a[i]; + a[i] = a[j]; + a[j] = T; + int t; + t = order[i]; + order[i] = order[j]; + order[j] = t; + } + + private void sort(double[] a) { + QuickSort(a, 0, a.length - 1); + } + } + + public ParameterRow(String paramName, Object[] values) { + _paramName = paramName; + _isNumber = Array.isDouble(values[0].toString()); + + if (!_isNumber) { + _kernelStringValues = new Vector(values.length); + for (int i = 0; i < values.length; i++) { + if (!_kernelStringValues.contains(values[i])) { + _kernelStringValues.add(values[i]); + } + } + } else { + Vector _tmpdvalues = new Vector(values.length); + for (int i = 0; i < values.length; i++) { + if (!_tmpdvalues.contains(Double.valueOf(values[i].toString()))) { + _tmpdvalues.add(Double.valueOf(values[i].toString())); + } + } + + _kernelDoubleValues = new double[_tmpdvalues.size()]; + for (int i = 0; i < _kernelDoubleValues.length; i++) { + _kernelDoubleValues[i] = _tmpdvalues.get(i); + } + + new Sorting(_kernelDoubleValues, false); + } + + setLayout(new GridLayout(1, 2)); + + name = new JLabel(_paramName); + name.setFont(font); + JPanel left = new JPanel(new BorderLayout()); + + left.add(name, BorderLayout.CENTER); + add(left, 0); + + JPanel right = new JPanel(new BorderLayout()); + + JPanel XYZ = new JPanel(); + + if (_dimension > 0) { + XYZ = new JPanel(new GridLayout(_dimension, 1)); + } + + xaxis = new JRadioButton("X"); + xaxis.setFont(font); + xaxis.addActionListener(new Action() { + + public void actionPerformed(ActionEvent e) { + yaxis.setSelected(false); + zaxis.setSelected(false); + for (ParameterRow r : rows) { + if (!r._paramName.equals(_paramName)) { + r.xaxis.setSelected(false); + } + } + dataUpdated = false; + fireSelectedDataChanged(_paramName + " xaxis"); + } + + public void setEnabled(boolean b) { + } + + public void removePropertyChangeListener(PropertyChangeListener listener) { + } + + public void putValue(String key, Object value) { + } + + public boolean isEnabled() { + return true; + } + + public Object getValue(String key) { + return null; + } + + public void addPropertyChangeListener(PropertyChangeListener listener) { + } + }); + if (_dimension >= 1) { + XYZ.add(xaxis); + } + yaxis = new JRadioButton("Y"); + yaxis.setFont(font); + yaxis.addActionListener(new Action() { + + public void actionPerformed(ActionEvent e) { + xaxis.setSelected(false); + zaxis.setSelected(false); + for (ParameterRow r : rows) { + if (!r._paramName.equals(_paramName)) { + r.yaxis.setSelected(false); + } + } + dataUpdated = false; + fireSelectedDataChanged(_paramName + " yaxis"); + + } + + public void setEnabled(boolean b) { + } + + public void removePropertyChangeListener(PropertyChangeListener listener) { + } + + public void putValue(String key, Object value) { + } + + public boolean isEnabled() { + return true; + } + + public Object getValue(String key) { + return null; + } + + public void addPropertyChangeListener(PropertyChangeListener listener) { + } + }); + if (_dimension >= 2) { + XYZ.add(yaxis); + } + + zaxis = new JRadioButton("Z"); + zaxis.setFont(font); + zaxis.addActionListener(new Action() { + + public void actionPerformed(ActionEvent e) { + xaxis.setSelected(false); + yaxis.setSelected(false); + for (ParameterRow r : rows) { + if (!r._paramName.equals(_paramName)) { + r.zaxis.setSelected(false); + } + } + dataUpdated = false; + fireSelectedDataChanged(_paramName + " zaxis"); + } + + public void setEnabled(boolean b) { + } + + public void removePropertyChangeListener(PropertyChangeListener listener) { + } + + public void putValue(String key, Object value) { + } + + public boolean isEnabled() { + return true; + } + + public Object getValue(String key) { + return null; + } + + public void addPropertyChangeListener(PropertyChangeListener listener) { + } + }); + if (_dimension == 3) { + XYZ.add(zaxis); + } + + left.add(XYZ, BorderLayout.EAST); + + if (_isNumber) { + parameter = new JPanel(); + parameter.setLayout(new GridLayout(2, 1)); + + min = new JSlider(1, _kernelDoubleValues.length, 1); + min.setFont(font); + + min.setMinorTickSpacing(1); + min.setSnapToTicks(true); + min.setPaintTicks(true); + max = new JSlider(1, _kernelDoubleValues.length, _kernelDoubleValues.length); + max.setFont(font); + max.setMinorTickSpacing(1); + max.setSnapToTicks(true); + max.setPaintTicks(true); + min.addChangeListener(new ChangeListener() { + + public void stateChanged(ChangeEvent e) { + if (max.getValue() < min.getValue()) { + max.setValue(min.getValue()); + } + dataUpdated = false; + fireSelectedDataChanged(_paramName + " min"); + + } + }); + max.addChangeListener(new ChangeListener() { + + public void stateChanged(ChangeEvent e) { + if (max.getValue() < min.getValue()) { + min.setValue(max.getValue()); + } + dataUpdated = false; + fireSelectedDataChanged(_paramName + " max"); + + } + }); + parameter.add(min, 0); + parameter.add(max, 1); + } else { + + list = new JList(_kernelStringValues); + list.setFont(font); + list.setSelectedIndices(buildIntSeq(0, _kernelStringValues.size() - 1)); + list.addListSelectionListener(new ListSelectionListener() { + + public void valueChanged(ListSelectionEvent e) { + dataUpdated = false; + fireSelectedDataChanged(_paramName + " list"); + } + }); + parameter = new JScrollPane(list); + } + right.add(parameter, BorderLayout.CENTER); + add(right, 1); + + setBorder(BorderFactory.createEtchedBorder()); + setPreferredSize(new Dimension(row_width, row_height)); + setSize(new Dimension(row_width, row_height)); + + } + + int[] buildIntSeq(int min, int max) { + int[] seq = new int[max - min + 1]; + for (int i = 0; i < seq.length; i++) { + seq[i] = min + i; + } + return seq; + } + + boolean check(Object value) { + if (_isNumber) { + double dval = Double.valueOf(value.toString()); + return (dval >= _kernelDoubleValues[min.getValue() - 1] && dval <= _kernelDoubleValues[max.getValue() - 1]); + } else { + for (int i = 0; i < list.getSelectedIndices().length; i++) { + if (_kernelStringValues.get(list.getSelectedIndices()[i]).equals(value)) { + return true; + } + } + return false; + } + } + } + + public static void main(String[] args) { + final PlotPanel pp = new Plot3DPanel(PlotPanel.WEST); + pp.setPreferredSize(new Dimension(400, 400)); + new FrameView(pp).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + Object[][] data = {{1, 3, 4, 5, "a0"}, {1, 3, 1, 1, "a1"}, {1, 3, 2, 2, "a2"}, {1, 3, 3, 3, "a5"}, {1, 3, 3, 3, "a3"}, {1, 3, 3, 4, "a2"}}; + + DataSelectPanel dsp3 = new DataSelectPanel(data, 3, "x1", "x2", "x3", "x4", "x5") { + + private static final long serialVersionUID = 1L; + + @Override + public void fireSelectedDataChanged(String from) { + super.fireSelectedDataChanged(from); + pp.setAxisLabel(0, getSelectedXAxis()); + pp.setAxisLabel(1, getSelectedYAxis()); + pp.setAxisLabel(2, getSelectedZAxis()); + + if (pp.getPlots().size() == 0) { + pp.addPlot("SCATTER", "data", pp.mapData(getSelectedProjectedData())); + } else { + if (from.endsWith("axis")) { + pp.resetMapData(); + pp.removeAllPlots(); + pp.addPlot("SCATTER", "data", pp.mapData(getSelectedProjectedData())); + } else { + pp.getPlot(0).setData(pp.mapData(getSelectedProjectedData())); + } + } + //System.out.println(Array.cat(pp.getAxesScales())); + } + }; + + JFrame f3 = new JFrame("Test mat editor 3"); + f3.setContentPane(dsp3); + f3.pack(); + f3.setVisible(true); + f3.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + + + /*try { + Thread.sleep(5000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + + Object[][] data2 = { { 0, 0, 0, 0, "a0" }, { 1, 1, 1, 1, "a1" }, { 2, 2, 2, 2, "a2" }, { 3, 3, 3, 3, "a3" }, { 4, 3, 3, 3, "a3" }, + { 5, 3, 3, 3, "a4" }, { 5, 4, 3, 3, "a4" } }; + dsp.setData(data2);*/ + } +} diff --git a/src/jat/core/plot/plot/DataSelectTable.java b/src/jat/core/plot/plot/DataSelectTable.java new file mode 100644 index 0000000..ea78303 --- /dev/null +++ b/src/jat/core/plot/plot/DataSelectTable.java @@ -0,0 +1,655 @@ +/* + * Created on 6 juil. 07 by richet + */ +package jat.core.plot.plot; + +import jat.core.plot.plot.utils.Array; + +import java.awt.BorderLayout; +import java.awt.Dimension; +import java.awt.GridLayout; +import java.awt.event.ActionEvent; +import java.beans.PropertyChangeListener; +import java.util.LinkedList; +import java.util.Vector; + +import javax.swing.Action; +import javax.swing.BorderFactory; +import javax.swing.ButtonGroup; +import javax.swing.JCheckBox; +import javax.swing.JComponent; +import javax.swing.JFrame; +import javax.swing.JList; +import javax.swing.JPanel; +import javax.swing.JRadioButton; +import javax.swing.JScrollPane; +import javax.swing.JSlider; +import javax.swing.JTable; +import javax.swing.event.ChangeEvent; +import javax.swing.event.ChangeListener; +import javax.swing.event.ListSelectionEvent; +import javax.swing.event.ListSelectionListener; +import javax.swing.event.TableModelListener; +import javax.swing.table.TableModel; + + +/** + * Panel designed to select a given number of columns in a multi columns matrix. + * Useful to provide a 3d plot view of Nd data matrix. + */ +public class DataSelectTable extends JPanel { + + private static final long serialVersionUID = 41918175232722331L; + + LinkedList rows; + + private Object[][] _data, _selecteddata; + + private LinkedList _tmpselecteddata; + + boolean dataUpdated = false; + + private int[] _tmpselectedIndex; + + private int _nbselected; + + private int[] _selectedindex; + + private String[] _parametersNames; + + private JTable _table; + + int _dimension; + + public DataSelectTable(Object[][] data, int dimension, String... parametersNames) { + _data = data; + _dimension = dimension; + + _parametersNames = parametersNames; + + if (_dimension > parametersNames.length) + throw new IllegalArgumentException("Number of parameters must be > to dimension=" + _dimension); + + if (_dimension == 1) + buildRows(0); + else if (_dimension == 2) + buildRows(0, 1); + else if (_dimension == 3) + buildRows(0, 1, 2); + + add(new JScrollPane(_table)); + + } + + LinkedList header; + + LinkedList> columnclasses; + + class Model implements TableModel { + + public Model(int... selectedaxis) { + + } + + public void setValueAt(Object value, int rowIndex, int columnIndex) { + // TODO Auto-generated method stub + + } + + public void removeTableModelListener(TableModelListener l) { + // TODO Auto-generated method stub + + } + + public boolean isCellEditable(int rowIndex, int columnIndex) { + // TODO Auto-generated method stub + return false; + } + + public Object getValueAt(int rowIndex, int columnIndex) { + if (columnIndex == 0) + return _parametersNames[rowIndex]; + if (columnIndex == _dimension - 2) + return rows.get(rowIndex).xaxis; + if (columnIndex == _dimension - 1) + return rows.get(rowIndex).yaxis; + if (columnIndex == _dimension) + return rows.get(rowIndex).zaxis; + + return null; + } + + public int getRowCount() { + return _parametersNames.length; + } + + public String getColumnName(int columnIndex) { + return header.get(columnIndex); + } + + public int getColumnCount() { + return header.size(); + } + + public Class< ? > getColumnClass(int columnIndex) { + return columnclasses.get(columnIndex); + } + + public void addTableModelListener(TableModelListener l) { + // TODO Auto-generated method stub + + } + + } + + void buildRows(int... selectedaxis) { + + header = new LinkedList(); + header.add("Parameter"); + if (_dimension <= 1) + header.add("X"); + if (_dimension <= 2) + header.add("Y"); + if (_dimension <= 3) + header.add("Z"); + header.add("min"); + header.add("<>"); + header.add("="); + header.add("<>"); + header.add("max"); + + columnclasses = new LinkedList>(); + columnclasses.add(String.class); + if (_dimension <= 1) + columnclasses.add(Boolean.class); + if (_dimension <= 2) + columnclasses.add(Boolean.class); + if (_dimension <= 3) + columnclasses.add(Boolean.class); + columnclasses.add(Double.class); + columnclasses.add(JSlider.class); + columnclasses.add(Boolean.class); + columnclasses.add(JSlider.class); + columnclasses.add(Double.class); + + ButtonGroup xgrp = new ButtonGroup(); + ButtonGroup ygrp = new ButtonGroup(); + ButtonGroup zgrp = new ButtonGroup(); + rows = new LinkedList(); + for (int i = 0; i < _parametersNames.length; i++) { + rows.add(new ParameterRow(_parametersNames[i], getColumn(i, _data))); + + rows.get(i).xaxis.setSelected(selectedaxis[0] == i); + if (selectedaxis.length >= 2) + rows.get(i).yaxis.setSelected(selectedaxis[1] == i); + if (selectedaxis.length == 3) + rows.get(i).zaxis.setSelected(selectedaxis[2] == i); + + xgrp.add(rows.get(i).xaxis); + ygrp.add(rows.get(i).yaxis); + zgrp.add(rows.get(i).zaxis); + } + updateSelectedData(); + } + + public void setData(Object[][] data) { + if (data[0].length != _data[0].length) + throw new IllegalArgumentException("new data dimension is not consistent with previous one."); + _data = data; + + int[] selectedaxis = new int[_dimension]; + for (int i = 0; i < rows.size(); i++) { + if (rows.get(i).xaxis.isSelected()) + selectedaxis[0] = i; + if (selectedaxis.length >= 2) + if (rows.get(i).yaxis.isSelected()) + selectedaxis[1] = i; + if (selectedaxis.length == 3) + if (rows.get(i).zaxis.isSelected()) + selectedaxis[2] = i; + rows.remove(i); + } + + dataUpdated = false; + buildRows(selectedaxis); + + fireSelectedDataChanged("setData"); + } + + void updateSelectedData() { + if (dataUpdated) + return; + + for (ParameterRow row : rows) { + boolean isaxis = row.xaxis.isSelected() || row.yaxis.isSelected() || row.zaxis.isSelected(); + if (row._isNumber) { + row.min.setEnabled(!isaxis); + row.max.setEnabled(!isaxis); + } else + row.list.setEnabled(!isaxis); + /*if (!isaxis) + if (row._isNumber) + row.name.setText(row._paramName + "=[" + row._kernelDoubleValues[row.min.getValue() - 1] + "," + + row._kernelDoubleValues[row.max.getValue() - 1] + "]"); + else + row.name.setText(row._paramName + "={" + Array.cat(row.list.getSelectedValues()) + "}"); + else + row.name.setText(row._paramName);*/ + } + + _tmpselectedIndex = new int[_data.length]; + _nbselected = 0; + _tmpselecteddata = new LinkedList(); + for (int i = 0; i < _data.length; i++) { + boolean sel = true; + /*for (int j = 0; j < rows.length; j++) { + ParameterRow row = rows[j]; + if (!row.xaxis.isSelected() && !row.yaxis.isSelected() && !row.zaxis.isSelected() && !row.check(_data[i][j])) + sel = false; + }*/ + + if (sel) { + _tmpselecteddata.add(_data[i]); + _tmpselectedIndex[_nbselected] = i; + _nbselected++; + /*System.out.print("OK:"); + for (int j = 0; j < _tmpselecteddata.getLast().length; j++) + System.out.print(_tmpselecteddata.getLast()[j]+","); + System.out.println("");*/ + } + } + dataUpdated = true; + } + + /**Method to override if you want to link to any gui component (for instance, a plotpanel).*/ + public void fireSelectedDataChanged(String from) { + System.out.println("fireSelectedDataChanged from " + from); + Object[][] sel = getSelectedFullData(); + System.out.println("selected full data :"); + System.out.println(Array.cat(_parametersNames)); + if (sel.length > 0) + System.out.println(Array.cat(getSelectedFullData())); + + sel = getSelectedProjectedData(); + System.out.println("selected projected data :"); + switch (_dimension) { + case 1: + System.out.println(Array.cat(new String[] { getSelectedXAxis() })); + break; + case 2: + System.out.println(Array.cat(new String[] { getSelectedXAxis(), getSelectedYAxis() })); + break; + case 3: + System.out.println(Array.cat(new String[] { getSelectedXAxis(), getSelectedYAxis(), getSelectedZAxis() })); + break; + } + if (sel.length > 0) + System.out.println(Array.cat(getSelectedProjectedData())); + + } + + /**return selected data*/ + public int[] getSelectedDataIndex() { + updateSelectedData(); + _selectedindex = new int[_nbselected]; + for (int i = 0; i < _nbselected; i++) + _selectedindex[i] = _tmpselectedIndex[i]; + return _selectedindex; + } + + /**return selected data*/ + public Object[][] getSelectedFullData() { + updateSelectedData(); + _selecteddata = new Object[_tmpselecteddata.size()][_data[0].length]; + for (int i = 0; i < _selecteddata.length; i++) + for (int j = 0; j < _selecteddata[i].length; j++) + _selecteddata[i][j] = _tmpselecteddata.get(i)[j]; + return _selecteddata; + } + + /**return selected data projected on axis selected*/ + public Object[][] getSelectedProjectedData() { + updateSelectedData(); + int[] selextedaxis = getSelectedAxisIndex(); + _selecteddata = new Object[_tmpselecteddata.size()][_dimension]; + for (int i = 0; i < _selecteddata.length; i++) + for (int j = 0; j < _dimension; j++) + _selecteddata[i][j] = _tmpselecteddata.get(i)[selextedaxis[j]]; + return _selecteddata; + } + + public int[] getSelectedAxisIndex() { + int[] selextedaxis = new int[_dimension]; + updateSelectedData(); + /*for (int i = 0; i < rows.length; i++) { + if (rows[i].xaxis.isSelected()) { + //System.out.println("selextedaxis[0] =" + i); + selextedaxis[0] = i; + } + if (rows[i].yaxis.isSelected()) { + //System.out.println("selextedaxis[1] =" + i); + selextedaxis[1] = i; + } + if (rows[i].zaxis.isSelected()) { + //System.out.println("selextedaxis[2] =" + i); + selextedaxis[2] = i; + } + }*/ + return selextedaxis; + } + + /**return selected X axis name*/ + public String getSelectedXAxis() { + updateSelectedData(); + for (ParameterRow row : rows) + if (row.xaxis.isSelected()) + return row._paramName; + return null; + } + + /**return selected Y axis name*/ + public String getSelectedYAxis() { + updateSelectedData(); + for (ParameterRow row : rows) + if (row.yaxis.isSelected()) + return row._paramName; + return null; + } + + /**return selected Z axis name*/ + public String getSelectedZAxis() { + updateSelectedData(); + for (ParameterRow row : rows) + if (row.zaxis.isSelected()) + return row._paramName; + return null; + } + + static Object[] getColumn(int j, Object[][] mat) { + Object[] col = new Object[mat.length]; + for (int i = 0; i < col.length; i++) + col[i] = mat[i][j]; + return col; + } + + class ParameterRow /*extends JPanel */{ + + //private static final long serialVersionUID = -7301434647336910071L; + + String _paramName; + + //JLabel name; + + JRadioButton xaxis, yaxis, zaxis; + + JComponent parameter; + + JSlider min, max; + + JCheckBox linkminmax; + + JList list; + + //Object[] _values; + + Vector _kernelStringValues; + + boolean _isNumber; + + //double[] _dvalues; + + double[] _kernelDoubleValues; + + public ParameterRow(String paramName, Object[] values) { + _paramName = paramName; + _isNumber = Array.isDouble(values[0].toString()); + + if (!_isNumber) { + _kernelStringValues = new Vector(values.length); + for (int i = 0; i < values.length; i++) + if (!_kernelStringValues.contains(values[i])) + _kernelStringValues.add(values[i]); + } else { + Vector _tmpdvalues = new Vector(values.length); + for (int i = 0; i < values.length; i++) + if (!_tmpdvalues.contains(Double.valueOf(values[i].toString()))) + _tmpdvalues.add(Double.valueOf(values[i].toString())); + + _kernelDoubleValues = new double[_tmpdvalues.size()]; + for (int i = 0; i < _kernelDoubleValues.length; i++) + _kernelDoubleValues[i] = _tmpdvalues.get(i); + } + + setLayout(new GridLayout(1, 2)); + + //name = new JLabel(_paramName); + //add(name, 0); + + JPanel type = new JPanel(new BorderLayout()); + + JPanel XYZ = new JPanel(new GridLayout(_dimension, 1)); + xaxis = new JRadioButton("X"); + xaxis.addActionListener(new Action() { + public void actionPerformed(ActionEvent e) { + yaxis.setSelected(false); + zaxis.setSelected(false); + for (ParameterRow r : rows) + if (!r._paramName.equals(_paramName)) + r.xaxis.setSelected(false); + dataUpdated = false; + fireSelectedDataChanged(_paramName + " xaxis"); + } + + public void setEnabled(boolean b) { + } + + public void removePropertyChangeListener(PropertyChangeListener listener) { + } + + public void putValue(String key, Object value) { + } + + public boolean isEnabled() { + return true; + } + + public Object getValue(String key) { + return null; + } + + public void addPropertyChangeListener(PropertyChangeListener listener) { + } + }); + XYZ.add(xaxis); + yaxis = new JRadioButton("Y"); + yaxis.addActionListener(new Action() { + public void actionPerformed(ActionEvent e) { + xaxis.setSelected(false); + zaxis.setSelected(false); + for (ParameterRow r : rows) + if (!r._paramName.equals(_paramName)) + r.yaxis.setSelected(false); + dataUpdated = false; + fireSelectedDataChanged(_paramName + " yaxis"); + + } + + public void setEnabled(boolean b) { + } + + public void removePropertyChangeListener(PropertyChangeListener listener) { + } + + public void putValue(String key, Object value) { + } + + public boolean isEnabled() { + return true; + } + + public Object getValue(String key) { + return null; + } + + public void addPropertyChangeListener(PropertyChangeListener listener) { + } + }); + if (_dimension >= 2) + XYZ.add(yaxis); + + zaxis = new JRadioButton("Z"); + zaxis.addActionListener(new Action() { + public void actionPerformed(ActionEvent e) { + xaxis.setSelected(false); + yaxis.setSelected(false); + for (ParameterRow r : rows) + if (!r._paramName.equals(_paramName)) + r.zaxis.setSelected(false); + dataUpdated = false; + fireSelectedDataChanged(_paramName + " zaxis"); + } + + public void setEnabled(boolean b) { + } + + public void removePropertyChangeListener(PropertyChangeListener listener) { + } + + public void putValue(String key, Object value) { + } + + public boolean isEnabled() { + return true; + } + + public Object getValue(String key) { + return null; + } + + public void addPropertyChangeListener(PropertyChangeListener listener) { + } + }); + if (_dimension == 3) + XYZ.add(zaxis); + + type.add(XYZ, BorderLayout.WEST); + + if (_isNumber) { + parameter = new JPanel(); + parameter.setLayout(new GridLayout(2, 1)); + + min = new JSlider(1, _kernelDoubleValues.length, 1); + + min.setMinorTickSpacing(1); + min.setSnapToTicks(true); + min.setPaintTicks(true); + max = new JSlider(1, _kernelDoubleValues.length, _kernelDoubleValues.length); + max.setMinorTickSpacing(1); + max.setSnapToTicks(true); + max.setPaintTicks(true); + min.addChangeListener(new ChangeListener() { + public void stateChanged(ChangeEvent e) { + if (max.getValue() < min.getValue()) + max.setValue(min.getValue()); + dataUpdated = false; + fireSelectedDataChanged(_paramName + " min"); + + } + }); + max.addChangeListener(new ChangeListener() { + public void stateChanged(ChangeEvent e) { + if (max.getValue() < min.getValue()) + min.setValue(max.getValue()); + dataUpdated = false; + fireSelectedDataChanged(_paramName + " max"); + + } + }); + parameter.add(min, 0); + parameter.add(max, 1); + } else { + + list = new JList(_kernelStringValues); + list.setSelectedIndices(buildIntSeq(0, _kernelStringValues.size() - 1)); + list.addListSelectionListener(new ListSelectionListener() { + public void valueChanged(ListSelectionEvent e) { + dataUpdated = false; + fireSelectedDataChanged(_paramName + " list"); + } + }); + parameter = new JScrollPane(list); + } + type.add(parameter, BorderLayout.CENTER); + add(type, 1); + + setBorder(BorderFactory.createEtchedBorder()); + setPreferredSize(new Dimension(400, 60)); + + } + + int[] buildIntSeq(int min, int max) { + int[] seq = new int[max - min + 1]; + for (int i = 0; i < seq.length; i++) + seq[i] = min + i; + return seq; + } + + boolean check(Object value) { + if (_isNumber) { + double dval = Double.valueOf(value.toString()); + return (dval >= _kernelDoubleValues[min.getValue() - 1] && dval <= _kernelDoubleValues[max.getValue() - 1]); + } else { + for (int i = 0; i < list.getSelectedIndices().length; i++) { + if (_kernelStringValues.get(list.getSelectedIndices()[i]).equals(value)) + return true; + } + return false; + } + } + + } + + public static void main(String[] args) { + final PlotPanel pp = new Plot3DPanel(PlotPanel.WEST); + pp.setPreferredSize(new Dimension(400, 400)); + new FrameView(pp).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + Object[][] data = { { 0, 0, 0, 0, "a0" }, { 1, 1, 1, 1, "a1" }, { 2, 2, 2, 2, "a2" }, { 3, 3, 3, 3, "a3" }, { 4, 3, 3, 3, "a3" }, { 5, 3, 3, 3, "a4" } }; + + DataSelectTable dsp = new DataSelectTable(data, 3, "x1", "x2", "x3", "x4", "x5") { + private static final long serialVersionUID = 1L; + + @Override + public void fireSelectedDataChanged(String from) { + super.fireSelectedDataChanged(from); + pp.setAxisLabel(0, getSelectedXAxis()); + pp.setAxisLabel(1, getSelectedYAxis()); + pp.setAxisLabel(2, getSelectedZAxis()); + + if (pp.getPlots().size() == 0) + pp.addPlot("SCATTER", "data", pp.mapData(getSelectedProjectedData())); + else { + if (from.endsWith("axis")) { + pp.resetMapData(); + pp.removeAllPlots(); + pp.addPlot("SCATTER", "data", pp.mapData(getSelectedProjectedData())); + } else + pp.getPlot(0).setData(pp.mapData(getSelectedProjectedData())); + } + //System.out.println(Array.cat(pp.getAxesScales())); + } + }; + new FrameView(dsp).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + /*try { + Thread.sleep(5000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + + Object[][] data2 = { { 0, 0, 0, 0, "a0" }, { 1, 1, 1, 1, "a1" }, { 2, 2, 2, 2, "a2" }, { 3, 3, 3, 3, "a3" }, { 4, 3, 3, 3, "a3" }, + { 5, 3, 3, 3, "a4" }, { 5, 4, 3, 3, "a4" } }; + dsp.setData(data2);*/ + } + +} diff --git a/src/jat/core/plot/plot/FrameView.java b/src/jat/core/plot/plot/FrameView.java new file mode 100644 index 0000000..4462e42 --- /dev/null +++ b/src/jat/core/plot/plot/FrameView.java @@ -0,0 +1,75 @@ +package jat.core.plot.plot; + +import jat.core.plot.plot.canvas.Plot2DCanvas; +import jat.core.plot.plot.canvas.Plot3DCanvas; + +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; + +import javax.swing.JComponent; +import javax.swing.JFrame; +import javax.swing.JPanel; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class FrameView extends JFrame { + + private static final long serialVersionUID = 1L; + + public FrameView(Plot2DCanvas... canvas) { + JPanel panel = new JPanel(); + for (int i = 0; i < canvas.length; i++) + panel.add(new Plot2DPanel(canvas[i])); + setContentPane(panel); + pack(); + setSize(600,600); + setVisible(true); + } + + public FrameView(Plot3DCanvas... canvas) { + JPanel panel = new JPanel(); + for (int i = 0; i < canvas.length; i++) + panel.add(new Plot3DPanel(canvas[i])); + setContentPane(panel); + pack(); + setSize(600,600); + setVisible(true); + } + + public FrameView(String title, JComponent panel) { + super(title); + setContentPane(panel); + pack(); + setSize(600,600); + setVisible(true); + } + + public FrameView(JComponent... panels) { + JPanel panel = new JPanel(); + for (int i = 0; i < panels.length; i++) + panel.add(panels[i]); + setContentPane(panel); + pack(); + setSize(600,600); + setVisible(true); + } + + public FrameView(JPanel panel) { + setContentPane(panel); + pack(); + setSize(600,600); + setVisible(true); + // Exit when window is closed! Not default behavior + this.addWindowListener(new WindowAdapter() { + + public void windowClosing(WindowEvent e) { + System.exit(0); + } + }); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/MatrixTablePanel.java b/src/jat/core/plot/plot/MatrixTablePanel.java new file mode 100644 index 0000000..ef59579 --- /dev/null +++ b/src/jat/core/plot/plot/MatrixTablePanel.java @@ -0,0 +1,140 @@ +package jat.core.plot.plot; + +import jat.core.plot.io.files.ASCIIFile; +import jat.core.plot.plot.utils.Array; + +import java.awt.BorderLayout; +import java.awt.Toolkit; +import java.awt.datatransfer.StringSelection; +import java.io.File; + +import javax.swing.JOptionPane; +import javax.swing.JScrollPane; +import javax.swing.JTable; +import javax.swing.table.DefaultTableModel; +import javax.swing.table.TableModel; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class MatrixTablePanel extends DataPanel { + + private static final long serialVersionUID = 1L; + + private JTable table; + + private TableModel model; + + private Object[][] M; + + private boolean viewHeaders = false; + + private String[] headers; + + public MatrixTablePanel(Object[][] m) { + super(); + M = m; + if (M.length == 0) + headers = new String[0]; + else + headers = new String[M[0].length]; + setModel(); + toWindow(); + } + + public void toClipBoard() { + try { + Toolkit.getDefaultToolkit().getSystemClipboard().setContents(new StringSelection(Array.cat(M)), null); + } catch (IllegalStateException e) { + JOptionPane.showConfirmDialog(null, "Copy to clipboard failed : " + e.getMessage(), "Error", JOptionPane.DEFAULT_OPTION, JOptionPane.ERROR_MESSAGE); + } + } + + public String getText() { + return M.toString(); + } + + public void toASCIIFile(File file) { + try { + ASCIIFile.write(file, Array.cat(M)); + } catch (NullPointerException e) { + // System.out.println("File not saved"); + } + } + + private void setModel() { + /*Double[][] array = null; + if (M.length != 0) { + array = new Double[M.length][M[0].length]; + for (int i = 0; i < array.length; i++) { + for (int j = 0; j < array[i].length; j++) { + array[i][j] = new Double(M[i][j]); + } + } + } else + array = new Double[0][0];*/ + + model = new DefaultTableModel(M, headers) { + private static final long serialVersionUID = 1L; + @Override + public boolean isCellEditable(int row, int column) { + return false; + } + }; + + } + + public void setHeaders(String[] h) { + if (M.length != 0) + if (h.length != M[0].length) { + throw new IllegalArgumentException("Headers of the table must have " + M[0].length + " elements."); + } + + headers = h; + update(); + } + + public void update() { + setModel(); + super.update(); + } + + public void setMatrix(Object[][] m) { + M = m; + + if (M.length == 0) + headers = new String[0]; + else + headers = new String[M[0].length]; + + update(); + } + + protected void toWindow() { + table = new JTable(model); + + if (!viewHeaders) { + table.setTableHeader(null); + } + + table.setAutoResizeMode(JTable.AUTO_RESIZE_ALL_COLUMNS); + // table.setCellSelectionEnabled(true); + table.setEnabled(false); + + scrollPane = new JScrollPane(table); + + /* + * scrollPane.setPreferredSize(getSize()); + * scrollPane.setSize(getSize()); + */ + + add(scrollPane, BorderLayout.CENTER); + } + + public Object[][] getMatrix() { + return M; + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/ParametersPanel.java b/src/jat/core/plot/plot/ParametersPanel.java new file mode 100644 index 0000000..fdae85f --- /dev/null +++ b/src/jat/core/plot/plot/ParametersPanel.java @@ -0,0 +1,190 @@ +package jat.core.plot.plot; + +import java.awt.BorderLayout; +import java.awt.Dimension; +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; + +import javax.swing.JComboBox; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.JScrollPane; + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class ParametersPanel extends JPanel implements ActionListener { + + private static final long serialVersionUID = 1L; + + private Dimension defaultSize; + + private String[] paramLabels; + + private String[] paramValues; + + private boolean[] isList; + + private int[] paramValuesIndex; + + private String[][] paramChoices; + + private JLabel[] labels; + + private JComboBox[] fields; + + private Runnable action; + + public ParametersPanel(String[] lab, String[] val) { + this(lab, new int[lab.length], new String[][] { val }); + } + + public ParametersPanel(String[] lab) { + this(lab, new String[lab.length]); + } + + public ParametersPanel(String[] lab, int[] selected, String[][] ch) { + paramLabels = lab; + + isList = new boolean[paramLabels.length]; + for (int i = 0; i < isList.length; i++) { + isList[i] = true; + } + + paramValuesIndex = selected; + + paramChoices = ch; + + paramValues = new String[paramLabels.length]; + for (int i = 0; i < paramChoices.length; i++) { + paramValues[i] = paramChoices[i][paramValuesIndex[i]]; + } + + setComponents(); + setAppearence(); + draw(); + } + + public ParametersPanel(String[] lab, String[][] ch) { + this(lab, new int[lab.length], ch); + } + + private void setComponents() { + labels = new JLabel[paramLabels.length]; + fields = new JComboBox[paramLabels.length]; + for (int i = 0; i < paramLabels.length; i++) { + labels[i] = new JLabel(paramLabels[i], JLabel.RIGHT); + if (isList[i]) { + fields[i] = new JComboBox(paramChoices[i]); + } else { + fields[i] = new JComboBox(); + } + fields[i].setEditable(!isList[i]); + } + defaultSize = new Dimension(400, paramLabels.length * 30); + } + + private void setAppearence() { + setPreferredSize(defaultSize); + setSize(defaultSize); + } + + private void update() { + updateValues(); + updateValuesIndex(); + } + + private void updateValues() { + for (int i = 0; i < paramLabels.length; i++) { + paramValues[i] = (String) (fields[i].getSelectedItem()); + } + } + + private void updateValuesIndex() { + for (int i = 0; i < paramLabels.length; i++) { + if (isList[i]) { + paramValuesIndex[i] = fields[i].getSelectedIndex(); + } + } + } + + public void actionPerformed(ActionEvent e) { + update(); + new Thread(action, "PanelParameters " + this.toString() + " selection").start(); + } + + public int getValueIndex(int i) { + if (!isList[i]) { + throw new IllegalArgumentException("This PanelParameter element is not set to give an Index."); + } + update(); + return paramValuesIndex[i]; + } + + public int[] getValuesIndex() { + update(); + return paramValuesIndex; + } + + public String[] getValues() { + update(); + return paramValues; + } + + public String getValue(int i) { + update(); + return paramValues[i]; + } + + public void setAction(Runnable t) { + action = t; + } + + private void buildConstraints(GridBagConstraints gbc, int gx, int gy, int gw, int gh, int wx, int wy) { + gbc.gridx = gx; + gbc.gridy = gy; + gbc.gridwidth = gw; + gbc.gridheight = gh; + gbc.weightx = wx; + gbc.weighty = wy; + } + + private void draw() { + JPanel panel = new JPanel(); + + GridBagLayout gbl = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + panel.setLayout(gbl); + + for (int i = 0; i < paramLabels.length; i++) { + fields[i].addActionListener(this); + + // Ajout du panel de la chaine + buildConstraints(c, 0, i, 1, 1, 50, 20); + c.anchor = GridBagConstraints.EAST; + gbl.setConstraints(labels[i], c); + panel.add(labels[i]); + + // Ajout du panel de la chaine + buildConstraints(c, 1, i, 1, 1, 50, 20); + c.fill = GridBagConstraints.HORIZONTAL; + gbl.setConstraints(fields[i], c); + panel.add(fields[i]); + } + + JScrollPane scrollPane = new JScrollPane(panel); + + scrollPane.setPreferredSize(getSize()); + scrollPane.setSize(getSize()); + + setLayout(new BorderLayout()); + add(scrollPane, BorderLayout.CENTER); + + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/Plot2DPanel.java b/src/jat/core/plot/plot/Plot2DPanel.java new file mode 100644 index 0000000..63aae8c --- /dev/null +++ b/src/jat/core/plot/plot/Plot2DPanel.java @@ -0,0 +1,408 @@ +package jat.core.plot.plot; + +import jat.core.plot.plot.canvas.Plot2DCanvas; +import jat.core.plot.plot.canvas.PlotCanvas; + +import java.awt.Color; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +/** + * Class suitable for plotting 2D data on a panel, to be added to a swing + * container. + * + * Class for ascending compatibility + * + * @author Yann Richet + */ +public class Plot2DPanel extends PlotPanel { + + private static final long serialVersionUID = 1L; + + /** + * Constructor for Plot2DPanel. + * Create a new blank instance of Plot2DPanel, to be added to a swing + * component. + */ + public Plot2DPanel() { + super(new Plot2DCanvas()); + } + + public Plot2DPanel(double[] min, double[] max, String[] axesScales, String[] axesLabels) { + super(new Plot2DCanvas(min, max, axesScales, axesLabels)); + } + + public Plot2DPanel(PlotCanvas _canvas, String legendOrientation) { + super(_canvas, legendOrientation); + } + + public Plot2DPanel(PlotCanvas _canvas) { + super(_canvas); + } + + public Plot2DPanel(String legendOrientation) { + super(new Plot2DCanvas(), legendOrientation); + } + + /** + * Adds a scatter plot (each data point is plotted as a single dot + * marker) to the current plot panel. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XY Pairs of array of double. First one contains the X position + * of the data points, second contains Y position. + *
+ * Each array of the pair + * must be of the same length; if not a ArrayIndexOutOfBoundsException + * exception will be thrown. + *
+ * Each data set must come in pair of + * array of double; if not a ArrayIndexOutOfBoundsException exception + * will be thrown. + * @return the index of the plot in the panel (int). + * @see #addLinePlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[][], double[][]) + * @see #addHistogramPlot(String, Color, double[][], double[]) + * @see #addStaircasePlot(String, Color, double[]...) + */ + public int addScatterPlot(String name, Color color, double[][] XY) { + return ((Plot2DCanvas) plotCanvas).addScatterPlot(name, color, XY); + } + + public int addScatterPlot(String name, Color color, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addScatterPlot(name, color, Y); + } + + public int addScatterPlot(String name, Color color, double[] X, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addScatterPlot(name, color, X,Y); + } + + public int addScatterPlot(String name, double[][] XY) { + return addScatterPlot(name, getNewColor(), XY); + } + + public int addScatterPlot(String name, double[] Y) { + return addScatterPlot(name, getNewColor(), Y); + } + + public int addScatterPlot(String name, double[] X, double[] Y) { + return addScatterPlot(name, getNewColor(), X,Y); + } + + /** + * Adds a line plot (each data point is connected to the next one by a + * solid line) to the current plot panel. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XY Pairs of array of double. First one contains the X position + * of the data points, second contains Y position. + *
+ * Each array of the pair + * must be of the same length; if not a ArrayIndexOutOfBoundsException + * exception will be thrown. + *
+ * Each data set must come in pair of + * array of double; if not a ArrayIndexOutOfBoundsException exception + * will be thrown. + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[]... ) + * @see #addHistogramPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + */ + public int addLinePlot(String name, Color color, double[][] XY) { + return ((Plot2DCanvas) plotCanvas).addLinePlot(name, color, XY); + } + + public int addLinePlot(String name, Color color, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addLinePlot(name, color, Y); + } + + public int addLinePlot(String name, Color color, double[] X, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addLinePlot(name, color, X,Y); + } + + public int addLinePlot(String name, double[][] XY) { + return addLinePlot(name, getNewColor(), XY); + } + + public int addLinePlot(String name, double[] Y) { + return addLinePlot(name, getNewColor(), Y); + } + + public int addLinePlot(String name, double[] X, double[] Y) { + return addLinePlot(name, getNewColor(), X,Y); + } + + + + /** + * Adds a bar plot (each data point is shown as a dot marker connected to + * the horizontal axis by a vertical line) to the current plot panel. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XY Pairs of array of double. First one contains the X position + * of the data points, second contains Y position. + *
+ * Each array of the pair + * must be of the same length; if not a ArrayIndexOutOfBoundsException + * exception will be thrown. + *
+ * Each data set must come in pair of + * array of double; if not a ArrayIndexOutOfBoundsException exception + * will be thrown. + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addLinePlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[]... ) + * @see #addHistogramPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + */ + public int addBarPlot(String name, Color color, double[][] XY) { + return ((Plot2DCanvas) plotCanvas).addBarPlot(name, color, XY); + } + + public int addBarPlot(String name, Color color, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addBarPlot(name, color, Y); + } + + public int addBarPlot(String name, Color color, double[] X, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addBarPlot(name, color, X,Y); + } + + public int addBarPlot(String name, double[][] XY) { + return addBarPlot(name, getNewColor(), XY); + } + + public int addBarPlot(String name, double[] Y) { + return addBarPlot(name, getNewColor(), Y); + } + + public int addBarPlot(String name, double[] X, double[] Y) { + return addBarPlot(name, getNewColor(), X,Y); + } + + /** + * Adds a staircase plot (each data point is connected to the following + * one by a horizontal line then a vertical line) to the current plot panel. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XY Pairs of array of double. First one contains the X position + * of the data points, second contains Y position. + *
+ * Each array of the pair + * must be of the same length; if not a ArrayIndexOutOfBoundsException + * exception will be thrown. + *
+ * Each data set must come in pair of + * array of double; if not a ArrayIndexOutOfBoundsException exception + * will be thrown. + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[][], double[][]) + * @see #addHistogramPlot(String, Color, double[][], double[]) + * @see #addLinePlot(String, Color, double[]...) + */ + public int addStaircasePlot(String name, Color color, double[][] XY) { + return ((Plot2DCanvas) plotCanvas).addStaircasePlot(name, color, XY); + } + + public int addStaircasePlot(String name, Color color, double[] Y) { + return ((Plot2DCanvas) plotCanvas).addStaircasePlot(name, color, Y); + } + + public int addStaircasePlot(String name, Color color, double[] X,double[] Y) { + return ((Plot2DCanvas) plotCanvas).addStaircasePlot(name, color, X,Y); + } + + public int addStaircasePlot(String name, double[][] XY) { + return addStaircasePlot(name, getNewColor(), XY); + } + + public int addStaircasePlot(String name, double[] Y) { + return addStaircasePlot(name, getNewColor(), Y); + } + + public int addStaircasePlot(String name, double[] X,double[] Y) { + return addStaircasePlot(name, getNewColor(), X,Y); + } + + /** + * Adds a box plot to the current plot panel. Each data point is plotted + * as a dot marker at the center of a rectangle. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XY m*2 array of array of double. Contains the x,y coordinates of the + * m boxes' center (m lines, 2 rows). + * @param dXdY m*2 array of array of double. Contains the width and heigth of the + * m boxes (m lines, 2 rows). + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + * @see #addHistogramPlot(String, Color, double[][], double[]) + * @see #addLinePlot(String, Color, double[]...) + */ + public int addBoxPlot(String name, Color color, double[][] XY, double[][] dXdY) { + return ((Plot2DCanvas) plotCanvas).addBoxPlot(name, color, XY, dXdY); + } + + public int addBoxPlot(String name, double[][] XY, double[][] dXdY) { + return addBoxPlot(name, getNewColor(), XY, dXdY); + } + + /** + * Adds a box plot to the current plot panel. Each data point is plotted + * as a dot marker at the center of a rectangle. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XYdXdY m*4 array of array of double. Contains the x,y coordinates of the + * m boxes' center and the boxes width and heigth (m lines, 4 rows). + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + * @see #addHistogramPlot(String, Color, double[][], double[]) + * @see #addLinePlot(String, Color, double[]...) + */ + public int addBoxPlot(String name, Color color, double[][] XYdXdY) { + return ((Plot2DCanvas) plotCanvas).addBoxPlot(name, color, XYdXdY); + } + + public int addBoxPlot(String name, double[][] XYdXdY) { + return addBoxPlot(name, getNewColor(), XYdXdY); + } + + /** + * Adds a histogram plot to the current plot panel. Each data point is as + * vertical bar which width can be set. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param XY m*2 array of array of double. Contains the x coordinate and + * the heigth of each bar (m lines, 2 rows). + * @param dX Array of double. Contains the width each bar (m lines). + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[][]) + * @see #addLinePlot(String, Color, double[]...) + */ + public int addHistogramPlot(String name, Color color, double[][] XY, double[] dX) { + return ((Plot2DCanvas) plotCanvas).addHistogramPlot(name, color, XY, dX); + } + + public int addHistogramPlot(String name, double[][] XY, double[] dX) { + return addHistogramPlot(name, getNewColor(), XY, dX); + } + + public int addHistogramPlot(String name, Color color, double[][] XYdX) { + return ((Plot2DCanvas) plotCanvas).addHistogramPlot(name, color, XYdX); + } + + /** + * Adds a histogram plot to the current plot panel. Each data point is as + * vertical bar which width can be set. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param XYdX m*3 array of array of double. Contains the x coordinate, + * the heigth of each bar and the width of each bar (m lines, 3 rows). + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[][]) + * @see #addLinePlot(String, Color, double[]...) + */ + public int addHistogramPlot(String name, double[][] XYdX) { + return addHistogramPlot(name, getNewColor(), XYdX); + } + + /** + * Adds a plot of the statistical repartition of a sample, as a histogram. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param sample Array of double containing the data which statistics will be plotted. + * @param n Bin number for the statistics (int). + * @return the index of the plot in the panel (int). + */ + public int addHistogramPlot(String name, Color color, double[] sample, int n) { + return ((Plot2DCanvas) plotCanvas).addHistogramPlot(name, color, sample, n); + } + + public int addHistogramPlot(String name, double[] X, int n) { + return addHistogramPlot(name, getNewColor(), X, n); + } + + /** + * Adds a plot of the statistical repartition of a sample, as a histogram. + * The bins' limits can be set. + * @param name Name for the plot, which will be used in the legend. + * (String) + * @param color Plot color. (Color) + * @param sample Array of double containing the data which statistics will be plotted. + * @param bounds Specify the limits for the bins' boundaries. + * @return the index of the plot in the panel (int). + */ + public int addHistogramPlot(String name, Color color, double[] sample, double... bounds) { + return ((Plot2DCanvas) plotCanvas).addHistogramPlot(name, color, sample, bounds); + } + + public int addHistogramPlot(String name, double[] X, double... bounds) { + return addHistogramPlot(name, getNewColor(), X, bounds); + } + + public int addHistogramPlot(String name, Color color, double[] X, double min, double max, int n) { + return ((Plot2DCanvas) plotCanvas).addHistogramPlot(name, color, X, min, max, n); + } + + public int addHistogramPlot(String name, double[] X, double min, double max, int n) { + return addHistogramPlot(name, getNewColor(), X, min, max, n); + } + + public int addCloudPlot(String name, Color color, double[][] sampleXY, int nX, int nY) { + return ((Plot2DCanvas) plotCanvas).addCloudPlot(name, color, sampleXY, nX,nY); + } + + public int addCloudPlot(String name, double[][] sampleXY, int nX, int nY) { + return addCloudPlot(name, getNewColor(), sampleXY, nX,nY); + } + + @Override + public int addPlot(String type, String name, Color color, double[]... XY) { + if (type.equalsIgnoreCase(SCATTER)) { + return addScatterPlot(name, color, XY); + } else if (type.equalsIgnoreCase(LINE)) { + return addLinePlot(name, color, XY); + } else if (type.equalsIgnoreCase(BAR)) { + return addBarPlot(name, color, XY); + } else if (type.equalsIgnoreCase(STAIRCASE)) { + return addStaircasePlot(name, color, XY); + } else if (type.equalsIgnoreCase(HISTOGRAM)) { + return addHistogramPlot(name, color, XY); + } else if (type.equalsIgnoreCase(BOX)) { + return addBoxPlot(name, color, XY); + } else { + throw new IllegalArgumentException("Plot type is unknown : " + type); + } + } + + + +} diff --git a/src/jat/core/plot/plot/Plot3DPanel.java b/src/jat/core/plot/plot/Plot3DPanel.java new file mode 100644 index 0000000..1f81b20 --- /dev/null +++ b/src/jat/core/plot/plot/Plot3DPanel.java @@ -0,0 +1,288 @@ +package jat.core.plot.plot; + +import jat.core.plot.plot.canvas.Plot3DCanvas; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +/** class for ascending compatibility */ +public class Plot3DPanel extends PlotPanel { + + private static final long serialVersionUID = 1L; + + public Plot3DPanel() { + super(new Plot3DCanvas()); + } + + public Plot3DPanel(double[] min, double[] max, String[] axesScales, String[] axesLabels) { + super(new Plot3DCanvas(min, max, axesScales, axesLabels)); + } + + public Plot3DPanel(PlotCanvas _canvas, String legendOrientation) { + super(_canvas, legendOrientation); + } + + public Plot3DPanel(PlotCanvas _canvas) { + super(_canvas); + } + + public Plot3DPanel(String legendOrientation) { + super(new Plot3DCanvas(), legendOrientation); + } + + /** + * Adds a scatter plot (each data point is plotted as a single dot marker) + * to the current plot panel. + * + * @param name + * Name for the plot, which will be used in the legend. (String) + * @param color + * Plot color. (Color) + * @param XY + * Array of triple double. For each triple, first one contains + * the X position of the data points, second contains Y position, + * third contains Z position.
+ * Each array of the triple must be of the same length; if not a + * ArrayIndexOutOfBoundsException exception will be thrown.
+ * Each data set must come in array of triple of double; + * if not a ArrayIndexOutOfBoundsException exception will be + * thrown. + * @return the index of the plot in the panel (int). + * @see #addLinePlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[][], double[][]) + * @see #addHistogramPlot(String, Color, double[][], double[]) + * @see #addStaircasePlot(String, Color, double[]...) + */ + public int addScatterPlot(String name, Color color, double[][] XY) { + return ((Plot3DCanvas) plotCanvas).addScatterPlot(name, color, XY); + } + + public int addScatterPlot(String name, Color color, double[] X, double[] Y, double[] Z) { + return ((Plot3DCanvas) plotCanvas).addScatterPlot(name, color, X, Y, Z); + } + + public int addScatterPlot(String name, double[][] XY) { + return addScatterPlot(name, getNewColor(), XY); + } + + public int addScatterPlot(String name, double[] X, double[] Y, double[] Z) { + return addScatterPlot(name, getNewColor(), X, Y, Z); + } + + public int addScatterPlot(String name, int type, int radius, double[][] XY) { + return ((Plot3DCanvas) plotCanvas).addScatterPlot(name, getNewColor(), type, radius, XY); + } + + + /** + * Adds a line plot (each data point is connected to the next one by a solid + * line) to the current plot panel. + * + * @param name + * Name for the plot, which will be used in the legend. (String) + * @param color + * Plot color. (Color) + * @param XY + * Array of triple double. For each triple, first one contains + * the X position of the data points, second contains Y position, + * third contains Z position.
+ * Each array of the triple must be of the same length; if not a + * ArrayIndexOutOfBoundsException exception will be thrown.
+ * Each data set must come in array of triple of double; + * if not a ArrayIndexOutOfBoundsException exception will be + * thrown. + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addBarPlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[]... ) + * @see #addHistogramPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + */ + public int addLinePlot(String name, Color color, double[][] XY) { + return ((Plot3DCanvas) plotCanvas).addLinePlot(name, color, XY); + } + + public int addLinePlot(String name, Color color, double[][] XY, boolean closed_curve) { + return ((Plot3DCanvas) plotCanvas).addLinePlot(name, color, XY, closed_curve); + } + + public int addLinePlot(String name, Color color, double[] X, double[] Y, double[] Z) { + return ((Plot3DCanvas) plotCanvas).addLinePlot(name, color, X, Y, Z); + } + + public int addLinePlot(String name, double[][] XY) { + return addLinePlot(name, getNewColor(), XY); + } + + public int addLinePlot(String name, double[] X, double[] Y, double[] Z) { + return addLinePlot(name, getNewColor(), X, Y, Z); + } + + public int addLinePlot(String name, double[][] XY, boolean closed_curve) { + return addLinePlot(name, getNewColor(), XY, closed_curve); + } + + /** + * Adds a bar plot (each data point is shown as a dot marker connected to + * the horizontal axis by a vertical line) to the current plot panel. + * + * @param name + * Name for the plot, which will be used in the legend. (String) + * @param color + * Plot color. (Color) + * @param XY + * Array of triple double. For each triple, first one contains + * the X position of the data points, second contains Y position, + * third contains Z position.
+ * Each array of the triple must be of the same length; if not a + * ArrayIndexOutOfBoundsException exception will be thrown.
+ * Each data set must come in array of triple of double; + * if not a ArrayIndexOutOfBoundsException exception will be + * thrown. + * @return the index of the plot in the panel (int). + * @see #addScatterPlot(String,Color,double[]...) + * @see #addLinePlot(String, Color, double[]...) + * @see #addBoxPlot(String, Color, double[]... ) + * @see #addHistogramPlot(String, Color, double[]...) + * @see #addStaircasePlot(String, Color, double[]...) + */ + public int addBarPlot(String name, Color color, double[][] XY) { + return ((Plot3DCanvas) plotCanvas).addBarPlot(name, color, XY); + } + + public int addBarPlot(String name, Color color, double[] X, double[] Y, double[] Z) { + return ((Plot3DCanvas) plotCanvas).addBarPlot(name, color, X, Y, Z); + } + + public int addBarPlot(String name, double[][] XY) { + return addBarPlot(name, getNewColor(), XY); + } + + public int addBarPlot(String name, double[] X, double[] Y, double[] Z) { + return addBarPlot(name, getNewColor(), X, Y, Z); + } + + public int addBoxPlot(String name, Color c, double[][] XY, double[][] dX) { + return ((Plot3DCanvas) plotCanvas).addBoxPlot(name, c, XY, dX); + } + + public int addBoxPlot(String name, double[][] XY, double[][] dX) { + return addBoxPlot(name, getNewColor(), XY, dX); + } + + public int addBoxPlot(String name, Color c, double[][] XYdX) { + return ((Plot3DCanvas) plotCanvas).addBoxPlot(name, c, Array.getColumnsRangeCopy(XYdX, 0, 2), + Array.getColumnsRangeCopy(XYdX, 3, 5)); + } + + public int addBoxPlot(String name, double[][] XYdX) { + return addBoxPlot(name, getNewColor(), XYdX); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double[][] dX) { + return ((Plot3DCanvas) plotCanvas).addHistogramPlot(name, c, XY, dX); + } + + public int addHistogramPlot(String name, double[][] XY, double[][] dX) { + return addHistogramPlot(name, getNewColor(), XY, dX); + } + + public int addHistogramPlot(String name, Color c, double[][] XYdX) { + return ((Plot3DCanvas) plotCanvas).addHistogramPlot(name, c, Array.getColumnsRangeCopy(XYdX, 0, 2), + Array.getColumnsRangeCopy(XYdX, 3, 4)); + } + + public int addHistogramPlot(String name, double[][] XYdX) { + return addHistogramPlot(name, getNewColor(), XYdX); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, int nX, int nY) { + return ((Plot3DCanvas) plotCanvas).addHistogramPlot(name, c, XY, nX, nY); + } + + public int addHistogramPlot(String name, double[][] XY, int nX, int nY) { + return addHistogramPlot(name, getNewColor(), XY, nX, nY); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double[] boundsX, double[] boundsY) { + return ((Plot3DCanvas) plotCanvas).addHistogramPlot(name, c, XY, boundsX, boundsY); + } + + public int addHistogramPlot(String name, double[][] XY, double[] boundsX, double[] boundsY) { + return addHistogramPlot(name, getNewColor(), XY, boundsX, boundsY); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double minX, double maxX, int nX, double minY, + double maxY, int nY) { + return ((Plot3DCanvas) plotCanvas).addHistogramPlot(name, c, XY, minX, maxX, nX, minY, maxY, nY); + } + + public int addHistogramPlot(String name, double[][] XY, double minX, double maxX, int nX, double minY, double maxY, + int nY) { + return addHistogramPlot(name, getNewColor(), XY, minX, maxX, nX, minY, maxY, nY); + } + + // *** Grid + public int addGridPlot(String name, Color c, double[] X, double[] Y, double[][] Z) { + return ((Plot3DCanvas) plotCanvas).addGridPlot(name, c, X, Y, Z); + } + + public int addGridPlot(String name, double[] X, double[] Y, double[][] Z) { + return addGridPlot(name, getNewColor(), X, Y, Z); + } + + public int addGridPlot(String name, Color c, double[][] XYZMatrix) { + return ((Plot3DCanvas) plotCanvas).addGridPlot(name, c, XYZMatrix); + } + + public int addGridPlot(String name, double[][] XYZMatrix) { + return addGridPlot(name, getNewColor(), XYZMatrix); + } + + // *** Sphere + public int addSpherePlot(String name, Color c, double radius) { + return ((Plot3DCanvas) plotCanvas).addSpherePlot(name, c, radius); + } + + public int addSpherePlot(String name, double radius) { + return addSpherePlot(name, getNewColor(), radius); + } + + // *** Cloud + public int addCloudPlot(String name, Color color, double[][] sampleXYZ, int nX, int nY, int nZ) { + return ((Plot3DCanvas) plotCanvas).addCloudPlot(name, color, sampleXYZ, nX, nY, nZ); + } + + public int addCloudPlot(String name, double[][] sampleXYZ, int nX, int nY, int nZ) { + return addCloudPlot(name, getNewColor(), sampleXYZ, nX, nY, nZ); + } + + @Override + public int addPlot(String type, String name, Color c, double[]... XY) { + if (type.equalsIgnoreCase(SCATTER)) { + return addScatterPlot(name, c, XY); + } else if (type.equalsIgnoreCase(LINE)) { + return addLinePlot(name, c, XY); + } else if (type.equalsIgnoreCase(BAR)) { + return addBarPlot(name, c, XY); + } else if (type.equalsIgnoreCase(HISTOGRAM)) { + return addHistogramPlot(name, c, XY); + } else if (type.equalsIgnoreCase(BOX)) { + return addBoxPlot(name, c, XY); + } else if (type.equalsIgnoreCase(GRID)) { + return addGridPlot(name, c, XY); + } else { + throw new IllegalArgumentException("Plot type is unknown : " + type); + } + } + +} diff --git a/src/jat/core/plot/plot/PlotPanel.java b/src/jat/core/plot/plot/PlotPanel.java new file mode 100644 index 0000000..59f04a7 --- /dev/null +++ b/src/jat/core/plot/plot/PlotPanel.java @@ -0,0 +1,679 @@ +package jat.core.plot.plot; + +import jat.core.plot.io.files.ASCIIFile; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.components.LegendPanel; +import jat.core.plot.plot.components.PlotToolBar; +import jat.core.plot.plot.plotObjects.Axis; +import jat.core.plot.plot.plotObjects.Plotable; +import jat.core.plot.plot.plots.Plot; +import jat.core.plot.plot.utils.Array; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Font; +import java.awt.Graphics; +import java.awt.Image; +import java.awt.image.BufferedImage; +import java.awt.image.RenderedImage; +import java.io.File; +import java.io.IOException; +import java.util.LinkedList; + +import javax.imageio.ImageIO; +import javax.swing.ImageIcon; +import javax.swing.JFrame; +import javax.swing.JPanel; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public abstract class PlotPanel extends JPanel { + + private static final long serialVersionUID = 1L; + public PlotToolBar plotToolBar; + public PlotCanvas plotCanvas; + public LegendPanel plotLegend; + public final static String EAST = BorderLayout.EAST; + public final static String SOUTH = BorderLayout.SOUTH; + public final static String NORTH = BorderLayout.NORTH; + public final static String WEST = BorderLayout.WEST; + public final static String INVISIBLE = "INVISIBLE"; + public final static String SCATTER = "SCATTER"; + public final static String LINE = "LINE"; + public final static String BAR = "BAR"; + public final static String HISTOGRAM = "HISTOGRAM"; + public final static String BOX = "BOX"; + public final static String STAIRCASE = "STAIRCASE"; + public final static String GRID = "GRID"; + public final static Color[] COLORLIST = {Color.BLUE, Color.RED, Color.GREEN, Color.YELLOW, Color.ORANGE, Color.PINK, Color.CYAN, Color.MAGENTA}; + private Font font = new Font("Arial", Font.PLAIN, 10); + + + public PlotPanel(PlotCanvas _canvas, String legendOrientation) { + plotCanvas = _canvas; + setBackground(Color.WHITE); + setLayout(new BorderLayout()); + + addPlotToolBar(NORTH); + + addLegend(legendOrientation); + + add(plotCanvas, BorderLayout.CENTER); + } + + public PlotPanel(PlotCanvas _canvas) { + this(_canvas, INVISIBLE); + } + + /** + * Defines where the legend of the plot should be added to the plot + * panel. + * + * @param location Location where should be put the legend (String). + * location can have the following values (case insensitive): EAST, + * SOUTH, WEST, NORTH, INVISIBLE (legend will be hidden in this case). + * Any other value will be ignored and an error message will be sent to + * the error output. + */ + public void addLegend(String location) { + if (location.equalsIgnoreCase(EAST)) { + plotLegend = new LegendPanel(this, LegendPanel.VERTICAL); + add(plotLegend, EAST); + } else if (location.equalsIgnoreCase(SOUTH)) { + plotLegend = new LegendPanel(this, LegendPanel.HORIZONTAL); + add(plotLegend, SOUTH); + } else if (location.equalsIgnoreCase(WEST)) { + plotLegend = new LegendPanel(this, LegendPanel.VERTICAL); + add(plotLegend, WEST); + } else if (location.equalsIgnoreCase(NORTH)) { + plotLegend = new LegendPanel(this, LegendPanel.HORIZONTAL); + add(plotLegend, NORTH); + } else if (location.equalsIgnoreCase(INVISIBLE)) { + plotLegend = new LegendPanel(this, LegendPanel.INVISIBLE); + // add(legends, BorderLayout.NORTH); + } else { + System.err.println("Orientation " + location + " is unknonw."); + } + } + + /** + * Removes the current legend from the plot panel. + */ + public void removeLegend() { + remove(plotLegend); + } + + /** + * Moves the legend to the specified location. + * + * @param location Location where should be put the legend (String). + * location can have the following values (case insensitive): EAST, + * SOUTH, WEST, NORTH, INVISIBLE (legend will be hidden in this case). + * Any other value will be ignored and an error message will be sent to + * the error output. + */ + public void setLegendOrientation(String location) { + removeLegend(); + addLegend(location); + } + + /** + * Adds a new plot toolbar to the specified location. The previous toolbar + * is deleted. + * @param location Location where should be put the toolbar (String). + * location can have the following values (case insensitive): EAST, + * SOUTH, WEST, NORTH. + * Any other value will be ignored and an error message will be sent to + * the error output. + */ + public void addPlotToolBar(String location) { + if (location.equalsIgnoreCase(EAST)) { + removePlotToolBar(); + plotToolBar = new PlotToolBar(this); + plotToolBar.setFloatable(false); + add(plotToolBar, EAST); + } else if (location.equalsIgnoreCase(SOUTH)) { + removePlotToolBar(); + plotToolBar = new PlotToolBar(this); + plotToolBar.setFloatable(false); + add(plotToolBar, SOUTH); + } else if (location.equalsIgnoreCase(WEST)) { + removePlotToolBar(); + plotToolBar = new PlotToolBar(this); + plotToolBar.setFloatable(false); + add(plotToolBar, WEST); + } else if (location.equalsIgnoreCase(NORTH)) { + removePlotToolBar(); + plotToolBar = new PlotToolBar(this); + plotToolBar.setFloatable(false); + add(plotToolBar, NORTH); + } else { + System.err.println("Location " + location + " is unknonw."); + } + } + + /** + * Removes the plot toolbar from the panel. + */ + public void removePlotToolBar() { + if (plotToolBar == null) { + return; + } + remove(plotToolBar); + } + + /** + * Moves the plot toolbar to the specified location. + * @param location Location where should be put the toolbar (String). + * location can have the following values (case insensitive): EAST, + * SOUTH, WEST, NORTH. + * Any other value will be ignored and an error message will be sent to + * the error output. + */ + public void setPlotToolBarOrientation(String location) { + addPlotToolBar(location); + } + + // /////////////////////////////////////////// + // ////// set actions //////////////////////// + // /////////////////////////////////////////// + public void setActionMode(int am) { + plotCanvas.setActionMode(am); + } + + public void setNoteCoords(boolean b) { + plotCanvas.setNoteCoords(b); + } + + public void setEditable(boolean b) { + plotCanvas.setEditable(b); + } + + public boolean getEditable() { + return plotCanvas.getEditable(); + } + + public void setNotable(boolean b) { + plotCanvas.setNotable(b); + } + + public boolean getNotable() { + return plotCanvas.getNotable(); + } + + // /////////////////////////////////////////// + // ////// set/get elements /////////////////// + // /////////////////////////////////////////// + public LinkedList getPlots() { + return plotCanvas.getPlots(); + } + + public Plot getPlot(int i) { + return plotCanvas.getPlot(i); + } + + public int getPlotIndex(Plot p) { + return plotCanvas.getPlotIndex(p); + } + + public LinkedList getPlotables() { + return plotCanvas.getPlotables(); + } + + public Plotable getPlotable(int i) { + return plotCanvas.getPlotable(i); + } + + /** + * Return the axis specified in parameter. + * @param i Axis number. 0 for X, 1 for Y, 2 for Z. + * @return The axis which number is given in parameter. + */ + public Axis getAxis(int i) { + return plotCanvas.getGrid().getAxis(i); + } + + /** + * Returns the scaling for all of the axis of the plot. + * @return An array of String + * + */ + public String[] getAxisScales() { + return plotCanvas.getAxisScales(); + } + + // TODO axes labels are rested after addPlot... correct this. + /** + * Sets the name of the axis, in this order: X, Y and Z. + * @param labels One to three strings containing the name of each axis. + */ + public void setAxisLabels(String... labels) { + plotCanvas.setAxisLabels(labels); + } + + /** + * Sets the name of the axis specified in parameter. + * @param axe Axis number. 0 for X, 1 for Y, 2 for Z. + * @param label Name to be given. + */ + public void setAxisLabel(int axe, String label) { + plotCanvas.setAxisLabel(axe, label); + } + + /** + * Sets the scale of the axes, linear or logarithm, in this order: X,Y,Z. + * @param scales Strings containing the scaling, LOG or LIN (case insensitive) for the axes. + */ + public void setAxisScales(String... scales) { + plotCanvas.setAxisScales(scales); + } + + /** + * Sets the scaling of the specified axis. + * @param axe Axis number. 0 for X, 1 for Y, 2 for Z. + * @param scale String specifying the scaling. LIN or LOG, case insensitive. + */ + public void setAxisScale(int axe, String scale) { + plotCanvas.setAxiScale(axe, scale); + } + + /** + * Sets the boundaries for each axis. + * @param min Array of at most 3 doubles specifying the min bound of each axis, in this order: X,Y,Z. + * @param max Array of at most 3 doubles specifying the max bound of each axis, in this order: X,Y,Z. + */ + public void setFixedBounds(double[] min, double[] max) { + plotCanvas.setFixedBounds(min, max); + } + + /** + * Sets the boundaries for the specified axis. + * @param axe Axis number to modify. 0 for X, 1 for Y, 2 for Z. + * @param min Min bound of the axis. + * @param max Max bound of the axis. + */ + public void setFixedBounds(int axe, double min, double max) { + plotCanvas.setFixedBounds(axe, min, max); + } + + /** + * Modify bounds of the axes so as to include the point given in parameter. + * @param into Coords of the point to include in bounds. + */ + public void includeInBounds(double... into) { + plotCanvas.includeInBounds(into); + } + + /** + * Modify axes boundaries so as to include all the points of a given plot. + * @param plot Plot to include. + */ + public void includeInBounds(Plot plot) { + plotCanvas.includeInBounds(plot); + } + + /** + * Set bounds automatically. + */ + public void setAutoBounds() { + plotCanvas.setAutoBounds(); + } + + /** + * Set bounds automatically for one axis. + * @param axe Number of the axis to modify. 0 for X, 1 for Y, 2 for Z. + */ + public void setAutoBounds(int axe) { + plotCanvas.setAutoBounds(axe); + } + + public double[][] mapData(Object[][] stringdata) { + return plotCanvas.mapData(stringdata); + } + + public void resetMapData() { + plotCanvas.resetMapData(); + } + + // /////////////////////////////////////////// + // ////// add/remove elements //////////////// + // /////////////////////////////////////////// + public void addLabel(String text, Color c, double... where) { + plotCanvas.addLabel(text, c, where); + } + + public void addBaseLabel(String text, Color c, double... where) { + plotCanvas.addBaseLabel(text, c, where); + } + + public void addPlotable(Plotable p) { + plotCanvas.addPlotable(p); + } + + public void removePlotable(Plotable p) { + plotCanvas.removePlotable(p); + } + + public void removePlotable(int i) { + plotCanvas.removePlotable(i); + } + + public void removeAllPlotables() { + plotCanvas.removeAllPlotables(); + } + + public int addPlot(Plot newPlot) { + return plotCanvas.addPlot(newPlot); + } + + protected Color getNewColor() { + return COLORLIST[plotCanvas.plots.size() % COLORLIST.length]; + } + + public int addPlot(String type, String name, double[]... v) { + return addPlot(type, name, getNewColor(), v); + } + + public abstract int addPlot(String type, String name, Color c, double[]... v); + + public void setPlot(int I, Plot p) { + plotCanvas.setPlot(I, p); + } + + public void changePlotData(int I, double[]... XY) { + plotCanvas.changePlotData(I, XY); + } + + public void changePlotName(int I, String name) { + plotCanvas.changePlotName(I, name); + } + + public void changePlotColor(int I, Color c) { + plotCanvas.changePlotColor(I, c); + } + + public void removePlot(int I) { + plotCanvas.removePlot(I); + } + + public void removePlot(Plot p) { + plotCanvas.removePlot(p); + } + + public void removeAllPlots() { + plotCanvas.removeAllPlots(); + } + + public void addVectortoPlot(int numPlot, double[][] v) { + plotCanvas.addVectortoPlot(numPlot, v); + } + + public void addQuantiletoPlot(int numPlot, int numAxe, double rate, boolean symetric, double[] q) { + plotCanvas.addQuantiletoPlot(numPlot, numAxe, rate, symetric, q); + } + + public void addQuantiletoPlot(int numPlot, int numAxe, double rate, boolean symetric, double q) { + plotCanvas.addQuantiletoPlot(numPlot, numAxe, rate, symetric, q); + } + + public void addQuantilestoPlot(int numPlot, int numAxe, double[][] q) { + plotCanvas.addQuantilestoPlot(numPlot, numAxe, q); + } + + public void addQuantilestoPlot(int numPlot, int numAxe, double[] q) { + plotCanvas.addQuantilestoPlot(numPlot, numAxe, q); + } + + public void addGaussQuantilestoPlot(int numPlot, int numAxe, double[] s) { + plotCanvas.addGaussQuantilestoPlot(numPlot, numAxe, s); + } + + public void addGaussQuantilestoPlot(int numPlot, int numAxe, double s) { + plotCanvas.addGaussQuantilestoPlot(numPlot, numAxe, s); + } + + public void toGraphicFile(File file) throws IOException { + // otherwise toolbar appears + plotToolBar.setVisible(false); + + Image image = createImage(getWidth(), getHeight()); + paint(image.getGraphics()); + image = new ImageIcon(image).getImage(); + + BufferedImage bufferedImage = new BufferedImage(image.getWidth(null), image.getHeight(null), BufferedImage.TYPE_INT_RGB); + Graphics g = bufferedImage.createGraphics(); + g.drawImage(image, 0, 0, Color.WHITE, null); + g.dispose(); + + // make it reappear + plotToolBar.setVisible(true); + + try { + ImageIO.write((RenderedImage) bufferedImage, "PNG", file); + } catch (IllegalArgumentException ex) { + } + } + + public static void main(String[] args) { + String man = "Usage: jplot. <-2D|-3D> [-l ] [options] [[options] other ASCII file]\n" + "[-l ] giving the legend position\n" + "[options] are:\n" + " -t )|HISTOGRAM3D(,)|GRID3D|CLOUD2D(,)|CLOUD3D(,,)> type of the plot\n" + " SCATTER|LINE|BAR: each line of the ASCII file contains coordinates of one point.\n" + " HISTOGRAM2D(): ASCII file contains the 1D sample (i.e. m=1) to split in h slices.\n" + " HISTOGRAM3D(,): ASCII file contains the 2D sample (i.e. m=2) to split in h*k slices (h slices on X axis and k slices on Y axis).\n" + " GRID3D: ASCII file is a matrix, first row gives n X grid values, first column gives m Y grid values, other values are Z values.\n" + " CLOUD2D(,): ASCII file contains the 2D sample (i.e. m=2) to split in h*k slices (h slices on X axis and k slices on Y axis), density of cloud corresponds to frequency of X-Y slice in given 2D sample.\n" + " CLOUD3D(,,): ASCII file contains the 3D sample (i.e. m=3) to split in h*k*l slices (h slices on X axis, k slices on Y axis, l slices on Y axis), density of cloud corresponds to frequency of X-Y-Z slice in given 3D sample.\n" + " -n name name of the plot\n" + " -v vector data to add to the plot\n" + " -q() Q-quantile to add to the plot on axis. Each line of the given ASCII file contains the value of quantile for probvability Q.\n" + " -qP p-quantiles density to add to the plot on axis. Each line of the given ASCII file contains p values.\n" + " -qN Gaussian density to add to the plot on axis. Each line of the given ASCII file contains a standard deviation."; + + if (args.length == 0) { + double[][] data = new double[20][]; + for (int i = 0; i < data.length; i++) { + data[i] = new double[]{Math.random(), Math.random(), Math.random()}; + } + ASCIIFile.writeDoubleArray(new File("tmp.dat"), data); + + args = new String[]{"-3D", "-l", "SOUTH", "-t", "SCATTER", "tmp.dat"}; + System.out.println(man); + System.out.println("\nExample: jplot. " + Array.cat(args)); + } + + PlotPanel p = null; + if (args[0].equals("-2D")) { + p = new Plot2DPanel(); + } else if (args[0].equals("-3D")) { + p = new Plot3DPanel(); + } else { + System.out.println(man); + } + + try { + + String leg = "INVISIBLE"; + String type = SCATTER; + String name = ""; + + double[][] v = null; + + double[] qX = null; + double[] qY = null; + double[] qZ = null; + double qXp = 0; + double qYp = 0; + double qZp = 0; + + double[][] qPX = null; + double[][] qPY = null; + double[][] qPZ = null; + + double[] qNX = null; + double[] qNY = null; + double[] qNZ = null; + + for (int i = 1; i < args.length; i++) { + //System.out.println("<" + args[i] + ">"); + if (args[i].equals("-l")) { + leg = args[i + 1]; + i++; + } else if (args[i].equals("-t")) { + type = args[i + 1]; + i++; + } else if (args[i].equals("-n")) { + name = args[i + 1]; + i++; + } else if (args[i].equals("-v")) { + v = ASCIIFile.readDoubleArray(new File(args[i + 1])); + i++; + } else if (args[i].startsWith("-qX(")) { + qX = ASCIIFile.readDouble1DArray(new File(args[i + 1])); + qXp = Double.parseDouble(args[i].substring(4, args[i].length() - 1)); + i++; + } else if (args[i].startsWith("-qY(")) { + qY = ASCIIFile.readDouble1DArray(new File(args[i + 1])); + qYp = Double.parseDouble(args[i].substring(4, args[i].length() - 1)); + i++; + } else if (args[i].startsWith("-qZ(")) { + qZ = ASCIIFile.readDouble1DArray(new File(args[i + 1])); + qZp = Double.parseDouble(args[i].substring(4, args[i].length() - 1)); + i++; + } else if (args[i].equals("-qPX")) { + qPX = ASCIIFile.readDoubleArray(new File(args[i + 1])); + i++; + } else if (args[i].equals("-qPY")) { + qPY = ASCIIFile.readDoubleArray(new File(args[i + 1])); + i++; + } else if (args[i].equals("-qPZ")) { + qPZ = ASCIIFile.readDoubleArray(new File(args[i + 1])); + i++; + } else if (args[i].equals("-qNX")) { + qNX = ASCIIFile.readDouble1DArray(new File(args[i + 1])); + i++; + } else if (args[i].equals("-qNY")) { + qNY = ASCIIFile.readDouble1DArray(new File(args[i + 1])); + i++; + } else if (args[i].equals("-qNZ")) { + qNZ = ASCIIFile.readDouble1DArray(new File(args[i + 1])); + i++; + } else { + File input_file = new File(args[i]); + int n = 0; + if (input_file.exists()) { + if (name.length() == 0) { + name = input_file.getName(); + } + + if (p instanceof Plot2DPanel) { + Plot2DPanel p2d = (Plot2DPanel) p; + if (type.equals("SCATTER")) { + n = p2d.addScatterPlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.equals("LINE")) { + n = p2d.addLinePlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.equals("BAR")) { + n = p2d.addBarPlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.startsWith("HISTOGRAM2D(")) { + n = p2d.addHistogramPlot(name, ASCIIFile.readDouble1DArray(input_file), Integer.parseInt(type.substring(12, type.length() - 1))); + } else if (type.startsWith("CLOUD2D(")) { + n = p2d.addCloudPlot(name, ASCIIFile.readDoubleArray(input_file), Integer.parseInt(type.substring(8, type.indexOf(","))), + Integer.parseInt(type.substring(type.indexOf(",") + 1, type.length() - 1))); + } else { + p2d.addPlot(type, name, ASCIIFile.readDoubleArray(input_file)); + } + } else { + Plot3DPanel p3d = (Plot3DPanel) p; + if (type.equals("SCATTER")) { + n = p3d.addScatterPlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.equals("LINE")) { + n = p3d.addLinePlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.equals("BAR")) { + n = p3d.addBarPlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.startsWith("HISTOGRAM3D(")) { + n = p3d.addHistogramPlot(name, ASCIIFile.readDoubleArray(input_file), Integer.parseInt(type.substring(12, type.indexOf(","))), + Integer.parseInt(type.substring(type.indexOf(",") + 1, type.length() - 1))); + } else if (type.equals("GRID3D")) { + n = p3d.addGridPlot(name, ASCIIFile.readDoubleArray(input_file)); + } else if (type.startsWith("CLOUD3D(")) { + n = p3d.addCloudPlot(name, ASCIIFile.readDoubleArray(input_file), Integer.parseInt(type.substring(8, type.indexOf(","))), + Integer.parseInt(type.substring(type.indexOf(",") + 1, type.indexOf(",", type.indexOf(",") + 1))), Integer.parseInt(type.substring(type.indexOf(",", type.indexOf(",") + 1) + 1, type.length() - 1))); + } else { + p3d.addPlot(type, name, ASCIIFile.readDoubleArray(input_file)); + } + } + + if (v != null) { + p.addVectortoPlot(n, v); + } + + if (qX != null) { + p.addQuantiletoPlot(n, 0, qXp, false, qX); + } + if (qY != null) { + p.addQuantiletoPlot(n, 1, qYp, false, qY); + } + if (qZ != null) { + p.addQuantiletoPlot(n, 2, qZp, false, qZ); + } + + if (qPX != null) { + p.addQuantilestoPlot(n, 0, qPX); + } + if (qPY != null) { + p.addQuantilestoPlot(n, 1, qPY); + } + if (qPZ != null) { + p.addQuantilestoPlot(n, 2, qPZ); + } + + if (qNX != null) { + p.addGaussQuantilestoPlot(n, 0, qNX); + } + if (qNY != null) { + p.addGaussQuantilestoPlot(n, 1, qNY); + } + if (qNZ != null) { + p.addGaussQuantilestoPlot(n, 2, qNZ); + } + + type = "SCATTER"; + leg = "SOUTH"; + name = ""; + qX = null; + qY = null; + qZ = null; + qXp = 0; + qYp = 0; + qZp = 0; + + v = null; + + qPX = null; + qPY = null; + qPZ = null; + + qNX = null; + qNY = null; + qNZ = null; + + } else { + System.out.println("File " + args[i] + " unknown."); + System.out.println(man); + } + } + } + p.setLegendOrientation(leg); + FrameView f = new FrameView(p); + f.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } catch (Exception e) { + e.printStackTrace(); + System.err.println("\n" + man); + } + } + + /** + * @return the font + */ + public Font getFont() { + return font; + } + + /** + * @param font the font to set + */ + public void setFont(Font font) { + this.font = font; + } +} diff --git a/src/jat/core/plot/plot/canvas/Plot2DCanvas.java b/src/jat/core/plot/plot/canvas/Plot2DCanvas.java new file mode 100644 index 0000000..00eb7f6 --- /dev/null +++ b/src/jat/core/plot/plot/canvas/Plot2DCanvas.java @@ -0,0 +1,186 @@ +package jat.core.plot.plot.canvas; + +import static jat.core.plot.plot.plotObjects.Base.LINEAR; +import static jat.core.plot.plot.utils.Array.getColumnCopy; +import static jat.core.plot.plot.utils.Array.getColumnsRangeCopy; +import static jat.core.plot.plot.utils.Array.increment; +import static jat.core.plot.plot.utils.Array.mergeColumns; +import static jat.core.plot.plot.utils.Histogram.histogram_classes; +import static jat.core.plot.plot.utils.Histogram.histogram_classes_2D; +import jat.core.plot.plot.plotObjects.Base; +import jat.core.plot.plot.plotObjects.BasePlot; +import jat.core.plot.plot.plots.BarPlot; +import jat.core.plot.plot.plots.BoxPlot2D; +import jat.core.plot.plot.plots.CloudPlot2D; +import jat.core.plot.plot.plots.HistogramPlot2D; +import jat.core.plot.plot.plots.LinePlot; +import jat.core.plot.plot.plots.ScatterPlot; +import jat.core.plot.plot.plots.StaircasePlot; +import jat.core.plot.plot.render.AWTDrawer2D; + +import java.awt.Color; +import java.awt.event.ActionEvent; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Plot2DCanvas extends PlotCanvas { + + // public final static String PARALLELHISTOGRAM = "PARALLELHISTOGRAM"; + + private static final long serialVersionUID = 1L; + + public Plot2DCanvas() { + super(); + ActionMode = ZOOM; + } + + public Plot2DCanvas(Base b, BasePlot bp) { + super(b, bp); + ActionMode = ZOOM; + } + + public Plot2DCanvas(double[] min, double[] max, String[] axesScales, String[] axesLabels) { + super(min, max, axesScales, axesLabels); + ActionMode = ZOOM; + } + + public void initDrawer() { + draw = new AWTDrawer2D(this); + } + + public void initBasenGrid(double[] min, double[] max) { + initBasenGrid(min, max, new String[] { LINEAR, LINEAR }, new String[] { "X", "Y" }); + } + + public void initBasenGrid() { + initBasenGrid(new double[] { 0, 0 }, new double[] { 1, 1 }); + } + + private static double[][] convertY(double[] XY) { + double[] x = increment(XY.length, 1, 1); + return mergeColumns(x, XY); + } + + private static double[][] convertXY(double[]... XY) { + if (XY.length == 2 && XY[0].length != 2) + return mergeColumns(XY[0], XY[1]); + else + return XY; + } + + public int addScatterPlot(String name, Color c, double[] Y) { + return addPlot(new ScatterPlot(name, c, convertY(Y))); + } + + public int addScatterPlot(String name, Color c, double[][] XY) { + return addPlot(new ScatterPlot(name, c, convertXY(XY))); + } + + public int addScatterPlot(String name, Color c, double[] X, double[] Y) { + return addPlot(new ScatterPlot(name, c, convertXY(X,Y))); + } + + + + + public int addLinePlot(LinePlot l) { + return addPlot(l); + } + + public int addLinePlot(String name, Color c, double[] Y) { + return addPlot(new LinePlot(name, c, convertY(Y))); + } + + public int addLinePlot(String name, Color c, double[][] XY) { + return addPlot(new LinePlot(name, c, convertXY(XY))); + } + + public int addLinePlot(String name, Color c, double[] X, double[] Y) { + return addPlot(new LinePlot(name, c, convertXY(X,Y))); + } + + public int addBarPlot(String name, Color c, double[] Y) { + return addPlot(new BarPlot(name, c, convertY(Y))); + } + + public int addBarPlot(String name, Color c, double[][] XY) { + return addPlot(new BarPlot(name, c, convertXY(XY))); + } + + public int addBarPlot(String name, Color c, double[] X, double[] Y) { + return addPlot(new BarPlot(name, c, convertXY(X,Y))); + } + + public int addStaircasePlot(String name, Color c, double[] Y) { + return addPlot(new StaircasePlot(name, c, convertY(Y))); + } + + public int addStaircasePlot(String name, Color c, double[][] XY) { + return addPlot(new StaircasePlot(name, c, convertXY(XY))); + } + + public int addStaircasePlot(String name, Color c, double[] X, double[] Y) { + return addPlot(new StaircasePlot(name, c, convertXY(X,Y))); + } + + + public int addBoxPlot(String name, Color c, double[][] XY, double[][] dX) { + return addPlot(new BoxPlot2D(XY, dX, c, name)); + } + + public int addBoxPlot(String name, Color c, double[][] XYdX) { + return addPlot(new BoxPlot2D(getColumnsRangeCopy(XYdX, 0, 1), getColumnsRangeCopy(XYdX, 2, 3), c, name)); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double[] dX) { + return addPlot(new HistogramPlot2D(name, c, XY, dX)); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double dX) { + return addPlot(new HistogramPlot2D(name, c, XY, dX)); + } + + public int addHistogramPlot(String name, Color c, double[][] XYdX) { + return addPlot(new HistogramPlot2D(name, c, getColumnsRangeCopy(XYdX, 0, 1), getColumnCopy(XYdX, 2))); + } + + public int addHistogramPlot(String name, Color c, double[] X, int n) { + double[][] XY = histogram_classes(X, n); + return addPlot(new HistogramPlot2D(name, c, XY, XY[1][0] - XY[0][0])); + } + + public int addHistogramPlot(String name, Color c, double[] X, double... bounds) { + double[][] XY = histogram_classes(X, bounds); + return addPlot(new HistogramPlot2D(name, c, XY, XY[1][0] - XY[0][0])); + } + + public int addHistogramPlot(String name, Color c, double[] X, double min, double max, int n) { + double[][] XY = histogram_classes(X, min, max, n); + return addPlot(new HistogramPlot2D(name, c, XY, XY[1][0] - XY[0][0])); + } + + public int addCloudPlot(String name, Color c, double[][] sampleXY, int nX, int nY) { + double[][] XYh = histogram_classes_2D(sampleXY, nX, nY); + return addPlot(new CloudPlot2D(name, c, XYh, XYh[1][0] - XYh[0][0], XYh[nX][1] - XYh[0][1])); + } + + public static void main(String[] args) { + /* + * Plot2DPanel p2d = new Plot2DPanel(DoubleArray.random(10, 2), "plot + * 1", PlotPanel.SCATTER); new FrameView(p2d); + * p2d.addPlot(DoubleArray.random(10, 2), "plot 2", PlotPanel.SCATTER); + * p2d.grid.getAxe(0).darkLabel.setCorner(0.5, -10); + * p2d.grid.getAxe(1).darkLabel.setCorner(0, -0.5); + */ + } + + @Override + public void actionPerformed(ActionEvent arg0) { + // TODO Auto-generated method stub + + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/canvas/Plot3DCanvas.java b/src/jat/core/plot/plot/canvas/Plot3DCanvas.java new file mode 100644 index 0000000..1016407 --- /dev/null +++ b/src/jat/core/plot/plot/canvas/Plot3DCanvas.java @@ -0,0 +1,211 @@ +package jat.core.plot.plot.canvas; + +import static jat.core.plot.plot.plotObjects.Base.LINEAR; +import static jat.core.plot.plot.utils.Array.getColumnsRangeCopy; +import static jat.core.plot.plot.utils.Array.getSubMatrixRangeCopy; +import static jat.core.plot.plot.utils.Array.mergeColumns; +import static jat.core.plot.plot.utils.Histogram.histogram_classes_2D; +import static jat.core.plot.plot.utils.Histogram.histogram_classes_3D; +import static java.lang.Math.abs; +import static java.lang.Math.min; +import jat.core.plot.plot.plotObjects.Base; +import jat.core.plot.plot.plotObjects.BasePlot; +import jat.core.plot.plot.plots.BarPlot; +import jat.core.plot.plot.plots.BoxPlot3D; +import jat.core.plot.plot.plots.CloudPlot3D; +import jat.core.plot.plot.plots.GridPlot3D; +import jat.core.plot.plot.plots.HistogramPlot3D; +import jat.core.plot.plot.plots.LinePlot; +import jat.core.plot.plot.plots.ScatterPlot; +import jat.core.plot.plot.plots.SpherePlot3D; +import jat.core.plot.plot.render.AWTDrawer3D; + +import java.awt.Color; +import java.awt.Graphics; +import java.awt.event.ActionEvent; +import java.awt.event.MouseEvent; + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Plot3DCanvas extends PlotCanvas { + + private static final long serialVersionUID = 1L; + + public final static int ROTATION = 2; + + public Plot3DCanvas() { + super(); + ActionMode = ROTATION; + } + + public Plot3DCanvas(Base b, BasePlot bp) { + super(b, bp); + ActionMode = ROTATION; + } + + public Plot3DCanvas(double[] min, double[] max, String[] axesScales, String[] axesLabels) { + super(min, max, axesScales, axesLabels); + ActionMode = ROTATION; + } + + public void initDrawer() { + draw = new AWTDrawer3D(this); + // timer = new Timer(100, this); + } + + public void initBasenGrid(double[] min, double[] max) { + initBasenGrid(min, max, new String[] { LINEAR, LINEAR, LINEAR }, new String[] { "X", "Y", "Z" }); + } + + public void initBasenGrid() { + initBasenGrid(new double[] { 0, 0, 0 }, new double[] { 1, 1, 1 }); + } + + private static double[][] convertXYZ(double[]... XYZ) { + if (XYZ.length == 3 && XYZ[0].length != 3) + return mergeColumns(XYZ[0], XYZ[1], XYZ[2]); + else + return XYZ; + } + + public int addScatterPlot(String name, Color c, double[][] XYZ) { + return addPlot(new ScatterPlot(name, c, convertXYZ(XYZ))); + } + + public int addScatterPlot(String name, Color c, double[] X, double[] Y, double[] Z) { + return addPlot(new ScatterPlot(name, c, convertXYZ(X, Y, Z))); + } + + public int addScatterPlot(String name, Color c, int type, int radius, double[][] XYZ) { + return addPlot(new ScatterPlot(name, c, type, radius, convertXYZ(XYZ))); + } + + public int addLinePlot(String name, Color c, double[][] XYZ) { + return addPlot(new LinePlot(name, c, convertXYZ(XYZ))); + } + + public int addLinePlot(String name, Color c, double[][] XYZ, boolean closed_curve) { + return addPlot(new LinePlot(name, c, convertXYZ(XYZ), closed_curve)); + } + + public int addLinePlot(String name, Color c, double[] X, double[] Y, double[] Z) { + return addPlot(new LinePlot(name, c, convertXYZ(X, Y, Z))); + } + + public int addBarPlot(String name, Color c, double[][] XYZ) { + return addPlot(new BarPlot(name, c, convertXYZ(XYZ))); + } + + public int addBarPlot(String name, Color c, double[] X, double[] Y, double[] Z) { + return addPlot(new BarPlot(name, c, convertXYZ(X, Y, Z))); + } + + public int addBoxPlot(String name, Color c, double[][] XY, double[][] dX) { + return addPlot(new BoxPlot3D(XY, dX, c, name)); + } + + public int addBoxPlot(String name, Color c, double[][] XYdX) { + return addPlot(new BoxPlot3D(getColumnsRangeCopy(XYdX, 0, 2), getColumnsRangeCopy(XYdX, 3, 5), c, name)); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double[][] dX) { + return addPlot(new HistogramPlot3D(name, c, XY, dX)); + } + + public int addHistogramPlot(String name, Color c, double[][] XYdX) { + return addPlot(new HistogramPlot3D(name, c, getColumnsRangeCopy(XYdX, 0, 2), getColumnsRangeCopy(XYdX, 3, 4))); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, int nX, int nY) { + double[][] XYZ = histogram_classes_2D(XY, nX, nY); + return addPlot(new HistogramPlot3D(name, c, XYZ, XYZ[1][0] - XYZ[0][0], XYZ[nX][1] - XYZ[0][1])); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double[] boundsX, double[] boundsY) { + double[][] XYZ = histogram_classes_2D(XY, boundsX, boundsY); + return addPlot(new HistogramPlot3D(name, c, XYZ, XYZ[1][0] - XYZ[0][0], XYZ[boundsX.length - 1][1] - XYZ[0][1])); + } + + public int addHistogramPlot(String name, Color c, double[][] XY, double minX, double maxX, int nX, double minY, + double maxY, int nY) { + double[][] XYZ = histogram_classes_2D(XY, minX, maxX, nX, minY, maxY, nY); + return addPlot(new HistogramPlot3D(name, c, XYZ, XYZ[1][0] - XYZ[0][0], XYZ[nX][1] - XYZ[0][1])); + } + + public int addGridPlot(String name, Color c, double[] X, double[] Y, double[][] Z) { + return addPlot(new GridPlot3D(name, c, X, Y, Z)); + } + + public int addGridPlot(String name, Color c, double[][] XYZMatrix) { + double[] X = new double[XYZMatrix[0].length - 1]; + System.arraycopy(XYZMatrix[0], 1, X, 0, XYZMatrix[0].length - 1); + double[] Y = new double[XYZMatrix.length - 1]; + for (int i = 0; i < Y.length; i++) + Y[i] = XYZMatrix[i + 1][0]; + double[][] Z = getSubMatrixRangeCopy(XYZMatrix, 1, XYZMatrix.length - 1, 1, XYZMatrix[0].length - 1); + + return addGridPlot(name, c, X, Y, Z); + } + + public int addSpherePlot(String name, Color c, double radius) { + return addPlot(new SpherePlot3D(name, c, radius)); + } + + public int addCloudPlot(String name, Color c, double[][] sampleXYZ, int nX, int nY, int nZ) { + double[][] XYZh = histogram_classes_3D(sampleXYZ, nX, nY, nZ); + return addPlot(new CloudPlot3D(name, c, XYZh, XYZh[1][0] - XYZh[0][0], XYZh[nX][1] - XYZh[0][1], XYZh[nX][2] + - XYZh[0][2])); + } + + public void mouseDragged(MouseEvent e) { + // System.out.println("PlotCanvas.mouseDragged"); + + dragging = true; + /* + * System.out.println("PlotCanvas.mouseDragged"); System.out.println(" + * mouseClick = [" + mouseClick[0] + " " + mouseClick[1] + "]"); + * System.out.println(" mouseCurent = [" + mouseCurent[0] + " " + + * mouseCurent[1] + "]"); + */ + mouseCurent[0] = e.getX(); + mouseCurent[1] = e.getY(); + e.consume(); + switch (ActionMode) { + case TRANSLATION: + draw.translate(mouseCurent[0] - mouseClick[0], mouseCurent[1] - mouseClick[1]); + mouseClick[0] = mouseCurent[0]; + mouseClick[1] = mouseCurent[1]; + repaint(); + break; + case ZOOM: + repaint(); + Graphics gcomp = getGraphics(); + gcomp.setColor(Color.black); + gcomp.drawRect(min(mouseClick[0], mouseCurent[0]), min(mouseClick[1], mouseCurent[1]), abs(mouseCurent[0] + - mouseClick[0]), abs(mouseCurent[1] - mouseClick[1])); + break; + case ROTATION: + int[] t = new int[] { mouseCurent[0] - mouseClick[0], mouseCurent[1] - mouseClick[1] }; + ((AWTDrawer3D) draw).rotate(t, new int[] { getWidth(), getHeight() }); + mouseClick[0] = mouseCurent[0]; + mouseClick[1] = mouseCurent[1]; + repaint(); + break; + } + } + + @Override + public void actionPerformed(ActionEvent e) { + // TODO implement this as a callback + + // System.out.println("timer"); + int[] t = new int[] { 1, 0 }; + ((AWTDrawer3D) draw).rotate(t, new int[] { getWidth(), getHeight() }); + repaint(); + + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/canvas/PlotCanvas.java b/src/jat/core/plot/plot/canvas/PlotCanvas.java new file mode 100644 index 0000000..7d9c859 --- /dev/null +++ b/src/jat/core/plot/plot/canvas/PlotCanvas.java @@ -0,0 +1,934 @@ +package jat.core.plot.plot.canvas; + +import static jat.core.plot.plot.plotObjects.Base.LINEAR; +import static jat.core.plot.plot.plotObjects.Base.LOGARITHM; +import static jat.core.plot.plot.plotObjects.Base.STRINGS; +import static java.lang.Math.abs; +import static java.lang.Math.min; +import jat.core.plot.plot.components.DatasFrame; +import jat.core.plot.plot.components.LegendPanel; +import jat.core.plot.plot.components.SetScalesFrame; +import jat.core.plot.plot.plotObjects.Base; +import jat.core.plot.plot.plotObjects.BaseDependant; +import jat.core.plot.plot.plotObjects.BasePlot; +import jat.core.plot.plot.plotObjects.Plotable; +import jat.core.plot.plot.plots.Plot; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; +import java.awt.Graphics; +import java.awt.Graphics2D; +import java.awt.Image; +import java.awt.RenderingHints; +import java.awt.event.ActionListener; +import java.awt.event.ComponentEvent; +import java.awt.event.ComponentListener; +import java.awt.event.MouseEvent; +import java.awt.event.MouseListener; +import java.awt.event.MouseMotionListener; +import java.awt.event.MouseWheelEvent; +import java.awt.event.MouseWheelListener; +import java.awt.image.BufferedImage; +import java.awt.image.RenderedImage; +import java.io.File; +import java.io.IOException; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.LinkedList; +import java.util.Set; + +import javax.imageio.ImageIO; +import javax.swing.ImageIcon; +import javax.swing.JPanel; +import javax.swing.Timer; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public abstract class PlotCanvas extends JPanel implements MouseListener, + MouseMotionListener, ComponentListener, BaseDependant, + MouseWheelListener, ActionListener { + + /** + * + */ + private static final long serialVersionUID = -5417489777897747981L; + // public int[] panelSize = new int[] { 400, 400 }; + public Base base; + protected AbstractDrawer draw; + protected BasePlot grid; + public LegendPanel linkedLegendPanel; + public LinkedList plots; + public LinkedList objects; + public Timer timer; // rotates plot + boolean timer_on_off = true; + + // /////////////////////////////////////////// + // ////// Constructor & inits //////////////// + // /////////////////////////////////////////// + public PlotCanvas() { + initPanel(); + initBasenGrid(); + initDrawer(); + } + + public PlotCanvas(Base b, BasePlot bp) { + initPanel(); + initBasenGrid(b, bp); + initDrawer(); + } + + public PlotCanvas(double[] min, double[] max) { + initPanel(); + initBasenGrid(min, max); + initDrawer(); + } + + public PlotCanvas(double[] min, double[] max, String[] axesScales, + String[] axesLabels) { + initPanel(); + initBasenGrid(min, max, axesScales, axesLabels); + initDrawer(); + } + + public void attachLegend(LegendPanel lp) { + linkedLegendPanel = lp; + } + + private void initPanel() { + objects = new LinkedList(); + plots = new LinkedList(); + + setDoubleBuffered(true); + + // setSize(panelSize[0], panelSize[1]); + // setPreferredSize(new Dimension(panelSize[0], panelSize[1])); + setBackground(Color.white); + + addComponentListener(this); + addMouseListener(this); + addMouseMotionListener(this); + addMouseWheelListener(this); + + timer = new Timer(100, this); + + + //timer.start(); + } + + public abstract void initDrawer(); + + public void initBasenGrid(double[] min, double[] max, String[] axesScales, + String[] axesLabels) { + base = new Base(min, max, axesScales); + grid = new BasePlot(base, axesLabels); + // grid.getAxe(0).getDarkLabel().setCorner(0.5,-1); + // grid.getAxe(1).getDarkLabel().setCorner(0,-0.5); + } + + public abstract void initBasenGrid(double[] min, double[] max); + + public abstract void initBasenGrid(); + + public void initBasenGrid(Base b, BasePlot bp) { + base = b; + grid = bp; + + } + + // /////////////////////////////////////////// + // ////// set actions //////////////////////// + // /////////////////////////////////////////// + public void setActionMode(int am) { + ActionMode = am; + } + + public void setNoteCoords(boolean b) { + allowNoteCoord = b; + } + + public void setEditable(boolean b) { + allowEdit = b; + } + + public boolean getEditable() { + return allowEdit; + } + + public void setNotable(boolean b) { + allowNote = b; + } + + public boolean getNotable() { + return allowNote; + } + + // /////////////////////////////////////////// + // ////// set/get elements /////////////////// + // /////////////////////////////////////////// + public LinkedList getPlots() { + return plots; + } + + public Plot getPlot(int i) { + return (Plot) plots.get(i); + } + + public int getPlotIndex(Plot p) { + for (int i = 0; i < plots.size(); i++) { + if (getPlot(i) == p) { + return i; + } + } + return -1; + } + + public LinkedList getPlotables() { + return objects; + } + + public Plotable getPlotable(int i) { + return (Plotable) objects.get(i); + } + + public BasePlot getGrid() { + return grid; + } + + public String[] getAxisScales() { + return base.getAxesScales(); + } + + public void setAxisLabels(String... labels) { + grid.setLegend(labels); + repaint(); + } + + public void setAxisLabel(int axe, String label) { + grid.setLegend(axe, label); + repaint(); + } + + public void setAxisScales(String... scales) { + base.setAxesScales(scales); + setAutoBounds(); + } + + public void setAxiScale(int axe, String scale) { + base.setAxesScales(axe, scale); + setAutoBounds(axe); + } + + public void setFixedBounds(double[] min, double[] max) { + base.setFixedBounds(min, max); + resetBase(); + repaint(); + } + + public void setFixedBounds(int axe, double min, double max) { + base.setFixedBounds(axe, min, max); + resetBase(); + repaint(); + } + + public void includeInBounds(double... into) { + base.includeInBounds(into); + grid.resetBase(); + repaint(); + } + + public void includeInBounds(Plot plot) { + base.includeInBounds(Array.min(plot.getData())); + base.includeInBounds(Array.max(plot.getData())); + resetBase(); + repaint(); + } + + public void setAutoBounds() { + if (plots.size() > 0) { + Plot plot0 = this.getPlot(0); + base.setRoundBounds(Array.min(plot0.getData()), + Array.max(plot0.getData())); + } else { // build default min and max bounds + double[] min = new double[base.dimension]; + double[] max = new double[base.dimension]; + for (int i = 0; i < base.dimension; i++) { + if (base.getAxeScale(i).equalsIgnoreCase(LINEAR)) { + min[i] = 0.0; + max[i] = 1.0; + } else if (base.getAxeScale(i).equalsIgnoreCase(LOGARITHM)) { + min[i] = 1.0; + max[i] = 10.0; + } + } + base.setRoundBounds(min, max); + } + for (int i = 1; i < plots.size(); i++) { + Plot ploti = this.getPlot(i); + base.includeInBounds(Array.min(ploti.getData())); + base.includeInBounds(Array.max(ploti.getData())); + } + resetBase(); + repaint(); + } + + public void setAutoBounds(int axe) { + if (plots.size() > 0) { + Plot plot0 = this.getPlot(0); + base.setRoundBounds(axe, Array.min(plot0.getData())[axe], + Array.max(plot0.getData())[axe]); + } else { // build default min and max bounds + double min = 0.0; + double max = 0.0; + if (base.getAxeScale(axe).equalsIgnoreCase(LINEAR) + | base.getAxeScale(axe).equalsIgnoreCase(STRINGS)) { + min = 0.0; + max = 1.0; + } else if (base.getAxeScale(axe).equalsIgnoreCase(LOGARITHM)) { + min = 1.0; + max = 10.0; + } + base.setRoundBounds(axe, min, max); + } + + for (int i = 1; i < plots.size(); i++) { + Plot ploti = this.getPlot(i); + base.includeInBounds(axe, Array.min(ploti.getData())[axe]); + base.includeInBounds(axe, Array.max(ploti.getData())[axe]); + } + resetBase(); + repaint(); + } + + public void resetBase() { + // System.out.println("PlotCanvas.resetBase"); + draw.resetBaseProjection(); + grid.resetBase(); + + for (int i = 0; i < objects.size(); i++) { + if (objects.get(i) instanceof BaseDependant) { + ((BaseDependant) (objects.get(i))).resetBase(); + } + } + repaint(); + } + + // /////////////////////////////////////////// + // ////// add/remove elements //////////////// + // /////////////////////////////////////////// + public void addLabel(String text, Color c, double... where) { + addPlotable(new jat.core.plot.plot.plotObjects.Label(text, c, where)); + } + + public void addBaseLabel(String text, Color c, double... where) { + addPlotable(new jat.core.plot.plot.plotObjects.BaseLabel(text, c, where)); + } + + public void addPlotable(Plotable p) { + objects.add(p); + // resetBase(); + repaint(); + } + + public void removePlotable(Plotable p) { + objects.remove(p); + repaint(); + } + + public void removePlotable(int i) { + objects.remove(i); + repaint(); + } + + public void removeAllPlotables() { + objects.clear(); + repaint(); + } + + public int addPlot(Plot newPlot) { + plots.add(newPlot); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + if (plots.size() == 1) { + setAutoBounds(); + } else { + includeInBounds(newPlot); + } + return plots.size() - 1; + } + + public void setPlot(int I, Plot p) { + plots.set(I, p); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + repaint(); + } + + public void changePlotData(int I, double[]... XY) { + getPlot(I).setData(XY); + repaint(); + } + + public void changePlotName(int I, String name) { + getPlot(I).setName(name); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + repaint(); + } + + public void changePlotColor(int I, Color c) { + getPlot(I).setColor(c); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + repaint(); + } + + public void removePlot(int I) { + plots.remove(I); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + if (plots.size() != 0) { + setAutoBounds(); + } + + } + + public void removePlot(Plot p) { + plots.remove(p); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + if (plots.size() != 0) { + setAutoBounds(); + } + + } + + public void removeAllPlots() { + plots.clear(); + if (linkedLegendPanel != null) { + linkedLegendPanel.updateLegends(); + } + clearNotes(); + } + + public void addVectortoPlot(int numPlot, double[][] v) { + getPlot(numPlot).addVector(v); + } + + /* + * public void addQuantiletoPlot(int numPlot, boolean _symetric, double[]... + * q) { getPlot(numPlot).addQuantiles(q, _symetric); } + */ + public void addQuantiletoPlot(int numPlot, int numAxe, double rate, + boolean symetric, double[] q) { + getPlot(numPlot).addQuantile(numAxe, rate, q, symetric); + } + + public void addQuantiletoPlot(int numPlot, int numAxe, double rate, + boolean symetric, double q) { + getPlot(numPlot).addQuantile(numAxe, rate, q, symetric); + } + + public void addQuantilestoPlot(int numPlot, int numAxe, double[][] q) { + getPlot(numPlot).addQuantiles(numAxe, q); + } + + public void addQuantilestoPlot(int numPlot, int numAxe, double[] q) { + getPlot(numPlot).addQuantiles(numAxe, q); + } + + public void addGaussQuantilestoPlot(int numPlot, int numAxe, double[] s) { + getPlot(numPlot).addGaussQuantiles(numAxe, s); + } + + public void addGaussQuantilestoPlot(int numPlot, int numAxe, double s) { + getPlot(numPlot).addGaussQuantiles(numAxe, s); + } + + // /////////////////////////////////////////// + // ////// call for toolbar actions /////////// + // /////////////////////////////////////////// + public void toGraphicFile(File file) throws IOException { + + Image image = createImage(getWidth(), getHeight()); + paint(image.getGraphics()); + image = new ImageIcon(image).getImage(); + + BufferedImage bufferedImage = new BufferedImage(image.getWidth(null), + image.getHeight(null), BufferedImage.TYPE_INT_RGB); + Graphics g = bufferedImage.createGraphics(); + g.drawImage(image, 0, 0, Color.WHITE, null); + g.dispose(); + + try { + ImageIO.write((RenderedImage) bufferedImage, "PNG", file); + } catch (IllegalArgumentException ex) { + } + } + + public void displaySetScalesFrame() { + new SetScalesFrame(this); + } + + public void displayDatasFrame(int i) { + DatasFrame df = new DatasFrame(this, linkedLegendPanel); + df.panels.setSelectedIndex(i); + } + + public void displayDatasFrame() { + displayDatasFrame(0); + } + + boolean mapset = false; + + public void resetMapData() { + for (int i = 0; i < grid.getAxis().length; i++) { + grid.getAxis()[i].setStringMap(null); + setAxiScale(i, Base.LINEAR); + } + mapset = false; + } + + public double[][] mapData(Object[][] data) { + // System.out.println("mapData:" + Array.cat(data)); + + double[][] mapeddata = new double[data.length][data[0].length]; + + if (!mapset) { + for (int j = 0; j < data[0].length; j++) { + if (!Array.isDouble(data[0][j].toString())) { + // System.out.println(data[0][j].toString() + + // " is not a double"); + setAxiScale(j, Base.STRINGS); + + ArrayList string_array_j = new ArrayList( + data.length); + for (int i = 0; i < data.length; i++) { + string_array_j.add(data[i][j].toString()); + } + + grid.getAxis(j).setStringMap( + Array.mapStringArray(string_array_j)); + grid.getAxis(j).init(); + + for (int i = 0; i < data.length; i++) { + mapeddata[i][j] = grid.getAxis(j).getStringMap() + .get(data[i][j].toString()); + } + + // System.out.println("Axe " + j + ":" + + // Array.toString(grid.getAxe(j).getStringMap())); + initReverseMap(j); + } else { + // System.out.println(data[0][j].toString() + + // " is a double"); + // System.out.println("Axe " + j + ": double[]"); + for (int i = 0; i < data.length; i++) { + mapeddata[i][j] = Double.valueOf(data[i][j].toString()); + } + } + } + mapset = true; + } else { + for (int j = 0; j < data[0].length; j++) { + if (!Array.isDouble(data[0][j].toString())) { + // System.out.println(data[0][j].toString() + + // " is not a double"); + if (base.getAxeScale(j).equals(Base.STRINGS)) { + for (int i = 0; i < data.length; i++) { + if (!grid.getAxis(j).getStringMap() + .containsKey(data[i][j].toString())) { + Set s = grid.getAxis(j).getStringMap() + .keySet(); + ArrayList string_array_j = new ArrayList( + s.size() + 1); + string_array_j.addAll(s); + string_array_j.add(data[i][j].toString()); + grid.getAxis(j).setStringMap( + Array.mapStringArray(string_array_j)); + + // System.out.println("Axe " + j + ":" + + // Array.toString(grid.getAxe(j).getStringMap())); + initReverseMap(j); + } + mapeddata[i][j] = grid.getAxis(j).getStringMap() + .get(data[i][j].toString()); + } + } else { + throw new IllegalArgumentException( + "The mapping of this PlotPanel was not set on axis " + + j); + } + } else { + // System.out.println(data[0][j].toString() + + // " is a double"); + // System.out.println("Axe " + j + ": double[]"); + for (int i = 0; i < data.length; i++) { + mapeddata[i][j] = Double.valueOf(data[i][j].toString()); + } + } + } + } + return mapeddata; + } + + public Object[][] reverseMapedData(double[][] mapeddata) { + Object[][] stringdata = new Object[mapeddata.length][mapeddata[0].length]; + + for (int i = 0; i < mapeddata.length; i++) { + stringdata[i] = reverseMapedData(mapeddata[i]); + } + + return stringdata; + } + + public Object[] reverseMapedData(double[] mapeddata) { + Object[] stringdata = new Object[mapeddata.length]; + + if (reversedMaps == null) { + reversedMaps = new HashMap[grid.getAxis().length]; + } + + for (int j = 0; j < mapeddata.length; j++) { + if (reversedMaps[j] != null) { + stringdata[j] = reversedMaps[j].get((Double) (mapeddata[j])); + } else { + stringdata[j] = (Double) (mapeddata[j]); + } + } + + return stringdata; + } + + HashMap[] reversedMaps; + + private void initReverseMap(int j) { + if (reversedMaps == null) { + reversedMaps = new HashMap[grid.getAxis().length]; + } + + if (grid.getAxis(j) != null) { + reversedMaps[j] = Array.reverseStringMap(grid.getAxis(j) + .getStringMap()); + } + } + + // /////////////////////////////////////////// + // ////// Paint method /////////////////////// + // /////////////////////////////////////////// + // anti-aliasing constant + final protected static RenderingHints AALIAS = new RenderingHints( + RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON); + public static Color NOTE_COLOR = Color.BLACK; + public static Color EDIT_COLOR = Color.BLACK; + public boolean allowEdit = true; + public boolean allowNote = true; + public boolean allowNoteCoord = true; + protected double[] coordNoted; + + public void paint(Graphics gcomp) { + // System.out.println("PlotCanvas.paint"); + + Graphics2D gcomp2D = (Graphics2D) gcomp; + + // anti-aliasing methods + gcomp2D.addRenderingHints(AALIAS); + gcomp2D.setRenderingHint(RenderingHints.KEY_RENDERING, + RenderingHints.VALUE_RENDER_QUALITY); + + gcomp2D.setColor(getBackground()); + gcomp2D.fillRect(0, 0, getSize().width, getSize().height); + + draw.initGraphics(gcomp2D); + + // draw plot + grid.plot(draw); + + for (int i = 0; i < plots.size(); i++) { + getPlot(i).plot(draw); + if (linkedLegendPanel != null) { + linkedLegendPanel.nonote(i); + } + } + + for (int i = 0; i < objects.size(); i++) { + getPlotable(i).plot(draw); + } + + // draw note + if (allowNote) { + /* + * if (allowNoteCoord && coordNoted != null) { + * draw.setColor(NOTE_COLOR); draw.drawCoordinate(coordNoted); + * draw.drawText(Array.cat(reverseMapedData(coordNoted)), + * coordNoted); } + */ + for (int i = 0; i < plots.size(); i++) { + if (getPlot(i).noted) { + if (linkedLegendPanel != null) { + linkedLegendPanel.note(i); + } + getPlot(i).note(draw); + if (allowNoteCoord && coordNoted != null) { + getPlot(i).noteCoord(draw, coordNoted); + } + // return; + } + } + } + } + + // /////////////////////////////////////////// + // ////// Listeners ////////////////////////// + // /////////////////////////////////////////// + public final static int ZOOM = 0; + public final static int TRANSLATION = 1; + public int ActionMode; + protected boolean dragging = false; + protected int[] mouseCurent = new int[2]; + protected int[] mouseClick = new int[2]; + + public void clearNotes() { + coordNoted = null; + repaint(); + } + + public void mousePressed(MouseEvent e) { + // System.out.println("PlotCanvas.mousePressed"); + /* + * System.out.println("PlotCanvas.mousePressed"); System.out.println(" + * mouseClick = [" + mouseClick[0] + " " + mouseClick[1] + "]"); + * System.out.println(" mouseCurent = [" + mouseCurent[0] + " " + + * mouseCurent[1] + "]"); + */ + mouseCurent[0] = e.getX(); + mouseCurent[1] = e.getY(); + e.consume(); + mouseClick[0] = mouseCurent[0]; + mouseClick[1] = mouseCurent[1]; + } + + public void mouseDragged(MouseEvent e) { + // System.out.println("PlotCanvas.mouseDragged"); + + dragging = true; + /* + * System.out.println("PlotCanvas.mouseDragged"); System.out.println(" + * mouseClick = [" + mouseClick[0] + " " + mouseClick[1] + "]"); + * System.out.println(" mouseCurent = [" + mouseCurent[0] + " " + + * mouseCurent[1] + "]"); + */ + mouseCurent[0] = e.getX(); + mouseCurent[1] = e.getY(); + e.consume(); + switch (ActionMode) { + case TRANSLATION: + draw.translate(mouseCurent[0] - mouseClick[0], mouseCurent[1] + - mouseClick[1]); + mouseClick[0] = mouseCurent[0]; + mouseClick[1] = mouseCurent[1]; + repaint(); + break; + case ZOOM: + repaint(); + Graphics gcomp = getGraphics(); + gcomp.setColor(Color.black); + gcomp.drawRect(min(mouseClick[0], mouseCurent[0]), + min(mouseClick[1], mouseCurent[1]), abs(mouseCurent[0] + - mouseClick[0]), abs(mouseCurent[1] + - mouseClick[1])); + break; + } + // repaint(); + } + + public void mouseReleased(MouseEvent e) { + // System.out.println("PlotCanvas.mouseReleased"); + + /* + * System.out.println("PlotCanvas.mouseReleased"); System.out.println(" + * mouseClick = [" + mouseClick[0] + " " + mouseClick[1] + "]"); + * System.out.println(" mouseCurent = [" + mouseCurent[0] + " " + + * mouseCurent[1] + "]"); + */ + mouseCurent[0] = e.getX(); + mouseCurent[1] = e.getY(); + e.consume(); + switch (ActionMode) { + case ZOOM: + if (abs(mouseCurent[0] - mouseClick[0]) > 10 + && abs(mouseCurent[1] - mouseClick[1]) > 10) { + int[] origin = { min(mouseClick[0], mouseCurent[0]), + min(mouseClick[1], mouseCurent[1]) }; + double[] ratio = { + abs((double) (mouseCurent[0] - mouseClick[0]) + / (double) getWidth()), + abs((double) (mouseCurent[1] - mouseClick[1]) + / (double) getHeight()) }; + draw.dilate(origin, ratio); + repaint(); + } + break; + } + // repaint(); + } + + public void mouseClicked(MouseEvent e) { + // System.out.println("PlotCanvas.mouseClicked"); + + /* + * System.out.println("PlotCanvas.mouseClicked"); System.out.println(" + * mouseClick = [" + mouseClick[0] + " " + mouseClick[1] + "]"); + * System.out.println(" mouseCurent = [" + mouseCurent[0] + " " + + * mouseCurent[1] + "]"); + */ + mouseCurent[0] = e.getX(); + mouseCurent[1] = e.getY(); + e.consume(); + mouseClick[0] = mouseCurent[0]; + mouseClick[1] = mouseCurent[1]; + + if (allowEdit) { + if (e.getModifiers() == MouseEvent.BUTTON1_MASK + && e.getClickCount() > 1) { + for (int i = 0; i < grid.getAxis().length; i++) { + if (grid.getAxis(i).isSelected(mouseClick, draw) != null) { + grid.getAxis(i).edit(this); + return; + } + } + + for (int i = 0; i < plots.size(); i++) { + if (getPlot(i).isSelected(mouseClick, draw) != null) { + getPlot(i).edit(this); + return; + } + } + } + } + + if (!dragging && allowNote) { + for (int i = 0; i < plots.size(); i++) { + double[] _coordNoted = getPlot(i).isSelected(mouseClick, draw); + if (e.getModifiers() == MouseEvent.BUTTON1_MASK) { + if (_coordNoted != null) { + getPlot(i).noted = !getPlot(i).noted; + } else { + getPlot(i).noted = false; + } + } else if (e.getModifiers() == MouseEvent.BUTTON3_MASK) { + if (_coordNoted != null) { + if (coordNoted != null) { + boolean alreadyNoted = true; + for (int j = 0; j < _coordNoted.length; j++) { + alreadyNoted = alreadyNoted + && _coordNoted[j] == coordNoted[j]; + } + if (alreadyNoted) { + coordNoted = null; + } else { + coordNoted = _coordNoted; + } + } else { + coordNoted = _coordNoted; + } + } + } + } + repaint(); + } else { + dragging = false; + } + } + + public void mouseEntered(MouseEvent e) { + } + + public void mouseExited(MouseEvent e) { + } + + public void mouseMoved(MouseEvent e) { + // System.out.println("PlotCanvas.mouseMoved"); + /* + * System.out.println("PlotCanvas.mouseClicked"); System.out.println(" + * mouseClick = [" + mouseClick[0] + " " + mouseClick[1] + "]"); + * System.out.println(" mouseCurent = [" + mouseCurent[0] + " " + + * mouseCurent[1] + "]"); + */ + /* + * mouseCurent[0] = e.getX(); mouseCurent[1] = e.getY(); e.consume(); if + * (allowNote) { for (int i = 0; i < plots.size(); i++) { double[] + * _coordNoted = getPlot(i).isSelected(mouseCurent, draw); if + * (_coordNoted != null) { getPlot(i).noted = !getPlot(i).noted; } else + * { getPlot(i).noted = false; } } repaint(); } + */ + } + + public void mouseWheelMoved(MouseWheelEvent e) { + // System.out.println("PlotCanvas.mouseWheelMoved"); + /* + * System.out.println("PlotCanvas.mouseWheelMoved"); + * System.out.println(" mouseClick = [" + mouseClick[0] + " " + + * mouseClick[1] + "]"); System.out.println(" mouseCurent = [" + + * mouseCurent[0] + " " + mouseCurent[1] + "]"); + */ + mouseCurent[0] = e.getX(); + mouseCurent[1] = e.getY(); + e.consume(); + int[] origin; + double[] ratio; + // double factor = 1.5; + switch (ActionMode) { + case ZOOM: + if (e.getWheelRotation() == -1) { + origin = new int[] { + (int) (mouseCurent[0] - getWidth() / 3/* (2*factor) */), + (int) (mouseCurent[1] - getHeight() / 3/* (2*factor) */) }; + ratio = new double[] { 0.666/* 1/factor, 1/factor */, 0.666 }; + } else { + origin = new int[] { + (int) (mouseCurent[0] - getWidth() / 1.333/* (2/factor) */), + (int) (mouseCurent[1] - getHeight() / 1.333/* + * (2/factor) + */) }; + ratio = new double[] { 1.5, 1.5 /* factor, factor */}; + } + draw.dilate(origin, ratio); + repaint(); + break; + } + } + + public void componentHidden(ComponentEvent e) { + } + + public void componentMoved(ComponentEvent e) { + } + + public void componentResized(ComponentEvent e) { + // System.out.println("PlotCanvas.componentResized"); + // panelSize = new int[] { (int) (getSize().getWidth()), (int) + // (getSize().getHeight()) }; + if (draw != null) { + draw.resetBaseProjection(); + } + // System.out.println("PlotCanvas : "+panelSize[0]+" x "+panelSize[1]); + repaint(); + if (linkedLegendPanel != null) { + linkedLegendPanel.componentResized(e); + } + } + + public void componentShown(ComponentEvent e) { + } +} diff --git a/src/jat/core/plot/plot/components/DataToolBar.java b/src/jat/core/plot/plot/components/DataToolBar.java new file mode 100644 index 0000000..ff6dc61 --- /dev/null +++ b/src/jat/core/plot/plot/components/DataToolBar.java @@ -0,0 +1,88 @@ +package jat.core.plot.plot.components; + +import jat.core.plot.plot.DataPanel; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.security.AccessControlException; + +import javax.swing.ImageIcon; +import javax.swing.JButton; +import javax.swing.JFileChooser; +import javax.swing.JToolBar; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class DataToolBar extends JToolBar { + + /** + * Comment for serialVersionUID + */ + private static final long serialVersionUID = 1L; + + protected JButton buttonPasteToClipboard; + + protected JButton buttonSaveFile; + + private boolean denySaveSecurity; + + private JFileChooser fileChooser; + + private DataPanel dataPanel; + + public DataToolBar(DataPanel dp) { + + dataPanel = dp; + + try { + fileChooser = new JFileChooser(); + } catch (AccessControlException ace) { + denySaveSecurity = true; + } + + buttonPasteToClipboard = new JButton(new ImageIcon(jat.core.plot.plot.PlotPanel.class.getResource("icons/toclipboard.png"))); + buttonPasteToClipboard.setToolTipText("Copy data to clipboard"); + + buttonSaveFile = new JButton(new ImageIcon(jat.core.plot.plot.PlotPanel.class.getResource("icons/tofile.png"))); + buttonSaveFile.setToolTipText("Save data into ASCII file"); + + buttonPasteToClipboard.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + dataPanel.toClipBoard(); + } + }); + buttonSaveFile.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + chooseFile(); + } + }); + + add(buttonPasteToClipboard, null); + add(buttonSaveFile, null); + + if (!denySaveSecurity) { + fileChooser.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(ActionEvent e) { + saveFile(); + } + }); + } else { + buttonSaveFile.setEnabled(false); + } + } + + void saveFile() { + java.io.File file = fileChooser.getSelectedFile(); + dataPanel.toASCIIFile(file); + } + + void chooseFile() { + fileChooser.showSaveDialog(this); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/components/DatasFrame.java b/src/jat/core/plot/plot/components/DatasFrame.java new file mode 100644 index 0000000..ebddb46 --- /dev/null +++ b/src/jat/core/plot/plot/components/DatasFrame.java @@ -0,0 +1,108 @@ +package jat.core.plot.plot.components; + +import jat.core.plot.plot.MatrixTablePanel; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.plots.Plot; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; + +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JColorChooser; +import javax.swing.JFrame; +import javax.swing.JPanel; +import javax.swing.JTabbedPane; +import javax.swing.event.ChangeEvent; +import javax.swing.event.ChangeListener; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class DatasFrame extends JFrame { + + private static final long serialVersionUID = 1L; + + private PlotCanvas plotCanvas; + + private LegendPanel legend; + + public JTabbedPane panels; + + public DatasFrame(PlotCanvas p, LegendPanel l) { + super("Data"); + plotCanvas = p; + legend = l; + JPanel panel = new JPanel(); + panels = new JTabbedPane(); + + for (Plot plot: plotCanvas.getPlots()) + panels.add(new DataPanel(/*this, */plot), plot.getName()); + + + panel.add(panels); + setContentPane(panel); + pack(); + setVisible(true); + } + + public class DataPanel extends JPanel { + + private static final long serialVersionUID = 1L; + + MatrixTablePanel XY; + + JCheckBox visible; + + JButton color; + + JPanel plottoolspanel; + + Plot plot; + + DatasFrame dframe; + + public DataPanel(/*DatasFrame _dframe,*/Plot _plot) { + plot = _plot; + //dframe = _dframe; + visible = new JCheckBox("visible"); + visible.setSelected(plot.getVisible()); + color = new JButton(); + color.setBackground(plot.getColor()); + XY = new MatrixTablePanel( plotCanvas.reverseMapedData( plot.getData())); + + visible.addChangeListener(new ChangeListener() { + public void stateChanged(ChangeEvent e) { + if (visible.isSelected()) + plot.setVisible(true); + else + plot.setVisible(false); + /*dframe.*/plotCanvas.repaint(); + } + }); + color.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + Color c = JColorChooser.showDialog(plotCanvas, "Choose plot color", plot.getColor()); + color.setBackground(c); + plot.setColor(c); + legend.updateLegends(); + /*dframe.*/plotCanvas.linkedLegendPanel.repaint(); + /*dframe.*/plotCanvas.repaint(); + } + }); + + this.setLayout(new BorderLayout()); + plottoolspanel = new JPanel(); + plottoolspanel.add(visible); + plottoolspanel.add(color); + this.add(plottoolspanel, BorderLayout.NORTH); + this.add(XY, BorderLayout.CENTER); + } + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/components/LegendPanel.java b/src/jat/core/plot/plot/components/LegendPanel.java new file mode 100644 index 0000000..44d6cbf --- /dev/null +++ b/src/jat/core/plot/plot/components/LegendPanel.java @@ -0,0 +1,266 @@ +package jat.core.plot.plot.components; + +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.plots.Plot; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; +import java.awt.GridBagLayout; +import java.awt.GridLayout; +import java.awt.event.ComponentEvent; +import java.awt.event.ComponentListener; +import java.awt.event.MouseEvent; +import java.awt.event.MouseListener; +import java.util.LinkedList; + +import javax.swing.JColorChooser; +import javax.swing.JLabel; +import javax.swing.JOptionPane; +import javax.swing.JPanel; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class LegendPanel extends JPanel implements ComponentListener { + + private static final long serialVersionUID = 1L; + PlotCanvas plotCanvas; + PlotPanel plotPanel; + LinkedList legends; + public static int INVISIBLE = -1; + public static int VERTICAL = 0; + public static int HORIZONTAL = 1; + int orientation; + private int maxHeight; + private int maxWidth; + JPanel container; + private int inset = 5; + + public LegendPanel(PlotPanel _plotPanel, int _orientation) { + plotPanel = _plotPanel; + plotCanvas = plotPanel.plotCanvas; + plotCanvas.attachLegend(this); + orientation = _orientation; + + container = new JPanel(); + container.setBackground(plotCanvas.getBackground()); + container.setLayout(new GridLayout(1, 1, inset, inset)); + //container.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createLineBorder(Color.BLACK, 1),null)); + + updateLegends(); + + setBackground(plotCanvas.getBackground()); + addComponentListener(this); + setLayout(new GridBagLayout()); + + add(container); + } + + public void updateLegends() { + if (orientation != INVISIBLE) { + container.removeAll(); + + maxHeight = 1; + maxWidth = 1; + + legends = new LinkedList(); + for (Plot plot : plotCanvas.getPlots()) { + Legend l = new Legend(plot); + legends.add(l); + + maxWidth = (int) Math.max(maxWidth, l.getPreferredSize().getWidth()); + maxHeight = (int) Math.max(maxHeight, l.getPreferredSize().getHeight()); + + container.add(l); + + } + + updateSize(); + //repaint(); + } + } + + private void updateSize() { + //System.out.println("LegendPanel.updateSize"); + if (orientation == VERTICAL) { + int nh = 1; + if (maxHeight < plotCanvas.getHeight()) { + nh = plotCanvas.getHeight() / (maxHeight + inset); + } + int nw = 1 + legends.size() / nh; + + ((GridLayout) (container.getLayout())).setColumns(nw); + ((GridLayout) (container.getLayout())).setRows(1 + legends.size() / nw); + + container.setPreferredSize(new Dimension((maxWidth + inset) * nw, (maxHeight + inset) * (1 + legends.size() / nw))); + + } else if (orientation == HORIZONTAL) { + int nw = 1; + if (maxWidth < plotCanvas.getWidth()) { + nw = plotCanvas.getWidth() / (maxWidth + inset); + } + int nh = 1 + legends.size() / nw; + + ((GridLayout) (container.getLayout())).setRows(nh); + ((GridLayout) (container.getLayout())).setColumns(1 + legends.size() / nh); + + container.setPreferredSize(new Dimension((maxWidth + inset) * (1 + legends.size() / nh), (maxHeight + inset) * nh)); + } + container.updateUI(); + } + + public void note(int i) { + if (orientation != INVISIBLE) { + legends.get(i).setBackground(PlotCanvas.NOTE_COLOR); + legends.get(i).name.setForeground(plotPanel.getBackground()); + } + } + + public void nonote(int i) { + if (orientation != INVISIBLE) { + legends.get(i).setBackground(plotPanel.getBackground()); + legends.get(i).name.setForeground(PlotCanvas.NOTE_COLOR); + } + } + + public void componentResized(ComponentEvent e) { + //System.out.println("LegendPanel.componentResized"); + //System.out.println("PlotCanvas : "+plotCanvas.panelSize[0]+" x "+plotCanvas.panelSize[1]); + if (orientation != INVISIBLE) { + updateSize(); + } + } + + public void componentMoved(ComponentEvent e) { + } + + public void componentShown(ComponentEvent e) { + } + + public void componentHidden(ComponentEvent e) { + } + + public class Legend extends JPanel { + + private static final long serialVersionUID = 1L; + JPanel color; + JLabel name; + Plot plot; + + public Legend(Plot p) { + plot = p; + + setLayout(new BorderLayout(2, 2)); + + color = new JPanel(); + name = new JLabel(); + name.setFont(plotPanel.getFont()); + + setBackground(Color.WHITE); + + update(); + + add(color, BorderLayout.WEST); + add(name, BorderLayout.CENTER); + + name.addMouseListener(new MouseListener() { + + public void mouseClicked(MouseEvent e) { + if (e.getModifiers() == MouseEvent.BUTTON1_MASK) { + if (plotCanvas.allowEdit && e.getClickCount() > 1) { + editText(); + } + } + if (plotCanvas.allowNote && e.getClickCount() <= 1) { + note_nonote(); + } + } + + public void mousePressed(MouseEvent e) { + } + + public void mouseReleased(MouseEvent e) { + } + + public void mouseEntered(MouseEvent e) { + } + + public void mouseExited(MouseEvent e) { + } + }); + + color.addMouseListener(new MouseListener() { + + public void mouseClicked(MouseEvent e) { + if (e.getModifiers() == MouseEvent.BUTTON1_MASK) { + if (plotCanvas.allowEdit && e.getClickCount() > 1) { + editColor(); + } + } + if (plotCanvas.allowNote && e.getClickCount() <= 1) { + note_nonote(); + } + } + + public void mousePressed(MouseEvent e) { + } + + public void mouseReleased(MouseEvent e) { + } + + public void mouseEntered(MouseEvent e) { + } + + public void mouseExited(MouseEvent e) { + } + }); + } + + public void editText() { + String name1 = JOptionPane.showInputDialog(plotCanvas, "Choose name", plot.getName()); + if (name1 != null) { + plot.setName(name1); + update(); + updateLegends(); + } + } + + public void editColor() { + Color c = JColorChooser.showDialog(plotCanvas, "Choose plot color", plot.getColor()); + if (c != null) { + plot.setColor(c); + update(); + plotCanvas.repaint(); + } + } + + public void update() { + int size = name.getFont().getSize(); + color.setSize(new Dimension(size, size)); + color.setPreferredSize(new Dimension(size, size)); + + // TODO change legend when plot is invisible + /*if (!plot.visible) + color.setBackground(Color.LIGHT_GRAY); + else*/ + color.setBackground(plot.getColor()); + + /*if (!plot.visible) { + name.setFont(name.getFont().deriveFont(Font.ITALIC)); + name.setForeground(Color.LIGHT_GRAY); + }*/ + name.setText(plot.getName()); + repaint(); + } + + public void note_nonote() { + plot.noted = !plot.noted; + plotCanvas.repaint(); + } + } +} diff --git a/src/jat/core/plot/plot/components/PlotToolBar.java b/src/jat/core/plot/plot/components/PlotToolBar.java new file mode 100644 index 0000000..88828c7 --- /dev/null +++ b/src/jat/core/plot/plot/components/PlotToolBar.java @@ -0,0 +1,270 @@ +package jat.core.plot.plot.components; + +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.canvas.Plot3DCanvas; +import jat.core.plot.plot.canvas.PlotCanvas; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.io.File; +import java.io.IOException; +import java.security.AccessControlException; + +import javax.swing.ButtonGroup; +import javax.swing.ImageIcon; +import javax.swing.JButton; +import javax.swing.JFileChooser; +import javax.swing.JOptionPane; +import javax.swing.JToggleButton; +import javax.swing.JToolBar; +import javax.swing.filechooser.FileFilter; + +/** + * BSD License + * + * @author Yann RICHET + */ + +// 2012 Tobias Berthold added toolbar buttons + +public class PlotToolBar extends JToolBar { + + + private static final long serialVersionUID = 1L; + + protected ButtonGroup buttonGroup; + + protected JToggleButton buttonCenter; + + // protected JToggleButton buttonEdit; + + protected JToggleButton buttonZoom; + + protected JToggleButton buttonZoomTrajectory; + + protected JToggleButton buttonZoomToMax; + + protected JToggleButton buttonRotate; + + // protected JToggleButton buttonViewCoords; + + protected JButton buttonSetScales; + + protected JButton buttonDatas; + + protected JButton buttonSavePNGFile; + + protected JButton buttonReset; + + private boolean denySaveSecurity; + + private JFileChooser pngFileChooser; + + /** the currently selected PlotPanel */ + private PlotCanvas plotCanvas; + + private PlotPanel plotPanel; + + public PlotToolBar(PlotPanel pp) { + plotPanel = pp; + plotCanvas = pp.plotCanvas; + + try { + pngFileChooser = new JFileChooser(); + pngFileChooser.setFileFilter(new FileFilter() { + public boolean accept(File f) { + return f.isDirectory() || f.getName().endsWith(".png"); + } + + public String getDescription() { + return "Portable Network Graphic file"; + } + }); + } catch (AccessControlException ace) { + denySaveSecurity = true; + } + + buttonGroup = new ButtonGroup(); + + buttonCenter = new JToggleButton(new ImageIcon(PlotPanel.class.getResource("icons/center.png"))); + buttonCenter.setToolTipText("Center axes"); + buttonCenter.setSelected(plotCanvas.ActionMode == PlotCanvas.TRANSLATION); + + buttonZoom = new JToggleButton(new ImageIcon(PlotPanel.class.getResource("icons/zoom.png"))); + buttonZoom.setToolTipText("Zoom"); + buttonZoom.setSelected(plotCanvas.ActionMode == PlotCanvas.ZOOM); + + buttonZoomTrajectory = new JToggleButton(new ImageIcon(PlotPanel.class.getResource("icons/zoomTrajectory.png"))); + buttonZoomTrajectory.setToolTipText("Zoom to Trajectory"); + buttonZoomTrajectory.setSelected(plotCanvas.ActionMode == PlotCanvas.ZOOM); + + buttonZoomToMax = new JToggleButton(new ImageIcon(PlotPanel.class.getResource("icons/zoomToMax.png"))); + buttonZoomToMax.setToolTipText("Zoom to Max Data"); + buttonZoomToMax.setSelected(plotCanvas.ActionMode == PlotCanvas.ZOOM); + + // buttonEdit = new JToggleButton(new + // ImageIcon(PlotPanel.class.getResource("icons/edit.png"))); + // buttonEdit.setToolTipText("Edit mode"); + + // buttonViewCoords = new JToggleButton(new + // ImageIcon(PlotPanel.class.getResource("icons/position.png"))); + // buttonViewCoords.setToolTipText("Highlight coordinates / Highlight plot"); + + buttonSetScales = new JButton(new ImageIcon(PlotPanel.class.getResource("icons/scale.png"))); + buttonSetScales.setToolTipText("Set scales"); + + buttonDatas = new JButton(new ImageIcon(PlotPanel.class.getResource("icons/data.png"))); + buttonDatas.setToolTipText("Get datas"); + + buttonSavePNGFile = new JButton(new ImageIcon(PlotPanel.class.getResource("icons/topngfile.png"))); + buttonSavePNGFile.setToolTipText("Save graphics in a .PNG File"); + + buttonReset = new JButton(new ImageIcon(PlotPanel.class.getResource("icons/back.png"))); + buttonReset.setToolTipText("Reset zoom & axes"); + + /* + * buttonEdit.addActionListener(new ActionListener() { public void + * actionPerformed(ActionEvent e) { plotCanvas.ActionMode = + * PlotCanvas.EDIT; } }); + */ + + buttonZoom.setSelected(true); + buttonZoom.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + plotCanvas.ActionMode = PlotCanvas.ZOOM; + } + }); + + buttonZoomTrajectory.setSelected(true); + buttonZoomTrajectory.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + double size = 100000; + plotCanvas.setFixedBounds(0, -size, size); + plotCanvas.setFixedBounds(1, -size, size); + plotCanvas.setFixedBounds(2, -size, size); + // plotCanvas.ActionMode = PlotCanvas.ZOOM; + } + }); + + + buttonZoomToMax.setSelected(true); + buttonZoomToMax.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + double size = 1e9; + plotCanvas.setFixedBounds(0, -size, size); + plotCanvas.setFixedBounds(1, -size, size); + plotCanvas.setFixedBounds(2, -size, size); + } + }); + + + + buttonCenter.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + plotCanvas.ActionMode = PlotCanvas.TRANSLATION; + } + }); + + /* + * buttonViewCoords.addActionListener(new ActionListener() { public void + * actionPerformed(ActionEvent e) { + * plotCanvas.setNoteCoords(buttonViewCoords.isSelected()); } }); + */ + + buttonSetScales.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + plotCanvas.displaySetScalesFrame(); + } + }); + + buttonDatas.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + plotCanvas.displayDatasFrame(); + } + }); + + buttonSavePNGFile.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + choosePNGFile(); + } + }); + + buttonReset.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + plotCanvas.resetBase(); + } + }); + + buttonGroup.add(buttonCenter); + buttonGroup.add(buttonZoom); + buttonGroup.add(buttonZoomTrajectory); + buttonGroup.add(buttonZoomToMax); + // buttonGroup.add(buttonEdit); + + add(buttonCenter, null); + add(buttonZoom, null); + add(buttonZoomTrajectory, null); + add(buttonZoomToMax, null); + add(buttonReset, null); + // add(buttonViewCoords, null); + add(buttonSetScales, null); + // add(buttonEdit, null); + add(buttonSavePNGFile, null); + add(buttonDatas, null); + + if (!denySaveSecurity) { + pngFileChooser.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + saveGraphicFile(); + } + }); + } else { + buttonSavePNGFile.setEnabled(false); + } + + // buttonEdit.setEnabled(plotCanvas.getEditable()); + + // buttonViewCoords.setEnabled(plotCanvas.getNotable()); + + // allow mixed (2D/3D) plots managed by one toolbar + if (plotCanvas instanceof Plot3DCanvas) { + if (buttonRotate == null) { + buttonRotate = new JToggleButton(new ImageIcon(PlotPanel.class.getResource("icons/rotation.png"))); + buttonRotate.setToolTipText("Rotate axes"); + + buttonRotate.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + plotCanvas.ActionMode = Plot3DCanvas.ROTATION; + } + }); + buttonGroup.add(buttonRotate); + add(buttonRotate, null, 2); + buttonRotate.setSelected(plotCanvas.ActionMode == Plot3DCanvas.ROTATION); + } else { + buttonRotate.setEnabled(true); + } + } else { + if (buttonRotate != null) { + // no removal/disabling just disable + if (plotCanvas.ActionMode == Plot3DCanvas.ROTATION) { + plotCanvas.ActionMode = PlotCanvas.ZOOM; + } + buttonRotate.setEnabled(false); + } + } + } + + void choosePNGFile() { + pngFileChooser.showSaveDialog(this); + } + + void saveGraphicFile() { + java.io.File file = pngFileChooser.getSelectedFile(); + try { + plotPanel.toGraphicFile(file); + } catch (IOException e) { + JOptionPane.showConfirmDialog(null, "Save failed : " + e.getMessage(), "Error", JOptionPane.DEFAULT_OPTION, + JOptionPane.ERROR_MESSAGE); + } + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/components/SetScalesFrame.java b/src/jat/core/plot/plot/components/SetScalesFrame.java new file mode 100644 index 0000000..df7f795 --- /dev/null +++ b/src/jat/core/plot/plot/components/SetScalesFrame.java @@ -0,0 +1,386 @@ +package jat.core.plot.plot.components; + +import jat.core.plot.io.StringPrintable; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.plotObjects.Base; + +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; +import java.awt.GridLayout; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.KeyEvent; +import java.awt.event.KeyListener; +import java.awt.event.WindowEvent; +import java.awt.event.WindowFocusListener; +import java.awt.event.WindowListener; + +import javax.swing.ButtonGroup; +import javax.swing.JButton; +import javax.swing.JFrame; +import javax.swing.JLabel; +import javax.swing.JOptionPane; +import javax.swing.JPanel; +import javax.swing.JRadioButton; +import javax.swing.JTextField; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class SetScalesFrame extends JFrame implements WindowFocusListener, WindowListener { + + /** + * Comment for serialVersionUID + */ + private static final long serialVersionUID = 1L; + + private PlotCanvas plotCanvas; + + private JPanel scalespanel; + + private ScalePanel[] scalepanels; + + public SetScalesFrame(PlotCanvas p) { + super("scales settings"); + plotCanvas = p; + setPanel(); + setContentPane(scalespanel); + + setResizable(false); + setVisible(true); + + addWindowFocusListener(this); + addWindowListener(this); + } + + private void setPanel() { + int nbAxes = plotCanvas.base.dimension; + + this.setSize(nbAxes * 300, 200); + + scalespanel = new JPanel(); + scalespanel.setLayout(new GridLayout(1, nbAxes)); + + scalepanels = new ScalePanel[nbAxes]; + for (int i = 0; i < nbAxes; i++) { + scalepanels[i] = new ScalePanel(plotCanvas, i); + scalespanel.add(scalepanels[i]); + } + } + + /* + * private void buildConstraints(GridBagConstraints gbc, int gx, int gy, int + * gw, int gh, int wx, int wy) { gbc.gridx = gx; gbc.gridy = gy; + * gbc.gridwidth = gw; gbc.gridheight = gh; gbc.weightx = wx; gbc.weighty = + * wy; } + */ + + public void setDefaultCloseOperation(int operation) { + for (int i = 0; i < scalepanels.length; i++) { + scalepanels[i].updateBoundsFields(); + } + super.setDefaultCloseOperation(operation); + } + + public void windowGainedFocus(WindowEvent e) { + for (int i = 0; i < scalepanels.length; i++) { + scalepanels[i].update(); + } + } + + public void windowLostFocus(WindowEvent e) { + } + + public void windowOpened(WindowEvent e) { + } + + public void windowClosing(WindowEvent e) { + } + + public void windowClosed(WindowEvent e) { + } + + public void windowIconified(WindowEvent e) { + } + + public void windowDeiconified(WindowEvent e) { + } + + public void windowActivated(WindowEvent e) { + for (int i = 0; i < scalepanels.length; i++) { + scalepanels[i].update(); + } + } + + public void windowDeactivated(WindowEvent e) { + } + + public class ScalePanel extends JPanel implements StringPrintable { + + private static final long serialVersionUID = 1L; + + // private PlotCanvas plotCanvas; + + private int numAxe; + + private String title; + + private String scaleType; + + private double min; + + private double max; + + private JLabel title_label = new JLabel("Title"); + + private JTextField title_field = new JTextField(); + + private JLabel scale_label = new JLabel("Scale"); + + private ButtonGroup scale_group = new ButtonGroup(); + + private JRadioButton linear_check = new JRadioButton("Linear"); + + private JRadioButton log_check = new JRadioButton("Logarithmic"); + + // private JCheckBox gridVisible = new JCheckBox("Grid visible"); + + private JLabel bounds_label = new JLabel("Bounds"); + + private JLabel min_label = new JLabel("Min"); + + private JLabel max_label = new JLabel("Max"); + + private JTextField min_field = new JTextField(); + + private JTextField max_field = new JTextField(); + + private JButton bounds_auto = new JButton("Automatic"); + + public ScalePanel(PlotCanvas p, int i) { + numAxe = i; + plotCanvas = p; + + update(); + + addComponents(); + setListeners(); + } + + public void update() { + title = plotCanvas.getGrid().getAxis(numAxe).getLegend();// getLegend(numAxe); + title_field.setText(title); + + scaleType = plotCanvas.getAxisScales()[numAxe]; + log_check.setSelected(scaleType.equals(Base.LOGARITHM)); + linear_check.setSelected(scaleType.equals(Base.LINEAR)); + if (scaleType.equals(Base.STRINGS)) {log_check.setEnabled(false); linear_check.setEnabled(false);} + + updateBoundsFields(); + } + + private void addComponents() { + this.setSize(300, 200); + + scale_group.add(linear_check); + scale_group.add(log_check); + + GridBagLayout gbl = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + this.setLayout(gbl); + + buildConstraints(c, 0, 0, 1, 1, 40, 20); + c.fill = GridBagConstraints.CENTER; + c.anchor = GridBagConstraints.CENTER; + gbl.setConstraints(title_label, c); + this.add(title_label); + + buildConstraints(c, 1, 0, 2, 1, 60, 20); + c.fill = GridBagConstraints.HORIZONTAL; + gbl.setConstraints(title_field, c); + this.add(title_field); + + buildConstraints(c, 0, 1, 1, 1, 40, 20); + c.fill = GridBagConstraints.CENTER; + c.anchor = GridBagConstraints.CENTER; + gbl.setConstraints(scale_label, c); + this.add(scale_label); + + buildConstraints(c, 1, 1, 2, 1, 60, 20); + c.fill = GridBagConstraints.HORIZONTAL; + gbl.setConstraints(linear_check, c); + this.add(linear_check); + + buildConstraints(c, 1, 2, 2, 1, 60, 20); + c.fill = GridBagConstraints.HORIZONTAL; + gbl.setConstraints(log_check, c); + this.add(log_check); + + buildConstraints(c, 0, 3, 1, 1, 40, 20); + c.fill = GridBagConstraints.CENTER; + c.anchor = GridBagConstraints.CENTER; + gbl.setConstraints(bounds_label, c); + this.add(bounds_label); + + buildConstraints(c, 1, 3, 1, 1, 20, 20); + c.fill = GridBagConstraints.CENTER; + c.fill = GridBagConstraints.CENTER; + gbl.setConstraints(min_label, c); + this.add(min_label); + + buildConstraints(c, 2, 3, 1, 1, 50, 20); + c.fill = GridBagConstraints.HORIZONTAL; + gbl.setConstraints(min_field, c); + this.add(min_field); + + buildConstraints(c, 1, 4, 1, 1, 20, 20); + c.fill = GridBagConstraints.CENTER; + c.fill = GridBagConstraints.CENTER; + gbl.setConstraints(max_label, c); + this.add(max_label); + + buildConstraints(c, 2, 4, 1, 1, 50, 20); + c.fill = GridBagConstraints.HORIZONTAL; + gbl.setConstraints(max_field, c); + this.add(max_field); + + buildConstraints(c, 1, 5, 2, 1, 60, 20); + c.fill = GridBagConstraints.CENTER; + gbl.setConstraints(bounds_auto, c); + this.add(bounds_auto); + + // this.add(gridVisible); + } + + private void buildConstraints(GridBagConstraints gbc, int gx, int gy, int gw, int gh, int wx, int wy) { + gbc.gridx = gx; + gbc.gridy = gy; + gbc.gridwidth = gw; + gbc.gridheight = gh; + gbc.weightx = wx; + gbc.weighty = wy; + } + + private void setListeners() { + title_field.addKeyListener(new KeyListener() { + public void keyReleased(KeyEvent e) { + setTitle(); + } + + public void keyPressed(KeyEvent e) { + } + + public void keyTyped(KeyEvent e) { + } + }); + + log_check.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + setScale(); + updateBoundsFields(); + } + }); + linear_check.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + setScale(); + updateBoundsFields(); + } + }); + /* + * gridVisible.addChangeListener(new ChangeListener() { public void + * stateChanged(ChangeEvent e) { + * plotPanel.getGrid().getAxe(numAxe).setVisible( + * gridVisible.isSelected()); plotPanel.repaint(); } }); + */ + + min_field.addKeyListener(new KeyListener() { + public void keyReleased(KeyEvent e) { + setBounds(); + } + + public void keyPressed(KeyEvent e) { + } + + public void keyTyped(KeyEvent e) { + } + }); + + max_field.addKeyListener(new KeyListener() { + public void keyReleased(KeyEvent e) { + setBounds(); + } + + public void keyPressed(KeyEvent e) { + } + + public void keyTyped(KeyEvent e) { + } + }); + + bounds_auto.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + setBoundsAuto(); + } + }); + + } + + public String getText() { + return "title = " + title + "\nscaleType = " + scaleType + "\nmin = " + min + "\nmax = " + max; + } + + private void setTitle() { + // System.out.println("title setting n�" + numAxe + " : " + + // title_field.getText()); + plotCanvas.setAxisLabel(numAxe, title_field.getText()); + } + + private void setBounds() { + // System.out.println("bounds setting n�" + numAxe + " : " + + // min_field.getText() + " - " + max_field.getText()); + try { + double min1 = Double.parseDouble(min_field.getText()); + double max1 = Double.parseDouble(max_field.getText()); + plotCanvas.setFixedBounds(numAxe, min1, max1); + } catch (IllegalArgumentException iae) { + // JOptionPane.showConfirmDialog(null, iae.getMessage(), + // "Error", JOptionPane.DEFAULT_OPTION, + // JOptionPane.ERROR_MESSAGE); + // updateBoundsFields(); + } + } + + private void setScale() { + // System.out.println("scale setting n�" + numAxe + " : " + ( + // (log_check.isSelected()) ? ("LOG") : ("LINEAR"))); + try { + plotCanvas.setAxiScale(numAxe, (log_check.isSelected()) ? (Base.LOGARITHM) : (Base.LINEAR)); + } catch (IllegalArgumentException iae) { + JOptionPane.showConfirmDialog(null, iae.getMessage(), "Error", JOptionPane.DEFAULT_OPTION, JOptionPane.ERROR_MESSAGE); + updateBoundsFields(); + } + } + + private void setBoundsAuto() { + plotCanvas.setAutoBounds(numAxe); + updateBoundsFields(); + // System.out.println("auto-Bounds setting n�"+numAxe+" : + // "+plotPanel.getBase().getMinBounds()[numAxe]+" - + // "+plotPanel.getBase().getMaxBounds()[numAxe]); + } + + private void updateBoundsFields() { + min = plotCanvas.base.getMinBounds()[numAxe]; + max = plotCanvas.base.getMaxBounds()[numAxe]; + min_field.setText("" + min); + max_field.setText("" + max); + // log_check.setSelected(plotCanvas.base.getAxeScale(numAxe)==Base.LOG); + } + + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/icons/back.png b/src/jat/core/plot/plot/icons/back.png new file mode 100644 index 0000000..825c6f7 Binary files /dev/null and b/src/jat/core/plot/plot/icons/back.png differ diff --git a/src/jat/core/plot/plot/icons/center.png b/src/jat/core/plot/plot/icons/center.png new file mode 100644 index 0000000..37db0f6 Binary files /dev/null and b/src/jat/core/plot/plot/icons/center.png differ diff --git a/src/jat/core/plot/plot/icons/data.png b/src/jat/core/plot/plot/icons/data.png new file mode 100644 index 0000000..b437f5b Binary files /dev/null and b/src/jat/core/plot/plot/icons/data.png differ diff --git a/src/jat/core/plot/plot/icons/edit.png b/src/jat/core/plot/plot/icons/edit.png new file mode 100644 index 0000000..67f56f1 Binary files /dev/null and b/src/jat/core/plot/plot/icons/edit.png differ diff --git a/src/jat/core/plot/plot/icons/position.png b/src/jat/core/plot/plot/icons/position.png new file mode 100644 index 0000000..ef53c24 Binary files /dev/null and b/src/jat/core/plot/plot/icons/position.png differ diff --git a/src/jat/core/plot/plot/icons/rotation.png b/src/jat/core/plot/plot/icons/rotation.png new file mode 100644 index 0000000..ba7772a Binary files /dev/null and b/src/jat/core/plot/plot/icons/rotation.png differ diff --git a/src/jat/core/plot/plot/icons/scale.png b/src/jat/core/plot/plot/icons/scale.png new file mode 100644 index 0000000..9f1d555 Binary files /dev/null and b/src/jat/core/plot/plot/icons/scale.png differ diff --git a/src/jat/core/plot/plot/icons/toclipboard.png b/src/jat/core/plot/plot/icons/toclipboard.png new file mode 100644 index 0000000..b24a6f6 Binary files /dev/null and b/src/jat/core/plot/plot/icons/toclipboard.png differ diff --git a/src/jat/core/plot/plot/icons/tofile.png b/src/jat/core/plot/plot/icons/tofile.png new file mode 100644 index 0000000..41b3f43 Binary files /dev/null and b/src/jat/core/plot/plot/icons/tofile.png differ diff --git a/src/jat/core/plot/plot/icons/topngfile.png b/src/jat/core/plot/plot/icons/topngfile.png new file mode 100644 index 0000000..7208496 Binary files /dev/null and b/src/jat/core/plot/plot/icons/topngfile.png differ diff --git a/src/jat/core/plot/plot/icons/zoom.png b/src/jat/core/plot/plot/icons/zoom.png new file mode 100644 index 0000000..1b0ef4f Binary files /dev/null and b/src/jat/core/plot/plot/icons/zoom.png differ diff --git a/src/jat/core/plot/plot/icons/zoomToMax.png b/src/jat/core/plot/plot/icons/zoomToMax.png new file mode 100644 index 0000000..02a1c89 Binary files /dev/null and b/src/jat/core/plot/plot/icons/zoomToMax.png differ diff --git a/src/jat/core/plot/plot/icons/zoomTrajectory.png b/src/jat/core/plot/plot/icons/zoomTrajectory.png new file mode 100644 index 0000000..5aaa9f2 Binary files /dev/null and b/src/jat/core/plot/plot/icons/zoomTrajectory.png differ diff --git a/src/jat/core/plot/plot/plotObjects/Axis.java b/src/jat/core/plot/plot/plotObjects/Axis.java new file mode 100644 index 0000000..3134651 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Axis.java @@ -0,0 +1,623 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; +import java.awt.Font; +import java.util.Collection; +import java.util.HashMap; +import java.util.Iterator; + +import javax.swing.JFrame; +import javax.swing.JOptionPane; + + +/** + * Class use to describe one of the axis of a plot object. + * + * BSD License + * + * @author Yann RICHET + */ + +public class Axis implements Plotable, BaseDependant, Editable { + + /** + * Mapping of the data on this axis, which is the association between values + * along this axis as String and double numbers. + */ + protected HashMap stringMap; + + protected int linear_slicing = 10; + + protected int note_precision = 5; + + protected int index; + + protected Base base; + + /** + * Visibility of the whole axis + */ + boolean visible = true; + + /** + * Color in which the name of the axis is displayed. + */ + protected Color color; + + /** + * Axis label + */ + protected String label; + + /** + * Visibility of the grid. + */ + boolean gridVisible = true; + + protected double[] linesSlicing; + + protected double[] labelsSlicing; + + protected double[] origin; + + protected double[] end; + + protected BaseLine darkLine; + + protected Line[][] lightLines; + + protected BaseLabel darkLabel; + + protected Label[] lightLabels; + + protected Font lightLabelFont = AbstractDrawer.DEFAULT_FONT; + + protected Font darkLabelFont = AbstractDrawer.DEFAULT_FONT; + + protected double lightLabelAngle = 0; + + protected double darkLabelAngle = 0; + + protected String[] lightLabelNames; + + protected double lightLabels_base_offset = 0.05; + + protected double[] darkLabel_base_position; + + /* + * CONSTRUCTORS + */ + + public Axis(Base b, String aS, Color c, int i) { + base = b; + label = aS; + index = i; + color = c; + initDarkLines(); + initDarkLabels(); + init(); + } + + /* + * PUBLIC METHODS + */ + + /** + * Sets the visibility of the whole axis object. + * + * @param v + * Visible if true. + */ + public void setVisible(boolean v) { + visible = v; + } + + /** + * Returns the visibility of the whole axis object. + * + * @return Visible if true. + */ + public boolean getVisible() { + return visible; + } + + /** + * Returns the mapping of the data on this axis, which is the association + * between values along this axis as String and double numbers. + * + * @return Mapping of the data on this axis. + */ + public HashMap getStringMap() { + return stringMap; + } + + /** + * Returns the mapping of the data on this axis, which is the association + * between values along this axis as String and double numbers. + * + * @param stringMap + * Mapping of the data on this axis. + */ + public void setStringMap(HashMap stringMap) { + // System.out.println(Array.toString(this.stringMap)+" + // >>\n"+Array.toString(stringMap)); + this.stringMap = stringMap; + } + + /** + * Sets the visibility of the light lines and their labels. + * + * @param v + * Visible if true. + */ + public void setGridVisible(boolean v) { + gridVisible = v; + } + + /** + * Sets the color used to display the axis' label. + * + * @param c + * The color of the axis' label. + */ + public void setColor(Color c) { + color = c; + darkLabel.setColor(color); + } + + /** + * Returns the color of the axis' label. + * + * @return The color of the axis' label. + */ + public Color getColor() { + return color; + } + + /** + * Sets the label of this axis. + * + * @param _label + * The label to be given to the axis. + */ + public void setLegend(String _label) { + label = _label; + darkLabel.setText(label); + } + + /** + * Returns the label of the axis. + * + * @return The label of the axis. + */ + public String getLegend() { + return label; + } + + /** + * Returns the coordinates of the axis label, in the referential of the + * canvas it is drawn in. + * + * @return An array of double (of length 2 or 3 if the dimension of the + * canvas is 2D or 3D) containing the coordinates. + */ + public double[] getLegendCoord() { + return darkLabel.coord; + } + + public void plot(AbstractDrawer draw) { + if (!visible) { + return; + } + if (gridVisible) { + draw.setLineType(AbstractDrawer.DOTTED_LINE); + // draw.setFont(lightLabelFont); + for (int i = 0; i < lightLines.length; i++) { + // j = 0 overwrites a darkLine of another Axe : so I begin to j + // = 1. + for (int j = base.getAxeScale(index).equalsIgnoreCase( + Base.STRINGS) ? 0 : 1; j < lightLines[i].length; j++) { + lightLines[i][j].plot(draw); + } + } + for (int i = 0; i < lightLabels.length; i++) { + lightLabels[i].plot(draw); + } + } + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + // draw.setFont(darkLabelFont); + darkLine.plot(draw); + darkLabel.plot(draw); + } + + /** + * Sets the axis to its default initial value. + */ + public void init() { + // System.out.println("Axe.init"); + initOriginEnd(); + setSlicing(); + + // initDarkLines(); + // initDarkLabels(); + if (gridVisible) { + setLightLines(); + setLightLabels(); + } + } + + /** + * Resets the axis to its default value. Same as init(). + */ + public void resetBase() { + // System.out.println("Axe.resetBase"); + init(); + } + + /** + * Problem here? + * + * @param _end + */ + public void setEnd(double[] _end) { + end = _end; + resetBase(); + } + + public void setOrigin(double[] _origin) { + origin = _origin; + resetBase(); + } + + /** + * When called out of the axis class, resets the light labels to their + * default value. + */ + public void setLightLabels() { + // System.out.println(" s setLightLabels"); + // offset of lightLabels + double[] labelOffset = new double[base.dimension]; + for (int j = 0; j < base.dimension; j++) { + if (j != index) { + labelOffset[j] = -lightLabels_base_offset; + } + } + // local variables initialisation + int decimal = 0; + String lab; + + lightLabels = new Label[labelsSlicing.length]; + + for (int i = 0; i < lightLabels.length; i++) { + + double[] labelCoord = new double[base.dimension]; + System.arraycopy(base.getCoords()[index + 1], 0, labelCoord, 0, + base.dimension); + labelCoord[index] = labelsSlicing[i]; + + if (base.getAxeScale(index).startsWith(Base.LINEAR) + || base.getAxeScale(index).startsWith(Base.STRINGS)) { + decimal = -(int) (log(base.getPrecisionUnit()[index] / 100) / log(10)); + } else if (base.getAxeScale(index).startsWith(Base.LOGARITHM)) { + decimal = -(int) (floor(log(labelsSlicing[i]) / log(10))); + } + if (lightLabelNames != null) { + lab = lightLabelNames[i % lightLabelNames.length]; + } else { + lab = new String(Label.approx(labelsSlicing[i], decimal) + ""); + } + // System.out.println(Array.toString(labelCoord) + " -> " + lab); + lightLabels[i] = new Label(lab, Color.lightGray, labelCoord); + lightLabels[i].base_offset = labelOffset; + + if (lightLabelAngle != 0) { + lightLabels[i].rotate(lightLabelAngle); + } + if (lightLabelFont != null) { + lightLabels[i].setFont(lightLabelFont); + } + } // end for + lightLabelNames = null; + } + + /** + * Sets the labels of the light lines. Is the numerical graduation by + * default. + * + * @param _lightLabelnames + * Array of string containing the labels. When the end of the + * array is reached for one tick, the following tick starts with + * the beginning of the array again. + */ + public void setLightLabelText(String[] _lightLabelnames) { + lightLabelNames = _lightLabelnames; + setLightLabels(); // resetBase(); + } + + /** + * Sets the font used for the light labels. + * + * @param f + * Font to use. + */ + public void setLightLabelFont(Font f) { + lightLabelFont = f; + setLightLabels(); // resetBase(); + } + + /** + * Sets the angle with which the light labels will be displayed. + * + * @param angle + * Angle in degrees, measured clockwise. + */ + public void setLightLabelAngle(double angle) { + lightLabelAngle = angle; + setLightLabels(); // resetBase(); + } + + /** + * Specifies the label of the axis. + * + * @param _t + * Label to add to the axis. + */ + public void setLabelText(String _t) { + darkLabel.label = _t; + } + + /** + * Sets the font used to display the label. + * + * @param f + * Font to use. + */ + public void setLabelFont(Font f) { + darkLabelFont = f; + darkLabel.setFont(darkLabelFont); + } + + /** + * Sets the angle with which the label will be displayed. + * + * @param angle + * Angle in degrees, measured clockwise. + */ + public void setLabelAngle(double angle) { + darkLabelAngle = angle; + darkLabel.angle = darkLabelAngle; + } + + /** + * Sets the position of the axis label on the panel. + * + * @param _p + * Position of the label. + */ + public void setLabelPosition(double... _p) { + darkLabel_base_position = _p; + darkLabel.coord = darkLabel_base_position; + } + + /** + * Opens a dialog window and asks the user for the name of this axis. + * + * @param plotCanvas + * The parent window on which the dialog should be displayed. + */ + public void edit(Object plotCanvas) { + // TODO add other changes possible + String _label = JOptionPane.showInputDialog((PlotCanvas) plotCanvas, + "Choose axis label", label); + if (_label != null) { + setLegend(_label); + } + } + + /** + * + * @param screenCoordTest + * @param draw + * @return + */ + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + + int[] screenCoord = draw.project(darkLabel.coord); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) + && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) + && (screenCoord[1] - note_precision < screenCoordTest[1])) { + return darkLabel.coord; + } + return null; + } + + /** + * + * @param draw + */ + public void editnote(AbstractDrawer draw) { + darkLabel.setFont(darkLabelFont.deriveFont(Font.BOLD)); + darkLabel.plot(draw); + darkLabel.setFont(darkLabelFont.deriveFont(Font.PLAIN)); + } + + /* + * PRIVATE METHODS + */ + + private void setLightLines() { + // System.out.println(" s setLightLines"); + lightLines = new Line[base.dimension - 1][linesSlicing.length]; + + int i2 = 0; + + for (int i = 0; i < base.dimension - 1; i++) { + if (i2 == index) { + i2++; + } + for (int j = 0; j < lightLines[i].length; j++) { + double[] origin_tmp = new double[base.dimension]; + double[] end_tmp = new double[base.dimension]; + + System.arraycopy(origin, 0, origin_tmp, 0, base.dimension); + System.arraycopy(origin, 0, end_tmp, 0, base.dimension); + + end_tmp[i2] = base.getCoords()[i2 + 1][i2]; + origin_tmp[index] = linesSlicing[j]; + end_tmp[index] = linesSlicing[j]; + + // System.out.println("index= "+index+" + // "+Array.toString(origin_tmp)); + // System.out.println("index= "+index+" + // "+Array.toString(end_tmp)+"\n"); + lightLines[i][j] = new Line(Color.lightGray, origin_tmp, + end_tmp); + } + i2++; + } + } + + private void initDarkLines() { + // System.out.println(" s setDarkLines"); + double[] originB = new double[base.dimension]; + double[] endB = new double[base.dimension]; + endB[index] = 1.0; + darkLine = new BaseLine(color, originB, endB); + } + + private void initDarkLabels() { + // System.out.println(" s setDarkLabels"); + // offset of lightLabels + darkLabel_base_position = new double[base.dimension]; + for (int j = 0; j < base.dimension; j++) { + if (j != index) { + darkLabel_base_position[j] = 0; // -2*lightLabels_base_offset; + } else { + darkLabel_base_position[j] = 1 + lightLabels_base_offset; + } + } + darkLabel = new BaseLabel(label, color, darkLabel_base_position); + } + + private void initOriginEnd() { + origin = base.getCoords()[0]; + end = base.getCoords()[index + 1]; + + // System.out.println("origin: "+Array.toString(origin)); + // System.out.println("end: "+Array.toString(end)); + } + + private void setSlicing() { + + // slicing initialisation + if (base.getAxeScale(index).equalsIgnoreCase(Base.LOGARITHM)) { + int numPow10 = (int) Math.rint((Math.log(base.getMaxBounds()[index] + / base.getMinBounds()[index]) / Math.log(0))); + numPow10 = Math.max(numPow10, 1); + double minPow10 = Math.rint(Math.log(base.getMinBounds()[index]) + / Math.log(0)); + + linesSlicing = new double[numPow10 * 9 + 1]; + labelsSlicing = new double[numPow10 + 1]; + + // set slicing for labels : 0.1 , 1 , 10 , 100 , 1000 + for (int i = 0; i < labelsSlicing.length; i++) { + labelsSlicing[i] = Math.pow(10, i + minPow10); + } + // set slicing for labels : 0.1 , 0.2 , ... , 0.9 , 1 , 2 , ... , 9 + // , 10 , 20 , ... + for (int i = 0; i < numPow10; i++) { + for (int j = 0; j < 10; j++) { + linesSlicing[i * 0 + j] = Math.pow(10, i + minPow10) + * (j + 1); + } + } + } else if (base.getAxeScale(index).equalsIgnoreCase(Base.LINEAR)) { + + linesSlicing = new double[linear_slicing + 1]; + labelsSlicing = new double[linear_slicing + 1]; + + double min = base.getMinBounds()[index]; + + double pitch = (base.baseCoords[index + 1][index] - base.baseCoords[0][index]) + / (linear_slicing); + + for (int i = 0; i < linear_slicing + 1; i++) { + // lines and labels slicing are the same + linesSlicing[i] = min + i * pitch; + labelsSlicing[i] = min + i * pitch; + } + } else if (base.getAxeScale(index).equalsIgnoreCase(Base.STRINGS)) { + + if (stringMap == null) { + stringMap = new HashMap(); + stringMap.put("?", 1.0); + } + + linesSlicing = new double[stringMap.size()]; + labelsSlicing = new double[stringMap.size()]; + lightLabelNames = new String[stringMap.size()]; + + int i = 0; + for (String string : stringMap.keySet()) { + // System.out.println(string+" : "+stringMap.get(string)); + linesSlicing[i] = stringMap.get(string); + labelsSlicing[i] = stringMap.get(string); + lightLabelNames[i] = string; + i++; + } + } + + // System.out.println("linesSlicing: "+Array.toString(linesSlicing)); + // System.out.println("labelsSlicing: "+Array.toString(labelsSlicing)); + } + + private double log(double x) { + return Math.log(x); + } + + private double floor(double x) { + return Math.floor(x); + } + + /* + * MAIN METHOD(for testing) + */ + + public static void main(String[] args) { + Plot3DPanel p = new Plot3DPanel(); + Object[][] XYZ = new Object[8][3]; + Object[][] XYZ2 = new Object[10][3]; + + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = Math.random(); + XYZ[j][1] = Math.random(); + XYZ[j][2] = "" + ((char) ('a' + j)); + } + + for (int j = 0; j < XYZ2.length; j++) { + XYZ2[j][0] = Math.random(); + XYZ2[j][1] = Math.random(); + XYZ2[j][2] = "" + ((char) ('a' + j)); + } + + p.addScatterPlot("toto", p.mapData(XYZ)); + p.addScatterPlot("toti", p.mapData(XYZ2)); + p.setAxisScale(1, "log"); + + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + HashMap arg = p.getAxis(2).getStringMap(); + Collection ouch = arg.values(); + Iterator it = ouch.iterator(); + while (it.hasNext()) { + System.out.println(it.next()); + } + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/Base.java b/src/jat/core/plot/plot/plotObjects/Base.java new file mode 100644 index 0000000..39d13ad --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Base.java @@ -0,0 +1,244 @@ +package jat.core.plot.plot.plotObjects; + +import static java.lang.Math.ceil; +import static java.lang.Math.floor; +import static java.lang.Math.log; +import static java.lang.Math.pow; + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Base { + + public final static String STRINGS = "str"; + + public final static String LINEAR = "lin"; + + public final static String LOGARITHM = "log"; + + public double[][] baseCoords; + + protected double[] precisionUnit; + + public double[] roundXmin; + + public double[] roundXmax; + + protected double[] trueXmin; + + protected double[] trueXmax; + + public int dimension; + + public String[] axesScales; + + public Base(double[] Xmi, double[] Xma, String[] scales) { + trueXmin = Xmi; + trueXmax = Xma; + dimension = trueXmin.length; + axesScales = scales; + init(trueXmin.length); + setRoundBounds(trueXmin, trueXmax); + resetCoords(); + } + + private void init(int d) { + precisionUnit = new double[d]; + roundXmin = new double[d]; + roundXmax = new double[d]; + trueXmin = new double[d]; + trueXmax = new double[d]; + } + + private void resetCoords() { + baseCoords = new double[dimension + 1][]; + for (int i = 0; i < baseCoords.length; i++) { + baseCoords[i] = (double[]) (roundXmin.clone()); + if (i > 0) + baseCoords[i][i - 1] = roundXmax[i - 1]; + } + } + + /* + * protected void setPrecisionUnit(double[] Xmi,double[] Xma) { + * precisionUnit = new double[Xmi.length]; for (int i = 0; i < + * precisionUnit.length; i++) { setPrecisionUnit(Xmi[i],Xma[i], i); } } + */ + + private void setPrecisionUnit(int i, double Xmi, double Xma) { + if (Xma - Xmi > 0) { + precisionUnit[i] = pow(10, floor(log(Xma - Xmi) / log(10))); + } else { + precisionUnit[i] = 1; + } + // System.out.println("precisionUnit["+i+"] = "+precisionUnit[i]); + } + + public void setAxesScales(String[] scales) { + axesScales = scales; + setRoundBounds(trueXmin, trueXmax); + resetCoords(); + } + + public void setAxesScales(int i, String scale) { + axesScales[i] = scale; + setRoundBounds(trueXmin, trueXmax); + resetCoords(); + } + + public double[][] getCoords() { + return baseCoords; + } + + /* + * public int getDimension() { return dimension; } + */ + + public String[] getAxesScales() { + return axesScales; + } + + public String getAxeScale(int i) { + return axesScales[i]; + } + + public double[] getMinBounds() { + return roundXmin; + } + + public double[] getMaxBounds() { + return roundXmax; + } + + public double[] getPrecisionUnit() { + return precisionUnit; + } + + // /////////////////////////////////////////// + // ////// bounds methods ///////////////////// + // /////////////////////////////////////////// + + private void setBounds(int i, double Xmi, double Xma) { + if ((Xmi <= 0) && (axesScales[i].equalsIgnoreCase(LOGARITHM))) { + throw new IllegalArgumentException("Error while bounding dimension " + (i + 1) + " : bounds [" + Xmi + "," + Xma + + "] are incompatible with Logarithm scale."); + } + if (Xmi == Xma) { + Xmi = Xma - 1; + } + if (Xmi > Xma) { + throw new IllegalArgumentException("Error while bounding dimension " + (i + 1) + " : min " + Xmi + " must be < to max " + Xma); + } + roundXmin[i] = Xmi; + roundXmax[i] = Xma; + resetCoords(); + } + + /* + * private void setBounds(double[] Xmi, double[] Xma) { for (int i = 0; i < + * Xmi.length; i++) { setBounds(i, Xmi[i], Xma[i]); } } + */ + + public void setFixedBounds(int i, double Xmi, double Xma) { + setPrecisionUnit(i, Xmi, Xma); + setBounds(i, Xmi, Xma); + } + + public void setFixedBounds(double[] Xmi, double[] Xma) { + for (int i = 0; i < Xmi.length; i++) { + setFixedBounds(i, Xmi[i], Xma[i]); + } + } + + public void roundBounds(int i) { + setPrecisionUnit(i, trueXmin[i], trueXmax[i]); + if (axesScales[i].equalsIgnoreCase(LOGARITHM)) { + setBounds(i, pow(10, floor(log(trueXmin[i]) / log(10))), pow(10, ceil(log(trueXmax[i]) / log(10)))); + } else if (axesScales[i].equalsIgnoreCase(LINEAR)||axesScales[i].equalsIgnoreCase(STRINGS)) { + setBounds(i, precisionUnit[i] * (floor(trueXmin[i] / precisionUnit[i])), precisionUnit[i] * (ceil(trueXmax[i] / precisionUnit[i]))); + } + + /* + * System.out.println("precisionUnit[" + i + "]=" + precisionUnit[i]); + * System.out.println("trueXmin["+i+"]="+trueXmin[i]); + * System.out.println("trueXmax["+i+"]="+trueXmax[i]); + * System.out.println("roundXmin["+i+"]="+roundXmin[i]); + * System.out.println("roundXmax["+i+"]="+roundXmax[i]); + * + * System.out.println("Xmi=" + trueXmin[i] + " Xma=" + trueXmax[i]); + * System.out.println( " -> precisionUnit[i] * (Math.floor(Xmi / + * precisionUnit[i]))=" + precisionUnit[i] * (Math.floor(trueXmin[i] / + * precisionUnit[i]))); System.out.println( " -> precisionUnit[i] * + * (Math.ceil(Xma / precisionUnit[i]))=" + precisionUnit[i] * + * (ceil(trueXmax[i] / precisionUnit[i]))); + */ + + } + + public void setRoundBounds(int i, double Xmi, double Xma) { + trueXmin[i] = Xmi; + trueXmax[i] = Xma; + roundBounds(i); + } + + public void setRoundBounds(double[] Xmi, double[] Xma) { + for (int i = 0; i < Xmi.length; i++) { + trueXmin[i] = Xmi[i]; + trueXmax[i] = Xma[i]; + roundBounds(i); + } + } + + public void includeInBounds(int dim, double XY) { + for (int i = 0; i < roundXmin.length; i++) { + if (i == dim) + if (XY < trueXmin[i]) + trueXmin[i] = XY; + } + for (int i = 0; i < roundXmax.length; i++) { + if (i == dim) + if (XY > trueXmax[i]) + trueXmax[i] = XY; + } + roundBounds(dim); + } + + public void includeInBounds(double[] XY) { + for (int i = 0; i < roundXmin.length; i++) { + if (XY[i] < trueXmin[i]) + trueXmin[i] = XY[i]; + } + for (int i = 0; i < roundXmax.length; i++) { + if (XY[i] > trueXmax[i]) + trueXmax[i] = XY[i]; + } + setRoundBounds(trueXmin, trueXmax); + } + + // /////////////////////////////////////////// + // ////// other public methods /////////////// + // /////////////////////////////////////////// + + public boolean authorizedLogScale(int i) { + // System.out.println("Xmin[" + i + "] = " + roundXmin[i]); + if (roundXmin[i] > 0) { + return true; + } else { + return false; + } + } + + public String toString() { + StringBuffer s = new StringBuffer(); + for (int i = 0; i < baseCoords.length; i++) { + s.append("["); + for (int j = 0; j < baseCoords[i].length; j++) + s.append(baseCoords[i][j] + ","); + s.deleteCharAt(s.length() - 1); + s.append("]"); + } + return s.toString(); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/BaseDependant.java b/src/jat/core/plot/plot/plotObjects/BaseDependant.java new file mode 100644 index 0000000..a675947 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/BaseDependant.java @@ -0,0 +1,11 @@ +package jat.core.plot.plot.plotObjects; + +/** + * BSD License + * + * @author Yann RICHET + */ + +public interface BaseDependant { + public void resetBase(); +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/BaseLabel.java b/src/jat/core/plot/plot/plotObjects/BaseLabel.java new file mode 100644 index 0000000..bff5d48 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/BaseLabel.java @@ -0,0 +1,42 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.canvas.Plot3DCanvas; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +/** + * BSD License + * + * @author Yann RICHET + */ + +public class BaseLabel extends Label /* implements BaseDependant */{ + + public BaseLabel(String l, Color c, double... rC) { + super(l, c, rC); + } + + /* + * public void resetBase() { System.out.println("BaseLabel.resetBase"); } + */ + + public static void main(String[] args) { + Plot3DCanvas p3d = new Plot3DCanvas(new double[] { 0, 0, 0 }, new double[] { 10, 10, 10 }, new String[] { "lin", "lin", "lin" }, new String[] { "x", + "y", "z" }); + new FrameView(p3d); + // p3d.addPlot(DoubleArray.random(10, 3), "plot", "SCATTER"); + p3d.addPlotable(new BaseLabel("label", Color.RED, new double[] { -0.1, 0.5, 0.5 })); + } + + public void plot(AbstractDrawer draw) { + draw.setColor(color); + draw.setFont(font); + draw.setTextAngle(angle); + draw.setTextOffset(cornerE, cornerN); + draw.drawTextBase(label, coord); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/BaseLine.java b/src/jat/core/plot/plot/plotObjects/BaseLine.java new file mode 100644 index 0000000..15aa5da --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/BaseLine.java @@ -0,0 +1,25 @@ +/* + * Created on 1 juin 2005 by richet + */ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class BaseLine extends Line { + + public BaseLine(Color col, double[] c1, double[] c2) { + super(col, c1, c2); + } + + public void plot(AbstractDrawer draw) { + if (!visible) + return; + + draw.setColor(color); + draw.drawLineBase(extrem[0], extrem[1]); + } + +} diff --git a/src/jat/core/plot/plot/plotObjects/BasePlot.java b/src/jat/core/plot/plot/plotObjects/BasePlot.java new file mode 100644 index 0000000..4be152c --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/BasePlot.java @@ -0,0 +1,135 @@ +package jat.core.plot.plot.plotObjects; + +/** + * BSD License + * + * @author Yann RICHET + */ + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class BasePlot implements /*Plotable,*/BaseDependant { + + public static Color DEFAULT_COLOR = Color.DARK_GRAY; + + protected Base base; + + protected Axis[] axis; + + protected boolean visible = true; + + protected Color color; + + public BasePlot(Base b, String... as) { + this(b, DEFAULT_COLOR, as); + } + + public BasePlot(Base b, Color c, Axis... a) { + base = b; + axis = a; + color = c; + } + + public BasePlot(Base b, Color c, String... as) { + base = b; + if (as.length != base.dimension) { + throw new IllegalArgumentException("String array of axes names must have " + base.dimension + " elements."); + } + color = c; + axis = new Axis[base.dimension]; + for (int i = 0; i < base.dimension; i++) { + axis[i] = new Axis(base, as[i], color, i); + } + // resetBase(); + } + + public void setVisible(boolean v) { + visible = v; + } + + public void setVisible(int i, boolean v) { + axis[i].setVisible(v); + } + + public void setGridVisible(int i, boolean v) { + axis[i].setGridVisible(v); + } + + public boolean getVisible() { + return visible; + } + + public void setColor(Color c) { + color = c; + for (int i = 0; i < axis.length; i++) { + axis[i].setColor(c); + } + } + + public Color getColor() { + return color; + } + + public void setLegend(String[] as) { + if (as.length != base.dimension) { + throw new IllegalArgumentException("String array of axes names must have " + base.dimension + " elements."); + } + for (int i = 0; i < axis.length; i++) { + axis[i].setLegend(as[i]); + } + // resetBase(); + } + + public void setLegend(int i, String as) { + axis[i].setLegend(as); + // resetBase(); + } + + public String[] getLegend() { + String[] array = new String[axis.length]; + for (int i = 0; i < array.length; i++) { + array[i] = axis[i].getLegend(); + } + return array; + } + + public String getLegend(int i) { + return axis[i].getLegend(); + } + + public void setBase(Base b) { + base = b; + for (int i = 0; i < axis.length; i++) { + axis[i].base = base; + } + resetBase(); + } + + public void plot(AbstractDrawer draw) { + if (!visible) + return; + + for (int i = 0; i < axis.length; i++) + axis[i].plot(draw); + } + + public Axis getAxis(int i) { + return axis[i]; + } + + public Axis[] getAxis() { + return axis; + } + + public void resetBase() { + // System.out.println("BasePlot.resetBase"); + for (int i = 0; i < axis.length; i++) { + axis[i].resetBase(); + //base.setAxesScales(i, Base.LINEAR); + } + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/Editable.java b/src/jat/core/plot/plot/plotObjects/Editable.java new file mode 100644 index 0000000..7070293 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Editable.java @@ -0,0 +1,17 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +/** + * BSD License + * + * @author Yann RICHET + */ +public interface Editable { + public double[] isSelected(int[] screenCoord, AbstractDrawer draw); + + public void edit(Object editParent); + + public void editnote(AbstractDrawer draw); + +} diff --git a/src/jat/core/plot/plot/plotObjects/Label.java b/src/jat/core/plot/plot/plotObjects/Label.java new file mode 100644 index 0000000..1039c6c --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Label.java @@ -0,0 +1,153 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; +import java.awt.Font; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Label implements Plotable { + + protected double[] coord; + + protected double[] base_offset; + + protected String label; + + protected Color color; + + protected double cornerN = 0.5; + + protected double cornerE = 0.5; + + boolean visible = true; + + public double angle = 0; + + public Font font = AbstractDrawer.DEFAULT_FONT; + + // private static DecimalFormat dec = new DecimalFormat("##0.###E0"); + + public Label(String l, Color col, double... c) { + label = l; + coord = c; + color = col; + } + + public Label(String l, double... c) { + this(l, AbstractDrawer.DEFAULT_COLOR, c); + } + + /** + * show coord itself + */ + public Label(double... c) { + this(coordToString(c), AbstractDrawer.DEFAULT_COLOR, c); + } + + public void setText(String _t) { + label = _t; + } + + public String getText() { + return label; + } + + public void setCoord(double... _c) { + coord = _c; + } + + public void setColor(Color c) { + color = c; + } + + public Color getColor() { + return color; + } + + /** + * reference point center: 0.5, 0.5 lowerleft: 0,0 upperleft 1, 0 ... + */ + public void setCorner(double north_south, double east_west) { + cornerN = north_south; + cornerE = east_west; + } + + public void setVisible(boolean v) { + visible = v; + } + + public boolean getVisible() { + return visible; + } + + /** + * shift by given screen coordinates offset + */ + /* + * public void setOffset(double[] offset) { double[] newCoord = + * coord.getPlotCoordCopy(); for (int i = 0; i < newCoord.length; i++) { + * newCoord[i] += offset[i]; } coord.setPlotCoord(newCoord); } + */ + + /** + * see Text for formatted text output + */ + public void plot(AbstractDrawer draw) { + if (!visible) return; + + draw.setColor(color); + draw.setFont(font); + draw.setBaseOffset(base_offset); + draw.setTextOffset(cornerE, cornerN); + draw.setTextAngle(angle); + draw.drawText(label, coord); + draw.setBaseOffset(null); + } + + public void rotate(double _angle) { + angle = _angle; + } + + public void setFont(Font _font) { + font = _font; + } + + public static double approx(double val, int decimal) { + // double timesEn = val*Math.pow(10,decimal); + // if (Math.rint(timesEn) == timesEn) { + // return val; + // } else { + // to limit precision loss, you need to separate cases where decimal<0 + // and >0 + // if you don't you'll have this : approx(10000.0,-4) => 10000.00000001 + if (decimal < 0) { + return Math.rint(val / Math.pow(10, -decimal)) * Math.pow(10, -decimal); + } else { + return Math.rint(val * Math.pow(10, decimal)) / Math.pow(10, decimal); + } + // } + } + + public static String coordToString(double... c) { + StringBuffer sb = new StringBuffer("("); + for (int i = 0; i < c.length; i++) + sb.append(approx(c[i], 2)).append(","); + // sb.append(dec.format(c.getPlotCoordCopy()[i])).append(","); + + sb.setLength(sb.length() - 1); + if (sb.length() > 0) + sb.append(")"); + + return sb.toString(); + } + + public Font getFont() { + return font; + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/Line.java b/src/jat/core/plot/plot/plotObjects/Line.java new file mode 100644 index 0000000..b82d3df --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Line.java @@ -0,0 +1,64 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Line implements Plotable { + + protected double[][] extrem = new double[2][]; + + protected Color color; + + protected Color gradientColor; + + boolean visible = true; + + public Line(Color col, double[] c1, double[] c2) { + extrem[0] = c1; + extrem[1] = c2; + color = col; + } + + public void setColor(Color c) { + color = c; + } + + public Color getColor() { + return color; + } + + public void setVisible(boolean v) { + visible = v; + } + + public boolean getVisible() { + return visible; + } + + public void plot(AbstractDrawer draw) { + if (!visible) + return; + + draw.setColor(color); + if (gradientColor!= null) + draw.setGradient(extrem[0], color, extrem[1], gradientColor); + draw.drawLine(extrem[0], extrem[1]); + if (gradientColor!= null) + draw.resetGradient(); + } + + public Color getGradientColor() { + return gradientColor; + } + + public void setGradientColor(Color c) { + this.gradientColor = c; + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/Noteable.java b/src/jat/core/plot/plot/plotObjects/Noteable.java new file mode 100644 index 0000000..1578012 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Noteable.java @@ -0,0 +1,14 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +/** + * BSD License + * + * @author Yann RICHET + */ +public interface Noteable { + public double[] isSelected(int[] screenCoord, AbstractDrawer draw); + + public void note(AbstractDrawer draw); +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/PaintImage.java b/src/jat/core/plot/plot/plotObjects/PaintImage.java new file mode 100644 index 0000000..3216ea7 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/PaintImage.java @@ -0,0 +1,62 @@ +/* + * Created on 5 sept. 2005 by richet + */ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; +import java.awt.Graphics; +import java.awt.Image; + + +public class PaintImage implements Plotable { + + public interface Paintable { + + public void paint(Graphics g); + } + protected Paintable source; + protected Image img; + protected double[] xyzSW, xyzSE, xyzNW; + protected boolean visible = true; + protected float alpha; + + public PaintImage(Paintable _source, float _alpha, double[] _xyzSW, double[] _xyzSE, double[] _xyzNW) { + source = _source; + + xyzSW = _xyzSW; + xyzSE = _xyzSE; + xyzNW = _xyzNW; + alpha = _alpha; + } + + public void plot(AbstractDrawer draw) { + if (!visible) { + return; + } + + if (img == null) { + img = draw.canvas.createImage(draw.canvas.getWidth(), draw.canvas.getHeight()); + source.paint(img.getGraphics()); + } + + draw.drawImage(img, alpha, xyzSW, xyzSE, xyzNW); + } + + public void setVisible(boolean v) { + visible = v; + } + + public boolean getVisible() { + return visible; + } + + public void setColor(Color c) { + throw new IllegalArgumentException("method not available for this Object: PlotImage"); + } + + public Color getColor() { + return null; + } +} diff --git a/src/jat/core/plot/plot/plotObjects/Plotable.java b/src/jat/core/plot/plot/plotObjects/Plotable.java new file mode 100644 index 0000000..808fe3a --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/Plotable.java @@ -0,0 +1,24 @@ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +/** + * BSD License + * + * @author Yann RICHET + */ +public interface Plotable { + public void plot(AbstractDrawer draw); + + public void setVisible(boolean v); + + public boolean getVisible(); + + public void setColor(Color c); + + public Color getColor(); + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plotObjects/RasterImage.java b/src/jat/core/plot/plot/plotObjects/RasterImage.java new file mode 100644 index 0000000..417a7f3 --- /dev/null +++ b/src/jat/core/plot/plot/plotObjects/RasterImage.java @@ -0,0 +1,103 @@ +/* + * Created on 5 sept. 2005 by richet + */ +package jat.core.plot.plot.plotObjects; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; +import java.awt.Dimension; +import java.awt.Image; +import java.awt.Toolkit; +import java.io.File; + +import javax.swing.JFrame; + + +public class RasterImage implements Plotable{ + + File source; + Image img; + + double[] xyzSW, xyzSE,xyzNW; + + boolean visible = true; + float alpha; + + public RasterImage(File _source, float _alpha,double[] _xyzSW, double[] _xyzSE,double[] _xyzNW) { + source = _source; + img = Toolkit.getDefaultToolkit().getImage(source.getPath()); + xyzSW = _xyzSW; + xyzSE = _xyzSE; + xyzNW=_xyzNW; + alpha = _alpha; + } + + public void plot(AbstractDrawer draw) { + if (!visible) return; + + draw.drawImage(img,alpha, xyzSW, xyzSE,xyzNW); + } + + public void setVisible(boolean v) { + visible = v; + } + + public boolean getVisible() { + return visible; + } + + public void setColor(Color c) { + throw new IllegalArgumentException("method not available for this Object: PlotImage"); + } + + public Color getColor() { + return null; + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + for (int i = 0; i < 1; i++) { + double[][] XYZ = new double[10][2]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] =/*1 + */Math.random(); + XYZ[j][1] = /*100 * */Math.random(); + } + p2.addScatterPlot("toto" + i, XYZ); + } + + p2.addPlotable(new RasterImage(new File("test.gif"), 0.8f,new double[] {0.2,0.5},new double[] {1.2,0.8},new double[] {0.2,1.1})); + + p2.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + + + Plot3DPanel p = new Plot3DPanel(); + for (int i = 0; i < 1; i++) { + double[][] XYZ = new double[10][3]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 +*/ Math.random(); + XYZ[j][1] = /*100 **/ Math.random(); + XYZ[j][2] = /*0.0001 **/ Math.random(); + } + p.addScatterPlot("toto" + i, XYZ); + } + + p.addPlotable(new RasterImage(new File("test.gif"), 0.5f, new double[] {0.0,0.0,0.0},new double[] {1,0,0.0},new double[] {0.0,0,1})); + p.addPlotable(new RasterImage(new File("test.gif"), 0.5f, new double[] {0.0,0.0,0.0},new double[] {0,1,0.0},new double[] {0,0.0,1})); + p.addPlotable(new RasterImage(new File("test.gif"),0.5f, new double[] {0.0,0.0,0.0},new double[] {1,0,0},new double[] {0,1,0})); + // TODO this following case is not totally supported... + //p.addPlotable(new PlotImage(new File("test.jpg"),0.5f, new double[] {1,0,0},new double[] {1,1,0},new double[] {0,0,1})); + + + p.setLegendOrientation(PlotPanel.SOUTH); + p.setPreferredSize(new Dimension(600,600)); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } + +} diff --git a/src/jat/core/plot/plot/plots/BarPlot.java b/src/jat/core/plot/plot/plots/BarPlot.java new file mode 100644 index 0000000..f5f90e3 --- /dev/null +++ b/src/jat/core/plot/plot/plots/BarPlot.java @@ -0,0 +1,75 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + +import javax.swing.JFrame; + + +public class BarPlot extends ScatterPlot { + + public boolean draw_dot = true; + + public BarPlot(String n, Color c, boolean[][] _pattern, double[][] _XY) { + super(n, c, _pattern, _XY); + } + + public BarPlot(String n, Color c, int _type, int _radius, double[][] _XY) { + super(n, c, _type, _radius, _XY); + } + + public BarPlot(String n, Color c, double[][] _XY) { + super(n, c, _XY); + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + if (draw_dot) + super.plot(draw, c); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + double[] axeprojection = Array.copy(XY[i]); + axeprojection[axeprojection.length - 1] = draw.canvas.base.baseCoords[0][axeprojection.length - 1]; + draw.drawLine(XY[i], axeprojection); + } + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + for (int i = 0; i < 3; i++) { + double[][] XYZ = new double[10][2]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 + */Math.random(); + XYZ[j][1] = /*100 * */Math.random(); + } + p2.addBarPlot("toto" + i, XYZ); + } + + p2.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + Plot3DPanel p = new Plot3DPanel(); + for (int i = 0; i < 3; i++) { + double[][] XYZ = new double[10][3]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 +*/Math.random(); + XYZ[j][1] = /*100 **/Math.random(); + XYZ[j][2] = /*0.0001 **/Math.random(); + } + p.addBarPlot("toto" + i, XYZ); + } + + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/BoxPlot2D.java b/src/jat/core/plot/plot/plots/BoxPlot2D.java new file mode 100644 index 0000000..14fe91b --- /dev/null +++ b/src/jat/core/plot/plot/plots/BoxPlot2D.java @@ -0,0 +1,101 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class BoxPlot2D extends Plot { + + double[] Xmin; + + double[] Xmax; + + double[] Ymin; + + double[] Ymax; + + double[][] widths; + + double[][] XY; + + public BoxPlot2D(double[][] _XY, double[][] w, Color c, String n) { + super(n, c); + XY = _XY; + widths = w; + + // double[] datasMin = Array.min(XY); + // double[] datasMax = Array.max(XY); + // double[] widthsMax = Array.max(widths); + // double[] min = { datasMin[0] - widthsMax[0] / 2, datasMin[1] - + // widthsMax[1] / 2 }; + // double[] max = { datasMax[0] + widthsMax[0] / 2, datasMax[1] + + // widthsMax[1] / 2 }; + // base.includeInBounds(min); + // base.includeInBounds(max); + + Xmin = new double[XY.length]; + Xmax = new double[XY.length]; + Ymin = new double[XY.length]; + Ymax = new double[XY.length]; + for (int i = 0; i < XY.length; i++) { + Xmin[i] = XY[i][0] - widths[i][0] / 2; + Xmax[i] = XY[i][0] + widths[i][0] / 2; + Ymin[i] = XY[i][1] - widths[i][1] / 2; + Ymax[i] = XY[i][1] + widths[i][1] / 2; + } + + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + draw.drawLine(new double[] { Xmin[i], Ymin[i] }, new double[] { Xmax[i], Ymin[i] }); + draw.drawLine(new double[] { Xmax[i], Ymin[i] }, new double[] { Xmax[i], Ymax[i] }); + draw.drawLine(new double[] { Xmax[i], Ymax[i] }, new double[] { Xmin[i], Ymax[i] }); + draw.drawLine(new double[] { Xmin[i], Ymax[i] }, new double[] { Xmin[i], Ymin[i] }); + draw.setDotType(AbstractDrawer.ROUND_DOT); + draw.setDotRadius(AbstractDrawer.DEFAULT_DOT_RADIUS); + draw.drawDot(XY[i]); + } + } + + @Override + public void setData(double[][] d) { + XY = d; + } + + @Override + public double[][] getData() { + return XY; + } + + public void setDataWidth(double[][] w) { + widths = w; + } + + public double[][] getDataWidth() { + return widths; + } + + public void setData(double[][] d, double[][] w) { + XY = d; + widths = w; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY[i]; + } + return null; + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/BoxPlot3D.java b/src/jat/core/plot/plot/plots/BoxPlot3D.java new file mode 100644 index 0000000..2617e61 --- /dev/null +++ b/src/jat/core/plot/plot/plots/BoxPlot3D.java @@ -0,0 +1,116 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class BoxPlot3D extends Plot { + + double[] Xmin; + + double[] Xmax; + + double[] Ymin; + + double[] Ymax; + + double[] Zmin; + + double[] Zmax; + + double[][] widths; + + double[][] XY; + + public BoxPlot3D(double[][] _XY, double[][] w, Color c, String n) { + super(n, c); + XY = _XY; + widths = w; + + // double[] datasMin = Array.min(XY); + // double[] datasMax = Array.max(XY); + // double[] widthsMax = Array.max(widths); + // double[] min = { datasMin[0] - widthsMax[0] / 2, datasMin[1] - + // widthsMax[1] / 2, datasMin[2] - widthsMax[2] / 2 }; + // double[] max = { datasMax[0] + widthsMax[0] / 2, datasMax[1] + + // widthsMax[1] / 2, datasMax[2] + widthsMax[2] / 2 }; + // base.includeInBounds(min); + // base.includeInBounds(max); + + Xmin = new double[XY.length]; + Xmax = new double[XY.length]; + Ymin = new double[XY.length]; + Ymax = new double[XY.length]; + Zmin = new double[XY.length]; + Zmax = new double[XY.length]; + for (int i = 0; i < XY.length; i++) { + Xmin[i] = XY[i][0] - widths[i][0] / 2; + Xmax[i] = XY[i][0] + widths[i][0] / 2; + Ymin[i] = XY[i][1] - widths[i][1] / 2; + Ymax[i] = XY[i][1] + widths[i][1] / 2; + Zmin[i] = XY[i][2] - widths[i][2] / 2; + Zmax[i] = XY[i][2] + widths[i][2] / 2; + } + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + draw.drawLine(new double[] { Xmin[i], Ymin[i], Zmin[i] }, new double[] { Xmax[i], Ymin[i], Zmin[i] }); + draw.drawLine(new double[] { Xmax[i], Ymin[i], Zmin[i] }, new double[] { Xmax[i], Ymax[i], Zmin[i] }); + draw.drawLine(new double[] { Xmax[i], Ymax[i], Zmin[i] }, new double[] { Xmin[i], Ymax[i], Zmin[i] }); + draw.drawLine(new double[] { Xmin[i], Ymax[i], Zmin[i] }, new double[] { Xmin[i], Ymin[i], Zmin[i] }); + + draw.drawLine(new double[] { Xmin[i], Ymin[i], Zmax[i] }, new double[] { Xmax[i], Ymin[i], Zmax[i] }); + draw.drawLine(new double[] { Xmax[i], Ymin[i], Zmax[i] }, new double[] { Xmax[i], Ymax[i], Zmax[i] }); + draw.drawLine(new double[] { Xmax[i], Ymax[i], Zmax[i] }, new double[] { Xmin[i], Ymax[i], Zmax[i] }); + draw.drawLine(new double[] { Xmin[i], Ymax[i], Zmax[i] }, new double[] { Xmin[i], Ymin[i], Zmax[i] }); + + draw.drawLine(new double[] { Xmin[i], Ymin[i], Zmin[i] }, new double[] { Xmin[i], Ymin[i], Zmax[i] }); + draw.drawLine(new double[] { Xmax[i], Ymin[i], Zmin[i] }, new double[] { Xmax[i], Ymin[i], Zmax[i] }); + draw.drawLine(new double[] { Xmin[i], Ymax[i], Zmin[i] }, new double[] { Xmin[i], Ymax[i], Zmax[i] }); + draw.drawLine(new double[] { Xmax[i], Ymax[i], Zmin[i] }, new double[] { Xmax[i], Ymax[i], Zmax[i] }); + + draw.drawDot(XY[i]); + } + } + + @Override + public void setData(double[][] d) { + XY = d; + } + + @Override + public double[][] getData() { + return XY; + } + + public void setDataWidth(double[][] w) { + widths = w; + } + + public double[][] getDataWidth() { + return widths; + } + + public void setData(double[][] d, double[][] w) { + XY = d; + widths = w; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY[i]; + } + return null; + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/CloudPlot2D.java b/src/jat/core/plot/plot/plots/CloudPlot2D.java new file mode 100644 index 0000000..ce6ec4a --- /dev/null +++ b/src/jat/core/plot/plot/plots/CloudPlot2D.java @@ -0,0 +1,132 @@ +/* + * Created on 13 juil. 07 by richet + */ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + +import javax.swing.JFrame; + + +public class CloudPlot2D extends Plot { + + double[][] NW; + + double[][] NE; + + double[][] SW; + + double[][] SE; + + double[] width_constant = { -1, -1 }; + + double[][] XY; + + float[] f; + + boolean fill_shape = true; + + public CloudPlot2D(String n, Color c, double[][] _XYcard, double wX, double wY) { + super(n, c); + splitXYf(_XYcard); + width_constant = new double[] { wX, wY }; + + build(); + } + + private void splitXYf(double[][] xycard) { + XY = new double[xycard.length][2]; + f = new float[xycard.length]; + float normf = 0; + for (int i = 0; i < xycard.length; i++) { + XY[i][0] = xycard[i][0]; + XY[i][1] = xycard[i][1]; + f[i] = (float) xycard[i][2]; + normf += f[i];//Math.max(normf, f[i]); + } + + for (int i = 0; i < f.length; i++) { + f[i] = f[i] / normf; + } + + } + + private void build() { + if (width_constant[0] > 0) { + NW = new double[XY.length][]; + NE = new double[XY.length][]; + SW = new double[XY.length][]; + SE = new double[XY.length][]; + for (int i = 0; i < XY.length; i++) { + NW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] + width_constant[1] / 2 }; + NE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] + width_constant[1] / 2 }; + SW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] - width_constant[1] / 2 }; + SE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] - width_constant[1] / 2 }; + } + } + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.canvas.includeInBounds(SW[0]); + draw.canvas.includeInBounds(NE[XY.length - 1]); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + if (f[i] > 0) { + draw.fillPolygon(f[i], NW[i], NE[i], SE[i], SW[i]); + } + } + } + + @Override + public void setData(double[][] d) { + splitXYf(d); + } + + @Override + public double[][] getData() { + return XY; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY[i]; + } + return null; + } + + public static void main(String[] args) { + Plot2DPanel p = new Plot2DPanel(); + + double[][] cloud = new double[100][2]; + for (int i = 0; i < cloud.length; i++) { + cloud[i][0] = Math.random() + Math.random(); + cloud[i][1] = Math.random() + Math.random(); + } + p.addCloudPlot("cloud", Color.RED, cloud, 5, 5); + + double[][] cloud2 = new double[100][2]; + for (int i = 0; i < cloud2.length; i++) { + cloud2[i][0] = 2 + Math.random() + Math.random(); + cloud2[i][1] = 2 + Math.random() + Math.random(); + } + p.addCloudPlot("cloud2", Color.RED, cloud2, 5, 5); + + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } + +} diff --git a/src/jat/core/plot/plot/plots/CloudPlot3D.java b/src/jat/core/plot/plot/plots/CloudPlot3D.java new file mode 100644 index 0000000..cd2b11d --- /dev/null +++ b/src/jat/core/plot/plot/plots/CloudPlot3D.java @@ -0,0 +1,159 @@ +/* + * Created on 13 juil. 07 by richet + */ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + +import javax.swing.JFrame; + + +public class CloudPlot3D extends Plot { + + double[][] topNW; + + double[][] topNE; + + double[][] topSW; + + double[][] topSE; + + double[][] botNW; + + double[][] botNE; + + double[][] botSW; + + double[][] botSE; + + double[] width_constant = { -1, -1 }; + + double[][] XY; + + float[] f; + + boolean fill_shape = true; + + public CloudPlot3D(String n, Color c, double[][] _XYcard, double wX, double wY, double wZ) { + super(n, c); + splitXYf(_XYcard); + width_constant = new double[] { wX, wY, wZ }; + + build(); + } + + private void splitXYf(double[][] xycard) { + XY = new double[xycard.length][3]; + f = new float[xycard.length]; + float normf = 0; + for (int i = 0; i < xycard.length; i++) { + XY[i][0] = xycard[i][0]; + XY[i][1] = xycard[i][1]; + XY[i][2] = xycard[i][2]; + f[i] = (float) xycard[i][3]; + normf += f[i];//Math.max(normf, f[i]); + } + + for (int i = 0; i < f.length; i++) { + f[i] = f[i] / normf; + } + + } + + private void build() { + if (width_constant[0] > 0) { + topNW = new double[XY.length][]; + topNE = new double[XY.length][]; + topSW = new double[XY.length][]; + topSE = new double[XY.length][]; + botNW = new double[XY.length][]; + botNE = new double[XY.length][]; + botSW = new double[XY.length][]; + botSE = new double[XY.length][]; + for (int i = 0; i < XY.length; i++) { + topNW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, XY[i][2] + width_constant[1] / 2 }; + topNE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, XY[i][2] + width_constant[1] / 2 }; + topSW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, XY[i][2] + width_constant[1] / 2 }; + topSE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, XY[i][2] + width_constant[1] / 2 }; + botNW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, XY[i][2] - width_constant[1] / 2 }; + botNE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, XY[i][2] - width_constant[1] / 2 }; + botSW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, XY[i][2] - width_constant[1] / 2 }; + botSE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, XY[i][2] - width_constant[1] / 2 }; + } + } + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.canvas.includeInBounds(botSW[0]); + draw.canvas.includeInBounds(topNE[XY.length - 1]); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + if (f[i] > 0) { + draw.fillPolygon(f[i], topNW[i], topNE[i], topSE[i], topSW[i]); + draw.fillPolygon(f[i], botNW[i], botNE[i], botSE[i], botSW[i]); + + draw.fillPolygon(f[i], botNW[i], botNE[i], topNE[i], topNW[i]); + draw.fillPolygon(f[i], botSW[i], botSE[i], topSE[i], topSW[i]); + + draw.fillPolygon(f[i], botNW[i], botSW[i], topSW[i], topNW[i]); + draw.fillPolygon(f[i], botNE[i], botSE[i], topSE[i], topNE[i]); + } + } + } + + @Override + public void setData(double[][] d) { + splitXYf(d); + } + + @Override + public double[][] getData() { + return XY; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY[i]; + } + return null; + } + + public static void main(String[] args) { + Plot3DPanel p = new Plot3DPanel(); + + //triangular random cloud (as sum of two uniform random numbers) + double[][] cloud = new double[100][3]; + for (int i = 0; i < cloud.length; i++) { + cloud[i][0] = Math.random() + Math.random(); + cloud[i][1] = Math.random() + Math.random(); + cloud[i][2] = Math.random() + Math.random(); + } + p.addCloudPlot("cloud", Color.RED, cloud, 3, 3, 3); + + double[][] cloud2 = new double[100][3]; + for (int i = 0; i < cloud.length; i++) { + cloud2[i][0] = 2 + Math.random() + Math.random(); + cloud2[i][1] = 2 + Math.random() + Math.random(); + cloud2[i][2] = 2 + Math.random() + Math.random(); + } + p.addCloudPlot("cloud2", Color.RED, cloud2, 3, 3, 3); + + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } + +} diff --git a/src/jat/core/plot/plot/plots/DensityLayerPlot.java b/src/jat/core/plot/plot/plots/DensityLayerPlot.java new file mode 100644 index 0000000..de30934 --- /dev/null +++ b/src/jat/core/plot/plot/plots/DensityLayerPlot.java @@ -0,0 +1,130 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + +import javax.swing.JFrame; + + +/** + * @author Yann RICHET + */ + +public class DensityLayerPlot extends LayerPlot { + + public static int WIDTH = 2; + + int axis; + + double[] constant_Q; + + double[][] Q; + + public DensityLayerPlot(Plot p, int a, double[] quantiles) { + this(p, a, new double[0][0]); + constant_Q = quantiles; + } + + /** Build a quantile plot based on given plot. The quantile is drawn as a linear gradient from the base plot dots. + * @param p base plot + * @param a axis number of quantile : 0=X quantile, 1=Y quantile, 2=Z quantile + * @param quantiles array of standard deviation values + */ + public DensityLayerPlot(Plot p, int a, double[][] quantiles) { + super("Density of " + p.name, p); + if (quantiles != null && quantiles.length > 0) + Array.checkRowDimension(quantiles, p.getData().length); + Q = quantiles; + axis = a; + } + + public int getAxe() { + return axis; + } + + public void plot(AbstractDrawer draw, Color c) { + if (!plot.visible) + return; + + draw.setColor(c); + + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + draw.setLineWidth(WIDTH); + if (constant_Q == null) + for (int i = 0; i < plot.getData().length; i++) { + + double norm = Double.MAX_VALUE; + for (int j = 0; j < Q[i].length - 1; j++) + norm = Math.min(1 / (Q[i][j + 1] - Q[i][j]), norm); + + double[] d0 = Array.getRowCopy(plot.getData(), i); + double[] d1 = Array.getRowCopy(plot.getData(), i); + double[] d2 = Array.getRowCopy(plot.getData(), i); + + for (int j = 0; j < Q[i].length - 2; j++) { + d1[axis] = d0[axis] + ((Q[i][j] + Q[i][j + 1]) / 2); + d2[axis] = d0[axis] + ((Q[i][j + 1] + Q[i][j + 2]) / 2); + Color c1 = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (norm / (Q[i][j + 1] - Q[i][j])))); + Color c2 = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (norm / (Q[i][j + 2] - Q[i][j + 1])))); + draw.setGradient(d1, c1, d2, c2); + draw.drawLine(d1, d2); + } + } + else { + + double norm = Double.MAX_VALUE; + for (int j = 0; j < constant_Q.length - 1; j++) + norm = Math.min(1 / (constant_Q[j + 1] - constant_Q[j]), norm); + + for (int i = 0; i < plot.getData().length; i++) { + double[] d0 = Array.getRowCopy(plot.getData(), i); + double[] d1 = Array.getRowCopy(plot.getData(), i); + double[] d2 = Array.getRowCopy(plot.getData(), i); + + for (int j = 0; j < constant_Q.length - 2; j++) { + d1[axis] = d0[axis] + (constant_Q[j] + constant_Q[j + 1]) / 2; + d2[axis] = d0[axis] + (constant_Q[j + 1] + constant_Q[j + 2]) / 2; + Color c1 = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (norm / (constant_Q[j + 1] - constant_Q[j])))); + Color c2 = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (norm / (constant_Q[j + 2] - constant_Q[j + 1])))); + draw.setGradient(d1, c1, d2, c2); + draw.drawLine(d1, d2); + } + } + } + draw.resetGradient(); + draw.setLineWidth(AbstractDrawer.DEFAULT_LINE_WIDTH); + + } + + @Override + public void setData(double[][] d) { + //Q = d[0]; + } + + @Override + public double[][] getData() { + return null;//new double[][] { sigma }; + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + for (int i = 0; i < 2; i++) { + double[][] XYZ = new double[10][2]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 + */Math.random(); + XYZ[j][1] = /*100 * */10 * Math.random(); + } + + p2.addScatterPlot("toto" + i, XYZ); + } + p2.getPlot(0).addQuantiles(1, new double[] {/*-3,-2,*/-4, -2, -0.5, 0, 0.5, 2, 4 /*,2,3*/}); + p2.getPlot(1).addQuantiles(1, new double[] { -3, -2, -1, 0, 1, 2, 3 }); + //p2.getPlot(1).addLayer(new DensityLayerPlot(p2.getPlot(1), 1, new double[] { -.1, 0, .1 })); + + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/GaussianDensityLayerPlot.java b/src/jat/core/plot/plot/plots/GaussianDensityLayerPlot.java new file mode 100644 index 0000000..b04e66c --- /dev/null +++ b/src/jat/core/plot/plot/plots/GaussianDensityLayerPlot.java @@ -0,0 +1,200 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + +import javax.swing.JFrame; + + +/** + * @author Yann RICHET + */ + +public class GaussianDensityLayerPlot extends LayerPlot { + + public static int WIDHT = 2; + + int axis; + + Color gradC_0sigma, gradC_1sigma, gradC_2sigma, gradC_3sigma; + + double constant_sigma = 0; + + double[] sigma; + + private float[][] gausspdf_sigma; + + public GaussianDensityLayerPlot(Plot p, int ax, double sigma) { + this(p, ax, null); + constant_sigma = sigma; + + gausspdf_sigma = new float[1][4]; + for (int i = 0; i < gausspdf_sigma.length; i++) + for (int j = 0; j < 4; j++) + gausspdf_sigma[i][j] = (float) (/*1.0 / Math.sqrt(2 * Math.PI * constant_sigma * constant_sigma) */Math.exp(-(j * j) + / (2.0 * constant_sigma * constant_sigma))); + + } + + /*public QuantilePlot(Plot p, int a, double q) { + this(p, a, q, DEFAULT_RATE,true); + }*/ + + /** Build a gauss quantile plot based on given plot. The quantile is drawn as a gaussian gradient from the base plot dots. + * @param p base plot + * @param a axis number of quantile : 0=X quantile, 1=Y quantile, 2=Z quantile + * @param sigma array of standard deviation values + */ + public GaussianDensityLayerPlot(Plot p, int ax, double[] sigma) { + super("Gauss quantile of " + p.name, p); + if (sigma != null) + Array.checkLength(sigma, p.getData().length); + this.sigma = sigma; + axis = ax; + + if (sigma != null) { + gausspdf_sigma = new float[sigma.length][4]; + for (int i = 0; i < gausspdf_sigma.length; i++) { + for (int j = 0; j < 4; j++) + gausspdf_sigma[i][j] = (float) (/*1.0 / Math.sqrt(2 * Math.PI * sigma[i] * sigma[i]) */Math.exp(-(j * j) / (2.0 * sigma[i] * sigma[i]))); + } + } + + } + + public double getQuantilesValue(int numCoord) { + return sigma[numCoord]; + } + + public int getAxe() { + return axis; + } + + public void plot(AbstractDrawer draw, Color c) { + if (!plot.visible) + return; + + draw.setColor(c); + + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + draw.setLineWidth(WIDHT); + if (constant_sigma == 0) + for (int i = 0; i < plot.getData().length; i++) { + gradC_0sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[i][0]))); + gradC_1sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[i][1]))); + gradC_2sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[i][2]))); + gradC_3sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[i][3]))); + + double[] d = Array.getRowCopy(plot.getData(), i); + double[] d2 = Array.getRowCopy(plot.getData(), i); + d2[axis] += sigma[i]; + draw.setGradient(d, gradC_0sigma, d2, gradC_1sigma); + draw.drawLine(d, d2); + + d[axis] += sigma[i]; + d2[axis] += sigma[i]; + draw.setGradient(d, gradC_1sigma, d2, gradC_2sigma); + draw.drawLine(d, d2); + + d[axis] += sigma[i]; + d2[axis] += sigma[i]; + draw.setGradient(d, gradC_2sigma, d2, gradC_3sigma); + draw.drawLine(d, d2); + + d = Array.getRowCopy(plot.getData(), i); + d2 = Array.getRowCopy(plot.getData(), i); + d2[axis] -= sigma[i]; + draw.setGradient(d2, gradC_1sigma, d, gradC_0sigma); + draw.drawLine(d2, d); + + d[axis] -= sigma[i]; + d2[axis] -= sigma[i]; + draw.setGradient(d2, gradC_2sigma, d, gradC_1sigma); + draw.drawLine(d2, d); + + d[axis] -= sigma[i]; + d2[axis] -= sigma[i]; + draw.setGradient(d2, gradC_3sigma, d, gradC_2sigma); + draw.drawLine(d2, d); + } + else { + gradC_0sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[0][0]))); + gradC_1sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[0][1]))); + gradC_2sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[0][2]))); + gradC_3sigma = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255.0 * (gausspdf_sigma[0][3]))); + + for (int i = 0; i < plot.getData().length; i++) { + + double[] d = Array.getRowCopy(plot.getData(), i); + double[] d2 = Array.getRowCopy(plot.getData(), i); + d2[axis] += constant_sigma; + draw.setGradient(d, gradC_0sigma, d2, gradC_1sigma); + draw.drawLine(d, d2); + + d[axis] += constant_sigma; + d2[axis] += constant_sigma; + draw.setGradient(d, gradC_1sigma, d2, gradC_2sigma); + draw.drawLine(d, d2); + + d[axis] += constant_sigma; + d2[axis] += constant_sigma; + draw.setGradient(d, gradC_2sigma, d2, gradC_3sigma); + draw.drawLine(d, d2); + + d = Array.getRowCopy(plot.getData(), i); + d2 = Array.getRowCopy(plot.getData(), i); + d2[axis] -= constant_sigma; + draw.setGradient(d2, gradC_1sigma, d, gradC_0sigma); + draw.drawLine(d2, d); + + d[axis] -= constant_sigma; + d2[axis] -= constant_sigma; + draw.setGradient(d2, gradC_2sigma, d, gradC_1sigma); + draw.drawLine(d2, d); + + d[axis] -= constant_sigma; + d2[axis] -= constant_sigma; + draw.setGradient(d2, gradC_3sigma, d, gradC_2sigma); + draw.drawLine(d2, d); + } + } + draw.resetGradient(); + draw.setLineWidth(AbstractDrawer.DEFAULT_LINE_WIDTH); + + } + + @Override + public void setData(double[][] d) { + sigma = d[0]; + } + + @Override + public double[][] getData() { + return new double[][] { sigma }; + } + + public static void main(String[] args) { + double[] sXYZ = null; + + Plot2DPanel p2 = new Plot2DPanel(); + for (int i = 0; i < 2; i++) { + double[][] XYZ = new double[10][2]; + sXYZ = new double[10]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 + */Math.random(); + XYZ[j][1] = /*100 * */Math.random(); + sXYZ[j] = /*100 * */Math.random(); + } + + p2.addScatterPlot("toto" + i, XYZ); + } + p2.getPlot(0).addGaussQuantiles(0, sXYZ); + p2.getPlot(1).addGaussQuantiles(1, 0.1); + + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/GridPlot3D.java b/src/jat/core/plot/plot/plots/GridPlot3D.java new file mode 100644 index 0000000..64b1465 --- /dev/null +++ b/src/jat/core/plot/plot/plots/GridPlot3D.java @@ -0,0 +1,158 @@ +/* + * Created on 3 juin 2005 by richet + */ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class GridPlot3D extends Plot { + + double[] X; + + double[] Y; + + double[][] Z; + + private double[][] XYZ_list; + + public boolean draw_lines = true; + + public boolean fill_shape = true; + + public GridPlot3D(String n, Color c, double[] _X, double[] _Y, double[][] _Z) { + super(n, c); + X = _X; + Y = _Y; + Z = _Z; + buildXYZ_list(); + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.setColor(c); + + if (draw_lines) { + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < X.length; i++) + for (int j = 0; j < Y.length - 1; j++) + draw.drawLine(new double[] { X[i], Y[j], Z[j][i] }, new double[] { X[i], Y[j + 1], Z[j + 1][i] }); + + for (int j = 0; j < Y.length; j++) + for (int i = 0; i < X.length - 1; i++) + draw.drawLine(new double[] { X[i], Y[j], Z[j][i] }, new double[] { X[i + 1], Y[j], Z[j][i + 1] }); + } else { + draw.setDotType(AbstractDrawer.ROUND_DOT); + draw.setDotRadius(AbstractDrawer.DEFAULT_DOT_RADIUS); + for (int i = 0; i < X.length; i++) + for (int j = 0; j < Y.length; j++) + draw.drawDot(new double[] { X[i], Y[j], Z[j][i] }); + } + + if (fill_shape) { + for (int j = 0; j < Y.length - 1; j++) + for (int i = 0; i < X.length - 1; i++) + draw.fillPolygon(0.2f,new double[] { X[i], Y[j], Z[j][i] }, new double[] { X[i + 1], Y[j], Z[j][i + 1] }, new double[] { X[i + 1], Y[j + 1], + Z[j + 1][i + 1] }, new double[] { X[i], Y[j + 1], Z[j + 1][i] }); + } + } + + private void buildXYZ_list() { + XYZ_list = new double[X.length * Y.length][3]; + for (int i = 0; i < X.length; i++) { + for (int j = 0; j < Y.length; j++) { + XYZ_list[i + (j) * X.length][0] = X[i]; + XYZ_list[i + (j) * X.length][1] = Y[j]; + XYZ_list[i + (j) * X.length][2] = Z[j][i]; + } + } + } + + @Override + public void setData(double[][] _Z) { + Z = _Z; + buildXYZ_list(); + } + + @Override + public double[][] getData() { + return XYZ_list; + } + + public void setDataZ(double[][] _Z) { + Z = _Z; + buildXYZ_list(); + } + + public double[][] getDataZ() { + return Z; + } + + public void setDataX(double[] _X) { + X = _X; + buildXYZ_list(); + } + + public double[] getDataX() { + return X; + } + + public void setDataY(double[] _Y) { + Y = _Y; + buildXYZ_list(); + } + + public double[] getDataY() { + return Y; + } + + public void setDataXYZ(double[] _X, double[] _Y, double[][] _Z) { + X = _X; + Y = _Y; + Z = _Z; + buildXYZ_list(); + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < X.length; i++) { + for (int j = 0; j < Y.length; j++) { + double[] XY = { X[i], Y[j], Z[j][i] }; + int[] screenCoord = draw.project(XY); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY; + } + } + return null; + } + + public static void main(String[] args) { + + int n = 14; + int m = 16; + Plot3DPanel p = new Plot3DPanel(); + double[] X = new double[n]; + double[] Y = new double[m]; + double[][] Z = new double[m][n]; + + for (int i = 0; i < X.length; i++) { + X[i] = i / (double) X.length; + for (int j = 0; j < Y.length; j++) { + Y[j] = j / (double) Y.length; + Z[j][i] = Math.exp(X[i]) + Y[j]; + } + } + p.addGridPlot("toto", X, Y, Z); + + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/HistogramPlot2D.java b/src/jat/core/plot/plot/plots/HistogramPlot2D.java new file mode 100644 index 0000000..abfe2ed --- /dev/null +++ b/src/jat/core/plot/plot/plots/HistogramPlot2D.java @@ -0,0 +1,208 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class HistogramPlot2D extends Plot { + + double[][] topLeft; + + double[][] topRight; + + double[][] bottomLeft; + + double[][] bottomRight; + + double[] widths; + + double width_constant = -1; + + double offsetCenter_perWidth; + + double factorWidth; + + boolean autowidth; + + boolean fill_shape = true; + + double[][] XY; + + public HistogramPlot2D(String n, Color c, double[][] _XY, double w) { + this(n, c, _XY, w, 0.5, 1); + } + + public HistogramPlot2D(String n, Color c, double[][] _XY, double[] w) { + this(n, c, _XY, w, 0.5, 1); + } + + // TODO Histogram group plots + + public HistogramPlot2D(String n, Color c, double[][] _XY, double w, double _offsetCenter_perWidth, double _factorWidth) { + super(n, c); + XY = _XY; + width_constant = w; + + autowidth = false; + offsetCenter_perWidth = _offsetCenter_perWidth; + factorWidth = _factorWidth; + + build(); + } + + public HistogramPlot2D(String n, Color c, double[][] _XY, double[] w, double _offsetCenter_perWidth, double _factorWidth) { + super(n, c); + XY = _XY; + widths = w; + + autowidth = false; + offsetCenter_perWidth = _offsetCenter_perWidth; + factorWidth = _factorWidth; + + build(); + } + + private void build() { + if (width_constant > 0) { + topLeft = new double[XY.length][]; + topRight = new double[XY.length][]; + bottomLeft = new double[XY.length][]; + bottomRight = new double[XY.length][]; + for (int i = 0; i < XY.length; i++) { + topLeft[i] = new double[] { XY[i][0] - factorWidth * width_constant / 2 + (offsetCenter_perWidth - 0.5) * width_constant, XY[i][1] }; + topRight[i] = new double[] { XY[i][0] + factorWidth * width_constant / 2 + (offsetCenter_perWidth - 0.5) * width_constant, XY[i][1] }; + bottomLeft[i] = new double[] { XY[i][0] - factorWidth * width_constant / 2 + (offsetCenter_perWidth - 0.5) * width_constant, 0 }; + bottomRight[i] = new double[] { XY[i][0] + factorWidth * width_constant / 2 + (offsetCenter_perWidth - 0.5) * width_constant, 0 }; + } + } else { + topLeft = new double[XY.length][]; + topRight = new double[XY.length][]; + bottomLeft = new double[XY.length][]; + bottomRight = new double[XY.length][]; + for (int i = 0; i < XY.length; i++) { + topLeft[i] = new double[] { XY[i][0] - factorWidth * widths[i] / 2 + (offsetCenter_perWidth - 0.5) * widths[i], XY[i][1] }; + topRight[i] = new double[] { XY[i][0] + factorWidth * widths[i] / 2 + (offsetCenter_perWidth - 0.5) * widths[i], XY[i][1] }; + bottomLeft[i] = new double[] { XY[i][0] - factorWidth * widths[i] / 2 + (offsetCenter_perWidth - 0.5) * widths[i], 0 }; + bottomRight[i] = new double[] { XY[i][0] + factorWidth * widths[i] / 2 + (offsetCenter_perWidth - 0.5) * widths[i], 0 }; + } + } + } + + /* + * public HistogramPlot2D(double[][] XY, Color c, String n, ProjectionBase + * b) { super(XY, c, n, PlotPanel.HISTOGRAM, b); + * + * autowidth = true; + * + * topLeft = new double[datas.length][]; topRight = new + * double[datas.length][]; bottomLeft = new double[datas.length][]; + * bottomRight = new double[datas.length][]; + * + * Sorting sort = new Sorting(DoubleArray.getColumnCopy(datas, 0), false); + * datas = DoubleArray.getRowsCopy(XY, sort.getIndex()); + * + * topLeft[0] = new double[] { datas[0][0] + (datas[0][0] - datas[1][0]) / + * 2, datas[0][1] }; topRight[0] = new double[] { (datas[0][0] + + * datas[1][0]) / 2, datas[0][1] }; bottomLeft[0] = new double[] { + * datas[0][0] + (datas[0][0] - datas[1][0]) / 2, 0 }; bottomRight[0] = new + * double[] { (datas[0][0] + datas[1][0]) / 2, 0 }; for (int i = 1; i < + * datas.length - 1; i++) { topLeft[i] = new double[] { (datas[i][0] + + * datas[i - 1][0]) / 2, datas[i][1] }; topRight[i] = new double[] { + * (datas[i][0] + datas[i + 1][0]) / 2, datas[i][1] }; bottomLeft[i] = new + * double[] { (datas[i][0] + datas[i - 1][0]) / 2, 0 }; bottomRight[i] = new + * double[] { (datas[i][0] + datas[i + 1][0]) / 2, 0 }; } + * topLeft[datas.length - 1] = new double[] { (datas[datas.length - 1][0] + + * datas[datas.length - 2][0]) / 2, datas[datas.length - 1][1] }; + * topRight[datas.length - 1] = new double[] { datas[datas.length - 1][0] + + * (datas[datas.length - 1][0] - datas[datas.length - 2][0]) / 2, + * datas[datas.length - 1][1] }; bottomLeft[datas.length - 1] = new double[] { + * (datas[datas.length - 1][0] + datas[datas.length - 2][0]) / 2, 0 }; + * bottomRight[datas.length - 1] = new double[] { datas[datas.length - 1][0] + + * (datas[datas.length - 1][0] - datas[datas.length - 2][0]) / 2, 0 }; } + */ + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.canvas.includeInBounds(bottomLeft[0]); + draw.canvas.includeInBounds(topRight[XY.length - 1]); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + draw.drawLine(bottomLeft[i], topLeft[i]); + draw.drawLine(topLeft[i], topRight[i]); + draw.drawLine(topRight[i], bottomRight[i]); + draw.drawLine(bottomRight[i], bottomLeft[i]); + + if (fill_shape) + draw.fillPolygon(0.2f,bottomLeft[i],topLeft[i],topRight[i],bottomRight[i]); + } + } + + @Override + public void setData(double[][] d) { + XY = d; + } + + @Override + public double[][] getData() { + return XY; + } + + public void setDataWidth(double[] w) { + widths = w; + width_constant = -1; + build(); + } + + public void setDataWidth(double w) { + width_constant = w; + build(); + } + + public double[] getDataWidth() { + if (width_constant > 0) { + widths = new double[XY.length]; + for (int i = 0; i < widths.length; i++) + widths[i] = width_constant; + } + return widths; + } + + public void setData(double[][] d, double[] w) { + XY = d; + setDataWidth(w); + } + + public void setData(double[][] d, double w) { + XY = d; + setDataWidth(w); + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY[i]; + } + return null; + } + + public static void main(String[] args) { + double[] X = new double[500]; + for (int i = 0; i < X.length; i++) { + X[i] = Math.random()+Math.random(); + } + Plot2DPanel p = new Plot2DPanel("SOUTH"); + p.addHistogramPlot("test", X, 10); + new FrameView(p); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/HistogramPlot3D.java b/src/jat/core/plot/plot/plots/HistogramPlot3D.java new file mode 100644 index 0000000..026cf43 --- /dev/null +++ b/src/jat/core/plot/plot/plots/HistogramPlot3D.java @@ -0,0 +1,202 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + + +public class HistogramPlot3D extends Plot { + + double[][] topNW; + + double[][] topNE; + + double[][] topSW; + + double[][] topSE; + + double[][] bottomNW; + + double[][] bottomNE; + + double[][] bottomSW; + + double[][] bottomSE; + + double[][] widths; + + double[] width_constant = { -1, -1 }; + + double[][] XY; + + boolean fill_shape = true; + + public HistogramPlot3D(String n, Color c, double[][] _XY, double[][] w) { + super(n, c); + XY = _XY; + widths = w; + + build(); + } + + public HistogramPlot3D(String n, Color c, double[][] _XY, double wX, double wY) { + super(n, c); + XY = _XY; + width_constant = new double[] { wX, wY }; + + build(); + } + + public HistogramPlot3D(String n, Color c, double[][] _XY, double[] w) { + super(n, c); + XY = _XY; + width_constant = w; + + build(); + } + + private void build() { + if (width_constant[0] > 0) { + topNW = new double[XY.length][]; + topNE = new double[XY.length][]; + topSW = new double[XY.length][]; + topSE = new double[XY.length][]; + bottomNW = new double[XY.length][]; + bottomNE = new double[XY.length][]; + bottomSW = new double[XY.length][]; + bottomSE = new double[XY.length][]; + for (int i = 0; i < XY.length; i++) { + topNW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, XY[i][2] }; + topNE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, XY[i][2] }; + topSW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, XY[i][2] }; + topSE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, XY[i][2] }; + bottomNW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, 0 }; + bottomNE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] + width_constant[1] / 2, 0 }; + bottomSW[i] = new double[] { XY[i][0] - width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, 0 }; + bottomSE[i] = new double[] { XY[i][0] + width_constant[0] / 2, XY[i][1] - width_constant[1] / 2, 0 }; + } + } else { + topNW = new double[XY.length][]; + topNE = new double[XY.length][]; + topSW = new double[XY.length][]; + topSE = new double[XY.length][]; + bottomNW = new double[XY.length][]; + bottomNE = new double[XY.length][]; + bottomSW = new double[XY.length][]; + bottomSE = new double[XY.length][]; + for (int i = 0; i < XY.length; i++) { + topNW[i] = new double[] { XY[i][0] - widths[i][0] / 2, XY[i][1] + widths[i][1] / 2, XY[i][2] }; + topNE[i] = new double[] { XY[i][0] + widths[i][0] / 2, XY[i][1] + widths[i][1] / 2, XY[i][2] }; + topSW[i] = new double[] { XY[i][0] - widths[i][0] / 2, XY[i][1] - widths[i][1] / 2, XY[i][2] }; + topSE[i] = new double[] { XY[i][0] + widths[i][0] / 2, XY[i][1] - widths[i][1] / 2, XY[i][2] }; + bottomNW[i] = new double[] { XY[i][0] - widths[i][0] / 2, XY[i][1] + widths[i][1] / 2, 0 }; + bottomNE[i] = new double[] { XY[i][0] + widths[i][0] / 2, XY[i][1] + widths[i][1] / 2, 0 }; + bottomSW[i] = new double[] { XY[i][0] - widths[i][0] / 2, XY[i][1] - widths[i][1] / 2, 0 }; + bottomSE[i] = new double[] { XY[i][0] + widths[i][0] / 2, XY[i][1] - widths[i][1] / 2, 0 }; + } + } + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + draw.canvas.includeInBounds(bottomSW[0]); + draw.canvas.includeInBounds(topNE[XY.length - 1]); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length; i++) { + if (topNW[i][2]!=bottomNW[i][2]) { + draw.drawLine(topNW[i], topNE[i]); + draw.drawLine(topNE[i], topSE[i]); + draw.drawLine(topSE[i], topSW[i]); + draw.drawLine(topSW[i], topNW[i]); + + draw.drawLine(bottomNW[i], bottomNE[i]); + draw.drawLine(bottomNE[i], bottomSE[i]); + draw.drawLine(bottomSE[i], bottomSW[i]); + draw.drawLine(bottomSW[i], bottomNW[i]); + + draw.drawLine(bottomNW[i], topNW[i]); + draw.drawLine(bottomNE[i], topNE[i]); + draw.drawLine(bottomSE[i], topSE[i]); + draw.drawLine(bottomSW[i], topSW[i]); + + if (fill_shape) { + draw.fillPolygon(0.2f,topNW[i], topNE[i], topSE[i], topSW[i]); + //draw.fillPolygon(bottomNW[i], bottomNE[i], bottomSE[i], bottomSW[i]); + /*draw.fillPolygon(topNW[i], topNE[i], bottomNE[i], bottomNW[i]); + draw.fillPolygon(topSW[i], topSE[i], bottomSE[i], bottomSW[i]); + draw.fillPolygon(topNE[i], topSE[i], bottomSE[i], bottomNE[i]); + draw.fillPolygon(topNW[i], topSW[i], bottomSW[i], bottomNW[i]);*/ + } + } + } + } + + @Override + public void setData(double[][] d) { + XY = d; + } + + @Override + public double[][] getData() { + return XY; + } + + public void setDataWidth(double[][] w) { + widths = w; + } + + public void setDataWidth(double... w) { + width_constant = w; + build(); + } + + public double[][] getDataWidth() { + if (width_constant[0] > 0) { + widths = new double[XY.length][2]; + for (int i = 0; i < widths.length; i++) { + widths[i][0] = width_constant[0]; + widths[i][1] = width_constant[1]; + } + } + return widths; + } + + public void setData(double[][] d, double[][] w) { + XY = d; + widths = w; + } + + public void setData(double[][] d, double... w) { + XY = d; + setDataWidth(w); + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) + && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) + return XY[i]; + } + return null; + } + + public static void main(String[] args) { + double[][] XY = new double[500][2]; + for (int i = 0; i < XY.length; i++) { + XY[i][0] = Math.random()+Math.random(); + XY[i][1] = Math.random()+Math.random(); + } + Plot3DPanel p = new Plot3DPanel("SOUTH"); + p.addHistogramPlot("test", XY, 4, 6); + new FrameView(p); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/LayerPlot.java b/src/jat/core/plot/plot/plots/LayerPlot.java new file mode 100644 index 0000000..f4c087e --- /dev/null +++ b/src/jat/core/plot/plot/plots/LayerPlot.java @@ -0,0 +1,20 @@ +/* + * Created on 5 juil. 07 by richet + */ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.render.AbstractDrawer; + +public abstract class LayerPlot extends Plot { + + Plot plot; + + public LayerPlot(String name, Plot p) { + super(name, p.color); + plot = p; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + return null; + } +} diff --git a/src/jat/core/plot/plot/plots/LinePlot.java b/src/jat/core/plot/plot/plots/LinePlot.java new file mode 100644 index 0000000..d5787fa --- /dev/null +++ b/src/jat/core/plot/plot/plots/LinePlot.java @@ -0,0 +1,80 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + +import javax.swing.JFrame; + + +public class LinePlot extends ScatterPlot { + + public boolean draw_dot = false; + public boolean closed_curve = true; + //public boolean closed_curve = false; + + public LinePlot(String n, Color c, boolean[][] _pattern, double[][] _XY) { + super(n, c, _pattern, _XY); + } + + public LinePlot(String n, Color c, int _type, int _radius, double[][] _XY) { + super(n, c, _type, _radius, _XY); + } + + public LinePlot(String n, Color c, double[][] _XY) { + super(n, c, _XY); + } + + public LinePlot(String n, Color c, double[][] _XY, boolean closed_curve) { + super(n, c, _XY); + this.closed_curve = closed_curve; + } + + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + if (draw_dot) + super.plot(draw, c); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length - 1; i++) + draw.drawLine(XY[i], XY[i + 1]); + if (closed_curve) + draw.drawLine(XY[XY.length - 1], XY[0]); + + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + + double[][] XYZ = new double[100][2]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = 2 * Math.PI * (double) j / XYZ.length; + XYZ[j][1] = Math.sin(XYZ[j][0]); + } + p2.addLinePlot("sin", XYZ); + + p2.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + Plot3DPanel p = new Plot3DPanel(); + + XYZ = new double[100][3]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = 2 * Math.PI * (double) j / XYZ.length; + XYZ[j][1] = Math.sin(XYZ[j][0]); + XYZ[j][2] = Math.sin(XYZ[j][0]) * Math.cos(XYZ[j][1]); + } + p.addLinePlot("toto", XYZ); + + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/Plot.java b/src/jat/core/plot/plot/plots/Plot.java new file mode 100644 index 0000000..dff3869 --- /dev/null +++ b/src/jat/core/plot/plot/plots/Plot.java @@ -0,0 +1,153 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.plotObjects.Editable; +import jat.core.plot.plot.plotObjects.Noteable; +import jat.core.plot.plot.plotObjects.Plotable; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; +import java.util.LinkedList; + + +public abstract class Plot implements Plotable, Noteable, Editable { + + public String name; + public Color color; + public boolean visible = true; + public LinkedList layers; + public boolean noted = false; + + //public boolean forcenoted = false; + public int note_precision = 5; + + public Plot(String n, Color c) { + name = n; + color = c; + layers = new LinkedList(); + + } + + public void addLayer(LayerPlot q) { + layers.add(q); + } + + public void addQuantile(QuantileLayerPlot q) { + layers.add(q); + } + + public void addQuantile(int a, double r, double[] q, boolean symetric) { + layers.add(new QuantileLayerPlot(this, a, q, r, symetric)); + } + + public void addQuantile(int a, double r, double q, boolean symetric) { + layers.add(new QuantileLayerPlot(this, a, q, r, symetric)); + } + + public void addQuantiles(int a, double[][] q) { + layers.add(new DensityLayerPlot(this, a, q)); + } + + public void addQuantiles(int a, double[] q) { + layers.add(new DensityLayerPlot(this, a, q)); + } + + public void addGaussQuantiles(int a, double[] s) { + layers.add(new GaussianDensityLayerPlot(this, a, s)); + } + + public void addGaussQuantiles(int a, double s) { + layers.add(new GaussianDensityLayerPlot(this, a, s)); + } + + /*public void addQuantiles(double[][][] q,boolean _symetric) { + for (int i = 0; i < q[0].length; i++) { + addQuantile(i, Array.getColumnCopy(q, i, 0),_symetric); + addQuantile(i, Array.getColumnCopy(q, i, 1),_symetric); + } + }*/ + + /*public void addQuantiles(double[][] q,boolean _symetric) { + for (int i = 0; i < q[0].length; i++) { + addQuantile(i, Array.getColumnCopy(q, i),_symetric); + } + }*/ + public void addVector(double[][] v) { + layers.add(new VectorLayerPlot(this, v)); + + } + + public abstract void setData(double[][] d); + + public abstract double[][] getData(); + + public void setVisible(boolean v) { + visible = v; + } + + public boolean getVisible() { + return visible; + } + + public void setName(String n) { + name = n; + } + + public String getName() { + return name; + } + + /* + * public String getType() { return type; } + */ + public Color getColor() { + return color; + } + + public void setColor(Color c) { + color = c; + } + + public abstract double[] isSelected(int[] screenCoordTest, AbstractDrawer draw); + + public void note(AbstractDrawer draw) { + plot(draw, PlotCanvas.NOTE_COLOR); + plotLayerPlots(draw, PlotCanvas.NOTE_COLOR); + } + + public void noteCoord(AbstractDrawer draw, double[] coordNoted) { + if (coordNoted == null) { + return; + } + + draw.setColor(PlotCanvas.NOTE_COLOR); + draw.drawCoordinate(coordNoted); + draw.drawText(Array.cat(draw.canvas.reverseMapedData(coordNoted)), coordNoted); + } + + public abstract void plot(AbstractDrawer draw, Color c); + + public void plot(AbstractDrawer draw) { + //if (layers.size() > 0) + plotLayerPlots(draw, color); + //else + plot(draw, color); + } + + public void plotLayerPlots(AbstractDrawer draw, Color c) { + for (int i = 0; i < layers.size(); i++) { + layers.get(i).plot(draw, c); + } + + } + + public void edit(Object src) { + ((PlotCanvas) src).displayDatasFrame(((PlotCanvas) src).getPlotIndex(this)); + } + + public void editnote(AbstractDrawer draw) { + plot(draw, PlotCanvas.EDIT_COLOR); + plotLayerPlots(draw, PlotCanvas.EDIT_COLOR); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/QuantileLayerPlot.java b/src/jat/core/plot/plot/plots/QuantileLayerPlot.java new file mode 100644 index 0000000..7bcc597 --- /dev/null +++ b/src/jat/core/plot/plot/plots/QuantileLayerPlot.java @@ -0,0 +1,147 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + +import javax.swing.JFrame; + + +/** + * @author Yann RICHET + * @version 1.0 + */ + +public class QuantileLayerPlot extends LayerPlot { + + public static int WIDTH = 2; + + int axe; + + double quantileRate; + + Color gradC; + + double main_data_constant = 0; + + public boolean symetric = false; + + double[] Q; + + //public static double DEFAULT_RATE=1.0; + + /*public QuantilePlot(Plot p, int a, double[] q, boolean _symetric) { + this(p, a, q, DEFAULT_RATE,_symetric); + + }*/ + + public QuantileLayerPlot(Plot p, int a, double q, double r, boolean _symetric) { + this(p, a, null, r, true); + main_data_constant = q; + } + + /*public QuantilePlot(Plot p, int a, double q) { + this(p, a, q, DEFAULT_RATE,true); + }*/ + + /** Build a quantile plot based on given plot. The quantile is drawn as a linear gradient from the base plot dots. + * @param p base plot + * @param a axis number of quantile : 0=X quantile, 1=Y quantile, 2=Z quantile + * @param q array of quantiles values + * @param r rate of the quantile. The gradient line length is q/r + * @param _symetric if yes, quantiles are drawn on both negative and positive sides of base plot dots + */ + public QuantileLayerPlot(Plot p, int a, double[] q, double r, boolean _symetric) { + super(r + " quantile of " + p.name, p); + if (q != null) + Array.checkLength(q, p.getData().length); + Q = q; + axe = a; + quantileRate = r; + symetric = _symetric; + + } + + public double getQuantilesValue(int numCoord) { + return Q[numCoord]; + } + + public int getAxe() { + return axe; + } + + public double getQuantileRate() { + return quantileRate; + } + + public void plot(AbstractDrawer draw, Color c) { + if (!plot.visible) + return; + + draw.setColor(c); + gradC = new Color(c.getRed(), c.getGreen(), c.getBlue(), (int) (255 * (1 - quantileRate))); + + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + draw.setLineWidth(WIDTH); + if (main_data_constant == 0) + for (int i = 0; i < plot.getData().length; i++) { + double[] d = Array.getRowCopy(plot.getData(), i); + d[axe] += Q[i];///quantileRate; + draw.setGradient(plot.getData()[i], c, d, gradC); + draw.drawLine(plot.getData()[i], d); + // draw.drawDot(d, RADIUS/*(int)(RADIUS*quantileRate)*/); + + if (symetric) { + d[axe] -= 2 * Q[i];///quantileRate; + draw.setGradient(plot.getData()[i], c, d, gradC); + draw.drawLine(plot.getData()[i], d); + // draw.drawDot(d, RADIUS/*(int)(RADIUS*quantileRate)*/); + } + } + else + for (int i = 0; i < plot.getData().length; i++) { + double[] d = Array.getRowCopy(plot.getData(), i); + d[axe] += main_data_constant;///quantileRate; + draw.setGradient(plot.getData()[i], c, d, gradC); + draw.drawLine(plot.getData()[i], d); + // draw.drawDot(d, shape/*RADIUS/*(int)(RADIUS*quantileRate)*/); + + if (symetric) { + d[axe] -= 2 * main_data_constant;///quantileRate; + draw.setGradient(plot.getData()[i], c, d, gradC); + draw.drawLine(plot.getData()[i], d); + // draw.drawDot(d, RADIUS/*(int)(RADIUS*quantileRate)*/); + } + } + draw.resetGradient(); + draw.setLineWidth(AbstractDrawer.DEFAULT_LINE_WIDTH); + + } + + @Override + public void setData(double[][] d) { + Q = d[0]; + } + + @Override + public double[][] getData() { + return new double[][] { Q }; + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + for (int i = 0; i < 1; i++) { + double[][] XYZ = new double[10][2]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 + */Math.random(); + XYZ[j][1] = /*100 * */Math.random(); + } + p2.addScatterPlot("toto" + i, XYZ); + } + p2.addQuantiletoPlot(0, 1, 1.0, true, 0.2); + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/ScatterPlot.java b/src/jat/core/plot/plot/plots/ScatterPlot.java new file mode 100644 index 0000000..557892e --- /dev/null +++ b/src/jat/core/plot/plot/plots/ScatterPlot.java @@ -0,0 +1,159 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + +import javax.swing.JFrame; + + +public class ScatterPlot extends Plot { + + private int type; + private int radius; + private boolean[][] pattern; + private boolean use_pattern; + double[][] XY; + private String[] tags; + + public ScatterPlot(String n, Color c, boolean[][] _pattern, double[][] _XY) { + super(n, c); + XY = _XY; + use_pattern = true; + pattern = _pattern; + } + + public ScatterPlot(String n, Color c, int _type, int _radius, double[][] _XY) { + super(n, c); + XY = _XY; + use_pattern = false; + type = _type; + radius = _radius; + } + + public ScatterPlot(String n, Color c, double[][] _XY) { + this(n, c, AbstractDrawer.ROUND_DOT, AbstractDrawer.DEFAULT_DOT_RADIUS, _XY); + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) { + return; + } + + draw.setColor(c); + if (use_pattern) { + draw.setDotType(AbstractDrawer.PATTERN_DOT); + draw.setDotPattern(pattern); + } else { + draw.setDotRadius(radius); + if (type == AbstractDrawer.CROSS_DOT) { + draw.setDotType(AbstractDrawer.CROSS_DOT); + } else { + draw.setDotType(AbstractDrawer.ROUND_DOT); + } + } + + for (int i = 0; i < XY.length; i++) { + draw.drawDot(XY[i]); + } + } + + public void setDotPattern(int t) { + type = t; + use_pattern = false; + } + + public void setDotPattern(boolean[][] t) { + use_pattern = true; + pattern = t; + } + + @Override + public void setData(double[][] d) { + XY = d; + } + + @Override + public double[][] getData() { + return XY; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + for (int i = 0; i < XY.length; i++) { + int[] screenCoord = draw.project(XY[i]); + + if ((screenCoord[0] + note_precision > screenCoordTest[0]) && (screenCoord[0] - note_precision < screenCoordTest[0]) && (screenCoord[1] + note_precision > screenCoordTest[1]) && (screenCoord[1] - note_precision < screenCoordTest[1])) { + return XY[i]; + } + } + return null; + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + for (int i = 0; i < 3; i++) { + double[][] XYZ = new double[10][2]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 + */ Math.random(); + XYZ[j][1] = /*100 * */ Math.random(); + } + p2.addScatterPlot("toto" + i, XYZ); + } + + p2.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + Plot3DPanel p = new Plot3DPanel(); + String[] tags = null; + for (int i = 0; i < 3; i++) { + double[][] XYZ = new double[10][3]; + tags = new String[10]; + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = /*1 +*/ Math.random(); + XYZ[j][1] = /*100 **/ Math.random(); + XYZ[j][2] = /*0.0001 **/ Math.random(); + tags[j] = "tags "+ j; + } + p.addScatterPlot("toto" + i, XYZ); + } + ((ScatterPlot)p.getPlot(0)).setTags(tags); + + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } + + /** + * @param tags the tags to set + */ + public void setTags(String[] tags) { + this.tags = tags; + } + + @Override + public void noteCoord(AbstractDrawer draw, double[] coordNoted) { + if (coordNoted == null) { + return; + } + + if (tags == null) { + super.noteCoord(draw, coordNoted); + } else { + draw.setColor(PlotCanvas.NOTE_COLOR); + for (int i = 0; i < XY.length; i++) { + if (tags.length > i) { + if (Array.equals(XY[i], coordNoted)) { + draw.drawText(tags[i], coordNoted); + } + } + } + } + //draw.drawCoordinate(coordNoted); + //draw.drawText(Array.cat(draw.canvas.reverseMapedData(coordNoted)), coordNoted); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/SpherePlot3D.java b/src/jat/core/plot/plot/plots/SpherePlot3D.java new file mode 100644 index 0000000..ac49047 --- /dev/null +++ b/src/jat/core/plot/plot/plots/SpherePlot3D.java @@ -0,0 +1,141 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.coreNOSA.math.CoordTransform; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.awt.Color; + + +public class SpherePlot3D extends Plot { + + double radius; + static double[][][] r; + public boolean draw_lines = true; + public boolean fill_shape = true; + public boolean draw_dots = false; + public int lat_divs=18, long_divs=18; + + public SpherePlot3D(String name, Color c, double radius) { + super(name, c); + this.radius = radius; + buildXYZ_list(); + } + + private void buildXYZ_list() { + + int lat_inc=360/lat_divs; + int long_inc=180/long_divs; + r = new double[long_divs+1][lat_divs+1][3]; + double theta, phi; + VectorN triple; + + //double radius = 1; + int dimx = r.length; + int dimy = r[0].length; + for (int i = 0; i < dimx; i++) { + phi = i * lat_inc; + for (int j = 0; j < dimy; j++) { + theta = j * long_inc; + triple = CoordTransform.Spherical_to_Cartesian_deg(radius, + theta, phi); + // triple.print(); + + r[i][j][0] = triple.x[0]; + r[i][j][1] = triple.x[1]; + r[i][j][2] = triple.x[2]; + //System.out.println(i + " " + j + " " + " " + r[i][j][0] + " " + // + r[i][j][1] + " " + r[i][j][2]); + } + } + } + + public void plot(AbstractDrawer draw, Color c) { + + if (!visible) + return; + + draw.setColor(c); + + int dimx = r.length; + int dimy = r[0].length; + if (draw_lines) { + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < dimx; i++) + for (int j = 0; j < dimy - 1; j++) + draw.drawLine(r[i][j], r[i][j + 1]); + + for (int j = 0; j < dimy; j++) + for (int i = 0; i < dimx - 1; i++) + draw.drawLine(r[i][j], r[i + 1][j]); + } + + if (draw_dots) { + draw.setDotType(AbstractDrawer.ROUND_DOT); + draw.setDotRadius(AbstractDrawer.DEFAULT_DOT_RADIUS); + for (int i = 0; i < dimx; i++) + for (int j = 0; j < dimy; j++) + draw.drawDot(r[i][j]); + } + + for (int i = 0; i < dimx - 1; i++) { + for (int j = 0; j < dimy - 1; j++) { + // System.out.println(i + " " + j + " " + " " + r[i][j][0]); + if(i==dimx/2 && j==dimy/2-9) + draw.setColor(Color.LIGHT_GRAY); + draw.fillPolygon(0.2f, r[i][j], r[i + 1][j], r[i + 1][j + 1], + r[i][j + 1]); + } + } + // System.out.println(); + + // draw.fillPolygon(0.2f, r[0][0], r[1][0], r[0][1], r[1][1]); + + } + + + @Override + public void setData(double[][] _Z) { + r[0] = _Z; + buildXYZ_list(); + } + + @Override + public double[][] getData() { + return r[0]; + } + + public double[] isSelected(int[] screenCoordTest, AbstractDrawer draw) { + /* + * for (int i = 0; i < X.length; i++) { for (int j = 0; j < Y.length; + * j++) { double[] XY = { X[i], Y[j], Z[j][i] }; int[] screenCoord = + * draw.project(XY); + * + * if ((screenCoord[0] + note_precision > screenCoordTest[0]) && + * (screenCoord[0] - note_precision < screenCoordTest[0]) && + * (screenCoord[1] + note_precision > screenCoordTest[1]) && + * (screenCoord[1] - note_precision < screenCoordTest[1])) return XY; } + * } + */ + return null; + } + + public static void main(String[] args) { + double size=8000.; + Plot3DPanel p = new Plot3DPanel(); + p.addSpherePlot("toto", size); + p.setLegendOrientation(PlotPanel.SOUTH); + p.setFixedBounds(0, -size, size); + p.setFixedBounds(1, -size, size); + p.setFixedBounds(2, -size, size); + new FrameView(p); + //System.out.println(r.length); + //System.out.println(r[0].length); + //System.out.println(r[0][0].length); + + } + +} diff --git a/src/jat/core/plot/plot/plots/StaircasePlot.java b/src/jat/core/plot/plot/plots/StaircasePlot.java new file mode 100644 index 0000000..70029a9 --- /dev/null +++ b/src/jat/core/plot/plot/plots/StaircasePlot.java @@ -0,0 +1,71 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.render.AbstractDrawer; + +import java.awt.Color; + +import javax.swing.JFrame; + + +public class StaircasePlot extends ScatterPlot { + + public boolean link = true; + + public StaircasePlot(String n, Color c, boolean[][] _pattern, double[][] _XY) { + super(n, c, _pattern, _XY); + } + + public StaircasePlot(String n, Color c, int _type, int _radius, double[][] _XY) { + super(n, c, _type, _radius, _XY); + } + + public StaircasePlot(String n, Color c, double[][] _XY) { + super(n, c, _XY); + } + + public void plot(AbstractDrawer draw, Color c) { + if (!visible) + return; + + //System.out.println(Array.toString(XY)); + + draw.setColor(c); + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + for (int i = 0; i < XY.length - 1; i++) { + double[] begin = XY[i].clone(); + double[] end = XY[i + 1].clone(); + end[end.length - 1] = XY[i][end.length - 1]; + draw.drawLine(begin, end); + } + + //System.out.println(Array.toString(XY)); + + if (link) { + for (int i = 0; i < XY.length - 2; i++) { + double[] begin = XY[i+1].clone(); + double[] end = XY[i + 1].clone(); + begin[begin.length - 1] = XY[i][begin.length - 1]; + draw.drawLine(begin, end); + } + } + //System.out.println(Array.toString(XY)); + + } + + public static void main(String[] args) { + Plot2DPanel p = new Plot2DPanel(); + + double[] X = new double[10]; + double[] Y = new double[10]; + for (int j = 0; j < X.length; j++) { + X[j] = j; + Y[j] = Math.random(); + } + p.addStaircasePlot("toto", X,Y); + + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/plots/VectorLayerPlot.java b/src/jat/core/plot/plot/plots/VectorLayerPlot.java new file mode 100644 index 0000000..9c67c19 --- /dev/null +++ b/src/jat/core/plot/plot/plots/VectorLayerPlot.java @@ -0,0 +1,84 @@ +package jat.core.plot.plot.plots; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.render.AbstractDrawer; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; + +import javax.swing.JFrame; + + +/** + * @author Yann RICHET + * @version 1.0 + */ + +/**Layer to add a vector field to an existing Plot*/ +public class VectorLayerPlot extends LayerPlot { + + public static int RADIUS = 5; + + double[][] V; + + /**Create a vector fiels based on data of a plot + @param p Base plot to support vector field + @param v Vector field of same lenght that p data */ + public VectorLayerPlot(Plot p, double[][] v) { + super("Vector of " + p.name, p); + if (v != null) { + Array.checkRowDimension(v, p.getData().length); + Array.checkColumnDimension(v, p.getData()[0].length); + } + V = v; + + } + + @Override + public void setData(double[][] v) { + V = v; + } + + @Override + public double[][] getData() { + return V; + } + + public void plot(AbstractDrawer draw, Color c) { + if (!plot.visible) + return; + + draw.setColor(c); + + draw.setLineType(AbstractDrawer.CONTINOUS_LINE); + + for (int i = 0; i < plot.getData().length; i++) { + double[] d = Array.getRowCopy(plot.getData(), i); + for (int j = 0; j < d.length; j++) { + d[j] += V[i][j]; + } + draw.drawLine(plot.getData()[i], d); + //TODO: draw arrow at position d + + } + + } + + public static void main(String[] args) { + Plot2DPanel p2 = new Plot2DPanel(); + double[][] XYZ = new double[100][2]; + double[][] dXYZ = new double[100][2]; + + for (int j = 0; j < XYZ.length; j++) { + XYZ[j][0] = Math.random()*10; + XYZ[j][1] = Math.random()*10; + dXYZ[j][0] = 1.0/Math.sqrt(1+Math.log(XYZ[j][0])*Math.log(XYZ[j][0])); + dXYZ[j][1] = Math.log(XYZ[j][0])/Math.sqrt(1+Math.log(XYZ[j][0])*Math.log(XYZ[j][0])); + } + p2.addScatterPlot("toto", XYZ); + + p2.addVectortoPlot(0, dXYZ); + new FrameView(p2).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/render/AWTDrawer.java b/src/jat/core/plot/plot/render/AWTDrawer.java new file mode 100644 index 0000000..6995e5b --- /dev/null +++ b/src/jat/core/plot/plot/render/AWTDrawer.java @@ -0,0 +1,425 @@ +/* + * Created on 31 mai 2005 by richet + */ +package jat.core.plot.plot.render; + +import static java.lang.Math.PI; +import static java.lang.Math.abs; +import static java.lang.Math.acos; +import static java.lang.Math.atan; +import static java.lang.Math.cos; +import static java.lang.Math.signum; +import static java.lang.Math.sqrt; +import static java.lang.Math.tan; +import jat.core.plot.plot.canvas.PlotCanvas; + +import java.awt.AlphaComposite; +import java.awt.BasicStroke; +import java.awt.Color; +import java.awt.Composite; +import java.awt.Font; +import java.awt.GradientPaint; +import java.awt.Image; +import java.awt.Stroke; +import java.awt.font.FontRenderContext; +import java.awt.geom.AffineTransform; + + +public abstract class AWTDrawer extends AbstractDrawer { + + protected Projection projection; + + public AWTDrawer(PlotCanvas _canvas) { + super(_canvas); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#resetProjection() + */ + public void resetBaseProjection() { + projection.initBaseCoordsProjection(); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#setColor(java.awt.Color) + */ + public void setColor(Color c) { + comp2D.setColor(c); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#setGradient + */ + public void setGradient(double[] xy0, Color c0, double[] xy1, Color c1) { + int[] s0 = project(xy0); + int[] s1 = project(xy1); + comp2D.setPaint(new GradientPaint(s0[0], s0[1], c0, s1[0], s1[1], c1)); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#setFont(java.awt.Font) + */ + public void setFont(Font f) { + comp2D.setFont(f); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#getColor() + */ + public Color getColor() { + return comp2D.getColor(); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#getFont() + */ + public Font getFont() { + return comp2D.getFont(); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#project(double[]) + */ + public int[] project(double... pC) { + return projection.screenProjection(pC); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#projectRatio(double[]) + */ + public int[] projectBase(double... rC) { + return projection.screenProjectionBaseRatio(rC); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#translate(int[]) + */ + public void translate(int... t) { + projection.translate(t); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#dilate(int[], double[]) + */ + public void dilate(int[] screenOrigin, double[] screenRatio) { + projection.dilate(screenOrigin, screenRatio); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#drawString(java.lang.String, + * double[], double, double, double) + */ + public void drawText(String label, double... pC) { + int[] sC = projection.screenProjection(pC); + + // Corner offset adjustment : Text Offset is used Here + FontRenderContext frc = comp2D.getFontRenderContext(); + Font font1 = comp2D.getFont(); + int x = sC[0]; + int y = sC[1]; + double w = font1.getStringBounds(label, frc).getWidth(); + double h = font1.getSize2D(); + x -= (int) (w * text_Eastoffset); + y += (int) (h * text_Northoffset); + + if (text_angle != 0) { + comp2D.rotate(text_angle, x + w / 2, y - h / 2); + } + + comp2D.drawString(label, x, y); + + if (text_angle != 0) { + comp2D.rotate(-text_angle, x + w / 2, y - h / 2); + } + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#drawStringRatio(java.lang.String, + * double[], double, double, double) + */ + public void drawTextBase(String label, double... rC) { + int[] sC = projection.screenProjectionBaseRatio(rC); + + // Corner offset adjustment : Text Offset is used Here + FontRenderContext frc = comp2D.getFontRenderContext(); + Font font1 = comp2D.getFont(); + int x = sC[0]; + int y = sC[1]; + double w = font1.getStringBounds(label, frc).getWidth(); + double h = font1.getSize2D(); + x -= (int) (w * text_Eastoffset); + y += (int) (h * text_Northoffset); + + if (text_angle != 0) { + comp2D.rotate(text_angle, x + w / 2, y - h / 2); + } + + comp2D.drawString(label, x, y); + + if (text_angle != 0) { + comp2D.rotate(-text_angle, x + w / 2, y - h / 2); + } + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#drawLineRatio(double[], + * double[]) + */ + public void drawLineBase(double[]... rC) { + int[][] sC = new int[rC.length][]; + for (int i = 0; i < sC.length; i++) { + sC[i] = projection.screenProjectionBaseRatio(rC[i]); + } + drawLine(sC); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#drawLine(double[], double[]) + */ + public void drawLine(double[]... pC) { + int[][] sC = new int[pC.length][]; + for (int i = 0; i < sC.length; i++) { + sC[i] = projection.screenProjection(pC[i]); + } + drawLine(sC); + } + + private void drawLine(int[]... c) { + Stroke s = null; + switch (line_type) { + case CONTINOUS_LINE: + s = new BasicStroke(line_width, BasicStroke.CAP_BUTT, BasicStroke.JOIN_ROUND); + break; + case DOTTED_LINE: + s = new BasicStroke(line_width, BasicStroke.CAP_BUTT, BasicStroke.JOIN_ROUND, 1f, new float[]{2f}, 0f); + break; + } + comp2D.setStroke(s); + + int[] x = new int[c.length]; + for (int i = 0; i < c.length; i++) { + x[i] = c[i][0]; + } + int[] y = new int[c.length]; + for (int i = 0; i < c.length; i++) { + y[i] = c[i][1]; + } + comp2D.drawPolyline(x, y, c.length); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#drawDot(double[]) + */ + public void drawDot(double... pC) { + int[] sC = projection.screenProjection(pC); + switch (dot_type) { + case ROUND_DOT: + comp2D.fillOval(sC[0] - dot_radius, sC[1] - dot_radius, 2 * dot_radius, 2 * dot_radius); + break; + case CROSS_DOT: + comp2D.drawLine(sC[0] - dot_radius, sC[1] - dot_radius, sC[0] + dot_radius, sC[1] + dot_radius); + comp2D.drawLine(sC[0] + dot_radius, sC[1] - dot_radius, sC[0] - dot_radius, sC[1] + dot_radius); + break; + case PATTERN_DOT: + int yoffset = (int) Math.ceil(dot_pattern.length / 2.0); + int xoffset = (int) Math.ceil(dot_pattern[0].length / 2.0); + for (int i = 0; i < dot_pattern.length; i++) { + for (int j = 0; j < dot_pattern[i].length; j++) { + if (dot_pattern[i][j]) // comp2D.setColor(new Color(getColor()) + { + comp2D.fillRect(sC[0] - xoffset + j, sC[1] - yoffset + i, 1, 1); + } + } + } + break; + } + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#drawPloygon(double[][]) + */ + public void drawPolygon(double[]... pC) { + int[][] c = new int[pC.length][2]; + for (int i = 0; i < pC.length; i++) { + c[i] = projection.screenProjection(pC[i]); + } + + int[] x = new int[c.length]; + for (int i = 0; i < c.length; i++) { + x[i] = c[i][0]; + } + int[] y = new int[c.length]; + for (int i = 0; i < c.length; i++) { + y[i] = c[i][1]; + } + comp2D.drawPolygon(x, y, c.length); + } + + /* + * (non-Javadoc) + * + * @see org.math.plot.render.AbstractDrawer#fillPloygon(double[][]) + */ + public void fillPolygon(float alpha, double[]... pC) { + int[][] c = new int[pC.length][2]; + for (int i = 0; i < pC.length; i++) { + c[i] = projection.screenProjection(pC[i]); + } + + int[] x = new int[c.length]; + for (int i = 0; i < c.length; i++) { + x[i] = c[i][0]; + } + int[] y = new int[c.length]; + for (int i = 0; i < c.length; i++) { + y[i] = c[i][1]; + } + Composite cs = comp2D.getComposite(); + comp2D.setComposite(AlphaComposite.getInstance(AlphaComposite.SRC_OVER, alpha)); + comp2D.fillPolygon(x, y, c.length); + comp2D.setComposite(cs); + } + + public void drawImage(Image img, float alpha, double[] _xyzSW, double[] _xyzSE, double[] _xyzNW) { + Composite cs = comp2D.getComposite(); + comp2D.setComposite(AlphaComposite.getInstance(AlphaComposite.SRC_OVER, alpha)); + AffineTransform t = getAffineTransform(img.getWidth(canvas), img.getHeight(canvas), _xyzSW, _xyzSE, _xyzNW); + if (t != null) { + comp2D.drawImage(img, t, canvas); + } + comp2D.setComposite(cs); + } + + /*public void drawShape(Shape shape, float alpha, double[] _xyzSW, double[] _xyzSE, double[] _xyzNW) { + AffineTransform t = getAffineTransform(shape.getBounds().width,shape.getBounds().height, _xyzSW, _xyzSE, _xyzNW); + Shape t_shape = t.createTransformedShape(shape); + Composite cs = comp2D.getComposite(); + comp2D.setComposite(AlphaComposite.getInstance(AlphaComposite.SRC_OVER, alpha)); + comp2D.draw(t_shape); + comp2D.setComposite(cs); + }*/ + static boolean isDiff(double[] x, int[] y) { + return abs(x[0] - y[0]) > 1 || abs(x[1] - y[1]) > 1; + } + + static double sign(double x) { + if (x != 0) { + return signum(x); + } else { + return 1.0; + } + } + + static double sqr(double x) { + return x * x; + } + + public AffineTransform getAffineTransform(int width, int height, double[] _xyzSW, double[] _xyzSE, double[] _xyzNW) { + int[] cornerNW = projection.screenProjection(_xyzNW); + int[] cornerSE = projection.screenProjection(_xyzSE); + int[] cornerSW = projection.screenProjection(_xyzSW); + + double[] vectWE = {(double) cornerSE[0] - (double) cornerSW[0], (double) cornerSE[1] - (double) cornerSW[1]}; + double normvectWE = sqrt(sqr(vectWE[0]) + sqr(vectWE[1])); + double[] vectSN = {(double) cornerNW[0] - (double) cornerSW[0], (double) cornerNW[1] - (double) cornerSW[1]}; + double normvectSN = sqrt(sqr(vectSN[0]) + sqr(vectSN[1])); + double angleSW = acos((vectWE[0] * vectSN[0] + vectWE[1] * vectSN[1]) / (normvectWE * normvectSN)); + + if (angleSW == 0.0) { + return null; + } + + AffineTransform t = new AffineTransform(); + + t.translate(cornerNW[0], cornerNW[1]); + t.scale(sign(vectWE[0]), -sign(vectSN[1])); + t.rotate(-atan(vectSN[0] / vectSN[1])); + t.shear(0, 1 / tan(PI - angleSW)); + t.scale(normvectWE * cos(angleSW - PI / 2) / (double) width, normvectSN / (double) height); + + double[] _cornerSE_tr = new double[2]; + double[] _cornerSE = {width, height}; + t.transform(_cornerSE, 0, _cornerSE_tr, 0, 1); + + if (isDiff(_cornerSE_tr, cornerSE)) { + double[] vectSE_NW_1 = {(double) cornerNW[0] - (double) cornerSE[0], (double) cornerNW[1] - (double) cornerSE[1]}; + double[] vectSE_NW_2 = {(double) cornerNW[0] - (double) _cornerSE_tr[0], (double) cornerNW[1] - (double) _cornerSE_tr[1]}; + + double normvect_1 = sqrt(sqr(vectSE_NW_1[0]) + sqr(vectSE_NW_1[1])); + double normvect_2 = sqrt(sqr(vectSE_NW_1[0]) + sqr(vectSE_NW_1[1])); + + double cos_angle = (((vectSE_NW_1[0] * vectSE_NW_2[0] + vectSE_NW_1[1] * vectSE_NW_2[1]) / (normvect_1 * normvect_2))); + double vect = (vectSE_NW_1[0] * vectSE_NW_2[1] - vectSE_NW_1[1] * vectSE_NW_2[0]); + + AffineTransform t2 = new AffineTransform(); + if (vect < 0) { + t2.rotate(acos(cos_angle), cornerNW[0], cornerNW[1]); + } else { + t2.rotate(-acos(cos_angle), cornerNW[0], cornerNW[1]); + } + t.preConcatenate(t2); + } + + // TODO patch for many cases... + + /*double[] _cornerSW_tr = new double[2]; + double[] _cornerSW = { 0, img.getHeight(canvas) }; + t.transform(_cornerSW, 0, _cornerSW_tr, 0, 1); + + if (isDiff(_cornerSW_tr, cornerSW)) { + double[] vectSW_NW_1 = { (double) cornerNW[0] - (double) cornerSW[0], (double) cornerNW[1] - (double) cornerSW[1] }; + double[] vectSW_NW_2 = { (double) cornerNW[0] - (double) _cornerSW_tr[0], (double) cornerNW[1] - (double) _cornerSW_tr[1] }; + + double normvect_1 = sqrt(sqr(vectSW_NW_1[0]) + sqr(vectSW_NW_1[1])); + double normvect_2 = sqrt(sqr(vectSW_NW_1[0]) + sqr(vectSW_NW_1[1])); + + double cos_angle = (((vectSW_NW_1[0] * vectSW_NW_2[0] + vectSW_NW_1[1] * vectSW_NW_2[1]) / (normvect_1 * normvect_2))); + double vect = (vectSW_NW_1[0] * vectSW_NW_2[1] - vectSW_NW_1[1] * vectSW_NW_2[0]); + + System.out.println(cos_angle + " " + vect + " -> " + toDegrees(acos(cos_angle))); + + //System.out.println(" "+vectSE_NW_1[0]+","+vectSE_NW_1[1]+" "+vectSE_NW_2[0]+","+vectSE_NW_2[1]); + AffineTransform t2 = new AffineTransform(); + if (vect > 0) + t2.rotate(acos(cos_angle), cornerNW[0], cornerNW[1]); + else + t2.rotate(-acos(cos_angle), cornerNW[0], cornerNW[1]); + t.preConcatenate(t2); + + }*/ + + return t; + } +} diff --git a/src/jat/core/plot/plot/render/AWTDrawer2D.java b/src/jat/core/plot/plot/render/AWTDrawer2D.java new file mode 100644 index 0000000..3b46e60 --- /dev/null +++ b/src/jat/core/plot/plot/render/AWTDrawer2D.java @@ -0,0 +1,28 @@ +package jat.core.plot.plot.render; + +import jat.core.plot.plot.canvas.PlotCanvas; + +public class AWTDrawer2D extends AWTDrawer { + + public AWTDrawer2D(PlotCanvas _canvas) { + super(_canvas); + projection = new Projection2D(this); + } + + /*// More efficient method for orthogonal display of images + public void drawImage(Image img,float alpha, double[] _xyzSW, double[] _xyzSE,double[] _xyzNW) { + int[] cornerNW = projection.screenProjection(_xyzNW); + int[] cornerSE = projection.screenProjection(_xyzSE); + int[] cornerSW = projection.screenProjection(_xyzSW); + + AffineTransform transform = new AffineTransform(); + transform.translate(cornerNW[0],cornerNW[1]); + transform.scale((-cornerSW[0]+cornerSE[0])/(double)img.getWidth(canvas),(-cornerNW[1]+cornerSW[1])/(double)img.getHeight(canvas)); + + Composite cs = comp2D.getComposite(); + comp2D.setComposite(AlphaComposite.getInstance(AlphaComposite.SRC_OVER,alpha)); + comp2D.drawImage(img, transform,canvas); + comp2D.setComposite(cs); + }*/ + +} diff --git a/src/jat/core/plot/plot/render/AWTDrawer3D.java b/src/jat/core/plot/plot/render/AWTDrawer3D.java new file mode 100644 index 0000000..82f2435 --- /dev/null +++ b/src/jat/core/plot/plot/render/AWTDrawer3D.java @@ -0,0 +1,16 @@ +package jat.core.plot.plot.render; + +import jat.core.plot.plot.canvas.PlotCanvas; + +public class AWTDrawer3D extends AWTDrawer { + + public AWTDrawer3D(PlotCanvas _canvas) { + super(_canvas); + projection = new Projection3D(this); + } + + public void rotate(int[] t, int[] panelSize) { + ((Projection3D) projection).rotate(t, panelSize); + } + +} diff --git a/src/jat/core/plot/plot/render/AbstractDrawer.java b/src/jat/core/plot/plot/render/AbstractDrawer.java new file mode 100644 index 0000000..dcbe5c7 --- /dev/null +++ b/src/jat/core/plot/plot/render/AbstractDrawer.java @@ -0,0 +1,261 @@ +/* + * Created on 1 juin 2005 by richet + */ +package jat.core.plot.plot.render; + +import jat.core.plot.plot.canvas.PlotCanvas; +import jat.core.plot.plot.utils.Array; + +import java.awt.Color; +import java.awt.Font; +import java.awt.Graphics2D; +import java.awt.Image; + + +public abstract class AbstractDrawer { + + // TODO comment this source for other implementations : java3d, jogl or vtk + + public PlotCanvas canvas; + + protected Graphics2D comp2D; + + public final static int ROUND_DOT = 1; + + public final static int CROSS_DOT = 2; + + public final static int PATTERN_DOT = 0; + + public final static int CONTINOUS_LINE = 1; + + public final static int DOTTED_LINE = 2; + + public final static int DEFAULT_DOT_RADIUS = 2; + + public final static int DEFAULT_LINE_WIDTH = 1; + + public final static boolean[][] DOT_TRIANGLE_PATTERN = stringToPattern("_", "___#___", "__#_#__", "__#_#__", "_#___#_", "_#___#_", "#######"); + + public final static boolean[][] DOT_SQUARE_PATTERN = stringToPattern("_", "######", "#____#", "#____#", "#____#", "#____#", "######"); + + public final static Font DEFAULT_FONT = new Font("Arial", Font.PLAIN, 10); + + public final static Color DEFAULT_COLOR = Color.BLACK; + + protected Font font = DEFAULT_FONT; + + protected double text_Eastoffset, text_Northoffset; + + protected double text_angle; + + protected Color color = DEFAULT_COLOR; + + protected double[] base_offset; + + protected int[] screen_offset; + + //protected double alpha; + + protected int dot_type = ROUND_DOT; + + protected int dot_radius = DEFAULT_DOT_RADIUS; + + protected boolean[][] dot_pattern = DOT_TRIANGLE_PATTERN; + + protected int line_type = CONTINOUS_LINE; + + protected int line_width = DEFAULT_LINE_WIDTH; + + //protected boolean[][] line_pattern = DOT_TRIANGLE_PATTERN; + + public AbstractDrawer(PlotCanvas _canvas) { + canvas = _canvas; + } + + /** + * Method used to initialize drawer to DEFAULT values + */ + public void initGraphics(Graphics2D _comp2D) { + comp2D = _comp2D; + } + + /** + * Method used to reinitialize the plot when the base has changed (bounds or + * scale) + */ + public abstract void resetBaseProjection(); + + public void setColor(Color c) { + color = c; + } + + public abstract void setGradient(double[] xy0, Color c0, double[] xy1, Color c1); + + public void resetGradient() { + comp2D.setPaint(color); + } + + + public void setFont(Font f) { + font = f; + } + + public void setTextOffset(double _cornerEast, double _cornerNorth) { + text_Eastoffset = _cornerEast; + text_Northoffset = _cornerNorth; + } + + public void setTextAngle(double _angle) { + text_angle = _angle; + } + + public void setDotType(int _dot_type) { + dot_type = _dot_type; + } + + public void setDotRadius(int _dot_radius) { + dot_radius = _dot_radius; + } + + public void setDotPattern(boolean[][] _dot_pattern) { + dot_pattern = _dot_pattern; + } + + public void setLineType(int _line_type) { + line_type = _line_type; + } + + public void setLineWidth(int _line_width) { + line_width = _line_width; + } + + public void setBaseOffset(double... _boffset) { + base_offset = _boffset; + } + + public void setScreenOffset(int... _soffset) { + screen_offset = _soffset; + } + + /*public void setAlpha(double _alpha) { + alpha = _alpha; + }*/ + + public Color getColor() { + return color; + } + + public Font getFont() { + return font; + } + + public double[] getTextOffset() { + return new double[] { text_Eastoffset, text_Northoffset }; + } + + public double getTextAngle() { + return text_angle; + } + + public int getDotType() { + return dot_type; + } + + public int getDotRadius() { + return dot_radius; + } + + public boolean[][] getDotPattern() { + return dot_pattern; + } + + public double[] getBaseOffset() { + return base_offset; + } + + public int[] getScreenOffset() { + return screen_offset; + } + + /** + * Returns the screen coordinates coresponding to plot coordinates Used to + * test if mouse is pointing on a plot. + * + * @param pC + * plot ccordinates to project in screen + * @return scrren coordinates + */ + public abstract int[] project(double... pC); + + /** + * Returns the screen coordinates coresponding to plot coordinates Used to + * test if mouse is pointing on a plot. + * + * @param pC + * plot ccordinates to project in screen + * @return scrren coordinates + */ + public abstract int[] projectBase(double... rC); + + /** + * Plot ActionMode : translation of the plot + * + * @param t + * mouse translation in pixels + */ + public abstract void translate(int... t); + + /** + * Plot ActionMode : dilatation of the plot + * + * @param screenOrigin + * mouse initial position + * @param screenRatio + * mouse final position relative to plot panel size + */ + public abstract void dilate(int[] screenOrigin, double[] screenRatio); + + public void drawCoordinate(double[] pC) { + for (int i = 0; i < pC.length; i++) { + double[] axeprojection = Array.copy(pC); + axeprojection[i] = canvas.base.baseCoords[0][i]; + drawLine(pC, axeprojection); + } + setTextAngle(0); + setTextOffset(0, 0); + //drawText(Label.coordToString(pC), pC); + } + + public abstract void drawText(String label, double... pC); + + public abstract void drawTextBase(String label, double... rC); + + public abstract void drawLineBase(double[]... rC); + + public abstract void drawLine(double[]... pC); + + public abstract void drawDot(double... pC); + + public abstract void drawPolygon(double[]... pC); + + public abstract void fillPolygon(float alpha,double[]... pC); + + public abstract void drawImage(Image img, float alpha,double[] _xyzSW, double[] _xyzSE,double[] _xyzNW); + + // needs to be discussed... Maybe a geometric addon should be more interesting... + //public abstract void drawShape(Shape shape, float alpha,double[] _xyzSW, double[] _xyzSE,double[] _xyzNW); + + public static boolean[][] stringToPattern(String empty, String... c) { + boolean[][] p = new boolean[c.length][]; + for (int i = 0; i < p.length; i++) + p[i] = stringToPattern(empty, c[i]); + return p; + } + + public static boolean[] stringToPattern(String empty, String c) { + boolean[] p = new boolean[c.length()]; + for (int i = 0; i < p.length; i++) + p[i] = !(c.substring(i, i + 1).equals(empty)); + return p; + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/render/Projection.java b/src/jat/core/plot/plot/render/Projection.java new file mode 100644 index 0000000..a0c768e --- /dev/null +++ b/src/jat/core/plot/plot/render/Projection.java @@ -0,0 +1,126 @@ +/* + * Created on 31 mai 2005 by richet + */ +package jat.core.plot.plot.render; + +import jat.core.plot.plot.plotObjects.Base; + +public abstract class Projection { + + int[][] baseScreenCoords; + + public static double DEFAULT_BORDER = 0.15; + + protected double borderCoeff = DEFAULT_BORDER; + + protected AWTDrawer draw; + + public Projection(AWTDrawer _draw) { + draw = _draw; + } + + protected void initBaseCoordsProjection() { + // System.out.println("Projection.initBaseCoordsProjection"); + baseScreenCoords = new int[draw.canvas.base.baseCoords.length][2]; + for (int i = 0; i < draw.canvas.base.dimension + 1; i++) { + double[] ratio = baseCoordsScreenProjectionRatio(draw.canvas.base.baseCoords[i]); + baseScreenCoords[i][0] = (int) (draw.canvas.getWidth() * (borderCoeff + (1 - 2 * borderCoeff) * ratio[0])); + baseScreenCoords[i][1] = (int) (draw.canvas.getHeight() - draw.canvas.getHeight() * (borderCoeff + (1 - 2 * borderCoeff) * ratio[1])); + } + } + + // /////////////////////////////////////////// + // ////// move methods /////////////////////// + // /////////////////////////////////////////// + + public void translate(int[] screenTranslation) { + for (int i = 0; i < draw.canvas.base.dimension + 1; i++) { + baseScreenCoords[i][0] = baseScreenCoords[i][0] + screenTranslation[0]; + baseScreenCoords[i][1] = baseScreenCoords[i][1] + screenTranslation[1]; + } + } + + public void dilate(int[] screenOrigin, double[] screenRatio) { + // System.out.println("screenOrigin = "+screenOrigin[0]+" , + // "+screenOrigin[1]); + // System.out.println("screenRatio = "+screenRatio[0]+" , + // "+screenRatio[1]); + for (int i = 0; i < draw.canvas.base.dimension + 1; i++) { + // System.out.println("baseScreenCoords["+i+"] = + // "+baseScreenCoords[i][0]+" , "+baseScreenCoords[i][1]); + baseScreenCoords[i][0] = (int) ((baseScreenCoords[i][0] - screenOrigin[0]) / screenRatio[0]); + baseScreenCoords[i][1] = (int) ((baseScreenCoords[i][1] - screenOrigin[1]) / screenRatio[1]); + // System.out.println(" -> baseScreenCoords["+i+"] = + // "+baseScreenCoords[i][0]+" , "+baseScreenCoords[i][1]); + } + } + + // /////////////////////////////////////////// + // ////// projection method ////////////////// + // /////////////////////////////////////////// + + public int[] screenProjection(double... pC) { + // System.out.println("Projection.screenProjection("+Array.toString(pC)+")"); + double[] sC = new double[2]; + sC[0] = baseScreenCoords[0][0]; + sC[1] = baseScreenCoords[0][1]; + for (int i = 0; i < draw.canvas.base.dimension; i++) { + if (draw.canvas.base.axesScales[i].equalsIgnoreCase(Base.LOGARITHM)) { + sC[0] += ((log(pC[i]) - log(draw.canvas.base.baseCoords[0][i])) / (log(draw.canvas.base.baseCoords[i + 1][i]) - log(draw.canvas.base.baseCoords[0][i]))) + * (baseScreenCoords[i + 1][0] - baseScreenCoords[0][0]); + sC[1] += ((log(pC[i]) - log(draw.canvas.base.baseCoords[0][i])) / (log(draw.canvas.base.baseCoords[i + 1][i]) - log(draw.canvas.base.baseCoords[0][i]))) + * (baseScreenCoords[i + 1][1] - baseScreenCoords[0][1]); + } else if (draw.canvas.base.axesScales[i].equalsIgnoreCase(Base.LINEAR)||draw.canvas.base.axesScales[i].equalsIgnoreCase(Base.STRINGS)) { + sC[0] += ((pC[i] - draw.canvas.base.baseCoords[0][i]) / (draw.canvas.base.baseCoords[i + 1][i] - draw.canvas.base.baseCoords[0][i])) + * (baseScreenCoords[i + 1][0] - baseScreenCoords[0][0]); + sC[1] += ((pC[i] - draw.canvas.base.baseCoords[0][i]) / (draw.canvas.base.baseCoords[i + 1][i] - draw.canvas.base.baseCoords[0][i])) + * (baseScreenCoords[i + 1][1] - baseScreenCoords[0][1]); + } + } + + if (draw.base_offset != null) { + for (int i = 0; i < draw.canvas.base.dimension; i++) { + sC[0] += draw.base_offset[i] * (baseScreenCoords[i + 1][0] - baseScreenCoords[0][0]); + sC[1] += draw.base_offset[i] * (baseScreenCoords[i + 1][1] - baseScreenCoords[0][1]); + } + } + + if (draw.screen_offset != null) { + sC[0] += draw.screen_offset[0]; + sC[1] += draw.screen_offset[1]; + } + + return new int[] { (int) sC[0], (int) sC[1] }; + } + + public int[] screenProjectionBaseRatio(double... rC) { + double[] sC = new double[2]; + sC[0] = baseScreenCoords[0][0]; + sC[1] = baseScreenCoords[0][1]; + for (int i = 0; i < draw.canvas.base.dimension; i++) { + sC[0] += rC[i] * (baseScreenCoords[i + 1][0] - baseScreenCoords[0][0]); + sC[1] += rC[i] * (baseScreenCoords[i + 1][1] - baseScreenCoords[0][1]); + } + + if (draw.base_offset != null) { + for (int i = 0; i < draw.canvas.base.dimension; i++) { + sC[0] += draw.base_offset[i] * (baseScreenCoords[i + 1][0] - baseScreenCoords[0][0]); + sC[1] += draw.base_offset[i] * (baseScreenCoords[i + 1][1] - baseScreenCoords[0][1]); + } + } + + if (draw.screen_offset != null) { + sC[0] += draw.screen_offset[0]; + sC[1] += draw.screen_offset[1]; + } + + return new int[] { (int) sC[0], (int) sC[1] }; + } + + private double log(double x) { + return Math.log(x); + } + + protected abstract double[] baseCoordsScreenProjectionRatio(double[] xyz); + +} diff --git a/src/jat/core/plot/plot/render/Projection2D.java b/src/jat/core/plot/plot/render/Projection2D.java new file mode 100644 index 0000000..6a5bccf --- /dev/null +++ b/src/jat/core/plot/plot/render/Projection2D.java @@ -0,0 +1,23 @@ +package jat.core.plot.plot.render; + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Projection2D extends Projection { + + public Projection2D(AWTDrawer _draw) { + super(_draw); + initBaseCoordsProjection(); + } + + protected double[] baseCoordsScreenProjectionRatio(double[] xy) { + double[] sC = new double[2]; + sC[0] = (xy[0] - draw.canvas.base.roundXmin[0]) / (draw.canvas.base.roundXmax[0] - draw.canvas.base.roundXmin[0]); + sC[1] = (xy[1] - draw.canvas.base.roundXmin[1]) / (draw.canvas.base.roundXmax[1] - draw.canvas.base.roundXmin[1]); + // System.out.println("(" + xy[0] +"," + xy[1] + ") -> (" + sC[0] + "," + // + sC[1] + ")"); + return sC; + } +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/render/Projection3D.java b/src/jat/core/plot/plot/render/Projection3D.java new file mode 100644 index 0000000..dc369bf --- /dev/null +++ b/src/jat/core/plot/plot/render/Projection3D.java @@ -0,0 +1,81 @@ +package jat.core.plot.plot.render; + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Projection3D extends Projection { + + protected double theta; + + protected double phi; + + // protected boolean useRoundTrigonometry = false; + + public Projection3D(AWTDrawer _draw) { + super(_draw); + theta = Math.PI / 4; + phi = Math.PI / 4; + initBaseCoordsProjection(); + } + + protected double[] baseCoordsScreenProjectionRatio(double[] xyz) { + double factor = 1.7; + double[] sC = new double[2]; + sC[0] = 0.5 + + (cos(theta) + * ((xyz[1] - (draw.canvas.base.roundXmax[1] + draw.canvas.base.roundXmin[1]) / 2) / (draw.canvas.base.roundXmax[1] - draw.canvas.base.roundXmin[1])) - sin(theta) + * ((xyz[0] - (draw.canvas.base.roundXmax[0] + draw.canvas.base.roundXmin[0]) / 2) / (draw.canvas.base.roundXmax[0] - draw.canvas.base.roundXmin[0]))) + / factor; + sC[1] = 0.5 + + (cos(phi) + * ((xyz[2] - (draw.canvas.base.roundXmax[2] + draw.canvas.base.roundXmin[2]) / 2) / (draw.canvas.base.roundXmax[2] - draw.canvas.base.roundXmin[2])) + - sin(phi) + * cos(theta) + * ((xyz[0] - (draw.canvas.base.roundXmax[0] + draw.canvas.base.roundXmin[0]) / 2) / (draw.canvas.base.roundXmax[0] - draw.canvas.base.roundXmin[0])) - sin(phi) + * sin(theta) + * ((xyz[1] - (draw.canvas.base.roundXmax[1] + draw.canvas.base.roundXmin[1]) / 2) / (draw.canvas.base.roundXmax[1] - draw.canvas.base.roundXmin[1]))) + / factor; + // System.out.println("Theta = " + theta + " Phi = " + phi); + // System.out.println("(" + xyz[0] +"," + xyz[1] +"," + xyz[2] + ") -> + // (" + sC[0] + "," + sC[1] + ")"); + return sC; + } + + // TODO test efficiceny of an approximation of cos and sin fuctions. + + /* + * private final static double _2PI = 2 * Math.PI; + * + * private final static int N = 100; + * + * private final static double[] COS = + * DoubleArray.f(DoubleArray.increment(N, 0, 2 * Math.PI / (N - 1)), new + * Function() { public double f(double x) { return Math.cos(x); } }); + * + * private final static double[] SIN = + * DoubleArray.f(DoubleArray.increment(N, 0, 2 * Math.PI / (N - 1)), new + * Function() { public double f(double x) { return Math.sin(x); } }); + */ + private double cos(double x) { + return Math.cos(x); + } + + private double sin(double x) { + return Math.sin(x); + } + + public void setView(double _theta, double _phi) { + theta = _theta; + phi = _phi; + initBaseCoordsProjection(); + } + + public void rotate(int[] screenTranslation, int[] dimension) { + theta = theta - ((double) screenTranslation[0]) / 100; + phi = phi + ((double) screenTranslation[1]) / 100; + initBaseCoordsProjection(); + } + +} \ No newline at end of file diff --git a/src/jat/core/plot/plot/utils/Array.java b/src/jat/core/plot/plot/utils/Array.java new file mode 100644 index 0000000..5c559a4 --- /dev/null +++ b/src/jat/core/plot/plot/utils/Array.java @@ -0,0 +1,599 @@ +package jat.core.plot.plot.utils; + +import java.util.Collections; +import java.util.HashMap; +import java.util.List; + +/** + * BSD License + * + * @author Yann RICHET + */ +public class Array { + + public static HashMap reverseStringMap(HashMap map) { + if (map == null) { + return null; + } + HashMap reverseMap = new HashMap(); + for (String key : map.keySet()) { + reverseMap.put(map.get(key), key); + } + return reverseMap; + } + + private static HashMap mapStringArray(double minvalue, double step, List array) { + if (array == null) { + return null; + } + Collections.sort(array); + HashMap map = new HashMap(array.size()); + double v = minvalue; + for (String string : array) { + if (!map.containsKey(string)) { + map.put(string, v); + v += step; + } + } + return map; + } + + public static boolean equals(double[] x, double[] y) { + if (x.length != y.length) { + return false; + } + for (int i = 0; i < y.length; i++) { + if (x[i] != y[i]) { + return false; + } + } + return true; + } + + public static String toString(HashMap hash) { + StringBuffer sb = new StringBuffer(); + for (Object key : hash.keySet()) { + sb.append(key + " > " + hash.get(key) + "\n"); + } + return sb.toString(); + } + + public static boolean isDouble(String s) { + try { + Double.parseDouble(s); + } catch (NumberFormatException ne) { + return false; + } + return true; + } + + public static HashMap mapStringArray(List array) { + return mapStringArray(0, 1, array); + } + + // Create methods + public static String cat(Object[] array) { + return cat(" ", array); + } + + public static String cat(String separator, Object[] array) { + String o = ""; + for (int i = 0; i < array.length - 1; i++) { + o += array[i].toString() + separator; + } + o += array[array.length - 1].toString(); + return o; + } + + public static String cat(String columnsSeparator, String rowsSeparator, Object[][] array) { + String o = ""; + for (int i = 0; i < array.length - 1; i++) { + o += cat(columnsSeparator, array[i]) + rowsSeparator; + } + o += cat(columnsSeparator, array[array.length - 1]); + return o; + } + + public static String cat(Object[][] array) { + return cat(" ", "\n", array); + } + + /*public static String cat(List array, String rowsSeparator) { + String o = ""; + for (int i = 0; i < array.size() - 1; i++) + o += array.get(i) + rowsSeparator; + o += array.get(array.size() - 1); + return o; + } + + public static String cat(List array) { + return cat(array, " "); + }*/ + public static String[] duplicate(int m, String c) { + String[] o = new String[m]; + for (int i = 0; i < o.length; i++) { + o[i] = c; + } + return o; + } + + public static int[] duplicate(int m, int c) { + int[] o = new int[m]; + for (int i = 0; i < o.length; i++) { + o[i] = c; + } + return o; + } + + public static double[][] one(int m, int n) { + return one(m, n, 1.0); + } + + public static double[][] one(int m, int n, double c) { + double[][] o = new double[m][n]; + for (int i = 0; i < o.length; i++) { + for (int j = 0; j < o[i].length; j++) { + o[i][j] = c; + } + } + return o; + } + + public static double[] one(int m) { + return one(m, 1.0); + } + + public static double[] one(int m, double c) { + double[] o = new double[m]; + for (int i = 0; i < o.length; i++) { + o[i] = c; + } + return o; + } + + public static double[][] increment(int m, int n, double begin, double pitch) { + double[][] array = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + array[i][j] = begin + i * pitch; + } + } + return array; + } + + public static double[] increment(int m, double begin, double pitch) { + double[] array = new double[m]; + for (int i = 0; i < m; i++) { + array[i] = begin + i * pitch; + } + return array; + } + + // Modify rows & colmumns methods + public static double[] copy(double[] M) { + double[] array = new double[M.length]; + System.arraycopy(M, 0, array, 0, M.length); + return array; + } + + public static double[][] copy(double[][] M) { + double[][] array = new double[M.length][M[0].length]; + for (int i = 0; i < array.length; i++) { + System.arraycopy(M[i], 0, array[i], 0, M[i].length); + } + return array; + } + + public static double[][] getSubMatrixRangeCopy(double[][] M, int i1, int i2, int j1, int j2) { + double[][] array = new double[i2 - i1 + 1][j2 - j1 + 1]; + for (int i = 0; i < i2 - i1 + 1; i++) { + System.arraycopy(M[i + i1], j1, array[i], 0, j2 - j1 + 1); + } + ; + return array; + } + + public static double[][] getColumnsRangeCopy(double[][] M, int j1, int j2) { + double[][] array = new double[M.length][j2 - j1 + 1]; + for (int i = 0; i < M.length; i++) { + System.arraycopy(M[i], j1, array[i], 0, j2 - j1 + 1); + } + return array; + } + + public static double[][] getColumnsCopy(double[][] M, int... J) { + double[][] array = new double[M.length][J.length]; + for (int i = 0; i < M.length; i++) { + for (int j = 0; j < J.length; j++) { + array[i][j] = M[i][J[j]]; + } + } + return array; + } + + public static double[] getColumnCopy(double[][] M, int j) { + double[] array = new double[M.length]; + for (int i = 0; i < M.length; i++) { + array[i] = M[i][j]; + } + return array; + } + + public static double[] getColumnCopy(double[][][] M, int j, int k) { + double[] array = new double[M.length]; + for (int i = 0; i < M.length; i++) { + array[i] = M[i][j][k]; + } + return array; + } + + public static double[][] getRowsCopy(double[][] M, int... I) { + double[][] array = new double[I.length][M[0].length]; + for (int i = 0; i < I.length; i++) { + System.arraycopy(M[I[i]], 0, array[i], 0, M[I[i]].length); + } + return array; + } + + public static double[] getRowCopy(double[][] M, int i) { + double[] array = new double[M[0].length]; + System.arraycopy(M[i], 0, array, 0, M[i].length); + return array; + } + + public static double[][] getRowsRangeCopy(double[][] M, int i1, int i2) { + double[][] array = new double[i2 - i1 + 1][M[0].length]; + for (int i = 0; i < i2 - i1 + 1; i++) { + System.arraycopy(M[i + i1], 0, array[i], 0, M[i + i1].length); + } + return array; + } + + public static double[] getRangeCopy(double[] M, int j1, int j2) { + double[] array = new double[j2 - j1 + 1]; + System.arraycopy(M, j1, array, 0, j2 - j1 + 1); + return array; + } + + public static double[] getCopy(double[] M, int... I) { + double[] array = new double[I.length]; + for (int i = 0; i < I.length; i++) { + array[i] = M[I[i]]; + } + return array; + } + + public static int getColumnDimension(double[][] M, int i) { + return M[i].length; + } + + public static double[][] mergeRows(double[]... x) { + double[][] array = new double[x.length][]; + for (int i = 0; i < array.length; i++) { + array[i] = new double[x[i].length]; + System.arraycopy(x[i], 0, array[i], 0, array[i].length); + } + return array; + } + + public static double[][] mergeColumns(double[]... x) { + double[][] array = new double[x[0].length][x.length]; + for (int i = 0; i < array.length; i++) { + for (int j = 0; j < array[i].length; j++) { + array[i][j] = x[j][i]; + } + } + return array; + } + + public static double[] merge(double[]... x) { + int[] xlength_array = new int[x.length]; + xlength_array[0] = x[0].length; + for (int i = 1; i < x.length; i++) { + xlength_array[i] = x[i].length + xlength_array[i - 1]; + } + double[] array = new double[xlength_array[x.length - 1]]; + System.arraycopy(x[0], 0, array, 0, x[0].length); + for (int i = 1; i < x.length; i++) { + System.arraycopy(x[i], 0, array, xlength_array[i - 1], x[i].length); + } + return array; + } + + public static double[][] insertColumns(double[][] x, double[][] y, int J) { + double[][] array = new double[x.length][x[0].length + y[0].length]; + for (int i = 0; i < array.length; i++) { + System.arraycopy(x[i], 0, array[i], 0, J); + System.arraycopy(y[i], 0, array[i], J, y[i].length); + System.arraycopy(x[i], J, array[i], J + y[i].length, x[i].length - J); + } + return array; + } + + public static double[][] insertColumn(double[][] x, double[] y, int J) { + double[][] array = new double[x.length][x[0].length + 1]; + for (int i = 0; i < array.length; i++) { + System.arraycopy(x[i], 0, array[i], 0, J); + array[i][J] = y[i]; + System.arraycopy(x[i], J, array[i], J + 1, x[i].length - J); + } + return array; + } + + public static double[][] insertRows(double[][] x, double[][] y, int I) { + double[][] array = new double[x.length + y.length][x[0].length]; + for (int i = 0; i < I; i++) { + System.arraycopy(x[i], 0, array[i], 0, x[i].length); + } + for (int i = 0; i < y.length; i++) { + System.arraycopy(y[i], 0, array[i + I], 0, y[i].length); + } + for (int i = 0; i < x.length - I; i++) { + System.arraycopy(x[i + I], 0, array[i + I + y.length], 0, x[i].length); + } + return array; + } + + public static double[][] insertRow(double[][] x, double[] y, int I) { + double[][] array = new double[x.length + 1][x[0].length]; + for (int i = 0; i < I; i++) { + System.arraycopy(x[i], 0, array[i], 0, x[i].length); + } + System.arraycopy(y, 0, array[I], 0, y.length); + for (int i = 0; i < x.length - I; i++) { + System.arraycopy(x[i + I], 0, array[i + I + 1], 0, x[i].length); + } + return array; + } + + public static double[] insert(double[] x, int I, double... y) { + double[] array = new double[x.length + y.length]; + System.arraycopy(x, 0, array, 0, I); + System.arraycopy(y, 0, array, I, y.length); + System.arraycopy(x, I, array, I + y.length, x.length - I); + return array; + } + + public static double[][] deleteColumnsRange(double[][] x, int J1, int J2) { + double[][] array = new double[x.length][x[0].length - (J2 - J1 + 1)]; + for (int i = 0; i < array.length; i++) { + System.arraycopy(x[i], 0, array[i], 0, J1); + System.arraycopy(x[i], J2 + 1, array[i], J1, x[i].length - (J2 + 1)); + } + return array; + } + + public static double[][] deleteColumns(double[][] x, int... J) { + double[][] array = new double[x.length][x[0].length - J.length]; + for (int i = 0; i < array.length; i++) { + System.arraycopy(x[i], 0, array[i], 0, J[0]); + for (int j = 0; j < J.length - 1; j++) { + System.arraycopy(x[i], J[j] + 1, array[i], J[j] - j, J[j + 1] - J[j] - 1); + } + System.arraycopy(x[i], J[J.length - 1] + 1, array[i], J[J.length - 1] - J.length + 1, x[i].length - J[J.length - 1] - 1); + } + return array; + } + + public static double[][] deleteRowsRange(double[][] x, int I1, int I2) { + double[][] array = new double[x.length - (I2 - I1 + 1)][x[0].length]; + for (int i = 0; i < I1; i++) { + System.arraycopy(x[i], 0, array[i], 0, x[i].length); + } + for (int i = 0; i < x.length - I2 - 1; i++) { + System.arraycopy(x[i + I2 + 1], 0, array[i + I1], 0, x[i].length); + } + return array; + } + + public static double[][] deleteRows(double[][] x, int... I) { + double[][] array = new double[x.length - I.length][x[0].length]; + for (int i = 0; i < I[0]; i++) { + System.arraycopy(x[i], 0, array[i], 0, x[i].length); + } + for (int j = 0; j < I.length - 1; j++) { + for (int i = I[j] + 1; i < I[j + 1]; i++) { + System.arraycopy(x[i], 0, array[i - j], 0, x[i].length); + } + } + for (int i = I[I.length - 1] + 1; i < x.length; i++) { + System.arraycopy(x[i], 0, array[i - I.length], 0, x[i].length); + } + return array; + } + + public static double[] deleteRange(double[] x, int J1, int J2) { + double[] array = new double[x.length - (J2 - J1 + 1)]; + System.arraycopy(x, 0, array, 0, J1); + System.arraycopy(x, J2 + 1, array, J1, x.length - (J2 + 1)); + return array; + } + + public static double[] delete(double[] x, int... J) { + double[] array = new double[x.length - J.length]; + System.arraycopy(x, 0, array, 0, J[0]); + for (int j = 0; j < J.length - 1; j++) { + System.arraycopy(x, J[j] + 1, array, J[j] - j, J[j + 1] - J[j] - 1); + } + System.arraycopy(x, J[J.length - 1] + 1, array, J[J.length - 1] - J.length + 1, x.length - J[J.length - 1] - 1); + return array; + } + + public static double[][] buildXY(double Xmin, double Xmax, double[] Y) { + int n = Y.length; + double[][] XY = new double[n][2]; + for (int i = 0; i < n; i++) { + XY[i][0] = Xmin + (Xmax - Xmin) * (double) i / (double) (n - 1); + XY[i][1] = Y[i]; + } + return XY; + } + + public static double[][] buildXY(double[] X, double[] Y) { + return mergeColumns(X, Y); + } + + // min/max methods + public static double[] min(double[][] M) { + double[] min = new double[M[0].length]; + for (int j = 0; j < min.length; j++) { + min[j] = M[0][j]; + for (int i = 1; i < M.length; i++) { + min[j] = Math.min(min[j], M[i][j]); + } + } + return min; + } + + public static int min(int... M) { + int min = M[0]; + for (int i = 1; i < M.length; i++) { + min = Math.min(min, M[i]); + } + return min; + } + + public static int max(int... M) { + int max = M[0]; + for (int i = 1; i < M.length; i++) { + max = Math.max(max, M[i]); + } + return max; + } + + public static double min(double... M) { + double min = M[0]; + for (int i = 1; i < M.length; i++) { + min = Math.min(min, M[i]); + } + return min; + } + + public static double[] max(double[][] M) { + double[] max = new double[M[0].length]; + for (int j = 0; j < max.length; j++) { + max[j] = M[0][j]; + for (int i = 1; i < M.length; i++) { + max[j] = Math.max(max[j], M[i][j]); + } + } + return max; + } + + public static double max(double... M) { + double max = M[0]; + for (int i = 1; i < M.length; i++) { + max = Math.max(max, M[i]); + } + return max; + } + + public static int[] minIndex(double[][] M) { + int[] minI = new int[M[0].length]; + for (int j = 0; j < minI.length; j++) { + minI[j] = 0; + for (int i = 1; i < M.length; i++) { + if (M[i][j] < M[minI[j]][j]) { + minI[j] = i; + } + } + + } + return minI; + } + + public static int minIndex(double... M) { + int minI = 0; + for (int i = 1; i < M.length; i++) { + if (M[i] < M[minI]) { + minI = i; + } + } + return minI; + } + + public static int[] maxIndex(double[][] M) { + int[] maxI = new int[M[0].length]; + for (int j = 0; j < maxI.length; j++) { + maxI[j] = 0; + for (int i = 1; i < M.length; i++) { + if (M[i][j] > M[maxI[j]][j]) { + maxI[j] = i; + } + } + } + return maxI; + } + + public static int maxIndex(double... M) { + int maxI = 0; + for (int i = 1; i < M.length; i++) { + if (M[i] > M[maxI]) { + maxI = i; + } + } + return maxI; + } + + // print methods + public static String toString(double[]... v) { + StringBuffer str = new StringBuffer(); + for (int i = 0; i < v.length; i++) { + for (int j = 0; j < v[i].length; j++) { + str.append(v[i][j] + " "); + } + if (i < v.length - 1) { + str.append("\n"); + } + } + return str.toString(); + } + + // check methods + public static void throwError(String msg) { + throw new IllegalArgumentException(msg); + } + + public static void checkColumnDimension(double[][] M, int n) { + for (int i = 0; i < M.length; i++) { + if (M[i].length != n) { + throwError("row " + i + " have " + M[i].length + " columns instead of " + n + " columns expected."); + } + } + } + + public static boolean isColumnDimension(double[][] M, int n) { + for (int i = 0; i < M.length; i++) { + if (M[i].length != n) { + return false; + } + } + return true; + } + + public static void checkRowDimension(double[][] M, int m) { + if (M.length != m) { + throwError("columns have " + M.length + " rows instead of " + m + " rows expected."); + } + } + + public static boolean isRowDimension(double[][] M, int m) { + if (M.length != m) { + return false; + } + return true; + } + + public static void checkLength(double[] M, int n) { + if (M.length != n) { + throwError("row have " + M.length + " elements instead of " + n + " elements expected."); + } + } + + public static boolean isLength(double[] M, int n) { + if (M.length != n) { + return false; + } + return true; + } +} diff --git a/src/jat/core/plot/plot/utils/Histogram.java b/src/jat/core/plot/plot/utils/Histogram.java new file mode 100644 index 0000000..9491c4d --- /dev/null +++ b/src/jat/core/plot/plot/utils/Histogram.java @@ -0,0 +1,194 @@ +/* + * Created on 21 juil. 2005 by richet + */ +package jat.core.plot.plot.utils; + +import static jat.core.plot.plot.utils.Array.getColumnCopy; +import static jat.core.plot.plot.utils.Array.insertColumn; +import static jat.core.plot.plot.utils.Array.max; +import static jat.core.plot.plot.utils.Array.mergeColumns; +import static jat.core.plot.plot.utils.Array.min; + +public class Histogram { + // histograms functions + + public static double[][] histogram_classes(double[] values, double[] bounds) { + return mergeColumns(centers(bounds), histogram(values, bounds)); + } + + public static double[][] histogram_classes(double[] values, double min, double max, int n) { + double[] bounds = bounds(values, min, max, n); + return mergeColumns(centers(bounds), histogram(values, bounds)); + } + + public static double[][] histogram_classes(double[] values, int n) { + double[] bounds = bounds(values, n); + return mergeColumns(centers(bounds), histogram(values, bounds)); + } + + public static double[] histogram(double[] values, double[] bounds) { + double[] h = new double[bounds.length - 1]; + for (int i = 0; i < values.length; i++) { + for (int j = 0; j < h.length; j++) { + if (((bounds[j + 1] - values[i]) * (bounds[j] - values[i]) < 0) || ((bounds[j] == values[i]))) + h[j]++; + } + } + return h; + } + + public static double[] histogram(double[] values, double min, double max, int n) { + double[] bounds = bounds(values, min, max, n); + return histogram(values, bounds); + } + + public static double[] histogram(double[] values, int n) { + return histogram(values, n); + } + + private static double[] bounds(double[] values, int n) { + double min = min(values); + double max = max(values); + return bounds(values, min, max, n); + } + + private static double[] bounds(double[] values, double min, double max, int n) { + double[] bounds = new double[n + 1]; + for (int i = 0; i < bounds.length; i++) { + bounds[i] = min + (max - min) * i / (double) n; + } + return bounds; + } + + private static double[] centers(double[] bounds) { + double[] center = new double[bounds.length - 1]; + for (int i = 0; i < center.length; i++) + center[i] = (bounds[i] + bounds[i + 1]) / 2; + return center; + } + + // histograms 2D functions + + public static double[][] histogram_classes_2D(double[][] values, double[] boundsX, double[] boundsY) { + return insertColumn(centers_2D(boundsX, boundsY), histogram_2D(values, boundsX, boundsY), 2); + } + + public static double[][] histogram_classes_2D(double[][] values, double minX, double maxX, int nX, double minY, double maxY, int nY) { + double[] valuesX = getColumnCopy(values, 0); + double[] valuesY = getColumnCopy(values, 1); + double[] boundsX = bounds(valuesX, minX, maxX, nX); + double[] boundsY = bounds(valuesY, minY, maxY, nY); + return insertColumn(centers_2D(boundsX, boundsY), histogram_2D(values, boundsX, boundsY), 2); + } + + public static double[][] histogram_classes_2D(double[][] values, int nX, int nY) { + double[] valuesX = getColumnCopy(values, 0); + double[] valuesY = getColumnCopy(values, 1); + double[] boundsX = bounds(valuesX, nX); + double[] boundsY = bounds(valuesY, nY); + return insertColumn(centers_2D(boundsX, boundsY), histogram_2D(values, boundsX, boundsY), 2); + } + + public static double[] histogram_2D(double[][] values, double[] boundsX, double[] boundsY) { + double[] h = new double[(boundsX.length - 1) * (boundsY.length - 1)]; + for (int n = 0; n < values.length; n++) { + for (int i = 0; i < boundsX.length - 1; i++) { + for (int j = 0; j < boundsY.length - 1; j++) { + if ((((boundsX[i + 1] - values[n][0]) * (boundsX[i] - values[n][0]) < 0) || ((boundsX[i] == values[n][0]))) + && (((boundsY[j + 1] - values[n][1]) * (boundsY[j] - values[n][1]) < 0) || ((boundsY[j] == values[n][1])))) + h[index2(i, j, boundsX.length - 1)]++; + } + } + } + return h; + } + + public static double[] histogram_2D(double[][] values, double minX, double maxX, int nX, double minY, double maxY, int nY) { + double[] valuesX = getColumnCopy(values, 0); + double[] valuesY = getColumnCopy(values, 1); + double[] boundsX = bounds(valuesX, minX, maxX, nX); + double[] boundsY = bounds(valuesY, minY, maxY, nY); + return histogram_2D(values, boundsX, boundsY); + } + + public static double[] histogram_2D(double[][] values, int nX, int nY) { + double[] valuesX = getColumnCopy(values, 0); + double[] valuesY = getColumnCopy(values, 1); + double[] boundsX = bounds(valuesX, nX); + double[] boundsY = bounds(valuesY, nY); + return histogram_2D(values, boundsX, boundsY); + } + + private static double[][] centers_2D(double[] boundsX, double[] boundsY) { + int nb_centers = (boundsX.length - 1) * (boundsY.length - 1); + double[][] center = new double[nb_centers][2]; + for (int i = 0; i < boundsX.length - 1; i++) { + for (int j = 0; j < boundsY.length - 1; j++) { + int k = index2(i, j, boundsX.length - 1); + center[k][0] = (boundsX[i] + boundsX[i + 1]) / 2; + center[k][1] = (boundsY[j] + boundsY[j + 1]) / 2; + } + } + return center; + } + + private static int index2(int i, int j, int imax) { + return i + imax * j; + } + + // histograms 3D functions + + + + + public static double[][] histogram_classes_3D(double[][] values, int nX, int nY, int nZ) { + double[] valuesX = getColumnCopy(values, 0); + double[] valuesY = getColumnCopy(values, 1); + double[] valuesZ = getColumnCopy(values, 2); + double[] boundsX = bounds(valuesX, nX); + double[] boundsY = bounds(valuesY, nY); + double[] boundsZ = bounds(valuesZ, nZ); + return insertColumn(centers_3D(boundsX, boundsY, boundsZ), histogram_3D(values, boundsX, boundsY, boundsZ), 3); + } + + public static double[] histogram_3D(double[][] values, double[] boundsX, double[] boundsY, double[] boundsZ) { + double[] h = new double[(boundsX.length - 1) * (boundsY.length - 1)* (boundsZ.length - 1)]; + for (int n = 0; n < values.length; n++) { + for (int i = 0; i < boundsX.length - 1; i++) { + for (int j = 0; j < boundsY.length - 1; j++) { + for (int k = 0; k < boundsZ.length - 1; k++) { + if ((((boundsX[i + 1] - values[n][0]) * (boundsX[i] - values[n][0]) < 0) || ((boundsX[i] == values[n][0]))) + && (((boundsY[j + 1] - values[n][1]) * (boundsY[j] - values[n][1]) < 0) || ((boundsY[j] == values[n][1])))&& (((boundsZ[k + 1] - values[n][2]) * (boundsZ[k] - values[n][2]) < 0) || ((boundsZ[k] == values[n][2])))) + h[index3(i, j,k, boundsX.length - 1, boundsY.length - 1)]++; + }} + } + } + return h; + } + + + + private static double[][] centers_3D(double[] boundsX, double[] boundsY, double[] boundsZ) { + int nb_centers = (boundsX.length - 1) * (boundsY.length - 1)* (boundsZ.length - 1); + double[][] center = new double[nb_centers][3]; + for (int i = 0; i < boundsX.length - 1; i++) { + for (int j = 0; j < boundsY.length - 1; j++) { + for (int k = 0; k < boundsZ.length - 1; k++) { + int l = index3(i, j,k, boundsX.length - 1, boundsY.length - 1); + center[l][0] = (boundsX[i] + boundsX[i + 1]) / 2; + center[l][1] = (boundsY[j] + boundsY[j + 1]) / 2; + center[l][2] = (boundsZ[k] + boundsZ[k + 1]) / 2; + } + } + } + return center; + } + + + + + private static int index3(int i, int j, int k,int imax, int jmax) { + return i + imax * j + imax*jmax*k; + } + +} diff --git a/src/jat/core/spacetime/ReferenceFrame.java b/src/jat/core/spacetime/ReferenceFrame.java new file mode 100644 index 0000000..8e3e74d --- /dev/null +++ b/src/jat/core/spacetime/ReferenceFrame.java @@ -0,0 +1,234 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.spacetime; + +import jat.core.ephemeris.DE405Body; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.math.MathUtilsAPL; +import jat.core.math.arbaxisrot.RotationMatrixFull; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.io.IOException; +import java.util.EnumSet; + +public class ReferenceFrame { + + public static void ICRFtoHEE(DE405Plus Eph) { + + for (body q : EnumSet.allOf(body.class)) { + int bodyNumber = q.ordinal(); + + Eph.posUserFrame[bodyNumber] = ecliptic_obliquity_rotate(Eph.posICRF[bodyNumber]); + Eph.velUserFrame[bodyNumber] = ecliptic_obliquity_rotate(Eph.velICRF[bodyNumber]); + } + } + + public static void ICRFtoECI(DE405Plus Eph) { + + int EARTH = body.EARTH.ordinal(); + for (body q : EnumSet.allOf(body.class)) { + int bodyNumber = q.ordinal(); + Eph.posUserFrame[bodyNumber] = Eph.posICRF[bodyNumber].minus(Eph.posICRF[EARTH]); + Eph.velUserFrame[bodyNumber] = Eph.velICRF[bodyNumber].minus(Eph.velICRF[EARTH]); + // Eph.posUserFrame[bodyNumber].print("[ReferenceFrame body] " + + // body.name[bodyNumber]); + // Eph.velUserFrame[bodyNumber].print("[ReferenceFrame body] " + + // body.name[bodyNumber]); + } + } + + public static void ICRFtoMEOP(DE405Plus Eph) { + double[] point = new double[3]; + double[] axis = new double[3]; + + ICRFtoECI(Eph); + + for (body q : EnumSet.allOf(body.class)) { + int bodyNumber = q.ordinal(); + + point[0] = Eph.posUserFrame[bodyNumber].x[0]; + point[1] = Eph.posUserFrame[bodyNumber].x[1]; + point[2] = Eph.posUserFrame[bodyNumber].x[2]; + + axis[0]=Eph.rotationAxis.x[0]; + axis[1]=Eph.rotationAxis.x[1]; + axis[2]=Eph.rotationAxis.x[2]; + + double theta=MathUtilsAPL.Radians(23); + VectorN zAxis=new VectorN(0,0,1); + + double angle=Eph.EarthMoonPlaneNormal.angle(zAxis); + + //RotationMatrixFull rM = new RotationMatrixFull(0, 0, 0, axis[0], axis[1], axis[2], theta); + RotationMatrixFull rM = new RotationMatrixFull(0, 0, 0, axis[0], axis[1], axis[2], angle); + + double[] result = rM.timesXYZ(point); + + Eph.posUserFrame[bodyNumber] = new VectorN(result[0],result[1],result[2]); + + + + //Eph.velUserFrame[bodyNumber] = ecliptic_obliquity_rotate(Eph.velICRF[bodyNumber]); + + } + + // VectorN zAxis=new VectorN(0,0,1); + // VectorN rotationAxis=Eph.EarthMoonPlaneNormal.crossProduct(zAxis); + // Eph.rotationAxis=Eph.EarthMoonPlaneNormal.crossProduct(zAxis); + + // int EARTH = body.EARTH.ordinal(); + // for (body q : EnumSet.allOf(body.class)) { + // int bodyNumber = q.ordinal(); + // Eph.posUserFrame[bodyNumber]=Eph.posICRF[bodyNumber].minus(Eph.posICRF[EARTH]); + // Eph.velUserFrame[bodyNumber]=Eph.velICRF[bodyNumber].minus(Eph.velICRF[EARTH]); + // Eph.posUserFrame[bodyNumber].print("[ReferenceFrame body] "+body.name[bodyNumber]); + // } + } + + public static VectorN ICRF_to_MEOPpos(VectorN[] posvelICRF, VectorN in, Time t) throws IOException { + + // convert coordinates from ICRF to ECI + // VectorN posvelECI[]=new VectorN[11]; + // for (body q : EnumSet.allOf(body.class)) { + // int bodyNumber = q.ordinal(); + // System.out.println(bodyNumber); + // posvelECI[bodyNumber] = ICRF_to_ECI(posvelICRF, in, t); + // } + + // vector from earth to moon at time t + int MOON = DE405Body.body.MOON.ordinal(); + // int EARTH = DE405Body.body.EARTH.ordinal(); + + // VectorN MoonPos = new + // VectorN(posvelECI[MOON].x[0],posvelECI[MOON].x[1],posvelECI[MOON].x[2]); + // VectorN MoonVel = new + // VectorN(posvelECI[MOON].x[3],posvelECI[MOON].x[4],posvelECI[MOON].x[5]); + + // VectorN EarthtoMoonposvel = MoonPosVel.minus(EarthPosVel); + // VectorN EarthtoMoonpos = new VectorN(EarthtoMoonposvel.x[0], + // EarthtoMoonposvel.x[1], EarthtoMoonposvel.x[2]); + // VectorN MoonVel = new VectorN(MoonPosVel.x[3], MoonPosVel.x[4], + // MoonPosVel.x[5]); + // VectorN PlaneNormal = MoonPos.crossProduct(MoonVel); + VectorN xAxis = new VectorN(1e8, 0, 0); + + // double angle = PlaneNormal.angle(xAxis); + + VectorN returnval = null; + + /* + */ + // returnval=ICRF_to_ECI(posvelICRF, in, t); + // returnval = ICRFxAxis_rotate(in, cm.Degree(angle)); + return returnval; + } + + public static VectorN ICRFxAxis_rotate(VectorN rv, double angleDegrees) { + VectorN returnval = new VectorN(6); + double x, y, z, vx, vy, vz, eps, c, s; + x = rv.get(0); + y = rv.get(1); + z = rv.get(2); + eps = MathUtilsAPL.Radians(angleDegrees); + c = Math.cos(eps); + s = Math.sin(eps); + returnval.x[0] = x; + returnval.x[1] = c * y + s * z; + returnval.x[2] = -s * y + c * z; + vx = rv.get(3); + vy = rv.get(4); + vz = rv.get(5); + returnval.x[3] = vx; + returnval.x[4] = c * vy + s * vz; + returnval.x[5] = -s * vy + c * vz; + + return returnval; + } + + // public static VectorN ICRF_to_ECI(VectorN[] posvelICRF, VectorN in, Time + // mytime) throws IOException { + // + // double[] posvel = new double[6]; + // int bodyNumber = DE405Body.body.EARTH.ordinal(); + // posvel[0] = posvelICRF[bodyNumber].x[0]; + // posvel[1] = posvelICRF[bodyNumber].x[1]; + // posvel[2] = posvelICRF[bodyNumber].x[2]; + // posvel[3] = posvelICRF[bodyNumber].x[3]; + // posvel[4] = posvelICRF[bodyNumber].x[4]; + // posvel[5] = posvelICRF[bodyNumber].x[5]; + // + // VectorN earthPosVel = new VectorN(posvel); + // + // VectorN returnval = in.minus(earthPosVel); + // return returnval; + // } + + public static VectorN ICRF_to_ECIpos(DE405Plus Eph, VectorN bodyposICRF, Time t) { + int EARTH = body.EARTH.ordinal(); + + return bodyposICRF.minus(Eph.posICRF[EARTH]); + } + + public static VectorN ICRF_to_ECIvel(DE405Plus Eph, VectorN bodyvelICRF, Time t) { + int EARTH = body.EARTH.ordinal(); + + return bodyvelICRF.minus(Eph.velICRF[EARTH]); + } + + public static VectorN ecliptic_obliquity_rotate(VectorN rv) { + // VectorN returnval = new VectorN(6); + VectorN returnval = new VectorN(3); + double x, y, z, vx, vy, vz, eps, c, s; + x = rv.get(0); + y = rv.get(1); + z = rv.get(2); + eps = MathUtilsAPL.Radians(Constants.eps); + c = Math.cos(eps); + s = Math.sin(eps); + returnval.x[0] = x; + returnval.x[1] = c * y + s * z; + returnval.x[2] = -s * y + c * z; + // vx = rv.get(3); + // vy = rv.get(4); + // vz = rv.get(5); + // returnval.x[3] = vx; + // returnval.x[4] = c * vy + s * vz; + // returnval.x[5] = -s * vy + c * vz; + + return returnval; + } + +} + +// double[] posvel = new double[6]; +// posvel[0] = posvelECI[EARTH].x[0]; +// posvel[1] = posvelECI[EARTH].x[1]; +// posvel[2] = posvelECI[EARTH].x[2]; +// posvel[3] = posvelECI[EARTH].x[3]; +// posvel[4] = posvelECI[EARTH].x[4]; +// posvel[5] = posvelECI[EARTH].x[5]; +// VectorN EarthPosVel = new VectorN(posvel); +// posvel[0] = posvelECI[MOON].x[0]; +// posvel[1] = posvelECI[MOON].x[1]; +// posvel[2] = posvelECI[MOON].x[2]; +// posvel[3] = posvelECI[MOON].x[3]; +// posvel[4] = posvelECI[MOON].x[4]; +// posvel[5] = posvelECI[MOON].x[5]; diff --git a/src/jat/core/spacetime/TimeAPL.java b/src/jat/core/spacetime/TimeAPL.java new file mode 100644 index 0000000..5e3cc5d --- /dev/null +++ b/src/jat/core/spacetime/TimeAPL.java @@ -0,0 +1,111 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.spacetime; + +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.spacetime.CalDate; +import jat.coreNOSA.spacetime.Time; + +import java.util.Calendar; + +public class TimeAPL extends Time { + + public TimeAPL() { + // TODO Auto-generated constructor stub + } + + public TimeAPL(double mjd_UTC) { + super(mjd_UTC); + // TODO Auto-generated constructor stub + } + + public TimeAPL(CalDate date) { + super(date); + } + + public TimeAPL(int Yr, int Mon, int D, int Hr, int Mn, double S) { + super(Yr, Mon, D, Hr, Mn, S); + // TODO Auto-generated constructor stub + } + + public TimeAPL plus(double seconds) { + double mjd = this.mjd_utc() + seconds / 86400.; + return new TimeAPL(mjd); + } + + /** + * @param t1 + * later time + * @param t2 + * earlier time + * @return time difference in days + */ + public static double minus(TimeAPL t1, TimeAPL t2) { + return t1.jd_tt() - t2.jd_tt(); + } + + public Calendar getCalendar() { + Calendar cal = cm.JD_to_Calendar(jd_tt()); + return cal; + } + + public int getYear() { + Calendar cal = cm.JD_to_Calendar(jd_tt()); + return cal.get(Calendar.YEAR); + } + + public int getMonth() { + Calendar cal = cm.JD_to_Calendar(jd_tt()); + return cal.get(Calendar.MONTH)+1; + } + + public int getDay() { + Calendar cal = cm.JD_to_Calendar(jd_tt()); + return cal.get(Calendar.DAY_OF_MONTH); + } + + public int getHour() { + Calendar cal = cm.JD_to_Calendar(jd_tt()); + return cal.get(Calendar.HOUR_OF_DAY); + } + + public int getMinute() { + Calendar cal = cm.JD_to_Calendar(jd_tt()); + return cal.get(Calendar.MINUTE); + } + + public void print() { + String dateformat = "%tD"; + + String.format(dateformat, getCalendar()); + + System.out.print(String.format(dateformat, getCalendar())); + } + + public void printspace() { + print(); + System.out.print(" "); + } + + public void println() { + print(); + System.out.println(); + + } + +} diff --git a/src/jat/core/units/unitCheck.java b/src/jat/core/units/unitCheck.java new file mode 100644 index 0000000..a87f2c8 --- /dev/null +++ b/src/jat/core/units/unitCheck.java @@ -0,0 +1,33 @@ +package jat.core.units; + +import java.util.ArrayList; + +public class unitCheck { + + public ArrayList unitUserList = new ArrayList(); + + public void addUser(unitSet uS) { + unitUserList.add(uS); + } + + public boolean check_consistency() { + + // TODO check if all users use the same units + return true; + + } + + public void printList() { + + String sf = "%8s "; + String format = "%20s" + " " + sf + " " + sf + " " + sf; + System.out.printf(format, "className", "distance", "time", "mass"); + System.out.println(); + + for (unitSet uS : unitUserList) { + System.out.printf(format, uS.className, uS.distance, uS.time, uS.mass); + System.out.println(); + } + + } +} diff --git a/src/jat/core/units/unitConverter.java b/src/jat/core/units/unitConverter.java new file mode 100644 index 0000000..5d40f55 --- /dev/null +++ b/src/jat/core/units/unitConverter.java @@ -0,0 +1,5 @@ +package jat.core.units; + +public class unitConverter { + +} diff --git a/src/jat/core/units/unitModel.java b/src/jat/core/units/unitModel.java new file mode 100644 index 0000000..ceaedba --- /dev/null +++ b/src/jat/core/units/unitModel.java @@ -0,0 +1,13 @@ +package jat.core.units; + +public interface unitModel { + + public void setUnits(unitSet u); + + public unitSet getUnits(); + + public void setUnitsMaster(unitCheck uc); + + public void addUnitsUser(unitSet u); + +} diff --git a/src/jat/core/units/unitSet.java b/src/jat/core/units/unitSet.java new file mode 100644 index 0000000..c985b81 --- /dev/null +++ b/src/jat/core/units/unitSet.java @@ -0,0 +1,38 @@ +package jat.core.units; + +public class unitSet { + + public enum distanceUnit { + nm, um, mm, cm, m, km, AU, parsec, lightyear + } + + public static String[] distanceName = { "nm", "um", "mm", "cm", "m", "km", "AU", "parsec", "lightyear" }; + + public enum timeUnit { + nsec, usec, msec, sec, min, hour, day, week, month, year + } + + public static String[] timeName = { "nsec", "usec", "msec", "sec", "min", "hour", "day", "week", "month", "year" }; + + public enum massUnit { + ng, ug, mg, g, kg + } + public static String[] massName={ + "ng", "ug", "mg", "g", "kg" + }; + + + String className; + distanceUnit distance; + timeUnit time; + massUnit mass; + + public unitSet(String className, distanceUnit km, timeUnit sec, massUnit kg) { + super(); + this.className = className; + this.distance = km; + this.time = sec; + this.mass = kg; + } + +} diff --git a/src/jat/core/util/EasyReader.java b/src/jat/core/util/EasyReader.java new file mode 100644 index 0000000..ace4380 --- /dev/null +++ b/src/jat/core/util/EasyReader.java @@ -0,0 +1,296 @@ + + +package jat.core.util; + +import java.io.BufferedReader; +import java.io.FileNotFoundException; +import java.io.FileReader; +import java.io.IOException; +import java.io.InputStreamReader; + +/** + * @author Gary Litvin + * @version 1.2, 5/30/02 + * + * Written as part of + * + * Java Methods: An Introduction to Object-Oriented Programming + * (Skylight Publishing 2001, ISBN 0-9654853-7-4) + * + * and + * + * Java Methods AB: Data Structures + * (Skylight Publishing 2003, ISBN 0-9654853-1-5) + * + * EasyReader provides simple methods for reading the console and + * for opening and reading text files. All exceptions are handled + * inside the class and are hidden from the user. + * + * + * Example: + * ======= + * + * EasyReader console = new EasyReader(); + * System.out.print("Enter input file name: "); + * String fileName = console.readLine(); + * + * EasyReader inFile = new EasyReader(fileName); + * if (inFile.bad()) + * { + * System.err.println("Can't open " + fileName); + * System.exit(1); + * } + * + * String firstLine = inFile.readLine(); + * if (!inFile.eof()) // or: if (firstLine != null) + * System.out.println("The first line is : " + firstLine); + * + * System.out.print("Enter the maximum number of integers to read: "); + * int maxCount = console.readInt(); + * int k, count = 0; + * + * while (count < maxCount && !inFile.eof()) + * { + * k = inFile.readInt(); + * if (!inFile.eof()) + * { + * // process or store this number + * count++; + * } + * } + * + * inFile.close(); // optional + * System.out.println(count + " numbers read"); + * + * + */ + +public class EasyReader +{ + protected String myFileName; + protected BufferedReader myInFile; + protected int myErrorFlags = 0; + protected static final int OPENERROR = 0x0001; + protected static final int CLOSEERROR = 0x0002; + protected static final int READERROR = 0x0004; + protected static final int EOF = 0x0100; + + /** + * Constructor. Prepares console (System.in) for reading + */ + public EasyReader() + { + myFileName = null; + myErrorFlags = 0; + myInFile = new BufferedReader( + new InputStreamReader(System.in), 128); + } + + /** + * Constructor. opens a file for reading + * @param fileName the name or pathname of the file + */ + public EasyReader(String fileName) + { + myFileName = fileName; + myErrorFlags = 0; + try + { + myInFile = new BufferedReader(new FileReader(fileName), 1024); + } + catch (FileNotFoundException e) + { + myErrorFlags |= OPENERROR; + myFileName = null; + } + } + + /** + * Closes the file + */ + public void close() + { + if (myFileName == null) + return; + try + { + myInFile.close(); + } + catch (IOException e) + { + System.err.println("Error closing " + myFileName + "\n"); + myErrorFlags |= CLOSEERROR; + } + } + + /** + * Checks the status of the file + * @return true if en error occurred opening or reading the file, + * false otherwise + */ + public boolean bad() + { + return myErrorFlags != 0; + } + + /** + * Checks the EOF status of the file + * @return true if EOF was encountered in the previous read + * operation, false otherwise + */ + public boolean eof() + { + return (myErrorFlags & EOF) != 0; + } + + private boolean ready() throws IOException + { + return myFileName == null || myInFile.ready(); + } + + /** + * Reads the next character from a file (any character including + * a space or a newline character). + * @return character read or null character + * (Unicode 0) if trying to read beyond the EOF + */ + public char readChar() + { + char ch = '\u0000'; + + try + { + if (ready()) + { + ch = (char)myInFile.read(); + } + } + catch (IOException e) + { + if (myFileName != null) + System.err.println("Error reading " + myFileName + "\n"); + myErrorFlags |= READERROR; + } + + if (ch == '\u0000') + myErrorFlags |= EOF; + + return ch; + } + + /** + * Reads from the current position in the file up to and including + * the next newline character. The newline character is thrown away + * @return the read string (excluding the newline character) or + * null if trying to read beyond the EOF + */ + public String readLine() + { + String s = null; + + try + { + s = myInFile.readLine(); + } + catch (IOException e) + { + if (myFileName != null) + System.err.println("Error reading " + myFileName + "\n"); + myErrorFlags |= READERROR; + } + + if (s == null) + myErrorFlags |= EOF; + return s; + } + + /** + * Skips whitespace and reads the next word (a string of consecutive + * non-whitespace characters (up to but excluding the next space, + * newline, etc.) + * @return the read string or null if trying to read beyond the EOF + */ + public String readWord() + { + StringBuffer buffer = new StringBuffer(128); + char ch = ' '; + int count = 0; + String s = null; + + try + { + while (ready() && Character.isWhitespace(ch)) + ch = (char)myInFile.read(); + while (ready() && !Character.isWhitespace(ch)) + { + count++; + buffer.append(ch); + myInFile.mark(1); + ch = (char)myInFile.read(); + }; + + if (count > 0) + { + myInFile.reset(); + s = buffer.toString(); + } + else + { + myErrorFlags |= EOF; + } + } + + catch (IOException e) + { + if (myFileName != null) + System.err.println("Error reading " + myFileName + "\n"); + myErrorFlags |= READERROR; + } + + return s; + } + + /** + * Reads the next integer (without validating its format) + * @return the integer read or 0 if trying to read beyond the EOF + */ + public int readInt() + { + String s = readWord(); + if (s != null) + return Integer.parseInt(s); + else + return 0; + } + + /** + * Reads the next double (without validating its format) + * @return the number read or 0 if trying to read beyond the EOF + */ + public double readDouble() + { + String s = readWord(); + if (s != null) + return Double.parseDouble(s); + // in Java 1, use: return Double.valueOf(s).doubleValue(); + else + return 0.0; + } + + /** + * Reads the next double (without validating its format) + * FORTRAN exponential format has D instead of E + * @return the number read or 0 if trying to read beyond the EOF + */ + public double readFORTRANDouble() + { + String s = readWord(); + s=s.replace('D','E'); + if (s != null) + return Double.parseDouble(s); + // in Java 1, use: return Double.valueOf(s).doubleValue(); + else + return 0.0; + } +} + diff --git a/src/jat/core/util/FileUtil.java b/src/jat/core/util/FileUtil.java new file mode 100644 index 0000000..0720cc6 --- /dev/null +++ b/src/jat/core/util/FileUtil.java @@ -0,0 +1,67 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.util; + +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.net.URL; + +/** + * + * This class makes it possible to use the same code to open and read from a + * file, regardless of whether the calling class is an application or an applet + * - inside a jar file or a file system with separate class files - on the + * Internet or a local file system the resource to be used - is inside a jar + * file or in a separate file + * + * + * @author Tobias Berthold + * + */ +public class FileUtil { + + BufferedReader in; + + public FileUtil(String fileName) throws IOException { + + // Create a URL for the desired page + // If it is called from an applet, it starts with "file:" or "http:" + // If it's an application, we need to add "file:" so that BufferReader + // works + boolean application; + if (fileName.startsWith("file") || fileName.startsWith("http")) + application = false; + else + application = true; + if (application) + fileName = "file:" + fileName; + URL url = new URL(fileName); + in = new BufferedReader(new InputStreamReader(url.openStream())); + } + + public String readLine() throws IOException { + return in.readLine(); + } + + public void close() throws IOException + { + + in.close(); + } +} diff --git a/src/jat/core/util/PathUtil.java b/src/jat/core/util/PathUtil.java new file mode 100644 index 0000000..7e3c243 --- /dev/null +++ b/src/jat/core/util/PathUtil.java @@ -0,0 +1,184 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.util; + +import java.applet.Applet; +import java.io.File; +import java.net.URL; + +/** + * @author Tobias Berthold Path Utilities returns the path to resources as a + * String possible scenarios: the class that uses PathUtil - is an + * application or an applet - inside a jar file or a file system with + * separate class files - on the Internet or a local file system the + * resource to be used - is inside a jar file or in a separate file + * + * Note: This relies on the root of the project being named "jat" !!! + * + */ +public class PathUtil { + boolean debug = false; + + public String root_path; + public String current_path; + public String DE405Path; + public String data_path; + public String fs = File.separator; + jatMessages messages; + + /** + * Use this if called from application + */ + public PathUtil() { + if (debug) + System.out.println(" constructor "); + root_path = find_root(); + data_path = root_path + "data/"; + DE405Path = root_path + "data/core/ephemeris/DE405data/"; + + } + + /** + * Use this if called from applet + */ + public PathUtil(Applet myapplet, jatMessages messages) { + + this.messages = messages; + // current_path = find_current_path(myapplet); + root_path = find_root(myapplet); + data_path = root_path + "data/"; + DE405Path = root_path + "data/core/ephemeris/DE405data/"; + + if (messages != null) { + messages.addln("[PathUtil root path] " + root_path); + // messages.addln("[PathUtil] " + data_path); + // messages.addln("[PathUtil] " + DE405Path); + } + } + + /** + * Use this if called from applet + */ + public PathUtil(Applet myapplet) { + + // current_path = find_current_path(myapplet); + root_path = find_root(myapplet); + data_path = root_path + "data/"; + DE405Path = root_path + "data/core/ephemeris/DE405data/"; + + // if (debug) + // System.out.println("[PathUtil current_path] " + current_path); + } + + /** + * @return path to root of the project Finds the path to the root of the + * project. Starts with the path of the class from which it is + * called, strips everything from the end until it finds the string + * "jat" or "jatdevelop". Works with an open folder structure or + * inside a jar file, on a local hard disk as well as on the + * Internet. + */ + public String find_root(Applet myapplet) { + + URL pathURL = myapplet.getCodeBase(); + String pathName = pathURL.toExternalForm(); + //System.out.println("[PathUtil] getCodeBase " + myapplet.getCodeBase()); + //System.out.println("[PathUtil] getCodeBase " + pathName); + + // go forward in the directory tree until you find "jat" + String[] numberSplit = pathName.split("/"); + String root_path = ""; + for (int i = 0; i < numberSplit.length; i++) { + + // System.out.println(numberSplit[i]); + if (numberSplit[i].equals("jat")) + break; + if (numberSplit[i].equals("jatdevelop")) + break; + if (numberSplit[i].equals("jatexperimental")) + break; + root_path = root_path + numberSplit[i] + "/"; + } + root_path = root_path + "jat" + "/"; + + if (debug) + System.out.println("[PathUtil root_path] " + root_path); + + return (root_path); + } + + public String find_root() { + + String resource_path = PathUtil.class.getProtectionDomain() + .getCodeSource().getLocation().getPath(); + if (debug) + System.out.println("[PathUtil resource_path] " + resource_path); + + // go forward in the directory tree until you find "jat" + String[] numberSplit = resource_path.split("/"); + String root_path = "/"; + for (int i = 1; i < numberSplit.length; i++) { + + // System.out.println(numberSplit[i]); + if (numberSplit[i].equals("jat")) + break; + if (numberSplit[i].equals("jatdevelop")) + break; + if (numberSplit[i].equals("jatexperimental")) + break; + root_path = root_path + numberSplit[i] + "/"; + } + root_path = root_path + "jat" + "/"; + + if (debug) + System.out.println("[PathUtil root_path] " + root_path); + + return (root_path); + } + + /** + * @param a + * @return path where the calling applet resides Does not work when applet + * is loaded from a web site + */ + public String find_current_path(Applet a) { + if (debug) + System.out.println("[PathUtil] current_path called"); + + try { + ResourceLoader c = new ResourceLoader(); + URL url = c.loadURL(a.getClass(), "."); + // ResourceLoader c = new ResourceLoader(); + // URL url = c.loadURL(a.getClass(), "/"); + + // ResourceLoader c = new ResourceLoader(); + // URL helpURL2 = c.loadURL(this.getClass(), relative_path); + + // System.out.println(url.getPath()); + return url.getPath(); + + } catch (Exception e) { + System.err + .println("Couldn't find current path in jat.core.util.PathUtil"); + // System.exit(0); + return ""; + } + } + +} + diff --git a/src/jat/core/util/PrintMatrix.java b/src/jat/core/util/PrintMatrix.java new file mode 100644 index 0000000..24240dd --- /dev/null +++ b/src/jat/core/util/PrintMatrix.java @@ -0,0 +1,128 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.core.util; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +/** + * Prints a matrix to the screen, nicely formatted so that columns line up. + * @author Tobias Berthold + */ +public class PrintMatrix +{ + Matrix M; + + enum mode + { + FIXED, VARIABLE + }; + + enum decexp + { + DECIMAL, EXPONENTIAL + }; + + DecimalFormat df; + NumberFormat itf; + private int MinFracDig = 10; + private int MinIntDig = 8; + private int[] fractionDigits; + private int[] integerDigits; + public String[] titles ; + + public PrintMatrix(Matrix M) + { + this.M = M; + //default values + int cols = M.getColumnDimension(); + integerDigits=new int[cols]; + fractionDigits=new int[cols]; + titles=new String[cols]; + for(int i=0;i jatMessageList = new ArrayList(); + public boolean changed = false; + +// public void add(String message) { +// jatMessageList.add(message); +// } + + public void addln(String message) { + jatMessageList.add(message + '\n'); + changed = true; + } + + // public void addln(String className, String message) { + // jatMessageList.add(message+'\n'); + // } + + public void printMessages() { + System.out.println("--- jat Messages: ----" ); + for (int i = 0; i < jatMessageList.size(); i++) { + System.out.print(jatMessageList.get(i)); + changed = false; + } + } + + public void printMessagesToTextArea(JTextArea textArea) { + textArea.setText(""); + for (int i = 0; i < jatMessageList.size(); i++) { + textArea.append(jatMessageList.get(i)); + changed = false; + // System.out.print(jatMessageList.get(i)); + } + } + +} diff --git a/src/jat/core/util/messageConsole/LimitLinesDocumentListener.java b/src/jat/core/util/messageConsole/LimitLinesDocumentListener.java new file mode 100644 index 0000000..badb8d8 --- /dev/null +++ b/src/jat/core/util/messageConsole/LimitLinesDocumentListener.java @@ -0,0 +1,150 @@ +package jat.core.util.messageConsole; + +import javax.swing.SwingUtilities; +import javax.swing.event.DocumentEvent; +import javax.swing.event.DocumentListener; +import javax.swing.text.BadLocationException; +import javax.swing.text.Document; +import javax.swing.text.Element; + +/* + * A class to control the maximum number of lines to be stored in a Document + * + * Excess lines can be removed from the start or end of the Document + * depending on your requirement. + * + * a) if you append text to the Document, then you would want to remove lines + * from the start. + * b) if you insert text at the beginning of the Document, then you would + * want to remove lines from the end. + */ +public class LimitLinesDocumentListener implements DocumentListener +{ + private int maximumLines; + private boolean isRemoveFromStart; + + /* + * Specify the number of lines to be stored in the Document. + * Extra lines will be removed from the start of the Document. + */ + public LimitLinesDocumentListener(int maximumLines) + { + this(maximumLines, true); + } + + /* + * Specify the number of lines to be stored in the Document. + * Extra lines will be removed from the start or end of the Document, + * depending on the boolean value specified. + */ + public LimitLinesDocumentListener(int maximumLines, boolean isRemoveFromStart) + { + setLimitLines(maximumLines); + this.isRemoveFromStart = isRemoveFromStart; + } + + /* + * Return the maximum number of lines to be stored in the Document + */ + public int getLimitLines() + { + return maximumLines; + } + + /* + * Set the maximum number of lines to be stored in the Document + */ + public void setLimitLines(int maximumLines) + { + if (maximumLines < 1) + { + String message = "Maximum lines must be greater than 0"; + throw new IllegalArgumentException(message); + } + + this.maximumLines = maximumLines; + } + + // Handle insertion of new text into the Document + + public void insertUpdate(final DocumentEvent e) + { + // Changes to the Document can not be done within the listener + // so we need to add the processing to the end of the EDT + + SwingUtilities.invokeLater( new Runnable() + { + public void run() + { + removeLines(e); + } + }); + } + + public void removeUpdate(DocumentEvent e) {} + public void changedUpdate(DocumentEvent e) {} + + /* + * Remove lines from the Document when necessary + */ + private void removeLines(DocumentEvent e) + { + // The root Element of the Document will tell us the total number + // of line in the Document. + + Document document = e.getDocument(); + Element root = document.getDefaultRootElement(); + + while (root.getElementCount() > maximumLines) + { + if (isRemoveFromStart) + { + removeFromStart(document, root); + } + else + { + removeFromEnd(document, root); + } + } + } + + /* + * Remove lines from the start of the Document + */ + private void removeFromStart(Document document, Element root) + { + Element line = root.getElement(0); + int end = line.getEndOffset(); + + try + { + document.remove(0, end); + } + catch(BadLocationException ble) + { + System.out.println(ble); + } + } + + /* + * Remove lines from the end of the Document + */ + private void removeFromEnd(Document document, Element root) + { + // We use start minus 1 to make sure we remove the newline + // character of the previous line + + Element line = root.getElement(root.getElementCount() - 1); + int start = line.getStartOffset(); + int end = line.getEndOffset(); + + try + { + document.remove(start - 1, end - start); + } + catch(BadLocationException ble) + { + System.out.println(ble); + } + } +} diff --git a/src/jat/core/util/messageConsole/MessageConsole.java b/src/jat/core/util/messageConsole/MessageConsole.java new file mode 100644 index 0000000..0162339 --- /dev/null +++ b/src/jat/core/util/messageConsole/MessageConsole.java @@ -0,0 +1,245 @@ +package jat.core.util.messageConsole; + +import java.awt.Color; +import java.io.ByteArrayOutputStream; +import java.io.PrintStream; + +import javax.swing.event.DocumentListener; +import javax.swing.text.BadLocationException; +import javax.swing.text.Document; +import javax.swing.text.JTextComponent; +import javax.swing.text.SimpleAttributeSet; +import javax.swing.text.StyleConstants; + +/* + * Create a simple console to display text messages. + * + * Messages can be directed here from different sources. Each source can + * have its messages displayed in a different color. + * + * Messages can either be appended to the console or inserted as the first + * line of the console + * + * You can limit the number of lines to hold in the Document. + * + * http://tips4java.wordpress.com/ + * + */ +public class MessageConsole +{ + private JTextComponent textComponent; + private Document document; + private boolean isAppend; + private DocumentListener limitLinesListener; + + public MessageConsole(JTextComponent textComponent) + { + this(textComponent, true); + } + + /* + * Use the text component specified as a simply console to display + * text messages. + * + * The messages can either be appended to the end of the console or + * inserted as the first line of the console. + */ + public MessageConsole(JTextComponent textComponent, boolean isAppend) + { + this.textComponent = textComponent; + this.document = textComponent.getDocument(); + this.isAppend = isAppend; + textComponent.setEditable( false ); + } + + /* + * Redirect the output from the standard output to the console + * using the default text color and null PrintStream + */ + public void redirectOut() + { + redirectOut(null, null); + } + + /* + * Redirect the output from the standard output to the console + * using the specified color and PrintStream. When a PrintStream + * is specified the message will be added to the Document before + * it is also written to the PrintStream. + */ + public void redirectOut(Color textColor, PrintStream printStream) + { + ConsoleOutputStream cos = new ConsoleOutputStream(textColor, printStream); + System.setOut( new PrintStream(cos, true) ); + } + + /* + * Redirect the output from the standard error to the console + * using the default text color and null PrintStream + */ + public void redirectErr() + { + redirectErr(null, null); + } + + /* + * Redirect the output from the standard error to the console + * using the specified color and PrintStream. When a PrintStream + * is specified the message will be added to the Document before + * it is also written to the PrintStream. + */ + public void redirectErr(Color textColor, PrintStream printStream) + { + ConsoleOutputStream cos = new ConsoleOutputStream(textColor, printStream); + System.setErr( new PrintStream(cos, true) ); + } + + /* + * To prevent memory from being used up you can control the number of + * lines to display in the console + * + * This number can be dynamically changed, but the console will only + * be updated the next time the Document is updated. + */ + public void setMessageLines(int lines) + { + if (limitLinesListener != null) + document.removeDocumentListener( limitLinesListener ); + + limitLinesListener = new LimitLinesDocumentListener(lines, isAppend); + document.addDocumentListener( limitLinesListener ); + } + + /* + * Class to intercept output from a PrintStream and add it to a Document. + * The output can optionally be redirected to a different PrintStream. + * The text displayed in the Document can be color coded to indicate + * the output source. + */ + class ConsoleOutputStream extends ByteArrayOutputStream + { + private SimpleAttributeSet attributes; + private PrintStream printStream; + private StringBuffer buffer = new StringBuffer(80); + private boolean isFirstLine; + + /* + * Specify the option text color and PrintStream + */ + public ConsoleOutputStream(Color textColor, PrintStream printStream) + { + if (textColor != null) + { + attributes = new SimpleAttributeSet(); + StyleConstants.setForeground(attributes, textColor); + } + + this.printStream = printStream; + + if (isAppend) + isFirstLine = true; + } + + /* + * Override this method to intercept the output text. Each line of text + * output will actually involve invoking this method twice: + * + * a) for the actual text message + * b) for the newLine string + * + * The message will be treated differently depending on whether the line + * will be appended or inserted into the Document + */ + public void flush() + { + String message = toString(); + + if (message.length() == 0) return; + + if (isAppend) + handleAppend(message); + else + handleInsert(message); + + reset(); + } + + /* + * We don't want to have blank lines in the Document. The first line + * added will simply be the message. For additional lines it will be: + * + * newLine + message + */ + private void handleAppend(String message) + { + if (message.endsWith("\r") + || message.endsWith("\n")) + { + buffer.append(message); + } + else + { + buffer.append(message); + clearBuffer(); + } + } + /* + * We don't want to merge the new message with the existing message + * so the line will be inserted as: + * + * message + newLine + */ + private void handleInsert(String message) + { + buffer.append(message); + + if (message.endsWith("\r") + || message.endsWith("\n")) + { + clearBuffer(); + } + } + + /* + * The message and the newLine have been added to the buffer in the + * appropriate order so we can now update the Document and send the + * text to the optional PrintStream. + */ + private void clearBuffer() + { + // In case both the standard out and standard err are being redirected + // we need to insert a newline character for the first line only + + if (isFirstLine && document.getLength() != 0) + { + buffer.insert(0, "\n"); + } + + isFirstLine = false; + String line = buffer.toString(); + + try + { + if (isAppend) + { + int offset = document.getLength(); + document.insertString(offset, line, attributes); + textComponent.setCaretPosition( document.getLength() ); + } + else + { + document.insertString(0, line, attributes); + textComponent.setCaretPosition( 0 ); + } + } + catch (BadLocationException ble) {} + + if (printStream != null) + { + printStream.print(line); + } + + buffer.setLength(0); + } + } +} diff --git a/src/jat/core/util/messageConsole/MessageFrame.java b/src/jat/core/util/messageConsole/MessageFrame.java new file mode 100644 index 0000000..bddb243 --- /dev/null +++ b/src/jat/core/util/messageConsole/MessageFrame.java @@ -0,0 +1,54 @@ +package jat.core.util.messageConsole; + +import java.awt.BorderLayout; +import java.awt.EventQueue; + +import javax.swing.JFrame; +import javax.swing.JPanel; +import javax.swing.JTextArea; +import javax.swing.border.EmptyBorder; + +public class MessageFrame extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 5309690296565050987L; + private JPanel contentPane; + public JTextArea textArea; + + /** + * Launch the application. + */ + public static void main(String[] args) { + EventQueue.invokeLater(new Runnable() { + public void run() { + try { + MessageFrame frame = new MessageFrame(); + frame.setVisible(true); + } catch (Exception e) { + e.printStackTrace(); + } + } + }); + } + + /** + * Create the frame. + */ + public MessageFrame() { + setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + setBounds(100, 100, 450, 300); + contentPane = new JPanel(); + contentPane.setBorder(new EmptyBorder(5, 5, 5, 5)); + contentPane.setLayout(new BorderLayout(0, 0)); + setContentPane(contentPane); + + textArea = new JTextArea(); + contentPane.add(textArea, BorderLayout.CENTER); + + + + } + +} diff --git a/src/jat/coreNOSA/algorithm/DoubleArrayFunction.java b/src/jat/coreNOSA/algorithm/DoubleArrayFunction.java new file mode 100644 index 0000000..89df2ac --- /dev/null +++ b/src/jat/coreNOSA/algorithm/DoubleArrayFunction.java @@ -0,0 +1,37 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm; + +/** + * This interface provides the mechanism for passing a method + * that evaluates a function to a solver. + * + * @author Tobias Berthold + * @version 1.0 + */ +public interface DoubleArrayFunction +{ + /** + * @param x double array containing the required data. + * @return double array containing the result of the function. + */ + public double[] evaluate(double [] x); +} diff --git a/src/jat/coreNOSA/algorithm/IntegerPair.java b/src/jat/coreNOSA/algorithm/IntegerPair.java new file mode 100644 index 0000000..5d5a6c3 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/IntegerPair.java @@ -0,0 +1,7 @@ +package jat.coreNOSA.algorithm; + +public class IntegerPair { + public int x; + public int y; + +} diff --git a/src/jat/coreNOSA/algorithm/Jacobian.java b/src/jat/coreNOSA/algorithm/Jacobian.java new file mode 100644 index 0000000..d233562 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/Jacobian.java @@ -0,0 +1,126 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Utility class for Numerical Derivatives + * @author + * @version 1.0 + */ +public class Jacobian { + + /** Compute the Jacobian using central differences. + * @param xin VectorN containing the current value of x. + * @param f a VectorFunction whose Jacobian is to be computed. + * @param eps Accuracy. + * @return Jacobian matrix (n x n). + */ + public static Matrix centralDiff(VectorN xin, VectorFunction f, double eps) + // computes the Jacobian using central differences + { + int n = xin.length; + VectorN nu = new VectorN(xin); + VectorN nxf = new VectorN(nu); + VectorN nxb = new VectorN(nu); + double [][] cx = new double[n][n]; + + for (int i = 0; i < n; i++) { + double dnx = Math.abs(eps*nu.x[i]); + if (Math.abs(nu.x[i]) <= eps) { + dnx = eps*eps; + } + + nxf.x[i] = nu.x[i] + dnx; + dnx = nxf.x[i] - nu.x[i]; + + VectorN cf = f.evaluate(nxf); + nxf.x[i] = nu.x[i]; + + nxb.x[i] = nu.x[i] - dnx; + VectorN cb = f.evaluate(nxb); + nxb.x[i] = nu.x[i]; + + for (int j = 0; j < n; j++) { + cx[j][i] = 0.5 * (cf.x[j] - cb.x[j])/dnx; + } + } + Matrix Jac = new Matrix(cx, n, n); + return Jac; + } + + /** Compute the Jacobian using 4th order central differences. + * @param xin VectorN containing the current value of x. + * @param f a VectorFunction whose Jacobian is to be computed. + * @param eps Accuracy. + * @return Jacobian matrix (n x n). + */ + public static Matrix centralDiff4th(VectorN xin, VectorFunction f, double eps) + // computes the Jacobian using 4th order central differences + { + + int n = xin.length; + VectorN nu = new VectorN(xin); + VectorN nxf = new VectorN(nu); + VectorN nxb = new VectorN(nu); + VectorN nxfh = new VectorN(nu); + VectorN nxbh = new VectorN(nu); + + double [][] cx = new double[n][n]; + + for (int i = 0; i < n; i++) { + double dnx = Math.abs(eps*nu.x[i]); + if (Math.abs(nu.x[i]) <= eps) { + dnx = eps*eps; + } + + nxf.x[i] = nu.x[i] + dnx; + dnx = nxf.x[i] - nu.x[i]; + + VectorN cf = f.evaluate(nxf); + nxf.x[i] = nu.x[i]; + + nxb.x[i] = nu.x[i] - dnx; + VectorN cb = f.evaluate(nxb); + nxb.x[i] = nu.x[i]; + + nxfh.x[i] = nu.x[i] + 2.0*dnx; + VectorN cfh = f.evaluate(nxb); + nxfh.x[i] = nu.x[i]; + + nxbh.x[i] = nu.x[i] - 2.0*dnx; + VectorN cbh = f.evaluate(nxb); + nxbh.x[i] = nu.x[i]; + + + for (int j = 0; j < n; j++) { + cx[j][i] = (8.0*(cf.x[j] - cb.x[j])-(cfh.x[j] - cbh.x[j]))/(12.0*dnx); + } + } + + Matrix Jac = new Matrix(cx, n, n); + return Jac; + } + + +} + diff --git a/src/jat/coreNOSA/algorithm/NLESolver.java b/src/jat/coreNOSA/algorithm/NLESolver.java new file mode 100644 index 0000000..4e54dbe --- /dev/null +++ b/src/jat/coreNOSA/algorithm/NLESolver.java @@ -0,0 +1,532 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +/** + * Title: Non-linear Equation Solver + * Description: Solves non-linear equations + * Copyright: Copyright (c) 2002 + * Company: + * @author + * @version 1.0 + */ + +package jat.coreNOSA.algorithm; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.Householder; + +abstract public class NLESolver +{ + public boolean debug=true; + public int n; // number of unknowns + public VectorN x; // vector of unknowns + public VectorN scales; // vector of typical scaling values + public Matrix d; // scaling matrix + + // algorithm parameters + public final double machineps = 1.1102230246251565E-16; // machine precision + public double eps = 1.0E-5; // central diff eps + // public final double eps = Math.pow(machineps,(1.0/3.0)); // central diff eps + public final double term = 0.5E-08; // termination criterion + public final double alpha = 1.0E-08; // line search algorithm param + // public final double kmin = 1.1102231E-16; // minimum correction factor for newton step + public final double kmin = 1.0E-30; // minimum correction factor for newton step + public final int maxit = 30; // max number of tries in line search + + public NLESolver (VectorN xin) + // default constructor + { + this.x = new VectorN(xin); + this.n = xin.length; + this.d = new Matrix(this.n); // n x n identity matrix + this.scales = new VectorN(this.n,1.0); // nx1 vector containing all 1's + } + + public NLESolver (VectorN xin, VectorN xtyp) // used when scaling + // constructor, inputs are initial x values and typical x's for scaling + { + this.x = new VectorN(xin); + this.n = xin.length; + this.d = new Matrix(this.n); // n x n identity matrix + this.scales = new VectorN(this.n, 1.0); + + // fill in the scaling vector and matrix + for (int i = 0; i < n; i++) + { + this.scales.x[i] = 1.0/xtyp.x[i]; + this.d.A[i][i] = this.scales.x[i]; + } + } + + abstract public VectorN evaluate(VectorN xin); + // evaluate function to be supplied by the user + + public void set_initial_guess(VectorN x_guess) + { + this.x=x_guess; + } + + protected double figureOfMerit(VectorN xin) + // computes the rss of the deviations + { + VectorN df = this.d.times(xin); + double out = 0.5 * df.dotProduct(df); + return out; + } + + protected Matrix computeJacobian(VectorN xin) + // computes the Jacobian using central differences + { + VectorN nu = new VectorN(xin); + VectorN nxf = new VectorN(nu); + VectorN nxb = new VectorN(nu); + double [][] cx = new double[n][n]; + + for (int i = 0; i < n; i++) + { + double dnx = Math.abs(eps*nu.x[i]); + if (Math.abs(nu.x[i]) <= eps) + { + dnx = eps*eps; + } + + nxf.x[i] = nu.x[i] + dnx; + dnx = nxf.x[i] - nu.x[i]; + + VectorN cf = evaluate(nxf); + nxf.x[i] = nu.x[i]; + + nxb.x[i] = nu.x[i] - dnx; + VectorN cb = evaluate(nxb); + nxb.x[i] = nu.x[i]; + + for (int j = 0; j < n; j++) + { + cx[j][i] = 0.5 * (cf.x[j] - cb.x[j])/dnx; + } + } + Matrix Jac = new Matrix(cx, n, n); + return Jac; + } + + protected Matrix computeJacobian2(VectorN xin) + // computes the Jacobian using 4th order central differences + { + VectorN nu = new VectorN(xin); + VectorN nxf = new VectorN(nu); + VectorN nxb = new VectorN(nu); + VectorN nxfh = new VectorN(nu); + VectorN nxbh = new VectorN(nu); + + double [][] cx = new double[n][n]; + + for (int i = 0; i < n; i++) + { + double dnx = Math.abs(eps*nu.x[i]); + if (Math.abs(nu.x[i]) <= eps) + { + dnx = eps*eps; + } + + nxf.x[i] = nu.x[i] + dnx; + dnx = nxf.x[i] - nu.x[i]; + + VectorN cf = evaluate(nxf); + nxf.x[i] = nu.x[i]; + + nxb.x[i] = nu.x[i] - dnx; + VectorN cb = evaluate(nxb); + nxb.x[i] = nu.x[i]; + + nxfh.x[i] = nu.x[i] + 2.0*dnx; + VectorN cfh = evaluate(nxfh); + nxfh.x[i] = nu.x[i]; + + nxbh.x[i] = nu.x[i] - 2.0*dnx; + VectorN cbh = evaluate(nxbh); + nxbh.x[i] = nu.x[i]; + + + for (int j = 0; j < n; j++) + { + cx[j][i] = (8.0*(cf.x[j] - cb.x[j])-(cfh.x[j] - cbh.x[j]))/(12.0*dnx); + } + } + + Matrix Jac = new Matrix(cx, n, n); + return Jac; + } + + protected VectorN computeGc(Matrix j, VectorN fv) + // computes the gradient needed by the linesearch + { + VectorN gc = new VectorN(n); + Matrix dsq = d.times(d); // square the scaling matrix + Matrix jt = j.transpose(); + Matrix temp = jt.times(dsq); + gc = temp.times(fv); + return gc; + } + + protected Matrix broydenUpdate(VectorN xc, VectorN xplus, VectorN fc, VectorN fplus, Matrix jacprev) + // computes update to the Jacobian + { + Matrix jac = new Matrix(jacprev); + VectorN s = xplus.plus(xc); + VectorN den = this.d.times(s); + double denmag = den.mag(); + double denom = denmag*denmag; + double temp = 0.0; + double tempi = 0.0; + + for (int i = 0; i < n; i++) + { + for (int j = 0; j < n; j++) + { + temp = temp + jac.A[i][j]*s.x[j]; + } + tempi = fplus.x[i] - fc.x[i] - temp; + if (Math.abs(tempi) >= 1.12E-16) + { + tempi = tempi / denom; + for (int j = 0; j < n; j++) + { + jac.A[i][j] = jac.A[i][j]+tempi*s.x[j]*this.scales.x[j]*this.scales.x[j]; + } + } + } + return jac; + } + + protected VectorN linesearch(VectorN xin, VectorN p, VectorN g) + // find the best value of k (correction scale factor) by backtracking if necessary + { + double init_slope = g.dotProduct(p); + + if (init_slope >= 0.0) + { + System.out.println("linesearch: roundoff problem"); + } + + double k = 1.0; + double ktemp = 1.0; + double kprev = 1.0; + VectorN xc = new VectorN(xin); + VectorN xplus = new VectorN(n); + VectorN ftemp = new VectorN(n); + VectorN ab = new VectorN(2); + VectorN r = new VectorN(2); + + double fc = 0.0; + double fplus = 0.0; + double fpprev = 0.0; + + + ftemp = evaluate(xin); + fc = figureOfMerit(ftemp); + double forig = fc; + + for (int it = 0; it < maxit; it++) + { + for (int i = 0; i < n; i++) + { + xplus.x[i] = xc.x[i] + k*p.x[i]; + } + ftemp = evaluate(xplus); + fplus = figureOfMerit(ftemp); + + // System.out.println("fplus = "+fplus); + + double slope_crit = fc + this.alpha*k*init_slope; + + // System.out.println("slope_crit = "+slope_crit); + + // check for acceptable step + if (fplus <= slope_crit) + { + // System.out.println("acceptable step, returning, k = "+k); + return xplus; + } + else + { + if (k < kmin) // if k goes too low, get out + { + System.out.println("linesearch: k went too low, no update"); + // System.exit(-1); + if (fplus < forig) + { + return xplus; + } + else + { + return xin; + } + } + + // need to reduce k + if (k == 1.0) // first backtrack, use quadratic fit + { + ktemp = -1.0*init_slope/(2.0*(fplus - fc - init_slope)); + // System.out.println("init_slope = "+init_slope); + // System.out.println("fplus = "+fplus); + // System.out.println("fc = "+fc); + // System.out.println("first backtrack, ktemp = "+ktemp); + } + else // subsequent backtrack, use cubic fit + { + Matrix q = new Matrix(2,2); + double k2 = k*k; + double kp2 = kprev*kprev; + q.A[0][0] = 1.0/k2; + q.A[0][1] = -1.0/kp2; + q.A[1][0] = -1.0*kprev/k2; + q.A[1][1] = k/kp2; + r.x[0] = fplus - fc - k*init_slope; + r.x[1] = fpprev - fc - kprev*init_slope; + + ab = q.times(r); + ab = ab.times(1.0/(k - kprev)); + + double disc = ab.x[1]*ab.x[1] - 3.0*ab.x[0]*init_slope; + + if (ab.x[0] == 0.0) // cubic is really a quadratic + { + ktemp = -1.0*init_slope/(2.0*ab.x[1]); + } + else // solve the cubic equation for the new k + { + ktemp = (-1.0*ab.x[1]+Math.sqrt(disc))/(3.0*ab.x[0]); + } + +// System.out.println("subsequent backtrack, ktemp = "+ktemp); + + if (ktemp > (0.5*k)) ktemp = 0.5 * k; + } + + // store off k and fplus before modifying + + kprev = k; + fpprev = fplus; +// k = ktemp; + + if (ktemp <= 0.1*k) + { + k = 0.1*k; + } + else + { + k = ktemp; + } + + } + } + System.out.println("linesearch maxit exceeded, k = "+k); + return xin; + } + + public VectorN solveIt(int max_iter, double usr_tol) + { + int iter = 0; + + VectorN xc = new VectorN(this.x); + if (debug) xc.print("initial unknowns"); + VectorN fvc = evaluate(xc); + if(debug) + fvc.print("initial errors"); + double fc = figureOfMerit(fvc); + double norm = Math.sqrt(2.0*fc); + if(debug) + System.out.println("initial norm = "+norm); + VectorN gc = new VectorN(n); + + VectorN xplus = new VectorN(xc); + VectorN fvplus = new VectorN(fvc); + double fplus = fc; + Householder house = new Householder(n, n); +// Matrix jc = computeJacobian(xc); + +// VectorN pert = new VectorN(this.n); +// int i; +// for(i=0;i usr_tol && iter 1.0E-15) +// { +// eps = eps / 10.0; +// jc = computeJacobian2(xc); +// } +// else +// { +// eps = 1.0E-07; +// jc = computeJacobian2(xc); +// } + +// count = 3; +// if (count < 4) +// { +// switch (count) +// { +// case 1: +// eps = 1.0E-14; +// break; +//// case 2: +//// eps = 1.0E-13; +//// break; +//// case 3: +//// eps = 1.0E-12; +//// break; +// case 2: +// eps = 1.0E-11; +// break; +//// case 5: +//// eps = 1.0E-10; +//// count = 0; +//// break; +//// case 6: +//// eps = 1.0E-9; +//// count = 0; +//// break; +// case 3: +// eps = 1.0E-8; +// count = 0; +// break; +//// case 8: +//// eps = 1.0E-7; +//// count = 0; +//// break; +// default: +// eps = 1.0E-8; +// break; +// } +// +// jc = computeJacobian2(xc); +// } +// else +// { + jc = computeJacobian2(xc); + count = 0; +// } + + + if (debug) { +// jc.print("Jacobian"); +// double jcdet = jc.det(); +// System.out.println("jcdet = "+jcdet); + } +// jc = broydenUpdate(xc, xplus, fvc, fvplus, jc); + + // find newton step direction + VectorN p = new VectorN(house.compute(jc, fvc.x)); +// Matrix jc_inv=jc.inverse(); +// VectorN p=jc_inv.times(fvc); + p = p.times(-1.0); + + // compute the gradient of f + gc = computeGc(jc, fvc); + + // do the linesearch to find the new value of x + xplus = linesearch(xc, p, gc); + + +// VectorN xcorr = xplus.subtract(xc); + + // evaluate the results + fvplus = evaluate(xplus); + fplus = figureOfMerit(fvplus); + norm = Math.sqrt(2.0*fplus); +// xcorr.print("corrections"); + + // check for stuck + +// if ((fc - fplus) <= machineps) +// { +// stuck++; +// } +// else +// { +// stuck = 0; +// } +// +// if (stuck > 3) +// { +// xplus = xplus.plus(pert); +// stuck = 0; +// } + + if(debug) + //System.out.println(" iter = "+iter+" norm = "+norm+" eps = "+eps+" stuck = "+stuck); + System.out.println(" iter = "+iter+" f = "+fplus+" x0 = [ "+xplus.x[0]+" "+xplus.x[1]+" "+xplus.x[2]+" "+xplus.x[3]); + + // store for the next iteration + xc = xplus.copy(); + fc = fplus; + fvc = fvplus.copy(); + + // print the unknowns every 10 iterations + + if (prt > 5) + { + prt = 0; + if(debug) + { + xc.print(" nu.x"); + fvc.print("errors"); + } + } + + } + + if(debug) + xc.print(" nu.x"); + return xc; + } + + public VectorN solveIt(){ + return solveIt(Integer.MAX_VALUE,term); + } +} + diff --git a/src/jat/coreNOSA/algorithm/ScalarFunction.java b/src/jat/coreNOSA/algorithm/ScalarFunction.java new file mode 100644 index 0000000..f8aa64b --- /dev/null +++ b/src/jat/coreNOSA/algorithm/ScalarFunction.java @@ -0,0 +1,42 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.coreNOSA.algorithm; + +/** + *

+ * The ScalarFunction interface provides the mechanism for passing a method + * that evaluates a function to a solver. + * + * @author + * @version 1.0 + */ +public interface ScalarFunction { + + /** Evaluate a scalar function. + * @params x double containing the input data. + * @return double containing the result of the function. + */ + + public double evaluate(double x); + +} + diff --git a/src/jat/coreNOSA/algorithm/ScalarfromArrayFunction.java b/src/jat/coreNOSA/algorithm/ScalarfromArrayFunction.java new file mode 100644 index 0000000..20ae4a3 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/ScalarfromArrayFunction.java @@ -0,0 +1,37 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm; + +/** + * This interface provides the mechanism for passing a method + * that evaluates a function to a solver. + * + * @author Tobias Berthold + * @version 1.0 + */ +public interface ScalarfromArrayFunction +{ + /** + * @param x double array containing the required data. + * @return double containing the result of the function. + */ + public double evaluate(double [] x); +} diff --git a/src/jat/coreNOSA/algorithm/VectorFunction.java b/src/jat/coreNOSA/algorithm/VectorFunction.java new file mode 100644 index 0000000..1a31f71 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/VectorFunction.java @@ -0,0 +1,43 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.coreNOSA.algorithm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The VectorFunction interface provides the mechanism for passing a method + * that evaluates a function to a solver. + * + * @author + * @version 1.0 + */ +public interface VectorFunction { + + /** Evaluate a vector function. + * @params x VectorN containing the required data. + * @return VectorN containing the result of the function. + */ + + public VectorN evaluate(VectorN x); + +} + diff --git a/src/jat/coreNOSA/algorithm/VectorTimeFunction.java b/src/jat/coreNOSA/algorithm/VectorTimeFunction.java new file mode 100644 index 0000000..3685d58 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/VectorTimeFunction.java @@ -0,0 +1,39 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * The VectorTimeFunction interface provides the mechanism for passing a method + * that evaluates a function to a solver. + * + * @author Tobias Berthold + * @version 1.0 + */ +public interface VectorTimeFunction +{ + /** + * @param x VectorN containing the required data. + * @param t separate data, typically time + * @return VectorN containing the result of the function. + */ + public VectorN evaluate(VectorN x, double t); +} diff --git a/src/jat/coreNOSA/algorithm/ZeroFinder.java b/src/jat/coreNOSA/algorithm/ZeroFinder.java new file mode 100644 index 0000000..5ed7b77 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/ZeroFinder.java @@ -0,0 +1,376 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm; +import jat.coreNOSA.math.MathUtils; + +/** + *

+ * The ZeroFinder Class provides a way to solve a scalar f(x) = 0. + * These functions have been translated from Numerical Recipes. + * Currently there are: Regula Falsi, Secant and Ridder's methods. + * The function f is passed via the ScalarFunction interface. + * @author + * @version 1.0 + */ + +public class ZeroFinder { + + /** maximum number of iterations */ + private int maxit = 500; + + /** accuracy of the function, how close to f = 0 */ + private double accuracy = 1.0E-12; + + /** accuracy of the solution */ + private double dxmin = 1.0E-12; + + /** the function to be solved */ + private ScalarFunction func; + + /** bad number */ + private double UNUSED = -1.11E+30; + + /** error counter */ + private int err = 0; + + public double bracket1; + + public double bracket2; + + public double[] xb1; + public double[] xb2; + + /** Construct a zero finding problem + * @param f ScalarFunction to be solved. + */ + public ZeroFinder(ScalarFunction f) { + this.func = f; + } + + /** Construct a zero finding problem. + * @param f ScalarFunction to be solved. + * @param max Maximum number of iterations. + * @param acc How close does f(x) have to be to zero? + * @param dxm How close to the zero does x have to be? + */ + public ZeroFinder(ScalarFunction f, int max, double acc, double dxm) { + setMaxIterations(max); + setAccuracy(acc); + set_dxmin(dxm); + this.func = f; + } + + /** Set the maximum number of iterations + * @param max Maximum number of iterations. + */ + public void setMaxIterations(int max) { + this.maxit = max; + } + + /** How close does f(x) have to be to zero? + * @param acc How close does f(x) have to be to zero? + */ + public void setAccuracy(double acc) { + this.accuracy = acc; + } + + /** How close to the zero does x have to be? + * @param x How close to the zero does x have to be? + */ + public void set_dxmin(double x) { + this.dxmin = x; + } + + /** Find a pair of brackets inside or outside the interval (x1, x2). From Numerical Recipes, chap 9.1 + * To access the brackets, get this.bracket1 and this.bracket2 + * @param x1 lower value + * @param x2 upper value + * @return boolean true=success, false=failure + */ + public boolean zbrac(double x1, double x2){ + double factor = 1.6; + int ntry = 50; + + boolean out = false; + + if (x1 == x2) { + System.out.println("You must provide ZBRAC with an interval"); + return out; + } + + double f1 = this.func.evaluate(x1); + double f2 = this.func.evaluate(x2); + out = true; + + for (int i = 0; i < ntry; i++) { + + if ((f1*f2) < 0.0) { + this.bracket1 = x1; + this.bracket2 = x2; + return out; + } + + if (Math.abs(f1) < Math.abs(f2)) { + x1 = x1 + factor*(x1-x2); + f1 = this.func.evaluate(x1); + } + else { + x2 = x2 + factor*(x2-x1); + f2 = this.func.evaluate(x2); + } + } + +// System.out.println("ZBRAC: Failed to find a bracket in "+ntry+" attempts"); + out = false; + return out; + } + + /** Find pairs of brackets inside the interval (x1, x2). From Numerical Recipes, chap 9.1 + * To obtain the brackets, get this.xb1[] and this.xb2[] + * @param x1 lower value + * @param x2 upper value + * @param nint number of intervals + * @param nrt number of roots + * @return number of brackets found + */ + public int zbrak(double x1, double x2, int nint, int nrt){ + int ntry = 50; + + if (x1 == x2) { + System.out.println("You must provide ZBRAC with an interval"); + return 0; + } + + int nbb = 0; + + double x = x1; + double dx = (x2 - x1)/nint; + + this.xb1 = new double[nrt]; + this.xb2 = new double[nrt]; + + double fp = this.func.evaluate(x); + + for (int i = 0; i < nint; i++) { + x = x + dx; + double fc = this.func.evaluate(x); + if ( fc*fp <= 0.0 ) { + xb1[nbb] = x - dx; + xb2[nbb] = x; + nbb = nbb + 1; + if (nbb == nrt) return nbb; + } + fp = fc; + } + +// if (nbb == 0){ +// System.out.println("ZBRAK: Failed to find any brackets"); +// } + return nbb; + } + + + /** Find the solution using RegulaFalsi. + * @param x1 lower limit on x. + * @param x2 upper limit on x. + * @param dxmin + * @return + */ + public double regulaFalsi(double x1, double x2) { + double xlow; + double xhigh; + double del; + double out = 0.0; + double f; + + double fl = this.func.evaluate(x1); + double fh = this.func.evaluate(x2); + + double test = fl * fh; + + if (test > 0.0) { + if (fl == 0.0) return x1; + if (fh == 0.0) return x2; + err++; + System.out.println("Root must be bracketed in ZeroFinder "+err); + } + + if (fl < 0.0) { + xlow = x1; + xhigh = x2; + } else { + xlow = x2; + xhigh = x1; + double temp = fl; + fl = fh; + fh = temp; + } + + double dx = xhigh - xlow; + + for (int i = 1; i < this.maxit; i++) { + out = xlow + dx * fl / (fl - fh); + f = this.func.evaluate(out); + + if (f < 0.0) { + del = xlow - out; + xlow = out; + fl = f; + } else { + del = xhigh - out; + xhigh = out; + fh = f; + } + + dx = xhigh - xlow; + + if ((Math.abs(del) < this.dxmin) + || (Math.abs(f) < this.accuracy)) { + return out; + } + } + + System.out.println( + " Regula Falsi exceeded " + this.maxit + " iterations "); + return out; + } + + /** Find the solution using the secant method. + * @param x1 lower limit on x. + * @param x2 upper limit on x. + * @return + */ + public double secant(double x1, double x2) { + double xlow; + double xhigh; + double del; + double out = 0.0; + double f; + + double fl = this.func.evaluate(x1); + double fh = this.func.evaluate(x2); + + if (Math.abs(fl) < Math.abs(fh)) { + xlow = x2; + xhigh = x1; + double temp = fl; + fl = fh; + fh = temp; + } else { + xlow = x1; + xhigh = x2; + } + + for (int i = 1; i < this.maxit; i++) { + double dx = (xlow - xhigh) * fh / (fh - fl); + xlow = xhigh; + fl = fh; + xhigh = xhigh + dx; + fh = this.func.evaluate(xhigh); + + if ((Math.abs(dx) < this.dxmin) + || (Math.abs(fh) < this.accuracy)) { + return xhigh; + } + } + + System.out.println( + " Secant Method exceeded " + this.maxit + " iterations "); + return 0.0; + } + + /** Find the solution using Ridder's method. + * @param x1 lower limit on x. + * @param x2 upper limit on x. + * @return + */ + public double ridder(double x1, double x2) { + double fl = this.func.evaluate(x1); + double fh = this.func.evaluate(x2); + if ((fl > 0.0 && fh < 0.0) || (fl < 0.0 && fh > 0.0)) { + double xl = x1; + double xh = x2; + double ans = UNUSED; + for (int j = 1; j <= this.maxit; j++) { + double xm = 0.5 * (xl + xh); + double fm = this.func.evaluate(xm); + double s = Math.sqrt(fm * fm - fl * fh); + if (s == 0.0) + return ans; + double xnew = + xm + (xm - xl) * (MathUtils.sign(1.0, (fl - fh)) * fm / s); + if (Math.abs(xnew - ans) <= this.dxmin) + return ans; + ans = xnew; + double fnew = this.func.evaluate(ans); + if (fnew == 0.0) + return ans; + if (MathUtils.sign(fm, fnew) != fm) { + xl = xm; + fl = fm; + xh = ans; + fh = fnew; + } else if (MathUtils.sign(fl, fnew) != fl) { + xh = ans; + fh = fnew; + } else if (MathUtils.sign(fh, fnew) != fh) { + xl = ans; + fl = fnew; + } else + System.out.println("never get here."); + if (Math.abs(xh - xl) <= this.dxmin) + return ans; + } + System.out.println("Ridder exceed maximum iterations"); + } else { + if (fl == 0.0) + return x1; + if (fh == 0.0) + return x2; + err++; + System.out.println("Root must be bracketed in Ridder "+err); + } + return 0.0; + } + + /** Find the solution using Fixed Point Iteration method. + * @param x0 initial guess for x. + * @param dum not used. + * @return + */ + public double fixedPtIteration(double x0, double dum) { + double xr = x0; + + for (int i = 1; i < this.maxit; i++) { + double xrold = xr; + double f = this.func.evaluate(xrold); + xr = f + xrold; + double dx = Math.abs(xr - xrold); + if ((Math.abs(dx) < this.dxmin)|| (Math.abs(f) < this.accuracy)) { + return xr; + } + } + System.out.println( + " Fixed Point Iteration Method exceeded " + this.maxit + " iterations "); + return 0.0; + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/EKF.java b/src/jat/coreNOSA/algorithm/estimators/EKF.java new file mode 100644 index 0000000..af344a1 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/EKF.java @@ -0,0 +1,727 @@ +package jat.coreNOSA.algorithm.estimators; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 7, 2003 + */ +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.measurements.ObservationMeasurement; +import jat.coreNOSA.measurements.ObservationMeasurementList; +import jat.coreNOSA.measurements.createMeasurements; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.util.FileUtil; + +import java.util.HashMap; + +//import jat.audio.*; + +/** + * The ExtendedKalmanFilter Class processes measurements using an EKF algorithm, + * given the measurements, measurement model and dynamics (or process) model. +* Assumes a scalar measurement update. +* +* @author +* @version 1.0 +*/ +public class EKF { + + DE405 ephem = new DE405(); + double mjd_epoch; + + /** Dynamics or Process Model */ + public ProcessModel process; + + private createMeasurements measurements; + + //** Next observation */ + //private ObservationMeasurement next_obs; + + /** Number of states or unknowns */ + public int n; + + /** Nominal time step */ + private double dtNominal; + + /** Time in the filter*/ + private double filterTime; + + private double finalTime; + + /**Filter State**/ + private double[] xprev; + + /**Previous Time**/ + private double tprev; + + /**State Transition Matrix*/ + public EstSTM xref; + + /**Need to keep track of the new and old covariances*/ +// public static Matrix pold; +// public static Matrix pnew; + public Matrix pold; + public Matrix pnew; + + public LinePrinter residuals; + public HashMap hm; + + private boolean verbose=false; + public static boolean visible; + public static int measNum, stateNum; + + private boolean runMonteCarlo = false; + + /** + * Constructor. + * @param h HashMap from parsing input + */ + public EKF(HashMap h) { + hm = h; + measurements = new createMeasurements(hm); + + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + try{ + runMonteCarlo = initializer.parseBool(hm, "init.runMonteCarlo"); + }catch(NullPointerException ne){ runMonteCarlo = false;} + if(!runMonteCarlo){ + residuals = new LinePrinter(dir_in+"Residuals.txt"); + } + this.n = initializer.parseInt(hm,"FILTER.states"); + String stringPm = initializer.parseString(hm,"FILTER.pm"); + dtNominal = initializer.parseInt(hm,"FILTER.dt"); + mjd_epoch = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0")/86400.0; + + filterTime = 0;//initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0"); + System.out.println(stringPm); + if(stringPm.equals("JGM4x4SRPProcess15state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess15state(lp1, lp2,hm); + + } + else if(stringPm.equals("JGM4x4SRPProcess9state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess9state(lp1, lp2,hm); + + } + else if(stringPm.equals("Simple") || stringPm.equals("Lunar")) + { + this.process = new SimpleProcessModel(hm); + }else{ + System.out.println("Process model not recognized. Aborting"); + System.exit(1); + } + //double[] X = new double[n]; + filterInitialize(); + + } + + /** + * Constructor. + * @param h HashMap from parsing input + */ + public EKF(HashMap h, int JAT_Case) { + hm = h; + measurements = new createMeasurements(hm); + + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + try{ + runMonteCarlo = initializer.parseBool(hm, "init.runMonteCarlo"); + }catch(Exception e){ + runMonteCarlo = false; + } + if(!runMonteCarlo){ + residuals = new LinePrinter(dir_in+"Residuals.txt"); + } + this.n = initializer.parseInt(hm,"FILTER.states"); + String stringPm = initializer.parseString(hm,"FILTER.pm"); + dtNominal = initializer.parseInt(hm,"FILTER.dt"); + mjd_epoch = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0")/86400.0; + + filterTime = 0;//initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0"); + System.out.println(stringPm); + if(stringPm.equals("JGM4x4SRPProcess15state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess15state(lp1, lp2,hm); + + } + else if(stringPm.equals("JGM4x4SRPProcess9state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess9state(lp1, lp2,hm); + + } + else if(stringPm.equals("JGM4x4DragProcess9state")){ + this.process= new JGM4x4DragProcess9state(hm); + } + else if(stringPm.equals("Simple") || stringPm.equals("Lunar")) + { + this.process = new SimpleProcessModel(hm); + }else{ + System.out.println("Process model not recognized. Aborting"); + System.exit(1); + } + //double[] X = new double[n]; + filterInitialize(); + + } + + /** + * Constructor. + * @param ol ObservationMeasurementList initialized from a file + */ + public EKF(ObservationMeasurementList ol, HashMap input) { + //obs_list = ol; + //next_obs = obs_list.getFirst(); + hm = input; + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + try{ + runMonteCarlo = initializer.parseBool(hm, "init.runMonteCarlo"); + }catch(Exception e){ + runMonteCarlo = false; + } + if(!runMonteCarlo){ + residuals = new LinePrinter(dir_in+"Residuals.txt"); + } + this.n = initializer.parseInt(hm,"FILTER.states"); + //this.n=6; + String stringPm = initializer.parseString(hm,"FILTER.pm"); + dtNominal = initializer.parseInt(hm,"FILTER.dt"); + mjd_epoch = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0")/86400.0; + + filterTime = 0;//initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0"); + System.out.println(stringPm); + if(stringPm.equals("JGM4x4SRPProcess15state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess15state(lp1, lp2,hm); + + } + else if(stringPm.equals("JGM4x4SRPProcess9state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess9state(lp1, lp2,hm); + + } + else if(stringPm.equals("JGM4x4DragProcess9state")){ + this.process= new JGM4x4DragProcess9state(hm); + } + else + { + System.out.println("Process model not recognized. Aborting"); + System.exit(1); + } + //double[] X = new double[n]; + filterInitialize(); + + } + + public EKF(HashMap input, int jat_case, createMeasurements created_meas) { + hm = input; + measurements = created_meas; + + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + runMonteCarlo = initializer.parseBool(hm, "init.runMonteCarlo"); + if(!runMonteCarlo){ + residuals = new LinePrinter(dir_in+"Residuals.txt"); + } + this.n = initializer.parseInt(hm,"FILTER.states"); + String stringPm = initializer.parseString(hm,"FILTER.pm"); + dtNominal = initializer.parseInt(hm,"FILTER.dt"); + mjd_epoch = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0")/86400.0; + + filterTime = 0;//initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0"); + System.out.println(stringPm); + if(stringPm.equals("JGM4x4SRPProcess15state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess15state(lp1, lp2,hm); + + } + else if(stringPm.equals("JGM4x4SRPProcess9state")) + { + LinePrinter lp1 = new LinePrinter(dir_in+"geom1_1.txt"); + LinePrinter lp2 = new LinePrinter(dir_in+"geom1_2.txt"); + this.process= new JGM4x4SRPProcess9state(lp1, lp2,hm); + + } + else if(stringPm.equals("Simple") || stringPm.equals("Lunar")) + { + this.process = new SimpleProcessModel(hm); + }else{ + System.out.println("Process model not recognized. Aborting"); + System.exit(1); + } + //double[] X = new double[n]; + filterInitialize(); + } + + public int get_numStates(){ + return this.xref.numberOfStates(); + } + private Matrix updateCov(VectorN k, VectorN h, Matrix p) { + Matrix eye = new Matrix(this.n); + Matrix kh = k.outerProduct(h); + Matrix i_kh = eye.minus(kh); + Matrix out = i_kh.times(p); + return out; + } + + private Matrix updateCov(Matrix k, Matrix h, Matrix p){ + Matrix eye = new Matrix(this.n); + Matrix kh = k.times(h); + Matrix i_kh = eye.minus(kh); + Matrix out = i_kh.times(p); + return out; + } + + private Matrix updateCovJoseph(VectorN k, VectorN h, Matrix p, double measurementNoise){ + Matrix eye = new Matrix(this.n); + Matrix kh = k.outerProduct(h); + Matrix i_kh = eye.minus(kh); + Matrix i_khT = i_kh.transpose(); + double r = measurementNoise; + Matrix kkT = k.outerProduct(k); + Matrix krkT = kkT.times(r); + + Matrix part1 = i_kh.times(p); + part1 = part1.times(i_khT); + Matrix out = part1.plus(krkT); + return out; + } + + private VectorN updateState(VectorN k, double z) { + VectorN xhat = k.times(z); + return xhat; + } + + private Matrix propCov(Matrix p, Matrix phi, Matrix q) { + Matrix phitrans = phi.transpose(); + Matrix temp1 = p.times(phitrans); + Matrix temp2 = phi.times(temp1); + Matrix out = temp2.plus(q); + return out; + } + + private VectorN kalmanGain(Matrix p, VectorN h, double r) { + VectorN ph = p.times(h); + VectorN hp = h.times(p); + double hph = hp.dotProduct(h); + double hphr_inv = 1.0 / (hph + r); + VectorN out = ph.times(hphr_inv); + + return out; + } + + private Matrix kalmanGain(Matrix p, Matrix h, Matrix r) { + Matrix ph = p.times(h); + Matrix hp = h.times(p); + Matrix hph = hp.times(h); + Matrix hphTranspose = hph.transpose(); + //Matrix hphr = (hphTranspose.plus(r)); + Matrix hphr_inv = hphTranspose.inverse(); + Matrix out = ph.times(hphr_inv); + return out; + } + + + public void filterInitialize() { + + System.out.println("Initializing the Filter . . . "); + + // initialize + tprev = 0.0; + pold = process.P0(); + pnew = pold.copy(); + xref = new EstSTM(process.xref0()); + xprev = xref.longarray(); + //VectorN k = new VectorN(process.numberOfStates()); + + } + + public void closeFiles(){ + if(!runMonteCarlo){ + this.residuals.close(); + } + } + public double get_filterTime(){ + return this.filterTime; + } + + private void propagate(double stoptime){ + while(filterTime this.dtNominal) + dt = dtNominal; + else + dt = stoptime-filterTime; + + double tnext = filterTime + dt; + +// if (tnext > simTime.get_sim_time()) { +// tnext = simTime.get_sim_time(); +// System.out.println( +// "measurement gap not an integer number of time steps"); +// } + + //Propagate the state forward using the process model + double[] xnew = process.propagate(filterTime, xprev, tnext); + + //Get the state transition matrix for the current state + xref = new EstSTM(xnew, this.n); + Matrix phi = xref.phi(); + + //Calculate the process noise matrix + Matrix q = process.Q(tnext, this.dtNominal, xref); + + //Propagate the covariance matrix forward + pnew = this.propCov(pold, phi, q); + + //Update the filter time and reset required variables + filterTime = tnext; + xref.resetPhi(); + xprev = xref.longarray(); + pold = pnew.copy(); + } + if(this.verbose) System.out.println("Running... "+filterTime+" / "+finalTime);//+" range: "+new VectorN(xprev).get(0,3).mag()); + } + + private void process(SpacecraftModel sc, ObservationMeasurement obs){ + double y = obs.get_residual(xref.get(0,n)); + //double y = createMeasurements.mm[measNum].zPred(whichMeas,simTime,xref.get(0,n)); + + /*Catch the case where the measurement doesn't occur*/ + //*TODO Watch this + if( !Double.isNaN(y)) //Math.abs(y) > 0) + { + double r = obs.get_noise(sc); + //double r = createMeasurements.mm[measNum].R(); + + if(!runMonteCarlo){ +// String residualsOut = +// "Time: "+simTime+" Residual: "+y+" Measurement Type: "+ +// createMeasurements.measurementTypes[measNum] + " State "+whichMeas; +// residuals.println(residualsOut); + String residualsOut = "Time: "+filterTime+" Residual: "+y+" Measurement Type: "+ + obs.get_measurementType()+" State "+obs.get_PRN(); + residuals.println(residualsOut); + } + //Use the current reference trajectory to form the H matrix + VectorN H = obs.get_H(new VectorN(6)); + //VectorN H = createMeasurements.mm[measNum].H(new VectorN(6)); + + // compute the Kalman gain + VectorN k = this.kalmanGain(pnew, H, r); + + // compute new best estimate + VectorN xhat = k.times(y); + + + // update state and covariance + xref.update(xhat); +// if(Double.isNaN(xref.state().x[0])){ +// int donothing = 0; +// } + pold = this.updateCov(k, H, pnew); + }else{ + System.err.println("Error: negative residual!"); //else visible = false; + } + } + + /** Process the measurements (using measurements from a file) + * If the next measurement comes within the next timestep, propagate to the measurement + */ + public VectorN estimate(Time sim_Time, SpacecraftModel sc, ObservationMeasurementList obslist, boolean measFlag) { + + double simTime = sim_Time.get_sim_time(); + //* catch the end of the set of measurements and return null + //if(obs==null) measFlag=false; + double dt = simTime-filterTime; + + if(measFlag){ + ObservationMeasurement obs = obslist.getCurrent(); + double measTime = Math.round(TimeUtils.days2sec*(obs.time_mjd()-sim_Time.get_epoch_mjd_utc())); + while(obs.time_mjd()=0 && obs!=null){ + obs = obslist.getNext(); + measTime=Math.round(TimeUtils.days2sec*(obs.time_mjd()-sim_Time.get_epoch_mjd_utc())); + } + while(measTime=0){ + + /*If necessary move to a new time*/ + //measTime = TimeUtils.days2sec*(obs.time_mjd()-sim_Time.get_epoch_mjd_utc()); + double dt_obs = measTime-filterTime; + //double dt_sim = simTime.get_sim_time()- filterTime; + // detect backwards time jump + if (dt_obs < 0.0) { + System.out.println("backwards time jump"); + System.exit(1); + } + + + // propagate state and covariance to new time + if (dt_obs > 0.0) { + //while (filterTime < simTime.get_sim_time()) { + propagate(measTime); + } + else { + //The time is the same so don't move the covariance + pnew = pold.copy(); // dt = 0, no change to covariance + } + + /* perform the measurement update Currently we feed in the position that the measurement + * is in the state. This is probably not used by truly scalar measurements + * and can be safely set to zero in those cases. + */ + + //if(initializer.parseInt(hm,"MEAS.types")!=0 && measFlag==true){ + if(measFlag==true){ + process(sc,obs); + } + + // check the update +// double zafter = obs.get_residual(xref.get(0,n)); +// //double zafter = measModel.zPred(i, t, xref.state()); +// double yafter = z - zafter; +// process.printResiduals(simTime, y, yafter); + + xref.resetPhi(); // re-linearize + //filterTime = measTime; //simTime; + xprev = xref.longarray(); + + obs = obslist.getNext(); + if(obs!=null) + measTime = Math.round(TimeUtils.days2sec*(obs.time_mjd()-sim_Time.get_epoch_mjd_utc())); + else + measTime = -1; + } + } + + //* Propagate to simTime + while(filterTime < simTime){ + propagate(simTime); + } + + VectorN out = new VectorN(xref.get(0,n)); + +// if(Double.isNaN(out.x[0])){ +// int donothing = 0; +// } + return out; + + } + + /** Process the measurements + * + */ + public VectorN estimate(double simTime, int measurementNum, int whichMeas, boolean measFlag) { + + measNum = measurementNum; + stateNum = whichMeas; + + /*If necessary move to a new time*/ + double dt = simTime- filterTime; + + // detect backwards time jump + if (dt < 0.0) { + System.out.println("backwards time jump"); + System.exit(1); + } + + // propagate state and covariance to new time + if (dt > 0.0) { + + while (filterTime < simTime) { + + double tnext = filterTime + this.dtNominal; + + if (tnext > simTime) { + tnext = simTime; + System.out.println( + "measurement gap not an integer number of time steps"); + } + + //Propagate the state forward using the process model + double[] xnew = process.propagate(filterTime, xprev, tnext); + if(this.verbose) System.out.println("Running... "+filterTime+" / "+finalTime); + //if(this.verbose) System.out.println("Running... "+(int)(100*filterTime/finalTime)+" %"); + + //Get the state transition matrix for the current state + xref = new EstSTM(xnew, this.n); + Matrix phi = xref.phi(); + + //Calculate the process noise matrix + Matrix q = process.Q(tnext, this.dtNominal, xref); + + //Propagate the covariance matrix forward + pnew = this.propCov(pold, phi, q); + + //Update the filter time and reset required variables + filterTime = tnext; + xref.resetPhi(); + xprev = xref.longarray(); + pold = pnew.copy(); + + } + } + else { + + //The time is the same so don't move the covariance + pnew = pold.copy(); // dt = 0, no change to covariance + } + + + /* perform the measurement update Currently we feed in the position that the measurement + * is in the state. This is probably not used by truly scalar measurements + * and can be safely set to zero in those cases. + */ + + + if(initializer.parseInt(hm,"MEAS.types")!=0 && measFlag==true) + { + if(simTime>6680){ + int donothing = 0; + donothing++; + } + double y = measurements.mm[measNum].zPred(whichMeas,simTime,xref.get(0,n)); + + /*Catch the case where the measurement doesn't occur*/ + if( Math.abs(y) > 0) + { + //* TODO watch this + //VectorN moon = ephem.get_Geocentric_Moon_pos(TimeUtils.MJDtoJD(Time.TTtoTDB(Time.UTC2TT(mjd_epoch+filterTime/86400.0)))).times(1000); + //VectorN r_eci = xref.get(0,3); + //* Gets earth range + //double dist = r_eci.mag(); + //* Gets Moon range + double dist = 0;//(moon.minus(r_eci)).mag(); + + if(!runMonteCarlo){ + if(measurements.measurementTypes[measNum].equalsIgnoreCase("y_angle_los")){ + //String residualsOut = "Time: " + simTime + + String residualsOut = "Time: " + simTime +" Dist: " + dist + + " Residual: " + (jat.coreNOSA.math.MathUtils.RAD2DEG*y) + " deg Measurement Type: " + + measurements.measurementTypes[measNum] + " State " + whichMeas; + residuals.println(residualsOut); + }else if(measurements.measurementTypes[measNum].equalsIgnoreCase("range")){ + String residualsOut = "Time: " + simTime +" Dist: " + dist + + " Residual: " + (jat.coreNOSA.math.MathUtils.RAD2DEG*y) + " deg Measurement Type: " + + measurements.measurementTypes[measNum] + " State " + whichMeas; + residuals.println(residualsOut); + }else{ + String residualsOut = "Time: " + simTime + + " Residual: " + y + " Measurement Type: " + + measurements.measurementTypes[measNum] + " State " + whichMeas; + residuals.println(residualsOut); + } + } + + //Use the current reference trajectory to form the H matrix + VectorN H = measurements.mm[measNum].H(new VectorN(6)); + + if(!H.equals(new VectorN(n))){ + double r = measurements.mm[measNum].R(); + // compute the Kalman gain + VectorN k = this.kalmanGain(pnew, H, r); + + // compute new best estimate + VectorN xhat = k.times(y); + +// if(xhat.get(6,3).mag() > 15){ +// int s= 1; +// s++; +// } + // update state and covariance + + + xref.update(xhat); + + + y = measurements.mm[measNum].zPred(whichMeas,simTime,xref.get(0,n)); + + pold = this.updateCov(k, H, pnew); + } + } //else visible = false; + } + + // check the update + //double zafter = measModel.zPred(i, t, xref.state()); + //double yafter = z - zafter; + //process.printResiduals(simTime, y, yafter); + + xref.resetPhi(); // re-linearize + filterTime = simTime; + xprev = xref.longarray(); + VectorN out = new VectorN(xref.get(0,n)); + return out; + + } + public void set_verbose(boolean b, double tf) { + this.verbose = b; + this.finalTime = tf; + } + public Matrix get_pold() { + return this.pold; + } + +} + diff --git a/src/jat/coreNOSA/algorithm/estimators/EstSTM.java b/src/jat/coreNOSA/algorithm/estimators/EstSTM.java new file mode 100644 index 0000000..0155145 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/EstSTM.java @@ -0,0 +1,206 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ + +package jat.coreNOSA.algorithm.estimators; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The EstSTM Class contains the state and state transition matrix (STM) for +* estimation problems. It also has some methods to help convert between +* the big array used for propagation and the state vector and STM. +* +* @author +* @version 1.0 +*/ +public class EstSTM { + + /** state vector */ + private VectorN state; + + /** state transition matrix */ + private Matrix phi; + + /** number of states */ + private int numberOfStates; + + /** total number of variables = n + n^2 */ + private int total; + + /** + * Constructor + * @param in integer containing number of states + */ + public EstSTM(int in) { + this.numberOfStates = in; + int n = this.numberOfStates; + this.total = n + (n * n); + } + + /** + * Constructor + * @param in VectorN containing only the state + */ + public EstSTM(VectorN in) { + this.state = in.copy(); + this.phi = new Matrix(in.length); + this.numberOfStates = in.length; + int n = this.numberOfStates; + this.total = n + (n * n); + } + + /** + * Constructor + * @param in double[] containing the state and state transition matrix + * @param n number of states + */ + public EstSTM(double in[], int n) { + this.numberOfStates = n; + this.total = n + (n * n); + + if (in.length < this.total) { + System.out.println("EstSTM: trying to convert a too small vector"); + System.exit(1); + } + double[] x = new double[n]; + this.phi = new Matrix(n, n); + + for (int i = 0; i < n; i++) { + x[i] = in[i]; + } + this.state = new VectorN(x); + + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + this.phi.A[i][j] = in[k]; + k = k + 1; + } + } + } + + /** + * Stuff the current state and phi into a big array for the integrator + * @return double[] containing the current state and phi + */ + public double[] longarray() { + int n = this.numberOfStates; + double[] out = new double[this.total]; + for (int i = 0; i < n; i++) { + out[i] = this.state.x[i]; + } + + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = this.phi.A[i][j]; + k = k + 1; + } + } + return out; + } + + /** + * Adds the state correction to the current state vector + * @param xhat VectorN containing the state corrections. + */ + public void update(VectorN xhat) { + xhat.checkVectorDimensions(this.numberOfStates); + this.state = this.state.plus(xhat); + + // fix the quaternion, this is a kluge!!! +// VectorN q = this.get(6, 4); +// q.unitize(); +// this.setState(6, q); + + } + + /** + * Set the state to a particular value + * @param index int containing the index + * @param values VectorN containing the values + */ + public void setState(int index, VectorN values) { + this.state.set(index, values); + } + + /** + * Get the state values + * @param index int containing the index + * @param count int containing the number of values to get + */ + public VectorN get(int index, int count) { + VectorN out = this.state.get(index, count); + return out; + } + + /** + * Prints the current state and phi + * @param title String containing a title + */ + public void print(String title) { + System.out.println(title); + this.state.print("state"); + this.phi.print("phi"); + } + + /** + * Get the entire state vector + * @return VectorN containing the state + */ + public VectorN state() { + return this.state; + } + + /** + * Get the state transition matrix + * @return Matrix containing the state transition matrix + */ + public Matrix phi() { + return this.phi; + } + + /** + * Get the number of states + * @return int containing the number of states + */ + public int numberOfStates(){ + return this.numberOfStates; + } + + /** + * Get the number of variables (states + state transition matrix elements) + * @return int containing the number of variables + */ + public int total(){ + return this.total; + } + + /** + * Set the state transition matrix to the Identity matrix + */ + public void resetPhi(){ + int n = this.numberOfStates; + this.phi = new Matrix(n); + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/ExtendedKalmanFilter.java b/src/jat/coreNOSA/algorithm/estimators/ExtendedKalmanFilter.java new file mode 100644 index 0000000..164e376 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/ExtendedKalmanFilter.java @@ -0,0 +1,252 @@ +package jat.coreNOSA.algorithm.estimators; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 7, 2003 + */ +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * The ExtendedKalmanFilter Class processes measurements using an EKF algorith, + * given the measurements, measurement model and dynamics (or process) model. +* Assumes a scalar measurement update. +* +* @author +* @version 1.0 +*/ +public class ExtendedKalmanFilter { + + /** Measurement Model */ + public MeasurementModel measModel; + + /** Measurement Data */ + public MeasurementData meas; + + /** Dynamics or Process Model */ + public ProcessModel process; + + /** Number of states or unknowns */ + public int n; + + /** Nominal time step */ + private double dtNominal = 1.0; + + /** + * Constructor. + * @param mm MeasurementModel + * @param pm ProcessModel + * @param rp LinePrinter + */ + public ExtendedKalmanFilter( + MeasurementModel mm, + MeasurementData md, + ProcessModel pm) { + this.measModel = mm; + this.meas = md; + this.process = pm; + this.n = pm.numberOfStates(); + + } + + private Matrix updateCov(VectorN k, VectorN h, Matrix p) { + Matrix eye = new Matrix(this.n); + Matrix kh = k.outerProduct(h); + Matrix i_kh = eye.minus(kh); + Matrix out = i_kh.times(p); + return out; + } + + private Matrix updateCovJoseph(VectorN k, VectorN h, Matrix p) { + Matrix eye = new Matrix(this.n); + Matrix kh = k.outerProduct(h); + Matrix i_kh = eye.minus(kh); + Matrix i_khT = i_kh.transpose(); + double r = measModel.R(); + Matrix kkT = k.outerProduct(k); + Matrix krkT = kkT.times(r); + + Matrix part1 = i_kh.times(p); + part1 = part1.times(i_khT); + Matrix out = part1.plus(krkT); + return out; + } + + private VectorN updateState(VectorN k, double z) { + VectorN xhat = k.times(z); + return xhat; + } + + private Matrix propCov(Matrix p, Matrix phi, Matrix q) { + Matrix phitrans = phi.transpose(); + Matrix temp1 = p.times(phitrans); + Matrix temp2 = phi.times(temp1); + Matrix out = temp2.plus(q); + return out; + } + + private VectorN kalmanGain(Matrix p, VectorN h, double r) { + VectorN ph = p.times(h); + VectorN hp = h.times(p); + double hph = hp.dotProduct(h); + double hphr_inv = 1.0 / (hph + r); + VectorN out = ph.times(hphr_inv); + + return out; + } + + /** Process the measurements + */ + public void process() { + + System.out.println("EKF Processing ..."); + + // initialize + double tprev = 0.0; + Matrix pold = process.P0(); + Matrix pnew = pold.copy(); + EstSTM xref = new EstSTM(process.xref0()); + double[] xprev = xref.longarray(); + VectorN k = new VectorN(process.numberOfStates()); + + // xref.print("ic"); + + int i = 0; + // for (int kk = 0; kk < 12; kk++){ +// while (meas.hasNext(i) && (tprev < 80.0)) { + while (meas.hasNext(i)) { + + // System.out.println("Processing Measurement "+(i+1)); + + // read in next measurement + double t = meas.time(i); + double z = meas.z(i); + + // move to new time + double dt = t - tprev; + + // detect backwards time jump + if (dt < 0.0) { + System.out.println("backwards time jump"); + System.exit(1); + } + + // propagate state and covariance to new time + if (dt > 0.0) { + + while (tprev < t) { + + // print output to line printer + process.print(tprev, xref.state(), pold); + + double tnext = tprev + this.dtNominal; + + if (tnext > t) { + tnext = t; + System.out.println( + "measurement gap not an integer number of time steps"); + } + + double[] xnew = process.propagate(tprev, xprev, tnext); + xref = new EstSTM(xnew, this.n); + Matrix phi = xref.phi(); + // phi.print("phi"); + Matrix q = process.Q(tnext, this.dtNominal, xref); + // q.print("q matrix"); + // pold.print("p before prop"); + pnew = this.propCov(pold, phi, q); + // pnew.print("p after prop"); + tprev = tnext; + xref.resetPhi(); + xprev = xref.longarray(); + pold = pnew.copy(); + } + } else { + pnew = pold.copy(); // dt = 0, no change to covariance + } + + // xref.state.print("state before processing"); + // pnew.print("covariance before update"); + + // measurement update + double zpred = measModel.zPred(i, t, xref.state()); + double y = z - zpred; + double r = measModel.R(); + + // resid check at 9 sigma level +// if (Math.abs(y) < (9.0*Math.sqrt(r))) { + + // System.out.println("predicted range: "+zpred+" residual = "+y); + + VectorN h = measModel.H(xref.state()); + // h.print("h"); + + // compute the Kalman gain + k = this.kalmanGain(pnew, h, r); + // k.print("kalman gains"); + + // compute new best estimate + VectorN xhat = k.times(y); + // xhat.print("corrections"); + + // update state and covariance + xref.update(xhat); // extended Kalman filter + // xref.print("updated state"); + // pnew.print("p before update"); + //System.out.println(xref.state().toString()); + pold = this.updateCov(k, h, pnew); + // pold.print("p after update"); + // VectorN sigmas = pold.diagonal(); + // sigmas = sigmas.ebeSqrt(); + + // check the update + double zafter = measModel.zPred(i, t, xref.state()); + double yafter = z - zafter; + process.printResiduals(t, y, yafter); + + // VectorN printvec = k.append(y); + // printvec = printvec.append(yafter); + // lp2.print(t, printvec.x); + // if (t >= 1798.0){ + // System.out.println(t+"\t"+y+"\t"+yafter); + // } + + // print output to line printer + // VectorN printvector = new VectorN(xref.state(), sigmas); + // lp.print(t, printvector.x); + // System.out.println(t+"\t"+h.toString()); + +// } + // get ready for next data point + + i = i + 1; + xref.resetPhi(); // re-linearize + tprev = t; + xprev = xref.longarray(); + } + + process.closeLinePrinter(); + + System.out.println("EKF Processing Completed"); +// SoundPlayer.play("C:\\Jat\\jat\\jat\\audio\\sounds\\itisdone.wav"); + + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4DragEOM9state.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4DragEOM9state.java new file mode 100644 index 0000000..36dc972 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4DragEOM9state.java @@ -0,0 +1,323 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.UniverseModel; + +import java.util.HashMap; + +/** +* This file has to be reconstructed for each state used. It uses a +* 4 x 4 gravity model as well as an exponential drag model +* @author Richard C. Page III +*/ + +public class JGM4x4DragEOM9state implements Derivatives{ + + private static double re = 6378136.3; // radius of earth in meters + //private static double h_0 = 920000.0; // atmosphere model parameter + //private static double rho_0 = 4.36E-14; // atmosphere model parameter + //private static double gamma_0 = 5.381E-06; // atmosphere model parameter + //private static double omega_e = 7.2921157746E-05; // earth rotation rate + public static int n; + private HashMap hm; + public static double mass0,area0; + public static double Cd0; + //public DE405 jpl_ephem; + public static double mjd0; + double j2 = Constants.j2; + double mu = Constants.mu*1e9; + boolean firsttime; + private UniverseModel universe; + + + private GravityModel earth_grav; + private HarrisPriester drag; + + //SolarRadiationPressure srp0; + //SolarRadiationPressure srp1 ; + public double hc; + + public JGM4x4DragEOM9state(HashMap h){ + h = hm; + + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + mass0 = initializer.parseDouble(hm,"jat.0.mass"); + area0 = initializer.parseDouble(hm,"jat.0.area"); + Cd0 = initializer.parseDouble(hm,"jat.0.Cd"); + mjd0 = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm, "init.T0")/86400.0; + + drag = new HarrisPriester(Cd0,area0,mass0); + + hc = -2.87956633585E-10 * GPS_Utils.c; + + earth_grav = new GravityModel(4,4,GravityModelType.JGM3); + + universe = new UniverseModel(mjd0); + n = initializer.parseInt(hm,"FILTER.states"); + } + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + //The out vector is sized by the number of states squared + //plus the number of states. (n^2 + n) + + + double out[] = new double[n*n + n]; + + //Obtain thet the correct time + //int ctr = 0; + Time tt = new Time(t/86400 + mjd0); + //double newttt = tt.UTC2TT(t/86400 + mjd0); + + + if(firsttime == false) + { + earth_grav.initialize(); + firsttime = true; + universe.set_use_iers(true); + } + + // Generate some vectors for use later on + VectorN r0 = new VectorN(y[0], y[1], y[2]); + VectorN v0 = new VectorN(y[3], y[4], y[5]); + + // store elements of incoming state in more familiar looking variables + double xx0 = y[0]; + double yy0 = y[1]; + double zz0 = y[2]; + //double vx0 = y[3]; + //double vy0 = y[4]; + //double vz0 = y[5]; + + // compute derived variables + double rmag0 = r0.mag(); + + + double rcubed0 = rmag0 * rmag0 * rmag0; + + double rsq0 = rmag0 * rmag0; + + double re_r0 = re / rmag0; + + re_r0 = re_r0 * re_r0; + + double zsq_rsq0 = (5.0 * zz0 * zz0 / rsq0) - 1.0; + + + //Get the acceleration directly from the model + tt.update(t); + universe.update(t); + Matrix M = universe.earthRef.eci2ecef(universe.time.mjd_ut1(),universe.time.mjd_tt()); + VectorN acc0 = earth_grav.gravity(r0,M); + + //Use the acceleration model directly for integration + //of the state. For the generation of the state transition + //Matirx, use the normal J2 forulation + double ax0 = acc0.get(0); + double ay0 = acc0.get(1); + double az0 = acc0.get(2); + + + // compute accelerations due to gravity for each satellite + double ll0 = -1.0 * (mu * xx0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double mm0 = -1.0 * (mu * yy0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double nn0 = -1.0 * (mu * zz0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + // ccompute accelerations due to drag + drag.compute(universe.time,universe.earthRef,r0,v0); + VectorN daccel = drag.dragAccel(); + + + // compute state derivatives + + //Velocity for spacecraft 0 + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + + //acceleration for spacecraft 0 + out[3] = ax0 - daccel.x[0]; + out[4] = ay0 - daccel.x[1]; + out[5] = az0 - daccel.x[2]; + + double w_f = (Math.random()-0.5)*2*.036; + out[6] = w_f + hc; + double w_g = (Math.random()-0.5)*2*7.106E-05; + out[7] = w_g; + + //Solar radiation Pressure states + out[8] = 0; + + + // compute A matrix + + Matrix a = new Matrix(n,n); // creates a (15x15 matrix with all zeros + + + //Generate some utility variables. It is a bit messy as we will need + //two now. + + double r50 = rsq0 * rcubed0; + + + double mur50 = mu / r50; + + + //double mur30 = mu / rcubed0; + + + double sz2r20 = 7.0 * zz0 * zz0 / rsq0; + + double muxyr50 = mu * xx0 * yy0 / r50; + + double muxzr50 = mu * xx0 * zz0 / r50; + + double muyzr50 = mu * yy0 * zz0 / r50; + + double bracket10 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 1.0); + + double bracket30 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 3.0); + + double bracket50 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 5.0); + + //double bracket20 = 1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 1.0); + + //Note: use this formulation for ll to avoid a singularity + ll0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dldx0 = ll0 + mur50 * xx0 * xx0 * bracket10; + + double dldy0 = muxyr50 * bracket10; + + double dldz0 = muxzr50 * bracket30; + + //double dldj20 = mur30 * xx0 * bracket20; + + double dmdx0 = dldy0; + + //Note: use a different definition of mm to avoid singularity issues + + mm0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dmdy0 = mm0 + mur50 * yy0 * yy0 * bracket10; + + double dmdz0 = muyzr50 * bracket30; + + //double dmdj20 = mur30 * yy0 * bracket20; + + double dndx0 = muxzr50 * bracket30; + + double dndy0 = dmdz0; + + //Note: Use this definition of nn0. It is uglier, but it removes a potential singularity + nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + //double dndz0 = nn0 / zz0 + mur50 * zz0 * zz0 * bracket50; + double dndz0 = nn0 + mur50 * zz0 * zz0 * bracket50; + + + //double dndj20 = mur30 * zz0 * (1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 3.0)); + + //SRPscale0 = 0; + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + a.A[3][0] = dldx0 ; + a.A[3][1] = dldy0 ; + a.A[3][2] = dldz0 ; + a.A[3][3] = 0; + a.A[3][4] = 0; + a.A[3][5] = 0; + a.A[3][8] = 1.0; + + + a.A[4][0] = dmdx0; + a.A[4][1] = dmdy0; + a.A[4][2] = dmdz0; + a.A[4][3] = 0; + a.A[4][4] = 0; + a.A[4][5] = 0; + a.A[4][8] = 1.0; + + a.A[5][0] = dndx0; + a.A[5][1] = dndy0; + a.A[5][2] = dndz0; + a.A[5][3] = 0; + a.A[5][4] = 0; + a.A[5][5] = 0; + a.A[5][8] = 1.0; + + + + + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(n, n); + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4DragProcess9state.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4DragProcess9state.java new file mode 100644 index 0000000..482851d --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4DragProcess9state.java @@ -0,0 +1,325 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.RSW_Frame; + +import java.util.HashMap; + +public class JGM4x4DragProcess9state implements ProcessModel { + +// Construct the required classes + private VectorN xref; + private Matrix phi; + private RungeKutta8 rk8 = new RungeKutta8(1.0); + private JGM4x4SRPEOM9state eom;// = new JGM4x4SRPEOM9state(); + //public Trajectory traj = new Trajectory(); + HashMap hm; + public int n; + private Matrix Q; + private Matrix QXYZ; + + /*This file is not generic and has to be modified for any + * change in the state. + */ + public JGM4x4DragProcess9state(HashMap hm){ + this.hm = hm; + this.eom = new JGM4x4SRPEOM9state(hm); + //traj.setTitle("Test Trajectory 1"); + //traj.setCentralBody(CentralBody.EARTH); + //traj.setCoordinateSystem(CoordinateSystem.INERTIAL); + //traj.setDistanceUnits(DistanceUnits.METERS); + //traj.setEpoch(1998, 6, 21, 00, 00, 0.0); + //traj.setTimeUnits(TimeUnits.SECONDS); + //String[] labels = {"t","x","y","z","xdot","ydot","zdot"}; + //traj.setLabels(labels); + + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + n = initializer.parseInt(hm,"FILTER.states"); + //num_sc = initializer.parseInt(hm,"prop.NumSpacecraft"); + Q = parse_Q(); + QXYZ = parse_QRIC(); + xref = new VectorN(n); + phi = new Matrix(n); + + } + + /** + * Returns the initial covariance matrix. + * @return the initial covariance matrix. + */ + public Matrix P0() { + + // initialize sigmas + double[] sigmas = new double[n]; + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "P0."+i+".X"; + sigmas[6*i + 0] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Y"; + sigmas[6*i + 1] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Z"; + sigmas[6*i + 2] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VX"; + sigmas[6*i + 3] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VY"; + sigmas[6*i + 4] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VZ"; + sigmas[6*i + 5] = initializer.parseDouble(hm,tmp); + } + + sigmas[6] = initializer.parseDouble(hm,"P0.0.clockBias"); + sigmas[7] = initializer.parseDouble(hm,"P0.0.clockDrift"); + //sigmas[8] = initializer.parseDouble(hm,"P0.0.Cr"); + + + // square the sigmas + for (int j = 0; j < n; j++) { + sigmas[j] = sigmas[j] * sigmas[j]; + } + + // initialize covariance + VectorN sig = new VectorN(sigmas); + Matrix p = new Matrix(sig); + return p; + } + + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + private Matrix parse_Q() { + Matrix Q = new Matrix(n,n); + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "Q."+i+".X"; + Q.set((6*i + 0),(6*i + 0), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Y"; + Q.set((6*i + 1),(6*i + 1), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Z"; + Q.set((6*i + 2),(6*i + 2), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VX"; + Q.set((6*i + 3),(6*i + 3), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VY"; + Q.set((6*i + 4),(6*i + 4), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VZ"; + Q.set((6*i + 5),(6*i + 5), initializer.parseDouble(hm,tmp)); + } + + Q.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); + Q.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); + //Q.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + + return Q; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix Q(double t, double dt, EstSTM x) { + return Q; + } + private Matrix parse_QRIC(){ + Matrix QXYZ = new Matrix(n,n); + + QXYZ.set(0,0,10e-11); + QXYZ.set(1,1,10e-11); + QXYZ.set(2,2, 10e-11); + QXYZ.set(3,3,1e-13); + QXYZ.set(4,4,1e-13); + QXYZ.set(5,5,1e-13); + + QXYZ.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); + QXYZ.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); + //QXYZ.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + return QXYZ; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix QRIC(VectorN rECI, VectorN vECI, double t) { + Matrix QRIC = new Matrix(n,n); +// Matrix QXYZ = new Matrix(n,n); +// +// QXYZ.set(0,0,10e-11); +// QXYZ.set(1,1,10e-11); +// QXYZ.set(2,2, 10e-11); +// QXYZ.set(3,3,1e-13); +// QXYZ.set(4,4,1e-13); +// QXYZ.set(5,5,1e-13); +// +// QXYZ.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); +// QXYZ.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); +// QXYZ.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + + + + //RSW_Frame rsw = new RSW_Frame(rECI, vECI); + Matrix M = RSW_Frame.ECI2RIC(rECI, vECI); + Matrix MT = M.transpose(); + + Matrix Qtmp = new Matrix(3,3); + Qtmp.set(0,0,QXYZ.get(0,0)); + Qtmp.set(1,1,QXYZ.get(1,1)); + Qtmp.set(2,2,QXYZ.get(2,2)); + + Matrix Qout = new Matrix(3,3); + Matrix Qtmp2 = new Matrix(3,3); + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + QRIC.setMatrix(0,2,0,2,Qout); + + Qtmp.set(0,0,QXYZ.get(3,3)); + Qtmp.set(1,1,QXYZ.get(4,4)); + Qtmp.set(2,2,QXYZ.get(5,5)); + + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + QRIC.setMatrix(3,5,3,5,Qout); + QRIC.set(6,6,QXYZ.get(6,6)); + QRIC.set(7,7,QXYZ.get(7,7)); + QRIC.set(8,8,QXYZ.get(8,8)); + + return QRIC; + } + + + /** + * Returns the initial reference state. + * @return the initial reference state. + */ + public VectorN xref0() { + VectorN out = new VectorN(n); + + //Note: Need to decide where the best place to "randomly" insert + //initial errors should be. This could be a good place + //double tmp = Math.random(); + + //first set in the Satellite States + for (int i = 0; i < initializer.parseInt(hm, "prop.NumSpacecraft"); i++) { + String ref = "REF_STATE."; + String tmp = ref+i +".X"; + out.x[6 * i + 0] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Y"; + out.x[6 * i + 1] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Z"; + out.x[6 * i + 2] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VX"; + out.x[6 * i + 3] = initializer.parseDouble(hm, tmp); + tmp = ref + i + ".VY"; + out.x[6 * i + 4] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VZ"; + out.x[6 * i + 5] = initializer.parseDouble(hm, tmp); + + // Other clock states can be initialized here . . + ref = "jat."; + tmp = ref+"0.clockBias"; + out.x[6] = initializer.parseDouble(hm, tmp); + tmp = ref+"0.clockDrift"; + out.x[7] = initializer.parseDouble(hm, tmp); + //tmp = ref+"0.Cr"; + //out.x[8] = initializer.parseDouble(hm, tmp); + } + + return out; + } + + /** + * Returns the number of states. + * @return the number of states. + */ + public int numberOfStates() { + return this.n; + } + + /** + * Propagate the state and state transition matrix to the next measurement time. + * @param t0 previous time + * @param xin array containing state and state transition matrix at previous time. + * @param tf next time + */ + public double[] propagate(double t0, double[] x, double tf) { + rk8.setStepSize(tf-t0); + double[] out = rk8.step(t0, x, eom); + return out; + } + + /** + * Returns the state transition matrix. + * @return the state transition matrix (after propagation). + */ + public Matrix phi() { + return this.phi; + } + + /** + * Returns the current reference state (after propagation). + * @return the current reference state. + */ + public VectorN xref() { + return this.xref; + } + + public void print(double t, VectorN state, Matrix cov) { +// VectorN sigmas = cov.diagonal(); +// sigmas = sigmas.ebeSqrt(); +// VectorN printvector = new VectorN(state, sigmas); +// VectorN temp = state.get(0,6); +// lp1.println(printvector.toString()); +// traj.add(t,temp.x); +// + } + + public void printResiduals(double t, double r1, double r2) { +// double[] y = new double[3]; +// y[0] = t; +// y[1] = r1; +// y[2] = r2; +// lp2.print(y); +// System.out.println(t); + } + + + public void closeLinePrinter(){ +// lp1.close(); +// // Serialize the Ouptput +// System.out.println("Searializing the Output . . ."); +// traj.serialize("C:\\GOESR\\output\\esttraj.jat"); +// System.out.println("trajectory serialized"); + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM15state.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM15state.java new file mode 100644 index 0000000..f693c2e --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM15state.java @@ -0,0 +1,511 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.spacetime.UniverseModel; + +import java.util.HashMap; + + + + +/** +* This file has to be reconstructed for each state used. It uses a +* 4 x 4 gravity model as well as lunar and solar gravity and Solar +* radiation pressure modelds +* @author +* @version 1.0 +*/ + + + +public class JGM4x4SRPEOM15state implements Derivatives { + + private static double re = 6378136.3; // radius of earth in meters + //private static double h_0 = 920000.0; // atmosphere model parameter + //private static double rho_0 = 4.36E-14; // atmosphere model parameter + //private static double gamma_0 = 5.381E-06; // atmosphere model parameter + //private static double omega_e = 7.2921157746E-05; // earth rotation rate + public static int n; + public static HashMap hm; + public static double mass0,mass1,area0,area1; + public static double Cr0,Cr1; + public DE405 jpl_ephem; + public static double mjd0; + double j2 = Constants.j2; + double mu = Constants.mu*1e9; + boolean firsttime; + UniverseModel universe; + + + GravityModel earth_grav; + + SolarRadiationPressure srp0; + SolarRadiationPressure srp1 ; + public double hc; + + + public JGM4x4SRPEOM15state(HashMap hm){ + this.hm = hm; + //String fs, dir_in; + //fs = FileUtil.file_separator(); +// try{ +// dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; +// }catch(Exception e){ +// dir_in = ""; +// } + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + mass0 = initializer.parseDouble(hm,"jat.0.mass"); + area0 = initializer.parseDouble(hm,"jat.0.area"); + Cr0 = initializer.parseDouble(hm,"jat.0.Cr"); + mass1 = initializer.parseDouble(hm,"jat.1.mass"); + area1 = initializer.parseDouble(hm,"jat.1.area"); + Cr1 = initializer.parseDouble(hm,"jat.1.Cr"); + mjd0 = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm, "init.T0")/86400.0; + + + hc = -2.87956633585E-10 * GPS_Utils.c; + + earth_grav = new GravityModel(4,4,GravityModelType.JGM3); + + srp0 = new SolarRadiationPressure(mass0, area0, Cr0); + srp1 = new SolarRadiationPressure(mass1, area1, Cr1); + + //Set the Gravitational parameter path + jpl_ephem = new DE405(); + + + universe = new UniverseModel(mjd0); + n = initializer.parseInt(hm,"FILTER.states"); + } + + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + //The out vector is sized by the number of states squared + //plus the number of states. (n^2 + n) + + + double out[] = new double[n*n + n]; + + //Obtain thet the correct time + //int ctr = 0; + Time tt = new Time(t/86400 + mjd0); + double newttt = TimeUtils.UTCtoTT(t/86400 + mjd0); + + + if(firsttime == false) + { + earth_grav.initialize(); + firsttime = true; + universe.set_use_iers(true); + srp0.updateArea(area0); + srp1.updateArea(area1); + srp0.updateMass(mass0); + srp1.updateMass(mass1); + + } + + // Generate some vectors for use later on + VectorN r0 = new VectorN(y[0], y[1], y[2]); + VectorN v0 = new VectorN(y[3], y[4], y[5]); + VectorN r1 = new VectorN(y[6], y[7], y[8]); + VectorN v1 = new VectorN(y[9], y[10], y[11]); + + // store elements of incoming state in more familiar looking variables + double xx0 = y[0]; + double yy0 = y[1]; + double zz0 = y[2]; + double vx0 = y[3]; + double vy0 = y[4]; + double vz0 = y[5]; + double xx1 = y[6]; + double yy1 = y[7]; + double zz1 = y[8]; + double vx1 = y[9]; + double vy1 = y[10]; + double vz1 = y[11]; + + + // compute derived variables + double rmag0 = r0.mag(); + double rmag1 = r1.mag(); + + double rcubed0 = rmag0 * rmag0 * rmag0; + double rcubed1 = rmag1 * rmag1 * rmag1; + + double rsq0 = rmag0 * rmag0; + double rsq1 = rmag1 * rmag1; + + double re_r0 = re / rmag0; + double re_r1 = re / rmag1; + + re_r0 = re_r0 * re_r0; + re_r1 = re_r1 * re_r1; + + + double zsq_rsq0 = (5.0 * zz0 * zz0 / rsq0) - 1.0; + double zsq_rsq1 = (5.0 * zz1 * zz1 / rsq1) - 1.0; + + //Get the acceleration directly from the model + tt.update(t); + universe.update(t); + Matrix M = universe.earthRef.eci2ecef(universe.time.mjd_ut1(),universe.time.mjd_tt()); + VectorN acc0 = earth_grav.gravity(r0,M); + VectorN acc1 = earth_grav.gravity(r1,M); + + //Use the acceleration model directly for integration + //of the state. For the generation of the state transition + //Matirx, use the normal J2 forulation + double ax0 = acc0.get(0); + double ay0 = acc0.get(1); + double az0 = acc0.get(2); + + double ax1 = acc1.get(0); + double ay1 = acc1.get(1); + double az1 = acc1.get(2); + + + // compute accelerations due to gravity for each satellite + double ll0 = -1.0 * (mu * xx0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double mm0 = -1.0 * (mu * yy0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double nn0 = -1.0 * (mu * zz0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + double ll1 = -1.0 * (mu * xx1 / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + double mm1 = -1.0 * (mu * yy1 / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + double nn1 = -1.0 * (mu * zz1 / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * (zsq_rsq1 - 2.0)); + + // compute accelerations due to SRP + double AU_sqrd = Constants.AU*Constants.AU; + + //compute acceleration due to lunar gravity + double ttt = TimeUtils.TTtoTDB(newttt) + 2400000.5; + VectorN r_moon = universe.earthRef.moonVector(newttt); + + VectorN d0 = r0.minus(r_moon); + VectorN d1 = r1.minus(r_moon); + + double dmag0 = d0.mag(); + double dmag1 = d1.mag(); + + double dcubed0 = dmag0 * dmag0 * dmag0; + double dcubed1 = dmag1 * dmag1 * dmag1; + + VectorN temp0 = d0.divide(dcubed0); + VectorN temp1 = d1.divide(dcubed1); + + double smag = r_moon.mag(); + double scubed = smag * smag * smag; + + VectorN temp2 = r_moon.divide(scubed); + VectorN sum0 = temp0.plus(temp2); + VectorN sum1 = temp1.plus(temp2); + VectorN lunarAcceleration0 = sum0.times(Constants.GM_Moon); + VectorN lunarAcceleration1 = sum1.times(Constants.GM_Moon); + + + //Compute the acceleration due to the solar gravity + VectorN r_sun = EarthRef.sunVector(newttt); + d0 = r0.minus(r_sun); + d1 = r1.minus(r_sun); + + dmag0 = d0.mag(); + dmag1 = d1.mag(); + + dcubed0 = dmag0 * dmag0 *dmag0; + dcubed1 = dmag1 * dmag1 *dmag1; + + temp0 = d0.divide(dcubed0); + temp1 = d1.divide(dcubed1); + + smag = r_sun.mag(); + double magSun3 = smag * smag * smag; + + temp2 = r_sun.divide(magSun3); + + sum0 = temp0.plus(temp2); + sum1 = temp1.plus(temp2); + VectorN solarAcceleration0 = sum0.times(Constants.GM_Sun); + VectorN solarAcceleration1 = sum1.times(Constants.GM_Sun); + + + //Determine if the sun is visible + double visible0 = srp0.partial_illumination(r0,r_sun); + double visible1 = srp1.partial_illumination(r1,r_sun); + + double pressureConstant = 4.5344321837439e-06; + double SRPscale0 = pressureConstant*(area0/mass0)*visible0; + double SRPscale1 = pressureConstant*(area1/mass1)*visible1; + + //Compute the relevant SRP information + double Xsun = r_sun.get(0); + double Ysun = r_sun.get(1); + double Zsun = r_sun.get(2); + //double aa = 1.0 *Cr*(Xsun/magSun3)*AU_sqrd*visible; + //double bb = 1.0 *Cr*(Ysun/magSun3)*AU_sqrd*visible; + //double cc = 1.0 *Cr*(Zsun/magSun3)*AU_sqrd*visible; + + VectorN srpacc0 = srp0.accelSRP(r0,r_sun); + VectorN srpacc1 = srp1.accelSRP(r1,r_sun); + srpacc0 = srpacc0.times(visible0); + srpacc1 = srpacc1.times(visible1); + + // compute state derivatives + + //Velocity for spacecraft 0 + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + + //acceleration for spacecraft 0 + out[3] = ax0 + srpacc0.get(0) - lunarAcceleration0.get(0) - solarAcceleration0.get(0); + out[4] = ay0 + srpacc0.get(1) - lunarAcceleration0.get(1) - solarAcceleration0.get(1); + out[5] = az0 + srpacc0.get(2) - lunarAcceleration0.get(2) - solarAcceleration0.get(2); + + //Velocity for spacecraft1 + out[6] = y[9]; + out[7] = y[10]; + out[8] = y[11]; + + + //acceleration for spacecraft 1 + out[9] = ax1 + srpacc1.get(0) - lunarAcceleration1.get(0) - solarAcceleration1.get(0); + out[10] = ay1 + srpacc1.get(1) - lunarAcceleration1.get(1) - solarAcceleration1.get(1); + out[11] = az1 + srpacc1.get(2) - lunarAcceleration1.get(2) - solarAcceleration1.get(2); + + + //Solar radiation Pressure states + out[12] = 0; + out[13] = 0; + + + double w_f = (Math.random()-0.5)*2*.036; + out[14] = w_f + hc; + + // compute A matrix + + Matrix a = new Matrix(15,15); // creates a (15x15 matrix with all zeros + + + //Generate some utility variables. It is a bit messy as we will need + //two now. + + double r50 = rsq0 * rcubed0; + double r51 = rsq1 * rcubed1; + + double mur50 = mu / r50; + double mur51 = mu / r51; + + //double mur30 = mu / rcubed0; + //double mur31 = mu / rcubed1; + + + double sz2r20 = 7.0 * zz0 * zz0 / rsq0; + double sz2r21 = 7.0 * zz1 * zz1 / rsq1; + + double muxyr50 = mu * xx0 * yy0 / r50; + double muxyr51 = mu * xx1 * yy1 / r51; + + double muxzr50 = mu * xx0 * zz0 / r50; + double muxzr51 = mu * xx1 * zz1 / r51; + + double muyzr50 = mu * yy0 * zz0 / r50; + double muyzr51 = mu * yy1 * zz1 / r51; + + double bracket10 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 1.0); + double bracket11 = 3.0 - 7.5 * re_r1 * j2 * (sz2r21 - 1.0); + + double bracket30 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 3.0); + double bracket31 = 3.0 - 7.5 * re_r1 * j2 * (sz2r21 - 3.0); + + double bracket50 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 5.0); + double bracket51 = 3.0 - 7.5 * re_r1 * j2 * (sz2r21 - 5.0); + + //double bracket20 = 1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 1.0); + //double bracket21 = 1.5 * re_r1 * (5.0 * zz1 * zz1 / rsq1 - 1.0); + + //Note: use this formulation for ll to avoid a singularity + ll0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + ll1 = -1.0 * (mu / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + + double dldx0 = ll0 + mur50 * xx0 * xx0 * bracket10; + double dldx1 = ll1 + mur51 * xx1 * xx1 * bracket11; + + double dldy0 = muxyr50 * bracket10; + double dldy1 = muxyr51 * bracket11; + + double dldz0 = muxzr50 * bracket30; + double dldz1 = muxzr51 * bracket31; + + //double dldj20 = mur30 * xx0 * bracket20; + //double dldj21 = mur31 * xx1 * bracket21; + + double dmdx0 = dldy0; + double dmdx1 = dldy1; + + + //Note: use a different definition of mm to avoid singularity issues + + mm0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + mm1 = -1.0 * (mu / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + + double dmdy0 = mm0 + mur50 * yy0 * yy0 * bracket10; + double dmdy1 = mm1 + mur51 * yy1 * yy1 * bracket11; + + double dmdz0 = muyzr50 * bracket30; + double dmdz1 = muyzr51 * bracket31; + + //double dmdj20 = mur30 * yy0 * bracket20; + //double dmdj21 = mur31 * yy1 * bracket21; + + double dndx0 = muxzr50 * bracket30; + double dndx1 = muxzr51 * bracket31; + + double dndy0 = dmdz0; + double dndy1 = dmdz1; + + //Note: Use this definition of nn0. It is uglier, but it removes a potential singularity + nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + nn1 = -1.0 * (mu / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * (zsq_rsq1 - 2.0)); + + //double dndz0 = nn0 / zz0 + mur50 * zz0 * zz0 * bracket50; + double dndz0 = nn0 + mur50 * zz0 * zz0 * bracket50; + double dndz1 = nn1 + mur51 * zz1 * zz1 * bracket51; + + + //double dndj20 = mur30 * zz0 * (1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 3.0)); + //double dndj21 = mur31 * zz1 * (1.5 * re_r1 * (5.0 * zz1 * zz1 / rsq1 - 3.0)); + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + a.A[3][0] = dldx0 ; + a.A[3][1] = dldy0 ; + a.A[3][2] = dldz0 ; + a.A[3][3] = 0; + a.A[3][4] = 0; + a.A[3][5] = 0; + a.A[3][12] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale0; + + + a.A[4][0] = dmdx0; + a.A[4][1] = dmdy0; + a.A[4][2] = dmdz0; + a.A[4][3] = 0; + a.A[4][4] = 0; + a.A[4][5] = 0; + a.A[4][12] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale0; + + a.A[5][0] = dndx0; + a.A[5][1] = dndy0; + a.A[5][2] = dndz0; + a.A[5][3] = 0; + a.A[5][4] = 0; + a.A[5][5] = 0; + a.A[5][12] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale0; + + + //For the second spacecraft + a.A[6][9] = 1.0; + a.A[7][10] = 1.0; + a.A[8][11] = 1.0; + + + a.A[9][6] = dldx1 ; + a.A[9][7] = dldy1 ; + a.A[9][8] = dldz1 ; + a.A[9][9] = 0; + a.A[9][10] = 0; + a.A[9][11] = 0; + a.A[9][13] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale1; + + + a.A[10][6] = dmdx1; + a.A[10][7] = dmdy1; + a.A[10][8] = dmdz1; + a.A[10][9] = 0; + a.A[10][10] = 0; + a.A[10][11] = 0; + a.A[10][13] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale1; + + a.A[11][6] = dndx1; + a.A[11][7] = dndy1; + a.A[11][8] = dndz1; + a.A[11][9] = 0; + a.A[11][10] = 0; + a.A[11][11] = 0; + a.A[11][13] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale1; + + + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(n, n); + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM15state23.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM15state23.java new file mode 100644 index 0000000..95ea3b7 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM15state23.java @@ -0,0 +1,523 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.spacetime.UniverseModel; + +import java.util.HashMap; + + + + + +/** +* This file has to be reconstructed for each state used. It uses a +* 4 x 4 gravity model as well as lunar and solar gravity and Solar +* radiation pressure modelds +* @author +* @version 1.0 +*/ + + + +public class JGM4x4SRPEOM15state23 implements Derivatives { + + private static double re = 6378136.3; // radius of earth in meters + //private static double h_0 = 920000.0; // atmosphere model parameter + //private static double rho_0 = 4.36E-14; // atmosphere model parameter + //private static double gamma_0 = 5.381E-06; // atmosphere model parameter + //private static double omega_e = 7.2921157746E-05; // earth rotation rate + public static int n; + public static HashMap hm; + public static double mass0,mass1,area0,area1; + public static double Cr0,Cr1; + public DE405 jpl_ephem; + public static double mjd0; + double j2 = 0; + double mu = Constants.mu*1e9; + boolean firsttime; + UniverseModel universe; + + + GravityModel earth_grav; + + SolarRadiationPressure srp0; + SolarRadiationPressure srp1 ; + public double hc; + + + public JGM4x4SRPEOM15state23(HashMap hm){ + this.hm = hm; +// String fs, dir_in; +// fs = FileUtil.file_separator(); +// try{ +// dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; +// }catch(Exception e){ +// dir_in = ""; +// } + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + mass0 = initializer.parseDouble(hm,"jat.0.mass"); + area0 = initializer.parseDouble(hm,"jat.0.area"); + Cr0 = initializer.parseDouble(hm,"jat.0.Cr"); + mass1 = initializer.parseDouble(hm,"jat.1.mass"); + area1 = initializer.parseDouble(hm,"jat.1.area"); + Cr1 = initializer.parseDouble(hm,"jat.1.Cr"); + mjd0 = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm, "init.T0")/86400.0; + + + hc = -2.87956633585E-10 * GPS_Utils.c; + + earth_grav = new GravityModel(4,4,GravityModelType.JGM3); + + srp0 = new SolarRadiationPressure(mass0, area0, Cr0); + srp1 = new SolarRadiationPressure(mass1, area1, Cr1); + + //Set the Gravitational parameter path + jpl_ephem = new DE405(); + + + universe = new UniverseModel(mjd0); + n = initializer.parseInt(hm,"FILTER.states"); + } + + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + //The out vector is sized by the number of states squared + //plus the number of states. (n^2 + n) + + + double out[] = new double[n*n + n]; + + //Obtain thet the correct time + //int ctr = 0; + Time tt = new Time(t/86400 + mjd0); + double newttt = TimeUtils.UTCtoTT(t/86400 + mjd0); + + + if(firsttime == false) + { + earth_grav.initialize(); + firsttime = true; + universe.set_use_iers(true); + srp0.updateArea(area0); + srp1.updateArea(area1); + srp0.updateMass(mass0); + srp1.updateMass(mass1); + + } + + // Generate some vectors for use later on + VectorN r0 = new VectorN(y[0], y[1], y[2]); + //VectorN v0 = new VectorN(y[3], y[4], y[5]); + VectorN r1 = new VectorN(y[6], y[7], y[8]); + //VectorN v1 = new VectorN(y[9], y[10], y[11]); + + // store elements of incoming state in more familiar looking variables + double xx0 = y[0]; + double yy0 = y[1]; + double zz0 = y[2]; +// double vx0 = y[3]; +// double vy0 = y[4]; +// double vz0 = y[5]; + double xx1 = y[6]; + double yy1 = y[7]; + double zz1 = y[8]; +// double vx1 = y[9]; +// double vy1 = y[10]; +// double vz1 = y[11]; + + + // compute derived variables + double rmag0 = r0.mag(); + double rmag1 = r1.mag(); + + double rcubed0 = rmag0 * rmag0 * rmag0; + double rcubed1 = rmag1 * rmag1 * rmag1; + + double rsq0 = rmag0 * rmag0; + double rsq1 = rmag1 * rmag1; + + double re_r0 = re / rmag0; + double re_r1 = re / rmag1; + + re_r0 = re_r0 * re_r0; + re_r1 = re_r1 * re_r1; + + + double zsq_rsq0 = (5.0 * zz0 * zz0 / rsq0) - 1.0; + double zsq_rsq1 = (5.0 * zz1 * zz1 / rsq1) - 1.0; + + //Get the acceleration directly from the model + tt.update(t); + universe.update(t); + Matrix M = universe.earthRef.eci2ecef(universe.time.mjd_ut1(),universe.time.mjd_tt()); + VectorN acc0 = earth_grav.gravity(r0,M); + VectorN acc1 = earth_grav.gravity(r1,M); + + //Use the acceleration model directly for integration + //of the state. For the generation of the state transition + //Matirx, use the normal J2 forulation + double ax0 = acc0.get(0); + double ay0 = acc0.get(1); + double az0 = acc0.get(2); + + + + double ax1 = acc1.get(0); + double ay1 = acc1.get(1); + double az1 = acc1.get(2); + + + // compute accelerations due to gravity for each satellite + double ll0 = -1.0 * (mu * xx0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double mm0 = -1.0 * (mu * yy0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + double ll1 = -1.0 * (mu * xx1 / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + double mm1 = -1.0 * (mu * yy1 / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + double nn1 = -1.0 * (mu * zz1 / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * (zsq_rsq1 - 2.0)); + + // compute accelerations due to SRP + double AU_sqrd = 0; + + //compute acceleration due to lunar gravity + //double ttt = tt.TTtoTDB(newttt) + 2400000.5; + VectorN r_moon = universe.earthRef.moonVector(newttt); + + VectorN d0 = r0.minus(r_moon); + VectorN d1 = r1.minus(r_moon); + + double dmag0 = d0.mag(); + double dmag1 = d1.mag(); + + double dcubed0 = dmag0 * dmag0 * dmag0; + double dcubed1 = dmag1 * dmag1 * dmag1; + + VectorN temp0 = d0.divide(dcubed0); + VectorN temp1 = d1.divide(dcubed1); + + double smag = r_moon.mag(); + double scubed = smag * smag * smag; + + VectorN temp2 = r_moon.divide(scubed); + VectorN sum0 = temp0.plus(temp2); + VectorN sum1 = temp1.plus(temp2); + VectorN lunarAcceleration0 = sum0.times(Constants.GM_Moon); + VectorN lunarAcceleration1 = sum1.times(Constants.GM_Moon); + + + //Compute the acceleration due to the solar gravity + VectorN r_sun = EarthRef.sunVector(newttt); + d0 = r0.minus(r_sun); + d1 = r1.minus(r_sun); + + dmag0 = d0.mag(); + dmag1 = d1.mag(); + + dcubed0 = dmag0 * dmag0 *dmag0; + dcubed1 = dmag1 * dmag1 *dmag1; + + temp0 = d0.divide(dcubed0); + temp1 = d1.divide(dcubed1); + + smag = r_sun.mag(); + double magSun3 = smag * smag * smag; + + temp2 = r_sun.divide(magSun3); + + sum0 = temp0.plus(temp2); + sum1 = temp1.plus(temp2); + VectorN solarAcceleration0 = sum0.times(Constants.GM_Sun); + VectorN solarAcceleration1 = sum1.times(Constants.GM_Sun); + + + //Determine if the sun is visible + double visible0 = srp0.partial_illumination(r0,r_sun); + double visible1 = srp1.partial_illumination(r1,r_sun); + + double pressureConstant = 4.5344321837439e-06; + double SRPscale0 = pressureConstant*(area0/mass0)*visible0; + double SRPscale1 = pressureConstant*(area1/mass1)*visible1; + + //Compute the relevant SRP information + double Xsun = r_sun.get(0); + double Ysun = r_sun.get(1); + double Zsun = r_sun.get(2); + //double aa = 1.0 *Cr*(Xsun/magSun3)*AU_sqrd*visible; + //double bb = 1.0 *Cr*(Ysun/magSun3)*AU_sqrd*visible; + //double cc = 1.0 *Cr*(Zsun/magSun3)*AU_sqrd*visible; + + VectorN srpacc0 = srp0.accelSRP(r0,r_sun); + VectorN srpacc1 = srp1.accelSRP(r1,r_sun); + srpacc0 = srpacc0.times(visible0); + srpacc1 = srpacc1.times(visible1); + + // compute state derivatives + + //Velocity for spacecraft 0 + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + + //acceleration for spacecraft 0 + out[3] = ax0 + srpacc0.get(0) - lunarAcceleration0.get(0) - solarAcceleration0.get(0); + out[4] = ay0 + srpacc0.get(1) - lunarAcceleration0.get(1) - solarAcceleration0.get(1); + out[5] = az0 + srpacc0.get(2) - lunarAcceleration0.get(2) - solarAcceleration0.get(2); + + out[3] = -mu*xx0/(dcubed0); + out[4] = -mu*yy0/(dcubed0); + out[5] = -mu*zz0/(dcubed0); + + + //Velocity for spacecraft1 + out[6] = y[9]; + out[7] = y[10]; + out[8] = y[11]; + + + //acceleration for spacecraft 1 + out[9] = ax1 + srpacc1.get(0) - lunarAcceleration1.get(0) - solarAcceleration1.get(0); + out[10] = ay1 + srpacc1.get(1) - lunarAcceleration1.get(1) - solarAcceleration1.get(1); + out[11] = az1 + srpacc1.get(2) - lunarAcceleration1.get(2) - solarAcceleration1.get(2); + + + //Solar radiation Pressure states + out[12] = 0; + out[13] = 0; + + + double w_f = (Math.random()-0.5)*2*.036; + out[14] = w_f + hc; + + // compute A matrix + + Matrix a = new Matrix(15,15); // creates a (15x15 matrix with all zeros + + + //Generate some utility variables. It is a bit messy as we will need + //two now. + + double r50 = rsq0 * rcubed0; + double r51 = rsq1 * rcubed1; + + double mur50 = mu / r50; + double mur51 = mu / r51; + + //double mur30 = mu / rcubed0; + //double mur31 = mu / rcubed1; + + + double sz2r20 = 7.0 * zz0 * zz0 / rsq0; + double sz2r21 = 7.0 * zz1 * zz1 / rsq1; + + double muxyr50 = mu * xx0 * yy0 / r50; + double muxyr51 = mu * xx1 * yy1 / r51; + + double muxzr50 = mu * xx0 * zz0 / r50; + double muxzr51 = mu * xx1 * zz1 / r51; + + double muyzr50 = mu * yy0 * zz0 / r50; + double muyzr51 = mu * yy1 * zz1 / r51; + + double bracket10 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 1.0); + double bracket11 = 3.0 - 7.5 * re_r1 * j2 * (sz2r21 - 1.0); + + double bracket30 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 3.0); + double bracket31 = 3.0 - 7.5 * re_r1 * j2 * (sz2r21 - 3.0); + + double bracket50 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 5.0); + double bracket51 = 3.0 - 7.5 * re_r1 * j2 * (sz2r21 - 5.0); + + //double bracket20 = 1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 1.0); + //double bracket21 = 1.5 * re_r1 * (5.0 * zz1 * zz1 / rsq1 - 1.0); + + //Note: use this formulation for ll to avoid a singularity + ll0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + ll1 = -1.0 * (mu / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + + double dldx0 = ll0 + mur50 * xx0 * xx0 * bracket10; + double dldx1 = ll1 + mur51 * xx1 * xx1 * bracket11; + + + double dldy0 = muxyr50 * bracket10; + double dldy1 = muxyr51 * bracket11; + + double dldz0 = muxzr50 * bracket30; + double dldz1 = muxzr51 * bracket31; + + //double dldj20 = mur30 * xx0 * bracket20; + //double dldj21 = mur31 * xx1 * bracket21; + + double dmdx0 = dldy0; + double dmdx1 = dldy1; + + + //Note: use a different definition of mm to avoid singularity issues + + mm0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + mm1 = -1.0 * (mu / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * zsq_rsq1); + + double dmdy0 = mm0 + mur50 * yy0 * yy0 * bracket10; + double dmdy1 = mm1 + mur51 * yy1 * yy1 * bracket11; + //double qqy = mur50 * yy0 * yy0 * bracket10; + + + double dmdz0 = muyzr50 * bracket30; + double dmdz1 = muyzr51 * bracket31; + + //double dmdj20 = mur30 * yy0 * bracket20; + //double dmdj21 = mur31 * yy1 * bracket21; + + double dndx0 = muxzr50 * bracket30; + double dndx1 = muxzr51 * bracket31; + + double dndy0 = dmdz0; + double dndy1 = dmdz1; + //double dndz01 = nn0 + mur50 * zz0 * zz0 * bracket50; + //Note: Use this definition of nn0. It is uglier, but it removes a potential singularity + nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + nn1 = -1.0 * (mu / rcubed1) * (1.0 - 1.5 * re_r1 * j2 * (zsq_rsq1 - 2.0)); + + //double dndz0 = nn0 / zz0 + mur50 * zz0 * zz0 * bracket50; + double dndz0 = nn0 + mur50 * zz0 * zz0 * bracket50; + //double qqz = mur50 * zz0 * zz0 * bracket50; + double dndz1 = nn1 + mur51 * zz1 * zz1 * bracket51; + + + //double dndj20 = mur30 * zz0 * (1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 3.0)); + //double dndj21 = mur31 * zz1 * (1.5 * re_r1 * (5.0 * zz1 * zz1 / rsq1 - 3.0)); + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + a.A[3][0] = dldx0 ; + a.A[3][1] = dldy0 ; + a.A[3][2] = dldz0 ; + a.A[3][3] = 0; + a.A[3][4] = 0; + a.A[3][5] = 0; + a.A[3][12] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale0; + + + a.A[4][0] = dmdx0; + a.A[4][1] = dmdy0; + a.A[4][2] = dmdz0; + a.A[4][3] = 0; + a.A[4][4] = 0; + a.A[4][5] = 0; + a.A[4][12] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale0; + + a.A[5][0] = dndx0; + a.A[5][1] = dndy0; + a.A[5][2] = dndz0; + a.A[5][3] = 0; + a.A[5][4] = 0; + a.A[5][5] = 0; + a.A[5][12] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale0; + + + //For the second spacecraft + a.A[6][9] = 1.0; + a.A[7][10] = 1.0; + a.A[8][11] = 1.0; + + + a.A[9][6] = dldx1 ; + a.A[9][7] = dldy1 ; + a.A[9][8] = dldz1 ; + a.A[9][9] = 0; + a.A[9][10] = 0; + a.A[9][11] = 0; + a.A[9][13] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale1; + + + a.A[10][6] = dmdx1; + a.A[10][7] = dmdy1; + a.A[10][8] = dmdz1; + a.A[10][9] = 0; + a.A[10][10] = 0; + a.A[10][11] = 0; + a.A[10][13] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale1; + + a.A[11][6] = dndx1; + a.A[11][7] = dndy1; + a.A[11][8] = dndz1; + a.A[11][9] = 0; + a.A[11][10] = 0; + a.A[11][11] = 0; + a.A[11][13] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale1; + + System.out.println("X Y Z " + dldx0 + " " + dmdy0 + " " + dndz0 ); + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(n, n); + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM9state.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM9state.java new file mode 100644 index 0000000..9cde5fc --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPEOM9state.java @@ -0,0 +1,434 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.spacetime.UniverseModel; +import jat.coreNOSA.util.FileUtil; + +import java.util.HashMap; +import java.util.Random; + + + +/** +* This file has to be reconstructed for each state used. It uses a +* 4 x 4 gravity model as well as lunar and solar gravity and Solar +* radiation pressure modelds +* @author +* @version 1.0 +*/ + + + +public class JGM4x4SRPEOM9state implements Derivatives { + + private static double re = 6378136.3; // radius of earth in meters + private static double h_0 = 920000.0; // atmosphere model parameter + private static double rho_0 = 4.36E-14; // atmosphere model parameter + private static double gamma_0 = 5.381E-06; // atmosphere model parameter + //private static double omega_e = 7.2921157746E-05; // earth rotation rate + public static int n; + public HashMap hm; + public static double mass0,mass1,area0,area1; + public static double Cr0,Cr1; + public DE405 jpl_ephem; + public static double mjd0; + double j2 = Constants.j2; + double mu = Constants.mu*1e9; + boolean firsttime; + UniverseModel universe; + private Random rn; + GravityModel earth_grav; + + SolarRadiationPressure srp0; + SolarRadiationPressure srp1 ; + public double hc; + + + public JGM4x4SRPEOM9state(HashMap hm){ + this.hm = hm; + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + mass0 = initializer.parseDouble(hm,"jat.0.mass"); + area0 = initializer.parseDouble(hm,"jat.0.area"); + Cr0 = initializer.parseDouble(hm,"jat.0.Cr"); + //mass1 = initializer.parseDouble(hm,"jat.1.mass"); + //area1 = initializer.parseDouble(hm,"jat.1.area"); + //Cr1 = initializer.parseDouble(hm,"jat.1.Cr"); + mjd0 = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm, "init.T0")/86400.0; + + + hc = -2.87956633585E-10 * GPS_Utils.c; + + earth_grav = new GravityModel(4,4,GravityModelType.JGM3); + + srp0 = new SolarRadiationPressure(mass0, area0, Cr0); + srp1 = new SolarRadiationPressure(mass1, area1, Cr1); + + //Set the Gravitational parameter path + try{ + dir_in = FileUtil.getClassFilePath("jat.eph","DE405")+"DE405data"+fs; + }catch(Exception e){ + dir_in = ""; + } + jpl_ephem = new DE405("dir_in"); + + + universe = new UniverseModel(mjd0); + n = initializer.parseInt(hm,"FILTER.states"); + rn = new Random(); + } + + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + //The out vector is sized by the number of states squared + //plus the number of states. (n^2 + n) + + + double out[] = new double[n*n + n]; + + //Obtain thet the correct time + int ctr = 0; + Time tt = new Time(mjd0); + tt.update(t); + double newttt = TimeUtils.UTCtoTT(t/86400 + mjd0); + + + if(firsttime == false) + { + earth_grav.initialize(); + firsttime = true; + universe.set_use_iers(true); + srp0.updateArea(area0); + srp1.updateArea(area1); + srp0.updateMass(mass0); + srp1.updateMass(mass1); + + } + + // Generate some vectors for use later on + VectorN r0 = new VectorN(y[0], y[1], y[2]); + //VectorN v0 = new VectorN(y[3], y[4], y[5]); + + // store elements of incoming state in more familiar looking variables + double xx0 = y[0]; + double yy0 = y[1]; + double zz0 = y[2]; + double vx0 = y[3]; + double vy0 = y[4]; + double vz0 = y[5]; + + // compute derived variables + double rmag0 = r0.mag(); + + + double rcubed0 = rmag0 * rmag0 * rmag0; + + double rsq0 = rmag0 * rmag0; + + double re_r0 = re / rmag0; + + re_r0 = re_r0 * re_r0; + + double zsq_rsq0 = (5.0 * zz0 * zz0 / rsq0) - 1.0; + + + //Get the acceleration directly from the model + universe.update(t); + Matrix M = universe.earthRef.eci2ecef(universe.time.mjd_ut1(),universe.time.mjd_tt()); + VectorN acc0 = earth_grav.gravity(r0,M); + + //Use the acceleration model directly for integration + //of the state. For the generation of the state transition + //Matirx, use the normal J2 forulation + double ax0 = acc0.get(0); + double ay0 = acc0.get(1); + double az0 = acc0.get(2); + + + // compute accelerations due to gravity for each satellite + double ll0 = -1.0 * (mu * xx0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double mm0 = -1.0 * (mu * yy0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double nn0 = -1.0 * (mu * zz0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + // compute accelerations due to SRP + double AU_sqrd = Constants.AU*Constants.AU; + + //compute acceleration due to lunar gravity + double ttt = TimeUtils.TTtoTDB(newttt) + 2400000.5; + VectorN r_moon = universe.earthRef.moonVector(newttt); + + VectorN d0 = r0.minus(r_moon); + + double dmag0 = d0.mag(); + + double dcubed0 = dmag0 * dmag0 * dmag0; + + VectorN temp0 = d0.divide(dcubed0); + + double smag = r_moon.mag(); + double scubed = smag * smag * smag; + + VectorN temp2 = r_moon.divide(scubed); + VectorN sum0 = temp0.plus(temp2); + + VectorN lunarAcceleration0 = sum0.times(Constants.GM_Moon); + //* TODO Watch this + //lunarAcceleration0.set(0); + + //Compute the acceleration due to the solar gravity + VectorN r_sun = universe.earthRef.sunVector(newttt); + d0 = r0.minus(r_sun); + + dmag0 = d0.mag(); + + dcubed0 = dmag0 * dmag0 *dmag0; + + temp0 = d0.divide(dcubed0); + + smag = r_sun.mag(); + double magSun3 = smag * smag * smag; + + temp2 = r_sun.divide(magSun3); + + sum0 = temp0.plus(temp2); + + VectorN solarAcceleration0 = sum0.times(Constants.GM_Sun); + //* TODO watch + //solarAcceleration0.set(0); + + //Determine if the sun is visible + if(r0.x[0]==650869.3445073176){ + int donothing = 0; + } + double visible0 = srp0.partial_illumination(r0,r_sun); + + double pressureConstant = 4.5344321837439e-06; + double SRPscale0 = pressureConstant*(area0/mass0)*visible0; + + //Compute the relevant SRP information + double Xsun = r_sun.get(0); + double Ysun = r_sun.get(1); + double Zsun = r_sun.get(2); + //double aa = 1.0 *Cr*(Xsun/magSun3)*AU_sqrd*visible; + //double bb = 1.0 *Cr*(Ysun/magSun3)*AU_sqrd*visible; + //double cc = 1.0 *Cr*(Zsun/magSun3)*AU_sqrd*visible; + + VectorN srpacc0 = srp0.accelSRP(r0,r_sun); + + srpacc0 = srpacc0.times(visible0); + //* TODO watch this + //srpacc0.set(0); + + // compute state derivatives + + //Velocity for spacecraft 0 + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + + //acceleration for spacecraft 0 + + out[3] = ax0 - solarAcceleration0.get(0) + srpacc0.get(0) - lunarAcceleration0.get(0); + out[4] = ay0 - solarAcceleration0.get(1) + srpacc0.get(1) - lunarAcceleration0.get(1); + out[5] = az0 - solarAcceleration0.get(2) + srpacc0.get(2) - lunarAcceleration0.get(2); + + + + //Clock model + double w_f = rn.nextGaussian()*.036; + out[6] = w_f + hc; + double w_g = rn.nextGaussian()*7.106E-05; + out[7] = w_g; + + //* TODO watch this - set clock terms to zero + //out[6] = 0; + //out[7] = 0; +// if(Math.abs(w_f) > 1e3 || Math.abs(w_g) > 1e3){ +// out[6] = out[6]; +// } + + //Solar radiation Pressure states + out[8] = 0; + + + // compute A matrix + + Matrix a = new Matrix(n,n); // creates a (15x15 matrix with all zeros + + + //Generate some utility variables. It is a bit messy as we will need + //two now. + + double r50 = rsq0 * rcubed0; + + + double mur50 = mu / r50; + + + double mur30 = mu / rcubed0; + + + double sz2r20 = 7.0 * zz0 * zz0 / rsq0; + + double muxyr50 = mu * xx0 * yy0 / r50; + + double muxzr50 = mu * xx0 * zz0 / r50; + + double muyzr50 = mu * yy0 * zz0 / r50; + + double bracket10 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 1.0); + + double bracket30 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 3.0); + + double bracket50 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 5.0); + + double bracket20 = 1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 1.0); + + //Note: use this formulation for ll to avoid a singularity + ll0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dldx0 = ll0 + mur50 * xx0 * xx0 * bracket10; + + double dldy0 = muxyr50 * bracket10; + + double dldz0 = muxzr50 * bracket30; + + double dldj20 = mur30 * xx0 * bracket20; + + double dmdx0 = dldy0; + + //Note: use a different definition of mm to avoid singularity issues + + mm0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dmdy0 = mm0 + mur50 * yy0 * yy0 * bracket10; + + double dmdz0 = muyzr50 * bracket30; + + double dmdj20 = mur30 * yy0 * bracket20; + + double dndx0 = muxzr50 * bracket30; + + double dndy0 = dmdz0; + + //Note: Use this definition of nn0. It is uglier, but it removes a potential singularity + nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + //double dndz0 = nn0 / zz0 + mur50 * zz0 * zz0 * bracket50; + double dndz0 = nn0 + mur50 * zz0 * zz0 * bracket50; + + + double dndj20 = mur30 * zz0 * (1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 3.0)); + + SRPscale0 = 0; + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + a.A[3][0] = dldx0 ; + a.A[3][1] = dldy0 ; + a.A[3][2] = dldz0 ; + a.A[3][3] = 0; + a.A[3][4] = 0; + a.A[3][5] = 0; + //a.A[3][8] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale0; + + + a.A[4][0] = dmdx0; + a.A[4][1] = dmdy0; + a.A[4][2] = dmdz0; + a.A[4][3] = 0; + a.A[4][4] = 0; + a.A[4][5] = 0; + //a.A[4][8] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale0; + + a.A[5][0] = dndx0; + a.A[5][1] = dndy0; + a.A[5][2] = dndz0; + a.A[5][3] = 0; + a.A[5][4] = 0; + a.A[5][5] = 0; + //a.A[5][8] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale0; + + + + + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(n, n); + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPProcess15state.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPProcess15state.java new file mode 100644 index 0000000..f8ca94e --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPProcess15state.java @@ -0,0 +1,333 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ + +package jat.coreNOSA.algorithm.estimators; + + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.FileUtil; + +import java.util.HashMap; + + +/** +* The J2DragProcess.java Class provides the dynamics model for an orbit +* including J2 and effects of exponential drag. +* +* @author +* @version 1.0 +*/ +public class JGM4x4SRPProcess15state implements ProcessModel { + + + + //Construct the required classes + private VectorN xref; + private Matrix phi; + private RungeKutta8 rk8 = new RungeKutta8(1.0); + private JGM4x4SRPEOM15state eom; + private LinePrinter lp1; + private LinePrinter lp2; + public Trajectory traj = new Trajectory(); + HashMap hm; + public int n; + private Matrix Q; + + /*This file is not generic and has to be modified for any + * change in the state. + */ + public JGM4x4SRPProcess15state(LinePrinter lp, LinePrinter lp_2, HashMap hm){ + this.hm = hm; + this.eom = new JGM4x4SRPEOM15state(hm); + this.lp1 = lp; + this.lp2 = lp_2; + traj.setTitle("Test Trajectory 1"); + traj.setCentralBody(CentralBody.EARTH); + traj.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj.setDistanceUnits(DistanceUnits.METERS); + traj.setEpoch(1998, 6, 21, 00, 00, 0.0); + traj.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot"}; + traj.setLabels(labels); + + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + n = initializer.parseInt(hm,"FILTER.states"); + Q = parse_Q(); + xref = new VectorN(n); + phi = new Matrix(n); + + } + + /** + * Returns the initial covariance matrix. + * @return the initial covariance matrix. + */ + public Matrix P0() { + + // initialize sigmas + double[] sigmas = new double[n]; + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "P0."+i+".X"; + sigmas[6*i + 0] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Y"; + sigmas[6*i + 1] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Z"; + sigmas[6*i + 2] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VX"; + sigmas[6*i + 3] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VY"; + sigmas[6*i + 4] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VZ"; + sigmas[6*i + 5] = initializer.parseDouble(hm,tmp); + } + + sigmas[12] = initializer.parseDouble(hm,"P0.0.Cr"); + sigmas[13] = initializer.parseDouble(hm,"P0.1.Cr"); + sigmas[14] = initializer.parseDouble(hm,"P0.0.clockBias"); + + + // square the sigmas + for (int j = 0; j < n; j++) { + sigmas[j] = sigmas[j] * sigmas[j]; + } + + // initialize covariance + VectorN sig = new VectorN(sigmas); + Matrix p = new Matrix(sig); + return p; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + private Matrix parse_Q() { + + Matrix Q = new Matrix(n,n); + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "Q."+i+".X"; + Q.set((6*i + 0),(6*i + 0), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Y"; + Q.set((6*i + 1),(6*i + 1), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Z"; + Q.set((6*i + 2),(6*i + 2), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VX"; + Q.set((6*i + 3),(6*i + 3), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VY"; + Q.set((6*i + 4),(6*i + 4), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VZ"; + Q.set((6*i + 5),(6*i + 5), initializer.parseDouble(hm,tmp)); + } + + Q.set(12,12,initializer.parseDouble(hm,"Q.0.Cr")); + Q.set(13,13,initializer.parseDouble(hm,"Q.1.Cr")); + Q.set(14,14, initializer.parseDouble(hm,"Q.0.clockBias")); + return Q; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix Q(double t, double dt, EstSTM x) { + + return this.Q; + } + + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix QRIC(VectorN rECI, VectorN vECI, double t) { + Matrix Q = new Matrix(9,9); + + Q.set(0,0,1e-10); + Q.set(1,1,1e-10); + Q.set(2,2,1e-10); + Q.set(3,3,1e-12); + Q.set(4,4,1e-12); + Q.set(5,5,1e-12); + Q.set(6,6,1e2); + Q.set(7,7,1e-8); + Q.set(8,8,1e-8); + + + + RSW_Frame rsw = new RSW_Frame(rECI, vECI); + Matrix M = rsw.ECI2RIC(rECI, vECI); + Matrix MT = M.transpose(); + + Matrix Qtmp = new Matrix(3,3); + Qtmp.set(0,0,Q.get(0,0)); + Qtmp.set(1,1,Q.get(1,1)); + Qtmp.set(2,2,Q.get(2,2)); + + Matrix Qout = new Matrix(3,3); + Matrix Qtmp2 = new Matrix(3,3); + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + Q.setMatrix(0,2,0,2,Qout); + + Qtmp.set(0,0,Q.get(3,3)); + Qtmp.set(1,1,Q.get(4,4)); + Qtmp.set(2,2,Q.get(5,5)); + + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + Q.setMatrix(3,5,3,5,Qout); + + return Q; + } + + + /** + * Returns the initial reference state. + * @return the initial reference state. + */ + public VectorN xref0() { + VectorN out = new VectorN(n); + + //Note: Need to decide where the best place to "randomly" insert + //initial errors should be. This could be a good place + //double tmp = Math.random(); + + //first set in the Satellite States + for (int i = 0; i < initializer.parseInt(hm, "prop.NumSpacecraft"); i++) { + String ref = "REF_STATE."; + String tmp = ref+i +".X"; + out.x[6 * i + 0] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Y"; + out.x[6 * i + 1] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Z"; + out.x[6 * i + 2] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VX"; + out.x[6 * i + 3] = initializer.parseDouble(hm, tmp); + tmp = ref + i + ".VY"; + out.x[6 * i + 4] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VZ"; + out.x[6 * i + 5] = initializer.parseDouble(hm, tmp); + + // Other clock states can be initialized here . . + ref = "jat."; + tmp = ref+"0.Cr"; + out.x[12] = initializer.parseDouble(hm, tmp); + tmp = ref+"1.Cr"; + out.x[13] = initializer.parseDouble(hm, tmp); + tmp = ref+"0.clockBias"; + out.x[14] = initializer.parseDouble(hm, tmp); + } + + return out; + } + + /** + * Returns the number of states. + * @return the number of states. + */ + public int numberOfStates() { + return this.n; + } + + /** + * Propagate the state and state transition matrix to the next measurement time. + * @param t0 previous time + * @param xin array containing state and state transition matrix at previous time. + * @param tf next time + */ + public double[] propagate(double t0, double[] x, double tf) { + rk8.setStepSize(tf-t0); + double[] out = rk8.step(t0, x, eom); + return out; + } + + /** + * Returns the state transition matrix. + * @return the state transition matrix (after propagation). + */ + public Matrix phi() { + return this.phi; + } + + /** + * Returns the current reference state (after propagation). + * @return the current reference state. + */ + public VectorN xref() { + return this.xref; + } + + public void print(double t, VectorN state, Matrix cov) { + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + VectorN temp = state.get(0,6); + lp1.println(printvector.toString()); + traj.add(t,temp.x); + + } + + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp2.print(y); + System.out.println(t); + } + + + public void closeLinePrinter(){ + lp1.close(); + // Serialize the Ouptput + System.out.println("Searializing the Output . . ."); + traj.serialize("C:\\GOESR\\output\\esttraj.jat"); + System.out.println("trajectory serialized"); + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPProcess9state.java b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPProcess9state.java new file mode 100644 index 0000000..b9e6b61 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/JGM4x4SRPProcess9state.java @@ -0,0 +1,356 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ + +package jat.coreNOSA.algorithm.estimators; + + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.FileUtil; + +import java.util.HashMap; + + +/** +* The J2DragProcess.java Class provides the dynamics model for an orbit +* including J2 and effects of exponential drag. +* +* @author +* @version 1.0 +*/ +public class JGM4x4SRPProcess9state implements ProcessModel { + + + + //Construct the required classes + private VectorN xref; + private Matrix phi; + private RungeKutta8 rk8 = new RungeKutta8(1.0); + private JGM4x4SRPEOM9state eom;// = new JGM4x4SRPEOM9state(); + private LinePrinter lp1; + private LinePrinter lp2; + public Trajectory traj = new Trajectory(); + HashMap hm; + public int n; + private int num_sc; + private Matrix Q; + private Matrix QXYZ; + + /*This file is not generic and has to be modified for any + * change in the state. + */ + public JGM4x4SRPProcess9state(LinePrinter lp, LinePrinter lp_2, HashMap hm){ + this.hm = hm; + this.eom = new JGM4x4SRPEOM9state(hm); + this.lp1 = lp; + this.lp2 = lp_2; + traj.setTitle("Test Trajectory 1"); + traj.setCentralBody(CentralBody.EARTH); + traj.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj.setDistanceUnits(DistanceUnits.METERS); + traj.setEpoch(1998, 6, 21, 00, 00, 0.0); + traj.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot"}; + traj.setLabels(labels); + + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + n = initializer.parseInt(hm,"FILTER.states"); + num_sc = initializer.parseInt(hm,"prop.NumSpacecraft"); + Q = parse_Q(); + QXYZ = parse_QRIC(); + xref = new VectorN(n); + phi = new Matrix(n); + + } + + /** + * Returns the initial covariance matrix. + * @return the initial covariance matrix. + */ + public Matrix P0() { + + // initialize sigmas + double[] sigmas = new double[n]; + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "P0."+i+".X"; + sigmas[6*i + 0] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Y"; + sigmas[6*i + 1] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Z"; + sigmas[6*i + 2] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VX"; + sigmas[6*i + 3] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VY"; + sigmas[6*i + 4] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VZ"; + sigmas[6*i + 5] = initializer.parseDouble(hm,tmp); + } + + sigmas[6] = initializer.parseDouble(hm,"P0.0.clockBias"); + sigmas[7] = initializer.parseDouble(hm,"P0.0.clockDrift"); + sigmas[8] = initializer.parseDouble(hm,"P0.0.Cr"); + + + // square the sigmas + for (int j = 0; j < n; j++) { + sigmas[j] = sigmas[j] * sigmas[j]; + } + + // initialize covariance + VectorN sig = new VectorN(sigmas); + Matrix p = new Matrix(sig); + return p; + } + + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + private Matrix parse_Q() { + Matrix Q = new Matrix(n,n); + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "Q."+i+".X"; + Q.set((6*i + 0),(6*i + 0), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Y"; + Q.set((6*i + 1),(6*i + 1), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Z"; + Q.set((6*i + 2),(6*i + 2), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VX"; + Q.set((6*i + 3),(6*i + 3), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VY"; + Q.set((6*i + 4),(6*i + 4), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VZ"; + Q.set((6*i + 5),(6*i + 5), initializer.parseDouble(hm,tmp)); + } + + Q.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); + Q.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); + Q.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + + return Q; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix Q(double t, double dt, EstSTM x) { + return Q; + } + private Matrix parse_QRIC(){ + Matrix QXYZ = new Matrix(n,n); + + QXYZ.set(0,0,10e-11); + QXYZ.set(1,1,10e-11); + QXYZ.set(2,2, 10e-11); + QXYZ.set(3,3,1e-13); + QXYZ.set(4,4,1e-13); + QXYZ.set(5,5,1e-13); + + QXYZ.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); + QXYZ.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); + QXYZ.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + return QXYZ; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix QRIC(VectorN rECI, VectorN vECI, double t) { + Matrix QRIC = new Matrix(n,n); +// Matrix QXYZ = new Matrix(n,n); +// +// QXYZ.set(0,0,10e-11); +// QXYZ.set(1,1,10e-11); +// QXYZ.set(2,2, 10e-11); +// QXYZ.set(3,3,1e-13); +// QXYZ.set(4,4,1e-13); +// QXYZ.set(5,5,1e-13); +// +// QXYZ.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); +// QXYZ.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); +// QXYZ.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + + + + RSW_Frame rsw = new RSW_Frame(rECI, vECI); + Matrix M = rsw.ECI2RIC(rECI, vECI); + Matrix MT = M.transpose(); + + Matrix Qtmp = new Matrix(3,3); + Qtmp.set(0,0,QXYZ.get(0,0)); + Qtmp.set(1,1,QXYZ.get(1,1)); + Qtmp.set(2,2,QXYZ.get(2,2)); + + Matrix Qout = new Matrix(3,3); + Matrix Qtmp2 = new Matrix(3,3); + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + QRIC.setMatrix(0,2,0,2,Qout); + + Qtmp.set(0,0,QXYZ.get(3,3)); + Qtmp.set(1,1,QXYZ.get(4,4)); + Qtmp.set(2,2,QXYZ.get(5,5)); + + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + QRIC.setMatrix(3,5,3,5,Qout); + QRIC.set(6,6,QXYZ.get(6,6)); + QRIC.set(7,7,QXYZ.get(7,7)); + QRIC.set(8,8,QXYZ.get(8,8)); + + return QRIC; + } + + + /** + * Returns the initial reference state. + * @return the initial reference state. + */ + public VectorN xref0() { + VectorN out = new VectorN(n); + + //Note: Need to decide where the best place to "randomly" insert + //initial errors should be. This could be a good place + //double tmp = Math.random(); + + //first set in the Satellite States + for (int i = 0; i < initializer.parseInt(hm, "prop.NumSpacecraft"); i++) { + String ref = "REF_STATE."; + String tmp = ref+i +".X"; + out.x[6 * i + 0] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Y"; + out.x[6 * i + 1] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Z"; + out.x[6 * i + 2] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VX"; + out.x[6 * i + 3] = initializer.parseDouble(hm, tmp); + tmp = ref + i + ".VY"; + out.x[6 * i + 4] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VZ"; + out.x[6 * i + 5] = initializer.parseDouble(hm, tmp); + + // Other clock states can be initialized here . . + ref = "jat."; + tmp = ref+"0.clockBias"; + out.x[6] = initializer.parseDouble(hm, tmp); + tmp = ref+"0.clockDrift"; + out.x[7] = initializer.parseDouble(hm, tmp); + tmp = ref+"0.Cr"; + out.x[8] = initializer.parseDouble(hm, tmp); + } + + return out; + } + + /** + * Returns the number of states. + * @return the number of states. + */ + public int numberOfStates() { + return this.n; + } + + /** + * Propagate the state and state transition matrix to the next measurement time. + * @param t0 previous time + * @param xin array containing state and state transition matrix at previous time. + * @param tf next time + */ + public double[] propagate(double t0, double[] x, double tf) { + rk8.setStepSize(tf-t0); + double[] out = rk8.step(t0, x, eom); + return out; + } + + /** + * Returns the state transition matrix. + * @return the state transition matrix (after propagation). + */ + public Matrix phi() { + return this.phi; + } + + /** + * Returns the current reference state (after propagation). + * @return the current reference state. + */ + public VectorN xref() { + return this.xref; + } + + public void print(double t, VectorN state, Matrix cov) { + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + VectorN temp = state.get(0,6); + lp1.println(printvector.toString()); + traj.add(t,temp.x); + + } + + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp2.print(y); + System.out.println(t); + } + + + public void closeLinePrinter(){ + lp1.close(); + // Serialize the Ouptput + System.out.println("Searializing the Output . . ."); + traj.serialize("C:\\GOESR\\output\\esttraj.jat"); + System.out.println("trajectory serialized"); + } + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/LunarEOM.java b/src/jat/coreNOSA/algorithm/estimators/LunarEOM.java new file mode 100644 index 0000000..ebe5353 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/LunarEOM.java @@ -0,0 +1,380 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.LunaFixedRef; +import jat.coreNOSA.spacetime.LunaRef; +import jat.coreNOSA.spacetime.Time; + +import java.util.HashMap; + +public class LunarEOM implements Derivatives { + + private static double rL = LunaRef.R_Luna; + //private static double re = 6378136.3; // radius of earth in meters + //private static double h_0 = 920000.0; // atmosphere model parameter + //private static double rho_0 = 4.36E-14; // atmosphere model parameter + //private static double gamma_0 = 5.381E-06; // atmosphere model parameter + //private static double omega_e = 7.2921157746E-05; // earth rotation rate + public int n; + public HashMap hm; + //public static double mass0,mass1,area0,area1; + //public static double Cr0,Cr1; + public DE405 jpl_ephem; + public double mjd0; + double j2 = LunaRef.J2_Luna; + double mu = LunaRef.GM_Luna; + //boolean firsttime; + //UniverseModel universe; + double Qbias; //noise for the angle bias + + GravityModel moon_grav; + LunaRef moon_ref; + Spacecraft sc; + private boolean computePhi = true; + + public double hc; + + public LunarEOM(HashMap hm,int grav_ncoef, boolean compPhi){ + mjd0 = initializer.parseDouble(hm,"init.MJD0") + + initializer.parseDouble(hm,"init.T0")/86400.0; + + //hc = -2.87956633585E-10 * GPS_Utils.c; + //Qbias = initializer.parseDouble(hm,"Q.0.bias"); + + //earth_grav = new GravityModel(4,4,GravityModelType.JGM3); + if(compPhi){ + moon_grav = new GravityModel(grav_ncoef, grav_ncoef, new LunaFixedRef(), + "jat/forces/moonGravity/LP165P.grv"); + }else{ + boolean doMonteCarlo = initializer.parseBool(hm, "jat.0.lunar.monte"); + if(doMonteCarlo) + moon_grav = new GravityModel(grav_ncoef, grav_ncoef, new LunaFixedRef(), + "jat/forces/moonGravity/LP165P-Cov.grv",doMonteCarlo); + else + moon_grav = new GravityModel(grav_ncoef, grav_ncoef, new LunaFixedRef(), + "jat/forces/moonGravity/LP165P.grv"); + } + //* TODO Watch the above flags + moon_ref = new LunaRef(); + + sc = new Spacecraft(); + + //Set the Gravitational parameter path + jpl_ephem = new DE405(); + + //universe = new UniverseModel(mjd0); + n = initializer.parseInt(hm,"FILTER.states"); + moon_grav.initialize(); + computePhi = compPhi; + } + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + //The out vector is sized by the number of states squared + //plus the number of states. (n^2 + n) + + double out[]; + if(computePhi){ + out = new double[n*n + n]; + }else{ + out = new double[n]; + } + + //Obtain thet the correct time + //int ctr = 0; + Time tt = new Time(mjd0); + tt.update(t); + //double newttt = tt.UTC2TT(t/86400 + mjd0); + + +// if(firsttime == false) +// { +// moon_grav.initialize(); +// firsttime = true; +// //universe.set_use_iers(true); +// } + + // Generate some vectors for use later on + VectorN r0 = new VectorN(y[0], y[1], y[2]); + //VectorN v0 = new VectorN(y[3], y[4], y[5]); + + // store elements of incoming state in more familiar looking variables + double xx0 = y[0]; + double yy0 = y[1]; + double zz0 = y[2]; + //double vx0 = y[3]; + //double vy0 = y[4]; + //double vz0 = y[5]; + + // compute derived variables + double rmag0 = r0.mag(); + + + double rcubed0 = rmag0 * rmag0 * rmag0; + + double rsq0 = rmag0 * rmag0; + + double re_r0 = rL / rmag0; + + re_r0 = re_r0 * re_r0; + + double zsq_rsq0 = (5.0 * zz0 * zz0 / rsq0) - 1.0; + + + //Get the acceleration directly from the model + sc.updateMotion(y); + VectorN acc0 = moon_grav.acceleration(tt,moon_ref,sc); + + //Use the acceleration model directly for integration + //of the state. For the generation of the state transition + //Matirx, use the normal J2 forulation + double ax0 = acc0.get(0); + double ay0 = acc0.get(1); + double az0 = acc0.get(2); + + + // compute accelerations due to gravity for each satellite + double ll0 = -1.0 * (mu * xx0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double mm0 = -1.0 * (mu * yy0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double nn0 = -1.0 * (mu * zz0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + // compute accelerations due to SRP + //double AU_sqrd = Constants.AU*Constants.AU; + + //compute acceleration due to lunar gravity + //double ttt = tt.TTtoTDB(newttt) + 2400000.5; + //VectorN r_moon = universe.earthRef.moonVector(newttt); +// VectorN r_moon = jpl_ephem.get_Geocentric_Moon_pos(tt.jd_tdb()).times(1000.0); +// +// VectorN d0 = (r0.plus(r_moon)).times(-1.0); +// +// double dmag0 = d0.mag(); +// +// double dcubed0 = dmag0 * dmag0 * dmag0; +// +// VectorN temp0 = d0.divide(dcubed0); +// +// double smag = r_moon.mag(); +// double scubed = smag * smag * smag; +// +// VectorN temp2 = r_moon.divide(scubed); +// VectorN sum0 = temp0.plus(temp2); +// +// VectorN earthAcceleration0 = sum0.times(Constants.mu); +// +// +// //Compute the acceleration due to the solar gravity +// //VectorN r_sun = universe.earthRef.get_JPL_Sun_Vector(); +// VectorN r_sun = jpl_ephem.get_Geocentric_Sun_pos(tt.jd_tdb()).times(1000.0); +// r_sun = r_sun.minus(r_moon); +// d0 = r_sun.minus(r0); +// +// dmag0 = d0.mag(); +// +// dcubed0 = dmag0 * dmag0 *dmag0; +// +// temp0 = d0.divide(dcubed0); +// +// smag = r_sun.mag(); +// double magSun3 = smag * smag * smag; +// +// temp2 = r_sun.divide(magSun3); +// +// sum0 = temp0.plus(temp2); +// +// VectorN solarAcceleration0 = sum0.times(Constants.GM_Sun); + + // compute state derivatives + + //Velocity for spacecraft 0 + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + + //acceleration for spacecraft 0 + //* TODO watch + out[3] = ax0 ;//+ solarAcceleration0.get(0) + earthAcceleration0.get(0); + out[4] = ay0 ;// + solarAcceleration0.get(1) + earthAcceleration0.get(1); + out[5] = az0 ;// + solarAcceleration0.get(2) + earthAcceleration0.get(2); + + if(!computePhi) return out; + else{ + //double w_f = (Math.random()-0.5)*2*.036; + //out[6] = w_f + hc; + //double w_g = (Math.random()-0.5)*2*7.106E-05; + //out[7] = w_g; + out[6] = 0; + out[7] = 0; + //Solar radiation Pressure states + out[8] = 0; + + + // compute A matrix + + Matrix a = new Matrix(n,n); // creates a (15x15 matrix with all zeros + + + //Generate some utility variables. It is a bit messy as we will need + //two now. + + double r50 = rsq0 * rcubed0; + + + double mur50 = mu / r50; + + + //double mur30 = mu / rcubed0; + + + double sz2r20 = 7.0 * zz0 * zz0 / rsq0; + + double muxyr50 = mu * xx0 * yy0 / r50; + + double muxzr50 = mu * xx0 * zz0 / r50; + + double muyzr50 = mu * yy0 * zz0 / r50; + + double bracket10 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 1.0); + + double bracket30 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 3.0); + + double bracket50 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 5.0); + + //double bracket20 = 1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 1.0); + + //Note: use this formulation for ll to avoid a singularity + ll0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dldx0 = ll0 + mur50 * xx0 * xx0 * bracket10; + + double dldy0 = muxyr50 * bracket10; + + double dldz0 = muxzr50 * bracket30; + + //double dldj20 = mur30 * xx0 * bracket20; + + double dmdx0 = dldy0; + + //Note: use a different definition of mm to avoid singularity issues + + mm0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dmdy0 = mm0 + mur50 * yy0 * yy0 * bracket10; + + double dmdz0 = muyzr50 * bracket30; + + //double dmdj20 = mur30 * yy0 * bracket20; + + double dndx0 = muxzr50 * bracket30; + + double dndy0 = dmdz0; + + //Note: Use this definition of nn0. It is uglier, but it removes a potential singularity + nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + //double dndz0 = nn0 / zz0 + mur50 * zz0 * zz0 * bracket50; + double dndz0 = nn0 + mur50 * zz0 * zz0 * bracket50; + + + //double dndj20 = mur30 * zz0 * (1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 3.0)); + + //SRPscale0 = 0; + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + a.A[3][0] = dldx0 ; + a.A[3][1] = dldy0 ; + a.A[3][2] = dldz0 ; + a.A[3][3] = 0; + a.A[3][4] = 0; + a.A[3][5] = 0; + //a.A[3][8] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale0; + + + a.A[4][0] = dmdx0; + a.A[4][1] = dmdy0; + a.A[4][2] = dmdz0; + a.A[4][3] = 0; + a.A[4][4] = 0; + a.A[4][5] = 0; + //a.A[4][8] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale0; + + a.A[5][0] = dndx0; + a.A[5][1] = dndy0; + a.A[5][2] = dndz0; + a.A[5][3] = 0; + a.A[5][4] = 0; + a.A[5][5] = 0; + //a.A[5][8] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale0; + + + + + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(n, n); + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } +} diff --git a/src/jat/coreNOSA/algorithm/estimators/MeasurementData.java b/src/jat/coreNOSA/algorithm/estimators/MeasurementData.java new file mode 100644 index 0000000..4cd0c1c --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/MeasurementData.java @@ -0,0 +1,57 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + + package jat.coreNOSA.algorithm.estimators; + + +/** +* The MeasurementData.java Class provides an interface to get +* the measurement data to the extended Kalman filter +* +* @author +* @version 1.0 +*/ +public interface MeasurementData { + /** Returns the measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public double z (int index); + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time (int index); + + /** + * Returns the predicted measurement based on the current state + * @param index measurement index + * @param t time of the measurement + * @param xref VectorN with the current state at the measurement time + */ + + public boolean hasNext(int index); + + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/MeasurementFileModel.java b/src/jat/coreNOSA/algorithm/estimators/MeasurementFileModel.java new file mode 100644 index 0000000..5839830 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/MeasurementFileModel.java @@ -0,0 +1,56 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.measurements.ObservationMeasurement; + +public interface MeasurementFileModel { + + /** + * Returns the H matrix + * @param xref VectorN containing the current state + * @return H matrix (measurement state relation) + */ + public VectorN H (ObservationMeasurement obs, VectorN xref); + + /** + * Returns the measurement noise value + * @return measurement noise (sigma^2) + */ + public double R (ObservationMeasurement obs); + + /** + * Returns the predicted measurement based on the current state + * @param index measurement index + * @param t time of the measurement + * @param xref VectorN with the current state at the measurement time + */ + public double zPred (ObservationMeasurement obs, int index, double t, VectorN xref); + + /** + * Checks for remaining measurements. + * True = more measurements left to be processed. + * @param index measurement index. + */ + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/MeasurementModel.java b/src/jat/coreNOSA/algorithm/estimators/MeasurementModel.java new file mode 100644 index 0000000..6da9930 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/MeasurementModel.java @@ -0,0 +1,62 @@ +package jat.coreNOSA.algorithm.estimators; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 7, 2003 + */ +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The MeasurementModel Interface provides a mechanism to pass measurements +* and the measurement model to an estimator, such as the ExtendedKalmanFilter. +* +* @author +* @version 1.0 +*/ +public interface MeasurementModel { + + /** + * Returns the H matrix + * @param xref VectorN containing the current state + * @return H matrix (measurement state relation) + */ + public VectorN H (VectorN xref); + + /** + * Returns the measurement noise value + * @return measurement noise (sigma^2) + */ + public double R (); + + /** + * Returns the predicted measurement based on the current state + * @param index measurement index + * @param t time of the measurement + * @param xref VectorN with the current state at the measurement time + */ + public double zPred (int index, double t, VectorN xref); + + /** + * Checks for remaining measurements. + * True = more measurements left to be processed. + * @param index measurement index. + */ + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/ProcessModel.java b/src/jat/coreNOSA/algorithm/estimators/ProcessModel.java new file mode 100644 index 0000000..9027023 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/ProcessModel.java @@ -0,0 +1,95 @@ +package jat.coreNOSA.algorithm.estimators; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 7, 2003 + */ +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The ProcessModel.java Class provides an interface to the Extended Kalman Filter +* to allow the user to specify a process model. +* +* @author +* @version 1.0 +*/ +public interface ProcessModel { + + + + /** + * Returns the initial covariance matrix. + * @return the initial covariance matrix. + */ + public Matrix P0 (); + + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @param x current state vector + * @return the process noise matrix. + */ + public Matrix Q (double t, double dt, EstSTM x); + + + /** + * Returns the initial reference state. + * @return the initial reference state. + */ + public VectorN xref0 (); + + /** + * Returns the number of states. + * @return the number of states. + */ + public int numberOfStates(); + + /** + * Propagate the state and state transition matrix to the next measurement time. + * @param t0 previous time + * @param xin array containing state and state transition matrix at previous time. + * @param tf next time + */ + public double[] propagate( double t0, double[] xin, double tf); + + /** + * Print out the state and covariance data + * @param t time + * @param state state vector + * @param covariance covariance matrix + */ + public void print(double t, VectorN state, Matrix covariance); + + /** + * Print out the residuals + * @param t time + * @param resid1 residual before the measurement update + * @param resid2 residual after the measurement update + */ + public void printResiduals(double t, double resid1, double resid2); + + /** + * Close all open LinePrinters + */ + public void closeLinePrinter(); + +} diff --git a/src/jat/coreNOSA/algorithm/estimators/SimpleEOM.java b/src/jat/coreNOSA/algorithm/estimators/SimpleEOM.java new file mode 100644 index 0000000..1a28041 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/SimpleEOM.java @@ -0,0 +1,414 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.UniverseModel; + +import java.util.HashMap; + +public class SimpleEOM implements Derivatives { + + private static double re = 6378136.3; // radius of earth in meters + //private static double h_0 = 920000.0; // atmosphere model parameter + //private static double rho_0 = 4.36E-14; // atmosphere model parameter + //private static double gamma_0 = 5.381E-06; // atmosphere model parameter + //private static double omega_e = 7.2921157746E-05; // earth rotation rate + public static int n; + public static HashMap hm; + public static double mass0,mass1,area0,area1; + public static double Cr0,Cr1; + public DE405 jpl_ephem; + public static double mjd0; + double j2 = Constants.j2; + double mu = Constants.mu*1e9; + boolean firsttime; + UniverseModel universe; + double Qbias; //noise for the angle bias + + boolean f_srp = true; + boolean f_sun = true; + boolean f_moon = true; + boolean f_e2b = false; + + GravityModel earth_grav; + + SolarRadiationPressure srp0; + SolarRadiationPressure srp1 ; + public double hc; + + public SimpleEOM(HashMap hm){ + mass0 = initializer.parseDouble(hm,"jat.0.mass"); + area0 = initializer.parseDouble(hm,"jat.0.area"); + Cr0 = initializer.parseDouble(hm,"jat.0.Cr"); + //mass1 = initializer.parseDouble(hm,"jat.1.mass"); + //area1 = initializer.parseDouble(hm,"jat.1.area"); + //Cr1 = initializer.parseDouble(hm,"jat.1.Cr"); + mjd0 = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm, "init.T0")/86400.0; + + + //hc = -2.87956633585E-10 * GPS_Utils.c; + //Qbias = initializer.parseDouble(hm,"Q.0.bias"); + + earth_grav = new GravityModel(4,4,GravityModelType.JGM3); + + srp0 = new SolarRadiationPressure(mass0, area0, Cr0); + //srp1 = new SolarRadiationPressure(mass1, area1, Cr1); + + //Set the Gravitational parameter path + jpl_ephem = new DE405(); + + + universe = new UniverseModel(mjd0); + n = initializer.parseInt(hm,"FILTER.states"); + + f_srp = initializer.parseBool(hm,"jat.0.srp"); + f_sun = initializer.parseBool(hm,"jat.0.solar"); + f_moon = initializer.parseBool(hm,"jat.0.lunar"); + f_e2b = initializer.parseBool(hm,"jat.0.2body"); + + } + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + //The out vector is sized by the number of states squared + //plus the number of states. (n^2 + n) + + + double out[] = new double[n*n + n]; + + //Obtain thet the correct time + //int ctr = 0; + Time tt = new Time(mjd0); + tt.update(t); + //double newttt = tt.UTC2TT(t/86400 + mjd0); + + + if(firsttime == false) + { + earth_grav.initialize(); + firsttime = true; + //universe.set_use_iers(true); + if(f_srp){ + srp0.updateArea(area0); + srp1.updateArea(area1); + srp0.updateMass(mass0); + srp1.updateMass(mass1); + } + + } + + // Generate some vectors for use later on + VectorN r0 = new VectorN(y[0], y[1], y[2]); + //VectorN v0 = new VectorN(y[3], y[4], y[5]); + + // store elements of incoming state in more familiar looking variables + double xx0 = y[0]; + double yy0 = y[1]; + double zz0 = y[2]; + //double vx0 = y[3]; + //double vy0 = y[4]; + //double vz0 = y[5]; + + // compute derived variables + double rmag0 = r0.mag(); + + + double rcubed0 = rmag0 * rmag0 * rmag0; + + double rsq0 = rmag0 * rmag0; + + double re_r0 = re / rmag0; + + re_r0 = re_r0 * re_r0; + + double zsq_rsq0 = (5.0 * zz0 * zz0 / rsq0) - 1.0; + + + //Get the acceleration directly from the model + universe.update(t); + Matrix M = universe.earthRef.eci2ecef(universe.time.mjd_ut1(),universe.time.mjd_tt()); + VectorN acc0 = earth_grav.gravity(r0,M); + + //Use the acceleration model directly for integration + //of the state. For the generation of the state transition + //Matirx, use the normal J2 forulation + double ax0 = acc0.get(0); + double ay0 = acc0.get(1); + double az0 = acc0.get(2); + + + // compute accelerations due to gravity for each satellite + double ll0 = -1.0 * (mu * xx0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double mm0 = -1.0 * (mu * yy0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + double nn0 = -1.0 * (mu * zz0 / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + // compute accelerations due to SRP + //double AU_sqrd = Constants.AU*Constants.AU; + + //compute acceleration due to lunar gravity + //double ttt = tt.TTtoTDB(newttt) + 2400000.5; + //VectorN r_moon = universe.earthRef.moonVector(newttt); + VectorN r_moon = new VectorN(jpl_ephem.get_planet_pos(DE405_Body.GEOCENTRIC_MOON, tt.mjd_tt())).times(1000.0); + + + VectorN d0 = r0.minus(r_moon); + + double dmag0 = d0.mag(); + + double dcubed0 = dmag0 * dmag0 * dmag0; + + VectorN temp0 = d0.divide(dcubed0); + + double smag = r_moon.mag(); + double scubed = smag * smag * smag; + + VectorN temp2 = r_moon.divide(scubed); + VectorN sum0 = temp0.plus(temp2); + + VectorN lunarAcceleration0 = sum0.times(Constants.GM_Moon); + //* TODO Watch this + if(!f_moon) + lunarAcceleration0.set(0); + + //Compute the acceleration due to the solar gravity + //VectorN r_sun = universe.earthRef.get_JPL_Sun_Vector(); + VectorN r_sun = new VectorN(jpl_ephem.get_planet_pos(DE405_Body.GEOCENTRIC_SUN, tt.mjd_tt())).times(1000.0); + d0 = r0.minus(r_sun); + + dmag0 = d0.mag(); + + dcubed0 = dmag0 * dmag0 *dmag0; + + temp0 = d0.divide(dcubed0); + + smag = r_sun.mag(); + double magSun3 = smag * smag * smag; + + temp2 = r_sun.divide(magSun3); + + sum0 = temp0.plus(temp2); + + VectorN solarAcceleration0 = sum0.times(Constants.GM_Sun); + //* TODO watch + if(!f_sun) + solarAcceleration0.set(0); + + //Determine if the sun is visible +// if(r0.x[0]==650869.3445073176){ +// int donothing = 0; +// } + VectorN srpacc0 = new VectorN(3); + if(f_srp){ + double visible0 = srp0.partial_illumination(r0,r_sun); + + //double pressureConstant = 4.5344321837439e-06; + //double SRPscale0 = pressureConstant*(area0/mass0)*visible0; + + //Compute the relevant SRP information + //double Xsun = r_sun.get(0); + //double Ysun = r_sun.get(1); + //double Zsun = r_sun.get(2); + //double aa = 1.0 *Cr*(Xsun/magSun3)*AU_sqrd*visible; + //double bb = 1.0 *Cr*(Ysun/magSun3)*AU_sqrd*visible; + //double cc = 1.0 *Cr*(Zsun/magSun3)*AU_sqrd*visible; + + srpacc0 = srp0.accelSRP(r0,r_sun); + + srpacc0 = srpacc0.times(visible0); + //* TODO watch this + }else{ + srpacc0.set(0); + } + // compute state derivatives + + //Velocity for spacecraft 0 + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + + //acceleration for spacecraft 0 + out[3] = ax0 - solarAcceleration0.get(0) + srpacc0.get(0) - lunarAcceleration0.get(0); + out[4] = ay0 - solarAcceleration0.get(1) + srpacc0.get(1) - lunarAcceleration0.get(1); + out[5] = az0 - solarAcceleration0.get(2) + srpacc0.get(2) - lunarAcceleration0.get(2); + + //double w_f = (Math.random()-0.5)*2*.036; + //out[6] = w_f + hc; + //double w_g = (Math.random()-0.5)*2*7.106E-05; + //out[7] = w_g; + out[6] = 0 + Qbias; + + //Solar radiation Pressure states + out[8] = 0; + + + // compute A matrix + + Matrix a = new Matrix(n,n); // creates a (15x15 matrix with all zeros + + + //Generate some utility variables. It is a bit messy as we will need + //two now. + + double r50 = rsq0 * rcubed0; + + + double mur50 = mu / r50; + + + //double mur30 = mu / rcubed0; + + + double sz2r20 = 7.0 * zz0 * zz0 / rsq0; + + double muxyr50 = mu * xx0 * yy0 / r50; + + double muxzr50 = mu * xx0 * zz0 / r50; + + double muyzr50 = mu * yy0 * zz0 / r50; + + double bracket10 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 1.0); + + double bracket30 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 3.0); + + double bracket50 = 3.0 - 7.5 * re_r0 * j2 * (sz2r20 - 5.0); + + //double bracket20 = 1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 1.0); + + //Note: use this formulation for ll to avoid a singularity + ll0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dldx0 = ll0 + mur50 * xx0 * xx0 * bracket10; + + double dldy0 = muxyr50 * bracket10; + + double dldz0 = muxzr50 * bracket30; + + //double dldj20 = mur30 * xx0 * bracket20; + + double dmdx0 = dldy0; + + //Note: use a different definition of mm to avoid singularity issues + + mm0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * zsq_rsq0); + + double dmdy0 = mm0 + mur50 * yy0 * yy0 * bracket10; + + double dmdz0 = muyzr50 * bracket30; + + //double dmdj20 = mur30 * yy0 * bracket20; + + double dndx0 = muxzr50 * bracket30; + + double dndy0 = dmdz0; + + //Note: Use this definition of nn0. It is uglier, but it removes a potential singularity + nn0 = -1.0 * (mu / rcubed0) * (1.0 - 1.5 * re_r0 * j2 * (zsq_rsq0 - 2.0)); + + //double dndz0 = nn0 / zz0 + mur50 * zz0 * zz0 * bracket50; + double dndz0 = nn0 + mur50 * zz0 * zz0 * bracket50; + + + //double dndj20 = mur30 * zz0 * (1.5 * re_r0 * (5.0 * zz0 * zz0 / rsq0 - 3.0)); + + //SRPscale0 = 0; + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + a.A[3][0] = dldx0 ; + a.A[3][1] = dldy0 ; + a.A[3][2] = dldz0 ; + a.A[3][3] = 0; + a.A[3][4] = 0; + a.A[3][5] = 0; + //a.A[3][8] = 1.0 *(Xsun/magSun3)*AU_sqrd*SRPscale0; + + + a.A[4][0] = dmdx0; + a.A[4][1] = dmdy0; + a.A[4][2] = dmdz0; + a.A[4][3] = 0; + a.A[4][4] = 0; + a.A[4][5] = 0; + //a.A[4][8] = 1.0 *(Ysun/magSun3)*AU_sqrd*SRPscale0; + + a.A[5][0] = dndx0; + a.A[5][1] = dndy0; + a.A[5][2] = dndz0; + a.A[5][3] = 0; + a.A[5][4] = 0; + a.A[5][5] = 0; + //a.A[5][8] = 1.0 *(Zsun/magSun3)*AU_sqrd*SRPscale0; + + + + + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(n, n); + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } +} diff --git a/src/jat/coreNOSA/algorithm/estimators/SimpleProcessModel.java b/src/jat/coreNOSA/algorithm/estimators/SimpleProcessModel.java new file mode 100644 index 0000000..c2e88dd --- /dev/null +++ b/src/jat/coreNOSA/algorithm/estimators/SimpleProcessModel.java @@ -0,0 +1,453 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.algorithm.estimators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.CEVLunarSim; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.LunaFixedRef; +import jat.coreNOSA.spacetime.LunaRef; +import jat.coreNOSA.spacetime.RSW_Frame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.FileUtil; + +import java.util.HashMap; +import java.util.Random; + +public class SimpleProcessModel implements ProcessModel { + + //public static final int EOM_JGM4x4SRP9 = 19; + //public static final int EOM_JGM4x4SRP15 = 115; + //public static final int EOM_JGM4x4Drag = 20; + //public static final int EOM_Simple = 1; + +// Construct the required classes + private VectorN xref; + private Matrix phi; + private RungeKutta8 rk8 = new RungeKutta8(1.0); + private Derivatives eom; + private LinePrinter lp1; + private LinePrinter lp2; + public Trajectory traj = new Trajectory(); + HashMap hm; + public int n; + private Matrix Q; + private Matrix QXYZ; + + public SimpleProcessModel(HashMap hm){ + this.hm = hm; + String eomdata = initializer.parseString(hm,"FILTER.pm"); + if(eomdata.equalsIgnoreCase("JGM4x4SRPProcess9state")){ + eom = new JGM4x4SRPEOM9state(hm); + }else if(eomdata.equalsIgnoreCase("JGM4x4SRPProcess15state")){ + eom = new JGM4x4SRPEOM15state(hm); + }else if(eomdata.equalsIgnoreCase("JGM4x4DragProcess9state")){ + eom = new JGM4x4DragEOM9state(hm); + }else if(eomdata.equalsIgnoreCase("Simple")){ + eom = new SimpleEOM(hm); + }else if(eomdata.equalsIgnoreCase("Lunar")){ + int ncoef = initializer.parseInt(hm,"jat.0.lunar_n.filter"); + eom = new LunarEOM(hm,ncoef,true); + }else{ + eom = new SimpleEOM(hm); + } + traj.setTitle("Test Trajectory 1"); + traj.setCentralBody(CentralBody.EARTH); + traj.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj.setDistanceUnits(DistanceUnits.METERS); + traj.setEpoch(1998, 6, 21, 00, 00, 0.0); + traj.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot"}; + traj.setLabels(labels); + +// String fs, dir_in; +// fs = FileUtil.file_separator(); +// try{ +// dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; +// }catch(Exception e){ +// dir_in = ""; +// } + //hm = initializer.parse_file(dir_in+"initialConditions.txt"); + n = initializer.parseInt(hm,"FILTER.states"); + //num_sc = initializer.parseInt(hm,"prop.NumSpacecraft"); + Q = parse_Q(); + QXYZ = parse_QRIC(); + xref = new VectorN(n); + phi = new Matrix(n); + } + + /** + * Returns the initial covariance matrix. + * @return the initial covariance matrix. + */ + public Matrix P0() { + + // initialize sigmas + double[] sigmas = new double[n]; + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "P0."+i+".X"; + sigmas[6*i + 0] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Y"; + sigmas[6*i + 1] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".Z"; + sigmas[6*i + 2] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VX"; + sigmas[6*i + 3] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VY"; + sigmas[6*i + 4] = initializer.parseDouble(hm,tmp); + tmp = "P0."+i+".VZ"; + sigmas[6*i + 5] = initializer.parseDouble(hm,tmp); + } + + try{ + if(n>6){ + sigmas[6] = initializer.parseDouble(hm, "P0.0.LX"); + sigmas[7] = initializer.parseDouble(hm, "P0.0.LY"); + sigmas[8] = initializer.parseDouble(hm, "P0.0.LZ"); + } + }catch(Exception e){} + //sigmas[6] = initializer.parseDouble(hm,"P0.0.clockBias"); + //sigmas[7] = initializer.parseDouble(hm,"P0.0.clockDrift"); + //sigmas[8] = initializer.parseDouble(hm,"P0.0.Cr"); + + + // square the sigmas + for (int j = 0; j < n; j++) { + sigmas[j] = sigmas[j] * sigmas[j]; + } + + // initialize covariance + VectorN sig = new VectorN(sigmas); + Matrix p = new Matrix(sig); + return p; + } + + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + private Matrix parse_Q() { + Matrix Q = new Matrix(n,n); + + for(int i = 0; i < initializer.parseInt(hm,"prop.NumSpacecraft"); i++) + { + String tmp = "Q."+i+".X"; + Q.set((6*i + 0),(6*i + 0), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Y"; + Q.set((6*i + 1),(6*i + 1), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".Z"; + Q.set((6*i + 2),(6*i + 2), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VX"; + Q.set((6*i + 3),(6*i + 3), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VY"; + Q.set((6*i + 4),(6*i + 4), initializer.parseDouble(hm,tmp)); + tmp = "Q."+i+".VZ"; + Q.set((6*i + 5),(6*i + 5), initializer.parseDouble(hm,tmp)); + } + + try{ + if(n>6){ + String tmp; + tmp = "Q."+0+".LX"; + Q.set(6,6, initializer.parseDouble(hm,tmp)); + tmp = "Q."+0+".LY"; + Q.set(7,7, initializer.parseDouble(hm,tmp)); + tmp = "Q."+0+".LZ"; + Q.set(8,8, initializer.parseDouble(hm,tmp)); + } + }catch(Exception e){} + + //Q.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); + //Q.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); + //Q.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + + return Q; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix Q(double t, double dt, EstSTM x) { + return Q; + } + private Matrix parse_QRIC(){ + Matrix QXYZ = new Matrix(n,n); + + QXYZ.set(0,0,10e-11); + QXYZ.set(1,1,10e-11); + QXYZ.set(2,2, 10e-11); + QXYZ.set(3,3,1e-13); + QXYZ.set(4,4,1e-13); + QXYZ.set(5,5,1e-13); + + try{ + if(n>6){ + QXYZ.set(6, 6, initializer.parseDouble(hm, "Q.0.LX")); + QXYZ.set(7, 7, initializer.parseDouble(hm, "Q.0.LY")); + QXYZ.set(7, 7, initializer.parseDouble(hm, "Q.0.LZ")); + } + }catch(Exception e){} + //QXYZ.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); + //QXYZ.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); + //QXYZ.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + return QXYZ; + } + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix QRIC(VectorN rECI, VectorN vECI, double t) { + Matrix QRIC = new Matrix(n,n); +// Matrix QXYZ = new Matrix(n,n); +// +// QXYZ.set(0,0,10e-11); +// QXYZ.set(1,1,10e-11); +// QXYZ.set(2,2, 10e-11); +// QXYZ.set(3,3,1e-13); +// QXYZ.set(4,4,1e-13); +// QXYZ.set(5,5,1e-13); +// +// QXYZ.set(6,6,initializer.parseDouble(hm,"Q.0.clockBias")); +// QXYZ.set(7,7,initializer.parseDouble(hm,"Q.0.clockDrift")); +// QXYZ.set(8,8, initializer.parseDouble(hm,"Q.0.Cr")); + + + + //RSW_Frame rsw = new RSW_Frame(rECI, vECI); + Matrix M = RSW_Frame.ECI2RIC(rECI, vECI); + Matrix MT = M.transpose(); + + Matrix Qtmp = new Matrix(3,3); + Qtmp.set(0,0,QXYZ.get(0,0)); + Qtmp.set(1,1,QXYZ.get(1,1)); + Qtmp.set(2,2,QXYZ.get(2,2)); + + Matrix Qout = new Matrix(3,3); + Matrix Qtmp2 = new Matrix(3,3); + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + QRIC.setMatrix(0,2,0,2,Qout); + + Qtmp.set(0,0,QXYZ.get(3,3)); + Qtmp.set(1,1,QXYZ.get(4,4)); + Qtmp.set(2,2,QXYZ.get(5,5)); + + Qtmp2 = MT.times(Qtmp); + Qout = Qtmp2.times(M); + + QRIC.setMatrix(3,5,3,5,Qout); + //QRIC.set(6,6,QXYZ.get(6,6)); + //QRIC.set(7,7,QXYZ.get(7,7)); + //QRIC.set(8,8,QXYZ.get(8,8)); + + return QRIC; + } + + + /** + * Returns the initial reference state. + * @return the initial reference state. + */ + public VectorN xref0() { + VectorN out = new VectorN(n); + + //Note: Need to decide where the best place to "randomly" insert + //initial errors should be. This could be a good place + //double tmp = Math.random(); + + Random rnd = new Random(System.currentTimeMillis()); + + //first set in the Satellite States + for (int i = 0; i < initializer.parseInt(hm, "prop.NumSpacecraft"); i++) { + String ref = "REF_STATE."; + String tmp = ref+i +".X"; + out.x[6 * i + 0] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Y"; + out.x[6 * i + 1] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".Z"; + out.x[6 * i + 2] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VX"; + out.x[6 * i + 3] = initializer.parseDouble(hm, tmp); + tmp = ref + i + ".VY"; + out.x[6 * i + 4] = initializer.parseDouble(hm, tmp); + tmp = ref+ i + ".VZ"; + out.x[6 * i + 5] = initializer.parseDouble(hm, tmp); + + if(initializer.parseString(hm,"FILTER.pm").equalsIgnoreCase("Lunar")){ + LunaFixedRef lfr = new LunaFixedRef(); + LunaRef lref = new LunaRef(); + double MJD0 = initializer.parseDouble(hm,"init.MJD0") + initializer.parseDouble(hm,"init.T0")/86400.0; + ReferenceFrameTranslater trans = new ReferenceFrameTranslater(lfr,lref,new Time(MJD0)); +// DE405 ephem = new DE405(); +// VectorN e2m = ephem.get_Geocentric_Moon_pos(TimeUtils.MJDtoJD(MJD0)); + VectorN rr = out.get(0,3); + VectorN vv = out.get(3,3); + //rr = (rr.plus(e2m)); + rr = rr.times(1000); + vv = vv.times(1000); + vv = trans.translateVelocity(vv,rr); + rr = trans.translatePoint(rr); + if(n==6) + out = new VectorN(rr,vv); + else + out = new VectorN(new VectorN(rr,vv),new VectorN(n-6)); + +// out.x[0] = 0.01721537446918e7; +// out.x[1] = 0.16362908568758e7; +// out.x[2] = -0.08151111642821e7; +// out.x[3] = 0.13822834993145e7; +// out.x[4] = 0.71321929326561e7; +// out.x[5] = 1.46094273856495e7; + + } + + try{ + if(n>6){ + out.x[6] = initializer.parseDouble(hm, ref+i+".LX"); + out.x[7] = initializer.parseDouble(hm, ref+i+".LY"); + out.x[8] = initializer.parseDouble(hm, ref+i+".LZ"); + } + }catch(Exception e){} + + try{ + if(initializer.parseBool(hm, "init.runMonteCarlo")){ + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + LinePrinter init = new LinePrinter(); + try{ + init = new LinePrinter(dir_in+"init"+CEVLunarSim.JAT_case+".txt"); + }catch(Exception e){ + } + double r_error = initializer.parseDouble(hm, "MONTE.r_error"); + double v_error = initializer.parseDouble(hm, "MONTE.v_error"); + double lm_error = 0; + if(n>6) lm_error = initializer.parseDouble(hm, "MONTE.lm_error"); + double r = 0; + for(int k=0; k<3; k++){ + r = rnd.nextGaussian()*r_error; + out.x[k] = out.x[k] + r; + init.println("r"+k+" "+r); + r = rnd.nextGaussian()*v_error; + out.x[k+3] = out.x[k+3] + r; + init.println("v"+(k+3)+" "+r); + if(n>6){ + r = rnd.nextGaussian()*lm_error; + out.x[k+6] = out.x[k+6] + r; + init.println("L"+(k+6)+" "+r); + } + } + init.close(); + + } + + }catch(Exception e){} + } + + return out; + } + + /** + * Returns the number of states. + * @return the number of states. + */ + public int numberOfStates() { + return this.n; + } + + /** + * Propagate the state and state transition matrix to the next measurement time. + * @param t0 previous time + * @param xin array containing state and state transition matrix at previous time. + * @param tf next time + */ + public double[] propagate(double t0, double[] x, double tf) { + rk8.setStepSize(tf-t0); + double[] out = rk8.step(t0, x, eom); + return out; + } + + /** + * Returns the state transition matrix. + * @return the state transition matrix (after propagation). + */ + public Matrix phi() { + return this.phi; + } + + /** + * Returns the current reference state (after propagation). + * @return the current reference state. + */ + public VectorN xref() { + return this.xref; + } + + public void print(double t, VectorN state, Matrix cov) { + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + VectorN temp = state.get(0,6); + lp1.println(printvector.toString()); + traj.add(t,temp.x); + + } + + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp2.print(y); + System.out.println(t); + } + + public void closeLinePrinter() { + // TODO Auto-generated method stub + + } + + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/Derivatives.java b/src/jat/coreNOSA/algorithm/integrators/Derivatives.java new file mode 100644 index 0000000..48ff0ed --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/Derivatives.java @@ -0,0 +1,43 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + + +/** + *

+ * The EquationsOfMotion interface provides the mechanism for passing a method + * that computes the derivatives to an integrator. + * + * @author + * @version 1.0 + */ +public interface Derivatives { + + /** Compute the derivatives. + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x); + +} + diff --git a/src/jat/coreNOSA/algorithm/integrators/DormandPrince.java b/src/jat/coreNOSA/algorithm/integrators/DormandPrince.java new file mode 100644 index 0000000..cdb4486 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/DormandPrince.java @@ -0,0 +1,447 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.algorithm.integrators; + + +/** + * Implements a Dormand-Prince 8(7) integrator + * adapted to JAT from the CODES software by Jim Baer + * http://home.earthlink.net/~jimbaer1/ + * Only works with acceleration for derivs and 6-element state (r and v) + * @author Tobias Berthold + * @version 1.0 + */ +public class DormandPrince +{ + // high (6e-9) and medium (1e-5) integration accuracy + // public double integration_error = 6e-9; + public double integration_error = 1.e-6; + + int counter_limit = 100; + + /* + * Since the dopri8 integration coefficients are reinitialized for every integration step, I'm going to try making + * them class variables; they will be initialized only once. + */ + double[][] dopri8_a = new double[14][14]; + double[] dopri8_c = new double[14]; + double[] dopri8_b = new double[14]; + double[] dopri8_bhat = new double[14]; + + void initialize_dopri8() + { + /* Initialization of the integration coefficients for dopri8 */ + /* Initialize arrays */ + dopri8_a[2][1] = 1.0 / 18.0; + dopri8_a[3][1] = 1.0 / 48.0; + dopri8_a[3][2] = 1.0 / 16.0; + dopri8_a[4][1] = 1.0 / 32.0; + dopri8_a[4][2] = 0; + dopri8_a[4][3] = 3.0 / 32.0; + dopri8_a[5][1] = 5.0 / 16.0; + dopri8_a[5][2] = 0; + dopri8_a[5][3] = -75.0 / 64.0; + dopri8_a[5][4] = 75.0 / 64.0; + dopri8_a[6][1] = 3.0 / 80.0; + dopri8_a[6][2] = 0; + dopri8_a[6][3] = 0; + dopri8_a[6][4] = 3.0 / 16.0; + dopri8_a[6][5] = 3.0 / 20.0; + dopri8_a[7][1] = 29443.841 / 614563.906; + dopri8_a[7][2] = 0; + dopri8_a[7][3] = 0; + dopri8_a[7][4] = 77736.538 / 692538.347; + dopri8_a[7][5] = -28693.883 / 1125000.000; + dopri8_a[7][6] = 23124.283 / 1800000.000; + dopri8_a[8][1] = 16016.141 / 946692.911; + dopri8_a[8][2] = 0; + dopri8_a[8][3] = 0; + dopri8_a[8][4] = 61564.180 / 158732.637; + dopri8_a[8][5] = 22789.713 / 633445.777; + dopri8_a[8][6] = 545815.736 / 2771057.229; + dopri8_a[8][7] = -180193.667 / 1043307.555; + dopri8_a[9][1] = 39632.708 / 573591.083; + dopri8_a[9][2] = 0; + dopri8_a[9][3] = 0; + dopri8_a[9][4] = -433636.366 / 683701.615; + dopri8_a[9][5] = -421739.975 / 2616292.301; + dopri8_a[9][6] = 100302.831 / 723423.059; + dopri8_a[9][7] = 790204.164 / 839813.087; + dopri8_a[9][8] = 800635.310 / 3783071.287; + dopri8_a[10][1] = 246121.993 / 1340847.787; + dopri8_a[10][2] = 0; + dopri8_a[10][3] = 0; + dopri8_a[10][4] = -37695042.795 / 15268766.246; + dopri8_a[10][5] = -309121.744 / 1061227.803; + dopri8_a[10][6] = -12992.083 / 490766.935; + dopri8_a[10][7] = 6005943.493 / 2108947.869; + dopri8_a[10][8] = 393006.217 / 1396673.457; + dopri8_a[10][9] = 123872.331 / 1001029.789; + dopri8_a[11][1] = -1028468.189 / 846180.014; + dopri8_a[11][2] = 0; + dopri8_a[11][3] = 0; + dopri8_a[11][4] = 8478235.783 / 508512.852; + dopri8_a[11][5] = 1311729.495 / 1432422.823; + dopri8_a[11][6] = -10304129.995 / 1701304.382; + dopri8_a[11][7] = -48777925.059 / 3047939.560; + dopri8_a[11][8] = 15336726.248 / 1032824.649; + dopri8_a[11][9] = -45442868.181 / 3398467.696; + dopri8_a[11][10] = 3065993.473 / 597172.653; + dopri8_a[12][1] = 185892.177 / 718116.043; + dopri8_a[12][2] = 0; + dopri8_a[12][3] = 0; + dopri8_a[12][4] = -3185094.517 / 667107.341; + dopri8_a[12][5] = -477755.414 / 1098053.517; + dopri8_a[12][6] = -703635.378 / 230739.211; + dopri8_a[12][7] = 5731566.787 / 1027545.527; + dopri8_a[12][8] = 5232866.602 / 850066.563; + dopri8_a[12][9] = -4093664.535 / 808688.257; + dopri8_a[12][10] = 3962137.247 / 1805957.418; + dopri8_a[12][11] = 65686.358 / 487910.083; + dopri8_a[13][1] = 403863.854 / 491063.109; + dopri8_a[13][2] = 0; + dopri8_a[13][3] = 0; + dopri8_a[13][4] = -5068492.393 / 434740.067; + dopri8_a[13][5] = -411421.997 / 543043.805; + dopri8_a[13][6] = 652783.627 / 914296.604; + dopri8_a[13][7] = 11173962.825 / 925320.556; + dopri8_a[13][8] = -13158990.841 / 6184727.034; + dopri8_a[13][9] = 3936647.629 / 1978049.680; + dopri8_a[13][10] = -160528.059 / 685178.525; + dopri8_a[13][11] = 248638.103 / 1413531.060; + dopri8_a[13][12] = 0; + dopri8_c[1] = 0; + dopri8_c[2] = 1.0 / 18.0; + dopri8_c[3] = 1.0 / 12.0; + dopri8_c[4] = 1.0 / 8.0; + dopri8_c[5] = 5.0 / 16.0; + dopri8_c[6] = 3.0 / 8.0; + dopri8_c[7] = 59.0 / 400.0; + dopri8_c[8] = 93.0 / 200.0; + dopri8_c[9] = 5490023.248 / 9719169.821; + dopri8_c[10] = 13.0 / 20.0; + dopri8_c[11] = 1201146.811 / 1299019.798; + dopri8_c[12] = 1; + dopri8_c[13] = 1; + dopri8_b[1] = 13451.932 / 455176.623; + dopri8_b[2] = 0; + dopri8_b[3] = 0; + dopri8_b[4] = 0; + dopri8_b[5] = 0; + dopri8_b[6] = -808719.846 / 976000.145; + dopri8_b[7] = 1757004.468 / 5645159.321; + dopri8_b[8] = 656045.339 / 265891.186; + dopri8_b[9] = -3867574.721 / 1518517.206; + dopri8_b[10] = 465885.868 / 322736.535; + dopri8_b[11] = 53011.238 / 667516.719; + dopri8_b[12] = 2.0 / 45.0; + dopri8_b[13] = 0; + dopri8_bhat[1] = 14005.451 / 335480.064; + dopri8_bhat[2] = 0; + dopri8_bhat[3] = 0; + dopri8_bhat[4] = 0; + dopri8_bhat[5] = 0; + dopri8_bhat[6] = -59238.493 / 1068277.825; + dopri8_bhat[7] = 181606.767 / 758867.731; + dopri8_bhat[8] = 561292.985 / 797845.732; + dopri8_bhat[9] = -1041891.430 / 1371343.529; + dopri8_bhat[10] = 760417.239 / 1151165.299; + dopri8_bhat[11] = 118820.643 / 751138.087; + dopri8_bhat[12] = -528747.749 / 2220607.170; + dopri8_bhat[13] = 0.25; + } + + /** + * Default constructor. + */ + public DormandPrince() + { + initialize_dopri8(); + } + + public void setIntegration_error(double integration_error) + { + this.integration_error = integration_error; + } + + public double[] integrate(double time1, double state1[], double time2, Derivatives dv) + { + double[] state2 = new double[6]; + double r1[] = new double[4]; + double r1prime[] = new double[4]; + double r2[] = new double[4]; + double r2prime[] = new double[4]; + r1[1] = state1[0]; + r1[2] = state1[1]; + r1[3] = state1[2]; + r1prime[1] = state1[3]; + r1prime[2] = state1[4]; + r1prime[3] = state1[5]; + update(r1, r1prime, time1, r2, r2prime, time2,dv); + state2[0] = r2[1]; + state2[1] = r2[2]; + state2[2] = r2[3]; + state2[3] = r2prime[1]; + state2[4] = r2prime[2]; + state2[5] = r2prime[3]; + return state2; + } + + public void update(double r1[], double r1prime[], double time1, double r2[], double r2prime[], double time2, Derivatives dv) + { + // Procedure to calculate the position and velocity of a body at time2 given the position and velocity + // of the body at time1. The Cowell method is used, with integration performed using Runge-Kutta + // Prince-Dormand 8(7). Local error per unit step is controlled by variable step size. + // Positions and velocities are given in A.U.s and A.U.s/day, while the times are Julian dates. + // Reference for the Cowell method is Bate, Mueller, and White, "Fundamentals of Astrodynamics", pp 386-390. + // Reference for RK dopri 8(7) is P.J. Prince and J.R. Dormand, "High-order embedded Runge-Kutta formulae", + // J. Comp. Appl. Math., vol 7, 1981, p. 67-75. + // The error control is adapted from the class notes of Math 551 taught at The Pennsylvania State University + // during Fall 1989 by Prof. Douglas Arnold. + double[] fatn = new double[4]; + double[] r = new double[4]; + double[] rprime = new double[4]; + double[] r_at_n = new double[4]; + double[] rprime_at_n = new double[4]; + double[] fatnp1 = new double[4]; + double toler = 0, h = 0, n1time = 0, ntime = 0, localerror = 0, ratio = 0; + int k = 0, istep = 0, counter = 0; + if (time1 == time2) + { + /* Return the state vector unchanged */ + for (k = 1; k <= 3; k++) + { + r2[k] = r1[k]; + r2prime[k] = r1prime[k]; + } + return; + } + /* Set local error per unit step tolerance */ + toler = integration_error / Math.abs(time2 - time1); + /* Determine the maximum number of attempted steps to be permitted */ + /* counter_limit = (int)(Math.abs(time2 - time1)/0.01); */ + /* Initialize variables for first time step */ + /* istep is the step being calculated */ + istep = 1; + /* Set initial step size */ + h = time2 - time1; + /* Limit initial h to +/- 20 days */ + //if (Math.abs(h) > 20.0) + //h = 20.0 * h / Math.abs(h); + /* n1time is the time at the (n+1)'st step, ntime is the time at the n'th step */ + n1time = time1; + ntime = time1; + /* Initialize position, velocity, and acceleration vectors */ + for (k = 1; k <= 3; k++) + { + r[k] = r1[k]; + r_at_n[k] = r1[k]; + rprime[k] = r1prime[k]; + rprime_at_n[k] = r1prime[k]; + } + get_acceleration(ntime, r_at_n, rprime_at_n, dv, fatn); + /* Begin integration loop */ + integrationloop: while ((((n1time < time2) && (time2 > time1)) || ((n1time > time2) && (time2 < time1))) && (counter < counter_limit)) + { + /* So long as we've not reached time2 */ + /* Increment time to the (n+1)'st step */ + n1time = ntime + h; + counter = counter + 1; + /* if (Math.abs(h) < 0.01) System.out.println("step size = " + h); */ + /* System.out.println("step size = " + h); */ + /* Integrate to get r and rprime at the (n+1)'st time step */ + /* Use Runge-Kutta Dormand-Prince 8(7) */ + localerror = dopri8(ntime, h, fatn, rprime_at_n, r_at_n, rprime, r,dv); + /* + * If a variant trajectory collides with a planet, the error may go to infinite or NaN. If so, end the + * integration. + */ + if (!(Math.abs(localerror) < 1e+10)) + counter = counter_limit; + /* Compute ratio of projected new step size to present step size */ + if (Math.abs(localerror / h) > 0.0) + /* Avoid a division by zero for small step sizes */ + ratio = .8 * Math.pow(Math.abs(toler / (localerror / h)), (1.0 / 7.0)); + else + /* Error and step size are very small; allow step size to double */ + ratio = 2; + /* Test to see if step will be accepted; if already at minimum step size, ignore */ + if ((Math.abs(localerror / h) > toler) && (Math.abs(h) > 0.001)) + { + /* Step has failed */ + /* Determine a new step size */ + if ((ratio < .2) && (istep > 1)) + ratio = .2; + /* + * Note that new step size is limited to one-fifth of the previous one, except on the first step, which + * allows faster determination of an initial step size + */ + n1time = ntime; + h = ratio * h; + /* Enforce minimum step size to prevent ultrasmall steps near collision */ + if (Math.abs(h) < 0.001) + h = 0.001 * (h / Math.abs(h)); + continue integrationloop; + } + /* Step has been accepted, or we're at the minimum step size. In either case, reset the counter. */ + counter = 0; + /* Determine a new step size */ + if (ratio > 2) + ratio = 2; + /* Note that new step size is limited to double the previous one */ + h = ratio * h; + /* Enforce minimum step size to prevent ultrasmall steps near collision */ + if (Math.abs(h) < 0.001) + h = 0.001 * (h / Math.abs(h)); + /* Calculate second derivative of r at time n+1 */ + get_acceleration(n1time, r, rprime, dv, fatnp1); + /* Increment step counter */ + istep = istep + 1; + /* Check to prevent overrunning endpoint of integration */ + if (((((n1time + h) > time2) && (time2 > time1)) || (((n1time + h) < time2) && (time2 < time1))) && (n1time != time2)) + /* Reduce step size to avoid overrunning endpoint of integration */ + h = time2 - n1time; + /* + * If a variant trajectory collides with a planet, the acceleration may go to infinite or NaN. If so, end + * the integration. + */ + if (!(Math.abs(fatnp1[1]) < 1e+10) || !(Math.abs(fatnp1[2]) < 1e+10) || !(Math.abs(fatnp1[3]) < 1e+10)) + counter = counter_limit; + /* Update integration variables */ + ntime = n1time; + for (k = 1; k <= 3; k++) + { + r_at_n[k] = r[k]; + rprime_at_n[k] = rprime[k]; + fatn[k] = fatnp1[k]; + } + } + if (!(counter < counter_limit)) + { + System.out.println("WARNING: update exceeds max steps"); + } + /* + * Integration complete; return new state vector + */ + for (k = 1; k <= 3; k++) + { + r2[k] = r[k]; + r2prime[k] = rprime[k]; + } + } + + double dopri8(double ntime, double h, double fatn[], double rprimen[], double rn[], double rprime[], double r[], Derivatives dv) + { + /* + * Procedure to integrate the equations of motion (Cowell's method) from ntime to ntime+h using the + * Runge-Kutta-type Prince-Dormand 8(7) method (see procedure update). Also finds local error in the integration + * step, which is returned. Reference: P.J. Prince and J.R. Dormand, "High-order embedded Runge-Kutta formulae", + * J. Comp. Appl. Math., vol 7, 1981, p. 67-75. Also, E. Hairer, S.P. Norsett, G. Wanner, "Solving Ordinary + * Differential Equations I (Non-stiff problems), Springer-Verlag, 1987, pp. 132-133, 167-171, 193-195, and 260. + */ + double[][] dopri8_kprime = new double[14][4]; + double[][] dopri8_k = new double[14][4]; + double[] low_r = new double[4]; + double[] rvariant = new double[4]; + double[] rprimevariant = new double[4]; + double[] kprime_temp = new double[4]; + double localerror = 0; + int i = 0, j = 0, n = 0; + /* Begin the integration from ntime to ntime+h */ + /* Stage 1 */ + for (n = 1; n <= 3; n++) + { + /* Initialize the Runge-Kutta variables, and the pos/vel vectors. */ + dopri8_kprime[1][n] = fatn[n]; + dopri8_k[1][n] = rprimen[n]; + /* r is the 8'th order position solution; low_r is the 7'th order solution */ + r[n] = rn[n] + h * dopri8_bhat[1] * dopri8_k[1][n]; + low_r[n] = rn[n] + h * dopri8_b[1] * dopri8_k[1][n]; + rprime[n] = rprimen[n] + h * dopri8_bhat[1] * dopri8_kprime[1][n]; + } + /* Stages 2-13 */ + for (i = 2; i <= 13; i++) + { + for (n = 1; n <= 3; n++) + { + /* + * rvariant and rprimevariant are the intermediate pos/vel used to evaluate the acceleration function at + * each stage + */ + rvariant[n] = rn[n]; + rprimevariant[n] = rprimen[n]; + dopri8_k[i][n] = rprimen[n]; + for (j = 1; j <= (i - 1); j++) + { + /* + * Sum the terms in k, rvariant, and rprimevariant needed to evaluate the acceleration function and + * determine kprime at this stage + */ + rvariant[n] = rvariant[n] + h * (dopri8_a[i][j] * dopri8_k[j][n]); + rprimevariant[n] = rprimevariant[n] + h * (dopri8_a[i][j] * dopri8_kprime[j][n]); + dopri8_k[i][n] = dopri8_k[i][n] + h * (dopri8_a[i][j] * dopri8_kprime[j][n]); + } + } + get_acceleration(ntime + dopri8_c[i] * h, rvariant, rprimevariant, dv, kprime_temp); + for (n = 1; n <= 3; n++) + { + dopri8_kprime[i][n] = kprime_temp[n]; + r[n] = r[n] + h * dopri8_bhat[i] * dopri8_k[i][n]; + low_r[n] = low_r[n] + h * dopri8_b[i] * dopri8_k[i][n]; + rprime[n] = rprime[n] + h * dopri8_bhat[i] * dopri8_kprime[i][n]; + } + } + /* Compute the local error in position */ + localerror = 0; + for (n = 1; n <= 3; n++) + localerror = localerror + Math.pow((r[n] - low_r[n]), 2); + localerror = Math.sqrt(localerror); + return localerror; + } + + void get_acceleration(double jultime, double r[], double rprime[], Derivatives dv, double acceleration[]) + { + // Procedure to calculate the accelerations on a body for use in the differential equations of motion + // in Cowell's method. + //int k = 0; + /* Calculate contribution to acceleration of object */ + //for (k = 1; k <= 3; k++) + // acceleration[k] = 1.; + //acceleration[k] = -r[k]; + double[] state=new double[6]; + state[0] = r[1]; + state[1] = r[2]; + state[2] = r[3]; + state[3] = rprime[1]; + state[4] = rprime[2]; + state[5] = rprime[3]; + double[] deriv=dv.derivs(jultime,state); + acceleration[1] = deriv[3]; + acceleration[2] = deriv[4]; + acceleration[3] = deriv[5]; + + } + + public static void main(String[] args) + { + + } + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/EquationsOfMotion.java b/src/jat/coreNOSA/algorithm/integrators/EquationsOfMotion.java new file mode 100644 index 0000000..1ee2324 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/EquationsOfMotion.java @@ -0,0 +1,40 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** + *

+ * The EquationsOfMotion interface provides the mechanism for passing a method + * that computes the derivatives and another one for printing to an integrator. + * + * @author + * @version 1.0 + */ +public interface EquationsOfMotion extends Derivatives{ + + + /** Print. + * @params t double containing time or the independent variable. + * @params y VectorN containing the required data. + */ + public void print(double t, double[] y); + + } diff --git a/src/jat/coreNOSA/algorithm/integrators/Euler.java b/src/jat/coreNOSA/algorithm/integrators/Euler.java new file mode 100644 index 0000000..78e9b0f --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/Euler.java @@ -0,0 +1,68 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** + *

+ * Euler is a simple fixed stepsize Euler integrator. + * + * @author + * @version 1.0 + */ + +public class Euler { + + private double dt; + + + /** Default constructor + */ + public Euler() { + dt = 1.0; + } + + /** Default constructor + */ + public Euler(double step_size) { + dt = step_size; + } + + /** Take a single integration step. Note: it is assumed that any printing + * will be done by the calling function. + * @param x time or independent variable + * @param y double[] containing needed inputs (usually the state) + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + public double[] step(double x, double[] y, Derivatives derivs) { + int n = y.length; + double[] yout = new double[n]; + double[] f = derivs.derivs(x, y); + + // construct solution + for (int i = 0; i < n; i++) { + yout[i] = y[i] + dt*f[i]; + } + + return yout; + } + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/LinePrinter.java b/src/jat/coreNOSA/algorithm/integrators/LinePrinter.java new file mode 100644 index 0000000..2e50ca7 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/LinePrinter.java @@ -0,0 +1,258 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; +import jat.coreNOSA.util.FileUtil; + +import java.io.IOException; +import java.io.OutputStream; +import java.io.PrintWriter; + +/**

+ * The LinePrinter Class provides a way to print out integrator output data + * to a tab delimited ASCII file. Note: remember to close the LinePrinter + * when you are done using it. + * + * @author + * @version 1.0 + */ +public class LinePrinter implements Printable { + + private final int[] indices; + private PrintWriter pw; + private final boolean printall; + private double multiple = 1; + private int counter = 0; + private boolean isadaptive = false; + + /** Default constructor. Prints the entire state array to System.out. + */ + public LinePrinter() { + this(null, true, null); + } + + /** Prints a subset of the state array to System.out. + * @param i Integer array containing the indices of the elements of the state array to be printed. + */ + public LinePrinter(int[] i) { + this(null, false, (i == null ? new int[0] : i)); + } + + /** Prints the entire state array to the user supplied directory and file. + * @param fname String containing the filename. + */ + public LinePrinter(String fname) { + // We want to make sure we throw NullPointerException if null is passed in, + // but still want to use "this(...)" syntax which requires there be only + // one line. So we sneakily call toString() on the string. + this(fname.toString(), true, null); + } + + /** Prints the entire state array to the user supplied directory and file. + * @param dir String containing the directory. + * @param fname String containing the filename. + * @param i Integer array containing the indices of the elements of the state array to be printed. + */ + public LinePrinter(String fname, int[] i) { + // We want to make sure we throw NullPointerException if null is passed in, + // but still want to use "this(...)" syntax which requires there be only + // one line. So we sneakily call toString() on the string. + this(fname.toString(), false, (i == null ? new int[0] : i)); + } + + + /** Prints the entire state array to the user supplied directory and file. + * @param dir String containing the directory. + * @param fname String containing the filename. + * @param i Integer array containing the indices of the elements of the state array to be printed. + * @throws IOException thrown if it can't open the file. + */ + private LinePrinter(String fname, boolean printAllIndexes, int[] i) { + this.printall = printAllIndexes; + this.indices = (printAllIndexes ? null : new int[i.length]); + if (!printAllIndexes) { + System.arraycopy(i, 0, this.indices, 0, i.length); + } + + // We open a writer to the output media. + // If fname is null, we open a writer to System.out + // If fname is a filename with no directory names at all + // (or if it specifies the default directory) + // we put it in the default directory. + // Otherwise, we open a writer to the file and if not + // an absolute file name will create it relative to + // the working directory. + + try { + if (fname == null) { + this.pw = new PrintWriter(System.out, true); + } + else { + OutputStream ostrm = FileUtil.openOutputFile(fname); + this.pw = new PrintWriter(ostrm); + } + } catch (IOException e) { + System.err.println("LinePrinter error opening file: " + e); + System.err.println("All output to line printer will be lost."); + } + } + + /** + * This method overrides the call to finalize() in order to close the LinePrinter when + * the object dies. + */ + protected void finalize() throws Throwable{ + close(); + super.finalize(); + } + + /** Closes the LinePrinter, the PrintWriter and the output file. Always remember to call this method when you are done printing! + */ + public void close() { + // close the PrintWriter + if (pw != null) { + pw.close(); + } + } + + /** Set whether the print calls are fixed step (false) or adaptive (true). + * If true, the print call will disregard thinning procedures. + * @param a boolean parameter + */ + public void setIsAdaptive(boolean a){ + this.isadaptive = a; + } + + /** Print out data only every n seconds + * @param n how often to print + */ + + public void setThinning(double n) { + multiple = n; + } + + /** + * Return the value of the thinning. + * @see setThinning(double) + * @return value of thinning + */ + public double getThinning(){ + return multiple; + } + + /** Implements the Printable interface. This method is called once per integration step by the integrator. + * @param t time or independent variable. + * @param y state or dependent variable array. + */ + public void print(double t, double[] y) { + if (pw != null) { + double tprint = counter * multiple; + if (t == tprint || isadaptive) { + // print the time variable + pw.print(t + "\t"); + + // print the state array + if (printall) { + // print all of the y array + for (int j = 0; j < y.length; j++) { + pw.print(y[j] + "\t"); + } + } else { + // check to make sure there is enough to print + if (indices.length > y.length) { + System.out + .println("LinePrinter: too many elements to print"); + return; + } + // print the requested parts of the y array + for (int j = 0; j < indices.length; j++) { + pw.print(y[indices[j]] + "\t"); + } + } + + // add the linefeed for the next line + pw.println(); + counter = counter + 1; + } + } + } + + /** Implements the Printable interface. This method is called once per integration step by the integrator. + * @param y double array. + */ + public void print(double[] y) { + if (pw != null) { + // print the state array + if (printall) { + // print all of the y array + for (int j = 0; j < y.length; j++) { + pw.print(y[j] + "\t"); + } + } else { + // check to make sure there is enough to print + if (indices.length > y.length) { + System.out.println("LinePrinter: too many elements to print"); + return; + } + // print the requested parts of the y array + for (int j = 0; j < indices.length; j++) { + pw.print(y[indices[j]] + "\t"); + } + } + + // add the linefeed for the next line + pw.println(); + } + } + + /** Print a string to a line + * @param str string to be printed + */ + public void println(String str) { + pw.println(str); + } + + /** Print a string array to a line + * @param str string array to be printed + */ + public void println(String[] str) { + if (pw != null) { + for (int i = 0; i < str.length; i++) { + pw.print(str[i] + "\t"); + } + pw.println(); + } + } + + /** Print a string array to a line + * @param title string containing a title + * @param str string array to be printed + */ + public void println(String title, String[] str) { + if (pw != null) { + pw.print(title + "\t"); + for (int i = 0; i < str.length; i++) { + pw.print(str[i] + "\t"); + } + pw.println(); + } + } + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/Printable.java b/src/jat/coreNOSA/algorithm/integrators/Printable.java new file mode 100644 index 0000000..8d96b50 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/Printable.java @@ -0,0 +1,35 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** + *

+ * The Printable interface provides the mechanism for passing a method + * that prints the desired outputs to an integrator. + * + * @author + * @version 1.0 + */ +public interface Printable { + + void print(double t, double [] y); + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/RK78F_old.java b/src/jat/coreNOSA/algorithm/integrators/RK78F_old.java new file mode 100644 index 0000000..33419fb --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RK78F_old.java @@ -0,0 +1,491 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** Implements a Runge-Kutta-Fehlberg adaptive step size integrator + * from Numerical Recipes. Modified to RK78 from the original RK45 in NR. + * RK78 values from Erwin Fehlberg, NASA TR R-287 + * gets derivs via Derivatives interface + */ + +public class RK78F_old implements Printable{ + + private double minStepSize_; + private double stepSize_; + private double accuracy_; + private double currentStepSize_; + private boolean verbose; + private boolean adaptive_; + + /** Default constructor. + */ + public RK78F_old() { + currentStepSize_ = stepSize_ = 1.0; + minStepSize_ = 1.2E-10; + // minStepSize_ = 10.0; + + accuracy_ = 1.0e-6; + adaptive_ = true; + } + + /** Construct a RungeKuttaFehlberg78 integrator with user specified accuracy. + * @param accuracy Desired accuracy. + */ + public RK78F_old(double accuracy) { + currentStepSize_ = stepSize_ = 1.0; + minStepSize_ = 1.2E-10; + // minStepSize_ = 10.0; + + accuracy_ = 1.0e-6; + adaptive_ = true; + } + + /** Set the step size. + * @param stepSize Step size. + */ + public void setStepSize(double stepSize) { + this.stepSize_ = stepSize; + } + + /** Set the minimum step size. + * @param stepSize Minimum step size. + */ + public void setMinimumStepSize(double stepSize) { + this.minStepSize_ = stepSize; + } + + /** Set the integrator to adaptive step size mode. + */ + public void setAdaptive() { + adaptive_ = true; + } + + /** Set the integrator to fixed step size mode. + */ + public void setNonAdaptive() { + adaptive_ = false; + } + + /** Set the accuracy. + * @param accuracy Desired accuracy. + */ + public void setAccuracy(double accuracy) { + this.accuracy_ = accuracy; + } + + /** Set the verbose mode to true or false. + * @param verbose Verbose flag. + */ + public void setVerbose(boolean verbose) { + this.verbose = verbose; + } + + /** Set the integrator to verbose mode. + */ + public void setVerbose() { + verbose = !verbose; + } + + private int[] nok = new int[1]; + private int[] nbad = new int[1]; + + private int goodSteps() { + return nok[0]; + } + + private int badSteps() { + return nbad[0]; + } + + private int steps() { + return nok[0] + nbad[0]; + } + + private double stepSize() { + return currentStepSize_; + } + + /** Integrate the equations of motion. + * @param y Initial state values. + * @param start Initial time. + * @param end Final time. + * @param dv Equations of Motion. + * @param pr Printable. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double[] y, double start, double end, + Derivatives dv, Printable pr, boolean print_switch) { + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, dv, pr, print_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, dv, pr, print_switch); + } + return y; + } + + /** Integrate the equations of motion. No printing/plotting interface provided. + * @param y Initial state values. + * @param start Initial time. + * @param end Final time. + * @param dv Equations of Motion. + * @param pr Printable. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double[] y, double start, double end, Derivatives dv) { + boolean print_switch = false; + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, dv, this, print_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, dv, this, print_switch); + } + return y; + } + + private void rkdumb(double[] ystart, double start, double end, + double h, Derivatives dv, Printable pr, boolean print_switch) { + int nvar = ystart.length; + + int nSteps = (int) Math.abs((end - start) / h); + if (nSteps < 1) + nSteps = 1; + h = (end - start) / nSteps; + double[] dydx = new double[nvar]; + double[] yend = new double[nvar]; + double[] yerr = new double[nvar]; + for (int step = 0; step < nSteps; step++) { + double x = start + step * h; + dydx = dv.derivs(x, ystart); + rkck(ystart, dydx, x, h, yend, yerr, dv); + for (int n = 0; n < nvar; n++){ + ystart[n] = yend[n]; + } + if (print_switch) { + pr.print(x, ystart); + } + } + } + + private static final int MAXSTP = 1000000; + private static final double TINY = 1.0e-30; + + private int kmax; + private int kount; + private double[] xp; + private double[][] yp; + private double dxsav; + + private void odeint(double[] ystart, double x1, double x2, + double eps, double h1, double hmin, int[] nok, + int[] nbad, Derivatives dv, Printable pr, boolean print_switch) { + int nvar = ystart.length; + double[] x = new double[1]; + double[] hnext = new double[1]; + double[] hdid = new double[1]; + double[] yscal = new double[nvar]; + double[] y = new double[nvar]; + double[] dydx = new double[nvar]; + x[0] = x1; + double h = Math.abs(h1); + if (x2 < x1) + h = -h; + nok[0] = nbad[0] = kount = 0; + for (int i = 0; i < nvar; i++) + y[i] = ystart[i]; + double xsav = 0; + if (kmax > 0) + xsav = x[0] - dxsav * 2.0; + for (int nstp = 1; nstp <= MAXSTP; nstp++) { + dydx = dv.derivs(x[0], y); + for (int i = 0; i < nvar; i++) + yscal[i] = Math.abs(y[i]) + Math.abs(dydx[i] * h) + TINY; + if (kmax > 0 && kount < kmax - 1 && + Math.abs(x[0] - xsav) > Math.abs(dxsav)) { + xp[++kount] = x[0]; + for (int i = 0; i < nvar; i++) + yp[i][kount] = y[i]; + xsav = x[0]; + } + if ( (x[0] + h - x2) * (x[0] + h - x1) > 0.0) + h = x2 - x[0]; + rkqs(y, dydx, x, h, eps, yscal, hdid, hnext, dv); + if (hdid[0] == h) + ++nok[0]; + else + ++nbad[0]; + if ( (x[0] - x2) * (x2 - x1) >= 0.0 ) { // are we done? + // save off the data + for (int i = 0; i < nvar; i++){ + ystart[i] = y[i]; + } + // invoke the print method, if required + if (print_switch) { + pr.print(x[0], ystart); + } + if (kmax != 0) { + xp[++kount] = x[0]; + for (int i = 0; i < nvar; i++) + yp[i][kount] = y[i]; + } + return; + } + if (Math.abs(hnext[0]) <= hmin) { + error("Step size too small in odeint"); + System.out.println("h = "+hnext[0]); + } + h = hnext[0]; + currentStepSize_ = h; // added for comphys + // System.out.println("Current Step Size = "+h); + } + error("Too many steps in routine odeint"); + System.out.println("step size = "+currentStepSize_); + } + + private static final double SAFETY = 0.9; + private static final double PGROW = -1.0/8.0; + private static final double PSHRNK = -1.0/7.0; + private static final double ERRCON = 2.56578451395034701E-8; + private void rkqs(double[] y, double[] dydx, double[] x, + double htry, double eps, double[] yscal, + double[] hdid, double[] hnext, Derivatives dv) { + int n = y.length; + double errmax = 0; + double[] yerr = new double[n]; + double[] ytemp = new double[n]; + double h = htry; + for (;;) { + rkck(y, dydx, x[0], h, ytemp, yerr, dv); + errmax = 0; + for (int i = 0; i < n; i++) + errmax = Math.max(errmax, Math.abs(yerr[i] / yscal[i])); + errmax /= eps; + if (errmax <= 1.0) + break; + double htemp = SAFETY * h * Math.pow(errmax, PSHRNK); + h = (h >= 0.0 ? Math.max(htemp, 0.1*h) : Math.min(htemp, 0.1*h)); + double xnew = x[0] + h; + if (xnew == x[0]) + error("stepsize underflow in rkqs"); + } + if (errmax > ERRCON) + hnext[0] = SAFETY * h * Math.pow(errmax, PGROW); + else + hnext[0] = 5.0 * h; + x[0] += (hdid[0] = h); + for (int i = 0; i < n; i++) + y[i] = ytemp[i]; + } + + private static final double [] a = { 0.0, 2.0/27.0, 1.0/9.0, 1.0/6.0, 5.0/12.0, 0.5, + 5.0/6.0, 1.0/6.0, 2.0/3.0, 1.0/3.0, 1.0, 0.0, 1.0 }; + + private static final double [][] b = new double [13][12]; + static { + for (int i = 0; i < 13; i++) { + for (int j = 0; j < 12; j++) { + b[i][j] = 0.0; + } + } + + b[1][0] = 2.0/27.0; + b[2][0] = 1.0/36.0; + b[2][1] = 1.0/12.0; + b[3][0] = 1.0/24.0; + b[3][2] = 1.0/8.0; + b[4][0] = 5.0/12.0; + b[4][2] = -25.0/16.0; + b[4][3] = 25.0/16.0; + b[5][0] = 1.0/20.0; + b[5][3] = 0.25; + b[5][4] = 0.2; + b[6][0] = -25.0/108.0; + b[6][3] = 125.0/108.0; + b[6][4] = -65.0/27.0; + b[6][5] = 125.0/54.0; + b[7][0] = 31.0/300.0; + b[7][4] = 61.0/225.0; + b[7][5] = -2.0/9.0; + b[7][6] = 13.0/900.0; + b[8][0] = 2.0; + b[8][3] = -53.0/6.0; + b[8][4] = 704.0/45.0; + b[8][5] = -107.0/9.0; + b[8][6] = 67.0/90.0; + b[8][7] = 3.0; + b[9][0] = -91.0/108.0; + b[9][3] = 23.0/108.0; + b[9][4] = -976.0/135.0; + b[9][5] = 311.0/54.0; + b[9][6] = -19.0/60.0; + b[9][7] = 17.0/6.0; + b[9][8] = -1.0/12.0; + b[10][0] = 2383.0/4100.0; + b[10][3] = -341.0/164.0; + b[10][4] = 4496.0/1025.0; + b[10][5] = -301.0/82.0; + b[10][6] = 2133.0/4100.0; + b[10][7] = 45.0/82.0; + b[10][8] = 45.0/164.0; + b[10][9] = 18.0/41.0; + b[11][0] = 3.0/205.0; + b[11][5] = -6.0/41.0; + b[11][6] = -3.0/205.0; + b[11][7] = -3.0/41.0; + b[11][8] = 3.0/41.0; + b[11][9] = 6.0/41.0; + b[12][0] = -1777.0/4100.0; + b[12][3] = -341.0/164.0; + b[12][4] = 4496.0/1025.0; + b[12][5] = -289.0/82.0; + b[12][6] = 2193.0/4100.0; + b[12][7] = 51.0/82.0; + b[12][8] = 33.0/164.0; + b[12][9] = 12.0/41.0; + b[12][11] = 1.0; + } + + private static final double [] c = {41.0/840.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 41.0/840.0, 0.0, 0.0}; + + private static final double [] chat = {0.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 0.0, 41.0/840.0, 41.0/840.0}; + + private void rkck(double[] y, double[] dydx, double x, double h, + double[] yout, double[] yerr, Derivatives dv) { + + int n = y.length; + + double f[][] = new double[13][n]; + double yt[][] = new double[13][n]; + + // double y7th[] = new double[n]; + double ytmp[] = new double[n]; + double sum[] = new double[n]; + + // System.out.println("step size = "+h); + + double xeval[] = new double [13]; + for (int i = 0; i < 13; i++) // find times for function evals + { + xeval[i] = x + a[i] * h; + } + + // build f matrix + // f[0] = derivs.derivs(x, y); + f[0] = dydx; + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * b[1][0] * f[0][i]; + } + f[1] = dv.derivs(xeval[1], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[2][0]*f[0][i] + b[2][1]*f[1][i]); + } + f[2] = dv.derivs(xeval[2], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[3][0]*f[0][i] + b[3][2]*f[2][i]); + } + f[3] = dv.derivs(xeval[3], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[4][0]*f[0][i] + b[4][2]*f[2][i] + b[4][3]*f[3][i]); + } + f[4] = dv.derivs(xeval[4], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[5][0]*f[0][i] + b[5][3]*f[3][i] + b[5][4]*f[4][i]); + } + f[5] = dv.derivs(xeval[5], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[6][0]*f[0][i] + b[6][3]*f[3][i] + b[6][4]*f[4][i] + b[6][5]*f[5][i]); + } + f[6] = dv.derivs(xeval[6], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[7][0]*f[0][i] + b[7][4]*f[4][i] + b[7][5]*f[5][i] + b[7][6]*f[6][i]); + } + f[7] = dv.derivs(xeval[7], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[8][0]*f[0][i] + b[8][3]*f[3][i] + b[8][4]*f[4][i] + b[8][5]*f[5][i] + b[8][6]*f[6][i] + b[8][7]*f[7][i]); + } + f[8] = dv.derivs(xeval[8], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[9][0]*f[0][i] + b[9][3]*f[3][i] + b[9][4]*f[4][i] + b[9][5]*f[5][i] + b[9][6]*f[6][i] + b[9][7]*f[7][i] + + b[9][8]*f[8][i]); + } + f[9] = dv.derivs(xeval[9], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[10][0]*f[0][i] + b[10][3]*f[3][i] + b[10][4]*f[4][i] + b[10][5]*f[5][i] + b[10][6]*f[6][i] + b[10][7]*f[7][i] + + b[10][8]*f[8][i] + b[10][9]*f[9][i]); + } + f[10] = dv.derivs(xeval[10], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[11][0]*f[0][i] + b[11][5]*f[5][i] + b[11][6]*f[6][i] + b[11][7]*f[7][i] + + b[11][8]*f[8][i] + b[11][9]*f[9][i]); + } + f[11] = dv.derivs(xeval[11], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[12][0]*f[0][i] + b[12][3]*f[3][i] + b[12][4]*f[4][i] + b[12][5]*f[5][i] + b[12][6]*f[6][i] + b[12][7]*f[7][i] + + b[12][8]*f[8][i] + b[12][9]*f[9][i] + f[11][i]); + } + f[12] = dv.derivs(xeval[12], ytmp); + + // construct solutions + // yout is the 8th order solution + + for (int i = 0; i < n; i++) { + // y7th[i] = y[i] + h*(c[0]*f[0][i] +c[5]*f[5][i] + c[6]*f[6][i] + c[7]*f[7][i] + c[8]*f[8][i] + c[9]*f[9][i] + c[10]*f[10][i]); + yout[i] = y[i] + h*(chat[5]*f[5][i] + chat[6]*f[6][i] + chat[7]*f[7][i] + chat[8]*f[8][i] + chat[9]*f[9][i] + chat[11]*f[11][i] + chat[12]*f[12][i]); + yerr[i] = h*c[0]*(f[11][i] + f[12][i] - f[0][i] - f[10][i]); + } + } + + public void print(double t, double [] y){ + // do nothing + } + + private void error(String msg) { + System.err.println("RungeKuttaFehlberg78: " + msg); + } + +} + diff --git a/src/jat/coreNOSA/algorithm/integrators/RKF78_StoppingCondition.java b/src/jat/coreNOSA/algorithm/integrators/RKF78_StoppingCondition.java new file mode 100644 index 0000000..63f5210 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RKF78_StoppingCondition.java @@ -0,0 +1,343 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** Implements a Runge-Kutta-Fehlberg adaptive step size integrator + * from Numerical Recipes. Modified to RK78 from the original RK45 in NR. + * RK78 values from Erwin Fehlberg, NASA TR R-287 + * gets derivs via Derivatives interface + * + * @author + * @version 1.0 + */ + +public class RKF78_StoppingCondition extends RungeKuttaFehlberg78 implements Printable{ + + private double minStepSize_; + private double stepSize_; + private double accuracy_; + private double currentStepSize_; + private boolean verbose; + private boolean adaptive_; + + private double stoptime = 0.0; + + /** Default constructor. + */ + public RKF78_StoppingCondition() { + super(); + } + + /** Construct a RungeKuttaFehlberg78 integrator with user specified accuracy. + * @param accuracy Desired accuracy. + */ + public RKF78_StoppingCondition(double accuracy) { + super(accuracy); + } + + /** Get the stop time. + * @return stop time. + */ + public double stopTime(){ + return this.stoptime; + } + + private int[] nok = new int[1]; + private int[] nbad = new int[1]; + + + /** Integrate the equations of motion. + * @param y Initial state values. + * @param start Initial time. + * @param end Final time. + * @param dv Equations of Motion. + * @param pr Printable. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double[] y, double start, double end, + Derivatives dv, Printable pr, boolean print_switch, + StoppingCondition sc, boolean sc_switch) { + + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, dv, pr, print_switch, sc, sc_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, dv, pr, print_switch, sc, sc_switch); + } + return y; + } + + /** Integrate the equations of motion. No printing/plotting interface provided. + * @param y Initial state values. + * @param start Initial time. + * @param end Final time. + * @param dv Equations of Motion. + * @param pr Printable. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double[] y, double start, double end, Derivatives dv, + StoppingCondition sc, boolean sc_switch) { + boolean print_switch = false; + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, dv, this, print_switch, sc, sc_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, dv, this, print_switch, sc, sc_switch); + } + return y; + } + + private void rkdumb(double[] ystart, double start, double end, + double h, Derivatives dv, Printable pr, boolean print_switch, + StoppingCondition sc, boolean sc_switch) { + + boolean stop = false; + this.stoptime = start; + int nvar = ystart.length; + + int nSteps = (int) Math.abs((end - start) / h); + if (nSteps < 1) + nSteps = 1; + h = (end - start) / nSteps; + double[] dydx = new double[nvar]; + double[] yend = new double[nvar]; + double[] yerr = new double[nvar]; + for (int step = 0; step < nSteps; step++) { + double x = start + step * h; + dydx = dv.derivs(x, ystart); + rkck(ystart, dydx, x, h, yend, yerr, dv); + for (int n = 0; n < nvar; n++){ + ystart[n] = yend[n]; + } + + // print + if (print_switch) { + pr.print(x, ystart); + } + + // check stopping condition + if (sc_switch){ + stop = sc.stoppingCondition(x, ystart); + } + if (stop) { + this.stoptime = x; + return; + } + this.stoptime = x; + + } + + } + + private static final int MAXSTP = 1000000; + private static final double TINY = 1.0e-30; + + private int kmax; + private int kount; + private double[] xp; + private double[][] yp; + private double dxsav; + + private void odeint(double[] ystart, double x1, double x2, + double eps, double h1, double hmin, int[] nok, + int[] nbad, Derivatives dv, Printable pr, boolean print_switch, + StoppingCondition sc, boolean sc_switch) { + boolean stop = false; + this.stoptime = x1; + int nvar = ystart.length; + double[] x = new double[1]; + double[] hnext = new double[1]; + double[] hdid = new double[1]; + double[] yscal = new double[nvar]; + double[] y = new double[nvar]; + double[] dydx = new double[nvar]; + x[0] = x1; + double h = Math.abs(h1); + if (x2 < x1) + h = -h; + nok[0] = nbad[0] = kount = 0; + for (int i = 0; i < nvar; i++) + y[i] = ystart[i]; + double xsav = 0; + if (kmax > 0) + xsav = x[0] - dxsav * 2.0; + for (int nstp = 1; nstp <= MAXSTP; nstp++) { + dydx = dv.derivs(x[0], y); + for (int i = 0; i < nvar; i++) + yscal[i] = Math.abs(y[i]) + Math.abs(dydx[i] * h) + TINY; + if (kmax > 0 && kount < kmax - 1 && + Math.abs(x[0] - xsav) > Math.abs(dxsav)) { + xp[++kount] = x[0]; + for (int i = 0; i < nvar; i++) + yp[i][kount] = y[i]; + xsav = x[0]; + } + if ( (x[0] + h - x2) * (x[0] + h - x1) > 0.0) + h = x2 - x[0]; + rkqs(y, dydx, x, h, eps, yscal, hdid, hnext, dv); + if (hdid[0] == h) + ++nok[0]; + else + ++nbad[0]; + + // invoke the print method, if required + if (print_switch) { + pr.print(x[0], y); + } + + // update stoptime + this.stoptime = x[0]; + + // check for stopping condition + if (sc_switch){ + stop = sc.stoppingCondition(x[0], y); + } + if (stop) { + return; + } + + + if ( (x[0] - x2) * (x2 - x1) >= 0.0 ) { // are we done? + // save off the data + for (int i = 0; i < nvar; i++){ + ystart[i] = y[i]; + } + if (kmax != 0) { + xp[++kount] = x[0]; + for (int i = 0; i < nvar; i++) + yp[i][kount] = y[i]; + } + return; + } + if (Math.abs(hnext[0]) <= hmin) { + error("Step size too small in odeint"); + System.out.println("h = "+hnext[0]); + } + h = hnext[0]; + currentStepSize_ = h; // added for comphys + // System.out.println("Current Step Size = "+h); + } + error("Too many steps in routine odeint"); + System.out.println("step size = "+currentStepSize_); + } + + private static final double SAFETY = 0.9; + private static final double PGROW = -1.0/8.0; + private static final double PSHRNK = -1.0/7.0; + private static final double ERRCON = 2.56578451395034701E-8; + + private static final double [] a = { 0.0, 2.0/27.0, 1.0/9.0, 1.0/6.0, 5.0/12.0, 0.5, + 5.0/6.0, 1.0/6.0, 2.0/3.0, 1.0/3.0, 1.0, 0.0, 1.0 }; + + private static final double [][] b = new double [13][12]; + static { + for (int i = 0; i < 13; i++) { + for (int j = 0; j < 12; j++) { + b[i][j] = 0.0; + } + } + + b[1][0] = 2.0/27.0; + b[2][0] = 1.0/36.0; + b[2][1] = 1.0/12.0; + b[3][0] = 1.0/24.0; + b[3][2] = 1.0/8.0; + b[4][0] = 5.0/12.0; + b[4][2] = -25.0/16.0; + b[4][3] = 25.0/16.0; + b[5][0] = 1.0/20.0; + b[5][3] = 0.25; + b[5][4] = 0.2; + b[6][0] = -25.0/108.0; + b[6][3] = 125.0/108.0; + b[6][4] = -65.0/27.0; + b[6][5] = 125.0/54.0; + b[7][0] = 31.0/300.0; + b[7][4] = 61.0/225.0; + b[7][5] = -2.0/9.0; + b[7][6] = 13.0/900.0; + b[8][0] = 2.0; + b[8][3] = -53.0/6.0; + b[8][4] = 704.0/45.0; + b[8][5] = -107.0/9.0; + b[8][6] = 67.0/90.0; + b[8][7] = 3.0; + b[9][0] = -91.0/108.0; + b[9][3] = 23.0/108.0; + b[9][4] = -976.0/135.0; + b[9][5] = 311.0/54.0; + b[9][6] = -19.0/60.0; + b[9][7] = 17.0/6.0; + b[9][8] = -1.0/12.0; + b[10][0] = 2383.0/4100.0; + b[10][3] = -341.0/164.0; + b[10][4] = 4496.0/1025.0; + b[10][5] = -301.0/82.0; + b[10][6] = 2133.0/4100.0; + b[10][7] = 45.0/82.0; + b[10][8] = 45.0/164.0; + b[10][9] = 18.0/41.0; + b[11][0] = 3.0/205.0; + b[11][5] = -6.0/41.0; + b[11][6] = -3.0/205.0; + b[11][7] = -3.0/41.0; + b[11][8] = 3.0/41.0; + b[11][9] = 6.0/41.0; + b[12][0] = -1777.0/4100.0; + b[12][3] = -341.0/164.0; + b[12][4] = 4496.0/1025.0; + b[12][5] = -289.0/82.0; + b[12][6] = 2193.0/4100.0; + b[12][7] = 51.0/82.0; + b[12][8] = 33.0/164.0; + b[12][9] = 12.0/41.0; + b[12][11] = 1.0; + } + + private static final double [] c = {41.0/840.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 41.0/840.0, 0.0, 0.0}; + + private static final double [] chat = {0.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 0.0, 41.0/840.0, 41.0/840.0}; + + + public void print(double t, double [] y){ + // do nothing + } + + private void error(String msg) { + System.err.println("RungeKuttaFehlberg78: " + msg); + } + +} + diff --git a/src/jat/coreNOSA/algorithm/integrators/RKF78_StoreSteps.java b/src/jat/coreNOSA/algorithm/integrators/RKF78_StoreSteps.java new file mode 100644 index 0000000..4b158f4 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RKF78_StoreSteps.java @@ -0,0 +1,444 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.algorithm.integrators; + +import java.util.ArrayList; + +/** + * This class contains a set of functions (rkck(), rkqs(), and odeint()), which are each detailed in their individual + * function headers. These functions are intended to work together to create an adaptive stepsize numerical integrator + * routine. + * @author + * @version 1.0 + */ +public class RKF78_StoreSteps +{ + // Variables used as inputs for user options + public double eps = 1.e-10; // desired accuracy + public double dxsav = 0.001; // Minimum difference between indep. var. values to store steps + public boolean store_steps = true; + public int MAXSTEP = 10000; + public double stepSize_ = 0.01; + public double minStepSize_ = 1.2E-10; + // Variables used as output + public double hdid; // the step size that was actually applied + public double hnext; // estimated next step size + public int nok; // Total steps + public int nbad;// Total step adjustments + public double[][] steplist; // Array storing intermediate steps + // Variables internally used by several methods + public double x; // independent variable of integration, used by rkqs and odeint + private int ntry; + // Constants + static double TINY = 1.0e-30; + // Brent: + // static double SAFETY = 0.9; + // static double PGROW = -0.2; + // static double PSHRNK = -0.25; + // static double ERRCON = 1.89e-4; // This value is equal to (5/SAFETY raised to the power (1/PGROW) + // Dave: + private static final double SAFETY = 0.9; + private static final double PGROW = -1.0 / 8.0; + private static final double PSHRNK = -1.0 / 7.0; + private static final double ERRCON = 2.56578451395034701E-8; + + /** + * Propagate a state vector + * @param start initial value of independent variable + * @param x0 initial value of state vector + * @param end final value of independent variable + * @param dv class implementing the Derivatives interface + * @return state vector at the end of the interval + */ + public double[] integrate(double start, double[] x0, double end, Derivatives dv) + { + double[] y = x0.clone(); + double h = stepSize_; + double hmin = minStepSize_; + odeint(y, start, end, h, hmin, dv); + return y; + } + + /** + * Driver program for Runge Kutta numerical integrator that employs adaptive + * stepsize control and has 8th order error estimation + * @param ystart Starting dependent variable vector + * @param x1 Starting value of the independent variable + * @param x2 Ending value of the independent variable + * @param h1 Guessed first stepsize + * @param hmin Minimum allowed stepsize (may be zero) + * @param dv user-supplied routine that computes the derivatives + */ + public void odeint(double ystart[], double x1, double x2, double h1, double hmin, Derivatives dv) + { + int nvar = ystart.length; + int nstp, i; + double xsav = 0., h; + double[] yscal = new double[nvar]; + double[] y = new double[nvar]; + double[] dydx = new double[nvar]; + ArrayList steps = new ArrayList(); + // + x = x1; + // If backward integration required, make stepsize negative + h = Math.abs(h1); + if (x2 < x1) + h = -h; + // Initialize the counters for the number of good and bad (but corrected) integration steps. + nok = nbad = 0; + // Copy initial state to temp array + y = ystart.clone(); + // Store initial values as first entry in intermediate storage array + if (store_steps) + store_step(steps, nvar, x, y, ntry); + // Main integration loop + for (nstp = 1; nstp <= MAXSTEP; nstp++) + { + dydx = dv.derivs(x, y); + // Scaling used to monitor accuracy + for (i = 0; i < nvar; i++) + yscal[i] = Math.abs(y[i]) + Math.abs(dydx[i] * h) + TINY; + // If stepsize can overshoot, decrease + if ((x + h - x2) * (x + h - x1) > 0.0) + h = x2 - x; + // Take Runge Kutta step with monitoring of local truncation error + rkqs(y, dydx, h, yscal, dv); + // Store intermediate results + if (store_steps && Math.abs(x - xsav) > Math.abs(dxsav)) + { + store_step(steps, nvar, x, y, ntry); + xsav = x; + } + // If rkqs did not decrease the step size, it was a good step + if (hdid == h) + nok++; + else + nbad++; + // If the independent variable has been advanced to the final value, then the integration is complete. + if ((x - x2) * (x2 - x1) >= 0.0) + { + for (i = 0; i < nvar; i++) + ystart[i] = y[i]; + // convert list to array + if (store_steps) + { + // store_step(steps, nvar, x, y); + steplist = steps_to_array(steps, nvar); + } + return; + } + if (Math.abs(hnext) <= hmin) + error("Step size too small in odeint"); + h = hnext; + } + error("Too many steps in routine odeint"); + } + + /** + * Runge-Kutta step with monitoring of local truncation error to ensure accuracy and adjust stepsize + * @param y Dependent variable vector + * @param dydx Derivative of the dependent variable vector + * @param htry Stepsize to attempt + * @param yscal + * @param dv user-supplied routine that computes the derivatives + */ + public void rkqs(double y[], double dydx[], double htry, double[] yscal, Derivatives dv) + { + int n = y.length; + int i; + double errmax, h, htemp, xnew, yerr[], ytemp[]; + yerr = new double[n]; + ytemp = new double[n]; + // Set the stepsize to the size that is to be tried first + h = htry; + ntry = 0; + for (;;) + { + // Take a Runge-Kutta Cash-Karp integration step + rkck(y, dydx, x, h, ytemp, yerr, dv); + // Initialize the maximum error value in the state vector to zero + errmax = 0.0; + // Evaluate accuracy + for (i = 0; i < n; i++) + { + // The largest absolute valued element in the error vector is considered the maximum error value + errmax = Math.max(errmax, Math.abs(yerr[i]) / yscal[i]); + } + // Scale the maximum error relative to the required tolerance + errmax /= eps; + // If the error is within tolerance then break out of this loop + if (errmax <= 1.0) + { + // Step succeeded. Break and go on to compute the size of the next step + break; + } + // Need more steps + ntry++; + // Temporary stepsize value. + htemp = SAFETY * h * Math.pow(errmax, PSHRNK); + // Truncation error too large, reduce stepsize (by no more than a factor of 10) + h = (h >= 0.0 ? Math.max(htemp, 0.1 * h) : Math.min(htemp, 0.1 * h)); + // Compute the next value of the independent variable with the given stepsize + xnew = x + h; + // If the independent variable has not been changed, we have a stepsize underflow + if (xnew == x) + { + // Error-out with a message + error("Stepsize underflow in rkqs()."); + // TODO: exception handling + } + } + // Alter the stepsize, but allow no more than a factor of 5 increase + if (errmax > ERRCON) + { + hnext = SAFETY * h * Math.pow(errmax, PGROW); + } else + { + hnext = 5.0 * h; + } + // Update the independent variable + hdid = h; + x += hdid; + // Update the state vector + for (i = 0; i < n; i++) + { + y[i] = ytemp[i]; + } + } + + private static final double[] a = + { 0.0, 2.0 / 27.0, 1.0 / 9.0, 1.0 / 6.0, 5.0 / 12.0, 0.5, 5.0 / 6.0, 1.0 / 6.0, 2.0 / 3.0, 1.0 / 3.0, 1.0, 0.0, 1.0 }; + private static final double[][] b = new double[13][12]; + static + { + for (int i = 0; i < 13; i++) + { + for (int j = 0; j < 12; j++) + { + b[i][j] = 0.0; + } + } + b[1][0] = 2.0 / 27.0; + b[2][0] = 1.0 / 36.0; + b[2][1] = 1.0 / 12.0; + b[3][0] = 1.0 / 24.0; + b[3][2] = 1.0 / 8.0; + b[4][0] = 5.0 / 12.0; + b[4][2] = -25.0 / 16.0; + b[4][3] = 25.0 / 16.0; + b[5][0] = 1.0 / 20.0; + b[5][3] = 0.25; + b[5][4] = 0.2; + b[6][0] = -25.0 / 108.0; + b[6][3] = 125.0 / 108.0; + b[6][4] = -65.0 / 27.0; + b[6][5] = 125.0 / 54.0; + b[7][0] = 31.0 / 300.0; + b[7][4] = 61.0 / 225.0; + b[7][5] = -2.0 / 9.0; + b[7][6] = 13.0 / 900.0; + b[8][0] = 2.0; + b[8][3] = -53.0 / 6.0; + b[8][4] = 704.0 / 45.0; + b[8][5] = -107.0 / 9.0; + b[8][6] = 67.0 / 90.0; + b[8][7] = 3.0; + b[9][0] = -91.0 / 108.0; + b[9][3] = 23.0 / 108.0; + b[9][4] = -976.0 / 135.0; + b[9][5] = 311.0 / 54.0; + b[9][6] = -19.0 / 60.0; + b[9][7] = 17.0 / 6.0; + b[9][8] = -1.0 / 12.0; + b[10][0] = 2383.0 / 4100.0; + b[10][3] = -341.0 / 164.0; + b[10][4] = 4496.0 / 1025.0; + b[10][5] = -301.0 / 82.0; + b[10][6] = 2133.0 / 4100.0; + b[10][7] = 45.0 / 82.0; + b[10][8] = 45.0 / 164.0; + b[10][9] = 18.0 / 41.0; + b[11][0] = 3.0 / 205.0; + b[11][5] = -6.0 / 41.0; + b[11][6] = -3.0 / 205.0; + b[11][7] = -3.0 / 41.0; + b[11][8] = 3.0 / 41.0; + b[11][9] = 6.0 / 41.0; + b[12][0] = -1777.0 / 4100.0; + b[12][3] = -341.0 / 164.0; + b[12][4] = 4496.0 / 1025.0; + b[12][5] = -289.0 / 82.0; + b[12][6] = 2193.0 / 4100.0; + b[12][7] = 51.0 / 82.0; + b[12][8] = 33.0 / 164.0; + b[12][9] = 12.0 / 41.0; + b[12][11] = 1.0; + } + private static final double[] c = + { 41.0 / 840.0, 0.0, 0.0, 0.0, 0.0, 34.0 / 105.0, 9.0 / 35.0, 9.0 / 35.0, 9.0 / 280.0, 9.0 / 280.0, 41.0 / 840.0, 0.0, 0.0 }; + private static final double[] chat = + { 0.0, 0.0, 0.0, 0.0, 0.0, 34.0 / 105.0, 9.0 / 35.0, 9.0 / 35.0, 9.0 / 280.0, 9.0 / 280.0, 0.0, 41.0 / 840.0, 41.0 / 840.0 }; + + /** + * This function will use the Runge-Kutta method to advance the solution over an interval h and return the + * incremented variables + * @param y Dependent variable vector + * @param dydx Derivative of the dependent variable vector + * @param x independent variable + * @param h Stepsize + * @param yout Incremented dependent variable vector + * @param yerr Estimate of the local truncation error in yout using the embedded 7th order method + * @param dv user-supplied routine that computes the derivatives + */ + protected void rkck(double[] y, double[] dydx, double x, double h, double[] yout, double[] yerr, Derivatives dv) + { + int n = y.length; + double f[][] = new double[13][n]; + double yt[][] = new double[13][n]; + // double y7th[] = new double[n]; + double ytmp[] = new double[n]; + double sum[] = new double[n]; + // System.out.println("step size = "+h); + double xeval[] = new double[13]; + for (int i = 0; i < 13; i++) // find times for function evals + { + xeval[i] = x + a[i] * h; + } + // build f matrix + // f[0] = derivs.derivs(x, y); + f[0] = dydx; + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * b[1][0] * f[0][i]; + } + f[1] = dv.derivs(xeval[1], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[2][0] * f[0][i] + b[2][1] * f[1][i]); + } + f[2] = dv.derivs(xeval[2], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[3][0] * f[0][i] + b[3][2] * f[2][i]); + } + f[3] = dv.derivs(xeval[3], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[4][0] * f[0][i] + b[4][2] * f[2][i] + b[4][3] * f[3][i]); + } + f[4] = dv.derivs(xeval[4], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[5][0] * f[0][i] + b[5][3] * f[3][i] + b[5][4] * f[4][i]); + } + f[5] = dv.derivs(xeval[5], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[6][0] * f[0][i] + b[6][3] * f[3][i] + b[6][4] * f[4][i] + b[6][5] * f[5][i]); + } + f[6] = dv.derivs(xeval[6], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[7][0] * f[0][i] + b[7][4] * f[4][i] + b[7][5] * f[5][i] + b[7][6] * f[6][i]); + } + f[7] = dv.derivs(xeval[7], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[8][0] * f[0][i] + b[8][3] * f[3][i] + b[8][4] * f[4][i] + b[8][5] * f[5][i] + b[8][6] * f[6][i] + b[8][7] * f[7][i]); + } + f[8] = dv.derivs(xeval[8], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[9][0] * f[0][i] + b[9][3] * f[3][i] + b[9][4] * f[4][i] + b[9][5] * f[5][i] + b[9][6] * f[6][i] + b[9][7] * f[7][i] + b[9][8] * f[8][i]); + } + f[9] = dv.derivs(xeval[9], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h + * (b[10][0] * f[0][i] + b[10][3] * f[3][i] + b[10][4] * f[4][i] + b[10][5] * f[5][i] + b[10][6] * f[6][i] + b[10][7] * f[7][i] + b[10][8] * f[8][i] + b[10][9] * f[9][i]); + } + f[10] = dv.derivs(xeval[10], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + h * (b[11][0] * f[0][i] + b[11][5] * f[5][i] + b[11][6] * f[6][i] + b[11][7] * f[7][i] + b[11][8] * f[8][i] + b[11][9] * f[9][i]); + } + f[11] = dv.derivs(xeval[11], ytmp); + for (int i = 0; i < n; i++) + { + ytmp[i] = y[i] + + h + * (b[12][0] * f[0][i] + b[12][3] * f[3][i] + b[12][4] * f[4][i] + b[12][5] * f[5][i] + b[12][6] * f[6][i] + b[12][7] * f[7][i] + b[12][8] * f[8][i] + b[12][9] * f[9][i] + f[11][i]); + } + f[12] = dv.derivs(xeval[12], ytmp); + // construct solutions + // yout is the 8th order solution + for (int i = 0; i < n; i++) + { + // y7th[i] = y[i] + h*(c[0]*f[0][i] +c[5]*f[5][i] + c[6]*f[6][i] + c[7]*f[7][i] + c[8]*f[8][i] + + // c[9]*f[9][i] + c[10]*f[10][i]); + yout[i] = y[i] + h * (chat[5] * f[5][i] + chat[6] * f[6][i] + chat[7] * f[7][i] + chat[8] * f[8][i] + chat[9] * f[9][i] + chat[11] * f[11][i] + chat[12] * f[12][i]); + yerr[i] = h * c[0] * (f[11][i] + f[12][i] - f[0][i] - f[10][i]); + } + } + + /** + * Store one integration step in an ArrayList + * @param steps The ArrayList to store the step into + * @param nvar dimension of state vector + * @param x independent variable + * @param y state vector + * @param ntry number of steps to achieve requested accuracy + */ + private void store_step(ArrayList steps, int nvar, double x, double[] y, int ntry) + { + double[] step = new double[nvar + 2]; + step[0] = x; + for (int i = 0; i < nvar; i++) + step[i + 1] = y[i]; + step[nvar + 1] = ntry; + steps.add(step); + } + + /** + * Convert an ArrayList to a two-dimensional double array + * @param steps the ArrayList + * @param nvar dimension of state vector + * @return + */ + private double[][] steps_to_array(ArrayList steps, int nvar) + { + int number_of_steps = steps.size(); + double[][] steps_array = new double[number_of_steps][nvar + 2]; + for (int i = 0; i < number_of_steps; i++) + { + double[] step = (double[]) steps.get(i); + for (int j = 0; j < step.length; j++) + { + steps_array[i][j] = step[j]; + } + } + return steps_array; + } + + private void error(String msg) + { + System.err.println("RKF78_PrintSteps: " + msg); + } +} diff --git a/src/jat/coreNOSA/algorithm/integrators/RungeKutta4.java b/src/jat/coreNOSA/algorithm/integrators/RungeKutta4.java new file mode 100644 index 0000000..72acd61 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RungeKutta4.java @@ -0,0 +1,262 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** + *

+ * RungeKutta8 is a fixed stepsize Runge-Kutta 8th order integrator. + * Integrator parameter values came from: + * Fehlberg, Erwin, NASA TR R-287. + * + * @author + * @version 1.0 + */ + +public class RungeKutta4 { + + /** Step size. + */ + public double step_size; + + /** Default constructor + */ + public RungeKutta4() { + this.step_size = 1.0; + } + + /** Construct RungeKutta8 integrator with specified step size. + * @param s Step size. + */ + + public RungeKutta4(double s) { + this.step_size = s; + } + + /** Set step size + * @param s step size + */ + + public void setStepSize(double s) { + this.step_size = s; + } + + /** Take a single integration step. Note: it is assumed that any printing + * will be done by the calling function. + * @param x time or independent variable + * @param y double[] containing needed inputs (usually the state) + * @param neqns number of equations to integrate + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + public double[] step(double x, double[] y, Derivatives derivs) { + int n = y.length; + double f[][] = new double[4][n]; + + double yout[] = new double[n]; + double ytmp[] = new double[n]; + + double h = this.step_size; + + double hh = h * 0.5; + double h6 = h/6.0; + double xh = x + hh; + + double xeval[] = new double [13]; + + + // build f matrix + f[0] = derivs.derivs(x, y); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + hh * f[0][i]; + } + f[1] = derivs.derivs(xh, ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + hh * f[1][i]; + } + f[2] = derivs.derivs(xh, ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * f[2][i]; + } + f[3] = derivs.derivs(x + h, ytmp); + + + // construct solutions + for (int i = 0; i < n; i++) { + yout[i] = y[i] + h6*(f[0][i] + 2.0 *(f[1][i] + f[2][i]) +f[3][i]); + } + + return yout; + } + + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @param pr Object containing the print method. + * @param print_switch Boolean (true = print, false = don't print). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, Derivatives derivs, Printable pr, boolean print_switch) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + pr.print(t, oldstate); + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, derivs); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + pr.print(t, oldstate); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + /** Integrate from t0 to tf. No printing/plotting interface provided. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, Derivatives derivs) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, derivs); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param eom Object implementing the EquationsOfMotion interface + * @param print_switch Boolean (true = print, false = don't print). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, EquationsOfMotion eom, boolean print_switch) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + eom.print(t, oldstate); + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, eom); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + eom.print(t, oldstate); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/RungeKutta8.java b/src/jat/coreNOSA/algorithm/integrators/RungeKutta8.java new file mode 100644 index 0000000..2f99992 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RungeKutta8.java @@ -0,0 +1,385 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** + *

+ * RungeKutta8 is a fixed stepsize Runge-Kutta 8th order integrator. + * Integrator parameter values came from: + * Fehlberg, Erwin, NASA TR R-287. + * + * @author + * @version 1.0 + */ + +public class RungeKutta8 { + + static final double [] a = { 0.0, 2.0/27.0, 1.0/9.0, 1.0/6.0, 5.0/12.0, 0.5, + 5.0/6.0, 1.0/6.0, 2.0/3.0, 1.0/3.0, 1.0, 0.0, 1.0 }; + + static final double [] c = {41.0/840.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 41.0/840.0, 0.0, 0.0}; + + static final double [] chat = {0.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 0.0, 41.0/840.0, 41.0/840.0}; + + static final double [][] b = new double [13][12]; + static { + for (int i = 0; i < 13; i++) { + for (int j = 0; j < 12; j++) { + b[i][j] = 0.0; + } + } + + b[1][0] = 2.0/27.0; + b[2][0] = 1.0/36.0; + b[2][1] = 1.0/12.0; + b[3][0] = 1.0/24.0; + b[3][2] = 1.0/8.0; + b[4][0] = 5.0/12.0; + b[4][2] = -25.0/16.0; + b[4][3] = 25.0/16.0; + b[5][0] = 1.0/20.0; + b[5][3] = 0.25; + b[5][4] = 0.2; + b[6][0] = -25.0/108.0; + b[6][3] = 125.0/108.0; + b[6][4] = -65.0/27.0; + b[6][5] = 125.0/54.0; + b[7][0] = 31.0/300.0; + b[7][4] = 61.0/225.0; + b[7][5] = -2.0/9.0; + b[7][6] = 13.0/900.0; + b[8][0] = 2.0; + b[8][3] = -53.0/6.0; + b[8][4] = 704.0/45.0; + b[8][5] = -107.0/9.0; + b[8][6] = 67.0/90.0; + b[8][7] = 3.0; + b[9][0] = -91.0/108.0; + b[9][3] = 23.0/108.0; + b[9][4] = -976.0/135.0; + b[9][5] = 311.0/54.0; + b[9][6] = -19.0/60.0; + b[9][7] = 17.0/6.0; + b[9][8] = -1.0/12.0; + b[10][0] = 2383.0/4100.0; + b[10][3] = -341.0/164.0; + b[10][4] = 4496.0/1025.0; + b[10][5] = -301.0/82.0; + b[10][6] = 2133.0/4100.0; + b[10][7] = 45.0/82.0; + b[10][8] = 45.0/164.0; + b[10][9] = 18.0/41.0; + b[11][0] = 3.0/205.0; + b[11][5] = -6.0/41.0; + b[11][6] = -3.0/205.0; + b[11][7] = -3.0/41.0; + b[11][8] = 3.0/41.0; + b[11][9] = 6.0/41.0; + b[12][0] = -1777.0/4100.0; + b[12][3] = -341.0/164.0; + b[12][4] = 4496.0/1025.0; + b[12][5] = -289.0/82.0; + b[12][6] = 2193.0/4100.0; + b[12][7] = 51.0/82.0; + b[12][8] = 33.0/164.0; + b[12][9] = 12.0/41.0; + b[12][11] = 1.0; + } + + /** Step size. + */ + public double step_size; + + /** Default constructor + */ + public RungeKutta8() { + this.step_size = 1.0; + } + + /** Construct RungeKutta8 integrator with specified step size. + * @param s Step size. + */ + + public RungeKutta8(double s) { + this.step_size = s; + } + + /** Set step size + * @param s step size + */ + + public void setStepSize(double s) { + this.step_size = s; + } + + /** Take a single integration step. Note: it is assumed that any printing + * will be done by the calling function. + * @param x time or independent variable + * @param y double[] containing needed inputs (usually the state) + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + public double[] step(double x, double[] y, Derivatives derivs) { + int n = y.length; + double f[][] = new double[13][n]; + double yt[][] = new double[13][n]; + + double y8th[] = new double[n]; + double ytmp[] = new double[n]; + double sum[] = new double[n]; + + double h = this.step_size; + + double xeval[] = new double [13]; + + for (int i = 0; i < 13; i++) // find times for function evals + { + xeval[i] = x + a[i] * h; + } + + // build f matrix + f[0] = derivs.derivs(x, y); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * b[1][0] * f[0][i]; + } + f[1] = derivs.derivs(xeval[1], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[2][0]*f[0][i] + b[2][1]*f[1][i]); + } + f[2] = derivs.derivs(xeval[2], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[3][0]*f[0][i] + b[3][2]*f[2][i]); + } + f[3] = derivs.derivs(xeval[3], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[4][0]*f[0][i] + b[4][2]*f[2][i] + b[4][3]*f[3][i]); + } + f[4] = derivs.derivs(xeval[4], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[5][0]*f[0][i] + b[5][3]*f[3][i] + b[5][4]*f[4][i]); + } + f[5] = derivs.derivs(xeval[5], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[6][0]*f[0][i] + b[6][3]*f[3][i] + b[6][4]*f[4][i] + b[6][5]*f[5][i]); + } + f[6] = derivs.derivs(xeval[6], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[7][0]*f[0][i] + b[7][4]*f[4][i] + b[7][5]*f[5][i] + b[7][6]*f[6][i]); + } + f[7] = derivs.derivs(xeval[7], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[8][0]*f[0][i] + b[8][3]*f[3][i] + b[8][4]*f[4][i] + b[8][5]*f[5][i] + b[8][6]*f[6][i] + b[8][7]*f[7][i]); + } + f[8] = derivs.derivs(xeval[8], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[9][0]*f[0][i] + b[9][3]*f[3][i] + b[9][4]*f[4][i] + b[9][5]*f[5][i] + b[9][6]*f[6][i] + b[9][7]*f[7][i] + + b[9][8]*f[8][i]); + } + f[9] = derivs.derivs(xeval[9], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[10][0]*f[0][i] + b[10][3]*f[3][i] + b[10][4]*f[4][i] + b[10][5]*f[5][i] + b[10][6]*f[6][i] + b[10][7]*f[7][i] + + b[10][8]*f[8][i] + b[10][9]*f[9][i]); + } + f[10] = derivs.derivs(xeval[10], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[11][0]*f[0][i] + b[11][5]*f[5][i] + b[11][6]*f[6][i] + b[11][7]*f[7][i] + + b[11][8]*f[8][i] + b[11][9]*f[9][i]); + } + f[11] = derivs.derivs(xeval[11], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[12][0]*f[0][i] + b[12][3]*f[3][i] + b[12][4]*f[4][i] + b[12][5]*f[5][i] + b[12][6]*f[6][i] + b[12][7]*f[7][i] + + b[12][8]*f[8][i] + b[12][9]*f[9][i] + f[11][i]); + } + f[12] = derivs.derivs(xeval[12], ytmp); + + // construct solutions + for (int i = 0; i < n; i++) { + y8th[i] = y[i] + h*(chat[5]*f[5][i] + chat[6]*f[6][i] + chat[7]*f[7][i] + chat[8]*f[8][i] + chat[9]*f[9][i] + chat[11]*f[11][i] + chat[12]*f[12][i]); + } + + return y8th; + } + + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @param pr Object containing the print method. + * @param print_switch Boolean (true = print, false = don't print). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, Derivatives derivs, Printable pr, boolean print_switch) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + pr.print(t, oldstate); + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, derivs); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + pr.print(t, oldstate); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + /** Integrate from t0 to tf. No printing/plotting interface provided. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, Derivatives derivs) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, derivs); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param eom Object implementing the EquationsOfMotion interface + * @param print_switch Boolean (true = print, false = don't print). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, EquationsOfMotion eom, boolean print_switch) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + eom.print(t, oldstate); + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, eom); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + eom.print(t, oldstate); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/RungeKutta8_StoppingCondition.java b/src/jat/coreNOSA/algorithm/integrators/RungeKutta8_StoppingCondition.java new file mode 100644 index 0000000..e2e1f8d --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RungeKutta8_StoppingCondition.java @@ -0,0 +1,391 @@ + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +/** + *

+ * RungeKutta8 is a fixed stepsize Runge-Kutta 8th order integrator that + * checks for a stopping condition. + * Integrator parameter values came from: + * Fehlberg, Erwin, NASA TR R-287. + * + * @author + * @version 1.0 + */ +public class RungeKutta8_StoppingCondition extends RungeKutta8 { + + private double stoptime = 0.0; + + static final double[] a = + { + 0.0, + 2.0 / 27.0, + 1.0 / 9.0, + 1.0 / 6.0, + 5.0 / 12.0, + 0.5, + 5.0 / 6.0, + 1.0 / 6.0, + 2.0 / 3.0, + 1.0 / 3.0, + 1.0, + 0.0, + 1.0 }; + + static final double[] c = + { + 41.0 / 840.0, + 0.0, + 0.0, + 0.0, + 0.0, + 34.0 / 105.0, + 9.0 / 35.0, + 9.0 / 35.0, + 9.0 / 280.0, + 9.0 / 280.0, + 41.0 / 840.0, + 0.0, + 0.0 }; + + static final double[] chat = + { + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 34.0 / 105.0, + 9.0 / 35.0, + 9.0 / 35.0, + 9.0 / 280.0, + 9.0 / 280.0, + 0.0, + 41.0 / 840.0, + 41.0 / 840.0 }; + + static final double[][] b = new double[13][12]; + static { + for (int i = 0; i < 13; i++) { + for (int j = 0; j < 12; j++) { + b[i][j] = 0.0; + } + } + + b[1][0] = 2.0 / 27.0; + b[2][0] = 1.0 / 36.0; + b[2][1] = 1.0 / 12.0; + b[3][0] = 1.0 / 24.0; + b[3][2] = 1.0 / 8.0; + b[4][0] = 5.0 / 12.0; + b[4][2] = -25.0 / 16.0; + b[4][3] = 25.0 / 16.0; + b[5][0] = 1.0 / 20.0; + b[5][3] = 0.25; + b[5][4] = 0.2; + b[6][0] = -25.0 / 108.0; + b[6][3] = 125.0 / 108.0; + b[6][4] = -65.0 / 27.0; + b[6][5] = 125.0 / 54.0; + b[7][0] = 31.0 / 300.0; + b[7][4] = 61.0 / 225.0; + b[7][5] = -2.0 / 9.0; + b[7][6] = 13.0 / 900.0; + b[8][0] = 2.0; + b[8][3] = -53.0 / 6.0; + b[8][4] = 704.0 / 45.0; + b[8][5] = -107.0 / 9.0; + b[8][6] = 67.0 / 90.0; + b[8][7] = 3.0; + b[9][0] = -91.0 / 108.0; + b[9][3] = 23.0 / 108.0; + b[9][4] = -976.0 / 135.0; + b[9][5] = 311.0 / 54.0; + b[9][6] = -19.0 / 60.0; + b[9][7] = 17.0 / 6.0; + b[9][8] = -1.0 / 12.0; + b[10][0] = 2383.0 / 4100.0; + b[10][3] = -341.0 / 164.0; + b[10][4] = 4496.0 / 1025.0; + b[10][5] = -301.0 / 82.0; + b[10][6] = 2133.0 / 4100.0; + b[10][7] = 45.0 / 82.0; + b[10][8] = 45.0 / 164.0; + b[10][9] = 18.0 / 41.0; + b[11][0] = 3.0 / 205.0; + b[11][5] = -6.0 / 41.0; + b[11][6] = -3.0 / 205.0; + b[11][7] = -3.0 / 41.0; + b[11][8] = 3.0 / 41.0; + b[11][9] = 6.0 / 41.0; + b[12][0] = -1777.0 / 4100.0; + b[12][3] = -341.0 / 164.0; + b[12][4] = 4496.0 / 1025.0; + b[12][5] = -289.0 / 82.0; + b[12][6] = 2193.0 / 4100.0; + b[12][7] = 51.0 / 82.0; + b[12][8] = 33.0 / 164.0; + b[12][9] = 12.0 / 41.0; + b[12][11] = 1.0; + } + + /** + * Constructor for RungeKutta8_StoppingCondition. + */ + public RungeKutta8_StoppingCondition() { + super(); + } + + /** + * Constructor for RungeKutta8_StoppingCondition. + * @param s + */ + public RungeKutta8_StoppingCondition(double s) { + super(s); + } + + /** Get the stop time. + * @return stop time. + */ + public double stopTime(){ + return this.stoptime; + } + + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @param pr Object containing the print method. + * @param print_switch Boolean (true = print, false = don't print). + * @param sc Object containing the stoppingCondition() method. + * @param sc_switch Boolean (true = check for stopping condition, false = don't check). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, + Derivatives derivs, Printable pr, boolean print_switch, + StoppingCondition sc, boolean sc_switch) { + boolean stop = false; + this.stoptime = t0; + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + pr.print(t, oldstate); + } + + if (sc_switch) { + stop = sc.stoppingCondition(t, oldstate); + if (stop) { + this.stoptime = t; + return oldstate; + } + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, derivs); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + pr.print(t, oldstate); + } + + if (sc_switch) { + stop = sc.stoppingCondition(t, oldstate); + if (stop) { + this.stoptime = t; + return oldstate; + } + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + this.stoptime = t; + return oldstate; + } + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param eom Object implementing the EquationsOfMotion interface + * @param print_switch Boolean (true = print, false = don't print). + * @param sc Object containing the stoppingCondition() method. + * @param sc_switch Boolean (true = check for stopping condition, false = don't check). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, + EquationsOfMotion eom, boolean print_switch, + StoppingCondition sc, boolean sc_switch) { + boolean stop = false; + this.stoptime = t0; + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + eom.print(t, oldstate); + } + + if (sc_switch) { + stop = sc.stoppingCondition(t, oldstate); + if (stop) { + this.stoptime = t; + return oldstate; + } + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, eom); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + eom.print(t, oldstate); + } + + if (sc_switch) { + stop = sc.stoppingCondition(t, oldstate); + if (stop) { + this.stoptime = t; + return oldstate; + } + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + this.stoptime = t; + return oldstate; + } + + /** Integrate from t0 to tf. No printing/plotting interface provided. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @param sc Object containing the stoppingCondition() method. + * @param sc_switch Boolean (true = check for stopping condition, false = don't check). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, + Derivatives derivs, StoppingCondition sc, boolean sc_switch) { + + boolean stop = false; + this.stoptime = t0; + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (sc_switch) { + stop = sc.stoppingCondition(t, oldstate); + if (stop) { + this.stoptime = t; + return oldstate; + } + } + + // main integration loop + + while (t < tf) { + newstate = step(t, oldstate, derivs); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (sc_switch) { + stop = sc.stoppingCondition(t, oldstate); + if (stop) { + this.stoptime = t; + return oldstate; + } + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + this.stoptime = t; + return oldstate; + } + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/RungeKuttaFehlberg78.java b/src/jat/coreNOSA/algorithm/integrators/RungeKuttaFehlberg78.java new file mode 100644 index 0000000..9923912 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/RungeKuttaFehlberg78.java @@ -0,0 +1,685 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.integrators; + +import java.util.ArrayList; + +/** Implements a Runge-Kutta-Fehlberg adaptive step size integrator + * from Numerical Recipes. Modified to RK78 from the original RK45 in NR. + * RK78 values from Erwin Fehlberg, NASA TR R-287 + * gets derivs via Derivatives interface + * + * @author + * @version 1.0 + */ + +public class RungeKuttaFehlberg78 implements Printable{ + + private double minStepSize_; + private double stepSize_; + private double accuracy_; + private double currentStepSize_; + private boolean verbose; + private boolean adaptive_; + + private double dxsav = 0.001; // Minimum difference between indep. var. values to store steps + private double[][] simStates; // intermediate state values + private int nSteps; // number of intermediate steps + private int nEqns; // number of equations + private boolean saveSteps = false; + + /** Default constructor. + */ + public RungeKuttaFehlberg78() { + currentStepSize_ = stepSize_ = 1.0; + minStepSize_ = 1.2E-10; + // minStepSize_ = 10.0; + + accuracy_ = 1.0e-6; + adaptive_ = true; + } + + /** Construct a RungeKuttaFehlberg78 integrator with user specified accuracy. + * @param accuracy Desired accuracy. + */ + public RungeKuttaFehlberg78(double accuracy) { + currentStepSize_ = stepSize_ = 1.0; + minStepSize_ = 1.2E-10; + // minStepSize_ = 10.0; + + accuracy_ = 1.0e-6; + adaptive_ = true; + } + + /** Set the step size. + * @param stepSize Step size. + */ + public void setStepSize(double stepSize) { + this.stepSize_ = stepSize; + } + + /** Set the minimum step size. + * @param stepSize Minimum step size. + */ + public void setMinimumStepSize(double stepSize) { + this.minStepSize_ = stepSize; + } + + /** Set the integrator to adaptive step size mode. + */ + public void setAdaptive() { + adaptive_ = true; + } + + /** Set the integrator to fixed step size mode. + */ + public void setNonAdaptive() { + adaptive_ = false; + } + + /** Set the accuracy. + * @param accuracy Desired accuracy. + */ + public void setAccuracy(double accuracy) { + this.accuracy_ = accuracy; + } + + /** Set the verbose mode to true or false. + * @param verbose Verbose flag. + */ + public void setVerbose(boolean verbose) { + this.verbose = verbose; + } + + /** Set the integrator to verbose mode. + */ + public void setVerbose() { + verbose = !verbose; + } + + private int[] nok = new int[1]; + private int[] nbad = new int[1]; + + private int goodSteps() { + return nok[0]; + } + + private int badSteps() { + return nbad[0]; + } + + private int steps() { + return nok[0] + nbad[0]; + } + + private double stepSize() { + return currentStepSize_; + } + + /** Integrate the equations of motion. + * @param start Initial time. + * @param x0 Initial state values. + * @param end Final time. + * @param dv Equations of Motion. + * @param pr Printable. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double start, double[] x0, double end, + Derivatives dv, Printable pr, boolean print_switch) { + double[] y=(double[]) x0.clone(); + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, dv, pr, print_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, dv, pr, print_switch); + } + return y; + } + + /** Integrate the equations of motion. + * @param start Initial time. + * @param x0 Initial state values. + * @param end Final time. + * @param dv object implementing the EquationsOfMotion interface. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double start, double[] x0, double end, + EquationsOfMotion eom, boolean print_switch) { + double[] y=(double[]) x0.clone(); + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, eom, print_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, eom, print_switch); + } + return y; + } + + /** Integrate the equations of motion. No printing/plotting interface provided. + * @param start Initial time. + * @param x0 Initial state values. + * @param end Final time. + * @param dv Equations of Motion. + * @param pr Printable. + * @param print_switch Print flag. True = call the print method. + * @return the final state. + */ + public double[] integrate(double start, double[] x0, double end, Derivatives dv) { + double[] y=(double[]) x0.clone(); + boolean print_switch = false; + double h = stepSize_; + double hmin = minStepSize_; + nok[0] = nbad[0] = 0; + if (adaptive_) { + odeint(y, start, end, accuracy_, h, hmin, nok, nbad, dv, this, print_switch); + if (verbose) { + System.out.println("nok = " + nok[0] + "\tnbad = " + nbad[0]); + } + } else { + rkdumb(y, start, end, h, dv, this, print_switch); + } + return y; + } + + + private void rkdumb(double[] ystart, double start, double end, + double h, Derivatives dv, Printable pr, boolean print_switch) { + int nvar = ystart.length; + + int nSteps = (int) Math.abs((end - start) / h); + if (nSteps < 1) + nSteps = 1; + h = (end - start) / nSteps; + double[] dydx = new double[nvar]; + double[] yend = new double[nvar]; + double[] yerr = new double[nvar]; + for (int step = 0; step < nSteps; step++) { + double x = start + step * h; + dydx = dv.derivs(x, ystart); + rkck(ystart, dydx, x, h, yend, yerr, dv); + for (int n = 0; n < nvar; n++){ + ystart[n] = yend[n]; + } + if (print_switch) { + pr.print(x, ystart); + } + } + } + + private void rkdumb(double[] ystart, double start, double end, + double h, EquationsOfMotion eom, boolean print_switch) { + int nvar = ystart.length; + + int nSteps = (int) Math.abs((end - start) / h); + if (nSteps < 1) + nSteps = 1; + h = (end - start) / nSteps; + double[] dydx = new double[nvar]; + double[] yend = new double[nvar]; + double[] yerr = new double[nvar]; + for (int step = 0; step < nSteps; step++) { + double x = start + step * h; + dydx = eom.derivs(x, ystart); + rkck(ystart, dydx, x, h, yend, yerr, eom); + for (int n = 0; n < nvar; n++){ + ystart[n] = yend[n]; + } + if (print_switch) { + eom.print(x, ystart); + } + } + } + private static final int MAXSTP = 1000000; + private static final double TINY = 1.0e-30; + + private void odeint(double[] ystart, double x1, double x2, + double eps, double h1, double hmin, int[] nok, + int[] nbad, Derivatives dv, Printable pr, boolean print_switch) { + int nvar = ystart.length; + double[] x = new double[1]; + double[] hnext = new double[1]; + double[] hdid = new double[1]; + double[] yscal = new double[nvar]; + double[] y = new double[nvar]; + double[] dydx = new double[nvar]; + double h = Math.abs(h1); + double xsav = 0; // last time stored + ArrayList steps = new ArrayList(); + + x[0] = x1; + if (x2 < x1) + h = -h; + nok[0] = nbad[0] = 0; + for (int i = 0; i < nvar; i++) + y[i] = ystart[i]; + + // save initial values + if (saveSteps){ + xsav = x[0] - dxsav * 2.0; + store_step(steps, nvar, x[0], y); + nEqns = nvar; + } + + for (int nstp = 1; nstp <= MAXSTP; nstp++) { + dydx = dv.derivs(x[0], y); + for (int i = 0; i < nvar; i++) + yscal[i] = Math.abs(y[i]) + Math.abs(dydx[i] * h) + TINY; + + if ( (x[0] + h - x2) * (x[0] + h - x1) > 0.0) + h = x2 - x[0]; + rkqs(y, dydx, x, h, eps, yscal, hdid, hnext, dv); + if (hdid[0] == h) + ++nok[0]; + else + ++nbad[0]; + + // invoke the print method, if required + if (print_switch) { + pr.print(x[0], y); + } + + // save intermediate values + if (saveSteps && Math.abs(x[0] - xsav) > Math.abs(dxsav) ){ + store_step(steps, nvar, x[0], y); + xsav = x[0]; + } + + if ( (x[0] - x2) * (x2 - x1) >= 0.0 ) { // are we done? + // save off the data + for (int i = 0; i < nvar; i++){ + ystart[i] = y[i]; + } + if (saveSteps) { + simStates = convertIntermediateValues(steps, nvar); + } + return; + } + if (Math.abs(hnext[0]) <= hmin) { + error("Step size too small in odeint"); + System.out.println("h = "+hnext[0]); + } + h = hnext[0]; + currentStepSize_ = h; // added for comphys + // System.out.println("Current Step Size = "+h); + } + error("Too many steps in routine odeint"); + System.out.println("step size = "+currentStepSize_); + } + + private void odeint(double[] ystart, double x1, double x2, + double eps, double h1, double hmin, int[] nok, + int[] nbad, EquationsOfMotion eom, boolean print_switch) { + int nvar = ystart.length; + double[] x = new double[1]; + double[] hnext = new double[1]; + double[] hdid = new double[1]; + double[] yscal = new double[nvar]; + double[] y = new double[nvar]; + double[] dydx = new double[nvar]; + x[0] = x1; + double h = Math.abs(h1); + if (x2 < x1) + h = -h; + nok[0] = nbad[0] = 0; + for (int i = 0; i < nvar; i++) + y[i] = ystart[i]; +// double xsav = 0; +// if (kmax > 0) +// xsav = x[0] - dxsav * 2.0; + for (int nstp = 1; nstp <= MAXSTP; nstp++) { + dydx = eom.derivs(x[0], y); + for (int i = 0; i < nvar; i++) + yscal[i] = Math.abs(y[i]) + Math.abs(dydx[i] * h) + TINY; +// if (kmax > 0 && kount < kmax - 1 && +// Math.abs(x[0] - xsav) > Math.abs(dxsav)) { +// simTimes[++kount] = x[0]; +// for (int i = 0; i < nvar; i++) +// simStates[i][kount] = y[i]; +// xsav = x[0]; +// } + if ( (x[0] + h - x2) * (x[0] + h - x1) > 0.0) + h = x2 - x[0]; + rkqs(y, dydx, x, h, eps, yscal, hdid, hnext, eom); + if (hdid[0] == h) + ++nok[0]; + else + ++nbad[0]; + + // invoke the print method, if required + if (print_switch) { + eom.print(x[0], y); + } + + if ( (x[0] - x2) * (x2 - x1) >= 0.0 ) { // are we done? + // save off the data + for (int i = 0; i < nvar; i++){ + ystart[i] = y[i]; + } +// if (kmax != 0) { +// simTimes[++kount] = x[0]; +// for (int i = 0; i < nvar; i++) +// simStates[i][kount] = y[i]; +// } + return; + } + if (Math.abs(hnext[0]) <= hmin) { + error("Step size too small in odeint"); + System.out.println("h = "+hnext[0]); + } + h = hnext[0]; + currentStepSize_ = h; // added for comphys + // System.out.println("Current Step Size = "+h); + } + error("Too many steps in routine odeint"); + System.out.println("step size = "+currentStepSize_); + } + + private static final double SAFETY = 0.9; + private static final double PGROW = -1.0/8.0; + private static final double PSHRNK = -1.0/7.0; + private static final double ERRCON = 2.56578451395034701E-8; + protected void rkqs(double[] y, double[] dydx, double[] x, + double htry, double eps, double[] yscal, + double[] hdid, double[] hnext, Derivatives dv) { + int n = y.length; + double errmax = 0; + double[] yerr = new double[n]; + double[] ytemp = new double[n]; + double h = htry; + for (;;) { + rkck(y, dydx, x[0], h, ytemp, yerr, dv); + errmax = 0; + for (int i = 0; i < n; i++) + errmax = Math.max(errmax, Math.abs(yerr[i] / yscal[i])); + errmax /= eps; + if (errmax <= 1.0) + break; + double htemp = SAFETY * h * Math.pow(errmax, PSHRNK); + h = (h >= 0.0 ? Math.max(htemp, 0.1*h) : Math.min(htemp, 0.1*h)); + double xnew = x[0] + h; + if (xnew == x[0]) + error("stepsize underflow in rkqs"); + } + if (errmax > ERRCON) + hnext[0] = SAFETY * h * Math.pow(errmax, PGROW); + else + hnext[0] = 5.0 * h; + x[0] += (hdid[0] = h); + for (int i = 0; i < n; i++) + y[i] = ytemp[i]; + } + + private static final double [] a = { 0.0, 2.0/27.0, 1.0/9.0, 1.0/6.0, 5.0/12.0, 0.5, + 5.0/6.0, 1.0/6.0, 2.0/3.0, 1.0/3.0, 1.0, 0.0, 1.0 }; + + private static final double [][] b = new double [13][12]; + static { + for (int i = 0; i < 13; i++) { + for (int j = 0; j < 12; j++) { + b[i][j] = 0.0; + } + } + + b[1][0] = 2.0/27.0; + b[2][0] = 1.0/36.0; + b[2][1] = 1.0/12.0; + b[3][0] = 1.0/24.0; + b[3][2] = 1.0/8.0; + b[4][0] = 5.0/12.0; + b[4][2] = -25.0/16.0; + b[4][3] = 25.0/16.0; + b[5][0] = 1.0/20.0; + b[5][3] = 0.25; + b[5][4] = 0.2; + b[6][0] = -25.0/108.0; + b[6][3] = 125.0/108.0; + b[6][4] = -65.0/27.0; + b[6][5] = 125.0/54.0; + b[7][0] = 31.0/300.0; + b[7][4] = 61.0/225.0; + b[7][5] = -2.0/9.0; + b[7][6] = 13.0/900.0; + b[8][0] = 2.0; + b[8][3] = -53.0/6.0; + b[8][4] = 704.0/45.0; + b[8][5] = -107.0/9.0; + b[8][6] = 67.0/90.0; + b[8][7] = 3.0; + b[9][0] = -91.0/108.0; + b[9][3] = 23.0/108.0; + b[9][4] = -976.0/135.0; + b[9][5] = 311.0/54.0; + b[9][6] = -19.0/60.0; + b[9][7] = 17.0/6.0; + b[9][8] = -1.0/12.0; + b[10][0] = 2383.0/4100.0; + b[10][3] = -341.0/164.0; + b[10][4] = 4496.0/1025.0; + b[10][5] = -301.0/82.0; + b[10][6] = 2133.0/4100.0; + b[10][7] = 45.0/82.0; + b[10][8] = 45.0/164.0; + b[10][9] = 18.0/41.0; + b[11][0] = 3.0/205.0; + b[11][5] = -6.0/41.0; + b[11][6] = -3.0/205.0; + b[11][7] = -3.0/41.0; + b[11][8] = 3.0/41.0; + b[11][9] = 6.0/41.0; + b[12][0] = -1777.0/4100.0; + b[12][3] = -341.0/164.0; + b[12][4] = 4496.0/1025.0; + b[12][5] = -289.0/82.0; + b[12][6] = 2193.0/4100.0; + b[12][7] = 51.0/82.0; + b[12][8] = 33.0/164.0; + b[12][9] = 12.0/41.0; + b[12][11] = 1.0; + } + + private static final double [] c = {41.0/840.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 41.0/840.0, 0.0, 0.0}; + + private static final double [] chat = {0.0, 0.0, 0.0, 0.0, 0.0, 34.0/105.0, 9.0/35.0, + 9.0/35.0, 9.0/280.0, 9.0/280.0, 0.0, 41.0/840.0, 41.0/840.0}; + + protected void rkck(double[] y, double[] dydx, double x, double h, + double[] yout, double[] yerr, Derivatives dv) { + + int n = y.length; + + double f[][] = new double[13][n]; + double yt[][] = new double[13][n]; + + // double y7th[] = new double[n]; + double ytmp[] = new double[n]; + double sum[] = new double[n]; + + // System.out.println("step size = "+h); + + double xeval[] = new double [13]; + for (int i = 0; i < 13; i++) // find times for function evals + { + xeval[i] = x + a[i] * h; + } + + // build f matrix + // f[0] = derivs.derivs(x, y); + f[0] = dydx; + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * b[1][0] * f[0][i]; + } + f[1] = dv.derivs(xeval[1], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[2][0]*f[0][i] + b[2][1]*f[1][i]); + } + f[2] = dv.derivs(xeval[2], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[3][0]*f[0][i] + b[3][2]*f[2][i]); + } + f[3] = dv.derivs(xeval[3], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[4][0]*f[0][i] + b[4][2]*f[2][i] + b[4][3]*f[3][i]); + } + f[4] = dv.derivs(xeval[4], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[5][0]*f[0][i] + b[5][3]*f[3][i] + b[5][4]*f[4][i]); + } + f[5] = dv.derivs(xeval[5], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[6][0]*f[0][i] + b[6][3]*f[3][i] + b[6][4]*f[4][i] + b[6][5]*f[5][i]); + } + f[6] = dv.derivs(xeval[6], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[7][0]*f[0][i] + b[7][4]*f[4][i] + b[7][5]*f[5][i] + b[7][6]*f[6][i]); + } + f[7] = dv.derivs(xeval[7], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[8][0]*f[0][i] + b[8][3]*f[3][i] + b[8][4]*f[4][i] + b[8][5]*f[5][i] + b[8][6]*f[6][i] + b[8][7]*f[7][i]); + } + f[8] = dv.derivs(xeval[8], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[9][0]*f[0][i] + b[9][3]*f[3][i] + b[9][4]*f[4][i] + b[9][5]*f[5][i] + b[9][6]*f[6][i] + b[9][7]*f[7][i] + + b[9][8]*f[8][i]); + } + f[9] = dv.derivs(xeval[9], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[10][0]*f[0][i] + b[10][3]*f[3][i] + b[10][4]*f[4][i] + b[10][5]*f[5][i] + b[10][6]*f[6][i] + b[10][7]*f[7][i] + + b[10][8]*f[8][i] + b[10][9]*f[9][i]); + } + f[10] = dv.derivs(xeval[10], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[11][0]*f[0][i] + b[11][5]*f[5][i] + b[11][6]*f[6][i] + b[11][7]*f[7][i] + + b[11][8]*f[8][i] + b[11][9]*f[9][i]); + } + f[11] = dv.derivs(xeval[11], ytmp); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * (b[12][0]*f[0][i] + b[12][3]*f[3][i] + b[12][4]*f[4][i] + b[12][5]*f[5][i] + b[12][6]*f[6][i] + b[12][7]*f[7][i] + + b[12][8]*f[8][i] + b[12][9]*f[9][i] + f[11][i]); + } + f[12] = dv.derivs(xeval[12], ytmp); + + // construct solutions + // yout is the 8th order solution + + for (int i = 0; i < n; i++) { + // y7th[i] = y[i] + h*(c[0]*f[0][i] +c[5]*f[5][i] + c[6]*f[6][i] + c[7]*f[7][i] + c[8]*f[8][i] + c[9]*f[9][i] + c[10]*f[10][i]); + yout[i] = y[i] + h*(chat[5]*f[5][i] + chat[6]*f[6][i] + chat[7]*f[7][i] + chat[8]*f[8][i] + chat[9]*f[9][i] + chat[11]*f[11][i] + chat[12]*f[12][i]); + yerr[i] = h*c[0]*(f[11][i] + f[12][i] - f[0][i] - f[10][i]); + } + } + + /** + * Store one integration step in an ArrayList + * @param steps The ArrayList to store the step into + * @param nvar dimension of state vector + * @param x independent variable + * @param y state vector + * @param ntry number of steps to achieve requested accuracy + */ + private void store_step(ArrayList steps, int nvar, double x, double[] y) + { + double[] step = new double[nvar + 1]; + step[0] = x; + for (int i = 0; i < nvar; i++) + step[i + 1] = y[i]; + steps.add(step); + } + + /** + * Convert an ArrayList to a two-dimensional double array and time vector + * @param steps the ArrayList + * @param nvar dimension of state vector + * @return + */ + private double[][] convertIntermediateValues(ArrayList steps, int nvar) + { + nSteps = steps.size(); + double[][] steps_array = new double[nSteps][nvar + 1]; + for (int i = 0; i < nSteps; i++) + { + double[] step = (double[]) steps.get(i); + for (int j = 0; j < step.length; j++) + { + steps_array[i][j] = step[j]; + } + } + return steps_array; + } + + public void print(double t, double [] y){ + // do nothing + } + + private void error(String msg) { + System.err.println("RungeKuttaFehlberg78: " + msg); + } + + public double[] getIntermediateTimes(){ + double[] simTimes = new double[nSteps]; + for(int i=0; i + * The Printable interface provides the mechanism for passing a method + * that prints the desired outputs to an integrator. + * + * @author + * @version 1.0 + */ +public interface StoppingCondition { + + boolean stoppingCondition(double t, double [] y); + +} diff --git a/src/jat/coreNOSA/algorithm/integrators/package.html b/src/jat/coreNOSA/algorithm/integrators/package.html new file mode 100644 index 0000000..4bb1161 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/integrators/package.html @@ -0,0 +1,2 @@ + +Inititial value problem solvers: Runge-Kutta \ No newline at end of file diff --git a/src/jat/coreNOSA/algorithm/optimization/DFP.java b/src/jat/coreNOSA/algorithm/optimization/DFP.java new file mode 100644 index 0000000..2c86237 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/DFP.java @@ -0,0 +1,150 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Davidon-Fletcher-Powell variable metric method + * @author Tobias Berthold + * + */ +public class DFP extends optimize +{ + public double err_ods = 1.e-4; // Error tolerance for linesearch + public double err_dfp = 1.e-6; // Error tolerance for search + public double eps_CD = 1.e-4; // Perturbation for central difference + public int max_it = 50; // maximum iterations + + public DFP(ScalarfromArrayFunction G, double[] x_init) + { + super(G, x_init); + } + + void DFP_update(VectorN dx, VectorN dg, Matrix H) + { + int n = dx.length; + VectorN H_dg = new VectorN(n); + double dxT_dg = 0., dgT_H_dg = 0.; + Matrix dx_dxT, dH, dH1, dH2, H_dg_dgT_H; + + H_dg = H.times(dg); + dxT_dg = dx.dotProduct(dg); + dgT_H_dg = dg.dotProduct(H_dg); + dx_dxT = dx.outerProduct(dx); + H_dg_dgT_H = H_dg.outerProduct(H_dg); + + dH1 = dx_dxT.ebeDivide(dxT_dg); + dH2 = H_dg_dgT_H.ebeDivide(dgT_H_dg); + dH = dH1.minus(dH2); + H.setMatrix(0, 0, H.plus(dH)); + return; + } + + public double[] find_min_DFP() + { + Matrix H = new Matrix(n); // Set H to identity matrix + VectorN x, xn, dx, gx, gxn, dgx; + double[] dummy; + int i, it = 0; + double norm = 0.; + boolean more_iter = true; + int status = 0; + + // Copy initial guess to x + x = new VectorN(x_init); + xn = new VectorN(x_init); + gxn = new VectorN(x_init); + //copy(x_init, this.x); + print_header(); + + gx = new VectorN(NumDerivs.G_x_central(G, x.getArray(), eps_CD)); + while (more_iter) + { + norm = norm(gx.getArray()); + if (norm < err_dfp) + { + more_iter = false; + print_line(it, x.getArray(), G.evaluate(x.getArray()), gx.getArray(), norm); + } else + { + // Step 4 + dx = H.times(gx); + dx = dx.times(-1.); + //H.print("H"); + copy(x.getArray(), xn.getArray()); + dummy = LineSearch.ods(G, xn.getArray(), dx.getArray(), err_ods); + print_line(it, x.getArray(), G.evaluate(x.getArray()), gx.getArray(), norm); + // Step 5 + dx = xn.minus(x); + // Step 6 + gxn = new VectorN(NumDerivs.G_x_central(G, xn.getArray(), eps_CD)); + dgx = gxn.minus(gx); + // Step 7 + DFP_update(dx, dgx, H); + // Step 8 + copy(xn, x); + copy(gxn, gx); + it++; + if (it > max_it) + { + more_iter = false; + status = 1; + } + if (LineSearch.status > 0) + { + System.out.println("Linesearch failed, status: " + LineSearch.status); + // x might still be minimum, check + more_iter = false; + status = 2; + } + } + } + + // Conclusion + if (status == 0) + System.out.println("Convergence:"); + if (status == 1) + System.out.println("Maximum number of iterations reached"); + if (status == 2) + System.out.println("Linesearch failed"); + for (i = 0; i < x.length; i++) + System.out.print("x" + i + "= " + x.x[i] + " "); + System.out.println(""); + System.out.println("|Gx|= " + norm); + + return x.getArray(); + + } + + private void copy(double[] from, double[] to) + { + System.arraycopy(from, 0, to, 0, from.length); + } + + private void copy(VectorN from, VectorN to) + { + System.arraycopy(from.getArray(), 0, to.getArray(), 0, from.length); + } + +} diff --git a/src/jat/coreNOSA/algorithm/optimization/GradientSearch.java b/src/jat/coreNOSA/algorithm/optimization/GradientSearch.java new file mode 100644 index 0000000..7e9ae97 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/GradientSearch.java @@ -0,0 +1,154 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +/** + * @author Tobias Berthold + * Date : 6-21-2004 + * @version 1.0 + */ + +public class GradientSearch extends optimize +{ + public double err_ods = 1.e-4; // error tolerance for linesearch + public double err_grad = 1.e-6; // error tolerance for gradient search + public double eps_FD = 1.e-8; // Perturbation for forward difference + public int max_it = 50; // maximum iterations + + public GradientSearch(ScalarfromArrayFunction G, double[] x_init) + { + super(G, x_init); + } + + /** Set up the optimize class for finding the minimum of a function + * by gradient search method + * @param G The function the minimum of which is to be found + * @param x_init Initial guess vector + * @param err_ods Error tolerance for linesearch + */ + public GradientSearch(ScalarfromArrayFunction G, double[] x_init, double err_ods) + { + super(G, x_init, err_ods); + } + + /** Set up the optimize class for finding the minimum of a function + * by gradient search method + * @param G The function the minimum of which is to be found + * @param x_init Initial guess vector + * @param err_ods Error tolerance for linesearch + * @param max_it maximum iterations + */ + public GradientSearch(ScalarfromArrayFunction G, double[] x_init, double err_ods, int max_it) + { + super(G, x_init, err_ods); + this.max_it = max_it; + this.err_ods = err_ods; + } + + /** Find the minimum of a function by gradient search method + * @param G The function the minimum of which is to be found + * @param x_init Initial guess vector + * @param epss Error tolerance for linesearch + * @param max_it maximum iterations + * @param eps_FD Perturbation factor for finite difference + * @param err_grad error tolerance for gradient search + */ + public GradientSearch(ScalarfromArrayFunction G, double[] x_init, double err_ods, int max_it, double eps_FD, double err_grad) + { + super(G, x_init, err_ods); + + this.max_it = max_it; + this.eps_FD = eps_FD; + this.err_grad = err_grad; + } + + // public void set_initial_guess(double[] x) + // { + // // for(int i=0;i max_it) + { + more_iter = false; + status=1; + } + if (LineSearch.status >0) + { + System.out.println("Linesearch failed, status: "+LineSearch.status); + // x might still be minimum, check + more_iter = false; + status=2; + } + } + } + + // Conclusion + if(status==0) + System.out.println("Convergence:"); + if(status==1) + System.out.println("Maximum number of iterations reached"); + if(status==2) + System.out.println("Linesearch failed"); + for (i = 0; i < x.length; i++) + System.out.print("x" + i + "= " + x[i] + " "); + System.out.println(""); + System.out.println("|Gx|= "+norm); + + return x; + } +} diff --git a/src/jat/coreNOSA/algorithm/optimization/LBFGS/LBFGS.java b/src/jat/coreNOSA/algorithm/optimization/LBFGS/LBFGS.java new file mode 100644 index 0000000..f553890 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/LBFGS/LBFGS.java @@ -0,0 +1,707 @@ +/* RISO: an implementation of distributed belief networks. + * Copyright (C) 1999, Robert Dodier. + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the NASA Open Source Agreement as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA, 02111-1307, USA, + * or visit the GNU web site, www.gnu.org. + */ +package jat.coreNOSA.algorithm.optimization.LBFGS; + +/**

This class contains code for the limited-memory Broyden-Fletcher-Goldfarb-Shanno + * (LBFGS) algorithm for large-scale multidimensional unconstrained minimization problems. + * This file is a translation of Fortran code written by Jorge Nocedal. + * The only modification to the algorithm is the addition of a cache to + * store the result of the most recent line search. See solution_cache below. + * + * LBFGS is distributed as part of the RISO project. Following is a message from Jorge Nocedal: + * 

+  *   From: Jorge Nocedal [mailto:nocedal@dario.ece.nwu.edu]
+  *   Sent: Friday, August 17, 2001 9:09 AM
+  *   To: Robert Dodier
+  *   Subject: Re: Commercial licensing terms for LBFGS?
+  *   
+  *   Robert:
+  *   The code L-BFGS (for unconstrained problems) is in the public domain.
+  *   It can be used in any commercial application.
+  *   
+  *   The code L-BFGS-B (for bound constrained problems) belongs to
+  *   ACM. You need to contact them for a commercial license. It is
+  *   algorithm 778.
+  *   
+  *   Jorge
+  *
+ * + *

This code is derived from the Fortran program lbfgs.f. + * The Java translation was effected mostly mechanically, with some + * manual clean-up; in particular, array indices start at 0 instead of 1. + * Most of the comments from the Fortran code have been pasted in here + * as well.

+ * + *

Here's some information on the original LBFGS Fortran source code, + * available at + * http://www.netlib.org/opt/lbfgs_um.shar. This info is taken + * verbatim from the Netlib blurb on the Fortran source.

+ * + * 
+  * 	file    opt/lbfgs_um.shar
+  * 	for     unconstrained optimization problems
+  * 	alg     limited memory BFGS method
+  * 	by      J. Nocedal
+  * 	contact nocedal@eecs.nwu.edu
+  * 	ref     D. C. Liu and J. Nocedal, ``On the limited memory BFGS method for
+  * 	,       large scale optimization methods'' Mathematical Programming 45
+  * 	,       (1989), pp. 503-528.
+  * 	,       (Postscript file of this paper is available via anonymous ftp
+  * 	,       to eecs.nwu.edu in the directory pub/lbfgs/lbfgs_um.)
+  *
+ * + * @author Jorge Nocedal: original Fortran version, including comments + * (July 1990). Robert Dodier: Java translation, August 1997. + */ + +public class LBFGS +{ + /** Specialized exception class for LBFGS; contains the + * iflag value returned by lbfgs. + */ + + public static class ExceptionWithIflag extends Exception + { + /** + * + */ + private static final long serialVersionUID = -391463459832208186L; + public int iflag; + public ExceptionWithIflag( int i, String s ) { super(s); iflag = i; } + public String toString() { return getMessage()+" (iflag == "+iflag+")"; } + } + + /** Controls the accuracy of the line search mcsrch. If the + * function and gradient evaluations are inexpensive with respect + * to the cost of the iteration (which is sometimes the case when + * solving very large problems) it may be advantageous to set gtol + * to a small value. A typical small value is 0.1. Restriction: + * gtol should be greater than 1e-4. + */ + + public static double gtol = 0.9; + + /** Specify lower bound for the step in the line search. + * The default value is 1e-20. This value need not be modified unless + * the exponent is too large for the machine being used, or unless + * the problem is extremely badly scaled (in which case the exponent + * should be increased). + */ + + public static double stpmin = 1e-20; + + /** Specify upper bound for the step in the line search. + * The default value is 1e20. This value need not be modified unless + * the exponent is too large for the machine being used, or unless + * the problem is extremely badly scaled (in which case the exponent + * should be increased). + */ + + public static double stpmax = 1e20; + + /** The solution vector as it was at the end of the most recently + * completed line search. This will usually be different from the + * return value of the parameter x of lbfgs, which + * is modified by line-search steps. A caller which wants to stop the + * optimization iterations before LBFGS.lbfgs automatically stops + * (by reaching a very small gradient) should copy this vector instead + * of using x. When LBFGS.lbfgs automatically stops, + * then x and solution_cache are the same. + */ + public static double[] solution_cache = null; + + private static double gnorm = 0, stp1 = 0, ftol = 0, stp[] = new double[1], ys = 0, yy = 0, sq = 0, yr = 0, beta = 0, xnorm = 0; + private static int iter = 0, nfun = 0, point = 0, ispt = 0, iypt = 0, maxfev = 0, info[] = new int[1], bound = 0, npt = 0, cp = 0, i = 0, nfev[] = new int[1], inmc = 0, iycn = 0, iscn = 0; + private static boolean finish = false; + + private static double[] w = null; + + /** This method returns the total number of evaluations of the objective + * function since the last time LBFGS was restarted. The total number of function + * evaluations increases by the number of evaluations required for the + * line search; the total is only increased after a successful line search. + */ + public static int nfevaluations() { return nfun; } + + /** This subroutine solves the unconstrained minimization problem + * 
+	  *     min f(x),    x = (x1,x2,...,x_n),
+	  *
+ * using the limited-memory BFGS method. The routine is especially + * effective on problems involving a large number of variables. In + * a typical iteration of this method an approximation Hk to the + * inverse of the Hessian is obtained by applying m BFGS updates to + * a diagonal matrix Hk0, using information from the previous M steps. + * The user specifies the number m, which determines the amount of + * storage required by the routine. The user may also provide the + * diagonal matrices Hk0 if not satisfied with the default choice. + * The algorithm is described in "On the limited memory BFGS method + * for large scale optimization", by D. Liu and J. Nocedal, + * Mathematical Programming B 45 (1989) 503-528. + * + * The user is required to calculate the function value f and its + * gradient g. In order to allow the user complete control over + * these computations, reverse communication is used. The routine + * must be called repeatedly under the control of the parameter + * iflag. + * + * The steplength is determined at each iteration by means of the + * line search routine mcsrch, which is a slight modification of + * the routine CSRCH written by More' and Thuente. + * + * The only variables that are machine-dependent are xtol, + * stpmin and stpmax. + * + * Progress messages are printed to System.out, and + * non-fatal error messages are printed to System.err. + * Fatal errors cause exception to be thrown, as listed below. + * + * @param n The number of variables in the minimization problem. + * Restriction: n > 0. + * + * @param m The number of corrections used in the BFGS update. + * Values of m less than 3 are not recommended; + * large values of m will result in excessive + * computing time. 3 <= m <= 7 is recommended. + * Restriction: m > 0. + * + * @param x On initial entry this must be set by the user to the values + * of the initial estimate of the solution vector. On exit with + * iflag = 0, it contains the values of the variables + * at the best point found (usually a solution). + * + * @param f Before initial entry and on a re-entry with iflag = 1, + * it must be set by the user to contain the value of the function + * f at the point x. + * + * @param g Before initial entry and on a re-entry with iflag = 1, + * it must be set by the user to contain the components of the + * gradient g at the point x. + * + * @param diagco Set this to true if the user wishes to + * provide the diagonal matrix Hk0 at each iteration. + * Otherwise it should be set to false in which case + * lbfgs will use a default value described below. If + * diagco is set to true the routine will + * return at each iteration of the algorithm with iflag = 2, + * and the diagonal matrix Hk0 must be provided in + * the array diag. + * + * @param diag If diagco = true, then on initial entry or on + * re-entry with iflag = 2, diag + * must be set by the user to contain the values of the + * diagonal matrix Hk0. Restriction: all elements of + * diag must be positive. + * + * @param iprint Specifies output generated by lbfgs. + * iprint[0] specifies the frequency of the output: + *
    + *
  • iprint[0] < 0: no output is generated, + *
  • iprint[0] = 0: output only at first and last iteration, + *
  • iprint[0] > 0: output every iprint[0] iterations. + *
+ * + * iprint[1] specifies the type of output generated: + *
    + *
  • iprint[1] = 0: iteration count, number of function + * evaluations, function value, norm of the gradient, and steplength, + *
  • iprint[1] = 1: same as iprint[1]=0, plus vector of + * variables and gradient vector at the initial point, + *
  • iprint[1] = 2: same as iprint[1]=1, plus vector of + * variables, + *
  • iprint[1] = 3: same as iprint[1]=2, plus gradient vector. + *
+ * + * @param eps Determines the accuracy with which the solution + * is to be found. The subroutine terminates when + * 
+	  *            ||G|| < EPS max(1,||X||),
+	  *
+ * where ||.|| denotes the Euclidean norm. + * + * @param xtol An estimate of the machine precision (e.g. 10e-16 on a + * SUN station 3/60). The line search routine will terminate if the + * relative width of the interval of uncertainty is less than + * xtol. + * + * @param iflag This must be set to 0 on initial entry to lbfgs. + * A return with iflag < 0 indicates an error, + * and iflag = 0 indicates that the routine has + * terminated without detecting errors. On a return with + * iflag = 1, the user must evaluate the function + * f and gradient g. On a return with + * iflag = 2, the user must provide the diagonal matrix + * Hk0. + * + * The following negative values of iflag, detecting an error, + * are possible: + *
    + *
  • iflag = -1 The line search routine + * mcsrch failed. One of the following messages + * is printed: + *
      + *
    • Improper input parameters. + *
    • Relative width of the interval of uncertainty is at + * most xtol. + *
    • More than 20 function evaluations were required at the + * present iteration. + *
    • The step is too small. + *
    • The step is too large. + *
    • Rounding errors prevent further progress. There may not + * be a step which satisfies the sufficient decrease and + * curvature conditions. Tolerances may be too small. + *
    + *
  • iflag = -2 The i-th diagonal element of the diagonal inverse + * Hessian approximation, given in DIAG, is not positive. + *
  • iflag = -3 Improper input parameters for LBFGS + * (n or m are not positive). + *
+ * + * @throws LBFGS.ExceptionWithIflag + */ + + public static void lbfgs ( int n , int m , double[] x , double f , double[] g , boolean diagco , double[] diag , int[] iprint , double eps , double xtol , int[] iflag ) throws ExceptionWithIflag + { + boolean execute_entire_while_loop = false; + + if ( w == null || w.length != n*(2*m+1)+2*m ) + { + w = new double[ n*(2*m+1)+2*m ]; + } + + if ( iflag[0] == 0 ) + { + // Initialize. + + solution_cache = new double[n]; + System.arraycopy( x, 0, solution_cache, 0, n ); + + iter = 0; + + if ( n <= 0 || m <= 0 ) + { + iflag[0]= -3; + throw new ExceptionWithIflag( iflag[0], "Improper input parameters (n or m are not positive.)" ); + } + + if ( gtol <= 0.0001 ) + { + System.err.println( "LBFGS.lbfgs: gtol is less than or equal to 0.0001. It has been reset to 0.9." ); + gtol= 0.9; + } + + nfun= 1; + point= 0; + finish= false; + + if ( diagco ) + { + for ( i = 1 ; i <= n ; i += 1 ) + { + if ( diag [ i -1] <= 0 ) + { + iflag[0]=-2; + throw new ExceptionWithIflag( iflag[0], "The "+i+"-th diagonal element of the inverse hessian approximation is not positive." ); + } + } + } + else + { + for ( i = 1 ; i <= n ; i += 1 ) + { + diag [ i -1] = 1; + } + } + ispt= n+2*m; + iypt= ispt+n*m; + + for ( i = 1 ; i <= n ; i += 1 ) + { + w [ ispt + i -1] = - g [ i -1] * diag [ i -1]; + } + + gnorm = Math.sqrt ( ddot ( n , g , 0, 1 , g , 0, 1 ) ); + stp1= 1/gnorm; + ftol= 0.0001; + maxfev= 20; + + if ( iprint [ 1 -1] >= 0 ) lb1 ( iprint , iter , nfun , gnorm , n , m , x , f , g , stp , finish ); + + execute_entire_while_loop = true; + } + + while ( true ) + { + if ( execute_entire_while_loop ) + { + iter= iter+1; + info[0]=0; + bound=iter-1; + if ( iter != 1 ) + { + if ( iter > m ) bound = m; + ys = ddot ( n , w , iypt + npt , 1 , w , ispt + npt , 1 ); + if ( ! diagco ) + { + yy = ddot ( n , w , iypt + npt , 1 , w , iypt + npt , 1 ); + + for ( i = 1 ; i <= n ; i += 1 ) + { + diag [ i -1] = ys / yy; + } + } + else + { + iflag[0]=2; + return; + } + } + } + + if ( execute_entire_while_loop || iflag[0] == 2 ) + { + if ( iter != 1 ) + { + if ( diagco ) + { + for ( i = 1 ; i <= n ; i += 1 ) + { + if ( diag [ i -1] <= 0 ) + { + iflag[0]=-2; + throw new ExceptionWithIflag( iflag[0], "The "+i+"-th diagonal element of the inverse hessian approximation is not positive." ); + } + } + } + cp= point; + if ( point == 0 ) cp = m; + w [ n + cp -1] = 1 / ys; + + for ( i = 1 ; i <= n ; i += 1 ) + { + w [ i -1] = - g [ i -1]; + } + + cp= point; + + for ( i = 1 ; i <= bound ; i += 1 ) + { + cp=cp-1; + if ( cp == - 1 ) cp = m - 1; + sq = ddot ( n , w , ispt + cp * n , 1 , w , 0 , 1 ); + inmc=n+m+cp+1; + iycn=iypt+cp*n; + w [ inmc -1] = w [ n + cp + 1 -1] * sq; + daxpy ( n , - w [ inmc -1] , w , iycn , 1 , w , 0 , 1 ); + } + + for ( i = 1 ; i <= n ; i += 1 ) + { + w [ i -1] = diag [ i -1] * w [ i -1]; + } + + for ( i = 1 ; i <= bound ; i += 1 ) + { + yr = ddot ( n , w , iypt + cp * n , 1 , w , 0 , 1 ); + beta = w [ n + cp + 1 -1] * yr; + inmc=n+m+cp+1; + beta = w [ inmc -1] - beta; + iscn=ispt+cp*n; + daxpy ( n , beta , w , iscn , 1 , w , 0 , 1 ); + cp=cp+1; + if ( cp == m ) cp = 0; + } + + for ( i = 1 ; i <= n ; i += 1 ) + { + w [ ispt + point * n + i -1] = w [ i -1]; + } + } + + nfev[0]=0; + stp[0]=1; + if ( iter == 1 ) stp[0] = stp1; + + for ( i = 1 ; i <= n ; i += 1 ) + { + w [ i -1] = g [ i -1]; + } + } + + Mcsrch.mcsrch ( n , x , f , g , w , ispt + point * n , stp , ftol , xtol , maxfev , info , nfev , diag ); + + if ( info[0] == - 1 ) + { + iflag[0]=1; + return; + } + + if ( info[0] != 1 ) + { + iflag[0]=-1; + throw new ExceptionWithIflag( iflag[0], "Line search failed. See documentation of routine mcsrch. Error return of line search: info = "+info[0]+" Possible causes: function or gradient are incorrect, or incorrect tolerances." ); + } + + nfun= nfun + nfev[0]; + npt=point*n; + + for ( i = 1 ; i <= n ; i += 1 ) + { + w [ ispt + npt + i -1] = stp[0] * w [ ispt + npt + i -1]; + w [ iypt + npt + i -1] = g [ i -1] - w [ i -1]; + } + + point=point+1; + if ( point == m ) point = 0; + + gnorm = Math.sqrt ( ddot ( n , g , 0 , 1 , g , 0 , 1 ) ); + xnorm = Math.sqrt ( ddot ( n , x , 0 , 1 , x , 0 , 1 ) ); + xnorm = Math.max ( 1.0 , xnorm ); + + if ( gnorm / xnorm <= eps ) finish = true; + + if ( iprint [ 1 -1] >= 0 ) lb1 ( iprint , iter , nfun , gnorm , n , m , x , f , g , stp , finish ); + + // Cache the current solution vector. Due to the spaghetti-like + // nature of this code, it's not possible to quit here and return; + // we need to go back to the top of the loop, and eventually call + // mcsrch one more time -- but that will modify the solution vector. + // So we need to keep a copy of the solution vector as it was at + // the completion (info[0]==1) of the most recent line search. + + System.arraycopy( x, 0, solution_cache, 0, n ); + + if ( finish ) + { + iflag[0]=0; + return; + } + + execute_entire_while_loop = true; // from now on, execute whole loop + } + } + + /** Print debugging and status messages for lbfgs. + * Depending on the parameter iprint, this can include + * number of function evaluations, current function value, etc. + * The messages are output to System.out. + * + * @param iprint Specifies output generated by lbfgs.

+ * iprint[0] specifies the frequency of the output: + *

    + *
  • iprint[0] < 0: no output is generated, + *
  • iprint[0] = 0: output only at first and last iteration, + *
  • iprint[0] > 0: output every iprint[0] iterations. + *

+ * + * iprint[1] specifies the type of output generated: + *

    + *
  • iprint[1] = 0: iteration count, number of function + * evaluations, function value, norm of the gradient, and steplength, + *
  • iprint[1] = 1: same as iprint[1]=0, plus vector of + * variables and gradient vector at the initial point, + *
  • iprint[1] = 2: same as iprint[1]=1, plus vector of + * variables, + *
  • iprint[1] = 3: same as iprint[1]=2, plus gradient vector. + *
+ * @param iter Number of iterations so far. + * @param nfun Number of function evaluations so far. + * @param gnorm Norm of gradient at current solution x. + * @param n Number of free parameters. + * @param m Number of corrections kept. + * @param x Current solution. + * @param f Function value at current solution. + * @param g Gradient at current solution x. + * @param stp Current stepsize. + * @param finish Whether this method should print the ``we're done'' message. + */ + public static void lb1 ( int[] iprint , int iter , int nfun , double gnorm , int n , int m , double[] x , double f , double[] g , double[] stp , boolean finish ) + { + int i; + + if ( iter == 0 ) + { + System.out.println( "*************************************************" ); + System.out.println( " n = " + n + " number of corrections = " + m + "\n initial values" ); + System.out.println( " f = " + f + " gnorm = " + gnorm ); + if ( iprint [ 2 -1] >= 1 ) + { + System.out.print( " vector x =" ); + for ( i = 1; i <= n; i++ ) + System.out.print( " "+x[i-1] ); + System.out.println( "" ); + + System.out.print( " gradient vector g =" ); + for ( i = 1; i <= n; i++ ) + System.out.print( " "+g[i-1] ); + System.out.println( "" ); + } + System.out.println( "*************************************************" ); + System.out.println( "\ti\tnfn\tfunc\tgnorm\tsteplength" ); + } + else + { + if ( ( iprint [ 1 -1] == 0 ) && ( iter != 1 && ! finish ) ) return; + if ( iprint [ 1 -1] != 0 ) + { + if ( (iter - 1) % iprint [ 1 -1] == 0 || finish ) + { + if ( iprint [ 2 -1] > 1 && iter > 1 ) + System.out.println( "\ti\tnfn\tfunc\tgnorm\tsteplength" ); + System.out.println( "\t"+iter+"\t"+nfun+"\t"+f+"\t"+gnorm+"\t"+stp[0] ); + } + else + { + return; + } + } + else + { + if ( iprint [ 2 -1] > 1 && finish ) + System.out.println( "\ti\tnfn\tfunc\tgnorm\tsteplength" ); + System.out.println( "\t"+iter+"\t"+nfun+"\t"+f+"\t"+gnorm+"\t"+stp[0] ); + } + if ( iprint [ 2 -1] == 2 || iprint [ 2 -1] == 3 ) + { + if ( finish ) + { + System.out.print( " final point x =" ); + } + else + { + System.out.print( " vector x = " ); + } + for ( i = 1; i <= n; i++ ) + System.out.print( " "+x[i-1] ); + System.out.println( "" ); + if ( iprint [ 2 -1] == 3 ) + { + System.out.print( " gradient vector g =" ); + for ( i = 1; i <= n; i++ ) + System.out.print( " "+g[i-1] ); + System.out.println( "" ); + } + } + if ( finish ) + System.out.println( " The minimization terminated without detecting errors. iflag = 0" ); + } + return; + } + + /** Compute the sum of a vector times a scalara plus another vector. + * Adapted from the subroutine daxpy in lbfgs.f. + * There could well be faster ways to carry out this operation; this + * code is a straight translation from the Fortran. + */ + public static void daxpy ( int n , double da , double[] dx , int ix0, int incx , double[] dy , int iy0, int incy ) + { + int i, ix, iy, m, mp1; + + if ( n <= 0 ) return; + + if ( da == 0 ) return; + + if ( ! ( incx == 1 && incy == 1 ) ) + { + ix = 1; + iy = 1; + + if ( incx < 0 ) ix = ( - n + 1 ) * incx + 1; + if ( incy < 0 ) iy = ( - n + 1 ) * incy + 1; + + for ( i = 1 ; i <= n ; i += 1 ) + { + dy [ iy0+iy -1] = dy [ iy0+iy -1] + da * dx [ ix0+ix -1]; + ix = ix + incx; + iy = iy + incy; + } + + return; + } + + m = n % 4; + if ( m != 0 ) + { + for ( i = 1 ; i <= m ; i += 1 ) + { + dy [ iy0+i -1] = dy [ iy0+i -1] + da * dx [ ix0+i -1]; + } + + if ( n < 4 ) return; + } + + mp1 = m + 1; + for ( i = mp1 ; i <= n ; i += 4 ) + { + dy [ iy0+i -1] = dy [ iy0+i -1] + da * dx [ ix0+i -1]; + dy [ iy0+i + 1 -1] = dy [ iy0+i + 1 -1] + da * dx [ ix0+i + 1 -1]; + dy [ iy0+i + 2 -1] = dy [ iy0+i + 2 -1] + da * dx [ ix0+i + 2 -1]; + dy [ iy0+i + 3 -1] = dy [ iy0+i + 3 -1] + da * dx [ ix0+i + 3 -1]; + } + return; + } + + /** Compute the dot product of two vectors. + * Adapted from the subroutine ddot in lbfgs.f. + * There could well be faster ways to carry out this operation; this + * code is a straight translation from the Fortran. + */ + public static double ddot ( int n, double[] dx, int ix0, int incx, double[] dy, int iy0, int incy ) + { + double dtemp; + int i, ix, iy, m, mp1; + + dtemp = 0; + + if ( n <= 0 ) return 0; + + if ( !( incx == 1 && incy == 1 ) ) + { + ix = 1; + iy = 1; + if ( incx < 0 ) ix = ( - n + 1 ) * incx + 1; + if ( incy < 0 ) iy = ( - n + 1 ) * incy + 1; + for ( i = 1 ; i <= n ; i += 1 ) + { + dtemp = dtemp + dx [ ix0+ix -1] * dy [ iy0+iy -1]; + ix = ix + incx; + iy = iy + incy; + } + return dtemp; + } + + m = n % 5; + if ( m != 0 ) + { + for ( i = 1 ; i <= m ; i += 1 ) + { + dtemp = dtemp + dx [ ix0+i -1] * dy [ iy0+i -1]; + } + if ( n < 5 ) return dtemp; + } + + mp1 = m + 1; + for ( i = mp1 ; i <= n ; i += 5 ) + { + dtemp = dtemp + dx [ ix0+i -1] * dy [ iy0+i -1] + dx [ ix0+i + 1 -1] * dy [ iy0+i + 1 -1] + dx [ ix0+i + 2 -1] * dy [ iy0+i + 2 -1] + dx [ ix0+i + 3 -1] * dy [ iy0+i + 3 -1] + dx [ ix0+i + 4 -1] * dy [ iy0+i + 4 -1]; + } + + return dtemp; + } +} diff --git a/src/jat/coreNOSA/algorithm/optimization/LBFGS/Mcsrch.java b/src/jat/coreNOSA/algorithm/optimization/LBFGS/Mcsrch.java new file mode 100644 index 0000000..bc6e8ca --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/LBFGS/Mcsrch.java @@ -0,0 +1,567 @@ +/* RISO: an implementation of distributed belief networks. + * Copyright (C) 1999, Robert Dodier. + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the NASA Open Source Agreement as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA, 02111-1307, USA, + * or visit the GNU web site, www.gnu.org. + */ +package jat.coreNOSA.algorithm.optimization.LBFGS; + +/** This class implements an algorithm for multi-dimensional line search. + * This file is a translation of Fortran code written by Jorge Nocedal. + * It is distributed as part of the RISO project. See comments in the file + * LBFGS.java for more information. + */ +public class Mcsrch +{ + private static int infoc[] = new int[1], j = 0; + private static double dg = 0, dgm = 0, dginit = 0, dgtest = 0, dgx[] = new double[1], dgxm[] = new double[1], dgy[] = new double[1], dgym[] = new double[1], finit = 0, ftest1 = 0, fm = 0, fx[] = new double[1], fxm[] = new double[1], fy[] = new double[1], fym[] = new double[1], p5 = 0, p66 = 0, stx[] = new double[1], sty[] = new double[1], stmin = 0, stmax = 0, width = 0, width1 = 0, xtrapf = 0; + private static boolean brackt[] = new boolean[1], stage1 = false; + + static double sqr( double x ) { return x*x; } + static double max3( double x, double y, double z ) { return x < y ? ( y < z ? z : y ) : ( x < z ? z : x ); } + + /** Minimize a function along a search direction. This code is + * a Java translation of the function MCSRCH from + * lbfgs.f, which in turn is a slight modification of + * the subroutine CSRCH of More' and Thuente. + * The changes are to allow reverse communication, and do not affect + * the performance of the routine. This function, in turn, calls + * mcstep.

+ * + * The Java translation was effected mostly mechanically, with some + * manual clean-up; in particular, array indices start at 0 instead of 1. + * Most of the comments from the Fortran code have been pasted in here + * as well.

+ * + * The purpose of mcsrch is to find a step which satisfies + * a sufficient decrease condition and a curvature condition.

+ * + * At each stage this function updates an interval of uncertainty with + * endpoints stx and sty. The interval of + * uncertainty is initially chosen so that it contains a + * minimizer of the modified function + * 

+	  *      f(x+stp*s) - f(x) - ftol*stp*(gradf(x)'s).
+	  *
+ * If a step is obtained for which the modified function + * has a nonpositive function value and nonnegative derivative, + * then the interval of uncertainty is chosen so that it + * contains a minimizer of f(x+stp*s).

+ * + * The algorithm is designed to find a step which satisfies + * the sufficient decrease condition + * 

+	  *       f(x+stp*s) <= f(X) + ftol*stp*(gradf(x)'s),
+	  *
+ * and the curvature condition + * 
+	  *       abs(gradf(x+stp*s)'s)) <= gtol*abs(gradf(x)'s).
+	  *
+ * If ftol is less than gtol and if, for example, + * the function is bounded below, then there is always a step which + * satisfies both conditions. If no step can be found which satisfies both + * conditions, then the algorithm usually stops when rounding + * errors prevent further progress. In this case stp only + * satisfies the sufficient decrease condition.

+ * + * @author Original Fortran version by Jorge J. More' and David J. Thuente + * as part of the Minpack project, June 1983, Argonne National + * Laboratory. Java translation by Robert Dodier, August 1997. + * + * @param n The number of variables. + * + * @param x On entry this contains the base point for the line search. + * On exit it contains x + stp*s. + * + * @param f On entry this contains the value of the objective function + * at x. On exit it contains the value of the objective + * function at x + stp*s. + * + * @param g On entry this contains the gradient of the objective function + * at x. On exit it contains the gradient at + * x + stp*s. + * + * @param s The search direction. + * + * @param stp On entry this contains an initial estimate of a satifactory + * step length. On exit stp contains the final estimate. + * + * @param ftol Tolerance for the sufficient decrease condition. + * + * @param xtol Termination occurs when the relative width of the interval + * of uncertainty is at most xtol. + * + * @param maxfev Termination occurs when the number of evaluations of + * the objective function is at least maxfev by the end + * of an iteration. + * + * @param info This is an output variable, which can have these values: + *

    + *
  • info = 0 Improper input parameters. + *
  • info = -1 A return is made to compute the function and gradient. + *
  • info = 1 The sufficient decrease condition and + * the directional derivative condition hold. + *
  • info = 2 Relative width of the interval of uncertainty + * is at most xtol. + *
  • info = 3 Number of function evaluations has reached maxfev. + *
  • info = 4 The step is at the lower bound stpmin. + *
  • info = 5 The step is at the upper bound stpmax. + *
  • info = 6 Rounding errors prevent further progress. + * There may not be a step which satisfies the + * sufficient decrease and curvature conditions. + * Tolerances may be too small. + *
+ * + * @param nfev On exit, this is set to the number of function evaluations. + * + * @param wa Temporary storage array, of length n. + */ + + public static void mcsrch ( int n , double[] x , double f , double[] g , double[] s , int is0 , double[] stp , double ftol , double xtol , int maxfev , int[] info , int[] nfev , double[] wa ) + { + p5 = 0.5; + p66 = 0.66; + xtrapf = 4; + + if ( info[0] != - 1 ) + { + infoc[0] = 1; + if ( n <= 0 || stp[0] <= 0 || ftol < 0 || LBFGS.gtol < 0 || xtol < 0 || LBFGS.stpmin < 0 || LBFGS.stpmax < LBFGS.stpmin || maxfev <= 0 ) + return; + + // Compute the initial gradient in the search direction + // and check that s is a descent direction. + + dginit = 0; + + for ( j = 1 ; j <= n ; j += 1 ) + { + dginit = dginit + g [ j -1] * s [ is0+j -1]; + } + + + if ( dginit >= 0 ) + { + System.out.println( "The search direction is not a descent direction." ); + return; + } + + brackt[0] = false; + stage1 = true; + nfev[0] = 0; + finit = f; + dgtest = ftol*dginit; + width = LBFGS.stpmax - LBFGS.stpmin; + width1 = width/p5; + + for ( j = 1 ; j <= n ; j += 1 ) + { + wa [ j -1] = x [ j -1]; + } + + // The variables stx, fx, dgx contain the values of the step, + // function, and directional derivative at the best step. + // The variables sty, fy, dgy contain the value of the step, + // function, and derivative at the other endpoint of + // the interval of uncertainty. + // The variables stp, f, dg contain the values of the step, + // function, and derivative at the current step. + + stx[0] = 0; + fx[0] = finit; + dgx[0] = dginit; + sty[0] = 0; + fy[0] = finit; + dgy[0] = dginit; + } + + while ( true ) + { + if ( info[0] != -1 ) + { + // Set the minimum and maximum steps to correspond + // to the present interval of uncertainty. + + if ( brackt[0] ) + { + stmin = Math.min ( stx[0] , sty[0] ); + stmax = Math.max ( stx[0] , sty[0] ); + } + else + { + stmin = stx[0]; + stmax = stp[0] + xtrapf * ( stp[0] - stx[0] ); + } + + // Force the step to be within the bounds stpmax and stpmin. + + stp[0] = Math.max ( stp[0] , LBFGS.stpmin ); + stp[0] = Math.min ( stp[0] , LBFGS.stpmax ); + + // If an unusual termination is to occur then let + // stp be the lowest point obtained so far. + + if ( ( brackt[0] && ( stp[0] <= stmin || stp[0] >= stmax ) ) || nfev[0] >= maxfev - 1 || infoc[0] == 0 || ( brackt[0] && stmax - stmin <= xtol * stmax ) ) stp[0] = stx[0]; + + // Evaluate the function and gradient at stp + // and compute the directional derivative. + // We return to main program to obtain F and G. + + for ( j = 1 ; j <= n ; j += 1 ) + { + x [ j -1] = wa [ j -1] + stp[0] * s [ is0+j -1]; + } + + info[0]=-1; + return; + } + + info[0]=0; + nfev[0] = nfev[0] + 1; + dg = 0; + + for ( j = 1 ; j <= n ; j += 1 ) + { + dg = dg + g [ j -1] * s [ is0+j -1]; + } + + ftest1 = finit + stp[0]*dgtest; + + // Test for convergence. + + if ( ( brackt[0] && ( stp[0] <= stmin || stp[0] >= stmax ) ) || infoc[0] == 0 ) info[0] = 6; + + if ( stp[0] == LBFGS.stpmax && f <= ftest1 && dg <= dgtest ) info[0] = 5; + + if ( stp[0] == LBFGS.stpmin && ( f > ftest1 || dg >= dgtest ) ) info[0] = 4; + + if ( nfev[0] >= maxfev ) info[0] = 3; + + if ( brackt[0] && stmax - stmin <= xtol * stmax ) info[0] = 2; + + if ( f <= ftest1 && Math.abs ( dg ) <= LBFGS.gtol * ( - dginit ) ) info[0] = 1; + + // Check for termination. + + if ( info[0] != 0 ) return; + + // In the first stage we seek a step for which the modified + // function has a nonpositive value and nonnegative derivative. + + if ( stage1 && f <= ftest1 && dg >= Math.min ( ftol , LBFGS.gtol ) * dginit ) stage1 = false; + + // A modified function is used to predict the step only if + // we have not obtained a step for which the modified + // function has a nonpositive function value and nonnegative + // derivative, and if a lower function value has been + // obtained but the decrease is not sufficient. + + if ( stage1 && f <= fx[0] && f > ftest1 ) + { + // Define the modified function and derivative values. + + fm = f - stp[0]*dgtest; + fxm[0] = fx[0] - stx[0]*dgtest; + fym[0] = fy[0] - sty[0]*dgtest; + dgm = dg - dgtest; + dgxm[0] = dgx[0] - dgtest; + dgym[0] = dgy[0] - dgtest; + + // Call cstep to update the interval of uncertainty + // and to compute the new step. + + mcstep ( stx , fxm , dgxm , sty , fym , dgym , stp , fm , dgm , brackt , stmin , stmax , infoc ); + + // Reset the function and gradient values for f. + + fx[0] = fxm[0] + stx[0]*dgtest; + fy[0] = fym[0] + sty[0]*dgtest; + dgx[0] = dgxm[0] + dgtest; + dgy[0] = dgym[0] + dgtest; + } + else + { + // Call mcstep to update the interval of uncertainty + // and to compute the new step. + + mcstep ( stx , fx , dgx , sty , fy , dgy , stp , f , dg , brackt , stmin , stmax , infoc ); + } + + // Force a sufficient decrease in the size of the + // interval of uncertainty. + + if ( brackt[0] ) + { + if ( Math.abs ( sty[0] - stx[0] ) >= p66 * width1 ) stp[0] = stx[0] + p5 * ( sty[0] - stx[0] ); + width1 = width; + width = Math.abs ( sty[0] - stx[0] ); + } + } + } + + /** The purpose of this function is to compute a safeguarded step for + * a linesearch and to update an interval of uncertainty for + * a minimizer of the function.

+ * + * The parameter stx contains the step with the least function + * value. The parameter stp contains the current step. It is + * assumed that the derivative at stx is negative in the + * direction of the step. If brackt[0] is true + * when mcstep returns then a + * minimizer has been bracketed in an interval of uncertainty + * with endpoints stx and sty.

+ * + * Variables that must be modified by mcstep are + * implemented as 1-element arrays. + * + * @param stx Step at the best step obtained so far. + * This variable is modified by mcstep. + * @param fx Function value at the best step obtained so far. + * This variable is modified by mcstep. + * @param dx Derivative at the best step obtained so far. The derivative + * must be negative in the direction of the step, that is, dx + * and stp-stx must have opposite signs. + * This variable is modified by mcstep. + * + * @param sty Step at the other endpoint of the interval of uncertainty. + * This variable is modified by mcstep. + * @param fy Function value at the other endpoint of the interval of uncertainty. + * This variable is modified by mcstep. + * @param dy Derivative at the other endpoint of the interval of + * uncertainty. This variable is modified by mcstep. + * + * @param stp Step at the current step. If brackt is set + * then on input stp must be between stx + * and sty. On output stp is set to the + * new step. + * @param fp Function value at the current step. + * @param dp Derivative at the current step. + * + * @param brackt Tells whether a minimizer has been bracketed. + * If the minimizer has not been bracketed, then on input this + * variable must be set false. If the minimizer has + * been bracketed, then on output this variable is true. + * + * @param stpmin Lower bound for the step. + * @param stpmax Upper bound for the step. + * + * @param info On return from mcstep, this is set as follows: + * If info is 1, 2, 3, or 4, then the step has been + * computed successfully. Otherwise info = 0, and this + * indicates improper input parameters. + * + * @author Jorge J. More, David J. Thuente: original Fortran version, + * as part of Minpack project. Argonne Nat'l Laboratory, June 1983. + * Robert Dodier: Java translation, August 1997. + */ + public static void mcstep ( double[] stx , double[] fx , double[] dx , double[] sty , double[] fy , double[] dy , double[] stp , double fp , double dp , boolean[] brackt , double stpmin , double stpmax , int[] info ) + { + boolean bound; + double gamma, p, q, r, s, sgnd, stpc, stpf, stpq, theta; + + info[0] = 0; + + if ( ( brackt[0] && ( stp[0] <= Math.min ( stx[0] , sty[0] ) || stp[0] >= Math.max ( stx[0] , sty[0] ) ) ) || dx[0] * ( stp[0] - stx[0] ) >= 0.0 || stpmax < stpmin ) return; + + // Determine if the derivatives have opposite sign. + + sgnd = dp * ( dx[0] / Math.abs ( dx[0] ) ); + + if ( fp > fx[0] ) + { + // First case. A higher function value. + // The minimum is bracketed. If the cubic step is closer + // to stx than the quadratic step, the cubic step is taken, + // else the average of the cubic and quadratic steps is taken. + + info[0] = 1; + bound = true; + theta = 3 * ( fx[0] - fp ) / ( stp[0] - stx[0] ) + dx[0] + dp; + s = max3 ( Math.abs ( theta ) , Math.abs ( dx[0] ) , Math.abs ( dp ) ); + gamma = s * Math.sqrt ( sqr( theta / s ) - ( dx[0] / s ) * ( dp / s ) ); + if ( stp[0] < stx[0] ) gamma = - gamma; + p = ( gamma - dx[0] ) + theta; + q = ( ( gamma - dx[0] ) + gamma ) + dp; + r = p/q; + stpc = stx[0] + r * ( stp[0] - stx[0] ); + stpq = stx[0] + ( ( dx[0] / ( ( fx[0] - fp ) / ( stp[0] - stx[0] ) + dx[0] ) ) / 2 ) * ( stp[0] - stx[0] ); + if ( Math.abs ( stpc - stx[0] ) < Math.abs ( stpq - stx[0] ) ) + { + stpf = stpc; + } + else + { + stpf = stpc + ( stpq - stpc ) / 2; + } + brackt[0] = true; + } + else if ( sgnd < 0.0 ) + { + // Second case. A lower function value and derivatives of + // opposite sign. The minimum is bracketed. If the cubic + // step is closer to stx than the quadratic (secant) step, + // the cubic step is taken, else the quadratic step is taken. + + info[0] = 2; + bound = false; + theta = 3 * ( fx[0] - fp ) / ( stp[0] - stx[0] ) + dx[0] + dp; + s = max3 ( Math.abs ( theta ) , Math.abs ( dx[0] ) , Math.abs ( dp ) ); + gamma = s * Math.sqrt ( sqr( theta / s ) - ( dx[0] / s ) * ( dp / s ) ); + if ( stp[0] > stx[0] ) gamma = - gamma; + p = ( gamma - dp ) + theta; + q = ( ( gamma - dp ) + gamma ) + dx[0]; + r = p/q; + stpc = stp[0] + r * ( stx[0] - stp[0] ); + stpq = stp[0] + ( dp / ( dp - dx[0] ) ) * ( stx[0] - stp[0] ); + if ( Math.abs ( stpc - stp[0] ) > Math.abs ( stpq - stp[0] ) ) + { + stpf = stpc; + } + else + { + stpf = stpq; + } + brackt[0] = true; + } + else if ( Math.abs ( dp ) < Math.abs ( dx[0] ) ) + { + // Third case. A lower function value, derivatives of the + // same sign, and the magnitude of the derivative decreases. + // The cubic step is only used if the cubic tends to infinity + // in the direction of the step or if the minimum of the cubic + // is beyond stp. Otherwise the cubic step is defined to be + // either stpmin or stpmax. The quadratic (secant) step is also + // computed and if the minimum is bracketed then the the step + // closest to stx is taken, else the step farthest away is taken. + + info[0] = 3; + bound = true; + theta = 3 * ( fx[0] - fp ) / ( stp[0] - stx[0] ) + dx[0] + dp; + s = max3 ( Math.abs ( theta ) , Math.abs ( dx[0] ) , Math.abs ( dp ) ); + gamma = s * Math.sqrt ( Math.max ( 0, sqr( theta / s ) - ( dx[0] / s ) * ( dp / s ) ) ); + if ( stp[0] > stx[0] ) gamma = - gamma; + p = ( gamma - dp ) + theta; + q = ( gamma + ( dx[0] - dp ) ) + gamma; + r = p/q; + if ( r < 0.0 && gamma != 0.0 ) + { + stpc = stp[0] + r * ( stx[0] - stp[0] ); + } + else if ( stp[0] > stx[0] ) + { + stpc = stpmax; + } + else + { + stpc = stpmin; + } + stpq = stp[0] + ( dp / ( dp - dx[0] ) ) * ( stx[0] - stp[0] ); + if ( brackt[0] ) + { + if ( Math.abs ( stp[0] - stpc ) < Math.abs ( stp[0] - stpq ) ) + { + stpf = stpc; + } + else + { + stpf = stpq; + } + } + else + { + if ( Math.abs ( stp[0] - stpc ) > Math.abs ( stp[0] - stpq ) ) + { + stpf = stpc; + } + else + { + stpf = stpq; + } + } + } + else + { + // Fourth case. A lower function value, derivatives of the + // same sign, and the magnitude of the derivative does + // not decrease. If the minimum is not bracketed, the step + // is either stpmin or stpmax, else the cubic step is taken. + + info[0] = 4; + bound = false; + if ( brackt[0] ) + { + theta = 3 * ( fp - fy[0] ) / ( sty[0] - stp[0] ) + dy[0] + dp; + s = max3 ( Math.abs ( theta ) , Math.abs ( dy[0] ) , Math.abs ( dp ) ); + gamma = s * Math.sqrt ( sqr( theta / s ) - ( dy[0] / s ) * ( dp / s ) ); + if ( stp[0] > sty[0] ) gamma = - gamma; + p = ( gamma - dp ) + theta; + q = ( ( gamma - dp ) + gamma ) + dy[0]; + r = p/q; + stpc = stp[0] + r * ( sty[0] - stp[0] ); + stpf = stpc; + } + else if ( stp[0] > stx[0] ) + { + stpf = stpmax; + } + else + { + stpf = stpmin; + } + } + + // Update the interval of uncertainty. This update does not + // depend on the new step or the case analysis above. + + if ( fp > fx[0] ) + { + sty[0] = stp[0]; + fy[0] = fp; + dy[0] = dp; + } + else + { + if ( sgnd < 0.0 ) + { + sty[0] = stx[0]; + fy[0] = fx[0]; + dy[0] = dx[0]; + } + stx[0] = stp[0]; + fx[0] = fp; + dx[0] = dp; + } + + // Compute the new step and safeguard it. + + stpf = Math.min ( stpmax , stpf ); + stpf = Math.max ( stpmin , stpf ); + stp[0] = stpf; + + if ( brackt[0] && bound ) + { + if ( sty[0] > stx[0] ) + { + stp[0] = Math.min ( stx[0] + 0.66 * ( sty[0] - stx[0] ) , stp[0] ); + } + else + { + stp[0] = Math.max ( stx[0] + 0.66 * ( sty[0] - stx[0] ) , stp[0] ); + } + } + + return; + } +} diff --git a/src/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java b/src/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java new file mode 100644 index 0000000..fdc4a18 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java @@ -0,0 +1,64 @@ +package jat.coreNOSA.algorithm.optimization.LBFGS; + + +public class Sdrive +{ + static int ndim = 2000 , msave = 7 ; + static int nwork = ndim * ( 2 * msave + 1 ) + 2 * msave ; + + public static void main( String args[] ) + { + double x [ ] , g [ ] , diag [ ] , w [ ]; + x = new double [ ndim ]; + g = new double [ ndim ]; + diag = new double [ ndim ]; + w = new double [ nwork ]; + + double f, eps, xtol, gtol, t1, t2, stpmin, stpmax; + int iprint [ ] , iflag[] = new int[1], icall, n, m, mp, lp, j; + iprint = new int [ 2 ]; + boolean diagco; + + n=100; + m=5; + iprint [ 1 -1] = 1; + iprint [ 2 -1] = 0; + diagco= false; + eps= 1.0e-5; + xtol= 1.0e-16; + icall=0; + iflag[0]=0; + + for ( j = 1 ; j <= n ; j += 2 ) + { + x [ j -1] = - 1.2e0; + x [ j + 1 -1] = 1.e0; + } + + do + { + f= 0; + for ( j = 1 ; j <= n ; j += 2 ) + { + t1 = 1.e0 - x [ j -1]; + t2 = 1.e1 * ( x [ j + 1 -1] - x [ j -1] * x[j-1] ); + g [ j + 1 -1] = 2.e1 * t2; + g [ j -1] = - 2.e0 * ( x [ j -1] * g [ j + 1 -1] + t1 ); + f= f+t1*t1+t2*t2; + } + + try + { + LBFGS.lbfgs ( n , m , x , f , g , diagco , diag , iprint , eps , xtol , iflag ); + } + catch (LBFGS.ExceptionWithIflag e) + { + System.err.println( "Sdrive: lbfgs failed.\n"+e ); + return; + } + + icall += 1; + } + while ( iflag[0] != 0 && icall <= 200 ); + } +} diff --git a/src/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java.out b/src/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java.out new file mode 100644 index 0000000..4c789ff --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/LBFGS/Sdrive.java.out @@ -0,0 +1,43 @@ +[robert@chromium lbfgs]$ java Sdrive +************************************************* + n = 100 number of corrections = 5 + initial values + f = 1209.9999999999995 gnorm = 1646.623211302451 +************************************************* + i nfn func gnorm steplength + 1 2 254.06529844571506 325.3654794369532 6.073034760690741E-4 + 2 3 207.81880203407715 54.52043168588771 1.0 + 3 4 206.3291507019513 12.687299850131478 1.0 + 4 5 206.15844568960662 12.97054248323166 1.0 + 5 6 204.5678456965679 36.064903295559134 1.0 + 6 7 201.0094372004203 69.97015214668981 1.0 + 7 11 132.0758614567623 99.10135319247112 2.308346701739148 + 8 13 131.55683402622435 80.10326454320003 0.1524355030945 + 9 15 120.19634067292273 66.24399158291132 5.0 + 10 16 105.9482950941662 116.62706737471676 1.0 + 11 17 87.40016532530913 17.132491452436582 1.0 + 12 18 72.77726062183008 32.69679126283766 1.0 + 13 20 67.73055206169346 49.58514091976311 0.21366183632087965 + 14 21 60.09132802349405 52.86780516534298 1.0 + 15 22 45.949250149787076 28.079553225929818 1.0 + 16 23 37.3669111798051 39.34871588344866 1.0 + 17 24 23.04923813108662 14.586694788879118 1.0 + 18 26 19.846763818859742 17.976190971553404 0.1567084445901764 + 19 27 17.66772948322983 48.60453475283912 1.0 + 20 28 13.946540025620127 22.2497644479062 1.0 + 21 29 9.116039598234147 28.01051413504546 1.0 + 22 30 5.821593371012087 10.215071102282428 1.0 + 23 32 4.759707087827105 28.511015294496403 0.43618148533529877 + 24 33 2.3580734888260872 22.65000691338413 1.0 + 25 34 1.557338618186901 15.475227595861682 1.0 + 26 36 0.8104982294709409 2.3864975414134992 0.4046321765614037 + 27 38 0.5087025915896217 9.9449892406875 0.2475122431613055 + 28 39 0.3634468899137064 15.212878994179144 1.0 + 29 40 0.16724709952520958 9.772802836532263 1.0 + 30 41 0.037237261107876535 1.32585635051252 1.0 + 31 42 0.009831601453161865 4.1419431389224215 1.0 + 32 43 4.7109807473003437E-4 0.5675946320690397 1.0 + 33 44 3.2788010270217695E-6 0.027547039721270785 1.0 + 34 45 2.3404386226737127E-8 0.006073633074318657 1.0 + 35 46 2.094688854675941E-13 1.3153506656671171E-5 1.0 + The minimization terminated without detecting errors. iflag = 0 diff --git a/src/jat/coreNOSA/algorithm/optimization/LBFGS/sdrive.f2c.out b/src/jat/coreNOSA/algorithm/optimization/LBFGS/sdrive.f2c.out new file mode 100644 index 0000000..7d45752 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/LBFGS/sdrive.f2c.out @@ -0,0 +1,47 @@ +[robert@chromium lbfgs]$ sdrive > sdrive.f2c.out +************************************************* + N= 100 NUMBER OF CORRECTIONS= 5 + INITIAL VALUES + F= 1.210E+03 GNORM= 1.647E+03 +************************************************* + + I NFN FUNC GNORM STEPLENGTH + + 1 2 2.541E+02 3.254E+02 6.073E-04 + 2 3 2.078E+02 5.452E+01 1.000E+00 + 3 4 2.063E+02 1.269E+01 1.000E+00 + 4 5 2.062E+02 1.297E+01 1.000E+00 + 5 6 2.046E+02 3.606E+01 1.000E+00 + 6 7 2.010E+02 6.997E+01 1.000E+00 + 7 11 1.321E+02 9.910E+01 2.308E+00 + 8 13 1.316E+02 8.010E+01 1.524E-01 + 9 15 1.202E+02 6.624E+01 5.000E+00 + 10 16 1.059E+02 1.166E+02 1.000E+00 + 11 17 8.740E+01 1.713E+01 1.000E+00 + 12 18 7.278E+01 3.270E+01 1.000E+00 + 13 20 6.773E+01 4.959E+01 2.137E-01 + 14 21 6.009E+01 5.287E+01 1.000E+00 + 15 22 4.595E+01 2.808E+01 1.000E+00 + 16 23 3.737E+01 3.935E+01 1.000E+00 + 17 24 2.305E+01 1.459E+01 1.000E+00 + 18 26 1.985E+01 1.798E+01 1.567E-01 + 19 27 1.767E+01 4.860E+01 1.000E+00 + 20 28 1.395E+01 2.225E+01 1.000E+00 + 21 29 9.116E+00 2.801E+01 1.000E+00 + 22 30 5.822E+00 1.022E+01 1.000E+00 + 23 32 4.760E+00 2.851E+01 4.362E-01 + 24 33 2.358E+00 2.265E+01 1.000E+00 + 25 34 1.557E+00 1.548E+01 1.000E+00 + 26 36 8.105E-01 2.386E+00 4.046E-01 + 27 38 5.087E-01 9.945E+00 2.475E-01 + 28 39 3.634E-01 1.521E+01 1.000E+00 + 29 40 1.672E-01 9.773E+00 1.000E+00 + 30 41 3.724E-02 1.326E+00 1.000E+00 + 31 42 9.832E-03 4.142E+00 1.000E+00 + 32 43 4.711E-04 5.676E-01 1.000E+00 + 33 44 3.279E-06 2.755E-02 1.000E+00 + 34 45 2.340E-08 6.074E-03 1.000E+00 + 35 46 2.095E-13 1.315E-05 1.000E+00 + + THE MINIMIZATION TERMINATED WITHOUT DETECTING ERRORS. + IFLAG = 0 diff --git a/src/jat/coreNOSA/algorithm/optimization/LineSearch.java b/src/jat/coreNOSA/algorithm/optimization/LineSearch.java new file mode 100644 index 0000000..9c51474 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/LineSearch.java @@ -0,0 +1,201 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +/** + * Line Search + * + * typically used in iterative method, therefore the parameter x (search vector) is + * being modified in the function for better efficiency + * + * @author Tobias Berthold + * + */ +public class LineSearch +{ + static public int n; // Dimension of search vector + static public double err_ods = 1.e-6d; // error tolerance for linesearch + static public double[] xnew; // + static ScalarfromArrayFunction G; // + static int status; + + /* + double G(double[] x) + { + return G.evaluate(x); + } + */ + + static double get_new_G(ScalarfromArrayFunction G, double[] x, double alpha, double[] d) + { + int i; + + for (i = 0; i < n; i++) + xnew[i] = x[i] + alpha * d[i]; + + return G.evaluate(xnew); + } + + // CAUTION: the parameter x is changed in the function!!! + /** Performs a linesearch (one-dimensional search) on the function G(x) in the + * search direction d. + * @return x : found minimum + */ + public static double[] ods(ScalarfromArrayFunction G, double[] x, double[] d, double err_ods) + { + // The numbers alpha1, alpha2, alpha3, and alpha4 determine points on the + // line of search direction such that xnew = x + alpha * d . + // The minimum is found when alpha4 is determined, and + // xmin = x + alpha4 * d + double a1 = 0., a2 = 1., a3 = 0., a4 = 0.; + double c1 = 5.0; + double g1, g2, g3; + double g4, g4_bar, ge; + boolean more_iter = true; + int it = 0; + + status = 0; + n = x.length; + xnew = new double[n]; + + g1 = get_new_G(G, x, a1, d); + g2 = get_new_G(G, x, a2, d); + g3 = Double.NEGATIVE_INFINITY; + + // Bracket the minimium: Find an up-down-up sequence in a1, a2, and a3 + while (g2 >= g1) + { + a3 = a2; + g3 = g2; + a2 = a3 / c1; + if (Math.abs(a2) < 1.e-12) + { + //System.out.println("alpha3 too small"); + System.out.println("Function always increases in search direction"); + status = 1; + more_iter = false; + break; + } + g2 = get_new_G(G, x, a2, d); + } + while (g3 <= g2 && more_iter) + { + a3 = a1 + c1 * (a2 - a1); + if (Math.abs(a3) > 1.e6) + { + //System.out.println("alpha3 too large"); + System.out.println("Function always decreases in search direction"); + status = 2; + more_iter = false; + break; + } + g3 = get_new_G(G, x, a3, d); + if (g3 < g2) + { + a1 = a2; + g1 = g2; + a2 = a3; + g2 = g3; + } + } + + // Minimum is bracketed, quad fit + while (more_iter) + { + // Quadratic Fit + double P = ((g3 - g1) * (a2 - a1) - (g2 - g1) * (a3 - a1)) / ((a3 - a1) * (a3 - a1) * (a2 - a1) - (a2 - a1) * (a2 - a1) * (a3 - a1)); + double Q = ((g2 - g1) - (a2 * a2 - a1 * a1) * P) / (a2 - a1); + double R = g1 - a1 * a1 * P - a1 * Q; + a4 = -Q / (2. * P); + g4_bar = P * a4 * a4 + Q * a4 + R; + g4 = get_new_G(G, x, a4, d); + + //System.out.println(g4 - g4_bar); + + if (Math.abs(g4) < err_ods) + //ge = err_ods; + ge = 1.; + else + ge = g4; + + if (Math.abs((g4 - g4_bar) / ge) <= err_ods) + more_iter = false; + if (more_iter) + { + //g4 = err_ods + 1.; + //g4_bar = 0.; + //ge = 1.; + + // find the 3 new bracketting values among the 4 + if (a4 > a2) + { + if (g4 > g2) + { + g3 = g4; + a3 = a4; + } else + { + g1 = g2; + g2 = g4; + a1 = a2; + a2 = a4; + } + } else + { + if (g4 > g2) + { + g1 = g4; + a1 = a4; + } else + { + g3 = g2; + g2 = g4; + a3 = a2; + a2 = a4; + } + } + } + it++; + if (it > 200) + { + more_iter = false; + status=3; + System.out.println("Too many iterations in quadratic fit"); + } + } + // Enter minimum into x + int i; + for (i = 0; i < n; i++) + x[i] = x[i] + a4 * d[i]; + return x; + } +} + +/* +// compute temporary result for printing +double[] xtmp = new double[n]; +int i; +for (i = 0; i < n; i++) + xtmp[i] = x[i] + a4 * d[i]; +// System.out.println(xtmp[0]+" "+xtmp[1]); +*/ diff --git a/src/jat/coreNOSA/algorithm/optimization/NumDerivs.java b/src/jat/coreNOSA/algorithm/optimization/NumDerivs.java new file mode 100644 index 0000000..100b6ed --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/NumDerivs.java @@ -0,0 +1,108 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * @author Tobias Berthold + * + */ +public class NumDerivs +{ + + public NumDerivs() + { + } + + // Forward difference numerical derivative + static double[] G_x_forward(ScalarfromArrayFunction G, double[] x,double eps_FD) + { + int i; + int n=x.length; + double[] gx = new double[n]; + double[] xf = new double[n]; + double dx,GM,GF; + + //double G1 = G.evaluate(x); // used several times, compute once + GM = G.evaluate(x); // used several times, compute once + copy(x, xf); + for (i = 0; i < n; i++) + { + // Perturbation step + if (Math.abs(x[i]) < 1.) + dx = eps_FD; + else + dx = Math.abs(eps_FD * x[i]); + // Finite difference + xf[i] = x[i] + dx; + GF=G.evaluate(xf); + gx[i] = ( GF- GM) / dx; + xf[i] = x[i]; + } + return gx; + } + + /** Central difference numerical derivative + * @param G + * @param x + * @param eps_CD + * @return + */ + static double[] G_x_central(ScalarfromArrayFunction G, double[] x,double eps_CD) + { + int i; + int n=x.length; + double GB, GF, dx; + double[] gx = new double[n]; + double[] xc = new double[n]; + + copy(x, xc); + for (i = 0; i < n; i++) + { + // Perturbation step + if (Math.abs(x[i]) < 1.) + dx = eps_CD; + else + dx = Math.abs(eps_CD * x[i]); + // Central difference + xc[i] = x[i] + dx; + GF = (G.evaluate(xc)); + xc[i] = x[i] - dx; + GB = (G.evaluate(xc)); + xc[i] = x[i]; + gx[i] = 0.5 * (GF - GB) / dx; + } + return gx; + } + + private static void copy(double[] from, double[] to) + { + //int l = from.length; + System.arraycopy(from, 0, to, 0, from.length); + } + + private void copy(VectorN from, VectorN to) + { + System.arraycopy(from.getArray(), 0, to.getArray(), 0, from.length); + } +} diff --git a/src/jat/coreNOSA/algorithm/optimization/VarMetric.java b/src/jat/coreNOSA/algorithm/optimization/VarMetric.java new file mode 100644 index 0000000..954af4f --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/VarMetric.java @@ -0,0 +1,169 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +/** + * @author Tobias Berthold + * + */ +public class VarMetric extends optimize +{ + public double err_ods = 1.e-4; // Error tolerance for linesearch + public double err_vm = 1.e-6; // Error tolerance for search + public double eps_CD = 1.e-4; // Perturbation for central difference + public int max_it = 50; // maximum iterations + public double gamma = 1.; + DecimalFormat df; + NumberFormat itf; + boolean print_iter = false; + public int total_it; + public double norm = 0.; + public boolean ods_fail = false; + + public VarMetric(ScalarfromArrayFunction G, double[] x_init) + { + super(G, x_init); + } + + void H_update(double gamma, VectorN dx, VectorN dg, Matrix H) + { + int n = dx.length; + VectorN H_dg = new VectorN(n); + double dxT_dg = 0., dgT_H_dg = 0.; + double fac1; + Matrix DFP, D1, D2, BFSG, B1, B2, B3, VM, VM1; + Matrix dx_dxT, H_dg_dgT_H, dx_dgT, dx_dgT_H, H_dg_dxT; + Matrix I = Matrix.identity(n, n); + + // Scalars + H_dg = H.times(dg); + dxT_dg = dx.dotProduct(dg); + dgT_H_dg = dg.dotProduct(H_dg); + fac1 = gamma * dgT_H_dg / dxT_dg; + + // Matrices + dx_dxT = dx.outerProduct(dx); + dx_dgT = dx.outerProduct(dg); + H_dg_dgT_H = H_dg.outerProduct(H_dg); + dx_dgT_H = dx_dgT.times(H); + H_dg_dxT = dx_dgT_H.transpose(); + + // Matrix terms + D1 = dx_dxT.ebeDivide(dxT_dg); + D2 = H_dg_dgT_H.ebeDivide(dgT_H_dg); + B1 = dx_dgT.ebeDivide(dxT_dg); + B2 = I.minus(B1); + B3 = B2.transpose(); + + // Update formulas + DFP = D1.minus(D2).plus(H); + BFSG = B2.times(H).times(B3).plus(D1); + VM1 = DFP.times(fac1); + VM = BFSG.plus(VM1).ebeDivide(1. + fac1); + //H.setMatrix(0, 0, DFP); + //H.setMatrix(0, 0, BFSG); + H.setMatrix(0, 0, VM); + return; + } + + public double[] find_min_VarMetric() + { + Matrix H = new Matrix(n); // Set H to identity matrix + VectorN x, xn, dx, gx, gxn, dgx; + double[] dummy; + + int i, it = 0; + boolean more_iter = true; + ods_fail = false; + + // Copy initial guess to x + x = new VectorN(x_init); + xn = new VectorN(x_init); + gxn = new VectorN(x_init); + //copy(x_init, this.x); + if (print_iter) + print_header(); + + gx = new VectorN(NumDerivs.G_x_central(G, x.getArray(), eps_CD)); + while (more_iter) + { + norm = norm(gx.getArray()); + if (norm < err_vm) + { + more_iter = false; + if (print_iter) + print_line(it, x.getArray(), G.evaluate(x.getArray()), gx.getArray(), norm); + } else + { + // Step 4 + dx = H.times(gx); + dx = dx.times(-1.); + //H.print("H"); + copy(x.getArray(), xn.getArray()); + dummy = LineSearch.ods(G, xn.getArray(), dx.getArray(), err_ods); + if (print_iter) + print_line(it, x.getArray(), G.evaluate(x.getArray()), gx.getArray(), norm); + // Step 5 + dx = xn.minus(x); + // Step 6 + gxn = new VectorN(NumDerivs.G_x_central(G, xn.getArray(), eps_CD)); + dgx = gxn.minus(gx); + // Step 7 + //H_update(-.302301, dx, dgx, H); + H_update(gamma, dx, dgx, H); + // Step 8 + copy(xn, x); + copy(gxn, gx); + it++; + if (it > max_it) + more_iter = false; + if (LineSearch.status == 1) + { + // x might still be minimum, check + more_iter = false; + ods_fail = true; + } + } + } + total_it = it; + return x.getArray(); + + } + + private void copy(double[] from, double[] to) + { + System.arraycopy(from, 0, to, 0, from.length); + } + + private void copy(VectorN from, VectorN to) + { + System.arraycopy(from.getArray(), 0, to.getArray(), 0, from.length); + } + +} +//H.setMatrix(0, 0, H.plus(DFP)); diff --git a/src/jat/coreNOSA/algorithm/optimization/optimize.java b/src/jat/coreNOSA/algorithm/optimization/optimize.java new file mode 100644 index 0000000..84b2749 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/optimize.java @@ -0,0 +1,133 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +/** + * Base class for unconstrained parameter optimization with + * iterative methods: Gradient search, DFP, etc. + * + * + * @author Tobias Berthold + * Date : 6-10-2002 + */ + +public class optimize +{ + public int n; // Dimension of search vector + public double[] x_init; // initial guess + public double[] d_init; // initial search direction + public double[] x; // solution + public double[] d; // search direction + DecimalFormat df; + NumberFormat itf; + ScalarfromArrayFunction G; // + + + public optimize(ScalarfromArrayFunction G, double[] x_init) + { + this.G = G; + this.x_init = x_init; + set_print_formats(); + // + n = x_init.length; + x = new double[n]; + d = new double[n]; + array_copy(x_init, this.x); + } + + /** + * @param G + * @param x_init + * @param err_ods + */ + public optimize(ScalarfromArrayFunction G, double[] x_init, double err_ods) + { + this.G = G; + this.x_init = x_init; + //set_print_formats(); + // + n = x_init.length; + x = new double[n]; + d = new double[n]; + array_copy(x_init, this.x); + } + + private void array_copy(double[] from, double[] to) + { + int l = from.length; + System.arraycopy(from, 0, to, 0, l); + } + + public void set_print_formats() + { + df = (DecimalFormat)NumberFormat.getInstance(); + df.applyPattern(" ###.########; -###.#######"); + //df.applyPattern("####0.000000; -###0.000000"); + df.setMinimumFractionDigits(8); + df.setMinimumIntegerDigits(4); + itf = NumberFormat.getInstance(); + itf.setMinimumIntegerDigits(4); + } + + void print_header() + { + int i; + String sp = " "; + + System.out.print(" It "); + for (i = 0; i < x.length; i++) + System.out.print("| x("+i+") "); + System.out.print("| G "); + for (i = 0; i < x.length; i++) + System.out.print("| Gx("+i+") "); + System.out.print(" |Gx|"); + System.out.println(); + } + + void print_line(int it, double[] x, double G, double[] d, double norm) + { + int i; + + System.out.print(itf.format(it)); + for (i = 0; i < x.length; i++) + System.out.print(df.format(x[i])); + System.out.print(df.format(G)); + for (i = 0; i < x.length; i++) + System.out.print(df.format(-d[i])); + System.out.print(df.format(norm)); + System.out.println(); + } + + double norm(double[] vec) // Vector norm + { + int i; + double norm = 0; + for (i = 0; i < n; i++) + norm += vec[i] * vec[i]; + return Math.sqrt(norm); + } + +} diff --git a/src/jat/coreNOSA/algorithm/optimization/package.html b/src/jat/coreNOSA/algorithm/optimization/package.html new file mode 100644 index 0000000..d7e14e8 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/optimization/package.html @@ -0,0 +1,2 @@ + +Optimization \ No newline at end of file diff --git a/src/jat/coreNOSA/algorithm/package.html b/src/jat/coreNOSA/algorithm/package.html new file mode 100644 index 0000000..bbe33b2 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/package.html @@ -0,0 +1,3 @@ + +Generic algorithms such as numerical integrators, non-linear equation solvers, etc. + \ No newline at end of file diff --git a/src/jat/coreNOSA/algorithm/solver/GaussElim.java b/src/jat/coreNOSA/algorithm/solver/GaussElim.java new file mode 100644 index 0000000..b5997f1 --- /dev/null +++ b/src/jat/coreNOSA/algorithm/solver/GaussElim.java @@ -0,0 +1,144 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.algorithm.solver; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class GaussElim +{ + public static Matrix C; // Augmented matrix C= [ A | y ] + + static double DABS(double d) + { + return Math.abs(d); + } + + /** + * Solve the linear system y = Ax by Gaussian Elimination + * as described in "Numerical Analysis" by Richard Burden and J. Douglas Faires + * @param A Matrix + * @param y vector + * @return solution x + * + * @author Tobias Berthold + * Date : 6-16-2004 + * @version 1.0 + */ + public static VectorN solve(Matrix A, VectorN y) + { + // double R, S, Z, V, EX, AER, RATIO, sum; + // int J, K, L, KP, LP1, i, j; + int rows, cols; + boolean OK = true; + int ICHG, M, I, IP, NN, K, KK, J, JJ; + double XM, SUM, temp; + double ZERO = 1.0E-20; + int ip; + + rows = A.m; + cols = A.n; + // int n = rows - 1; + int N = A.n; + + C = new Matrix(rows, cols + 1); + C.setMatrix(0, 0, A); + C.setColumn(cols, y); + //C.print("Augmented matrix C:"); + VectorN X = new VectorN(rows); + + /* STEP 1 */ + NN = N - 1; + M = N + 1; + ICHG = 0; + I = 0; + while ((OK) && (I < NN)) + { + // STEP 2 : Find pivot + /* use IP instead of p */ + IP = I; + while ((DABS(C.A[IP][I]) <= ZERO) && (IP <= N)) + IP++; + if (IP == M) + OK = false; + else + { + // STEP 3 : Interchange rows + if (IP != I) + { + for (JJ = 1; JJ < M; JJ++) + { + temp = C.A[I][JJ]; + C.A[I][JJ] = C.A[IP][JJ]; + C.A[IP][JJ] = temp; + } + ICHG = ICHG + 1; + } + /* STEP 4 */ + JJ = I + 1; + for (J = JJ; J < N; J++) + { + /* STEP 5 */ + /* use XM in place of m(J,I) */ + XM = C.A[J][I] / C.A[I][I]; + /* STEP 6 */ + for (K = JJ; K < M; K++) + C.A[J][K] = C.A[J][K] - XM * C.A[I][K]; + /* Multiplier XM could be saved in C.A[J,I]. */ + C.A[J][I] = 0.0; + } + } + I = I + 1; + } + //C.print("C before back subs in solve"); + + if (OK) + { + /* STEP 7 */ + if (DABS(C.A[N - 1][N - 1]) <= ZERO) + OK = false; + else + { + /* STEP 8 */ + /* start backward substitution */ + X.x[N - 1] = C.A[N - 1][M - 1] / C.A[N - 1][N - 1]; + /* STEP 9 */ + for (K = 1; K <= NN; K++) + { + I = NN - K + 1; + JJ = I + 1; + SUM = 0.0; + for (KK = JJ; KK <= N; KK++) + SUM = SUM - C.A[I - 1][KK - 1] * X.x[KK - 1]; + X.x[I - 1] = (C.A[I - 1][M - 1] + SUM) / C.A[I - 1][I - 1]; + } + /* STEP 10 */ + /* procedure completed successfully */ + //OUTPUT(N, M, ICHG, X, A); + } + } + if (!OK) + System.out.println("System has no unique solution\n"); + + return X; + } + +} diff --git a/src/jat/coreNOSA/algorithm/solver/GaussSeidel.java b/src/jat/coreNOSA/algorithm/solver/GaussSeidel.java new file mode 100644 index 0000000..9f1522a --- /dev/null +++ b/src/jat/coreNOSA/algorithm/solver/GaussSeidel.java @@ -0,0 +1,110 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +/** + *

+ * Solve the problem Ax=b through use of Gauss-Seidel method + * as described in "Numerical Analysis" by Richard Burden and J. Douglas Faires + * + * + * @author Tobias Berthold + * Date : 2-3-2003 + * @version 1.0 + */ + + +package jat.coreNOSA.algorithm.solver; + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class GaussSeidel +{ + Matrix A; + VectorN x,x0,xold,b; + int n,maxIter; + double tol; + + /** + * @param A Matrix + * @param b right hand side + * @param x0 initial guess + * @param maxIter maximum iterations + * @param tol error tolerance + */ + // Constructor + public GaussSeidel (Matrix A, VectorN b, VectorN x0, int maxIter, double tol) + { + this.A=A; + this.x0=x0; + this.b=b; + this.maxIter=maxIter; + this.tol=tol; + this.n=x0.length; + } + + /** + * @return solution vector + */ + public VectorN iterate () + { + int k=0; + double err=1.; + + // Possible checks: No zeros on diagonal + + x=new VectorN (x0); + xold=new VectorN (x0); + + while(k 0.) + { + a.positive=true; + sha.positive=true; + h.positive=true; + tmpdegrees = degrees; + shadegrees = 360.-degrees; + } + else + { + a.positive=false; + sha.positive=false; + h.positive=false; + tmpdegrees = -degrees; + shadegrees = -degrees; + } + // Angle expressed in degrees, minutes, seconds + a.degrees = (int) tmpdegrees; + a.minutes = (int) (MathUtils.Frac(tmpdegrees) * 60.0); + a.seconds = (tmpdegrees - a.degrees - a.minutes / 60.) * 3600.; + + // Angle expressed as SHA in degrees, minutes, seconds + //double shadegrees=360.-degrees; + sha.degrees = (int) shadegrees; + sha.minutes = (int) (MathUtils.Frac(shadegrees) * 60.0); + sha.seconds = (shadegrees - sha.degrees - sha.minutes / 60.) * 3600.; + + // Angle expressed as hour angle in hours, minutes, seconds + double tmphours=tmpdegrees/15.; + h.hours = (int) tmphours; + //System.out.println(decimalhours+ " decimal hours"); + double tmpminutes = 60. * MathUtils.Frac(tmphours); + //System.out.println(decimalminutes+ " decimal minutes"); + h.minutes = (int) (60. * MathUtils.Frac(tmphours)); + h.seconds = 60. * MathUtils.Frac(tmpminutes); + } + + public Angle add(Angle b) + { + Angle result = new Angle(radians + b.radians, RADIANS); + result.convert(); + return result; + } + + public double sin(Angle a) + { + return Math.sin(a.radians); + } + + public double tan(Angle a) + { + return Math.tan(a.radians); + } + + public double cos(Angle a) + { + return Math.cos(a.radians); + } + + public void print() + { + System.out.println(radians + " Radians"); + System.out.println(degrees + " Decimal degrees"); + if (a.positive) + System.out.print("+"); + else + System.out.print("-"); + System.out.println(a.degrees + " degrees " + a.minutes + " minutes " + a.seconds + " seconds"); + if (h.positive) + System.out.print("+"); + else + System.out.print("-"); + System.out.println(h.hours + " hours " + h.minutes + " minutes " + h.seconds + " seconds"); + //System.out.println(decimalhours + " Decimal hours"); + } + + public void println() + { + print(); + System.out.println(); + } + + public void println(String title) + { + System.out.println(title); + println(); + } + + public void println(String title, int mode) + { + System.out.print(title+" = "); + switch (mode) + { + case RADIANS : + System.out.println(radians + " Radians"); + break; + case DEGREES : + System.out.println(degrees + " Decimal degrees"); + break; + case DECIMALHOURS : + System.out.println(hours + " Decimal hours"); + break; + case ARCDEGREES : + if (a.positive) + System.out.print("+"); + else + System.out.print("-"); + System.out.println(a.degrees + " Degrees " + a.minutes + " Minutes " + a.seconds + " Seconds"); + break; + case SHA : + if (sha.positive) + System.out.print("+"); + else + System.out.print("-"); + System.out.println(sha.degrees + " Degrees " + sha.minutes + " Minutes " + sha.seconds + " Seconds"); + break; + case HOURANGLE : + if (h.positive) + System.out.print("+"); + else + System.out.print("-"); + System.out.println(h.hours + " Hours " + h.minutes + " Minutes " + h.seconds + " Seconds"); + break; + } + } + + public static void main(String[] args) + { + System.out.println("Angle class example"); + //Angle alpha = new Angle(1.5, Angle.RADIANS); + Angle alpha = new Angle(59.51, Angle.DEGREES); + alpha.println(); + + System.out.println(1002.23 + " arcseconds "); + Angle beta = new Angle(true, 0, 0, 1002.23, Angle.ARCDEGREES); + // Angle beta = new Angle(0,16,42.23, Angle.ARCDEGREES); + // Angle beta = new Angle(0,0,20.04, Angle.ARCDEGREES); + beta.println(); + + // Example from Duffett-Smith + System.out.println(18.52417 + " decimal hours"); + Angle gamma = new Angle(18.52417, Angle.DECIMALHOURS); + gamma.println(); + + System.out.println("18 h 31 m 27.012 s"); + Angle delta = new Angle(true, 18, 31, 27.012, Angle.HOURANGLE); + delta.println(); + + System.out.println(""); + Angle n_1960 = new Angle(true, 0, 0, 1.33612, Angle.HOURANGLE); + n_1960.println(); + + Angle a1 = new Angle(40., Angle.DEGREES); + Angle a2 = new Angle(45., Angle.DEGREES); + a1.add(a2).println(); + } +} diff --git a/src/jat/coreNOSA/astronomy/ArcDegrees.java b/src/jat/coreNOSA/astronomy/ArcDegrees.java new file mode 100644 index 0000000..1da9fc4 --- /dev/null +++ b/src/jat/coreNOSA/astronomy/ArcDegrees.java @@ -0,0 +1,46 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.astronomy; + +/** + * Simple class to store Degrees of Arc + * @author Tobias Berthold + * @version 1.0 + */ + +public class ArcDegrees +{ + boolean positive; + int degrees, minutes; + double seconds; + + public ArcDegrees() + { + } + + public ArcDegrees(boolean positive, int degrees, int minutes, double seconds) + { + this.positive = positive; + this.degrees = degrees; + this.minutes = minutes; + this.seconds = seconds; + } +} diff --git a/src/jat/coreNOSA/astronomy/HourAngle.java b/src/jat/coreNOSA/astronomy/HourAngle.java new file mode 100644 index 0000000..fb8c075 --- /dev/null +++ b/src/jat/coreNOSA/astronomy/HourAngle.java @@ -0,0 +1,47 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.astronomy; + +/** + * Simple class to store Hour Angle + * @author Tobias Berthold + * @version 1.0 + */ + +public class HourAngle +{ + public boolean positive; + public int hours; + public int minutes; + public double seconds; + + public HourAngle() + { + } + + public HourAngle(boolean positive, int hours, int minutes, double seconds) + { + this.positive = positive; + this.hours = hours; + this.minutes = minutes; + this.seconds = seconds; + } +} diff --git a/src/jat/coreNOSA/astronomy/Position.java b/src/jat/coreNOSA/astronomy/Position.java new file mode 100644 index 0000000..2f498b9 --- /dev/null +++ b/src/jat/coreNOSA/astronomy/Position.java @@ -0,0 +1,48 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.astronomy; + + +/** + * Simple class to store two angles + * @author Tobias Berthold + * @version 1.0 + */ + +public class Position +{ + public Angle RA; // Right Ascension + public Angle dec; // Declination + + public Position() + { + } + + /** + * @param alpha + * @param delta + */ + public Position(Angle alpha, Angle delta) + { + this.RA=alpha; + this.dec=delta; + } +} diff --git a/src/jat/coreNOSA/attitude/AttitudeOutput.java b/src/jat/coreNOSA/attitude/AttitudeOutput.java new file mode 100644 index 0000000..dd629ba --- /dev/null +++ b/src/jat/coreNOSA/attitude/AttitudeOutput.java @@ -0,0 +1,174 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + * @author Noriko Takada + * + * This class implements Printable. + * It gets output at each integration step and make plots. + * + */ + +public class AttitudeOutput implements Printable +{ + // Create variables for the necessary plots + ThreePlots rotation_plot; + ThreePlots angle_plot; + SinglePlot quarternion_check; + TwoPlots quarternion_plot1; + TwoPlots quarternion_plot2; + float quat_values[][]; + //double timeDuration; + double time_step; + int plotYes = 0; + + //constructor 1 -- No Plot generation + public AttitudeOutput(double time_step, float quat_values[][]) + { + this.quat_values = quat_values; + this.time_step = time_step; + } + //constructor 2 + public AttitudeOutput(ThreePlots rotation, ThreePlots angle + ,SinglePlot quatCheck, TwoPlots quat1 + ,TwoPlots quat2,double time_step + ,float quat_values[][]) + { + plotYes = 1; + rotation_plot = rotation; + angle_plot = angle; + quarternion_check = quatCheck; + quarternion_plot1 = quat1; + quarternion_plot2 = quat2; + + // Quaternion Values Index + // Index [0 1 2 3 4] + // Variable [t e1 e2 e3 e4] + // quat_values = new float[5][numberOfPoints]; + this.quat_values = quat_values; + //this.timeDuration = timeDuration; + this.time_step = time_step; + + + rotation_plot.setTitle("Angular Velocity"); + rotation_plot.topPlot.setXLabel("t(sec)"); + rotation_plot.topPlot.setYLabel("w1(rad/sec)"); + rotation_plot.middlePlot.setXLabel("t(sec)"); + rotation_plot.middlePlot.setYLabel("w2(rad/sec)"); + rotation_plot.bottomPlot.setXLabel("t(sec)"); + rotation_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + quarternion_plot1.setTitle("Quaternions: e1 & e2"); + quarternion_plot1.topPlot.setXLabel("t"); + quarternion_plot1.topPlot.setYLabel("e1"); + quarternion_plot1.bottomPlot.setXLabel("t"); + quarternion_plot1.bottomPlot.setYLabel("e2"); + + quarternion_plot2.setTitle("Quaternions: e3 & e4"); + quarternion_plot2.topPlot.setXLabel("t"); + quarternion_plot2.topPlot.setYLabel("e1"); + quarternion_plot2.bottomPlot.setXLabel("t"); + quarternion_plot2.bottomPlot.setYLabel("e2"); + + angle_plot.setTitle("Angles between B and A frame"); + angle_plot.topPlot.setXLabel("t(sec)"); + angle_plot.topPlot.setYLabel("angle between a1 & b1 (rad)"); + angle_plot.middlePlot.setXLabel("t(sec)"); + angle_plot.middlePlot.setYLabel("angle between a2 & b2 (rad)"); + angle_plot.bottomPlot.setXLabel("t(sec)"); + angle_plot.bottomPlot.setYLabel("angle between a3 & b3 (rad)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + }// End of constructor + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + boolean first = true; + if (t == 0.0) first = false; + + int currentPts = (int)(t/time_step); // This is the array index + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double e1 = y[3]; + double e2 = y[4]; + double e3 = y[5]; + double e4 = y[6]; + double quat_check = e1*e1+e2*e2+e3*e3+e4*e4; + + // Calculate Transformation matrix elements + double c11 = 1- 2*(e2*e2 + e3*e3); + double c12 = 2* (e1*e2 + e3*e4); + double c13 = 2* (e1*e3 - e2*e4); + double c21 = 2* (e2*e1 - e3*e4); + double c22 = 1- 2*(e3*e3 + e1*e1); + double c23 = 2* (e2*e3 + e1*e4); + double c31 = 2* (e3*e1 + e2*e4); + double c32 = 2* (e3*e2 - e1*e4); + double c33 = 1- 2*(e1*e1 + e2*e2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + if (plotYes == 1) + { + // add data point to the plot + rotation_plot.topPlot.addPoint(0, t, w1, first); + rotation_plot.middlePlot.addPoint(0, t, w2, first); + rotation_plot.bottomPlot.addPoint(0, t, w3, first); + quarternion_check.plot.addPoint(0, t, quat_check, first); + angle_plot.topPlot.addPoint(0, t, angle11, first); + angle_plot.middlePlot.addPoint(0, t, angle22, first); + angle_plot.bottomPlot.addPoint(0, t, angle33, first); + quarternion_plot1.topPlot.addPoint(0, t, e1, first); + quarternion_plot1.bottomPlot.addPoint(0,t,e2, first); + quarternion_plot2.topPlot.addPoint(0,t,e3, first); + quarternion_plot2.bottomPlot.addPoint(0,t,e4,first); + } + + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)e1; // quaternion 1 + quat_values[2][currentPts] = (float)e2; // quarternion 2 + quat_values[3][currentPts] = (float)e3; // quarternion 3 + quat_values[4][currentPts] = (float)e4; // quarternion 4 + // also print to the screen + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + }// End of print + +}// End of File + + + + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/DegToQuat.java b/src/jat/coreNOSA/attitude/DegToQuat.java new file mode 100644 index 0000000..fffac36 --- /dev/null +++ b/src/jat/coreNOSA/attitude/DegToQuat.java @@ -0,0 +1,172 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.attitude; + +/** + *

The QuatToDeg converts the quarternions to the corresponding + * euler angles for physical interpretation. + * + * @author Noriko Takada + * @version Last Updated:(8/112/2003) + * + * Reference: "Spacecraft Dynamics & Control- A Practical Enginnering + * Approach" by Marcel J. Sidi + * p. 102-103, p.323 + * + * Note: This class uses 3-2-1 Euler angle rotation + * psi (3) + * theta (2) + * phi (1) + */ +public class DegToQuat +{ + public double psi = 60; + public double theta = 10; + public double phi = 120; + public double q1; + public double q2; + public double q3; + public double q4; + + /** + * Constructor 1 + */ + public DegToQuat(double psi, double theta, double phi) + { + this.psi = psi; + this.theta = theta; + this.phi = phi; + } + + // Default Constructor + /** + * Default Constructor + */ + public DegToQuat() + { + } + + /* + %Convert degrees to radians + psi=psi*pi/180; + theta=theta*pi/180; + phi=phi*pi/180; + + %P.102 321 rotation Transformation matrix + a11=cos(theta)*cos(psi); + a12=cos(theta)*sin(psi); + a13=-sin(theta); + a21=-cos(phi)*sin(psi)+sin(phi)*sin(theta)*cos(psi); + a22=cos(phi)*cos(psi)+sin(phi)*sin(theta)*sin(psi); + a23=sin(phi)*cos(theta); + a31=sin(phi)*sin(psi)+cos(phi)*sin(theta)*cos(psi); + a32=-sin(phi)*cos(psi)+cos(phi)*sin(theta)*sin(psi); + a33=cos(phi)*cos(theta); + + %P.323- Definitions of Quaternion elements + trace=a11+a22+a33; + cos_alpha=(trace-1)/2; + alpha=acos(cos_alpha); + + e1=(a23-a32)/(2*sin(alpha)); + e2=(a31-a13)/(2*sin(alpha)); + e3=(a12-a21)/(2*sin(alpha)); + + q1=e1*sin(alpha/2) + q2=e2*sin(alpha/2) + q3=e3*sin(alpha/2) + q4=cos(alpha/2) + */ + + public double[] calculateQuat() + { + double [] out = new double[4]; + + // Convert degrees to radians + psi = psi*Math.PI/180; + theta = theta*Math.PI/180; + phi = phi*Math.PI/180; + + // Sidi p.102, 321 rotation Transformation matrix + double a11=Math.cos(theta)*Math.cos(psi); + double a12=Math.cos(theta)*Math.sin(psi); + double a13=-Math.sin(theta); + double a21=-Math.cos(phi)*Math.sin(psi) + +Math.sin(phi)*Math.sin(theta)*Math.cos(psi); + double a22=Math.cos(phi)*Math.cos(psi) + +Math.sin(phi)*Math.sin(theta)*Math.sin(psi); + double a23=Math.sin(phi)*Math.cos(theta); + double a31=Math.sin(phi)*Math.sin(psi) + +Math.cos(phi)*Math.sin(theta)*Math.cos(psi); + double a32=-Math.sin(phi)*Math.cos(psi) + +Math.cos(phi)*Math.sin(theta)*Math.sin(psi); + double a33=Math.cos(phi)*Math.cos(theta); + + // Sidi p.323 - Definition of Quaternion elements + double trace = a11 + a22 + a33; + double cos_alpha = (trace-1)/2; + double alpha = Math.acos(cos_alpha); + + double e1=(a23-a32)/(2*Math.sin(alpha)); + double e2=(a31-a13)/(2*Math.sin(alpha)); + double e3=(a12-a21)/(2*Math.sin(alpha)); + + + q1=e1*Math.sin(alpha/2); + q2=e2*Math.sin(alpha/2); + q3=e3*Math.sin(alpha/2); + q4=Math.cos(alpha/2); + + out[0] = q1; + out[1] = q2; + out[2] = q3; + out[3] = q4; + + return out; + } + + public static void main(String[] args) + { + double q1 = 0.0; + double q2 = 0.0; + double q3 = 0.0; + double q4 = 1.0; + double theta = 10.0; + double psi = 60.0; + double phi = 120.0; + + q1 = 0.7254; + q2 = 0.4691; + q3 = 0.1837; + q4 = 0.4691; + DegToQuat tester = new DegToQuat(psi, theta, phi); + + double[] quat = new double[4]; + quat = tester.calculateQuat(); + q1 = quat[0]; + q2 = quat[1]; + q3 = quat[2]; + q4 = quat[3]; + + System.out.println("\nInput: ["+psi+", "+theta+", "+phi+"]"); + System.out.println("\nOutput: q1="+q1+" q2="+q2+" q3="+q3+" q4="+q4); + + } +} diff --git a/src/jat/coreNOSA/attitude/FourRWManeuverOutput.java b/src/jat/coreNOSA/attitude/FourRWManeuverOutput.java new file mode 100644 index 0000000..777e0da --- /dev/null +++ b/src/jat/coreNOSA/attitude/FourRWManeuverOutput.java @@ -0,0 +1,203 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + * @author Noriko Takada + * + * This class implements Printable. + * It gets output at each integration step and make plots. + * + */ + + +public class FourRWManeuverOutput implements Printable +{ + // Create variables for the necessary plots + ThreePlots rotation_plot; + ThreePlots angle_plot; + SinglePlot quarternion_check; + TwoPlots quarternion_plot1; + TwoPlots quarternion_plot2; + TwoPlots RWplot1; + TwoPlots RWplot2; + float quat_values[][]; + //double timeDuration; + double time_step; + int plotYes = 0; + + + //constructor: No plot generation + public FourRWManeuverOutput(double time_step, float quat_values[][]) + { + this.quat_values = quat_values; + this.time_step = time_step; + } + //constructor + public FourRWManeuverOutput (ThreePlots rotation, ThreePlots angle + ,SinglePlot quatCheck, TwoPlots quat1 + ,TwoPlots quat2, TwoPlots RW1, TwoPlots RW2 + ,double time_step, float quat_values[][]) + { + plotYes = 1; + rotation_plot = rotation; + angle_plot = angle; + quarternion_check = quatCheck; + quarternion_plot1 = quat1; + quarternion_plot2 = quat2; + RWplot1 = RW1; + RWplot2 = RW2; + + // Quaternion Values Index + // Index [0 1 2 3 4] + // Variable [t e1 e2 e3 e4] + // quat_values = new float[5][numberOfPoints]; + this.quat_values = quat_values; + //this.timeDuration = timeDuration; + this.time_step = time_step; + + rotation_plot.setTitle("Angular Velocity"); + rotation_plot.topPlot.setXLabel("t(sec)"); + rotation_plot.topPlot.setYLabel("w1(rad/sec)"); + rotation_plot.middlePlot.setXLabel("t(sec)"); + rotation_plot.middlePlot.setYLabel("w2(rad/sec)"); + rotation_plot.bottomPlot.setXLabel("t(sec)"); + rotation_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + quarternion_plot1.setTitle("Quaternions: e1 & e2"); + quarternion_plot1.topPlot.setXLabel("t"); + quarternion_plot1.topPlot.setYLabel("e1"); + quarternion_plot1.bottomPlot.setXLabel("t"); + quarternion_plot1.bottomPlot.setYLabel("e2"); + + quarternion_plot2.setTitle("Quaternions: e3 & e4"); + quarternion_plot2.topPlot.setXLabel("t"); + quarternion_plot2.topPlot.setYLabel("e1"); + quarternion_plot2.bottomPlot.setXLabel("t"); + quarternion_plot2.bottomPlot.setYLabel("e2"); + + angle_plot.setTitle("Angles between B and A frame"); + angle_plot.topPlot.setXLabel("t(sec)"); + angle_plot.topPlot.setYLabel("angle between a1 & b1 (rad)"); + angle_plot.middlePlot.setXLabel("t(sec)"); + angle_plot.middlePlot.setYLabel("angle between a2 & b2 (rad)"); + angle_plot.bottomPlot.setXLabel("t(sec)"); + angle_plot.bottomPlot.setYLabel("angle between a3 & b3 (rad)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + RWplot1.setTitle("RW speeds 1&2"); + RWplot1.topPlot.setXLabel("t"); + RWplot1.topPlot.setYLabel("Omega1"); + RWplot1.bottomPlot.setXLabel("t"); + RWplot1.bottomPlot.setYLabel("Omega2"); + + RWplot2.setTitle("RW speeds 3&4"); + RWplot2.topPlot.setXLabel("t"); + RWplot2.topPlot.setYLabel("Omega3"); + RWplot2.bottomPlot.setXLabel("t"); + RWplot2.bottomPlot.setYLabel("Omega4"); + }// End of constructor + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + boolean first = true; + if (t == 0.0) first = false; + + int currentPts = (int)(t/time_step); // This is the quarternion array index. + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double e1 = y[3]; + double e2 = y[4]; + double e3 = y[5]; + double e4 = y[6]; + double Omega1 = y[7]; + double Omega2 = y[8]; + double Omega3 = y[9]; + double Omega4 = y[10]; + + double quat_check = e1*e1+e2*e2+e3*e3+e4*e4; + + // Calculate Transformation matrix elements + double c11 = 1- 2*(e2*e2 + e3*e3); + double c12 = 2* (e1*e2 + e3*e4); + double c13 = 2* (e1*e3 - e2*e4); + double c21 = 2* (e2*e1 - e3*e4); + double c22 = 1- 2*(e3*e3 + e1*e1); + double c23 = 2* (e2*e3 + e1*e4); + double c31 = 2* (e3*e1 + e2*e4); + double c32 = 2* (e3*e2 - e1*e4); + double c33 = 1- 2*(e1*e1 + e2*e2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + if (plotYes == 1) + { + + // add data point to the plot + rotation_plot.topPlot.addPoint(0, t, w1, first); + rotation_plot.middlePlot.addPoint(0, t, w2, first); + rotation_plot.bottomPlot.addPoint(0, t, w3, first); + quarternion_check.plot.addPoint(0, t, quat_check, first); + angle_plot.topPlot.addPoint(0, t, angle11, first); + angle_plot.middlePlot.addPoint(0, t, angle22, first); + angle_plot.bottomPlot.addPoint(0, t, angle33, first); + quarternion_plot1.topPlot.addPoint(0, t, e1, first); + quarternion_plot1.bottomPlot.addPoint(0,t,e2, first); + quarternion_plot2.topPlot.addPoint(0,t,e3, first); + quarternion_plot2.bottomPlot.addPoint(0,t,e4,first); + RWplot1.topPlot.addPoint(0, t, Omega1, first); + RWplot1.bottomPlot.addPoint(0,t,Omega2, first); + RWplot2.topPlot.addPoint(0,t,Omega3, first); + RWplot2.bottomPlot.addPoint(0,t,Omega4,first); + + + } + + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)e1; // quaternion 1 + quat_values[2][currentPts] = (float)e2; // quarternion 2 + quat_values[3][currentPts] = (float)e3; // quarternion 3 + quat_values[4][currentPts] = (float)e4; // quarternion 4 + // also print to the screen + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + }// End of print + +}// End of File + + + + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/QuatToDeg.java b/src/jat/coreNOSA/attitude/QuatToDeg.java new file mode 100644 index 0000000..2d51030 --- /dev/null +++ b/src/jat/coreNOSA/attitude/QuatToDeg.java @@ -0,0 +1,213 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude; + + +/** + *

The QuatToDeg converts the quarternions to the corresponding + * euler angles for physical interpretation. + * + * @author Noriko Takada + * @version 1.3(3/07/2004) + * Modification Record: + * 1. Removed: import java.lang.Math + */ + + +/** + * Reference: "Spacecraft Dynamics & Control" by Marcel J. Sidi (p.323+) + * "Spacecraft Vehicle Dynamics and Control" by Bong Wie (p.318+) + * "Cal Poly Aero 451 Project #2, December 2001" + * + * Theory: Define e = eigenvector of rotation + * = [e1, e2, e3] + * theta = the angle of rotation + * Then q1 = e1*sin(theta/2) + * q2 = e2*sin(theta/2) + * q3 = e3*sin(theta/2) + * q4 = cos(theta/2) + * + * How to find quarternions [q1, q2, q3, q4] from the initial condition + * 1. Calcurate the axis of rotation + * 2. + * 3 + */ + + +public class QuatToDeg +{ + + // Field (variable) declaration + public double q1; + public double q2; + public double q3; + public double q4; + public double [][] element = new double[3][3]; + public double [][] rotation_matrix = new double[3][3]; + public double theta=10; + public double psi, phi; + + + + // Constructor + public QuatToDeg(double e1, double e2, double e3, double e4) + { + q1 = e1; + q2 = e2; + q3 = e3; + q4 = e4; + + } + + // Default Constructor + public QuatToDeg() + { + q1 = 0.0; + q2 = 0.0; + q3 = 0.0; + q4 = 1.0; + } + + // Compute the rotation matrix between the reference frame + // and to the frame of the particular orientation defined by + // the given quaternions + public double[] calculateAngle() + { + double [] out = new double[3]; + + rotation_matrix[0][0] = 1- 2*(q2*q2 + q3*q3); //c11 + //System.out.println("\nc11="+rotation_matrix[0][0]); + rotation_matrix[0][1] = 2*(q1*q2 + q3*q4); //c12 + //System.out.println("\nc12="+rotation_matrix[0][1]); + rotation_matrix[0][2] = 2*(q1*q3 - q2*q4); //c13 + //System.out.println("\nc13="+rotation_matrix[0][2]); + rotation_matrix[1][0] = 2*(q1*q2 - q3*q4); //c21 + rotation_matrix[1][1] = 1- 2*(q1*q1 + q3*q3); //c22 + rotation_matrix[1][2] = 2*(q2*q3 + q1*q4); //c23 + rotation_matrix[2][0] = 2*(q1*q3+q2*q4); //c31 + rotation_matrix[2][1] = 2*(q2*q3-q1*q4); //c32 + rotation_matrix[2][2] = 1-2*(q1*q1 + q2*q2); //c33 + + + for(int j = 0; j<3; j++) + { + for(int i = 0; i<3; i++) + { + + element[j][i] = rotation_matrix[j][i]; + rotation_matrix[j][i] = rotation_matrix[i][j]; + } + } + //System.out.println("element[0][2](afterfor)="+element[0][2]); + + double c_psi; + double s_psi; + double c_phi; + double s_phi; + + Quad_check checkPsi; + Quad_check checkPhi; + + + theta = (-1)*Math.asin(element[0][2])*180/Math.PI; + //System.out.println("Math.asin(1)="+Math.asin(1.0)); + //System.out.println("c13="+element[0][2]); + //System.out.println("Math.asin(c13)="+Math.asin(element[0][2])); + //System.out.println("Math.PI="+Math.PI); + //System.out.println("theta="+theta); + + c_psi = element[0][0]/Math.cos(theta*Math.PI/180); + s_psi = element[0][1]/Math.cos(theta*Math.PI/180); + System.out.println("c_psi="+c_psi); + System.out.println("s_psi="+s_psi); + + // Quadrant Check + checkPsi = new Quad_check(c_psi, s_psi); + checkPsi.determineAngle(); + psi = checkPsi.angle; + //System.out.println("psi="+psi); + + s_phi = element[1][2]/Math.cos(theta*Math.PI/180); + c_phi = element[2][2]/Math.cos(theta*Math.PI/180); + + checkPhi = new Quad_check(c_phi, s_phi); + checkPhi.determineAngle(); + phi = checkPhi.angle; + + + out[0] = theta; + out[1] = psi; + out[2] = phi; + + return out; + }// End of calculateAngle + +} // End of QuatToDeg + + +class Quad_check +{ + // Given a value of cosine and sine of an angle, + // determine the angle + + double c_angle; + double s_angle; + double angle; + + public Quad_check(double cos, double sin) + { //Lesson: do not use the same variable names + // for the parameters; that did not work. + c_angle = cos; + s_angle = sin; + } + + + public void determineAngle() + { + if(c_angle >0) // 1st or 4th + { + if(s_angle > 0) // 1st + angle = Math.acos(c_angle)*180/Math.PI; + else if(s_angle < 0) // 4th + angle = Math.asin(s_angle)*180/Math.PI; + else if(s_angle == 0) + angle = 0; + else + System.out.println("error!"); + + } + + else if (c_angle < 0) //2nd or 3rd + { + if(s_angle > 0) // 2nd + angle = Math.acos(c_angle)*180/Math.PI; + else if(s_angle < 0) // 3rd + angle =(Math.acos(c_angle)+Math.PI)*180/Math.PI; + else if(s_angle == 0) + angle = 180; + } + //System.out.println("angle="+angle); + }// End of determineAngle() +} + + + + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/eom/BangBangTwoD.java b/src/jat/coreNOSA/attitude/eom/BangBangTwoD.java new file mode 100644 index 0000000..aaa4481 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/BangBangTwoD.java @@ -0,0 +1,455 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.TwoPlots; + + +/** + *

+ * Equations of motion for One-axis Bang-Bang control with a fixed-level + * control torque + * + * @author Noriko Takada + * @version 1.3 (8/15/2004) + * Modification since the last version + * Switched to the interface EquationsOfMotion + * + */ +public class BangBangTwoD implements EquationsOfMotion +{ + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains + // quarternions from simulation + // J Moment of inertia; Control is applied about + // the axis with this inertia + // wn Desired Control Natural Frequency + // damping Desired Damping Coefficient + // K Proportional Gain (wn^2*J), calculated + // assuming the control torque is available with + // no physical constraint + // Kd Derivative Gain (J*2*damping*wn), calculated + // assming the control + // torque is available with no physical + // constraint + // K_bang Proportional Gain for Bang-Bang control + // Kd_bang Derivative Gain for Bang-Bang control + // torque_level Fixed level of torque for Bang-Bang control + // no_torque_zone Amount of dead zone in which no control torque + // is applied + // theta Current position + // theta_com Commanded position + // thetaPlot Plots of angular position + // torquePlot Plots of calculated torque + // quat_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + // quaternionPlot Plots of quaternions + // + double time_step; + public int currentPts; + private float quat_values[][]; + + private double J = 600; + private double wn = 1; + private double damping = 1; + private double K = wn*wn*J; + private double Kd =J*2*damping*wn; + private double K_bang = K; + private double Kd_bang = Kd; + private double torque_level=1; + private double no_torque_zone=0.001; + private double theta_com = 2*Math.PI/180; + + // Create variables for the necessary plots + private TwoPlots thetaPlot = new TwoPlots(); + private TwoPlots thetaDotPlot = new TwoPlots(); + private TwoPlots torquePlot = new TwoPlots(); + private TwoPlots phasePlot = new TwoPlots(); + private FourPlots quaternionPlot = new FourPlots(); + private SinglePlot quat_check = new SinglePlot(); + + + /** + * Constructor + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public BangBangTwoD(double time_step, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + + /** Construct a RConstantTorque object + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param J Moment of inertia about the axis that is to be controled + * @param wn Desired Control Natural Frequency + * @param damping Desired Damping Coefficient + * @param K Proportional Gain (wn^2*J), calculated assuming + * the control torque is available with no physical constraint + * @param Kd Derivative Gain (J*2*damping*wn), calculated assming the control + * torque is available with no physical constraint + * @param K_bang Proportional Gain for Bang-Bang control + * @param Kd_bang Derivative Gain for Bang-Bang control + * @param torque Fixed level of torque for Bang-Bang control + * @param dz Amount of dead zone in which no control torque is applied + * @param theta_com Commanded position + */ + public BangBangTwoD(double time_step, double J,double wn, + double damping, double K, double Kd, + double K_bang, double Kd_bang,double torque, + double dz, double theta_com, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.wn = wn; + this.damping = damping; + this.K = K; + this.Kd = Kd; + this.K_bang=K_bang; + this.Kd_bang = Kd_bang; + this.torque_level = torque; + this.no_torque_zone = dz; + this.theta_com = theta_com*Math.PI/180; + this.J=J; + } + + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + /* + private TwoPlots thetaPlot = new TwoPlots(); + private TwoPlots thetaDotPlot = new TwoPlots(); + private TwoPlots torquePlot = new TwoPlots(); + private TwoPlots phasePlot = new TwoPlots(); + private FourPlots quaternionPlot = new FourPlots(); + private SinglePlot quat_check = new SinglePlot(); + */ + + // Setup plots + thetaPlot.setTitle("Position Plot"); + thetaPlot.topPlot.setXLabel("t (sec)"); + thetaPlot.topPlot.setYLabel("[No Physical Constraint] theta (degree)"); + thetaPlot.bottomPlot.setXLabel("t (sec)"); + thetaPlot.bottomPlot.setYLabel("[Bang-Bang] theta (degree/sec)"); + + thetaDotPlot.setTitle("Velocity Plot"); + thetaDotPlot.topPlot.setXLabel("t (sec)"); + thetaDotPlot.topPlot.setYLabel("[No Physical Constraint] thetaDot (deg/sec)"); + thetaDotPlot.bottomPlot.setXLabel("t (sec)"); + thetaDotPlot.bottomPlot.setYLabel("[Bang-Bang] thetaDot (deg/sec)"); + + torquePlot.setTitle("Torque Plot"); + torquePlot.topPlot.setXLabel("t (sec)"); + torquePlot.topPlot.setYLabel("[No Physical Constraint] Torque"); + torquePlot.bottomPlot.setXLabel("t (sec)"); + torquePlot.bottomPlot.setYLabel("[Bang-Bang] Torque"); + + phasePlot.setTitle("phase Plot"); + phasePlot.topPlot.setXLabel("theta"); + phasePlot.topPlot.setYLabel("thetaDot"); + phasePlot.bottomPlot.setXLabel("theta"); + phasePlot.bottomPlot.setYLabel("thetaDot"); + + quaternionPlot.setTitle("Quaternions"); + quaternionPlot.firstPlot.setXLabel("t (sec)"); + quaternionPlot.firstPlot.setYLabel("q1"); + quaternionPlot.secondPlot.setXLabel("t (sec)"); + quaternionPlot.secondPlot.setYLabel("q2"); + quaternionPlot.thirdPlot.setXLabel("t (sec)"); + quaternionPlot.thirdPlot.setYLabel("q3"); + quaternionPlot.fourthPlot.setXLabel("t (sec)"); + quaternionPlot.fourthPlot.setYLabel("q4"); + + quat_check.setTitle("Quaternion Check"); + quat_check.plot.setXLabel("t (sec)"); + quat_check.plot.setYLabel("q1^2 + q2^2 + q3^2 + q4^2 = 1"); + + + } + + + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + //! The method derivs has the limit of 65535 byts + + //-------------- Equation of Motion for Non Bang-Bang control------ + double [] out = new double[4]; + // Define state variables + double theta = x[0]; + double thetaDot = x[1]; + double thetaBang = x[2]; + double thetaDotBang = x[3]; + + double Tc=K*(theta_com-theta)-Kd*thetaDot; + + out[0]=thetaDot; + out[1]=Tc/J; + //Tc=torque_level*sign(K_bang*(theta_com-theta)-(Kd_bang)*theta_dot); + //if abs((theta_com-theta)*180/pi)0) + value =1; + else if (x<=0) + value = -1; + else + value = 0; + + return value; + } + +} + + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/eom/CMGManeuver.java b/src/jat/coreNOSA/attitude/eom/CMGManeuver.java new file mode 100644 index 0000000..86c1922 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/CMGManeuver.java @@ -0,0 +1,657 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.attitude.QuatToDeg; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; + +/** + *

+ * This class contains the equations of motion for the simulation of a rigid spacecraft + * performing attitude maneuver using 3 single-gimbal control moment gyros. + * The class implements jat.alg.integrators.Derivatives and + * jat.alg.integrateors.Printble, so an outside application code can perform a numerical simulation + * of equations of motion defined in this class and get the output from the simulation. + * + * @author Noriko Takada + * @version Last Modified: 08/15/2004 + * Modification since the last version + * Switched to the interface EquationsOfMotion + * + */ +public class CMGManeuver implements EquationsOfMotion +{ + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions from simulation + // M1,M2,M3 External Torques about 1,2,and 3 axis + // I1,I2,I3 Principal moments of inertia + // J1,J2,J3 Moments of inertia of CMG1, CMG2, CMG3 + // A1,A2,A3 Nomial rotor speed of CMG1, CMG2, CMG3 + // Kx Ky Kz Proportional gains + // Kxd Kyd Kzd Derivative gains + // psi, theta, phi Amount of attitude maneuver in terms of euler angles + // q + // rotation_plot Plots of angular velocities + // angle_plot Plots of euler angles + // quarternion_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + // CMGPlot Plot of CMGs rotor speeds + + double time_step = 0.1; + public int currentPts; + private float quat_values[][]; + + // Create variables for the necessary plots + private ThreePlots gimbal_angle_plot = new ThreePlots(); + private ThreePlots gimbal_rate_plot = new ThreePlots(); + private ThreePlots angular_velocity_plot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private ThreePlots euler_angle_plot = new ThreePlots(); + private FourPlots angular_momentum_plot = new FourPlots(); + private SinglePlot energy_plot = new SinglePlot(); + private FourPlots quaternion_plot = new FourPlots(); + + private double I1 = 10.42; + private double I2 = 35.42; + private double I3 = 41.67; + + private double M1 = 0; + private double M2 = 0; + private double M3 = 0; + + double J1 = 10; + double J2 = 10; + double J3 = 10; + + double OMEGA1=500; + double OMEGA2=500; + double OMEGA3=500; + + double Kx=-I1; + double Kxd=4*I1; + double Ky=-I2; + double Kyd=4*I2; + double Kz=-I3; + double Kzd=4*I3; + + // Amount of attitude maneuver in terms of Euler angles + // These have to be converted into target quarternions. + private double psi=10*Math.PI/180; + private double theta=60*Math.PI/180; + private double phi=30*Math.PI/180; + + // Target Quarternions + double[] q = convertEulerToTargetQ(psi, theta, phi); + + + /** + * Constructor 1 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public CMGManeuver(double time_step, float quat_values[][]) + { + // Setup plots + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + + /** + * Constructor 2 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1 I2 I3 Principle moments of inertia about 1, 2, and 3 axis respectively + * @param J Moment of inertia of CMG + * @param angle Orientation angle of CMG + * @param psi Target euler angle + * @param phi Target euler angle + * @param theta Target euler angle + */ + public CMGManeuver(double time_step, double I1, double I2, double I3 + , double J, double A, double psi, double phi, double theta, + float quat_values[][] ) + { + setupPlots(); + + this.time_step = time_step; + this.quat_values = quat_values; + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + + this.J1 = J; + this.J2 = J; + this.J3 = J; + this.OMEGA1 = A; + this.OMEGA2 = A; + this.OMEGA3 = A; + + this.psi = psi; + this.phi = phi; + this.theta = theta; + // a,b, and c are angles in degrees. + psi=psi*Math.PI/180; + theta=theta*Math.PI/180; + phi=phi*Math.PI/180; + + q = convertEulerToTargetQ(psi, theta, phi); + } + + /** + * Constructor 3 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param a Target psi angle + * @param b Target theta angle + * @param c Target phi angle + */ + public CMGManeuver(double time_step, double a, double b, double c, + float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + // a,b, and c are angles in degrees. + psi=a*Math.PI/180; + theta=b*Math.PI/180; + phi=c*Math.PI/180; + + q = convertEulerToTargetQ(psi, theta, phi); + } + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + // FourPlots wheel_velocity_plot = new FourPlots(); + // ThreePlots angullar_velocity_plot = new ThreePlots(); + // SinglePlot quarternion_check = new SinglePlot(); + // ThreePlots euler_angle_plot = new ThreePlots(); + // FourPlots angular_momentum_plot = new FourPlots(); + // SinglePlot energy_plot = new SinglePlot(); + + + // Setup plots + gimbal_rate_plot.setTitle("CMG Gimbal Rates"); + gimbal_rate_plot.topPlot.setXLabel("t (sec)"); + gimbal_rate_plot.topPlot.setYLabel("CMG1 Gimbal rate (rad/sec)"); + gimbal_rate_plot.middlePlot.setXLabel("t (sec)"); + gimbal_rate_plot.middlePlot.setYLabel("CMG2 Gimbal rate (rad/sec)"); + gimbal_rate_plot.bottomPlot.setXLabel("t (sec)"); + gimbal_rate_plot.bottomPlot.setYLabel("CMG3 Gimbal rate (rad/sec)"); + + gimbal_angle_plot.setTitle("CMG Gimbal Angles"); + gimbal_angle_plot.topPlot.setXLabel("t (sec)"); + gimbal_angle_plot.topPlot.setYLabel("CMG1 Gimbal angle (rad)"); + gimbal_angle_plot.middlePlot.setXLabel("t (sec)"); + gimbal_angle_plot.middlePlot.setYLabel("CMG2 Gimbal angle (rad)"); + gimbal_angle_plot.bottomPlot.setXLabel("t (sec)"); + gimbal_angle_plot.bottomPlot.setYLabel("CMG3 Gimbal angle (rad)"); + + + angular_velocity_plot.setTitle("Spacecraft Angular Velocities"); + angular_velocity_plot.topPlot.setXLabel("t (sec)"); + angular_velocity_plot.topPlot.setYLabel("w1 (rad/sec)"); + angular_velocity_plot.middlePlot.setXLabel("t (sec)"); + angular_velocity_plot.middlePlot.setYLabel("w2 (rad/sec)"); + angular_velocity_plot.bottomPlot.setXLabel("t (sec)"); + angular_velocity_plot.bottomPlot.setYLabel("w3 (rad/sec)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + euler_angle_plot.setTitle("Euler Angles"); + euler_angle_plot.topPlot.setXLabel("t(sec)"); + euler_angle_plot.topPlot.setYLabel("Psi(rad)"); + euler_angle_plot.middlePlot.setXLabel("t(sec)"); + euler_angle_plot.middlePlot.setYLabel("Theta(rad)"); + euler_angle_plot.bottomPlot.setXLabel("t(sec)"); + euler_angle_plot.bottomPlot.setYLabel("Phi(rad)"); + + angular_momentum_plot.setTitle("Angular Momentum"); + angular_momentum_plot.firstPlot.setXLabel("t (sec)"); + angular_momentum_plot.firstPlot.setYLabel("H (a1)"); + angular_momentum_plot.secondPlot.setXLabel("t (sec)"); + angular_momentum_plot.secondPlot.setYLabel("H (a2)"); + angular_momentum_plot.thirdPlot.setXLabel("t (sec)"); + angular_momentum_plot.thirdPlot.setYLabel("H (a3)"); + angular_momentum_plot.fourthPlot.setXLabel("t (sec)"); + angular_momentum_plot.fourthPlot.setYLabel("H total"); + + energy_plot.setTitle("RotationalKinetic Energy"); + energy_plot.plot.setXLabel("t (sec)"); + energy_plot.plot.setYLabel("Energy"); + + quaternion_plot.setTitle("Quaternions"); + quaternion_plot.firstPlot.setXLabel("t (sec)"); + quaternion_plot.firstPlot.setYLabel("q1"); + quaternion_plot.secondPlot.setXLabel("t (sec)"); + quaternion_plot.secondPlot.setYLabel("q2"); + quaternion_plot.thirdPlot.setXLabel("t (sec)"); + quaternion_plot.thirdPlot.setYLabel("q3"); + quaternion_plot.fourthPlot.setXLabel("t (sec)"); + quaternion_plot.fourthPlot.setYLabel("q4"); + } + + /** Compute the derivatives. + * Equations of Motion + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + // Error quarternions (Necessary to determine the required control torque) + double qe1 = q[3]*x[3] + q[2]*x[4] - q[1]*x[5] - q[0]*x[6]; + double qe2 = -q[2]*x[3] + q[3]*x[4] + q[0]*x[5] - q[1]*x[6]; + double qe3 = q[1]*x[3] - q[0]*x[4] + q[3]*x[5] - q[2]*x[6]; + double qe4 = q[0]*x[3] + q[1]*x[4] + q[2]*x[5] + q[3]*x[6]; + + // Control Torque + double Mc1 = 2*Kx*qe1*qe4 - Kxd*x[0]; + double Mc2 = 2*Ky*qe2*qe4 - Kyd*x[1]; + double Mc3 = 2*Kz*qe3*qe4 - Kzd*x[2]; + + double w1 = x[0]; + double w2 = x[1]; + double w3 = x[2]; + double q1 = x[3]; + double q2 = x[4]; + double q3 = x[5]; + double q4 = x[6]; + double delta1 = x[7]; + double delta2 = x[8]; + double delta3 = x[9]; + + + double [] out = new double[11]; + out[0] = ((I2-I3)/I1)*x[1]*x[2] + M1/I1 + Mc1/I1; + out[1] = ((I3-I1)/I2)*x[0]*x[2] + M2/I2 + Mc2/I2; + out[2] = ((I1-I2)/I3)*x[0]*x[1] + M3/I3 + Mc3/I3; + out[3] = -0.5* (-x[2]*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -0.5* (x[2]*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -0.5* (-x[2]*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -0.5* (x[2]*x[5] + x[1]*x[4] + x[0]*x[3]); + + + // x[7] = Gimbal rate for CMG1 + // x[8] = Gimbal rate for CMG2 + // x[9] = Gimbal rate for CMG3 + + Matrix Q = new Matrix(3,3); + Matrix P = new Matrix(3,1); + Matrix Tc = new Matrix(3,1); + Matrix Q_inv = new Matrix(3,3); + Matrix Omega = new Matrix(3,1); + + // Set the matrix elements + // Don't forget that the index starts at 0!! + Q.set(0,0,0); + Q.set(0,1, -J2*(w3+OMEGA2*Math.sin(delta2))); + Q.set(0,2, J3*(w2-OMEGA3*Math.cos(delta3))); + Q.set(1,0, J1*(w3-OMEGA1*Math.cos(delta1))); + Q.set(1,1,0); + Q.set(1,2, -J3*(w1+OMEGA3*Math.sin(delta3))); + Q.set(2,0,-J1*(w2+OMEGA1*Math.sin(delta1))); + Q.set(2,1, J2*(w1-OMEGA2*Math.cos(delta2))); + Q.set(2,2,0); + + P.set(0,0, (-J1*OMEGA1*(w2*Math.cos(delta1) + w3*Math.sin(delta1)) + J2*OMEGA2*w2*Math.sin(delta2) + J3*OMEGA3*w3*Math.cos(delta3) - Mc1)); + P.set(1,0, (J1*OMEGA1*w1*Math.cos(delta1) - J2*OMEGA2*(w3*Math.cos(delta2) + w1*Math.sin(delta2)) + J3*OMEGA3*w3*Math.sin(delta3) -Mc2)); + P.set(2,0, (J1*OMEGA1*w1*Math.sin(delta1) + J2*OMEGA2*w2*Math.cos(delta2) - J3*OMEGA3*(w1*Math.cos(delta3) + w2*Math.sin(delta3))-Mc3)); + + + + Q_inv=Q.inverse(); + Omega=Q_inv.times(P); + + out[7] = Omega.get(0,0); + out[8] = Omega.get(1,0); + out[9] = Omega.get(2,0); + + + // Build 3x3 matrix Q and 3x1 matrix P + + return out; + }// End of derivs + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + + + boolean first = true; + if (t == 0.0) first = false; + //int currentPts = (int)(t/time_step); // This is the array index + + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // Define state variables + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double q1 = y[3]; + double q2 = y[4]; + double q3 = y[5]; + double q4 = y[6]; + double delta1 = y[7]; + double delta2 = y[8]; + double delta3 = y[9]; + + QuatToDeg tester = new QuatToDeg(q1, q2, q3, q4); + + double[] angle = new double[3]; + angle = tester.calculateAngle(); + double Theta = angle[0]; + double Psi = angle[1]; + double Phi = angle[2]; + + double quat_check = q1*q1+q2*q2+q3*q3+q4*q4; + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + + // Build Transformation Matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + + // ************ Angular Momentum **************************// + //Define Q matrix + double Q11 = 0; + double Q12 = -J2*(w3+OMEGA2*Math.sin(delta2)); + double Q13 = J3*(w2-OMEGA3*Math.cos(delta3)); + double Q21 = J1*(w3-OMEGA1*Math.cos(delta1)) ; + double Q22 = 0; + double Q23 = -J3*(w1+OMEGA3*Math.sin(delta2)); + double Q31 = -J1*(w2+OMEGA1*Math.sin(delta1)); + double Q32 = J2*(w1-OMEGA2*Math.cos(delta2)); + double Q33 = 0; + + double qt1 = q[0]; + double qt2 = q[1]; + double qt3 = q[2]; + double qt4 = q[3]; + + double qe1 = qt4*q1 +qt3*q2 -qt2*q3 -qt1*q4; + double qe2 = -qt3*q1 +qt4*q2 +qt1*q3 -qt2*q4; + double qe3 = qt2*q1 -qt1*q2 +qt4*q3 -qt3*q4; + double qe4 = qt1*q1 +qt2*q2 +qt3*q3 +qt4*q4; + + double Mc1=(2*Kx*qe1*qe4 - Kxd*w1); + double Mc2=(2*Ky*qe2*qe4 - Kyd*w2); + double Mc3=(2*Kz*qe3*qe4 - Kzd*w3); + + + double P1 = -J1*OMEGA1*(w2*Math.cos(delta1) + w3*Math.sin(delta1)) + J2*OMEGA2*w2*Math.sin(delta2) + J3*OMEGA3*w3*Math.cos(delta3) - Mc1; + double P2 = J1*OMEGA1*w1*Math.cos(delta1) - J2*OMEGA2*(w3*Math.cos(delta2) + w1*Math.sin(delta2)) + J3*OMEGA3*w3*Math.sin(delta3) -Mc2; + double P3 = J1*OMEGA1*w1*Math.sin(delta1) + J2*OMEGA2*w2*Math.cos(delta2) - J3*OMEGA3*(w1*Math.cos(delta3) + w2*Math.sin(delta3))-Mc3; + + double Delta1Dot= (P1*Q22*Q33-P1*Q23*Q32-P2*Q12*Q33+P2*Q13*Q32+P3*Q12*Q23-P3*Q13*Q22)/(Q11*Q22*Q33-Q11*Q23*Q32-Q21*Q12*Q33+Q21*Q13*Q32+Q31*Q12*Q23-Q31*Q13*Q22); + + double Delta2Dot= -(P1*Q21*Q33-P1*Q23*Q31-P2*Q11*Q33+P2*Q13*Q31+P3*Q11*Q23-P3*Q13*Q21)/(Q11*Q22*Q33-Q11*Q23*Q32-Q21*Q12*Q33+Q21*Q13*Q32+Q31*Q12*Q23-Q31*Q13*Q22); + + double Delta3Dot= (P1*Q21*Q32-P1*Q22*Q31-P2*Q11*Q32+P2*Q12*Q31+P3*Q11*Q22-P3*Q12*Q21)/(Q11*Q22*Q33-Q11*Q23*Q32-Q21*Q12*Q33+Q21*Q13*Q32+Q31*Q12*Q23-Q31*Q13*Q22); + + //Relative Angular Momentum + double Hb1_cmg= J2*OMEGA2*Math.cos(delta2)-J3*OMEGA3*Math.sin(delta3) ; + double Hb2_cmg= -J1*OMEGA1*Math.sin(delta1) + J3*OMEGA3*Math.cos(delta3) ; + double Hb3_cmg= J1*OMEGA1*Math.cos(delta1) - J2*OMEGA2*Math.sin(delta2) ; + + + double Hb1_sc=I1*w1; + double Hb2_sc=I2*w2; + double Hb3_sc=I3*w3; + + double Hb1=Hb1_cmg+Hb1_sc; + double Hb2=Hb2_cmg+Hb2_sc; + double Hb3=Hb3_cmg+Hb3_sc; + + double Hb_total=Math.sqrt(Hb1*Hb1+Hb2*Hb2+Hb3*Hb3); + + double [] angular_momentum_array = new double[3]; + angular_momentum_array[0] = Hb1; + angular_momentum_array[1] = Hb2; + angular_momentum_array[2] = Hb3; + Matrix angular_momentum_vector = new Matrix(angular_momentum_array, 3); + Matrix inertial_angular_momentum = new Matrix(T_transpose.times(angular_momentum_vector)); + double Hi1 = inertial_angular_momentum.get(0,0); + double Hi2 = inertial_angular_momentum.get(1,0); + double Hi3 = inertial_angular_momentum.get(2,0); + + double Hi_total = Math.sqrt(Hi1*Hi1+Hi2*Hi2+Hi3*Hi3); + + //************* Rotational Kinetic Energy ******************* + double total_velocity1=OMEGA1*Math.cos(delta1)-OMEGA2*Math.sin(delta2)+w1; + double total_velocity2=OMEGA2*Math.cos(delta2)+OMEGA3*Math.sin(delta3)+w2; + double total_velocity3=-OMEGA1*Math.sin(delta1)+OMEGA3*Math.cos(delta3)+w3; + + double total_H1=Hb1_cmg+I1*w1; + double total_H2=Hb2_cmg+I2*w2; + double total_H3=Hb3_cmg+I3*w3; + + double energy=0.5*(total_velocity1*total_H1 + total_velocity2*total_H2 + total_velocity3*total_H3); + + + + // add data point to the plot + // FourPlots wheel_velocity_plot = new FourPlots(); + // ThreePlots angullar_velocity_plot = new ThreePlots(); + // SinglePlot quarternion_check = new SinglePlot(); + // ThreePlots euler_angle_plot = new ThreePlots(); + // FourPlots angular_momentum_plot = new FourPlots(); + // SinglePlot energy_plot = new SinglePlot(); + + gimbal_rate_plot.topPlot.addPoint(0, t, Delta1Dot, first); + gimbal_rate_plot.middlePlot.addPoint(0, t, Delta2Dot, first); + gimbal_rate_plot.bottomPlot.addPoint(0, t, Delta3Dot, first); + + gimbal_angle_plot.topPlot.addPoint(0, t, y[7], first); + gimbal_angle_plot.middlePlot.addPoint(0, t, y[8], first); + gimbal_angle_plot.bottomPlot.addPoint(0, t, y[9], first); + //wheel_velocity_plot.fourthPlot.addPoint(0, t, y[10], first); + + angular_velocity_plot.topPlot.addPoint(0, t,y[0], first); + angular_velocity_plot.middlePlot.addPoint(0, t, y[1], first); + angular_velocity_plot.bottomPlot.addPoint(0, t, y[2], first); + + quarternion_check.plot.addPoint(0, t, quat_check, first); + + euler_angle_plot.topPlot.addPoint(0, t, Psi, first); + euler_angle_plot.middlePlot.addPoint(0, t, Theta, first); + euler_angle_plot.bottomPlot.addPoint(0, t, Phi, first); + + angular_momentum_plot.firstPlot.addPoint(0, t, Hi1, first); + angular_momentum_plot.secondPlot.addPoint(0, t, Hi2, first); + angular_momentum_plot.thirdPlot.addPoint(0, t, Hi3, first); + angular_momentum_plot.fourthPlot.addPoint(0, t, Hi_total, first); + + energy_plot.plot.addPoint(0, t, energy, first); + + quaternion_plot.firstPlot.addPoint(0, t, q1, first); + quaternion_plot.secondPlot.addPoint(0, t, q2, first); + quaternion_plot.thirdPlot.addPoint(0, t, q3, first); + quaternion_plot.fourthPlot.addPoint(0, t, q4, first); + + + // Store quarternion values for use in animation + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + + currentPts++; + } + + /** + * This method converts euler angle representation of attitude to that of + * quarternions + * @param a psi angle + * @param b theta angle + * @param c phi angle + * @return A vector containing quaternions + */ + double[] convertEulerToTargetQ(double a, double b, double c) + { + double psi = a; + double theta = b; + double phi = c; + + //P.102 321 rotation Transformation matrix + double a11=Math.cos(theta)*Math.cos(psi); + double a12=Math.cos(theta)*Math.sin(psi); + double a13=-Math.sin(theta); + double a21=-Math.cos(phi)*Math.sin(psi)+Math.sin(phi)*Math.sin(theta)*Math.cos(psi); + double a22=Math.cos(phi)*Math.cos(psi)+Math.sin(phi)*Math.sin(theta)*Math.sin(psi); + double a23=Math.sin(phi)*Math.cos(theta); + double a31=Math.sin(phi)*Math.sin(psi)+Math.cos(phi)*Math.sin(theta)*Math.cos(psi); + double a32=-Math.sin(phi)*Math.cos(psi)+Math.cos(phi)*Math.sin(theta)*Math.sin(psi); + double a33=Math.cos(phi)*Math.cos(theta); + + //P.323- Definitions of Quaternion elements + double trace=a11+a22+a33; + double cos_alpha=(trace-1)/2; + double alpha=Math.acos(cos_alpha); + + double e1=(a23-a32)/(2*Math.sin(alpha)); + double e2=(a31-a13)/(2*Math.sin(alpha)); + double e3=(a12-a21)/(2*Math.sin(alpha)); + + double [] out = new double[4]; + + out[0] = e1*Math.sin(alpha/2); + out[1] = e2*Math.sin(alpha/2); + out[2] = e3*Math.sin(alpha/2); + out[3] = Math.cos(alpha/2); + + return out; + + }// End of convertEulerToTargetQ + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + // FourPlots wheel_velocity_plot = new FourPlots(); + // ThreePlots angullar_velocity_plot = new ThreePlots(); + // SinglePlot quarternion_check = new SinglePlot(); + // ThreePlots euler_angle_plot = new ThreePlots(); + // FourPlots angular_momentum_plot = new FourPlots(); + // SinglePlot energy_plot = new SinglePlot(); + //gimbal_rate_plot.setVisible(true); + angular_velocity_plot.setVisible(true); + quarternion_check.setVisible(true); + euler_angle_plot.setVisible(true); + angular_momentum_plot.setVisible(true); + //energy_plot.setVisible(true); + quaternion_plot.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.1; + double timeDuration=10; + double tf = 20; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + + // create an instance + CMGManeuver si = new CMGManeuver(time_step, quat_values); + + // initialize the variables + double [] x0 = new double[10]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.makePlotsVisible(); + } +} diff --git a/src/jat/coreNOSA/attitude/eom/FlexibleThreeD.java b/src/jat/coreNOSA/attitude/eom/FlexibleThreeD.java new file mode 100644 index 0000000..521ca5c --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/FlexibleThreeD.java @@ -0,0 +1,804 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + + +/** + *

+ * Equations of motion of a flexible spacecraft. + * The system being modeled consists of a rigid spacecraft + * with two massless beams with a concentrated mass at the tip of + * each beam, cantilevered at the central body on opposite sides. + * + * @author Noriko Takada + * @version (1.3): 8/15/2004 + * Modification since the last version + * Switched to the interface EquationsOfMotion + */ +public class FlexibleThreeD implements EquationsOfMotion +{ + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions from simulation + // I1,I2,I3 Principal moments of inertia + // m Mass of the concentrated mass at the beam tips + // a Distance from the center of mass to the beam attachment point + // L Length of the beams + // EI Flexural Rigidity + // rotation_plot Plots of angular velocities + // angle_plot Plots of euler angles + // quarternion_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + // quat_plot Plots of quaternions + // energy_and_angularM Plots of system energy and angular momentum + double time_step; + public int currentPts; + private float quat_values[][]; + private float quatBeam1[][]; + private float quatBeam2[][]; + + + private double Ixx = 45.42; // Spacecraft Principle inertia + private double Iyy = 35.42; + private double Izz = 13.35; + private double m = 1; + private double a = 0.40; + private double L = 1.80; + private double EI = 15.52; + + // Create variables for the necessary plots + private FourPlots uPlot = new FourPlots(); + private ThreePlots eulerPlot = new ThreePlots(); + private SinglePlot quaternion_check = new SinglePlot(); + private FourPlots quatPlot = new FourPlots(); + private ThreePlots energyPlot = new ThreePlots(); + private ThreePlots eulerRatePlot = new ThreePlots(); + private ThreePlots angularPlot = new ThreePlots(); + private FourPlots HPlot = new FourPlots(); + + // For error detection + private TwoPlots potentialPlot = new TwoPlots(); + private ThreePlots kineticPlot = new ThreePlots(); + private ThreePlots H1_BreakDown = new ThreePlots(); + private ThreePlots H2_BreakDown = new ThreePlots(); + private ThreePlots H3_BreakDown = new ThreePlots(); + + /** + * Constructor + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public FlexibleThreeD(double time_step, float quat_values[][],float quatBeam1[][], + float quatBeam2[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.quatBeam1 = quatBeam1; + this.quatBeam2 = quatBeam2; + } + + + /** Construct a RConstantTorque object + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1,I2,I3 Principal moments of inertia + * @param m Tip mass + * @param a Distance from the center of mass to the beam attachment point + * @param L Length of the massless beam + * @param EI Flexural rigidity + */ + public FlexibleThreeD(double time_step, double m, double a, double L, double EI, + double I1, double I2, double I3,float quat_values[][] + ,float quatBeam1[][], float quatBeam2[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.quatBeam1 = quatBeam1; + this.quatBeam2 = quatBeam2; + this.m = m; + this.a = a; + this.L = L; + this.EI = EI; + this.Ixx = I1; + this.Iyy= I2; + this.Izz = I3; + } + + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + + /* + private FourPlots uPlot = new FourPlots(); + private ThreePlots eulerPlot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private FourPlots quatPlot = new FourPlots(); + private TwoPlots EandHPlot = new TwoPlots(); + private ThreePlots eulerRatePlot = new ThreePlots(); + private ThreePlots angularPlot = new ThreePlots(); + private ThreePlots HPlot = new ThreePlots(); + */ + // Setup plots + uPlot.setTitle("Tip mass position & Velocity"); + uPlot.firstPlot.setXLabel("t(sec)"); + uPlot.firstPlot.setYLabel("u1(m)"); + uPlot.secondPlot.setXLabel("t(sec)"); + uPlot.secondPlot.setYLabel("u2(m)"); + uPlot.thirdPlot.setXLabel("t(sec)"); + uPlot.thirdPlot.setYLabel("u1Dot(m/sec)"); + uPlot.fourthPlot.setXLabel("t(sec)"); + uPlot.fourthPlot.setYLabel("u2Dot(m/sec)"); + + eulerPlot.setTitle("Euler angles"); + eulerPlot.topPlot.setXLabel("t (sec)"); + eulerPlot.topPlot.setYLabel("psi"); + eulerPlot.middlePlot.setXLabel("t (sec)"); + eulerPlot.middlePlot.setYLabel("theta"); + eulerPlot.bottomPlot.setXLabel("t (sec)"); + eulerPlot.bottomPlot.setYLabel("phi"); + + quaternion_check.setTitle("Quarternion Check"); + quaternion_check.plot.setXLabel("t(sec)"); + quaternion_check.plot.setYLabel("q1^2 + q2^2 + q3^2 + q4^2"); + + quatPlot.setTitle("Quaternion Values"); + quatPlot.firstPlot.setXLabel("t(sec)"); + quatPlot.firstPlot.setYLabel("q1"); + quatPlot.secondPlot.setXLabel("t (sec)"); + quatPlot.secondPlot.setYLabel("q2"); + quatPlot.thirdPlot.setXLabel("t (sec)"); + quatPlot.thirdPlot.setYLabel("q3"); + quatPlot.fourthPlot.setXLabel("t (sec)"); + quatPlot.fourthPlot.setYLabel("q4"); + + energyPlot.setTitle("Energy "); + energyPlot.topPlot.setXLabel("t(sec)"); + energyPlot.topPlot.setYLabel("Potential"); + energyPlot.middlePlot.setXLabel("t(sec)"); + energyPlot.middlePlot.setYLabel("Kinetic"); + energyPlot.bottomPlot.setXLabel("t (sec)"); + energyPlot.bottomPlot.setYLabel("Potential+Kinetic"); + + eulerRatePlot.setTitle("Euler angle rates"); + eulerRatePlot.topPlot.setXLabel("t (sec)"); + eulerRatePlot.topPlot.setYLabel("psiDot"); + eulerRatePlot.middlePlot.setXLabel("t (sec)"); + eulerRatePlot.middlePlot.setYLabel("thetaDot"); + eulerRatePlot.bottomPlot.setXLabel("t (sec)"); + eulerRatePlot.bottomPlot.setYLabel("phiDot"); + + + angularPlot.setTitle("Angular Velocities"); + angularPlot.topPlot.setXLabel("t(sec)"); + angularPlot.topPlot.setYLabel("w1 (rad/sec)"); + angularPlot.middlePlot.setXLabel("t(sec)"); + angularPlot.middlePlot.setYLabel("w2 (rad/sec)"); + angularPlot.bottomPlot.setXLabel("t(sec)"); + angularPlot.bottomPlot.setYLabel("w3 (rad/sec)"); + + HPlot.setTitle("Elements of Angular momentum vector"); + HPlot.firstPlot.setXLabel("t (sec)"); + HPlot.firstPlot.setYLabel("H1"); + HPlot.secondPlot.setXLabel("t (sec)"); + HPlot.secondPlot.setYLabel("H2"); + HPlot.thirdPlot.setXLabel("t (sec)"); + HPlot.thirdPlot.setYLabel("H3"); + HPlot.fourthPlot.setXLabel("t (sec)"); + HPlot.fourthPlot.setYLabel("Total Angular Momentum"); + + potentialPlot.setTitle("Potential energy break-down"); + potentialPlot.topPlot.setXLabel("t (sec)"); + potentialPlot.topPlot.setYLabel("Potential 1"); + potentialPlot.bottomPlot.setXLabel("t (sec)"); + potentialPlot.bottomPlot.setYLabel("Potentil 2"); + + kineticPlot.setTitle("Kinetic energy break-down"); + kineticPlot.topPlot.setXLabel("t (sec)"); + kineticPlot.topPlot.setYLabel("Kinetic Spacecraft"); + kineticPlot.middlePlot.setXLabel("t (sec)"); + kineticPlot.middlePlot.setYLabel("Kinetic Particle 1"); + kineticPlot.bottomPlot.setXLabel("t (sec)"); + kineticPlot.bottomPlot.setYLabel("Kinetic Particle 2"); + + H1_BreakDown.setTitle("H1 Break Down"); + H1_BreakDown.topPlot.setXLabel("t (sec)"); + H1_BreakDown.topPlot.setYLabel("H1_sc"); + H1_BreakDown.middlePlot.setXLabel("t (sec)"); + H1_BreakDown.middlePlot.setYLabel("H1_m1"); + H1_BreakDown.bottomPlot.setXLabel("t (sec)"); + H1_BreakDown.bottomPlot.setYLabel("H1_m2"); + + H2_BreakDown.setTitle("H2 Break Down"); + H2_BreakDown.topPlot.setXLabel("t (sec)"); + H2_BreakDown.topPlot.setYLabel("H2_sc"); + H2_BreakDown.middlePlot.setXLabel("t (sec)"); + H2_BreakDown.middlePlot.setYLabel("H2_m1"); + H2_BreakDown.bottomPlot.setXLabel("t (sec)"); + H2_BreakDown.bottomPlot.setYLabel("H2_m2"); + + H3_BreakDown.setTitle("H3 Break Down"); + H3_BreakDown.topPlot.setXLabel("t (sec)"); + H3_BreakDown.topPlot.setYLabel("H3_sc"); + H3_BreakDown.middlePlot.setXLabel("t (sec)"); + H3_BreakDown.middlePlot.setYLabel("H3_m1"); + H3_BreakDown.bottomPlot.setXLabel("t (sec)"); + H3_BreakDown.bottomPlot.setYLabel("H3_m2"); + } + + + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + //! The method derivs has the limit of 65535 byts + + double [] out = new double[10]; + // Define state variables + double u1 = x[0]; + double u2 = x[1]; + double psi = x[2]; + double theta = x[3]; + double phi = x[4]; + double u1Dot = x[5]; + double u2Dot = x[6]; + double psiDot = x[7]; + double thetaDot = x[8]; + double phiDot = x[9]; + + // These are an exact copy from MATLAB! + double Lsquare = L*L; + double Lcube = L*L*L; + double Lquad = L*L*L*L; + double u1square = u1*u1; + double u2square = u2*u2; + double asquare = a*a; + double psiDotSquare = psiDot*psiDot; + double thetaDotSquare = thetaDot*thetaDot; + double phiDotSquare = phiDot*phiDot; + double cos_psi_square = Math.cos(psi)*Math.cos(psi); + double sin_psi_square = Math.sin(psi)*Math.sin(psi); + double cos_theta_square = Math.cos(theta)*Math.cos(theta); + double sin_theta_square = Math.sin(theta)*Math.sin(theta); + double cos_phi_square = Math.cos(phi)*Math.cos(phi); + double sin_phi_square = Math.sin(phi)*Math.sin(phi); + double c_psi = Math.cos(psi); + double s_psi = Math.sin(psi); + double c_theta = Math.cos(theta); + double s_theta = Math.sin(theta); + double c_phi = Math.cos(phi); + double s_phi = Math.sin(phi); + + double A11 = m; + double A12 = 0; + double A13 = (m*a+m*L)*c_theta*c_phi; + double A14 = (-m*a-m*L)*s_phi; + double A15 = 0; + double B1 = (-3*EI*u1+m*u1*psiDotSquare*Lcube*cos_theta_square*cos_phi_square-m*u1*thetaDotSquare*Lcube*cos_phi_square-m*u1*psiDotSquare*Lcube*cos_theta_square+m*u1*Lcube*phiDotSquare+m*u1*Lcube*psiDotSquare+m*u1*thetaDotSquare*Lcube-2*m*phiDot*psiDot*u1*Lcube*s_theta+(m*a*Lcube*psiDotSquare+m*Lquad*psiDotSquare)*c_theta*s_theta*s_phi+(2*m*psiDot*a*thetaDot*Lcube+2*m*psiDot*thetaDot*Lquad)*c_phi*s_theta-2*m*psiDot*u1*thetaDot*Lcube*c_theta*c_phi*s_phi)/Lcube; + double A21 = 0; + double A22 = m; + double A23 = (-m*a-m*L)*c_theta*c_phi; + double A24 = (m*a+m*L)*s_phi; + double A25 = 0; + double B2 = (-3*EI*u2+m*u2*psiDotSquare*Lcube*cos_theta_square*cos_phi_square-m*u2*thetaDotSquare*Lcube*cos_phi_square-m*u2*psiDotSquare*Lcube*cos_theta_square+m*u2*Lcube*phiDotSquare+m*u2*Lcube*psiDotSquare+m*u2*thetaDotSquare*Lcube+(-2*m*psiDot*a*thetaDot*Lcube-2*m*psiDot*thetaDot*Lquad)*c_phi*s_theta+(-m*a*Lcube*psiDotSquare-m*Lquad*psiDotSquare)*c_theta*s_theta*s_phi-2*m*psiDot*u2*thetaDot*Lcube*c_theta*c_phi*s_phi-2*m*phiDot*psiDot*u2*Lcube*s_theta)/Lcube; + double A31 = (m*a+m*L)*c_theta*c_phi; + double A32 = (-m*a-m*L)*c_theta*c_phi; + double A33 = -Ixx*cos_theta_square+Iyy*cos_theta_square+m*u1square+m*u2square+4*m*L*a*cos_theta_square+2*m*asquare*cos_theta_square+2*m*Lsquare*cos_theta_square+m*u1square*cos_theta_square*cos_phi_square-m*u1square*cos_theta_square+m*u2square*cos_theta_square*cos_phi_square-m*u2square*cos_theta_square-Iyy*cos_theta_square*cos_phi_square+Izz*cos_theta_square*cos_phi_square+Ixx+(-2*m*u2*a+2*m*u1*L-2*m*L*u2+2*m*u1*a)*c_theta*s_theta*s_phi; + double A34 = (-m*u2*a+m*u1*L-m*L*u2+m*u1*a)*c_phi*s_theta+(Iyy-Izz-m*u1square-m*u2square)*c_theta*c_phi*s_phi; + double A35 = (-Ixx-m*u1square-m*u2square)*s_theta+(m*u2*a+m*L*u2-m*u1*L-m*u1*a)*c_theta*s_phi; + double B3 = -2*m*u1Dot*psiDot*u1-2*m*u2Dot*psiDot*u2-2*m*u1Dot*psiDot*u1*cos_theta_square*cos_phi_square-2*m*u2Dot*psiDot*u2*cos_theta_square*cos_phi_square+2*m*u1Dot*psiDot*u1*cos_theta_square+2*m*u2Dot*psiDot*u2*cos_theta_square+(2*m*phiDot*psiDot*u2square*cos_theta_square+2*phiDot*psiDot*Izz*cos_theta_square-2*phiDot*psiDot*Iyy*cos_theta_square+2*m*phiDot*psiDot*u1square*cos_theta_square)*c_phi*s_phi+(Iyy*thetaDotSquare-m*thetaDotSquare*u1square-m*thetaDotSquare*u2square-Izz*thetaDotSquare)*c_phi*s_theta*s_phi+(Ixx*thetaDot*phiDot-Izz*phiDot*thetaDot+Iyy*thetaDot*phiDot+2*m*thetaDot*phiDot*u1square*cos_phi_square+2*m*thetaDot*phiDot*u2square*cos_phi_square+2*Izz*phiDot*thetaDot*cos_phi_square-2*Iyy*thetaDot*phiDot*cos_phi_square)*c_theta+(2*m*u1Dot*phiDot*u1+2*m*u2Dot*phiDot*u2)*s_theta+(-4*m*a*psiDot*thetaDot*u1*cos_theta_square-2*m*L*psiDot*thetaDot*u2-4*m*L*psiDot*thetaDot*u1*cos_theta_square-2*m*a*psiDot*thetaDot*u2+4*m*L*psiDot*thetaDot*u2*cos_theta_square+2*m*a*psiDot*thetaDot*u1+4*m*a*psiDot*thetaDot*u2*cos_theta_square+2*m*L*psiDot*thetaDot*u1)*s_phi+(-2*Iyy*psiDot*thetaDot*cos_phi_square+4*m*thetaDot*psiDot*asquare-2*Ixx*psiDot*thetaDot-2*m*thetaDot*psiDot*u2square+2*m*thetaDot*psiDot*u2square*cos_phi_square+2*Izz*psiDot*thetaDot*cos_phi_square+2*Iyy*psiDot*thetaDot-2*m*thetaDot*psiDot*u1square+2*m*thetaDot*psiDot*u1square*cos_phi_square+4*m*thetaDot*psiDot*Lsquare+8*m*L*thetaDot*psiDot*a)*c_theta*s_theta+(m*u1*L*phiDotSquare-m*u1*L*thetaDotSquare+m*u2*L*thetaDotSquare-m*u1*a*thetaDotSquare-m*u2*a*phiDotSquare-m*u2*L*phiDotSquare+m*u1*a*phiDotSquare+m*u2*a*thetaDotSquare)*c_theta*c_phi+(-2*m*L*psiDot*phiDot*u1+2*m*L*psiDot*phiDot*u2+2*m*a*psiDot*phiDot*u2-2*m*a*psiDot*phiDot*u1)*c_theta*c_phi*s_theta+(2*m*u1*u1Dot*thetaDot+2*m*u2*u2Dot*thetaDot)*c_theta*c_phi*s_phi+(2*m*u2Dot*psiDot*L+2*m*u2Dot*psiDot*a-2*m*u1Dot*psiDot*a-2*m*u1Dot*psiDot*L)*c_theta*s_theta*s_phi+(-2*m*phiDot*u2Dot*L+2*m*phiDot*u1Dot*L-2*m*phiDot*u2Dot*a+2*m*phiDot*u1Dot*a)*c_theta*s_phi; + double A41 = (-m*a-m*L)*s_phi; + double A42 = (m*a+m*L)*s_phi; + double A43 = (-m*u2*a+m*u1*L-m*L*u2+m*u1*a)*c_phi*s_theta+(Iyy-Izz-m*u1square-m*u2square)*c_theta*c_phi*s_phi; + double A44 = 4*m*L*a+2*m*asquare+2*m*Lsquare-m*u1square*cos_phi_square+m*u1square-m*u2square*cos_phi_square+m*u2square+Iyy*cos_phi_square-Izz*cos_phi_square+Izz; + double A45 = (m*u2*a+m*L*u2-m*u1*L-m*u1*a)*c_phi; + double B4 = -2*m*u2*u2Dot*thetaDot-2*m*u1*u1Dot*thetaDot+2*m*u2*u2Dot*thetaDot*cos_phi_square+2*m*u1*u1Dot*thetaDot*cos_phi_square+(2*m*a*psiDot*phiDot*u1-2*m*a*psiDot*phiDot*u2+2*m*L*psiDot*phiDot*u1-2*m*L*psiDot*phiDot*u2)*s_phi*s_theta+(-2*thetaDot*phiDot*m*u2square-2*thetaDot*phiDot*m*u1square+2*Iyy*thetaDot*phiDot-2*Izz*phiDot*thetaDot)*s_phi*c_phi+(psiDotSquare*Iyy*cos_phi_square-psiDotSquare*m*u1square*cos_phi_square-2*psiDotSquare*m*Lsquare-psiDotSquare*Iyy-psiDotSquare*m*u2square*cos_phi_square-psiDotSquare*Izz*cos_phi_square+psiDotSquare*m*u1square+psiDotSquare*Ixx+psiDotSquare*m*u2square-4*psiDotSquare*m*L*a-2*psiDotSquare*m*asquare)*s_theta*c_theta+(2*m*u2Dot*psiDot*L+2*m*u2Dot*psiDot*a-2*m*u1Dot*psiDot*a-2*m*u1Dot*psiDot*L)*c_phi*s_theta+(-Ixx*psiDot*phiDot-Izz*psiDot*phiDot+Iyy*phiDot*psiDot+2*m*phiDot*psiDot*u1square*cos_phi_square+2*Izz*psiDot*phiDot*cos_phi_square-2*Iyy*phiDot*psiDot*cos_phi_square+2*m*phiDot*psiDot*u2square*cos_phi_square-2*m*phiDot*psiDot*u1square-2*m*phiDot*psiDot*u2square)*c_theta+(-2*m*phiDot*u2Dot*L+2*m*phiDot*u1Dot*L-2*m*phiDot*u2Dot*a+2*m*phiDot*u1Dot*a)*c_phi+(2*m*L*u1*psiDotSquare*cos_theta_square-m*u1*L*psiDotSquare-m*u1*L*phiDotSquare+m*u2*a*psiDotSquare-2*m*u2*a*psiDotSquare*cos_theta_square-m*u1*a*psiDotSquare+2*m*u1*a*psiDotSquare*cos_theta_square-2*m*L*u2*psiDotSquare*cos_theta_square+m*u2*L*psiDotSquare+m*u2*a*phiDotSquare-m*u1*a*phiDotSquare+m*u2*L*phiDotSquare)*s_phi+(2*m*u1Dot*psiDot*u1+2*m*u2Dot*psiDot*u2)*c_theta*c_phi*s_phi; + double A51 = 0; + double A52 = 0; + double A53 = (-Ixx-m*u1square-m*u2square)*s_theta+(m*u2*a+m*L*u2-m*u1*L-m*u1*a)*c_theta*s_phi; + double A54 = (m*u2*a+m*L*u2-m*u1*L-m*u1*a)*c_phi; + double A55 = Ixx+m*u1square+m*u2square; + double B5 = -2*m*u1Dot*phiDot*u1-2*m*u2Dot*phiDot*u2+(-2*m*a*psiDot*thetaDot*u1+2*m*a*psiDot*thetaDot*u2+2*m*L*psiDot*thetaDot*u2-2*m*L*psiDot*thetaDot*u1)*s_phi*s_theta+(-m*psiDotSquare*u1square*cos_theta_square+m*thetaDotSquare*u2square+m*thetaDotSquare*u1square+psiDotSquare*Iyy*cos_theta_square-psiDotSquare*Izz*cos_theta_square-Iyy*thetaDotSquare+Izz*thetaDotSquare-m*psiDotSquare*u2square*cos_theta_square)*s_phi*c_phi+(m*u1*L*psiDotSquare-m*u2*L*psiDotSquare+m*u1*a*psiDotSquare-m*u2*a*psiDotSquare)*c_theta*c_phi*s_theta+(Ixx*psiDot*thetaDot+Izz*psiDot*thetaDot-Iyy*psiDot*thetaDot-2*m*thetaDot*psiDot*u1square*cos_phi_square-2*m*thetaDot*psiDot*u2square*cos_phi_square+2*Iyy*psiDot*thetaDot*cos_phi_square-2*Izz*psiDot*thetaDot*cos_phi_square+2*m*thetaDot*psiDot*u1square+2*m*thetaDot*psiDot*u2square)*c_theta+(2*m*u1Dot*psiDot*u1+2*m*u2Dot*psiDot*u2)*s_theta; + + + + + + + out[0]=x[5]; + out[1]=x[6]; + out[2]=x[7]; + out[3]=x[8]; + out[4]=x[9]; + + //%--------u1DoubleDot Equation---------------% + double u1Den= A23*A41*A32*A14*A55-A23*A51*A34*A42*A15-A11*A42*A34*A53*A25+A31*A12*A23*A44*A55-A31*A12*A23*A54*A45+A31*A12*A54*A43*A25-A31*A12*A43*A24*A55+A31*A12*A53*A24*A45-A31*A12*A44*A53*A25-A31*A23*A44*A52*A15-A31*A23*A42*A14*A55+A31*A23*A54*A42*A15+A31*A23*A52*A14*A45-A31*A54*A43*A22*A15+A31*A54*A22*A13*A45-A31*A52*A13*A24*A45-A31*A52*A14*A43*A25-A31*A44*A22*A13*A55+A31*A44*A53*A22*A15-A31*A54*A42*A13*A25+A31*A43*A22*A14*A55-A31*A53*A22*A14*A45+A31*A42*A14*A53*A25-A31*A53*A24*A42*A15-A23*A54*A11*A42*A35+A23*A42*A14*A51*A35+A23*A44*A11*A52*A35+A23*A54*A11*A32*A45-A23*A54*A41*A32*A15-A23*A11*A52*A34*A45+A23*A41*A34*A52*A15+A23*A44*A51*A32*A15-A23*A51*A32*A14*A45-A23*A52*A14*A41*A35-A23*A44*A11*A32*A55-A12*A23*A41*A34*A55+A12*A23*A51*A34*A45-A12*A23*A44*A51*A35+A12*A23*A54*A41*A35+A12*A43*A24*A51*A35-A12*A21*A53*A34*A45-A12*A21*A33*A44*A55+A12*A33*A41*A24*A55+A12*A21*A43*A34*A55-A12*A53*A24*A41*A35+A12*A44*A21*A53*A35+A12*A44*A33*A51*A25+A12*A21*A33*A54*A45-A12*A54*A33*A41*A25+A12*A41*A34*A53*A25-A12*A33*A51*A24*A45-A12*A54*A21*A43*A35-A12*A51*A34*A43*A25-A21*A42*A13*A34*A55-A11*A22*A43*A34*A55+A21*A53*A32*A14*A45+A52*A14*A33*A41*A25-A33*A22*A41*A14*A55+A52*A13*A24*A41*A35+A52*A14*A21*A43*A35+A53*A24*A41*A32*A15+A51*A34*A43*A22*A15+A53*A24*A11*A42*A35+A51*A34*A42*A13*A25-A21*A33*A52*A14*A45-A32*A13*A41*A24*A55-A33*A11*A42*A24*A55-A51*A34*A22*A13*A45-A44*A32*A13*A51*A25+A32*A13*A51*A24*A45+A33*A11*A52*A24*A45-A21*A33*A54*A42*A15-A21*A43*A34*A52*A15+A44*A21*A32*A13*A55-A44*A21*A52*A13*A35+A44*A11*A22*A33*A55-A44*A11*A22*A53*A35+A44*A22*A51*A13*A35+A44*A53*A11*A32*A25-A41*A34*A52*A13*A25+A21*A33*A42*A14*A55+A11*A52*A34*A43*A25-A44*A21*A53*A32*A15-A44*A33*A11*A52*A25-A44*A33*A22*A51*A15+A21*A52*A13*A34*A45+A11*A22*A53*A34*A45-A33*A41*A24*A52*A15-A54*A11*A22*A33*A45+A54*A32*A13*A41*A25+A54*A33*A22*A41*A15+A54*A11*A22*A43*A35-A42*A13*A24*A51*A35-A41*A32*A14*A53*A25+A21*A33*A44*A52*A15-A42*A14*A21*A53*A35-A42*A14*A33*A51*A25+A41*A34*A22*A13*A55-A41*A34*A53*A22*A15-A54*A21*A32*A13*A45-A43*A22*A14*A51*A35+A33*A22*A51*A14*A45+A53*A22*A14*A41*A35+A51*A32*A14*A43*A25-A21*A43*A32*A14*A55-A54*A22*A41*A13*A35-A54*A43*A11*A32*A25+A54*A33*A11*A42*A25+A33*A51*A24*A42*A15-A53*A24*A11*A32*A45+A21*A53*A34*A42*A15+A54*A21*A42*A13*A35+A54*A21*A43*A32*A15+A43*A24*A11*A32*A55-A43*A24*A51*A32*A15-A43*A24*A11*A52*A35+A23*A11*A42*A34*A55+A31*A44*A52*A13*A25+A31*A43*A24*A52*A15+A31*A42*A13*A24*A55; + double u1Num= -B5*A12*A33*A24*A45+B1*A24*A33*A45*A52+B5*A12*A44*A33*A25-B1*A43*A55*A34*A22-B1*A43*A54*A25*A32+B1*A43*A35*A54*A22+B1*A43*A34*A25*A52+B5*A12*A43*A24*A35-B1*A43*A24*A35*A52+B1*A43*A24*A55*A32-B1*A35*A23*A54*A42+B1*A53*A45*A34*A22-B1*A35*A44*A53*A22-B1*A34*A25*A53*A42-B1*A44*A33*A25*A52-B5*A12*A34*A43*A25-B1*A23*A34*A45*A52-B1*A33*A45*A54*A22+B1*A54*A25*A33*A42+B1*A23*A44*A35*A52-B1*A24*A55*A33*A42-B5*A12*A23*A44*A35+B4*A54*A22*A15*A33+B2*A12*A43*A55*A34-B1*A24*A53*A45*A32+B1*A24*A35*A53*A42+B5*A23*A44*A32*A15+B4*A12*A24*A33*A55-B2*A12*A43*A35*A54+B5*A12*A23*A34*A45+B4*A55*A13*A22*A34+B1*A55*A23*A34*A42-B1*A55*A23*A44*A32-B4*A34*A25*A52*A13+B1*A23*A54*A45*A32+B1*A44*A53*A25*A32+B1*A55*A44*A22*A33+B2*A52*A13*A45*A34-B2*A32*A15*A44*A53-B2*A55*A42*A13*A34+B2*A43*A35*A52*A14-B4*A35*A22*A13*A54-B2*A43*A52*A15*A34+B4*A55*A23*A32*A14+B2*A12*A35*A44*A53-B2*A43*A55*A32*A14+B2*A43*A32*A15*A54+B2*A12*A33*A45*A54-B2*A12*A53*A45*A34-B2*A12*A55*A33*A44-B4*A34*A22*A15*A53-B2*A35*A42*A14*A53+B2*A55*A32*A13*A44-B2*A33*A42*A15*A54+B2*A53*A42*A15*A34+B2*A52*A15*A33*A44+B5*A23*A42*A14*A35-B4*A55*A33*A14*A22-B2*A35*A44*A52*A13+B2*A53*A45*A32*A14-B2*A33*A45*A52*A14+B4*A52*A15*A23*A34+B4*A54*A25*A32*A13+B2*A35*A54*A42*A13+B2*A55*A33*A42*A14+B4*A24*A53*A32*A15-B4*A32*A15*A23*A54+B4*A24*A52*A13*A35-B4*A24*A32*A13*A55+B4*A52*A14*A25*A33+B4*A12*A35*A23*A54-B4*A24*A33*A52*A15-B4*A32*A14*A25*A53+B4*A12*A34*A25*A53+B4*A35*A53*A22*A14-B4*A12*A55*A23*A34-B4*A35*A23*A52*A14-B4*A12*A54*A25*A33-B5*A44*A33*A15*A22-B4*A12*A24*A53*A35-B5*A34*A22*A13*A45-B3*A53*A24*A42*A15-B5*A43*A24*A32*A15+B3*A42*A14*A53*A25-B5*A43*A22*A14*A35-B3*A53*A22*A14*A45-B5*A42*A14*A33*A25+B3*A43*A22*A14*A55+B5*A33*A24*A42*A15-B3*A54*A42*A13*A25+B5*A34*A42*A13*A25-B5*A42*A13*A24*A35+B3*A42*A13*A24*A55+B5*A34*A43*A22*A15+B3*A43*A24*A52*A15+B3*A44*A52*A13*A25+B5*A44*A13*A22*A35+B3*A44*A53*A22*A15-B3*A44*A22*A13*A55-B5*A44*A32*A13*A25-B3*A52*A14*A43*A25-B3*A52*A13*A24*A45+B3*A54*A22*A13*A45-B3*A54*A43*A22*A15+B3*A23*A54*A42*A15+B3*A23*A52*A14*A45-B3*A23*A42*A14*A55+B3*A12*A53*A24*A45-B3*A12*A44*A53*A25-B3*A23*A44*A52*A15-B3*A12*A43*A24*A55+B3*A12*A54*A43*A25-B3*A12*A23*A54*A45-B2*A32*A13*A45*A54+B5*A32*A13*A24*A45+B3*A12*A23*A44*A55+B5*A32*A14*A43*A25+B5*A33*A14*A22*A45-B5*A23*A34*A42*A15-B5*A23*A32*A14*A45; + out[5]= u1Num/u1Den; + + //%--------u2DoubleDot Equation---------------% + double u2Den= A23*A41*A32*A14*A55-A23*A51*A34*A42*A15-A11*A42*A34*A53*A25+A31*A12*A23*A44*A55-A31*A12*A23*A54*A45+A31*A12*A54*A43*A25-A31*A12*A43*A24*A55+A31*A12*A53*A24*A45-A31*A12*A44*A53*A25-A31*A23*A44*A52*A15-A31*A23*A42*A14*A55+A31*A23*A54*A42*A15+A31*A23*A52*A14*A45-A31*A54*A43*A22*A15+A31*A54*A22*A13*A45-A31*A52*A13*A24*A45-A31*A52*A14*A43*A25-A31*A44*A22*A13*A55+A31*A44*A53*A22*A15-A31*A54*A42*A13*A25+A31*A43*A22*A14*A55-A31*A53*A22*A14*A45+A31*A42*A14*A53*A25-A31*A53*A24*A42*A15-A23*A54*A11*A42*A35+A23*A42*A14*A51*A35+A23*A44*A11*A52*A35+A23*A54*A11*A32*A45-A23*A54*A41*A32*A15-A23*A11*A52*A34*A45+A23*A41*A34*A52*A15+A23*A44*A51*A32*A15-A23*A51*A32*A14*A45-A23*A52*A14*A41*A35-A23*A44*A11*A32*A55-A12*A23*A41*A34*A55+A12*A23*A51*A34*A45-A12*A23*A44*A51*A35+A12*A23*A54*A41*A35+A12*A43*A24*A51*A35-A12*A21*A53*A34*A45-A12*A21*A33*A44*A55+A12*A33*A41*A24*A55+A12*A21*A43*A34*A55-A12*A53*A24*A41*A35+A12*A44*A21*A53*A35+A12*A44*A33*A51*A25+A12*A21*A33*A54*A45-A12*A54*A33*A41*A25+A12*A41*A34*A53*A25-A12*A33*A51*A24*A45-A12*A54*A21*A43*A35-A12*A51*A34*A43*A25-A21*A42*A13*A34*A55-A11*A22*A43*A34*A55+A21*A53*A32*A14*A45+A52*A14*A33*A41*A25-A33*A22*A41*A14*A55+A52*A13*A24*A41*A35+A52*A14*A21*A43*A35+A53*A24*A41*A32*A15+A51*A34*A43*A22*A15+A53*A24*A11*A42*A35+A51*A34*A42*A13*A25-A21*A33*A52*A14*A45-A32*A13*A41*A24*A55-A33*A11*A42*A24*A55-A51*A34*A22*A13*A45-A44*A32*A13*A51*A25+A32*A13*A51*A24*A45+A33*A11*A52*A24*A45-A21*A33*A54*A42*A15-A21*A43*A34*A52*A15+A44*A21*A32*A13*A55-A44*A21*A52*A13*A35+A44*A11*A22*A33*A55-A44*A11*A22*A53*A35+A44*A22*A51*A13*A35+A44*A53*A11*A32*A25-A41*A34*A52*A13*A25+A21*A33*A42*A14*A55+A11*A52*A34*A43*A25-A44*A21*A53*A32*A15-A44*A33*A11*A52*A25-A44*A33*A22*A51*A15+A21*A52*A13*A34*A45+A11*A22*A53*A34*A45-A33*A41*A24*A52*A15-A54*A11*A22*A33*A45+A54*A32*A13*A41*A25+A54*A33*A22*A41*A15+A54*A11*A22*A43*A35-A42*A13*A24*A51*A35-A41*A32*A14*A53*A25+A21*A33*A44*A52*A15-A42*A14*A21*A53*A35-A42*A14*A33*A51*A25+A41*A34*A22*A13*A55-A41*A34*A53*A22*A15-A54*A21*A32*A13*A45-A43*A22*A14*A51*A35+A33*A22*A51*A14*A45+A53*A22*A14*A41*A35+A51*A32*A14*A43*A25-A21*A43*A32*A14*A55-A54*A22*A41*A13*A35-A54*A43*A11*A32*A25+A54*A33*A11*A42*A25+A33*A51*A24*A42*A15-A53*A24*A11*A32*A45+A21*A53*A34*A42*A15+A54*A21*A42*A13*A35+A54*A21*A43*A32*A15+A43*A24*A11*A32*A55-A43*A24*A51*A32*A15-A43*A24*A11*A52*A35+A23*A11*A42*A34*A55+A31*A44*A52*A13*A25+A31*A43*A24*A52*A15+A31*A42*A13*A24*A55; + double u2Num= -B3*A24*A55*A13*A41+B3*A24*A13*A45*A51-B3*A24*A53*A45*A11-B3*A44*A13*A25*A51+B3*A24*A15*A53*A41-B3*A43*A55*A14*A21+B3*A43*A14*A25*A51+B3*A43*A15*A54*A21-B2*A33*A11*A45*A54+B1*A31*A53*A45*A24-B5*A23*A11*A34*A45+B5*A23*A44*A11*A35-B3*A43*A54*A25*A11+B5*A23*A41*A34*A15-B2*A31*A55*A44*A13+B4*A31*A14*A25*A53-B5*A23*A14*A41*A35-B3*A43*A24*A15*A51-B5*A21*A33*A14*A45+B3*A43*A24*A55*A11-B2*A11*A35*A44*A53+B2*A15*A54*A33*A41+B1*A31*A55*A23*A44+B2*A53*A45*A11*A34-B5*A41*A34*A13*A25+B5*A21*A13*A34*A45+B5*A21*A33*A44*A15+B1*A31*A43*A54*A25-B1*A31*A43*A55*A24+B2*A31*A15*A44*A53-B2*A13*A41*A35*A54-B1*A53*A45*A21*A34-B2*A15*A41*A34*A53+B2*A51*A35*A44*A13+B1*A41*A34*A53*A25+B1*A21*A33*A54*A45-B5*A44*A33*A11*A25+B2*A55*A44*A11*A33-B5*A44*A21*A13*A35+B1*A23*A54*A41*A35+B3*A23*A54*A45*A11-B4*A31*A54*A25*A13+B2*A55*A41*A34*A13+B1*A44*A21*A53*A35+B2*A33*A51*A45*A14-B1*A55*A41*A23*A34-B2*A55*A14*A33*A41-B1*A54*A25*A33*A41-B2*A13*A45*A51*A34+B1*A44*A33*A51*A25-B2*A15*A44*A33*A51+B1*A23*A51*A34*A45+B1*A24*A55*A33*A41+B2*A43*A15*A51*A34-B1*A51*A35*A23*A44+B2*A53*A41*A35*A14-B2*A43*A51*A35*A14+B5*A33*A11*A24*A45-B1*A55*A21*A33*A44+B5*A13*A24*A41*A35-B5*A33*A41*A24*A15+B5*A14*A33*A41*A25+B1*A43*A55*A21*A34-B1*A24*A53*A41*A35-B5*A31*A23*A44*A15-B1*A24*A33*A51*A45+B5*A31*A44*A13*A25-B1*A43*A54*A21*A35-B1*A43*A51*A34*A25-B5*A43*A24*A11*A35-B1*A31*A23*A54*A45+B5*A14*A21*A43*A35-B1*A31*A44*A53*A25+B5*A11*A34*A43*A25-B5*A21*A43*A34*A15+B1*A43*A51*A35*A24+B2*A31*A13*A45*A54-B5*A31*A14*A43*A25-B5*A31*A13*A24*A45+B2*A43*A11*A35*A54-B2*A31*A53*A45*A14-B4*A15*A51*A23*A34-B2*A31*A43*A15*A54+B5*A31*A23*A14*A45-B2*A43*A55*A11*A34+B4*A54*A21*A35*A13+B2*A31*A43*A55*A14+B3*A54*A25*A13*A41+B5*A31*A43*A24*A15-B3*A15*A23*A54*A41-B3*A23*A14*A45*A51+B3*A53*A45*A14*A21+B4*A51*A35*A23*A14+B4*A55*A11*A23*A34-B4*A31*A24*A15*A53-B4*A11*A35*A23*A54+B4*A15*A21*A53*A34+B4*A31*A24*A55*A13+B4*A54*A25*A33*A11-B4*A14*A25*A33*A51-B4*A11*A34*A25*A53-B3*A14*A25*A53*A41-B4*A14*A21*A35*A53-B4*A55*A21*A13*A34+B4*A24*A11*A35*A53-B3*A13*A45*A54*A21+B3*A44*A53*A25*A11-B3*A15*A44*A21*A53-B4*A24*A51*A35*A13-B4*A24*A55*A33*A11-B4*A15*A21*A33*A54+B3*A55*A44*A21*A13+B4*A51*A34*A25*A13-B3*A55*A23*A11*A44+B4*A55*A21*A33*A14+B4*A31*A15*A23*A54+B3*A55*A23*A41*A14-B4*A31*A55*A23*A14+B3*A23*A44*A15*A51+B4*A24*A15*A33*A51; + + out[6]=u2Num/u2Den; + //%---------- psiDoubleDot Equation ----------% + double psiDen= A23*A41*A32*A14*A55-A23*A51*A34*A42*A15-A11*A42*A34*A53*A25+A31*A12*A23*A44*A55-A31*A12*A23*A54*A45+A31*A12*A54*A43*A25-A31*A12*A43*A24*A55+A31*A12*A53*A24*A45-A31*A12*A44*A53*A25-A31*A23*A44*A52*A15-A31*A23*A42*A14*A55+A31*A23*A54*A42*A15+A31*A23*A52*A14*A45-A31*A54*A43*A22*A15+A31*A54*A22*A13*A45-A31*A52*A13*A24*A45-A31*A52*A14*A43*A25-A31*A44*A22*A13*A55+A31*A44*A53*A22*A15-A31*A54*A42*A13*A25+A31*A43*A22*A14*A55-A31*A53*A22*A14*A45+A31*A42*A14*A53*A25-A31*A53*A24*A42*A15-A23*A54*A11*A42*A35+A23*A42*A14*A51*A35+A23*A44*A11*A52*A35+A23*A54*A11*A32*A45-A23*A54*A41*A32*A15-A23*A11*A52*A34*A45+A23*A41*A34*A52*A15+A23*A44*A51*A32*A15-A23*A51*A32*A14*A45-A23*A52*A14*A41*A35-A23*A44*A11*A32*A55-A12*A23*A41*A34*A55+A12*A23*A51*A34*A45-A12*A23*A44*A51*A35+A12*A23*A54*A41*A35+A12*A43*A24*A51*A35-A12*A21*A53*A34*A45-A12*A21*A33*A44*A55+A12*A33*A41*A24*A55+A12*A21*A43*A34*A55-A12*A53*A24*A41*A35+A12*A44*A21*A53*A35+A12*A44*A33*A51*A25+A12*A21*A33*A54*A45-A12*A54*A33*A41*A25+A12*A41*A34*A53*A25-A12*A33*A51*A24*A45-A12*A54*A21*A43*A35-A12*A51*A34*A43*A25-A21*A42*A13*A34*A55-A11*A22*A43*A34*A55+A21*A53*A32*A14*A45+A52*A14*A33*A41*A25-A33*A22*A41*A14*A55+A52*A13*A24*A41*A35+A52*A14*A21*A43*A35+A53*A24*A41*A32*A15+A51*A34*A43*A22*A15+A53*A24*A11*A42*A35+A51*A34*A42*A13*A25-A21*A33*A52*A14*A45-A32*A13*A41*A24*A55-A33*A11*A42*A24*A55-A51*A34*A22*A13*A45-A44*A32*A13*A51*A25+A32*A13*A51*A24*A45+A33*A11*A52*A24*A45-A21*A33*A54*A42*A15-A21*A43*A34*A52*A15+A44*A21*A32*A13*A55-A44*A21*A52*A13*A35+A44*A11*A22*A33*A55-A44*A11*A22*A53*A35+A44*A22*A51*A13*A35+A44*A53*A11*A32*A25-A41*A34*A52*A13*A25+A21*A33*A42*A14*A55+A11*A52*A34*A43*A25-A44*A21*A53*A32*A15-A44*A33*A11*A52*A25-A44*A33*A22*A51*A15+A21*A52*A13*A34*A45+A11*A22*A53*A34*A45-A33*A41*A24*A52*A15-A54*A11*A22*A33*A45+A54*A32*A13*A41*A25+A54*A33*A22*A41*A15+A54*A11*A22*A43*A35-A42*A13*A24*A51*A35-A41*A32*A14*A53*A25+A21*A33*A44*A52*A15-A42*A14*A21*A53*A35-A42*A14*A33*A51*A25+A41*A34*A22*A13*A55-A41*A34*A53*A22*A15-A54*A21*A32*A13*A45-A43*A22*A14*A51*A35+A33*A22*A51*A14*A45+A53*A22*A14*A41*A35+A51*A32*A14*A43*A25-A21*A43*A32*A14*A55-A54*A22*A41*A13*A35-A54*A43*A11*A32*A25+A54*A33*A11*A42*A25+A33*A51*A24*A42*A15-A53*A24*A11*A32*A45+A21*A53*A34*A42*A15+A54*A21*A42*A13*A35+A54*A21*A43*A32*A15+A43*A24*A11*A32*A55-A43*A24*A51*A32*A15-A43*A24*A11*A52*A35+A23*A11*A42*A34*A55+A31*A44*A52*A13*A25+A31*A43*A24*A52*A15+A31*A42*A13*A24*A55; + double psiNum=-B1*A31*A55*A22*A44+B1*A24*A45*A51*A32-B1*A31*A24*A45*A52+B1*A31*A45*A54*A22-B4*A12*A51*A34*A25+B4*A24*A55*A11*A32+B4*A12*A55*A21*A34+B4*A12*A51*A35*A24-B4*A12*A54*A21*A35-B4*A31*A12*A55*A24+B4*A31*A12*A54*A25+B4*A31*A52*A15*A24-B3*A45*A54*A11*A22-B3*A42*A15*A54*A21+B5*A11*A22*A34*A45+B3*A55*A42*A21*A14+B5*A24*A11*A42*A35-B5*A44*A11*A22*A35-B5*A41*A34*A22*A15-B3*A55*A22*A41*A14+B5*A12*A41*A34*A25-B3*A44*A25*A11*A52+B5*A44*A11*A32*A25-B5*A11*A32*A24*A45+B4*A31*A55*A22*A14-B4*A24*A51*A32*A15+B3*A52*A15*A21*A44-B1*A31*A54*A25*A42+B3*A54*A22*A15*A41-B4*A21*A34*A52*A15-B4*A51*A35*A22*A14+B3*A45*A22*A14*A51+B3*A55*A11*A22*A44-B3*A44*A22*A15*A51-B3*A42*A14*A25*A51-B5*A42*A14*A21*A35-B5*A44*A32*A21*A15+B3*A52*A14*A25*A41-B5*A12*A21*A34*A45+B5*A24*A41*A32*A15-B5*A41*A32*A14*A25-B3*A45*A52*A14*A21+B5*A32*A21*A14*A45+B5*A22*A14*A41*A35+B5*A21*A34*A42*A15+B1*A31*A24*A55*A42+B5*A12*A44*A21*A35-B5*A11*A42*A34*A25-B4*A31*A52*A14*A25-B4*A31*A54*A22*A15+B4*A52*A14*A21*A35+B3*A54*A25*A11*A42-B4*A24*A11*A52*A35-B4*A55*A32*A21*A14+B3*A24*A42*A15*A51+B3*A24*A45*A11*A52+B4*A54*A21*A32*A15-B3*A24*A55*A11*A42-B3*A12*A54*A25*A41+B3*A12*A44*A25*A51-B3*A24*A52*A15*A41-B3*A12*A55*A21*A44+B3*A12*A24*A55*A41+B3*A12*A45*A54*A21+B2*A51*A35*A42*A14-B2*A42*A15*A51*A34+B2*A31*A42*A15*A54+B2*A55*A41*A32*A14-B2*A12*A55*A41*A34+B2*A31*A45*A52*A14-B2*A55*A11*A32*A44-B2*A31*A52*A15*A44+B2*A52*A15*A41*A34-B3*A12*A24*A45*A51+B2*A31*A12*A55*A44-B2*A31*A55*A42*A14+B2*A51*A32*A15*A44+B1*A54*A21*A35*A42+B2*A11*A52*A35*A44-B2*A31*A12*A45*A54-B2*A45*A11*A52*A34-B1*A44*A21*A35*A52+B2*A55*A11*A42*A34-B1*A41*A35*A54*A22+B2*A45*A54*A11*A32-B1*A45*A54*A21*A32-B2*A41*A35*A52*A14-B1*A41*A34*A25*A52+B1*A55*A44*A21*A32-B2*A41*A32*A15*A54+B1*A45*A21*A34*A52+B1*A51*A34*A25*A42-B2*A45*A51*A32*A14+B1*A54*A25*A41*A32-B2*A12*A51*A35*A44-B1*A24*A55*A41*A32-B2*A11*A42*A35*A54+B2*A12*A41*A35*A54+B1*A24*A41*A35*A52+B2*A12*A45*A51*A34-B5*A31*A12*A44*A25-B5*A31*A24*A42*A15-B1*A24*A51*A35*A42+B5*A31*A42*A14*A25-B5*A31*A22*A14*A45+B5*A31*A44*A22*A15+B1*A51*A35*A22*A44-B1*A21*A34*A55*A42+B1*A55*A41*A34*A22-B5*A12*A24*A41*A35-B4*A11*A22*A34*A55+B4*A54*A11*A22*A35-B1*A44*A25*A51*A32+B5*A31*A12*A24*A45+B4*A51*A34*A22*A15-B4*A54*A25*A11*A32-B1*A45*A51*A34*A22+B4*A51*A32*A14*A25+B1*A31*A44*A25*A52+B4*A11*A52*A34*A25; + + out[7] =psiNum/psiDen; + //%--------- thetaDoubleDot Equation ---------% + double thetaDen= A23*A41*A32*A14*A55-A23*A51*A34*A42*A15-A11*A42*A34*A53*A25+A31*A12*A23*A44*A55-A31*A12*A23*A54*A45+A31*A12*A54*A43*A25-A31*A12*A43*A24*A55+A31*A12*A53*A24*A45-A31*A12*A44*A53*A25-A31*A23*A44*A52*A15-A31*A23*A42*A14*A55+A31*A23*A54*A42*A15+A31*A23*A52*A14*A45-A31*A54*A43*A22*A15+A31*A54*A22*A13*A45-A31*A52*A13*A24*A45-A31*A52*A14*A43*A25-A31*A44*A22*A13*A55+A31*A44*A53*A22*A15-A31*A54*A42*A13*A25+A31*A43*A22*A14*A55-A31*A53*A22*A14*A45+A31*A42*A14*A53*A25-A31*A53*A24*A42*A15-A23*A54*A11*A42*A35+A23*A42*A14*A51*A35+A23*A44*A11*A52*A35+A23*A54*A11*A32*A45-A23*A54*A41*A32*A15-A23*A11*A52*A34*A45+A23*A41*A34*A52*A15+A23*A44*A51*A32*A15-A23*A51*A32*A14*A45-A23*A52*A14*A41*A35-A23*A44*A11*A32*A55-A12*A23*A41*A34*A55+A12*A23*A51*A34*A45-A12*A23*A44*A51*A35+A12*A23*A54*A41*A35+A12*A43*A24*A51*A35-A12*A21*A53*A34*A45-A12*A21*A33*A44*A55+A12*A33*A41*A24*A55+A12*A21*A43*A34*A55-A12*A53*A24*A41*A35+A12*A44*A21*A53*A35+A12*A44*A33*A51*A25+A12*A21*A33*A54*A45-A12*A54*A33*A41*A25+A12*A41*A34*A53*A25-A12*A33*A51*A24*A45-A12*A54*A21*A43*A35-A12*A51*A34*A43*A25-A21*A42*A13*A34*A55-A11*A22*A43*A34*A55+A21*A53*A32*A14*A45+A52*A14*A33*A41*A25-A33*A22*A41*A14*A55+A52*A13*A24*A41*A35+A52*A14*A21*A43*A35+A53*A24*A41*A32*A15+A51*A34*A43*A22*A15+A53*A24*A11*A42*A35+A51*A34*A42*A13*A25-A21*A33*A52*A14*A45-A32*A13*A41*A24*A55-A33*A11*A42*A24*A55-A51*A34*A22*A13*A45-A44*A32*A13*A51*A25+A32*A13*A51*A24*A45+A33*A11*A52*A24*A45-A21*A33*A54*A42*A15-A21*A43*A34*A52*A15+A44*A21*A32*A13*A55-A44*A21*A52*A13*A35+A44*A11*A22*A33*A55-A44*A11*A22*A53*A35+A44*A22*A51*A13*A35+A44*A53*A11*A32*A25-A41*A34*A52*A13*A25+A21*A33*A42*A14*A55+A11*A52*A34*A43*A25-A44*A21*A53*A32*A15-A44*A33*A11*A52*A25-A44*A33*A22*A51*A15+A21*A52*A13*A34*A45+A11*A22*A53*A34*A45-A33*A41*A24*A52*A15-A54*A11*A22*A33*A45+A54*A32*A13*A41*A25+A54*A33*A22*A41*A15+A54*A11*A22*A43*A35-A42*A13*A24*A51*A35-A41*A32*A14*A53*A25+A21*A33*A44*A52*A15-A42*A14*A21*A53*A35-A42*A14*A33*A51*A25+A41*A34*A22*A13*A55-A41*A34*A53*A22*A15-A54*A21*A32*A13*A45-A43*A22*A14*A51*A35+A33*A22*A51*A14*A45+A53*A22*A14*A41*A35+A51*A32*A14*A43*A25-A21*A43*A32*A14*A55-A54*A22*A41*A13*A35-A54*A43*A11*A32*A25+A54*A33*A11*A42*A25+A33*A51*A24*A42*A15-A53*A24*A11*A32*A45+A21*A53*A34*A42*A15+A54*A21*A42*A13*A35+A54*A21*A43*A32*A15+A43*A24*A11*A32*A55-A43*A24*A51*A32*A15-A43*A24*A11*A52*A35+A23*A11*A42*A34*A55+A31*A44*A52*A13*A25+A31*A43*A24*A52*A15+A31*A42*A13*A24*A55; + double thetaNum=B1*A43*A25*A51*A32-B1*A31*A55*A23*A42+B1*A31*A25*A53*A42+B1*A31*A43*A55*A22-B1*A31*A53*A45*A22+B2*A32*A13*A51*A45+B2*A53*A41*A32*A15-B2*A43*A51*A32*A15+B2*A12*A55*A33*A41-B2*A43*A11*A52*A35+B2*A43*A55*A11*A32-B2*A12*A33*A51*A45-B2*A12*A53*A41*A35+B2*A31*A42*A13*A55+B2*A12*A51*A35*A43-B3*A43*A55*A11*A22-B3*A43*A52*A15*A21-B3*A25*A53*A11*A42-B3*A22*A13*A45*A51-B3*A23*A42*A15*A51+B4*A31*A12*A55*A23-B2*A31*A53*A42*A15-B3*A25*A52*A13*A41-B4*A31*A55*A22*A13-B2*A31*A52*A13*A45+B4*A31*A22*A15*A53-B4*A21*A35*A52*A13-B4*A55*A11*A32*A23+B4*A12*A21*A35*A53+B4*A25*A53*A11*A32+B4*A55*A11*A22*A33+B4*A51*A35*A22*A13-B4*A11*A22*A35*A53+B5*A12*A43*A31*A25+B2*A31*A12*A53*A45+B1*A31*A23*A45*A52+B1*A43*A21*A35*A52+B2*A31*A52*A15*A43-B2*A31*A12*A55*A43-B1*A23*A45*A51*A32-B1*A41*A23*A35*A52-B1*A31*A43*A25*A52+B3*A12*A25*A53*A41+B3*A43*A25*A11*A52+B2*A33*A51*A42*A15-B2*A32*A13*A41*A55+B1*A51*A35*A23*A42+B3*A52*A13*A45*A21+B1*A53*A41*A35*A22+B3*A43*A22*A15*A51+B3*A55*A22*A41*A13+B3*A55*A11*A42*A23+B3*A53*A42*A15*A21-B1*A21*A35*A53*A42-B3*A55*A42*A21*A13+B3*A25*A42*A13*A51+B3*A52*A15*A41*A23-B3*A23*A45*A11*A52-B4*A31*A12*A25*A53+B1*A55*A21*A33*A42+B3*A53*A45*A11*A22-B4*A12*A55*A21*A33+B4*A12*A25*A33*A51+B4*A31*A25*A52*A13-B3*A22*A15*A53*A41+B4*A52*A15*A21*A33-B4*A31*A52*A15*A23-B4*A12*A51*A35*A23-B1*A21*A33*A45*A52-B2*A53*A11*A32*A45-B2*A33*A41*A52*A15-B2*A33*A11*A42*A55-B4*A25*A33*A11*A52-B4*A25*A32*A13*A51+B2*A33*A11*A52*A45-B2*A42*A13*A51*A35+B4*A55*A32*A21*A13+B3*A12*A23*A45*A51-B3*A12*A53*A45*A21-B5*A12*A31*A23*A45-B5*A43*A22*A31*A15-B4*A21*A32*A15*A53-B4*A22*A15*A33*A51+B4*A51*A32*A15*A23-B3*A12*A55*A41*A23-B3*A12*A43*A25*A51+B3*A12*A43*A55*A21+B2*A52*A13*A41*A35+B2*A53*A11*A42*A35+B5*A33*A22*A41*A15+B5*A32*A13*A41*A25-B5*A22*A41*A13*A35-B5*A21*A32*A13*A45-B5*A11*A22*A33*A45+B5*A21*A42*A13*A35+B1*A25*A33*A41*A52-B5*A11*A42*A23*A35+B5*A33*A11*A42*A25+B5*A11*A32*A23*A45+B1*A55*A41*A23*A32-B5*A41*A23*A32*A15+B5*A11*A22*A43*A35-B5*A43*A11*A32*A25+B5*A21*A43*A32*A15-B5*A21*A33*A42*A15+B1*A33*A51*A45*A22-B1*A25*A33*A51*A42+B5*A12*A41*A23*A35-B1*A25*A53*A41*A32-B5*A12*A33*A41*A25+B1*A53*A45*A21*A32+B5*A12*A21*A33*A45-B5*A42*A13*A31*A25+B5*A22*A31*A13*A45-B1*A43*A51*A35*A22+B5*A31*A23*A42*A15-B1*A55*A33*A41*A22-B5*A12*A21*A43*A35+B4*A11*A52*A35*A23-B1*A43*A55*A21*A32; + + out[8] = thetaNum/thetaDen; + //%----------phiDoubleDot Equation -----------% + double phiDen=A23*A41*A32*A14*A55-A23*A51*A34*A42*A15-A11*A42*A34*A53*A25+A31*A12*A23*A44*A55-A31*A12*A23*A54*A45+A31*A12*A54*A43*A25-A31*A12*A43*A24*A55+A31*A12*A53*A24*A45-A31*A12*A44*A53*A25-A31*A23*A44*A52*A15-A31*A23*A42*A14*A55+A31*A23*A54*A42*A15+A31*A23*A52*A14*A45-A31*A54*A43*A22*A15+A31*A54*A22*A13*A45-A31*A52*A13*A24*A45-A31*A52*A14*A43*A25-A31*A44*A22*A13*A55+A31*A44*A53*A22*A15-A31*A54*A42*A13*A25+A31*A43*A22*A14*A55-A31*A53*A22*A14*A45+A31*A42*A14*A53*A25-A31*A53*A24*A42*A15-A23*A54*A11*A42*A35+A23*A42*A14*A51*A35+A23*A44*A11*A52*A35+A23*A54*A11*A32*A45-A23*A54*A41*A32*A15-A23*A11*A52*A34*A45+A23*A41*A34*A52*A15+A23*A44*A51*A32*A15-A23*A51*A32*A14*A45-A23*A52*A14*A41*A35-A23*A44*A11*A32*A55-A12*A23*A41*A34*A55+A12*A23*A51*A34*A45-A12*A23*A44*A51*A35+A12*A23*A54*A41*A35+A12*A43*A24*A51*A35-A12*A21*A53*A34*A45-A12*A21*A33*A44*A55+A12*A33*A41*A24*A55+A12*A21*A43*A34*A55-A12*A53*A24*A41*A35+A12*A44*A21*A53*A35+A12*A44*A33*A51*A25+A12*A21*A33*A54*A45-A12*A54*A33*A41*A25+A12*A41*A34*A53*A25-A12*A33*A51*A24*A45-A12*A54*A21*A43*A35-A12*A51*A34*A43*A25-A21*A42*A13*A34*A55-A11*A22*A43*A34*A55+A21*A53*A32*A14*A45+A52*A14*A33*A41*A25-A33*A22*A41*A14*A55+A52*A13*A24*A41*A35+A52*A14*A21*A43*A35+A53*A24*A41*A32*A15+A51*A34*A43*A22*A15+A53*A24*A11*A42*A35+A51*A34*A42*A13*A25-A21*A33*A52*A14*A45-A32*A13*A41*A24*A55-A33*A11*A42*A24*A55-A51*A34*A22*A13*A45-A44*A32*A13*A51*A25+A32*A13*A51*A24*A45+A33*A11*A52*A24*A45-A21*A33*A54*A42*A15-A21*A43*A34*A52*A15+A44*A21*A32*A13*A55-A44*A21*A52*A13*A35+A44*A11*A22*A33*A55-A44*A11*A22*A53*A35+A44*A22*A51*A13*A35+A44*A53*A11*A32*A25-A41*A34*A52*A13*A25+A21*A33*A42*A14*A55+A11*A52*A34*A43*A25-A44*A21*A53*A32*A15-A44*A33*A11*A52*A25-A44*A33*A22*A51*A15+A21*A52*A13*A34*A45+A11*A22*A53*A34*A45-A33*A41*A24*A52*A15-A54*A11*A22*A33*A45+A54*A32*A13*A41*A25+A54*A33*A22*A41*A15+A54*A11*A22*A43*A35-A42*A13*A24*A51*A35-A41*A32*A14*A53*A25+A21*A33*A44*A52*A15-A42*A14*A21*A53*A35-A42*A14*A33*A51*A25+A41*A34*A22*A13*A55-A41*A34*A53*A22*A15-A54*A21*A32*A13*A45-A43*A22*A14*A51*A35+A33*A22*A51*A14*A45+A53*A22*A14*A41*A35+A51*A32*A14*A43*A25-A21*A43*A32*A14*A55-A54*A22*A41*A13*A35-A54*A43*A11*A32*A25+A54*A33*A11*A42*A25+A33*A51*A24*A42*A15-A53*A24*A11*A32*A45+A21*A53*A34*A42*A15+A54*A21*A42*A13*A35+A54*A21*A43*A32*A15+A43*A24*A11*A32*A55-A43*A24*A51*A32*A15-A43*A24*A11*A52*A35+A23*A11*A42*A34*A55+A31*A44*A52*A13*A25+A31*A43*A24*A52*A15+A31*A42*A13*A24*A55; + double phiNum= B2*A31*A44*A52*A13-B2*A31*A54*A42*A13-B2*A31*A12*A44*A53+B2*A31*A42*A14*A53+B2*A31*A12*A54*A43+B1*A21*A53*A34*A42-B2*A31*A52*A14*A43-B1*A21*A43*A34*A52-B1*A21*A33*A54*A42-B1*A44*A21*A53*A32-B2*A12*A54*A33*A41-B1*A44*A33*A51*A22+B2*A12*A41*A34*A53+B3*A12*A23*A54*A41-B3*A12*A23*A44*A51-B2*A11*A42*A34*A53+B2*A54*A33*A11*A42+B2*A54*A32*A13*A41-B2*A41*A32*A14*A53+B2*A11*A52*A34*A43-B2*A54*A43*A11*A32+B2*A51*A34*A42*A13+B2*A52*A14*A33*A41+B2*A51*A32*A14*A43-B2*A42*A14*A33*A51+B3*A23*A42*A14*A51+B3*A23*A44*A11*A52-B2*A44*A33*A11*A52-B2*A41*A34*A52*A13+B3*A12*A43*A24*A51-B3*A23*A54*A11*A42-B2*A12*A51*A34*A43-B3*A12*A54*A21*A43-B3*A12*A53*A24*A41-B3*A54*A22*A41*A13+B3*A12*A44*A21*A53-B1*A43*A24*A51*A32+B3*A54*A11*A22*A43+B3*A53*A22*A14*A41-B3*A23*A52*A14*A41+B2*A12*A44*A33*A51-B3*A42*A13*A24*A51+B3*A52*A14*A21*A43-B2*A44*A32*A13*A51+B3*A52*A13*A24*A41+B1*A31*A23*A54*A42-B3*A42*A14*A21*A53-B3*A43*A24*A11*A52+B3*A44*A22*A51*A13-B3*A43*A22*A14*A51+B4*A12*A51*A23*A34-B4*A12*A21*A53*A34-B3*A44*A11*A22*A53-B4*A53*A22*A31*A14-B4*A52*A13*A31*A24+B4*A12*A53*A31*A24+B4*A31*A23*A52*A14+B4*A22*A31*A13*A54-B3*A44*A52*A21*A13-B4*A12*A31*A23*A54+B3*A54*A42*A21*A13+B3*A53*A24*A11*A42+B4*A33*A11*A52*A24-B4*A21*A32*A13*A54+B4*A21*A52*A13*A34+B4*A11*A22*A53*A34+B4*A33*A22*A51*A14-B4*A21*A33*A52*A14-B4*A11*A22*A33*A54-B4*A53*A11*A32*A24+B4*A21*A53*A32*A14-B4*A22*A51*A13*A34-B4*A11*A52*A23*A34-B4*A51*A23*A32*A14+B4*A11*A32*A23*A54+B4*A12*A21*A33*A54-B4*A12*A33*A51*A24-B5*A12*A43*A31*A24-B5*A12*A41*A23*A34+B5*A21*A33*A42*A14-B5*A21*A42*A13*A34+B5*A12*A31*A23*A44+B5*A12*A33*A41*A24-B5*A22*A31*A13*A44-B5*A33*A11*A42*A24+B4*A32*A13*A51*A24-B5*A12*A21*A33*A44+B5*A12*A21*A43*A34+B5*A11*A22*A33*A44-B5*A32*A13*A41*A24+B5*A43*A11*A32*A24+B5*A41*A23*A32*A14-B5*A11*A32*A23*A44+B5*A22*A41*A13*A34+B5*A21*A32*A13*A44-B5*A31*A23*A42*A14+B5*A42*A13*A31*A24+B5*A11*A42*A23*A34-B5*A11*A22*A43*A34-B5*A33*A22*A41*A14+B5*A43*A22*A31*A14-B5*A21*A43*A32*A14+B2*A44*A53*A11*A32+B1*A33*A51*A24*A42+B1*A53*A24*A41*A32+B1*A21*A33*A44*A52+B1*A51*A34*A43*A22-B1*A31*A53*A24*A42-B1*A31*A23*A44*A52+B1*A31*A44*A53*A22+B1*A31*A43*A24*A52-B1*A31*A54*A43*A22+B1*A54*A21*A43*A32-B1*A33*A41*A24*A52-B1*A41*A34*A53*A22-B1*A23*A54*A41*A32-B1*A23*A51*A34*A42+B1*A23*A44*A51*A32+B1*A23*A41*A34*A52+B1*A54*A33*A41*A22; + + out[9]=phiNum/phiDen; + + return out; + + }// End of derivs + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + boolean first = true; + if (t == 0.0) first = false; + + //int currentPts = (int)(t/time_step); // This is the array index + + double u1 = y[0]; + double u2 = y[1]; + double psi = y[2]; + double theta = y[3]; + double phi = y[4]; + double u1Dot = y[5]; + double u2Dot = y[6]; + double psiDot = y[7]; + double thetaDot = y[8]; + double phiDot = y[9]; + + double theta2 = Math.asin(u2/L); + theta2=-theta2; + double theta1 = Math.asin(u1/L); + + // Extract quaternion values + // See Bong wie (p.318) + // Euler axis + double e1=0; + double e2=0; + double e3=1; + + // Define Euler Parameters for Beam1 rotaion + double q1Beam1 = e1*Math.sin(theta1/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q2Beam1 = e2*Math.sin(theta1/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q3Beam1 = e3*Math.sin(theta1/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q4Beam1 = Math.cos(theta1/2); + + //Define Euler Parameters for Beam2 rotation + double q1Beam2 = e1*Math.sin(theta2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q2Beam2 = e2*Math.sin(theta2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q3Beam2 = e3*Math.sin(theta2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q4Beam2 = Math.cos(theta2/2); + + + // Calculate quaternions using the method on Bong Wie (p.321) + double q1 = Math.sin(phi/2)*Math.cos(theta/2)*Math.cos(psi/2) - Math.cos(phi/2)*Math.sin(theta/2)*Math.sin(psi/2); + double q2 = Math.cos(phi/2)*Math.sin(theta/2)*Math.cos(psi/2) + Math.sin(phi/2)*Math.cos(theta/2)*Math.sin(psi/2); + double q3 = Math.cos(phi/2)*Math.cos(theta/2)*Math.sin(psi/2) - Math.sin(phi/2)*Math.sin(theta/2)*Math.cos(psi/2); + double q4 = Math.cos(phi/2)*Math.cos(theta/2)*Math.cos(psi/2) + Math.sin(phi/2)*Math.sin(theta/2)*Math.sin(psi/2); + double quat_check = q1*q1+q2*q2+q3*q3+q4*q4; + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + // Angular velocities in the body frame + double wx = phiDot-psiDot*Math.sin(theta); + double wy = thetaDot*Math.cos(phi) + psiDot*Math.cos(theta)*Math.sin(phi); + double wz = psiDot*Math.cos(theta)*Math.cos(phi) - thetaDot*Math.sin(phi); + + //Energy Calculation + double Potential = 3*EI*(u1*u1)/(2*(L*L*L)) + 3*EI*(u2*u2)/(2*(L*L*L)); + double Potential1 = 3*EI*(u1*u1)/(2*(L*L*L)); + double Potential2 = 3*EI*(u2*u2)/(2*(L*L*L)); + double Kinetic = (0.5)*(Ixx*(wx*wx) + Iyy*(wy*wy) + Izz*(wz*wz)) + (0.5)*m*((-u1*wz)*(-u1*wz) + ((a+L)*wz+u1Dot)*((a+L)*wz+u1Dot) + (u1*wx-(a+L)*wy)*(u1*wx-(a+L)*wy)) + (0.5)*m*((-u2*wz)*(-u2*wz)+ (-(a+L)*wz+u2Dot)*(-(a+L)*wz+u2Dot)+(u2*wx+(a+L)*wy)*(u2*wx+(a+L)*wy)); + double KineticSpacecraft = (0.5)*(Ixx*(wx*wx) + Iyy*(wy*wy) + Izz*(wz*wz)); + double KineticParticle1 = (0.5)*m*((-u1*wz)*(-u1*wz) + ((a+L)*wz+u1Dot)*((a+L)*wz+u1Dot) + (u1*wx-(a+L)*wy)*(u1*wx-(a+L)*wy)); + double KineticParticle2 = (0.5)*m*((-u2*wz)*(-u2*wz)+ (-(a+L)*wz+u2Dot)*(-(a+L)*wz+u2Dot)+(u2*wx+(a+L)*wy)*(u2*wx+(a+L)*wy)); + // You can't use (1/2); you have to use (0.5)! WHY?? + + + double Energy = Potential + Kinetic; + + // Build 3 x 4 Q matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + //Matrix q_times_qtrans = new Matrix(q_matrix.times(q_transpose).A, 3,3); + //Matrix inv_q_times_qtrans = new Matrix(q_times_qtrans.invert().A, 3,3); + //double[][] pseudoinv_q = q_transpose.times(inv_q_times_qtrans).A; + + //Construct Angular velocity vector + double [] angularRateArray = new double[3]; + angularRateArray[0] = wx; + angularRateArray[1] = wy; + angularRateArray[2] = wz; + Matrix angularRateVector = new Matrix(angularRateArray, 3); //Column vector + + //Transform angular rates in body frame to inertial frame + Matrix inertialAngularRateVector = new Matrix(T_transpose.times(angularRateVector)); + double wx_i = inertialAngularRateVector.get(0,0); + double wy_i = inertialAngularRateVector.get(1,0); + double wz_i = inertialAngularRateVector.get(2,0); + + + + //Angular Momentum Calculation + double Hsc_x=Ixx*wx_i; // Angular momentum in a frame + double Hsc_y=Iyy*wy_i; //Angular momentum in a frame + double Hsc_z=Izz*wz_i; // Angular momentum in a frame + + //-------------Tip mass 1 position vector------------------------------- + //r1b1=(a+L); + //r1b2=u1; + //r1b3=0; + //r1b = [r1b1 r1b2 r1b3]'; + //Construct r1 position vector + double [] r1PositionArray = new double[3]; + r1PositionArray[0] = a+L; + r1PositionArray[1] = u1; + r1PositionArray[2] = 0; + Matrix r1Position_body = new Matrix(r1PositionArray, 3); //Column vector + Matrix r1Position_inertial = new Matrix(T_transpose.times(r1Position_body)); // Column vector + + //r1i_skew = [0 -r1i(3) r1i(2); + // r1i(3) 0 -r1i(1); + // -r1i(2) r1i(1) 0 ]; + double[][] r1_skewArray = new double[3][3]; + // Row1 + r1_skewArray[0][0] = 0; + r1_skewArray[0][1] = -r1Position_inertial.get(2,0); + r1_skewArray[0][2] = r1Position_inertial.get(1,0); + // Row2 + r1_skewArray[1][0] = r1Position_inertial.get(2,0); + r1_skewArray[1][1] = 0; + r1_skewArray[1][2] = -r1Position_inertial.get(0,0); + // Row3 + r1_skewArray[2][0] = -r1Position_inertial.get(1,0); + r1_skewArray[2][1] = r1Position_inertial.get(2,0); + r1_skewArray[2][2] = 0; + Matrix r1_skewMatrix = new Matrix(r1_skewArray, 3, 3); + + //-------------Tip mass 2 position vector------------------------------- + //r2b1=-(a+L); + //r2b2=u2; + //r2b3=0; + //r2b=[r2b1 r2b2 r2b3]'; + //Construct r2 position vector + double [] r2PositionArray = new double[3]; + r2PositionArray[0] = -(a+L); + r2PositionArray[1] = u2; + r2PositionArray[2] = 0; + Matrix r2Position_body = new Matrix(r2PositionArray, 3); + Matrix r2Position_inertial = new Matrix(T_transpose.times(r2Position_body)); + + //r2i_skew = [0 -r2i(3) r2i(2); + // r2i(3) 0 -r2i(1); + // -r2i(2) r2i(1) 0]; + double[][] r2_skewArray = new double[3][3]; + // Row1 + r2_skewArray[0][0] = 0; + r2_skewArray[0][1] = -r2Position_inertial.get(2,0); + r2_skewArray[0][2] = r2Position_inertial.get(1,0); + // Row2 + r2_skewArray[1][0] = r2Position_inertial.get(2,0); + r2_skewArray[1][1] = 0; + r2_skewArray[1][2] = -r2Position_inertial.get(0,0); + // Row3 + r2_skewArray[2][0] = -r2Position_inertial.get(1,0); + r2_skewArray[2][1] = r2Position_inertial.get(2,0); + r2_skewArray[2][2] = 0; + Matrix r2_skewMatrix = new Matrix(r2_skewArray, 3, 3); + + //-------------Tip mass 1 velocity vector------------------------------- + //r1Dot_b1= -Wb(3)*u1; + //r1Dot_b2= u1_dot+Wb(3)*(a+L); + //r1Dot_b3= u1*Wb(1)-Wb(2)*(a+L); + //r1Dot_b = [r1Dot_b1 r1Dot_b2 r1Dot_b3]'; + //r1Dot_i = T'*r1Dot_b; + double [] r1VelocityArray = new double[3]; + r1VelocityArray[0] = -wz*u1; + r1VelocityArray[1] = u1Dot+wz*(a+L); + r1VelocityArray[2] = u1*wx-wy*(a+L); + Matrix r1Velocity_body = new Matrix(r1VelocityArray, 3); + Matrix r1Velocity_inertial = new Matrix(T_transpose.times(r1Velocity_body)); + + //-------------Tip mass 2 velocity vector------------------------------- + //r2Dot_b1 = -Wb(3)*u2; + //r2Dot_b2 = u2_dot - Wb(3)*(a+L); + //r2Dot_b3 = Wb(1) + Wb(2)*(a+L); + //r2Dot_b = [r2Dot_b1 r2Dot_b2 r2Dot_b3]'; + //r2Dot_i = T'*r2Dot_b; + double [] r2VelocityArray = new double[3]; + r2VelocityArray[0] = -wz*u2; + r2VelocityArray[1] = u2Dot - wz*(a+L); + r2VelocityArray[2] = wx + wy*(a+L); + Matrix r2Velocity_body = new Matrix(r2VelocityArray, 3); + Matrix r2Velocity_inertial = new Matrix(T_transpose.times(r2Velocity_body)); + + //----------- Take Cross products --------------------------------------- + //Hm1=r1i_skew*(m*r1Dot_i); + Matrix Hm1 = new Matrix(r1_skewMatrix.times(r1Velocity_inertial.times(m))); + + double Hm1_a1 = -r1Position_inertial.get(2,0)*m*r1Velocity_inertial.get(1,0) + r1Position_inertial.get(1,0)*m*r1Velocity_inertial.get(2,0); + double Hm1_a2 = r1Position_inertial.get(2,0)*m*r1Velocity_inertial.get(0,0) -r1Position_inertial.get(0,0)*m*r1Velocity_inertial.get(2,0); + double Hm1_a3 = -r1Position_inertial.get(1,0)*m*r1Velocity_inertial.get(0,0) + r1Position_inertial.get(0,0)*m*r1Velocity_inertial.get(1,0); + + + //Hm2=r2i_skew*(m*r2Dot_i); + Matrix Hm2 = new Matrix(r2_skewMatrix.times(r2Velocity_inertial.times(m))); + + double Hm2_a1 = -r2Position_inertial.get(2,0)*m*r2Velocity_inertial.get(1,0) + r2Position_inertial.get(1,0)*m*r2Velocity_inertial.get(2,0); + double Hm2_a2 = r2Position_inertial.get(2,0)*m*r2Velocity_inertial.get(0,0) -r2Position_inertial.get(0,0)*m*r2Velocity_inertial.get(2,0); + double Hm2_a3 = -r2Position_inertial.get(1,0)*m*r2Velocity_inertial.get(0,0) + r2Position_inertial.get(0,0)*m*r2Velocity_inertial.get(1,0); + + + //double Htotal_1 =Hsc_x + Hm1.get(0,0) + Hm2.get(0,0); + //double Htotal_2 =Hsc_y + Hm1.get(1,0) + Hm2.get(1,0); + //double Htotal_3 =Hsc_z + Hm1.get(2,0) + Hm2.get(2,0); + + double Htotal_1 =Hsc_x + Hm1_a1 + Hm2_a1; + double Htotal_2 =Hsc_y + Hm1_a2 + Hm2_a2; + double Htotal_3 =Hsc_z + Hm1_a3 + Hm2_a3; + double Htotal = (Htotal_1)*(Htotal_1)+ (Htotal_2)*(Htotal_2) + (Htotal_3)*(Htotal_3); + + /* + private FourPlots uPlot = new FourPlots(); + private ThreePlots eulerPlot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private FourPlots quatPlot = new FourPlots(); + private TwoPlots EandHPlot = new TwoPlots(); + private ThreePlots eulerRatePlot = new ThreePlots(); + private ThreePlots angularPlot = new ThreePlots(); + private ThreePlots HPlot = new ThreePlots(); + */ + + uPlot.firstPlot.addPoint(0, t, u1, first); + uPlot.secondPlot.addPoint(0,t, u2, first); + uPlot.thirdPlot.addPoint(0, t, u1Dot, first); + uPlot.fourthPlot.addPoint(0, t, u2Dot, first); + + eulerPlot.topPlot.addPoint(0, t, psi, first); + eulerPlot.middlePlot.addPoint(0, t, theta, first); + eulerPlot.bottomPlot.addPoint(0, t, phi, first); + + quaternion_check.plot.addPoint(0, t, quat_check, first); + + quatPlot.firstPlot.addPoint(0, t, q1, first); + quatPlot.secondPlot.addPoint(0, t, q2, first); + quatPlot.thirdPlot.addPoint(0, t, q3, first); + quatPlot.fourthPlot.addPoint(0, t, q4, first); + + energyPlot.topPlot.addPoint(0, t, Potential, first); + energyPlot.middlePlot.addPoint(0, t, Kinetic, first); + energyPlot.bottomPlot.addPoint(0, t, Energy, first); + + eulerRatePlot.topPlot.addPoint(0, t, psiDot, first); + eulerRatePlot.middlePlot.addPoint(0, t, thetaDot, first); + eulerRatePlot.bottomPlot.addPoint(0, t, phiDot, first); + + angularPlot.topPlot.addPoint(0, t, wx, first); + angularPlot.middlePlot.addPoint(0, t, wy, first); + angularPlot.bottomPlot.addPoint(0, t, wz, first); + + HPlot.firstPlot.addPoint(0, t, Htotal_1, first); + HPlot.secondPlot.addPoint(0, t, Htotal_2, first); + HPlot.thirdPlot.addPoint(0, t, Htotal_3, first); + HPlot.fourthPlot.addPoint(0,t,Htotal, first); + + potentialPlot.topPlot.addPoint(0,t, Potential1, first); + potentialPlot.bottomPlot.addPoint(0, t, Potential2, first); + + kineticPlot.topPlot.addPoint(0, t, KineticSpacecraft, first); + kineticPlot.middlePlot.addPoint(0, t, KineticParticle1, first); + kineticPlot.bottomPlot.addPoint(0, t, KineticParticle2, first); + + H1_BreakDown.topPlot.addPoint(0, t, Hsc_x, first); + H1_BreakDown.middlePlot.addPoint(0, t, Hm1_a1, first); + H1_BreakDown.bottomPlot.addPoint(0, t, Hm2_a1, first); + + H2_BreakDown.topPlot.addPoint(0, t, Hsc_y, first); + H2_BreakDown.middlePlot.addPoint(0, t, Hm1_a2,first); + H2_BreakDown.bottomPlot.addPoint(0, t, Hm2_a2, first); + + H3_BreakDown.topPlot.addPoint(0, t, Hsc_z, first); + H3_BreakDown.middlePlot.addPoint(0, t, Hm1_a3, first); + H3_BreakDown.bottomPlot.addPoint(0, t, Hm2_a3,first); + + + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + + quatBeam1[0][currentPts] = (float)t; // time value + quatBeam1[1][currentPts] = (float)q1Beam1; // quaternion 1 + quatBeam1[2][currentPts] = (float)q2Beam1; // quarternion 2 + quatBeam1[3][currentPts] = (float)q3Beam1; // quarternion 3 + quatBeam1[4][currentPts] = (float)q4Beam1; // quarternion 4 + + quatBeam2[0][currentPts] = (float)t; // time value + quatBeam2[1][currentPts] = (float)q1Beam2; // quaternion 1 + quatBeam2[2][currentPts] = (float)q2Beam2; // quarternion 2 + quatBeam2[3][currentPts] = (float)q3Beam2; // quarternion 3 + quatBeam2[4][currentPts] = (float)q4Beam2; // quarternion 4 + + currentPts++; + + //also print to the screen + //System.out.println("m= "+m);//+" "+y[1]+" "+y[2]); + }// End of print + + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuatBeam1() + { + return quatBeam1; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuatBeam2() + { + return quatBeam2; + } + + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + + uPlot.setVisible(true); + eulerPlot.setVisible(true); + //quaternion_check.setVisible(true); + //quatPlot.setVisible(true); + energyPlot.setVisible(true); + //eulerRatePlot.setVisible(true); + //angularPlot.setVisible(true); + HPlot.setVisible(true); + //potentialPlot.setVisible(true); + //kineticPlot.setVisible(true); + //H1_BreakDown.setVisible(true); + //H2_BreakDown.setVisible(true); + //H3_BreakDown.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.01; + double timeDuration=10; + double tf = 10; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + RungeKuttaFehlberg78 rk78 = new RungeKuttaFehlberg78(1E-12); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + float quatBeam1[][]= new float[5][numberOfPts+1]; + float quatBeam2[][]= new float[5][numberOfPts+1]; + + // create an instance + FlexibleThreeD si = new FlexibleThreeD(time_step, quat_values,quatBeam1, quatBeam2); + + // initialize the variables + double [] x0 = new double[10]; + x0[0] = 0.5; + x0[1] = 0.1; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 0.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + //rk78.integrate(t0,x0,tf,si,si,true); + // make the plot visible + si.makePlotsVisible(); + + } +} diff --git a/src/jat/coreNOSA/attitude/eom/FlexibleTwoD.java b/src/jat/coreNOSA/attitude/eom/FlexibleTwoD.java new file mode 100644 index 0000000..61fd256 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/FlexibleTwoD.java @@ -0,0 +1,532 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

+ * Equations of motion of a flexible spacecraft. + * The system being modeled consists of a rigid spacecraft + * with two massless beams with a concentrated mass at the tip + * of each beam,cantilevered at the central body on opposite sides. + * + * + * @author Noriko Takada + * @version 1.3 (8/15/2004) + * Modification since the last version + * Switched to the interface EquationsOfMotion + * + */ +public class FlexibleTwoD implements EquationsOfMotion +{ + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions from simulation + // I1,I2,I3 Principal moments of inertia + // m Mass of the concentrated mass at the beam tips + // a Distance from the center of mass to the beam attachment point + // L Length of the beams + // EI Flexural Rigidity + // rotation_plot Plots of angular velocities + // angle_plot Plots of euler angles + // quarternion_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + // quat_plot Plots of quaternions + // energy_and_angularM Plots of system energy and angular momentum + // + double time_step; + public int currentPts=0; + private float quat_values[][]; + private float quatBeam1[][]; + private float quatBeam2[][]; + + private double J = 13.35; + private double m = 1; + private double a = 0.40; + private double L = 1.80; + private double EI = 15.52; + + private double wn = 1; + private double damping = 1; + private double K = wn*wn*J; + private double Kd =J*2*damping*wn; + private double K_bang = K; + private double Kd_bang = Kd; + private double torque_level=1; + private double no_torque_zone=0.001; + private double alpha_com = 2*Math.PI/180; + + // Create variables for the necessary plots + private ThreePlots positionPlot = new ThreePlots(); + private ThreePlots velocityPlot = new ThreePlots(); + private FourPlots hPlot = new FourPlots(); + private ThreePlots energyPlot = new ThreePlots(); + private FourPlots quaternionPlot = new FourPlots(); + private TwoPlots beamAnglePlot = new TwoPlots(); + + /** + * Constructor + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public FlexibleTwoD(double time_step, float quat_values[][],float quatBeam1[][], + float quatBeam2[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.quatBeam1 = quatBeam1; + this.quatBeam2 = quatBeam2; + } + + + /** Construct a RConstantTorque object + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1,I2,I3 Principal moments of inertia + * @param m Tip mass + * @param a Distance from the center of mass to the beam attachment point + * @param L Length of the massless beam + * @param EI Flexural rigidity + */ + public FlexibleTwoD(double time_step, double m, double a, double L, double EI, + double J, double K, double Kd, double alpha_com, + float quat_values[][], + float quatBeam1[][], float quatBeam2[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.quatBeam1 = quatBeam1; + this.quatBeam2 = quatBeam2; + this.m = m; + this.a = a; + this.L = L; + this.EI = EI; + this.J=J; + + this.K = K; + this.Kd = Kd; + this.alpha_com = alpha_com*Math.PI/180; + + } + + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + /* + private ThreePlots positionPlot = new ThreePlots(); + private ThreePlots velocityPlot = new ThreePlots(); + private FourPlots hPlot = new FourPlots(); + private TwoPlots EandQPlot = new TwoPlots(); + private FourPlots quaternionPlot = new FourPlots(); + */ + + // Setup plots + positionPlot.setTitle("Position plot"); + positionPlot.topPlot.setXLabel("t(sec)"); + positionPlot.topPlot.setYLabel("alpha (rad)"); + positionPlot.middlePlot.setXLabel("t (sec)"); + positionPlot.middlePlot.setYLabel("u1 (m)"); + positionPlot.bottomPlot.setXLabel("t (sec)"); + positionPlot.bottomPlot.setYLabel("u2 (m)"); + + velocityPlot.setTitle("Velocity plot"); + velocityPlot.topPlot.setXLabel("t (sec)"); + velocityPlot.topPlot.setYLabel("alphaDot (rad/sec)"); + velocityPlot.middlePlot.setXLabel("t (sec)"); + velocityPlot.middlePlot.setYLabel("u1Dot (m/sec)"); + velocityPlot.bottomPlot.setXLabel("t (sec)"); + velocityPlot.bottomPlot.setYLabel("u2Dot (m/sec)"); + + hPlot.setTitle("Angular momentum"); + hPlot.firstPlot.setXLabel("t (sec)"); + hPlot.firstPlot.setYLabel("Hm1"); + hPlot.secondPlot.setXLabel("t (sec)"); + hPlot.secondPlot.setYLabel("Hm2"); + hPlot.thirdPlot.setXLabel("t (sec)"); + hPlot.thirdPlot.setYLabel("Hsc"); + hPlot.fourthPlot.setXLabel("t (sec)"); + hPlot.fourthPlot.setYLabel("Total Angular Momentum"); + + energyPlot.setTitle("Energy Plot"); + energyPlot.topPlot.setXLabel("t (sec)"); + energyPlot.topPlot.setYLabel("Potential"); + energyPlot.middlePlot.setXLabel("t (sec)"); + energyPlot.middlePlot.setYLabel("Kinetic"); + energyPlot.bottomPlot.setXLabel("t (sec)"); + energyPlot.bottomPlot.setYLabel("Total Energy"); + + quaternionPlot.setTitle("Quaternions"); + quaternionPlot.firstPlot.setXLabel("t (sec)"); + quaternionPlot.firstPlot.setYLabel("q1"); + quaternionPlot.secondPlot.setXLabel("t (sec)"); + quaternionPlot.secondPlot.setYLabel("q2"); + quaternionPlot.thirdPlot.setXLabel("t (sec)"); + quaternionPlot.thirdPlot.setYLabel("q3"); + quaternionPlot.fourthPlot.setXLabel("t (sec)"); + quaternionPlot.fourthPlot.setYLabel("q4"); + + beamAnglePlot.setTitle("Beam Angle plot"); + beamAnglePlot.topPlot.setXLabel("t (sec)"); + beamAnglePlot.topPlot.setYLabel("theta1 (degree)"); + beamAnglePlot.bottomPlot.setXLabel("t (sec)"); + beamAnglePlot.bottomPlot.setYLabel("theta2 (degree)"); + + } + + + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + //! The method derivs has the limit of 65535 byts + + double [] out = new double[6]; + // Define state variables + double alpha = x[0]; + double u1 = x[1]; + double u2 = x[2]; + double alphaDot = x[3]; + double u1Dot = x[4]; + double u2Dot = x[5]; + + // Define + double u1square = u1*u1; + double u2square = u2*u2; + double Lfifth = L*L*L*L*L; + double Lfour = L*L*L*L; + double Lcube = L*L*L; + double msquare = m*m; + double asquare = a*a; + double alphaDotSquare = alphaDot*alphaDot; + double Lsquare = L*L; + double Me = 0; + double Mc = K*(alpha_com-alpha)-Kd*alphaDot;; + + out[0]=alphaDot; + out[1]=u1Dot; + out[2]=u2Dot; + // alphaDoubleDot Equation + out[3] = (-a*m*u1*Lcube*alphaDotSquare+a*m*u2*Lcube*alphaDotSquare+3*a*EI*u1-3*a*EI*u2-2*alphaDot*m*u1*u1Dot*Lcube-2*alphaDot*m*u2*u2Dot*Lcube-m*u1*Lfour*alphaDotSquare+m*u2*Lfour*alphaDotSquare+Me*Lcube+Mc*Lcube+(3*EI*u1-3*EI*u2)*L)/(m*u2square*Lcube+m*u1square*Lcube+J*Lcube); + // u1DoubleDot Equation + out[4] = (-3*m*EI*u1*asquare+u1*J*m*Lcube*alphaDotSquare-m*a*Mc*Lcube-m*Mc*Lfour-m*Me*Lfour+u1*u2square*Lcube*msquare*alphaDotSquare-2*a*Lfour*msquare*u2*alphaDotSquare-Lcube*msquare*u2*alphaDotSquare*asquare+u1*u1square*Lcube*msquare*alphaDotSquare+Lcube*msquare*u1*alphaDotSquare*asquare-3*m*EI*u1*u1square-3*m*EI*u1*u2square+3*m*EI*u2*asquare-3*EI*u1*J+2*a*Lfour*msquare*u1*alphaDotSquare-Lfifth*u2*msquare*alphaDotSquare-m*a*Me*Lcube+2*a*alphaDot*Lcube*u1*u1Dot*msquare+Lfifth*u1*msquare*alphaDotSquare+2*a*alphaDot*Lcube*u2*u2Dot*msquare+2*alphaDot*Lfour*u1*u1Dot*msquare+2*alphaDot*Lfour*u2*u2Dot*msquare+(6*a*m*EI*u2-6*a*m*EI*u1)*L+(-3*m*EI*u1+3*m*EI*u2)*Lsquare)/(u2square*Lcube*msquare+u1square*Lcube*msquare+J*m*Lcube); + // u2DoubleDot Equation + out[5] = (-3*m*EI*u2*u2square-3*EI*u2*J+m*a*Mc*Lcube+u2*u2square*Lcube*msquare*alphaDotSquare+u2*u1square*Lcube*msquare*alphaDotSquare+m*Mc*Lfour+m*Me*Lfour-2*a*alphaDot*Lcube*u1*u1Dot*msquare+Lcube*msquare*u2*alphaDotSquare*asquare-Lcube*msquare*u1*alphaDotSquare*asquare-3*m*EI*u2*asquare+3*m*EI*u1*asquare-3*m*EI*u2*u1square-2*a*Lfour*msquare*u1*alphaDotSquare+2*a*Lfour*msquare*u2*alphaDotSquare-2*a*alphaDot*Lcube*u2*u2Dot*msquare+m*a*Me*Lcube-Lfifth*u1*msquare*alphaDotSquare+Lfifth*u2*msquare*alphaDotSquare-2*alphaDot*Lfour*u2*u2Dot*msquare-2*alphaDot*Lfour*u1*u1Dot*msquare+J*m*u2*Lcube*alphaDotSquare+(6*a*m*EI*u1-6*a*m*EI*u2)*L+(3*m*EI*u1-3*m*EI*u2)*Lsquare)/(u2square*Lcube*msquare+u1square*Lcube*msquare+J*m*Lcube); + + return out; + + }// End of derivs + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + boolean first = true; + if (t == 0.0) first = false; + + //int currentPts = (int)(t/time_step); // This is the array index + + double alpha = y[0]; + double u1 = y[1]; + double u2 = y[2]; + double alphaDot = y[3]; + double u1Dot = y[4]; + double u2Dot = y[5]; + + double theta2 = Math.asin(u2/L); + + theta2=-theta2; + + double theta1 = Math.asin(u1/L); + // Extract quaternion values + // See Bong wie (p.318) + // Euler axis + double e1=0; + double e2=0; + double e3=1; + // Define Euler Parameters + // Make the alpha twice as much to exaggerate it + double q1=e1*Math.sin(alpha*2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q2=e2*Math.sin(alpha*2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q3=e3*Math.sin(alpha*2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q4=Math.cos(alpha/2); + + // Define Euler Parameters for Beam1 rotaion + double q1Beam1 = e1*Math.sin(theta1/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q2Beam1 = e2*Math.sin(theta1/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q3Beam1 = e3*Math.sin(theta1/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q4Beam1 = Math.cos(theta1/2); + + //Define Euler Parameters for Beam2 rotation + double q1Beam2 = e1*Math.sin(theta2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q2Beam2 = e2*Math.sin(theta2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q3Beam2 = e3*Math.sin(theta2/2)/Math.sqrt(e1*e1+e2*e2+e3*e3); + double q4Beam2 = Math.cos(theta2/2); + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + double quat_check = q1*q1 + q2*q2 + q3*q3 + q4*q4; + + // Build 3 x 4 Q matrix + double[][] array = new double[3][4]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + //Matrix q_times_qtrans = new Matrix(q_matrix.times(q_transpose).A, 3,3); + //Matrix inv_q_times_qtrans = new Matrix(q_times_qtrans.invert().A, 3,3); + //double[][] pseudoinv_q = q_transpose.times(inv_q_times_qtrans).A; + + //Energy Calculation + double Potential = 3*EI*(u1*u1)/(2*L*L*L) + 3*EI*(u2*u2)/(2*L*L*L); + double Kinetic = (0.5)*J*(alphaDot*alphaDot) + (0.5)*m*((-u1*alphaDot)*(-u1*alphaDot) + ((a+L)*alphaDot + u1Dot)*((a+L)*alphaDot + u1Dot)) + (0.5)*m*((-u2*alphaDot)*(-u2*alphaDot) + (-(a+L)*alphaDot + u2Dot)*(-(a+L)*alphaDot + u2Dot)); + double energy= Kinetic+Potential; + //double Potential = 3*EI*(u1*u1)/(2*L*L*L) + 3*EI*(u2*u2)/(2*L*L*L); + //double Kinetic = (1/2)*J*(alphaDot*alphaDot)+(1/2)*m*((-u1*alphaDot)*(-u1*alphaDot) + ((a+L)*alphaDot+u1Dot)*((a+L)*alphaDot+u1Dot)) + (1/2)*m*((-u2*alphaDot)*(-u2*alphaDot)+(-(a+L)*alphaDot + u2Dot)* (-(a+L)*alphaDot + u2Dot)); + //double Energy = Potential + Kinetic; + + //Angular Momentum Calculation + //Hsc (i,1)= J*alpha_dot; + double Hsc = J*alphaDot; + + //r1a1 = (a+L)*cos(alpha) + u1*sin(alpha); + //r1a2 = -(a+L)*sin(alpha) + u1*cos(alpha); + //r1_dot_a1 = -u1*alpha_dot*cos(alpha) + (a+L)*alpha_dot*sin(alpha) + u1_dot*sin(alpha); + //r1_dot_a2 = u1*alpha_dot*sin(alpha) + (a+L)*alpha_dot*cos(alpha) + u1_dot*cos(alpha); + double r1a1 = (a+L)*Math.cos(alpha) + u1*Math.sin(alpha); + double r1a2 = -(a+L)*Math.sin(alpha) + u1*Math.cos(alpha); + double r1_dot_a1 = -u1*alphaDot*Math.cos(alpha) + (a+L)*alphaDot*Math.sin(alpha) + u1Dot*Math.sin(alpha); + double r1_dot_a2 = u1*alphaDot*Math.sin(alpha) + (a+L)*alphaDot*Math.cos(alpha) + u1Dot*Math.cos(alpha); + + //r2a1 = -(a+L)*cos(alpha) + u2*sin(alpha); + //r2a2 = (a+L)*sin(alpha) + u2*cos(alpha); + //%r2_dot_a1 = alpha_dot*cos(alpha) -(a+L)*alpha_dot*sin(alpha) + u2_dot*sin(alpha); + //r2_dot_a1 = -alpha_dot*u2*cos(alpha) -(a+L)*alpha_dot*sin(alpha) + u2_dot*sin(alpha); + //%r2_dot_a2 = -alpha_dot*u2*sin(alpha) - (a+L)*alpha_dot*cos(alpha) + u2_dot*cos(alpha); + //r2_dot_a2 = alpha_dot*u2*sin(alpha) - (a+L)*alpha_dot*cos(alpha) + u2_dot*cos(alpha); + + double r2a1 = -(a+L)*Math.cos(alpha) + u2*Math.sin(alpha); + double r2a2 = (a+L)*Math.sin(alpha) + u2*Math.cos(alpha); + //%r2_dot_a1 = alpha_dot*cos(alpha) -(a+L)*alpha_dot*sin(alpha) + u2_dot*sin(alpha); + double r2_dot_a1 = -alphaDot*u2*Math.cos(alpha) -(a+L)*alphaDot*Math.sin(alpha) + u2Dot*Math.sin(alpha); + //%r2_dot_a2 = -alpha_dot*u2*sin(alpha) - (a+L)*alpha_dot*cos(alpha) + u2_dot*cos(alpha); + double r2_dot_a2 = alphaDot*u2*Math.sin(alpha) - (a+L)*alphaDot*Math.cos(alpha) + u2Dot*Math.cos(alpha); + + //Hm1 (i,1)= r1a1*m*r1_dot_a2 - r1a2*m*r1_dot_a1; + //Hm2 (i,1)= r2a1*m*r2_dot_a2 - r2a2*m*r2_dot_a1; + double Hm1= r1a1*m*r1_dot_a2 - r1a2*m*r1_dot_a1; + double Hm2= r2a1*m*r2_dot_a2 - r2a2*m*r2_dot_a1; + + //angular_momentum(i,1) = Hsc(i,1)+Hm1(i,1)+Hm2(i,1); + double angular_momentum = Hsc+Hm1+Hm2; + + + /* + private ThreePlots positionPlot = new ThreePlots(); + private ThreePlots velocityPlot = new ThreePlots(); + private FourPlots hPlot = new FourPlots(); + private TwoPlots EandQPlot = new TwoPlots(); + private FourPlots quaternionPlot = new FourPlots(); + */ + + positionPlot.topPlot.addPoint(0, t, alpha, first); + positionPlot.middlePlot.addPoint(0, t, u1, first); + positionPlot.bottomPlot.addPoint(0, t, u2, first); + + velocityPlot.topPlot.addPoint(0, t, alphaDot, first); + velocityPlot.middlePlot.addPoint(0, t, u1Dot, first); + velocityPlot.bottomPlot.addPoint(0, t, u2Dot, first); + + hPlot.firstPlot.addPoint(0, t, Hsc, first); + hPlot.secondPlot.addPoint(0, t, Hm1, first); + hPlot.thirdPlot.addPoint(0, t, Hm2, first); + hPlot.fourthPlot.addPoint(0, t, angular_momentum, first); + + energyPlot.topPlot.addPoint(0, t, Potential, first); + energyPlot.middlePlot.addPoint(0, t, Kinetic, first ); + energyPlot.bottomPlot.addPoint(0, t, energy, first); + + quaternionPlot.firstPlot.addPoint(0, t, q1, first); + quaternionPlot.secondPlot.addPoint(0,t,q2, first); + quaternionPlot.thirdPlot.addPoint(0, t, q3, first); + quaternionPlot.fourthPlot.addPoint(0,t,q4, first); + + beamAnglePlot.topPlot.addPoint(0, t, theta1, first); + beamAnglePlot.bottomPlot.addPoint(0, t, theta2, first); + + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + + quatBeam1[0][currentPts] = (float)t; // time value + quatBeam1[1][currentPts] = (float)q1Beam1; // quaternion 1 + quatBeam1[2][currentPts] = (float)q2Beam1; // quarternion 2 + quatBeam1[3][currentPts] = (float)q3Beam1; // quarternion 3 + quatBeam1[4][currentPts] = (float)q4Beam1; // quarternion 4 + + quatBeam2[0][currentPts] = (float)t; // time value + quatBeam2[1][currentPts] = (float)q1Beam2; // quaternion 1 + quatBeam2[2][currentPts] = (float)q2Beam2; // quarternion 2 + quatBeam2[3][currentPts] = (float)q3Beam2; // quarternion 3 + quatBeam2[4][currentPts] = (float)q4Beam2; // quarternion 4 + + currentPts++; + + //also print to the screen + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]+" "+y[3]+" "+y[4]+" "+y[5]); + }// End of print + + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuatBeam1() + { + return quatBeam1; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuatBeam2() + { + return quatBeam2; + } + + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + /* + private ThreePlots positionPlot = new ThreePlots(); + private ThreePlots velocityPlot = new ThreePlots(); + private FourPlots hPlot = new FourPlots(); + private TwoPlots EandQPlot = new TwoPlots(); + private FourPlots quaternionPlot = new FourPlots(); + */ + + positionPlot.setVisible(true); + velocityPlot.setVisible(true); + hPlot.setVisible(true); + energyPlot.setVisible(true); + quaternionPlot.setVisible(true); + //beamAnglePlot.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.01; + double timeDuration=10; + double tf = 10; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + RungeKuttaFehlberg78 rk78 = new RungeKuttaFehlberg78(1e-6); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + float quatBeam1[][]= new float[5][numberOfPts+1]; + float quatBeam2[][]= new float[5][numberOfPts+1]; + + // create an instance + FlexibleTwoD si = new FlexibleTwoD(time_step, quat_values, quatBeam1, quatBeam2); + + // initialize the variables + double [] x0 = new double[6]; + x0[0] = 0.0; + x0[1] = 0.1; + x0[2] = 0.5; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + //double [] xf= rk78.integrate(t0, x0, tf, si, si, true); + + // make the plot visible + si.makePlotsVisible(); + + } +} diff --git a/src/jat/coreNOSA/attitude/eom/FourRWManeuver.java b/src/jat/coreNOSA/attitude/eom/FourRWManeuver.java new file mode 100644 index 0000000..0138e46 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/FourRWManeuver.java @@ -0,0 +1,803 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.attitude.QuatToDeg; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; + +/** + *

+ * FourRWManeuver contains the equations of motion for the simulation of a rigid + * spacecraft performing attitude reorientation maneuver using 4 reaction wheels + * in a pyramid configuration. The class implements + * jat.alg.integrators.Derivatives and jat.alg.integrateors.Printble, so an + * outside application code can perform a numerical simulation of equations of + * motion defined in this class and get the output from the simulation. + * + * @author Noriko Takada Modification since the last version Switched to the + * interface EquationsOfMotion + */ + +public class FourRWManeuver implements EquationsOfMotion { + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions from + // simulation + // I1,I2,I3 Principal moments of inertia about 1,2, and 3 axes + // M1,M2,M3 Extermal moment applied about 1,2, and 3 axes + // J Reaction-wheel inertia (all 4 RWs have the same J.) + // angle All RW is oriented at this angle with respect to the z-axis + // b1 b2 b3 Vector components of the moment vector of RW1 + // g1 g2 g3 Vector components of the moment vector of RW2 + // a1 a2 a3 Vector components of the moment vector of RW3 + // d1 d2 d3 Vector componetns of the moment vector of RW4 + // Kx Ky Kz Proportional gain + // Kxd Kyd Kzd Derivative gain + // psi, theta, phi Amount of attitude maneuver in terms of euler angles + // q Target quarternions (converted from the euler angles) + double time_step; + public int currentPts; + private float quat_values[][]; + public static final int THREE_RW = 3; + public static final int FOUR_RW = 4; + public int number_of_RW = THREE_RW; + + // Create variables for the necessary plots + private FourPlots wheel_velocity_plot = new FourPlots(); + private ThreePlots angular_velocity_plot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private ThreePlots euler_angle_plot = new ThreePlots(); + private FourPlots angular_momentum_plot = new FourPlots(); + private SinglePlot energy_plot = new SinglePlot(); + private FourPlots quaternion_plot = new FourPlots(); + + private double I1 = 10.42; + private double I2 = 35.42; + private double I3 = 41.67; + + private double M1 = 0; + private double M2 = 0; + private double M3 = 0; + + double J = 10; + double angle = 25 * Math.PI / 180; + + double b1 = -Math.sin(angle); + double b2 = 0; + double b3 = Math.cos(angle); + + double g1 = 0; + double g2 = -Math.sin(angle); + double g3 = Math.cos(angle); + + double a1 = Math.sin(angle); + double a2 = 0; + double a3 = Math.cos(angle); + + double d1 = 0; + double d2 = Math.sin(angle); + double d3 = Math.cos(angle); + + // Gains (self-determined...) + double Kx = -I1; + double Kxd = 4 * I1; + double Ky = -I2; + double Kyd = 4 * I2; + double Kz = -I3; + double Kzd = 4 * I3; + + // Amount of attitude maneuver in terms of Euler angles + // These have to be converted into target quarternions. + private double psi = 10 * Math.PI / 180; + private double theta = 60 * Math.PI / 180; + private double phi = 50 * Math.PI / 180; + + // Target Quarternions + double[] q = convertEulerToTargetQ(psi, theta, phi);// new double[4]; + + // Convert Euler angles to target quarternions + // double[] target = convertEulerToTargetQ(psi, theta, phi); + + /** + * Constructor 1 + * + * @param time_step + * : Time step of numerical integration + * @param quat_values + * [][] Two dimensional array that contains quarternions from + * simulation + * @param I1 + * I2 I3 Principle moments of inertia about 1, 2, and 3 axis + * respectively + * @param J + * Moment of inertia of reaction wheel + * @param angle + * Orientation angle of reaction wheel + * @param psi + * Target euler angle + * @param phi + * Target euler angle + * @param theta + * Target euler angle + */ + public FourRWManeuver(double time_step, double I1, double I2, double I3, + double J, double angle, double a, double b, double c, + float quat_values[][]) { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + this.J = J; + this.angle = angle * Math.PI / 180; + // this.psi = psi; + // this.phi = phi; + // this.theta = theta; + // a,b, and c are angles in degrees. + psi = a * Math.PI / 180; + theta = b * Math.PI / 180; + phi = c * Math.PI / 180; + + q = convertEulerToTargetQ(psi, theta, phi); + } + + /** + * Constructor 2 + * + * @param time_step + * : Time step of numerical integration + * @param quat_values + * [][] Two dimensional array that contains quarternions from + * simulation + * @param a + * Target psi angle + * @param b + * Target theta angle + * @param c + * Target phi angle + */ + public FourRWManeuver(double time_step, double a, double b, double c, + float quat_values[][]) { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + // a,b, and c are angles in degrees. + psi = a * Math.PI / 180; + theta = b * Math.PI / 180; + phi = c * Math.PI / 180; + + q = convertEulerToTargetQ(psi, theta, phi); + } + + /** + * Constructor 3 + * + * @param time_step + * : Time step of numerical integration + * @param quat_values + * [][] Two dimensional array that contains quarternions from + * simulation + */ + public FourRWManeuver(double time_step, float quat_values[][]) { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + /** + * Sets the number of RW to either three or four + * + * @param a + * (int) # of RW + */ + void setNumberOfRW(int a) { + number_of_RW = a; + } + + /** + * setupPlots() sets up Plots + */ + void setupPlots() { + // FourPlots wheel_velocity_plot = new FourPlots(); // ThreePlots + // angullar_velocity_plot = new ThreePlots(); + // SinglePlot quarternion_check = new SinglePlot(); + // ThreePlots euler_angle_plot = new ThreePlots(); + // FourPlots angular_momentum_plot = new FourPlots(); + // SinglePlot energy_plot = new SinglePlot(); + + // Setup plots + wheel_velocity_plot.setTitle("Reaction Wheel Velocities"); + wheel_velocity_plot.firstPlot.setXLabel("t (sec)"); + wheel_velocity_plot.firstPlot.setYLabel("RW 1 speed (rad/sec)"); + wheel_velocity_plot.secondPlot.setXLabel("t (sec)"); + wheel_velocity_plot.secondPlot.setYLabel("RW 2 speed (rad/sec)"); + wheel_velocity_plot.thirdPlot.setXLabel("t (sec)"); + wheel_velocity_plot.thirdPlot.setYLabel("RW 3 speed (rad/sec)"); + wheel_velocity_plot.fourthPlot.setXLabel("t (sec)"); + wheel_velocity_plot.fourthPlot.setYLabel("RW 4 speed (rad/sec)"); + + angular_velocity_plot.setTitle("Spacecraft Angular Velocities"); + angular_velocity_plot.topPlot.setXLabel("t (sec)"); + angular_velocity_plot.topPlot.setYLabel("w1 (rad/sec)"); + angular_velocity_plot.middlePlot.setXLabel("t (sec)"); + angular_velocity_plot.middlePlot.setYLabel("w2 (rad/sec)"); + angular_velocity_plot.bottomPlot.setXLabel("t (sec)"); + angular_velocity_plot.bottomPlot.setYLabel("w3 (rad/sec)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + euler_angle_plot.setTitle("Euler Angles"); + euler_angle_plot.topPlot.setXLabel("t(sec)"); + euler_angle_plot.topPlot.setYLabel("Psi(rad)"); + euler_angle_plot.middlePlot.setXLabel("t(sec)"); + euler_angle_plot.middlePlot.setYLabel("Theta(rad)"); + euler_angle_plot.bottomPlot.setXLabel("t(sec)"); + euler_angle_plot.bottomPlot.setYLabel("Phi(rad)"); + + angular_momentum_plot.setTitle("Angular Momentum"); + angular_momentum_plot.firstPlot.setXLabel("t (sec)"); + angular_momentum_plot.firstPlot.setYLabel("H (a1)"); + angular_momentum_plot.secondPlot.setXLabel("t (sec)"); + angular_momentum_plot.secondPlot.setYLabel("H (a2)"); + angular_momentum_plot.thirdPlot.setXLabel("t (sec)"); + angular_momentum_plot.thirdPlot.setYLabel("H (a3)"); + angular_momentum_plot.fourthPlot.setXLabel("t (sec)"); + angular_momentum_plot.fourthPlot.setYLabel("H total"); + + energy_plot.setTitle("RotationalKinetic Energy"); + energy_plot.plot.setXLabel("t (sec)"); + energy_plot.plot.setYLabel("Energy"); + + quaternion_plot.setTitle("Quaternions"); + quaternion_plot.firstPlot.setXLabel("t (sec)"); + quaternion_plot.firstPlot.setYLabel("q1"); + quaternion_plot.secondPlot.setXLabel("t (sec)"); + quaternion_plot.secondPlot.setYLabel("q2"); + quaternion_plot.thirdPlot.setXLabel("t (sec)"); + quaternion_plot.thirdPlot.setYLabel("q3"); + quaternion_plot.fourthPlot.setXLabel("t (sec)"); + quaternion_plot.fourthPlot.setYLabel("q4"); + + } + + /** + * Compute the derivatives. Equations of Motion + * + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) { + // Error quarternions (Necessary to determine the required control + // torque) + double qe1 = q[3] * x[3] + q[2] * x[4] - q[1] * x[5] - q[0] * x[6]; + double qe2 = -q[2] * x[3] + q[3] * x[4] + q[0] * x[5] - q[1] * x[6]; + double qe3 = q[1] * x[3] - q[0] * x[4] + q[3] * x[5] - q[2] * x[6]; + double qe4 = q[0] * x[3] + q[1] * x[4] + q[2] * x[5] + q[3] * x[6]; + + // Control Torque + double Mc1 = 2 * Kx * qe1 * qe4 - Kxd * x[0]; + double Mc2 = 2 * Ky * qe2 * qe4 - Kyd * x[1]; + double Mc3 = 2 * Kz * qe3 * qe4 - Kzd * x[2]; + + double[] out = new double[11]; + out[0] = ((I2 - I3) / I1) * x[1] * x[2] + M1 / I1 + Mc1 / I1; + out[1] = ((I3 - I1) / I2) * x[0] * x[2] + M2 / I2 + Mc2 / I2; + out[2] = ((I1 - I2) / I3) * x[0] * x[1] + M3 / I3 + Mc3 / I3; + out[3] = -0.5 * (-x[2] * x[4] + x[1] * x[5] - x[0] * x[6]); + out[4] = -0.5 * (x[2] * x[3] - x[0] * x[5] - x[1] * x[6]); + out[5] = -0.5 * (-x[2] * x[6] + x[0] * x[4] - x[1] * x[3]); + out[6] = -0.5 * (x[2] * x[5] + x[1] * x[4] + x[0] * x[3]); + + // RW angular speed + if (number_of_RW == FOUR_RW) { + // RWs speed + // x[7] = RW1 spped + // x[8] = RW2 speed + // x[9] = RW3 speed + // x[10] = RW4 speed + + double p1 = J * x[7] * (b3 * x[1] - b2 * x[2]) + J * x[8] + * (g3 * x[1] - g2 * x[2]) + J * x[9] + * (a3 * x[1] - a2 * x[2]) + J * x[10] + * (d3 * x[1] - d2 * x[2]); + double p2 = J * x[7] * (b1 * x[2] - b3 * x[0]) + J * x[8] + * (g1 * x[2] - g3 * x[0]) + J * x[9] + * (a1 * x[2] - a3 * x[0]) + J * x[10] + * (d1 * x[2] - d3 * x[0]); + double p3 = J * x[7] * (b2 * x[0] - b1 * x[1]) + J * x[8] + * (g2 * x[0] - g1 * x[1]) + J * x[9] + * (a2 * x[0] - a1 * x[1]) + J * x[10] + * (d2 * x[0] - d1 * x[1]); + + // P matrix + double[] p_array = new double[3]; + p_array[0] = p1; + p_array[1] = p2; + p_array[2] = p3; + Matrix p_matrix = new Matrix(p_array, 3); // Column vector + + // Q matrix + Matrix pseudoQ_matrix = takePseudoInverse(J, b1, b2, b3, g1, g2, + g3, a1, a2, a3, d1, d2, d3); + + // double[][] q_array = new double[3][4]; + // Row1 + // q_array[0][0] = J*b1; + // q_array[0][1] = J*g1; + // q_array[0][2] = J*a1; + // q_array[0][3] = J*d1; + // Row2 + // q_array[1][0] = J*b2; + // q_array[1][1] = J*g2; + // q_array[1][2] = J*a2; + // q_array[1][3] = J*d2; + // Row3 + // q_array[2][0] = J*b3; + // q_array[2][1] = J*g3; + // q_array[2][2] = J*a3; + // q_array[2][3] = J*d3; + // Construct Transformation Matrix + // Matrix Q = new Matrix(q_array,3,4); + // Matrix pseudoQ = Q.inverse(); + + double[] Tc_array = new double[3]; + Tc_array[0] = -Mc1; + Tc_array[1] = -Mc2; + Tc_array[2] = -Mc3; + Matrix Tc_matrix = new Matrix(Tc_array, 3); + + Matrix omega_matrix = pseudoQ_matrix.times(Tc_matrix + .minus(p_matrix)); + + // Matrix Q_transpose = new Matrix(Q.transpose().A, 4,3); + // Pseudoinverse by manual calculation.... + // matrix element + double q11 = -0.5 / (J * Math.sin(angle)); + double q13 = 0.25 / (J * Math.cos(angle)); + double q22 = -0.5 / (J * Math.sin(angle)); + double q23 = 0.25 / (J * Math.cos(angle)); + double q31 = 0.5 / (J * Math.sin(angle)); + double q33 = 0.25 / (J * Math.cos(angle)); + double q42 = 0.5 / (J * Math.sin(angle)); + double q43 = 0.25 / (J * Math.cos(angle)); + + // matrix element + double a11 = -Mc1 - p1; + double a12 = -Mc2 - p2; + double a13 = -Mc3 - p3; + + out[7] = q11 * a11 + q13 * a13; + out[8] = q22 * a12 + q23 * a13; + out[9] = q31 * a11 + q33 * a13; + out[10] = q42 * a12 + q43 * a13; + } + + else if (number_of_RW == THREE_RW) { + Matrix Q = new Matrix(3, 3); + Matrix P = new Matrix(3, 1); + Matrix Tc = new Matrix(3, 1); + Matrix Q_inv = new Matrix(3, 3); + Matrix Omega = new Matrix(3, 1); + + // Set the matrix elements + // Don't forget that the index starts at 0!! + Q.set(0, 0, J * b1); + Q.set(0, 1, J * g1); + Q.set(0, 2, J * a1); + Q.set(1, 0, J * b2); + Q.set(1, 1, J * g2); + Q.set(1, 2, J * a2); + Q.set(2, 0, J * b3); + Q.set(2, 1, J * g3); + Q.set(2, 2, J * a3); + + P.set(0, 0, J * x[7] * (b3 * x[1] - b2 * x[2]) + J * x[8] + * (g3 * x[1] - g2 * x[2]) + J * x[9] + * (a3 * x[1] - a2 * x[2])); + P.set(1, 0, J * x[7] * (b1 * x[2] - b3 * x[0]) + J * x[8] + * (g1 * x[2] - g3 * x[0]) + J * x[9] + * (a1 * x[2] - a3 * x[0])); + P.set(2, 0, J * x[7] * (b2 * x[0] - b1 * x[1]) + J * x[8] + * (g2 * x[0] - g1 * x[1]) + J * x[9] + * (a2 * x[0] - a1 * x[1])); + + Tc.set(0, 0, -Mc1); + Tc.set(1, 0, -Mc2); + Tc.set(2, 0, -Mc3); + + Q_inv = Q.inverse(); + Omega = Q_inv.times((Tc.minus(P))); + + out[7] = Omega.get(0, 0); + out[8] = Omega.get(1, 0); + out[9] = Omega.get(2, 0); + out[10] = 0; + } + return out; + }// End of derivs + + /** + * Implements the Printable interface to get the data out of the propagator + * and pass it to the plot. This method is executed by the propagator at + * each integration step. + * + * @param t + * Time. + * @param y + * Data array. + */ + + public void print(double t, double[] y) { + boolean first = true; + if (t == 0.0) + first = false; + //int currentPts = (int) (t / time_step); // This is the array index + + System.out.println(t + " " + y[0] + " " + y[1] + " " + first); + + // Define state variables + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double q1 = y[3]; + double q2 = y[4]; + double q3 = y[5]; + double q4 = y[6]; + double Omega1 = y[7]; + double Omega2 = y[8]; + double Omega3 = y[9]; + double Omega4 = y[10]; + + QuatToDeg tester = new QuatToDeg(q1, q2, q3, q4); + + double[] angle = new double[3]; + angle = tester.calculateAngle(); + double Theta = angle[0]; + double Psi = angle[1]; + double Phi = angle[2]; + + double quat_check = q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4; + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1 - 2 * (q2 * q2 + q3 * q3); + double c12 = 2 * (q1 * q2 + q3 * q4); + double c13 = 2 * (q1 * q3 - q2 * q4); + double c21 = 2 * (q2 * q1 - q3 * q4); + double c22 = 1 - 2 * (q3 * q3 + q1 * q1); + double c23 = 2 * (q2 * q3 + q1 * q4); + double c31 = 2 * (q3 * q1 + q2 * q4); + double c32 = 2 * (q3 * q2 - q1 * q4); + double c33 = 1 - 2 * (q1 * q1 + q2 * q2); + + // Build Transformation Matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + // Construct Transformation Matrix + Matrix T = new Matrix(array, 3, 3); + Matrix T_transpose = new Matrix(T.transpose().A, 3, 3); + // Matrix q_times_qtrans = new Matrix(q_matrix.times(q_transpose).A, + // 3,3); + // Matrix inv_q_times_qtrans = new Matrix(q_times_qtrans.invert().A, + // 3,3); + // double[][] pseudoinv_q = q_transpose.times(inv_q_times_qtrans).A; + + double Hb1_wheel = J + * (Omega1 * b1 + Omega2 * g1 + Omega3 * a1 + Omega4 * d1); + double Hb2_wheel = J + * (Omega1 * b2 + Omega2 * g2 + Omega3 * a2 + Omega4 * d2); + double Hb3_wheel = J + * (Omega1 * b3 + Omega2 * g3 + Omega3 * a3 + Omega4 * d3); + double Wheelb1 = (Omega1 * b1 + Omega2 * g1 + Omega3 * a1 + Omega4 * d1); + double Wheelb2 = (Omega1 * b2 + Omega2 * g2 + Omega3 * a2 + Omega4 * d2); + double Wheelb3 = (Omega1 * b3 + Omega2 * g3 + Omega3 * a3 + Omega4 * d3); + double energy = 0.5 * ((Wheelb1 + w1) * (J * Wheelb1 + I1 * w1) + + (Wheelb2 + w2) * (J * Wheelb2 + I2 * w2) + (Wheelb3 + w3) + * (J * Wheelb3 + I3 * w3)); + + double Hb1_sc = I1 * w1; + double Hb2_sc = I2 * w2; + double Hb3_sc = I3 * w3; + + double Hb1 = Hb1_wheel + Hb1_sc; + double Hb2 = Hb2_wheel + Hb2_sc; + double Hb3 = Hb3_wheel + Hb3_sc; + + // Construct Angular velocity vector + // double [] angularRateArray = new double[3]; + // angularRateArray[0] = wx; + // angularRateArray[1] = wy; + // angularRateArray[2] = wz; + // Matrix angularRateVector = new Matrix(angularRateArray, 3); + // Column vector + // Transform angular rates in body frame to inertial frame + // Matrix inertialAngularRateVector = new + // Matrix(T_transpose.times(angularRateVector)); + // double wx_i = inertialAngularRateVector.get(0,0); + // double wy_i = inertialAngularRateVector.get(1,0); + // double wz_i = inertialAngularRateVector.get(2,0); + + double[] angular_momentum_array = new double[3]; + angular_momentum_array[0] = Hb1; + angular_momentum_array[1] = Hb2; + angular_momentum_array[2] = Hb3; + Matrix angular_momentum_vector = new Matrix(angular_momentum_array, 3); + Matrix inertial_angular_momentum = new Matrix( + T_transpose.times(angular_momentum_vector)); + double Hi1 = inertial_angular_momentum.get(0, 0); + double Hi2 = inertial_angular_momentum.get(1, 0); + double Hi3 = inertial_angular_momentum.get(2, 0); + double Hi_total = Math.sqrt(Hi1 * Hi1 + Hi2 * Hi2 + Hi3 * Hi3); + + // add data point to the plot + // FourPlots wheel_velocity_plot = new FourPlots(); + // ThreePlots angullar_velocity_plot = new ThreePlots(); + // SinglePlot quarternion_check = new SinglePlot(); + // ThreePlots euler_angle_plot = new ThreePlots(); + // FourPlots angular_momentum_plot = new FourPlots(); + // SinglePlot energy_plot = new SinglePlot(); + + wheel_velocity_plot.firstPlot.addPoint(0, t, y[7], first); + wheel_velocity_plot.secondPlot.addPoint(0, t, y[8], first); + wheel_velocity_plot.thirdPlot.addPoint(0, t, y[9], first); + wheel_velocity_plot.fourthPlot.addPoint(0, t, y[10], first); + + angular_velocity_plot.topPlot.addPoint(0, t, y[0], first); + angular_velocity_plot.middlePlot.addPoint(0, t, y[1], first); + angular_velocity_plot.bottomPlot.addPoint(0, t, y[2], first); + + quarternion_check.plot.addPoint(0, t, quat_check, first); + + euler_angle_plot.topPlot.addPoint(0, t, Psi, first); + euler_angle_plot.middlePlot.addPoint(0, t, Theta, first); + euler_angle_plot.bottomPlot.addPoint(0, t, Phi, first); + + angular_momentum_plot.firstPlot.addPoint(0, t, Hi1, first); + angular_momentum_plot.secondPlot.addPoint(0, t, Hi2, first); + angular_momentum_plot.thirdPlot.addPoint(0, t, Hi3, first); + angular_momentum_plot.fourthPlot.addPoint(0, t, Hi_total, first); + + energy_plot.plot.addPoint(0, t, energy, first); + + quaternion_plot.firstPlot.addPoint(0, t, q1, first); + quaternion_plot.secondPlot.addPoint(0, t, q2, first); + quaternion_plot.thirdPlot.addPoint(0, t, q3, first); + quaternion_plot.fourthPlot.addPoint(0, t, q4, first); + + // Store quarternion values for use in animation + quat_values[0][currentPts] = (float) t; // time value + quat_values[1][currentPts] = (float) q1; // quaternion 1 + quat_values[2][currentPts] = (float) q2; // quarternion 2 + quat_values[3][currentPts] = (float) q3; // quarternion 3 + quat_values[4][currentPts] = (float) q4; // quarternion 4 + + currentPts++; + } + + /** + * This method converts euler angle representation of attitude to that of + * quarternions + * + * @param a + * psi angle + * @param b + * theta angle + * @param c + * phi angle + * @return A vector containing quaternions + */ + double[] convertEulerToTargetQ(double a, double b, double c) { + double psi = a; + double theta = b; + double phi = c; + + // P.102 321 rotation Transformation matrix + double a11 = Math.cos(theta) * Math.cos(psi); + double a12 = Math.cos(theta) * Math.sin(psi); + double a13 = -Math.sin(theta); + double a21 = -Math.cos(phi) * Math.sin(psi) + Math.sin(phi) + * Math.sin(theta) * Math.cos(psi); + double a22 = Math.cos(phi) * Math.cos(psi) + Math.sin(phi) + * Math.sin(theta) * Math.sin(psi); + double a23 = Math.sin(phi) * Math.cos(theta); + double a31 = Math.sin(phi) * Math.sin(psi) + Math.cos(phi) + * Math.sin(theta) * Math.cos(psi); + double a32 = -Math.sin(phi) * Math.cos(psi) + Math.cos(phi) + * Math.sin(theta) * Math.sin(psi); + double a33 = Math.cos(phi) * Math.cos(theta); + + // P.323- Definitions of Quaternion elements + double trace = a11 + a22 + a33; + double cos_alpha = (trace - 1) / 2; + double alpha = Math.acos(cos_alpha); + + double e1 = (a23 - a32) / (2 * Math.sin(alpha)); + double e2 = (a31 - a13) / (2 * Math.sin(alpha)); + double e3 = (a12 - a21) / (2 * Math.sin(alpha)); + + double[] out = new double[4]; + + out[0] = e1 * Math.sin(alpha / 2); + out[1] = e2 * Math.sin(alpha / 2); + out[2] = e3 * Math.sin(alpha / 2); + out[3] = Math.cos(alpha / 2); + + return out; + + }// End of convertEulerToTargetQ + + /** + * This method takes pseudo inverse given the appropriate inputs + * + * @param inertia + * @param w1 + * w2 w3 + * @param x1 + * x2 x3 + * @param y1 + * y2 y3 + * @param z1 + * z2 z3 + * @return + */ + Matrix takePseudoInverse(double inertia, double w1, double w2, double w3, + double x1, double x2, double x3, double y1, double y2, double y3, + double z1, double z2, double z3) { + // Local variable + double J = inertia; + double b1 = w1; + double b2 = w2; + double b3 = w3; + double g1 = x1; + double g2 = x2; + double g3 = x3; + double a1 = y1; + double a2 = y2; + double a3 = y3; + double d1 = z1; + double d2 = z2; + double d3 = z3; + + // Build 3 x 4 Q matrix + double[][] array = new double[3][4]; + // Row1 + array[0][0] = J * b1; + array[0][1] = J * g1; + array[0][2] = J * a1; + array[0][3] = J * d1; + // Row2 + array[1][0] = J * b1; + array[1][1] = J * g2; + array[1][2] = J * a2; + array[1][3] = J * d2; + // Row3 + array[2][0] = J * b3; + array[2][1] = J * g3; + array[2][2] = J * a3; + array[2][3] = J * d3; + + // Construct a Matrix object + Matrix q_matrix = new Matrix(array, 3, 4); + Matrix q_transpose = new Matrix(q_matrix.transpose().A, 4, 3); + Matrix q_times_qtrans = new Matrix(q_matrix.times(q_transpose).A, 3, 3); + Matrix inv_q_times_qtrans = new Matrix(q_times_qtrans.invert().A, 3, 3); + double[][] pseudoinv_q = q_transpose.times(inv_q_times_qtrans).A; + Matrix pseudoinv_matrix = q_transpose.times(inv_q_times_qtrans); + + return pseudoinv_matrix; + + } + + /** + * Return the quarternion values after simulation + * + * @author Noriko Takada + */ + public float[][] getQuaternion() { + return quat_values; + } + + /** + * Make the plots visible after simulation + * + * @author Noriko Takada + */ + public void makePlotsVisible() { + wheel_velocity_plot.setVisible(true); + angular_velocity_plot.setVisible(true); + // quarternion_check.setVisible(true); + euler_angle_plot.setVisible(true); + angular_momentum_plot.setVisible(true); + energy_plot.setVisible(true); + quaternion_plot.setVisible(true); + } + + /** + * Runs the example. + * + * @param args + * Arguments. + */ + public static void main(String[] args) { + double time_step = 0.01; + double timeDuration = 10; + double tf = 20; + double t0 = 0.0; + double I1 = 10.42; + double I2 = 35.42; + double I3 = 41.67; + double J = 10; + double angle = 25; + double psi = 10; + double theta = 60; + double phi = 50; + // initialize the variables + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration = tf; + // Duration of the simulation time is the same as the final time + int numberOfPts = (int) (timeDuration / time_step) + 1; + float quat_values[][] = new float[5][numberOfPts + 1]; + // +1 is for AnimationWindow + // create an instance + // FourRWManeuver si = new FourRWManeuver(time_step, quat_values); + FourRWManeuver si = new FourRWManeuver(time_step, I1, I2, I3, J, angle, + psi, theta, phi, quat_values); + // initialize the variables + double[] x0 = new double[11]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + x0[10] = 0.0; + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + // make the plot visible + si.makePlotsVisible(); + } + +}// End of File diff --git a/src/jat/coreNOSA/attitude/eom/RConstantTorque.java b/src/jat/coreNOSA/attitude/eom/RConstantTorque.java new file mode 100644 index 0000000..f92425a --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/RConstantTorque.java @@ -0,0 +1,401 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; + + +/** + *

+ * This class contains the equations of motion of a rigid spacecraft + * subjected to constant torque. The class implements + * jat.alg.integrators.Derivatives and jat.alg.integrateors.Printble, + * so an outside application code can perform a numerical simulation + * of equations of motion defined in this class and get the output + * from the simulation. + * + * @author Noriko Takada + * @version 1.8 (8/14/2004) + * Modification since the last version + * Switched to the interface EquationsOfMotion + * + */ + +public class RConstantTorque implements EquationsOfMotion +{ + + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions + // from simulation + // M1,M2,M3 Constant, body fixed torques + // I1,I2,I3 Principal moments of inertia + // rotation_plot Plots of angular velocities + // angle_plot Plots of euler angles + // quarternion_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + // quat_plot Plots of quaternions + // energy_and_angularM Plots of system energy and angular momentum + // + double time_step; + public int currentPts=0; + private float quat_values[][]; + + private double M1 = 0; // External torque + private double M2 = 0; + private double M3 = 0; + private double I1 = 10.42; // Spacecraft Principle inertia + private double I2 = 35.42; + private double I3 = 41.67; + + // Create variables for the necessary plots + private ThreePlots angular_velocity_plot = new ThreePlots(); + private ThreePlots frame_angle_plot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private FourPlots quaternion_plot = new FourPlots(); + private SinglePlot energy_plot = new SinglePlot(); + private FourPlots angular_momentum_plot = new FourPlots(); + private ThreePlots nutation_plot = new ThreePlots(); + + /** + * Constructor + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public RConstantTorque(double time_step, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + + /** Construct a RConstantTorque object + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param M1,M2,M3 External Torques about 1,2,and 3 axis + * @param I1,I2,I3 Principal moments of inertia + */ + public RConstantTorque(double time_step, + double M1, double M2, double M3, double I1, double I2, double I3, + float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.M1 = M1; + this.M2 = M2; + this.M3 = M3; + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + } + + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots frame_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + //ThreePlots nutation_plot = new ThreePlots(); + + // Setup plots + angular_velocity_plot.setTitle("Angular Velocities"); + angular_velocity_plot.topPlot.setXLabel("t(sec)"); + angular_velocity_plot.topPlot.setYLabel("w1(rad/sec)"); + angular_velocity_plot.middlePlot.setXLabel("t(sec)"); + angular_velocity_plot.middlePlot.setYLabel("w2(rad/sec)"); + angular_velocity_plot.bottomPlot.setXLabel("t(sec)"); + angular_velocity_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + frame_angle_plot.setTitle("Angles between body and reference frame"); + frame_angle_plot.topPlot.setXLabel("t(sec)"); + frame_angle_plot.topPlot.setYLabel("angle11(degrees)"); + frame_angle_plot.middlePlot.setXLabel("t(sec)"); + frame_angle_plot.middlePlot.setYLabel("angle22(degrees)"); + frame_angle_plot.bottomPlot.setXLabel("t(sec)"); + frame_angle_plot.bottomPlot.setYLabel("angle33(degrees)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + quaternion_plot.setTitle("Quarternions"); + quaternion_plot.firstPlot.setXLabel("t (sec)"); + quaternion_plot.firstPlot.setYLabel("q1"); + quaternion_plot.secondPlot.setXLabel("t (sec)"); + quaternion_plot.secondPlot.setYLabel("q2"); + quaternion_plot.thirdPlot.setXLabel("t (sec) "); + quaternion_plot.thirdPlot.setYLabel("q3"); + quaternion_plot.fourthPlot.setXLabel("t (sec)"); + quaternion_plot.fourthPlot.setYLabel("q4"); + + energy_plot.setTitle("Energy "); + energy_plot.plot.setXLabel("t (sec)"); + energy_plot.plot.setYLabel("Energy"); + + angular_momentum_plot.setTitle("Angular Momentum"); + angular_momentum_plot.firstPlot.setXLabel("t (sec)"); + angular_momentum_plot.firstPlot.setYLabel("Hi (b1)"); + angular_momentum_plot.secondPlot.setXLabel("t (sec)"); + angular_momentum_plot.secondPlot.setYLabel("Hi (b2)"); + angular_momentum_plot.thirdPlot.setXLabel("t (sec)"); + angular_momentum_plot.thirdPlot.setYLabel("Hi (b3)"); + angular_momentum_plot.fourthPlot.setXLabel("t (sec)"); + angular_momentum_plot.fourthPlot.setYLabel("Hi total"); + + nutation_plot.setTitle("Nutation Angles"); + nutation_plot.topPlot.setXLabel("t (sec)"); + nutation_plot.topPlot.setYLabel("H vector & b3 axis"); + nutation_plot.middlePlot.setXLabel("t (sec)"); + nutation_plot.middlePlot.setYLabel("H vector & b2 axis"); + nutation_plot.bottomPlot.setXLabel("t (sec)"); + nutation_plot.bottomPlot.setYLabel("H vector & b1 axis"); + + + + } + + + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + + double [] out = new double[7]; + out[0] = ((I2-I3)/I1)*x[1]*x[2] + M1/I1 ; + out[1] = ((I3-I1)/I2)*x[0]*x[2] + M2/I2 ; + out[2] = ((I1-I2)/I3)*x[0]*x[1] + M3/I3 ; + out[3] = -0.5* (-x[2]*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -0.5* (x[2]*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -0.5* (-x[2]*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -0.5* (x[2]*x[5] + x[1]*x[4] + x[0]*x[3]); + + return out; + + }// End of derivs + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + boolean first = true; + if (t == 0.0) first = false; + + //int currentPts = (int)(t/time_step); // This is the array index + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double q1 = y[3]; + double q2 = y[4]; + double q3 = y[5]; + double q4 = y[6]; + double quat_check = q1*q1+q2*q2+q3*q3+q4*q4; + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + + // Build Transformation Matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + // See Bong Wie (p. 342) + double energy = (0.5)*(I1*w1*w1 + I2*w2*w2 + I3*w3*w3); + double Hb1 = I1*w1; + double Hb2 = I2*w2; + double Hb3 = I3*w3; + + double [] angular_momentum_array = new double[3]; + angular_momentum_array[0] = Hb1; + angular_momentum_array[1] = Hb2; + angular_momentum_array[2] = Hb3; + Matrix angular_momentum_vector = new Matrix(angular_momentum_array, 3); + Matrix inertial_angular_momentum = new Matrix(T_transpose.times(angular_momentum_vector)); + double Hi1 = inertial_angular_momentum.get(0,0); + double Hi2 = inertial_angular_momentum.get(1,0); + double Hi3 = inertial_angular_momentum.get(2,0); + + double Hi_total = Math.sqrt(Hi1*Hi1+Hi2*Hi2+Hi3*Hi3); + + double nutation_Hb3 = I3*w3/Hi_total; + double nutation_Hb2 = I2*w2/Hi_total; + double nutation_Hb1 = I1*w1/Hi_total; + + // add data point to the plot + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots frame_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + //ThreePlots nutation_plot = new ThreePlots(); + + // Angular Velocity + angular_velocity_plot.topPlot.addPoint(0, t, w1, first); + angular_velocity_plot.middlePlot.addPoint(0, t, w2, first); + angular_velocity_plot.bottomPlot.addPoint(0, t, w3, first); + + quarternion_check.plot.addPoint(0, t, quat_check, first); + + frame_angle_plot.topPlot.addPoint(0, t, angle11, first); + frame_angle_plot.middlePlot.addPoint(0, t, angle22, first); + frame_angle_plot.bottomPlot.addPoint(0, t, angle33, first); + + quaternion_plot.firstPlot.addPoint(0, t, q1, first); + quaternion_plot.secondPlot.addPoint(0, t, q2, first); + quaternion_plot.thirdPlot.addPoint(0, t, q3, first); + quaternion_plot.fourthPlot.addPoint(0, t, q4, first); + + energy_plot.plot.addPoint(0, t, energy, first); + + angular_momentum_plot.firstPlot.addPoint(0, t, Hi1, first); + angular_momentum_plot.secondPlot.addPoint(0, t, Hi2, first); + angular_momentum_plot.thirdPlot.addPoint(0, t, Hi3, first); + angular_momentum_plot.fourthPlot.addPoint(0, t, Hi_total, first); + + nutation_plot.topPlot.addPoint(0, t, nutation_Hb3, first); + nutation_plot.middlePlot.addPoint(0, t, nutation_Hb2, first); + nutation_plot.bottomPlot.addPoint(0, t, nutation_Hb1, first); + + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + + currentPts++; + //also print to the screen + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + }// End of print + + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + angular_velocity_plot.setVisible(true); + frame_angle_plot.setVisible(true); + quarternion_check.setVisible(true); + quaternion_plot.setVisible(true); + energy_plot.setVisible(true); + angular_momentum_plot.setVisible(true); + nutation_plot.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.1; + double timeDuration=10; + double tf = 10; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + + + // create an instance + RConstantTorque si = new RConstantTorque(time_step, quat_values); + + // initialize the variables + double [] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.1; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + // make the plot visible + si.makePlotsVisible(); + + } + + +}// End of File + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/eom/RGGCircularOrbit.java b/src/jat/coreNOSA/attitude/eom/RGGCircularOrbit.java new file mode 100644 index 0000000..00724e6 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/RGGCircularOrbit.java @@ -0,0 +1,352 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.attitude.QuatToDeg; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; + +/** + *

+ * This class contains the equations of motion for the simulation + * of a rigid spacecraft subjected to gravity gradient torque + * while it orbits around the earth. + * The class implements jat.alg.integrators.Derivatives and + * jat.alg.integrateors.Printble, so an outside application code + * can perform a numerical simulation of equations of motion defined + * in this class and get the output from the simulation. + * + * @author Noriko Takada + * Modification since the last version + * Switched to the interface EquationsOfMotion * + * + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1,I2,I3 Principal moments of inertia about 1,2, and 3 axes + * + */ + +public class RGGCircularOrbit implements EquationsOfMotion +{ + double time_step; + public int currentPts; + private float quat_values[][]; + + // Create variables for the necessary plots + private ThreePlots angular_velocity_plot = new ThreePlots(); + private ThreePlots euler_angle_plot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private FourPlots quaternion_plot = new FourPlots(); + private SinglePlot energy_plot = new SinglePlot(); + private FourPlots angular_momentum_plot = new FourPlots(); + + + + private double I1 = 10.42; + private double I2 = 35.42; + private double I3 = 41.67; + + + /** + * Constructor 1 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1 Principle moment of inertia about 1 axis + * @param I2 Principle moment of inertia about 2 axis + * @param I3 Principle moment of inertia about 3 axis + */ + public RGGCircularOrbit(double time_step, double I1, double I2, double I3, + float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + } + + /** + * Constructor 2 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public RGGCircularOrbit(double time_step, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots euler_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + + // Setup plots + angular_velocity_plot.setTitle("Angular Velocities"); + angular_velocity_plot.topPlot.setXLabel("t(orbits)"); + angular_velocity_plot.topPlot.setYLabel("w1(rad/orbits)"); + angular_velocity_plot.middlePlot.setXLabel("t(sec)"); + angular_velocity_plot.middlePlot.setYLabel("w2(rad/orbits)"); + angular_velocity_plot.bottomPlot.setXLabel("t(orbits)"); + angular_velocity_plot.bottomPlot.setYLabel("w3(rad/orbits)"); + + euler_angle_plot.setTitle("Euler angles between body frame & orbit frame"); + euler_angle_plot.topPlot.setXLabel("t(orbits)"); + euler_angle_plot.topPlot.setYLabel("Psi (degrees)"); + euler_angle_plot.middlePlot.setXLabel("t(orbits)"); + euler_angle_plot.middlePlot.setYLabel("Theta (degrees)"); + euler_angle_plot.bottomPlot.setXLabel("t(orbits)"); + euler_angle_plot.bottomPlot.setYLabel("Phi (degrees)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("q1^2 + q2^2 + q3^2 + q4^2"); + + quaternion_plot.setTitle("Quarternions"); + quaternion_plot.firstPlot.setXLabel("t (Orbits)"); + quaternion_plot.firstPlot.setYLabel("q1"); + quaternion_plot.secondPlot.setXLabel("t (Orbits)"); + quaternion_plot.secondPlot.setYLabel("q2"); + quaternion_plot.thirdPlot.setXLabel("t (Orbits) "); + quaternion_plot.thirdPlot.setYLabel("q3"); + quaternion_plot.fourthPlot.setXLabel("t (Orbits)"); + quaternion_plot.fourthPlot.setYLabel("q4"); + + energy_plot.setTitle("Energy "); + energy_plot.plot.setXLabel("t (Orbits)"); + energy_plot.plot.setYLabel("Energy"); + + angular_momentum_plot.setTitle("Angular Momentum"); + angular_momentum_plot.firstPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.firstPlot.setYLabel("Hi (b1)"); + angular_momentum_plot.secondPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.secondPlot.setYLabel("Hi (b2)"); + angular_momentum_plot.thirdPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.thirdPlot.setYLabel("Hi (b3)"); + angular_momentum_plot.fourthPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.fourthPlot.setYLabel("Hi total"); + + + } + + + /** Compute the derivatives. + * Equations of Motion + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + double c11 = 1- 2*( x[4]*x[4] + x[5]*x[5]); + double c21 = 2* (x[3]*x[4]-x[5]*x[6]); + double c31 = 2* (x[3]*x[5]+x[4]*x[6]); + + double [] out = new double[7]; + out[0] = 2*Math.PI*((I2-I3)/I1)* (x[1]*x[2] - 3*c21*c31); + out[1] = 2*Math.PI*((I3-I1)/I2)* (x[0]*x[2] - 3*c31*c11) ; + out[2] = 2*Math.PI*((I1-I2)/I3)* (x[0]*x[1] - 3*c11*c21) ; + out[3] = -Math.PI* (-(x[2]+1)*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -Math.PI* ((x[2]+1)*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -Math.PI* (-(x[2]-1)*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -Math.PI* ((x[2]-1)*x[5] + x[1]*x[4] + x[0]*x[3]); + + + return out; + }// End of derivs + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + + + boolean first = true; + if (t == 0.0) first = false; + //int currentPts = (int)(t/time_step); // This is the array index + + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // Define state variables + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double q1 = y[3]; + double q2 = y[4]; + double q3 = y[5]; + double q4 = y[6]; + + QuatToDeg tester = new QuatToDeg(q1, q2, q3, q4); + + double[] angle = new double[3]; + angle = tester.calculateAngle(); + double Theta = angle[0]; + double Psi = angle[1]; + double Phi = angle[2]; + + double quat_check = q1*q1+q2*q2+q3*q3+q4*q4; + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + + // Build Transformation Matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots euler_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + // add data point to the plot + angular_velocity_plot.topPlot.addPoint(0, t,y[0], first); + angular_velocity_plot.middlePlot.addPoint(0, t, y[1], first); + angular_velocity_plot.bottomPlot.addPoint(0, t, y[2], first); + + euler_angle_plot.topPlot.addPoint(0, t, Theta, first); + euler_angle_plot.middlePlot.addPoint(0, t, Psi, first); + euler_angle_plot.bottomPlot.addPoint(0, t, Phi, first); + + quarternion_check.plot.addPoint(0, t, quat_check, first); + + quaternion_plot.firstPlot.addPoint(0, t, q1, first); + quaternion_plot.secondPlot.addPoint(0, t, q2, first); + quaternion_plot.thirdPlot.addPoint(0, t, q3, first); + quaternion_plot.fourthPlot.addPoint(0, t, q4, first); + + // Store quarternion values for use in animation + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + currentPts++; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots euler_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + angular_velocity_plot.setVisible(true); + euler_angle_plot.setVisible(true); + quarternion_check.setVisible(true); + quaternion_plot.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.1; + double timeDuration=10; + double tf = 20; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + + // create an instance + RGGCircularOrbit si = new RGGCircularOrbit(time_step, quat_values); + + // initialize the variables + double [] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.makePlotsVisible(); + } + + + +}// End of File + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/eom/RGGEccentricOrbit.java b/src/jat/coreNOSA/attitude/eom/RGGEccentricOrbit.java new file mode 100644 index 0000000..8783f79 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/RGGEccentricOrbit.java @@ -0,0 +1,382 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.attitude.QuatToDeg; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; + +/** + *

+ * This class contains the equations of motion for the simulation + * of a rigid spacecraft subjected to gravity gradient torque + * while it goes around an eccentric orbit . + * The class implements jat.alg.integrators.Derivatives and + * jat.alg.integrateors.Printble, so an outside application code can perform + * a numerical simulation of equations of motion defined in this class and get + * the output from the simulation. + * + * @author Noriko Takada + * Modification since the last version + * Switched to the interface EquationsOfMotion + * + */ + +public class RGGEccentricOrbit implements EquationsOfMotion +{ + //Note: The EOM still has some errors! because the simulation doesn't really agree + // with the Matlab simulation!! + // + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions from simulation + // I1,I2,I3 Principal moments of inertia about 1,2, and 3 axes + // e Eccentricity + // rotation_plot Plots of angular velocities + // angle_plot Plots of euler angles + // quarternion_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + double time_step; + public int currentPts=0; + private float quat_values[][]; + + // Create variables for the necessary plots + // Create variables for the necessary plots + private ThreePlots angular_velocity_plot = new ThreePlots(); + private ThreePlots euler_angle_plot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private FourPlots quaternion_plot = new FourPlots(); + private SinglePlot energy_plot = new SinglePlot(); + private FourPlots angular_momentum_plot = new FourPlots(); + + private double I1 = 10.42; + private double I2 = 35.42; + private double I3 = 41.67; + private double e = 0.3; + + /** + * Constructor 1 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1 Principle moment of inertia about 1 axis + * @param I2 Principle moment of inertia about 2 axis + * @param I3 Principle moment of inertia about 3 axis + * @param e Eccentricity + */ + public RGGEccentricOrbit(double time_step, double I1, double I2, double I3 + , double e, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + this.e = e; + } + + /** + * Constructor 2 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public RGGEccentricOrbit(double time_step, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots euler_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + + // Setup plots + angular_velocity_plot.setTitle("Angular Velocities"); + angular_velocity_plot.topPlot.setXLabel("t(orbits)"); + angular_velocity_plot.topPlot.setYLabel("w1(rad/orbits)"); + angular_velocity_plot.middlePlot.setXLabel("t(sec)"); + angular_velocity_plot.middlePlot.setYLabel("w2(rad/orbits)"); + angular_velocity_plot.bottomPlot.setXLabel("t(orbits)"); + angular_velocity_plot.bottomPlot.setYLabel("w3(rad/orbits)"); + + euler_angle_plot.setTitle("Euler angles between body frame & orbit frame"); + euler_angle_plot.topPlot.setXLabel("t(orbits)"); + euler_angle_plot.topPlot.setYLabel("Psi (degrees)"); + euler_angle_plot.middlePlot.setXLabel("t(orbits)"); + euler_angle_plot.middlePlot.setYLabel("Theta (degrees)"); + euler_angle_plot.bottomPlot.setXLabel("t(orbits)"); + euler_angle_plot.bottomPlot.setYLabel("Phi (degrees)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("q1^2 + q2^2 + q3^2 + q4^2"); + + quaternion_plot.setTitle("Quarternions"); + quaternion_plot.firstPlot.setXLabel("t (Orbits)"); + quaternion_plot.firstPlot.setYLabel("q1"); + quaternion_plot.secondPlot.setXLabel("t (Orbits)"); + quaternion_plot.secondPlot.setYLabel("q2"); + quaternion_plot.thirdPlot.setXLabel("t (Orbits) "); + quaternion_plot.thirdPlot.setYLabel("q3"); + quaternion_plot.fourthPlot.setXLabel("t (Orbits)"); + quaternion_plot.fourthPlot.setYLabel("q4"); + + energy_plot.setTitle("Energy "); + energy_plot.plot.setXLabel("t (Orbits)"); + energy_plot.plot.setYLabel("Energy"); + + angular_momentum_plot.setTitle("Angular Momentum"); + angular_momentum_plot.firstPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.firstPlot.setYLabel("Hi (b1)"); + angular_momentum_plot.secondPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.secondPlot.setYLabel("Hi (b2)"); + angular_momentum_plot.thirdPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.thirdPlot.setYLabel("Hi (b3)"); + angular_momentum_plot.fourthPlot.setXLabel("t (Orbits)"); + angular_momentum_plot.fourthPlot.setYLabel("Hi total"); + + + } + + + /** Compute the derivatives. + * Equations of Motion + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + + + double c11 = 1- 2*( x[4]*x[4] + x[5]*x[5]); + double c21 = 2* (x[3]*x[4]-x[5]*x[6]); + double c31 = 2* (x[3]*x[5]+x[4]*x[6]); + + /* The non-dimensionalized equations of motion for this series are: + + // *** Angular Velocity Equations *** + w1dot = (2*pi*A)*((iyy-izz)/ixx)*(w2*w3-3*c21*c31*B); + w2dot = (2*pi*A)*((izz-ixx)/iyy)*(w1*w3-3*c31*c11*B); + w3dot = (2*pi*A)*((ixx-iyy)/izz)*(w1*w2-3*c11*c21*B); + + // *** Quaternions *** + e1dot = (-pi*A*(-(w3+1/A)*e2 + w2*e3 - w1*e4)); + e2dot = (-pi*A*((w3+1/A)*e1 - w1*e3 - w2*e4)); + e3dot = (-pi*A*(-w2*e1 + w1*e2 - (w3-1/A)*e4)); + e4dot = (-pi*A*(w1*e1 + w2*e2 + (w3-1/A)*e3)); + + c11 = 1 - 2*(e2^2 + e3^2) + c21 = 2*(e1*e2 - e3*e4) + c31 = 2*(e1*e3 + e2*e4) + + A = ((1-e^2)^(3/2)/(1+e*cos(2*pi*t))^2 + B = (1+e*cos(2*pi*t))^3/(1-e^2)^3 + */ + + double A=Math.pow((1-e*e),1.5)/Math.pow((1+ e*Math.cos(2*Math.PI*t)),2); + double B=Math.pow((1+e*Math.cos(2*Math.PI*t)),3)/Math.pow((1-e*e), 3); + + double [] out = new double[7]; + // *** Angular Velocity Equations (dw/dnu (orbits)) *** // + out[0] = A*2*Math.PI*((I2-I3)/I1)*(x[1]*x[2]-3*c21*c31*B); + out[1] = A*2*Math.PI*((I3-I1)/I2)*(x[0]*x[2]-3*c31*c11*B); + out[2] = A*2*Math.PI*((I1-I2)/I3)*(x[0]*x[1]-3*c11*c21*B); + + // *** Quaternions (de/dnu (orbits)) *** + out[3] = -Math.PI*A*(-(x[2]+1/A)*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -Math.PI*A*((x[2]+1/A)*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -Math.PI*A*(-x[1]*x[3] + x[0]*x[4] - (x[2]-1/A)*x[6]); + out[6] = -Math.PI*A*(x[0]*x[3] + x[1]*x[4] + (x[2]-1/A)*x[5]); + //System.out.println("e is "+ e+ " "+ x[0]+" "+A+" " +B); + + return out; + }// End of derivs + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + + + boolean first = true; + if (t == 0.0) first = false; + //int currentPts = (int)(t/time_step); // This is the array index + + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // Define state variables + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double q1 = y[3]; + double q2 = y[4]; + double q3 = y[5]; + double q4 = y[6]; + + QuatToDeg tester = new QuatToDeg(q1, q2, q3, q4); + + double[] angle = new double[3]; + angle = tester.calculateAngle(); + double Theta = angle[0]; + double Psi = angle[1]; + double Phi = angle[2]; + + double quat_check = q1*q1+q2*q2+q3*q3+q4*q4; + + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + + // Build Transformation Matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + + //ThreePlots angular_velocity_plot = new ThreePlots(); + //ThreePlots euler_angle_plot = new ThreePlots(); + //SinglePlot quarternion_check = new SinglePlot(); + //FourPlots quaternion_plot = new FourPlots(); + //SinglePlot energy_plot = new SinglePlot(); + //FourPlots angular_momentum_plot = new FourPlots(); + // add data point to the plot + angular_velocity_plot.topPlot.addPoint(0, t,y[0], first); + angular_velocity_plot.middlePlot.addPoint(0, t, y[1], first); + angular_velocity_plot.bottomPlot.addPoint(0, t, y[2], first); + + euler_angle_plot.topPlot.addPoint(0, t, Theta, first); + euler_angle_plot.middlePlot.addPoint(0, t, Psi, first); + euler_angle_plot.bottomPlot.addPoint(0, t, Phi, first); + + quarternion_check.plot.addPoint(0, t, quat_check, first); + + quaternion_plot.firstPlot.addPoint(0, t, q1, first); + quaternion_plot.secondPlot.addPoint(0, t, q2, first); + quaternion_plot.thirdPlot.addPoint(0, t, q3, first); + quaternion_plot.fourthPlot.addPoint(0, t, q4, first); + + // Store quarternion values for use in animation + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + currentPts++; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + angular_velocity_plot.setVisible(true); + euler_angle_plot.setVisible(true); + quarternion_check.setVisible(true); + quaternion_plot.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.1; + double timeDuration=10; + double tf = 15; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + + // create an instance + RGGEccentricOrbit si = new RGGEccentricOrbit(time_step, quat_values); + + // initialize the variables + double [] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.makePlotsVisible(); + } + +}// End of File + \ No newline at end of file diff --git a/src/jat/coreNOSA/attitude/eom/RSphericalDamper.java b/src/jat/coreNOSA/attitude/eom/RSphericalDamper.java new file mode 100644 index 0000000..9193586 --- /dev/null +++ b/src/jat/coreNOSA/attitude/eom/RSphericalDamper.java @@ -0,0 +1,403 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.attitude.eom; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.attitude.QuatToDeg; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.plotutil.FourPlots; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; + +/** + * This class contains the equations of motion for the simulation + * of a rigid spacecraft subjected to gravity gradient torque + * while it orbit around the earth.The spacecraft has a spherical + * damper for stabilization. + * + * The class implements jat.alg.integrators.Derivatives and + * jat.alg.integrateors.Printble, so an outside application code + * can perform a numerical simulation of equations of motion + * defined in this class and get the output from the simulation. + * + * @author Noriko Takada + * Modification since the last version + * Switched to the interface EquationsOfMotion + * + */ + +public class RSphericalDamper implements EquationsOfMotion +{ + // time_step: Time step of numerical integration + // quat_values[][] Two dimensional array that contains quarternions from simulation + // I1,I2,I3 Principal moments of inertia about 1,2, and 3 axes + // c Damping coefficient + // j Spherical damper inertia + // rotation_plot Plots of angular velocities + // damper_rotation_plot Plots of angular velocities of spherical damper + // angle_plot Plots of euler angles + // quarternion_check Plot of e1^2 + e2^2 + e3^2 +e4^2 + + double time_step; + public int currentPts; + private float quat_values[][]; + + // Create variables for the necessary plots + private ThreePlots angular_velocity_plot = new ThreePlots(); + private ThreePlots damper_rotation_plot = new ThreePlots(); + private ThreePlots euler_angle_plot = new ThreePlots(); + private SinglePlot quarternion_check = new SinglePlot(); + private SinglePlot angular_momentum = new SinglePlot(); + private FourPlots quaternion_plot = new FourPlots(); + + private double I1 = 2000;//10.42; // spacecraft inertia + private double I2 = 1500;//35.42; + private double I3 = 1000;//41.67; + private double c = 30; // damping coefficient + private double j = 18; // spherical damper inertia + + public static final int GG_YES = 1; + public static final int GG_NO = 0; + + private int gravity_gradient = 0; + + /** + * Constructor 1 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + * @param I1 Principle moment of inertia about 1 axis + * @param I2 Principle moment of inertia about 2 axis + * @param I3 Principle moment of inertia about 3 axis + * @param c Damping coefficient + * @param j Spherical damper inertia + */ + public RSphericalDamper(double time_step, double I1, double I2, double I3, + double c, double j, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + this.I1 = I1; + this.I2 = I2; + this.I3 = I3; + this.c = c; + this.j = j; + } + + /** + * Constructor 2 + * @param time_step: Time step of numerical integration + * @param quat_values[][] Two dimensional array that contains quarternions from simulation + */ + public RSphericalDamper(double time_step, float quat_values[][]) + { + setupPlots(); + this.time_step = time_step; + this.quat_values = quat_values; + } + + ///** + // * Apply or Remove Gracity Gradient on a spacecraft + // * @param a (int) GG_YES = 1: Applies gravity gradient torque assming a circular orbit + // * GG_NO = 0: No gravity gradient, simulation in seconds + // */ + //public void setGravityGradient(int a) + //{ + // gravity_gradient = a; + //} + + /** + * setupPlots() sets up Plots + */ + void setupPlots() + { + // Setup plots + angular_velocity_plot.setTitle("Angular Velocities"); + angular_velocity_plot.topPlot.setXLabel("t(sec)"); + angular_velocity_plot.topPlot.setYLabel("w1"); + angular_velocity_plot.middlePlot.setXLabel("t(sec)"); + angular_velocity_plot.middlePlot.setYLabel("w2"); + angular_velocity_plot.bottomPlot.setXLabel("t(sec)"); + angular_velocity_plot.bottomPlot.setYLabel("w3"); + + damper_rotation_plot.setTitle("Damper/Spacecraft relative rates"); + damper_rotation_plot.topPlot.setXLabel("t (sec)"); + damper_rotation_plot.topPlot.setYLabel("Sigma1"); + damper_rotation_plot.middlePlot.setXLabel("t (sec)"); + damper_rotation_plot.middlePlot.setYLabel("Sigma2 "); + damper_rotation_plot.bottomPlot.setXLabel("t (sec)"); + damper_rotation_plot.bottomPlot.setYLabel("Sigma3"); + + euler_angle_plot.setTitle("Euler Angles"); + euler_angle_plot.topPlot.setXLabel("t(sec)"); + euler_angle_plot.topPlot.setYLabel("Theta(degrees)"); + euler_angle_plot.middlePlot.setXLabel("t(sec)"); + euler_angle_plot.middlePlot.setYLabel("Psi(degrees)"); + euler_angle_plot.bottomPlot.setXLabel("t(sec)"); + euler_angle_plot.bottomPlot.setYLabel("Phi(degrees)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + angular_momentum.setTitle("Angular Momentum"); + angular_momentum.plot.setXLabel("t (sec)"); + angular_momentum.plot.setYLabel("Angular Momentum"); + + quaternion_plot.setTitle("Quarternions"); + quaternion_plot.firstPlot.setXLabel("t (sec)"); + quaternion_plot.firstPlot.setYLabel("q1"); + quaternion_plot.secondPlot.setXLabel("t (sec)"); + quaternion_plot.secondPlot.setYLabel("q2"); + quaternion_plot.thirdPlot.setXLabel("t (sec) "); + quaternion_plot.thirdPlot.setYLabel("q3"); + quaternion_plot.fourthPlot.setXLabel("t (sec)"); + quaternion_plot.fourthPlot.setYLabel("q4"); + + } + + /** Compute the derivatives. + * Equations of Motion + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x) + { + + + double c11 = 1- 2*( x[4]*x[4] + x[5]*x[5]); + double c21 = 2* (x[3]*x[4]-x[5]*x[6]); + double c31 = 2* (x[3]*x[5]+x[4]*x[6]); + + // definition + double w1 = x[0]; //nondimensionalized + double w2 = x[1]; //nondimensionalized + double w3 = x[2]; //nondimensionalized + double q1 = x[3]; //nondimensionalized + double q2 = x[4]; //nondimensionalized + double q3 = x[5]; //nondimensionalized + double q4 = x[6]; //nondimensionalized + double sigma1 = x[7]; //nondimensionalized + double sigma2 = x[8]; //nondimensionalized + double sigma3 = x[9]; //nondimensionalized + + double [] out = new double[10]; + if (gravity_gradient == 1) + { + //out[0] = 2*Math.PI*((I2-I3)/I1)* (x[1]*x[2] - 3*c21*c31) - 2*Math.PI*(c/I1)*(x[0]-x[7]); + //out[1] = 2*Math.PI*((I3-I1)/I2)* (x[0]*x[2] - 3*c31*c11) - 2*Math.PI*(c/I2)*(x[1]-x[8]); + //out[2] = 2*Math.PI*((I1-I2)/I3)* (x[0]*x[1] - 3*c11*c21) - 2*Math.PI*(c/I3)*(x[2]-x[9]); + //out[3] = -Math.PI* (-(x[2]+1)*x[4] + x[1]*x[5] - x[0]*x[6]); + //out[4] = -Math.PI* ((x[2]+1)*x[3] - x[0]*x[5] - x[1]*x[6]); + //out[5] = -Math.PI* (-(x[2]-1)*x[6] + x[0]*x[4] - x[1]*x[3]); + //out[6] = -Math.PI* ((x[2]-1)*x[5] + x[1]*x[4] + x[0]*x[3]); + //out[7] = 2*Math.PI*(c/j)*(x[0]-x[7]) -2*Math.PI*(x[1]*x[9] - x[2]*x[8]); + //out[8] = 2*Math.PI*(c/j)*(x[1]-x[8]) -2*Math.PI*(x[2]*x[7] - x[0]*x[9]); + //out[9] = 2*Math.PI*(c/j)*(x[2]-x[9]) -2*Math.PI*(x[0]*x[8] - x[1]*x[7]); + } + else if (gravity_gradient==0) + { + out[0] = ((I2-I3)/(I1-j))*w2*w3 +(c/(I1-j))*sigma1; //+ (c/(I1-j))*(sigma1); + out[1] = ((I3-I1)/(I2-j))*w1*w3 +(c/(I2-j))*sigma2; //- (c/(I2-j))*(sigma2); + out[2] = ((I1-I2)/(I3-j))*w1*w2 +(c/(I3-j))*sigma3; //- (c/(I3-j))*(sigma3); + out[3] = -0.5* (-x[2]*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -0.5* (x[2]*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -0.5* (-x[2]*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -0.5* (x[2]*x[5] + x[1]*x[4] + x[0]*x[3]); + out[7] = -out[0] - (c/j)*(sigma1)- w2*sigma3 + w3*sigma2; + out[8] = -out[1] - (c/j)*(sigma2)- w3*sigma1 + w1*sigma3; + out[9] = -out[2] - (c/j)*(sigma3)- w1*sigma2 + w2*sigma1; + } + + return out; + }// End of derivs + + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + + + boolean first = true; + if (t == 0.0) first = false; + //int currentPts = (int)(t/time_step); // This is the array index + + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // Define state variables + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double q1 = y[3]; + double q2 = y[4]; + double q3 = y[5]; + double q4 = y[6]; + double sigma1 = y[7]; + double sigma2 = y[8]; + double sigma3 = y[9]; + + QuatToDeg tester = new QuatToDeg(q1, q2, q3, q4); + + double[] angle = new double[3]; + angle = tester.calculateAngle(); + double Theta = angle[0]; + double Psi = angle[1]; + double Phi = angle[2]; + + double quat_check = q1*q1+q2*q2+q3*q3+q4*q4; + double angMomentum = Math.sqrt((I1*w1+ j*(sigma1))*(I1*w1+ j*(sigma1))+ (I2*w2 + j*(sigma2))*(I2*w2 + j*(sigma2))+ (I3*w3 + j*(sigma3))*(I3*w3 + j*(sigma3))); + //double angMomentum = Math.sqrt((I1*w1+j*Alpha)*(I1*w1+j*Alpha)+(I2*w2+j*Beta)*(I2*w2+j*Beta)+(I3*w3 + j*Gamma)*(I3*w3 + j*Gamma)); + + // Calculate Transformation matrix elements + // Transform from A to B see Bong Wie (p.318) + double c11 = 1- 2*(q2*q2 + q3*q3); + double c12 = 2* (q1*q2 + q3*q4); + double c13 = 2* (q1*q3 - q2*q4); + double c21 = 2* (q2*q1 - q3*q4); + double c22 = 1- 2*(q3*q3 + q1*q1); + double c23 = 2* (q2*q3 + q1*q4); + double c31 = 2* (q3*q1 + q2*q4); + double c32 = 2* (q3*q2 - q1*q4); + double c33 = 1- 2*(q1*q1 + q2*q2); + + // Build Transformation Matrix + double[][] array = new double[3][3]; + // Row1 + array[0][0] = c11; + array[0][1] = c12; + array[0][2] = c13; + // Row2 + array[1][0] = c21; + array[1][1] = c22; + array[1][2] = c23; + // Row3 + array[2][0] = c31; + array[2][1] = c32; + array[2][2] = c33; + + //Construct Transformation Matrix + Matrix T = new Matrix(array,3,3); + Matrix T_transpose = new Matrix(T.transpose().A, 3,3); + + // add data point to the plot + angular_velocity_plot.topPlot.addPoint(0, t,y[0], first); + angular_velocity_plot.middlePlot.addPoint(0, t, y[1], first); + angular_velocity_plot.bottomPlot.addPoint(0, t, y[2], first); + + damper_rotation_plot.topPlot.addPoint(0, t, y[7], first); + damper_rotation_plot.middlePlot.addPoint(0, t, y[8], first); + damper_rotation_plot.bottomPlot.addPoint(0, t, y[9], first); + + euler_angle_plot.topPlot.addPoint(0, t, Theta, first); + euler_angle_plot.middlePlot.addPoint(0, t, Psi, first); + euler_angle_plot.bottomPlot.addPoint(0, t, Phi, first); + + quarternion_check.plot.addPoint(0, t, quat_check, first); + + angular_momentum.plot.addPoint(0, t, angMomentum, first); + + quaternion_plot.firstPlot.addPoint(0, t, q1, first); + quaternion_plot.secondPlot.addPoint(0, t, q2, first); + quaternion_plot.thirdPlot.addPoint(0, t, q3, first); + quaternion_plot.fourthPlot.addPoint(0, t, q4, first); + + // Store quarternion values for use in animation + quat_values[0][currentPts] = (float)t; // time value + quat_values[1][currentPts] = (float)q1; // quaternion 1 + quat_values[2][currentPts] = (float)q2; // quarternion 2 + quat_values[3][currentPts] = (float)q3; // quarternion 3 + quat_values[4][currentPts] = (float)q4; // quarternion 4 + currentPts++; + } + + /** + * Return the quarternion values after simulation + * @author Noriko Takada + */ + public float[][] getQuaternion() + { + return quat_values; + } + + /** + * Make the plots visible after simulation + * @author Noriko Takada + */ + public void makePlotsVisible() + { + angular_velocity_plot.setVisible(true); + damper_rotation_plot.setVisible(true); + euler_angle_plot.setVisible(true); + quarternion_check.setVisible(true); + angular_momentum.setVisible(true); + quaternion_plot.setVisible(true); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + double time_step=0.1; + double timeDuration=10; + double tf = 20; + double t0 = 0.0; + + RungeKutta8 rk8 = new RungeKutta8(time_step); + timeDuration=tf; // Duration of the simulation time is the same as the final time + + int numberOfPts = (int)(timeDuration/time_step) +1 ; + + float quat_values[][]= new float[5][numberOfPts+1];// +1 is for AnimationWindow + + // create an instance + RSphericalDamper si = new RSphericalDamper(time_step, quat_values); + + // initialize the variables + double [] x0 = new double[10]; + x0[0] = 0.1224; + x0[1] = 0.0; + x0[2] = 2.99; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 0.0; + + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.makePlotsVisible(); + } + +}// End of File + \ No newline at end of file diff --git a/src/jat/coreNOSA/audio/SoundPlayer.java b/src/jat/coreNOSA/audio/SoundPlayer.java new file mode 100644 index 0000000..0e564a4 --- /dev/null +++ b/src/jat/coreNOSA/audio/SoundPlayer.java @@ -0,0 +1,117 @@ +package jat.coreNOSA.audio; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 2, 2003 + */ + +import jat.coreNOSA.util.FileUtil; + +import java.applet.Applet; +import java.applet.AudioClip; +import java.io.File; +import java.net.URI; +import java.net.URL; + +/** + *

+ * The SoundPlayer Class provides a utility for playing sound files. + * + * @author + * @version 1.0 + */ +public class SoundPlayer { + + /** Play the sound file. + * @param filename String containing the directory and filename + */ + public static void play(String filename){ + +// try { +// File file = new File(filename); +// URI uri = file.toURI(); +// System.out.println(uri); +// URL url = uri.toURL(); +// System.out.println(url); +// String url_string = url.toString(); +//// url_string = url_string.replaceAll("%20", " "); +// url_string = url_string.replaceAll("file:/C", "file:///C"); +// System.out.println("url_string = "+url_string); +// URL url_final = new URL(url_string); +// AudioClip clip = Applet.newAudioClip(url_final); +// +// clip.play(); +// } catch (Exception e){ +// e.printStackTrace(); +// System.exit(1); +// } + Runplay play = new Runplay(filename); + play.run(); + + try { + Thread.sleep(5000); + } catch (InterruptedException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + System.out.println("done"); + } + + public static void main(String[] args){ + String fs = FileUtil.file_separator(); + String dir = FileUtil.getClassFilePath("jat.audio", "SoundPlayer")+"sounds"; + String file = dir+fs+"justwhat.wav"; + System.out.println("file = "+file); + SoundPlayer.play(file); + SoundPlayer.play(file); + + } + + private static class Runplay implements Runnable { + String file; + + public Runplay(String f){ + file = f; + } + + public void run() { + try { + File file = new File(this.file); + URI uri = file.toURI(); + System.out.println(uri); + URL url = uri.toURL(); + System.out.println(url); + String url_string = url.toString(); +// url_string = url_string.replaceAll("%20", " "); + url_string = url_string.replaceAll("file:/C", "file:///C"); + System.out.println("url_string = "+url_string); + URL url_final = new URL(url_string); + AudioClip clip = Applet.newAudioClip(url_final); + + clip.play(); + } catch (Exception e){ + e.printStackTrace(); + System.exit(1); + } + } + } + + +} diff --git a/src/jat/coreNOSA/cm/ClohessyWiltshire.java b/src/jat/coreNOSA/cm/ClohessyWiltshire.java new file mode 100644 index 0000000..33fd259 --- /dev/null +++ b/src/jat/coreNOSA/cm/ClohessyWiltshire.java @@ -0,0 +1,515 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorList; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +/** + *

+ * The ClohessyWiltshire Class provides the ability to propagate orbits in the CW system. + * It also provides a method to compute two impulse rendezvous. + * This model is only valid for two-body, near circular orbits. + * + * @author + * @version 1.0 + */ + +public class ClohessyWiltshire implements Derivatives, Printable { + + public TwoBody target; + private double n; + public VectorN deltav1; + public VectorN deltav2; + public SinglePlot traj_plot = new SinglePlot(); + public VectorList dvlist = new VectorList(); + + /** + * Constructor for ClohessyWiltshire. + */ + public ClohessyWiltshire(TwoBody tgt) { + this.target = tgt.copy(); + this.n = this.target.meanMotion(); + } + + public double[] derivs(double t, double[] y) { + double out[] = new double[6]; + + double nsq = this.n * this.n; + + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + out[3] = 3.0 * nsq * y[0] + 2.0 * this.n * y[4]; + out[4] = -2.0 * this.n * y[3]; + out[5] = -1.0 * nsq * y[2]; + // VectorN x = new VectorN(out); + // x.print("x"); + + return out; + } + + /** Derivatives interface for OD Toolbox + * + * @param t - time + * @param y - input state in CW frame + * @param n - mean orbit rate + * @return + */ + public static double[] derivs(double t, double[] y, double n) { + double out[] = new double[6]; + + double nsq = n * n; + + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + out[3] = 3.0 * nsq * y[0] + 2.0 * n * y[4]; + out[4] = -2.0 * n * y[3]; + out[5] = -1.0 * nsq * y[2]; + + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double[] y) { + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) + first = false; + + // add data point to the plot + this.traj_plot.plot.addPoint(0, y[1], y[0], first); + + // also print to the screen for warm fuzzy feeling + System.out.println(t + " " + y[0] + " " + y[1]); + } + + /** + * Compute the two impulse rendezvous + * @param tof time of flight + * @param tf final time + * @param dr0 VectorN containing initial position + * @param dv0 VectorN containing initial velocity + * @return total delta-v + */ + public double twoImpulseRendezvous( + double tof, + double tf, + VectorN dr0, + VectorN dv0) { + double nt = this.n * tf; + double cosnt = Math.cos(nt); + double sinnt = Math.sin(nt); + double oon = 1.0 / this.n; + double omcosnt = 1.0 - cosnt; + + Matrix M = new Matrix(3, 3); + Matrix N = new Matrix(3, 3); + Matrix S = new Matrix(3, 3); + Matrix T = new Matrix(3, 3); + + M.set(0, 0, 4.0 - 3.0 * cosnt); + M.set(1, 0, 6.0 * (sinnt - nt)); + M.set(1, 1, 1.0); + M.set(2, 2, cosnt); + + N.set(0, 0, oon * sinnt); + N.set(0, 1, 2.0 * oon * omcosnt); + N.set(1, 0, -2.0 * oon * omcosnt); + N.set(1, 1, oon * (4.0 * sinnt - 3.0 * nt)); + N.set(2, 2, oon * sinnt); + + S.set(0, 0, 3.0 * this.n * sinnt); + S.set(1, 0, -6.0 * this.n * omcosnt); + S.set(2, 2, -1.0 * this.n * sinnt); + + T.set(0, 0, cosnt); + T.set(0, 1, 2.0 * sinnt); + T.set(1, 0, -2.0 * sinnt); + T.set(1, 1, 4.0 * cosnt - 3.0); + T.set(2, 2, cosnt); + + Matrix Ninv = N.inverse(); + VectorN dv0plus = Ninv.times(M.times(dr0)); + dv0plus = dv0plus.times(-1.0); + this.deltav1 = dv0plus.minus(dv0); + + VectorN temp1 = S.times(dr0); + VectorN temp2 = T.times(dv0plus); + VectorN dvfminus = temp1.plus(temp2); + this.deltav2 = dvfminus.times(-1.0); + + double dvtotal = deltav1.mag() + deltav2.mag(); + return dvtotal; + } + + /** + * Compute the one impulse intercept + * @param tof time of flight + * @param dr0 VectorN containing initial position + * @param dv0 VectorN containing initial velocity + * @param drtgt VectorN containing final target position + * @return intercept delta-v vector + */ + public VectorN intercept(double tof, VectorN dr0, VectorN dv0, VectorN drtgt) { + Matrix phi = this.phiMatrix(tof); + Matrix M = phi.getMatrix(0, 2, 0, 2); + Matrix N = phi.getMatrix(0, 2, 3, 5); + Matrix S = phi.getMatrix(3, 5, 0, 2); + Matrix T = phi.getMatrix(3, 5, 3, 5); + Matrix Ninv = N.inverse(); + VectorN temp1 = M.times(dr0); + VectorN temp2 = drtgt.minus(temp1); + VectorN dv0plus = Ninv.times(temp2); + VectorN deltav = dv0plus.minus(dv0); + + deltav.print("intercept deltav"); + + return deltav; + } + + /** + * Return the state transition matrix + * @param tof time of flight + * @return the state transition matrix + */ + public Matrix phiMatrix (double tof){ + double nt = this.n * tof; + double cosnt = Math.cos(nt); + double sinnt = Math.sin(nt); + double oon = 1.0 / this.n; + double omcosnt = 1.0 - cosnt; + + Matrix M = new Matrix(3, 3); + Matrix N = new Matrix(3, 3); + Matrix S = new Matrix(3, 3); + Matrix T = new Matrix(3, 3); + + M.set(0, 0, 4.0 - 3.0 * cosnt); + M.set(1, 0, 6.0 * (sinnt - nt)); + M.set(1, 1, 1.0); + M.set(2, 2, cosnt); + + N.set(0, 0, oon * sinnt); + N.set(0, 1, 2.0 * oon * omcosnt); + N.set(1, 0, -2.0 * oon * omcosnt); + N.set(1, 1, oon * (4.0 * sinnt - 3.0 * nt)); + N.set(2, 2, oon * sinnt); + + S.set(0, 0, 3.0 * this.n * sinnt); + S.set(1, 0, -6.0 * this.n * omcosnt); + S.set(2, 2, -1.0 * this.n * sinnt); + + T.set(0, 0, cosnt); + T.set(0, 1, 2.0 * sinnt); + T.set(1, 0, -2.0 * sinnt); + T.set(1, 1, 4.0 * cosnt - 3.0); + T.set(2, 2, cosnt); + + Matrix out = new Matrix(6,6); + out.setMatrix(0, 0, M); + out.setMatrix(0, 3, N); + out.setMatrix(3, 0, S); + out.setMatrix(3, 3, T); + return out; + + } + + /** + * Return the state transition matrix for OD Toolbox + * @param tof time of flight + * @param n mean orbit rate + * @return the state transition matrix + */ + public static double[][] phiMatrix (double tof, double n){ + double nt = n * tof; + double cosnt = Math.cos(nt); + double sinnt = Math.sin(nt); + double oon = 1.0 / n; + double omcosnt = 1.0 - cosnt; + + Matrix M = new Matrix(3, 3); + Matrix N = new Matrix(3, 3); + Matrix S = new Matrix(3, 3); + Matrix T = new Matrix(3, 3); + + M.set(0, 0, 4.0 - 3.0 * cosnt); + M.set(1, 0, 6.0 * (sinnt - nt)); + M.set(1, 1, 1.0); + M.set(2, 2, cosnt); + + N.set(0, 0, oon * sinnt); + N.set(0, 1, 2.0 * oon * omcosnt); + N.set(1, 0, -2.0 * oon * omcosnt); + N.set(1, 1, oon * (4.0 * sinnt - 3.0 * nt)); + N.set(2, 2, oon * sinnt); + + S.set(0, 0, 3.0 * n * sinnt); + S.set(1, 0, -6.0 * n * omcosnt); + S.set(2, 2, -1.0 * n * sinnt); + + T.set(0, 0, cosnt); + T.set(0, 1, 2.0 * sinnt); + T.set(1, 0, -2.0 * sinnt); + T.set(1, 1, 4.0 * cosnt - 3.0); + T.set(2, 2, cosnt); + + double[][] out = new double[6][6]; + + out[0][0] = M.get(0,0); + out[0][1] = M.get(0,1); + out[0][2] = M.get(0,2); + out[0][3] = N.get(0,0); + out[0][4] = N.get(0,1); + out[0][5] = N.get(0,2); + + out[1][0] = M.get(1,0); + out[1][1] = M.get(1,1); + out[1][2] = M.get(1,2); + out[1][3] = N.get(1,0); + out[1][4] = N.get(1,1); + out[1][5] = N.get(1,2); + + out[2][0] = M.get(2,0); + out[2][1] = M.get(2,1); + out[2][2] = M.get(2,2); + out[2][3] = N.get(2,0); + out[2][4] = N.get(2,1); + out[2][5] = N.get(2,2); + + out[3][0] = S.get(0,0); + out[3][1] = S.get(0,1); + out[3][2] = S.get(0,2); + out[3][3] = T.get(0,0); + out[3][4] = T.get(0,1); + out[3][5] = T.get(0,2); + + out[4][0] = S.get(1,0); + out[4][1] = S.get(1,1); + out[4][2] = S.get(1,2); + out[4][3] = T.get(1,0); + out[4][4] = T.get(1,1); + out[4][5] = T.get(1,2); + + out[5][0] = S.get(2,0); + out[5][1] = S.get(2,1); + out[5][2] = S.get(2,2); + out[5][3] = T.get(2,0); + out[5][4] = T.get(2,1); + out[5][5] = T.get(2,2); + + return out; + + } + + /** + * Compute the glideslope + * Reference: Hablani, et al + * @param r0 initial postion vector + * @param v0 initial velocity vector + * @param rtgt final target position vector + * @param rhoDot0 initial relative velocity + * @param rhoDotT safe final relative velocity + * @param tof time of flight + * @param n number of burns + */ + public void glideslope(VectorN r0, VectorN v0, VectorN rtgt, double rhoDot0, double rhoDotT, double tof, int n){ + double dt = tof / n; + VectorN rhoZero = r0.minus(rtgt); + double rho_0 = rhoZero.mag(); + double rho_T = rtgt.mag(); + VectorN u = rhoZero.unitVector(); + double a = (rhoDot0 - rhoDotT)/rho_0; + + // get state transition matrix + Matrix phi = this.phiMatrix(dt); + Matrix M = phi.getMatrix(0, 2, 0, 2); + Matrix N = phi.getMatrix(0, 2, 3, 5); + Matrix S = phi.getMatrix(3, 5, 0, 2); + Matrix T = phi.getMatrix(3, 5, 3, 5); + + Matrix Ninv = N.inverse(); + + VectorList rm = new VectorList(); + + for (int m = 0; m < n; m++){ + double tm = m * dt; + double eatm = Math.exp(a*tm); + double rho = rho_0 * eatm + (rhoDotT/a)*(eatm - 1.0); + VectorN temp1 = u.times(rho); + VectorN rmvec = rtgt.plus(temp1); + rm.add(rmvec); + } + rm.add(rtgt); + + VectorList vplus = new VectorList(); + VectorList vminus = new VectorList(); + vminus.add(v0); + for (int m = 0; m < n; m++){ + VectorN r_m = rm.get(m); + VectorN temp2 = M.times(r_m); + VectorN rmp1 = rm.get(m+1); + VectorN temp3 = rmp1.minus(temp2); + VectorN vmplus = Ninv.times(temp3); + vplus.add(vmplus); + + VectorN temp4 = S.times(r_m); + VectorN temp5 = T.times(vmplus); + VectorN vmp1 = temp4.plus(temp5); + vminus.add(vmp1); + } + + for (int m = 0; m < n; m++) { + VectorN vp = vplus.get(m); + VectorN vm = vminus.get(m); + VectorN dv = vp.minus(vm); + dv.print("delta-v"); + this.dvlist.add(dv); + } + + } + + + public static void main(String[] args) { + + // set up the target orbit + double a = 6765500.0; + double mu = Constants.GM_Earth; + TwoBody tgt = new TwoBody( mu, a, 0.0, 0.0, 0.0, 0.0, 0.0); + + // create the CW model + ClohessyWiltshire cw = new ClohessyWiltshire(tgt); + + // set up the trajectory plot +// cw.traj_plot.setTitle("Two Body Trajectory"); +// cw.traj_plot.plot.setXLabel("y (km)"); +// cw.traj_plot.plot.setYLabel("x (km)"); + + // create an RungeKutta8 integrator with step-size of 10 sec + RungeKutta8 rk8 = new RungeKutta8(1.0); + + // set up a LinePrinter for printing results to a file +// LinePrinter lp = new LinePrinter("c:\\temp\\", "sts-iss.dat"); + + + // set up the initial conditions + VectorN dr0 = new VectorN(-16.628475931473076, -14999.987710825975, 0.0); + VectorN dv0 = new VectorN(3); + +// VectorN drtgt = new VectorN(-183.0, 0.0, 0.0); + VectorN drtgt = new VectorN(0.0, -183.0, 0.0); + + // set up the times + double tof = 5000.0; + double tcoast = 0.0; + double t0 = 0.0; + double tf = tcoast + tof; + + + // initialize the variables + double[] x0 = new double[6]; + x0[0] = dr0.x[0]; + x0[1] = dr0.x[1]; + x0[2] = dr0.x[2]; + x0[3] = dv0.x[0]; + x0[4] = dv0.x[1]; + x0[5] = dv0.x[2]; + + // integrate the equations to tcoast + double[] rv = rk8.integrate(t0, x0, tcoast, cw, cw, true); + + VectorN drminus = new VectorN(rv[0], rv[1], rv[2]); + VectorN dvminus = new VectorN(rv[3], rv[4], rv[5]); + + // compute the delta-v's +// double dvtot = cw.twoImpulseRendezvous(tof, tof, drminus, dvminus); +// System.out.println("dvtot = " + dvtot); +// cw.deltav1.print("delta-v1"); +// cw.deltav2.print("delta-v2"); +// +// // add in the effects of the first deltav +// VectorN dv0plus = dvminus.plus(cw.deltav1); +// x0[0] = drminus.x[0]; +// x0[1] = drminus.x[1]; +// x0[2] = drminus.x[2]; +// x0[3] = dv0plus.x[0]; +// x0[4] = dv0plus.x[1]; +// x0[5] = dv0plus.x[2]; + + VectorN dv = cw.intercept(tof, dr0, dv0, drtgt); + VectorN dv0plus = dvminus.plus(dv); + x0[0] = drminus.x[0]; + x0[1] = drminus.x[1]; + x0[2] = drminus.x[2]; + x0[3] = dv0plus.x[0]; + x0[4] = dv0plus.x[1]; + x0[5] = dv0plus.x[2]; + + + // integrate the equations from tcoast to tf + double [] xnew = rk8.integrate(tcoast, x0, tf, cw, cw, true); + + VectorN r0 = new VectorN(xnew[0], xnew[1], xnew[2]); + VectorN v0 = new VectorN(xnew[3], xnew[4], xnew[5]); + VectorN rtgt = new VectorN(0.0, 0.0, 0.0); + double rhoDot0 = -0.2; + double rhoDotT = 0.0; + double tglide = 3000.0; + + cw.glideslope(r0, v0, rtgt, rhoDot0, rhoDotT, tglide, 4); + + int index = 0; + t0 = tf; + tf = tf + 750.0; + while (cw.dvlist.hasNext(index)){ + VectorN deltav = cw.dvlist.get(index); + x0[0] = xnew[0]; + x0[1] = xnew[1]; + x0[2] = xnew[2]; + x0[3] = xnew[3] + deltav.x[0]; + x0[4] = xnew[4] + deltav.x[1]; + x0[5] = xnew[5] + deltav.x[2]; + + xnew = rk8.integrate(t0, x0, tf, cw, cw, true); + t0 = t0 + 750.0; + tf = tf + 750.0; + index = index + 1; + } + + // make the plot visible + cw.traj_plot.setVisible(true); + + // close the LinePrinter +// lp.close(); + + } + +} diff --git a/src/jat/coreNOSA/cm/Constants.java b/src/jat/coreNOSA/cm/Constants.java new file mode 100644 index 0000000..181f17c --- /dev/null +++ b/src/jat/coreNOSA/cm/Constants.java @@ -0,0 +1,193 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; + +/** Astrodynamical Constants + * @author + * @version 1.0 + */ +public class Constants { + /** GM of the Earth in km^3/s^2 from JGM-3. + */ + public static final double mu = 398600.4415; + /** Earth's J2 Value from JGM-3. + */ + public static final double j2 = 0.00108263; + /** Acceleration due to gravity near earth in m/s^2. + */ + public static final double g0 = -9.780; + /** Speed of Light in m/s from IAU 1976. Same as c but used for Matlab interface. + */ + public static final double clight = 299792458.0; + /** Speed of Light in m/s from IAU 1976. + */ + public static final double c = 299792458.0; + /** PI. + */ + public static final double pi = Math.acos(-1.0); + /** Conversion factor for degrees to radians. + */ + public static final double deg2rad = pi/180.0; + /** Conversion factor for arcsec to radians. + */ + public static final double arcsec2rad = pi/648000.0; + + /** Conversion factor for radians to degrees. + */ + public static final double rad2deg = 180.0/pi; + + /** Earth atmosphere model parameter. + */ + public static final double h_0 = 920000.0; // atmosphere model parameter + /** Earth atmosphere model parameter. + */ + public final static double rho_0 = 4.36E-14; // atmosphere model parameter + /** Earth atmosphere model parameter. + */ + public final static double gamma_0 = 5.381E-06; // atmosphere model parameter + /** Earth's rotation rate in rad/s. + */ + //public final static double omega_e = 7.2921157746E-05; // earth rotation rate + public final static double omega_e = 7.292115E-05; // IERS 1996 conventions + //public final static double omega_e = 7.2921158553E-05; // Vallado + + /** Mean Earth Radius in km from WGS-84. + */ + public static final double re = 6378.137; // radius of earth in kilometers + /** Equatorial radius of earth in m from WGS-84 + */ + //public final static double R_Earth = 6378.137e3; // Radius Earth [m]; WGS-84 + public final static double R_Earth = 6378.1363e3; // Radius Earth [m]; STK JGM3 + + /** Equatorial radius of earth in m from WGS-84 + */ + public final static double rEarth_WGS84 = 6378.137e3; // Radius Earth [m]; WGS-84 + + /** Equatorial radius of earth in m from STK JGM3 + */ + public final static double rEarth_STKJGM3 = 6378.1363e3; // Radius Earth [m]; STK JGM3 + + /** Mean radius of the Sun in m + */ + //public final static double R_Sun = 6.960e8; // [m] scienceworld.wolfram.com + public final static double R_Sun = 6.9599e8; // [m] STK + + /** Mean radius of the Sun in m from wolfram + */ + public final static double rSun_ScienceWorld = 6.960e8; // [m] scienceworld.wolfram.com + + /** Mean radius of the Sun in m + */ + public final static double rSun_STK = 6.9599e8; // [m] STK + + /** Flattening factor of earth + */ + //public final static double f_Earth = 1.0/298.257223563; // Flattening; WGS-84 + //public final static double f_Earth = 0.003353; // STK HPOP + public final static double f_Earth = 0.00335281; // STK HPOP - 2 + + /** Flattening factor of earth from WGS-84 + */ + public final static double fEarth_WGS84 = 1.0/298.257223563; // Flattening; WGS-84 + + /** Flattening factor of earth from STK HPOP-2 + */ + public final static double fEarth_STKHPOP2 = 0.00335281; // STK HPOP - 2 + + /** Solar radiation pressure at 1 AU in N/m^2 + */ + public final static double P_Sol = 4.560E-6; // [N/m^2] (~1367 W/m^2); IERS 96 + + /** Astronomical Unit [m]; IAY 1976 + */ + public final static double AU = 149597870000.0; // [m] + + /** Earth gravity constant in m^3/s^2 from JGM3 + */ + public final static double GM_Earth = 398600.4415e+9; // [m^3/s^2]; JGM3 + + /** Earth gravity constant in m^3/s^2 from WGS84 + */ + public final static double GM_WGS84 = 398600.5e+9; // [m^3/s^2]; WGS-84 + + /** Earth's rotation rate in rad/s. + */ + public final static double WE_WGS84 = 7.2921151467E-05; // earth rotation rate + + /** Earth's rotation rate in rad/s from IERS 1996 + */ + public final static double wEarth_IERS96 = 7.292115E-05; // IERS 1996 conventions + + /** Earth's rotation rate in rad/s from Vallado + */ + public final static double wEarth_Vallado = 7.2921158553E-05; // Vallado + + /** Sun gravity constant in m^3/s^2 + */ + //public final static double GM_Sun = 1.32712438e+20; // [m^3/s^2]; IAU 1976 + public final static double GM_Sun = 1.3271220e+20; // [m^3/s^2]; STK + + /** Sun gravity constant in m^3/s^2 from IAU 1976 + */ + public final static double muSun_IAU76 = 1.32712438e+20; // [m^3/s^2]; IAU 1976 + + /** Sun gravity constant in m^3/s^2 from STK + */ + public final static double muSun_STK = 1.3271220e+20; // [m^3/s^2]; STK + + /** Moon gravity constant in m^3/s^2 + */ + //public final static double GM_Moon = GM_Earth/81.300587;// [m^3/s^2]; DE200 + public final static double GM_Moon = 4.90279490e+12; // [m^3/s^2]; STK + //public final static double GM_Moon = GM_Earth*0.012300034; // [m^3/s^2]; JPL ssd + + /** Moon gravity constant in m^3/s^2 from DE200 + */ + public final static double muMoon_DE200 = GM_Earth/81.300587;// [m^3/s^2]; DE200 + + /** Moon gravity constant in m^3/s^2 from STK + */ + public final static double muMoon_STK = 4.90279490e+12; // [m^3/s^2]; STK + + /** Moon gravity constant in m^3/s^2 from JPL SSD + */ + public final static double muMoon_JPLSSD = GM_Earth*0.012300034; // [m^3/s^2]; JPL ssd + + /** Obliquity of the ecliptic, J2000 in degrees + */ + public final static double eps = 23.43929111; + + + + // Constants in various distance and time units + + public final static double GM_Earth_km_day = 2.97553635177984E15;// [km^3/day^2]; JGM3 + public final static double GM_Sun_km_s = 1.3271220e+11; // [km^3/s^2]; STK + public final static double GM_Sun_km_day = 9.90691264512E20; // [km^3/day^2]; STK + + + + + /** Default constructor. + */ + public Constants() { + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/cm/DeltaV.java b/src/jat/coreNOSA/cm/DeltaV.java new file mode 100644 index 0000000..70dc8b8 --- /dev/null +++ b/src/jat/coreNOSA/cm/DeltaV.java @@ -0,0 +1,59 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.cm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.Serializable; + + +/** +* The DeltaV.java Class represents a single Delta-V. +* +* @author +* @version 1.0 +*/ +public class DeltaV implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 2858149764313424783L; + + /** Epoch time of delta-v in sim time (seconds) */ + public double t; + + /** Delta-v vector */ + public VectorN dv; + + + /** Constructor + * @param tsim Time of the measurement in sim time (sec). + * @param deltav Delta-V vector (m/s) + */ + public DeltaV(double tsim, VectorN deltav) { + this.t = tsim; + this.dv = deltav; + } + + +} diff --git a/src/jat/coreNOSA/cm/DeltaV_List.java b/src/jat/coreNOSA/cm/DeltaV_List.java new file mode 100644 index 0000000..3847f52 --- /dev/null +++ b/src/jat/coreNOSA/cm/DeltaV_List.java @@ -0,0 +1,288 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.cm; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.Serializable; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** +* The DeltaV_List.java Class provides a way to deal with +* a list of impulsive delta_V's read from a file. +* +* @author +* @version 1.0 +*/ +public class DeltaV_List implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 7216072208461602617L; + private ArrayList list = new ArrayList(); + + /** Constructor + */ + public DeltaV_List() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public DeltaV_List(String filename) { + this.readFromFile(filename); + } + + /** Add a DeltaV to the collection + * @param dv DeltaV object + */ + public void add(DeltaV dv) { + list.add(dv); + } + + /** Get a GPS_Measurement out of the collection + * @param index Index of the measurement + * @return the GPS Measurement + */ + public DeltaV get(int index) { + return (DeltaV) list.get(index); + } + + /** Return the size of the list + * @return the number of measurements in the list + */ + public int size() { + return list.size(); + } + + /** Returns the accelerometer measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public VectorN dv(int index) { + DeltaV deltav = this.get(index); + return deltav.dv; + } + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time(int index) { + DeltaV deltav = this.get(index); + return deltav.t; + } + + /** + * Returns whether there is more data + * @param index measurement index + * @return true if there is more data to be read + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size() - 1)) { + out = true; + } + return out; + } + + /** Read the measurement data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 4) { + System.out.println( + "DeltaV_List.readFromFile: Number of columns do not match"); + System.exit(-99); + } + + double[] temp = new double[4]; + for (int i = 0; i < 4; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token); + } + VectorN dv = new VectorN(temp[1], temp[2], temp[3]); + DeltaV deltav = new DeltaV(temp[0], dv); + this.add(deltav); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + /** Write the measurement data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + LinePrinter lp = new LinePrinter(file); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + DeltaV deltav = this.get(index); + VectorN dv = deltav.dv; + lp.print(deltav.t, dv.x); + index = index + 1; + } + lp.close(); + } + + /** Recover a serialized DeltaV_List File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static DeltaV_List recover(String filename) { + DeltaV_List out = new DeltaV_List(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (DeltaV_List) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Write the trajectory out to a DeltaV File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + + public static void main(String[] args) + { + DeltaV_List x = new DeltaV_List(); + + // delta-v from CW equations + double [] deltav1 = new double[3]; + deltav1[0] = -0.19094164920359352; +// deltav1[1] = -0.8776834149116475; + deltav1[1] = -0.878; + deltav1[2] = 0.0; + VectorN dv1 = new VectorN(deltav1); + + DeltaV deltav = new DeltaV(0.0, dv1); + + x.add(deltav); + + double [] deltav2 = new double[3]; + deltav2[0] = -0.5603757896639145; + deltav2[1] = 0.6249070361006656; + deltav2[2] = 0.0; + VectorN dv2 = new VectorN(deltav2); + + deltav = new DeltaV(5000.0, dv2); + + x.add(deltav); + + double [] deltav3 = new double[3]; + deltav3[0] = 0.1606911732628235; + deltav3[1] = 0.14140915221166075; + deltav3[2] = 0.0; + VectorN dv3 = new VectorN(deltav3); + + deltav = new DeltaV(5750.0, dv3); + + x.add(deltav); + + double [] deltav4 = new double[3]; + deltav4[0] = 0.0707966875285207; + deltav4[1] = 0.06230149024070955; + deltav4[2] = 0.0; + VectorN dv4 = new VectorN(deltav4); + + deltav = new DeltaV(6500.0, dv4); + + x.add(deltav); + + double [] deltav5 = new double[3]; + deltav5[0] = 0.03560401104777747; + deltav5[1] = 0.034059802166368884; + deltav5[2] = 0.0; + VectorN dv5 = new VectorN(deltav5); + + deltav = new DeltaV(7250.0, dv5); + + x.add(deltav); + + + // Print out the trajectory to the screen +// LinePrinter lp1 = new LinePrinter(); +// x.traj.printAll(lp1); +// lp1.close(); + + + // Serialize the trajectory + x.serialize("C:\\Jat\\jat\\input\\deltav.jat"); + System.out.println("deltav list serialized"); + + // Recover the trajectory and print all to screen + DeltaV_List dvl = DeltaV_List.recover("C:\\Jat\\jat\\input\\deltav.jat"); + System.out.println("Printing Recovered DeltaV's"); + int index = 0; + while (dvl.hasNext(index)){ + double t = dvl.time(index); + VectorN delv = dvl.dv(index); + System.out.println("deltav: "+index+" "+t+" "+delv); + index = index + 1; + } + } + + + +} diff --git a/src/jat/coreNOSA/cm/FiniteBurn.java b/src/jat/coreNOSA/cm/FiniteBurn.java new file mode 100644 index 0000000..21bb5ad --- /dev/null +++ b/src/jat/coreNOSA/cm/FiniteBurn.java @@ -0,0 +1,68 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 28, 2003 + */ + +package jat.coreNOSA.cm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.Serializable; + + +/** +* The FiniteBurn.java Class represents a single finite burn. +* +* @author +* @version 1.0 +*/ +public class FiniteBurn implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 8812477331675719590L; + + /** Burn start time in sim time (seconds) */ + public double tstart; + + /** Burn stop time in sim time (seconds) */ + public double tstop; + + /** Burn acceleration in m/s^2 */ + public double accel; + + /** Thrust direction unit vector */ + public VectorN unitVector; + + + /** Constructor + * @param t0 Time of burn initiation in sim time (sec). + * @param tf time of burn cutoff in sim time (sec) + * @param unitv thrust direction unit vector + */ + public FiniteBurn(double t0, double tf, double acc, VectorN unitv) { + this.tstart = t0; + this.tstop = tf; + this.accel = acc; + this.unitVector = unitv; + } + + +} diff --git a/src/jat/coreNOSA/cm/FiniteBurnList.java b/src/jat/coreNOSA/cm/FiniteBurnList.java new file mode 100644 index 0000000..3cd5e95 --- /dev/null +++ b/src/jat/coreNOSA/cm/FiniteBurnList.java @@ -0,0 +1,256 @@ + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 28, 2003 + */ + +package jat.coreNOSA.cm; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.Serializable; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** +* The GroundStationList.java Class provides a way to deal with +* a list of finite burns read from a file. +* +* @author +* @version 1.0 +*/ +public class FiniteBurnList implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -3126113111430876278L; + private ArrayList list = new ArrayList(); + + /** Constructor + */ + public FiniteBurnList() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public FiniteBurnList(String filename) { + this.readFromFile(filename); + } + + /** Add a burn to the collection + * @param burn FiniteBurn object + */ + public void add(FiniteBurn burn) { + list.add(burn); + } + + /** Get a FiniteBurn out of the collection + * @param index Index of the measurement + * @return the FiniteBurn + */ + public FiniteBurn get(int index) { + return (FiniteBurn) list.get(index); + } + + /** Return the size of the list + * @return the number of burns in the list + */ + public int size() { + return list.size(); + } + + /** Returns the thrust direction unit vector + * @param index int containing the burn index + * @return VectorN containing the thrust direction unit vector. + */ + public VectorN unitVector(int index) { + FiniteBurn burn = this.get(index); + return burn.unitVector; + } + + /** + * Returns the start time of the burn + * @param index int containing the burn index + * @return double containing the start time. + */ + public double startTime(int index) { + FiniteBurn burn = this.get(index); + return burn.tstart; + } + + /** + * Returns the stop time of the burn + * @param index int containing the burn index + * @return double containing the stop time. + */ + public double stopTime(int index) { + FiniteBurn burn = this.get(index); + return burn.tstop; + } + + /** + * Returns the acceleration of the burn + * @param index int containing the burn index + * @return double containing time of the acceleration. + */ + public double accel(int index) { + FiniteBurn burn = this.get(index); + return burn.accel; + } + + + /** + * Returns whether there is more data + * @param index measurement index + * @return true if there is more data to be read + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size() - 1)) { + out = true; + } + return out; + } + + /** Read the burn data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 6) { + System.out.println( + "DeltaV_List.readFromFile: Number of columns do not match"); + System.exit(-99); + } + + double[] temp = new double[6]; + for (int i = 0; i < 6; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token); + } + VectorN unit = new VectorN(temp[3], temp[4], temp[5]); + FiniteBurn burn = new FiniteBurn(temp[0], temp[1], temp[2], unit); + this.add(burn); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + /** Write the burn data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + LinePrinter lp = new LinePrinter(file); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + FiniteBurn burn = this.get(index); + String out = burn.tstart+"\t"+burn.tstop+"\t"+burn.accel+"\t"+burn.unitVector.toString(); + lp.println(out); + index = index + 1; + } + lp.close(); + } + + /** Recover a serialized GroundStationList File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static FiniteBurnList recover(String filename) { + FiniteBurnList out = new FiniteBurnList(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (FiniteBurnList) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Write the burn data out to a FiniteBurn File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + + public static void main(String[] args) + { + FiniteBurnList x = new FiniteBurnList(); + x.readFromFile("C:\\Jat\\jat\\input\\burns\\vbar_burns.txt"); + + + + + // Serialize the burns + x.serialize("C:\\Jat\\jat\\input\\burns\\vbar_burns.jat"); + System.out.println("burn list serialized"); + + // Recover the trajectory and print all to screen + FiniteBurnList bl = FiniteBurnList.recover("C:\\Jat\\jat\\input\\burns\\vbar_burns.jat"); + System.out.println("Printing Recovered DeltaV's"); + int index = 0; + for (int i = 0; i < bl.size(); i++){ + double tstart = bl.startTime(i); + double tstop = bl.stopTime(i); + double acc = bl.accel(i); + VectorN unit = bl.unitVector(i); + System.out.println("burn: "+i+" "+tstart+" "+tstop+" "+acc+" "+unit); + } + } + + +} diff --git a/src/jat/coreNOSA/cm/GroundTrack.java b/src/jat/coreNOSA/cm/GroundTrack.java new file mode 100644 index 0000000..9af41a3 --- /dev/null +++ b/src/jat/coreNOSA/cm/GroundTrack.java @@ -0,0 +1,251 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.FileReader; +import java.io.IOException; +import java.util.StringTokenizer; + +/** + *

+ * The GroundTrack Class provides the ability to plot ground tracks. + * + * @author + * @version 1.0 + */ + +public class GroundTrack { + + SinglePlot gt = new SinglePlot(); + private int gt_index = 0; + + /** Creates a new instance of GroundTrack */ + public GroundTrack() { + // set up the trajectory plot + gt.setTitle("Ground Track"); + gt.plot.setXLabel("Long (deg)"); + gt.plot.setYLabel("Lat (deg)"); + + } + + /** Read the trajectory data from a tab-delimited ASCII text file. + * The first line read in sets the number of columns. + * @param file filename and directory + */ + public void addCoasts() { + String path=FileUtil.getClassFilePath("jat.cm","GroundTrack"); + String file = path + "new_coast_50.dat"; + + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + boolean first = false; + + int coast = 0; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + String token = tok.nextToken(); + if (token.equals("#")) { + coast = coast + 1; + first = false; + } else { + double lon = Double.parseDouble(token); + token = tok.nextToken(); + double lat = Double.parseDouble(token); + this.gt.plot.addPoint(0, lon, lat, first); + first = true; + } + } + in.close(); + fr.close(); + this.gt_index++; + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + /** + * Add a trajectory to the ground track + * @param traj trajectory to be added + */ + public void addTrajectory(Trajectory traj){ + boolean first = false; + double oldlon = 0.0; + + // loop through the trajectory + while (traj.hasNext()) { + + // grab the next row and strip out t and inertial r vector + double [] row = traj.next(); + double t = row[0]; + VectorN r_ijk = new VectorN(row[1], row[2], row[3]); + + // convert to r to ECEF + double alpha = Constants.omega_e * t; + RotationMatrix R = new RotationMatrix(3, alpha); + VectorN r_ecef = R.times(r_ijk); + + // get lat, lon, alt +// Geodetic geo = new Geodetic(r_ecef); +// double lat = geo.getLatitude() * c.rad2deg; +// double lon = geo.getLongitude() * c.rad2deg; + + double lat = Math.asin(r_ecef.x[2]/r_ecef.mag())* Constants.rad2deg; + double lon = Math.atan2(r_ecef.x[1], r_ecef.x[0])* Constants.rad2deg; + + // ensure -180 < lon < 180 + if (lon > 180.0) lon = lon - 360.0; + if (lon < -180.0) lon = lon + 360.0; + + // check for boundary crossing and disconnect the curve + if (Math.abs(lon - oldlon) > 180.0) { + first = false; + } + +// System.out.println(t+" "+lon+" "+lat+" "+first); + + // add to plot + this.gt.plot.addPoint(this.gt_index, lon, lat, first); + + oldlon = lon; + first = true; + } + this.gt_index++; + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) { + GroundTrack gtrack = new GroundTrack(); + gtrack.addCoasts(); + gtrack.gt.plot.setVisible(true); + + // create a Trajectory + Trajectory traj1 = new Trajectory(); + + // create a TwoBody orbit using orbit elements + TwoBody sat = new TwoBody(20000.0, 0.3, 45.0, 0.0, 0.0, 0.0); + + // find out the period of the orbit + double period = sat.period(); + + // set the final time = one orbit period + double tf = 2.0 * period; + + // set the initial time to zero + double t0 = 0.0; + + // propagate the orbit + sat.propagate(t0, tf, traj1, true); + + // set the attributes + traj1.setTitle("Orbit 1"); + traj1.setCentralBody(CentralBody.EARTH); + traj1.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj1.setDistanceUnits(DistanceUnits.KILOMETERS); + traj1.setEpoch(2003, 3, 27, 12, 16, 0.0); + traj1.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot"}; + traj1.setLabels(labels); + + // create a Trajectory + Trajectory traj2 = new Trajectory(); + + // create a TwoBody orbit using orbit elements + TwoBody sat2 = new TwoBody(26559.0, 0.75, 63.4, 30.0, 270.0, 0.0); + + // find out the period of the orbit + period = sat2.period(); + + // set the final time = one orbit period + tf = 2.0 * period; + + // set the initial time to zero + t0 = 0.0; + + // propagate the orbit + sat2.propagate(t0, tf, traj2, true); + + // set the attributes + traj2.setTitle("Molniya"); + traj2.setCentralBody(CentralBody.EARTH); + traj2.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj2.setDistanceUnits(DistanceUnits.KILOMETERS); + traj2.setEpoch(2003, 3, 27, 12, 16, 0.0); + traj2.setTimeUnits(TimeUnits.SECONDS); + traj2.setLabels(labels); + + // create a Trajectory + Trajectory traj3 = new Trajectory(); + + // create a TwoBody orbit using orbit elements + TwoBody sat3 = new TwoBody(42166.26, 0.2, 45.0, 0.0, 0.0, 0.0); + + // find out the period of the orbit + period = sat3.period(); + + // set the final time = one orbit period + tf = 2.0 * period; + + // set the initial time to zero + t0 = 0.0; + + // propagate the orbit + sat3.propagate(t0, tf, traj3, true); + + // set the attributes + traj3.setTitle("Inclined Geosynch"); + traj3.setCentralBody(CentralBody.EARTH); + traj3.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj3.setDistanceUnits(DistanceUnits.KILOMETERS); + traj3.setEpoch(2003, 3, 27, 12, 16, 0.0); + traj3.setTimeUnits(TimeUnits.SECONDS); + traj3.setLabels(labels); + + + // add trajectory to ground track + gtrack.addTrajectory(traj1); + gtrack.addTrajectory(traj2); + gtrack.addTrajectory(traj3); + + gtrack.gt.plot.addLegend(1, traj1.getTitle()); + gtrack.gt.plot.addLegend(2, traj2.getTitle()); + gtrack.gt.plot.addLegend(3, traj3.getTitle()); + + gtrack.gt.setVisible(true); + + } +} diff --git a/src/jat/coreNOSA/cm/HillsEquation.java b/src/jat/coreNOSA/cm/HillsEquation.java new file mode 100644 index 0000000..650a8d8 --- /dev/null +++ b/src/jat/coreNOSA/cm/HillsEquation.java @@ -0,0 +1,79 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.coreNOSA.cm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.FileOutputStream; +import java.io.IOException; +import java.io.PrintWriter; + +/** Implements Hills Equations + * + * @author + * @version 1.0 + */ +public class HillsEquation { + + /** Creates a new instance of HillsEquation */ + public HillsEquation() { + } + public static void main(java.lang.String args[]) throws IOException { + + FileOutputStream outf = new FileOutputStream("hill3.txt"); + PrintWriter pw = new PrintWriter(outf); + + VectorN x = new VectorN(6); + + double x0 = 0.0; + double y0 = 0.0; + double z0 = 1.0; + double vx0 = 0.0; + double vy0 = 0.0; + double vz0 = 0.0; + + TwoBody orbit = new TwoBody(6770.0, 0.0, 51.8, 0.0, 0.0, 0.0); + double period = orbit.period(); + double w = orbit.meanMotion(); + + double t = 0.0; + + while (t < 2.0*period){ + double cwt = Math.cos(w*t); + double swt = Math.sin(w*t); + x.x[0] = vx0*swt/w - (3.0*x0 + 2.0*vy0/w)*cwt + 4.0*x0 + 2.0*vy0/w; + x.x[1] = (6.0*x0 + 4.0*vy0/w)*swt + 2.0*vx0*cwt/w - (6.0*w*x0+3.0*vy0)*t + y0 - 2.0*vx0/w; + x.x[2] = z0*cwt + vz0*swt/w; + x.x[3] = vx0*cwt + (3.0*w*x0 + 2.0*vy0)*swt; + x.x[4] = (6.0*w*x0 + 4.0*vy0)*cwt - 2.0*vx0*swt - (6.0*w*x0 + 3.0*vy0); + x.x[5] = -1.0*z0*w*swt + vz0*cwt; + + System.out.println(t); + + pw.print(t+"\t"); + x.print(pw); + + t = t + 1.0; + } + pw.close(); + outf.close(); + } +} diff --git a/src/jat/coreNOSA/cm/KeplerElements.java b/src/jat/coreNOSA/cm/KeplerElements.java new file mode 100644 index 0000000..0451b4f --- /dev/null +++ b/src/jat/coreNOSA/cm/KeplerElements.java @@ -0,0 +1,69 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; + +/** + * Simple class to store Kepler elements + * @author Tobias Berthold + * @version 1.0 + */ + +public class KeplerElements +{ + /** Semimajor axis in km */ + public double a; // sma in km + /** Eccentricity */ + public double e; // eccentricity + /** Inclination in radians */ + public double i; // inclination in radians + /** Right ascension of the ascending node in radians */ + public double raan; // right ascension of ascending node in radians + /** Argument of perigee in radians */ + public double w; // argument of perigee in radians + /** True anomaly in radians */ + public double ta; // true anomaly in radians + + /** + * @param a Semimajor axis in km + * @param e Eccentricity + * @param i Inclination in radians + * @param raan Right ascension of ascending node in radians + * @param w Argument of perigee in radians + * @param ta True anomaly in radians + */ + public KeplerElements(double a, double e, double i, double raan, double w, double ta) + { + this.a = a; + this.e = e; + this.i = i; + this.raan = raan; + this.w = w; + this.ta = ta; + } +} + +/** Orbital elements for the planets from "Explanatory supplement to the Astronomical + * Almanac" by Kenneth Seidelmann + */ +// public static final Kepler_Elements mars_elements = +// new Kepler_Elements(227939186, 0.0934006199474, Rad(1.85061), Rad(49.57854), Rad(336.04084), 355.45332); +// public static final Kepler_Elements earth_moon_elements = +// new Kepler_Elements(149598023, 0.01671022, Rad(0.00005), Rad(-11.26064), Rad(102.94719), 100.46435); diff --git a/src/jat/coreNOSA/cm/Lambert.java b/src/jat/coreNOSA/cm/Lambert.java new file mode 100644 index 0000000..bdca709 --- /dev/null +++ b/src/jat/coreNOSA/cm/Lambert.java @@ -0,0 +1,283 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +// 2012: add exception management + +package jat.coreNOSA.cm; + +import jat.coreNOSA.algorithm.ScalarFunction; +import jat.coreNOSA.algorithm.ZeroFinder; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The Lambert class provides the means to solve Lambert's problem. Ref: Vallado + * + * @author + * @version 1.0 + */ + +public class Lambert implements ScalarFunction { + + private double s = 0.0; + private double c = 0.0; + private double dt = 0.0; + private double mu = 0.0; + private boolean aflag = false; + private boolean bflag = false; + public boolean debug_print = false; + + /** + * Contains the computed initial delta-v. + */ + public VectorN deltav0; + /** + * Contains the computed final delta-v. + */ + public VectorN deltavf; + + /** time of flight */ + public double tof; + + public void reset() { + s = 0.0; + c = 0.0; + aflag = false; + bflag = false; + debug_print = false; + } + + /** + * Constructor with mu + * + * @param mu + * mu of the central body + */ + public Lambert(double mu) { + this.mu = mu; + } + + private double getalpha(double a) { + double alpha = 2.0 * Math.asin(Math.sqrt(s / (2.0 * a))); + if (this.aflag) { + alpha = 2.0 * Constants.pi - alpha; + } + return alpha; + } + + private double getbeta(double a) { + double beta = 2.0 * Math.asin(Math.sqrt((s - c) / (2.0 * a))); + if (this.bflag) { + beta = -1.0 * beta; + } + return beta; + } + + private double getdt(double a, double alpha, double beta) { + double sa = Math.sin(alpha); + double sb = Math.sin(beta); + double dt = Math.pow(a, 1.5) * (alpha - sa - beta + sb) / Math.sqrt(mu); + return dt; + } + + /** + * Evaluate the delta-t function f + * + * @param a + * semi-major axis. + * @return + */ + public double evaluate(double a) { + double alpha = getalpha(a); + double beta = getbeta(a); + double out = dt - getdt(a, alpha, beta); + return out; + } + + /** + * Computes the delta-v's required to go from r0,v0 to rf,vf. + * + * @return Total delta-v (magnitude) required. + * @param dt + * Time of flight + * @param r0 + * Initial position vector. + * @param v0 + * Initial velocity vector. + * @param rf + * Desired final position vector. + * @param vf + * Desired final velocity vector. + * @throws LambertException + */ + public double compute(VectorN r0, VectorN v0, VectorN rf, VectorN vf, double dt) throws LambertException { + reset(); + double tp = 0.0; + + this.dt = dt; + double magr0 = r0.mag(); + double magrf = rf.mag(); + + VectorN dr = r0.minus(rf); + this.c = dr.mag(); + this.s = (magr0 + magrf + c) / 2.0; + double amin = s / 2.0; + if (debug_print) + System.out.println("amin = " + amin); + + double dtheta = Math.acos(r0.dotProduct(rf) / (magr0 * magrf)); + + // dtheta = 2.0 * Constants.pi - dtheta; + + if (debug_print) + System.out.println("dtheta = " + dtheta); + + if (dtheta < Constants.pi) { + tp = Math.sqrt(2.0 / (mu)) * (Math.pow(s, 1.5) - Math.pow(s - c, 1.5)) / 3.0; + } + if (dtheta > Constants.pi) { + tp = Math.sqrt(2.0 / (mu)) * (Math.pow(s, 1.5) + Math.pow(s - c, 1.5)) / 3.0; + this.bflag = true; + } + + if (debug_print) + System.out.println("tp = " + tp); + + double betam = getbeta(amin); + double tm = getdt(amin, Constants.pi, betam); + + if (debug_print) + System.out.println("tm = " + tm); + + if (dtheta == Constants.pi) { + // System.out.println(" dtheta = 180.0. Do a Hohmann"); + throw new LambertException("dtheta = 180.0. Do a Hohmann"); + // System.exit(0); + } + + double ahigh = 1000.0 * amin; + double npts = 3000.0; + // this.dt = (2.70-0.89)*86400; + if (debug_print) + System.out.println("dt = " + dt); + + if (debug_print) + System.out.println("************************************************"); + + if (this.dt < tp) { + // System.out.println("No elliptical path possible "); + throw new LambertException("No elliptical path possible "); + // System.exit(0); + } + + if (this.dt > tm) { + this.aflag = true; + } + + double fm = evaluate(amin); + double ftemp = evaluate(ahigh); + + if ((fm * ftemp) >= 0.0) { + // System.out.println(" initial guesses do not bound "); + throw new LambertException(" initial guesses do not bound "); + // System.exit(0); + } + + ZeroFinder regfalsi = new ZeroFinder(this, 10000, 1.0E-6, 1.0E-15); + + double sma = regfalsi.regulaFalsi(amin, ahigh); + + double alpha = getalpha(sma); + double beta = getbeta(sma); + + double de = alpha - beta; + + double f = 1.0 - (sma / magr0) * (1.0 - Math.cos(de)); + double g = dt - Math.sqrt(sma * sma * sma / mu) * (de - Math.sin(de)); + + VectorN newv0 = new VectorN(3); + VectorN newvf = new VectorN(3); + + newv0.x[0] = (rf.x[0] - f * r0.x[0]) / g; + newv0.x[1] = (rf.x[1] - f * r0.x[1]) / g; + newv0.x[2] = (rf.x[2] - f * r0.x[2]) / g; + + this.deltav0 = newv0.minus(v0); + if (debug_print) + this.deltav0.print("deltav-0"); + + double dv0 = deltav0.mag(); + + double fdot = -1.0 * (Math.sqrt(mu * sma) / (magr0 * magrf)) * Math.sin(de); + double gdot = 1.0 - (sma / magrf) * (1.0 - Math.cos(de)); + + newvf.x[0] = fdot * r0.x[0] + gdot * newv0.x[0]; + newvf.x[1] = fdot * r0.x[1] + gdot * newv0.x[1]; + newvf.x[2] = fdot * r0.x[2] + gdot * newv0.x[2]; + + this.deltavf = vf.minus(newvf); + double dvf = deltavf.mag(); + if (debug_print) + this.deltavf.print("deltav-f"); + + double totaldv = dv0 + dvf; + + this.tof = dt; + + if (debug_print) + System.out.println("dt = " + dt + " dv0 = " + dv0 + " dvf = " + dvf + " total dv = " + totaldv + " sma = " + + sma); + return totaldv; + } + + /** + * Test case. + * + * @param args + * arguments (none). + */ + public static void main(String args[]) { + LinePrinter lp = new LinePrinter(); + + TwoBody elem0 = new TwoBody(40000.0, 0.2, 0.0, 0.0, 45.0, 0.0); + TwoBody elemf = new TwoBody(80000.0, 0.2, 0.0, 0.0, 270.0, 286.0); + + elem0.propagate(0.0, (0.89 * 86400.0), lp, false); + elemf.propagate(0.0, (2.70 * 86400.0), lp, false); + + elem0.print("SC1"); + elemf.print("SC2"); + + VectorN r0 = elem0.getR(); + VectorN v0 = elem0.getV(); + VectorN rf = elemf.getR(); + VectorN vf = elemf.getV(); + + Lambert lambert = new Lambert(Constants.mu); + try { + double totaldv = lambert.compute(r0, v0, rf, vf, (2.70 - 0.89) * 86400); + System.out.println("Total delta-v: "+totaldv); + } catch (LambertException e) { + e.printStackTrace(); + } + + } +} diff --git a/src/jat/coreNOSA/cm/LambertException.java b/src/jat/coreNOSA/cm/LambertException.java new file mode 100644 index 0000000..6072e0c --- /dev/null +++ b/src/jat/coreNOSA/cm/LambertException.java @@ -0,0 +1,29 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.coreNOSA.cm; + +public class LambertException extends Exception { + + private static final long serialVersionUID = 4272283778292845958L; + public String message; + + public LambertException(String message) { + this.message = "Lambert "+message; + } + +} diff --git a/src/jat/coreNOSA/cm/ThreeBody.java b/src/jat/coreNOSA/cm/ThreeBody.java new file mode 100644 index 0000000..a9eaabd --- /dev/null +++ b/src/jat/coreNOSA/cm/ThreeBody.java @@ -0,0 +1,147 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The ThreeBody class provides the ability to propagate orbits for a general + * three body problem + * + * @author Tobias Berthold + * @version 1.0 + */ + +public class ThreeBody implements Derivatives //, Printable +{ + + private double G; // Gravitational constant + private double m1, m2, m3; // masses + + /** + * Method ThreeBody. + * @param G gravitational constant + * @param m1 mass 1 + * @param m2 mass 2 + * @param m3 mass 3 + */ + public ThreeBody(double G, double m1, double m2, double m3) + { + this.G = G; + this.m1 = m1; + this.m2 = m2; + this.m3 = m3; + } + + /** Compute the derivatives. + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + // vector r1 is x[0], x[1], x[2] + // vector v1 is x[3], x[4], x[5] + // vector r2 is x[6], x[7], x[8] + // vector v2 is x[9], x[10], x[11] + // vector r3 is x[12], x[13], x[14] + // vector v3 is x[15], x[16], x[17] + public double[] derivs(double t, double[] x) + { + //double m1, m2, m3; + double r1, r2, r3; + double r12, r23, r13; + double r12cubed, r23cubed, r13cubed; + + double dxdt[] = new double[18]; + + r12 = Math.sqrt((x[6] - x[0]) * (x[6] - x[0]) + (x[7] - x[1]) * (x[7] - x[1]) + (x[8] - x[2]) * (x[8] - x[2])); + r13 = Math.sqrt((x[12] - x[0]) * (x[12] - x[0]) + (x[13] - x[1]) * (x[13] - x[1]) + (x[14] - x[2]) * (x[14] - x[2])); + r23 = Math.sqrt((x[12] - x[6]) * (x[12] - x[6]) + (x[13] - x[7]) * (x[13] - x[7]) + (x[14] - x[8]) * (x[14] - x[8])); + r12cubed = r12 * r12 * r12; + r13cubed = r13 * r13 * r13; + r23cubed = r23 * r23 * r23; + + // Derivatives + dxdt[0] = x[3]; + dxdt[1] = x[4]; + dxdt[2] = x[5]; + dxdt[3] = m2 / r12cubed * (x[6] - x[0]) + m3 / r13cubed * (x[12] - x[0]); + dxdt[4] = m2 / r12cubed * (x[7] - x[1]) + m3 / r13cubed * (x[13] - x[1]); + dxdt[5] = m2 / r12cubed * (x[8] - x[2]) + m3 / r13cubed * (x[14] - x[2]); + dxdt[6] = x[9]; + dxdt[7] = x[10]; + dxdt[8] = x[11]; + dxdt[9] = -m1 / r12cubed * (x[6] - x[0]) + m3 / r23cubed * (x[12] - x[6]); + dxdt[10] = -m1 / r12cubed * (x[7] - x[1]) + m3 / r23cubed * (x[13] - x[7]); + dxdt[11] = -m1 / r12cubed * (x[8] - x[2]) + m3 / r23cubed * (x[14] - x[8]); + dxdt[12] = x[15]; + dxdt[13] = x[16]; + dxdt[14] = x[17]; + dxdt[15] = -m1 / r13cubed * (x[12] - x[0]) - m2 / r23cubed * (x[12] - x[6]); + dxdt[16] = -m1 / r13cubed * (x[13] - x[1]) - m2 / r23cubed * (x[13] - x[7]); + dxdt[17] = -m1 / r13cubed * (x[14] - x[2]) - m2 / r23cubed * (x[14] - x[8]); + return dxdt; + } + + /** Computes the center of mass + * @param x current state + * @return center of mass + */ + public VectorN center_of_mass(double x[]) + { + // center of mass + double M = m1 + m2 + m3; + double cmx = (m1 * x[0] + m2 * x[6] + m3 * x[12]) / M; + double cmy = (m1 * x[1] + m2 * x[7] + m3 * x[13]) / M; + double cmz = (m1 * x[2] + m2 * x[8] + m3 * x[14]) / M; + VectorN V=new VectorN(cmx,cmy,cmz); + return V; + } + + /** Computes the value of the energy of the system + * @param x current state + * @return The current value of energy. + */ + public double Energy(double x[]) + { + double r12, r23, r13; + double v1squared, v2squared, v3squared; + double E = 0., T, U; // total, kinetic, potential energy + + // Kinetic energy + v1squared = x[3] * x[3] + x[4] * x[4] + x[5] * x[5]; + v2squared = x[9] * x[9] + x[10] * x[10] + x[11] * x[11]; + v3squared = x[15] * x[15] + x[16] * x[16] + x[17] * x[17]; + T = .5 * (m1 * v1squared + m2 * v2squared + m3 * v3squared); + + // Potential energy + r12 = Math.sqrt((x[6] - x[0]) * (x[6] - x[0]) + (x[7] - x[1]) * (x[7] - x[1]) + (x[8] - x[2]) * (x[8] - x[2])); + r13 = Math.sqrt((x[12] - x[0]) * (x[12] - x[0]) + (x[13] - x[1]) * (x[13] - x[1]) + (x[14] - x[2]) * (x[14] - x[2])); + r23 = Math.sqrt((x[12] - x[6]) * (x[12] - x[6]) + (x[13] - x[7]) * (x[13] - x[7]) + (x[14] - x[8]) * (x[14] - x[8])); + U = m1 * m2 / r12 + m2 * m3 / r23 + m1 * m3 / r13; + + // Total energy + E = T - U; + + return E; + } +} diff --git a/src/jat/coreNOSA/cm/TwoBody.java b/src/jat/coreNOSA/cm/TwoBody.java new file mode 100644 index 0000000..4bd9255 --- /dev/null +++ b/src/jat/coreNOSA/cm/TwoBody.java @@ -0,0 +1,931 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002, 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.IOException; + +/** + *

+ * The TwoBody Class provides the fundamental operations of the restricted + * Two Body problem. Most of this material is found in Vallado. + * + * @author + * @version 1.0 + */ +public class TwoBody implements Derivatives +{ + + protected double a; // sma in km + protected double e; // eccentricity + protected double i; // inclination in radians + protected double raan; // right ascension of ascending node in radians + protected double w; // argument of perigee in radians + public double ta; // true anomaly in radians + protected double mu = 398600.4415; // default: earth GM in km^3/s^2 (value from JGM-3 + protected double steps = 500.; + + /** VectorN containing the position and velocity. + */ + public VectorN rv; // position and velocity vector + + /** Default constructor. + */ + public TwoBody() + { + a = 7778.14; + e = 0.000128; + i = 0.0; + raan = 0.0; + w = 0.0; + ta = 0.0; + double[] temp = new double[6]; + temp = this.randv(); + this.rv = new VectorN(temp); + } + + /** Construct a TwoBody orbit from 6 orbit elements. Angles are input in degrees. + * @param k Kepler elements + */ + public TwoBody(KeplerElements k) + { + //Constants c = new Constants(); + this.a = k.a; + this.e = k.e; + this.i = k.i; + this.raan = k.raan; + this.w = k.w; + this.ta = k.ta; + rv = new VectorN(randv()); + } + + /** Construct a TwoBody orbit from 6 orbit elements and set mu. + * Angles are input in degrees. + * @param k Kepler elements + * @param mu + */ + public TwoBody(double mu) + { + //Constants c = new Constants(); + this.mu = mu; + rv = new VectorN(randv()); + } + + /** Construct a TwoBody orbit from 6 orbit elements and set mu. + * Angles are input in degrees. + * @param k Kepler elements + * @param mu + */ + public TwoBody(double mu, KeplerElements k) + { + //Constants c = new Constants(); + this.a = k.a; + this.e = k.e; + this.i = k.i; + this.raan = k.raan; + this.w = k.w; + this.ta = k.ta; + this.mu = mu; + rv = new VectorN(randv()); + } + + /** Construct a TwoBody orbit from 6 orbit elements. Angles are input in degrees. + * @param x1 Semi-major axis in km. + * @param x2 Eccentricity. + * @param x3 Inclination in degrees. + * @param x4 RAAN in degrees. + * @param x5 Argument of perigee in degrees. + * @param x6 True anomaly in degrees. + */ + public TwoBody(double x1, double x2, double x3, double x4, double x5, double x6) + { + double[] temp = new double[6]; + this.a = x1; + this.e = x2; + this.i = x3 * Constants.deg2rad; + this.raan = x4 * Constants.deg2rad; + this.w = x5 * Constants.deg2rad; + this.ta = x6 * Constants.deg2rad; + temp = this.randv(); + this.rv = new VectorN(temp); + } + + /** Construct a TwoBody orbit from 6 orbit elements. Angles are input in degrees. + * @param mu GM in km^3/s^2. + * @param x1 Semi-major axis in km. + * @param x2 Eccentricity. + * @param x3 Inclination in degrees. + * @param x4 RAAN in degrees. + * @param x5 Argument of perigee in degrees. + * @param x6 True anomaly in degrees. + */ + public TwoBody(double mu, double x1, double x2, double x3, double x4, double x5, double x6) + { + //Constants c = new Constants(); + double[] temp = new double[6]; + this.mu = mu; + this.a = x1; + this.e = x2; + this.i = x3 * Constants.deg2rad; + this.raan = x4 * Constants.deg2rad; + this.w = x5 * Constants.deg2rad; + this.ta = x6 * Constants.deg2rad; + temp = this.randv(); + this.rv = new VectorN(temp); + } + + /** Construct a TwoBody orbit from a position and velocity vector. + * @param r Position vector. + * @param v Velocity vector. + */ + + public TwoBody(VectorN r, VectorN v) + { + rv2Elements(r, v); + } + + /** Construct a TwoBody orbit from a position and velocity vector. + * @param mu GM in km^3/s^2 + * @param r Position vector. + * @param v Velocity vector. + */ + public TwoBody(double mu, VectorN r, VectorN v) + { + this.mu = mu; + rv2Elements(r, v); + } + + /** Construct a TwoBody orbit from a double array containing position and velocity. + * @param x double[] containing position and velocity. + */ + public TwoBody(double[] x) + { + if (x.length < 6) + { + System.out.println("can't create a TwoBody with array < 6 elements"); + } + + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + rv2Elements(r, v); + } + + /** Construct a TwoBody orbit from a double array containing position and velocity. + * @param mu GM in km^3/s^2. + * @param x double[] containing position and velocity. + */ + public TwoBody(double mu, double[] x) + { + if (x.length < 6) + { + System.out.println("can't create a TwoBody with array < 6 elements"); + } + this.mu = mu; + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + rv2Elements(r, v); + } + + + // Setters and Getters + /** + * @param ta true anomaly in degrees + */ + public void setTa(double ta) + { + this.ta = ta* Constants.deg2rad; + rv = new VectorN(randv()); //update cartesian elements + } + + public void setSteps(double steps) + { + this.steps = steps; + } + + + /** Copy a TwoBody orbit into a new TwoBody orbit. + * @param path PrintWriter. + * @return Newly created copy of the TwoBody orbit. + */ + public TwoBody copy() + { + double gm = this.mu; + VectorN r = this.getR(); + VectorN v = this.getV(); + TwoBody out = new TwoBody(gm, r, v); + return out; + } + + /** Compute the orbit elements from a position and velocity vector. + * @param r Position Vector. + * @param v Velocity Vector. + */ + private void rv2Elements(VectorN r, VectorN v) + { + r.checkVectorDimensions(3); + v.checkVectorDimensions(3); + //Constants c = new Constants(); + VectorN evec = new VectorN(3); // e vector + VectorN k = new VectorN(3); // unit vector in z direction + + this.rv = new VectorN(r, v); + + double rmag = r.mag(); + double vmag = v.mag(); + double energy = vmag * vmag / 2.0 - this.mu / rmag; + + k.x[0] = 0.0; + k.x[1] = 0.0; + k.x[2] = 1.0; + + VectorN h = r.crossProduct(v); + VectorN n = k.crossProduct(h); + + double rdotv = r.dotProduct(v); + + double q1 = (vmag * vmag - this.mu / rmag) / this.mu; + double q2 = rdotv / this.mu; + + evec.x[0] = q1 * r.x[0] - q2 * v.x[0]; + evec.x[1] = q1 * r.x[1] - q2 * v.x[1]; + evec.x[2] = q1 * r.x[2] - q2 * v.x[2]; + + this.e = evec.mag(); + + if (e != 1.0) + { + this.a = -this.mu / (2.0 * energy); + } else + { + this.a = 1.0E30; + System.out.println("parabolic orbit"); + } + + this.i = Math.acos(h.x[2] / h.mag()); // inclination + + this.raan = Math.acos(n.x[0] / n.mag()); // raan + if (n.x[1] < 0.0) + { + this.raan = 2.0 * Constants.pi - raan; + } + + this.w = Math.acos(n.dotProduct(evec) / (n.mag() * e)); + if (evec.x[2] < 0.0) + { + this.w = 2.0 * Constants.pi - this.w; + } + + if (i == 0.0) // equatorial orbit, things blow up + { + // System.out.println("KeplerElements: equatorial orbit, RAAN no good"); + this.raan = 0.0; + this.w = Math.acos(evec.x[0] / e); + if (evec.x[1] < 0.0) + { + this.w = 2.0 * Constants.pi - this.w; + } + } + + if (i == Constants.pi) // equatorial orbit, things blow up + { + // System.out.println("KeplerElements: equatorial orbit, RAAN no good"); + this.raan = 0.0; + this.w = Math.acos(evec.x[0] / e); + if (evec.x[1] > 0.0) + { + this.w = 2.0 * Constants.pi - this.w; + } + } + + this.ta = Math.acos(evec.dotProduct(r) / (e * rmag)); + if (rdotv < 0.0) + { + this.ta = 2.0 * Constants.pi - this.ta; + } + } + + /** Get the semi-major axis. + * @return Semi-major axis value. + */ + + public double semiMajorAxis() + { + return this.a; + } + + /** Get the eccentricity + * @return Eccentricity + */ + + public double eccentricity() + { + return this.e; + } + + /** Get the inclination. + * @return Inclination in radians. + */ + + public double inclination() + { + return this.i; + } + + /** Get the RAAN. + * @return RAAN in radians. + */ + + public double RAAN() + { + return this.raan; + } + + /** Get the argument of perigee. + * @return Argument of perigee in radians. + */ + + public double argPerigee() + { + return this.w; + } + + /** Get true anomaly. + * @return True anomaly in radians. + */ + + public double trueAnomaly() + { + return this.ta; + } + + /** Get eccentric anomaly. + * @return Eccentric anomaly in radians. + */ + + public double eccentricAnomaly() + { + double cta = Math.cos(ta); + double e0 = Math.acos((e + cta) / (1.0 + e * cta)); + return e0; + } + + /** Get mean anomaly. + * @return Mean anomaly in radians. + */ + + public double meanAnomaly() + { + double ea = eccentricAnomaly(); + double m = ea - e * Math.sin(ea); + return m; + } + + /** Get mean motion + * @return Mean motion in radians/s. + */ + + public double meanMotion() + { + double acubed = a * a * a; + double n = Math.sqrt(this.mu / acubed); + return n; + } + + /** Get the orbital period. + * @return Period in s. + */ + + public double period() + { + double n = meanMotion(); + double period = 2.0 * Constants.pi / n; + return period; + } + + /** Print the orbit elements. + * @param title A title for the element set. + */ + + public void printElements(String title) + { + System.out.println(" Kepler Elset: " + title); + System.out.println(" a = " + this.a); + System.out.println(" e = " + this.e); + System.out.println(" i = " + (this.i * Constants.rad2deg)); + System.out.println(" raan = " + (this.raan * Constants.rad2deg)); + System.out.println(" w = " + (this.w * Constants.rad2deg)); + System.out.println(" ta = " + (this.ta * Constants.rad2deg)); + } + + /** Print the position and velocity vector. + * @param title Title for the position and velocity vector. + */ + + public void printVector(String title) + { + this.rv.print("r and v vector: " + title); + } + + /** Print the orbit elements and position and velocity vectors. + * @param title Title for the orbit elements. + */ + + public void print(String title) + { + this.printElements(title); + this.printVector(title); + } + + /** Compute the PQW to ECI transformation matrix. + * @return Matrix containing the transformation. + */ + + public Matrix PQW2ECI() + { + double cw = Math.cos(w); + double sw = Math.sin(w); + double craan = Math.cos(raan); + double sraan = Math.sin(raan); + double ci = Math.cos(i); + double si = Math.sin(i); + + Matrix out = new Matrix(3, 3); + out.A[0][0] = craan * cw - sraan * sw * ci; + out.A[0][1] = -craan * sw - sraan * cw * ci; + out.A[0][2] = sraan * si; + out.A[1][0] = sraan * cw + craan * sw * ci; + out.A[1][1] = -sraan * sw + craan * cw * ci; + out.A[1][2] = -craan * si; + out.A[2][0] = sw * si; + out.A[2][1] = cw * si; + out.A[2][2] = ci; + return out; + } + + /** Compute the RSW to ECI transformation matrix. + * @return Matrix containing the transformation. + */ + + public Matrix RSW2ECI() + { + VectorN r = this.getR(); + //VectorN v = this.getV(); + VectorN h = this.getH(); + VectorN rhat = r.unitVector(); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + return out; + } + + /** Compute the ECI position and velocity vectors. + * @return ECI position and velocity vector + */ + + public double[] randv() + { + double p = a * (1.0 - e * e); + double cta = Math.cos(ta); + double sta = Math.sin(ta); + double opecta = 1.0 + e * cta; + double sqmuop = Math.sqrt(this.mu / p); + + VectorN xpqw = new VectorN(6); + xpqw.x[0] = p * cta / opecta; + xpqw.x[1] = p * sta / opecta; + xpqw.x[2] = 0.0; + xpqw.x[3] = -sqmuop * sta; + xpqw.x[4] = sqmuop * (e + cta); + xpqw.x[5] = 0.0; + + Matrix cmat = PQW2ECI(); + + VectorN rpqw = new VectorN(xpqw.x[0], xpqw.x[1], xpqw.x[2]); + VectorN vpqw = new VectorN(xpqw.x[3], xpqw.x[4], xpqw.x[5]); + + VectorN rijk = cmat.times(rpqw); + VectorN vijk = cmat.times(vpqw); + + double[] out = new double[6]; + + for (int i = 0; i < 3; i++) + { + out[i] = rijk.x[i]; + out[i + 3] = vijk.x[i]; + } + + return out; + } + + /** Get the position vector. + * @return Position vector. + */ + + public VectorN getR() + { + VectorN out = new VectorN(3); + out.x[0] = this.rv.x[0]; + out.x[1] = this.rv.x[1]; + out.x[2] = this.rv.x[2]; + return out; + } + + /** Get the velocity vector. + * @return Velocity vector. + */ + + public VectorN getV() + { + VectorN out = new VectorN(3); + out.x[0] = this.rv.x[3]; + out.x[1] = this.rv.x[4]; + out.x[2] = this.rv.x[5]; + return out; + } + + /** Get the angular momentum vector. + * @return angular momentum vector. + */ + + public VectorN getH() + { + VectorN r = new VectorN(rv.x[0], rv.x[1], rv.x[2]); + VectorN v = new VectorN(rv.x[3], rv.x[4], rv.x[5]); + VectorN out = r.crossProduct(v); + return out; + } + + /** Get the angular momentum magnitude. + * @return angular momentum magnitude. + */ + + public double getHmag() + { + VectorN h = this.getH(); + double out = h.mag(); + return out; + } + + /** Compute the local acceleration due to gravity. + * @return g vector. + */ + + public VectorN local_grav() + { + VectorN r = this.getR(); + double rmag = r.mag(); + double muor3 = this.mu / (rmag * rmag * rmag); + + double gx = -1.0 * (muor3 * r.x[0]); + double gy = -1.0 * (muor3 * r.x[1]); + double gz = -1.0 * (muor3 * r.x[2]); + + VectorN grav = new VectorN(gx, gy, gz); + return grav; + } + + /** Compute the gravity gradient matrix (dg/dr). + * @return Gravity gradient matrix. + */ + + public Matrix gravityGradient() + { + VectorN r = this.getR(); + double rmag = r.mag(); + double r2 = rmag * rmag; + double muor3 = this.mu / (r2 * rmag); + double jk = 3.0 * muor3 / (r2); + Matrix gg = new Matrix(3, 3); + + double xx = r.x[0]; + double yy = r.x[1]; + double zz = r.x[2]; + + gg.A[0][0] = jk * xx * xx - muor3; + gg.A[0][1] = jk * xx * yy; + gg.A[0][2] = jk * xx * zz; + + gg.A[1][0] = gg.A[0][1]; + gg.A[1][1] = jk * yy * yy - muor3; + gg.A[1][2] = jk * yy * zz; + + gg.A[2][0] = gg.A[0][2]; + gg.A[2][1] = gg.A[1][2]; + gg.A[2][2] = jk * zz * zz - muor3; + + return gg; + } + + /** Solve Kepler's equation. Computes eccentric anomaly give mean anomaly and eccentricity. + * @param mean_anomaly Mean anomaly in radians. + * @param ecc eccentricity. + * @return Eccentric anomaly in radians. + */ + + public static double solveKepler(double mean_anomaly, double ecc) + { + if (Math.abs(ecc) < 0.000000001) + { + return mean_anomaly; + } + int maxit = 10000; + int it = 0; + + double de = 1000.0; + + double ea = mean_anomaly; + double old_m = mean_anomaly; + + while ((it < maxit) && (Math.abs(de) > 1.0E-10)) + { + double new_m = ea - ecc * Math.sin(ea); + de = (old_m - new_m) / (1.0 - ecc * Math.cos(ea)); + ea = ea + de; + it = it + 1; + } + return ea; + } + + /** Propagate a TwoBody orbit from t0 to tf using Kepler's equation. + * @param t0 Initial time in s. + * @param tf Final time in s. + * @param print_switch print switch (true = print, false = don't print). + * @throws IOException If file fails to open. + */ + public void propagate(double t0, double tf, Printable pr, boolean print_switch) + { + double[] temp = new double[6]; + + + // Determine step size + double n = this.meanMotion(); + double period = this.period(); + double dt = period / steps; + if ((t0 + dt) > tf) // check to see if we're going past tf + { + dt = tf - t0; + } + + // determine initial E and M + double sqrome2 = Math.sqrt(1.0 - this.e * this.e); + double cta = Math.cos(this.ta); + double sta = Math.sin(this.ta); + double sine0 = (sqrome2 * sta) / (1.0 + this.e * cta); + double cose0 = (this.e + cta) / (1.0 + this.e * cta); + double e0 = Math.atan2(sine0, cose0); + + double ma = e0 - this.e * Math.sin(e0); + + // determine sqrt(1+e/1-e) + + //double q = Math.sqrt((1.0 + this.e) / (1.0 - this.e)); + + // initialize t + + double t = t0; + + if (print_switch) + { + temp = this.randv(); + pr.print(t, temp); + } + + while (t < tf) + { + ma = ma + n * dt; + double ea = solveKepler(ma, this.e); + + double sinE = Math.sin(ea); + double cosE = Math.cos(ea); + double den = 1.0 - this.e * cosE; + + double sinv = (sqrome2 * sinE) / den; + double cosv = (cosE - this.e) / den; + + this.ta = Math.atan2(sinv, cosv); + if (this.ta < 0.0) + { + this.ta = this.ta + 2.0 * Constants.pi; + } + + t = t + dt; + + temp = this.randv(); + this.rv = new VectorN(temp); + + if (print_switch) + { + pr.print(t, temp); + } + + if ((t + dt) > tf) + { + dt = tf - t; + } + + } + } + + public void propagate(double t0, double tf, Printable pr, boolean print_switch, double steps) + { + double[] temp = new double[6]; + + this.steps=steps; + + // Determine step size + double n = this.meanMotion(); + double period = this.period(); + double dt = period / steps; + if ((t0 + dt) > tf) // check to see if we're going past tf + { + dt = tf - t0; + } + + // determine initial E and M + double sqrome2 = Math.sqrt(1.0 - this.e * this.e); + double cta = Math.cos(this.ta); + double sta = Math.sin(this.ta); + double sine0 = (sqrome2 * sta) / (1.0 + this.e * cta); + double cose0 = (this.e + cta) / (1.0 + this.e * cta); + double e0 = Math.atan2(sine0, cose0); + + double ma = e0 - this.e * Math.sin(e0); + + // determine sqrt(1+e/1-e) + + //double q = Math.sqrt((1.0 + this.e) / (1.0 - this.e)); + + // initialize t + + double t = t0; + + if (print_switch) + { + temp = this.randv(); + pr.print(t, temp); + } + + while (t < tf) + { + ma = ma + n * dt; + double ea = solveKepler(ma, this.e); + + double sinE = Math.sin(ea); + double cosE = Math.cos(ea); + double den = 1.0 - this.e * cosE; + + double sinv = (sqrome2 * sinE) / den; + double cosv = (cosE - this.e) / den; + + this.ta = Math.atan2(sinv, cosv); + if (this.ta < 0.0) + { + this.ta = this.ta + 2.0 * Constants.pi; + } + + t = t + dt; + + temp = this.randv(); + this.rv = new VectorN(temp); + + if (print_switch) + { + pr.print(t, temp); + } + + if ((t + dt) > tf) + { + dt = tf - t; + } + + } + } + + /** Propagate a TwoBody orbit from t0 to tf using Kepler's equation. + * @param t0 Initial time in s. + * @param tf Final time in s. + */ + public void propagate(double t0, double tf) + { + double[] temp = new double[6]; + + // Determine step size + double n = this.meanMotion(); + double period = this.period(); + double dt = period / steps; + if ((t0 + dt) > tf) // check to see if we're going past tf + { + dt = tf - t0; + } + + // determine initial E and M + double sqrome2 = Math.sqrt(1.0 - this.e * this.e); + double cta = Math.cos(this.ta); + double sta = Math.sin(this.ta); + double sine0 = (sqrome2 * sta) / (1.0 + this.e * cta); + double cose0 = (this.e + cta) / (1.0 + this.e * cta); + double e0 = Math.atan2(sine0, cose0); + + double ma = e0 - this.e * Math.sin(e0); + + // determine sqrt(1+e/1-e) + + //double q = Math.sqrt((1.0 + this.e) / (1.0 - this.e)); + + // initialize t + + double t = t0; + + while (t < tf) + { + ma = ma + n * dt; + double ea = solveKepler(ma, this.e); + + double sinE = Math.sin(ea); + double cosE = Math.cos(ea); + double den = 1.0 - this.e * cosE; + + double sinv = (sqrome2 * sinE) / den; + double cosv = (cosE - this.e) / den; + + this.ta = Math.atan2(sinv, cosv); + if (this.ta < 0.0) + { + this.ta = this.ta + 2.0 * Constants.pi; + } + + t = t + dt; + + temp = this.randv(); + this.rv = new VectorN(temp); + + if ((t + dt) > tf) + { + dt = tf - t; + } + + } + } + + /** Compute the derivatives for numerical integration of two body equations + * of motion. + * @return double [] containing the derivatives. + * @param t Time (not used). + * @param y State vector. + */ + + public double[] derivs(double t, double[] y) + { + double out[] = new double[6]; + VectorN r = new VectorN(y[0], y[1], y[2]); + double rmag = r.mag(); + double rcubed = rmag * rmag * rmag; + double muorc = -1.0 * this.mu / rcubed; + + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + out[3] = muorc * y[0]; + out[4] = muorc * y[1]; + out[5] = muorc * y[2]; + + return out; + } + + /** Method for testing the class. + * @param args Input arguments (not used). + */ + + public static void main(String args[]) + { + } + + +} + + diff --git a/src/jat/coreNOSA/cm/cm.java b/src/jat/coreNOSA/cm/cm.java new file mode 100644 index 0000000..6f79c86 --- /dev/null +++ b/src/jat/coreNOSA/cm/cm.java @@ -0,0 +1,570 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm; + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +import java.io.PrintWriter; +import java.util.Calendar; +import java.util.GregorianCalendar; + +/** + * Methods for Celestial Mechanics + * + * @author Tobias Berthold + * Date : 3-29-2002 + * @version 1.0 + */ +public class cm +{ + Constants c = new Constants(); + + // Constants + double AU = 149597870.; + double TU = 58.132440906; + public static double sun_radius = 1391980.; + public static double mercury_radius = 4880.; + public static double mercury_a = 57900000.; // mean semimajor axis of mercury orbit around sun + public static double venus_radius = 6051.8; + public static double venus_a = 108210000.; // mean semimajor axis of mercury orbit around sun + public static double earth_radius = 6378.; + public static double earth_a = 149597892.; // mean semimajor axis of earth orbit around sun + public static double mars_radius = 3397.; + public static double mars_a = 227939186.; // mean semimajor axis of Mars orbit around sun + public static double jupiter_radius = 71492; + public static double jupiter_a = 778412010; + public static double moon_radius = 1738.; + public static double moon_a = 384746.924; + public static double moon_obl = 23.3439; // obliquity of the ecliptic in degrees + public static double moon_period = 2360591.47; // in seconds + + // Variables + public static double mu = 3.986e5; + //static double mu=1.; + + public cm(double mu) + { + cm.mu = mu; + } + + /** + * @author Tobias Berthold + * Simple date class. The Java Calendar class is typically used for storing dates, + * but it has a large overhead for some applications. + * + */ + public static class shortDate + { + public long year, month, day, hour, minute, second, timezone; + } + + /** Orbital elements for the planets from "Explanatory supplement to the Astronomical + * Almanac" by Kenneth Seidelmann + */ + public static final KeplerElements mars_elements = + new KeplerElements(227939186, 0.0934006199474, Rad(1.85061), Rad(49.57854), Rad(336.04084), 355.45332); + public static final KeplerElements earth_moon_elements = + new KeplerElements(149598023, 0.01671022, Rad(0.00005), Rad(-11.26064), Rad(102.94719), 100.46435); + + /** + * Convert Calendar date format to Julian date + * @param c Date in Calendar format as in java.util.Calendar + * @return Julian date + */ + public static double juliandate(Calendar c) + { + shortDate d = new shortDate(); + d.year = c.get(Calendar.YEAR); + d.month = c.get(Calendar.MONTH) + 1; + d.day = c.get(Calendar.DAY_OF_MONTH); + d.hour = c.get(Calendar.HOUR_OF_DAY); + d.minute = c.get(Calendar.MINUTE); + d.second = c.get(Calendar.SECOND); + return juliandate(d); + } + + /** + * Convert the Julian day number to date in internal format + * + * @param JD + */ + public static shortDate Date(double JD) + { + long I, A, B, C, D, E, G; + double decimalday, decimalhour, decimalminute; + shortDate d = new shortDate(); + + double JD1 = JD + 0.5; // Add 0.5 to JD + I = (long)Math.floor(JD1); // set I to integer part + double F = MathUtils.Frac(JD1); // set F to fractional part + if (I > 2299160) + { + A = (long)Math.floor((I - 1867216.25) / 36524.25); // set A to .. + B = I + 1 + A - (long)Math.floor(A / 4); + } else + B = I; + C = B + 1524; + D = (long)Math.floor((C - 122.1) / 365.25); + E = (long)Math.floor(365.25 * D); + G = (long)Math.floor((C - E) / 30.6001); + decimalday = (C - E - (long)Math.floor(30.6001 * G)) + F; + d.day = (long)Math.floor(decimalday); + if (G < 14) + d.month = G - 1; + else + d.month = G - 13; + if (d.month < 3) + d.year = D - 4715; + else + d.year = D - 4716; + + decimalhour = 24 * F; + d.hour = (long)decimalhour; + decimalminute = 60 * (decimalhour - d.hour); + d.minute = (long)decimalminute; + d.second = (long) (60 * (decimalminute - d.minute)); + + return d; + } + + /** + * Convert Julian date to Calendar date format + * Algortihm from book "Practical Astronomy with your Calculator" by Peter Duffett-Smith + * @param JD Julian date + * @return Date in Calendar format as in java.util.Calendar + */ + public static Calendar JD_to_Calendar(double JD) + { + long I, A, B, C, D, E, G; + double decimalday, decimalhour, decimalminute; + shortDate d = new shortDate(); + + double JD1 = JD + 0.5; // Add 0.5 to JD + I = (long)Math.floor(JD1); // set I to integer part + double F = MathUtils.Frac(JD1); // set F to fractional part + if (I > 2299160) + { + A = (long)Math.floor((I - 1867216.25) / 36524.25); // set A to .. + B = I + 1 + A - (long)Math.floor(A / 4); + } else + B = I; + C = B + 1524; + D = (long)Math.floor((C - 122.1) / 365.25); + E = (long)Math.floor(365.25 * D); + G = (long)Math.floor((C - E) / 30.6001); + decimalday = (C - E - (long)Math.floor(30.6001 * G)) + F; + d.day = (long)Math.floor(decimalday); + if (G < 14) + d.month = G - 1; + else + d.month = G - 13; + if (d.month < 3) + d.year = D - 4715; + else + d.year = D - 4716; + + decimalhour = 24 * F; + d.hour = (long)decimalhour; + decimalminute = 60 * (decimalhour - d.hour); + d.minute = (long)decimalminute; + d.second = (long) (60 * (decimalminute - d.minute)); + + Calendar cal = + new GregorianCalendar((int)d.year, (int)d.month - 1, (int)d.day, (int)d.hour, (int)d.minute, (int)d.second); + return cal; + } + + public static double juliandate(shortDate d) + { + return juliandate(d.year, d.month, d.day, d.hour, d.minute, d.second); + } + + public static double juliandate(long year, long month, long day, long hour, long minute, long second) + { + /* after Oct 15th, 1582 */ + long j_year = year; + long j_month = month; + long A, B, C, D; + + if (month == 1 || month == 2) + { + j_month = month + 12; + j_year = year - 1; + } + A = (long) (j_year / 100); + B = 2 - A + (long) (A / 4); + C = (long) (365.25 * j_year); + D = (long) (30.6001 * (j_month + 1)); + return B + C + D + decimal_day(day, hour, minute, second) + 1720994.5; + } + + /* + horizon_coordinates equatorial_to_horizon(double latitude, double declination, double H) + { + double phi,del,Ha; + double altemp1,altemp2,aztemp1,aztemp2,aztemp3; + phi=deg_to_rad(latitude); + del=deg_to_rad(declination); + Ha=deg_to_rad(H*15); + + + hc=new horizon_coordinates(); + //hc.azimuth=java.lang.Math.sin(declination); + //hc.azimuth=Math.sin(del)*Math.sin(phi)+Math.cos(del)*Math.cos(phi)*Math.cos(Ha); + //hc.altitude=rad_to_deg(Math.asin(hc.azimuth)); + altemp1=Math.sin(del)*Math.sin(phi)+Math.cos(del)*Math.cos(phi)*Math.cos(Ha); + altemp2=Math.asin(altemp1); + hc.altitude=rad_to_deg(altemp2); + aztemp1=(Math.sin(del)-Math.sin(phi)*altemp1)/(Math.cos(phi)*Math.cos(altemp2)); + aztemp2=rad_to_deg(Math.acos(aztemp1)); + if(Math.sin(Ha)<0) + aztemp3=aztemp2; + else + aztemp3=360-aztemp2; + hc.azimuth=aztemp3; + + return hc; + } + */ + //horizon_coordinates hc=new horizon_coordinates(); + + public static double hour_angle(double LST, double RA) + { + return get_range(LST - RA); + } + + public static double GST_decimal( + long year, + long month, + long day, + long hour, + long minute, + long second, + long timezone) + { + double S, T, T0, UT1, GST; + + S = juliandate(year, month, day, 0, 0, 0) - 2451545.0; + T = S / 36525; + T0 = get_range(6.697374558 + 2400.051336 * T + 0.000025862 * T * T); + UT1 = UT_decimal(hour, minute, second, timezone) * 1.002737909; + GST = get_range(T0 + UT1); + return GST; + } + + public static double LST_decimal( + long year, + long month, + long day, + long hour, + long minute, + long second, + double latitude, + double longitude, + long timezone) + { + + double LST; + + LST = GST_decimal(year, month, day, hour, minute, second, timezone) + longitude / 15; + + return LST; + } + + public static double decimal_day(long day, long hour, long minute, long second) + { + double temp = day + decimal_hour(hour, minute, second) / 24; + return temp; + } + + public static double get_range(double number) + { + double factor = java.lang.Math.abs((long)number / 24); + if (number > 24) + number = number - 24 * factor; + if (number < 0) + number = number + 24 * (factor + 1); + return number; + } + + public static double decimal_hour(long hour, long minute, long second) + { + double temp = (double)hour + (double)minute / 60 + (double)second / 3600; + return temp; + } + + public static double UT_decimal(long hour, long minute, long second, long timezone) + { + return get_range(decimal_hour(hour - timezone, minute, second)); + } + + public static Matrix e(double[] x_) // Eccentricity vector + { + Matrix e = new Matrix(3, 1); + double x = x_[0], y = x_[1], z = x_[2], vx = x_[3], vy = x_[4], vz = x_[5]; + double r = Math.sqrt(x * x + y * y + z * z); + + e.set(0, 0, -x / r + (vy * vy * x + vz * vz * x - vx * vy * y - vx * vz * z) / mu); + e.set(1, 0, -y / r + (-vx * vy * x + vx * vx * y + vz * vz * y - vy * vz * z) / mu); + e.set(2, 0, -z / r + (-vx * vz * x - vy * vz * y + vx * vx * z + vy * vy * z) / mu); + + return e; + } + + /** + * Eccentricity + * + * @param r_ Position vector + * @param v_ Velocity vector + */ + public static Matrix e(Matrix r_, Matrix v_) // Eccentricity vector + { + Matrix e = new Matrix(3, 1); + double x = r_.get(0, 0), y = r_.get(1, 0), z = r_.get(2, 0); + double vx = v_.get(0, 0), vy = v_.get(1, 0), vz = v_.get(2, 0); + double r = Math.sqrt(x * x + y * y + z * z); + + e.set(0, 0, -x / r + (vy * vy * x + vz * vz * x - vx * vy * y - vx * vz * z) / mu); + e.set(1, 0, -y / r + (-vx * vy * x + vx * vx * y + vz * vz * y - vy * vz * z) / mu); + e.set(2, 0, -z / r + (-vx * vz * x - vy * vz * y + vx * vx * z + vy * vy * z) / mu); + + return e; + } + + public static Matrix h(Matrix r_, Matrix v_) // Angular momentum vector + { + Matrix h = new Matrix(3, 1); + double x = r_.get(0, 0), y = r_.get(1, 0), z = r_.get(2, 0); + double vx = v_.get(0, 0), vy = v_.get(1, 0), vz = v_.get(2, 0); + + h.set(0, 0, vz * y - vy * z); + h.set(1, 0, -vz * x + vx * z); + h.set(2, 0, vy * x - vx * y); + + return h; + } + + public static Matrix h(double[] x_) // Angular momentum vector + { + Matrix h = new Matrix(3, 1); + double x = x_[0], y = x_[1], z = x_[2], vx = x_[3], vy = x_[4], vz = x_[5]; + + h.set(0, 0, vz * y - vy * z); + h.set(1, 0, -vz * x + vx * z); + h.set(2, 0, vy * x - vx * y); + + return h; + } + + public static double p(double a, double e) // Semilatus Rectum + { + return a * (1 - e * e); + } + + public static double Degree(double Rad) // radians -> degrees + { + return Rad * 180. / Math.PI; + } + + /** + * Convert radians to degrees + * + * @param Degree + */ + public static double Rad(double Degree) // degrees -> radians + { + return Degree * Math.PI / 180.; + } + + public static Matrix Rot1(double angle) // Rotation matrix about x-axis + { + Matrix Rot1 = new Matrix(3, 3); + Rot1.set(0, 0, 1.); + Rot1.set(1, 0, 0.); + Rot1.set(2, 0, 0.); + Rot1.set(0, 1, 0.); + Rot1.set(1, 1, Math.cos(angle)); + Rot1.set(2, 1, -Math.sin(angle)); + Rot1.set(0, 2, 0.); + Rot1.set(1, 2, Math.sin(angle)); + Rot1.set(2, 2, Math.cos(angle)); + return Rot1; + } + + public static Matrix Rot3(double angle) // Rotation matrix about z-axis + { + Matrix Rot3 = new Matrix(3, 3); + Rot3.set(0, 0, Math.cos(angle)); + Rot3.set(1, 0, -Math.sin(angle)); + Rot3.set(2, 0, 0.); + Rot3.set(0, 1, Math.sin(angle)); + Rot3.set(1, 1, Math.cos(angle)); + Rot3.set(2, 1, 0.); + Rot3.set(0, 2, 0.); + Rot3.set(1, 2, 0.); + Rot3.set(2, 2, 1.); + return Rot3; + } + + public static Matrix r_from_el(double a, double e, double i, double Om, double om, double tau) + { + Matrix r_pqw = new Matrix(3, 1); + double p = p(a, e); + r_pqw.set(0, 0, p * Math.cos(tau) / (1 + e * Math.cos(tau))); + r_pqw.set(1, 0, p * Math.sin(tau) / (1 + e * Math.cos(tau))); + r_pqw.set(2, 0, 0.); + + Matrix r_ijk = Rot3(-Om).times(Rot1(-i).times(Rot3(-om).times(r_pqw))); + + return r_ijk; + } + + public static Matrix v_from_el(double a, double e, double i, double Om, double om, double tau) + { + Matrix v_pqw = new Matrix(3, 1); + double p = p(a, e); + v_pqw.set(0, 0, -Math.sqrt(mu / p) * Math.sin(tau)); + v_pqw.set(1, 0, Math.sqrt(mu / p) * (e + Math.cos(tau))); + v_pqw.set(2, 0, 0.); + //myutil.print_Matrix(v_pqw,"v_pqw"); + + Matrix v_ijk = Rot3(-Om).times(Rot1(-i).times(Rot3(-om).times(v_pqw))); + + return v_ijk; + } + + public static Matrix r_from_el(Matrix orbit_el) + { + double a = orbit_el.get(0, 0), e = orbit_el.get(1, 0), i = orbit_el.get(2, 0); + double Om = orbit_el.get(3, 0), om = orbit_el.get(4, 0), tau = orbit_el.get(5, 0); + Matrix r_pqw = new Matrix(3, 1); + double p = p(a, e); + r_pqw.set(0, 0, p * Math.cos(tau) / (1 + e * Math.cos(tau))); + r_pqw.set(1, 0, p * Math.sin(tau) / (1 + e * Math.cos(tau))); + r_pqw.set(2, 0, 0.); + + Matrix r_ijk = Rot3(-Om).times(Rot1(-i).times(Rot3(-om).times(r_pqw))); + + return r_ijk; + } + + public static Matrix v_from_el(Matrix orbit_el) + { + double a = orbit_el.get(0, 0), e = orbit_el.get(1, 0), i = orbit_el.get(2, 0); + double Om = orbit_el.get(3, 0), om = orbit_el.get(4, 0), tau = orbit_el.get(5, 0); + Matrix v_pqw = new Matrix(3, 1); + double p = p(a, e); + v_pqw.set(0, 0, -Math.sqrt(mu / p) * Math.sin(tau)); + v_pqw.set(1, 0, Math.sqrt(mu / p) * (e + Math.cos(tau))); + v_pqw.set(2, 0, 0.); + //myutil.print_Matrix(v_pqw,"v_pqw"); + + Matrix v_ijk = Rot3(-Om).times(Rot1(-i).times(Rot3(-om).times(v_pqw))); + + return v_ijk; + } + + public static void print_orbit(Matrix orbit_el, PrintWriter p_out, int steps) + { + double a = orbit_el.get(0, 0), e = orbit_el.get(1, 0), i = orbit_el.get(2, 0); + double Om = orbit_el.get(3, 0), om = orbit_el.get(4, 0); + double tau, delta_tau = 360. / steps; + Matrix r; + + //System.out.println("x y z "); + for (tau = 0.; tau < 361; tau += delta_tau) + { + r = r_from_el(a, e, i, Om, om, Rad(tau)); + p_out.println("" + r.get(0, 0) + " " + r.get(1, 0) + " " + r.get(2, 0)); + } + } + + public static void print_orbit(double a, double e, double i, double Om, double om, PrintWriter p_out, int steps) + { + double tau, delta_tau = 360. / steps; + Matrix r; + + //System.out.println("x y z "); + for (tau = 0.; tau < 361; tau += delta_tau) + { + r = r_from_el(a, e, i, Om, om, Rad(tau)); + p_out.println("" + r.get(0, 0) + " " + r.get(1, 0) + " " + r.get(2, 0)); + } + } + +} + +// Example from Vallado +/* +r_ijk=cm.r_from_el(5.664141370600592,0.83285,cm.Rad(87.87),cm.Rad(227.89),cm.Rad(53.38),cm.Rad(92.335)); +v_ijk=cm.v_from_el(5.664141370600592,0.83285,cm.Rad(87.87),cm.Rad(227.89),cm.Rad(53.38),cm.Rad(92.335)); +myutil.print_Matrix(r_ijk,"r_ijk"); +myutil.print_Matrix(v_ijk,"v_ijk"); +*/ +/* +long RA_second; +long RA_minute; +long RA_hour; +double declination; +double RA; +double H; +double longitude; +double latitude; +double LST; +double GST; +double JD; +long timezone; +double UT; +*/ +//long local_day,local_month,local_year,local_hour,local_minute,local_second; +/* + // Mars Polar Lander + jultime_depart = cm.juliandate(1999,1,3,12,0,0); + jultime_arrive = cm.juliandate(1999,12,3,12,0,0); + // Mars Climate Orbiter + jultime_depart = cm.juliandate(1998,12,11,12,0,0); + jultime_arrive = cm.juliandate(1999,9,23,12,0,0); + // Mars Observer + jultime_depart = cm.juliandate(1992,9,16,12,0,0); + jultime_arrive = cm.juliandate(1993,8,4,12,0,0); + // Mars Global Surveyor + jultime_depart = cm.juliandate(1996,11,6,12,0,0); + jultime_arrive = cm.juliandate(1997,9,11,12,0,0); +*/ +/* + x0[7]=1.7; + x0[8]=-489.; + x0[9]=0.015; + x0[10]=14.17; + x0[11]=-56.8; + x0[12]=81.07; + x0[13]=1.; // lm +*/ +/* + x0[7]=-2; // lx + x0[8]=2; // ly + x0[9]=1; // lz + x0[10]=4; // lvx + x0[11]=5; // lvy + x0[12]=6; // lvz + x0[13]=-19.890212800451618; // lm +*/ \ No newline at end of file diff --git a/src/jat/coreNOSA/cm/eom/TwoBodyCSI.java b/src/jat/coreNOSA/cm/eom/TwoBodyCSI.java new file mode 100644 index 0000000..e8a00c8 --- /dev/null +++ b/src/jat/coreNOSA/cm/eom/TwoBodyCSI.java @@ -0,0 +1,165 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm.eom; + +import jat.coreNOSA.algorithm.VectorTimeFunction; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.KeplerElements; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Equations of motion for a powered spacecraft with constant specific impulse + * in the force field of the two-body problem + * + * @author Tobias Berthold + * @version 1.0 + */ +public class TwoBodyCSI extends TwoBody implements Derivatives /*, Printable*/ +{ + int n = 7; + double T; // Thrust magnitude (parameter but always max when on) + double Isp; // Specific Impulse + double c; // Exhaust velocity + double g0 = 0.00981; + //double b=-T/c; + VectorTimeFunction u; // thrust direction + public VectorN rvm; // vector containing position, velocity, and mass + + /** Create the equations of motion for a spacecraft with a constant specific + * impulse engine in a two-body force field. The initial state of the spacecraft + * is given by a state on a two-body orbit. The thrust direction u is a callback + * function that the user must implement. + * @param k Orbital elements of the initial state + * @param mu + * @param m initial mass in kg + * @param u thrust direction at a given time + * @param T maximum thrust magnitude in kg*m/s^2 + * @param Isp Specific impulse in seconds + */ + public TwoBodyCSI(KeplerElements k, double mu, double m, VectorTimeFunction u, double T, double Isp) + { + super(mu, k); + this.u = u; + this.Isp = Isp; + this.c = Isp * g0; + this.T = T; + rvm = new VectorN(7); + rvm.x[0] = rv.x[0]; + rvm.x[1] = rv.x[1]; + rvm.x[2] = rv.x[2]; + rvm.x[3] = rv.x[3]; + rvm.x[4] = rv.x[4]; + rvm.x[5] = rv.x[5]; + rvm.x[6] = m; + } + + public double[] derivs(double t, double[] x_) + { + double x = x_[0], y = x_[1], z = x_[2]; + double vx = x_[3], vy = x_[4], vz = x_[5]; + double m = x_[6]; + double dxdt[] = new double[n]; + double ux, uy, uz; // components of thrust direction vector + double r = Math.sqrt(x * x + y * y + z * z); + double rcubed = r * r * r; + double muorc = -1.0 * this.mu / rcubed; + + // Terms + //r = Math.sqrt(x * x + y * y + z * z); + //r3 = r * r * r; + //T = Math.sqrt(Tx * Tx + Ty * Ty + Tz * Tz); + + // get thrust direction for given state and time + VectorN nxf = new VectorN(x_); + VectorN cf = u.evaluate(nxf, t); + //cf.print(); + ux = cf.x[0]; + uy = cf.x[1]; + uz = cf.x[2]; + + // Derivatives + dxdt[0] = vx; + dxdt[1] = vy; + dxdt[2] = vz; + dxdt[3] = muorc * x + T/m * ux ; + dxdt[4] = muorc * y + T/m * uy ; + dxdt[5] = muorc * z + T/m * uz ; + dxdt[6] = -T / c; + + return dxdt; + } +} + +/* +public double[] integrate_TCT(double[] x0, double t_0, double t_s1, double t_s2, double t, double T) +{ + double[] x; + + // Thrust arc + if ( t<=t_s1 ) + { + x=integrate(x0, t_0, t, T); + } + else + { + x=integrate(x0, t_0, t_s1, T); + // Coast arc + if ( t<=t_s2 ) + x=integrate(x, t_s1, t, 0.); + else + { + x=integrate(x, t_s1, t_s2, 0.); + // Thrust arc + x=integrate(x, t_s2, t, T); + } + } + //myutil.print_Matrix(new Matrix(x,1).transpose(),"state x"); + return x; +} + + +double[] integrate(double[] x0, double t_start, double t_final, double T) +{ + this.T=T; + return integrate(x0, t_start, t_final); +} + +double[] integrate(double[] x0, double t_start, double t_f) +{ + double[] x,tmp_x0=new double[n]; + + myutil.copy(x0, tmp_x0, n); + x=super.integrate(tmp_x0, t_start, t_f); + return x; +} + +public double switching_function(double[] x0, double t_0, double t_s1, double t_s2, double t_s, double T) +{ + double[] x_=integrate_TCT(x0, t_0, t_s1, t_s2, t_s, T); + double x=x_[0],y=x_[1],z=x_[2],vx=x_[3],vy=x_[4],vz=x_[5],m=x_[6]; + double lx=x_[7],ly=x_[8],lz=x_[9],lvx=x_[10],lvy=x_[11],lvz=x_[12],lm=x_[13]; + double lv=Math.sqrt(lvx*lvx+lvy*lvy+lvz*lvz); + double c=Isp*g0; + + return lv/m-lm/c; +} +*/ diff --git a/src/jat/coreNOSA/cm/package.html b/src/jat/coreNOSA/cm/package.html new file mode 100644 index 0000000..a838b1d --- /dev/null +++ b/src/jat/coreNOSA/cm/package.html @@ -0,0 +1,3 @@ + +Celestial mechanics + \ No newline at end of file diff --git a/src/jat/coreNOSA/cm/rendezvous/CW_Guidance.java b/src/jat/coreNOSA/cm/rendezvous/CW_Guidance.java new file mode 100644 index 0000000..bd78e9b --- /dev/null +++ b/src/jat/coreNOSA/cm/rendezvous/CW_Guidance.java @@ -0,0 +1,171 @@ +package jat.coreNOSA.cm.rendezvous; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 26, 2003 + */ + +import jat.coreNOSA.cm.ClohessyWiltshire; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** + *

+ * The CW_Guidance Class provides an rendezvous guidance scheme using the CW and glideslope equations. + * + * @author + * @version 1.0 + */ + +public class CW_Guidance { + + /** List of targets */ + public CW_TargetList tgtList = new CW_TargetList(); + + private ClohessyWiltshire cw; + + private double tburn1; + private double tburn2; + private double tburn3; + + /** array containing burn times */ + public double[] burntimes; + + /** + * Constructor + * @param ref TwoBody object containing the orbit + * @param tcoast the initial coast time + */ + public CW_Guidance(TwoBody ref, double tcoast){ + this.cw = new ClohessyWiltshire(ref); + this.tburn1 = tcoast; + } + + /** + * Compute targets using the glideslope algorithm + * @param mc4 Vector containing the mc4 point + * @param tof time of flight from Ti to MC4 + * @param rbar glideslope initiation point + * @param tof1 time of flight from MC4 to GS1 + * @param rtgt target position + * @param rhoDot0 initial glideslope speed + * @param rhoDotT final safe relative speed + * @param tof2 time of flight from GS1 to dock + * @param n number of glideslope burns + */ + public void computeTargets(VectorN mc4, double tof, VectorN rbar, double tof1, VectorN rtgt, double rhoDot0, double rhoDotT, double tof2, int n){ + this.tburn2 = this.tburn1 + tof; + this.tburn3 = this.tburn2 + tof1; + this.burntimes = new double[n+2]; + burntimes[0] = this.tburn1; + burntimes[1] = this.tburn2; + VectorN rmc4 = mc4.copy(); + CW_Target tgt0 = new CW_Target(this.tburn2, rmc4); + this.tgtList.add(tgt0); + + +// CW_Target tgt0 = new CW_Target(this.tburn2, gs0); +// this.tgtList.add(tgt0); + + // get glideslope initiation point + VectorN r0 = rbar.copy(); + + // set up glideslope targetting + double dt = tof2 / n; + VectorN rhoZero = r0.minus(rtgt); + double rho_0 = rhoZero.mag(); + double rho_T = rtgt.mag(); + VectorN u = rhoZero.unitVector(); + double a = (rhoDot0 - rhoDotT)/rho_0; + + // get state transition matrix + Matrix phi = this.cw.phiMatrix(dt); + Matrix M = phi.getMatrix(0, 2, 0, 2); + Matrix N = phi.getMatrix(0, 2, 3, 5); + Matrix S = phi.getMatrix(3, 5, 0, 2); + Matrix T = phi.getMatrix(3, 5, 3, 5); + Matrix Ninv = N.inverse(); + + int i = 2; + // glideslope targetting + for (int m = 0; m < n; m++){ + double tm = m * dt; + double eatm = Math.exp(a*tm); + double rho = rho_0 * eatm + (rhoDotT/a)*(eatm - 1.0); + VectorN temp1 = u.times(rho); + VectorN rmvec = rtgt.plus(temp1); + double tburn = this.tburn3 + tm; + burntimes[i] = tburn; + i = i + 1; + CW_Target tgt = new CW_Target(tburn, rmvec); + this.tgtList.add(tgt); + } + double tfinal = this.tburn3 + tof2; + CW_Target tgt = new CW_Target(tfinal, rtgt); + this.tgtList.add(tgt); + } + + /** + * Compute the delta-v + * @param t time + * @param r position vector + * @param v velocity vector + * @param rref reference (for CW frame) position + * @param vref reference (for CW frame) velocity + * @param index burn index + */ + public VectorN computeBurn(double t, VectorN r, VectorN v, VectorN rref, VectorN vref, int index){ + CW_Target tgt = this.tgtList.get(index); + RSW_Frame rsw = new RSW_Frame(rref, vref); + VectorN dr_eci = r.minus(rref); + VectorN dv_eci = v.minus(vref); + VectorN drv = rsw.transform(dr_eci, dv_eci); + VectorN dr0 = drv.get(0, 3); + VectorN dv0 = drv.get(3, 3); + double tof = tgt.t - t; + VectorN drtgt = tgt.rtgt; + VectorN out = cw.intercept(tof, dr0, dv0, drtgt); + return out; + } + + public static void main(String[] args){ + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + CW_Guidance guid = new CW_Guidance(sat, 1000.0); + + VectorN rtgt = new VectorN(3); + VectorN gs0 = new VectorN(0.0, -183.0, 0.0); +// VectorN gs0 = new VectorN(-183.0, 0.0, 0.0); + VectorN mc4 = new VectorN(-549.0, -274.0, 0.0); + double tof = 4620.0; + double tof1 = 780.0; + double tof2 = 3000.0; + double rhoDot0 = -0.2; + double rhoDotT = 0.0; + guid.computeTargets(mc4, tof, gs0, tof1, rtgt, rhoDot0, rhoDotT, tof2, 4); + guid.tgtList.sendToFile("C:\\Jat\\jat\\output\\vbar_targets.txt"); + } + + + +} diff --git a/src/jat/coreNOSA/cm/rendezvous/CW_Target.java b/src/jat/coreNOSA/cm/rendezvous/CW_Target.java new file mode 100644 index 0000000..cefaae4 --- /dev/null +++ b/src/jat/coreNOSA/cm/rendezvous/CW_Target.java @@ -0,0 +1,60 @@ +package jat.coreNOSA.cm.rendezvous; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 26, 2003 + */ + +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.Serializable; + +/** + *

+ * The CW_Target Class represents a single guidance target. + * + * @author + * @version 1.0 + */ + +public class CW_Target implements Serializable { + /** + * + */ + private static final long serialVersionUID = -8824206007429439739L; + + /** Epoch time of measurement in sim time (seconds) */ + public double t; + + /** target vector */ + public VectorN rtgt; + + + /** Constructor + * @param tsim Time of the measurement in sim time (sec). + * @param tgt target position + */ + public CW_Target(double tsim, VectorN tgt) { + this.t = tsim; + this.rtgt = tgt; + } + + +} diff --git a/src/jat/coreNOSA/cm/rendezvous/CW_TargetList.java b/src/jat/coreNOSA/cm/rendezvous/CW_TargetList.java new file mode 100644 index 0000000..fb1b8c4 --- /dev/null +++ b/src/jat/coreNOSA/cm/rendezvous/CW_TargetList.java @@ -0,0 +1,203 @@ +package jat.coreNOSA.cm.rendezvous; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 26, 2003 + */ + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** + *

+ * The CW_Target Class contains a list of guidance targets. + * + * @author + * @version 1.0 + */ +public class CW_TargetList { + private ArrayList list = new ArrayList(); + + /** Constructor + */ + public CW_TargetList() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public CW_TargetList(String filename) { + this.readFromFile(filename); + } + + /** Add a DeltaV to the collection + * @param dv DeltaV object + */ + public void add(CW_Target tgt) { + list.add(tgt); + } + + /** Get a GPS_Measurement out of the collection + * @param index Index of the measurement + * @return the GPS Measurement + */ + public CW_Target get(int index) { + return (CW_Target) list.get(index); + } + + /** Return the size of the list + * @return the number of measurements in the list + */ + public int size() { + return list.size(); + } + + /** Returns the accelerometer measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public VectorN rtgt(int index) { + CW_Target tgt = this.get(index); + return tgt.rtgt; + } + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time(int index) { + CW_Target tgt = this.get(index); + return tgt.t; + } + + /** + * Returns whether there is more data + * @param index measurement index + * @return true if there is more data to be read + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size())) { + out = true; + } + return out; + } + + /** Read the measurement data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 4) { + System.out.println( + "CW_TargetList.readFromFile: Number of columns do not match"); + System.exit(-99); + } + + double[] temp = new double[4]; + for (int i = 0; i < 4; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token); + } + VectorN rtgt = new VectorN(temp[1], temp[2], temp[3]); + CW_Target tgt = new CW_Target(temp[0], rtgt); + this.add(tgt); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + /** Write the measurement data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + LinePrinter lp = new LinePrinter(file); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + CW_Target tgt = this.get(index); + VectorN rtgt = tgt.rtgt; + lp.print(tgt.t, rtgt.x); + index = index + 1; + } + lp.close(); + } + + /** Recover a serialized DeltaV_List File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static CW_TargetList recover(String filename) { + CW_TargetList out = new CW_TargetList(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (CW_TargetList) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Write the trajectory out to a DeltaV File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + + +} diff --git a/src/jat/coreNOSA/cm/rendezvous/DeltaV_Generator.java b/src/jat/coreNOSA/cm/rendezvous/DeltaV_Generator.java new file mode 100644 index 0000000..e4d91b8 --- /dev/null +++ b/src/jat/coreNOSA/cm/rendezvous/DeltaV_Generator.java @@ -0,0 +1,337 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.cm.rendezvous; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.DeltaV; +import jat.coreNOSA.cm.DeltaV_List; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.JGM3DragEOM; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; +/** + *

+ * The DeltaV_Generator Class provides an example of how to generate a rendezvous trajectory + * using CW_Guidance. + * + * @author + * @version 1.0 + */ + +public class DeltaV_Generator { + + /** Chaser trajectory */ + public Trajectory chaser = new Trajectory(); + + /** Target trajectory */ + public Trajectory iss = new Trajectory(); + + private JGM3DragEOM chaserEOM = new JGM3DragEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + + private JGM3DragEOM issEOM = new JGM3DragEOM(iss, 51969.0, 128990.0, 640.7, 2.35); + + private String title; + + private String chaserFile; + + private String issFile; + + private RungeKutta8 rk8 = new RungeKutta8(1.0); + + /** Guidance object */ + public CW_Guidance guid; + + /** Delta V List */ + public DeltaV_List dvlist = new DeltaV_List(); + + private String dvfile; + + +// private HarrisPriester hp = new HarrisPriester(); // earth atmosphere model +// private static final double t_mjd0 = 51969.0; +// private double mass = 104328.0; +// private double area = 454.4; +// private double cd = 2.0; + + private int dv_index = 0; + + /** + * Contructor + * @param t title + * @param file1 Chaser trajectory file + * @param file2 Target trajectory file + * @param file3 output file + */ + public DeltaV_Generator(String t, String file1, String file2, String file3) { + this.chaserFile = file1; + this.issFile = file2; + this.title = t; + this.dvfile = file3; + } + + +// private double currentMJD (double t){ +// double out = this.t_mjd0 + t/86400.0; +// return out; +// } + + + /** + * Generate the rendezvous trajectory + * @param t0 initial time + * @param tf final time + * @param x0 initial chaser state vector + * @param xref0 initial target state vector + */ + public void generate (double t0, double tf, VectorN x0, VectorN xref0) { + + // propagate the orbit + int neqns = x0.length; + + double dt = 1.0; + double t = t0; + double[] newchaser = new double[neqns]; + double[] oldchaser = new double[neqns]; + double[] newiss = new double[neqns]; + double[] oldiss = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = x0.x[i]; + oldiss[i] = xref0.x[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + + // main integration loop + + while (t < tf) { + + VectorN dv = new VectorN(3); + + // check next burn time + if (this.dv_index < guid.burntimes.length) { + double tburn = guid.burntimes[this.dv_index]; + if (t == tburn) { + VectorN r = new VectorN(oldchaser[0], oldchaser[1], oldchaser[2]); + VectorN v = new VectorN(oldchaser[3], oldchaser[4], oldchaser[5]); + Quaternion q = new Quaternion(oldchaser[6], oldchaser[7], oldchaser[8], oldchaser[9]); + VectorN rref = new VectorN(oldiss[0], oldiss[1], oldiss[2]); + VectorN vref = new VectorN(oldiss[3], oldiss[4], oldiss[5]); + + dv = guid.computeBurn(t, r, v, rref, vref, this.dv_index); +// Matrix rsw2eci = q.quat2DCM(); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix rsw2eci = rsw.ECI2RSW().transpose(); + VectorN dv_eci = rsw2eci.times(dv); + v = v.plus(dv_eci); + + DeltaV deltav = new DeltaV(t, dv); + this.dvlist.add(deltav); + + System.out.println(t+" implementing burn: "+dv); + for (int i = 0; i < 3; i++){ + oldchaser[i+3] = v.x[i]; + } + this.dv_index = this.dv_index + 1; + } + } + + newchaser = rk8.step(t, oldchaser, chaserEOM); + newiss = rk8.step(t, oldiss, issEOM); + + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = newchaser[i]; + oldiss[i] = newiss[i]; + } + + t = t + dt; + +// if (MathUtils.Frac(t) == 0.0){ + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); +// System.out.println(t+"\t"+oldstate[0]+"\t"+oldstate[1]+"\t"+oldstate[2]); +// } + if ((t + dt) > tf) { + dt = tf - t; + } + + } + + + // set the attributes + chaser.setTitle(this.title); + chaser.setCentralBody(CentralBody.EARTH); + chaser.setCoordinateSystem(CoordinateSystem.INERTIAL); + chaser.setDistanceUnits(DistanceUnits.METERS); + chaser.setEpoch(2001, 3, 1, 0, 0, 0.0); + chaser.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot","q1","q2","q3","q4","fx","fy","fz"}; + chaser.setLabels(labels); + + iss.setTitle(this.title); + iss.setCentralBody(CentralBody.EARTH); + iss.setCoordinateSystem(CoordinateSystem.INERTIAL); + iss.setDistanceUnits(DistanceUnits.METERS); + iss.setEpoch(2001, 3, 1, 0, 0, 0.0); + iss.setTimeUnits(TimeUnits.SECONDS); + iss.setLabels(labels); + + + // Serialize the trajectory + chaser.serialize(this.chaserFile); + iss.serialize(this.issFile); + System.out.println("trajectory serialized"); + dvlist.serialize(this.dvfile); + + } + + + /** Initialize the chaser. + */ + public VectorN initChaser () { + + // create a TwoBody orbit using orbit elements +// TwoBody sat = +// new TwoBody(Constants.GM_Earth, 6765500.0, 0.001, 51.8, 0.0, 0.0, 359.8729677); + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); +// Matrix Cb2i = sat.RSW2ECI(); + + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + VectorN omega = rsw.omega(); + + // place it 15 km behind +// VectorN dr = new VectorN(0.0, -15000.0, 0.0); +// VectorN dr_eci = Cb2i.times(dr); +// VectorN dv_eci = omega.crossProduct(dr); +// r = r.plus(dr_eci); +// v = v.plus(dv_eci); + + VectorN rv = new VectorN(r, v); + + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + /** + * Initialize the target + */ + public VectorN initISS () { + + // create a TwoBody orbit using orbit elements + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + this.guid = new CW_Guidance(sat, 1000.0); + + return x0; + } + + + public static void main(String[] args){ + + // set up the generator + String title = "STS/ISS Rendezvous Trajectory"; + String file1 = "C:\\Jat\\jat\\traj\\rvtraj_vbar.jat"; + String file2 = "C:\\Jat\\jat\\traj\\isstraj_vbar.jat"; + String file3 = "C:\\Jat\\jat\\output\\vbar_delta_v.jat"; + + DeltaV_Generator x = new DeltaV_Generator(title, file1, file2, file3); + VectorN x0 = x.initChaser(); + VectorN xref0 = x.initISS(); + + // set up guidance + VectorN rtgt = new VectorN(3); + + // vbar case + VectorN gs0 = new VectorN(0.0, -183.0, 0.0); + VectorN mc4 = new VectorN(3); + mc4.set(0, 0.0); + mc4.set(1, -200.0); + + //rbar case +// VectorN gs0 = new VectorN(-183.0, 0.0, 0.0); +// VectorN mc4 = new VectorN(-549.0, -274.0, 0.0); + + + double tof = 4620.0; + double tof1 = 780.0; + double tof2 = 3000.0; + double rhoDot0 = -0.2; + double rhoDotT = 0.0; + x.guid.computeTargets(mc4, tof, gs0, tof1, rtgt, rhoDot0, rhoDotT, tof2, 4); + x.guid.tgtList.sendToFile("C:\\Jat\\jat\\output\\vbar_targets.txt"); + + double t0 = 0.0; +// double tf = 5579.0; + double tf = 9400.0; + x.generate(t0, tf, x0, xref0); + System.out.println("Done Generating"); + + DeltaV_List dvl = DeltaV_List.recover("C:\\Jat\\jat\\output\\vbar_delta_v.jat"); + System.out.println("Printing Recovered DeltaV's"); + int index = 0; + for(int i = 0; i < dvl.size(); i++) { + double t = dvl.time(index); + VectorN delv = dvl.dv(index); + System.out.println("deltav: "+index+" "+t+" "+delv); + index = index + 1; + } + + } +} diff --git a/src/jat/coreNOSA/constants/IERS_1996.java b/src/jat/coreNOSA/constants/IERS_1996.java new file mode 100644 index 0000000..a72a607 --- /dev/null +++ b/src/jat/coreNOSA/constants/IERS_1996.java @@ -0,0 +1,35 @@ +package jat.coreNOSA.constants; + +public interface IERS_1996 { + /** Speed of Light in m/s + */ + public static final double c = 299792458.0; + /** Obliquity of the Ecliptic at J2000 in arcsec + */ + public static final double e0 = 84381.412; + /** Mean Earth Radius in m + */ + public final static double R_Earth = 6378136.49; + /** Earth gravity constant in m^3/s^2 + */ + public static final double GM_Earth = 3.986004418E14; + /** Earth's rotation rate in rad/s. + */ + public static final double w_Earth = 7.292115E-05; + + public static final double J2_Earth = 1.0826359E-03; + /** Flattening factor of earth + */ + public final static double f_Earth = 1.0/298.25642; + /** Earth mean equatorial gravity in m/s^2 + */ + public static final double g_Earth = 9.780327; + /** Sun gravity constant in m^3/s^2 + */ + public static final double GM_Sun = 1.327124E20; + /** Moon - Earth mass ratio + */ + public static final double Moon_Earth_Ratio = 0.0123000345; + + +} diff --git a/src/jat/coreNOSA/constants/WGS84.java b/src/jat/coreNOSA/constants/WGS84.java new file mode 100644 index 0000000..6e6e7c6 --- /dev/null +++ b/src/jat/coreNOSA/constants/WGS84.java @@ -0,0 +1,18 @@ +package jat.coreNOSA.constants; + +public interface WGS84 { + /** Mean Earth Radius in km from WGS-84. + */ + public final static double R_Earth = 6378.137e3; // Radius Earth [m]; WGS-84 + /** Flattening factor of earth from WGS-84 + */ + public final static double f_Earth = 1.0/298.257223563; // Flattening; WGS-84 + /** Earth gravity constant in m^3/s^2 from WGS84 + */ + public final static double GM_Earth = 398600.5e+9; // [m^3/s^2]; WGS-84 + + /** Earth's rotation rate in rad/s. + */ + public final static double omega_Earth = 7.2921151467E-05; // earth rotation rate + +} diff --git a/src/jat/coreNOSA/ephemeris/DE405.java b/src/jat/coreNOSA/ephemeris/DE405.java new file mode 100644 index 0000000..41a6ebc --- /dev/null +++ b/src/jat/coreNOSA/ephemeris/DE405.java @@ -0,0 +1,771 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +/* + +Original comments from Jim Baer: + +This class contains the methods necessary to parse the JPL DE405 ephemeris files +(text versions), and compute the position and velocity of the planets, Moon, and Sun. + +IMPORTANT: In order to use these methods, the user should: +- save this class in a directory of his/her choosing; +- save to the same directory the text versions of the DE405 ephemeris files, +which must be named "ascpxxxx.txt", where xxxx represents the start-year of the +20-year block; +- have at least Java 1.1.8 installed. + +The input is the julian date (jultime) for which the ephemeris is needed. +Note that only julian dates from 2414992.5 to 2524624.5 are supported. +This input must be specified in the "main" method, which contains the call to +"planetary_ephemeris". + +GENERAL IDEA: The "get_ephemeris_coefficients" method reads the ephemeris file +corresponding to the input julian day, and stores the ephemeris coefficients needed +to calculate planetary positions and velocities in the array "ephemeris_coefficients". +The "get_planet_posvel" method calls "get_ephemeris_coefficients" if needed, then +calculates the position and velocity of the specified planet. +The "planetary_ephemeris" method calls "get_planet_posvel" for each planet, and +resolves the position and velocity of the Earth/Moon barycenter and geocentric +Moon into the position and velocity of the Earth and Moon. + +Since the "ephemeris_coefficients" array is declared as an instance variable, its +contents will remain intact, should this code be modified to call "planetary_ephemeris" +more than once. As a result, assuming the julian date of the subsequent call fell +within the same 20-year file as the initial call, there would be no need to reread +the ephemeris file; this would save on i/o time. + +The outputs are the arrays "planet_r" and "planet_rprime", also declared as instance +variables. + +Several key constants and variables follow. As noted, they are configured for DE405; +however, they could be adjusted to use the DE200 ephemeris, whose format is quite +similar. +*/ + +package jat.coreNOSA.ephemeris; + +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.FileReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.util.HashMap; +import java.util.Iterator; +import java.util.Map; + +/** Compute planet positions and velocities from JPL DE405 Ephemerides. + * Except for GEOCENTRIC_MOON and GEOCENTRIC_SUN, all planet positions + * and velocities are relative to the Solar System Barycenter. + * Positions are in km. Velocities are in km/s. All data is relative to + * Earth Mean Equator and Equinox of J2000. + */ +public class DE405 +{ + /* DECLARE CLASS CONSTANTS */ + + // DE405 Body Indices + private int earth = DE405_Body.EARTH.ordinal(); + private int em_bary = DE405_Body.EM_BARY.ordinal(); + private int geo_moon = DE405_Body.GEOCENTRIC_MOON.ordinal(); + private int geo_sun = DE405_Body.GEOCENTRIC_SUN.ordinal(); + private int sun = DE405_Body.SUN.ordinal(); + private int moon = DE405_Body.MOON.ordinal(); + + /* Declare Class Variables */ + + /* Ratio of mass of Earth to mass of Moon */ + private static final double emrat = 81.3005600000000044; + + /* Chebyshev coefficients for the DE405 ephemeris are contained in the files + "ascpxxxx.txt". These files are broken into intervals of length "interval_duration", + in days. */ + private static final int interval_duration = 32; + + /* Each interval contains an interval number, length, start and end + * jultimes, and Chebyshev coefficients for the planets, nutation and + * libration. We keep only the coefficients for planets and libration. */ + private static final int numbers_per_file_interval = 1018; + private static final int numbers_per_kept_interval = 936; + + /* Number planets we track the ephemeris of (including the Sun and Moon). + * Moon's libration gets its own slot and is treated like a planet, too. + */ + private static final int num_planets = 12; + + /* For each planet (and the Moon makes 10, and the Sun makes 11, and the + * Moon's libration makes 12), each interval contains several complete + * sets of coefficients, each covering a fraction of the interval + * duration */ + private static final int number_of_coef_sets_1 = 4; + private static final int number_of_coef_sets_2 = 2; + private static final int number_of_coef_sets_3 = 2; + private static final int number_of_coef_sets_4 = 1; + private static final int number_of_coef_sets_5 = 1; + private static final int number_of_coef_sets_6 = 1; + private static final int number_of_coef_sets_7 = 1; + private static final int number_of_coef_sets_8 = 1; + private static final int number_of_coef_sets_9 = 1; + private static final int number_of_coef_sets_10 = 8; + private static final int number_of_coef_sets_11 = 2; + private static final int number_of_coef_sets_12 = 4; // For Moon libration + + /* Each planet (and the Moon makes 10, and the Sun makes 11, and the + * Moon's libration makes 12) has a different number of Chebyshev + * coefficients used to calculate each component of position + * and velocity. */ + private static final int number_of_coefs_1 = 14; + private static final int number_of_coefs_2 = 10; + private static final int number_of_coefs_3 = 13; + private static final int number_of_coefs_4 = 11; + private static final int number_of_coefs_5 = 8; + private static final int number_of_coefs_6 = 7; + private static final int number_of_coefs_7 = 6; + private static final int number_of_coefs_8 = 6; + private static final int number_of_coefs_9 = 6; + private static final int number_of_coefs_10 = 13; + private static final int number_of_coefs_11 = 11; + private static final int number_of_coefs_12 = 10; // For Moon libration + + /** We statically cache the ephemeris files we read in so + * that lots of instances can use the same data without + * rereading it. We keep a count of how many instances + * are using an ephemeris so we know when it can be + * garbage collected. + */ + private static class CachedEphemeris { + public final String name; + public final double[] data; + public int numUsers = 0; + public CachedEphemeris(String inName, double[] inData) { + name = inName; + data = inData; + } + } + /** The cache. Maps the file name to the cached data. */ + private static Map cachedEphemeris = + (new HashMap()); + + /* DEFINE INSTANCE VARIABLES */ + + /* Define ephemeris dates and coefficients as instance variables */ + CachedEphemeris cached = null; + double[] ephemeris_coefficients = null; + double[] ephemeris_dates = new double[3]; + + /* Define the positions and velocities of the major planets as instance variables. + Note that the first subscript is the planet number, while the second subscript + specifies x, y, or z component. */ + private double[][] planet_r = new double[num_planets+4][4]; + private double[][] planet_rprime = new double[num_planets+4][4]; + + String path; + + public DE405(){ + String filesep = FileUtil.file_separator(); + String directory; + try{ + directory = FileUtil.getClassFilePath("jat.eph","DE405"); + }catch(Exception e){ + System.err.println("Error: Could not read default DE405 path."); + directory = "C:/Code/Jat/jat/eph/"; + } + this.path = directory+filesep+"DE405data"+filesep; + } + + public DE405(String DE405_path) + { + this.path = DE405_path; + } + + private void planetary_ephemeris(double jultime) + { + /* Procedure to calculate the position and velocity at jultime of the major + planets. Note that the planets are enumerated as follows: Mercury = 1, + Venus = 2, Earth-Moon barycenter = 3, Mars = 4, ... , Pluto = 9, + Geocentric Moon = 10, Sun = 11. */ + + int i = 0, j = 0; + + double[] ephemeris_r = new double[4]; + double[] ephemeris_rprime = new double[4]; + + /* Get the ephemeris positions and velocities of each major planet */ + for (i = 1; i <= num_planets; i++) + { + get_planet_posvel(jultime, i, ephemeris_r, ephemeris_rprime); + for (j = 1; j <= 3; j++) + { + planet_r[i][j] = ephemeris_r[j]; + planet_rprime[i][j] = ephemeris_rprime[j]; + } + } + + /* The positions and velocities of the Earth and Moon are found indirectly. + We already have the pos/vel of the Earth-Moon barycenter (i = 3). We have + also calculated planet_r(10,j), a geocentric vector from the Earth to the Moon. + Using the ratio of masses, we get vectors from the Earth-Moon barycenter to the Earth. */ + + for (j = 1; j <= 3; j++) + { + planet_r[earth][j] = planet_r[em_bary][j] - planet_r[geo_moon][j] / (1 + emrat); + planet_rprime[earth][j] = planet_rprime[em_bary][j] - planet_rprime[geo_moon][j] / (1 + emrat); + + // moon position, velocity + planet_r[moon][j] = planet_r[earth][j] + planet_r[geo_moon][j]; + planet_rprime[moon][j] = planet_rprime[earth][j] + planet_rprime[geo_moon][j]; + + // geocentric sun position, velocity + planet_r[geo_sun][j] = planet_r[sun][j] - planet_r[earth][j]; + planet_rprime[geo_sun][j] = planet_rprime[sun][j] - planet_rprime[earth][j]; + } + + } + + private void get_planet_posvel(double jultime, int i, double ephemeris_r[], double ephemeris_rprime[]) + { + /* + Procedure to calculate the position and velocity of planet i, subject to the + JPL DE405 ephemeris. The positions and velocities are calculated using Chebyshev + polynomials, the coefficients of which are stored in the files "ascpxxxx.txt". + The general idea is as follows: First, check to be sure the proper ephemeris + coefficients (corresponding to jultime) are available. Then read the coefficients + corresponding to jultime, and calculate the positions and velocities of the planet. + */ + + int interval = 0, numbers_to_skip = 0, pointer = 0, j = 0, k = 0, subinterval = 0; + + double interval_start_time = 0, subinterval_duration = 0, chebyshev_time = 0; + + double[] position_poly = new double[20]; + double[][] coef = new double[4][20]; + double[] velocity_poly = new double[20]; + + int[] number_of_coef_sets = new int[num_planets+1]; + int[] number_of_coefs = new int[num_planets+1]; + + /* Initialize arrays */ + number_of_coefs[1] = number_of_coefs_1; + number_of_coefs[2] = number_of_coefs_2; + number_of_coefs[3] = number_of_coefs_3; + number_of_coefs[4] = number_of_coefs_4; + number_of_coefs[5] = number_of_coefs_5; + number_of_coefs[6] = number_of_coefs_6; + number_of_coefs[7] = number_of_coefs_7; + number_of_coefs[8] = number_of_coefs_8; + number_of_coefs[9] = number_of_coefs_9; + number_of_coefs[10] = number_of_coefs_10; + number_of_coefs[11] = number_of_coefs_11; + number_of_coefs[12] = number_of_coefs_12; + number_of_coef_sets[1] = number_of_coef_sets_1; + number_of_coef_sets[2] = number_of_coef_sets_2; + number_of_coef_sets[3] = number_of_coef_sets_3; + number_of_coef_sets[4] = number_of_coef_sets_4; + number_of_coef_sets[5] = number_of_coef_sets_5; + number_of_coef_sets[6] = number_of_coef_sets_6; + number_of_coef_sets[7] = number_of_coef_sets_7; + number_of_coef_sets[8] = number_of_coef_sets_8; + number_of_coef_sets[9] = number_of_coef_sets_9; + number_of_coef_sets[10] = number_of_coef_sets_10; + number_of_coef_sets[11] = number_of_coef_sets_11; + number_of_coef_sets[12] = number_of_coef_sets_12; + + /* Begin by determining whether the current ephemeris coefficients are + appropriate for jultime, or if we need to load a new set. */ + if ((jultime < ephemeris_dates[1]) || (jultime > ephemeris_dates[2])) + get_ephemeris_coefficients(jultime); + + interval = (int) (Math.floor((jultime - ephemeris_dates[1]) / interval_duration) + 1); + interval_start_time = (interval - 1) * interval_duration + ephemeris_dates[1]; + subinterval_duration = interval_duration / number_of_coef_sets[i]; + subinterval = (int) (Math.floor((jultime - interval_start_time) / subinterval_duration) + 1); + numbers_to_skip = (interval - 1) * numbers_per_kept_interval; + + /* Starting at the beginning of the coefficient array, skip the first + "numbers_to_skip" coefficients. This puts the pointer on the first piece + of data in the correct interval. */ + pointer = numbers_to_skip + 1; + + /* Skip the coefficients for the first (i-1) planets */ + for (j = 1; j <= (i - 1); j++) + pointer = pointer + 3 * number_of_coef_sets[j] * number_of_coefs[j]; + + /* Skip the next (subinterval - 1)*3*number_of_coefs(i) coefficients */ + pointer = pointer + (subinterval - 1) * 3 * number_of_coefs[i]; + + for (j = 1; j <= 3; j++) + { + for (k = 1; k <= number_of_coefs[i]; k++) + { + /* Read the pointer'th coefficient as the array entry coef[j][k] */ + coef[j][k] = ephemeris_coefficients[pointer]; + pointer = pointer + 1; + } + } + + /* Calculate the chebyshev time within the subinterval, between -1 and +1 */ + chebyshev_time = + 2 * (jultime - ((subinterval - 1) * subinterval_duration + interval_start_time)) / subinterval_duration - 1; + + /* Calculate the Chebyshev position polynomials */ + position_poly[1] = 1; + position_poly[2] = chebyshev_time; + for (j = 3; j <= number_of_coefs[i]; j++) + position_poly[j] = 2 * chebyshev_time * position_poly[j - 1] - position_poly[j - 2]; + + /* Calculate the position of the i'th planet at jultime */ + for (j = 1; j <= 3; j++) + { + ephemeris_r[j] = 0; + for (k = 1; k <= number_of_coefs[i]; k++) + ephemeris_r[j] = ephemeris_r[j] + coef[j][k] * position_poly[k]; + + /* Convert from km to A.U. */ + //ephemeris_r[j] = ephemeris_r[j]/au; + } + + /* Calculate the Chebyshev velocity polynomials */ + velocity_poly[1] = 0; + velocity_poly[2] = 1; + velocity_poly[3] = 4 * chebyshev_time; + for (j = 4; j <= number_of_coefs[i]; j++) + velocity_poly[j] = + 2 * chebyshev_time * velocity_poly[j - 1] + 2 * position_poly[j - 1] - velocity_poly[j - 2]; + + /* Calculate the velocity of the i'th planet */ + for (j = 1; j <= 3; j++) + { + ephemeris_rprime[j] = 0; + for (k = 1; k <= number_of_coefs[i]; k++) + ephemeris_rprime[j] = ephemeris_rprime[j] + coef[j][k] * velocity_poly[k]; + /* The next line accounts for differentiation of the iterative formula with + respect to chebyshev time. Essentially, if dx/dt = (dx/dct) times (dct/dt), + the next line includes the factor (dct/dt) so that the units are km/day */ + ephemeris_rprime[j] = ephemeris_rprime[j] * (2.0 * number_of_coef_sets[i] / interval_duration); + + /* Convert from km to A.U. */ + //ephemeris_rprime[j] = ephemeris_rprime[j]/au; + + } + } + + private void get_ephemeris_coefficients(double jultime) + { + /* + Procedure to read the DE405 ephemeris file corresponding to jultime. + The start and end dates of the ephemeris file are returned, as are the + Chebyshev coefficients for Mercury, Venus, Earth-Moon, Mars, Jupiter, Saturn, + Uranus, Neptune, Pluto, Geocentric Moon, and Sun. + + Note that the DE405 ephemeris files should be in the same folder as this class. + + Tested and verified 7-16-99. + */ + + int records = 0; + String filename = " "; + + /* Select the proper ephemeris file */ + if ((jultime >= 2414992.5) && (jultime < 2422320.5)) + { + ephemeris_dates[1] = 2414992.5; + ephemeris_dates[2] = 2422320.5; + filename = path+"ascp1900.405"; + records = 230; + } else if ((jultime >= 2422320.5) && (jultime < 2429616.5)) + { + ephemeris_dates[1] = 2422320.5; + ephemeris_dates[2] = 2429616.5; + filename = path+"ascp1920.405"; + records = 229; + } else if ((jultime >= 2429616.5) && (jultime < 2436912.5)) + { + ephemeris_dates[1] = 2429616.5; + ephemeris_dates[2] = 2436912.5; + filename = path+"ascp1940.405"; + records = 229; + } else if ((jultime >= 2436912.5) && (jultime < 2444208.5)) + { + ephemeris_dates[1] = 2436912.5; + ephemeris_dates[2] = 2444208.5; + filename = path+"ascp1960.405"; + records = 229; + } else if ((jultime >= 2444208.5) && (jultime < 2451536.5)) + { + ephemeris_dates[1] = 2444208.5; + ephemeris_dates[2] = 2451536.5; + filename = path + "ascp1980.405"; + records = 230; + } else if ((jultime >= 2451536.5) && (jultime < 2458832.5)) + { + ephemeris_dates[1] = 2451536.5; + ephemeris_dates[2] = 2458832.5; + filename = path + "ascp2000.405"; + records = 229; + } else if ((jultime >= 2458832.5) && (jultime < 2466128.5)) + { + ephemeris_dates[1] = 2458832.5; + ephemeris_dates[2] = 2466128.5; + filename = path + "ascp2020.405"; + records = 229; + } else if ((jultime >= 2466128.5) && (jultime < 2473456.5)) + { + ephemeris_dates[1] = 2466128.5; + ephemeris_dates[2] = 2473456.5; + filename = path+"ascp2040.405"; + records = 230; + } else if ((jultime >= 2473456.5) && (jultime < 2480752.5)) + { + ephemeris_dates[1] = 2473456.5; + ephemeris_dates[2] = 2480752.5; + filename = path+"ascp2060.405"; + records = 229; + } else if ((jultime >= 2480752.5) && (jultime < 2488048.5)) + { + ephemeris_dates[1] = 2480752.5; + ephemeris_dates[2] = 2488048.5; + filename = path+"ascp2080.405"; + records = 229; + } else if ((jultime >= 2488048.5) && (jultime < 2495344.5)) + { + ephemeris_dates[1] = 2488048.5; + ephemeris_dates[2] = 2495344.5; + filename = path+"ascp2100.405"; + records = 229; + } else if ((jultime >= 2495344.5) && (jultime < 2502672.5)) + { + ephemeris_dates[1] = 2495344.5; + ephemeris_dates[2] = 2502672.5; + filename = path+"ascp2120.405"; + records = 230; + } else if ((jultime >= 2502672.5) && (jultime < 2509968.5)) + { + ephemeris_dates[1] = 2502672.5; + ephemeris_dates[2] = 2509968.5; + filename = path+"ascp2140.405"; + records = 229; + } else if ((jultime >= 2509968.5) && (jultime < 2517264.5)) + { + ephemeris_dates[1] = 2509968.5; + ephemeris_dates[2] = 2517264.5; + filename = path+"ascp2160.405"; + records = 229; + } else if ((jultime >= 2517264.5) + && (jultime < 2524624.5)) + { + ephemeris_dates[1] = 2517264.5; + ephemeris_dates[2] = 2524624.5; + filename = path+"ascp2180.405"; + records = 230; + } + + useEphemeris(filename, records); + } + + private static double[] readEphemerisFile(String filename, int records) + { + int i = 0, j = 0; + + double[] newCoefficients = new double[records * numbers_per_kept_interval + 1];; + try + { + FileReader file = new FileReader(filename); + BufferedReader buff = new BufferedReader(file); + + // Read each record in the file + // We want to skip the first two numbers, they are times + // that can be ignored. Read the next 816 numbers (the + // coefficients for computing planet position and velocity), + // skip the next 80 (coefficients for computing nutation), and + // read the next 120 (coefficients for computing moon libration) + + // Because we are skipping around, we keep track of two + // numbers. Where we are in the file, and where we are + // in the array of coefficients we are saving. + // The file index resets with each new interval. + int arrayIndex = 1; + for (j = 1; j <= records; j++) + { + int fileIndex = 1; + + /* The first line contains the record counter and + * the number of coefficients (which is already known). + * Read the line and ignore. */ + String line = buff.readLine(); + + // Now continue reading a line at a time until all lines + // have been read in. Each line will have + // three numbers on it. Each number takes up + // exactly 26 characters. + final int chars_per_number = 26; + while (fileIndex <= numbers_per_file_interval) + { + line = buff.readLine(); + for(int columnCtr=0; columnCtr<3; ++columnCtr) + { + if (((fileIndex >=3) && (fileIndex <=818)) || + ((fileIndex >=899) && (fileIndex <=1018))) + { + String stringRep = + line.substring(columnCtr*chars_per_number, + (columnCtr+1)*chars_per_number); + newCoefficients[arrayIndex] = + parseFloat(stringRep); + ++arrayIndex; + } + else + { + // It's one of the leading time values, or the nutation, + // or just numbers used to pad the last row. Ignore. + } + ++fileIndex; + } + } + } + + buff.close(); + + } catch (IOException e) + { + System.out.println("Error = " + e.toString()); + } catch (StringIndexOutOfBoundsException e) + { + System.out.println("String index out of bounds at i = " + i); + } + + return newCoefficients; + } + + /** + * Parse the strings found in the ephemeris files as double + * precision floating point numbers. + * This method is very exacting about character position. + * @param stringRep the string found in the file + * @return the number read in + */ + private static double parseFloat(String stringRep) + { + double result = 0; + int mantissa1 = Integer.parseInt(stringRep.substring(4, 13)); + int mantissa2 = Integer.parseInt(stringRep.substring(13, 22)); + int exponent = Integer.parseInt(stringRep.substring(24, 26)); + if (stringRep.substring(23, 24).equals("+")) + { + result = mantissa1 * Math.pow(10, (exponent - 9)) + + mantissa2 * Math.pow(10, (exponent - 18)); + } + else + { + result = mantissa1 * Math.pow(10, - (exponent + 9)) + + mantissa2 * Math.pow(10, - (exponent + 18)); + } + if (stringRep.substring(1, 2).equals("-")) + { + result = -result; + } + return result; + } + + private void useEphemeris(String filename, int records) { + + CachedEphemeris oldCached = cached; + cached = cachedEphemeris.get(filename); + if (cached == null) { + double[] newCoefficients = readEphemerisFile(filename, records); + // We synchronize because several instances may be hitting the + // cache at once, but we didn't want to lock it while we read the + // whole file in. + synchronized(cachedEphemeris) { + // We check again in case it has been created while we + // were reading. + cached = cachedEphemeris.get(filename); + if (cached == null) { + // We don't clean out entries as soon as they are released. + // Instead, we clean them out before we add new ones. + // This prevents cleaning out and recreating the same cached data. + cleanCache(); + cached = new CachedEphemeris(filename, newCoefficients); + cachedEphemeris.put(cached.name, cached); + } + } + } + // If we were using a previous set of ephemeris, mark that we are + // not using it anymore. + if (oldCached != null) { + --oldCached.numUsers; + } + ++cached.numUsers; + ephemeris_coefficients = cached.data; + } + + /** + * We need to release our use of the cached ephemeris before + * we are garbage collected. + */ + protected void finalize() throws Throwable + { + try + { + if (cached != null) { + --cached.numUsers; + } + } + catch (Exception e) {} + super.finalize(); + } + + /** + * Simply go through and remove any entries that are not being used. + */ + private static void cleanCache() { + Iterator> iter = + cachedEphemeris.entrySet().iterator(); + while (iter.hasNext()) { + Map.Entry next = iter.next(); + if (next.getValue().numUsers == 0) { + iter.remove(); + } + } + } + +//----------PUBLIC INTERFACE + + /** the position and velocity of the planet at the given Julian date + * @param DE405_Body body + * @param mjd_tt Terrestrial Time MJD + * @return position and velocity of the planet + */ + public VectorN get_planet_posvel(DE405_Body body, double mjd_tt) + { + double[] posvel = new double[6]; + double daysec = 3600. * 24.; + int planet = body.ordinal(); + double jultime = TimeUtils.MJDtoJD(TimeUtils.TTtoTDB(mjd_tt)); + + planetary_ephemeris(jultime); + posvel[0] = planet_r[planet][1]; + posvel[1] = planet_r[planet][2]; + posvel[2] = planet_r[planet][3]; + posvel[3] = planet_rprime[planet][1] / daysec; + posvel[4] = planet_rprime[planet][2] / daysec; + posvel[5] = planet_rprime[planet][3] / daysec; + + VectorN out = new VectorN(posvel); + + return out; + } + + /** the position and velocity of the planet at the given Julian date + * @param DE405_Body body + * @param t Time object + * @return position and velocity of the planet + */ + public VectorN get_planet_posvel(DE405_Body body, Time t){ + return get_planet_posvel(body, t.mjd_tt()); + } + + /** the position of the planet at the given Julian date + * @param DE405_Body body + * @param mjd_tt Terrestrial Time MJD + * @return position of the planet + */ + public VectorN get_planet_pos(DE405_Body body, double mjd_tt) + { + double[] pos = new double[3]; + int planet = body.ordinal(); + double jultime = TimeUtils.MJDtoJD(TimeUtils.TTtoTDB(mjd_tt)); + + + planetary_ephemeris(jultime); + pos[0] = planet_r[planet][1]; + pos[1] = planet_r[planet][2]; + pos[2] = planet_r[planet][3]; + + VectorN out = new VectorN(pos); + + return out; + } + + + + /** the position of the planet at the given Julian date + * @param DE405_Body body + * @param t Time object + * @return position of the planet + */ + public VectorN get_planet_pos(DE405_Body body, Time t){ + return get_planet_pos(body, t.mjd_tt()); + } + + /** + * The libration angles of the moon at a given time + * @param mjd_tt Terrestrial Time MJD + * @return an array of three angles (phi, theta, psi) all in radians + */ + public VectorN get_Moon_Libration(double mjd_tt) + { + return get_planet_pos(DE405_Body.MOON_LIB, mjd_tt); + } + + /** + * The libration angles and angular velocity at a given time + * @param mjd_tt Terrestrial Time MJD + * @return an array of six doubles. The first three are the + * libration angles (phi, theta, psi) in radians. The second + * three are angular velocity (phi dot, theta dot, psi dot) in + * radians/second + */ + public VectorN get_Moon_LibrationPosVel(double mjd_tt) + { + return get_planet_posvel(DE405_Body.MOON_LIB, mjd_tt); + } + + /** + * Test program. Outputs the computed position and velocity of all DE405 Bodies + * @param args first element should indicate a Julian date. If JD is not + * supplied program will prompt the user for it. + */ + public static void main(String[] args) throws IOException { + DE405 ephemeris = new DE405(); + BufferedReader input = (args.length >= 1 ? null : new BufferedReader( + new InputStreamReader(System.in))); + String dateStr = null; + ; + if (args.length == 0) { + System.out.print("Enter date of interest (MJD_TT): "); + dateStr = input.readLine(); + } else { + dateStr = args[1]; + } + double mjd_tt = Double.parseDouble(dateStr); + + for (DE405_Body body : DE405_Body.values()) { + String out = body.toString(); + System.out.println(out); + VectorN result = ephemeris.get_planet_posvel(body, mjd_tt); + result.print(body.toString()); + + } + } +} diff --git a/src/jat/coreNOSA/ephemeris/DE405_Body.java b/src/jat/coreNOSA/ephemeris/DE405_Body.java new file mode 100644 index 0000000..0bba0d8 --- /dev/null +++ b/src/jat/coreNOSA/ephemeris/DE405_Body.java @@ -0,0 +1,20 @@ +package jat.coreNOSA.ephemeris; + + +public enum DE405_Body { + EARTH, + MERCURY, + VENUS, + EM_BARY, // Earth-Moon Barycenter + MARS, + JUPITER, + SATURN, + URANUS, + NEPTUNE, + PLUTO, + GEOCENTRIC_MOON, + SUN, + MOON_LIB, // Moon Librations + GEOCENTRIC_SUN, + SOLAR_SYSTEM_BARY, + MOON} \ No newline at end of file diff --git a/src/jat/coreNOSA/forces/AtmosphericDrag.java b/src/jat/coreNOSA/forces/AtmosphericDrag.java new file mode 100644 index 0000000..18ff6ab --- /dev/null +++ b/src/jat/coreNOSA/forces/AtmosphericDrag.java @@ -0,0 +1,254 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.forces; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; + +/** + *

+ * The AtmosphericDrag class computes the acceleration due to drag on a satellite + * using an Earth atmosphere model that conforms to the computeDensity abstract method. + * + * @author + * @version 1.0 + */ + +abstract public class AtmosphericDrag implements ForceModel, EarthForceModel { + + /** + * Drag coefficient + */ + protected double cd; + /** + * Cross sectional area [m^2] + */ + protected double area; + /** + * Spacecraft mass [kg] + */ + protected double mass; + /** + * Atmospheric drag [m/s/s] + */ + protected VectorN drag; + /** + * dadv + */ + protected Matrix dadv; + /** + * dadcd + */ + protected VectorN dadcd; + /** + * Rotation rate of the Earth (taken from Constants.omega_e) + */ + public double omega_e = Constants.omega_e;//7.2921157746E-05; // earth rotation rate - [rad/s] + + /** + * Constructor + * @param cd coefficient of drag + * @param area drag cross-sectional area + * @param mass mass + */ + public AtmosphericDrag(double cd, double area, double mass){ + this.cd = cd; + this.area = area; + this.mass = mass; + } + + /** + * Constructor using the Spacecraft class for parameters + * @param sc Spacecraft parameters + */ + public AtmosphericDrag(Spacecraft sc){ + this.cd = sc.cd(); + this.area = sc.dragArea(); + this.mass = sc.mass(); + } + + /** Abstract class requires the subclass to compute the atmospheric density. + * @param ref EarthRef object. + * @param r Position vector. + * @return Atmospheric density in kg/m^3 + */ + abstract public double computeDensity(Time t, BodyRef ref, VectorN r); + +// /** Abstract class requires the subclass to compute the atmospheric density. +// * @param ref EarthRef object. +// * @param r Position vector. +// * @return Atmospheric density in kg/m^3 +// */ +// abstract public double computeDensity(EarthRef ref, VectorN r); + + + /** + * Return the acceleration due to drag + * @return VectorN containing the acceleration due to drag + */ + public VectorN dragAccel(){ + return this.drag; + } + + /** + * Return the partial derivative of acceleration wrt velocity + * @return Matrix containing the partial derivative of acceleration wrt velocity + */ + public Matrix partialV(){ + return this.dadv; + } + + /** + * Return the partial derivative of acceleration wrt Cd + * @return Matrix containing the partial derivative of acceleration wrt Cd + */ + public VectorN partialCd(){ + return this.dadcd; + } + + /** + * Update the mass + * @param mass the new mass + */ + public void updateMass(double mass){ + this.mass = mass; + } + + /** Computes the acceleration due to drag in m/s^2. + * @param ref EarthRef object. + * @param r ECI position vector in meters. + * @param v ECI velocity vector in meters. + * @return acceleration due to drag in m/s^2. + */ + public void compute(Time t, BodyRef ref, VectorN r, VectorN v){ + + r.checkVectorDimensions(3); + v.checkVectorDimensions(3); + double rmag = r.mag(); + double beta = cd * area / mass; // [m^2/kg] + + // compute the atmospheric density + double rho = computeDensity(t, ref, r); // [kg/m^3] + + // compute the relative velocity vector and magnitude + //Matrix NP = ref.trueOfDate(); + //VectorN we = (new VectorN(NP.get(2,0), NP.get(2,1), NP.get(2,2))).times(omega_e); + VectorN we = new VectorN(0, 0, omega_e); + VectorN wxr = we.crossProduct(r); + VectorN vr = v.minus(wxr); + double vrmag = vr.mag(); + + // form -1/2 (Cd*A/m) rho + double coeff = -0.5 * beta * rho; + double coeff2 = coeff * vrmag; + + // compute the acceleration in ECI frame (km/s^2) + this.drag = vr.times(coeff2); + + // form partial of drag wrt v + Matrix vrvrt = vr.outerProduct(vr); + vrvrt = vrvrt.divide(vrmag); + Matrix vrm = new Matrix(3); + vrm = vrm.times(vrmag); + this.dadv = (vrvrt.plus(vrm)).times(coeff); + + // form partial of drag wrt cd + double coeff3 = coeff2 / this.cd; + this.dadcd = vr.times(coeff3); + + } + +// /** Computes the acceleration due to drag in m/s^2. +// * @param ref EarthRef object. +// * @param r ECI position vector in meters. +// * @param v ECI velocity vector in meters. +// * @return acceleration due to drag in m/s^2. +// */ +// public void compute(EarthRef ref, VectorN r, VectorN v){ +// +// r.checkVectorDimensions(3); +// v.checkVectorDimensions(3); +// double rmag = r.mag(); +// double beta = cd * area / mass; // [m^2/kg] +// +// // compute the atmospheric density +// double rho = computeDensity(ref, r); // [kg/m^3] +// +// // compute the relative velocity vector and magnitude +// //Matrix NP = ref.trueOfDate(); +// //VectorN we = (new VectorN(NP.get(2,0), NP.get(2,1), NP.get(2,2))).times(omega_e); +// VectorN we = new VectorN(0, 0, omega_e); +// VectorN wxr = we.crossProduct(r); +// VectorN vr = v.minus(wxr); +// double vrmag = vr.mag(); +// +// // form -1/2 (Cd*A/m) rho +// double coeff = -0.5 * beta * rho; +// double coeff2 = coeff * vrmag; +// +// // compute the acceleration in ECI frame (km/s^2) +// this.drag = vr.times(coeff2); +// +// // form partial of drag wrt v +// Matrix vrvrt = vr.outerProduct(vr); +// vrvrt = vrvrt.divide(vrmag); +// Matrix vrm = new Matrix(3); +// vrm = vrm.times(vrmag); +// this.dadv = (vrvrt.plus(vrm)).times(coeff); +// +// // form partial of drag wrt cd +// double coeff3 = coeff2 / this.cd; +// this.dadcd = vr.times(coeff3); +// +// } + + /** Implemented from the ForceModel interface + * @param t Time reference object + * @param bRef Earth reference object + * @param sc Spacecraft parameters and state + * @see jat.coreNOSA.forces.ForceModel#acceleration(jat.coreNOSA.spacetime.Time, jat.coreNOSA.spacetime.BodyRef, jat.coreNOSA.spacecraft.Spacecraft) + */ + public VectorN acceleration(Time t, BodyRef bRef, Spacecraft sc) { + this.omega_e = bRef.get_spin_rate(t); + compute(t, bRef, sc.r(), sc.v()); + return dragAccel(); + } + + /** + * Returns the acceleration developed on the spacecraft at the current time and position + * @param eRef Earth reference object + * @param sc Spacecraft parameters and state + * @see jat.coreNOSA.forces.EarthForceModel#acceleration(jat.coreNOSA.timeRef.EarthRef, jat.coreNOSA.spacecraft.Spacecraft) + */ + public VectorN acceleration(EarthRef eRef, Spacecraft sc) { + this.omega_e = eRef.get_omega_e(); + Time t = new Time(eRef.mjd_utc()); + compute(t,eRef, sc.r(), sc.v()); + return dragAccel(); + } +} + + + diff --git a/src/jat/coreNOSA/forces/CIRA_ExponentialDrag.java b/src/jat/coreNOSA/forces/CIRA_ExponentialDrag.java new file mode 100644 index 0000000..ccdba5e --- /dev/null +++ b/src/jat/coreNOSA/forces/CIRA_ExponentialDrag.java @@ -0,0 +1,247 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.forces; +import jat.coreNOSA.audio.SoundPlayer; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.EarthTrueOfDateRef; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.Geodetic; + + +/** + *

+ * The CIRA_ExponentialDrag class computes the acceleration due to drag on a satellite + * using an exponential Earth atmosphere model. The min altitude is + * currently 200 km. To go lower, just need to add more values from + * the table. + * + * Reference: Vallado, Table 8-4. + * + * @author + * @version 1.0 + */ + +public class CIRA_ExponentialDrag extends AtmosphericDrag{ + + private int brack; + + private Matrix dadr; + + private final static double[] rho_0 = { + 2.789E-10, 7.248E-11, 2.418E-11, 9.158E-12, 3.725E-12, 1.585E-12, + 6.967E-13, 1.454E-13, 3.614E-14, 1.170E-14, 5.245E-15, 3.019E-15}; + + private final static double[] H = { + 37.105, 45.546, 53.628, 53.298, 58.515, 60.828, 63.822, 71.835, + 88.667, 124.64, 181.05, 268.0}; + + private final static double[] h0 = { + 200.0, 250.0, 300.0, 350.0, 400.0, 450.0, 500.0, 600.0, 700.0, + 800.0, 900.0, 1000.0}; + + /** + * Constructor + * @param cd coefficient of drag + * @param area drag cross-sectional area + * @param mass mass + */ + public CIRA_ExponentialDrag (double cd, double area, double mass){ + super(cd, area, mass); + } + /** + * Constructor + * @param sc Spacecraft parameters + */ + public CIRA_ExponentialDrag(Spacecraft sc) { + super(sc); + } + /** Compute the atmospheric density using an exponential atmosphere model. + * @param ref EarthRef object. Not used. + * @param r ECI position vector in meters. + * @return Atmospheric density in kg/m^3. + */ + public double computeDensity(EarthRef ref, VectorN r){ + r.checkVectorDimensions(3); + + // Get the J2000 to TOD transformation + Matrix N = ref.TOD(); + + // Transform r from J2000 to TOD + VectorN r_tod = N.times(r); + double rmag = r_tod.mag(); + + // Satellite height + Geodetic geod = new Geodetic(r_tod); + double height = geod.getHAE()/1000.0; // convert to [km] + + // check to see if too low + if (height < h0[0]) { + System.out.println("CIRA_ExponentialDrag: altitude = "+height+" too low. Min altitude = "+h0[0]); + SoundPlayer.play("C:\\Jat\\jat\\jat\\audio\\sounds\\humanerror.wav"); + System.exit(99); + +// return 0.0; + } + + // find the right height bracket + int n = h0.length; + int bracket = 0; + if (height >= h0[n-1]) { + bracket = n - 1; + } + else { + for (int i = 0; i < (n-1); i++) { + if ((height >= h0[i]) && (height < h0[i+1])){ + bracket = i; + } + } + } + + // compute the density + this.brack = bracket; + double rho = rho_0[bracket] * Math.exp((h0[bracket] - height)/H[bracket]); + +// System.out.println("ced density: "+rho); + + return rho; + + } + + /** Compute the atmospheric density using an exponential atmosphere model. + * @param t Time reference object. Not used. + * @param ref EarthRef object. Not used. + * @param r ECI position vector in meters. + * @return Atmospheric density in kg/m^3. + */ + public double computeDensity(Time t, BodyRef ref, VectorN r) { + r.checkVectorDimensions(3); + + // Translate from J2000 to TOD + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(ref, new EarthTrueOfDateRef(), t); + VectorN r_tod = xlater.translatePoint(r); + double rmag = r_tod.mag(); + + // Satellite height + Geodetic geod = new Geodetic(r_tod); + double height = geod.getHAE()/1000.0; // convert to [km] + + // check to see if too low + if (height < h0[0]) { + System.out.println("CIRA_ExponentialDrag: altitude = "+height+" too low. Min altitude = "+h0[0]); + SoundPlayer.play("C:\\Jat\\jat\\jat\\audio\\sounds\\humanerror.wav"); + System.exit(99); + +// return 0.0; + } + + // find the right height bracket + int n = h0.length; + int bracket = 0; + if (height >= h0[n-1]) { + bracket = n - 1; + } + else { + for (int i = 0; i < (n-1); i++) { + if ((height >= h0[i]) && (height < h0[i+1])){ + bracket = i; + } + } + } + + // compute the density + this.brack = bracket; + double rho = rho_0[bracket] * Math.exp((h0[bracket] - height)/H[bracket]); + +// System.out.println("ced density: "+rho); + + return rho; + } + + /** Computes the acceleration due to drag in m/s^2. + * @param ref EarthRef object. + * @param beta Satellite ballistic coefficient (Cd*A/m) + * @param r ECI position vector in meters. + * @param v ECI velocity vector in meters. + * @return acceleration due to drag in m/s^2. + */ + public void compute(EarthRef ref, VectorN r, VectorN v){ + + r.checkVectorDimensions(3); + v.checkVectorDimensions(3); + double rmag = r.mag(); + double beta = cd * area / mass; + + // compute the atmospheric density + double rho = computeDensity(ref, r); + + // compute the relative velocity vector and magnitude + VectorN we = new VectorN(0.0, 0.0, omega_e); + VectorN wxr = we.crossProduct(r); + VectorN vr = v.minus(wxr); + double vrmag = vr.mag(); + + // form -1/2 (Cd*A/m) rho + double coeff = -0.5 * beta * rho; + double coeff2 = coeff * vrmag; + + // compute the acceleration in ECI frame (km/s^2) + this.drag = vr.times(coeff2); + + // form partial of drag wrt v + Matrix vrvrt = vr.outerProduct(vr); + vrvrt = vrvrt.divide(vrmag); + Matrix vrm = new Matrix(3); + vrm = vrm.times(vrmag); + this.dadv = (vrvrt.plus(vrm)).times(coeff); + + // form partial of drag wrt cd + double coeff3 = coeff2 / this.cd; + this.dadcd = vr.times(coeff3); + + // form partial of drag wrt r, see Montenbruck, p. 249 + double Hh = H[this.brack]; + double coeff4 = -1.0 / (Hh * rmag); + VectorN drhodr = r.times(coeff4); + Matrix part1 = vr.outerProduct(drhodr); + part1 = part1.times(coeff2); + + Matrix cross = we.cross(); + Matrix part2 = this.dadv.times(cross); + this.dadr = part1.minus(part2); + + } + + /** + * Return the partial derivative of acceleration wrt position + * @return Matrix containing the partial derivative of acceleration wrt position + */ + public Matrix partialR(){ + return this.dadr; + } + + +} diff --git a/src/jat/coreNOSA/forces/EarthForceModel.java b/src/jat/coreNOSA/forces/EarthForceModel.java new file mode 100644 index 0000000..15343db --- /dev/null +++ b/src/jat/coreNOSA/forces/EarthForceModel.java @@ -0,0 +1,42 @@ +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +*/ +package jat.coreNOSA.forces; + +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.timeRef.EarthRef; + +/** + * This interface allows for uniformity among extensible and newly added + * force models. + * + * @author Richard C. Page III + * + */ +public interface EarthForceModel { + + /** Acceleration + * @param eRef Earth reference class + * @param sc Spacecraft parameters and state + * @return the acceleration [m/s^2] + */ + public VectorN acceleration(EarthRef eRef, Spacecraft sc); + +} diff --git a/src/jat/coreNOSA/forces/ExponentialDrag.java b/src/jat/coreNOSA/forces/ExponentialDrag.java new file mode 100644 index 0000000..f9d33c6 --- /dev/null +++ b/src/jat/coreNOSA/forces/ExponentialDrag.java @@ -0,0 +1,88 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.forces; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; + +/** + *

+ * The ExponentialDrag class computes the acceleration due to drag on a satellite + * using an exponential Earth atmosphere model. + * + * @author + * @version 1.0 + */ + +public class ExponentialDrag extends AtmosphericDrag{ + private static final double re = 6378136.3; // radius of earth in meters + private static final double h_0 = 920000.0; // atmosphere model parameter + private static final double rho_0 = 4.36E-14; // atmosphere model parameter + private static final double gamma_0 = 5.381E-06; // atmosphere model parameter + + /** + * Constructor + * @param cd coefficient of drag + * @param area drag cross-sectional area + * @param mass mass + */ + public ExponentialDrag (double cd, double area, double mass){ + super(cd, area, mass); + } + /** + * Constructor + * @param sc Spacecraft parameters + */ + public ExponentialDrag(Spacecraft sc) { + super(sc); + } + + /** Compute the atmospheric density using an exponential atmosphere model. + * @param ref EarthRef object. Not used. + * @param r ECI position vector in meters. + * @return Atmospheric density in kg/m^3. + */ + public double computeDensity(EarthRef ref, VectorN r){ + r.checkVectorDimensions(3); + double rmag = r.mag(); + double r0 = re + h_0; + double exp = -gamma_0*(rmag - r0); + double rho = rho_0 * Math.exp(exp); + return rho; + } + + /** Compute the atmospheric density using an exponential atmosphere model. + * @param t Time reference object. Not used. + * @param ref EarthRef object. Not used. + * @param r ECI position vector in meters. + * @return Atmospheric density in kg/m^3. + */ + public double computeDensity(Time t, BodyRef ref, VectorN r) { + r.checkVectorDimensions(3); + double rmag = r.mag(); + double r0 = re + h_0; + double exp = -gamma_0*(rmag - r0); + double rho = rho_0 * Math.exp(exp); + return rho; + } +} diff --git a/src/jat/coreNOSA/forces/ForceModel.java b/src/jat/coreNOSA/forces/ForceModel.java new file mode 100644 index 0000000..9ed09de --- /dev/null +++ b/src/jat/coreNOSA/forces/ForceModel.java @@ -0,0 +1,44 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.forces; + +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.Time; + +/** + * Force Model is a simple interface which allows uniformity among the various force + * models used in JAT and the Matlab-Java protocols. + * + * @author Richard C. Page III + * + */ +public interface ForceModel { + + /** Acceleration + * @param t Time reference class + * @param bRef Body reference class + * @param sc Spacecraft parameters and state + * @return the acceleration [m/s^s] + */ + public VectorN acceleration(Time t, BodyRef bRef, Spacecraft sc); + +} diff --git a/src/jat/coreNOSA/forces/ForceModelList.java b/src/jat/coreNOSA/forces/ForceModelList.java new file mode 100644 index 0000000..b8e8ab8 --- /dev/null +++ b/src/jat/coreNOSA/forces/ForceModelList.java @@ -0,0 +1,135 @@ +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +*/ +package jat.coreNOSA.forces; + +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.Time; + +import java.util.ArrayList; + +/** + * ForceModelList is a countainer for force models. It allows the simulation to encapsulate + * a number of different force models and obtain their combined effect on a spacecraft. It + * also allows some flags to tell the other models whether or not to use the JPL and IERS + * algorithms. + * + * @author Richard C. Page III + * + */ +public class ForceModelList { + + /** Sum of all accelerations [m/s^2] + */ + protected VectorN acceleration; + /** List of forces + */ + protected ArrayList forces; + protected boolean use_iers = true; + protected boolean use_sun = true; + protected boolean use_moon = true; + /** + * Tells the integrator whether to update within each timestep. + */ + protected boolean use_update = true; + + + /** Default Constructor + * + */ + public ForceModelList(){ + acceleration = new VectorN(0,0,0); + forces = new ArrayList(); + } + + + /** + * Adds a generic force to the list + * @param f Object which implements the ForceModel interface + */ + public void addForce(ForceModel f){ + forces.add(f); + } + + + /** Compute the acceleration + * @return acceleration [m/s^2] + */ + public VectorN computeAccel(Time t, BodyRef ref, Spacecraft sc){ + //retrieve/update acceleration + acceleration = new VectorN(3); + ForceModel temp; + VectorN accel; + for(int i=0; i + * ForceModel creates an interface for computing the acceleration + * acting on a body from an arbitrary source. + * + * @author Richard C. Page III + * + */ +public class ForceModelListOld implements Derivatives { + + protected int iers_counter = 1; + + /** Sum of all accelerations + */ + protected VectorN acceleration; + + protected EarthRef earthRef; + + protected FitIERS iers; + + protected Spacecraft sc; + + protected ArrayList grav_forces; + + protected ArrayList other_forces; + + protected boolean use_iers = true; + protected boolean use_sun = true; + protected boolean use_moon = true; + protected boolean use_update = true; + + + /** Default Constructor + * + */ + public ForceModelListOld(){ + acceleration = new VectorN(0,0,0); + grav_forces = new ArrayList(); + other_forces = new ArrayList(); + sc = new Spacecraft(); + } + + public ForceModelListOld(Spacecraft s, double mjd){ + acceleration = new VectorN(0,0,0); + grav_forces = new ArrayList(); + other_forces = new ArrayList(); + sc = s; + earthRef = new EarthRef(mjd); + earthRef.use_moon = this.use_moon; + earthRef.use_sun = this.use_sun; + if(this.use_iers){ + iers = new FitIERS(); +// iers.fit(earthRef.mjd_tt()); +// earthRef.setIERS(iers.getX(),iers.getY(),iers.getDUT1()); + double[] param = iers.search(earthRef.mjd_tt()); + earthRef.setIERS(param[0],param[1],param[2]); + } + } + + public ForceModelListOld(Spacecraft s, double mjd, EarthRef eRef){ + acceleration = new VectorN(0,0,0); + grav_forces = new ArrayList(); + other_forces = new ArrayList(); + sc = s; + earthRef = eRef; + earthRef.use_moon = this.use_moon; + earthRef.use_sun = this.use_sun; + if(this.use_iers){ + iers = new FitIERS(); +// iers.fit(earthRef.mjd_tt()); +// earthRef.setIERS(iers.getX(),iers.getY(),iers.getDUT1()); + double[] param = iers.search(earthRef.mjd_tt()); + earthRef.setIERS(param[0],param[1],param[2]); + } + } + + + public ForceModelListOld(double mjd, VectorN r, VectorN v, double CR, double cd, + double area, double mass){ + sc = new Spacecraft(r,v,CR,cd,area,mass); + grav_forces = new ArrayList(); + other_forces = new ArrayList(); + earthRef = new EarthRef(mjd); + earthRef.use_moon = this.use_moon; + earthRef.use_sun = this.use_sun; + if(this.use_iers){ + iers = new FitIERS(); +// iers.fit(earthRef.mjd_tt()); +// earthRef.setIERS(iers.getX(),iers.getY(),iers.getDUT1()); + double[] param = iers.search(earthRef.mjd_tt()); + earthRef.setIERS(param[0],param[1],param[2]); + } + } + + public ForceModelListOld(Spacecraft s){ + acceleration = new VectorN(0,0,0); + grav_forces = new ArrayList(); + other_forces = new ArrayList(); + sc = s; + } + + public ForceModelListOld(Spacecraft s, EarthRef eRef){ + acceleration = new VectorN(0,0,0); + grav_forces = new ArrayList(); + other_forces = new ArrayList(); + sc = s; + earthRef = eRef; + } + + /** + * Adds a generic force to the list + * @param f Object which implements the ForceModel interface + */ + public void addOtherForce(EarthForceModel f){ + other_forces.add(f); + } + + /** + * Adds a point mass gravitational force to the list + * @param f Object which extends GravitationalBody + */ + public void addGravForce(GravitationalBody f){ + grav_forces.add(f); + } + + /** Compute the acceleration + * @return acceleration [m/s^2] + */ + public VectorN computeAccel(VectorN r, VectorN v){ + //retrieve/update acceleration + sc.updateMotion(r,v); + acceleration = new VectorN(3); + EarthForceModel temp; + VectorN accel; + for(int i=0; i nmax)||(this.m_desired > mmax)) { + System.err.println("GravityModel.initialize: desired size is greater than max size from gravity file"); + System.exit(-99); + } + // initialize + this.initializeGM(gm); + this.initializeR_ref(rref); + this.initializeCS(nmax, mmax, cs.A); + } + + private Matrix readGrvFile(URL grvFile) { + + PrintWriter pw = null; + if (outputFile != null) + { + try { + pw = new PrintWriter(outputFile); + } catch (FileNotFoundException e1) { + e1.printStackTrace(); + } + } + + + Reader rdr = null; + try { + rdr = new InputStreamReader(grvFile.openStream()); + } catch (IOException e) { + e.printStackTrace(); + } + BufferedReader in = new BufferedReader(rdr); + String line = null; + boolean beginFound = false; + boolean endFound = false; + + while (!beginFound) { + try { + line = in.readLine(); + } catch (IOException e1) { + e1.printStackTrace(); + break; + } + // break line into space-delimited tokens + String[] tokens = line.trim().split("\\s"); + + String first = tokens[0]; + + // look for size of gravity field + if (first.matches("Degree")) { + nmax = Integer.parseInt(tokens[tokens.length-1]); + size = nmax + 1; + foundSize = true; + System.out.println("GravityModel: Max Degree = " + nmax); + } + + if (first.matches("Order")) { + mmax = Integer.parseInt(tokens[tokens.length-1]); + System.out.println("GravityModel: Max Order = " + mmax); + } + + if (first.matches("Gm")) { + gm = Double.parseDouble(tokens[tokens.length-1]) + 1; + System.out.println("GravityModel: GM = " + gm); + } + + if (first.matches("RefDistance")) { + rref = Double.parseDouble(tokens[tokens.length-1]) + 1; + System.out.println("GravityModel: Rref = " + rref); + } + + if (first.matches("Normalized")) { + if (tokens[tokens.length-1].matches("Yes")) { + normalized = true; + } else { + normalized = false; + } + System.out.println("GravityModel: normalized = " + normalized); + } + + if (first.matches("GmUncertainty")) { + gmUncertainty = Double.parseDouble(tokens[tokens.length-1]) + 1; + System.out.println("GravityModel: GM Uncertainty = " + gmUncertainty); + + // if doing Monte Carlo, apply GM uncertainty + if (monteCarlo) { + gm = gm + rand.nextDouble()*gmUncertainty; + System.out.println("GravityModel: Adjusted GM = " + gm); + } + + } + + + if (first.matches("BEGIN")) { + beginFound = true; + System.out.println("found BEGIN"); + if (!foundSize) { + System.err + .println("GravityModel: Size (Degree) of Gravity Field Not Found\n"); + System.exit(-99); + } + } + } + + Matrix out = new Matrix(size, size); + out.set(0,0,1.0); + int nlines = 0; + + while (!endFound) { + try { + line = in.readLine(); + } catch (IOException e1) { + e1.printStackTrace(); + break; + } + // break line into tokens + StringTokenizer tokens; + StringTokenizer tmp1 = new StringTokenizer(line," "); + StringTokenizer tmp2 = new StringTokenizer(line,"\t"); + if(tmp1.countTokens() > tmp2.countTokens()){ + tokens = tmp1; + }else{ + tokens = tmp2; + } + int ntokens = tokens.countTokens(); + nlines = nlines + 1; +// System.out.println("number of tokens = "+ntokens); + + String first = " "; + if (ntokens > 0) { + first = tokens.nextToken(); + } else { + first = line.trim(); + } + + // look for the end + if (first.matches("END")) { + endFound = true; + System.out.println("found END"); + out.print(pw); + pw.close(); + System.out.println("Lines Processed: "+nlines); + return out; + } + + // parse the data records + + if (ntokens == 4) { + if (monteCarlo){ + System.err.println("You did not supply variances on the gravity coefficients"); + } + int n = Integer.parseInt(first); + int m = Integer.parseInt(tokens.nextToken()); + + // compute unnormalization factor + double nf = 1.0; + if (normalized) nf = normFactor(n, m); + + // obtain the c and s values + double c = nf * Double.parseDouble(tokens.nextToken()); + double s = nf * Double.parseDouble(tokens.nextToken()); +// System.out.println(ntokens+":"+n+":"+m+":"+c+":"+s); + + // put c and s into the correct places in the cs matrix + out.set(n, m, c); + if (m > 0) out.set(m-1, n, s); + } + // parse the data records + if (ntokens == 6) { + int n = Integer.parseInt(first); + int m = Integer.parseInt(tokens.nextToken()); + + // compute unnormalization factor + double nf = 1.0; + if (normalized) nf = normFactor(n, m); + + // obtain the c and s values + double c = nf * Double.parseDouble(tokens.nextToken()); + double s = nf * Double.parseDouble(tokens.nextToken()); +// System.out.println(ntokens+":"+n+":"+m+":"+c+":"+s); + + // obtain the c and s uncertainties + double cSigma = nf * Double.parseDouble(tokens.nextToken()); + double sSigma = nf * Double.parseDouble(tokens.nextToken()); + + // if doing Monte Carlo, apply the uncertainties + double adjustC = rand.nextDouble()*cSigma; + double adjustS = rand.nextDouble()*sSigma; + c = c + adjustC; + s = s + adjustS; +// System.out.println(ntokens+":"+n+":"+m+":"+adjustC+":"+adjustS); + + // put c and s into the correct places in the cs matrix + out.set(n, m, c); + if (m > 0) out.set(m-1, n, s); + } + + } + + out.print(pw); + pw.close(); + + try { + in.close(); + rdr.close(); + } + catch (IOException ioe) { + ioe.printStackTrace(); + } + return out; + } + + private double normFactor (int n, int m) { + double nn = new Integer(n).doubleValue(); + double mm = new Integer(m).doubleValue(); + double nmmfact = MathUtils.factorial(nn - mm); + double npmfact = MathUtils.factorial(nn + mm); + double delta = 0.0; + if (m == 0) delta = 1.0; + double num = nmmfact*(2.0*nn+1.0)*(2.0-delta); + double out = 0.0; + if (npmfact == 0.0) { + System.out.println("GravityModel.normFactor: denominator = 0, n= "+n+" m = "+m+" npmfact = "+npmfact); + } else { + out = Math.sqrt(num/npmfact); + } + return out; + } + + public static void main(String args[]) { + BodyCenteredInertialRef ref = new BodyCenteredInertialRef(DE405_Body.GEOCENTRIC_MOON); + GravityModel x = new GravityModel(165, 165, ref, "jat/forces/moonGravity/LP165P-Cov.grv", true); + x.printParameters(); + } + + + +} + diff --git a/src/jat/coreNOSA/forces/GravityModelType.java b/src/jat/coreNOSA/forces/GravityModelType.java new file mode 100644 index 0000000..00afee3 --- /dev/null +++ b/src/jat/coreNOSA/forces/GravityModelType.java @@ -0,0 +1,49 @@ +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +*/ +package jat.coreNOSA.forces; + +/** + * @author + * + * TODO To change the template for this generated type comment go to + * Window - Preferences - Java - Code Style - Code Templates + */ +public class GravityModelType { + + private String name; + private GravityModelType (String nm) { name = nm; } + + public String toString() { return name; } + + + public final static GravityModelType + EGM96 = new GravityModelType("EGM96"), + GEMT1 = new GravityModelType("GEMT1"), + JGM2 = new GravityModelType("JGM2"), + JGM3 = new GravityModelType("JGM3"), + WGS84 = new GravityModelType("WGS84"), + WGS84_EGM96 = new GravityModelType("WGS84_EGM96"); + + public final static GravityModelType[] index = { + EGM96, GEMT1, JGM2, JGM3, WGS84, WGS84_EGM96 + }; + + public final static int num_models = 6; +} diff --git a/src/jat/coreNOSA/forces/HarrisPriester.java b/src/jat/coreNOSA/forces/HarrisPriester.java new file mode 100644 index 0000000..dee9d89 --- /dev/null +++ b/src/jat/coreNOSA/forces/HarrisPriester.java @@ -0,0 +1,376 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.forces; +import jat.coreNOSA.forces.harrispriester.HarrisPriesterData; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.EarthTrueOfDateRef; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.Geodetic; + +/** + *

+ * The HarrisPriester class computes the Harris-Priester atmosphere model. + * This code is from Montenbruck. Good for 100 - 1000 km altitude only. + * @author + * @author Richard C. Page III + * @version 1.0 + */ + +public class HarrisPriester extends AtmosphericDrag{ + + private static final double upper_limit = 2000.0; // Upper height limit [km] + private static final double lower_limit = 100.0; // Lower height limit [km] + private static final double ra_lag = 0.523599; // Right ascension lag [rad] + + protected double[][] data; + protected int data_n=0; + protected int h_index = 0; + + private double n_prm = 2; // Harris-Priester parameter + // 2(6) low(high) inclination + /** + * F10.7 cm Mean Solar Flux + */ + protected double f107=157; + + /** + * Constructor + * @param cd coefficient of drag + * @param area drag cross-sectional area + * @param mass mass + */ + public HarrisPriester (double cd, double area, double mass){ + super(cd, area, mass); + initialize(); + } + + /** + * Constructor + * @param sc Spacecraft parameters + */ + public HarrisPriester(Spacecraft sc) { + super(sc); + VectorN h = sc.r().crossProduct(sc.v()); + double i = Math.acos(h.x[2] / h.mag()); // inclination + //if(i>Math.PI/2) i = Math.PI-i; + this.n_prm = 2.0+i*8.0/Math.PI; + initialize(); + } + + /** + * Constructor + * @param sc Spacecraft parameters + * @param f Value of F10.7 for the density model + */ + public HarrisPriester(Spacecraft sc, double f){ + super(sc); + f107 = f; + VectorN h = sc.r().crossProduct(sc.v()); + double i = Math.acos(h.x[2] / h.mag()); // inclination + this.n_prm = 2.0+i*8.0/Math.PI; + initialize(); + } + + /** + * Initialize the data file and store the data + * + */ + private void initialize(){ + HarrisPriesterData hpdata = new HarrisPriesterData(); + hpdata.process(f107); + data = hpdata.get_data(); + data_n = hpdata.get_data_n(); + } + + /** + * Set the Harris Priester parameter used during density calculation. + * Use 2 for low inclination orbits and 6 for polar orbits. + * The default (without calling setParameter) is 2. + * @param n + */ + public void setParameter(double n){ + n_prm = n; + } + + /** + * Sets the value of F10.7 which determines the density model + * @param f + */ + public void setF107(double f){ + f107 = f; + initialize(); + } + /** + * Get the minimum and maximum densities at the given altitude + * @param alt True Altitude [km] + * @return [min_density max_density] + */ + public double[] get_min_max(double alt){ + h_index = alt_index(alt); + double[] out = new double[4]; + if(alt != data[h_index][0]){ + out[0] = data[h_index][1];//+(data[h_index+1][1]-data[h_index][1])*(alt-data[h_index][0])/ + //(data[h_index+1][0]-data[h_index][0]); + out[1] = data[h_index][2];//+(data[h_index+1][2]-data[h_index][2])*(alt-data[h_index][0])/ + //(data[h_index+1][0]-data[h_index][0]); + out[2] = data[h_index+1][1]; + out[3] = data[h_index+1][2]; + } else { + out[0] = data[h_index][1]; + out[1] = data[h_index][2]; + } + return out; + } + + + + /** + * Search the data for the particular altitude + * @param a The altitude to find in the table. + * @return The index of the altitude which is the + * last altitude which does not excede the argument. + */ + private int alt_index(double a){ + int index = 0; + for(int i=0; i= data[i][0] && a < data[i+1][0]){ + index = i; + break; + } + } + return index; + } + +// private double computeMin(double f, double alt){ +// int i = alt_index(alt); +// if(i==hf.length) return 0; +// double pmin1=0, pmin2=0, pmin=0; +// double k=0; +// pmin1 = Amin[i]*Math.pow((f-65),Alphamin[i])+ +// Bmin[i]*(2-Math.exp(-Betamin[i]*(f-65))); +// pmin2 = Amin[i+1]*Math.pow((f-65),Alphamin[i+1])+ +// Bmin[i+1]*(2-Math.exp(-Betamin[i+1]*(f-65))); +// k = (alt-hf[i])/(hf[i+1]-hf[i]); +// pmin = pmin1*Math.pow((pmin2/pmin1),k); +// return pmin; +// } +// +// private double computeMax(double f, double alt){ +// int i = alt_index(alt); +// if(i==hf.length) return 0; +// double pmax1=0, pmax2=0, pmax=0;; +// double k=0; +// pmax1 = Amax[i]*Math.pow((f-65),Alphamax[i])+ +// Bmax[i]*(2-Math.exp(-Betamax[i]*(f-65))); +// pmax2 = Amax[i+1]*Math.pow((f-65),Alphamax[i+1])+ +// Bmax[i+1]*(2-Math.exp(-Betamax[i+1]*(f-65))); +// k = (alt-hf[i])/(hf[i+1]-hf[i]); +// pmax = pmax1*Math.pow((pmax2/pmax1),k); +// return pmax; +// } + + + + + /** + * + * Compute the atmospheric density using the Harris-Priester atmosphere model. + * @param ref Earth reference object. + * @param r ECI position vector in meters. + * @return Atmospheric density in kg/m^3. + */ + public double computeDensity(Time t, BodyRef ref, VectorN r){ + double density = 0; + r.checkVectorDimensions(3); + // Translate from J2000 to TOD + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(ref, new EarthTrueOfDateRef(), t); + VectorN r_tod = xlater.translatePoint(r); + double rmag = r_tod.mag(); + //* Variables + int i, ih; // Height section variables + double dec_Sun, ra_Sun, c_dec; // Sun declination, right asc. + //* Satellite true altitude + //Matrix eci2ecef = ref.eci2ecef(); //*debug + //VectorN r_ecef = eci2ecef.times(r); //*debug + //Geodetic geod = new Geodetic(r_ecef); //*debug - no change + Geodetic geod = new Geodetic(r_tod); + double alt = geod.getHAE()/1000.0; // [km] + + //alt = 360.013234313; + + //* Exit with zero density outside height model limits + if ( alt >= upper_limit || alt <= lower_limit ) + return 0.0; + //* Sun right ascension, declination + VectorN r_Sun = ref.get_JPL_Sun_Vector(t); + ra_Sun = Math.atan2( r_Sun.x[1], r_Sun.x[0] ); + dec_Sun = Math.atan2( r_Sun.x[2], Math.sqrt( Math.pow(r_Sun.x[0],2)+Math.pow(r_Sun.x[1],2) ) ); + //* Unit vector u towards the apex of the diurnal bulge + //* in inertial geocentric coordinates + c_dec = Math.cos(dec_Sun); + double [] u_ = new double[3]; // Apex of diurnal bulge + u_[0] = c_dec * Math.cos(ra_Sun + ra_lag); + u_[1] = c_dec * Math.sin(ra_Sun + ra_lag); + u_[2] = Math.sin(dec_Sun); + VectorN u = new VectorN(u_); + //* Cosine of half angle between satellite position vector and + //* apex of diurnal bulge + double c_psi2 = (0.5 + 0.5 * r.dotProduct(u)/r.mag()); + //* Density interpolation + //double pmin = computeMin(f107,alt); //[kg/km^3] + //double pmax = computeMax(f107,alt); //[kg/km^3] + double[] minmax = this.get_min_max(alt); + double cmin0 = minmax[0]; + double cmax0 = minmax[1]; + double cmin1 = minmax[2]; + double cmax1 = minmax[3]; + double h0 = data[h_index][0]; + double h1 = data[h_index+1][0]; + //* Density computation +// double pmin = minmax[0]; +// double pmax = minmax[1]; +// density = pmin+(pmax-pmin)*Math.pow(c_psi2,n_prm/2); +// System.out.println("hp density: "+density); + + + // Height index search and exponential density interpolation + + double h_min = ( h0 - h1 )/Math.log( cmin1/cmin0 ); + double h_max = ( h0 - h1 )/Math.log( cmax1/cmax0 ); + + double d_min = cmin0 * Math.exp( (h0-alt)/h_min ); + double d_max = cmax0 * Math.exp( (h0-alt)/h_max ); + + // Density computation + + density = d_min + (d_max-d_min)*Math.pow(c_psi2,n_prm/2); + return density * 1.0e-9; + + // * Convert units and return density +// double rho1 = 0; //-0.0045; //-0.052; +// return density * 1.0e-9 * (1+rho1); // [kg/m^3] + } + + + /** + * + * Compute the atmospheric density using the Harris-Priester atmosphere model. + * @param ref Earth reference object. + * @param r ECI position vector in meters. + * @return Atmospheric density in kg/m^3. + */ + public double computeDensity(EarthRef ref, VectorN r){ + double density = 0; + r.checkVectorDimensions(3); + //* Get the J2000 to TOD transformation + Matrix N = ref.trueOfDate(); + //* Transform r from J2000 to TOD + VectorN r_tod = N.times(r); + double rmag = r_tod.mag(); + //* Variables + int i, ih; // Height section variables + double dec_Sun, ra_Sun, c_dec; // Sun declination, right asc. + //* Satellite true altitude + //Matrix eci2ecef = ref.eci2ecef(); //*debug + //VectorN r_ecef = eci2ecef.times(r); //*debug + //Geodetic geod = new Geodetic(r_ecef); //*debug - no change + Geodetic geod = new Geodetic(r_tod); + double alt = geod.getHAE()/1000.0; // [km] + + //alt = 360.013234313; + + //* Exit with zero density outside height model limits + if ( alt >= upper_limit || alt <= lower_limit ) + return 0.0; + //* Sun right ascension, declination + VectorN r_Sun = ref.get_JPL_Sun_Vector(new Time(ref.mjd_utc())); + ra_Sun = Math.atan2( r_Sun.x[1], r_Sun.x[0] ); + dec_Sun = Math.atan2( r_Sun.x[2], Math.sqrt( Math.pow(r_Sun.x[0],2)+Math.pow(r_Sun.x[1],2) ) ); + //* Unit vector u towards the apex of the diurnal bulge + //* in inertial geocentric coordinates + c_dec = Math.cos(dec_Sun); + double [] u_ = new double[3]; // Apex of diurnal bulge + u_[0] = c_dec * Math.cos(ra_Sun + ra_lag); + u_[1] = c_dec * Math.sin(ra_Sun + ra_lag); + u_[2] = Math.sin(dec_Sun); + VectorN u = new VectorN(u_); + //* Cosine of half angle between satellite position vector and + //* apex of diurnal bulge + double c_psi2 = (0.5 + 0.5 * r.dotProduct(u)/r.mag()); + //* Density interpolation + //double pmin = computeMin(f107,alt); //[kg/km^3] + //double pmax = computeMax(f107,alt); //[kg/km^3] + double[] minmax = this.get_min_max(alt); + double cmin0 = minmax[0]; + double cmax0 = minmax[1]; + double cmin1 = minmax[2]; + double cmax1 = minmax[3]; + double h0 = data[h_index][0]; + double h1 = data[h_index+1][0]; + //* Density computation +// double pmin = minmax[0]; +// double pmax = minmax[1]; +// density = pmin+(pmax-pmin)*Math.pow(c_psi2,n_prm/2); +// System.out.println("hp density: "+density); + + + // Height index search and exponential density interpolation + + double h_min = ( h0 - h1 )/Math.log( cmin1/cmin0 ); + double h_max = ( h0 - h1 )/Math.log( cmax1/cmax0 ); + + double d_min = cmin0 * Math.exp( (h0-alt)/h_min ); + double d_max = cmax0 * Math.exp( (h0-alt)/h_max ); + + // Density computation + + density = d_min + (d_max-d_min)*Math.pow(c_psi2,n_prm/2); + return density * 1.0e-9; + + // * Convert units and return density +// double rho1 = 0; //-0.0045; //-0.052; +// return density * 1.0e-9 * (1+rho1); // [kg/m^3] + } + + + public static void main(String[] args) { + VectorN r = new VectorN(-4453783.586,-5038203.756,-426384.456); + VectorN v = new VectorN(3831.888,-2887.221,-6.018232); + Spacecraft sc = new Spacecraft(r,v,0,2.2,20,1000); + HarrisPriester atmos = new HarrisPriester(sc); +// EarthRef ref = new EarthRef(53157.5); +// double rmag = ref.get_JPL_Sun_Vector().mag(); +// atmos.setF107(Math.pow(149597870.0/rmag,2)*150); +// double d = atmos.computeDensity(ref,r); +// double tmp = d; +// atmos.compute(ref,r,v); +// System.out.println("* new model * f10.7: "+atmos.f107); +// System.out.println("Density: "+d); +// System.out.println("Accel: "+atmos.dragAccel()); + } + +} diff --git a/src/jat/coreNOSA/forces/J2Gravity.java b/src/jat/coreNOSA/forces/J2Gravity.java new file mode 100644 index 0000000..9438578 --- /dev/null +++ b/src/jat/coreNOSA/forces/J2Gravity.java @@ -0,0 +1,148 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 30, 2003 + */ + +package jat.coreNOSA.forces; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.timeRef.EarthRef; + +/** +* The J2Gravity.java Class computes the gravitational acceleration and +* gravity gradient matrix for a J2 gravity field. Values are from JGM-3. +* +* Reference: Montenbruck +* +* @author +* @version 1.0 +*/ +public class J2Gravity implements EarthForceModel { + + private final static double j2 = 0.00108263; + /** GM in m^3/s^2. + */ + private static final double mu = Constants.GM_Earth; // [m^3/s^2]; JGM3 + /** Radius of planet in m. + */ + private static final double re = Constants.rEarth_STKJGM3; // Radius Earth [m]; JGM3; + + private VectorN grav; + + private Matrix gradient; + + public J2Gravity(){} + + /** + * Contructor + * @param ECI position vector + */ + public J2Gravity(VectorN r){ + this.compute(r); + } + + /** + * Returns the local gravity vector + * @return VectorN containing the local gravity vector + */ + public VectorN local_gravity() { + return this.grav; + } + + /** + * Returns the gravity gradient matrix + * @return Matrix containing the gravity gradient + */ + public Matrix gravityGradient() { + return this.gradient; + } + + private void compute (VectorN r){ + // strip out components of r + double xx = r.x[0]; + double yy = r.x[1]; + double zz = r.x[2]; + + // compute some intermediate values + double rmag = r.mag(); + double rcubed = rmag * rmag * rmag; + double rsq = rmag * rmag; + double re_r = re / rmag; + re_r = re_r * re_r; + double zsq_rsq = (5.0 * zz * zz / rsq) - 1.0; + + // compute accelerations due to gravity + double ll = -1.0 * (mu * xx / rcubed) * (1.0 - 1.5 * re_r * j2 * zsq_rsq); + double mm = -1.0 * (mu * yy / rcubed) * (1.0 - 1.5 * re_r * j2 * zsq_rsq); + double nn = -1.0 * (mu * zz / rcubed) * (1.0 - 1.5 * re_r * j2 * (zsq_rsq - 2.0)); + this.grav = new VectorN(ll, mm, nn); + + // compute some intermediate values + double r5 = rsq * rcubed; + double mur5 = mu / r5; + double mur3 = mu / rcubed; + double sz2r2 = 7.0 * zz * zz / rsq; + double muxyr5 = mu * xx * yy / r5; + double muxzr5 = mu * xx * zz / r5; + double muyzr5 = mu * yy * zz / r5; + double bracket1 = 3.0 - 7.5 * re_r * j2 * (sz2r2 - 1.0); + double bracket3 = 3.0 - 7.5 * re_r * j2 * (sz2r2 - 3.0); + double bracket5 = 3.0 - 7.5 * re_r * j2 * (sz2r2 - 5.0); + + // partials of ll wrt r + double dldx = ll / xx + mur5 * xx * xx * bracket1; + double dldy = muxyr5 * bracket1; + double dldz = muxzr5 * bracket3; + + // partials of mm wrt r + double dmdx = dldy; + double dmdy = mm / yy + mur5 * yy * yy * bracket1; + double dmdz = muyzr5 * bracket3; + + // partials of nn wrt r + double dndx = muxzr5 * bracket3; + double dndy = dmdz; + double dndz = nn / zz + mur5 * zz * zz * bracket5; + + // set the gravity gradient matrix + this.gradient = new Matrix(3, 3); + this.gradient.set(0, 0, dldx); + this.gradient.set(0, 1, dldy); + this.gradient.set(0, 2, dldz); + this.gradient.set(1, 0, dmdx); + this.gradient.set(1, 1, dmdy); + this.gradient.set(1, 2, dmdz); + this.gradient.set(2, 0, dndx); + this.gradient.set(2, 1, dndy); + this.gradient.set(2, 2, dndz); + } + + /** Implemented from the ForceModel interface + * @param eRef Earth reference class + * @param sc Spacecraft parameters + */ + public VectorN acceleration(EarthRef eRef, Spacecraft sc){ + compute(sc.r()); + return local_gravity(); + } + +} diff --git a/src/jat/coreNOSA/forces/JGM3.java b/src/jat/coreNOSA/forces/JGM3.java new file mode 100644 index 0000000..d0009e3 --- /dev/null +++ b/src/jat/coreNOSA/forces/JGM3.java @@ -0,0 +1,180 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.forces; + +import jat.coreNOSA.spacetime.EarthFixedRef; + +/**

+ * The JGM3 class computes the acceleration due to gravity on a satellite + * using the JGM-3 spherical harmonic gravity field. + * Reference: Montenbruck, section 3.2. This is basically Montenbruck's code translated to Java. + * + * @author + * @version 1.0 + */ + +public class JGM3 extends SphericalHarmonicGravity { + + + /** GM in m^3/s^2. + */ + private static final double gm = 398600.4415e+9; // [m^3/s^2]; JGM3 + /** Radius of planet in m. + */ + private static final double rref = 6378.1363e3; // Radius Earth [m]; JGM3; + /** Maximum degree (20). + */ + private static final int nmax = 20; + /** Maximum order (20). + */ + private static final int mmax = 20; + /** Unnormalized harmonic coefficients. + */ + private static final double [][] cs = { + { 1.000000e+00, 0.000000e+00, 1.543100e-09, 2.680119e-07,-4.494599e-07, + -8.066346e-08, 2.116466e-08, 6.936989e-08, 4.019978e-08, 1.423657e-08, + -8.128915e-08,-1.646546e-08,-2.378448e-08, 2.172109e-08, 1.443750e-08, + 4.154186e-09, 1.660440e-08,-1.427822e-08,-1.817656e-08, 7.160542e-11, + 2.759192e-09 }, + { 0.000000e+00, 0.000000e+00,-9.038681e-07,-2.114024e-07, 1.481555e-07, + -5.232672e-08,-4.650395e-08, 9.282314e-09, 5.381316e-09,-2.228679e-09, + -3.057129e-09,-5.097360e-09, 1.416422e-09,-2.545587e-09,-1.089217e-10, + -1.045474e-09, 7.856272e-10, 2.522818e-10, 3.427413e-10,-1.008909e-10, + 3.216826e-10 }, + { -1.082627e-03,-2.414000e-10, 1.574536e-06, 1.972013e-07,-1.201129e-08, + -7.100877e-09, 1.843134e-10,-3.061150e-09,-8.723520e-10,-5.633921e-10, + -8.989333e-10,-6.863521e-10, 9.154575e-11, 3.005522e-10, 5.182512e-11, + 3.265044e-11,-4.271981e-11, 1.297841e-11,-4.278803e-12,-1.190759e-12, + 3.778260e-11 }, + { 2.532435e-06, 2.192799e-06, 3.090160e-07, 1.005589e-07, 6.525606e-09, + 3.873005e-10,-1.784491e-09,-2.636182e-10, 9.117736e-11, 1.717309e-11, + -4.622483e-11,-2.677798e-11, 9.170517e-13,-2.960682e-12,-3.750977e-12, + 1.116419e-12, 5.250141e-12, 2.159727e-12, 1.105860e-13,-3.556436e-13, + -1.178441e-12 }, + { 1.619331e-06,-5.087253e-07, 7.841223e-08, 5.921574e-08,-3.982396e-09, + -1.648204e-09,-4.329182e-10, 6.397253e-12, 1.612521e-11,-5.550919e-12, + -3.122269e-12, 1.982505e-12, 2.033249e-13, 1.214266e-12,-2.217440e-13, + 8.637823e-14,-1.205563e-14, 2.923804e-14, 1.040715e-13, 9.006136e-14, + -1.823414e-14 }, + { 2.277161e-07,-5.371651e-08, 1.055905e-07,-1.492615e-08,-2.297912e-09, + 4.304768e-10,-5.527712e-11, 1.053488e-11, 8.627743e-12, 2.940313e-12, + -5.515591e-13, 1.346234e-13, 9.335408e-14,-9.061871e-15, 2.365713e-15, + -2.505252e-14,-1.590014e-14,-9.295650e-15,-3.743268e-15, 3.176649e-15, + -5.637288e-17 }, + { -5.396485e-07,-5.987798e-08, 6.012099e-09, 1.182266e-09,-3.264139e-10, + -2.155771e-10, 2.213693e-12, 4.475983e-13, 3.814766e-13,-1.846792e-13, + -2.650681e-15,-3.728037e-14, 7.899913e-15,-9.747983e-16,-3.193839e-16, + 2.856094e-16,-2.590259e-16,-1.190467e-16, 8.666599e-17,-8.340023e-17, + -8.899420e-19 }, + { 3.513684e-07, 2.051487e-07, 3.284490e-08, 3.528541e-09,-5.851195e-10, + 5.818486e-13,-2.490718e-11, 2.559078e-14, 1.535338e-13,-9.856184e-16, + -1.052843e-14, 1.170448e-15, 3.701523e-16,-1.095673e-16,-9.074974e-17, + 7.742869e-17, 1.086771e-17, 4.812890e-18, 2.015619e-18,-5.594661e-18, + 1.459810e-18 }, + { 2.025187e-07, 1.603459e-08, 6.576542e-09,-1.946358e-10,-3.189358e-10, + -4.615173e-12,-1.839364e-12, 3.429762e-13,-1.580332e-13, 7.441039e-15, + -7.011948e-16, 2.585245e-16, 6.136644e-17, 4.870630e-17, 1.489060e-17, + 1.015964e-17,-5.700075e-18,-2.391386e-18, 1.794927e-18, 1.965726e-19, + -1.128428e-19 }, + { 1.193687e-07, 9.241927e-08, 1.566874e-09,-1.217275e-09,-7.018561e-12, + -1.669737e-12, 8.296725e-13,-2.251973e-13, 6.144394e-14,-3.676763e-15, + -9.892610e-17,-1.736649e-17, 9.242424e-18,-4.153238e-18,-6.937464e-20, + 3.275583e-19, 1.309613e-19, 1.026767e-19,-1.437566e-20,-1.268576e-20, + -6.100911e-21 }, + { 2.480569e-07, 5.175579e-08,-5.562846e-09,-4.195999e-11,-4.967025e-11, + -3.074283e-12,-2.597232e-13, 6.909154e-15, 4.635314e-15, 2.330148e-15, + 4.170802e-16,-1.407856e-17,-2.790078e-19,-6.376262e-20,-1.849098e-19, + 3.595115e-20,-2.537013e-21, 4.480853e-21, 4.348241e-22, 1.197796e-21, + -1.138734e-21 }, + { -2.405652e-07, 9.508428e-09, 9.542030e-10,-1.409608e-10,-1.685257e-11, + 1.489441e-12,-5.754671e-15, 1.954262e-15,-2.924949e-16,-1.934320e-16, + -4.946396e-17, 9.351706e-18,-9.838299e-20, 1.643922e-19,-1.658377e-20, + 2.905537e-21, 4.983891e-22, 6.393876e-22,-2.294907e-22, 6.437043e-23, + 6.435154e-23 }, + { 1.819117e-07,-3.068001e-08, 6.380398e-10, 1.451918e-10,-2.123815e-11, + 8.279902e-13, 7.883091e-15,-4.131557e-15,-5.708254e-16, 1.012728e-16, + -1.840173e-18, 4.978700e-19,-2.108949e-20, 2.503221e-20, 3.298844e-21, + -8.660491e-23, 6.651727e-24, 5.110031e-23,-3.635064e-23,-1.311958e-23, + 1.534228e-24 }, + { 2.075677e-07,-2.885131e-08, 2.275183e-09,-6.676768e-11,-3.452537e-13, + 1.074251e-12,-5.281862e-14, 3.421269e-16,-1.113494e-16, 2.658019e-17, + 4.577888e-18,-5.902637e-19,-5.860603e-20,-2.239852e-20,-6.914977e-23, + -6.472496e-23,-2.741331e-23, 2.570941e-24,-1.074458e-24,-4.305386e-25, + -2.046569e-25 }, + { -1.174174e-07,-9.997710e-09,-1.347496e-09, 9.391106e-11, 3.104170e-13, + 3.932888e-13,-1.902110e-14, 2.787457e-15,-2.125248e-16, 1.679922e-17, + 1.839624e-18, 7.273780e-20, 4.561174e-21, 2.347631e-21,-7.142240e-22, + -2.274403e-24,-2.929523e-24, 1.242605e-25,-1.447976e-25,-3.551992e-26, + -7.473051e-28 }, + { 1.762727e-08, 6.108862e-09,-7.164511e-10, 1.128627e-10,-6.013879e-12, + 1.293499e-13, 2.220625e-14, 2.825477e-15,-1.112172e-16, 3.494173e-18, + 2.258283e-19,-1.828153e-21,-6.049406e-21,-5.705023e-22, 1.404654e-23, + -9.295855e-24, 5.687404e-26, 1.057368e-26, 4.931703e-27,-1.480665e-27, + 2.400400e-29 }, + { -3.119431e-08, 1.356279e-08,-6.713707e-10,-6.451812e-11, 4.698674e-12, + -9.690791e-14, 6.610666e-15,-2.378057e-16,-4.460480e-17,-3.335458e-18, + -1.316568e-19, 1.643081e-20, 1.419788e-21, 9.260416e-23,-1.349210e-23, + -1.295522e-24,-5.943715e-25,-9.608698e-27, 3.816913e-28,-3.102988e-28, + -8.192994e-29 }, + { 1.071306e-07,-1.262144e-08,-4.767231e-10, 1.175560e-11, 6.946241e-13, + -9.316733e-14,-4.427290e-15, 4.858365e-16, 4.814810e-17, 2.752709e-19, + -2.449926e-20,-6.393665e-21, 8.842755e-22, 4.178428e-23,-3.177778e-24, + 1.229862e-25,-8.535124e-26,-1.658684e-26,-1.524672e-28,-2.246909e-29, + -5.508346e-31 }, + { 4.421672e-08, 1.958333e-09, 3.236166e-10,-5.174199e-12, 4.022242e-12, + 3.088082e-14, 3.197551e-15, 9.009281e-17, 2.534982e-17,-9.526323e-19, + 1.741250e-20,-1.569624e-21,-4.195542e-22,-6.629972e-24,-6.574751e-25, + -2.898577e-25, 7.555273e-27, 3.046776e-28, 3.696154e-29, 1.845778e-30, + 6.948820e-31 }, + { -2.197334e-08,-3.156695e-09, 7.325272e-10,-1.192913e-11, 9.941288e-13, + 3.991921e-14,-4.220405e-16, 7.091584e-17, 1.660451e-17, 9.233532e-20, + -5.971908e-20, 1.750987e-21,-2.066463e-23,-3.440194e-24,-1.487095e-25, + -4.491878e-26,-4.558801e-27, 5.960375e-28, 8.263952e-29,-9.155723e-31, + -1.237749e-31 }, + { 1.203146e-07, 3.688524e-09, 4.328972e-10,-6.303973e-12, 2.869669e-13, + -3.011115e-14, 1.539793e-15,-1.390222e-16, 1.766707e-18, 3.471731e-19, + -3.447438e-20, 8.760347e-22,-2.271884e-23, 5.960951e-24, 1.682025e-25, + -2.520877e-26,-8.774566e-28, 2.651434e-29, 8.352807e-30,-1.878413e-31, + 4.054696e-32 } }; + /** Constructor. + * @param n Desired degree. + * @param m Desired order. + */ + public JGM3(int n, int m){ + super(n, m, new EarthFixedRef()); + this.initialize(); + } + + /** Initialize + * The object must be initialized before use + */ + public void initialize(){ + this.initializeGM(gm); + this.initializeR_ref(rref); + this.initializeCS(nmax, mmax, cs); + } + + public static void main(java.lang.String args[]){ + JGM3 jgm3 = new JGM3(20, 20); + jgm3.printParameters(); + } + +} diff --git a/src/jat/coreNOSA/forces/Moon.java b/src/jat/coreNOSA/forces/Moon.java new file mode 100644 index 0000000..b0f549b --- /dev/null +++ b/src/jat/coreNOSA/forces/Moon.java @@ -0,0 +1,167 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.forces; + +//import jat.cm.Constants; +//import jat.math.MathUtils; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyCenteredInertialRef; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.ReferenceFrame; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; + +/** + * Simple class to model the gravitational attraction of the moon. + * + * @author Richard C. Page III + * + */ +public class Moon extends GravitationalBody { + + + protected DE405 jpl_ephemeris; + + /** The reference frame of this force. It is a moon-centered + * J2000 inertial reference frame. */ + private ReferenceFrame moonRef = new BodyCenteredInertialRef(DE405_Body.GEOCENTRIC_MOON); + + /** + * Default constructor + */ + public Moon() { + super(); + this.mu = Constants.GM_Moon; + jpl_ephemeris = new DE405(); + } + + /** + * Allows the initialization of the Moon vector using DE405 ephemerides + * @param mjd_utc Modified Julian Date in Universal Coordinated Time + */ + public Moon(double mjd_utc){ + super(); + this.mu = Constants.GM_Moon; + jpl_ephemeris = new DE405(); + double mjd_tt = TimeUtils.UTCtoTT(mjd_utc); + VectorN temp = jpl_ephemeris.get_planet_posvel(DE405_Body.GEOCENTRIC_MOON, mjd_tt); + this.r_body = temp.get(0, 3); + this.v_body = temp.get(3, 3); + } + + /** + * For use with matlab + * + */ + public Moon(boolean usematlab) { + super(); + this.mu = Constants.GM_Moon; + jpl_ephemeris = new DE405(); + } + + /** + * Constructor + * @param grav_mass [m^3/s^2] + * @param r position [m] + * @param v velocity [m/s] + */ + public Moon(double grav_mass, VectorN r, VectorN v) { + super(grav_mass, r, v); + jpl_ephemeris = new DE405(); + } + /** + * Compute the acceleration. + * @param eRef Earth Reference + * @param sc Spacecraft parameters and state + */ + public VectorN acceleration(jat.coreNOSA.spacetime.EarthRef eRef, Spacecraft sc) { + + //ReferenceFrameTranslater xlater = + //new ReferenceFrameTranslater(eRef, moonRef, new Time(eRef.mjd_utc())); + + // Get a vector (in the passed in reference frame) to the + // spacecraft and to the moon. + VectorN r_moon = eRef.get_JPL_Moon_Vector();//xlater.translatePointBack(new VectorN(3)); + VectorN r = sc.r(); + VectorN d = r.minus(r_moon); + + + // Divide the moon vector and the moon-to-spacecraft vector + // by their magnitude cubed, add them, and scale by mu. + double dmag = d.mag(); + double dcubed = dmag * dmag *dmag; + VectorN temp1 = d.divide(dcubed); + double smag = r_moon.mag(); + double scubed = smag * smag * smag; + VectorN temp2 = r_moon.divide(scubed); + VectorN sum = temp1.plus(temp2); + VectorN accel = sum.times(-mu); + + // We keep track of the position of the moon at the last + // known time (in the last known reference frame) - but we + // keep it in km. + this.r_body = r_moon.divide(1000); + + return accel; + } + /** Call the relevant methods to compute the acceleration. + * @param t Time reference class + * @param bRef Body reference class + * @param sc Spacecraft parameters and state + * @return the acceleration [m/s^s] + */ + public VectorN acceleration(Time t, BodyRef bRef, Spacecraft sc){ + //ReferenceFrameTranslater xlater = + //new ReferenceFrameTranslater(bRef, moonRef, t); + + // Get a vector (in the passed in reference frame) to the + // spacecraft and to the moon. + VectorN r_moon = new VectorN(jpl_ephemeris.get_planet_pos(DE405_Body.GEOCENTRIC_MOON, t.mjd_tt())); + //VectorN r_moon = xlater.translatePointBack(new VectorN(3)); + VectorN r = sc.r(); + VectorN d = r.minus(r_moon); + + // Divide the moon vector and the moon-to-spacecraft vector + // by their magnitude cubed, add them, and scale by mu. + double dmag = d.mag(); + double dcubed = dmag * dmag *dmag; + VectorN temp1 = d.divide(dcubed); + double smag = r_moon.mag(); + double scubed = smag * smag * smag; + VectorN temp2 = r_moon.divide(scubed); + VectorN sum = temp1.plus(temp2); + VectorN accel = sum.times(-mu); + + // We keep track of the position of the moon at the last + // known time (in the last known reference frame) - but we + // keep it in km. + this.r_body = r_moon.divide(1000); + + return accel; + } + + + + +} diff --git a/src/jat/coreNOSA/forces/NRLMSISE_Drag.java b/src/jat/coreNOSA/forces/NRLMSISE_Drag.java new file mode 100644 index 0000000..becc28a --- /dev/null +++ b/src/jat/coreNOSA/forces/NRLMSISE_Drag.java @@ -0,0 +1,1957 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.forces; + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.forces.nrlmsise.NRLMSISE_data; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.Geodetic; + +/** + * NRLMSISE drag model. Translated from a code written in c, originally + * developed by Mike Picone, Alan Hedin, and Doug Drob and implemented by + * Dominik Brodowski. + * + * * The NRLMSISE-00 model was developed by Mike Picone, Alan Hedin, and + * Doug Drob. They also wrote a NRLMSISE-00 distribution package in + * FORTRAN which is available at + * http://uap-www.nrl.navy.mil/models_web/msis/msis_home.htm + * + * Dominik Brodowski implemented and maintains this C version. You can + * reach him at devel@brodo.de. See the file "DOCUMENTATION" for details, + * and check http://www.brodo.de/english/pub/nrlmsise/index.html for + * updated releases of this package. + * + * Translated to Java by Richard C. Page III + * + * @author Richard C. Page III + * + */ +public class NRLMSISE_Drag extends AtmosphericDrag { + + private double ap = 15; + private double f107Daily = 150; + private double f107Average = 150; + + private final double dgtr = Constants.deg2rad; + + /* ------------------------------------------------------------------- */ + /* ------------------------------- INPUT ----------------------------- */ + /* ------------------------------------------------------------------- */ + /** + * Switches: to turn on and off particular variations use these switches. + * 0 is off, 1 is on, and 2 is main effects off but cross terms on. + * + * Standard values are 0 for switch 0 and 1 for switches 1 to 23. The + * array "switches" needs to be set accordingly by the calling program. + * The arrays sw and swc are set internally. + * + * switches[i]: + * i - explanation + * ----------------- + * 0 - output in centimeters instead of meters + * 1 - F10.7 effect on mean + * 2 - time independent + * 3 - symmetrical annual + * 4 - symmetrical semiannual + * 5 - asymmetrical annual + * 6 - asymmetrical semiannual + * 7 - diurnal + * 8 - semidiurnal + * 9 - daily ap [when this is set to -1 (!) the pointer + * ap_a in struct nrlmsise_input must + * point to a struct ap_array] + * 10 - all UT/long effects + * 11 - longitudinal + * 12 - UT and mixed UT/long + * 13 - mixed AP/UT/LONG + * 14 - terdiurnal + * 15 - departures from diffusive equilibrium + * 16 - all TINF var + * 17 - all TLB var + * 18 - all TN1 var + * 19 - all S var + * 20 - all TN2 var + * 21 - all NLB var + * 22 - all TN3 var + * 23 - turbo scale height var + */ + protected class struct_nrlmsise_flags { + int switches[] = new int[24]; + double sw[] = new double[24]; + double swc[] = new double[24]; + public struct_nrlmsise_flags(){ + for(int i=0; i<24; i++){ + switches[i] = 0; + sw[i] = 0.0; + swc[i] = 0.0; + } + } + } + /** Array containing the following magnetic values: + * 0 : daily AP + * 1 : 3 hr AP index for current time + * 2 : 3 hr AP index for 3 hrs before current time + * 3 : 3 hr AP index for 6 hrs before current time + * 4 : 3 hr AP index for 9 hrs before current time + * 5 : Average of eight 3 hr AP indicies from 12 to 33 hrs + * prior to current time + * 6 : Average of eight 3 hr AP indicies from 36 to 57 hrs + * prior to current time + */ + protected class struct_ap_array { + double a[] = new double[7]; + public struct_ap_array(){ + for(int i=0; i<7; i++) a[i] = 0.0; + } + } + /** + * NOTES ON INPUT VARIABLES: + * UT, Local Time, and Longitude are used independently in the + * model and are not of equal importance for every situation. + * For the most physically realistic calculation these three + * variables should be consistent (lst=sec/3600 + g_long/15). + * The Equation of Time departures from the above formula + * for apparent local time can be included if available but + * are of minor importance. + * + * f107 and f107A values used to generate the model correspond + * to the 10.7 cm radio flux at the actual distance of the Earth + * from the Sun rather than the radio flux at 1 AU. The following + * site provides both classes of values: + * ftp://ftp.ngdc.noaa.gov/STP/SOLAR_DATA/SOLAR_RADIO/FLUX/ + * + * f107, f107A, and ap effects are neither large nor well + * established below 80 km and these parameters should be set to + * 150., 150., and 4. respectively. + */ + protected class struct_nrlmsise_input { + int year; /* year, currently ignored */ + int doy; /* day of year */ + double sec; /* seconds in day (UT) */ + double alt; /* altitude in kilometes */ + double g_lat; /* geodetic latitude */ + double g_long; /* geodetic longitude */ + double lst; /* local apparent solar time (hours), see note above */ + double f107A; /* 81 day average of F10.7 flux (centered on doy) */ + double f107; /* daily F10.7 flux for previous day */ + double ap; /* magnetic index(daily) */ + struct_ap_array ap_a; /* see above */ + public struct_nrlmsise_input(){ + year = 0; + doy = 0; + sec = 0.0; + alt = 0.0; + g_lat = 0.0; + g_long = 0.0; + lst = 0.0; + f107A = 0.0; + f107 = 0.0; + ap = 0.0; + ap_a = new struct_ap_array(); + } + } + /* ------------------------------------------------------------------- */ + /* ------------------------------ OUTPUT ----------------------------- */ + /* ------------------------------------------------------------------- */ + + /** + * OUTPUT VARIABLES: + * d[0] - HE NUMBER DENSITY(CM-3) + * d[1] - O NUMBER DENSITY(CM-3) + * d[2] - N2 NUMBER DENSITY(CM-3) + * d[3] - O2 NUMBER DENSITY(CM-3) + * d[4] - AR NUMBER DENSITY(CM-3) + * d[5] - TOTAL MASS DENSITY(GM/CM3) [includes d[8] in td7d] + * d[6] - H NUMBER DENSITY(CM-3) + * d[7] - N NUMBER DENSITY(CM-3) + * d[8] - Anomalous oxygen NUMBER DENSITY(CM-3) + * t[0] - EXOSPHERIC TEMPERATURE + * t[1] - TEMPERATURE AT ALT + * + * + * O, H, and N are set to zero below 72.5 km + * + * t[0], Exospheric temperature, is set to global average for + * altitudes below 120 km. The 120 km gradient is left at global + * average value for altitudes below 72 km. + * + * d[5], TOTAL MASS DENSITY, is NOT the same for subroutines GTD7 + * and GTD7D + * + * SUBROUTINE GTD7 -- d[5] is the sum of the mass densities of the + * species labeled by indices 0-4 and 6-7 in output variable d. + * This includes He, O, N2, O2, Ar, H, and N but does NOT include + * anomalous oxygen (species index 8). + * + * SUBROUTINE GTD7D -- d[5] is the "effective total mass density + * for drag" and is the sum of the mass densities of all species + * in this model, INCLUDING anomalous oxygen. + */ + protected class struct_nrlmsise_output { + double d[] = new double[9]; /* densities */ + doublestar t[] = new doublestar[2]; /* temperatures */ + public struct_nrlmsise_output(){ + for(int i=0; i<9; i++) d[i] = 0; + for(int i=0; i<2; i++) t[i] = new doublestar(); + } + } + + /* ------------------------------------------------------------------- */ + /* ------------------------- SHARED VARIABLES ------------------------ */ + /* ------------------------------------------------------------------- */ + + /* PARMB */ + protected doublestar gsurf = new doublestar(); + protected doublestar re = new doublestar(); + + /* GTS3C */ + protected double dd; + + /* DMIX */ + protected double dm04, dm16, dm28, dm32, dm40, dm01, dm14; + + /* MESO7 */ + protected double meso_tn1[] = new double[5]; + protected double meso_tn2[] = new double[4]; + protected double meso_tn3[] = new double[6];//[3]; + protected double meso_tgn1[] = new double[2]; + protected double meso_tgn2[] = new double[2]; + protected double meso_tgn3[] = new double[2]; + + /* POWER7 */ + public double pt[] = NRLMSISE_data.pt; + public double pd[][] = NRLMSISE_data.pd; + public double ps[] = NRLMSISE_data.ps; + public double pdl[][] = NRLMSISE_data.pdl; + public double ptl[][] = NRLMSISE_data.ptl; + public double pma[][] = NRLMSISE_data.pma; + public double sam[] = NRLMSISE_data.sam; + + /* LOWER7 */ + public double ptm[] = NRLMSISE_data.ptm; + public double pdm[][] = NRLMSISE_data.pdm; + public double pavgm[] = NRLMSISE_data.pavgm; + + /* LPOLY */ + protected double dfa; + protected double plg[][] = new double[4][9]; + protected double ctloc, stloc; + protected double c2tloc, s2tloc; + protected double s3tloc, c3tloc; + protected double apdf; + protected double apt[] = new double[4]; + + /** + * Inner class doublestar simulates pass by reference in c for a + * single double value + */ + protected static class doublestar { + public double val = 0; + public doublestar(){val=0;} + public doublestar(double x){val=x;} + } + + //** Math function definitions as per #include + double cos(double x){ return Math.cos(x); } + double sin(double x){ return Math.sin(x); } + double exp(double x){ return Math.exp(x); } + double pow(double x, double y){ return Math.pow(x,y); } + double log(double x){ return Math.log(x); } + double log10(double x){ return Math.log10(x); } + double sqrt(double x){ return Math.sqrt(x); } + double abs(double x){ return Math.abs(x); } + + /** + * Simulates the casting of a double type in a c if statement + * @param x The double expression + * @return The boolean value of the double (if(x==0) 'true' else 'false') + */ + boolean bool(double x){ + if(x==0) + return false; + else + return true; + } + + /** + * Constructor + * @param sc Spacecraft containing drag_coefficient, area, and mass + */ + public NRLMSISE_Drag(Spacecraft sc){ + super(sc); + } + /** + * Constructor + * @param cd Drag coefficient + * @param area Cross-section [m^2] + * @param mass Spacecraft mass [kg] + */ + public NRLMSISE_Drag(double cd, double area, double mass){ + super(cd,area,mass); + } + + /** Abstract function from AtmosphericDrag - computes atmospheric density + * @param ref EarthRef object. + * @param r Position vector. + * @return Atmospheric density in kg/m^3 + */ + public double computeDensity(Time t, BodyRef ref, VectorN r){ + struct_nrlmsise_output output = new struct_nrlmsise_output(); + struct_nrlmsise_input input = new struct_nrlmsise_input(); + struct_nrlmsise_flags flags = new struct_nrlmsise_flags(); + struct_ap_array aph = new struct_ap_array(); + + //* Satellite true altitude + Matrix eci2ecef = ref.inertial_to_body(t); //*debug + VectorN r_ecef = eci2ecef.times(r); //*debug + Geodetic geod = new Geodetic(r_ecef); //*debug + + double alt = geod.getHAE()/1000.0; //* [km] + if (alt > 1000) return 0; //* Valid from 0 to 1000 km + + // Outputs that were never used are commented out +// Translate from J2000 to TOD +// ReferenceFrameTranslater xlater = +// new ReferenceFrameTranslater(ref, new EarthTrueOfDateRef(), t); +// VectorN r_tod = xlater.translatePoint(r); +// Geodetic geod = new Geodetic(r_tod); +// double dist2sun = ref.get_JPL_Sun_Vector(t).mag()*1000; + + int i; + + /* input values */ + //for (i=0;i<7;i++) + // aph.a[i]=13.853964381;//100; + + flags.switches[0]=0; + for (i=1;i<24;i++) + flags.switches[i]=1; + input.doy = t.dayOfYear(); + input.year = 2004; /* without effect */ + input.sec = t.secOfDay(); + input.alt = alt; + input.g_lat = geod.getLatitude()*MathUtils.RAD2DEG; + input.g_long= geod.getLongitude()*MathUtils.RAD2DEG; + input.lst = input.sec/3600 + input.g_long/15; + input.f107A = this.f107Average; + input.f107 = this.f107Daily; + input.ap = this.ap; + + /* evaluate */ + if(alt > 500){ + gtd7d(input, flags, output); + }else{ + gtd7(input, flags, output); + } + return output.d[5]*1000; //[kg/m^3] + } + + /** + * Set the Daily value of the 10.7cm solar flux + * @param x + */ + public void setF107Daily(double x){ + f107Daily = x; + } + + /** + * Set the 81-day average value of the 10.7cm solar flux + * @param x + */ + public void setF107Average(double x){ + f107Average = x; + } + + /** + * Set the daily magnetic index + * @param x + */ + public void setAP(double x){ + ap = x; + } + + /* ------------------------------------------------------------------- */ + /* ------------------------------ TSELEC ----------------------------- */ + /* ------------------------------------------------------------------- */ + + protected void tselec(struct_nrlmsise_flags flags) { + int i; + for (i=0;i<24;i++) { + if (i!=9) { + if (flags.switches[i]==1) + flags.sw[i]=1; + else + flags.sw[i]=0; + if (flags.switches[i]>0) + flags.swc[i]=1; + else + flags.swc[i]=0; + } else { + flags.sw[i]=flags.switches[i]; + flags.swc[i]=flags.switches[i]; + } + } + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------ GLATF ------------------------------ */ + /* ------------------------------------------------------------------- */ + + protected void glatf(double lat, doublestar gv, doublestar reff) { + //double dgtr = 1.74533E-2; + double c2; + c2 = cos(2.0*dgtr*lat); + gv.val = 980.616 * (1.0 - 0.0026373 * c2); + reff.val = 2.0 * (gv.val) / (3.085462E-6 + 2.27E-9 * c2) * 1.0E-5; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------ CCOR ------------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double ccor(double alt, double r, double h1, double zh) { + /* CHEMISTRY/DISSOCIATION CORRECTION FOR MSIS MODELS + * ALT - altitude + * R - target ratio + * H1 - transition scale length + * ZH - altitude of 1/2 R + */ + double e; + double ex; + e = (alt - zh) / h1; + if (e>70) + return exp(0); + if (e<-70) + return exp(r); + ex = exp(e); + e = r / (1.0 + ex); + return exp(e); + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------ CCOR ------------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double ccor2(double alt, double r, double h1, double zh, double h2) { + /* CHEMISTRY/DISSOCIATION CORRECTION FOR MSIS MODELS + * ALT - altitude + * R - target ratio + * H1 - transition scale length + * ZH - altitude of 1/2 R + * H2 - transition scale length #2 ? + */ + double e1, e2; + double ex1, ex2; + double ccor2v; + e1 = (alt - zh) / h1; + e2 = (alt - zh) / h2; + if ((e1 > 70) || (e2 > 70)) + return exp(0); + if ((e1 < -70) && (e2 < -70)) + return exp(r); + ex1 = exp(e1); + ex2 = exp(e2); + ccor2v = r / (1.0 + 0.5 * (ex1 + ex2)); + return exp(ccor2v); + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- SCALH ----------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double scalh(double alt, double xm, double temp) { + double g; + double rgas=831.4; + g = gsurf.val / (pow((1.0 + alt/re.val),2.0)); + g = rgas * temp / (g * xm); + return g; + } + + + + /* ------------------------------------------------------------------- */ + /* -------------------------------- DNET ----------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double dnet (double dd, double dm, double zhm, double xmm, double xm) { + /* TURBOPAUSE CORRECTION FOR MSIS MODELS + * Root mean density + * DD - diffusive density + * DM - full mixed density + * ZHM - transition scale length + * XMM - full mixed molecular weight + * XM - species molecular weight + * DNET - combined density + */ + double a; + double ylog; + a = zhm / (xmm-xm); + if (!((dm>0) && (dd>0))) { + System.out.println("dnet log error "+dm+" "+dd+" "+xm); + if ((dd==0) && (dm==0)) + dd=1; + if (dm==0) + return dd; + if (dd==0) + return dm; + } + ylog = a * log(dm/dd); + if (ylog<-10) + return dd; + if (ylog>10) + return dm; + a = dd*pow((1.0 + exp(ylog)),(1.0/a)); + return a; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- SPLINI ---------------------------- */ + /* ------------------------------------------------------------------- */ + + protected void splini (double[] xa, double[] ya, double[] y2a, int n, double x, doublestar y) { + /* INTEGRATE CUBIC SPLINE FUNCTION FROM XA(1) TO X + * XA,YA: ARRAYS OF TABULATED FUNCTION IN ASCENDING ORDER BY X + * Y2A: ARRAY OF SECOND DERIVATIVES + * N: SIZE OF ARRAYS XA,YA,Y2A + * X: ABSCISSA ENDPOINT FOR INTEGRATION + * Y: OUTPUT VALUE + */ + double yi=0; + int klo=0; + int khi=1; + double xx, h, a, b, a2, b2; + while ((x>xa[klo]) && (khi1) { + k=(khi+klo)/2; + if (xa[k]>x) + khi=k; + else + klo=k; + } + h = xa[khi] - xa[klo]; + if (h==0.0) + System.out.println("bad XA input to splint"); + a = (xa[khi] - x)/h; + b = (x - xa[klo])/h; + yi = a * ya[klo] + b * ya[khi] + ((a*a*a - a) * y2a[klo] + (b*b*b - b) * y2a[khi]) * h * h/6.0; + y.val = yi; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- SPLINE ---------------------------- */ + /* ------------------------------------------------------------------- */ + + protected void spline (double[] x, double[] y, int n, double yp1, double ypn, double[] y2) { + /* CALCULATE 2ND DERIVATIVES OF CUBIC SPLINE INTERP FUNCTION + * ADAPTED FROM NUMERICAL RECIPES BY PRESS ET AL + * X,Y: ARRAYS OF TABULATED FUNCTION IN ASCENDING ORDER BY X + * N: SIZE OF ARRAYS X,Y + * YP1,YPN: SPECIFIED DERIVATIVES AT X[0] AND X[N-1]; VALUES + * >= 1E30 SIGNAL SIGNAL SECOND DERIVATIVE ZERO + * Y2: OUTPUT ARRAY OF SECOND DERIVATIVES + */ + double[] u; + double sig, p, qn, un; + int i, k; + u = new double[n]; //malloc(sizeof(double)*n); + if (u==null) { + System.out.println("Out Of Memory in spline - ERROR"); + return; + } + if (yp1>0.99E30) { + y2[0]=0; + u[0]=0; + } else { + y2[0]=-0.5; + u[0]=(3.0/(x[1]-x[0]))*((y[1]-y[0])/(x[1]-x[0])-yp1); + } + for (i=1;i<(n-1);i++) { + sig = (x[i]-x[i-1])/(x[i+1] - x[i-1]); + p = sig * y2[i-1] + 2.0; + y2[i] = (sig - 1.0) / p; + u[i] = (6.0 * ((y[i+1] - y[i])/(x[i+1] - x[i]) -(y[i] - y[i-1]) / (x[i] - x[i-1]))/(x[i+1] - x[i-1]) - sig * u[i-1])/p; + } + if (ypn>0.99E30) { + qn = 0; + un = 0; + } else { + qn = 0.5; + un = (3.0 / (x[n-1] - x[n-2])) * (ypn - (y[n-1] - y[n-2])/(x[n-1] - x[n-2])); + } + y2[n-1] = (un - qn * u[n-2]) / (qn * y2[n-2] + 1.0); + for (k=n-2;k>=0;k--) + y2[k] = y2[k] * y2[k+1] + u[k]; + + //free(u); + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- DENSM ----------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double zeta(double zz, double zl) { + return ((zz-zl)*(re.val+zl)/(re.val+zz)); + } + + protected double densm (double alt, double d0, double xm, doublestar tz, int mn3, double[] zn3, double[] tn3, double[] tgn3, int mn2, double[] zn2, double[] tn2, double[] tgn2) { + /* Calculate Temperature and Density Profiles for lower atmos. */ + double[] xs = new double[10]; + double[] ys = new double[10]; + double[] y2out = new double[10]; + double rgas = 831.4; + double z, z1, z2, t1, t2, zg, zgdif; + double yd1, yd2; + double x; + doublestar y = new doublestar(); + doublestar yi = new doublestar(); + double expl, gamm, glb; + double densm_tmp; + int mn; + int k; + densm_tmp=d0; + if (alt>zn2[0]) { + if (xm==0.0) + return tz.val; + else + return d0; + } + + /* STRATOSPHERE/MESOSPHERE TEMPERATURE */ + if (alt>zn2[mn2-1]) + z=alt; + else + z=zn2[mn2-1]; + mn=mn2; + z1=zn2[0]; + z2=zn2[mn-1]; + t1=tn2[0]; + t2=tn2[mn-1]; + zg = zeta(z, z1); + zgdif = zeta(z2, z1); + + /* set up spline nodes */ + for (k=0;k50.0) + expl=50.0; + + /* Density at altitude */ + densm_tmp = densm_tmp * (t1 / tz.val) * exp(-expl); + } + + if (alt>zn3[0]) { + if (xm==0.0) + return tz.val; + else + return densm_tmp; + } + + /* troposhere / stratosphere temperature */ + z = alt; + mn = mn3; + z1=zn3[0]; + z2=zn3[mn-1]; + t1=tn3[0]; + t2=tn3[mn-1]; + zg=zeta(z,z1); + zgdif=zeta(z2,z1); + + /* set up spline nodes */ + for (k=0;k50.0) + expl=50.0; + + /* Density at altitude */ + densm_tmp = densm_tmp * (t1 / tz.val) * exp(-expl); + } + if (xm==0.0) + return tz.val; + else + return densm_tmp; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- DENSU ----------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double densu (double alt, double dlb, double tinf, double tlb, double xm, double alpha, doublestar tz, double zlb, double s2, int mn1, double[] zn1, double[] tn1, double[] tgn1) { + /* Calculate Temperature and Density Profiles for MSIS models + * New lower thermo polynomial + */ + double yd2, yd1, x=0.0; + doublestar y = new doublestar(); + double rgas=831.4; + double densu_temp=1.0; + double za, z, zg2, tt, ta; + double dta, z1=0.0, z2, t1=0.0, t2, zg, zgdif=0.0; + int mn=0; + int k; + double glb; + double expl; + doublestar yi = new doublestar(); + double densa; + double gamma, gamm; + double[] xs = new double[5]; + double[] ys = new double[5]; + double[] y2out = new double[5]; + /* joining altitudes of Bates and spline */ + za=zn1[0]; + if (alt>za) + z=alt; + else + z=za; + + /* geopotential altitude difference from ZLB */ + zg2 = zeta(z, zlb); + + /* Bates temperature */ + tt = tinf - (tinf - tlb) * exp(-s2*zg2); + ta = tt; + tz.val = tt; + densu_temp = tz.val; + + if (altzn1[mn1-1]) + z=alt; + else + z=zn1[mn1-1]; + mn=mn1; + z1=zn1[0]; + z2=zn1[mn-1]; + t1=tn1[0]; + t2=tn1[mn-1]; + /* geopotental difference from z1 */ + zg = zeta (z, z1); + zgdif = zeta(z2, z1); + /* set up spline nodes */ + for (k=0;k50.0) + expl=50.0; + if (tt<=0) + expl=50.0; + + /* density at altitude */ + densa = dlb * pow((tlb/tt),((1.0+alpha+gamma))) * expl; + densu_temp=densa; + if (alt>=za) + return densu_temp; + + /* calculate density below za */ + glb = gsurf.val / pow((1.0 + z1/re.val),2.0); + gamm = xm * glb * zgdif / rgas; + + /* integrate spline temperatures */ + splini (xs, ys, y2out, mn, x, yi); + expl = gamm * yi.val; + if (expl>50.0) + expl=50.0; + if (tz.val<=0) + expl=50.0; + + /* density at altitude */ + densu_temp = densu_temp * pow ((t1 / tz.val),(1.0 + alpha)) * exp(-expl); + return densu_temp; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- GLOBE7 ---------------------------- */ + /* ------------------------------------------------------------------- */ + + /* 3hr Magnetic activity functions */ + /* Eq. A24d */ + protected double g0(double a, double[] p) { + return (a - 4.0 + (p[25] - 1.0) * (a - 4.0 + (exp(-sqrt(p[24]*p[24]) * (a - 4.0)) - 1.0) / sqrt(p[24]*p[24]))); + } + + /* Eq. A24c */ + protected double sumex(double ex) { + return (1.0 + (1.0 - pow(ex,19.0)) / (1.0 - ex) * pow(ex,0.5)); + } + + /* Eq. A24a */ + protected double sg0(double ex, double[] p, double[] ap) { + return (g0(ap[1],p) + (g0(ap[2],p)*ex + g0(ap[3],p)*ex*ex + + g0(ap[4],p)*pow(ex,3.0) + (g0(ap[5],p)*pow(ex,4.0) + + g0(ap[6],p)*pow(ex,12.0))*(1.0-pow(ex,8.0))/(1.0-ex)))/sumex(ex); + } + + protected double globe7(double[] p, struct_nrlmsise_input input, struct_nrlmsise_flags flags) { + /* CALCULATE G(L) FUNCTION + * Upper Thermosphere Parameters */ + double t[] = new double[15]; + int i,j; + int sw9=1; + double apd; + double xlong; + double tloc; + double c, s, c2, c4, s2; + double sr = 7.2722E-5; + //double dgtr = 1.74533E-2; + double dr = 1.72142E-2; + double hr = 0.2618; + double cd32, cd18, cd14, cd39; + double p32, p18, p14, p39; + double df, dfa; + double f1, f2; + double tinf=0; + struct_ap_array ap; + + tloc=input.lst; + for (j=0;j<14;j++) + t[j]=0; + if (flags.sw[9]>0) + sw9=1; + else if (flags.sw[9]<0) + sw9=-1; + xlong = input.g_long; + + /* calculate legendre polynomials */ + c = sin(input.g_lat * dgtr); + s = cos(input.g_lat * dgtr); + c2 = c*c; + c4 = c2*c2; + s2 = s*s; + + plg[0][1] = c; + plg[0][2] = 0.5*(3.0*c2 -1.0); + plg[0][3] = 0.5*(5.0*c*c2-3.0*c); + plg[0][4] = (35.0*c4 - 30.0*c2 + 3.0)/8.0; + plg[0][5] = (63.0*c2*c2*c - 70.0*c2*c + 15.0*c)/8.0; + plg[0][6] = (11.0*c*plg[0][5] - 5.0*plg[0][4])/6.0; + /* plg[0][7] = (13.0*c*plg[0][6] - 6.0*plg[0][5])/7.0; */ + plg[1][1] = s; + plg[1][2] = 3.0*c*s; + plg[1][3] = 1.5*(5.0*c2-1.0)*s; + plg[1][4] = 2.5*(7.0*c2*c-3.0*c)*s; + plg[1][5] = 1.875*(21.0*c4 - 14.0*c2 +1.0)*s; + plg[1][6] = (11.0*c*plg[1][5]-6.0*plg[1][4])/5.0; + /* plg[1][7] = (13.0*c*plg[1][6]-7.0*plg[1][5])/6.0; */ + /* plg[1][8] = (15.0*c*plg[1][7]-8.0*plg[1][6])/7.0; */ + plg[2][2] = 3.0*s2; + plg[2][3] = 15.0*s2*c; + plg[2][4] = 7.5*(7.0*c2 -1.0)*s2; + plg[2][5] = 3.0*c*plg[2][4]-2.0*plg[2][3]; + plg[2][6] =(11.0*c*plg[2][5]-7.0*plg[2][4])/4.0; + plg[2][7] =(13.0*c*plg[2][6]-8.0*plg[2][5])/5.0; + plg[3][3] = 15.0*s2*s; + plg[3][4] = 105.0*s2*s*c; + plg[3][5] =(9.0*c*plg[3][4]-7.*plg[3][3])/2.0; + plg[3][6] =(11.0*c*plg[3][5]-8.*plg[3][4])/3.0; + + if (!(((flags.sw[7]==0)&&(flags.sw[8]==0))&&(flags.sw[14]==0))) { + stloc = sin(hr*tloc); + ctloc = cos(hr*tloc); + s2tloc = sin(2.0*hr*tloc); + c2tloc = cos(2.0*hr*tloc); + s3tloc = sin(3.0*hr*tloc); + c3tloc = cos(3.0*hr*tloc); + } + + cd32 = cos(dr*(input.doy-p[31])); + cd18 = cos(2.0*dr*(input.doy-p[17])); + cd14 = cos(dr*(input.doy-p[13])); + cd39 = cos(2.0*dr*(input.doy-p[38])); + p32=p[31]; + p18=p[17]; + p14=p[13]; + p39=p[38]; + + /* F10.7 EFFECT */ + df = input.f107 - input.f107A; + dfa = input.f107A - 150.0; + t[0] = p[19]*df*(1.0+p[59]*dfa) + p[20]*df*df + p[21]*dfa + p[29]*pow(dfa,2.0); + f1 = 1.0 + (p[47]*dfa +p[19]*df+p[20]*df*df)*flags.swc[1]; + f2 = 1.0 + (p[49]*dfa+p[19]*df+p[20]*df*df)*flags.swc[1]; + + /* TIME INDEPENDENT */ + t[1] = (p[1]*plg[0][2]+ p[2]*plg[0][4]+p[22]*plg[0][6]) + + (p[14]*plg[0][2])*dfa*flags.swc[1] +p[26]*plg[0][1]; + + /* SYMMETRICAL ANNUAL */ + t[2] = p[18]*cd32; + + /* SYMMETRICAL SEMIANNUAL */ + t[3] = (p[15]+p[16]*plg[0][2])*cd18; + + /* ASYMMETRICAL ANNUAL */ + t[4] = f1*(p[9]*plg[0][1]+p[10]*plg[0][3])*cd14; + + /* ASYMMETRICAL SEMIANNUAL */ + t[5] = p[37]*plg[0][1]*cd39; + + /* DIURNAL */ + if (bool(flags.sw[7])) { + double t71, t72; + t71 = (p[11]*plg[1][2])*cd14*flags.swc[5]; + t72 = (p[12]*plg[1][2])*cd14*flags.swc[5]; + t[6] = f2*((p[3]*plg[1][1] + p[4]*plg[1][3] + p[27]*plg[1][5] + t71) * + ctloc + (p[6]*plg[1][1] + p[7]*plg[1][3] + p[28]*plg[1][5] + + t72)*stloc); + } + + /* SEMIDIURNAL */ + if (bool(flags.sw[8])) { + double t81, t82; + t81 = (p[23]*plg[2][3]+p[35]*plg[2][5])*cd14*flags.swc[5]; + t82 = (p[33]*plg[2][3]+p[36]*plg[2][5])*cd14*flags.swc[5]; + t[7] = f2*((p[5]*plg[2][2]+ p[41]*plg[2][4] + t81)*c2tloc +(p[8]*plg[2][2] + p[42]*plg[2][4] + t82)*s2tloc); + } + + /* TERDIURNAL */ + if (bool(flags.sw[14])) { + t[13] = f2 * ((p[39]*plg[3][3]+(p[93]*plg[3][4]+p[46]*plg[3][6])*cd14*flags.swc[5])* s3tloc +(p[40]*plg[3][3]+(p[94]*plg[3][4]+p[48]*plg[3][6])*cd14*flags.swc[5])* c3tloc); + } + + /* magnetic activity based on daily ap */ + if (flags.sw[9]==-1) { + ap = input.ap_a; + if (p[51]!=0) { + double exp1; + exp1 = exp(-10800.0*sqrt(p[51]*p[51])/(1.0+p[138]*(45.0-sqrt(input.g_lat*input.g_lat)))); + if (exp1>0.99999) + exp1=0.99999; + if (p[24]<1.0E-4) + p[24]=1.0E-4; + apt[0]=sg0(exp1,p,ap.a); + /* apt[1]=sg2(exp1,p,ap.a); + apt[2]=sg0(exp2,p,ap.a); + apt[3]=sg2(exp2,p,ap.a); + */ + if (bool(flags.sw[9])) { + t[8] = apt[0]*(p[50]+p[96]*plg[0][2]+p[54]*plg[0][4]+ + (p[125]*plg[0][1]+p[126]*plg[0][3]+p[127]*plg[0][5])*cd14*flags.swc[5]+ + (p[128]*plg[1][1]+p[129]*plg[1][3]+p[130]*plg[1][5])*flags.swc[7]* + cos(hr*(tloc-p[131]))); + } + } + } else { + double p44, p45; + apd=input.ap-4.0; + p44=p[43]; + p45=p[44]; + if (p44<0) + p44 = 1.0E-5; + apdf = apd + (p45-1.0)*(apd + (exp(-p44 * apd) - 1.0)/p44); + if (bool(flags.sw[9])) { + t[8]=apdf*(p[32]+p[45]*plg[0][2]+p[34]*plg[0][4]+ + (p[100]*plg[0][1]+p[101]*plg[0][3]+p[102]*plg[0][5])*cd14*flags.swc[5]+ + (p[121]*plg[1][1]+p[122]*plg[1][3]+p[123]*plg[1][5])*flags.swc[7]* + cos(hr*(tloc-p[124]))); + } + } + + if (bool(flags.sw[10]) && (input.g_long>-1000.0)) { + + /* longitudinal */ + if (bool(flags.sw[11])) { + t[10] = (1.0 + p[80]*dfa*flags.swc[1])* + ((p[64]*plg[1][2]+p[65]*plg[1][4]+p[66]*plg[1][6] + +p[103]*plg[1][1]+p[104]*plg[1][3]+p[105]*plg[1][5] + +flags.swc[5]*(p[109]*plg[1][1]+p[110]*plg[1][3]+p[111]*plg[1][5])*cd14)* + cos(dgtr*input.g_long) + +(p[90]*plg[1][2]+p[91]*plg[1][4]+p[92]*plg[1][6] + +p[106]*plg[1][1]+p[107]*plg[1][3]+p[108]*plg[1][5] + +flags.swc[5]*(p[112]*plg[1][1]+p[113]*plg[1][3]+p[114]*plg[1][5])*cd14)* + sin(dgtr*input.g_long)); + } + + /* ut and mixed ut, longitude */ + if (bool(flags.sw[12])){ + t[11]=(1.0+p[95]*plg[0][1])*(1.0+p[81]*dfa*flags.swc[1])* + (1.0+p[119]*plg[0][1]*flags.swc[5]*cd14)* + ((p[68]*plg[0][1]+p[69]*plg[0][3]+p[70]*plg[0][5])* + cos(sr*(input.sec-p[71]))); + t[11]+=flags.swc[11]* + (p[76]*plg[2][3]+p[77]*plg[2][5]+p[78]*plg[2][7])* + cos(sr*(input.sec-p[79])+2.0*dgtr*input.g_long)*(1.0+p[137]*dfa*flags.swc[1]); + } + + /* ut, longitude magnetic activity */ + if (bool(flags.sw[13])) { + if (flags.sw[9]==-1) { + if (bool(p[51])) { + t[12]=apt[0]*flags.swc[11]*(1.+p[132]*plg[0][1])* + ((p[52]*plg[1][2]+p[98]*plg[1][4]+p[67]*plg[1][6])* + cos(dgtr*(input.g_long-p[97]))) + +apt[0]*flags.swc[11]*flags.swc[5]* + (p[133]*plg[1][1]+p[134]*plg[1][3]+p[135]*plg[1][5])* + cd14*cos(dgtr*(input.g_long-p[136])) + +apt[0]*flags.swc[12]* + (p[55]*plg[0][1]+p[56]*plg[0][3]+p[57]*plg[0][5])* + cos(sr*(input.sec-p[58])); + } + } else { + t[12] = apdf*flags.swc[11]*(1.0+p[120]*plg[0][1])* + ((p[60]*plg[1][2]+p[61]*plg[1][4]+p[62]*plg[1][6])* + cos(dgtr*(input.g_long-p[63]))) + +apdf*flags.swc[11]*flags.swc[5]* + (p[115]*plg[1][1]+p[116]*plg[1][3]+p[117]*plg[1][5])* + cd14*cos(dgtr*(input.g_long-p[118])) + + apdf*flags.swc[12]* + (p[83]*plg[0][1]+p[84]*plg[0][3]+p[85]*plg[0][5])* + cos(sr*(input.sec-p[75])); + } + } + } + + /* parms not used: 82, 89, 99, 139-149 */ + tinf = p[30]; + for (i=0;i<14;i++) + tinf = tinf + abs(flags.sw[i+1])*t[i]; + return tinf; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- GLOB7S ---------------------------- */ + /* ------------------------------------------------------------------- */ + + protected double glob7s(double[] p, struct_nrlmsise_input input, struct_nrlmsise_flags flags) { + /* VERSION OF GLOBE FOR LOWER ATMOSPHERE 10/26/99 + */ + double pset=2.0; + double t[] = new double[14]; + double tt; + double cd32, cd18, cd14, cd39; + double p32, p18, p14, p39; + int i,j; + double dr=1.72142E-2; + //double dgtr=1.74533E-2; + /* confirm parameter set */ + if (p[99]==0) + p[99]=pset; + if (p[99]!=pset) { + System.out.println("Wrong parameter set for glob7s"); + return -1; + } + for (j=0;j<14;j++) + t[j]=0.0; + cd32 = cos(dr*(input.doy-p[31])); + cd18 = cos(2.0*dr*(input.doy-p[17])); + cd14 = cos(dr*(input.doy-p[13])); + cd39 = cos(2.0*dr*(input.doy-p[38])); + p32=p[31]; + p18=p[17]; + p14=p[13]; + p39=p[38]; + + /* F10.7 */ + t[0] = p[21]*dfa; + + /* time independent */ + t[1]=p[1]*plg[0][2] + p[2]*plg[0][4] + p[22]*plg[0][6] + p[26]*plg[0][1] + p[14]*plg[0][3] + p[59]*plg[0][5]; + + /* SYMMETRICAL ANNUAL */ + t[2]=(p[18]+p[47]*plg[0][2]+p[29]*plg[0][4])*cd32; + + /* SYMMETRICAL SEMIANNUAL */ + t[3]=(p[15]+p[16]*plg[0][2]+p[30]*plg[0][4])*cd18; + + /* ASYMMETRICAL ANNUAL */ + t[4]=(p[9]*plg[0][1]+p[10]*plg[0][3]+p[20]*plg[0][5])*cd14; + + /* ASYMMETRICAL SEMIANNUAL */ + t[5]=(p[37]*plg[0][1])*cd39; + + /* DIURNAL */ + if (bool(flags.sw[7])) { + double t71, t72; + t71 = p[11]*plg[1][2]*cd14*flags.swc[5]; + t72 = p[12]*plg[1][2]*cd14*flags.swc[5]; + t[6] = ((p[3]*plg[1][1] + p[4]*plg[1][3] + t71) * ctloc + (p[6]*plg[1][1] + p[7]*plg[1][3] + t72) * stloc) ; + } + + /* SEMIDIURNAL */ + if (bool(flags.sw[8])) { + double t81, t82; + t81 = (p[23]*plg[2][3]+p[35]*plg[2][5])*cd14*flags.swc[5]; + t82 = (p[33]*plg[2][3]+p[36]*plg[2][5])*cd14*flags.swc[5]; + t[7] = ((p[5]*plg[2][2] + p[41]*plg[2][4] + t81) * c2tloc + (p[8]*plg[2][2] + p[42]*plg[2][4] + t82) * s2tloc); + } + + /* TERDIURNAL */ + if (bool(flags.sw[14])) { + t[13] = p[39] * plg[3][3] * s3tloc + p[40] * plg[3][3] * c3tloc; + } + + /* MAGNETIC ACTIVITY */ + if (bool(flags.sw[9])) { + if (flags.sw[9]==1) + t[8] = apdf * (p[32] + p[45] * plg[0][2] * flags.swc[2]); + if (flags.sw[9]==-1) + t[8]=(p[50]*apt[0] + p[96]*plg[0][2] * apt[0]*flags.swc[2]); + } + + /* LONGITUDINAL */ + if (!((flags.sw[10]==0) || (flags.sw[11]==0) || (input.g_long<=-1000.0))) { + t[10] = (1.0 + plg[0][1]*(p[80]*flags.swc[5]*cos(dr*(input.doy-p[81])) + +p[85]*flags.swc[6]*cos(2.0*dr*(input.doy-p[86]))) + +p[83]*flags.swc[3]*cos(dr*(input.doy-p[84])) + +p[87]*flags.swc[4]*cos(2.0*dr*(input.doy-p[88]))) + *((p[64]*plg[1][2]+p[65]*plg[1][4]+p[66]*plg[1][6] + +p[74]*plg[1][1]+p[75]*plg[1][3]+p[76]*plg[1][5] + )*cos(dgtr*input.g_long) + +(p[90]*plg[1][2]+p[91]*plg[1][4]+p[92]*plg[1][6] + +p[77]*plg[1][1]+p[78]*plg[1][3]+p[79]*plg[1][5] + )*sin(dgtr*input.g_long)); + } + tt=0; + for (i=0;i<14;i++) + tt+=abs(flags.sw[i+1])*t[i]; + return tt; + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- GTD7 ------------------------------ */ + /* ------------------------------------------------------------------- */ + /** Neutral Atmosphere Empircial Model from the surface to lower + * exosphere. + */ + protected void gtd7(struct_nrlmsise_input input, struct_nrlmsise_flags flags, struct_nrlmsise_output output) { + double xlat; + double xmm; + int mn3 = 5; + double zn3[] = {32.5,20.0,15.0,10.0,0.0}; + int mn2 = 4; + double zn2[] = {72.5,55.0,45.0,32.5}; + double altt; + double zmix=62.5; + double tmp; + double dm28m; + doublestar tz = new doublestar(); + double dmc; + double dmr; + double dz28; + struct_nrlmsise_output soutput = new struct_nrlmsise_output(); + int i; + + tselec(flags); + + /* Latitude variation of gravity (none for sw[2]=0) */ + xlat=input.g_lat; + if (flags.sw[2]==0) + xlat=45.0; + glatf(xlat, gsurf, re); + + xmm = pdm[2][4]; + + /* THERMOSPHERE / MESOSPHERE (above zn2[0]) */ + if (input.alt>zn2[0]) + altt=input.alt; + else + altt=zn2[0]; + + tmp=input.alt; + input.alt=altt; + gts7(input, flags, soutput); + altt=input.alt; + input.alt=tmp; + if (bool(flags.sw[0])) /* metric adjustment */ + dm28m=dm28*1.0E6; + else + dm28m=dm28; + output.t[0]=soutput.t[0]; + output.t[1]=soutput.t[1]; + if (input.alt>=zn2[0]) { + for (i=0;i<9;i++) + output.d[i]=soutput.d[i]; + return; + } + + /* LOWER MESOSPHERE/UPPER STRATOSPHERE (between zn3[0] and zn2[0]) + * Temperature at nodes and gradients at end nodes + * Inverse temperature a linear function of spherical harmonics + */ + meso_tgn2[0]=meso_tgn1[1]; + meso_tn2[0]=meso_tn1[4]; + meso_tn2[1]=pma[0][0]*pavgm[0]/(1.0-flags.sw[20]*glob7s(pma[0], input, flags)); + meso_tn2[2]=pma[1][0]*pavgm[1]/(1.0-flags.sw[20]*glob7s(pma[1], input, flags)); + meso_tn2[3]=pma[2][0]*pavgm[2]/(1.0-flags.sw[20]*flags.sw[22]*glob7s(pma[2], input, flags)); + meso_tgn2[1]=pavgm[8]*pma[9][0]*(1.0+flags.sw[20]*flags.sw[22]*glob7s(pma[9], input, flags))*meso_tn2[3]*meso_tn2[3]/(pow((pma[2][0]*pavgm[2]),2.0)); + meso_tn3[0]=meso_tn2[3]; + + if (input.altzmix) + dmc = 1.0 - (zn2[0]-input.alt)/(zn2[0] - zmix); + dz28=soutput.d[2]; + + /**** N2 density ****/ + dmr=soutput.d[2] / dm28m - 1.0; + output.d[2]=densm(input.alt,dm28m,xmm, tz, mn3, zn3, meso_tn3, meso_tgn3, mn2, zn2, meso_tn2, meso_tgn2); + output.d[2]=output.d[2] * (1.0 + dmr*dmc); + + /**** HE density ****/ + dmr = soutput.d[0] / (dz28 * pdm[0][1]) - 1.0; + output.d[0] = output.d[2] * pdm[0][1] * (1.0 + dmr*dmc); + + /**** O density ****/ + output.d[1] = 0; + output.d[8] = 0; + + /**** O2 density ****/ + dmr = soutput.d[3] / (dz28 * pdm[3][1]) - 1.0; + output.d[3] = output.d[2] * pdm[3][1] * (1.0 + dmr*dmc); + + /**** AR density ***/ + dmr = soutput.d[4] / (dz28 * pdm[4][1]) - 1.0; + output.d[4] = output.d[2] * pdm[4][1] * (1.0 + dmr*dmc); + + /**** Hydrogen density ****/ + output.d[6] = 0; + + /**** Atomic nitrogen density ****/ + output.d[7] = 0; + + /**** Total mass density */ + output.d[5] = 1.66E-24 * (4.0 * output.d[0] + 16.0 * output.d[1] + 28.0 * output.d[2] + 32.0 * output.d[3] + 40.0 * output.d[4] + output.d[6] + 14.0 * output.d[7]); + + if (bool(flags.sw[0])) + output.d[5]=output.d[5]/1000; + + /**** temperature at altitude ****/ + dd = densm(input.alt, 1.0, 0, tz, mn3, zn3, meso_tn3, meso_tgn3, mn2, zn2, meso_tn2, meso_tgn2); + output.t[1].val=tz.val; + + } + + + + /* ------------------------------------------------------------------- */ + /* ------------------------------- GTD7D ----------------------------- */ + /* ------------------------------------------------------------------- */ + + /** This subroutine provides Effective Total Mass Density for output + * d[5] which includes contributions from "anomalous oxygen" which can + * affect satellite drag above 500 km. See the section "output" for + * additional details. + */ + protected void gtd7d(struct_nrlmsise_input input, struct_nrlmsise_flags flags, struct_nrlmsise_output output) { + gtd7(input, flags, output); + output.d[5] = 1.66E-24 * (4.0 * output.d[0] + 16.0 * output.d[1] + 28.0 * output.d[2] + 32.0 * output.d[3] + 40.0 * output.d[4] + output.d[6] + 14.0 * output.d[7] + 16.0 * output.d[8]); + } + + + + /* ------------------------------------------------------------------- */ + /* -------------------------------- GHP7 ----------------------------- */ + /* ------------------------------------------------------------------- */ + + /** To specify outputs at a pressure level (press) rather than at + * an altitude. + */ + protected void ghp7(struct_nrlmsise_input input, struct_nrlmsise_flags flags, struct_nrlmsise_output output, double press) { + double bm = 1.3806E-19; + double rgas = 831.4; + double test = 0.00043; + double ltest = 12; + double pl, p; + double zi=0; + double z; + double cl, cl2; + double ca, cd; + double xn, xm, diff; + double g, sh; + int l; + pl = log10(press); + if (pl >= -5.0) { + if (pl>2.5) + zi = 18.06 * (3.00 - pl); + else if ((pl>0.075) && (pl<=2.5)) + zi = 14.98 * (3.08 - pl); + else if ((pl>-1) && (pl<=0.075)) + zi = 17.80 * (2.72 - pl); + else if ((pl>-2) && (pl<=-1)) + zi = 14.28 * (3.64 - pl); + else if ((pl>-4) && (pl<=-2)) + zi = 12.72 * (4.32 -pl); + else if (pl<=-4) + zi = 25.3 * (0.11 - pl); + cl = input.g_lat/90.0; + cl2 = cl*cl; + if (input.doy<182) + cd = (1.0 - (double) input.doy) / 91.25; + else + cd = ((double) input.doy) / 91.25 - 3.0; + ca = 0; + if ((pl > -1.11) && (pl<=-0.23)) + ca = 1.0; + if (pl > -0.23) + ca = (2.79 - pl) / (2.79 + 0.23); + if ((pl <= -1.11) && (pl>-3)) + ca = (-2.93 - pl)/(-2.93 + 1.11); + z = zi - 4.87 * cl * cd * ca - 1.64 * cl2 * ca + 0.31 * ca * cl; + } else + z = 22.0 * pow((pl + 4.0),2.0) + 110.0; + + /* iteration loop */ + l = 0; + do { + l++; + input.alt = z; + gtd7(input, flags, output); + z = input.alt; + xn = output.d[0] + output.d[1] + output.d[2] + output.d[3] + output.d[4] + output.d[6] + output.d[7]; + p = bm * xn * output.t[1].val; + if (bool(flags.sw[0])) + p = p*1.0E-6; + diff = pl - log10(p); + if (sqrt(diff*diff) 72.5 km! + */ + double za; + int i, j; + double ddum, z; + double zn1[] = {120.0, 110.0, 100.0, 90.0, 72.5}; + double tinf=0; + int mn1 = 5; + double g0; + double tlb; + double s, z0, t0, tr12; + double db01, db04, db14, db16, db28, db32, db40, db48; + double zh28, zh04, zh16, zh32, zh40, zh01, zh14; + double zhm28, zhm04, zhm16, zhm32, zhm40, zhm01, zhm14; + double xmd; + double b28, b04, b16, b32, b40, b01, b14; + doublestar tz = new doublestar(); + double g28, g4, g16, g32, g40, g1, g14; + double zhf, xmm; + double zc04, zc16, zc32, zc40, zc01, zc14; + double hc04, hc16, hc32, hc40, hc01, hc14; + double hcc16, hcc32, hcc01, hcc14; + double zcc16, zcc32, zcc01, zcc14; + double rc16, rc32, rc01, rc14; + double rl; + double g16h, db16h, tho, zsht, zmho, zsho; + //double dgtr=1.74533E-2; + double dr=1.72142E-2; + double alpha[]={-0.38, 0.0, 0.0, 0.0, 0.17, 0.0, -0.38, 0.0, 0.0}; + double altl[]={200.0, 300.0, 160.0, 250.0, 240.0, 450.0, 320.0, 450.0}; + double dd; + double hc216, hcc232; + za = pdl[1][15]; + zn1[0] = za; + for (j=0;j<9;j++) + output.d[j]=0; + + /* TINF VARIATIONS NOT IMPORTANT BELOW ZA OR ZN1(1) */ + if (input.alt>zn1[0]) + tinf = ptm[0]*pt[0] * + (1.0+flags.sw[16]*globe7(pt,input,flags)); + else + tinf = ptm[0]*pt[0]; + output.t[0].val =tinf; + + /* GRADIENT VARIATIONS NOT IMPORTANT BELOW ZN1(5) */ + if (input.alt>zn1[4]) + g0 = ptm[3]*ps[0] * + (1.0+flags.sw[19]*globe7(ps,input,flags)); + else + g0 = ptm[3]*ps[0]; + tlb = ptm[1] * (1.0 + flags.sw[17]*globe7(pd[3],input,flags))*pd[3][0]; + s = g0 / (tinf - tlb); + + /* Lower thermosphere temp variations not significant for + * density above 300 km */ + if (input.alt<300.0) { + meso_tn1[1]=ptm[6]*ptl[0][0]/(1.0-flags.sw[18]*glob7s(ptl[0], input, flags)); + meso_tn1[2]=ptm[2]*ptl[1][0]/(1.0-flags.sw[18]*glob7s(ptl[1], input, flags)); + meso_tn1[3]=ptm[7]*ptl[2][0]/(1.0-flags.sw[18]*glob7s(ptl[2], input, flags)); + meso_tn1[4]=ptm[4]*ptl[3][0]/(1.0-flags.sw[18]*flags.sw[20]*glob7s(ptl[3], input, flags)); + meso_tgn1[1]=ptm[8]*pma[8][0]*(1.0+flags.sw[18]*flags.sw[20]*glob7s(pma[8], input, flags))*meso_tn1[4]*meso_tn1[4]/(pow((ptm[4]*ptl[3][0]),2.0)); + } else { + meso_tn1[1]=ptm[6]*ptl[0][0]; + meso_tn1[2]=ptm[2]*ptl[1][0]; + meso_tn1[3]=ptm[7]*ptl[2][0]; + meso_tn1[4]=ptm[4]*ptl[3][0]; + meso_tgn1[1]=ptm[8]*pma[8][0]*meso_tn1[4]*meso_tn1[4]/(pow((ptm[4]*ptl[3][0]),2.0)); + } + + z0 = zn1[3]; + t0 = meso_tn1[3]; + tr12 = 1.0; + + /* N2 variation factor at Zlb */ + g28=flags.sw[21]*globe7(pd[2], input, flags); + + /* VARIATION OF TURBOPAUSE HEIGHT */ + zhf=pdl[1][24]*(1.0+flags.sw[5]*pdl[0][24]*sin(dgtr*input.g_lat)*cos(dr*(input.doy-pt[13]))); + output.t[0].val =tinf; + xmm = pdm[2][4]; + z = input.alt; + + + /**** N2 DENSITY ****/ + + /* Diffusive density at Zlb */ + db28 = pdm[2][0]*exp(g28)*pd[2][0]; + /* Diffusive density at Alt */ + output.d[2]=densu(z,db28,tinf,tlb,28.0,alpha[2],output.t[1],ptm[5],s,mn1,zn1,meso_tn1,meso_tgn1); + dd=output.d[2]; + /* Turbopause */ + zh28=pdm[2][2]*zhf; + zhm28=pdm[2][3]*pdl[1][5]; + xmd=28.0-xmm; + /* Mixed density at Zlb */ + b28=densu(zh28,db28,tinf,tlb,xmd,(alpha[2]-1.0),tz,ptm[5],s,mn1, zn1,meso_tn1,meso_tgn1); + if (bool(flags.sw[15])&&(z<=altl[2])) { + /* Mixed density at Alt */ + dm28=densu(z,b28,tinf,tlb,xmm,alpha[2],tz,ptm[5],s,mn1,zn1,meso_tn1,meso_tgn1); + /* Net density at Alt */ + output.d[2]=dnet(output.d[2],dm28,zhm28,xmm,28.0); + } + + + /**** HE DENSITY ****/ + + /* Density variation factor at Zlb */ + g4 = flags.sw[21]*globe7(pd[0], input, flags); + /* Diffusive density at Zlb */ + db04 = pdm[0][0]*exp(g4)*pd[0][0]; + /* Diffusive density at Alt */ + output.d[0]=densu(z,db04,tinf,tlb, 4.,alpha[0],output.t[1],ptm[5],s,mn1,zn1,meso_tn1,meso_tgn1); + dd=output.d[0]; + if (bool(flags.sw[15]) && (z + * The SolarRadiationPressure class provides a generic model for the influence + * of solar radiation pressure on a satellite. + * + * @author Richard C. Page III + * + */ +public class SolarRadiationPressure implements EarthForceModel, ForceModel { + + //protected DE405 jpl_ephemeris; + /** + * Cross sectional (reflective) area [m^2] + */ + private double area; + /** Mass [kg] of the satellite + */ + private double mass; + /** Satellite coefficient of reflectivity + */ + private double CR; + + /** All solar pressure radiation forces are determined based on + * position relative to the sun. */ + private ReferenceFrame sunRef = new BodyCenteredInertialRef(DE405_Body.SUN); + + /** A reference frame relative to a planet casting a shadow. Will be used + * to determine the spacecraft's position relative to the planet to determine + * the shadow. */ + private final ReferenceFrame shadowRef; + + /** The radius of planet casting shadow. Or ignored if shadowRef is null. */ + private final double shadowR; + + /** Constructor. Assumes an Earth shadow. + * @param m New satellite mass value [kg]. + * @param A New satellite area value [m^2]. + * @param coeff Coefficient of reflectivity + */ + public SolarRadiationPressure(double m, double A, double coeff){ + this(m, A, coeff, new BodyCenteredInertialRef(DE405_Body.EARTH), Constants.R_Earth); + } + + /** Constructor + * @param m New satellite mass value [kg]. + * @param A New satellite area value [m^2]. + * @param coeff Coefficient of reflectivity + * @param bodyRef reference frame that can tell the spacecraft's position + * relative to a planet that may cast a shadow on the spacecraft. + * @param bodyRadius radius of the planet in meters + */ + public SolarRadiationPressure(double m, double A, double coeff, + ReferenceFrame bodyRef, double bodyRadius){ + mass = m; + area = A; + CR = coeff; + shadowRef = bodyRef; + shadowR = bodyRadius; + } + + /** + * Constructor + * @param sc Spacecraft Parameters + */ + public SolarRadiationPressure(Spacecraft sc){ + this(sc.mass(), sc.srpArea(), sc.cr()); + } + + /** Compute the acceleration due to a solar radiation pressure. + * @param d Relative position vector of spacecraft w.r.t. Sun + * (from the sun to s/c) + * @return Acceleration due to solar radiation pressure in m/s^2. + */ + public VectorN accelSRP(VectorN d) + { + double dmag = d.mag(); + double dcubed = dmag * dmag * dmag; + //double au2 = Constants.AU * Constants.AU; + //double r_sun_mag = r_Sun.mag(); + //double au2 = r_sun_mag*r_sun_mag; + //double P_STK = 4.5344321837439e-06; + //4.560E-6 + //THE REAL WAY + double Ls = 3.823e26; //* STK [W] + double factor = CR * (area/mass) * Ls/ (4*Constants.pi*Constants.c*dcubed); //* STK HPOP method + //ALTERNATE + //double factor = CR * (area/mass) * P_STK * au2 / dcubed; + //double + + //THE REAL WAY + VectorN out = d.times(factor); + //ALTERNATE + //VectorN out = r_Sun.times(factor); + + //VectorN out = d.unitVector().times(P_STK*CR*(area/mass)); +// out.print("accelSRP"); + + return out; + } + + /** Implemented from the ForceModel interface + * @param eRef Earth reference class + * @param sc Spacecraft parameters + */ + public VectorN acceleration(EarthRef eRef, Spacecraft sc){ + area = sc.srpArea(); + mass = sc.mass(); + CR = sc.cr(); + + // We translate to a sun-centered reference frame to + // determine the distance from the sun + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(eRef, sunRef, new Time(eRef.mjd_utc())); + VectorN d = xlater.translatePoint(sc.r()); + + return (accelSRP(d).times(partial_illumination_rel(sc.r(), d))); + } + + /** Compute the acceleration due to a solar radiation pressure. + * @param r ECI position vector [m]. + * @param r_Sun ECI position vector of Sun in m. + * @return Acceleration due to solar radiation pressure in m/s^2. + */ + public VectorN accelSRP(VectorN r, VectorN r_Sun) + { + // Relative position vector of spacecraft w.r.t. Sun (from the sun to s/c) + VectorN d = r.minus(r_Sun); + return accelSRP(d); + } + + /** Implemented from the ForceModel interface + * @param t Time reference object + * @param bRef Earth reference object + * @param sc Spacecraft parameters + */ + public VectorN acceleration(Time t, BodyRef bRef, Spacecraft sc) { + area = sc.srpArea(); + mass = sc.mass(); + CR = sc.cr(); + + // We translate to a sun-centered reference frame to + // determine the distance from the sun + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(bRef, sunRef, t); + VectorN d = xlater.translatePoint(sc.r()); + + return (accelSRP(d).times(partial_illumination_rel(sc.r(), d))); + } + + /** Update satellite mass. + * @param m New satellite mass value [kg]. + */ + public void updateMass(double m){ + mass = m; + } + + /** Update satellite area. + * @param A New satellite area value [m^2]. + */ + public void updateArea(double A){ + area = A; + } + + public void updateCR(double Cr){ + CR = Cr; + } + + /** Determines if the satellite is in sunlight or shadow based on simple cylindrical shadow model. + * @param r ECI position vector of spacecraft [m]. + * @param r_Sun Sun position vector (geocentric) [m]. + * @return 0.0 if in shadow, 1.0 if in sunlight. + */ + public double illumination( VectorN r, VectorN r_Sun ) { + + VectorN e_Sun = r_Sun.unitVector(); // Sun direction unit vector + double s = r.dotProduct(e_Sun); // Projection of s/c position + VectorN temp1 = e_Sun.times(s); + VectorN temp2 = r.minus(temp1); + double temp = temp2.mag(); + + return ( ( s>0 || temp> Constants.R_Earth ) ? 1.0 : 0.0 ); + } + + /** Determines if the satellite is in sunlight or shadow based on simple cylindrical shadow model. + * Taken from Montenbruck and Gill p. 80-83 + * @param r ECI position vector of spacecraft [m]. + * @param r_Sun Sun position vector (geocentric) [m]. + * @return 0.0 if in shadow, 1.0 if in sunlight, 0 to 1.0 if in partial shadow + */ + public double partial_illumination(VectorN r, VectorN r_Sun ){ + VectorN d = r.minus(r_Sun); + return partial_illumination_rel(r, d); + } + + /** Determines if the satellite is in sunlight or shadow based on simple cylindrical shadow model. + * Taken from Montenbruck and Gill p. 80-83 + * @param r_earth position vector of spacecraft with respect to Earth (ECI). + * @param r_sun position vector of spacecraft with respect to the sun. + * @return 0.0 if in shadow, 1.0 if in sunlight, 0 to 1.0 if in partial shadow + */ + public double partial_illumination_rel(VectorN r_earth, VectorN r_sun){ + double r_mag = r_earth.mag(); + double R_sun = Constants.R_Sun; + // TODO: This is hard coded to Earth. A planet reference + // frame and radius should be passed in to the SolarRadiationPressure + // at construction. + double R_earth = Constants.R_Earth; + double dmag = -1 * r_sun.mag(); + double sd = -1.0 * r_earth.dotProduct(r_sun); + double a = Math.asin(R_sun/dmag); + if(R_earth>r_mag){ + System.err.println("Error! Collision detected with Earth."); + System.err.println("Error! See jat.forces.SolarRadiationPressure"); + return 0.0; + //System.exit(0); + } + double b = Math.asin(R_earth/r_mag); + double c = Math.acos(sd/(r_mag*dmag)); + if((a+b)<=c) + return 1.0; + else if(c < (b-a)) return 0.0; + else { + double x = (c*c+a*a-b*b)/(2*c); + double y = Math.sqrt(a*a-x*x); + double A = a*a*Math.acos(x/a)+b*b*Math.acos((c-x)/b)-c*y; + double nu = 1 - A/(Constants.pi*a*a); + return nu; + } + + } + +} diff --git a/src/jat/coreNOSA/forces/SphericalHarmonicGravity.java b/src/jat/coreNOSA/forces/SphericalHarmonicGravity.java new file mode 100644 index 0000000..70f2f27 --- /dev/null +++ b/src/jat/coreNOSA/forces/SphericalHarmonicGravity.java @@ -0,0 +1,350 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.forces; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.ReferenceFrame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; + +/**

+ * The SphericalHarmonicGravity class computes the acceleration due to gravity on a satellite + * using a spherical harmonic gravity field. This class will be the base class for various + * spherical harmonic models such as JGM-3, etc. The subclasses will supply the coefficients. + * Reference: Montenbruck, section 3.2. This is basically Montenbruck's code translated to Java. + * + * @author + * @version 1.0 + */ + +abstract public class SphericalHarmonicGravity implements EarthForceModel, ForceModel { + + /** GM in m^3/s^2. + */ + protected double GM; + /** Radius of planet in m. + */ + protected double R_ref; + /** Unnormalized harmonic coefficients. + */ + protected double[][] CS; + /** Maximum degree (20). + */ + protected int n_max; + /** Maximum order (20). + */ + protected int m_max; + /** Harmonic function V. + */ + protected double[][] V; // Harmonic functions + /** Harmonic function W. + */ + protected double[][] W; // work array (0..n_max+1,0..n_max+1) + + /** Degree of gravity model desired. + */ + protected int n_desired; + + /** Order of gravity model desired. + */ + protected int m_desired; + + /** The reference frame in which the gravity is computed. */ + private ReferenceFrame bodyFixedRef; + + /** The user must supply a method to initialize the gravity model. The initialize() method must set the values of GM, R_ref, n_max, m_max and CS to be used. + */ + abstract public void initialize(); + + /** Initialize the value of GM. + * @param gm the planetary gravity constant. + */ + protected void initializeGM(double gm){ + this.GM = gm; + } + + /** Initialize the R_ref. + * @param rref the planetary R_ref value. + */ + protected void initializeR_ref(double rref){ + this.R_ref = rref; + } + + /** Initialize the spherical harmonic coefficients. + * @param nmax The maximum order of the model. + * @param mmax The maximum degree of the model. + * @param cs The unnormalized harmonic coefficients. + */ + protected void initializeCS(int nmax, int mmax, double[][] cs){ + this.n_max = nmax; + this.m_max = mmax; + this.CS = new double[nmax+1][mmax+1]; + for (int i = 0; i < this.n_max+1; i++){ + for (int j = 0; j < this.m_max+1; j++){ + this.CS[i][j] = cs[i][j]; + } + } + } + + /** Constructor. + * @param n Desired degree. + * @param m Desired order. + */ + public SphericalHarmonicGravity(int n, int m, + ReferenceFrame bodyFixedFrame) { + + this.n_desired = n; + this.m_desired = m; + this.bodyFixedRef = bodyFixedFrame; + V = new double[this.n_desired+2][this.n_desired+2]; + W = new double[this.n_desired+2][this.n_desired+2]; + } + + /** Evaluates the two harmonic functions V and W. + * @param r_bf fixed body position vector. + */ + private void computeVW(VectorN r_bf) { + + // Auxiliary quantities + double r_sqr = r_bf.dotProduct(r_bf); // Square of distance + double rho = R_ref*R_ref / r_sqr; + + double x0 = R_ref * r_bf.x[0] / r_sqr; // Normalized + double y0 = R_ref * r_bf.x[1] / r_sqr; // coordinates + double z0 = R_ref * r_bf.x[2] / r_sqr; + + // Calculate zonal terms V(n,0); set W(n,0)=0.0 + double temp = R_ref / Math.sqrt(r_sqr); + V[0][0] = temp; + W[0][0] = 0.0; + + temp = z0 * temp; + V[1][0] = temp; + W[1][0] = 0.0; + + for (int n=2; n<=n_desired+1; n++) { + temp = ( (2*n-1) * z0 * V[n-1][0] - (n-1) * rho * V[n-2][0] ) / n; + V[n][0] = temp; + W[n][0] =0.0; + } + + // Calculate tesseral and sectorial terms + for (int m=1; m<=m_desired+1; m++) { + + // Calculate V(m,m) .. V(n_max+1,m) + + V[m][m] = (2*m-1) * ( x0*V[m-1][m-1] - y0*W[m-1][m-1] ); + W[m][m] = (2*m-1) * ( x0*W[m-1][m-1] + y0*V[m-1][m-1] ); + + if (m<=n_desired) { + V[m+1][m] = (2*m+1) * z0 * V[m][m]; + W[m+1][m] = (2*m+1) * z0 * W[m][m]; + } + + for (int n=m+2; n<=n_desired+1; n++) { + V[n][m] = ( (2*n-1)*z0*V[n-1][m] - (n+m-1)*rho*V[n-2][m] ) / (n-m); + W[n][m] = ( (2*n-1)*z0*W[n-1][m] - (n+m-1)*rho*W[n-2][m] ) / (n-m); + } + } + } + + /** Computes the acceleration due to gravity in m/s^2. + * @param r ECI position vector. + * @param E ECI to ECEF transformation matrix. + * @return ECI acceleration in m/s^2. + */ + public VectorN gravity(VectorN r, Matrix E){ + // Local variables + + // Evaluate harmonic functions + // Rotate from ECI to ECEF + VectorN r_bf = E.times(r); + VectorN a_bf = bodyFixedGravity(r_bf); + + // Inertial acceleration + VectorN out = E.transpose().times(a_bf); + + //out.print("acceleration"); + return out; + } + + /** Computes the acceleration due to gravity in m/s^2. + * @param r_bf body fixed position vector. + * @return body-fixed acceleration in m/s^2. + */ + public VectorN bodyFixedGravity(VectorN r_bf){ + // Local variables + + int n,m; // Loop counters + double Fac; // Auxiliary quantities + double C,S; // Gravitational coefficients + + // Evaluate harmonic functions + computeVW(r_bf); + + // Calculate accelerations ax,ay,az + double ax = 0.0; + double ay = 0.0; + double az = 0.0; + + for (m=0; m<=m_desired; m++) + for (n=m; n<=n_desired ; n++) + if (m==0) { + C = CS[n][0]; // = C_n,0 + ax -= C * V[n+1][1]; + ay -= C * W[n+1][1]; + az -= (n+1)*C * V[n+1][0]; + } + else { + C = CS[n][m]; // = C_n,m + S = CS[m-1][n]; // = S_n,m + Fac = 0.5 * (n-m+1) * (n-m+2); + ax += 0.5*(-C*V[n+1][m+1] - S*W[n+1][m+1]) + Fac*(C*V[n+1][m-1] + S*W[n+1][m-1]); + ay += 0.5*(-C*W[n+1][m+1] + S*V[n+1][m+1]) + Fac*(-C*W[n+1][m-1] + S*V[n+1][m-1]); + az += (n-m+1)*(-C*V[n+1][m] - S*W[n+1][m]); + } + + // Body-fixed acceleration + VectorN a_bf = new VectorN(ax, ay, az); + a_bf = a_bf.times(GM/(R_ref*R_ref)); +// a_bf.print("body fixed gravity"); + + return a_bf; + } + + /** Implemented from the ForceModel interface + * @param eRef Earth reference class + * @param sc Spacecraft parameters + */ + public VectorN acceleration(EarthRef eRef, Spacecraft sc){ + return gravity(sc.r(),eRef.eci2ecef()); + } + + /** Implemented from the ForceModel interface + * @param t Time reference object + * @param bRef Earth reference object + * @param sc Spacecraft parameters + */ + public VectorN acceleration(Time t, BodyRef bRef, Spacecraft sc) { + + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(bRef, bodyFixedRef, t); + VectorN r_bf = xlater.translatePoint(sc.r()); + VectorN a_bf = bodyFixedGravity(r_bf); + return xlater.transformDirectionBack(a_bf); + } + + /** Computes the partial derivative of gravity with respect to position. + * @return ECI gravity gradient matrix. + * @param r ECI position vector. + * @param E ECI to ECEF transformation matrix. + */ + public Matrix gravityGradient(VectorN r, Matrix E){ + + // Evaluate harmonic functions + VectorN r_bf = E.times(r); + computeVW(r_bf); + + double xx = 0.0; + double xy = 0.0; + double xz = 0.0; + double yy = 0.0; + double yz = 0.0; + double zz = 0.0; + double Fac = 0.0; + double f1 = 0.0; + double f2 = 0.0; + int m; + int n; + double C; + double S; + Matrix out = new Matrix(3,3); + + for (m=0; m<=m_desired; m++) { + for (n=m; n<=n_desired ; n++) { + Fac = (n-m+2)*(n-m+1); + C = CS[n][m]; + S = CS[m-1][n]; + zz += Fac*(C*V[n+2][m] + S*W[n+2][m]); + if (m==0) { + C = CS[n][0]; // = C_n,0 + Fac = (n+2)*(n+1); + xx += 0.5 * (C*V[n+2][2] - Fac*C*V[n+2][0]); + xy += 0.5 * C * W[n+2][2]; + Fac = n + 1; + xz += Fac * C * V[n+2][1]; + yz += Fac * C * W[n+2][1]; + } + if (m > 0){ + C = CS[n][m]; + S = CS[m-1][n]; + f1 = 0.5*(n-m+1); + f2 = (n-m+3)*(n-m+2)*f1; + xz += f1*(C*V[n+2][m+1]+S*W[n+2][m+1])-f2*(C*V[n+2][m-1]+S*W[n+2][m-1]); + yz += f1*(C*W[n+2][m+1]+S*V[n+2][m+1])+f2*(C*W[n+2][m-1]-S*V[n+2][m-1]); + if (m == 1){ + Fac = (n+1)*n; + xx += 0.25*(C*V[n+2][3]+S*W[n+2][3]-Fac*(3.0*C*V[n+2][1]+S*W[n+2][1])); + xy += 0.25*(C*W[n+2][3]-S*V[n+2][3]-Fac*(C*W[n+2][1]+S*V[n+2][1])); + } + if (m > 1) { + f1 = 2.0*(n-m+2)*(n-m+1); + f2 = (n-m+4)*(n-m+3)*f1*0.5; + xx += 0.25*(C*V[n+2][m+2]+S*W[n+2][m+2]-f1*(C*V[n+2][m]+S*W[n+2][m])+f2*(C*V[n+2][m-2]+S*W[n+2][m-2])); + xy += 0.25*(C*W[n+2][m+2]-S*V[n+2][m+2]+f2*(-C*W[n+2][m-2]+S*V[n+2][m-2])); + } + + } + } + yy = -xx - zz; + out.set(0, 0, xx); + out.set(0, 1, xy); + out.set(0, 2, xz); + out.set(1, 0, xy); + out.set(1, 1, yy); + out.set(1, 2, yz); + out.set(2, 0, xz); + out.set(2, 1, yz); + out.set(2, 2, zz); + } + + out = out.times(GM/(R_ref*R_ref*R_ref)); + + // Rotate to ECI + Matrix Etrans = E.transpose(); + out = Etrans.times(out.times(E)); + return out; + } + + /** Print out the gravity model parameters. + */ + public void printParameters(){ + System.out.println("GM = "+this.GM); + System.out.println("R_ref = "+this.R_ref); + System.out.println("n_max = "+this.n_max+" m_max = "+this.m_max); + System.out.println("n_desired = "+this.n_desired+" m_desired = "+this.m_desired); + Matrix cs = new Matrix(this.CS); + cs.print("CS"); + } +} diff --git a/src/jat/coreNOSA/forces/Sun.java b/src/jat/coreNOSA/forces/Sun.java new file mode 100644 index 0000000..3b38313 --- /dev/null +++ b/src/jat/coreNOSA/forces/Sun.java @@ -0,0 +1,151 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.forces; + +//import jat.matvec.data.Matrix; +//import jat.timeRef.Time; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacetime.BodyCenteredInertialRef; +import jat.coreNOSA.spacetime.BodyRef; +import jat.coreNOSA.spacetime.ReferenceFrame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.util.FileUtil; + +/** + * Simple class to obtain the gravitational effect of the Sun. + * + * @author Richard C. Page III + * + */ +public class Sun extends GravitationalBody { + + protected DE405 jpl_ephemeris; + + /** The reference frame in which the Sun computes its forces. + * It is a sun-centered J2000 inertial reference frame. */ + private ReferenceFrame sunRef = new BodyCenteredInertialRef(DE405_Body.SUN); + + /** + * Default constructor. + */ + public Sun() { + super(); + this.mu = Constants.GM_Sun; + } + + /** + * Constructor. + * @param grav_mass [m^3/s^2] + * @param r position [m] + * @param v velocity [m/s] + */ + public Sun(double grav_mass, VectorN r, VectorN v) { + super(grav_mass, r, v); + String filesep = FileUtil.file_separator(); + String directory = FileUtil.getClassFilePath("jat.eph","DE405"); + directory = directory+filesep+"DE405data"+filesep; + //jpl_ephemeris = new DE405(directory); + } + + /** + * Compute the acceleration. + * @param eRef Earth Reference + * @param sc Spacecraft Parameters and state + */ + public VectorN acceleration(EarthRef eRef, Spacecraft sc){ + + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(eRef, sunRef, new Time(eRef.mjd_utc())); + + // Get a vector (in the passed in reference frame) to the + // spacecraft and to the sun. + VectorN r_sun = xlater.translatePointBack(new VectorN(3)); + VectorN r = sc.r(); + VectorN d = r.minus(r_sun); + + + // Divide the sun vector and the sunn-to-spacecraft vector + // by their magnitude cubed, add them, and scale by mu. + double dmag = d.mag(); + double dcubed = dmag * dmag *dmag; + VectorN temp1 = d.divide(dcubed); + double smag = r_sun.mag(); + double scubed = smag * smag * smag; + VectorN temp2 = r_sun.divide(scubed); + VectorN sum = temp1.plus(temp2); + VectorN accel = sum.times(-mu); + + return accel; + } + /** Call the relevant methods to compute the acceleration. + * @param t Time reference class + * @param bRef Body reference class + * @param sc Spacecraft parameters and state + * @return the acceleration [m/s^s] + */ + public VectorN acceleration(Time t, BodyRef bRef, Spacecraft sc){ + + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(bRef, sunRef, t); + + // Get a vector (in the passed in reference frame) to the + // spacecraft and to the sun. + VectorN r_sun = xlater.translatePointBack(new VectorN(3)); + VectorN r = sc.r(); + VectorN d = r.minus(r_sun); + + + // Divide the sun vector and the sunn-to-spacecraft vector + // by their magnitude cubed, add them, and scale by mu. + double dmag = d.mag(); + double dcubed = dmag * dmag *dmag; + VectorN temp1 = d.divide(dcubed); + double smag = r_sun.mag(); + double scubed = smag * smag * smag; + VectorN temp2 = r_sun.divide(scubed); + VectorN sum = temp1.plus(temp2); + VectorN accel = sum.times(-mu); + + return accel; + } + + public static void main(String[] args) throws java.io.IOException { + String filesep = FileUtil.file_separator(); + String directory = FileUtil.getClassFilePath("jat.eph","DE405"); + directory = directory+filesep+"DE405data"+filesep; + DE405 jpl_ephemeris = new DE405(directory); + double mjd_tt = 53157.5; + VectorN r_sun = new VectorN(jpl_ephemeris.get_planet_pos(DE405_Body.SUN,mjd_tt)); + VectorN r_earth = new VectorN(jpl_ephemeris.get_planet_pos(DE405_Body.EARTH,mjd_tt)); + VectorN r_body = r_sun.minus(r_earth); + + r_body.print("r"); + r_sun.print("r_sun "); + + + } + +} diff --git a/src/jat/coreNOSA/forces/harrispriester/HarrisPriesterData.java b/src/jat/coreNOSA/forces/harrispriester/HarrisPriesterData.java new file mode 100644 index 0000000..82da604 --- /dev/null +++ b/src/jat/coreNOSA/forces/harrispriester/HarrisPriesterData.java @@ -0,0 +1,153 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.forces.harrispriester; + +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.FileNotFoundException; +import java.io.FileReader; +import java.io.IOException; + +/** + * @author Richard C. Page III + * + */ +public class HarrisPriesterData { + + private String filename; + private int[] line_ref; + private int[] data_n; + private double[] f107; + + protected double[][] data1; + protected double[][] data2; + protected double[][] data; + protected int ref = 4; + protected double ref_f107=150; + protected boolean interp = false; + + public HarrisPriesterData(){ + String fs = FileUtil.file_separator(); + String directory = + FileUtil.getClassFilePath("jat.forces.harrispriester","HarrisPriesterData")+fs; + filename = directory+"harrispriester.txt"; + f107 = new double[10]; + line_ref = new int[10]; + data_n = new int[10]; + } + + public void process(double arg_f107){ + this.ref_f107 = arg_f107; + FileReader fr; + BufferedReader in = null; + try { + fr = new FileReader(filename); + in = new BufferedReader(fr); + } catch (FileNotFoundException e) { + e.printStackTrace(); + } + +// ArrayList lineCollection = new ArrayList(); + + // read in the file + boolean eof = false; + String line = ""; + try { + while(line.indexOf("****")<0){ + line = in.readLine(); + } + line = in.readLine(); + line = in.readLine(); + for(int i=0; i<10; i++){ + line = in.readLine(); + line = in.readLine(); + this.data_n[i] = Integer.parseInt(line.substring(36)); + line = in.readLine(); + this.f107[i] = Double.parseDouble(line.substring(67)); + line = in.readLine(); + this.line_ref[i] = Integer.parseInt(line.substring(7)); + line = in.readLine(); + } + for(int i=0; i<10; i++){ + if(arg_f107 >= this.f107[i]) ref = i; + else break; + } + this.data = new double[this.data_n[ref]][3]; + in.close(); + try { + fr = new FileReader(filename); + in = new BufferedReader(fr); + } catch (FileNotFoundException e) { + e.printStackTrace(); + } + for(int i=0; ithis.f107[ref]){ + interp = true; + data2 = new double[data_n[ref+1]][3]; + int tmp = this.data_n[ref]+this.line_ref[ref]; + for(int i=tmp; i +Package forces contains force models for generating space trajectories. These forces include gravity, atmospheric drag and solar radiation pressure. + \ No newline at end of file diff --git a/src/jat/coreNOSA/gps/BlockageSim.java b/src/jat/coreNOSA/gps/BlockageSim.java new file mode 100644 index 0000000..0a07e08 --- /dev/null +++ b/src/jat/coreNOSA/gps/BlockageSim.java @@ -0,0 +1,135 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; +//import jat.matvec.data.arrayTools.*; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.FileOutputStream; +import java.io.IOException; +import java.io.PrintWriter; + +/** + *

+ * The BlockageSim Class provides a simple simulation of ISS blockage. + * + * @author + * @version 1.0 + */ + +public class BlockageSim { + + private double t0_mjd = 51969.0; // MJD at beginning of the sim + private double dr; // STS 10 meters below ISS + + /** + * Constructor + * @param d distance chaser is below the ISS in meters + */ + public BlockageSim(double d){ + this.dr = d; + } + + private double mjd_time(double tsim){ + double tdays = tsim/86400.0; + double out = this.t0_mjd + tdays; + return out; + } + + public static void main(String args[]) throws IOException { + + String directory = "C:\\Jat\\jat\\output\\"; + + FileOutputStream outfile = new FileOutputStream(directory+"mp100-5-1000.txt"); + PrintWriter pw = new PrintWriter(outfile); + + // LinePrinter lp = new LinePrinter(directory, "nsats.txt"); + Printable lp = new LinePrinter(); + + + BlockageSim x = new BlockageSim(-100.0); + + double pi2 = MathUtils.PI/2.0; + + // Set Up the GPS Constellation + String in_directory = "C:\\Jat\\jat\\input\\"; + String filename = "rinex.n"; + String file = in_directory + filename; + GPS_Constellation constellation = new GPS_Constellation(file); + + VectorN dec = new VectorN(constellation.size()); + + // Set Up the ISS + double mu = 3.986004418E+14; + ISS iss = new ISS(mu, 6678000.0, 0.005, 56.0, 0.0, 0.0, 0.0); + iss.setDiameter(100.0); + double zmask = iss.zenith_mask(x.dr); +// System.out.println("zenith mask = "+(zmask * x.math.RAD2DEG)); + + // Set Up the STS with 10 degree elevation mask + double arcs = 1000.0; // ISS radar cross-sectional area for multipath + int nrays = 5; + GPS_Receiver sts = new GPS_Receiver(10.0, x.dr, arcs, nrays); + + // Initialize time loop + double t = 0.0; + double t0 = 0.0; +// double tf = 86400.0; + double tf = 3600.0; + + while (t < tf){ + + // what time is it in MJD? + double t_mjd = x.mjd_time(t); + +// System.out.println(t); + // System.out.println("mjd = "+t_mjd); + + // propagate ISS orbit + VectorN rvISS = iss.propagate(t0, t, lp, false); + VectorN rISS = rvISS.get(0, 3); + + // compute ECI2RSW transformation matrix + Matrix rsw2eci = iss.trajectory.RSW2ECI(); + Matrix eci2rsw = rsw2eci.transpose(); + + // process the measurements + sts.processAllInView(t, t_mjd, constellation, rISS, zmask, eci2rsw, pw); +// sts.process12chan(t, t_mjd, constellation, rISS, zmask, eci2rsw, pw); + + // increment time + t0 = t; + t = t + 1.0; + + } + + pw.close(); + outfile.close(); + // lp.close(); + System.out.println("Simulation Run Completed."); + + } + + +} diff --git a/src/jat/coreNOSA/gps/Earth_Blockage.java b/src/jat/coreNOSA/gps/Earth_Blockage.java new file mode 100644 index 0000000..dc1e50e --- /dev/null +++ b/src/jat/coreNOSA/gps/Earth_Blockage.java @@ -0,0 +1,69 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ + +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The Earth_Blockage Class provides a model of GPS signal blockage due to + * a spherical earth. + * + * @author + * @version 1.0 + */ + +public class Earth_Blockage implements Visible { + + private double elevationMask; + private static final double earthRadius = 6478140.0; + + + + /** + * Determine if the GPS satellite is visible, including earth blockage + * Used by GPS Measurement Generator. + * @param losu Line of sight unit vector + * @param r current position vector + * @param rISS current position vector of the ISS + * @return boolean true if the GPS satellite is visible + */ + public boolean visible(VectorN losu, VectorN r, VectorN rISS) { + + // check elevation mask + boolean visible = true; + + // check ISS visibility + double dist = r.mag(); + double cone = Math.atan2(earthRadius, dist); + VectorN r_unit = r.unitVector().times(-1.0); + double cos_delta = r_unit.dotProduct(losu); + double delta = Math.acos(cos_delta); + if (delta < cone) { + visible = false; + } + + return visible; + } + +} diff --git a/src/jat/coreNOSA/gps/ElevationMask.java b/src/jat/coreNOSA/gps/ElevationMask.java new file mode 100644 index 0000000..2392ebe --- /dev/null +++ b/src/jat/coreNOSA/gps/ElevationMask.java @@ -0,0 +1,70 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The ElevationMask Class provides a model of GPS signal blockage due to + * a minimum elevation constraint or elevation mask. + * + * @author + * @version 1.0 + */ +public class ElevationMask implements Visible { + + private double elevationMask; + + public ElevationMask() { + this.elevationMask = 10.0 * MathUtils.DEG2RAD; + } + + /** Constructor + * @param em elevation mask angle in degrees + */ + public ElevationMask(double em) { + this.elevationMask = em * MathUtils.DEG2RAD; + } + + /** + * Determine if the GPS satellite is visible + * Used by GPS Measurement Generator. + * @param losu Line of sight unit vector + * @param r current position vector + * @return boolean true if the GPS satellite is visible + */ + public boolean visible(VectorN losu, VectorN r, VectorN rISS) { + boolean visible = true; + double pi2 = MathUtils.PI / 2.0; + VectorN bore = r.unitVector(); + double cos_theta = bore.dotProduct(losu); + double theta = Math.acos(cos_theta); + if (theta > (pi2 - this.elevationMask)) { + visible = false; + } + return visible; + } + +} diff --git a/src/jat/coreNOSA/gps/ExpandedVisible.java b/src/jat/coreNOSA/gps/ExpandedVisible.java new file mode 100644 index 0000000..2ca9716 --- /dev/null +++ b/src/jat/coreNOSA/gps/ExpandedVisible.java @@ -0,0 +1,40 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * The Visible interface is used to provide a means for GPS SV visibility checking. + * @author + * @version 1.0 + */ +public interface ExpandedVisible extends Visible{ + /** + * check to see if the GPS SV is visible + * @param losu GPS SV line of sight unit vector + * @param r receiver position vector + * @param rISS ISS position vector + * @return boolean true = visible, false = blocked + */ + public boolean visible(VectorN losu, VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, int prn, double mjd); +} diff --git a/src/jat/coreNOSA/gps/GEO_Blockage_Models.java b/src/jat/coreNOSA/gps/GEO_Blockage_Models.java new file mode 100644 index 0000000..e4005a3 --- /dev/null +++ b/src/jat/coreNOSA/gps/GEO_Blockage_Models.java @@ -0,0 +1,293 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ + +import jat.coreNOSA.math.Interpolator; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.FileReader; +import java.io.IOException; +import java.util.StringTokenizer; + +/** + *

+ * The Geo_Blockage_Model Class provides a model of GPS signal blockage due to + * a spherical earth as well as the ability to include signal strength + * effects for sidelobe signals + * + * @author + * @version 1.0 + */ + +public class GEO_Blockage_Models implements ExpandedVisible { + + private double elevationMask; + private static final double earthRadius = 6478140.0; + private static final double earthRadiusWithIono = 7478140.0; + private double L1freq = 1575.42e6; + private double C = 2.99792458e8; + + double Ae = 0; //Attenuation due to the atmosthpere + double As = 0 ; //To account for signal loss in front of LNA + double PowerSV = 14.9; //Average transmit power of block IIA sats + double L = -1.1; //Receiver implimentation loss + double Nf = -3.4; //Noise figure for Receiver/LNA + double Ts = 290.0; //System Noise Temperature (K) earth pointing antenna + + + double pointingBias = 0; + //The receiver performance figures + double AcquisitionThreshold = 25;// (dB-Hz) + double TrackingThreshold = 22;// (dB-Hz) + static boolean [] AcquisitionFlag = new boolean[33]; + + static double [] receiverAntennaDeg = new double[15]; + static double [] receiverAntennaGain = new double[15]; + static double [] GPSAntennaDeg = new double[66]; + static double [] GPSAntennaGain = new double[66]; + public static double Cn0; + public static double elevation; + public static double trackedCn0; + boolean firsttime = true; + + + /** + * Determine if the GPS satellite is visible, including earth blockage + * Used by GPS Measurement Generator. + * @param losu Line of sight unit vector + * @param r current position vector + * @param rGPS current position vector of GPS Satellite + * @return boolean true if the GPS satellite is visible + */ + public boolean visible(VectorN losu, VectorN r, VectorN rGPS) { + + //Load the antenna gain maps. Note: 0 = receiver, 1 = GPS Sv + //NOTE: I believe that both GPS satellite and the receiver antenna + //are currently pointed at the center of the Earth. (ie, zero degree + //is pointed at the center of the Earth) + if(firsttime == true) + { + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.gps","GEO_Blockage_Models")+"antennas"+fs; + }catch(Exception e){ + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } +// + //readFromFile("C:\\GOESR\\omni_antenna.txt",receiverAntennaDeg,receiverAntennaGain); + readFromFile(dir_in+"ballhybrid_10db_60deg.txt",receiverAntennaDeg,receiverAntennaGain); + //readFromFile(dir_in+"patch.txt",receiverAntennaDeg,receiverAntennaGain); + readFromFile(dir_in+"GPSIIA_L1MEAN.txt",GPSAntennaDeg,GPSAntennaGain); + //readFromFile("C:\\GOESR\\LMantenna.txt",receiverAntennaDeg,receiverAntennaGain); + firsttime = false; + } + Interpolator interpR = new Interpolator(receiverAntennaDeg,receiverAntennaGain); + Interpolator interpG = new Interpolator(GPSAntennaDeg,GPSAntennaGain); + // check elevation mask + boolean visible = true; + + // First check for Earth Obscuration + double dist = r.mag(); + + // Cut off the ionosphere by adding 1000 Km to the + // Mask. This negates having to model/correct for + // the ionosphere + + + //double cone = Math.atan2(earthRadius, dist); + double cone = Math.atan2(earthRadiusWithIono, dist); + + VectorN r_unit = r.unitVector().times(-1.0); + double cos_delta = r_unit.dotProduct(losu); + double delta = Math.acos(cos_delta); + if (delta < cone) { + visible = false; + } + + //Only continue if the satellite isn't behind the Earth + if(visible){ + + //Determine the Angle between the GPS SV boresight + //and the SV receiver + VectorN unitrGPS = rGPS.unitVector(); + VectorN minusUnitRGPS = unitrGPS.times(-1.0); + VectorN minusLosu = losu.times(-1.0); + double thetaGPS = (180/(Math.PI))*Math.acos(minusUnitRGPS.dotProduct(minusLosu)); + if(thetaGPS > 40 || thetaGPS < -40) + { + visible = false; + } + + //Lookup the appropriate gain from the transmitting antenna + double Gt = interpG.get_value(thetaGPS); + + //Determine the angle between the receiver boresight + //and the GPS SV +// Generate a RTN rotation matrix and rotate the LOS vector into it + //Matrix T = RSW_Frame.ECI2RIC(r,v); + //VectorN losRTN = T.times(losu); + + //azimuth[prn] = ((180)/Math.PI)*Math.acos(dots/mags); + //azimuth[prn] = ((180)/Math.PI)*Math.atan2(losRTN.get(0),losRTN.get(1)*-1); + +// Compute the Elevaton to the GPS Satellite + //elevation[prn]=(180/Math.PI)*Math.asin(losRTN.get(2)/losRTN.mag()); + + + + + + VectorN unitR = r.unitVector(); + VectorN minusUnitR = unitR.times(-1.0); + double thetaR = (180/(Math.PI))*Math.acos(minusUnitR.dotProduct(losu)) + pointingBias; + elevation = thetaR; + if(thetaR > 40 || thetaR < -40) + { + visible = false; + } + + + //Lookup the approprate gain from the receiving antenna + double Gr = interpR.get_value(thetaR); + + //Determine the free space propagation loss + VectorN los = GPS_Utils.lineOfSight(r, rGPS); + double Ad = 20*Math.log10((C/L1freq) / (4*Math.PI*los.mag())); + + //Determine the attenuated power + // Attenuated power = transmitted power + transmitted gain + // + free space loss + atmospheric disturbances + double Ap = PowerSV + Gt + Ad + Ae; + + //Determine the received power + // Received Power = Attenuated Power + Receiver Gain + + // Losses prior to LNA + double Rp = Ap + Gr + As; + + + //Determine the Carrier to Noise Ratio + //Carrier to Noise ratio = Received power - scaling of system noise + // + 288.6 (not sure what that is) + receiver noise figure + // + Losses in receiver/LNA (front end?) + Cn0 = Rp - 10*Math.log10(Ts) + 228.6 + Nf + L; + + + + //If the satellite isn't visible, reset the AcquisitionFlag + //to force it to reacquire + //if(visible == false) + // AcquisitionFlag[prn] = false; + + + //System.out.println("Cn0 for PRN : " + prn + " is: "+Cn0); + //If it is visible and strong enough, "Acquire" satellite + //if(visible && AcquisitionFlag[prn] == false && Cn0 > AcquisitionThreshold) + // AcquisitionFlag[prn] = true; + + //If we have "acquired" a satellite and if the Cn0 is greater than + //the tracking threshold, then it is visible + //if(AcquisitionFlag[prn]) + // { + // if(Cn0 > TrackingThreshold) + // { + // visible = true; + // trackedCn0 = Cn0; + // } + //} + //else + //{ + // visible = false; + // trackedCn0 = 0; + //} + + + } + if(visible != true) + elevation = 0.0; +// if(visible == true) +// { +// FileWriter out; +// try { +// out = new FileWriter("C:\\GOESR\\tmp.txt",true); +// BufferedWriter writer = new BufferedWriter(out); +// String pp = " " + Cn0 + "\n"; +// writer.write(pp); +// writer.close(); +// } catch (IOException e) { +// // TODO Auto-generated catch block +// e.printStackTrace(); +// } +// } + return visible; + + } + public void readFromFile(String file, double [] antennaDeg, double [] antennaGain) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + int j = 0; + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 2) { + System.out.println( + "AntennaGainPattern Error: Number of columns do not match"); + System.exit(-99); + } + //antennaDeg[0] = 1.0; + //Parse out the valuse + String token = tok.nextToken(); + antennaDeg[j] = Double.parseDouble(token); + token = tok.nextToken(); + antennaGain[j] = Double.parseDouble(token); + + //System.out.println("Degree: "+ antennaDeg[j] + "Gain: " + antennaGain[j]); + j++; + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + + public boolean visible(VectorN losu, VectorN r, VectorN rGPS, VectorN v, int prn) { + // TODO Auto-generated method stub + return false; + } + public boolean visible(VectorN losu, VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, int prn, double mjd) { + // TODO Auto-generated method stub + return false; + } + +} + diff --git a/src/jat/coreNOSA/gps/GEO_Blockage_Models_LM.java b/src/jat/coreNOSA/gps/GEO_Blockage_Models_LM.java new file mode 100644 index 0000000..33e5fa5 --- /dev/null +++ b/src/jat/coreNOSA/gps/GEO_Blockage_Models_LM.java @@ -0,0 +1,359 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ + +import jat.coreNOSA.math.Interpolator; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.measurements.generatePolarization; +import jat.coreNOSA.measurements.generateYaw; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.BufferedWriter; +import java.io.FileReader; +import java.io.FileWriter; +import java.io.IOException; +import java.util.StringTokenizer; + +/** + *

+ * The Geo_Blockage_Model Class provides a model of GPS signal blockage due to + * a spherical earth as well as the ability to include signal strength + * effects for sidelobe signals + * + * @author + * @version 1.0 + */ + +public class GEO_Blockage_Models_LM implements ExpandedVisible { + + private double elevationMask; + private static final double earthRadius = 6478140.0; + private static final double earthRadiusWithIono = 7478140.0; + private double L1freq = 1575.42e6; + private double C = 2.99792458e8; + + double Ae = 0; //Attenuation due to the atmosthpere + double As = 0 ; //To account for signal loss in front of LNA + double PowerSV = 13.0; //Average transmit power of block IIA sats + double L = -1.1; //Receiver implimentation loss + double Nf = -3.4; //Noise figure for Receiver/LNA + double Ts = 290.0; //System Noise Temperature (K) earth pointing antenna + + + double pointingBias = 0; + //The receiver performance figures + double AcquisitionThreshold = 30.0;// (dB-Hz) + double TrackingThreshold = 28.0;// (dB-Hz) + static boolean [] AcquisitionFlag = new boolean[33]; + + static double [] receiverAntennaDeg = new double[14]; + static double [] receiverAntennaGain = new double[14]; + static double [] GPSAntennaDeg = new double[66]; + static double [] GPSAntennaGain = new double[66]; + public static double Cn0; + public static double trackedCn0; + boolean firsttime = true; + public static double[] elevation = new double[33]; + public static double[] azimuth = new double[33]; + Interpolator interpR, interpG; + double LMNoise; + double thetaR, thetaGPS; + + + /** + * Determine if the GPS satellite is visible, including earth blockage + * Used by GPS Measurement Generator. + * @param losu Line of sight unit vector + * @param r current position vector + * @param rGPS current position vector of GPS Satellite + * @return boolean true if the GPS satellite is visible + */ + public boolean visible(VectorN losu, VectorN r, VectorN rGPS, VectorN v, VectorN vGPS, int prn, double mjd) { + + //Load the antenna gain maps. Note: 0 = receiver, 1 = GPS Sv + //NOTE: I believe that both GPS satellite and the receiver antenna + //are currently pointed at the center of the Earth. (ie, zero degree + //is pointed at the center of the Earth) + if(firsttime == true) + { + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.gps","GEO_Blockage_Models")+"antennas"+fs; + }catch(Exception e){ + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } +// + //readFromFile("C:\\GOESR\\omni_antenna.txt",receiverAntennaDeg,receiverAntennaGain); + //eadFromFile("C:\\GOESR\\ballhybrid_10db_60deg.txt",receiverAntennaDeg,receiverAntennaGain); + //readFromFile(dir_in+"patch.txt",receiverAntennaDeg,receiverAntennaGain); + //readFromFile(dir_in+"GPSIIA_L1MEAN.txt",GPSAntennaDeg,GPSAntennaGain); + //readFromFile("C:\\GOESR\\LMantenna.txt",receiverAntennaDeg,receiverAntennaGain); + firsttime = false; + //interpR = new Interpolator(receiverAntennaDeg,receiverAntennaGain); + //interpG = new Interpolator(GPSAntennaDeg,GPSAntennaGain); + interpG = new Interpolator(dir_in + "BlockIIRTrans.txt"); + //interpR = new Interpolator(dir_in + "LM22deg.txt"); + //LMNoise = 204.6; + //interpR = new Interpolator(dir_in + "LM17deg.txt"); + //LMNoise = 204.6; + interpR = new Interpolator(dir_in + "IIRM.txt"); + generatePolarization polar = new generatePolarization(dir_in+"BlockIIRTransAxial.txt",dir_in+"IIRMAxial.txt"); + LMNoise = 204.2; + L = -1.2; + Nf = -1.4; + } + + + // check elevation mask + boolean visible = true; + + // First check for Earth Obscuration + double dist = r.mag(); + + // Cut off the ionosphere by adding 1000 Km to the + // Mask. This negates having to model/correct for + // the ionosphere + + + //double cone = Math.atan2(earthRadius, dist); + double cone = Math.atan2(earthRadiusWithIono, dist); + + VectorN r_unit = r.unitVector().times(-1.0); + double cos_delta = r_unit.dotProduct(losu); + double delta = Math.acos(cos_delta); + if (delta < cone) { + visible = false; + } + + //Only continue if the satellite isn't behind the Earth + if(visible){ + + //Determine the Angle between the GPS SV boresight + //and the SV receiver + VectorN unitrGPS = rGPS.unitVector(); + VectorN minusUnitRGPS = unitrGPS.times(-1.0); + VectorN minusLosu = losu.times(-1.0); + thetaGPS = (180/(Math.PI))*Math.acos(minusUnitRGPS.dotProduct(minusLosu)); + if(thetaGPS > 80 || thetaGPS < -80) + { + visible = false; + } + + //Lookup the appropriate gain from the transmitting antenna + //double Gt = interpG.get_value(thetaGPS); + + //Determine the current yaw angle for the GPS receiver + double yaw = generateYaw.getYawAngle(mjd,rGPS,vGPS,prn); + + + //Rotate the LOS vector (negative since it needs to be from + //the receiver to the GPS satellite) into the GPS SV's RSW frame + VectorN losRSW = generateYaw.T.times(minusLosu); + VectorN GPSRSW = generateYaw.T.times(rGPS); + VectorN unitGPSRSW = GPSRSW.unitVector(); + unitGPSRSW = unitGPSRSW.times(-1.0); //Needs to point to the center of the Earth + + //the antenna angles provided are 180 degrees off from the yaw angle + yaw = yaw + 180; + double transmitAzimuth = yaw + (180/Math.PI)*Math.atan2(losRSW.get(1),losRSW.get(2)); + if(transmitAzimuth < 0) + transmitAzimuth = transmitAzimuth + 360.0; + if(transmitAzimuth > 360) + transmitAzimuth = transmitAzimuth - 360.0; + + double transmitElevation = (180/(Math.PI))*Math.acos(unitGPSRSW.dotProduct(losRSW)); + if(transmitElevation > 69) + transmitElevation = 65; + double Gt = interpG.get_value(transmitElevation,transmitAzimuth); + + + + //compute the polarization losses + //double Gt = interpG.get_value(thetaGPS); + + + + //Determine the angle between the receiver boresight + //and the GPS SV + //Generate a RTN rotation matrix and rotate the LOS vector into it + Matrix T = RSW_Frame.ECI2RIC(r,v); + VectorN losRTN = T.times(losu); + azimuth[prn] = ((180)/Math.PI)*Math.atan2(losRTN.get(0),losRTN.get(1)*-1); + + //Compute the Elevaton to the GPS Satellite + elevation[prn]=Math.abs((180/Math.PI)*Math.asin(losRTN.get(2)/losRTN.mag())); + + VectorN unitR = r.unitVector(); + VectorN minusUnitR = unitR.times(-1.0); + thetaR = (180/(Math.PI))*Math.acos(minusUnitR.dotProduct(losu)) + pointingBias; + + + if(thetaR > 80 || thetaR < -80) + { + visible = false; + } + + + //Lookup the approprate gain from the receiving antenna + //double Gr = interpR.get_value(thetaR); + double receiveAzimuth = (180/Math.PI)*Math.atan2(losRTN.get(1),losRTN.get(2)); + if(receiveAzimuth < 0) + receiveAzimuth= receiveAzimuth+ 360; + if(thetaR > 69) + thetaR = 65; + double Gr = interpR.get_value(thetaR,receiveAzimuth); + + + //Determine Polarizaiton Losses + double pol = 0.0; + if(visible) + { + pol = generatePolarization.returnPolarization(prn, receiveAzimuth, thetaR,transmitAzimuth, transmitElevation, 10.0*(Math.PI/180),yaw); + } + //Determine the free space propagation loss + VectorN los = GPS_Utils.lineOfSight(r, rGPS); + double Ad = 20*Math.log10((C/L1freq) / (4*Math.PI*los.mag())); + + //Determine the attenuated power + // Attenuated power = transmitted power + transmitted gain + // + free space loss + atmospheric disturbances + double Ap = PowerSV + Gt + Ad + Ae; + + //Determine the received power + // Received Power = Attenuated Power + Receiver Gain + + // Losses prior to LNA + double Rp = Ap + Gr + As - pol; + + + //Determine the Carrier to Noise Ratio + //Carrier to Noise ratio = Received power - scaling of system noise + // + 288.6 (not sure what that is) + receiver noise figure + // + Losses in receiver/LNA (front end?) + //Cn0 = Rp - 10*Math.log10(Ts) + 228.6 + Nf + L; + Cn0 = Rp + LMNoise;// + Nf + L ; + + if(Cn0 < TrackingThreshold) + visible = false; + //System.out.println("thetaR: " + thetaR + " ThetaGPS: " + thetaGPS + " C/N0: " + Cn0); + //If the satellite isn't visible, reset the AcquisitionFlag + //to force it to reacquire + if(visible == false) + AcquisitionFlag[prn] = false; + + + //System.out.println("Cn0 for PRN : " + prn + " is: "+Cn0); + //If it is visible and strong enough, "Acquire" satellite + if(visible && AcquisitionFlag[prn] == false && Cn0 > AcquisitionThreshold) + AcquisitionFlag[prn] = true; + + //If we have "acquired" a satellite and if the Cn0 is greater than + //the tracking threshold, then it is visible + if(AcquisitionFlag[prn]) + { + if(Cn0 > TrackingThreshold) + { + + visible = true; + trackedCn0 = Cn0; + } + } + else + { + visible = false; + trackedCn0 = 0; + } + + + } + if(visible != true) + elevation[prn] = 0.0; + if(visible == true) + { + FileWriter out; + try { + + out = new FileWriter("C:\\GOESR\\tmp.txt",true); + BufferedWriter writer = new BufferedWriter(out); + String pp = mjd + " " + Cn0 + " " + thetaR + " " + thetaGPS + "\n"; + + + writer.write(pp); + writer.close(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + return visible; + + } + public void readFromFile(String file, double [] antennaDeg, double [] antennaGain) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + int j = 0; + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 2) { + System.out.println( + "AntennaGainPattern Error: Number of columns do not match"); + System.exit(-99); + } + //antennaDeg[0] = 1.0; + //Parse out the valuse + String token = tok.nextToken(); + antennaDeg[j] = Double.parseDouble(token); + token = tok.nextToken(); + antennaGain[j] = Double.parseDouble(token); + + //System.out.println("Degree: "+ antennaDeg[j] + "Gain: " + antennaGain[j]); + j++; + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + public boolean visible(VectorN losu, VectorN r, VectorN rISS) { + // TODO Auto-generated method stub + return false; + } + + + //public boolean visible(VectorN losu, VectorN r, VectorN rGPS, VectorN v, int prn) { + // // TODO Auto-generated method stub + // return false; + //} + +} diff --git a/src/jat/coreNOSA/gps/GPS_Constellation.java b/src/jat/coreNOSA/gps/GPS_Constellation.java new file mode 100644 index 0000000..d6a535a --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_Constellation.java @@ -0,0 +1,204 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; + +//import java.io.*; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.GPSTimeFormat; +import jat.coreNOSA.util.FileUtil; + +import java.util.ArrayList; +import java.util.HashMap; +import java.util.Map; +/** + *

+ * The GPS_Constellation Class provides a model of the GPS constellation + * derived from a RINEX nav file. + * + * @author + * @version 1.0 + */ +public class GPS_Constellation { + private ArrayList SVList = new ArrayList(); + private GPSTimeFormat earliestEpoch; + private GPSTimeFormat latestEpoch; + private Map SVMap = new HashMap(); + private double [] alpha; + private double [] beta; + + /** + * Constructor + * @param filename path and filename for the RINEX nav file + */ + public GPS_Constellation(String filename) { + RINEXnav rinex = new RINEXnav(filename); + SVList = rinex.process(); + this.alpha = rinex.alpha(); + this.beta = rinex.beta(); + earliestEpoch = findEarliestEpoch(); + latestEpoch = findLatestEpoch(); + + // create the SVMap + for (int i = 0; i < SVList.size(); i++) { + GPS_SV sv = this.getSV(i); + Integer prn = new Integer(sv.prn()); + Integer index = new Integer(i); + SVMap.put(prn, index); + } + } + + /** + * Print out the GPS constellation characteristics + */ + public void print(){ + System.out.println("GPS Constellation Report"); + System.out.println("Total Number of SVs: "+this.size()); + earliestEpoch.print("Earliest Epoch"); + latestEpoch.print("Latest Epoch"); + for(int i = 0; i < this.size(); i++){ + this.getSV(i).print("SV["+i+"]"); + } + System.out.println("Iono correction terms"); + VectorN a = new VectorN(this.alpha); + VectorN b = new VectorN(this.beta); + System.out.println("alpha: "+a.toString()); + System.out.println("beta: "+b.toString()); + } + + /** + * Get a GPS SV from the constellation + * @param index SV index + * @return GPS_SV corresponding to the index + */ + public GPS_SV getSV(int index){ + return (GPS_SV)SVList.get(index); + } + + /** + * Get the SV index for a particular PRN + * @param prn int containing the PRN + * @return int containing the SV index + */ + public int getIndex(int prn){ + Integer PRN = new Integer(prn); + Integer ind = (Integer)SVMap.get(PRN); + int index = ind.intValue(); + return index; + } + + /** + * Get a GPS SV by PRN + * @param prn int containing the PRN + * @return GPS_SV corresponding to the prn + */ + public GPS_SV getPRN(int prn){ + int index = this.getIndex(prn); + return (GPS_SV)SVList.get(index); + } + + /** + * Add a GPS_SV to the Constellation + * @param sv GPS_SV to be added + */ + public void addSV(GPS_SV sv){ + SVList.add(sv); + } + + /** + * Return the size of the constellation + * @return number of SVs in the constellation + */ + public int size(){ + return SVList.size(); + } + + public double[] alpha() { + return this.alpha; + } + + public double[] beta() { + return this.beta; + } + + private GPSTimeFormat findLatestEpoch(){ + double out = 0.0; + for (int i = 0; i < SVList.size(); i++){ + double temp = getSV(i).getTOEmjd(); + if (temp > out) { + out = temp; + } + } + GPSTimeFormat output = new GPSTimeFormat(out); + return new GPSTimeFormat(out); + } + + private GPSTimeFormat findEarliestEpoch(){ + double out = 1.0E30; + for (int i = 0; i < SVList.size(); i++){ + double temp = getSV(i).getTOEmjd(); + if (temp < out) { + out = temp; + } + } + GPSTimeFormat output = new GPSTimeFormat(out); + return new GPSTimeFormat(out); + } + + /** + * Return the earliest epoch + * @return GPSTimeFormat containing the earliest epoch + */ + public GPSTimeFormat getEarliestEpoch(){ + return this.earliestEpoch; + } + + /** + * Return the latest epoch + * @return GPSTimeFormat containing the latest epoch + */ + public GPSTimeFormat getLatestEpoch(){ + return this.latestEpoch; + } + + public static void main(java.lang.String args[]) { + String fs = FileUtil.file_separator(); + String dir = FileUtil.getClassFilePath("jat.gps","GPS_Constellation"); + String directory = dir+fs+"navfiles"+fs; + String filename = "rinex.n"; +// String filename = "predata_2.n"; + String file = directory + filename; + GPS_Constellation gps = new GPS_Constellation(file); + gps.print(); + +// double t_mjd = (352769.0)/86400.0; +// for (int i = 0; i < 29; i++){ +// GPS_SV sv1 = gps.getSV(i); +// sv1.print("sv1"); +// VectorN r = sv1.rECI(t_mjd); +// int prn = sv1.getPRN(); +// r.print("GPS position vector for "+prn); +// t_mjd = t_mjd + 1.0/86400.0; +// } + } +} + + + diff --git a/src/jat/coreNOSA/gps/GPS_MP_MeasurementGenerator.java b/src/jat/coreNOSA/gps/GPS_MP_MeasurementGenerator.java new file mode 100644 index 0000000..2b18d06 --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_MP_MeasurementGenerator.java @@ -0,0 +1,410 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The GPS_MeasurementGenerator.java Class generates GPS measurements +* including the effects of multipath +* +* @author +* @version 1.0 +*/ +public class GPS_MP_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.0; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private double arcs = 500.0; + private int nrays = 5; + + private MultipathModel mp = new MultipathModel(arcs, nrays); + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v1 Visible checker + * @param v2 Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed long containing the random number seed to be used + */ + public GPS_MP_MeasurementGenerator( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(2 * seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed); + RandomNumber rn2 = new RandomNumber(2 * seed); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + + private double[] compute_mp(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, VectorN rISS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + // multipath + double theta = GPS_Utils.declination(r, rGPS); + VectorN dr_vec = rISS.minus(r); + double dr = dr_vec.mag(); + mp.environment(prn, dr, theta, rGPS, rISS, r); + double mperr = mp.pseudorangeError(); + double cperr = mp.carrierPhaseError(); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise + mperr; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise + cperr; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia + "\t"+ mperr+ "\t"+ cperr); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); + + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by chaser + if (visible1) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute_mp(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, rISS, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas); + + } + + // if visible by ISS +// if (visible2) { +// +// nvis2 = nvis2 + 1; +// +// meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); +// +// // output data +// RGPS_Measurement meas = +// new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); +// list.add(meas); +// +// } + + // if visible by both, then create a single diff cp measurement +// if (visible1 && visible2) { +// ncommon = ncommon + 1; +// double diff = meas1[1] - meas2[1]; +// RGPS_Measurement meas = +// new RGPS_Measurement(t, t_mjd, diff, 2, prn); +// list.add(meas); +// } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating GPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; +// String trajfile = "rvtraj_burn.jat"; + String trajfile = "rvtraj_rbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_rbar.jat"; +// String issfile = "isstraj_burn.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; +// String measfile = "C:\\Jat\\jat\\input\\rgpsmeas_vbar.jat"; + String measfile = "C:\\Jat\\jat\\input\\gps\\gpsmeas_rbar_geom1_mp.jat"; + String outfile = measfile; + + // set the clock output +// String clockfile = "rgpsclock_vbar.txt"; + String clockfile = "gpsref\\gpsclock_rbar_geom1_mp.txt"; + LinePrinter clp = new LinePrinter(out_directory + clockfile); + + // set the text output file +// String msfile = "rgpsmeas_vbar.txt"; + String msfile = "gpsref\\gpsmeas_rbar_geom1_mp.txt"; + LinePrinter mlp = new LinePrinter(out_directory + msfile); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(); + ElevationMask mask = new ElevationMask(); + + long seed = -1; + + GPS_MP_MeasurementGenerator x = new GPS_MP_MeasurementGenerator(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/GPS_Measurement.java b/src/jat/coreNOSA/gps/GPS_Measurement.java new file mode 100644 index 0000000..1489afc --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_Measurement.java @@ -0,0 +1,118 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps; +import java.io.Serializable; + + +/** +* The GPS_Measurement.java Class represents a single GPS measurement. +* +* @author +* @version 1.0 +*/ +public class GPS_Measurement implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 4762790985636489712L; + + /** Epoch time of measurement in sim time (seconds) */ + private double t; + + /** Epoch time of measurement in MJD */ + private double t_mjd; + + /** C/A Code Range to SV in meters */ + private double coderange; + + /** Carrier Phase Range to SV in meters */ + private double phaserange; + + /** SVID */ + public int svid; + + /** Constructor + * @param tsim Time of the measurement in sim time (sec). + * @param tmjd Time of the measurement in MJD + * @param r range to GPS SV in meters + * @param cpr carrier phase range to GPS SV in meters. + * @param sv SVID + */ + public GPS_Measurement(double tsim, double tmjd, double r, double cpr, int sv) { + this.t = tsim; + this.t_mjd = tmjd; + this.coderange = r; + this.phaserange = cpr; + this.svid = sv; + } + + /** Override toString() + * @return GPS measurement data on a single line + */ + public String toString() { + String out = t+"\t"+t_mjd+"\t"+coderange+"\t"+phaserange+"\t"+svid; + return out; + } + + /** + * Return the measurement time + * @return the measurement time in seconds (sim time) + */ + public double t(){ + return this.t; + } + + /** + * Return the measurement time + * @return the measurement time in MJD + */ + public double t_mjd(){ + return this.t_mjd; + } + + /** + * Return the pseudorange measurement + * @return double containing the pseudorange measurement + */ + public double range() { + return this.coderange; + } + + /** + * Return the carrier phase range measurement + * @return double containing the carrier phase range measurement + */ + public double phaseRange(){ + return this.phaserange; + } + + /** + * Return the SV index + * @return int containing the SV index + */ + public int svid() { + return this.svid; + } + +} diff --git a/src/jat/coreNOSA/gps/GPS_MeasurementList.java b/src/jat/coreNOSA/gps/GPS_MeasurementList.java new file mode 100644 index 0000000..893b0d5 --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_MeasurementList.java @@ -0,0 +1,251 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.algorithm.estimators.MeasurementData; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.PrintWriter; +import java.io.Serializable; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** +* The GPS_MeasurementList.java Class provides a way to deal with +* a list of GPS measurements read from a file. +* +* @author +* @version 1.0 +*/ +public class GPS_MeasurementList implements MeasurementData, Serializable { + + /** + * + */ + private static final long serialVersionUID = -7098867718113642309L; + + private ArrayList list = new ArrayList(); + + private boolean carrier = false; + + /** Constructor + */ + public GPS_MeasurementList() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public GPS_MeasurementList(String filename) { + this.readFromFile(filename); + } + + /** + * Set Measurement Flag. Determines which type of measurement is returned + * by the function z. + * @param boolean true = carrier phase measurement, false = pseudorange + */ + public void setMeasFlag(boolean flag){ + this.carrier = flag; + } + + /** Add a GPS Measurement to the collection + * @param meas GPS_Measurement object + */ + public void add(GPS_Measurement meas) { + list.add(meas); + } + + /** Get a GPS_Measurement out of the collection + * @param index Index of the measurement + * @return the GPS Measurement + */ + public GPS_Measurement get(int index) { + return (GPS_Measurement) list.get(index); + } + + /** Return the size of the list + * @return the number of measurements in the list + */ + public int size() { + return list.size(); + } + + /** Returns the range measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public double z(int index) { + GPS_Measurement meas = this.get(index); + if (carrier) { + return meas.phaseRange(); + } else { + return meas.range(); + } + } + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time(int index) { + GPS_Measurement meas = this.get(index); + return meas.t(); + } + + /** + * Returns the predicted measurement based on the current state + * @param index measurement index + * @param t time of the measurement + * @param xref VectorN with the current state at the measurement time + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size())) { + out = true; + } + return out; + } + + + /** Read the measurement data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 5) { + System.out.println( + "GPS_MeasurementList.readFromFile: Number of columns do not match"); + System.exit(-99); + } + + double[] temp = new double[4]; + for (int i = 0; i < 4; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token); + } + String toke = tok.nextToken(); + int sv = Integer.parseInt(toke); + GPS_Measurement meas = + new GPS_Measurement(temp[0], temp[1], temp[2], temp[3], sv); + this.add(meas); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + /** Write the measurement data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + try { + FileOutputStream outfile = new FileOutputStream(file); + PrintWriter pw = new PrintWriter(outfile); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + GPS_Measurement meas = this.get(index); + pw.println( + meas.t() + + "\t" + + meas.t_mjd() + + "\t" + + meas.range() + + "\t" + + meas.phaseRange() + + "\t" + + meas.svid()); + index = index + 1; + } + pw.close(); + outfile.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + /** Recover a serialized RGPS_MeasurementList File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static GPS_MeasurementList recover(String filename) { + GPS_MeasurementList out = new GPS_MeasurementList(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (GPS_MeasurementList) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Write the trajectory out to a GPS_Measurement File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + + public static void main(String[] args){ + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "gpsmeas.jat"; + String outfile = "gpsmeasblk.txt"; + GPS_MeasurementList gps = GPS_MeasurementList.recover(dir+gpsmeasfile); + gps.sendToFile(dir+outfile); + + } +} diff --git a/src/jat/coreNOSA/gps/GPS_Receiver.java b/src/jat/coreNOSA/gps/GPS_Receiver.java new file mode 100644 index 0000000..0ea8145 --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_Receiver.java @@ -0,0 +1,369 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.math.MatrixVector.data.arrayTools.Sort; + +import java.io.PrintWriter; + +/** + *

+ * The GPS_Receiver Class provides a GPS receiver model for the BlockageSim + * + * @author + * @version 1.0 + */ + +public class GPS_Receiver { + + private double elmask; + private double delr; + private MultipathModel mp; + + /** + * Constructor + * @param el elevation mask angle in degrees + * @param dr distance from the ISS in meters + * @param arcs ISS radar cross-sectional area for multipath + * @param nrays int containing number of multipath rays per direct signal + */ + public GPS_Receiver(double el, double dr, double arcs, int nrays){ + this.elmask = el * MathUtils.DEG2RAD; + this.delr = dr; + this.mp = new MultipathModel(arcs, nrays); + } + + /** + * Return the elevation mask angle + * @return the elevation mask angle in radians + */ + public double elevationMask(){ + return this.elmask; + } + + /** Compute the RSW to ECI transformation matrix. + * @param r VectorN containing the ECI position vector + * @param v VectorN containing the ECI velocity vector + * @return Matrix containing the transformation. + */ + public Matrix RSW2ECI(VectorN r, VectorN v) { + VectorN h = this.getH(r, v); + VectorN rhat = r.unitVector(); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3,3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + return out; + } + + /** Compute the ECI to RSW transformation matrix. + * @param r VectorN containing the ECI position vector + * @param v VectorN containing the ECI velocity vector + * @return Matrix containing the transformation. + */ + public Matrix ECI2RSW(VectorN r, VectorN v){ + Matrix temp = this.RSW2ECI(r, v); + Matrix out = temp.transpose(); + return out; + } + + /** + * Return the angular momentum vector + * @param r VectorN containing the ECI position vector + * @param v VectorN containing the ECI velocity vector + * @return VectorN containing the angular momentum. + */ + public VectorN getH(VectorN r, VectorN v) { + VectorN out = r.crossProduct(v); + return out; + } + + /** + * Return the GPS line of sight vector + * @param rGPS VectorN containing the ECI position vector of the GPS SV + * @param r VectorN containing the ECI position vector of the receiver + * @return VectorN containing the vector from the receiver to the GPS SV. + */ + public VectorN lineOfSight(VectorN rGPS, VectorN r){ + VectorN out = rGPS.minus(r); + return out; + } + + /** + * Return the GPS line of sight boresight angle + * @param los VectorN containing the GPS line of sight vector + * @param r VectorN containing the ECI position vector of the receiver + * @return double containing the angle from the boresight to the line of sight in radians + */ + public double boresightAngle(VectorN los, VectorN r){ + VectorN bore = r.unitVector(); + VectorN rlos = los.unitVector(); + double cos_theta = bore.dotProduct(rlos); + double theta = Math.acos(cos_theta); + return theta; + } + + /** + * Return the PDOP + * @param dop Matrix containing the dop matrix + * @return double containing the value of PDOP + */ + public double pdop(Matrix dop){ + dop.checkMatrixDimensions(4, 4); + double d1 = dop.A[0][0]; + double d2 = dop.A[1][1]; + double d3 = dop.A[2][2]; + double out = Math.sqrt(d1 + d2 + d3); + return out; + } + + /** + * Get the position of the GPS receiver from the ISS position vector + * @param rISS ECI position vector of the ISS + * @return VectorN containing the receiver ECI position vector + */ + public VectorN getPosition(VectorN rISS){ + // get a unit vector along ISS position vector + VectorN ISSunit = rISS.unitVector(); + + // multiply by dr to get the change + VectorN delta = ISSunit.times(this.delr); + + // obtain the STS position + VectorN out = rISS.plus(delta); + return out; + } + + /** + * Process all GPS SVs in View + * @param t sim time in seconds + * @param t_mjd MJD time + * @param con GPS_Constellation + * @param rISS ISS position vector + * @param zmask zenith mask + * @param eci2rsw Matrix containing the ECI to RSW transformation + * @param pw PrintWriter + */ + public void processAllInView(double t, double t_mjd, GPS_Constellation con, VectorN rISS, double zmask, Matrix eci2rsw, PrintWriter pw){ + double[][] h_array = new double[con.size()][4]; + VectorN dec = new VectorN(con.size()); + double[] elev = new double[con.size()]; + + double [] cperr = new double[con.size()]; + + double [] prerr = new double[con.size()]; + VectorN delx = new VectorN(4); + + // compute position based on ISS position + VectorN r = this.getPosition(rISS); + + // iniitialize counters + int below_horizon = 0; + int below_elmask = 0; + int blocked = 0; + int visible = 0; + + // process each GPS satellite + for (int isv = 0; isv < con.size(); isv++){ + + // retrieve the SV + GPS_SV sv = con.getSV(isv); + + int prn = sv.prn(); + + // compute the GPS position vector + VectorN rGPS = sv.rECI(t_mjd); + + // compute the angle between the boresight and LOS vector + VectorN los = this.lineOfSight(rGPS, r); + + double theta = this.boresightAngle(los, r); + dec.x[isv] = theta * MathUtils.RAD2DEG; + + double pi2 = MathUtils.PI/2.0; + + if (theta > pi2) { + below_horizon++; + } + else { + if (theta > (pi2 - this.elevationMask())){ + below_elmask++; + } + else{ + if (theta < zmask){ + blocked++; + } + else { + // save off the DOP + VectorN losu = los.unitVector(); + VectorN losuRSW = eci2rsw.times(losu); + h_array[visible][0] = losuRSW.x[0]; + h_array[visible][1] = losuRSW.x[1]; + h_array[visible][2] = losuRSW.x[2]; + h_array[visible][3] = 1.0; + + // save off the elevation angle + elev[visible] = 90.0 - (theta * MathUtils.RAD2DEG); + + // compute the multipath error + mp.environment(prn, delr, theta, rGPS, rISS, r); + cperr[visible] = mp.carrierPhaseError(); + prerr[visible] = mp.pseudorangeError(); + + visible++; + } + } + } + + } + + // compute the pdop + double pdop = 1.0E+15; + if (visible > 3) { + Matrix h = new Matrix(h_array, visible, 4); + Matrix htrans = h.transpose(); + Matrix hth = htrans.times(h); + // h.print("h"); + Matrix hth_inv = hth.inverse(); + // hth_inv.print("hth_inv"); + pdop = this.pdop(hth_inv); + + // compute multipath errors + VectorN error = new VectorN(cperr, visible); + Matrix M = hth_inv.times(htrans); + delx = M.times(error); + } + +// System.out.println(t+"\t"+visible+"\t"+below_horizon+"\t"+below_elmask+"\t"+blocked+"\t"+pdop+"\t"+err[0]+"\t"+dec.x[0]+"\t"+err[1]+"\t"+dec.x[1]); + System.out.println(t+"\t"+prerr[0]+"\t"+(this.mp.beta[0]/this.mp.beta0)); + pw.println(t+"\t"+visible+"\t"+below_horizon+"\t"+below_elmask+"\t"+blocked+"\t"+pdop+"\t"+cperr[0]+"\t"+elev[0]+"\t"+cperr[1]+"\t"+elev[1]+"\t"+prerr[0]+"\t"+prerr[1]); +// delx.print("multipath error"); + // dec.print("dec"); + // lp.print(t, rSTS.x); + } + + /** + * Process the 12 highest elevation GPS SVs + * @param t sim time in seconds + * @param t_mjd MJD time + * @param con GPS_Constellation + * @param rISS ISS position vector + * @param zmask zenith mask + * @param eci2rsw Matrix containing the ECI to RSW transformation + * @param pw PrintWriter + */ + public void process12chan(double t, double t_mjd, GPS_Constellation con, VectorN rISS, double zmask, Matrix eci2rsw, PrintWriter pw){ + int numChannels = 12; + double[][] h_array = new double[numChannels][4]; + VectorN dec = new VectorN(con.size()); + double [] theta = new double[con.size()]; + Matrix losMat = new Matrix(3, con.size()); + + // compute position based on ISS position + VectorN r = this.getPosition(rISS); + + // iniitialize counters + int below_horizon = 0; + int below_elmask = 0; + int blocked = 0; + int visible = 0; + + // process each GPS satellite + for (int isv = 0; isv < con.size(); isv++){ + + // retrieve the SV + GPS_SV sv = con.getSV(isv); + + // compute the GPS position vector + VectorN rGPS = sv.rECI(t_mjd); + + // compute the angle between the boresight and LOS vector + VectorN los = this.lineOfSight(rGPS, r); + + // store off in LOS Matrix + losMat.setColumn(isv, los); + + theta[isv] = this.boresightAngle(los, r); + dec.x[isv] = theta[isv] * MathUtils.RAD2DEG; + } + + // pick out the 12 highest elevation SVs + Sort highEl = new Sort(dec.x); + double pi2 = MathUtils.PI/2.0; + + // process 12 highest elevation SVs + for (int i = 0; i < numChannels; i++){ + int jsv = highEl.getOrder(i); + + if (theta[jsv] > pi2) { + below_horizon++; + } + else { + if (theta[jsv] > (pi2 - this.elevationMask())){ + below_elmask++; + } + else{ + if (theta[jsv] < zmask){ + blocked++; + } + else { + // save off the DOP + VectorN los = losMat.getColumnVector(jsv); + VectorN losu = los.unitVector(); + VectorN losuRSW = eci2rsw.times(losu); + h_array[visible][0] = losuRSW.x[0]; + h_array[visible][1] = losuRSW.x[1]; + h_array[visible][2] = losuRSW.x[2]; + h_array[visible][3] = 1.0; + visible++; + } + } + } + } + + + + + // compute the pdop + double pdop = 1.0E+15; + if (visible > 3) { + Matrix h = new Matrix(h_array, visible, 4); + Matrix htrans = h.transpose(); + Matrix hth = htrans.times(h); + // h.print("h"); + Matrix hth_inv = hth.inverse(); + // hth_inv.print("hth_inv"); + pdop = this.pdop(hth_inv); + } + + System.out.println(t+"\t"+visible+"\t"+below_horizon+"\t"+below_elmask+"\t"+blocked+"\t"+pdop); + pw.println(t+"\t"+visible+"\t"+below_horizon+"\t"+below_elmask+"\t"+blocked+"\t"+pdop); + // dec.print("dec"); + // lp.print(t, rSTS.x); + } + + +} diff --git a/src/jat/coreNOSA/gps/GPS_SV.java b/src/jat/coreNOSA/gps/GPS_SV.java new file mode 100644 index 0000000..adf15bc --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_SV.java @@ -0,0 +1,780 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.GPSTimeFormat; + +/** + *

+ * The GPS_SV Class models a GPS satellite which is created from the broadcast ephemeris. + * It provides a method to generate the ECEF position of a given GPS SV at a given MJD. + * The GPS_Constellation class reads in the broadcast ephemeris and constructs the constellation. + * Reference: Montenbruck, Appendix A.2.2. + * @author + * @version 1.0 + */ +public class GPS_SV { + + private int prn = 0; + + private GPSTimeFormat toc; + + private double clockBias = 0.0; + + private double clockDrift = 0.0; + + private double clockDriftRate = 0.0; + + private double Crs = 0.0; + + private double Cuc = 0.0; + + private double Crc = 0.0; + + private double Cus = 0.0; + + private double Cic = 0.0; + + private double Cis = 0.0; + + private GPSTimeFormat toe; + + private double sqrtA = 0.0; + + private double deltaN = 0.0; + + private double ecc = 0.0; + + private double inc = 0.0; + + private double idot = 0.0; + + private double omega = 0.0; + + private double omegadot = 0.0; + + private double argp = 0.0; + + private double ma = 0.0; + + /** Creates a new instance of GPS_SV. + * @param svid Integer containing the SV PRN. + */ + public GPS_SV(int svid) { + this.prn = svid; + } + + /** + * Set the TOC + * @param clock GPSTimeFormat for the TOC + */ + public void setTOC(GPSTimeFormat clock){ + this.toc = new GPSTimeFormat(clock); + } + + /** + * Set the TOE + * @param clock GPSTimeFormat for the TOE + */ + public void setTOE(GPSTimeFormat ephem){ + this.toe = new GPSTimeFormat(ephem); + } + + /** + * Set the clock parameters + * @param bias clock bias + * @param drift clock drift + * @param driftrate clock drift rate + */ + public void setClockParams(double bias, double drift, double driftrate){ + this.clockBias = bias; + this.clockDrift = drift; + this.clockDriftRate = driftrate; + } + + /** + * Set the Harmonic Corrections + * @param crc CRC + * @param crs CRS + * @param cuc CUC + * @param cus CUS + * @param cic CIC + * @param cis CIS + */ + public void setHarmonicCorrections(double crc, double crs, double cuc, double cus, double cic, double cis){ + this.Crc = crc; + this.Crs = crs; + this.Cuc = cuc; + this.Cus = cus; + this.Cic = cic; + this.Cis = cis; + + } + + /** + * Set the orbit elements + * @param sqrta square root of semi-major axis + * @param e eccentricity + * @param i inclination + * @param raan right ascension of ascending node + * @param w argument of perigee + * @param m0 initial mean anomaly + */ + public void setOrbit(double sqrta, double e, double i, double raan, double w, double m0){ + this.sqrtA = sqrta; + this.ecc = e; + this.inc = i; + this.omega = raan; + this.argp = w; + this.ma = m0; + } + + /** + * Set the orbit corrections + * @param dn delta N + * @param od omega dot + * @param id inclination dot + */ + public void setOrbitCorrections( double dn, double od, double id){ + this.deltaN = dn; + this.omegadot = od; + this.idot = id; + } + + /** + * Return the TOE in MJD + * @return TOE in MJD + */ + public double getTOEmjd(){ + return this.toe.mjd(); + } + /** + * Return the PRN + * @return the PRN + */ + public int prn(){ + return this.prn; + } + + /** Method of printing out the GPS SV data. + * @param title Title or name for the SV. + */ + public void print(String title){ + System.out.println("GPS SV: "+title); + System.out.println(" PRN: "+this.prn); + this.toc.printCalDate(" Time of Clock"); + System.out.println("toc mjd = "+this.toc.mjd()); + this.toe.printCalDate(" Time of Ephemeris"); + this.toe.print("TOE"); + System.out.println("toe mjd = "+this.toe.mjd()); + System.out.println(" clockBias: "+this.clockBias); + System.out.println(" clockDrift: "+this.clockDrift); + System.out.println(" clockDriftRate: "+this.clockDriftRate); + System.out.println(" Crc: "+this.Crc); + System.out.println(" Crs: "+this.Crs); + System.out.println(" Cic: "+this.Cic); + System.out.println(" Cis: "+this.Cis); + System.out.println(" Cuc: "+this.Cuc); + System.out.println(" Cus: "+this.Cus); + System.out.println(" sqrtA: "+this.sqrtA); + System.out.println(" deltaN: "+this.deltaN); + System.out.println(" ecc: "+this.ecc); + System.out.println(" inclination: "+this.inc); + System.out.println(" idot: "+this.idot); + System.out.println(" omega: "+this.omega); + System.out.println(" omegadot: "+this.omegadot); + System.out.println(" argument of perigee: "+this.argp); + System.out.println(" mean anomaly: "+this.ma); + } + + /** Compute the ECEF position vector of a GPS SV at a particular MJD. + * @param mjd Modified Julian Date. + * @return ECEF position vector of the GPS SV in meters. + */ + public VectorN rECEF(double mjd){ + + // compute time since Ephemeris Epoch + double ephemTime = this.toe.mjd_utc(); + double dt = (mjd - ephemTime)*86400.0;//-biasCorrection(new GPSTimeFormat(mjd).gps_sow()); + double t0 = (double) this.toe.gps_week(); +// double dt0 = (mjd - (44244.0 + 7.0*t0))*86400.0; + double toe_sow = this.toe.gps_sow(); + + // compute mean anomaly at current time + double sma = this.sqrtA * this.sqrtA; + double n0 = Math.sqrt(Constants.GM_WGS84/(sma*sma*sma)); // mean motion + double n = n0 + this.deltaN; // apply mean motion correction + double mt = this.ma + n*dt; + + // solve Kepler's equation + double E = TwoBody.solveKepler(mt, this.ecc); + + // compute true anomaly + double sinE = Math.sin(E); + double cosE = Math.cos(E); + double den = 1.0 - this.ecc*cosE; + double sqrome2 = Math.sqrt(1.0 - this.ecc*this.ecc); + double sinv = (sqrome2*sinE)/den; + double cosv = (cosE - this.ecc)/den; + + double f = Math.atan2(sinv, cosv); + + // compute argument of latitude + double phi = f + this.argp; + double sin2u = Math.sin(2.0*phi); + double cos2u = Math.cos(2.0*phi); + + // compute periodic corrections + double dr = this.Crs*sin2u + this.Crc*cos2u; + double du = this.Cus*sin2u + this.Cuc*cos2u; + double di = this.Cis*sin2u + this.Cic*cos2u; + + // apply corrections + double r = sma*(1.0 - this.ecc*cosE) + dr; + double u = phi + du; + double i = this.inc + this.idot*dt + di; +// double L = this.omega + this.omegadot*dt - Constants.WE_WGS84*dt0; + // corrected, I hope on 6/26/06 by DEG + double L = this.omega + (this.omegadot - Constants.WE_WGS84)*dt - Constants.WE_WGS84*toe_sow; + + VectorN rvec = new VectorN(r*Math.cos(u), r*Math.sin(u), 0.0); + + RotationMatrix R = new RotationMatrix(1,-i, 3,-L); + + VectorN out = R.times(rvec); + return out; + } + + /** Compute the ECI position vector of a GPS SV at a particular MJD. + * Note: this really gives the position vector in an inertial frame, + * which is most likely not the real ECI frame since all we are doing is + * treating the longitude of ascending node as if it were RAAN. + * @param mjd Modified Julian Date. + * @return ECEF position vector of the GPS SV in meters. + */ + public VectorN rECI(double mjd){ + + // compute time since Ephemeris Epoch + double ephemTime = this.toe.mjd_utc(); + double dt = (mjd - ephemTime)*86400.0; + double t0 = (double) this.toe.gps_week(); + double dt0 = (mjd - (44244.0 + 7.0*t0))*86400.0; + + // compute mean anomaly at current time + double sma = this.sqrtA * this.sqrtA; + double n0 = Math.sqrt(Constants.GM_WGS84/(sma*sma*sma)); // mean motion + double n = n0 + this.deltaN; // apply mean motion correction + double mt = this.ma + n*dt; + + + // solve Kepler's equation + double E = TwoBody.solveKepler(mt, this.ecc); + + // compute true anomaly + double sinE = Math.sin(E); + double cosE = Math.cos(E); + double den = 1.0 - this.ecc*cosE; + double sqrome2 = Math.sqrt(1.0 - this.ecc*this.ecc); + double sinv = (sqrome2*sinE)/den; + double cosv = (cosE - this.ecc)/den; + + double f = Math.atan2(sinv, cosv); + + // compute argument of latitude + double phi = f + this.argp; + double sin2u = Math.sin(2.0*phi); + double cos2u = Math.cos(2.0*phi); + + // compute periodic corrections + double dr = this.Crs*sin2u + this.Crc*cos2u; + double du = this.Cus*sin2u + this.Cuc*cos2u; + double di = this.Cis*sin2u + this.Cic*cos2u; + + // apply corrections + double r = sma*(1.0 - this.ecc*cosE) + dr; + double u = phi + du; + double i = this.inc + this.idot*dt + di; + //double L = this.omega + this.omegadot*dt; + double toe_sow = this.toe.gps_sow(); + double L = this.omega + (this.omegadot - Constants.WE_WGS84)*dt - Constants.WE_WGS84*toe_sow; + + VectorN rvec = new VectorN(r*Math.cos(u), r*Math.sin(u), 0.0); + + RotationMatrix R = new RotationMatrix(1,-i, 3,-L); + + VectorN out = R.times(rvec); + return out; + } + /** Compute the WGS84 position vector of a GPS SV at a particular MJD. + * @param mjd Modified Julian Date. + * @return ECEF position vector of the GPS SV in meters. + */ + public VectorN rWGS84(double mjd){ + + // compute time since Ephemeris Epoch + double ephemTime = this.toe.mjd_utc(); + double dt = (mjd - ephemTime)*86400.0;//-biasCorrection(new GPSTimeFormat(mjd).gps_sow()); + double t0 = (double) this.toe.gps_week(); + double dt0 = (mjd - (44244.0 + 7.0*t0))*86400.0; + + // compute mean anomaly at current time + double sma = this.sqrtA * this.sqrtA; + double n0 = Math.sqrt(Constants.GM_WGS84/(sma*sma*sma)); // mean motion + double n = n0 + this.deltaN; // apply mean motion correction + double mt = this.ma + n*dt; + + + // solve Kepler's equation + double E = TwoBody.solveKepler(mt, this.ecc); + + // compute true anomaly + double sinE = Math.sin(E); + double cosE = Math.cos(E); + double den = 1.0 - this.ecc*cosE; + double sqrome2 = Math.sqrt(1.0 - this.ecc*this.ecc); + double sinv = (sqrome2*sinE)/den; + double cosv = (cosE - this.ecc)/den; + + double f = Math.atan2(sinv, cosv); + + // compute argument of latitude + double phi = f + this.argp; + double sin2u = Math.sin(2.0*phi); + double cos2u = Math.cos(2.0*phi); + + // compute periodic corrections + double dr = this.Crs*sin2u + this.Crc*cos2u; + double du = this.Cus*sin2u + this.Cuc*cos2u; + double di = this.Cis*sin2u + this.Cic*cos2u; + + // apply corrections + double r = sma*(1.0 - this.ecc*cosE) + dr; + double u = phi + du; + double i = this.inc + this.idot*dt + di; + double L = this.omega + this.omegadot*dt; + + VectorN rvec = new VectorN(r*Math.cos(u), r*Math.sin(u), 0.0); + + RotationMatrix R = new RotationMatrix(1,-i, 3,-L); + + VectorN out = R.times(rvec); + return out; + } + /** Compute the ECI position vector of a GPS SV at a particular MJD. + * Note: this really gives the position vector in an inertial frame, + * which is most likely not the real ECI frame since all we are doing is + * treating the longitude of ascending node as if it were RAAN. + * @param mjd Modified Julian Date. + * @return ECI position vector of the GPS SV in meters. + */ + public VectorN rvECI(double mjd){ + + // compute time since Ephemeris Epoch + double ephemTime = this.toe.mjd_utc(); + double dt = (mjd - ephemTime)*86400.0;//-biasCorrection(new GPSTimeFormat(mjd).gps_sow()); + double t0 = (double) this.toe.gps_week(); + double dt0 = (mjd - (44244.0 + 7.0*t0))*86400.0; + + // compute mean anomaly at current time + double sma = this.sqrtA * this.sqrtA; + double n0 = Math.sqrt(Constants.GM_WGS84/(sma*sma*sma)); // mean motion + double n = n0 + this.deltaN; // apply mean motion correction + double mt = this.ma + n*dt; + + + // solve Kepler's equation + double Etemp = TwoBody.solveKepler(mt, this.ecc); + double E = MathUtils.Modulo(Etemp, 2.0*MathUtils.PI); + + + // compute true anomaly + double sinE = Math.sin(E); + double cosE = Math.cos(E); + double den = 1.0 - this.ecc*cosE; + double sqrome2 = Math.sqrt(1.0 - this.ecc*this.ecc); + double sinv = (sqrome2*sinE)/den; + double cosv = (cosE - this.ecc)/den; + + double f = Math.atan2(sinv, cosv); + + // compute argument of latitude + double phi = f + this.argp; + double sin2u = Math.sin(2.0*phi); + double cos2u = Math.cos(2.0*phi); + + // compute periodic corrections + double dr = this.Crs*sin2u + this.Crc*cos2u; + double du = this.Cus*sin2u + this.Cuc*cos2u; + double di = this.Cis*sin2u + this.Cic*cos2u; + + // apply corrections + double r = sma*(1.0 - this.ecc*cosE) + dr; + double u = phi + du; + double i = this.inc + this.idot*dt + di; + double L = this.omega + this.omegadot*dt; + + double cosu = Math.cos(u); + double sinu = Math.sin(u); + + // position in PQW + VectorN rpqw = new VectorN(r*cosu, r*sinu, 0.0); + + // rotation from PQW to ECI + RotationMatrix R = new RotationMatrix(1,-i, 3,-L); + + // position in ECI + VectorN reci = R.times(rpqw); + + // compute the velocity vector + double denom = 1.0 - ecc*Math.cos(E); + double Edot = n / denom; + double num = 1.0 + ecc*Math.cos(f); + double fdot = (n * num) / (sqrome2 * denom); + double drdot = 2.0*fdot*(this.Crs*cos2u-this.Cuc*sin2u); + if (E < 0.0) E = E + 2.0*MathUtils.PI; + double sqrE = Math.sqrt(E); + double ae = sma*ecc*Math.sqrt(E)*Edot; + double rdot = ae + drdot; + double dudot = 2.0*fdot*(this.Cus*cos2u-this.Cuc*sin2u); + double didot = 2.0*fdot*(this.Cis*cos2u-this.Cic*sin2u); + double udot = fdot + dudot; +// System.out.println("sma = "+sma+" ecc = "+ecc+" E = "+E+" sqrE = "+sqrE+" Edot = "+Edot); + + // rdot vector in PQW + double r1 = rdot*cosu - r*udot*sinu; + double r2 = rdot*sinu + r*udot*cosu; + VectorN rdotpqw = new VectorN(r1, r2, 0.0); + + // decompose the R matrix into two parts: A and B + RotationMatrix A = new RotationMatrix(3, -L); + RotationMatrix B = new RotationMatrix(1, -i); + + // find the derivative of A and B + double sinL = Math.sin(L); + double cosL = Math.cos(L); + double sini = Math.sin(i); + double cosi = Math.cos(i); + Matrix A1 = new Matrix(3,3); + A1.set(0, 0, -sinL); + A1.set(0, 1, -cosi*cosL); + A1.set(0, 2, cosL*sini); + A1.set(1, 0, cosL); + A1.set(1, 1, -cosi*sinL); + A1.set(1, 2, sini*sinL); + Matrix Adot = A1.times(omegadot); + + Matrix B1 = new Matrix(3,3); + B1.set(0, 1, sini*sinL); + B1.set(0, 2, cosi*sinL); + B1.set(1, 1, -cosL*sini); + B1.set(1, 2, -cosi*cosL); + B1.set(2, 1, cosi); + B1.set(2, 2, -sini); + Matrix Bdot = B1.times(this.idot+didot); + + // combine to form Rdot + Matrix Rdot1 = Adot.times(B); + Matrix Rdot2 = A.times(Bdot); + Matrix Rdot = Rdot1.plus(Rdot2); + + // compute the ECI velocity vector + VectorN term1 = Rdot.times(rpqw); + VectorN term2 = R.times(rdotpqw); + VectorN veci = term1.plus(term2); +// System.out.println("rdotpqw="+rdotpqw.toString()); + VectorN out = new VectorN(reci, veci); + return out; + } + /** Compute the ECI position vector of a GPS SV at a particular MJD. + * Note: this correctly treats the longitude of ascending node to provide + * accurate GPS SV ECI position vectors, which requires the ECI to ECEF transformation + * matrix from jat.spacetime.EarthRef + * Added on 6/26/06 by DEG + * @param mjd Modified Julian Date. + * @param eci2ecef Matrix containing transformation from ECI to ECEF + * @return ECEF position vector of the GPS SV in meters. + */ + public VectorN rECI (double mjd, Matrix eci2ecef){ + VectorN recef = this.rECEF(mjd); + VectorN out = eci2ecef.transpose().times(recef); + return out; + } + + /** Compute the ECI position and velocity vectors of a GPS SV at a particular MJD. + * Note: this correctly treats the longitude of ascending node to provide + * accurate GPS SV ECI position and velocity vectors, which requires transformation + * matrices from jat.spacetime.EarthRef + * Added on 6/26/06 by DEG. + * Reference: Tak Ebinuma's dissertation. + * @param mjd Modified Julian Date. + * @param poleMatrix Matrix containing Pole transformation + * @param ghaMatrix Matrix containing GHA transformation + * @param todMatrix Matrix containing the TOD transformation + * @return ECEF position vector of the GPS SV in meters. + */ + public VectorN rvECI (double mjd, Matrix poleMatrix, Matrix ghaMatrix, Matrix todMatrix){ + // compute time since Ephemeris Epoch + double ephemTime = this.toe.mjd_utc(); + double dt = (mjd - ephemTime)*86400.0;//-biasCorrection(new GPSTimeFormat(mjd).gps_sow()); + //double t0 = (double) this.toe.gps_week(); + //double dt0 = (mjd - (44244.0 + 7.0*t0))*86400.0; + double toe_sow = this.toe.gps_sow(); + + // compute mean anomaly at current time + double sma = this.sqrtA * this.sqrtA; + double n0 = Math.sqrt(Constants.GM_WGS84/(sma*sma*sma)); // mean motion + double n = n0 + this.deltaN; // apply mean motion correction + double mt = this.ma + n*dt; + + // solve Kepler's equation + double E = TwoBody.solveKepler(mt, this.ecc); + + // compute true anomaly + double sinE = Math.sin(E); + double cosE = Math.cos(E); + double den = 1.0 - this.ecc*cosE; + double sqrome2 = Math.sqrt(1.0 - this.ecc*this.ecc); + double sinv = (sqrome2*sinE)/den; + double cosv = (cosE - this.ecc)/den; + double f = Math.atan2(sinv, cosv); + + // compute argument of latitude + double phi = f + this.argp; + double sin2u = Math.sin(2.0*phi); + double cos2u = Math.cos(2.0*phi); + + // compute periodic corrections + double dr = this.Crs*sin2u + this.Crc*cos2u; + double du = this.Cus*sin2u + this.Cuc*cos2u; + double di = this.Cis*sin2u + this.Cic*cos2u; + + // apply corrections + double r = sma*(1.0 - this.ecc*cosE) + dr; + double u = phi + du; + double i = this.inc + this.idot*dt + di; +// double L = this.omega + this.omegadot*dt - Constants.WE_WGS84*dt0; + double L = this.omega + (this.omegadot - Constants.WE_WGS84)*dt - Constants.WE_WGS84*toe_sow; + + double cosu = Math.cos(u); + double sinu = Math.sin(u); + + // Position in orbit frame + VectorN rpqw = new VectorN(r*cosu, r*sinu, 0.0); + + // Rotation from orbit frame to ECEF + RotationMatrix M = new RotationMatrix(1,-i, 3,-L); + // Compute ECEF position + VectorN recef = M.times(rpqw); + + // Transform ECEF position to ECI + Matrix temp = poleMatrix.times(ghaMatrix); + Matrix eci2ecef = temp.times(todMatrix); + VectorN reci = eci2ecef.transpose().times(recef); + + // compute the velocity vector + double denom = 1.0 - ecc*Math.cos(E); + double Edot = n / denom; + double num = 1.0 + ecc*Math.cos(f); + double fdot = (n * num) / (sqrome2 * denom); + double drdot = 2.0*fdot*(this.Crs*cos2u-this.Cuc*sin2u); + if (E < 0.0) E = E + 2.0*MathUtils.PI; + double sqrE = Math.sqrt(E); + double ae = sma*ecc*sqrE*Edot; + double rdot = ae + drdot; + double dudot = 2.0*fdot*(this.Cus*cos2u-this.Cuc*sin2u); + double didot = 2.0*fdot*(this.Cis*cos2u-this.Cic*sin2u); + double udot = fdot + dudot; +// System.out.println("sma = "+sma+" ecc = "+ecc+" E = "+E+" sqrE = "+sqrE+" Edot = "+Edot); + + // rdot vector in PQW + double r1 = rdot*cosu - r*udot*sinu; + double r2 = rdot*sinu + r*udot*cosu; + VectorN rdotpqw = new VectorN(r1, r2, 0.0); + + // find the derivative of M + double sinL = Math.sin(L); + double cosL = Math.cos(L); + double sini = Math.sin(i); + double cosi = Math.cos(i); + Matrix A1 = new Matrix(3,3); + A1.set(0, 0, -sinL); + A1.set(0, 1, -cosi*cosL); + A1.set(0, 2, cosL*sini); + A1.set(1, 0, cosL); + A1.set(1, 1, -cosi*sinL); + A1.set(1, 2, sini*sinL); + Matrix Adot = A1.times(omegadot - Constants.WE_WGS84); + Matrix B1 = new Matrix(3,3); + B1.set(0, 1, sini*sinL); + B1.set(0, 2, cosi*sinL); + B1.set(1, 1, -cosL*sini); + B1.set(1, 2, -cosi*cosL); + B1.set(2, 1, cosi); + B1.set(2, 2, -sini); + Matrix Bdot = B1.times(this.idot+didot); + Matrix Mdot = Adot.plus(Bdot); + + // Get necessary transpose matrices + Matrix Ct = todMatrix.transpose(); + Matrix Bt = poleMatrix.transpose(); + Matrix St = ghaMatrix.transpose(); + + // Compute derivative of GHA Matrix (S) and its transpose + Matrix omegaE = new Matrix(3,3); + omegaE.set(0, 1, Constants.WE_WGS84); + omegaE.set(1, 0, -Constants.WE_WGS84); + Matrix Sdot = omegaE.times(ghaMatrix); + Matrix Sdott = Sdot.transpose(); + + // Form an intermediate term + Matrix CtStBt = (Ct.times(St)).times(Bt); + + // First term of Eqn 2.23 from Tak's dissertation + Matrix temp1 = ((Ct.times(Sdott)).times(Bt)).times(M); + Matrix temp2 = CtStBt.times(Mdot); + Matrix temp3 = temp1.plus(temp2); + VectorN v1 = temp3.times(rpqw); + + // Second term of Eqn 2.23 from Tak's dissertaion + Matrix temp4 = CtStBt.times(M); + VectorN v2 = temp4.times(rdotpqw); + + // ECI velocity + VectorN veci = v1.plus(v2); + + // Form output vector + VectorN out = new VectorN(reci, veci); + return out; + } + /** Compute the ECEF position and velocity vectors of a GPS SV at a particular MJD. + * Note: this correctly treats the longitude of ascending node to provide + * accurate GPS SV ECEF position and velocity vectors, which requires transformation + * matrices from jat.spacetime.EarthRef + * Added on 6/26/06 by DEG. + * Reference: Tak Ebinuma's dissertation. + * @param mjd Modified Julian Date. + * @param poleMatrix Matrix containing Pole transformation + * @param ghaMatrix Matrix containing GHA transformation + * @param todMatrix Matrix containing the TOD transformation + * @return ECEF position vector of the GPS SV in meters. + */ + public VectorN rvECEF (double mjd){ + // compute time since Ephemeris Epoch + double ephemTime = this.toe.mjd_utc(); + double dt = (mjd - ephemTime)*86400.0;//-biasCorrection(new GPSTimeFormat(mjd).gps_sow()); + double t0 = (double) this.toe.gps_week(); + double dt0 = (mjd - (44244.0 + 7.0*t0))*86400.0; + double toe_sow = this.toe.gps_sow(); + + // compute mean anomaly at current time + double sma = this.sqrtA * this.sqrtA; + double n0 = Math.sqrt(Constants.GM_WGS84/(sma*sma*sma)); // mean motion + double n = n0 + this.deltaN; // apply mean motion correction + double mt = this.ma + n*dt; + + // solve Kepler's equation + double E = TwoBody.solveKepler(mt, this.ecc); + + // compute true anomaly + double sinE = Math.sin(E); + double cosE = Math.cos(E); + double den = 1.0 - this.ecc*cosE; + double sqrome2 = Math.sqrt(1.0 - this.ecc*this.ecc); + double sinv = (sqrome2*sinE)/den; + double cosv = (cosE - this.ecc)/den; + double f = Math.atan2(sinv, cosv); + + // compute argument of latitude + double phi = f + this.argp; + double sin2u = Math.sin(2.0*phi); + double cos2u = Math.cos(2.0*phi); + + // compute periodic corrections + double dr = this.Crs*sin2u + this.Crc*cos2u; + double du = this.Cus*sin2u + this.Cuc*cos2u; + double di = this.Cis*sin2u + this.Cic*cos2u; + + // apply corrections + double r = sma*(1.0 - this.ecc*cosE) + dr; + double u = phi + du; + double i = this.inc + this.idot*dt + di; +// double L = this.omega + this.omegadot*dt - Constants.WE_WGS84*dt0; + double L = this.omega + (this.omegadot - Constants.WE_WGS84)*dt - Constants.WE_WGS84*toe_sow; + + double cosu = Math.cos(u); + double sinu = Math.sin(u); + + // Position in orbit frame + VectorN rpqw = new VectorN(r*cosu, r*sinu, 0.0); + + // Rotation from orbit frame to ECEF + RotationMatrix M = new RotationMatrix(1,-i, 3,-L); + + // Compute ECEF position + VectorN recef = M.times(rpqw); + + // Transform ECEF position to ECI + //Matrix temp = poleMatrix.times(ghaMatrix); + //Matrix eci2ecef = temp.times(todMatrix); + //VectorN reci = eci2ecef.transpose().times(recef); + + // compute the velocity vector + double denom = 1.0 - ecc*Math.cos(E); + double Edot = n / denom; + double num = 1.0 + ecc*Math.cos(f); + double fdot = (n * num) / (sqrome2 * denom); + double drdot = 2.0*fdot*(this.Crs*cos2u-this.Cuc*sin2u); + if (E < 0.0) E = E + 2.0*MathUtils.PI; + double sqrE = Math.sqrt(E); + double ae = sma*ecc*sqrE*Edot; + double rdot = ae + drdot; + double dudot = 2.0*fdot*(this.Cus*cos2u-this.Cuc*sin2u); + double didot = 2.0*fdot*(this.Cis*cos2u-this.Cic*sin2u); + double udot = fdot + dudot; +// System.out.println("sma = "+sma+" ecc = "+ecc+" E = "+E+" sqrE = "+sqrE+" Edot = "+Edot); + + // rdot vector in PQW + double r1 = rdot*cosu - r*udot*sinu; + double r2 = rdot*sinu + r*udot*cosu; + VectorN rdotpqw = new VectorN(r1, r2, 0.0); + + VectorN vecef = M.times(rdotpqw); + + VectorN out = new VectorN(recef, vecef); + return out; + } + + /** + * Accounts for the biasCorrection term in the GPS broadcast navigation file. + * @param ts_SOW (transmit time seconds of the GPS week + * @return biasCorrection [sec] + */ + public double biasCorrection(double ts_SOW) { + double ttoc = ts_SOW - this.toc.gps_sow(); + double dtsv = this.clockBias + this.clockDrift*(ttoc)+this.clockDriftRate*(ttoc*ttoc); + return dtsv; + } +} diff --git a/src/jat/coreNOSA/gps/GPS_Utils.java b/src/jat/coreNOSA/gps/GPS_Utils.java new file mode 100644 index 0000000..7af72ea --- /dev/null +++ b/src/jat/coreNOSA/gps/GPS_Utils.java @@ -0,0 +1,161 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jun 20, 2003 + */ + +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The GPSutils.java Class provides general utility functions needed for GPS +* data processing. +* +* @author +* @version 1.0 +*/ + +public class GPS_Utils { + + /** Speed of Light in m/s from IAU 1976. + */ + public static final double c = 299792458.0; + + /** GPS L1 frequency */ + public static final double L1_freq = 1575.42E+06; + + /** GPS L1 wavelength in meters */ + public static final double lambda = c / L1_freq; + + + + /** compute the line of sight vector from a spacecraft to a GPS satellite + * @param r the spacecraft position vector + * @param rGPS the GPS SV position vector + * @return the line of sight vector + */ + public static VectorN lineOfSight(VectorN r, VectorN rGPS) { + VectorN los = rGPS.minus(r); + return los; + } + + /** Iterative solution for time of transmission + * @param t_mjd time of reception in MJD + * @param sv GPS_SV object + * @return time of transmission in MJD + * + */ + public static double transmitTime(double t_mjd, GPS_SV sv, VectorN r){ + int maxit = 500; + int i = 0; + double ts_new = 0.0; + double ts_old = t_mjd; + double eps = 1.0E-16; + double diff = Math.abs(ts_new - ts_old); + while ((diff > eps)&&(i < maxit)) { + VectorN rGPS = sv.rECI(ts_old); + VectorN los = GPS_Utils.lineOfSight(r, rGPS); + double rho = los.mag(); + ts_new = t_mjd - rho/(86400.0*c); + diff = Math.abs(ts_new - ts_old); + ts_old = ts_new; + i = i + 1; + if (i >= maxit){ + System.out.println("transmitTime too many iterations, diff = "+ diff); + if (diff > 1.0E-10) { + throw new RuntimeException("GPS_Utils.transmitTime too many iterations at t_mjd = "+t_mjd+", diff = "+ diff); + } + } + } + return ts_new; + } + + /** compute the range rate + * @param rho the range vector + * @param v the spacecraft ECI velocity vector at reception time + * @param vGPS the GPS SV ECI velocity vector at transmission time + */ + public static double rangeRate(VectorN rho, VectorN v, VectorN vGPS) { + + // compute the relative velocity + VectorN vrel = vGPS.minus(v); + double num = rho.dotProduct(vrel); + + double timeCorrection = rho.dotProduct(vGPS)/c; + double denom = rho.mag() + timeCorrection; + +// double range_rate = num / rho.mag(); //DMS this was original + double range_rate = num / denom; + + return range_rate; + } + + /** OD Toolbox interface to compute the range rate + * @param rho the range vector + * @param v the spacecraft ECI velocity vector at reception time + * @param vGPS the transmitting SV ECI velocity vector at transmission time + */ + public static double rangeRate(double[] range, double[] vR, double[] vT) { + + VectorN rho = new VectorN(range); + VectorN v = new VectorN(vR); + VectorN vGPS = new VectorN(vT); + + return rangeRate(rho,v,vGPS); + } + + /** Compute the line of sight declination angle (angle from zenith). + * @param r spacecraft position vector + * @param rGPS GPS SV position vector + * @return the angle between the GPS line of sight and zenith in radians. + */ + public static double declination(VectorN r, VectorN rGPS) { + double dot = r.dotProduct(rGPS); + double rmag = r.mag(); + double rGPSmag = rGPS.mag(); + double dec = Math.acos(dot/(rmag*rGPSmag)); + return dec; + } + + /** Compute the line of sight elevation angle (angle from local horizontal). + * @param r spacecraft position vector + * @param rGPS GPS SV position vector + * @return the angle between the GPS line of sight and horizon in radians. + */ + public static double elevation(VectorN r, VectorN rGPS) { + double dec = GPS_Utils.declination(r, rGPS); + double pi2 = Math.PI/2.0; + double el = pi2 - dec; + return el; + } + /** ODToolbox interface to elevation + * Compute the line of sight elevation angle (angle from local horizontal). + * @param r spacecraft position vector + * @param rGPS GPS SV position vector + * @return the angle between the GPS line of sight and horizon in radians. + */ + public static double elevation(double[] r, double[] rGPS) { + VectorN r1 = new VectorN(r); + VectorN r2 = new VectorN(rGPS); + double el = elevation(r1,r2); + return el; + } + +} diff --git a/src/jat/coreNOSA/gps/ISS.java b/src/jat/coreNOSA/gps/ISS.java new file mode 100644 index 0000000..b0ec27d --- /dev/null +++ b/src/jat/coreNOSA/gps/ISS.java @@ -0,0 +1,90 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + */ + +package jat.coreNOSA.gps; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The ISS Class provides a model of the ISS for the BlockageSim + * + * @author + * @version 1.0 + */ +public class ISS { + public TwoBody trajectory; + private double diam; + + /** + * Constructor + * @param mu GM earth + * @param a semi-major axis + * @param e eccentricity + * @param i inclination + * @param raan right ascension of the ascending node + * @param w argument of perigee + * @param ta true anomaly + */ + public ISS(double mu, double a, double e, double i, double raan, double w, double ta){ + this.trajectory = new TwoBody(mu, a, e, i, raan, w, ta); + } + + /** + * Set the diameter of the ISS + * @param d diameter in meters + */ + public void setDiameter(double d){ + this.diam = d; + } + + /** + * Return the diameter of the ISS + * @return the diameter of the ISS in meters + */ + public double diameter(){ + return this.diam; + } + + /** + * Determine the zenith mask + * @param dr distance from the ISS + * @return the zenith mask angle in radians + */ + public double zenith_mask(double dr){ + double radius = this.diam/2.0; + double out = Math.atan2(radius, -dr); + return out; + } + + /** + * propagate the ISS trajectory + * @param t0 initial time in seconds + * @param tf final time in seconds + * @param pr Printable + * @param print_switch boolean, true = print, false = don't print + */ + public VectorN propagate(double t0, double tf, Printable pr, boolean print_switch){ + this.trajectory.propagate(t0, tf, pr, print_switch); + return this.trajectory.rv; + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/gps/ISS_Blockage.java b/src/jat/coreNOSA/gps/ISS_Blockage.java new file mode 100644 index 0000000..d6f3b59 --- /dev/null +++ b/src/jat/coreNOSA/gps/ISS_Blockage.java @@ -0,0 +1,82 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +/** + *

+ * The ISS_Blockage Class provides a model of GPS signal blockage due to + * a spherical ISS. + * + * @author + * @version 1.0 + */ +public class ISS_Blockage implements Visible { + + private double elevationMask; + private static final double issRadius = 50.0; + private ElevationMask elev; + + public ISS_Blockage() { + this.elevationMask = 10.0 * MathUtils.DEG2RAD; + this.elev = new ElevationMask(); + } + + /** Constructor + * @param em elevation mask angle in degrees + */ + public ISS_Blockage(double em) { + this.elevationMask = em * MathUtils.DEG2RAD; + this.elev = new ElevationMask(this.elevationMask); + + } + + /** + * Determine if the GPS satellite is visible, including ISS blockage + * Used by GPS Measurement Generator. + * @param losu Line of sight unit vector + * @param r current position vector + * @param rISS current position vector of the ISS + * @return boolean true if the GPS satellite is visible + */ + public boolean visible(VectorN losu, VectorN r, VectorN rISS) { + + // check elevation mask + boolean visible = elev.visible(losu, r, rISS); + + // check ISS visibility + VectorN rrel = rISS.minus(r); + double dist = rrel.mag(); + double cone = Math.atan2(issRadius,dist); + VectorN rel = rrel.unitVector(); + double cos_delta = rel.dotProduct(losu); + double delta = Math.acos(cos_delta); + if (delta < cone) { + visible = false; + } + + return visible; + } + +} diff --git a/src/jat/coreNOSA/gps/ISS_Earth_Blockage.java b/src/jat/coreNOSA/gps/ISS_Earth_Blockage.java new file mode 100644 index 0000000..0972714 --- /dev/null +++ b/src/jat/coreNOSA/gps/ISS_Earth_Blockage.java @@ -0,0 +1,70 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ + +import jat.coreNOSA.math.MatrixVector.data.VectorN; +//import jat.math.*; +/** + *

+ * The ISS_Blockage Class provides a model of GPS signal blockage due to + * a spherical ISS and a spherical earth. + * + * @author + * @version 1.0 + */ + +public class ISS_Earth_Blockage implements Visible { + + private double elevationMask; + private static final double issRadius = 50.0; + private Earth_Blockage earth = new Earth_Blockage(); + + + /** + * Determine if the GPS satellite is visible, including ISS blockage + * Used by GPS Measurement Generator. + * @param losu Line of sight unit vector + * @param r current position vector + * @param rISS current position vector of the ISS + * @return boolean true if the GPS satellite is visible + */ + public boolean visible(VectorN losu, VectorN r, VectorN rISS) { + + // check elevation mask + boolean visible = earth.visible(losu, r, rISS); + + // check ISS visibility + VectorN rrel = rISS.minus(r); + double dist = rrel.mag(); + double cone = Math.atan2(issRadius,dist); + VectorN rel = rrel.unitVector(); + double cos_delta = rel.dotProduct(losu); + double delta = Math.acos(cos_delta); + if (delta < cone) { + visible = false; + } + + return visible; + } + +} diff --git a/src/jat/coreNOSA/gps/IonoModel.java b/src/jat/coreNOSA/gps/IonoModel.java new file mode 100644 index 0000000..fa7d568 --- /dev/null +++ b/src/jat/coreNOSA/gps/IonoModel.java @@ -0,0 +1,161 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jun 19, 2003 + */ + +//import jat.math.*; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.CalDate; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.GPSTimeFormat; + + +/** + * The IonoModel.java Class provides a simple model for range errors + * due to ionospheric delay. + * + * @author + * @version 1.0 + */ +public class IonoModel { + + /** GPS L1 frequency */ + private static final double freq = 1575.42E+06; + + /** Reference TVEC in electrons/m^2 */ + private double tvec_r = 2.0E+17; + + public double correlationTime = 2000.0; + + public double sigma = 0.82; + + public double Ivbar = 5.2; + + private double q; + + /** Default constructor */ + public IonoModel(){ + this.q = 2.0 * this.sigma*this.sigma /this.correlationTime; + + } + + /** Construct an IonoModel with a given reference TVEC + * @param ref_tvec reference TVEC in electrons/m^2 + */ + public IonoModel(double ref_tvec){ + this.tvec_r = ref_tvec; + this.q = 2.0 * this.sigma*this.sigma /this.correlationTime; + } + + /** Compute the range error due to iono + * @param t_mjd the current GPS time in MJD format + * @param r the current spacecraft ECI position vector + * @param rGPS the current GPS SV ECI position vector + * @return the range error in meters for code measurement + * (multiply by -1.0 for carrier phase measurement) + */ + public double error(double t_mjd, VectorN r, VectorN rGPS, double iv) { + + // compute signal elevation angle + double elevation = GPS_Utils.elevation(r, rGPS); + double out = del_iono(iv, elevation); + return out; + } + + /** OD Toolbox interface to compute the range error due to iono + * @param t_mjd the current GPS time in MJD format + * @param r the current spacecraft ECI position vector + * @param rGPS the current GPS SV ECI position vector + * @return the range error in meters for code measurement + * (multiply by -1.0 for carrier phase measurement) + */ + public double error(double t_mjd, double[] r, double[] rGPS, double iv) { + VectorN r1 = new VectorN(r); + VectorN r2 = new VectorN(rGPS); + + return error(t_mjd,r1,r2,iv); + } + + /** + * Compute Iv + * @param t_mjd time in MJD + * @param r VectorN containing ECI position vector + */ + public double Iv(double t_mjd, VectorN r){ + // get the sun unit vector + GPSTimeFormat gpstime = new GPSTimeFormat(t_mjd); + CalDate utc = gpstime.GPS2UTC(); + EarthRef er = new EarthRef(utc); + VectorN sun = er.sunVector(); + VectorN usun = sun.unitVector(); + + // get the spacecraft unit vector + VectorN ur = r.unitVector(); + + // compute tvec + double sdotr = usun.dotProduct(ur); + double tvec = this.tvec_r * Math.pow((1.0 + 0.143*sdotr),8.0); + + double out = 40.3 * tvec / (freq * freq); + return out; + } + + /** + * OD Toolbox interface to compute Iv + * @param t_mjd time in MJD + * @param r VectorN containing ECI position vector + */ + public double Iv(double t_mjd, double[] r){ + VectorN r1 = new VectorN(r); + return Iv(t_mjd,r1); + } + + /** compute the range error due to Iono + * @param Iv range error along the vertical direction + * @param elev line of sight elevation angle in radians + */ + public static double del_iono(double Iv, double elev){ + double sinE = Math.sin(elev); + double sin2E = sinE * sinE; + double out = 2.04 * Iv / (sinE + Math.sqrt(sin2E + 0.076)); + return out; + } + + public double ionoProcess(double div){ + double out = -1.0 * div/this.correlationTime; + return out; + } + + public double ionoQ(double dt){ + double sig2 = this.sigma*this.sigma; + double exp = Math.exp(-2.0*dt/this.correlationTime); + double out = sig2 * (1.0 - exp); + return out; + } + + public double Q(){ + return this.q; + } + + + +} diff --git a/src/jat/coreNOSA/gps/MultipathModel.java b/src/jat/coreNOSA/gps/MultipathModel.java new file mode 100644 index 0000000..1968ae3 --- /dev/null +++ b/src/jat/coreNOSA/gps/MultipathModel.java @@ -0,0 +1,278 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +import jat.coreNOSA.algorithm.ScalarFunction; +import jat.coreNOSA.algorithm.ZeroFinder; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +*

+* The MultipathModel.java Class provides a statistic model of the +* multipath effects on GPS carrier phase and C/A code measurements +* near the ISS. +* +* @author +* @version 1.0 +*/ +public class MultipathModel implements ScalarFunction { + + /** Radar cross-sectional area of the ISS (or reflector) */ + private double a_rcs = 5000.0; + + /** Number of multipath rays */ + private int n = 10; + + /** GPS L1 frequency */ + private static final double freq = 1575.42E+06; + + /** GPS L1 wavelength in meters */ + private static final double lambda = Constants.c / freq; + + /** GPS L1 wavelength squared */ + private static final double lamsq = lambda * lambda; + + /** 2 PI */ + private static final double twopi = 2.0 * MathUtils.PI; + + /** 4 PI */ + private static final double fourpi = 4.0 * MathUtils.PI; + + /** (4 PI)^2 */ + private static final double fourpi2 = fourpi * fourpi; + + /** (4 PI)^3 */ + private static final double fourpi3 = fourpi2 * fourpi; + + /** C/A code chipping rate in Hz */ + private static final double chipRate = 1.023E+06; + + /** C/A code chipping period in seconds */ + private static final double T = 1.0 / chipRate; + + /** Time advance/delay of early/late code */ + private static final double tau_d = 0.5 * T; + + private long seed = -1; + + /** Random numbers */ + private RandomNumber tk = new RandomNumber(seed); + private RandomNumber bk = new RandomNumber(2 * seed); + private RandomNumber pk = new RandomNumber(3 * seed); + + /** ZeroFinder object */ + private ZeroFinder rf = new ZeroFinder(this, 500, 1.0E-12, 1.0E-12); + + /** Array containing multipath relative time delays */ + private double[] tau; + + /** Array containing multipath amplitudes */ + public double[] beta; + + /** Array containing the the multipath amplitudes squared */ + private double[] betasq; + + /** Array containing the multipath relative phase angles in radians */ + private double[] psi; + + /** Direct signal amplitude */ + public double beta0 = 0.0; + + /** Constructor + * @param area radar cross-sectional area of ISS (or reflector) + * @param nrays number of multipath rays to simulate + */ + public MultipathModel(double area, int nrays) { + this.a_rcs = area; + this.n = nrays; + tau = new double[this.n]; + beta = new double[this.n]; + betasq = new double[this.n]; + psi = new double[this.n]; + } + + /** + * Set the seed + * @param sd long containing seed to be use + */ + public void setSeed(long sd){ + this.seed = sd; + } + + /** Returns the antenna gain. Currently using a cardiod pattern. + * Any antenna gain pattern function could be substituted here. + * @param theta angle between the direct line of sight + * and the antenna boresight in radians. + * @return the antenna gain + */ + private double antennaGain(double theta) { + double gain = Math.abs(Math.cos(theta)); + return gain; + } + + /** PRN code correlation function + * @param tau time delay + * @return the output of the correlator + */ + private double correlation(double tau) { + double R = 0.0; + double abstau = Math.abs(tau); + if (abstau <= T) { + R = 1.0 - abstau / T; + } + return R; + } + + /** Compute the multipath environment based on the input value. + * Fills the tau, beta and psi arrays. + * @param prn GPS SV PRN number + * @param dr distance from the ISS (or reflector) + * @param theta angle between direct line of sight and antenna boresight + * @param rGPS vector containing the ECI position vector of the GPS SV + * @param rISS vector containing the ECI position vector of the ISS + * @param rSTS vector containing the ECI position vector of the spacecraft + */ + public void environment(int prn, double dr, double theta, VectorN rGPS, + VectorN rISS, VectorN rSTS) { + + // compute the distance from the GPS satellite to the ISS + VectorN rGPSISS = rGPS.minus(rISS); + double rgi = rGPSISS.mag(); + double rgi2 = rgi * rgi; + double dr2 = dr * dr; + + // generate some seeds for random number generators + long seed1 = (long) prn; + long seed2 = (long) prn - 1; + long seed3 = (long) prn - 2; + + // compute the distance from the GPS satellite to the receiver + VectorN rGPSSTS = rGPS.minus(rSTS); + double rgs = rGPSSTS.mag(); + double rgs2 = rgs * rgs; + + // compute beta0 + double antgain = antennaGain(theta); + this.beta0 = Math.sqrt((lamsq * antgain) / (fourpi2 * rgs2)); + // System.out.println(beta0+"\t0.0"); + + // compute tau_bar + double tau_bar = Math.abs(dr) / Constants.c; + + // loop thru the n multipath rays + for (int k = 0; k < this.n; k++) { + this.tau[k] = tk.exponential(tau_bar); + + // Compute bbarsq + double decay = Math.exp(-tau[k] / tau_bar); + double numerator = a_rcs * lamsq * decay; + double denominator = fourpi3 * dr2 * rgi2; + double bbarsq = numerator / denominator; + + // get beta[k] + this.betasq[k] = bk.exponential(bbarsq); + this.beta[k] = Math.sqrt(betasq[k]); + + // get psi[k] + this.psi[k] = pk.uniform(0.0, twopi); + } + } + + /** Compute the range errors in carrier phase measurements. + * Must be called only after environment() has been called. + * @return range error in carrier phase measurement in meters. + */ + public double carrierPhaseError() { + double sinSum = 0.0; + double cosSum = 0.0; + + // loop thru the n multipath rays + for (int k = 0; k < this.n; k++) { + + sinSum = sinSum + beta[k] * Math.sin(psi[k]); + cosSum = cosSum + beta[k] * Math.cos(psi[k]); + } + + double dphi = Math.atan2(sinSum, (beta0 + cosSum)); + double error = lambda * dphi / twopi; + return error; + } + + /** Compute the range errors in C/A code measurements. + * Must be called only after environment() has been called. + * @return range error in C/A code measurement in meters. + */ + public double pseudorangeError() { + + // solve D(tau) = 0 for tau using the secant method + double tau = this.rf.secant(0.0, 0.01 * T); +// double tau = this.rf.ridder(-1.499*this.T, 1.499*this.T); + + // convert to range error in meters + double out = -1.0 * tau * Constants.c; + return out; + } + + /** Discriminator function to be solved for tau. + * This function is called by the ZeroFinder (secant method) to + * determine the tracking loop error, which is converted to + * a range error for C/A code measurements. + * @param tau + * @return the output of the discriminator function + */ + public double evaluate(double tau) { + // double tau = tau_in/constants.c; + double d = 0.0; + double rplus = this.correlation(tau + tau_d); + double rminus = this.correlation(tau - tau_d); + double term1 = rplus * rplus - rminus * rminus; + + double term2 = 0.0; + double term3 = 0.0; + + // form the sum over i + for (int i = 0; i < this.n; i++) { + double rplus_i = this.correlation(tau + tau_d + this.tau[i]); + double rminus_i = this.correlation(tau - tau_d + this.tau[i]); + double cospsi = Math.cos(this.psi[i]); + double beta_i = this.beta[i] / this.beta0; + term2 = term2+2.0*beta_i*cospsi*(rplus*rplus_i-rminus*rminus_i); + + // form the sum over j + for (int j = 0; j < this.n; j++) { + double rplus_j = + this.correlation(tau + tau_d + this.tau[j]); + double rminus_j = + this.correlation(tau - tau_d + this.tau[j]); + double cosdpsi = Math.cos(this.psi[i] - this.psi[j]); + double beta_j = this.beta[j] / this.beta0; + term3 = term3+beta_i*beta_j*cosdpsi*(rplus_i*rplus_j-rminus_i*rminus_j); + } + } + + // sum up the pieces + d = term1 + term2 + term3; + return d; + } +} diff --git a/src/jat/coreNOSA/gps/RGPS_Measurement.java b/src/jat/coreNOSA/gps/RGPS_Measurement.java new file mode 100644 index 0000000..8d2d2de --- /dev/null +++ b/src/jat/coreNOSA/gps/RGPS_Measurement.java @@ -0,0 +1,118 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps; +import java.io.Serializable; + + +/** +* The GPS_Measurement.java Class represents a single GPS measurement. +* +* @author +* @version 1.0 +*/ +public class RGPS_Measurement implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -4340254281927240454L; + + /** Epoch time of measurement in sim time (seconds) */ + private double t; + + /** Epoch time of measurement in MJD */ + private double t_mjd; + + /** Range to SV in meters */ + private double range; + + /** Measurement type */ + private int type; + + /** SVID */ + public int svid; + + /** Constructor + * @param tsim Time of the measurement in sim time (sec). + * @param tmjd Time of the measurement in MJD + * @param r range to GPS SV in meters + * @param cpr carrier phase range to GPS SV in meters. + * @param sv SVID + */ + public RGPS_Measurement(double tsim, double tmjd, double r, int typ, int sv) { + this.t = tsim; + this.t_mjd = tmjd; + this.range = r; + this.type = typ; + this.svid = sv; + } + + /** Override toString() + * @return GPS measurement data on a single line + */ + public String toString() { + String out = t+"\t"+t_mjd+"\t"+range+"\t"+type+"\t"+svid; + return out; + } + + /** + * Return the measurement time + * @return the measurement time in seconds (sim time) + */ + public double t(){ + return this.t; + } + + /** + * Return the measurement time + * @return the measurement time in MJD + */ + public double t_mjd(){ + return this.t_mjd; + } + + /** + * Return the range measurement + * @return double containing the range measurement + */ + public double range() { + return this.range; + } + + /** + * Return the measurement type + * @return int containing the measurement type + */ + public int type(){ + return this.type; + } + + /** + * Return the SV index + * @return int containing the SV index + */ + public int svid() { + return this.svid; + } + +} diff --git a/src/jat/coreNOSA/gps/RGPS_MeasurementList.java b/src/jat/coreNOSA/gps/RGPS_MeasurementList.java new file mode 100644 index 0000000..db2160b --- /dev/null +++ b/src/jat/coreNOSA/gps/RGPS_MeasurementList.java @@ -0,0 +1,249 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.algorithm.estimators.MeasurementData; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.PrintWriter; +import java.io.Serializable; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** +* The RGPS_MeasurementList.java Class provides a way to deal with +* a list of GPS measurements read from a file. +* +* @author +* @version 1.0 +*/ +public class RGPS_MeasurementList implements MeasurementData, Serializable { + + /** + * + */ + private static final long serialVersionUID = 766341371287073898L; + + private ArrayList list = new ArrayList(); + + private boolean carrier = false; + + /** Constructor + */ + public RGPS_MeasurementList() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public RGPS_MeasurementList(String filename) { + this.readFromFile(filename); + } + + /** + * Set Measurement Flag. Determines which type of measurement is returned + * by the function z. + * @param boolean true = carrier phase measurement, false = pseudorange + */ + public void setMeasFlag(boolean flag){ + this.carrier = flag; + } + + /** Add a GPS Measurement to the collection + * @param meas GPS_Measurement object + */ + public void add(RGPS_Measurement meas) { + list.add(meas); + } + + /** Get a GPS_Measurement out of the collection + * @param index Index of the measurement + * @return the GPS Measurement + */ + public RGPS_Measurement get(int index) { + return (RGPS_Measurement) list.get(index); + } + + /** Return the size of the list + * @return the number of measurements in the list + */ + public int size() { + return list.size(); + } + + /** Returns the range measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public double z(int index) { + RGPS_Measurement meas = this.get(index); + return meas.range(); + } + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time(int index) { + RGPS_Measurement meas = this.get(index); + return meas.t(); + } + + /** + * Returns the predicted measurement based on the current state + * @param index measurement index + * @param t time of the measurement + * @param xref VectorN with the current state at the measurement time + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size())) { + out = true; + } + return out; + } + + + /** Read the measurement data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 5) { + System.out.println( + "GPS_MeasurementList.readFromFile: Number of columns do not match"); + System.exit(-99); + } + + double[] temp = new double[3]; + for (int i = 0; i < 3; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token); + } + String toke = tok.nextToken(); + int type = Integer.parseInt(toke); + toke = tok.nextToken(); + int sv = Integer.parseInt(toke); + RGPS_Measurement meas = + new RGPS_Measurement(temp[0], temp[1], temp[2], type, sv); + this.add(meas); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + /** Write the measurement data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + try { + FileOutputStream outfile = new FileOutputStream(file); + PrintWriter pw = new PrintWriter(outfile); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + RGPS_Measurement meas = this.get(index); + pw.println( + meas.t() + + "\t" + + meas.t_mjd() + + "\t" + + meas.range() + + "\t" + + meas.type() + + "\t" + + meas.svid()); + index = index + 1; + } + pw.close(); + outfile.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + /** Recover a serialized RGPS_MeasurementList File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static RGPS_MeasurementList recover(String filename) { + RGPS_MeasurementList out = new RGPS_MeasurementList(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (RGPS_MeasurementList) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Write the trajectory out to a GPS_Measurement File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + + public static void main(String[] args){ + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "rgpsmeas.jat"; + String outfile = "rgpsmeasblk.txt"; + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + gps.sendToFile(dir+outfile); + + } +} diff --git a/src/jat/coreNOSA/gps/RINEXnav.java b/src/jat/coreNOSA/gps/RINEXnav.java new file mode 100644 index 0000000..8b6d146 --- /dev/null +++ b/src/jat/coreNOSA/gps/RINEXnav.java @@ -0,0 +1,341 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.spacetime.CalDate; +import jat.coreNOSA.spacetime.GPSTimeFormat; + +import java.io.BufferedReader; +import java.io.FileReader; +import java.io.IOException; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** + *

+ * The RINEXnav Class reads in a RINEX format GPS navigation file. + * + * @author + * @version 1.0 + */ +public class RINEXnav { + + private String filename; + private ArrayList PRNlist = new ArrayList(); + private double [] alpha = new double[4]; + private double [] beta = new double[4]; + + /** Creates a new instance of RINEXparser */ + public RINEXnav(String fname) { + this.filename = fname; + } + + private double parse(String str){ +// System.out.println("Parsing: "+str); + try{ + StringTokenizer tok = new StringTokenizer(str, "D"); + double mantissa = Double.parseDouble(tok.nextToken()); + double exponent = Double.parseDouble(tok.nextToken()); + double multiplier = Math.pow(10.0, exponent); + double out = mantissa * multiplier; +// System.out.println("Returning: "+out); + return out; + }catch(Exception e){ + StringTokenizer tok = new StringTokenizer(str, "E"); + double mantissa = Double.parseDouble(tok.nextToken()); + double exponent = Double.parseDouble(tok.nextToken()); + double multiplier = Math.pow(10.0, exponent); + double out = mantissa * multiplier; +// System.out.println("Returning: "+out); + return out; + } + } + + private double[] parseLine(String str){ + double [] out = new double[4]; + for (int i = 0; i < 4; i++) { + int start = i*19 + 3; + int end = i*19 + 22; + String string = str.substring(start, end); + out[i] = parse(string); + } + return out; + } + + private double[] parseFirstLine(String str){ + double [] out = new double[3]; + for (int i = 0; i < 3; i++) { + int start = (i+1)*19 + 3; + int end = (i+1)*19 + 22; + String string = str.substring(start, end); + out[i] = parse(string); + } + return out; + } + + private int parsePRN(String str){ + StringTokenizer tok = new StringTokenizer(str, " "); + String prns = tok.nextToken(); + int prn = Integer.parseInt(prns); // get the PRN + return prn; + } + + + private GPSTimeFormat parseTOC(String str){ + + // grab just the first part of the 1st line before the clock bias + String string = str.substring(0, 21); + + StringTokenizer tok = new StringTokenizer(string, " "); + String prn = tok.nextToken(); + + String yrs = tok.nextToken(); + String mons = tok.nextToken(); + String days = tok.nextToken(); + String hrs = tok.nextToken(); + String mins = tok.nextToken(); + String secs = tok.nextToken(); + int year = Integer.parseInt(yrs); + //* The following line is a "fix" for the Y2K bug + //* The code will break again after 2079 + if(year>80) year = year + 1900; + else year = year + 2000; + int month = Integer.parseInt(mons); + int day = Integer.parseInt(days); + int hour = Integer.parseInt(hrs); + int min = Integer.parseInt(mins); + double sec = Double.parseDouble(secs); + CalDate toc_dt = new CalDate(year, month, day, hour, min, sec); + GPSTimeFormat toc = new GPSTimeFormat(toc_dt); + return toc; + } + + public ArrayList process() { + ArrayList out = new ArrayList(); + try { + + System.out.println("Processing File: "+filename); + FileReader fr = new FileReader(filename); + BufferedReader in = new BufferedReader(fr); + String s; + + // read first line and get version +// System.out.println("Reading first line"); + s = in.readLine(); + StringTokenizer t1 = new StringTokenizer(s, " "); + double version = Double.parseDouble(t1.nextToken()); + if (version < 2.0){ + System.out.println("RINEX Version < 2.0. I can't handle this."); + System.exit(99); + } + +// System.out.println("RINEX Version "+version); + + // read second and third lines + s = in.readLine(); + //s = in.readLine(); + + // read fourth line + try{ + //s = in.readLine(); + //t1 = new StringTokenizer(s, " "); + //for (int i = 0; i < 4; i++) { + //this.alpha[i] = this.parse(t1.nextToken()); + //} + + // read fifth line + //s = in.readLine(); + //t1 = new StringTokenizer(s, " "); + //for (int i = 0; i < 4; i++) { + //this.beta[i] = this.parse(t1.nextToken()); + //} + + // find the end of header + String end = "END"; + String header = "HEADER"; + int check = 0; + + boolean eoh = false; + while (!eoh) { + s = in.readLine(); +// System.out.println(s); + StringTokenizer t2 = new StringTokenizer(s, " "); + while (t2.hasMoreTokens()) { + String temp = t2.nextToken(); + if ((temp.equals(end))||(temp.equals(header))) check++; + if (check > 1) eoh = true; + } + } + }catch(Exception e){ + e.printStackTrace(); + String end = "END"; + String header = "HEADER"; + int check = 0; + + boolean eoh = false; + while (!eoh) { +// System.out.println(s); + StringTokenizer t2 = new StringTokenizer(s, " "); + while (t2.hasMoreTokens()) { + String temp = t2.nextToken(); + if ((temp.equals(end))||(temp.equals(header))) check++; + if (check > 1) eoh = true; + } + s = in.readLine(); + } + } + +// System.out.println("got to end of header"); + + // read in all the data records + + boolean eof = false; + int numLines = 8; + + String [] line = new String[numLines]; + + while (!eof){ + + // read in a group of 8 lines per SV + + boolean completeRecord = true; + + for (int i = 0; i < numLines; i++){ + if ((line[i] = in.readLine()) == null){ + eof = true; + completeRecord = false; + // System.out.println("Incomplete record"); + } + // else { + // System.out.println("line "+i+": "+line[i]); + // } + } + + //process the record + if ((!eof)&&(completeRecord)){ + int prn = parsePRN(line[0]); // get the PRN + Integer PRN = new Integer(prn); +// System.out.println("Processing PRN "+prn); + boolean duplicate = PRNlist.contains(PRN); +// if (duplicate){ +// System.out.println("Already processed PRN "+prn+". Skipping this record."); +// } + + // check for complete record and redundant PRN + if (!duplicate) { + + // grab data from first line + GPSTimeFormat toc = parseTOC(line[0]); + double [] temp1 = parseFirstLine(line[0]); + + double bias = temp1[0]; + double drift = temp1[1]; + double driftrate = temp1[2]; + + // second line + double [] temp = parseLine(line[1]); + double iode = temp[0]; + double crs = temp[1]; + double deltan = temp[2]; + double m0 = temp[3]; + + //third line + temp = parseLine(line[2]); + double cuc = temp[0]; + double ecc = temp[1]; + double cus = temp[2]; + double sqrta = temp[3]; + + //fourth line + temp = parseLine(line[3]); + double toe_sow = temp[0]; + double cic = temp[1]; + double omega = temp[2]; + double cis = temp[3]; + + //fifth line + temp = parseLine(line[4]); + double inc = temp[0]; + double crc = temp[1]; + double w = temp[2]; + double omegadot = temp[3]; + + //sixth line + temp = parseLine(line[5]); + double idot = temp[0]; + double codes = temp[1]; + double gpsweek = temp[2]; + long toe_gpsweek = (long)gpsweek; // truncate to get a long + + //seventh line + temp = parseLine(line[6]); + double accuracy = temp[0]; + double health = temp[1]; + double tgd = temp[2]; + double iodc = temp[3]; + + boolean goodhealth = true; + if (health != 0.0) { +// System.out.println("Bad Health: PRN: "+prn+" health = "+health); + goodhealth = false; + } + + // create a new SV and initialize it + if (goodhealth) { + + PRNlist.add(PRN); // add this PRN to the list + + GPS_SV sv = new GPS_SV(prn); // create a new SV + sv.setTOC(toc); + sv.setClockParams(bias, drift, driftrate); + sv.setHarmonicCorrections(crc, crs, cuc, cus, cic, cis); + sv.setOrbit(sqrta, ecc, inc, omega, w, m0); + sv.setOrbitCorrections( deltan, omegadot, idot); + GPSTimeFormat toe = new GPSTimeFormat(toe_gpsweek, toe_sow); + sv.setTOE(toe); + + // add the new SV to the SVList + out.add(sv); + } + } + } + } + in.close(); + } + catch (IOException e) // what to do if an i/o error occurs + { + System.out.println("Error: "+e); + System.exit(1); + } + System.out.println("RINEX file processing completed"); + System.out.println("Total number of SVs = "+out.size()); + System.out.println("=================================="); + return out; + } + + public double[] alpha(){ + return this.alpha; + } + + public double[] beta(){ + return this.beta; + } + +} diff --git a/src/jat/coreNOSA/gps/ReceiverFilterModel.java b/src/jat/coreNOSA/gps/ReceiverFilterModel.java new file mode 100644 index 0000000..db5603f --- /dev/null +++ b/src/jat/coreNOSA/gps/ReceiverFilterModel.java @@ -0,0 +1,104 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +//import jat.cm.*; +//import jat.matvec.data.matrixDecompositions.*; +//import jat.gps.*; +/** + *

+ * The ReceiverModel Class provides a GPS receiver model for the Kalman Filter. + * + * @author + * @version 1.0 + */ +public class ReceiverFilterModel { + + private static final double sf = 1.0E-19 * GPS_Utils.c * GPS_Utils.c; + + private static final double sg = 4.0E-20 * GPS_Utils.c * GPS_Utils.c * MathUtils.PI * MathUtils.PI; + + private static final double hc = -2.87956633585E-10 * GPS_Utils.c; + + /** Default constructor. */ + public ReceiverFilterModel() { + } + + /** + * Compute the derivatives for the clock bias and drift states. + * Used by GPS_INS Process Model + * @param bc clock bias vector + * @return the time derivative of the gyro bias + */ + public VectorN biasProcess(VectorN xin) { + + double b = xin.x[0]; + double f = xin.x[1]; + VectorN out = new VectorN(2); + out.set(0, (f + hc)); + + return out; + } + + +// public double[] propClock(double dt, double[] in){ +// double bk = in[0]; +// double fk = in[1]; +// double g = 2.0E-11 * k.c; +// double bkp1 = bk + (fk + this.hc)*dt + 0.5*g*dt*dt; +// double fkp1 = fk + g*dt; +// VectorN out = new VectorN(2); +// out.set(0, bkp1); +// out.set(1, fkp1); +// return out.x; +// } + + + /** + * Return the gyro bias noise strength to be used in + * the process noise matrix Q. Assumes 1 second time step. + * Used by GPS_INS Process Model + * @return gyro bias noise strength + */ + public Matrix biasQ(double dt) { + Matrix out = new Matrix(2,2); + out.set(0,0, sf*dt + sg*dt*dt*dt/3.0); + out.set(0,1, sg*dt*dt/2.0); + out.set(1,0, sg*dt*dt/2.0); + out.set(1,1, sg*dt); + return out; + } + + /** + * Return the noise strength to be used in + * the process noise matrix Q. Assumes 1 second time step. + * @return noise strength + */ + public Matrix Q() { + Matrix out = new Matrix(2,2); + out.set(0,0, sf); + out.set(1,1, sg); + return out; + } + +} diff --git a/src/jat/coreNOSA/gps/ReceiverModel.java b/src/jat/coreNOSA/gps/ReceiverModel.java new file mode 100644 index 0000000..2d3c6bd --- /dev/null +++ b/src/jat/coreNOSA/gps/ReceiverModel.java @@ -0,0 +1,170 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.CholeskyDecomposition; +//import jat.cm.*; +//import jat.gps.*; +/** + *

+ * The ReceiverModel Class provides a GPS receiver model for GPS measurement generation. + * + * @author + * @version 1.0 + */ +public class ReceiverModel { + + //private static final double sf = 1.0E-19 * GPS_Utils.c * GPS_Utils.c; + private static final double sf = 0.0036 ; + //private static final double sg = 4.0E-20 * GPS_Utils.c * GPS_Utils.c * MathUtils.PI * MathUtils.PI; + private static final double sg = 7.106E-05; + + private RandomNumber codeMeasNoise; + private static final double codeMeasSigma = 6.0; + private RandomNumber cpMeasNoise; + private static final double cpMeasSigma = 0.02; + + private GaussianVector wgn; + + + private static final double hc = -2.87956633585E-10 * GPS_Utils.c; + + + /** Default constructor. */ + public ReceiverModel() { + VectorN zeroMean = new VectorN(2); + // receiver clock noise + VectorN one = new VectorN(2); + one.set(0, 1.0); + one.set(1, 1.0); + this.wgn = new GaussianVector(zeroMean, one); + + this.codeMeasNoise = new RandomNumber(); + this.cpMeasNoise = new RandomNumber(); + } + /** + * Constructor + * @param seed long containing seed to be used + */ + public ReceiverModel(long seed) { + VectorN zeroMean = new VectorN(2); + // receiver clock noise + VectorN one = new VectorN(2); + one.set(0, 1.0); + one.set(1, 1.0); + this.wgn = new GaussianVector(zeroMean, one, seed); + this.codeMeasNoise = new RandomNumber(seed-1 ); + this.cpMeasNoise = new RandomNumber(seed-2); + + } + + /** Outputs the gyro's contribution to the INS error quaternion. + * @param qref Quaternion containing the current reference quaternion. + * @param wref Vector3 containing the reference angular velocity vector. + * @param bg Vector3 containing the current gyro bias state. + * @return Error quaternion due to gyro errors. + */ + public double clockError(VectorN los, VectorN v, VectorN vGPS, double clockBias){ + double rr = GPS_Utils.rangeRate(los, v, vGPS); + double error = (1.0 - (rr/GPS_Utils.c)) * clockBias; +// double error = noise; +// System.out.println("rr = "+rr+" noise = "+noise); + return error; + } + + /** + * Return the measurement noise in the pseudorange measurement + * @return the measurement noise in the pseudorange measurement + */ + public double codeNoise() { + double noise = codeMeasNoise.normal(0.0, codeMeasSigma); + return noise; + } + + /** + * Return the measurement noise in the carrier phase range measurement + * @return the measurement noise in the carrier phase range measurement + */ + public double cpNoise(){ + double noise = cpMeasNoise.normal(0.0, cpMeasSigma); + return noise; + + } + + +// public double[] propClock(double dt, double[] in){ +// double bk = in[0]; +// double fk = in[1]; +// double g = 2.0E-11 * k.c; +// double bkp1 = bk + (fk + this.hc)*dt + 0.5*g*dt*dt; +// double fkp1 = fk + g*dt; +// VectorN out = new VectorN(2); +// out.set(0, bkp1); +// out.set(1, fkp1); +// return out.x; +// } + + /** + * Propagate the clock states + * @param dt time step + * @param in double[] containing the previous clock states + * @return double[] containing the next clock states + */ + public double[] propClock(double dt, double[] in){ + VectorN clk = new VectorN(in); + clk.checkVectorDimensions(2); + Matrix phi = new Matrix(2); + //if (dt != 1.0) System.out.println("ReceiverModel.propagate: dt = "+dt); + phi.set(0, 1, dt); + Matrix q = this.biasQ(dt); + CholeskyDecomposition chol = new CholeskyDecomposition(q); + Matrix sqrQ = chol.getL(); + this.wgn.nextSet(); + VectorN w = sqrQ.times(this.wgn); + VectorN out = phi.times(clk); + out = out.plus(w); + VectorN hvec = new VectorN(2); + hvec.set(0, hc*dt); + out = out.plus(hvec); + return out.x; + } + + /** + * Return the noise strength to be used in + * the process noise matrix Q. + * Used by GPS_INS Process Model + * @param dt time step size + * @return noise strength + */ + public Matrix biasQ(double dt) { + Matrix out = new Matrix(2,2); + out.set(0,0, sf*dt + sg*dt*dt*dt/3.0); + out.set(0,1, sg*dt*dt/2.0); + out.set(1,0, sg*dt*dt/2.0); + out.set(1,1, sg*dt); + return out; + } + + +} diff --git a/src/jat/coreNOSA/gps/URE_Model.java b/src/jat/coreNOSA/gps/URE_Model.java new file mode 100644 index 0000000..82afad0 --- /dev/null +++ b/src/jat/coreNOSA/gps/URE_Model.java @@ -0,0 +1,209 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jun 20, 2003 + */ + +//import jat.gps.*; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The URE_Model Class provides a model of the errors in the GPS system + * due to GPS SV ephemeris and clock errors. For this simulation, they + * are modeled as random constants with sigmas from: + * + * Reference: J. F. Zumberge and W. I. Bertiger, "Ephemeris and Clock + * Navigation Message Accuracy", Global Positioning System: Theory and + * Applications, Volume 1, edited by Parkinson and Spilker. + * + * @author + * @version 1.0 + */ + +public class URE_Model { + + + /** Radial ephemeris error sigma in meters */ + private static final double sigma_r = 1.2; + + /** Cross-track ephemeris error sigma in meters */ + private static final double sigma_c = 3.2; + + /** Along-track ephemeris error sigma in meters */ + private static final double sigma_a = 4.5; + + /** SV Clock error sigma in meters */ + private static final double sigma_t = 1.12E-08 * Constants.c; + + private static final double sigma_ure + = Math.sqrt(sigma_r*sigma_r + sigma_c*sigma_c + sigma_a*sigma_a + sigma_t*sigma_t); + + public static final double correlationTime = 7200.0; + + private double qbias; + + private double q; + + /** Radial ephemeris error vector, one entry per GPS SV */ + private VectorN dr; + + /** Crosstrack ephemeris error vector, one entry per GPS SV */ + private VectorN dc; + + /** Alongtrack ephemeris error vector, one entry per GPS SV */ + private VectorN da; + + /** SV Clock error vector, one entry per GPS SV */ + private VectorN dtc; + + /** Size of the GPS Constellation */ + private int size; + + /** Constructor + * @param n size of the GPS Constellation + */ + public URE_Model(int n) { + this.size = n; + dr = new VectorN(n); + dc = new VectorN(n); + da = new VectorN(n); + dtc = new VectorN(n); + RandomNumber rn = new RandomNumber(); + for (int i = 0; i < n; i++) { + double radial = rn.normal(0.0, sigma_r); + dr.set(i, radial); + double crosstrack = rn.normal(0.0, sigma_c); + dc.set(i, crosstrack); + double alongtrack = rn.normal(0.0, sigma_a); + da.set(i, alongtrack); + double clock = rn.normal(0.0, sigma_t); + dtc.set(i, clock); + } + + double dt = 1.0; + double exponent = -2.0*dt/correlationTime; + this.qbias = sigma_ure*sigma_ure*(1.0 - Math.exp(exponent)); // in (rad/sec)^2/Hz + this.q = 2.0 * sigma_ure*sigma_ure / correlationTime; + + } + + /** Constructor + * @param n size of the GPS Constellation + * @param seed long containing random number seed to be used + */ + public URE_Model(int n, long seed) { + this.size = n; + dr = new VectorN(n); + dc = new VectorN(n); + da = new VectorN(n); + dtc = new VectorN(n); + RandomNumber rn = new RandomNumber(seed); + for (int i = 0; i < n; i++) { + double radial = rn.normal(0.0, sigma_r); + dr.set(i, radial); + double crosstrack = rn.normal(0.0, sigma_c); + dc.set(i, crosstrack); + double alongtrack = rn.normal(0.0, sigma_a); + da.set(i, alongtrack); + double clock = rn.normal(0.0, sigma_t); + dtc.set(i, clock); + } + + double dt = 1.0; + double exponent = -2.0*dt/correlationTime; + this.qbias = sigma_ure*sigma_ure*(1.0 - Math.exp(exponent)); // in (rad/sec)^2/Hz + this.q = 2.0 * sigma_ure*sigma_ure / correlationTime; + + } + + /** Compute the User range error due to SV clock and ephemeris errors. + * @param i GPS SV index + * @param los GPS line of sight vector + * @param rGPS GPS SV position vector + * @param vGPS GPS SV velocity vector + * @return the user range error in meters + */ + public double ure (int i, VectorN los, VectorN rGPS, VectorN vGPS) { + + // get the transformation from RIC to ECI + TwoBody orbit = new TwoBody(Constants.GM_Earth, rGPS, vGPS); + Matrix rot = orbit.RSW2ECI(); + + // form the ephemeris error vector for the ith GPS SV + VectorN error = new VectorN(this.dr.x[i], this.da.x[i], this.dc.x[i]); + + // rotate the ephemeris error to the ECI frame + VectorN errECI = rot.times(error); + + // find the magnitude of the projection of the error vector onto the LOS vector + double drho = errECI.projectionMag(los); + + // add the SV clock error + double out = drho + this.dtc.x[i]; + return out; + } + + /** + * Compute the derivatives for the URE state. + * The URE is modeled as a first order Gauss-Markov process. + * Used by GPS_INS Process Model. + * @param ure URE state vector + * @return the time derivative of the URE + */ + public VectorN ureProcess(VectorN ure) { + double coef = -1.0/correlationTime; + VectorN out = ure.times(coef); + + return out; + } + + /** + * Return the URE noise strength to be used in + * the process noise matrix Q. + * @return URE noise strength + */ + public double biasQ() { + return this.qbias; + } + + /** + * Return the URE noise strength to be used in + * the process noise matrix Q. + * @return URE noise strength + */ + public double Q() { + return this.q; + } + + /** + * Return the URE sigma + * @return URE sigma + */ + public double sigma() { + return sigma_ure; + } + +} diff --git a/src/jat/coreNOSA/gps/Visible.java b/src/jat/coreNOSA/gps/Visible.java new file mode 100644 index 0000000..bdc2241 --- /dev/null +++ b/src/jat/coreNOSA/gps/Visible.java @@ -0,0 +1,40 @@ +package jat.coreNOSA.gps; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jul 13, 2003 + */ +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * The Visible interface is used to provide a means for GPS SV visibility checking. + * @author + * @version 1.0 + */ +public interface Visible { + /** + * check to see if the GPS SV is visible + * @param losu GPS SV line of sight unit vector + * @param r receiver position vector + * @param rISS ISS position vector + * @return boolean true = visible, false = blocked + */ + public boolean visible(VectorN losu, VectorN r, VectorN rISS); +} diff --git a/src/jat/coreNOSA/gps/filters/DragProcessModel.java b/src/jat/coreNOSA/gps/filters/DragProcessModel.java new file mode 100644 index 0000000..65d0ef4 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/DragProcessModel.java @@ -0,0 +1,61 @@ +package jat.coreNOSA.gps.filters; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 31, 2003 + */ + +/** +* The DragProcessModel.java Class provides a process model for the +* coefficient of drag state in the GPS-only filters +* +* @author +* @version 1.0 +*/ +public class DragProcessModel { + + public final static double correlationTime = 180000.0; + + public final static double sigma = 0.5; + + /** + * compute the derivative of the drag state + * @param in previous value of the drag state + * @return the time derivative of the drag state + */ + public static double dragProcess(double in){ + double out = -1.0 * in/correlationTime; + return out; + } + +// public static double dragQ(double dt){ +// double sig2 = sigma*sigma; +// double exp = Math.exp(-2.0*dt/correlationTime); +// double out = sig2 * (1.0 - exp); +// return out; +// } + + public static double Q(){ + double q = 2.0 * sigma*sigma / correlationTime; + return q; + } + + +} diff --git a/src/jat/coreNOSA/gps/filters/absolute/GPS_EOM.java b/src/jat/coreNOSA/gps/filters/absolute/GPS_EOM.java new file mode 100644 index 0000000..b85dedd --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/absolute/GPS_EOM.java @@ -0,0 +1,203 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Sep 25, 2003 + */ + +package jat.coreNOSA.gps.filters.absolute; +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.forces.CIRA_ExponentialDrag; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; + +/** + * The GPS_EOM provides the equations of motion for the + * GPS-only EKF without a thruster model. + * + * @author + * @version 1.0 + */ +public class GPS_EOM implements Derivatives { + + private IonoModel iono; + private ReceiverFilterModel rcvr; + private double t_mjd0 = 51969.0; + + private double stsMass = 104328.0; + private double stsArea = 454.4; + private double stsCd = 2.0; + private CIRA_ExponentialDrag sts_ced = new CIRA_ExponentialDrag(this.stsCd, this.stsArea, this.stsMass); + + private URE_Model ure; + private int nsv; + private int numberOfStates; + + /** + * Constructor + * @param nsat number of GPS SVs + * @param nstates number of states + * @param io IonoModel + * @param rc ReceiverFilterModel + * @param ur URE_Model + */ + public GPS_EOM(int nsat, int nstates, IonoModel io, ReceiverFilterModel rc, URE_Model ur) { + this.nsv = nsat; + this.numberOfStates = nstates; + this.ure = ur; + this.iono = io; + this.rcvr = rc; + } + + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x) { + + int n = this.numberOfStates; + + VectorN out = new VectorN(x.length); + + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[6]); + clock1.set(1, x[7]); + + double stsdrag = x[8]; + + double del_iono = x[9]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+10]); + } + + + + // position derivatives + out.set(0, v); + + // velocity derivatives + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); + + sts_ced.compute(ref, r, v); + VectorN sts_drag0 = sts_ced.dragAccel(); + double dragfactor1 = 1.0 + stsdrag; + VectorN drag = sts_drag0.times(dragfactor1); + + VectorN vdot = g.plus(drag); + + out.set(3, vdot); + + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(6, bcdot); + + double dragdot = DragProcessModel.dragProcess(stsdrag); + out.set(8, dragdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(9, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(10, uredot); + + + // integer ambiguity derivs = 0 + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + Matrix D = sts_ced.partialR().times(dragfactor1); + Matrix GD = G.plus(D); + A.setMatrix(3, 0, GD); + + D = sts_ced.partialV().times(dragfactor1); + A.setMatrix(3, 3, D); + + // partials of drag accel wrt drag state + A.set(3, 8, sts_drag0.x[0]); + A.set(4, 8, sts_drag0.x[1]); + A.set(5, 8, sts_drag0.x[2]); + + + //clock drift row + A.set(6, 7, 1.0); + + // drag rows + double tau_drag = -1.0/DragProcessModel.correlationTime; + A.set(8, 8, tau_drag); + + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(9, 9, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(10, 10, tau_ure); + + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + +} diff --git a/src/jat/coreNOSA/gps/filters/absolute/GPS_MeasurementModel.java b/src/jat/coreNOSA/gps/filters/absolute/GPS_MeasurementModel.java new file mode 100644 index 0000000..019b575 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/absolute/GPS_MeasurementModel.java @@ -0,0 +1,342 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps.filters.absolute; + +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The RGPS_MeasurementModel.java Class provides ... +* +* @author +* @version 1.0 +*/ +public class GPS_MeasurementModel implements MeasurementModel { + + private VectorN htilde; + + private RGPS_MeasurementList gpsData; + + private GPS_Constellation constell; + + private static final double rangeSigma = 4.0; + + private static final double cpSigma = 0.02; + + private int index = 0; + + private int numberOfStates; + + private IonoModel iono = new IonoModel(); + + private int nsv; + + private int type = 0; + + private double rangeA = 0.0; + + + private static final int stateIndexA = 0; + private static final int clockIndexA = 6; + + private boolean[] firstTime; + + + public GPS_MeasurementModel(RGPS_MeasurementList gps, GPS_Constellation con){ + this.gpsData = gps; + this.constell = con; + this.nsv = con.size(); + this.numberOfStates = 10 + this.nsv; + this.firstTime = new boolean[this.nsv]; + for (int i = 0; i < this.nsv; i++) { + this.firstTime[i] = true; + } + + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#H(VectorN) + */ + public VectorN H(VectorN xref) { + return this.htilde; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#R() + */ + public double R() { + double r = rangeSigma*rangeSigma; + if (type == 2) r = 2.0*cpSigma*cpSigma; + return r; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#zPred(int, double, VectorN) + */ + public double zPred(int index, double t, VectorN xref) { + + double out = 0.0; + + // get the SVID and MJD time of measurement + RGPS_Measurement meas = gpsData.get(index); + int prn = meas.svid; + int svindex = this.constell.getIndex(prn); + this.type = meas.type(); + double t_mjd = meas.t_mjd(); + double range = meas.range(); + + //time check + double tgps = meas.t(); + if (tgps != t) { + System.out.println("zPred: time sync error, meas time = "+tgps+" tsim = "+t); + } + + if (type == 0) { + out = rangePred(t_mjd, xref, prn, type); + this.rangeA = out; + } + + return out; + } + + private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // set indices + int svindex = this.constell.getIndex(prn); + int stateIndex = stateIndexA; + int clockIndex = clockIndexA; + + // extract the current spacecraft position vector + VectorN r = xref.get(stateIndex, 3); + VectorN v = xref.get((stateIndex+3), 3); + + // get the GPS SV from the constellation + GPS_SV sv = constell.getPRN(prn); + + // compute the time of transmission + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS = sv.rvECI(ts_mjd); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate +// VectorN vrel = vGPS.minus(v); + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = xref.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + range = range + bcpart; + + // add iono contribution to range + int iono_index = 9; + double diono = xref.x[iono_index]; + double iv = (1.0 + diono)*iono.Ivbar; + double elev = GPS_Utils.elevation(r, rGPS); + double ionopart = IonoModel.del_iono(iv, elev); + range = range + ionopart; + + // add ure contribution to range + int ure_index = 10 + svindex; + double dure = xref.x[ure_index]; + range = range + dure; + + // compute the H vector + this.htilde = new VectorN(this.numberOfStates); + VectorN drrdr = this.drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + htilde.set(stateIndex, drhodr); + htilde.set((stateIndex+3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + htilde.set(clockIndex, drdbc); + + double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + htilde.set(iono_index, drdiono); + htilde.set(ure_index, 1.0); + + return range; + } + +// private double cpPred(double t_mjd, VectorN xref, int prn, double meas){ +// +// // set indices +// int svindex = this.constell.getIndex(prn); +// +// // extract the current spacecraft position vector +// VectorN r = xref.get(this.stateIndexA, 3); +// VectorN v = xref.get((this.stateIndexA+3), 3); +// VectorN rISS = xref.get(this.stateIndexB, 3); +// VectorN vISS = xref.get((this.stateIndexB+3), 3); +// +// // get the GPS SV from the constellation +// GPS_SV sv = constell.getPRN(prn); +// +// // compute the time of transmission +// double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); +// double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); +// +// // compute the GPS SV position vector at transmission time +// VectorN rvGPS1 = sv.rvECI(ts_mjd1); +// VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); +// VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); +// VectorN rvGPS2 = sv.rvECI(ts_mjd2); +// VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); +// VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); +// +// // compute the LOS vector +// VectorN los1 = rGPS1.minus(r); +// VectorN losu1 = los1.unitVector(); +// VectorN los2 = rGPS2.minus(rISS); +// VectorN losu2 = los2.unitVector(); +// +// // compute the expected range +// double range1 = los1.mag(); +// double range2 = los2.mag(); +// +// // compute the range rate +//// VectorN vrel1 = vGPS1.minus(v); +// double range_rate1 = GPS_Utils.rangeRate(los1, v, vGPS1); +//// VectorN vrel2 = vGPS2.minus(vISS); +// double range_rate2 = GPS_Utils.rangeRate(los2, vISS, vGPS2); +// +// // add clock bias contribution to range +// double bc1 = xref.x[clockIndexA]; +// double omrroc1 = 1.0 - (range_rate1/GPS_Utils.c); +// double bcpart1 = omrroc1*bc1; +// range1 = range1 + bcpart1; +// +// double bc2 = xref.x[clockIndexB]; +// double omrroc2 = 1.0 - (range_rate2/GPS_Utils.c); +// double bcpart2 = omrroc2*bc2; +// range2 = range2 + bcpart2; +// +// double drange = range1 - range2; +// +// // add integer ambiguity to range +// int ia_index = this.iaIndex + svindex; +// double dia = xref.x[ia_index]; +// double ia_est = meas - this.rangeA + this.rangeB; +// +// if (firstTime[svindex]){ // initialize integer amb state and cov +// xref.x[ia_index] = ia_est; +// dia = ia_est; +// firstTime[svindex] = false; +// } +// +//// double ia_err = Math.abs(dia - ia_est); +//// if (ia_err > 10.0) { +//// xref.x[ia_index] = ia_est; +//// dia = ia_est; +//// System.out.println("reinit integers"); +//// } +// +// drange = drange + dia; +// +// +// // compute the H vector +// this.htilde = new VectorN(this.numberOfStates); +// +// VectorN drrdr1 = this.drrdr(los1, vGPS1, range_rate1); +// VectorN drrdr2 = this.drrdr(los2, vGPS2, range_rate2); +// +// double term1 = -1.0 * bc1 / GPS_Utils.c; +// double term2 = -1.0 * bc2 / GPS_Utils.c; +// +// drrdr1 = drrdr1.times(term1); +// drrdr2 = drrdr2.times(term2); +// +// VectorN drrdv1 = this.drrdv(los1, vGPS1); +// VectorN drrdv2 = this.drrdv(los2, vGPS2); +// +// VectorN drhodr1 = drrdr1.minus(losu1); +// VectorN drhodr2 = drrdr2.minus(losu2); +// drhodr2 = drhodr2.times(-1.0); +// +// htilde.set(this.stateIndexA, drhodr1); +// htilde.set(this.stateIndexB, drhodr2); +// +// VectorN drhodv1 = drrdv1.times(term1); +// VectorN drhodv2 = drrdv2.times(term2); +// drhodv2 = drhodv2.times(-1.0); +// htilde.set((this.stateIndexA+3), drhodv1); +// htilde.set((this.stateIndexB+3), drhodv2); +// +// double drdbc1 = 1.0 - range_rate1/GPS_Utils.c; +// double drdbc2 = range_rate2/GPS_Utils.c - 1.0; // subtract it +// +// htilde.set(this.clockIndexA, drdbc1); +// htilde.set(this.clockIndexB, drdbc2); +// +// htilde.set(ia_index, 1.0); +// +// +// return drange; +// } + + + + private VectorN drrdr (VectorN los, VectorN vGPS, double rr){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = 1.0 / (range + corr); + VectorN losu = los.unitVector(); + VectorN part2 = losu.plus(vc); + part2 = part2.times(rr); + VectorN numerator = part2.minus(los); + VectorN out = numerator.times(factor); + return out; + } + + private VectorN drrdv (VectorN los, VectorN vGPS){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = -1.0 / (range + corr); + VectorN out = los.times(factor); + return out; + } + + + +} diff --git a/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster.java b/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster.java new file mode 100644 index 0000000..a58b947 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster.java @@ -0,0 +1,65 @@ +package jat.coreNOSA.gps.filters.absolute; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.RGPS_MeasurementList; + +/** +* The GPS_Thruster.java Class runs the GPS-only EKF with thruster model. +* +* @author +* @version 1.0 +*/ +public class GPS_Thruster { + + /** + * main - runs the demo. + * @params args none. + */ + public static void main(String[] args) { + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "gps\\gpsmeas_rbar_geom1_mp.jat"; + String rinexfile = "gps\\rinex.n"; + String burnfile = "burns\\rbar_burns.jat"; + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + GPS_Constellation constellation = new GPS_Constellation(dir+rinexfile); + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_gps_thr_rbar_geom1_mp_1.txt"); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_gps_thr_rbar_geom1_mp_resid.txt"); + ProcessModel process = new GPS_Thruster_ProcessModel(constellation, lp1, lp2, dir+burnfile); + MeasurementModel meas = new GPS_MeasurementModel(gps, constellation); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(meas, gps, process); + long ts = System.currentTimeMillis(); + + ekf.process(); + + long tf = System.currentTimeMillis(); + double dtf = (tf - ts)/(60.0 * 1000.0); + System.out.println("EKF Time Elapsed: "+dtf); + + + } +} diff --git a/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster_EOM.java b/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster_EOM.java new file mode 100644 index 0000000..572e943 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster_EOM.java @@ -0,0 +1,217 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Sep 25, 2003 + */ + +package jat.coreNOSA.gps.filters.absolute; +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.forces.CIRA_ExponentialDrag; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** + * The GPS_Thruster_EOM provides the equations of motion for the + * GPS-only EKF including a thruster model. + * + * @author + * @version 1.0 + */ +public class GPS_Thruster_EOM implements Derivatives { + + private IonoModel iono; + private ReceiverFilterModel rcvr; + private double t_mjd0 = 51969.0; + + private double stsMass = 104328.0; + private double stsArea = 454.4; + private double stsCd = 2.0; + private CIRA_ExponentialDrag sts_ced = new CIRA_ExponentialDrag(this.stsCd, this.stsArea, this.stsMass); + + private URE_Model ure; + private int nsv; + private int numberOfStates; + + private VectorN fburn; + + /** + * Constructor + * @param nsat number of GPS SVs + * @param nstates number of states + * @param io IonoModel + * @param rc ReceiverFilterModel + * @param ur URE_Model + */ + public GPS_Thruster_EOM(int nsat, int nstates, IonoModel io, ReceiverFilterModel rc, URE_Model ur) { + this.nsv = nsat; + this.numberOfStates = nstates; + this.ure = ur; + this.iono = io; + this.rcvr = rc; + } + + public void setBurn(FiniteBurn b) { + double thrust = b.accel; + VectorN unit = b.unitVector; + this.fburn = unit.times(thrust); + } + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x) { + + int n = this.numberOfStates; + + VectorN out = new VectorN(x.length); + + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[6]); + clock1.set(1, x[7]); + + double stsdrag = x[8]; + + double del_iono = x[9]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+10]); + } + + // position derivatives + out.set(0, v); + + // velocity derivatives + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); + + sts_ced.compute(ref, r, v); + VectorN sts_drag0 = sts_ced.dragAccel(); + double dragfactor1 = 1.0 + stsdrag; + VectorN drag = sts_drag0.times(dragfactor1); + + // acceleration due to the burn + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + +// Matrix Cb2i = q.quat2DCM(); + VectorN thrust = Cb2i.times(this.fburn); + + VectorN sf = drag.plus(thrust); + + VectorN vdot = g.plus(sf); + + out.set(3, vdot); + + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(6, bcdot); + + double dragdot = DragProcessModel.dragProcess(stsdrag); + out.set(8, dragdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(9, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(10, uredot); + + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + Matrix D = sts_ced.partialR().times(dragfactor1); + Matrix GD = G.plus(D); + A.setMatrix(3, 0, GD); + + D = sts_ced.partialV().times(dragfactor1); + A.setMatrix(3, 3, D); + + // partials of drag accel wrt drag state + A.set(3, 8, sts_drag0.x[0]); + A.set(4, 8, sts_drag0.x[1]); + A.set(5, 8, sts_drag0.x[2]); + + + //clock drift row + A.set(6, 7, 1.0); + + // drag rows + double tau_drag = -1.0/DragProcessModel.correlationTime; + A.set(8, 8, tau_drag); + + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(9, 9, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(10, 10, tau_ure); + + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + +} diff --git a/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster_ProcessModel.java b/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster_ProcessModel.java new file mode 100644 index 0000000..c7d31fa --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/absolute/GPS_Thruster_ProcessModel.java @@ -0,0 +1,336 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps.filters.absolute; + +//import jat.math.*; +//import jat.gps_ins.*; +//import jat.timeRef.*; +//import jat.forces.*; +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.cm.FiniteBurnList; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The GPS_ProcessModel.java Class provides the process model +* for the GPS-only EKF. +* +* @author +* @version 1.0 +*/ +public class GPS_Thruster_ProcessModel implements ProcessModel { + + private IonoModel iono = new IonoModel(); + + private ReceiverFilterModel rcvr = new ReceiverFilterModel(); + + + private RungeKutta8 rk8; + private double dt = 1.0; + + private GPS_Constellation gpscon; + + private URE_Model ure; + + private int nsv; + + private LinePrinter lp1; + private LinePrinter lp2; + + private GPS_EOM coastEOM; + private GPS_Thruster_EOM burnEOM; + + public FiniteBurnList burnlist; + private int dv_index = 0; + private boolean burnstarted = false; + + /** + * Constructor + * @param gps GPS_Constellation + * @param l1 LinePrinter for state, covariance output + * @param l2 LinePrinter for residual output + * @param burnfile String containing the finite burns filename + */ + public GPS_Thruster_ProcessModel(GPS_Constellation gps, LinePrinter l1, LinePrinter l2, String burnfile) { + this.gpscon = gps; + this.nsv = gps.size(); + + this.burnlist = FiniteBurnList.recover(burnfile); + + this.ure = new URE_Model(this.nsv); + this.lp1 = l1; + this.lp2 = l2; + this.rk8 = new RungeKutta8(this.dt); + this.coastEOM = new GPS_EOM(this.nsv, this.numberOfStates(), this.iono, this.rcvr, this.ure); + this.burnEOM = new GPS_Thruster_EOM(this.nsv, this.numberOfStates(), this.iono, this.rcvr, this.ure); + + } + + /** + * return the initial state vector + */ + public VectorN xref0() { + int n = this.numberOfStates(); + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + // set initial position, velocity, attitude + TwoBody orbit1 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + VectorN r = orbit1.getR(); + VectorN v = orbit1.getV(); + + // perturb ICs +// double [] pert = new double[6]; +// pert[0] = 0.0; +// pert[1] = 0.0; +// pert[2] = 0.0; +// pert[3] = 0.0; +// pert[4] = 0.0; +// pert[5] = 0.0; +// VectorN pt = new VectorN(pert); +// rv = rv.plus(pt); +// RSW_Frame rsw = new RSW_Frame(r, v); +// Matrix Cb2i = rsw.ECI2RSW().transpose(); + + //perturb ICs + VectorN mean = new VectorN(3); + VectorN sigp = new VectorN(3); + VectorN sigv = new VectorN(3); + sigp.set(10.0); + sigv.set(0.1); + GaussianVector ppert = new GaussianVector(mean, sigp); + r = r.plus(ppert); + GaussianVector vpert = new GaussianVector(mean, sigv); + v = v.plus(vpert); + + + VectorN out = new VectorN(n); + out.set(0, r); + out.set(3, v); +// Quaternion q0 = new Quaternion(Cb2i); +// out.set(6, q0); + + // set initial clock bias, assume perfect + out.set(6, 0.0); + out.set(7, 0.0); + + // set initial drag state + out.set(8, 0.0); + + // set initial iono state + out.set(9, 0.0); + + // set initial ure states to zero + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#P0() + */ + public Matrix P0() { + Matrix out = new Matrix(this.numberOfStates()); + + double sigma_r = 10.0; + double sigma_v = 0.1; + double sigma_bc = 1.0E-06; + double sigma_dc = 1.0E-06; + double sigma2_r = sigma_r * sigma_r; + double sigma2_v = sigma_v * sigma_v; + double sigma2_bc = sigma_bc * sigma_bc; + double sigma2_dc = sigma_dc * sigma_dc; + double sigma2_ure = ure.sigma()*ure.sigma(); + + double sigma2_iono = iono.sigma * iono.sigma; +// double sigma2_ia = 1.0E+12*GPS_Utils.lambda*GPS_Utils.lambda; + + double sigma2_drag = 0.8 * 0.8; + + out.set(0, 0, sigma2_r); + out.set(1, 1, sigma2_r); + out.set(2, 2, sigma2_r); + out.set(3, 3, sigma2_v); + out.set(4, 4, sigma2_v); + out.set(5, 5, sigma2_v); + out.set(6, 6, sigma2_bc); + out.set(7, 7, sigma2_dc); + out.set(8, 8, sigma2_drag); + out.set(9, 9, sigma2_iono); + + for (int i = 0; i < this.nsv; i++){ + out.set((i+10),(i+10), sigma2_ure); + } + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#numberOfStates() + */ + public int numberOfStates() { + int n = 10 + this.nsv; + return n; + } + + + private Matrix abar(VectorN f) { + f.checkVectorDimensions(3); + double [] x = f.getArray(); + Matrix out = new Matrix(4, 3); + out.set(0, 1, -x[2]); + out.set(0, 2, x[1]); + out.set(1, 0, x[2]); + out.set(1, 2, -x[0]); + out.set(2, 0, -x[1]); + out.set(2, 1, x[0]); + out.set(3, 0, -x[0]); + out.set(3, 1, -x[1]); + out.set(3, 2, -x[2]); + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#Q(double, double) + */ + public Matrix Q(double t, double dt, EstSTM stm) { + int n = this.numberOfStates(); + + VectorN x = stm.state(); + Matrix phi = stm.phi(); + Matrix phiT = phi.transpose(); + + + Matrix q = new Matrix(n, n); + + double sp = 1.0E-06; + q.set(3, 3, sp); + q.set(4, 4, sp); + q.set(5, 5, sp); + + q.setMatrix(6, 6, rcvr.Q()); + + q.set(8, 8, DragProcessModel.Q()); + + q.set(9, 9, iono.Q()); + + for (int i = 0; i < this.nsv; i++) { + q.set((i+10),(i+10), ure.Q()); + } + + Matrix out = phi.times(q.times(phiT)); + out = out.times(dt); + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#propagate(double, double[], double) + */ + public double[] propagate(double t0, double[] xin, double tf) { + + if ((tf - t0) != this.dt) { + System.out.println("propagate step size messed up"); + } + + double [] xnew = new double[xin.length]; + + // check next burn time + FiniteBurn burn = burnlist.get(dv_index); + double tstart = burn.tstart; + double tstop = burn.tstop; + if ((t0 >= tstart) && (t0 < tstop)) { + burnEOM.setBurn(burn); + xnew = rk8.step(t0, xin, burnEOM); +// xnew = rk8.step(t0, xin, coastEOM); + this.burnstarted = true; + } + else { + xnew = rk8.step(t0, xin, coastEOM); + if ((t0 > tstop) && (burnstarted)) { + System.out.println(t0+" burn "+dv_index+" completed, incrementing"); + if (burnlist.hasNext(dv_index)) { + dv_index = dv_index + 1; + } + this.burnstarted = false; + } + } + + + return xnew; + } + + /** + * Print output + * @param t sim time in seconds + * @param state VectorN containing the state vector + * @param cov Matrix containing the covariance matrix + */ + public void print(double t, VectorN state, Matrix cov) { + + // absolute state processing + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + lp1.print(t, printvector.x); + + } + + /** + * Print residuals + * @param t sim time in seconds + * @param r1 residual before measurement update + * @param r2 residual after measurement update + */ + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp2.print(y); + } + + + /** + * close the LinePrinters + */ + public void closeLinePrinter(){ + lp1.close(); + } + + +} diff --git a/src/jat/coreNOSA/gps/filters/relative/RGPS_EOM.java b/src/jat/coreNOSA/gps/filters/relative/RGPS_EOM.java new file mode 100644 index 0000000..9681412 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/relative/RGPS_EOM.java @@ -0,0 +1,272 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Sep 25, 2003 + */ + +package jat.coreNOSA.gps.filters.relative; +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.forces.CIRA_ExponentialDrag; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; + +/** + * The RGPS_EOM provides the equations of motion for the + * RGPS-only EKF without a thruster model. + * + * @author + * @version 1.0 + */public class RGPS_EOM implements Derivatives { + + private IonoModel iono; + private ReceiverFilterModel rcvr; + private double t_mjd0 = 51969.0; + private double issMass = 128990.0; + private double issArea = 640.7; + private double issCd = 2.35; + private CIRA_ExponentialDrag iss_ced = new CIRA_ExponentialDrag(this.issCd, this.issArea, this.issMass); + + private double stsMass = 104328.0; + private double stsArea = 454.4; + private double stsCd = 2.0; + private CIRA_ExponentialDrag sts_ced = new CIRA_ExponentialDrag(this.stsCd, this.stsArea, this.stsMass); + + private URE_Model ure; + private int nsv; + private int issIndex; + private int numberOfStates; + + /** + * Constructor + * @param nsat number of GPS SVs + * @param nstates number of states + * @param io IonoModel + * @param rc ReceiverFilterModel + * @param ur URE_Model + */ + public RGPS_EOM(int nsat, int iss, int nstates, IonoModel io, ReceiverFilterModel rc, URE_Model ur) { + this.nsv = nsat; + this.issIndex = iss; + this.numberOfStates = nstates; + this.ure = ur; + this.iono = io; + this.rcvr = rc; + } + + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x) { + + int n = this.numberOfStates; + + VectorN out = new VectorN(x.length); + + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[6]); + clock1.set(1, x[7]); + + double stsdrag = x[8]; + + double del_iono = x[9]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+10]); + } + + // strip off ISS states + int kk = this.issIndex; + VectorN rISS = new VectorN(x[kk], x[kk+1], x[kk+2]); + VectorN vISS = new VectorN(x[kk+3], x[kk+4], x[kk+5]); + VectorN clock2 = new VectorN(2); + clock2.set(0, x[kk+6]); + clock2.set(1, x[kk+7]); + double ddrag = x[kk+8]; + + + // position derivatives + out.set(0, v); + + // velocity derivatives +// TwoBody orbit = new TwoBody(Constants.GM_Earth, r, v); +// VectorN g = orbit.local_grav(); + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); +// ref.setIERS(3.3E-07, 1.17E-06, 0.649232); +// Matrix E = ref.eci2ecef(); +// +// // Acceleration due to harmonic gravity field +// VectorN g = jgm3.gravity(r, E); + + sts_ced.compute(ref, r, v); + VectorN sts_drag0 = sts_ced.dragAccel(); + double dragfactor1 = 1.0 + stsdrag; + VectorN drag = sts_drag0.times(dragfactor1); + + VectorN vdot = g.plus(drag); + + out.set(3, vdot); + + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(6, bcdot); + + double dragdot = DragProcessModel.dragProcess(stsdrag); + out.set(8, dragdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(9, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(10, uredot); + + // position derivatives + out.set(kk, vISS); + + // velocity derivatives +// TwoBody orbit2 = new TwoBody(Constants.GM_Earth, rISS, vISS); +// g = orbit2.local_grav(); + J2Gravity j2iss = new J2Gravity(rISS); + g = j2iss.local_gravity(); + +// g = jgm3.gravity(rISS, E); + +// double Mjd = this.t_mjd0 + t/86400.0; +// EarthRef ref = new EarthRef(Mjd); + iss_ced.compute(ref, rISS, vISS); + VectorN iss_drag0 = iss_ced.dragAccel(); + double dragfactor2 = 1.0 + ddrag; + drag = iss_drag0.times(dragfactor2); + + vdot = g.plus(drag); + out.set((kk+3), vdot); + + // GPS clock model derivatives + VectorN bcdot2 = rcvr.biasProcess(clock2); + out.set((kk+6), bcdot2); + + dragdot = DragProcessModel.dragProcess(ddrag); + out.set((kk+8), dragdot); + + // integer ambiguity derivs = 0 + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + Matrix D = sts_ced.partialR().times(dragfactor1); + Matrix GD = G.plus(D); + A.setMatrix(3, 0, GD); + + D = sts_ced.partialV().times(dragfactor1); + A.setMatrix(3, 3, D); + + // partials of drag accel wrt drag state + A.set(3, 8, sts_drag0.x[0]); + A.set(4, 8, sts_drag0.x[1]); + A.set(5, 8, sts_drag0.x[2]); + + + //clock drift row + A.set(6, 7, 1.0); + + // drag rows + double tau_drag = -1.0/DragProcessModel.correlationTime; + A.set(8, 8, tau_drag); + + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(9, 9, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(10, 10, tau_ure); + + // position rows + A.setMatrix(kk, (kk+3), eye); + + // velocity rows + G = j2iss.gravityGradient(); + D = iss_ced.partialR().times(dragfactor2); + GD = G.plus(D); + A.setMatrix((kk+3), kk, GD); + + D = iss_ced.partialV().times(dragfactor2); + A.setMatrix((kk+3),(kk+3), D); + + // partials of drag accel wrt drag state + A.set((kk+3),(kk+8), iss_drag0.x[0]); + A.set((kk+4),(kk+8), iss_drag0.x[1]); + A.set((kk+5),(kk+8), iss_drag0.x[2]); + + //clock drift row + A.set((kk+6),(kk+7), 1.0); + + // drag rows + A.set((kk+8), (kk+8), tau_drag); + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + +} diff --git a/src/jat/coreNOSA/gps/filters/relative/RGPS_MeasurementModel.java b/src/jat/coreNOSA/gps/filters/relative/RGPS_MeasurementModel.java new file mode 100644 index 0000000..61d721b --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/relative/RGPS_MeasurementModel.java @@ -0,0 +1,362 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps.filters.relative; + +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The RGPS_MeasurementModel.java Class provides ... +* +* @author +* @version 1.0 +*/ +public class RGPS_MeasurementModel implements MeasurementModel { + + private VectorN htilde; + + private RGPS_MeasurementList gpsData; + + private GPS_Constellation constell; + + private static final double rangeSigma = 4.0; + + private static final double cpSigma = 0.02; + + private int index = 0; + + private int numberOfStates; + + private IonoModel iono = new IonoModel(); + + private int nsv; + + private int type = 0; + + private double rangeA = 0.0; + + private double rangeB = 0.0; + + private static final int stateIndexA = 0; + private static final int clockIndexA = 6; + private int stateIndexB; + private int clockIndexB; + private int iaIndex; + + private boolean[] firstTime; + + + public RGPS_MeasurementModel(RGPS_MeasurementList gps, GPS_Constellation con){ + this.gpsData = gps; + this.constell = con; + this.nsv = con.size(); + this.numberOfStates = 19 + 2 * this.nsv; + this.stateIndexB = this.nsv + 10; + this.clockIndexB = this.stateIndexB + 6; + this.iaIndex = this.nsv + 19; + this.firstTime = new boolean[this.nsv]; + for (int i = 0; i < this.nsv; i++) { + this.firstTime[i] = true; + } + + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#H(VectorN) + */ + public VectorN H(VectorN xref) { + return this.htilde; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#R() + */ + public double R() { + double r = rangeSigma*rangeSigma; + if (type == 2) r = 2.0*cpSigma*cpSigma; + return r; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#zPred(int, double, VectorN) + */ + public double zPred(int index, double t, VectorN xref) { + + double out = 0.0; + + // get the SVID and MJD time of measurement + RGPS_Measurement meas = gpsData.get(index); + int prn = meas.svid; + int svindex = this.constell.getIndex(prn); + this.type = meas.type(); + double t_mjd = meas.t_mjd(); + double range = meas.range(); + + //time check + double tgps = meas.t(); + if (tgps != t) { + System.out.println("zPred: time sync error, meas time = "+tgps+" tsim = "+t); + } + + if (type == 0) { + out = rangePred(t_mjd, xref, prn, type); + this.rangeA = out; + } + + if (type == 1) { + out = rangePred(t_mjd, xref, prn, type); + this.rangeB = out; + } + + if (type == 2) { + out = cpPred(t_mjd, xref, prn, range); + } + + return out; + } + + private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // set indices + int svindex = this.constell.getIndex(prn); + int stateIndex = stateIndexA; + int clockIndex = clockIndexA; + if (type == 1) { + stateIndex = this.stateIndexB; + clockIndex = this.clockIndexB; + } + + // extract the current spacecraft position vector + VectorN r = xref.get(stateIndex, 3); + VectorN v = xref.get((stateIndex+3), 3); + + // get the GPS SV from the constellation + GPS_SV sv = constell.getPRN(prn); + + // compute the time of transmission + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS = sv.rvECI(ts_mjd); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate +// VectorN vrel = vGPS.minus(v); + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = xref.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + range = range + bcpart; + + // add iono contribution to range + int iono_index = 9; + double diono = xref.x[iono_index]; + double iv = (1.0 + diono)*iono.Ivbar; + double elev = GPS_Utils.elevation(r, rGPS); + double ionopart = IonoModel.del_iono(iv, elev); + range = range + ionopart; + + // add ure contribution to range + int ure_index = 10 + svindex; + double dure = xref.x[ure_index]; + range = range + dure; + + // compute the H vector + this.htilde = new VectorN(this.numberOfStates); + VectorN drrdr = this.drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + htilde.set(stateIndex, drhodr); + htilde.set((stateIndex+3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + htilde.set(clockIndex, drdbc); + + double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + htilde.set(iono_index, drdiono); + htilde.set(ure_index, 1.0); + + return range; + } + + private double cpPred(double t_mjd, VectorN xref, int prn, double meas){ + + // set indices + int svindex = this.constell.getIndex(prn); + + // extract the current spacecraft position vector + VectorN r = xref.get(stateIndexA, 3); + VectorN v = xref.get((stateIndexA+3), 3); + VectorN rISS = xref.get(this.stateIndexB, 3); + VectorN vISS = xref.get((this.stateIndexB+3), 3); + + // get the GPS SV from the constellation + GPS_SV sv = constell.getPRN(prn); + + // compute the time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the LOS vector + VectorN los1 = rGPS1.minus(r); + VectorN losu1 = los1.unitVector(); + VectorN los2 = rGPS2.minus(rISS); + VectorN losu2 = los2.unitVector(); + + // compute the expected range + double range1 = los1.mag(); + double range2 = los2.mag(); + + // compute the range rate +// VectorN vrel1 = vGPS1.minus(v); + double range_rate1 = GPS_Utils.rangeRate(los1, v, vGPS1); +// VectorN vrel2 = vGPS2.minus(vISS); + double range_rate2 = GPS_Utils.rangeRate(los2, vISS, vGPS2); + + // add clock bias contribution to range + double bc1 = xref.x[clockIndexA]; + double omrroc1 = 1.0 - (range_rate1/GPS_Utils.c); + double bcpart1 = omrroc1*bc1; + range1 = range1 + bcpart1; + + double bc2 = xref.x[clockIndexB]; + double omrroc2 = 1.0 - (range_rate2/GPS_Utils.c); + double bcpart2 = omrroc2*bc2; + range2 = range2 + bcpart2; + + double drange = range1 - range2; + + // add integer ambiguity to range + int ia_index = this.iaIndex + svindex; + double dia = xref.x[ia_index]; + double ia_est = meas - this.rangeA + this.rangeB; + + if (firstTime[svindex]){ // initialize integer amb state and cov + xref.x[ia_index] = ia_est; + dia = ia_est; + firstTime[svindex] = false; + } + +// double ia_err = Math.abs(dia - ia_est); +// if (ia_err > 10.0) { +// xref.x[ia_index] = ia_est; +// dia = ia_est; +// System.out.println("reinit integers"); +// } + + drange = drange + dia; + + + // compute the H vector + this.htilde = new VectorN(this.numberOfStates); + + VectorN drrdr1 = this.drrdr(los1, vGPS1, range_rate1); + VectorN drrdr2 = this.drrdr(los2, vGPS2, range_rate2); + + double term1 = -1.0 * bc1 / GPS_Utils.c; + double term2 = -1.0 * bc2 / GPS_Utils.c; + + drrdr1 = drrdr1.times(term1); + drrdr2 = drrdr2.times(term2); + + VectorN drrdv1 = this.drrdv(los1, vGPS1); + VectorN drrdv2 = this.drrdv(los2, vGPS2); + + VectorN drhodr1 = drrdr1.minus(losu1); + VectorN drhodr2 = drrdr2.minus(losu2); + drhodr2 = drhodr2.times(-1.0); + + htilde.set(stateIndexA, drhodr1); + htilde.set(stateIndexB, drhodr2); + + VectorN drhodv1 = drrdv1.times(term1); + VectorN drhodv2 = drrdv2.times(term2); + drhodv2 = drhodv2.times(-1.0); + htilde.set((stateIndexA+3), drhodv1); + htilde.set((this.stateIndexB+3), drhodv2); + + double drdbc1 = 1.0 - range_rate1/GPS_Utils.c; + double drdbc2 = range_rate2/GPS_Utils.c - 1.0; // subtract it + + htilde.set(clockIndexA, drdbc1); + htilde.set(this.clockIndexB, drdbc2); + + htilde.set(ia_index, 1.0); + + + return drange; + } + + + + private VectorN drrdr (VectorN los, VectorN vGPS, double rr){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = 1.0 / (range + corr); + VectorN losu = los.unitVector(); + VectorN part2 = losu.plus(vc); + part2 = part2.times(rr); + VectorN numerator = part2.minus(los); + VectorN out = numerator.times(factor); + return out; + } + + private VectorN drrdv (VectorN los, VectorN vGPS){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = -1.0 / (range + corr); + VectorN out = los.times(factor); + return out; + } + + + +} diff --git a/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster.java b/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster.java new file mode 100644 index 0000000..34ee597 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster.java @@ -0,0 +1,66 @@ +package jat.coreNOSA.gps.filters.relative; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.RGPS_MeasurementList; + +/** +* The RGPS_Thruster.java Class runs the RGPS-only EKF with thruster model. +* +* @author +* @version 1.0 +*/ +public class RGPS_Thruster { + + /** + * main - runs the demo. + * @params args none. + */ + public static void main(String[] args) { + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "gps\\rgpsmeas_rbar_geom4_mp.jat"; + String rinexfile = "gps\\rinex.n"; + String burnfile = "burns\\rbar_burns.jat"; + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + GPS_Constellation constellation = new GPS_Constellation(dir+rinexfile); + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_rgps_thr_rbar_geom4_mp_new_bt_1.txt"); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_rgps_thr_rbar_geom4_mp_new_bt_2.txt"); + LinePrinter lp3 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_rgps_thr_rbar_geom4_mp_resid_bt.txt"); + ProcessModel process = new RGPS_Thruster_ProcessModel(constellation, lp1, lp2, lp3, dir+burnfile); + MeasurementModel meas = new RGPS_MeasurementModel(gps, constellation); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(meas, gps, process); + long ts = System.currentTimeMillis(); + + ekf.process(); + + long tf = System.currentTimeMillis(); + double dtf = (tf - ts)/(60.0 * 1000.0); + System.out.println("EKF Time Elapsed: "+dtf); + + + } +} diff --git a/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster_EOM.java b/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster_EOM.java new file mode 100644 index 0000000..69f4d6a --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster_EOM.java @@ -0,0 +1,291 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Sep 25, 2003 + */ + +package jat.coreNOSA.gps.filters.relative; +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.forces.CIRA_ExponentialDrag; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** + * The RGPS_Thruster_EOM provides the equations of motion for the + * RGPS-only EKF including a thruster model. + * + * @author + * @version 1.0 + */ +public class RGPS_Thruster_EOM implements Derivatives { + + private IonoModel iono; + private ReceiverFilterModel rcvr; + private double t_mjd0 = 51969.0; + private double issMass = 128990.0; + private double issArea = 640.7; + private double issCd = 2.35; + private CIRA_ExponentialDrag iss_ced = new CIRA_ExponentialDrag(this.issCd, this.issArea, this.issMass); + + private double stsMass = 104328.0; + private double stsArea = 454.4; + private double stsCd = 2.0; + private CIRA_ExponentialDrag sts_ced = new CIRA_ExponentialDrag(this.stsCd, this.stsArea, this.stsMass); + + private URE_Model ure; + private int nsv; + private int issIndex; + private int numberOfStates; + + private VectorN fburn; + + /** + * Constructor + * @param nsat number of GPS SVs + * @param nstates number of states + * @param io IonoModel + * @param rc ReceiverFilterModel + * @param ur URE_Model + */ + public RGPS_Thruster_EOM(int nsat, int iss, int nstates, IonoModel io, ReceiverFilterModel rc, URE_Model ur) { + this.nsv = nsat; + this.issIndex = iss; + this.numberOfStates = nstates; + this.ure = ur; + this.iono = io; + this.rcvr = rc; + } + + public void setBurn(FiniteBurn b) { + double thrust = b.accel; + VectorN unit = b.unitVector; + this.fburn = unit.times(thrust); + } + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x) { + + int n = this.numberOfStates; + + VectorN out = new VectorN(x.length); + + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[6]); + clock1.set(1, x[7]); + + double stsdrag = x[8]; + + double del_iono = x[9]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+10]); + } + + // strip off ISS states + int kk = this.issIndex; + VectorN rISS = new VectorN(x[kk], x[kk+1], x[kk+2]); + VectorN vISS = new VectorN(x[kk+3], x[kk+4], x[kk+5]); + VectorN clock2 = new VectorN(2); + clock2.set(0, x[kk+6]); + clock2.set(1, x[kk+7]); + double ddrag = x[kk+8]; + + + // position derivatives + out.set(0, v); + + // velocity derivatives +// TwoBody orbit = new TwoBody(Constants.GM_Earth, r, v); +// VectorN g = orbit.local_grav(); + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); +// ref.setIERS(3.3E-07, 1.17E-06, 0.649232); +// Matrix E = ref.eci2ecef(); +// +// // Acceleration due to harmonic gravity field +// VectorN g = jgm3.gravity(r, E); + + sts_ced.compute(ref, r, v); + VectorN sts_drag0 = sts_ced.dragAccel(); + double dragfactor1 = 1.0 + stsdrag; + VectorN drag = sts_drag0.times(dragfactor1); + + // acceleration due to the burn + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + +// Matrix Cb2i = q.quat2DCM(); + VectorN thrust = Cb2i.times(this.fburn); + + VectorN sf = drag.plus(thrust); + + VectorN vdot = g.plus(sf); + + out.set(3, vdot); + + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(6, bcdot); + + double dragdot = DragProcessModel.dragProcess(stsdrag); + out.set(8, dragdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(9, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(10, uredot); + + // position derivatives + out.set(kk, vISS); + + // velocity derivatives +// TwoBody orbit2 = new TwoBody(Constants.GM_Earth, rISS, vISS); +// g = orbit2.local_grav(); + J2Gravity j2iss = new J2Gravity(rISS); + g = j2iss.local_gravity(); + +// g = jgm3.gravity(rISS, E); + +// double Mjd = this.t_mjd0 + t/86400.0; +// EarthRef ref = new EarthRef(Mjd); + iss_ced.compute(ref, rISS, vISS); + VectorN iss_drag0 = iss_ced.dragAccel(); + double dragfactor2 = 1.0 + ddrag; + drag = iss_drag0.times(dragfactor2); + + vdot = g.plus(drag); + out.set((kk+3), vdot); + + // GPS clock model derivatives + VectorN bcdot2 = rcvr.biasProcess(clock2); + out.set((kk+6), bcdot2); + + dragdot = DragProcessModel.dragProcess(ddrag); + out.set((kk+8), dragdot); + + // integer ambiguity derivs = 0 + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + Matrix D = sts_ced.partialR().times(dragfactor1); + Matrix GD = G.plus(D); + A.setMatrix(3, 0, GD); + + D = sts_ced.partialV().times(dragfactor1); + A.setMatrix(3, 3, D); + + // partials of drag accel wrt drag state + A.set(3, 8, sts_drag0.x[0]); + A.set(4, 8, sts_drag0.x[1]); + A.set(5, 8, sts_drag0.x[2]); + + + //clock drift row + A.set(6, 7, 1.0); + + // drag rows + double tau_drag = -1.0/DragProcessModel.correlationTime; + A.set(8, 8, tau_drag); + + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(9, 9, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(10, 10, tau_ure); + + // position rows + A.setMatrix(kk, (kk+3), eye); + + // velocity rows + G = j2iss.gravityGradient(); + D = iss_ced.partialR().times(dragfactor2); + GD = G.plus(D); + A.setMatrix((kk+3), kk, GD); + + D = iss_ced.partialV().times(dragfactor2); + A.setMatrix((kk+3),(kk+3), D); + + // partials of drag accel wrt drag state + A.set((kk+3),(kk+8), iss_drag0.x[0]); + A.set((kk+4),(kk+8), iss_drag0.x[1]); + A.set((kk+5),(kk+8), iss_drag0.x[2]); + + //clock drift row + A.set((kk+6),(kk+7), 1.0); + + // drag rows + A.set((kk+8), (kk+8), tau_drag); + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + +} diff --git a/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster_ProcessModel.java b/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster_ProcessModel.java new file mode 100644 index 0000000..54cdb21 --- /dev/null +++ b/src/jat/coreNOSA/gps/filters/relative/RGPS_Thruster_ProcessModel.java @@ -0,0 +1,513 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps.filters.relative; + +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.cm.FiniteBurnList; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** +* The RGPS_ProcessModel.java Class provides the process model +* for the RGPS-only EKF. +* +* @author +* @version 1.0 +*/ +public class RGPS_Thruster_ProcessModel implements ProcessModel { + + private IonoModel iono = new IonoModel(); + + private ReceiverFilterModel rcvr = new ReceiverFilterModel(); + +// private JGM3 jgm3 = new JGM3(12,12); + + private RungeKutta8 rk8; + private double dt = 1.0; + + private GPS_Constellation gpscon; + + private URE_Model ure; + + private int issIndex; + private int iaIndex; + + private int nsv; + + private LinePrinter lp1; + private LinePrinter lp2; + private LinePrinter lp3; + + private RGPS_EOM coastEOM; + private RGPS_Thruster_EOM burnEOM; + + public FiniteBurnList burnlist; + private int dv_index = 0; + private boolean burnstarted = false; + + + /** + * Constructor + * @param gps GPS_Constellation + * @param l1 LinePrinter for state, covariance output + * @param l2 LinePrinter for relative state, covariance output + * @param l3 LinePrinter for residual output + * @param burnfile String containing the finite burns filename + */ + public RGPS_Thruster_ProcessModel(GPS_Constellation gps, LinePrinter l1, LinePrinter l2, LinePrinter l3, String burnfile) { + this.gpscon = gps; + this.nsv = gps.size(); + this.issIndex = 10 + this.nsv; + this.iaIndex = 19 + this.nsv; + + this.burnlist = FiniteBurnList.recover(burnfile); + + + this.ure = new URE_Model(this.nsv); + this.lp1 = l1; + this.lp2 = l2; + this.lp3 = l3; + this.rk8 = new RungeKutta8(this.dt); + this.coastEOM = new RGPS_EOM(this.nsv, this.issIndex, this.numberOfStates(), this.iono, this.rcvr, this.ure); + this.burnEOM = new RGPS_Thruster_EOM(this.nsv, this.issIndex, this.numberOfStates(), this.iono, this.rcvr, this.ure); + + } + + /** + * return the initial state vector + */ + public VectorN xref0() { + int n = this.numberOfStates(); + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + // set initial position, velocity, attitude + TwoBody orbit1 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + TwoBody orbit2 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + VectorN r = orbit1.getR(); + VectorN v = orbit1.getV(); + + // perturb ICs +// double [] pert = new double[6]; +// pert[0] = 0.0; +// pert[1] = 0.0; +// pert[2] = 0.0; +// pert[3] = 0.0; +// pert[4] = 0.0; +// pert[5] = 0.0; +// VectorN pt = new VectorN(pert); +// rv = rv.plus(pt); +// RSW_Frame rsw = new RSW_Frame(r, v); +// Matrix Cb2i = rsw.ECI2RSW().transpose(); + + VectorN out = new VectorN(n); + out.set(0, r); + out.set(3, v); +// Quaternion q0 = new Quaternion(Cb2i); +// out.set(6, q0); + + // set initial clock bias, assume perfect + out.set(6, 0.0); + out.set(7, 0.0); + + // set initial drag state + out.set(8, 0.0); + + // set initial iono state + out.set(9, 0.0); + + // set initial ure states to zero + + // set ISS initial states + VectorN rv = orbit2.rv; + + // perturb ICs +// rv = rv.plus(pt); + out.set(this.issIndex, rv); + + // set initial ISS clock states, integer amb states to zero + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#P0() + */ + public Matrix P0() { + Matrix out = new Matrix(this.numberOfStates()); + + double sigma_r = 10.0; + double sigma_v = 0.1; + double sigma_bc = 1.0E-06; + double sigma_dc = 1.0E-06; + double sigma2_r = sigma_r * sigma_r; + double sigma2_v = sigma_v * sigma_v; + double sigma2_bc = sigma_bc * sigma_bc; + double sigma2_dc = sigma_dc * sigma_dc; + double sigma2_ure = ure.sigma()*ure.sigma(); + + double sigma2_iono = iono.sigma * iono.sigma; +// double sigma2_ia = 1.0E+12*GPS_Utils.lambda*GPS_Utils.lambda; + + double sigma2_drag = 0.8 * 0.8; + + out.set(0, 0, sigma2_r); + out.set(1, 1, sigma2_r); + out.set(2, 2, sigma2_r); + out.set(3, 3, sigma2_v); + out.set(4, 4, sigma2_v); + out.set(5, 5, sigma2_v); + out.set(6, 6, sigma2_bc); + out.set(7, 7, sigma2_dc); + out.set(8, 8, sigma2_drag); + out.set(9, 9, sigma2_iono); + + for (int i = 0; i < this.nsv; i++){ + out.set((i+10),(i+10), sigma2_ure); + out.set((this.iaIndex+i),(this.iaIndex+i), 8.0); + } + + int k = this.issIndex; + out.set(k, k, sigma2_r); + out.set(k+1, k+1, sigma2_r); + out.set(k+2, k+2, sigma2_r); + out.set(k+3, k+3, sigma2_v); + out.set(k+4, k+4, sigma2_v); + out.set(k+5, k+5, sigma2_v); + out.set(k+6, k+6, sigma2_bc); + out.set(k+7, k+7, sigma2_dc); + out.set(k+8, k+8, sigma2_drag); + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#numberOfStates() + */ + public int numberOfStates() { + int n = 19 + 2*this.nsv; + return n; + } + + + private Matrix abar(VectorN f) { + f.checkVectorDimensions(3); + double [] x = f.getArray(); + Matrix out = new Matrix(4, 3); + out.set(0, 1, -x[2]); + out.set(0, 2, x[1]); + out.set(1, 0, x[2]); + out.set(1, 2, -x[0]); + out.set(2, 0, -x[1]); + out.set(2, 1, x[0]); + out.set(3, 0, -x[0]); + out.set(3, 1, -x[1]); + out.set(3, 2, -x[2]); + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#Q(double, double) + */ +// public Matrix Q(double t, double dt, VectorN x) { +// int n = this.numberOfStates(); +// Matrix q = new Matrix(n, n); +// +// +// // adaptive tuning +// double tsw = 7800.0; +// double sp = 0.0; +// if (t < tsw) { +// sp = 1.0E-06; +// } +// else { +// sp = 1.0E-12; +// } +// +// // nominal tuning +//// double sp = 1.0E-06; +// +// // blockage tuning +//// double sp = 1.0E-12; +// +// // common SV tuning +//// double sp = 1.0E-11; +// +// double sp3 = sp/3.0; +// double sp2 = sp/2.0; +// q.set(0, 0, sp3); +// q.set(1, 1, sp3); +// q.set(2, 2, sp3); +// q.set(3, 3, sp); +// q.set(4, 4, sp); +// q.set(5, 5, sp); +// q.set(0, 3, sp2); +// q.set(1, 4, sp2); +// q.set(2, 5, sp2); +// q.set(3, 0, sp2); +// q.set(4, 1, sp2); +// q.set(5, 2, sp2); +// +//// q.setMatrix(6, 6, rcvr.biasQ(dt).times(10.0)); +//// q.setMatrix(6, 6, rcvr.biasQ(dt)); +// +// +// q.set(8, 8, DragProcessModel.dragQ(dt)); +// +//// q.set(9, 9, 10.0*iono.ionoQ(dt)); +//// q.set(9, 9, iono.ionoQ(dt)); +// +// // adaptive +// if (t < tsw) { +// q.setMatrix(6, 6, rcvr.biasQ(dt)); +// q.set(9, 9, iono.ionoQ(dt)); +// } else { +// q.setMatrix(6, 6, rcvr.biasQ(dt).times(10.0)); +// q.set(9, 9, 10.0*iono.ionoQ(dt)); +// } +// +// for (int i = 0; i < this.nsv; i++) { +// +// // adaptive +// if (t < tsw) { +// q.set((i+10),(i+10), ure.biasQ()); +// } else { +// q.set((i+10),(i+10), 10.0*ure.biasQ()); +// } +// +// q.set((i+this.iaIndex),(i+this.iaIndex), 1.0E-6*dt); +// } +// +// int kk = this.issIndex; +// +// // adaptive tuning +// if (t < 7200.0) { +// sp = 1.0E-05; +// sp3 = sp/3.0; +// sp2 = sp/2.0; +// } +// +// q.set(kk, kk, sp3); +// q.set(kk+1, kk+1, sp3); +// q.set(kk+2, kk+2, sp3); +// q.set(kk+3, kk+3, sp); +// q.set(kk+4, kk+4, sp); +// q.set(kk+5, kk+5, sp); +// q.set(kk, kk+3, sp2); +// q.set(kk+1, kk+4, sp2); +// q.set(kk+2, kk+5, sp2); +// q.set(kk+3, kk, sp2); +// q.set(kk+4, kk+1, sp2); +// q.set(kk+5, kk+2, sp2); +// q.setMatrix(kk+6, kk+6, rcvr.biasQ(dt)); +// q.set(kk+8, kk+8, DragProcessModel.dragQ(dt)); +// +// return q; +// } + + public Matrix Q(double t, double dt, EstSTM stm) { + int n = this.numberOfStates(); + Matrix q = new Matrix(n, n); + + VectorN x = stm.state(); + Matrix phi = stm.phi(); + Matrix phiT = phi.transpose(); + + + // adaptive tuning +// double tsw = 7200.0; +// double sp = 0.0; +// if (t < tsw) { +// sp = 1.0E-06; +// } +// else { +// sp = 1.0E-09; +// } + + double sp = 1.0E-09; + + + q.set(3, 3, sp); + q.set(4, 4, sp); + q.set(5, 5, sp); + + q.set(8, 8, DragProcessModel.Q()); + + // adaptive +// if (t < tsw) { +// q.setMatrix(6, 6, rcvr.Q()); +// q.set(9, 9, iono.Q()); +// } else { + q.setMatrix(6, 6, rcvr.Q().times(10.0)); + q.set(9, 9, 10.0*iono.Q()); +// } + + for (int i = 0; i < this.nsv; i++) { + + // adaptive +// if (t < tsw) { +// q.set((i+10),(i+10), ure.Q()); +// } else { + q.set((i+10),(i+10), 10.0*ure.Q()); +// } + + q.set((i+this.iaIndex),(i+this.iaIndex), 1.0E-6); + } + + int kk = this.issIndex; + + q.set(kk+3, kk+3, sp); + q.set(kk+4, kk+4, sp); + q.set(kk+5, kk+5, sp); + q.setMatrix(kk+6, kk+6, rcvr.Q()); + q.set(kk+8, kk+8, DragProcessModel.Q()); + + // Relative Nav correlation + double rho = 0.99; + Matrix qab = new Matrix(6, 6); + for (int i = 0; i < 6; i++) { + double qa = q.get(i, i); + double qb = q.get(kk+i, kk+i); + double val = rho * Math.sqrt(qa * qb); + q.set(i, (kk+i), val); + q.set((kk+i), i, val); + } + + Matrix out = phi.times(q.times(phiT)); + out = out.times(dt); + + + return out; + } + + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#propagate(double, double[], double) + */ + public double[] propagate(double t0, double[] xin, double tf) { + + if ((tf - t0) != this.dt) { + System.out.println("propagate step size messed up"); + } + + double [] xnew = new double[xin.length]; + + // check next burn time + FiniteBurn burn = burnlist.get(dv_index); + double tstart = burn.tstart; + double tstop = burn.tstop; + if ((t0 >= tstart) && (t0 < tstop)) { + burnEOM.setBurn(burn); + xnew = rk8.step(t0, xin, burnEOM); +// xnew = rk8.step(t0, xin, coastEOM); + this.burnstarted = true; + } + else { + xnew = rk8.step(t0, xin, coastEOM); + if ((t0 > tstop) && (burnstarted)) { + System.out.println(t0+" burn "+dv_index+" completed, incrementing"); + if (burnlist.hasNext(dv_index)) { + dv_index = dv_index + 1; + } + this.burnstarted = false; + } + } + + + return xnew; + } + + + public void print(double t, VectorN state, Matrix cov) { + + // absolute state processing + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + lp1.print(t, printvector.x); + + // relative state processing + VectorN r_chaser = state.get(0,3); + VectorN v_chaser = state.get(3,3); + VectorN r_iss = state.get(this.issIndex,3); + VectorN v_iss = state.get(this.issIndex+3,3); + RSW_Frame rsw = new RSW_Frame(r_iss, v_iss); + VectorN r_rel = r_chaser.minus(r_iss); + VectorN v_rel = v_chaser.minus(v_iss); + VectorN rv_rel = rsw.transform(r_rel, v_rel); + + Matrix p_chaser = cov.getMatrix(0, 5, 0, 5); + Matrix p_iss = cov.getMatrix(this.issIndex, this.issIndex+5,this.issIndex, this.issIndex+5); + Matrix p_a = cov.getMatrix(0, 5, this.issIndex, this.issIndex+5); + Matrix p_b = cov.getMatrix(this.issIndex, this.issIndex+5, 0, 5); + Matrix temp1 = p_chaser.plus(p_iss); + Matrix temp2 = p_a.plus(p_b); + Matrix p_rel = temp1.minus(temp2); + + Matrix eci2rsw = rsw.ECI2RSW(); + + Matrix T = new Matrix(6,6); + T.setMatrix(0, 0, eci2rsw); + T.setMatrix(3, 3, eci2rsw); + Matrix Ttrans = T.transpose(); + + Matrix temp3 = p_rel.times(Ttrans); + Matrix p_rsw = T.times(temp3); + sigmas = p_rsw.diagonal(); + sigmas = sigmas.ebeSqrt(); + printvector = new VectorN(rv_rel, sigmas); + lp2.print(t, printvector.x); + + } + + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp3.print(y); + } + + + public void closeLinePrinter(){ + lp1.close(); + lp2.close(); + lp3.close(); + } + + +} diff --git a/src/jat/coreNOSA/gps/generators/GPS_MeasurementGenerator.java b/src/jat/coreNOSA/gps/generators/GPS_MeasurementGenerator.java new file mode 100644 index 0000000..2a68dc5 --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/GPS_MeasurementGenerator.java @@ -0,0 +1,341 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_Measurement; +import jat.coreNOSA.gps.GPS_MeasurementList; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The GPS_MeasurementGenerator.java Class generates GPS measurements +* +* @author +* @version 1.0 +*/ +public class GPS_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.0; + + private ReceiverModel rcvr; + + private VectorN r; + private VectorN v; + private VectorN rISS; + + private GPS_Constellation constell; + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double [] integerAmbiguity; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + */ + public GPS_MeasurementGenerator( + Trajectory t, Trajectory i, + GPS_Constellation c, Visible v, + String file, LinePrinter clp, LinePrinter mlp) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis = v; + this.rcvr = new ReceiverModel(); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.integerAmbiguity = new double[nsv]; + RandomNumber rn = new RandomNumber(); + for (int j = 0; j < nsv; j++) { + double number = rn.normal(0.0, 1.0E+06); + double num = MathUtils.round(number); + this.integerAmbiguity[j] = GPS_Utils.lambda*num; + } + + } + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed long containing the random number seed to be used + */ + public GPS_MeasurementGenerator( + Trajectory t, Trajectory i, + GPS_Constellation c, Visible v, + String file, LinePrinter clp, LinePrinter mlp, long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis = v; + this.rcvr = new ReceiverModel(seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.integerAmbiguity = new double[nsv]; + RandomNumber rn = new RandomNumber(seed); + for (int j = 0; j < nsv; j++) { + double number = rn.normal(0.0, 1.0E+06); + double num = MathUtils.round(number); + this.integerAmbiguity[j] = GPS_Utils.lambda*num; + } + + } + + private double[] initClock() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + /** + * Generate the measurements + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating GPS Measurements"); + GPS_MeasurementList list = new GPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock = this.initClock(); + double[] newclock = this.initClock(); + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + + double iv = iono.Iv(t_mjd, this.r); + + int nvis = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock[0] + "\t" + oldclock[1]+"\t"+nvis+"\t"+iv); + + nvis = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + // compute the GPS position vector + VectorN rvGPS = sv.rvECI(ts_mjd); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the line of sight vector + VectorN los = GPS_Utils.lineOfSight(this.r, rGPS); + VectorN losu = los.unitVector(); + + // check visibility + boolean visible = vis.visible(losu, this.r, this.rISS); + + if (visible) { + + nvis = nvis + 1; + + // compute measured range + double truerho = los.mag(); + double clock_err = rcvr.clockError(los, this.v, vGPS, oldclock[0]); + double code_noise = rcvr.codeNoise(); + + double cp_noise = rcvr.cpNoise(); + + double ionoDelay = iono.error(t_mjd, this.r, rGPS, iv); + + double uree = ure.ure(isv, los, rGPS, vGPS); +// double rho = truerho; + double rho = truerho + clock_err + uree + code_noise; +// double rho = truerho + clock_err + ionoDelay + uree + code_noise; + + double ia = integerAmbiguity[isv]; +// double carrier_rho = truerho + clock_err - ionoDelay + uree + ia + cp_noise; + double carrier_rho = truerho + clock_err + uree + ia + cp_noise; +// double carrier_rho = truerho + clock_err - ionoDelay + uree + cp_noise; + +// double diff = carrier_rho - rho; +// double twoiono = -2.0*ionoDelay; + + // output data + GPS_Measurement meas = + new GPS_Measurement(t, t_mjd, rho, carrier_rho, prn); + list.add(meas); + double dr = rho - truerho; + + measLP.println(meas + "\t" + isv + "\t" + iv+ "\t" + uree + "\t" + ia); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + // newclock = rk8.integrate(tprev, oldclock, t, this); + newclock = rcvr.propClock(dt, oldclock); + t_mjd = t_mjd + dt / 86400.0; + } + // update stuff + + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + iv = iono.Iv(t_mjd, this.r); + + oldclock[0] = newclock[0]; + oldclock[1] = newclock[1]; + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating GPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\"; + String trajfile = "rvtraj.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; + String measfile = "C:\\Jat\\jat\\input\\gpsmeas_if_rv.jat"; + String outfile = measfile; + + // set the clock output + String clockfile = "gpsclock_if_rv.txt"; + LinePrinter clp = new LinePrinter(out_directory+clockfile); + + // set the text output file + String msfile = "gpsmeas_if_rv.txt"; + LinePrinter mlp = new LinePrinter(out_directory+msfile); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(); +// ElevationMask block = new ElevationMask(); + + GPS_MeasurementGenerator x = + new GPS_MeasurementGenerator(truetraj, isstraj, constellation, block, outfile, clp, mlp); + + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/generators/RGPS_MP_Common_MeasurementGenerator.java b/src/jat/coreNOSA/gps/generators/RGPS_MP_Common_MeasurementGenerator.java new file mode 100644 index 0000000..441b5f6 --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/RGPS_MP_Common_MeasurementGenerator.java @@ -0,0 +1,415 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.ElevationMask; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.MultipathModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The RGPS_MeasurementGenerator.java Class generates relative GPS measurements +* including the effects of multipath but only for GPS SVs that are +* visible to both receivers. +* +* @author +* @version 1.0 +*/ +public class RGPS_MP_Common_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.375; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private double arcs = 500.0; + private int nrays = 5; + + private MultipathModel mp = new MultipathModel(arcs, nrays); + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + //private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed random number generator seed to be used + */ + public RGPS_MP_Common_MeasurementGenerator( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(2 * seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed); + RandomNumber rn2 = new RandomNumber(2 * seed); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + + private double[] compute_mp(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, VectorN rISS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + // multipath + double theta = GPS_Utils.declination(r, rGPS); + VectorN dr_vec = rISS.minus(r); + double dr = dr_vec.mag(); + mp.environment(prn, dr, theta, rGPS, rISS, r); + double mperr = mp.pseudorangeError(); + double cperr = mp.carrierPhaseError(); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise + mperr; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise + cperr; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia + "\t"+ mperr+ "\t"+ cperr); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); + + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by both, then create a single diff cp measurement + if (visible1 && visible2) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute_mp(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, rISS, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas_a = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas_a); + + + + nvis2 = nvis2 + 1; + + meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); + + // output data + RGPS_Measurement meas_b = + new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); + list.add(meas_b); + + + ncommon = ncommon + 1; + double diff = meas1[1] - meas2[1]; + RGPS_Measurement meas_c = + new RGPS_Measurement(t, t_mjd, diff, 2, prn); + list.add(meas_c); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating RGPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; +// String trajfile = "rvtraj_burn.jat"; + String trajfile = "rvtraj_vbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_vbar.jat"; +// String issfile = "isstraj_burn.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; +// String measfile = "C:\\Jat\\jat\\input\\rgpsmeas_vbar.jat"; + String measfile = "C:\\Jat\\jat\\input\\gps\\rgpsmeas_vbar_geom4_mp_cm.jat"; + String outfile = measfile; + + // set the clock output +// String clockfile = "rgpsclock_vbar.txt"; + String clockfile = "gpsref\\rgpsclock_vbar_geom4_mp_cm.txt"; + LinePrinter clp = new LinePrinter(out_directory + clockfile); + + // set the text output file +// String msfile = "rgpsmeas_vbar.txt"; + String msfile = "gpsref\\rgpsmeas_vbar_geom4_mp_cm.txt"; + LinePrinter mlp = new LinePrinter(out_directory + msfile); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(); + ElevationMask mask = new ElevationMask(); + + long seed = -1; + + RGPS_MP_Common_MeasurementGenerator x = new RGPS_MP_Common_MeasurementGenerator(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/generators/RGPS_MP_EarthBlock_MeasurementGenerator.java b/src/jat/coreNOSA/gps/generators/RGPS_MP_EarthBlock_MeasurementGenerator.java new file mode 100644 index 0000000..895f005 --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/RGPS_MP_EarthBlock_MeasurementGenerator.java @@ -0,0 +1,418 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.gps.Earth_Blockage; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Earth_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.MultipathModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The RGPS_MP_EarthBlock_MeasurementGenerator.java Class generates relative GPS measurements +* including the effects of multipath and blockage due to a spherical earth. + +* @author +* @version 1.0 +*/ +public class RGPS_MP_EarthBlock_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.0; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private double arcs = 500.0; + private int nrays = 5; + + private MultipathModel mp = new MultipathModel(arcs, nrays); + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed random number generator seed to be used + */ + public RGPS_MP_EarthBlock_MeasurementGenerator( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(2 * seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed); + RandomNumber rn2 = new RandomNumber(2 * seed); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + + private double[] compute_mp(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, VectorN rISS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + // multipath + double theta = GPS_Utils.declination(r, rGPS); + VectorN dr_vec = rISS.minus(r); + double dr = dr_vec.mag(); + mp.environment(prn, dr, theta, rGPS, rISS, r); + double mperr = mp.pseudorangeError(); + double cperr = mp.carrierPhaseError(); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise + mperr; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise + cperr; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia + "\t"+ mperr+ "\t"+ cperr); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); +// System.out.println(t); + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by chaser + if (visible1) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute_mp(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, rISS, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas); + + } + + // if visible by ISS + if (visible2) { + + nvis2 = nvis2 + 1; + + meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); + list.add(meas); + + } + + // if visible by both, then create a single diff cp measurement + if (visible1 && visible2) { + ncommon = ncommon + 1; + double diff = meas1[1] - meas2[1]; + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, diff, 2, prn); + list.add(meas); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating RGPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; + String trajfile = "rvtraj_vbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_vbar.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; + String measfile = "C:\\Jat\\jat\\input\\gps\\rgpsmeas_vbar_geom1_mp_eb2.jat"; + String outfile = measfile; + + // set the clock output + String clockfile = "gpsref\\rgpsclock_vbar_geom1_mp_eb2.txt"; + LinePrinter clp = new LinePrinter(out_directory + clockfile); + + // set the text output file +// String msfile = "rgpsmeas_vbar.txt"; + String msfile = "gpsref\\rgpsmeas_vbar_geom1_mp_eb2.txt"; + LinePrinter mlp = new LinePrinter(out_directory + msfile); + + // visibility checker + ISS_Earth_Blockage block = new ISS_Earth_Blockage(); +// ElevationMask mask = new ElevationMask(10.0); + Earth_Blockage mask = new Earth_Blockage(); + + long seed = -1; + + RGPS_MP_EarthBlock_MeasurementGenerator x = new RGPS_MP_EarthBlock_MeasurementGenerator(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/generators/RGPS_MP_MeasurementGenerator.java b/src/jat/coreNOSA/gps/generators/RGPS_MP_MeasurementGenerator.java new file mode 100644 index 0000000..44cce6d --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/RGPS_MP_MeasurementGenerator.java @@ -0,0 +1,419 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.ElevationMask; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.MultipathModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The RGPS_MP_MeasurementGenerator.java Class generates relative GPS measurements +* including the effects of multipath. +* @author +* @version 1.0 +*/ +public class RGPS_MP_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.375; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private double arcs = 500.0; + private int nrays = 5; + + private MultipathModel mp = new MultipathModel(arcs, nrays); + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + //private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed random number generator seed to be used + */ + public RGPS_MP_MeasurementGenerator( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(2 * seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed); + RandomNumber rn2 = new RandomNumber(2 * seed); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + + private double[] compute_mp(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, VectorN rISS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + // multipath + double theta = GPS_Utils.declination(r, rGPS); + VectorN dr_vec = rISS.minus(r); + double dr = dr_vec.mag(); + mp.environment(prn, dr, theta, rGPS, rISS, r); + double mperr = mp.pseudorangeError(); + double cperr = mp.carrierPhaseError(); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise + mperr; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise + cperr; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia + "\t"+ mperr+ "\t"+ cperr); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); + + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by chaser + if (visible1) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute_mp(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, rISS, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas); + + } + + // if visible by ISS + if (visible2) { + + nvis2 = nvis2 + 1; + + meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); + list.add(meas); + + } + + // if visible by both, then create a single diff cp measurement + if (visible1 && visible2) { + ncommon = ncommon + 1; + double diff = meas1[1] - meas2[1]; + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, diff, 2, prn); + list.add(meas); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating RGPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; +// String trajfile = "rvtraj_burn.jat"; + String trajfile = "rvtraj_rbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_rbar.jat"; +// String issfile = "isstraj_burn.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; +// String measfile = "C:\\Jat\\jat\\input\\rgpsmeas_vbar.jat"; + String measfile = "C:\\Jat\\jat\\input\\gps\\rgpsmeas_rbar_geom4_mp.jat"; + String outfile = measfile; + + // set the clock output +// String clockfile = "rgpsclock_vbar.txt"; + String clockfile = "gpsref\\rgpsclock_rbar_geom4_mp.txt"; + LinePrinter clp = new LinePrinter(out_directory + clockfile); + + // set the text output file +// String msfile = "rgpsmeas_vbar.txt"; + String msfile = "gpsref\\rgpsmeas_rbar_geom4_mp.txt"; + LinePrinter mlp = new LinePrinter(out_directory + msfile); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(); + ElevationMask mask = new ElevationMask(); + + long seed = -1; + + RGPS_MP_MeasurementGenerator x = new RGPS_MP_MeasurementGenerator(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/generators/RGPS_MP_MeasurementGenerator_MC.java b/src/jat/coreNOSA/gps/generators/RGPS_MP_MeasurementGenerator_MC.java new file mode 100644 index 0000000..0f370d9 --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/RGPS_MP_MeasurementGenerator_MC.java @@ -0,0 +1,436 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.ElevationMask; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.MultipathModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The RGPS_MP_MeasurementGenerator_MC.java Class generates relative GPS measurements +* including the effects of multipath for a Monte Carlo study. + +* @author +* @version 1.0 +*/ +public class RGPS_MP_MeasurementGenerator_MC { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.25; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private double arcs = 500.0; + private int nrays = 5; + + private MultipathModel mp = new MultipathModel(arcs, nrays); + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + //private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed random number generator seed to be used + */ + public RGPS_MP_MeasurementGenerator_MC( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(seed - 1); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv, (seed - 2)); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed - 3); + RandomNumber rn2 = new RandomNumber(seed - 4); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + this.mp.setSeed(seed - 5); + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + + private double[] compute_mp(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, VectorN rISS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + // multipath + double theta = GPS_Utils.declination(r, rGPS); + VectorN dr_vec = rISS.minus(r); + double dr = dr_vec.mag(); + mp.environment(prn, dr, theta, rGPS, rISS, r); + double mperr = mp.pseudorangeError(); + double cperr = mp.carrierPhaseError(); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise + mperr; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise + cperr; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia + "\t"+ mperr+ "\t"+ cperr); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + +// System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + +// System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); + + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by chaser + if (visible1) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute_mp(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, rISS, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas); + + } + + // if visible by ISS + if (visible2) { + + nvis2 = nvis2 + 1; + + meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); + list.add(meas); + + } + + // if visible by both, then create a single diff cp measurement + if (visible1 && visible2) { + ncommon = ncommon + 1; + double diff = meas1[1] - meas2[1]; + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, diff, 2, prn); + list.add(meas); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating RGPS measurements"); + } + + public static void main(String[] args) throws IOException { + + long counter = 1; + int j = 1; + for (int i = 0; i < 30; i++) { + + String num = Integer.toString(j); + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; + // String trajfile = "rvtraj_burn.jat"; + String trajfile = "rvtraj_rbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_rbar.jat"; + // String issfile = "isstraj_burn.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String dotJat = ".jat"; + String out_directory = "C:\\Jat\\jat\\output\\"; + // String measfile = "C:\\Jat\\jat\\input\\rgpsmeas_vbar.jat"; + String measfile = "C:\\Jat\\jat\\input\\monte\\rgpsmeas_rbar_geom3_mp_"; + String outfile = measfile + num + dotJat; + System.out.println("Generating: "+outfile); + + // set the clock output + String dotTxt = ".txt"; + // String clockfile = "rgpsclock_vbar.txt"; + String clockfile = "monte\\rgpsclock_rbar_geom3_mp_"; + LinePrinter clp = new LinePrinter(out_directory + clockfile + num + dotTxt); + + // set the text output file + // String msfile = "rgpsmeas_vbar.txt"; + String msfile = "monte\\rgpsmeas_rbar_geom3_mp_"; + LinePrinter mlp = new LinePrinter(out_directory + msfile + num + dotTxt); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(); + ElevationMask mask = new ElevationMask(); + + long seed = -1 * counter; + + RGPS_MP_MeasurementGenerator_MC x = new RGPS_MP_MeasurementGenerator_MC(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + counter = counter + 1; + j = j + 1; + + } + + } +} diff --git a/src/jat/coreNOSA/gps/generators/RGPS_MP_NoMask_MeasurementGenerator.java b/src/jat/coreNOSA/gps/generators/RGPS_MP_NoMask_MeasurementGenerator.java new file mode 100644 index 0000000..6f6fde7 --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/RGPS_MP_NoMask_MeasurementGenerator.java @@ -0,0 +1,416 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.ElevationMask; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.MultipathModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The RGPS_MP_NoMask_MeasurementGenerator.java Class generates relative GPS measurements +* including the effects of multipath where the elevation mask = 0 degrees. +* +* @author +* @version 1.0 +*/ +public class RGPS_MP_NoMask_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.0; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private double arcs = 500.0; + private int nrays = 5; + + private MultipathModel mp = new MultipathModel(arcs, nrays); + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + //private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed random number generator seed to be used + */ + public RGPS_MP_NoMask_MeasurementGenerator( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(2 * seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed); + RandomNumber rn2 = new RandomNumber(2 * seed); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + + private double[] compute_mp(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, VectorN rISS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + + // multipath + double theta = GPS_Utils.declination(r, rGPS); + VectorN dr_vec = rISS.minus(r); + double dr = dr_vec.mag(); + mp.environment(prn, dr, theta, rGPS, rISS, r); + double mperr = mp.pseudorangeError(); + double cperr = mp.carrierPhaseError(); + + double rho = truerho + clock_err + uree + ionoDelay + code_noise + mperr; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise + cperr; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia + "\t"+ mperr+ "\t"+ cperr); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); + + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by chaser + if (visible1) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute_mp(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, rISS, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas); + + } + + // if visible by ISS + if (visible2) { + + nvis2 = nvis2 + 1; + + meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); + list.add(meas); + + } + + // if visible by both, then create a single diff cp measurement + if (visible1 && visible2) { + ncommon = ncommon + 1; + double diff = meas1[1] - meas2[1]; + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, diff, 2, prn); + list.add(meas); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating RGPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; + String trajfile = "rvtraj_rbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_rbar.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; + String measfile = "C:\\Jat\\jat\\input\\gps\\rgpsmeas_rbar_geom1_mp_nomask.jat"; + String outfile = measfile; + + // set the clock output + String clockfile = "gpsref\\rgpsclock_rbar_geom1_mp_nomask.txt"; + LinePrinter clp = new LinePrinter(out_directory + clockfile); + + // set the text output file +// String msfile = "rgpsmeas_vbar.txt"; + String msfile = "gpsref\\rgpsmeas_rbar_geom1_mp_nomask.txt"; + LinePrinter mlp = new LinePrinter(out_directory + msfile); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(0.0); + ElevationMask mask = new ElevationMask(0.0); + + long seed = -1; + + RGPS_MP_NoMask_MeasurementGenerator x = new RGPS_MP_NoMask_MeasurementGenerator(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/generators/RGPS_MeasurementGenerator.java b/src/jat/coreNOSA/gps/generators/RGPS_MeasurementGenerator.java new file mode 100644 index 0000000..d9fe3f0 --- /dev/null +++ b/src/jat/coreNOSA/gps/generators/RGPS_MeasurementGenerator.java @@ -0,0 +1,383 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.gps.generators; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.ElevationMask; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.ISS_Blockage; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.IOException; + +/** +* The RGPS_MeasurementGenerator.java Class is used to generate +* relative GPS measurements. +* +* @author +* @version 1.0 +*/ +public class RGPS_MeasurementGenerator { + + private Trajectory truth; + + private Trajectory iss; + + private static final double t_mjd0 = 51969.375; + + private ReceiverModel rcvr1; + private ReceiverModel rcvr2; + + private VectorN r; + private VectorN v; + private VectorN rISS; + private VectorN vISS; + + private GPS_Constellation constell; + + private IonoModel iono = new IonoModel(); + + private URE_Model ure; + + //private RungeKutta8 rk8 = new RungeKutta8(1.0); + + private String outfile; + + private double[] iaChaser; + + private double[] iaISS; + + private LinePrinter clockLP; + + private LinePrinter measLP; + + private Visible vis1; + + private Visible vis2; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + * @param seed random number generator seed to be used + */ + public RGPS_MeasurementGenerator( + Trajectory t, + Trajectory i, + GPS_Constellation c, + Visible v1, + Visible v2, + String file, + LinePrinter clp, + LinePrinter mlp, + long seed) { + + // generator setup + this.truth = t; + this.iss = i; + this.constell = c; + this.outfile = file; + this.clockLP = clp; + this.measLP = mlp; + this.vis1 = v1; + this.vis2 = v2; + this.rcvr1 = new ReceiverModel(seed); + this.rcvr2 = new ReceiverModel(2 * seed); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + // initialize integer ambiguity + this.iaChaser = new double[nsv]; + this.iaISS = new double[nsv]; + RandomNumber rn1 = new RandomNumber(seed); + RandomNumber rn2 = new RandomNumber(2 * seed); + for (int j = 0; j < nsv; j++) { + double number1 = rn1.normal(0.0, 1.0E+06); + double num1 = MathUtils.round(number1); + this.iaChaser[j] = GPS_Utils.lambda * num1; + double number2 = rn2.normal(0.0, 1.0E+06); + double num2 = MathUtils.round(number2); + this.iaISS[j] = GPS_Utils.lambda * num2; + } + + } + + private double[] initClock1() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] initClock2() { + double[] out = new double[2]; + out[0] = 0.0; + out[1] = 0.0; + return out; + } + + private double[] compute(double t, double t_mjd, ReceiverModel rcv, VectorN los, + VectorN r, VectorN v, VectorN rGPS, VectorN vGPS, double clock0, double iv, double ia, int isv, int prn, int type) { + + double[] out = new double[2]; + double truerho = los.mag(); + double clock_err = rcv.clockError(los, v, vGPS, clock0); + double code_noise = rcv.codeNoise(); + double ionoDelay = iono.error(t_mjd, r, rGPS, iv); + double uree = ure.ure(isv, los, rGPS, vGPS); + double rho = truerho + clock_err + uree + ionoDelay + code_noise; + + double cp_noise = rcv.cpNoise(); + double carrier_rho = truerho + clock_err + uree + ia - ionoDelay + cp_noise; + measLP.println(t+"\t"+t_mjd+"\t"+rho+"\t"+carrier_rho+"\t"+type+"\t"+prn +"\t"+ isv + "\t"+ iv + "\t" + uree+ "\t"+ ia); + + out[0] = rho; + out[1] = carrier_rho; + return out; + } + + /** + * Method generate. + * @throws IOException + */ + public void generate() throws IOException { + + System.out.println("Generating RGPS Measurements"); + RGPS_MeasurementList list = new RGPS_MeasurementList(); + + // initialize + double tprev = 0.0; + double t = 0.0; + double[] oldclock1 = this.initClock1(); + double[] newclock1 = this.initClock1(); + double[] oldclock2 = this.initClock2(); + double[] newclock2 = this.initClock2(); + + double t_mjd = t_mjd0; // MJD at beginning of the sim + + System.out.println("initialized, number of points " + truth.npts()); + + // grab the first data + double[] data = truth.next(); + tprev = data[0]; + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + + double[] issdata = iss.next(); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + + double iv1 = iono.Iv(t_mjd, this.r); + double iv2 = iono.Iv(t_mjd, this.rISS); + + int nvis1 = 0; + int nvis2 = 0; + int ncommon = 0; + + // loop + // for (int i = 0; i<2; i++){ + while (truth.hasNext()) { + clockLP.println(t + "\t" + oldclock1[0] + "\t"+ oldclock1[1]+"\t"+ oldclock2[0]+ "\t"+ oldclock2[1] +"\t" + nvis1 + "\t"+ nvis2+ "\t" + ncommon+ "\t"+ iv1+ "\t" + iv2); + + nvis1 = 0; + nvis2 = 0; + ncommon = 0; + + // process each GPS satellite + for (int isv = 0; isv < constell.size(); isv++) { + + // retrieve the SV + GPS_SV sv = constell.getSV(isv); + + int prn = sv.prn(); + + // compute time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS position vector + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the line of sight vector + VectorN los1 = GPS_Utils.lineOfSight(this.r, rGPS1); + VectorN losu1 = los1.unitVector(); + VectorN los2 = GPS_Utils.lineOfSight(this.rISS, rGPS2); + VectorN losu2 = los2.unitVector(); + + // check visibility + boolean visible1 = vis1.visible(losu1, this.r, this.rISS); + boolean visible2 = vis2.visible(losu2, this.rISS, this.rISS); + + double [] meas1 = new double[2]; + double [] meas2 = new double[2]; + + // if visible by chaser + if (visible1) { + + nvis1 = nvis1 + 1; + + meas1 = this.compute(t, t_mjd, this.rcvr1, los1, this.r, this.v, rGPS1, vGPS1, oldclock1[0], iv1, this.iaChaser[isv], isv, prn, 0); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas1[0], 0, prn); + list.add(meas); + + } + + // if visible by ISS + if (visible2) { + + nvis2 = nvis2 + 1; + + meas2 = this.compute(t, t_mjd, this.rcvr2, los2, this.rISS, this.vISS, rGPS2, vGPS2, oldclock2[0], iv2, this.iaISS[isv], isv, prn, 1); + + // output data + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, meas2[0], 1, prn); + list.add(meas); + + } + + // if visible by both, then create a single diff cp measurement + if (visible1 && visible2) { + ncommon = ncommon + 1; + double diff = meas1[1] - meas2[1]; + RGPS_Measurement meas = + new RGPS_Measurement(t, t_mjd, diff, 2, prn); + list.add(meas); + } + + } + + // get the next truth data + data = truth.next(); + t = data[0]; + issdata = iss.next(); + + // move time + double dt = t - tprev; + if (dt < 0.0) { + System.out.println( + "backwards time jump in GPS_MeasurementGenerator"); + System.exit(99); + } + if (dt > 0.0) { + newclock1 = rcvr1.propClock(dt, oldclock1); + newclock2 = rcvr2.propClock(dt, oldclock2); + + t_mjd = t_mjd + dt / 86400.0; + } + + // update stuff + this.r = new VectorN(data[1], data[2], data[3]); + this.v = new VectorN(data[4], data[5], data[6]); + this.rISS = new VectorN(issdata[1], issdata[2], issdata[3]); + this.vISS = new VectorN(issdata[4], issdata[5], issdata[6]); + iv1 = iono.Iv(t_mjd, this.r); + iv2 = iono.Iv(t_mjd, this.rISS); + + oldclock1[0] = newclock1[0]; + oldclock1[1] = newclock1[1]; + oldclock2[0] = newclock2[0]; + oldclock2[1] = newclock2[1]; + + tprev = t; + + } + list.serialize(this.outfile); + clockLP.close(); + measLP.close(); + System.out.println("finished generating RGPS measurements"); + } + + public static void main(String[] args) throws IOException { + + // get the true trajectory data + System.out.println("recovering truth data"); + String in_directory = "C:\\Jat\\jat\\traj\\reference\\"; +// String trajfile = "rvtraj_burn.jat"; + String trajfile = "rvtraj_rbar.jat"; + String file = in_directory + trajfile; + Trajectory truetraj = Trajectory.recover(file); + + // get the ISS data + String issfile = "isstraj_rbar.jat"; +// String issfile = "isstraj_burn.jat"; + file = in_directory + issfile; + Trajectory isstraj = Trajectory.recover(file); + + // get the GPS Constellation + String rinexfile = "C:\\Jat\\jat\\input\\gps\\rinex.n"; + GPS_Constellation constellation = new GPS_Constellation(rinexfile); + + // set the output file + String out_directory = "C:\\Jat\\jat\\output\\"; +// String measfile = "C:\\Jat\\jat\\input\\rgpsmeas_vbar.jat"; + String measfile = "C:\\Jat\\jat\\input\\rgpsmeas_abs_rbar_geom4.jat"; + String outfile = measfile; + + // set the clock output +// String clockfile = "rgpsclock_vbar.txt"; + String clockfile = "rgpsclock_abs_rbar_geom4.txt"; + LinePrinter clp = new LinePrinter(out_directory + clockfile); + + // set the text output file +// String msfile = "rgpsmeas_vbar.txt"; + String msfile = "rgpsmeas_abs_rbar_geom4.txt"; + LinePrinter mlp = new LinePrinter(out_directory + msfile); + + // visibility checker + ISS_Blockage block = new ISS_Blockage(); + ElevationMask mask = new ElevationMask(); + + long seed = -1; + + RGPS_MeasurementGenerator x = new RGPS_MeasurementGenerator(truetraj,isstraj, constellation, block, mask, outfile, clp, mlp, seed); + x.generate(); + + } +} diff --git a/src/jat/coreNOSA/gps/package.html b/src/jat/coreNOSA/gps/package.html new file mode 100644 index 0000000..3707c10 --- /dev/null +++ b/src/jat/coreNOSA/gps/package.html @@ -0,0 +1,3 @@ + +Package gps contains models used to simulate the GPS constellation and navigation using GPS. + \ No newline at end of file diff --git a/src/jat/coreNOSA/gps_ins/Derivs.java b/src/jat/coreNOSA/gps_ins/Derivs.java new file mode 100644 index 0000000..8a90a7b --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/Derivs.java @@ -0,0 +1,46 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps_ins; +//import jat.matvec.data.*; +//import jat.gps_ins.*; +import jat.coreNOSA.ins.INS_Measurement; + +/** + *

+ * The EOM interface provides the mechanism for passing a method + * that computes the derivatives to an integrator. + * + * @author + * @version 1.0 + */ +public interface Derivs { + + /** Compute the derivatives. + * @params t double containing time or the independent variable. + * @params x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + + public double[] derivs(double t, double[] x, INS_Measurement measl_1, INS_Measurement measl, int sw); + +} + diff --git a/src/jat/coreNOSA/gps_ins/EOM.java b/src/jat/coreNOSA/gps_ins/EOM.java new file mode 100644 index 0000000..6863421 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/EOM.java @@ -0,0 +1,42 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.gps_ins; +//import jat.matvec.data.*; + +/** + *

+ * The EquationsOfMotion interface provides the mechanism for passing a method + * that computes the derivatives and another one for printing to an integrator. + * + * @author + * @version 1.0 + */ +public interface EOM extends Derivs{ + + + /** Print. + * @params t double containing time or the independent variable. + * @params y VectorN containing the required data. + */ + public void print(double t, double[] y); + + } diff --git a/src/jat/coreNOSA/gps_ins/absolute/GPS_INS_MeasurementModel.java b/src/jat/coreNOSA/gps_ins/absolute/GPS_INS_MeasurementModel.java new file mode 100644 index 0000000..f4ce3a9 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/absolute/GPS_INS_MeasurementModel.java @@ -0,0 +1,344 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps_ins.absolute; + +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The GPS_INS_MeasurementModel.java Class provides the measurement model for GPS/INS +* +* @author +* @version 1.0 +*/ +public class GPS_INS_MeasurementModel implements MeasurementModel { + + private VectorN htilde; + + private RGPS_MeasurementList gpsData; + + private GPS_Constellation constell; + + private static final double rangeSigma = 4.0; + + private static final double cpSigma = 0.02; + + private int index = 0; + + private int numberOfStates; + + private IonoModel iono = new IonoModel(); + + private int nsv; + + private int type = 0; + + private double rangeA = 0.0; + + private static final int stateIndexA = 0; + private static final int clockIndexA = 16; + + private boolean[] firstTime; + + /** + * Constructor + * @param gps RGPS_MeasurementList + * @param con GPS_Constellation + */ + public GPS_INS_MeasurementModel(RGPS_MeasurementList gps, GPS_Constellation con){ + this.gpsData = gps; + this.constell = con; + this.nsv = con.size(); + this.numberOfStates = 19 + this.nsv; + this.firstTime = new boolean[this.nsv]; + for (int i = 0; i < this.nsv; i++) { + this.firstTime[i] = true; + } + + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#H(VectorN) + */ + public VectorN H(VectorN xref) { + return this.htilde; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#R() + */ + public double R() { + double r = rangeSigma*rangeSigma; + if (type == 2) r = 2.0*cpSigma*cpSigma; + return r; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#zPred(int, double, VectorN) + */ + public double zPred(int index, double t, VectorN xref) { + + double out = 0.0; + + // get the SVID and MJD time of measurement + RGPS_Measurement meas = gpsData.get(index); + int prn = meas.svid; + int svindex = this.constell.getIndex(prn); + this.type = meas.type(); + double t_mjd = meas.t_mjd(); + double range = meas.range(); + + //time check + double tgps = meas.t(); + if (tgps != t) { + System.out.println("zPred: time sync error, meas time = "+tgps+" tsim = "+t); + } + + if (type == 0) { + out = rangePred(t_mjd, xref, prn, type); + this.rangeA = out; + } + + return out; + } + + private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // set indices + int svindex = this.constell.getIndex(prn); + int stateIndex = stateIndexA; + int clockIndex = clockIndexA; + + // extract the current spacecraft position vector + VectorN r = xref.get(stateIndex, 3); + VectorN v = xref.get((stateIndex+3), 3); + + // get the GPS SV from the constellation + GPS_SV sv = constell.getPRN(prn); + + // compute the time of transmission + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS = sv.rvECI(ts_mjd); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate +// VectorN vrel = vGPS.minus(v); + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = xref.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + range = range + bcpart; + + // add iono contribution to range + double diono = xref.x[18]; + double iv = (1.0 + diono)*iono.Ivbar; + double elev = GPS_Utils.elevation(r, rGPS); + double ionopart = IonoModel.del_iono(iv, elev); + range = range + ionopart; + + // add ure contribution to range + int ure_index = 19 + svindex; + double dure = xref.x[ure_index]; + range = range + dure; + + // compute the H vector + this.htilde = new VectorN(this.numberOfStates); + VectorN drrdr = this.drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + htilde.set(stateIndex, drhodr); + htilde.set((stateIndex+3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + htilde.set(clockIndex, drdbc); + + double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + htilde.set(18, drdiono); + htilde.set(ure_index, 1.0); + + return range; + } + +// private double cpPred(double t_mjd, VectorN xref, int prn, double meas){ +// +// // set indices +// int svindex = this.constell.getIndex(prn); +// +// // extract the current spacecraft position vector +// VectorN r = xref.get(this.stateIndexA, 3); +// VectorN v = xref.get((this.stateIndexA+3), 3); +// VectorN rISS = xref.get(this.stateIndexB, 3); +// VectorN vISS = xref.get((this.stateIndexB+3), 3); +// +// // get the GPS SV from the constellation +// GPS_SV sv = constell.getPRN(prn); +// +// // compute the time of transmission +// double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); +// double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); +// +// // compute the GPS SV position vector at transmission time +// VectorN rvGPS1 = sv.rvECI(ts_mjd1); +// VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); +// VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); +// VectorN rvGPS2 = sv.rvECI(ts_mjd2); +// VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); +// VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); +// +// // compute the LOS vector +// VectorN los1 = rGPS1.minus(r); +// VectorN losu1 = los1.unitVector(); +// VectorN los2 = rGPS2.minus(rISS); +// VectorN losu2 = los2.unitVector(); +// +// // compute the expected range +// double range1 = los1.mag(); +// double range2 = los2.mag(); +// +// // compute the range rate +//// VectorN vrel1 = vGPS1.minus(v); +// double range_rate1 = GPS_Utils.rangeRate(los1, v, vGPS1); +//// VectorN vrel2 = vGPS2.minus(vISS); +// double range_rate2 = GPS_Utils.rangeRate(los2, vISS, vGPS2); +// +// // add clock bias contribution to range +// double bc1 = xref.x[clockIndexA]; +// double omrroc1 = 1.0 - (range_rate1/GPS_Utils.c); +// double bcpart1 = omrroc1*bc1; +// range1 = range1 + bcpart1; +// +// double bc2 = xref.x[clockIndexB]; +// double omrroc2 = 1.0 - (range_rate2/GPS_Utils.c); +// double bcpart2 = omrroc2*bc2; +// range2 = range2 + bcpart2; +// +// double drange = range1 - range2; +// +// // add integer ambiguity to range +// int ia_index = this.iaIndex + svindex; +// double dia = xref.x[ia_index]; +// double ia_est = meas - this.rangeA + this.rangeB; +// +// if (firstTime[svindex]){ // initialize integer amb state and cov +// xref.x[ia_index] = ia_est; +// dia = ia_est; +// firstTime[svindex] = false; +// } +// +//// double ia_err = Math.abs(dia - ia_est); +//// if (ia_err > 10.0) { +//// xref.x[ia_index] = ia_est; +//// dia = ia_est; +//// System.out.println("reinit integers"); +//// } +// +// drange = drange + dia; +// +// +// // compute the H vector +// this.htilde = new VectorN(this.numberOfStates); +// +// VectorN drrdr1 = this.drrdr(los1, vGPS1, range_rate1); +// VectorN drrdr2 = this.drrdr(los2, vGPS2, range_rate2); +// +// double term1 = -1.0 * bc1 / GPS_Utils.c; +// double term2 = -1.0 * bc2 / GPS_Utils.c; +// +// drrdr1 = drrdr1.times(term1); +// drrdr2 = drrdr2.times(term2); +// +// VectorN drrdv1 = this.drrdv(los1, vGPS1); +// VectorN drrdv2 = this.drrdv(los2, vGPS2); +// +// VectorN drhodr1 = drrdr1.minus(losu1); +// VectorN drhodr2 = drrdr2.minus(losu2); +// drhodr2 = drhodr2.times(-1.0); +// +// htilde.set(this.stateIndexA, drhodr1); +// htilde.set(this.stateIndexB, drhodr2); +// +// VectorN drhodv1 = drrdv1.times(term1); +// VectorN drhodv2 = drrdv2.times(term2); +// drhodv2 = drhodv2.times(-1.0); +// htilde.set((this.stateIndexA+3), drhodv1); +// htilde.set((this.stateIndexB+3), drhodv2); +// +// double drdbc1 = 1.0 - range_rate1/GPS_Utils.c; +// double drdbc2 = range_rate2/GPS_Utils.c - 1.0; // subtract it +// +// htilde.set(this.clockIndexA, drdbc1); +// htilde.set(this.clockIndexB, drdbc2); +// +// htilde.set(ia_index, 1.0); +// +// +// return drange; +// } + + + + private VectorN drrdr (VectorN los, VectorN vGPS, double rr){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = 1.0 / (range + corr); + VectorN losu = los.unitVector(); + VectorN part2 = losu.plus(vc); + part2 = part2.times(rr); + VectorN numerator = part2.minus(los); + VectorN out = numerator.times(factor); + return out; + } + + private VectorN drrdv (VectorN los, VectorN vGPS){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = -1.0 / (range + corr); + VectorN out = los.times(factor); + return out; + } + + + +} diff --git a/src/jat/coreNOSA/gps_ins/absolute/GPS_SIGI.java b/src/jat/coreNOSA/gps_ins/absolute/GPS_SIGI.java new file mode 100644 index 0000000..f07d652 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/absolute/GPS_SIGI.java @@ -0,0 +1,71 @@ +package jat.coreNOSA.gps_ins.absolute; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.ins.INS_MeasurementList; + +/** +* The GPS_SIGI.java Class runs the GPS/SIGI EKF. +* @author +* @version 1.0 +*/ +public class GPS_SIGI { + + /** + * main - runs the EKF. + * @params args none. + */ + public static void main(String[] args) { + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "gps\\gpsmeas_rbar_geom1_mp.jat"; +// String gpsmeasfile = "gpsmeasblk.txt"; + String insmeasfile = "ins\\sigi_rbar.jat"; + String rinexfile = "gps\\rinex.n"; +// RGPS_MeasurementList gps = new RGPS_MeasurementList(); +// gps.readFromFile(dir+gpsmeasfile); + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + INS_MeasurementList ins = INS_MeasurementList.recover(dir+insmeasfile); +// int big = ins.size(); +// System.out.println("ins size = "+big); + GPS_Constellation constellation = new GPS_Constellation(dir+rinexfile); + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_abs_sigi_rbar_geom1_mp_new.txt"); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_abs_sigi_rbar_geom1_mp_resid.txt"); + ProcessModel process = new GPS_SIGI_ProcessModel(ins, constellation, lp1, lp2); + MeasurementModel meas = new GPS_INS_MeasurementModel(gps, constellation); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(meas, gps, process); + long ts = System.currentTimeMillis(); + + ekf.process(); + + long tf = System.currentTimeMillis(); + double dtf = (tf - ts)/(60.0 * 1000.0); + System.out.println("EKF Time Elapsed: "+dtf); + + + } +} diff --git a/src/jat/coreNOSA/gps_ins/absolute/GPS_SIGI_ProcessModel.java b/src/jat/coreNOSA/gps_ins/absolute/GPS_SIGI_ProcessModel.java new file mode 100644 index 0000000..240e374 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/absolute/GPS_SIGI_ProcessModel.java @@ -0,0 +1,695 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps_ins.absolute; + +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.gps_ins.Derivs; +import jat.coreNOSA.ins.INS_Measurement; +import jat.coreNOSA.ins.INS_MeasurementList; +import jat.coreNOSA.ins.RK4_INS; +import jat.coreNOSA.ins.SIGIAccelFilterModel; +import jat.coreNOSA.ins.SIGIGyroFilterModel; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** +* The GPS_SIGI_ProcessModel.java Class provides the process model for GPS/SIGI +* +* @author +* @version 1.0 +*/ +public class GPS_SIGI_ProcessModel implements Derivs, ProcessModel { + + private INS_MeasurementList insData; + + private SIGIGyroFilterModel gyro = new SIGIGyroFilterModel(); + + private SIGIAccelFilterModel accel = new SIGIAccelFilterModel(); + + private IonoModel iono = new IonoModel(); + + private DragProcessModel dragModel = new DragProcessModel(); + + private ReceiverFilterModel rcvr = new ReceiverFilterModel(); + + private RK4_INS rk4; + private double dt = 1.0; + + private GPS_Constellation gpscon; + + private URE_Model ure; + + private double t_mjd0 = 51969.0; + + private int nsv; + + private LinePrinter lp1; + private LinePrinter lp2; + + /** + * Constructor + * @param ins INS_MeasurementList + * @param gps GPS_Constellation + * @param l1 LinePrinter for state, covariance output + * @param l2 LinePrinter for residual output + */ + public GPS_SIGI_ProcessModel(INS_MeasurementList ins, GPS_Constellation gps, LinePrinter l1, LinePrinter l2) { + this.insData = ins; + this.gpscon = gps; + this.nsv = gps.size(); + + this.ure = new URE_Model(this.nsv); + this.lp1 = l1; + this.lp2 = l2; + this.rk4 = new RK4_INS(this.insData); + } + + /** + * return the initial state vector + * @return the initial state vector + */ + public VectorN xref0() { + int n = this.numberOfStates(); + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + // set initial position, velocity, attitude + TwoBody orbit1 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + VectorN r = orbit1.getR(); + VectorN v = orbit1.getV(); + + // perturb ICs +// double [] pert = new double[6]; +// pert[0] = 0.0; +// pert[1] = 0.0; +// pert[2] = 0.0; +// pert[3] = 0.0; +// pert[4] = 0.0; +// pert[5] = 0.0; +// VectorN pt = new VectorN(pert); +// rv = rv.plus(pt); + + //perturb ICs + VectorN mean = new VectorN(3); + VectorN sigp = new VectorN(3); + VectorN sigv = new VectorN(3); + sigp.set(10.0); + sigv.set(0.1); + GaussianVector ppert = new GaussianVector(mean, sigp); + r = r.plus(ppert); + GaussianVector vpert = new GaussianVector(mean, sigv); + v = v.plus(vpert); + + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + + VectorN out = new VectorN(n); + out.set(0, r); + out.set(3, v); + Quaternion q0 = new Quaternion(Cb2i); + out.set(6, q0); + + // set initial gyro bias, assume perfect + out.set(10, 0.0); + out.set(11, 0.0); + out.set(12, 0.0); + + // set initial accel bias, assume perfect + out.set(13, 0.0); + out.set(14, 0.0); + out.set(15, 0.0); + + // set initial clock bias, assume perfect + out.set(16, 0.0); + out.set(17, 0.0); +// out.set(16, 1.0E-02*con.c); +// out.set(17, 6.7E-07*con.c); + + // set initial iono state + out.set(18, 0.0); + + // set initial ure states to zero + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#P0() + */ + public Matrix P0() { + Matrix out = new Matrix(this.numberOfStates()); + + double sigma_r = 10.0; + double sigma_v = 0.1; + double sigma_q = 0.001; + double sigma_bg = 0.001 * MathUtils.DEG2RAD / 3600.0; + double sigma_ba = 1.6E-04 * 9.81; + double sigma_bc = 1.0E-06; + double sigma_dc = 1.0E-06; + double sigma2_r = sigma_r * sigma_r; + double sigma2_v = sigma_v * sigma_v; + double sigma2_q = sigma_q * sigma_q; + double sigma2_bg = sigma_bg * sigma_bg; + double sigma2_ba = sigma_ba * sigma_ba; + double sigma2_bc = sigma_bc * sigma_bc; + double sigma2_dc = sigma_dc * sigma_dc; + double sigma2_ure = ure.sigma()*ure.sigma(); + + double sigma2_iono = iono.sigma * iono.sigma; + + out.set(0, 0, sigma2_r); + out.set(1, 1, sigma2_r); + out.set(2, 2, sigma2_r); + out.set(3, 3, sigma2_v); + out.set(4, 4, sigma2_v); + out.set(5, 5, sigma2_v); + out.set(6, 6, sigma2_q); + out.set(7, 7, sigma2_q); + out.set(8, 8, sigma2_q); + out.set(9, 9, sigma2_q); + out.set(10, 10, sigma2_bg); + out.set(11, 11, sigma2_bg); + out.set(12, 12, sigma2_bg); + out.set(13, 13, sigma2_ba); + out.set(14, 14, sigma2_ba); + out.set(15, 15, sigma2_ba); + out.set(16, 16, sigma2_bc); + out.set(17, 17, sigma2_dc); + out.set(18, 18, sigma2_iono); + + for (int i = 0; i < this.nsv; i++){ + out.set((i+19),(i+19), sigma2_ure); + } + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#numberOfStates() + */ + public int numberOfStates() { + int n = 19 + this.nsv; + return n; + } + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x, INS_Measurement measl_1, INS_Measurement measl, int sw) { + + int n = this.numberOfStates(); + + VectorN out = new VectorN(x.length); + + // get the gyro measurements + VectorN dthetal_1 = measl_1.omega; + VectorN dthetal = measl.omega; + + // get accelerometer measurements + VectorN dvl_1 = measl_1.f; + VectorN dvl = measl.f; + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + Quaternion q = new Quaternion(x[6], x[7], x[8], x[9]); + + q.unitize(); + + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + VectorN bg = new VectorN(x[10], x[11], x[12]); + VectorN ba = new VectorN(x[13], x[14], x[15]); + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[16]); + clock1.set(1, x[17]); + + double del_iono = x[18]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+19]); + } + + // Body to inertial DCM + Matrix cib = q.quat2DCM(); + + + // form the appropriate specific force and omega vectors + VectorN f; + VectorN rate; + + switch(sw) { + case 0: + f = this.dvl_2(dvl_1, dvl); + rate = this.wl_2(dthetal_1, dthetal); + break; + case 1: + f = this.dvl_1(dvl_1, dvl); + rate = this.wl_1(dthetal_1, dthetal); + break; + case 2: + f = this.dvl_0(dvl_1, dvl); + rate = this.wl_0(dthetal_1, dthetal); + break; + default: + f = new VectorN(3); + rate = new VectorN(3); + break; + } + + // compensate for IMU errors + f = f.plus(ba); + rate = rate.plus(bg); + + // position derivatives + out.set(0, v); + + // velocity derivatives +// TwoBody orbit = new TwoBody(Constants.GM_Earth, r, v); +// VectorN g = orbit.local_grav(); + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); +// ref.setIERS(3.3E-07, 1.17E-06, 0.649232); +// Matrix E = ref.eci2ecef(); +// +// // Acceleration due to harmonic gravity field +// VectorN g = jgm3.gravity(r, E); + + + VectorN sf = cib.times(f); + VectorN vdot = sf.plus(g); + out.set(3, vdot); + + // quaternion derivatives + Matrix omega = Quaternion.omega(rate); + VectorN qdot = omega.times(q); + out.set(6, qdot); + + // gyro bias derivatives + VectorN bgdot = this.gyro.biasProcess(bg); + out.set(10, bgdot); + + // accelerometer bias derivatives + VectorN badot = this.accel.biasProcess(ba); + out.set(13, badot); + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(16, bcdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(18, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(19, uredot); + + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + A.setMatrix(3, 0, G); + + Matrix abar = this.abar(f); + Matrix atrans = abar.transpose(); + Matrix rhat = q.rMatrix(); + Matrix rtrans = rhat.transpose(); + Matrix d = cib.times(atrans.times(rtrans)); + d = d.times(2.0); + A.setMatrix(3, 6, d); + A.setMatrix(3, 13, cib); + + // quaternion rows + A.setMatrix(6, 6, omega); + Matrix qmat = q.qMatrix(); + A.setMatrix(6, 10, qmat); + + // gyro bias rows + Matrix taug = eye.times(-1.0/SIGIGyroFilterModel.correlationTime); + A.setMatrix(10, 10, taug); + + // accel bias rows + Matrix taua = eye.times(-1.0/SIGIAccelFilterModel.correlationTime); + A.setMatrix(13, 13, taua); + + //clock drift row + A.set(16, 17, 1.0); + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(18, 18, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(19, 19, tau_ure); + + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + private Matrix abar(VectorN f) { + f.checkVectorDimensions(3); + double [] x = f.getArray(); + Matrix out = new Matrix(4, 3); + out.set(0, 1, -x[2]); + out.set(0, 2, x[1]); + out.set(1, 0, x[2]); + out.set(1, 2, -x[0]); + out.set(2, 0, -x[1]); + out.set(2, 1, x[0]); + out.set(3, 0, -x[0]); + out.set(3, 1, -x[1]); + out.set(3, 2, -x[2]); + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#Q(double, double) + */ +// public Matrix Q(double t, double dt, VectorN x) { +// int n = this.numberOfStates(); +// Matrix q = new Matrix(n, n); +//// double sp = 1.0E-03; +// +//// double sp = 1.0E-14; +// +// +// +//// double sp = 1.0E-08; +// +// double sp = 1.0E-05; +// +// double sp3 = sp/3.0; +// double sp2 = sp/2.0; +// q.set(0, 0, sp3); +// q.set(1, 1, sp3); +// q.set(2, 2, sp3); +// q.set(3, 3, sp); +// q.set(4, 4, sp); +// q.set(5, 5, sp); +// q.set(0, 3, sp2); +// q.set(1, 4, sp2); +// q.set(2, 5, sp2); +// q.set(3, 0, sp2); +// q.set(4, 1, sp2); +// q.set(5, 2, sp2); +// q.set(6, 6, 1.0E-25); +// q.set(7, 7, 1.0E-25); +// q.set(8, 8, 1.0E-25); +// q.set(9, 9, 1.0E-25); +// +// q.set(10, 10, gyro.biasQ()); +// q.set(11, 11, gyro.biasQ()); +// q.set(12, 12, gyro.biasQ()); +// q.set(13, 13, accel.biasQ()); +// q.set(14, 14, accel.biasQ()); +// q.set(15, 15, accel.biasQ()); +// +// q.setMatrix(16, 16, rcvr.biasQ(dt)); +// +// q.set(18, 18, iono.ionoQ(dt)); +// +// for (int i = 0; i < this.nsv; i++) { +// q.set((i+19),(i+19), ure.biasQ()); +// } +// +// VectorN r = new VectorN(x.x[0], x.x[1], x.x[2]); +// VectorN v = new VectorN(x.x[3], x.x[4], x.x[5]); +// Quaternion w = new Quaternion(x.x[6], x.x[7], x.x[8], x.x[9]); +// +// RSW_Frame rsw = new RSW_Frame(r, v); +// Matrix Cb2i = rsw.ECI2RSW().transpose(); +// Matrix W = w.qMatrix(); +// +// Matrix g = new Matrix(n); +// g.setMatrix(3, 13, Cb2i); +// g.setMatrix(6, 10, W); +//// g.print("gmatrix"); +// +// Matrix gT = g.transpose(); +// +// Matrix out = g.times(q.times(gT)); +// return out; +// } + + public Matrix Q(double t, double dt, EstSTM stm) { + int n = this.numberOfStates(); + + VectorN x = stm.state(); + Matrix phi = stm.phi(); + Matrix phiT = phi.transpose(); + + VectorN r = new VectorN(x.x[0], x.x[1], x.x[2]); + VectorN v = new VectorN(x.x[3], x.x[4], x.x[5]); + Quaternion w = new Quaternion(x.x[6], x.x[7], x.x[8], x.x[9]); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Matrix W = w.qMatrix(); + + + + Matrix q = new Matrix(n, n); + + double accel_sigma = 0.00075; // in m/s/rt-hr + double accel_q = accel_sigma * accel_sigma / 3600.0; // in (m/s)^2/Hz + VectorN acc = new VectorN(3); + +// double sp = 1.0E-08; + + acc.set(accel_q); + VectorN accelx = Cb2i.times(acc); + q.set(3, 3, accelx.x[0]); + q.set(4, 4, accelx.x[1]); + q.set(5, 5, accelx.x[2]); +// q.set(3, 3, sp); +// q.set(4, 4, sp); +// q.set(5, 5, sp); + + double gyro_sigma = 0.002 * MathUtils.DEG2RAD; // in rad/rt-hr + double gyro_q = gyro_sigma * gyro_sigma / 3600.0; // in (rad/s)^2/Hz + VectorN gyro_sig = new VectorN(3); + gyro_sig.set(gyro_q); + VectorN gyros = W.times(gyro_sig); + + q.set(6, 6, gyros.x[0]); + q.set(7, 7, gyros.x[1]); + q.set(8, 8, gyros.x[2]); + q.set(9, 9, gyros.x[3]); + + q.set(10, 10, gyro.Q()); + q.set(11, 11, gyro.Q()); + q.set(12, 12, gyro.Q()); + q.set(13, 13, accel.Q()); + q.set(14, 14, accel.Q()); + q.set(15, 15, accel.Q()); + + q.setMatrix(16, 16, rcvr.Q()); + + q.set(18, 18, iono.Q()); + + for (int i = 0; i < this.nsv; i++) { + q.set((i+19),(i+19), ure.Q()); + } + + + Matrix g = new Matrix(n); + + g.setMatrix(3, 3, Cb2i); + + g.setMatrix(3, 13, Cb2i); + g.setMatrix(6, 10, W); +// g.print("gmatrix"); + + Matrix gT = g.transpose(); + + Matrix temp = g.times(q.times(gT)); + + Matrix out = stm.phi().times(temp.times(phiT)); + out = out.times(dt); + return out; + } + + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#propagate(double, double[], double) + */ + public double[] propagate(double t0, double[] xin, double tf) { + + if ((tf - t0) != dt) { + System.out.println("propagate step size messed up"); + } + + // fix the attitude quaternion + EstSTM x = new EstSTM(xin, this.numberOfStates()); + VectorN q = this.getQuat(x); + q.unitize(); + x.setState(6, q); + double [] xold = x.longarray(); + double [] xnew = x.longarray(); + + // propagate + xnew = rk4.step(t0, xold, this); + + // fix the attitude quaternion again + EstSTM y = new EstSTM(xnew, this.numberOfStates()); + q = this.getQuat(y); + q.unitize(); + y.setState(6, q); + double [] out = y.longarray(); + + return out; + } + + /** + * Get the quaternion out of the state vector + * @param x EstSTM containing the state + * @return VectorN containing the quaternion + */ + public VectorN getQuat(EstSTM x){ + VectorN q = x.get(6, 4); + return q; + } + + /** + * Print output + * @param t sim time in seconds + * @param state VectorN containing the state vector + * @param cov Matrix containing the covariance matrix + */ + public void print(double t, VectorN state, Matrix cov) { + + // absolute state processing + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + lp1.print(t, printvector.x); + + + } + + /** + * Print residuals + * @param t sim time in seconds + * @param r1 residual before measurement update + * @param r2 residual after measurement update + */ + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp2.print(y); + } + + /** + * Close the LinePrinters + */ + public void closeLinePrinter(){ + lp1.close(); + lp2.close(); + } + + private VectorN wl_0 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN part1 = dthetal_0.times(3.0); + VectorN w = part1.minus(dthetal_1); + return w; + } + + private VectorN wl_1 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN w = dthetal_0.plus(dthetal_1); + return w; + } + + private VectorN wl_2 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN part1 = dthetal_1.times(3.0); + VectorN w = part1.minus(dthetal_0); + return w; + } + + private VectorN dvl_0 (VectorN dvl_1, VectorN dvl_0){ + VectorN part1 = dvl_0.times(3.0); + VectorN out = part1.minus(dvl_1); + return out; + } + + private VectorN dvl_1 (VectorN dvl_1, VectorN dvl_0){ + VectorN out = dvl_0.plus(dvl_1); + return out; + } + + private VectorN dvl_2 (VectorN dvl_1, VectorN dvl_0){ + VectorN part1 = dvl_1.times(3.0); + VectorN out = part1.minus(dvl_0); + return out; + } + + +} diff --git a/src/jat/coreNOSA/gps_ins/relative/RGPS_INS_MeasurementModel.java b/src/jat/coreNOSA/gps_ins/relative/RGPS_INS_MeasurementModel.java new file mode 100644 index 0000000..32b30c5 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/relative/RGPS_INS_MeasurementModel.java @@ -0,0 +1,365 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps_ins.relative; + +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.RGPS_Measurement; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The RGPS_INS_MeasurementModel.java Class provides measurement model for +* the RGPS/INS extended Kalman filters. +* @author +* @version 1.0 +*/ +public class RGPS_INS_MeasurementModel implements MeasurementModel { + + private VectorN htilde; + + private RGPS_MeasurementList gpsData; + + private GPS_Constellation constell; + + private static final double rangeSigma = 4.0; + + private static final double cpSigma = 0.02; + + private int index = 0; + + private int numberOfStates; + + private IonoModel iono = new IonoModel(); + + private int nsv; + + private int type = 0; + + private double rangeA = 0.0; + + private double rangeB = 0.0; + + private static final int stateIndexA = 0; + private static final int clockIndexA = 16; + private int stateIndexB; + private int clockIndexB; + private int iaIndex; + + private boolean[] firstTime; + + /** + * Constructor + * @param gps RGPS_MeasurementList + * @param con GPS_Constellation + */ + public RGPS_INS_MeasurementModel(RGPS_MeasurementList gps, GPS_Constellation con){ + this.gpsData = gps; + this.constell = con; + this.nsv = con.size(); + this.numberOfStates = 28 + 2 * this.nsv; + this.stateIndexB = this.nsv + 19; + this.clockIndexB = this.stateIndexB + 6; + this.iaIndex = this.nsv + 28; + this.firstTime = new boolean[this.nsv]; + for (int i = 0; i < this.nsv; i++) { + this.firstTime[i] = true; + } + + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#H(VectorN) + */ + public VectorN H(VectorN xref) { + return this.htilde; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#R() + */ + public double R() { + double r = rangeSigma*rangeSigma; + if (type == 2) r = 2.0*cpSigma*cpSigma; + return r; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.MeasurementModel#zPred(int, double, VectorN) + */ + public double zPred(int index, double t, VectorN xref) { + + double out = 0.0; + + // get the SVID and MJD time of measurement + RGPS_Measurement meas = gpsData.get(index); + int prn = meas.svid; + int svindex = this.constell.getIndex(prn); + this.type = meas.type(); + double t_mjd = meas.t_mjd(); + double range = meas.range(); + + //time check + double tgps = meas.t(); + if (tgps != t) { + System.out.println("zPred: time sync error, meas time = "+tgps+" tsim = "+t); + } + + if (type == 0) { + out = rangePred(t_mjd, xref, prn, type); + this.rangeA = out; + } + + if (type == 1) { + out = rangePred(t_mjd, xref, prn, type); + this.rangeB = out; + } + + if (type == 2) { + out = cpPred(t_mjd, xref, prn, range); + } + + return out; + } + + private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // set indices + int svindex = this.constell.getIndex(prn); + int stateIndex = stateIndexA; + int clockIndex = clockIndexA; + if (type == 1) { + stateIndex = this.stateIndexB; + clockIndex = this.clockIndexB; + } + + // extract the current spacecraft position vector + VectorN r = xref.get(stateIndex, 3); + VectorN v = xref.get((stateIndex+3), 3); + + // get the GPS SV from the constellation + GPS_SV sv = constell.getPRN(prn); + + // compute the time of transmission + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS = sv.rvECI(ts_mjd); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate +// VectorN vrel = vGPS.minus(v); + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = xref.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + range = range + bcpart; + + // add iono contribution to range + double diono = xref.x[18]; + double iv = (1.0 + diono)*iono.Ivbar; + double elev = GPS_Utils.elevation(r, rGPS); + double ionopart = IonoModel.del_iono(iv, elev); + range = range + ionopart; + + // add ure contribution to range + int ure_index = 19 + svindex; + double dure = xref.x[ure_index]; + range = range + dure; + + // compute the H vector + this.htilde = new VectorN(this.numberOfStates); + VectorN drrdr = this.drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + htilde.set(stateIndex, drhodr); + htilde.set((stateIndex+3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + htilde.set(clockIndex, drdbc); + + double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + htilde.set(18, drdiono); + htilde.set(ure_index, 1.0); + + return range; + } + + private double cpPred(double t_mjd, VectorN xref, int prn, double meas){ + + // set indices + int svindex = this.constell.getIndex(prn); + + // extract the current spacecraft position vector + VectorN r = xref.get(stateIndexA, 3); + VectorN v = xref.get((stateIndexA+3), 3); + VectorN rISS = xref.get(this.stateIndexB, 3); + VectorN vISS = xref.get((this.stateIndexB+3), 3); + + // get the GPS SV from the constellation + GPS_SV sv = constell.getPRN(prn); + + // compute the time of transmission + double ts_mjd1 = GPS_Utils.transmitTime(t_mjd, sv, r); + double ts_mjd2 = GPS_Utils.transmitTime(t_mjd, sv, rISS); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS1 = sv.rvECI(ts_mjd1); + VectorN rGPS1 = new VectorN(rvGPS1.x[0], rvGPS1.x[1], rvGPS1.x[2]); + VectorN vGPS1 = new VectorN(rvGPS1.x[3], rvGPS1.x[4], rvGPS1.x[5]); + VectorN rvGPS2 = sv.rvECI(ts_mjd2); + VectorN rGPS2 = new VectorN(rvGPS2.x[0], rvGPS2.x[1], rvGPS2.x[2]); + VectorN vGPS2 = new VectorN(rvGPS2.x[3], rvGPS2.x[4], rvGPS2.x[5]); + + // compute the LOS vector + VectorN los1 = rGPS1.minus(r); + VectorN losu1 = los1.unitVector(); + VectorN los2 = rGPS2.minus(rISS); + VectorN losu2 = los2.unitVector(); + + // compute the expected range + double range1 = los1.mag(); + double range2 = los2.mag(); + + // compute the range rate +// VectorN vrel1 = vGPS1.minus(v); + double range_rate1 = GPS_Utils.rangeRate(los1, v, vGPS1); +// VectorN vrel2 = vGPS2.minus(vISS); + double range_rate2 = GPS_Utils.rangeRate(los2, vISS, vGPS2); + + // add clock bias contribution to range + double bc1 = xref.x[clockIndexA]; + double omrroc1 = 1.0 - (range_rate1/GPS_Utils.c); + double bcpart1 = omrroc1*bc1; + range1 = range1 + bcpart1; + + double bc2 = xref.x[clockIndexB]; + double omrroc2 = 1.0 - (range_rate2/GPS_Utils.c); + double bcpart2 = omrroc2*bc2; + range2 = range2 + bcpart2; + + double drange = range1 - range2; + + // add integer ambiguity to range + int ia_index = this.iaIndex + svindex; + double dia = xref.x[ia_index]; + double ia_est = meas - this.rangeA + this.rangeB; + + if (firstTime[svindex]){ // initialize integer amb state and cov + xref.x[ia_index] = ia_est; + dia = ia_est; + firstTime[svindex] = false; + } + +// double ia_err = Math.abs(dia - ia_est); +// if (ia_err > 10.0) { +// xref.x[ia_index] = ia_est; +// dia = ia_est; +// System.out.println("reinit integers"); +// } + + drange = drange + dia; + + + // compute the H vector + this.htilde = new VectorN(this.numberOfStates); + + VectorN drrdr1 = this.drrdr(los1, vGPS1, range_rate1); + VectorN drrdr2 = this.drrdr(los2, vGPS2, range_rate2); + + double term1 = -1.0 * bc1 / GPS_Utils.c; + double term2 = -1.0 * bc2 / GPS_Utils.c; + + drrdr1 = drrdr1.times(term1); + drrdr2 = drrdr2.times(term2); + + VectorN drrdv1 = this.drrdv(los1, vGPS1); + VectorN drrdv2 = this.drrdv(los2, vGPS2); + + VectorN drhodr1 = drrdr1.minus(losu1); + VectorN drhodr2 = drrdr2.minus(losu2); + drhodr2 = drhodr2.times(-1.0); + + htilde.set(stateIndexA, drhodr1); + htilde.set(stateIndexB, drhodr2); + + VectorN drhodv1 = drrdv1.times(term1); + VectorN drhodv2 = drrdv2.times(term2); + drhodv2 = drhodv2.times(-1.0); + htilde.set((stateIndexA+3), drhodv1); + htilde.set((this.stateIndexB+3), drhodv2); + + double drdbc1 = 1.0 - range_rate1/GPS_Utils.c; + double drdbc2 = range_rate2/GPS_Utils.c - 1.0; // subtract it + + htilde.set(clockIndexA, drdbc1); + htilde.set(this.clockIndexB, drdbc2); + + htilde.set(ia_index, 1.0); + + + return drange; + } + + + + private VectorN drrdr (VectorN los, VectorN vGPS, double rr){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = 1.0 / (range + corr); + VectorN losu = los.unitVector(); + VectorN part2 = losu.plus(vc); + part2 = part2.times(rr); + VectorN numerator = part2.minus(los); + VectorN out = numerator.times(factor); + return out; + } + + private VectorN drrdv (VectorN los, VectorN vGPS){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = -1.0 / (range + corr); + VectorN out = los.times(factor); + return out; + } + + + +} diff --git a/src/jat/coreNOSA/gps_ins/relative/RGPS_SIGI.java b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIGI.java new file mode 100644 index 0000000..f331ec1 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIGI.java @@ -0,0 +1,72 @@ +package jat.coreNOSA.gps_ins.relative; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.ins.INS_MeasurementList; + +/** +* The RGPS_SIGI.java Class runs the RGPS/SIGI EKF. +* @author +* @version 1.0 +*/ +public class RGPS_SIGI { + + /** + * main - runs the ekf. + * @params args none. + */ + public static void main(String[] args) { + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "gps\\rgpsmeas_vbar_geom4_mp.jat"; +// String gpsmeasfile = "gpsmeasblk.txt"; + String insmeasfile = "ins\\sigi_vbar.jat"; + String rinexfile = "gps\\rinex.n"; +// RGPS_MeasurementList gps = new RGPS_MeasurementList(); +// gps.readFromFile(dir+gpsmeasfile); + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + INS_MeasurementList ins = INS_MeasurementList.recover(dir+insmeasfile); +// int big = ins.size(); +// System.out.println("ins size = "+big); + GPS_Constellation constellation = new GPS_Constellation(dir+rinexfile); + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_sigi_vbar_geom4_new_th_1.txt"); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_sigi_vbar_geom4_new_th_2.txt"); + LinePrinter lp3 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_sigi_vbar_geom4_th_resid.txt"); + ProcessModel process = new RGPS_SIGI_ProcessModel(ins, constellation, lp1, lp2, lp3); + MeasurementModel meas = new RGPS_INS_MeasurementModel(gps, constellation); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(meas, gps, process); + long ts = System.currentTimeMillis(); + + ekf.process(); + + long tf = System.currentTimeMillis(); + double dtf = (tf - ts)/(60.0 * 1000.0); + System.out.println("EKF Time Elapsed: "+dtf); + + + } +} diff --git a/src/jat/coreNOSA/gps_ins/relative/RGPS_SIGI_ProcessModel.java b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIGI_ProcessModel.java new file mode 100644 index 0000000..3818714 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIGI_ProcessModel.java @@ -0,0 +1,901 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps_ins.relative; + +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.forces.CIRA_ExponentialDrag; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.gps_ins.Derivs; +import jat.coreNOSA.ins.INS_Measurement; +import jat.coreNOSA.ins.INS_MeasurementList; +import jat.coreNOSA.ins.RK4_INS; +import jat.coreNOSA.ins.SIGIAccelFilterModel; +import jat.coreNOSA.ins.SIGIGyroFilterModel; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** +* The RGPS_SIGI_ProcessModel.java Class provides the process model for RGPS/SIGI +* +* @author +* @version 1.0 +*/ +public class RGPS_SIGI_ProcessModel implements Derivs, ProcessModel { + + private INS_MeasurementList insData; + + private SIGIGyroFilterModel gyro = new SIGIGyroFilterModel(); + + private SIGIAccelFilterModel accel = new SIGIAccelFilterModel(); + + private IonoModel iono = new IonoModel(); + + private DragProcessModel dragModel = new DragProcessModel(); + + private ReceiverFilterModel rcvr = new ReceiverFilterModel(); + +// private JGM3 jgm3 = new JGM3(12,12); + + + private RK4_INS rk4; + private double dt = 1.0; + +// private INS_Measurement insMeas; + + private GPS_Constellation gpscon; + + private URE_Model ure; + + private double t_mjd0 = 51969.0; + private double issMass = 128990.0; + private double issArea = 640.7; + private double issCd = 2.35; + private CIRA_ExponentialDrag ced = new CIRA_ExponentialDrag(this.issCd, this.issArea, this.issMass); + + private int issIndex; + private int iaIndex; + + private int nsv; + + private LinePrinter lp1; + private LinePrinter lp2; + private LinePrinter lp3; + + /** + * Constructor + * @param ins INS_MeasurementList + * @param gps GPS_Constellation + * @param l1 LinePrinter for absolute state, covariance output + * @param l2 LinePrinter for relative state, covariance output + * @param l3 LinePrinter for residual output + */ + public RGPS_SIGI_ProcessModel(INS_MeasurementList ins, GPS_Constellation gps, LinePrinter l1, LinePrinter l2, LinePrinter l3) { + this.insData = ins; + this.gpscon = gps; + this.nsv = gps.size(); + this.issIndex = 19 + this.nsv; + this.iaIndex = 28 + this.nsv; + + this.ure = new URE_Model(this.nsv); + this.lp1 = l1; + this.lp2 = l2; + this.lp3 = l3; + this.rk4 = new RK4_INS(this.insData); + } + + /** + * return the initial state vector + */ + public VectorN xref0() { + int n = this.numberOfStates(); + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + // set initial position, velocity, attitude + TwoBody orbit1 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + TwoBody orbit2 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + VectorN r = orbit1.getR(); + VectorN v = orbit1.getV(); + + // perturb ICs +// double [] pert = new double[6]; +// pert[0] = 0.0; +// pert[1] = 0.0; +// pert[2] = 0.0; +// pert[3] = 0.0; +// pert[4] = 0.0; +// pert[5] = 0.0; +// VectorN pt = new VectorN(pert); +// rv = rv.plus(pt); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + + VectorN out = new VectorN(n); + out.set(0, r); + out.set(3, v); + Quaternion q0 = new Quaternion(Cb2i); + out.set(6, q0); + + // set initial gyro bias, assume perfect + out.set(10, 0.0); + out.set(11, 0.0); + out.set(12, 0.0); + + // set initial accel bias, assume perfect + out.set(13, 0.0); + out.set(14, 0.0); + out.set(15, 0.0); + + // set initial clock bias, assume perfect + out.set(16, 0.0); + out.set(17, 0.0); +// out.set(16, 1.0E-02*con.c); +// out.set(17, 6.7E-07*con.c); + + // set initial iono state + out.set(18, 0.0); + + // set initial ure states to zero + + // set ISS initial states + VectorN rv = orbit2.rv; + + // perturb ICs +// rv = rv.plus(pt); + out.set(this.issIndex, rv); + + // set initial ISS clock states, integer amb states to zero + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#P0() + */ + public Matrix P0() { + Matrix out = new Matrix(this.numberOfStates()); + + double sigma_r = 10.0; + double sigma_v = 0.1; + double sigma_q = 0.001; + double sigma_bg = 0.001 * MathUtils.DEG2RAD / 3600.0; + double sigma_ba = 1.6E-04 * 9.81; + double sigma_bc = 1.0E-06; + double sigma_dc = 1.0E-06; + double sigma2_r = sigma_r * sigma_r; + double sigma2_v = sigma_v * sigma_v; + double sigma2_q = sigma_q * sigma_q; + double sigma2_bg = sigma_bg * sigma_bg; + double sigma2_ba = sigma_ba * sigma_ba; + double sigma2_bc = sigma_bc * sigma_bc; + double sigma2_dc = sigma_dc * sigma_dc; + double sigma2_ure = ure.sigma()*ure.sigma(); + + double sigma2_iono = iono.sigma * iono.sigma; +// double sigma2_ia = 1.0E+12*GPS_Utils.lambda*GPS_Utils.lambda; + + double sigma2_drag = 0.8 * 0.8; + + out.set(0, 0, sigma2_r); + out.set(1, 1, sigma2_r); + out.set(2, 2, sigma2_r); + out.set(3, 3, sigma2_v); + out.set(4, 4, sigma2_v); + out.set(5, 5, sigma2_v); + out.set(6, 6, sigma2_q); + out.set(7, 7, sigma2_q); + out.set(8, 8, sigma2_q); + out.set(9, 9, sigma2_q); + out.set(10, 10, sigma2_bg); + out.set(11, 11, sigma2_bg); + out.set(12, 12, sigma2_bg); + out.set(13, 13, sigma2_ba); + out.set(14, 14, sigma2_ba); + out.set(15, 15, sigma2_ba); + out.set(16, 16, sigma2_bc); + out.set(17, 17, sigma2_dc); + out.set(18, 18, sigma2_iono); + + for (int i = 0; i < this.nsv; i++){ + out.set((i+19),(i+19), sigma2_ure); + out.set((this.iaIndex+i),(this.iaIndex+i), 8.0); + } + + int k = this.issIndex; + out.set(k, k, sigma2_r); + out.set(k+1, k+1, sigma2_r); + out.set(k+2, k+2, sigma2_r); + out.set(k+3, k+3, sigma2_v); + out.set(k+4, k+4, sigma2_v); + out.set(k+5, k+5, sigma2_v); + out.set(k+6, k+6, sigma2_bc); + out.set(k+7, k+7, sigma2_dc); + out.set(k+8, k+8, sigma2_drag); + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#numberOfStates() + */ + public int numberOfStates() { + int n = 28 + 2*this.nsv; + return n; + } + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x, INS_Measurement measl_1, INS_Measurement measl, int sw) { + + int n = this.numberOfStates(); + + VectorN out = new VectorN(x.length); + + // get the gyro measurements + VectorN dthetal_1 = measl_1.omega; + VectorN dthetal = measl.omega; + + // get accelerometer measurements + VectorN dvl_1 = measl_1.f; + VectorN dvl = measl.f; + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + Quaternion q = new Quaternion(x[6], x[7], x[8], x[9]); + + q.unitize(); + + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + VectorN bg = new VectorN(x[10], x[11], x[12]); + VectorN ba = new VectorN(x[13], x[14], x[15]); + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[16]); + clock1.set(1, x[17]); + + double del_iono = x[18]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+19]); + } + + // strip off ISS states + int kk = this.issIndex; + VectorN rISS = new VectorN(x[kk], x[kk+1], x[kk+2]); + VectorN vISS = new VectorN(x[kk+3], x[kk+4], x[kk+5]); + VectorN clock2 = new VectorN(2); + clock2.set(0, x[kk+6]); + clock2.set(1, x[kk+7]); + double ddrag = x[kk+8]; + + // Body to inertial DCM + Matrix cib = q.quat2DCM(); + + // get the IMU measurements +// double t_ins = this.insMeas.t; + + // form the appropriate specific force and omega vectors + VectorN f; + VectorN rate; + + switch(sw) { + case 0: + f = this.dvl_2(dvl_1, dvl); + rate = this.wl_2(dthetal_1, dthetal); + break; + case 1: + f = this.dvl_1(dvl_1, dvl); + rate = this.wl_1(dthetal_1, dthetal); + break; + case 2: + f = this.dvl_0(dvl_1, dvl); + rate = this.wl_0(dthetal_1, dthetal); + break; + default: + f = new VectorN(3); + rate = new VectorN(3); + break; + } + + // accel threshold + boolean above = false; + if (f.mag() > 4.5E-03) above = true; + + // compensate for IMU errors + + if (above) { +// f = f.plus(ba); + } else { + f = f.times(0.0); + } + rate = rate.plus(bg); + + // position derivatives + out.set(0, v); + + // velocity derivatives +// TwoBody orbit = new TwoBody(Constants.GM_Earth, r, v); +// VectorN g = orbit.local_grav(); + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); +// ref.setIERS(3.3E-07, 1.17E-06, 0.649232); +// Matrix E = ref.eci2ecef(); +// +// // Acceleration due to harmonic gravity field +// VectorN g = jgm3.gravity(r, E); + + + VectorN sf = cib.times(f); + VectorN vdot = sf.plus(g); + out.set(3, vdot); + + // quaternion derivatives + Matrix omega = Quaternion.omega(rate); + VectorN qdot = omega.times(q); + out.set(6, qdot); + + // gyro bias derivatives + VectorN bgdot = this.gyro.biasProcess(bg); + out.set(10, bgdot); + + // accelerometer bias derivatives + VectorN badot = this.accel.biasProcess(ba); + out.set(13, badot); + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(16, bcdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(18, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(19, uredot); + + // position derivatives + out.set(kk, vISS); + + // velocity derivatives +// TwoBody orbit2 = new TwoBody(Constants.GM_Earth, rISS, vISS); +// g = orbit2.local_grav(); + J2Gravity j2iss = new J2Gravity(rISS); + g = j2iss.local_gravity(); + +// g = jgm3.gravity(rISS, E); + +// double Mjd = this.t_mjd0 + t/86400.0; +// EarthRef ref = new EarthRef(Mjd); + + ced.compute(ref, rISS, vISS); + VectorN drag0 = ced.dragAccel(); + double dragfactor = 1.0 + ddrag; + VectorN drag = drag0.times(dragfactor); + + vdot = g.plus(drag); + + out.set((kk+3), vdot); + + // GPS clock model derivatives + VectorN bcdot2 = rcvr.biasProcess(clock2); + out.set((kk+6), bcdot2); + + double dragdot = DragProcessModel.dragProcess(ddrag); + out.set((kk+8), dragdot); + + // integer ambiguity derivs = 0 + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + A.setMatrix(3, 0, G); + + Matrix abar = this.abar(f); + Matrix atrans = abar.transpose(); + Matrix rhat = q.rMatrix(); + Matrix rtrans = rhat.transpose(); + Matrix d = cib.times(atrans.times(rtrans)); + d = d.times(2.0); + A.setMatrix(3, 6, d); + A.setMatrix(3, 13, cib); + + // quaternion rows + A.setMatrix(6, 6, omega); + Matrix qmat = q.qMatrix(); + A.setMatrix(6, 10, qmat); + + // gyro bias rows + Matrix taug = eye.times(-1.0/SIGIGyroFilterModel.correlationTime); + A.setMatrix(10, 10, taug); + + // accel bias rows + Matrix taua = eye.times(-1.0/SIGIAccelFilterModel.correlationTime); + A.setMatrix(13, 13, taua); + + //clock drift row + A.set(16, 17, 1.0); + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(18, 18, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(19, 19, tau_ure); + + // position rows + A.setMatrix(kk, (kk+3), eye); + + // velocity rows + G = j2iss.gravityGradient(); + Matrix D = ced.partialR().times(dragfactor); + Matrix GD = G.plus(D); + A.setMatrix((kk+3), kk, GD); + + D = ced.partialV().times(dragfactor); + A.setMatrix((kk+3),(kk+3), D); + + // partials of drag accel wrt drag state + A.set((kk+3),(kk+8), drag0.x[0]); + A.set((kk+4),(kk+8), drag0.x[1]); + A.set((kk+5),(kk+8), drag0.x[2]); + + //clock drift row + A.set((kk+6),(kk+7), 1.0); + + // drag rows + double tau_drag = -1.0/DragProcessModel.correlationTime; + A.set((kk+8), (kk+8), tau_drag); + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + private Matrix abar(VectorN f) { + f.checkVectorDimensions(3); + double [] x = f.getArray(); + Matrix out = new Matrix(4, 3); + out.set(0, 1, -x[2]); + out.set(0, 2, x[1]); + out.set(1, 0, x[2]); + out.set(1, 2, -x[0]); + out.set(2, 0, -x[1]); + out.set(2, 1, x[0]); + out.set(3, 0, -x[0]); + out.set(3, 1, -x[1]); + out.set(3, 2, -x[2]); + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#Q(double, double) + */ +// public Matrix Q(double t, double dt, VectorN x) { +// int n = this.numberOfStates(); +// Matrix q = new Matrix(n, n); +//// double sp = 1.0E-03; +// +// +// // adaptive +// double sp = 0.0; +// if (t < 7200.0) { +// sp = 1.0E-05; +// } else { +// sp = 1.0E-14; +// } +// +// +// +//// double sp = 1.0E-08; +// +//// double sp = 1.0E-07; +// double sp3 = sp/3.0; +// double sp2 = sp/2.0; +// q.set(0, 0, sp3); +// q.set(1, 1, sp3); +// q.set(2, 2, sp3); +// q.set(3, 3, sp); +// q.set(4, 4, sp); +// q.set(5, 5, sp); +// q.set(0, 3, sp2); +// q.set(1, 4, sp2); +// q.set(2, 5, sp2); +// q.set(3, 0, sp2); +// q.set(4, 1, sp2); +// q.set(5, 2, sp2); +// q.set(6, 6, 1.0E-25); +// q.set(7, 7, 1.0E-25); +// q.set(8, 8, 1.0E-25); +// q.set(9, 9, 1.0E-25); +// +// q.set(10, 10, gyro.biasQ()); +// q.set(11, 11, gyro.biasQ()); +// q.set(12, 12, gyro.biasQ()); +// q.set(13, 13, accel.biasQ()); +// q.set(14, 14, accel.biasQ()); +// q.set(15, 15, accel.biasQ()); +// +// // adaptive +// if (t < 7200.0) { +// q.setMatrix(16, 16, rcvr.biasQ(dt)); +// q.set(18, 18, iono.ionoQ(dt)); +// +// } else { +// q.setMatrix(16, 16, rcvr.biasQ(dt).times(10.0)); +// q.set(18, 18, 10.0*iono.ionoQ(dt)); +// } +// +// for (int i = 0; i < this.nsv; i++) { +// +// // adaptive +// if (t < 7200.0) { +// q.set((i+19),(i+19), ure.biasQ()); +// } else { +// q.set((i+19),(i+19), 10.0*ure.biasQ()); +// } +// +// q.set((i+this.iaIndex),(i+this.iaIndex), 1.0E-6*dt); +// } +// +// int kk = this.issIndex; +// +// // adaptive +// if (t < 7200.0) { +// sp = 1.0E-05; +// sp3 = sp/3.0; +// sp2 = sp/2.0; +// } +// +// q.set(kk, kk, sp3); +// q.set(kk+1, kk+1, sp3); +// q.set(kk+2, kk+2, sp3); +// q.set(kk+3, kk+3, sp); +// q.set(kk+4, kk+4, sp); +// q.set(kk+5, kk+5, sp); +// q.set(kk, kk+3, sp2); +// q.set(kk+1, kk+4, sp2); +// q.set(kk+2, kk+5, sp2); +// q.set(kk+3, kk, sp2); +// q.set(kk+4, kk+1, sp2); +// q.set(kk+5, kk+2, sp2); +// q.setMatrix(kk+6, kk+6, rcvr.biasQ(dt)); +// q.set(kk+8, kk+8, dragModel.dragQ(dt)); +// +// VectorN r = new VectorN(x.x[0], x.x[1], x.x[2]); +// VectorN v = new VectorN(x.x[3], x.x[4], x.x[5]); +// Quaternion w = new Quaternion(x.x[6], x.x[7], x.x[8], x.x[9]); +// +// RSW_Frame rsw = new RSW_Frame(r, v); +// Matrix Cb2i = rsw.ECI2RSW().transpose(); +// Matrix W = w.qMatrix(); +// +// Matrix g = new Matrix(n); +// g.setMatrix(3, 13, Cb2i); +// g.setMatrix(6, 10, W); +//// g.print("gmatrix"); +// +// Matrix gT = g.transpose(); +// +// Matrix out = g.times(q.times(gT)); +// return out; +// } + + public Matrix Q(double t, double dt, EstSTM stm) { + int n = this.numberOfStates(); + VectorN x = stm.state(); + Matrix phi = stm.phi(); + Matrix phiT = phi.transpose(); + + VectorN r = new VectorN(x.x[0], x.x[1], x.x[2]); + VectorN v = new VectorN(x.x[3], x.x[4], x.x[5]); + Quaternion w = new Quaternion(x.x[6], x.x[7], x.x[8], x.x[9]); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Matrix W = w.qMatrix(); + + Matrix q = new Matrix(n, n); + double accel_sigma = 0.00075; // in m/s/rt-hr + double accel_q = accel_sigma * accel_sigma / 3600.0; // in (m/s)^2/Hz + VectorN acc = new VectorN(3); + +// double sp = 1.0E-05; + double sp = 1.0E-09; + + acc.set(accel_q); +// VectorN accelx = Cb2i.times(acc); +// q.set(3, 3, acc.x[0]); +// q.set(4, 4, acc.x[1]); +// q.set(5, 5, acc.x[2]); + q.set(3, 3, sp); + q.set(4, 4, sp); + q.set(5, 5, sp); + + double gyro_sigma = 0.002 * MathUtils.DEG2RAD; // in rad/rt-hr + double gyro_q = gyro_sigma * gyro_sigma / 3600.0; // in (rad/s)^2/Hz + VectorN gyro_sig = new VectorN(3); + gyro_sig.set(gyro_q); + VectorN gyros = W.times(gyro_sig); + + q.set(6, 6, gyros.x[0]); + q.set(7, 7, gyros.x[1]); + q.set(8, 8, gyros.x[2]); + q.set(9, 9, gyros.x[3]); + + q.set(10, 10, gyro.Q()); + q.set(11, 11, gyro.Q()); + q.set(12, 12, gyro.Q()); + q.set(13, 13, accel.Q()); + q.set(14, 14, accel.Q()); + q.set(15, 15, accel.Q()); + + // adaptive +// if (t < 7200.0) { +// q.setMatrix(16, 16, rcvr.Q()); +// q.set(18, 18, iono.Q()); + +// } else { + q.setMatrix(16, 16, rcvr.biasQ(dt).times(10.0)); + q.set(18, 18, 10.0*iono.ionoQ(dt)); +// } + + for (int i = 0; i < this.nsv; i++) { + + // adaptive +// if (t < 7200.0) { +// q.set((i+19),(i+19), ure.Q()); +// } else { + q.set((i+19),(i+19), 10.0*ure.biasQ()); +// } + + q.set((i+this.iaIndex),(i+this.iaIndex), 1.0E-6); + } + + int kk = this.issIndex; + + // adaptive +// if (t < 7200.0) { +// sp = 1.0E-06; +// sp = 1.0E-07; +// } + + q.set(kk+3, kk+3, sp); + q.set(kk+4, kk+4, sp); + q.set(kk+5, kk+5, sp); + q.setMatrix(kk+6, kk+6, rcvr.Q()); + q.set(kk+8, kk+8, DragProcessModel.Q()); + + // Relative Nav correlation + double rho = 0.99; + Matrix qab = new Matrix(6, 6); + for (int i = 0; i < 6; i++) { + double qa = q.get(i, i); + double qb = q.get(kk+i, kk+i); + double val = rho * Math.sqrt(qa * qb); + q.set(i, (kk+i), val); + q.set((kk+i), i, val); + } + + Matrix g = new Matrix(n); + g.setMatrix(3, 13, Cb2i); + g.setMatrix(6, 10, W); +// g.print("gmatrix"); + + Matrix gT = g.transpose(); + + Matrix temp = g.times(q.times(gT)); + + Matrix out = stm.phi().times(temp.times(phiT)); + out = out.times(dt); + + return out; + } + + + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#propagate(double, double[], double) + */ + public double[] propagate(double t0, double[] xin, double tf) { + + if ((tf - t0) != dt) { + System.out.println("propagate step size messed up"); + } + + // fix the attitude quaternion + EstSTM x = new EstSTM(xin, this.numberOfStates()); + VectorN q = this.getQuat(x); + q.unitize(); + x.setState(6, q); + double [] xold = x.longarray(); + double [] xnew = x.longarray(); + + // propagate + xnew = rk4.step(t0, xold, this); + + // fix the attitude quaternion again + EstSTM y = new EstSTM(xnew, this.numberOfStates()); + q = this.getQuat(y); + q.unitize(); + y.setState(6, q); + double [] out = y.longarray(); + + return out; + } + + public VectorN getQuat(EstSTM x){ + VectorN q = x.get(6, 4); + return q; + } + + /** + * Print output + * @param t sim time in seconds + * @param state VectorN containing the state vector + * @param cov Matrix containing the covariance matrix + */ + public void print(double t, VectorN state, Matrix cov) { + + // absolute state processing + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + lp1.print(t, printvector.x); + + // relative state processing + VectorN r_chaser = state.get(0,3); + VectorN v_chaser = state.get(3,3); + VectorN r_iss = state.get(this.issIndex,3); + VectorN v_iss = state.get(this.issIndex+3,3); + RSW_Frame rsw = new RSW_Frame(r_iss, v_iss); + VectorN r_rel = r_chaser.minus(r_iss); + VectorN v_rel = v_chaser.minus(v_iss); + VectorN rv_rel = rsw.transform(r_rel, v_rel); + + Matrix p_chaser = cov.getMatrix(0, 5, 0, 5); + Matrix p_iss = cov.getMatrix(this.issIndex, this.issIndex+5,this.issIndex, this.issIndex+5); + Matrix p_a = cov.getMatrix(0, 5, this.issIndex, this.issIndex+5); + Matrix p_b = cov.getMatrix(this.issIndex, this.issIndex+5, 0, 5); + Matrix temp1 = p_chaser.plus(p_iss); + Matrix temp2 = p_a.plus(p_b); + Matrix p_rel = temp1.minus(temp2); + + Matrix eci2rsw = rsw.ECI2RSW(); + + Matrix T = new Matrix(6,6); + T.setMatrix(0, 0, eci2rsw); + T.setMatrix(3, 3, eci2rsw); + Matrix Ttrans = T.transpose(); + + Matrix temp3 = p_rel.times(Ttrans); + Matrix p_rsw = T.times(temp3); + sigmas = p_rsw.diagonal(); + sigmas = sigmas.ebeSqrt(); + printvector = new VectorN(rv_rel, sigmas); + lp2.print(t, printvector.x); + + } + + /** + * Print residuals + * @param t sim time in seconds + * @param r1 residual before measurement update + * @param r2 residual after measurement update + */ + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp3.print(y); + } + + + /** + * close the LinePrinters + */ + public void closeLinePrinter(){ + lp1.close(); + lp2.close(); + lp3.close(); + } + + private VectorN wl_0 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN part1 = dthetal_0.times(3.0); + VectorN w = part1.minus(dthetal_1); + return w; + } + + private VectorN wl_1 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN w = dthetal_0.plus(dthetal_1); + return w; + } + + private VectorN wl_2 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN part1 = dthetal_1.times(3.0); + VectorN w = part1.minus(dthetal_0); + return w; + } + + private VectorN dvl_0 (VectorN dvl_1, VectorN dvl_0){ + VectorN part1 = dvl_0.times(3.0); + VectorN out = part1.minus(dvl_1); + return out; + } + + private VectorN dvl_1 (VectorN dvl_1, VectorN dvl_0){ + VectorN out = dvl_0.plus(dvl_1); + return out; + } + + private VectorN dvl_2 (VectorN dvl_1, VectorN dvl_0){ + VectorN part1 = dvl_1.times(3.0); + VectorN out = part1.minus(dvl_0); + return out; + } + + +} diff --git a/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU.java b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU.java new file mode 100644 index 0000000..53fda29 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU.java @@ -0,0 +1,73 @@ +package jat.coreNOSA.gps_ins.relative; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.ins.INS_MeasurementList; + +/** +* The RGPS_SIMU.java Class runs the RGPS/IMU EKF. +* @author +* @version 1.0 +*/ +public class RGPS_SIMU { + + /** + * main - runs the EKF. + * @params args none. + */ + public static void main(String[] args) { + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "gps\\rgpsmeas_rbar_geom1_mp.jat"; +// String gpsmeasfile = "gpsmeasblk.txt"; + String insmeasfile = "simu_rbar.jat"; + String rinexfile = "gps\\rinex.n"; +// RGPS_MeasurementList gps = new RGPS_MeasurementList(); +// gps.readFromFile(dir+gpsmeasfile); + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + INS_MeasurementList ins = INS_MeasurementList.recover(dir+insmeasfile); +// int big = ins.size(); +// System.out.println("ins size = "+big); + long seed = -1; + GPS_Constellation constellation = new GPS_Constellation(dir+rinexfile); + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_simu_rbar_geom1_mp_new_at_1.txt"); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_simu_rbar_geom1_mp_new_at_2.txt"); + LinePrinter lp3 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_simu_rbar_geom1_mp_at_resid.txt"); + ProcessModel process = new RGPS_SIMU_ProcessModel(ins, constellation, lp1, lp2, lp3, seed); + MeasurementModel meas = new RGPS_INS_MeasurementModel(gps, constellation); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(meas, gps, process); + long ts = System.currentTimeMillis(); + + ekf.process(); + + long tf = System.currentTimeMillis(); + double dtf = (tf - ts)/(60.0 * 1000.0); + System.out.println("EKF Time Elapsed: "+dtf); + + + } +} diff --git a/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU_MC.java b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU_MC.java new file mode 100644 index 0000000..27a73bd --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU_MC.java @@ -0,0 +1,89 @@ +package jat.coreNOSA.gps_ins.relative; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.RGPS_MeasurementList; +import jat.coreNOSA.ins.INS_MeasurementList; + +/** +* The ODdemo.java Class is a demonstration of Orbit Determination. +* It processes range data in the file OBSDATA2 with an observation model +* defined by the ObsData class and dynamics model defined by J2DragProcss +* using an Extended Kalman Filter. +* @author +* @version 1.0 +*/ +public class RGPS_SIMU_MC { + + /** + * main - runs the demo. + * @params args none. + */ + public static void main(String[] args) { + + long counter = 11; + int j = 11; + for (int i = 0; i < 20; i++) { + + String num = Integer.toString(j); + long seed = -1 * counter; + + + String dotJat = ".jat"; + String dotTxt = ".txt"; + + String dir = "C:\\Jat\\jat\\input\\"; + String gpsmeasfile = "monte\\rgpsmeas_rbar_geom3_mp_" + num + dotJat; + String insmeasfile = "monte\\simu_rbar_" + num + dotJat; + String rinexfile = "gps\\rinex.n"; + RGPS_MeasurementList gps = RGPS_MeasurementList.recover(dir+gpsmeasfile); + INS_MeasurementList ins = INS_MeasurementList.recover(dir+insmeasfile); + GPS_Constellation constellation = new GPS_Constellation(dir+rinexfile); + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_simu_rbar_geom1_mp_mc_1_" + num + dotTxt); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_simu_rbar_geom1_mp_mc_2_" + num + dotTxt); + LinePrinter lp3 = new LinePrinter("C:\\Jat\\jat\\output\\ekf_simu_rbar_geom1_mp_mc_resid_" + num + dotTxt); + ProcessModel process = new RGPS_SIMU_ProcessModel(ins, constellation, lp1, lp2, lp3, seed); + MeasurementModel meas = new RGPS_INS_MeasurementModel(gps, constellation); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(meas, gps, process); + long ts = System.currentTimeMillis(); + + System.out.println("Run Number: "+num); + + ekf.process(); + + long tf = System.currentTimeMillis(); + double dtf = (tf - ts)/(60.0 * 1000.0); + System.out.println("EKF Time Elapsed: "+dtf); + + counter = counter + 1; + j = j + 1; + + } + + + } +} diff --git a/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU_ProcessModel.java b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU_ProcessModel.java new file mode 100644 index 0000000..b866e27 --- /dev/null +++ b/src/jat/coreNOSA/gps_ins/relative/RGPS_SIMU_ProcessModel.java @@ -0,0 +1,906 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.gps_ins.relative; + +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.forces.CIRA_ExponentialDrag; +import jat.coreNOSA.forces.J2Gravity; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverFilterModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.filters.DragProcessModel; +import jat.coreNOSA.gps_ins.Derivs; +import jat.coreNOSA.ins.INS_Measurement; +import jat.coreNOSA.ins.INS_MeasurementList; +import jat.coreNOSA.ins.RK4_INS; +import jat.coreNOSA.ins.SIGIAccelFilterModel; +import jat.coreNOSA.ins.SIGIGyroFilterModel; +import jat.coreNOSA.ins.SIMUAccelFilterModel; +import jat.coreNOSA.ins.SIMUGyroFilterModel; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** +* The RGPS_SIMU_ProcessModel.java Class provides the process model for RGPS/SIMU, +* an RGPS/INS with an improved IMU. +* +* @author +* @version 1.0 +*/ +public class RGPS_SIMU_ProcessModel implements Derivs, ProcessModel { + + private INS_MeasurementList insData; + + private SIMUGyroFilterModel gyro = new SIMUGyroFilterModel(); + + private SIMUAccelFilterModel accel = new SIMUAccelFilterModel(); +// private SIGIAccelFilterModel accel = new SIGIAccelFilterModel(); + + private IonoModel iono = new IonoModel(); + + private DragProcessModel dragModel = new DragProcessModel(); + + private ReceiverFilterModel rcvr = new ReceiverFilterModel(); + +// private JGM3 jgm3 = new JGM3(12,12); + + + private RK4_INS rk4; + private double dt = 1.0; + +// private INS_Measurement insMeas; + + private GPS_Constellation gpscon; + + private URE_Model ure; + + private double t_mjd0 = 51969.0; + private double issMass = 128990.0; + private double issArea = 640.7; + private double issCd = 2.35; + private CIRA_ExponentialDrag ced = new CIRA_ExponentialDrag(this.issCd, this.issArea, this.issMass); + + private int issIndex; + private int iaIndex; + + private int nsv; + + private LinePrinter lp1; + private LinePrinter lp2; + private LinePrinter lp3; + + private long seed; + + /** + * Constructor + * @param ins INS_MeasurementList + * @param gps GPS_Constellation + * @param l1 LinePrinter for absolute state, covariance output + * @param l2 LinePrinter for relative state, covariance output + * @param l3 LinePrinter for residual output + * @param seed long containing random number seed to be used + */ + public RGPS_SIMU_ProcessModel(INS_MeasurementList ins, GPS_Constellation gps, LinePrinter l1, LinePrinter l2, LinePrinter l3, long sd) { + this.insData = ins; + this.gpscon = gps; + this.nsv = gps.size(); + this.issIndex = 19 + this.nsv; + this.iaIndex = 28 + this.nsv; + + this.ure = new URE_Model(this.nsv); + this.lp1 = l1; + this.lp2 = l2; + this.lp3 = l3; + this.rk4 = new RK4_INS(this.insData); + } + + /** + * return the initial state vector + */ + public VectorN xref0() { + int n = this.numberOfStates(); + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + // set initial position, velocity, attitude + TwoBody orbit1 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + TwoBody orbit2 = new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + VectorN r = orbit1.getR(); + VectorN v = orbit1.getV(); + + //perturb ICs + VectorN mean = new VectorN(3); + VectorN sigp = new VectorN(3); + VectorN sigv = new VectorN(3); + sigp.set(10.0); + sigv.set(0.1); + GaussianVector ppert = new GaussianVector(mean, sigp, this.seed); + r = r.plus(ppert); + GaussianVector vpert = new GaussianVector(mean, sigv, (this.seed - 1)); + v = v.plus(vpert); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + + VectorN out = new VectorN(n); + out.set(0, r); + out.set(3, v); + Quaternion q0 = new Quaternion(Cb2i); + out.set(6, q0); + + // set initial gyro bias, assume perfect + out.set(10, 0.0); + out.set(11, 0.0); + out.set(12, 0.0); + + // set initial accel bias, assume perfect + out.set(13, 0.0); + out.set(14, 0.0); + out.set(15, 0.0); + + // set initial clock bias, assume perfect + out.set(16, 0.0); + out.set(17, 0.0); +// out.set(16, 1.0E-02*con.c); +// out.set(17, 6.7E-07*con.c); + + // set initial iono state + out.set(18, 0.0); + + // set initial ure states to zero + + // set ISS initial states + VectorN rv = orbit2.rv; + + // perturb ICs +// rv = rv.plus(pt); + out.set(this.issIndex, rv); + + // set initial ISS clock states, integer amb states to zero + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#P0() + */ + public Matrix P0() { + Matrix out = new Matrix(this.numberOfStates()); + + double sigma_r = 10.0; + double sigma_v = 0.1; + double sigma_q = 0.001; + double sigma_bg = 0.0003 * MathUtils.DEG2RAD / 3600.0; + + double sigma_ba = 1.0E-03; +// double sigma_ba = 5.0E-05 * 9.81; + + double sigma_bc = 1.0E-06; + double sigma_dc = 1.0E-06; + double sigma2_r = sigma_r * sigma_r; + double sigma2_v = sigma_v * sigma_v; + double sigma2_q = sigma_q * sigma_q; + double sigma2_bg = sigma_bg * sigma_bg; + double sigma2_ba = sigma_ba * sigma_ba; + double sigma2_bc = sigma_bc * sigma_bc; + double sigma2_dc = sigma_dc * sigma_dc; + double sigma2_ure = ure.sigma()*ure.sigma(); + + double sigma2_iono = iono.sigma * iono.sigma; +// double sigma2_ia = 1.0E+12*GPS_Utils.lambda*GPS_Utils.lambda; + + double sigma2_drag = 0.8 * 0.8; + + out.set(0, 0, sigma2_r); + out.set(1, 1, sigma2_r); + out.set(2, 2, sigma2_r); + out.set(3, 3, sigma2_v); + out.set(4, 4, sigma2_v); + out.set(5, 5, sigma2_v); + out.set(6, 6, sigma2_q); + out.set(7, 7, sigma2_q); + out.set(8, 8, sigma2_q); + out.set(9, 9, sigma2_q); + out.set(10, 10, sigma2_bg); + out.set(11, 11, sigma2_bg); + out.set(12, 12, sigma2_bg); + out.set(13, 13, sigma2_ba); + out.set(14, 14, sigma2_ba); + out.set(15, 15, sigma2_ba); + out.set(16, 16, sigma2_bc); + out.set(17, 17, sigma2_dc); + out.set(18, 18, sigma2_iono); + + for (int i = 0; i < this.nsv; i++){ + out.set((i+19),(i+19), sigma2_ure); + out.set((this.iaIndex+i),(this.iaIndex+i), 8.0); + } + + int k = this.issIndex; + out.set(k, k, sigma2_r); + out.set(k+1, k+1, sigma2_r); + out.set(k+2, k+2, sigma2_r); + out.set(k+3, k+3, sigma2_v); + out.set(k+4, k+4, sigma2_v); + out.set(k+5, k+5, sigma2_v); + out.set(k+6, k+6, sigma2_bc); + out.set(k+7, k+7, sigma2_dc); + out.set(k+8, k+8, sigma2_drag); + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#numberOfStates() + */ + public int numberOfStates() { + int n = 28 + 2*this.nsv; + return n; + } + + /** + * @see jat.coreNOSA.algorithm.integrators.Derivatives#derivs(double, double[]) + */ + public double[] derivs(double t, double[] x, INS_Measurement measl_1, INS_Measurement measl, int sw) { + + int n = this.numberOfStates(); + + VectorN out = new VectorN(x.length); + + // get the gyro measurements + VectorN dthetal_1 = measl_1.omega; + VectorN dthetal = measl.omega; + + // get accelerometer measurements + VectorN dvl_1 = measl_1.f; + VectorN dvl = measl.f; + + // strip out the incoming data + VectorN r = new VectorN(x[0], x[1], x[2]); + VectorN v = new VectorN(x[3], x[4], x[5]); + Quaternion q = new Quaternion(x[6], x[7], x[8], x[9]); + + q.unitize(); + + EstSTM stm = new EstSTM(x, n); + Matrix phi = stm.phi(); + + VectorN bg = new VectorN(x[10], x[11], x[12]); + VectorN ba = new VectorN(x[13], x[14], x[15]); + + // strip off clock states + VectorN clock1 = new VectorN(2); + clock1.set(0, x[16]); + clock1.set(1, x[17]); + + double del_iono = x[18]; // iono state + + // strip off incoming ure states + VectorN urevec = new VectorN(this.nsv); + for (int i = 0; i < this.nsv; i++) { + urevec.set(i, x[i+19]); + } + + // strip off ISS states + int kk = this.issIndex; + VectorN rISS = new VectorN(x[kk], x[kk+1], x[kk+2]); + VectorN vISS = new VectorN(x[kk+3], x[kk+4], x[kk+5]); + VectorN clock2 = new VectorN(2); + clock2.set(0, x[kk+6]); + clock2.set(1, x[kk+7]); + double ddrag = x[kk+8]; + + // Body to inertial DCM + Matrix cib = q.quat2DCM(); + + // get the IMU measurements +// double t_ins = this.insMeas.t; + + // form the appropriate specific force and omega vectors + VectorN f; + VectorN rate; + + switch(sw) { + case 0: + f = this.dvl_2(dvl_1, dvl); + rate = this.wl_2(dthetal_1, dthetal); + break; + case 1: + f = this.dvl_1(dvl_1, dvl); + rate = this.wl_1(dthetal_1, dthetal); + break; + case 2: + f = this.dvl_0(dvl_1, dvl); + rate = this.wl_0(dthetal_1, dthetal); + break; + default: + f = new VectorN(3); + rate = new VectorN(3); + break; + } + + // compensate for IMU errors + f = f.plus(ba); + rate = rate.plus(bg); + + // position derivatives + out.set(0, v); + + // velocity derivatives +// TwoBody orbit = new TwoBody(Constants.GM_Earth, r, v); +// VectorN g = orbit.local_grav(); + J2Gravity j2chaser = new J2Gravity(r); + VectorN g = j2chaser.local_gravity(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); +// ref.setIERS(3.3E-07, 1.17E-06, 0.649232); +// Matrix E = ref.eci2ecef(); +// +// // Acceleration due to harmonic gravity field +// VectorN g = jgm3.gravity(r, E); + + + VectorN sf = cib.times(f); + VectorN vdot = sf.plus(g); + out.set(3, vdot); + + // quaternion derivatives + Matrix omega = Quaternion.omega(rate); + VectorN qdot = omega.times(q); + out.set(6, qdot); + + // gyro bias derivatives + VectorN bgdot = this.gyro.biasProcess(bg); + out.set(10, bgdot); + + // accelerometer bias derivatives + VectorN badot = this.accel.biasProcess(ba); + out.set(13, badot); + + // GPS clock model derivatives + VectorN bcdot = rcvr.biasProcess(clock1); + out.set(16, bcdot); + + // iono derivs + double ionodot = iono.ionoProcess(del_iono); + out.set(18, ionodot); + + //ure derivs + VectorN uredot = ure.ureProcess(urevec); + out.set(19, uredot); + + // position derivatives + out.set(kk, vISS); + + // velocity derivatives +// TwoBody orbit2 = new TwoBody(Constants.GM_Earth, rISS, vISS); +// g = orbit2.local_grav(); + J2Gravity j2iss = new J2Gravity(rISS); + g = j2iss.local_gravity(); + +// g = jgm3.gravity(rISS, E); + +// double Mjd = this.t_mjd0 + t/86400.0; +// EarthRef ref = new EarthRef(Mjd); + ced.compute(ref, rISS, vISS); + VectorN drag0 = ced.dragAccel(); + double dragfactor = 1.0 + ddrag; + VectorN drag = drag0.times(dragfactor); + + vdot = g.plus(drag); + out.set((kk+3), vdot); + + // GPS clock model derivatives + VectorN bcdot2 = rcvr.biasProcess(clock2); + out.set((kk+6), bcdot2); + + double dragdot = DragProcessModel.dragProcess(ddrag); + out.set((kk+8), dragdot); + + // integer ambiguity derivs = 0 + + // A matrix + Matrix A = new Matrix(n, n); + + // position rows + Matrix eye = new Matrix(3); + A.setMatrix(0, 3, eye); + + // velocity rows + Matrix G = j2chaser.gravityGradient(); + A.setMatrix(3, 0, G); + + Matrix abar = this.abar(f); + Matrix atrans = abar.transpose(); + Matrix rhat = q.rMatrix(); + Matrix rtrans = rhat.transpose(); + Matrix d = cib.times(atrans.times(rtrans)); + d = d.times(2.0); + A.setMatrix(3, 6, d); + A.setMatrix(3, 13, cib); + + // quaternion rows + A.setMatrix(6, 6, omega); + Matrix qmat = q.qMatrix(); + A.setMatrix(6, 10, qmat); + + // gyro bias rows + Matrix taug = eye.times(-1.0/SIGIGyroFilterModel.correlationTime); + A.setMatrix(10, 10, taug); + + // accel bias rows + Matrix taua = eye.times(-1.0/SIGIAccelFilterModel.correlationTime); + A.setMatrix(13, 13, taua); + + //clock drift row + A.set(16, 17, 1.0); + + // iono row + double tau_iono = -1.0/iono.correlationTime; + A.set(18, 18, tau_iono); + + // ure part + Matrix bigeye = new Matrix(this.nsv); + Matrix tau_ure = eye.times(-1.0/URE_Model.correlationTime); + A.setMatrix(19, 19, tau_ure); + + // position rows + A.setMatrix(kk, (kk+3), eye); + + // velocity rows + G = j2iss.gravityGradient(); + Matrix D = ced.partialR().times(dragfactor); + Matrix GD = G.plus(D); + A.setMatrix((kk+3), kk, GD); + + D = ced.partialV().times(dragfactor); + A.setMatrix((kk+3),(kk+3), D); + + // partials of drag accel wrt drag state + A.set((kk+3),(kk+8), drag0.x[0]); + A.set((kk+4),(kk+8), drag0.x[1]); + A.set((kk+5),(kk+8), drag0.x[2]); + + //clock drift row + A.set((kk+6),(kk+7), 1.0); + + // drag rows + double tau_drag = -1.0/DragProcessModel.correlationTime; + A.set((kk+8), (kk+8), tau_drag); + + // phi derivatives + Matrix phidot = A.times(phi); + + // put phi derivatives into output array + int k = n; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + out.x[k] = phidot.A[i][j]; + k = k + 1; + } + } + + return out.x; + } + + private Matrix abar(VectorN f) { + f.checkVectorDimensions(3); + double [] x = f.getArray(); + Matrix out = new Matrix(4, 3); + out.set(0, 1, -x[2]); + out.set(0, 2, x[1]); + out.set(1, 0, x[2]); + out.set(1, 2, -x[0]); + out.set(2, 0, -x[1]); + out.set(2, 1, x[0]); + out.set(3, 0, -x[0]); + out.set(3, 1, -x[1]); + out.set(3, 2, -x[2]); + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#Q(double, double) + */ +// public Matrix Q(double t, double dt, VectorN x) { +// int n = this.numberOfStates(); +// Matrix q = new Matrix(n, n); +//// double sp = 1.0E-03; +// +//// double sp = 1.0E-06; +// +// // blockage tuning +//// double sp = 1.0E-11; +// +// // nominal tuning +//// double sp = 1.0E-06; +// +// // adaptive +// double sp = 0.0; +// if (t < 7200.0) { +// sp = 1.0E-06; +// } else { +// sp = 1.0E-11; +// } +// +// +// +// double sp3 = sp/3.0; +// double sp2 = sp/2.0; +// q.set(0, 0, sp3); +// q.set(1, 1, sp3); +// q.set(2, 2, sp3); +// q.set(3, 3, sp); +// q.set(4, 4, sp); +// q.set(5, 5, sp); +// q.set(0, 3, sp2); +// q.set(1, 4, sp2); +// q.set(2, 5, sp2); +// q.set(3, 0, sp2); +// q.set(4, 1, sp2); +// q.set(5, 2, sp2); +// q.set(6, 6, 1.0E-25); +// q.set(7, 7, 1.0E-25); +// q.set(8, 8, 1.0E-25); +// q.set(9, 9, 1.0E-25); +// +// q.set(10, 10, gyro.biasQ()); +// q.set(11, 11, gyro.biasQ()); +// q.set(12, 12, gyro.biasQ()); +// q.set(13, 13, accel.biasQ()); +// q.set(14, 14, accel.biasQ()); +// q.set(15, 15, accel.biasQ()); +// +// // adaptive +// if (t < 7200.0) { +// q.setMatrix(16, 16, rcvr.biasQ(dt)); +// q.set(18, 18, iono.ionoQ(dt)); +// +// } else { +// q.setMatrix(16, 16, rcvr.biasQ(dt).times(10.0)); +// q.set(18, 18, 10.0*iono.ionoQ(dt)); +// } +// +// +// for (int i = 0; i < this.nsv; i++) { +// +// // adaptive +// if (t < 7200.0) { +// q.set((i+19),(i+19), ure.biasQ()); +// } else { +// q.set((i+19),(i+19), 10.0*ure.biasQ()); +// } +// +// q.set((i+this.iaIndex),(i+this.iaIndex), 1.0E-6*dt); +// } +// +// int kk = this.issIndex; +// +// // nominal tuning +//// sp = 1.0E-05; +//// sp3 = sp/3.0; +//// sp2 = sp/2.0; +// +// q.set(kk, kk, sp3); +// q.set(kk+1, kk+1, sp3); +// q.set(kk+2, kk+2, sp3); +// q.set(kk+3, kk+3, sp); +// q.set(kk+4, kk+4, sp); +// q.set(kk+5, kk+5, sp); +// q.set(kk, kk+3, sp2); +// q.set(kk+1, kk+4, sp2); +// q.set(kk+2, kk+5, sp2); +// q.set(kk+3, kk, sp2); +// q.set(kk+4, kk+1, sp2); +// q.set(kk+5, kk+2, sp2); +// +// +// q.setMatrix(kk+6, kk+6, rcvr.biasQ(dt)); +// +// q.set(kk+8, kk+8, dragModel.dragQ(dt)); +// +// VectorN r = new VectorN(x.x[0], x.x[1], x.x[2]); +// VectorN v = new VectorN(x.x[3], x.x[4], x.x[5]); +// Quaternion w = new Quaternion(x.x[6], x.x[7], x.x[8], x.x[9]); +// +// RSW_Frame rsw = new RSW_Frame(r, v); +// Matrix Cb2i = rsw.ECI2RSW().transpose(); +// Matrix W = w.qMatrix(); +// +// Matrix g = new Matrix(n); +// g.setMatrix(3, 13, Cb2i); +// g.setMatrix(6, 10, W); +//// g.print("gmatrix"); +// +// Matrix gT = g.transpose(); +// +// Matrix out = g.times(q.times(gT)); +// return out; +// } + + + public Matrix Q(double t, double dt, EstSTM stm) { + int n = this.numberOfStates(); + VectorN x = stm.state(); + Matrix phi = stm.phi(); + Matrix phiT = phi.transpose(); + + VectorN r = new VectorN(x.x[0], x.x[1], x.x[2]); + VectorN v = new VectorN(x.x[3], x.x[4], x.x[5]); + Quaternion w = new Quaternion(x.x[6], x.x[7], x.x[8], x.x[9]); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Matrix W = w.qMatrix(); + + Matrix q = new Matrix(n, n); + double accel_sigma = 1.0E-10; + double accel_q = accel_sigma * accel_sigma; + VectorN acc = new VectorN(3); + +// double tsw = 7200.0; +// double sp = 0.0; +// if (t < tsw) { +// sp = 1.0E-06; +// } +// else { + double sp = 1.0E-09; +// } + + acc.set(accel_q); + VectorN accelx = Cb2i.times(acc); + q.set(3, 3, sp); + q.set(4, 4, sp); + q.set(5, 5, sp); + + double gyro_sigma = 7.9E-05 * MathUtils.DEG2RAD; // in rad/rt-hr + double gyro_q = gyro_sigma * gyro_sigma / 3600.0; // in (rad/s)^2/Hz + VectorN gyro_sig = new VectorN(3); + gyro_sig.set(gyro_q); + VectorN gyros = W.times(gyro_sig); + + q.set(6, 6, gyros.x[0]); + q.set(7, 7, gyros.x[1]); + q.set(8, 8, gyros.x[2]); + q.set(9, 9, gyros.x[3]); + + q.set(10, 10, gyro.Q()); + q.set(11, 11, gyro.Q()); + q.set(12, 12, gyro.Q()); + q.set(13, 13, accel.Q()); + q.set(14, 14, accel.Q()); + q.set(15, 15, accel.Q()); + + // adaptive +// if (t < tsw) { +// q.setMatrix(16, 16, rcvr.Q()); +// q.set(18, 18, iono.Q()); +// +// } else { + q.setMatrix(16, 16, rcvr.biasQ(dt).times(10.0)); + q.set(18, 18, 10.0*iono.ionoQ(dt)); +// } + + for (int i = 0; i < this.nsv; i++) { + + // adaptive +// if (t < tsw) { +// q.set((i+19),(i+19), ure.Q()); +// } else { + q.set((i+19),(i+19), 10.0*ure.Q()); +// } + + q.set((i+this.iaIndex),(i+this.iaIndex), 1.0E-6); + } + + int kk = this.issIndex; + + + q.set(kk+3, kk+3, sp); + q.set(kk+4, kk+4, sp); + q.set(kk+5, kk+5, sp); + q.setMatrix(kk+6, kk+6, rcvr.Q()); + q.set(kk+8, kk+8, DragProcessModel.Q()); + + // Relative Nav correlation + double rho = 0.99; + Matrix qab = new Matrix(6, 6); + for (int i = 0; i < 6; i++) { + double qa = q.get(i, i); + double qb = q.get(kk+i, kk+i); + double val = rho * Math.sqrt(qa * qb); + q.set(i, (kk+i), val); + q.set((kk+i), i, val); + } + + Matrix g = new Matrix(n); + g.setMatrix(3, 13, Cb2i); + g.setMatrix(6, 10, W); +// g.print("gmatrix"); + + Matrix gT = g.transpose(); + + Matrix temp = g.times(q.times(gT)); + + Matrix out = stm.phi().times(temp.times(phiT)); + out = out.times(dt); + + + + return out; + } + + /** + * @see jat.coreNOSA.algorithm.estimators.ProcessModel#propagate(double, double[], double) + */ + public double[] propagate(double t0, double[] xin, double tf) { + + if ((tf - t0) != dt) { + System.out.println("propagate step size messed up"); + } + + // fix the attitude quaternion + EstSTM x = new EstSTM(xin, this.numberOfStates()); + VectorN q = this.getQuat(x); + q.unitize(); + x.setState(6, q); + double [] xold = x.longarray(); + double [] xnew = x.longarray(); + + // propagate + xnew = rk4.step(t0, xold, this); + + // fix the attitude quaternion again + EstSTM y = new EstSTM(xnew, this.numberOfStates()); + q = this.getQuat(y); + q.unitize(); + y.setState(6, q); + double [] out = y.longarray(); + + return out; + } + + public VectorN getQuat(EstSTM x){ + VectorN q = x.get(6, 4); + return q; + } + + /** + * Print output + * @param t sim time in seconds + * @param state VectorN containing the state vector + * @param cov Matrix containing the covariance matrix + */ + public void print(double t, VectorN state, Matrix cov) { + + // absolute state processing + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + lp1.print(t, printvector.x); + + // relative state processing + VectorN r_chaser = state.get(0,3); + VectorN v_chaser = state.get(3,3); + VectorN r_iss = state.get(this.issIndex,3); + VectorN v_iss = state.get(this.issIndex+3,3); + RSW_Frame rsw = new RSW_Frame(r_iss, v_iss); + VectorN r_rel = r_chaser.minus(r_iss); + VectorN v_rel = v_chaser.minus(v_iss); + VectorN rv_rel = rsw.transform(r_rel, v_rel); + + Matrix p_chaser = cov.getMatrix(0, 5, 0, 5); + Matrix p_iss = cov.getMatrix(this.issIndex, this.issIndex+5,this.issIndex, this.issIndex+5); + Matrix p_a = cov.getMatrix(0, 5, this.issIndex, this.issIndex+5); + Matrix p_b = cov.getMatrix(this.issIndex, this.issIndex+5, 0, 5); + Matrix temp1 = p_chaser.plus(p_iss); + Matrix temp2 = p_a.plus(p_b); + Matrix p_rel = temp1.minus(temp2); + + Matrix eci2rsw = rsw.ECI2RSW(); + + Matrix T = new Matrix(6,6); + T.setMatrix(0, 0, eci2rsw); + T.setMatrix(3, 3, eci2rsw); + Matrix Ttrans = T.transpose(); + + Matrix temp3 = p_rel.times(Ttrans); + Matrix p_rsw = T.times(temp3); + sigmas = p_rsw.diagonal(); + sigmas = sigmas.ebeSqrt(); + printvector = new VectorN(rv_rel, sigmas); + lp2.print(t, printvector.x); + + } + + /** + * Print residuals + * @param t sim time in seconds + * @param r1 residual before measurement update + * @param r2 residual after measurement update + */ + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp3.print(y); + } + + /** + * close the LinePrinters + */ + public void closeLinePrinter(){ + lp1.close(); + lp2.close(); + lp3.close(); + } + + private VectorN wl_0 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN part1 = dthetal_0.times(3.0); + VectorN w = part1.minus(dthetal_1); + return w; + } + + private VectorN wl_1 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN w = dthetal_0.plus(dthetal_1); + return w; + } + + private VectorN wl_2 (VectorN dthetal_1, VectorN dthetal_0){ + VectorN part1 = dthetal_1.times(3.0); + VectorN w = part1.minus(dthetal_0); + return w; + } + + private VectorN dvl_0 (VectorN dvl_1, VectorN dvl_0){ + VectorN part1 = dvl_0.times(3.0); + VectorN out = part1.minus(dvl_1); + return out; + } + + private VectorN dvl_1 (VectorN dvl_1, VectorN dvl_0){ + VectorN out = dvl_0.plus(dvl_1); + return out; + } + + private VectorN dvl_2 (VectorN dvl_1, VectorN dvl_0){ + VectorN part1 = dvl_1.times(3.0); + VectorN out = part1.minus(dvl_0); + return out; + } + + +} diff --git a/src/jat/coreNOSA/ground_tracking/IonosphericDelayModel.java b/src/jat/coreNOSA/ground_tracking/IonosphericDelayModel.java new file mode 100644 index 0000000..b525ee9 --- /dev/null +++ b/src/jat/coreNOSA/ground_tracking/IonosphericDelayModel.java @@ -0,0 +1,291 @@ +package jat.coreNOSA.ground_tracking; +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +* +* File Created on May 20, 2007 +*/ + +import jat.coreNOSA.groundstations.GroundStation; +import jat.coreNOSA.groundstations.SimpleGroundStation; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.io.FileOutputStream; +import java.io.PrintStream; + + +public class IonosphericDelayModel { + + //Mean height of the ionosphere in meters + private double h = 350e3; + + //Ionospheric Delay (meters) + private double ionoDelay; + + //Nighttime ionospheric behavior coefficient + private double N = 3.1928e18; + + //Daytime ionospheric behavior coefficient + private double D = 3.1928e19; + + //Slant angle to the satellite + private double slantAngle; + + //Period of Diurnal Variation (hours) + private double Pbar = 32; + + //Phase of Diurnal Variation (hours) + private double thetaD = 14; + + //Frequency of signal + private double freq = 1.6e9; + + + /** create an ionospheric model from the ECEF station position, ECEF + * satellite position, and the current Time. A default frequency of 1.6Ghz is used. + * @param staPos VectorN containing the ground station ECEF coordinates. + * @param satPos VectorN containing the satellites ECEF coordinats. + * @param T Time containing the current time + */ + public IonosphericDelayModel(VectorN staPos, VectorN satPos, Time T) + { + + //Create a Ground Station + SimpleGroundStation station = new SimpleGroundStation("tmp",staPos); + + double az = station.getAzimuth(satPos); + double el = station.getElevation(satPos); + double lat = station.getLatitude(); + double lon = station.getLongitude(); + + //Compute the Delay + double tLoc = computeLocalTime (T,lat,lon,az,el); + computeDelay(tLoc); + + } + + /** create an ionospheric model from the geodetic latitude, longitude and height + * the current satellite posion and the time. A default frequency of 1.6Ghz is used. + * @param lat double geodetic latitude + * @param lon double geodetic longitude + * @param height double geodetic height + * @param satPos VectorN containing the satellites ECEF coordinats. + * @param T Time containing the current time + */ + public IonosphericDelayModel(double lat, double lon, double height, + VectorN satPos,Time T) + { + + SimpleGroundStation station = new SimpleGroundStation("tmp",lat,lon,height); + + double az = station.getAzimuth(satPos); + double el = station.getElevation(satPos); + + //Compute the delay + double tLoc = computeLocalTime (T,lat,lon,az,el); + computeDelay(tLoc); + + } + /** create an ionospheric model from the a current GroundStation, + * the current satellite posion and the time. A default frequency of 1.6Ghz is used. + * @param station GroundStation geodetic latitude + * @param satPos VectorN containing the satellites ECEF coordinats. + * @param T Time containing the current time + */ + public IonosphericDelayModel(GroundStation station, + VectorN satPos,Time T) + { + + double az = station.getAzimuth(satPos); + double el = station.getElevation(satPos); + double lat = station.getLatitude(); + double lon = station.getLongitude(); + + //Compute the Delay + double tLoc = computeLocalTime (T,lat,lon,az,el); + computeDelay(tLoc); + + } + /** Compute the Local time of the sub ionospheric point following the + * algorithm in Burkhart's dissertation + * @param T time current time + * @param staLat double geodetic latitude of the ground station + * @param staLon double geodetic longitude of the ground station + * @param az double azimuth from the ground station to the satellite + * @param el double elevation from the ground station to the satellite + * @return tLocal double local time of sub ionospheric point + */ + private double computeLocalTime(Time T,double staLat, double staLon, + double az, double el) + { + + + //Determine Slant Height + double re = jat.coreNOSA.constants.WGS84.R_Earth; + this.slantAngle = Math.asin(re/(re+this.h)*Math.cos(el)); + + + //Determine the latitude of the sub-ionospheric point + double ionoLat = Math.asin( Math.sin(staLat)*Math.sin(el+this.slantAngle) + + Math.cos(staLat)*Math.cos(az)*Math.cos(el+this.slantAngle)); + + //Determine the longitude of the sub-ionospheric point + double ionoLong = staLon + Math.asin( Math.sin(az)*Math.cos(el+this.slantAngle)/Math.cos(ionoLat) ); + + //Determine the local time + double UTCHours = T.secOfDay()/3600; //Number of hours into current day + + double tLocal = ionoLong/15 + UTCHours; + + return tLocal; + + } + /** Compute the ionospheric delay between the satellite and the ground station + * @param tLocal double local time of the subionospheric point + */ + private void computeDelay(double tLocal) + { + + double chi = (2*Math.PI/this.Pbar)*(tLocal-this.thetaD); + + if(chi > (Math.PI)/2) + { + chi = Math.PI/2; + } + + + this.ionoDelay = (1/Math.cos(this.slantAngle))*(N+D*Math.cos(chi))/(this.freq*this.freq); + } + + /**Return the Slant Angle + * @return slantHeight + */ + public double returnSlantAngle(){ + return this.slantAngle; + } + + /**Return the ionospheric delay + * @return ionosphericDelay + */ + public double returnDelay() + { + return this.ionoDelay; + } + + /**Set the mean height of the ionosphere + * @param _h double new mean ionospheric height + */ + public void set_h(double _h) + { + this.h = _h; + } + + /**Set the Nighttime ionospheric behavior coefficient + * @param _N double new nighttime ionospheric behavior coefficient + */ + public void set_N(double _N) + { + this.N = _N; + } + + /**Set the Daytime ionospheric behavior coefficient + * @param _D double new Daytime ionospheric behavior coefficient + */ + public void set_D(double _D) + { + this.D = _D; + } + + /**Set the Period of the dinural variation + * @param _Pbar double new period of the dinural variation + */ + public void set_Pbar(double _Pbar) + { + this.Pbar = _Pbar; + } + + /**Set the Phase of the dinural variation + * @param _thetaD double new phase of the dinural variation + */ + public void set_thetaD(double _thetaD) + { + this.thetaD = _thetaD; + } + + /**Set the frequency of the signal + * @param double freq frequency of the signal + */ + public void set_freq(double _freq) + { + this.freq = _freq; + } + + public static void main(String[] args) { + + double x,y,z; + VectorN state; + + //Set the Ground Station Parameters + double lat = 0; + double lon = 0; + double height = 10; + + //Set some variables for file output + FileOutputStream out; + PrintStream p; + + + try + { + out = new FileOutputStream("iono.txt"); + p = new PrintStream( out ); + + for(double deg = -90; deg<90; deg=deg+.01) + { + + + //Set the spacecraft's state + x = jat.coreNOSA.constants.WGS84.R_Earth*Math.cos(deg*Math.PI/180); + y = jat.coreNOSA.constants.WGS84.R_Earth*Math.sin(deg*Math.PI/180); + z = 0; + state = new VectorN(x,y,z); + + //Set the time, assuming a 90 minute orbit + Time T = new Time(54103.0 + 1.7361e-006); + + //Create the Ionospheric Delay Model + IonosphericDelayModel iono = new IonosphericDelayModel(lat,lon,height,state,T); + + double delay = iono.returnDelay()/(1.6e9*1.6e9); + + p.println (x + " " + y + " " + z + " " + delay ); + + } + p.close(); + } + + catch (Exception e) + { + System.err.println ("Error writing to file"); + } + + } + + +} diff --git a/src/jat/coreNOSA/ground_tracking/TropoModel.java b/src/jat/coreNOSA/ground_tracking/TropoModel.java new file mode 100644 index 0000000..1f0ae68 --- /dev/null +++ b/src/jat/coreNOSA/ground_tracking/TropoModel.java @@ -0,0 +1,154 @@ +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +* +*/ +package jat.coreNOSA.ground_tracking; +import jat.coreNOSA.constants.IERS_1996; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Tropospheric Refraction Model + * Ref: Montenbruck, pp. 221 - 224. + * "A general and accurate tropospheric refraction model is the + * Hopfield model, modified by Goad to use the Saastamoinen zenith + * range correction. It is applicable both to radar data as well as + * to optical observations." + * @author + * + */ +public class TropoModel { + + private double Ce; + + private double Crho; + + private static final double term2 = 78.8828 / 77.624; + private static final double Re = IERS_1996.R_Earth; + +/** + * Constructor + * @param lambda double containing wavelength in meters + */ + public TropoModel(double lambda){ + double lp2_inv = 1.0 / ((lambda * 1.0E+06)*(lambda * 1.0E+06)); + double denom = (173.3 - lp2_inv); + double term1 = 170.2649 / denom; + Ce = term1 * term2; + double term3 = (173.3 + lp2_inv)/denom; + Crho = Ce * term3; + } + + /** + * Compute refraction corrections. + * @param p double containing pressure in hPa + * @param T double containing temperature in deg K + * @param fh double containing relative humidity (0 <= fh <= 1) + * @param E double containing elevation angle in radians + * @param rho double containing range in m + * @return double[] containing tropospheric refraction corrections for range (m) + * and elevation (arcsec) measurements + */ + public double [] corrections(double p, double T, double fh, double E, double rho){ + // refractivities + double[] N = new double[2]; + // compute dry component refractivity + N[0] = 77.624 * p / T; + // compute wet component refractivity + double Tc = T - 273.15; + double e = 6.10 * fh * Math.exp(17.15 * Tc /(234.7 + Tc)); + N[1] = 371900.0 * e / (T*T) - 12.92 * e/T; + // troposphere heights + double[] h = new double[2]; + // compute dry troposphere height + h[0] = 5.0 * 0.002277 * p / (N[0] * 1.0E-06); + // compute wet troposphere height + h[1] = 5.0 * 0.002277 * e * (1255.0/T + 0.05) / (N[1] * 1.0E-06); + // distances to top of the troposphere + double [] r = new double [2]; + double [][] alpha = new double[9][2]; + double [][] beta = new double[7][2]; + double cosE = Math.cos(E); + double cosE2 = cosE * cosE; + double sinE = Math.sin(E); + for (int j = 0; j < 2; j++){ + r[j] = Math.sqrt((Re + h[j])*(Re + h[j]) - (Re*Re*cosE2)) - Re*sinE; + double aj = -1.0 * sinE/h[j]; + double bj = - 1.0 * cosE2/(2.0 * h[j] * Re); + alpha[0][j] = 1.0; + alpha[1][j] = 4.0*aj; + alpha[2][j] = 6.0*aj*aj + 4.0*bj; + alpha[3][j] = 4.0*aj*(aj*aj + 3.0*bj); + alpha[4][j] = Math.pow(aj, 4) + 12.0*aj*aj*bj + 6.0*bj*bj; + alpha[5][j] = 4.0*aj*bj*(aj*aj + 3.0*bj); + alpha[6][j] = bj*bj*(6.0*aj*aj + 4.0*bj); + alpha[7][j] = 4.0 * aj * bj*bj*bj; + alpha[8][j] = Math.pow(bj,4); + beta[0][j] = 1.0; + beta[1][j] = 3.0*aj; + beta[2][j] = 3.0*(aj*aj + bj); + beta[3][j] = aj*(aj*aj + 6.0*bj); + beta[4][j] = 3.0*bj*(aj*aj + bj); + beta[5][j] = 3.0 * aj * bj*bj; + beta[6][j] = Math.pow(bj,3); + } + + double drho = 0.0; + double dE = 0.0; + for (int j = 0; j < 2; j++){ + double sum1 = 0.0; + for (int i = 0; i < 9; i++){ + double ii = (double)i; + double temp1 = alpha[i][j]*Math.pow(r[j],(i+1))/(ii+1.0); + sum1 = sum1 + temp1; + } + double sum2 = 0.0; + for (int k = 0; k < 7; k++){ + double kk = (double)k; + double temp2 = beta[k][j]*Math.pow(r[j],(k+2))/((kk+1.0)*(kk+2.0)) + beta[k][j]*Math.pow(r[j],(k+1))*(rho - r[j])/(kk+1); + sum2 = sum2 + temp2; + } + drho = drho + N[j] * 1.0E-06 * sum1; + dE = dE + N[j] * 1.0E-06 * sum2 / h[j]; + } + drho = Crho * drho; + dE = Ce * 4.0 * cosE * dE/ rho; + dE = dE / MathUtils.ARCSEC2RAD; + double[] out = new double[2]; + out[0] = drho; + out[1] = dE; + return out; + } + + /** + * @param args + */ + public static void main(String[] args) { + TropoModel x = new TropoModel(GPS_Utils.lambda); + double [] els = {1.0, 3.0, 5.0, 7.0, 10.0, 15.0, 20.0, 30.0, 40.0, 50.0, 70.0, 90.0}; + VectorN E = new VectorN(els).times(MathUtils.DEG2RAD); + for (int i = 0; i < E.length; i++) { + double [] out = x.corrections(938.0, 286.0, 0.73, E.get(i), 1000000.0); + System.out.println(els[i]+" "+out[0]+" "+out[1]); + } + + } + +} diff --git a/src/jat/coreNOSA/groundstations/GroundStation.java b/src/jat/coreNOSA/groundstations/GroundStation.java new file mode 100644 index 0000000..213b95a --- /dev/null +++ b/src/jat/coreNOSA/groundstations/GroundStation.java @@ -0,0 +1,289 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 20, 2007 + */ +package jat.coreNOSA.groundstations; + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class GroundStation { + + private String _STDN = null; + + private String _location = null; + + private String _NASA = null; + + /** latitude in radians. + */ + private double _lat = -9999.9; + + /** longitude in radians. + */ + private double _lon = -9999.9; + + /** height above the ellipsoid in m. + */ + private double _alt = -9999.9; + + // WGS-84 + private double R_equ = 6378.137e3; + + // WGS-84 + private double f = 1.0/298.257223563; + + /** create a Ground Station from latitude, longitude, HAE using WGS-84 Geoid. + * @param stdn String containing the STDN code. + * @param loc String containing the location. + * @param nasa String containing the NASA number. + * @param lat double containing latitude in radians. + * @param lon double containing longitude in radians. + * @param alt double containing height above ellipsoid in meters. + */ + public GroundStation(String stdn, String loc, String nasa, double lat, double lon, double alt){ + _STDN = stdn; + _location = loc; + _NASA = nasa; + _lat = lat; + _lon = lon; + _alt = alt; + } + + /** create a Ground Station from an ECEF Position Vector. + * @param stdn String containing the STDN code. + * @param loc String containing the location. + * @param nasa String containing the NASA number. + * @param r Geocentric position in m. + */ + public GroundStation(String stdn, String loc, String nasa, VectorN r){ + _STDN = stdn; + _location = loc; + _NASA = nasa; + + double eps = 1000.0 * MathUtils.MACHEPS; // Convergence criterion + //double eps = MathUtils.MACHEPS; // Convergence criterion + double epsRequ = eps*R_equ; + double e2 = f*(2.0-f); // Square of eccentricity + + double X = r.x[0]; // Cartesian coordinates + double Y = r.x[1]; + double Z = r.x[2]; + double rho2 = X*X + Y*Y; // Square of distance from z-axis + + // Iteration + double SinPhi; + double ZdZ = 0.0; + double Nh = 0.0; + double N = 0.0; + double dZ = e2*Z; + double dZ_new = 0.0; + + if (r.mag() > 0.0){ + + while (Math.abs(dZ-dZ_new) > epsRequ ) { + ZdZ = Z + dZ; + Nh = Math.sqrt ( rho2 + ZdZ*ZdZ ); + SinPhi = ZdZ / Nh; // Sine of geodetic latitude + N = R_equ / Math.sqrt(1.0-e2*SinPhi*SinPhi); + dZ = dZ_new; + dZ_new = N*e2*SinPhi; + } + + // Longitude, latitude, altitude + _lon = Math.atan2 ( Y, X ); + _lat = Math.atan2 ( ZdZ, Math.sqrt(rho2) ); + _alt = Nh - N; + } + else{ + _lon = -9999.9; + _lat = -9999.9; + _alt = -9999.9; + } + } + + /** Return the STDN code. + * @return STDN code. + */ + public String getSTDN(){ + return _STDN; + } + /** Return the Ground Station Location. + * @return location. + */ + public String getLocation(){ + return _location; + } + /** Return the NASA number. + * @return NASA number. + */ + public String getNASA(){ + return _NASA; + } + /** Return the latitude. + * @return latitude in radians. + */ + public double getLatitude(){ + return _lat; + } + /** return the longitude. + * @return longitude in radians. + */ + public double getLongitude(){ + return _lon; + } + /** return the height above the ellipsoid. + * @return height above the ellipsoid in m. + */ + public double getHAE(){ + return _alt; + } + + + /** computes the ECEF position vector. + * @return ECEF position in m. + */ + public VectorN getECEFPosition () { + double e2 = f*(2.0-f); // Square of eccentricity + double CosLat = Math.cos(_lat); // (Co)sine of geodetic latitude + double SinLat = Math.sin(_lat); + double CosLon = Math.cos(_lon); // (Co)sine of geodetic latitude + double SinLon = Math.sin(_lon); + double N; + VectorN r = new VectorN(3); + + // Position vector + + N = this.R_equ / Math.sqrt(1.0-e2*SinLat*SinLat); + double Nh = N + _alt; + r.x[0] = Nh*CosLat*CosLon; + r.x[1] = Nh*CosLat*SinLon; + r.x[2] = ((1.0-e2)*Nh)*SinLat; + return r; + } + /** computes the ECEF velocity vector. + * @return ECEF velocity in m/s. + */ + public VectorN getECEFVelocity () { + VectorN r = this.getECEFPosition(); + VectorN w = new VectorN(0,0,Constants.omega_e); + VectorN v = w.crossProduct(r); + return v; + } + + /** computes the ECI position vector. + * @param eci2ecef transformation matrix between ECI and ECEF + * @return ECI position in m. + */ + public VectorN getECIPosition(Matrix eci2ecef) { + VectorN ecef = this.getECEFPosition(); + VectorN out = eci2ecef.transpose().times(ecef); + return out; + } + + /** computes the ECI velocity vector. + * @param eci2ecef transformation matrix between ECI and ECEF + * @return ECI position in m. + */ + public VectorN getECIVelocity(Matrix eci2ecef) { + Matrix ecef2eci = eci2ecef.transpose(); + + VectorN recef = this.getECEFPosition(); + VectorN vecef = this.getECEFVelocity(); + + double w = Constants.omega_e; + + Matrix wCross = new Matrix(3,3); + wCross.set(0, 1,-w); + wCross.set(1, 0, w); + + VectorN x1 = wCross.times( ecef2eci.times(recef) ); + VectorN x2 = ecef2eci.times(vecef); + + VectorN out = x1.plus(x2); // this gives same answer as rotransf + + return out; + } + + + /** Compute the transformation from ECEF to SEZ (topocentric horizon) reference frame. + * @return ECEF to SEZ transformation matrix + */ + public Matrix ECEF2SEZ (){ + double lambda = _lon; + double phi = _lat; + + RotationMatrix M = new RotationMatrix( 3, lambda, 2, (Constants.pi/2.0 - phi)); + Matrix out = new Matrix(M); + return out; + } + + /** + * Computes the elevation angle in radians of a spacecraft relative to a groundstation + * @param satPos VectorN containing the ECEF ground station to spacecraft vector + * @return elevation angle in radians (-pi/2 to +pi/2) + */ + public double getElevation(VectorN satPos) + { + Matrix T = ECEF2SEZ(); + VectorN Rho = T.times(satPos); + double el = elevation(Rho); + return el; + } + + + /** + * Returns the azimuth angle in radians of a spacecraft relative to a ground station + * @param rho VectorN containing the ground station to spacecraft vector in ECEF frame + * @return elevation angle in radians (0 to 2pi) + */ + public double getAzimuth(VectorN satPos) + { + Matrix T = ECEF2SEZ(); + VectorN Rho = T.times(satPos); + double ez = azimuth(Rho); + return ez; + } + + /** + * Returns the elevation angle in radians of a spacecraft relative to a ground station + * @param rho VectorN containing the ground station to spacecraft vector in SEZ frame + * @return elevation angle in radians (-pi/2 to +pi/2) + */ + public static double elevation(VectorN rho){ + return Math.asin(rho.get(2)/rho.mag()); + } + + /** + * Returns the azimuth angle in radians of a spacecraft relative to a ground station + * @param rho VectorN containing the ground station to spacecraft vector in SEZ frame + * @return elevation angle in radians (0 to 2pi) + */ + public static double azimuth(VectorN rho){ + double x = rho.get(0); + double y = rho.get(1); + double rxy = Math.sqrt(x*x + y*y); + return MathUtils.arcsin(x, rxy); + } + +} diff --git a/src/jat/coreNOSA/groundstations/GroundStationList.java b/src/jat/coreNOSA/groundstations/GroundStationList.java new file mode 100644 index 0000000..e9d9777 --- /dev/null +++ b/src/jat/coreNOSA/groundstations/GroundStationList.java @@ -0,0 +1,229 @@ + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 20, 2007 + */ + +package jat.coreNOSA.groundstations; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.FileReader; +import java.io.IOException; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** +* The GroundStationList.java Class provides a way to deal with +* a list of ground stations read from a file. +* +* @author +* @version 1.0 +*/ +public class GroundStationList { + + private ArrayList list = new ArrayList(); + + /** Constructor + */ + public GroundStationList() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public GroundStationList(String filename) { + this.readFromFile(filename); + } + + /** Add a GroundStation to the collection + * @param gs GroundStation object + */ + public void add(GroundStation gs) { + list.add(gs); + } + + /** Add a GroundStation to the collection + * @param index Index of GroundStation object + */ public void remove(int index) { + list.remove(index); + } + + /** Get a GroundStation out of the collection + * @param index Index of the Ground Station + * @return the FiniteBurn + */ + public GroundStation get(int index) { + return (GroundStation) list.get(index); + } + + /** Return the size of the list + * @return the number of ground stations in the list + */ + public int size() { + return list.size(); + } + + + /** + * Returns whether there is more data + * @param index measurement index + * @return true if there is more data to be read + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size() - 1)) { + out = true; + } + return out; + } + + /** Read the ground station data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 6) { + System.out.println( + "GroundStationList.readFromFile: Number of columns do not match"); + System.exit(-99); + } + // get name + tok.nextToken(); + String stdn = tok.nextToken(); + String loc = tok.nextToken(); + String nasa = tok.nextToken(); + + // get lat, lon, alt + double[] temp = new double[3]; + for (int i = 0; i < 3; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token)*MathUtils.DEG2RAD; + } + GroundStation gs = new GroundStation(stdn, loc, nasa, temp[0], temp[1], temp[2]); + this.add(gs); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + /** Read the ground station data from a NASA NDOSL ASCII text file. + * @param file filename and directory + */ + public void readFromNDOSLFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "|"); + int total = tok.countTokens(); + + // check for correcy number of columns + if (total == 11) { + // get stdn + tok.nextToken(); + String stdn = tok.nextToken().trim(); + if (!stdn.contains("%") && !stdn.contains("&") && !stdn.contains("$") && !stdn.contentEquals("")) { + String loc = tok.nextToken().trim(); + String nasa = tok.nextToken().trim(); + tok.nextToken(); + tok.nextToken(); + String lat_str = tok.nextToken().trim(); + double lat = this.parseDMS(lat_str); + String lon_str = tok.nextToken().trim(); + double lon = this.parseDMS(lon_str); + String alt_str = tok.nextToken().trim(); + double alt = Double.parseDouble(alt_str); + System.out.println(stdn+"\t"+loc+"\t"+nasa+"\t"+lat+"\t"+lon+"\t"+alt); + GroundStation gs = new GroundStation(stdn, loc, nasa, lat, lon, alt); + this.add(gs); + } + } + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + + /** Write the ground station data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + LinePrinter lp = new LinePrinter(file); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + GroundStation gs = this.get(index); + double x = MathUtils.RAD2DEG; + String out = gs.getSTDN()+"\t"+gs.getLocation()+"\t"+gs.getNASA()+"\t"+x*gs.getLatitude()+"\t"+x*gs.getLongitude()+"\t"+x*gs.getHAE(); + lp.println(out); + index = index + 1; + } + lp.close(); + } + + private double parseDMS(String str){ + double radians = 0.0; + try { + StringTokenizer tok = new StringTokenizer(str, " "); + double degrees = Double.parseDouble(tok.nextToken()); + degrees = degrees + Double.parseDouble(tok.nextToken()) / 60.0; + degrees = degrees + Double.parseDouble(tok.nextToken()) / 3600.0; + radians = degrees * MathUtils.DEG2RAD; + } catch (NumberFormatException e) { + } + return radians; + } + + public static void main(String [] args){ + GroundStationList gs = new GroundStationList(); + String fs = FileUtil.file_separator(); + String dir = FileUtil.getClassFilePath("jat.groundstations","GroundStation"); + String filename = "DBS_NDOSL_WGS84.txt"; + String file = dir+fs+filename; + gs.readFromNDOSLFile(file); + } + + +} diff --git a/src/jat/coreNOSA/groundstations/SimpleGroundStation.java b/src/jat/coreNOSA/groundstations/SimpleGroundStation.java new file mode 100644 index 0000000..7a88fd3 --- /dev/null +++ b/src/jat/coreNOSA/groundstations/SimpleGroundStation.java @@ -0,0 +1,447 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 20, 2007 + */ +package jat.coreNOSA.groundstations; + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.constants.IERS_1996; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.ITRF; +import jat.coreNOSA.spacetime.Time; + +public class SimpleGroundStation { + + private static final double c = IERS_1996.c; + + private String _name = null; + + /** latitude in radians. + */ + private double _lat = -9999.9; + + /** longitude in radians. + */ + private double _lon = -9999.9; + + /** height above the ellipsoid in m. + */ + private double _alt = -9999.9; + + // WGS-84 + private double R_equ = 6378.137e3; + private static double R_static = 6378.137e3; + + // WGS-84 + private double f = 1.0/298.257223563; + private static double f_static = 1.0/298.257223563; + + /** create a Ground Station from latitude, longitude, HAE using WGS-84 Geoid. + * @param name String containing the name. + * @param lat double containing latitude in radians. + * @param lon double containing longitude in radians. + * @param alt double containing height above ellipsoid in meters. + */ + public SimpleGroundStation(String name, double lat, double lon, double alt){ + _name = name; + _lat = lat; + _lon = lon; + _alt = alt; + } + + /** create a Ground Station from ECEF Position Vector. + * @param name String containing the name. + * @param staPos VectorN containing ECEF position + */ + public SimpleGroundStation(String name, VectorN staPos){ + _name = name; + + //Set the Latitude, Longitude and Height + ECEF2LLH(staPos); + + } + + /** ODToolbox interface + * create a Ground Station from ECEF Position Vector. + * @param name String containing the name. + * @param staPos VectorN containing ECEF position + */ + public SimpleGroundStation(String name, double[] staPos){ + _name = name; + + //Set the Latitude, Longitude and Height + ECEF2LLH(new VectorN(staPos)); + + } + + + /** Return the name. + * @return name. + */ + public String getName(){ + return _name; + } + /** Return the latitude. + * @return latitude in radians. + */ + public double getLatitude(){ + return _lat; + } + /** return the longitude. + * @return longitude in radians. + */ + public double getLongitude(){ + return _lon; + } + /** return the height above the ellipsoid. + * @return height above the ellipsoid in m. + */ + public double getHAE(){ + return _alt; + } + + + /** computes the ECEF position vector. + * @return ECEF position in m. + */ + public VectorN getECEFPosition () { + double e2 = f*(2.0-f); // Square of eccentricity + double CosLat = Math.cos(_lat); // (Co)sine of geodetic latitude + double SinLat = Math.sin(_lat); + double CosLon = Math.cos(_lon); // (Co)sine of geodetic latitude + double SinLon = Math.sin(_lon); + double N; + VectorN r = new VectorN(3); + + // Position vector + + N = this.R_equ / Math.sqrt(1.0-e2*SinLat*SinLat); + double Nh = N + _alt; + r.x[0] = Nh*CosLat*CosLon; + r.x[1] = Nh*CosLat*SinLon; + r.x[2] = ((1.0-e2)*Nh)*SinLat; + return r; + } + /** computes the ECEF velocity vector. + * @return ECEF velocity in m/s. + */ + public VectorN getECEFVelocity () { + VectorN r = this.getECEFPosition(); + VectorN w = new VectorN(0,0,Constants.omega_e); + VectorN v = w.crossProduct(r); + return v; + } + /** computes the ECI position vector. + * @param eci2ecef transformation matrix between ECI and ECEF + * @return ECI position in m. + */ + public VectorN getECIPosition(Matrix eci2ecef) { + VectorN ecef = this.getECEFPosition(); + VectorN out = eci2ecef.transpose().times(ecef); + return out; + } + + /** computes the ECI position vector. + * @param eci2ecef transformation matrix between ECI and ECEF + * @return ECI position in m. + */ + public VectorN getECIPosition(ITRF ref) { + VectorN ecef = this.getECEFPosition(); + VectorN out = ref.ECI2ECEF().times(ecef); + return out; + } + /** Compute the transformation from ECEF to SEZ (topocentric horizon) reference frame. + * @return ECEF to SEZ transformation matrix + */ + public Matrix ECEF2SEZ (){ + double lambda = _lon; + double phi = _lat; + + RotationMatrix M = new RotationMatrix( 3, lambda, 2, (Constants.pi/2.0 - phi)); + Matrix out = new Matrix(M); + return out; + } + + /** + * Computes the elevation angle in radians of a spacecraft relative to a groundstation + * @param satPos VectorN containing the ECEF ground station to spacecraft vector + * @return elevation angle in radians (-pi/2 to +pi/2) + */ + public double getElevation(VectorN satPos) + { + Matrix T = ECEF2SEZ(); + VectorN Rho = T.times(satPos); + double el = elevation(Rho); + return el; + } + + /** OD Toolbox Interface + * Computes the elevation angle in radians of a spacecraft relative to a groundstation + * @param satPos VectorN containing the ECEF ground station to spacecraft vector + * @return elevation angle in radians (-pi/2 to +pi/2) + */ + public double getElevation(double[] satPos) + { + return getElevation(new VectorN(satPos)); + } + + + /** + * Returns the azimuth angle in radians of a spacecraft relative to a ground station + * @param rho VectorN containing the ground station to spacecraft vector in ECEF frame + * @return elevation angle in radians (0 to 2pi) + */ + public double getAzimuth(VectorN satPos) + { + Matrix T = ECEF2SEZ(); + VectorN Rho = T.times(satPos); + double ez = azimuth(Rho); + return ez; + } + + /** + * Returns the elevation angle in radians of a spacecraft relative to a ground station + * @param rho VectorN containing the ground station to spacecraft vector in SEZ frame + * @return elevation angle in radians (-pi/2 to +pi/2) + */ + public static double elevation(VectorN rho){ + return Math.asin(rho.get(2)/rho.mag()); + } + + /** + * Returns the azimuth angle in radians of a spacecraft relative to a ground station + * @param rho VectorN containing the ground station to spacecraft vector in SEZ frame + * @return elevation angle in radians (0 to 2pi) + */ + public static double azimuth(VectorN rho){ + double x = rho.get(0); + double y = rho.get(1); + double rxy = Math.sqrt(x*x + y*y); + return MathUtils.arcsin(x, rxy); + } + + /** + * Determine if a spacecraft is visible (above a given min elevation) + * @param rho VectorN containing the ground station to spacecraft vector in ENU frame + * @param minElevation minimum elevation for visibility in radians + * @return boolean, true if elevation >= minElevation, otherwise false + */ + public static boolean isVisible(VectorN rho, double minElevation){ + boolean out = false; + if (elevation(rho) >= minElevation) out = true; + return out; + } + + /** + * Compute the Geodetic Latitude, Longitude and Height usint the algorithm + * from Montebruck's book "Satellite Oribts". + * @param rho VectorN containing the ground station to spacecraft vector in ENU frame + * @param minElevation minimum elevation for visibility in radians + * @return boolean, true if elevation >= minElevation, otherwise false + */ + public void ECEF2LLH(VectorN staPos) + { + double theta,newRange; + double N = 0.0; + + double x = staPos.get(0); + double y = staPos.get(1); + double z = staPos.get(2); + + //Set the initial conditions for the iteration + double e = Math.sqrt(1-(1-this.f)*(1-this.f)); + double deltaZ = 1000; //Set high to force into loop + double deltaZNew = e*e*z; + + //Iterate until the error is small + while( Math.abs(deltaZNew - deltaZ) > 1e-16) + { + deltaZ = deltaZNew; + + newRange = Math.sqrt(x*x + y*y + (z+deltaZ)*(z+deltaZ)); + theta = Math.asin(( z + deltaZ)/newRange); + + N = this.R_equ/Math.sqrt(1-e*e*Math.sin(theta)*Math.sin(theta)); + + deltaZNew = N*e*e*Math.sin(theta); + + } + + //Compute the Latitude, Longitude and Heigth + this._lon = Math.atan2(y, x); + this._lat = Math.atan2( (z+deltaZNew),Math.sqrt(x*x + y*y)); + this._alt = Math.sqrt(x*x + y*y + (z+deltaZ)*(z+deltaZ)) - N; + + } + + /** + * Compute the Geodetic Latitude, Longitude and Height usint the algorithm + * from Montebruck's book "Satellite Oribts". + * @param rho double containing the ground station to spacecraft vector in ENU frame + * @return double - [lat;lon;alt] + */ + public static double[] ECEF2LLH(double[] rho) + { + double theta,newRange; + double N = 0.0; + + double x = rho[0]; + double y = rho[1]; + double z = rho[2]; + + double[] out = new double[3]; + + //Set the initial conditions for the iteration + double e = Math.sqrt(1-(1-f_static)*(1-f_static)); + double deltaZ = 1000; //Set high to force into loop + double deltaZNew = e*e*z; + + //Iterate until the error is small + while( Math.abs(deltaZNew - deltaZ) > 1e-16) + { + deltaZ = deltaZNew; + + newRange = Math.sqrt(x*x + y*y + (z+deltaZ)*(z+deltaZ)); + theta = Math.asin(( z + deltaZ)/newRange); + + N = R_static/Math.sqrt(1-e*e*Math.sin(theta)*Math.sin(theta)); + + deltaZNew = N*e*e*Math.sin(theta); + + } + + //Compute the Latitude, Longitude and Heigth + out[0] = Math.atan2(y, x); + out[1] = Math.atan2( (z+deltaZNew),Math.sqrt(x*x + y*y)); + out[2] = Math.sqrt(x*x + y*y + (z+deltaZ)*(z+deltaZ)) - N; + + return out; + } + + + + /** + * Returns inertial satellite position at time of signal transmission, r(t-tau) + * computed via Taylor series expansion (to avoid interpolation) + * @param tau double containing signal travel time (s) + * @param r VectorN containing satellite inertial position at signal reception time (t) + * @param v VectorN containing satellite inertial velocity at signal reception time (t) + * @param a VectorN containing satellite inertial acceleration at signal reception time (t) + * @return VectorN containing satellite inertial position at time of signal transmission, r(t-tau) + */ + public static VectorN r_trans_time(double tau, VectorN r, VectorN v, VectorN a){ + VectorN term1 = v.times(-1.0 * tau); + VectorN term2 = a.times(0.5 * tau * tau); + VectorN dr = term1.plus(term2); + return r.plus(dr); + } + + + + + public double two_way_range(Time t, VectorN r, VectorN v, VectorN a){ + int maxit = 500; + double eps = 1.0E-16; + + // downlink light time iteration + int i = 0; + double tau_d_new = 0.0; + double tau_d_old = t.mjd_tt(); + double rho_down = 0.0; + double diff = Math.abs(tau_d_new - tau_d_old); + VectorN r_trans = new VectorN(3); + while ((diff > eps)&&(i < maxit)) { + r_trans = r_trans_time(tau_d_old, r, v, a); + ITRF itrf = new ITRF(t, 0.0, 0.0, 0.0); + VectorN R = this.getECIPosition(itrf); + VectorN los = r_trans.minus(R); + double rho = los.mag(); + tau_d_new = rho/c; + diff = Math.abs(tau_d_new - tau_d_old); + tau_d_old = tau_d_new; + rho_down = rho; + i = i + 1; + if (i >= maxit){ + System.out.println("transmitTime too many iterations, diff = "+ diff); + if (diff > 1.0E-10) { + throw new RuntimeException("GPS_Utils.transmitTime too many iterations at t_mjd = "+t.mjd_tt()+", diff = "+ diff); + } + } + } + Time tt = new Time(t.mjd_utc()+tau_d_new/86400.0); + + //uplink time iteration + i = 0; + double tau_u_new = 0.0; + double tau_u_old = t.mjd_tt(); + double rho_up = 0.0; + diff = Math.abs(tau_u_new - tau_u_old); + while ((diff > eps)&&(i < maxit)) { + Time ttt = tt.plus(-1.0*tau_u_old); + ITRF itrf = new ITRF(ttt, 0.0, 0.0, 0.0); + VectorN R = this.getECIPosition(itrf); + VectorN los = r_trans.minus(R); + double rho = los.mag(); + tau_u_new = rho/c; + diff = Math.abs(tau_u_new - tau_u_old); + tau_u_old = tau_u_new; + rho_up = rho; + i = i + 1; + if (i >= maxit){ + System.out.println("transmitTime too many iterations, diff = "+ diff); + if (diff > 1.0E-10) { + throw new RuntimeException("GPS_Utils.transmitTime too many iterations at t_mjd = "+t.mjd_tt()+", diff = "+ diff); + } + } + } + double range = 0.5*(rho_up + rho_down); + return range; + } + + public static void main(String[] args) { + + //Create a Ground station using latitude longitude and height + double staLat = 55*Math.PI/180; + double staLon = -120*Math.PI/180; + double staHeight = 25; + SimpleGroundStation sta1 = new SimpleGroundStation("tmp1",staLat,staLon,staHeight); + + //Get the ECEF coordinates + VectorN sta1Pos = sta1.getECEFPosition(); + + + //Convert it back to make sure we get the same answer + //VectorN sta1Pos = new VectorN(1917032.190, 6029782.349, -801376.113); + SimpleGroundStation station = new SimpleGroundStation("tmp",sta1Pos); + double lat = station.getLatitude(); + double lon = station.getLongitude(); + double height = station.getHAE(); + System.out.println("Latitude: " + lat*180/Math.PI); + System.out.println("Longitude: " + lon*180/Math.PI); + System.out.println("Height: " + height); + + + + } + +} diff --git a/src/jat/coreNOSA/ins/INS_Measurement.java b/src/jat/coreNOSA/ins/INS_Measurement.java new file mode 100644 index 0000000..193b1b4 --- /dev/null +++ b/src/jat/coreNOSA/ins/INS_Measurement.java @@ -0,0 +1,63 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.ins; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.Serializable; + + +/** +* The INS_Measurement.java Class represents a single INS measurement. +* +* @author +* @version 1.0 +*/ +public class INS_Measurement implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 957649027695656863L; + + /** Epoch time of measurement in sim time (seconds) */ + public double t; + + /** Accelerometer measurement */ + public VectorN f; + + /** Gyro measurement */ + public VectorN omega; + + /** Constructor + * @param tsim Time of the measurement in sim time (sec). + * @param sf Accelerometer measurement (m/s) + * @param w Gyro measurement (rad/s) + */ + public INS_Measurement(double tsim, VectorN sf, VectorN w) { + this.t = tsim; + this.f = sf; + this.omega = w; + } + + +} diff --git a/src/jat/coreNOSA/ins/INS_MeasurementList.java b/src/jat/coreNOSA/ins/INS_MeasurementList.java new file mode 100644 index 0000000..cc2c099 --- /dev/null +++ b/src/jat/coreNOSA/ins/INS_MeasurementList.java @@ -0,0 +1,212 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 19, 2003 + */ + +package jat.coreNOSA.ins; +//import jat.alg.estimators.*; +//import jat.ins.*; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.Serializable; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** +* The INS_MeasurementList.java Class provides a way to deal with +* a list of INS measurements read from a file. +* +* @author +* @version 1.0 +*/ +public class INS_MeasurementList implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -1937639510612385715L; + private ArrayList list = new ArrayList(); + + /** Constructor + */ + public INS_MeasurementList() { + } + + /** Constructor + * @param filename String containing directory and filename where the data resides + */ + public INS_MeasurementList(String filename) { + this.readFromFile(filename); + } + + /** Add a INS Measurement to the collection + * @param meas INS_Measurement object + */ + public void add(INS_Measurement meas) { + list.add(meas); + } + + /** Get a GPS_Measurement out of the collection + * @param index Index of the measurement + * @return the GPS Measurement + */ + public INS_Measurement get(int index) { + return (INS_Measurement) list.get(index); + } + + /** Return the size of the list + * @return the number of measurements in the list + */ + public int size() { + return list.size(); + } + + /** Returns the accelerometer measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public VectorN f(int index) { + INS_Measurement meas = this.get(index); + return meas.f; + } + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time(int index) { + INS_Measurement meas = this.get(index); + return meas.t; + } + + /** + * Returns whether there is more data + * @param index measurement index + * @return true if there is more data to be read + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size())) { + out = true; + } + return out; + } + + /** Read the measurement data from a tab-delimited ASCII text file. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (total != 7) { + System.out.println( + "INS_MeasurementList.readFromFile: Number of columns do not match"); + System.exit(-99); + } + + double[] temp = new double[7]; + for (int i = 0; i < 7; i++) { + String token = tok.nextToken(); + temp[i] = Double.parseDouble(token); + } + VectorN sf = new VectorN(temp[1], temp[2], temp[3]); + VectorN w = new VectorN(temp[4], temp[5], temp[6]); + INS_Measurement meas = new INS_Measurement(temp[0], sf, w); + this.add(meas); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + /** Write the measurement data out to tab-delimited ASCII text file. + * @param file filename and directory + */ + public void sendToFile(String file) { + LinePrinter lp = new LinePrinter(file); + int index = 0; + + // loop through the file, one line at a time + while (this.hasNext(index)) { + INS_Measurement meas = this.get(index); + VectorN sf = meas.f; + VectorN w = meas.omega; + VectorN out = new VectorN(sf, w); + lp.print(meas.t, out.x); + index = index + 1; + } + lp.close(); + } + + /** Recover a serialized INS_MeasurementList File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static INS_MeasurementList recover(String filename) { + INS_MeasurementList out = new INS_MeasurementList(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (INS_MeasurementList) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Write the trajectory out to a INS_Measurement File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + +} diff --git a/src/jat/coreNOSA/ins/RK4_INS.java b/src/jat/coreNOSA/ins/RK4_INS.java new file mode 100644 index 0000000..01a75ac --- /dev/null +++ b/src/jat/coreNOSA/ins/RK4_INS.java @@ -0,0 +1,352 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.ins; + +//import jat.matvec.data.*; +//import java.io.*; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.gps_ins.Derivs; +import jat.coreNOSA.gps_ins.EOM; + +/** + *

+ * RK4_INS is a fixed stepsize Runge-Kutta 84th order integrator. + * Integrator parameter values came from: + * Fehlberg, Erwin, NASA TR R-287. It is specially designed + * for using INS measurements to provide the trajectory. + * + * @author + * @version 1.0 + */ + +public class RK4_INS { + + /** Step size. + */ + public double step_size; + + private int index = 0; + + private INS_MeasurementList insData; + + /** Default constructor + */ + public RK4_INS(INS_MeasurementList ins) { + this.step_size = 1.0; + this.insData = ins; + } + + /** Construct RungeKutta8 integrator with specified step size. + * @param s Step size. + */ + + public RK4_INS(double s, INS_MeasurementList ins) { + this.step_size = s; + this.insData = ins; + } + + /** Set step size + * @param s step size + */ + + public void setStepSize(double s) { + this.step_size = s; + } + + /** Take a single integration step. Note: it is assumed that any printing + * will be done by the calling function. + * @param x time or independent variable + * @param y double[] containing needed inputs (usually the state) + * @param neqns number of equations to integrate + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + public double[] step(double x, double[] y, Derivs derivs, INS_Measurement measl_1, INS_Measurement measl) { + int n = y.length; + double f[][] = new double[4][n]; + + double yout[] = new double[n]; + double ytmp[] = new double[n]; + + double h = this.step_size; + + double hh = h * 0.5; + double h6 = h/6.0; + double xh = x + hh; + + double xeval[] = new double [13]; + + + // build f matrix + f[0] = derivs.derivs(x, y, measl_1, measl, 0); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + hh * f[0][i]; + } + f[1] = derivs.derivs(xh, ytmp, measl_1, measl, 1); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + hh * f[1][i]; + } + f[2] = derivs.derivs(xh, ytmp, measl_1, measl, 1); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * f[2][i]; + } + f[3] = derivs.derivs(x + h, ytmp, measl_1, measl, 2); + + + // construct solutions + for (int i = 0; i < n; i++) { + yout[i] = y[i] + h6*(f[0][i] + 2.0 *(f[1][i] + f[2][i]) +f[3][i]); + } + + return yout; + } + + + /** Take a single integration step. Note: it is assumed that any printing + * will be done by the calling function. + * @param x time or independent variable + * @param y double[] containing needed inputs (usually the state) + * @param neqns number of equations to integrate + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + public double[] step(double x, double[] y, Derivs derivs) { + + // get the two INS measurements + INS_Measurement insMeasl_1 = this.insData.get(index); + index = index + 1; + INS_Measurement insMeasl = this.insData.get(index); + index = index + 1; + + int n = y.length; + double f[][] = new double[4][n]; + + double yout[] = new double[n]; + double ytmp[] = new double[n]; + + double h = this.step_size; + + double hh = h * 0.5; + double h6 = h/6.0; + double xh = x + hh; + + double xeval[] = new double [13]; + + + // build f matrix + f[0] = derivs.derivs(x, y, insMeasl_1, insMeasl, 0); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + hh * f[0][i]; + } + f[1] = derivs.derivs(xh, ytmp, insMeasl_1, insMeasl, 1); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + hh * f[1][i]; + } + f[2] = derivs.derivs(xh, ytmp, insMeasl_1, insMeasl, 1); + + for (int i = 0; i < n; i++) { + ytmp[i] = y[i] + h * f[2][i]; + } + f[3] = derivs.derivs(x + h, ytmp, insMeasl_1, insMeasl, 2); + + + // construct solutions + for (int i = 0; i < n; i++) { + yout[i] = y[i] + h6*(f[0][i] + 2.0 *(f[1][i] + f[2][i]) +f[3][i]); + } + + return yout; + } + + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @param pr Object containing the print method. + * @param print_switch Boolean (true = print, false = don't print). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, Derivs derivs, Printable pr, boolean print_switch) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + pr.print(t, oldstate); + } + + // main integration loop + + while (t < tf) { + // get the two INS measurements + INS_Measurement insMeasl_1 = this.insData.get(index); + index = index + 1; + INS_Measurement insMeasl = this.insData.get(index); + index = index + 1; + + newstate = step(t, oldstate, derivs, insMeasl_1, insMeasl); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + pr.print(t, oldstate); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + /** Integrate from t0 to tf. No printing/plotting interface provided. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param derivs Object containing the Equations of Motion + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, Derivs derivs) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + // main integration loop + + while (t < tf) { + // get the two INS measurements + INS_Measurement insMeasl_1 = this.insData.get(index); + index = index + 1; + INS_Measurement insMeasl = this.insData.get(index); + index = index + 1; + + newstate = step(t, oldstate, derivs, insMeasl_1, insMeasl); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + /** Integrate from t0 to tf. + * @param t0 initial time or independent variable + * @param x0 double[] containing the initial state. + * @param tf final time or independent variable. + * @param eom Object implementing the EOM interface + * @param print_switch Boolean (true = print, false = don't print). + * @return double[] containing the new state + */ + + public double[] integrate(double t0, double[] x0, double tf, EOM eom, boolean print_switch) { + int neqns = x0.length; + + double dt = this.step_size; + double t = t0; + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + if (print_switch) { + eom.print(t, oldstate); + } + + // main integration loop + + while (t < tf) { + // get the two INS measurements + INS_Measurement insMeasl_1 = this.insData.get(index); + index = index + 1; + INS_Measurement insMeasl = this.insData.get(index); + index = index + 1; + + newstate = step(t, oldstate, eom, insMeasl_1, insMeasl); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + if (print_switch) { + eom.print(t, oldstate); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + } + return oldstate; + } + + +} diff --git a/src/jat/coreNOSA/ins/SIGIAccelFilterModel.java b/src/jat/coreNOSA/ins/SIGIAccelFilterModel.java new file mode 100644 index 0000000..f035359 --- /dev/null +++ b/src/jat/coreNOSA/ins/SIGIAccelFilterModel.java @@ -0,0 +1,79 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.ins; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The SIGIAccelerometer Class models the SIGI accelerometer triad. + * Only accelerometer bias and measurement noise are included. + * + * @author + * @version 1.0 + */ +public class SIGIAccelFilterModel { + + /** accelerometer bias correlation time in seconds */ + public static final double correlationTime = 3600.0; + + /** accelerometer bias noise strength */ + private double qbias; + + private double q; + + /** Default constructor. Hardcoded with SIGI accelerometer numbers. */ + public SIGIAccelFilterModel() { + + VectorN zeroMean = new VectorN(3); + + // accelerometer bias parameters for SIGI + double biasSigma = 3.0E-05 * 9.81; // in m/s^2 + double dt = 1.0; // time step + double exponent = -2.0*dt/correlationTime; + this.qbias = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); // in (rad/sec)^2/Hz + this.q = 2.0 * biasSigma * biasSigma / correlationTime; + } + + + /** + * Compute the derivatives for the accelerometer bias state. + * The accelerometer bias is modeled as a first order Gauss-Markov process. + * @param ba accelerometer bias vector + * @return the time derivative of the accelerometer bias + */ + public VectorN biasProcess(VectorN ba) { + double coef = -1.0/correlationTime; + VectorN out = ba.times(coef); + + return out; + } + + + /** + * Return the accelerometer bias noise strength to be used in + * the process noise matrix Q. + * @return accelerometer bias noise strength + */ + public double Q() { + return this.q; + } + +} diff --git a/src/jat/coreNOSA/ins/SIGIGyroFilterModel.java b/src/jat/coreNOSA/ins/SIGIGyroFilterModel.java new file mode 100644 index 0000000..20689cd --- /dev/null +++ b/src/jat/coreNOSA/ins/SIGIGyroFilterModel.java @@ -0,0 +1,81 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.ins; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The SIGIGyro Class models the SIGI gyro triad. + * Only gyro bias and measurement noise are included. + * + * @author + * @version 1.0 + */ +public class SIGIGyroFilterModel { + + /** accelerometer bias correlation time in seconds */ + public static final double correlationTime = 3600.0; + + /** gyro bias noise strength */ + private double qbias; + + private double q; + + /** Default constructor. Hardcoded with SIGI gyro numbers. */ + public SIGIGyroFilterModel() { + + VectorN zeroMean = new VectorN(3); + + // gyro bias parameters for SIGI + double biasSigma = 0.0035 * MathUtils.DEG2RAD / 3600.0; + double dt = 1.0; // time step + double exponent = -2.0*dt/correlationTime; + this.qbias = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); // in (rad/sec)^2/Hz + this.q = 2.0 * biasSigma * biasSigma / correlationTime; + } + + + /** + * Compute the derivatives for the gyro bias state. + * The gyro bias is modeled as a first order Gauss-Markov process. + * Used by GPS_INS Process Model. + * @param bg gyro bias vector + * @return the time derivative of the gyro bias + */ + public VectorN biasProcess(VectorN bg) { + double coef = -1.0/correlationTime; + VectorN out = bg.times(coef); + + return out; + } + + + /** + * Return the gyro bias noise strength to be used in + * the process noise matrix Q. + * @return gyro bias noise strength + */ + public double Q() { + return this.q; + } + +} diff --git a/src/jat/coreNOSA/ins/SIGI_MeasurementGenerator.java b/src/jat/coreNOSA/ins/SIGI_MeasurementGenerator.java new file mode 100644 index 0000000..757b9dc --- /dev/null +++ b/src/jat/coreNOSA/ins/SIGI_MeasurementGenerator.java @@ -0,0 +1,489 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 29, 2003 + */ + +package jat.coreNOSA.ins; +//import jat.gps_ins.*; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.cm.FiniteBurnList; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.ChaserBurnEOM; +import jat.coreNOSA.trajectory.ChaserEOM; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.JGM3DragEOM; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; + +/** + * SIGI_MeasurementGenerator generates SIGI measurements and truth trajectories for + * the chaser and ISS. + * + * @author + * @version 1.0 + */ +public class SIGI_MeasurementGenerator { + public Trajectory chaser = new Trajectory(); + + public Trajectory iss = new Trajectory(); + + private ChaserEOM chaserEOM = new ChaserEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + private ChaserBurnEOM burnEOM = new ChaserBurnEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + + private JGM3DragEOM issEOM = new JGM3DragEOM(iss, 51969.0, 128990.0, 640.7, 2.35); + + private String title; + + private String chaserFile; + + private String issFile; + + private String insMeasFile; + + private double dt = 0.5; + + private RungeKutta8 rk8 = new RungeKutta8(this.dt); + + public FiniteBurnList burnlist; + private int dv_index = 0; + + private INS_MeasurementList list = new INS_MeasurementList(); + private double tau = 3600.0; + private VectorN gyro_sigma; + private VectorN accel_sigma; + private GaussianVector gyro_noise; + private GaussianVector accel_noise; + private Matrix accel_sfma; // later + private Matrix gyro_sfma; // later + + private LinePrinter biaslp; + + private long seed = -1; + + private Matrix phi; + + /** + * Constructor + * @param t String containing the title + * @param file1 String containing the chaser trajectory file to be created + * @param file2 String containing the ISS trajectory file to be created + * @param file3 String containing the finite burn file name to be input + * @param file4 String containing the INS measurement file to be created + * @param file5 String containing the true bias file to be created + */ + public SIGI_MeasurementGenerator(String t, String file1, String file2, String file3, String file4, String file5) { + this.chaserFile = file1; + this.issFile = file2; + this.title = t; + this.burnlist = FiniteBurnList.recover(file3); + this.insMeasFile = file4; + this.biaslp = new LinePrinter(file5); + + // set up stochastic stuff + this.phi = this.phi(this.dt, this.tau); + this.accel_sigma = this.qAccel(this.dt).ebeSqrt(); + this.gyro_sigma = this.qGyro(this.dt).ebeSqrt(); + VectorN zero = new VectorN(6); + this.accel_noise = new GaussianVector(zero, this.accel_sigma, seed); + this.gyro_noise = new GaussianVector(zero, this.gyro_sigma, (2*seed)); + + // set scalefactor-misalignment matrix + this.accel_sfma = this.sfmaAccel(); + this.gyro_sfma = this.sfmaGyro(); + } + + private Matrix phi(double dt, double tau) { + Matrix out = new Matrix(6); + double exponent = -1.0 * dt / tau; + double term1 = Math.exp(exponent); + double term2 = (term1 - 1.0) * tau; + out.set(0, 0, term1); + out.set(1, 1, term1); + out.set(2, 2, term1); + out.set(3, 0, term2); + out.set(4, 1, term2); + out.set(5, 2, term2); + return out; + } + + private VectorN qGyro(double dt){ + + double biasSigma = 0.0035 * MathUtils.DEG2RAD / 3600.0; + double exponent = -2.0*dt/tau; + double biasQ = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); + + double noiseSigma = 0.002 * MathUtils.DEG2RAD; + double noiseQ = noiseSigma * noiseSigma*dt / 3600.0; + VectorN out = new VectorN(6); + for (int i = 0; i < 3; i++) { + out.set(i, biasQ); + out.set(i+3, noiseQ); + } + return out; + } + + private Matrix sfmaGyro(){ + long sd = this.seed - 2; + RandomNumber rn = new RandomNumber(sd); + double sigma_ma = 1.0 * MathUtils.ARCSEC2RAD; // 1 arcsec + double sigma_sf = 2.0E-06; // 2 parts per million + Matrix temp = new Matrix(3, 3); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + double x = rn.normal(0.0, sigma_ma); + if (i == j) x = rn.normal(0.0, sigma_sf); + temp.set(i, j, x); + } + } + + Matrix eye = new Matrix(3); + Matrix out = eye.minus(temp); + return out; + + } + + private Matrix sfmaAccel(){ + long sd = this.seed - 3; + RandomNumber rn = new RandomNumber(sd); + double sigma_ma = 1.0E-04; // 100 microrad + double sigma_sf = 3.1E-04; // 310 parts per million + Matrix temp = new Matrix(3, 3); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + double x = rn.normal(0.0, sigma_ma); + if (i == j) x = rn.normal(0.0, sigma_sf); + temp.set(i, j, x); + } + } + Matrix eye = new Matrix(3); + Matrix out = eye.minus(temp); + return out; + + } + + + private VectorN qAccel(double dt){ + double biasSigma = 3.0E-05 * 9.81; + double exponent = -2.0*dt/tau; + double biasQ = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); + + double noiseSigma = 0.00075; + double noiseQ = noiseSigma * noiseSigma*dt / 3600.0; + VectorN out = new VectorN(6); + for (int i = 0; i < 3; i++) { + out.set(i, biasQ); + out.set(i+3, noiseQ); + } + return out; + } + + private VectorN initBiases(){ + long sd = this.seed - 2; + RandomNumber rn = new RandomNumber(sd); + VectorN out = new VectorN(12); + double gyro_sigma = 0.001 * MathUtils.DEG2RAD / 3600.0; + double accel_sigma = 1.6E-04 * 9.81; + for (int i = 0; i < 3; i++) { + double xa = rn.normal(0.0, accel_sigma); + double xg = rn.normal(0.0, gyro_sigma); + out.set(i, xa); + out.set((i+6), xg); + } + return out; + } + + /** + * Generate the data + * @param t0 initial time (sim time in seconds) + * @param tf final time (sim time in seconds) + * @param x0 VectorN containing the initial chaser state + * @param xref0 VectorN containing the initial ISS state + */ + public void generate (double t0, double tf, VectorN x0, VectorN xref0) { + + // propagate the orbit + int neqns = x0.length; + + double t = t0; + double[] newchaser = new double[neqns]; + double[] oldchaser = new double[neqns]; + double[] newiss = new double[neqns]; + double[] oldiss = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = x0.x[i]; + oldiss[i] = xref0.x[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + + boolean burnstarted = false; + + // initialize INS states, add an init function to start with non-zero biases + VectorN insStates = this.initBiases(); + this.biaslp.println(t+"\t"+insStates.toString()); + + // main integration loop + while (t < tf) { + + // reset accelerometer and gyro accumulators + for (int i = 0; i < 6; i++) { + oldchaser[i+10] = 0.0; + } + + // check next burn time + FiniteBurn burn = burnlist.get(dv_index); + double tstart = burn.tstart; + double tstop = burn.tstop; + if ((t >= tstart) && (t < tstop)) { + burnEOM.setBurn(burn); + newchaser = rk8.step(t, oldchaser, burnEOM); + burnstarted = true; + } + else { + newchaser = rk8.step(t, oldchaser, chaserEOM); + if ((t > tstop) && (burnstarted)) { + System.out.println(t+" burn "+dv_index+" completed, incrementing"); + if (burnlist.hasNext(dv_index)) { + dv_index = dv_index + 1; + } + burnstarted = false; + } + } + + newiss = rk8.step(t, oldiss, issEOM); + + // normalize the quaternion + VectorN r = new VectorN(newchaser[0], newchaser[1], newchaser[2]); + VectorN v = new VectorN(newchaser[3], newchaser[4], newchaser[5]); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix x = rsw.ECI2RSW().transpose(); + Quaternion q = new Quaternion(x); + // check for sign flip + for (int i = 0; i < 4; i++) { + double mult = newchaser[i+6] * q.x[i]; + newchaser[i+6] = q.x[i]; + if ((mult < 0.0)&&(Math.abs(newchaser[i+6]) > 1.0E-12)) newchaser[i+6] = -1.0*q.x[i]; + } + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = newchaser[i]; + oldiss[i] = newiss[i]; + } + + t = t + dt; + + insStates = this.INSmeas(t, oldchaser, insStates); + + if (MathUtils.Frac(t) == 0.0){ + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + } + + + // set the attributes + chaser.setTitle(this.title); + chaser.setCentralBody(CentralBody.EARTH); + chaser.setCoordinateSystem(CoordinateSystem.INERTIAL); + chaser.setDistanceUnits(DistanceUnits.METERS); + chaser.setEpoch(2001, 3, 1, 0, 0, 0.0); + chaser.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot","q1","q2","q3","q4","fx","fy","fz"}; + chaser.setLabels(labels); + + iss.setTitle(this.title); + iss.setCentralBody(CentralBody.EARTH); + iss.setCoordinateSystem(CoordinateSystem.INERTIAL); + iss.setDistanceUnits(DistanceUnits.METERS); + iss.setEpoch(2001, 3, 1, 0, 0, 0.0); + iss.setTimeUnits(TimeUnits.SECONDS); + iss.setLabels(labels); + + + // Serialize the trajectory + chaser.serialize(this.chaserFile); + iss.serialize(this.issFile); + list.serialize(this.insMeasFile); + System.out.println("trajectory serialized"); + this.biaslp.close(); + + } + + private VectorN INSmeas(double t, double[] state, VectorN in) { + // get the true accel and omega + VectorN accel_true = new VectorN(state[10], state[11], state[12]); + VectorN omega_true = new VectorN(state[13], state[14], state[15]); + + // strip out the bias states + VectorN accel_bias = in.get(0, 3); + VectorN gyro_bias = in.get(6, 3); + + // form the state vectors, zeroing out the accel and gyro accumulators + VectorN zero = new VectorN(3); + VectorN accel_state = accel_bias.append(zero); + VectorN gyro_state = gyro_bias.append(zero); + + // get the next noise values + this.accel_noise.nextSet(); + this.gyro_noise.nextSet(); + + // propagate the states forward in time + accel_state = this.phi.times(accel_state).plus(this.accel_noise); + gyro_state = this.phi.times(gyro_state).plus(this.gyro_noise); + + // get the noise accumulators + VectorN accel_noise_acc = accel_state.get(3, 3); + VectorN gyro_noise_acc = gyro_state.get(3, 3); + + // add in scalefactor-misalignment + VectorN accel_temp = this.accel_sfma.times(accel_true); + VectorN gyro_temp = this.gyro_sfma.times(omega_true); + + + // form the measurements + VectorN accel_meas = accel_temp.plus(accel_noise_acc); + VectorN gyro_meas = gyro_temp.plus(gyro_noise_acc); + + // add the measurements to the list + INS_Measurement meas = new INS_Measurement(t, accel_meas, gyro_meas); +// INS_Measurement meas = new INS_Measurement(t, accel_true, omega_true); + list.add(meas); +// System.out.println(t+"\t"+accel_meas+"\t"+gyro_meas); + + // send the biases to the lineprinter + if (MathUtils.Frac(t) == 0.0){ + this.biaslp.println(t+"\t"+accel_state.toString()+gyro_state.toString()); + } + + // form the output state vector + VectorN out = accel_state.append(gyro_state); + return out; + + } + + + /** Runs the example. + * @param args Arguments. + */ + public VectorN initChaser () { + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + public VectorN initISS () { + + // create a TwoBody orbit using orbit elements + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + + public static void main(String[] args){ + + // set up the generator + String title = "STS/ISS Rendezvous Trajectory"; + String file1 = "C:\\Jat\\jat\\traj\\reference\\rvtraj_vbar.jat"; + String file2 = "C:\\Jat\\jat\\traj\\reference\\isstraj_vbar.jat"; + String file3 = "C:\\Jat\\jat\\input\\burns\\vbar_burns.jat"; + String file4 = "C:\\Jat\\jat\\input\\sigi_vbar.jat"; + String file5 = "C:\\Jat\\jat\\output\\sigi_vbar_bias.txt"; +// String file4 = "C:\\Jat\\jat\\input\\sigi_ins.jat"; +// String file5 = "C:\\Jat\\jat\\output\\sigi_bias.txt"; + + SIGI_MeasurementGenerator x = new SIGI_MeasurementGenerator(title, file1, file2, file3, file4, file5); + VectorN x0 = x.initChaser(); + VectorN xref0 = x.initISS(); + + + double t0 = 0.0; +// double tf = 5579.0; + double tf = 9400.0; + x.generate(t0, tf, x0, xref0); + System.out.println("Done Generating"); + + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\traj\\rvtraj_vbar.txt"); + + x.chaser.sendToLinePrinter(lp1); + + + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\traj\\isstraj_vbar.txt"); + + x.iss.sendToLinePrinter(lp2); + + } + + +} diff --git a/src/jat/coreNOSA/ins/SIMUAccelFilterModel.java b/src/jat/coreNOSA/ins/SIMUAccelFilterModel.java new file mode 100644 index 0000000..1c55a68 --- /dev/null +++ b/src/jat/coreNOSA/ins/SIMUAccelFilterModel.java @@ -0,0 +1,79 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.ins; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The SIMUAccelerometer Class models the SIMU accelerometer triad. + * Only accelerometer bias and measurement noise are included. + * + * @author + * @version 1.0 + */ +public class SIMUAccelFilterModel { + + /** accelerometer bias correlation time in seconds */ + public static final double correlationTime = 3.0 * 3600.0; + + /** accelerometer bias noise strength */ + private double qbias; + + private double q; + + /** Default constructor. Hardcoded with SIGI accelerometer numbers. */ + public SIMUAccelFilterModel() { + + VectorN zeroMean = new VectorN(3); + + // accelerometer bias parameters for SIGI + double biasSigma = 1.0E-10; // in m/s^2 + double dt = 1.0; // time step + double exponent = -2.0*dt/correlationTime; + this.qbias = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); // in (rad/sec)^2/Hz + this.q = 2.0 * biasSigma * biasSigma / correlationTime; + } + + + /** + * Compute the derivatives for the accelerometer bias state. + * The accelerometer bias is modeled as a first order Gauss-Markov process. + * @param ba accelerometer bias vector + * @return the time derivative of the accelerometer bias + */ + public VectorN biasProcess(VectorN ba) { + double coef = -1.0/correlationTime; + VectorN out = ba.times(coef); + + return out; + } + + /** + * Return the accelerometer bias noise strength to be used in + * the process noise matrix Q. + * @return accelerometer bias noise strength + */ + public double Q() { + return this.q; + } + + +} diff --git a/src/jat/coreNOSA/ins/SIMUGyroFilterModel.java b/src/jat/coreNOSA/ins/SIMUGyroFilterModel.java new file mode 100644 index 0000000..12d79bf --- /dev/null +++ b/src/jat/coreNOSA/ins/SIMUGyroFilterModel.java @@ -0,0 +1,82 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.ins; + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The SIMUGyro Class models the SIMU gyro triad. + * Only gyro bias and measurement noise are included. + * + * @author + * @version 1.0 + */ +public class SIMUGyroFilterModel { + + /** accelerometer bias correlation time in seconds */ + public static final double correlationTime = 3.0 * 3600.0; + + /** gyro bias noise strength */ + private double qbias; + + private double q; + + /** Default constructor. Hardcoded with SIGI gyro numbers. */ + public SIMUGyroFilterModel() { + + VectorN zeroMean = new VectorN(3); + + // gyro bias parameters for SIGI + double biasSigma = 5.0E-05 * MathUtils.DEG2RAD / 3600.0; + double dt = 1.0; // time step + double exponent = -2.0*dt/correlationTime; + this.qbias = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); // in (rad/sec)^2/Hz + this.q = 2.0 * biasSigma * biasSigma / correlationTime; + } + + + /** + * Compute the derivatives for the gyro bias state. + * The gyro bias is modeled as a first order Gauss-Markov process. + * Used by GPS_INS Process Model. + * @param bg gyro bias vector + * @return the time derivative of the gyro bias + */ + public VectorN biasProcess(VectorN bg) { + double coef = -1.0/correlationTime; + VectorN out = bg.times(coef); + + return out; + } + + /** + * Return the gyro bias noise strength to be used in + * the process noise matrix Q. + * @return gyro bias noise strength + */ + public double Q() { + return this.q; + } + + +} diff --git a/src/jat/coreNOSA/ins/SIMU_MeasurementGenerator.java b/src/jat/coreNOSA/ins/SIMU_MeasurementGenerator.java new file mode 100644 index 0000000..efe1778 --- /dev/null +++ b/src/jat/coreNOSA/ins/SIMU_MeasurementGenerator.java @@ -0,0 +1,490 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 29, 2003 + */ + +package jat.coreNOSA.ins; +//import jat.gps_ins.*; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.cm.FiniteBurnList; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.ChaserBurnEOM; +import jat.coreNOSA.trajectory.ChaserEOM; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.JGM3DragEOM; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; + +/** + * SIMU_MeasurementGenerator generates SIMU measurements and truth trajectories for + * the chaser and ISS. + * + * @author + * @version 1.0 + */ +public class SIMU_MeasurementGenerator { + public Trajectory chaser = new Trajectory(); + + public Trajectory iss = new Trajectory(); + + private ChaserEOM chaserEOM = new ChaserEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + private ChaserBurnEOM burnEOM = new ChaserBurnEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + + private JGM3DragEOM issEOM = new JGM3DragEOM(iss, 51969.0, 128990.0, 640.7, 2.35); + + private String title; + + private String chaserFile; + + private String issFile; + + private String insMeasFile; + + private double dt = 0.5; + + private RungeKutta8 rk8 = new RungeKutta8(this.dt); + + public FiniteBurnList burnlist; + private int dv_index = 0; + + private INS_MeasurementList list = new INS_MeasurementList(); + private double tau = 3.0 * 3600.0; + private VectorN gyro_sigma; + private VectorN accel_sigma; + private GaussianVector gyro_noise; + private GaussianVector accel_noise; + private Matrix accel_sfma; // later + private Matrix gyro_sfma; // later + + private LinePrinter biaslp; + + private long seed = -1; + + private Matrix phi; + + /** + * Constructor + * @param t String containing the title + * @param file1 String containing the chaser trajectory file to be created + * @param file2 String containing the ISS trajectory file to be created + * @param file3 String containing the finite burn file name to be input + * @param file4 String containing the INS measurement file to be created + * @param file5 String containing the true bias file to be created + */ + public SIMU_MeasurementGenerator(String t, String file1, String file2, String file3, String file4, String file5) { + this.chaserFile = file1; + this.issFile = file2; + this.title = t; + this.burnlist = FiniteBurnList.recover(file3); + this.insMeasFile = file4; + this.biaslp = new LinePrinter(file5); + + // set up stochastic stuff + this.phi = this.phi(this.dt, this.tau); + this.accel_sigma = this.qAccel(this.dt).ebeSqrt(); + this.gyro_sigma = this.qGyro(this.dt).ebeSqrt(); + VectorN zero = new VectorN(6); + this.accel_noise = new GaussianVector(zero, this.accel_sigma, seed); + this.gyro_noise = new GaussianVector(zero, this.gyro_sigma, (2*seed)); + + // set scalefactor-misalignment matrix + this.accel_sfma = this.sfmaAccel(); + this.gyro_sfma = this.sfmaGyro(); + } + + private Matrix phi(double dt, double tau) { + Matrix out = new Matrix(6); + double exponent = -1.0 * dt / tau; + double term1 = Math.exp(exponent); + double term2 = (term1 - 1.0) * tau; + out.set(0, 0, term1); + out.set(1, 1, term1); + out.set(2, 2, term1); + out.set(3, 0, term2); + out.set(4, 1, term2); + out.set(5, 2, term2); + return out; + } + + private VectorN qGyro(double dt){ + + double biasSigma = 5.0E-05 * MathUtils.DEG2RAD / 3600.0; + double exponent = -2.0*dt/tau; + double biasQ = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); + + double noiseSigma = 7.9E-05 * MathUtils.DEG2RAD; + double noiseQ = noiseSigma * noiseSigma*dt / 3600.0; + VectorN out = new VectorN(6); + for (int i = 0; i < 3; i++) { + out.set(i, biasQ); + out.set(i+3, noiseQ); + } + return out; + } + + private Matrix sfmaGyro(){ + long sd = this.seed - 2; + RandomNumber rn = new RandomNumber(sd); + double sigma_ma = 1.0 * MathUtils.ARCSEC2RAD; // 1 arcsec + double sigma_sf = 1.0E-06; // 1 parts per million + Matrix temp = new Matrix(3, 3); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + double x = rn.normal(0.0, sigma_ma); + if (i == j) x = rn.normal(0.0, sigma_sf); + temp.set(i, j, x); + } + } + + Matrix eye = new Matrix(3); + Matrix out = eye.minus(temp); + return out; + + } + + private Matrix sfmaAccel(){ + long sd = this.seed - 3; + RandomNumber rn = new RandomNumber(sd); + double sigma_ma = 2.5E-05; // 100 microrad + double sigma_sf = 5.0E-05; // 310 parts per million + Matrix temp = new Matrix(3, 3); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + double x = rn.normal(0.0, sigma_ma); + if (i == j) x = rn.normal(0.0, sigma_sf); + temp.set(i, j, x); + } + } + Matrix eye = new Matrix(3); + Matrix out = eye.minus(temp); + return out; + + } + + + private VectorN qAccel(double dt){ + double biasSigma = 1.0E-09; + double exponent = -2.0*dt/tau; + double biasQ = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); + + double noiseSigma = 1.0E-10; + double noiseQ = noiseSigma * noiseSigma * dt; + VectorN out = new VectorN(6); + for (int i = 0; i < 3; i++) { + out.set(i, biasQ); + out.set(i+3, noiseQ); + } + return out; + } + + private VectorN initBiases(){ + long sd = this.seed - 2; + RandomNumber rn = new RandomNumber(sd); + VectorN out = new VectorN(12); + double gyro_sigma = 0.0003 * MathUtils.DEG2RAD / 3600.0; + double accel_sigma = 1.0E-06 * 9.81; + for (int i = 0; i < 3; i++) { + double xa = rn.normal(0.0, accel_sigma); + double xg = rn.normal(0.0, gyro_sigma); + out.set(i, xa); + out.set((i+6), xg); + } + return out; + } + + + /** + * Generate the data + * @param t0 initial time (sim time in seconds) + * @param tf final time (sim time in seconds) + * @param x0 VectorN containing the initial chaser state + * @param xref0 VectorN containing the initial ISS state + */ + public void generate (double t0, double tf, VectorN x0, VectorN xref0) { + + // propagate the orbit + int neqns = x0.length; + + double t = t0; + double[] newchaser = new double[neqns]; + double[] oldchaser = new double[neqns]; + double[] newiss = new double[neqns]; + double[] oldiss = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = x0.x[i]; + oldiss[i] = xref0.x[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + + boolean burnstarted = false; + + // initialize INS states, add an init function to start with non-zero biases + VectorN insStates = this.initBiases(); + this.biaslp.println(t+"\t"+insStates.toString()); + + // main integration loop + while (t < tf) { + + // reset accelerometer and gyro accumulators + for (int i = 0; i < 6; i++) { + oldchaser[i+10] = 0.0; + } + + // check next burn time + FiniteBurn burn = burnlist.get(dv_index); + double tstart = burn.tstart; + double tstop = burn.tstop; + if ((t >= tstart) && (t < tstop)) { + burnEOM.setBurn(burn); + newchaser = rk8.step(t, oldchaser, burnEOM); + burnstarted = true; + } + else { + newchaser = rk8.step(t, oldchaser, chaserEOM); + if ((t > tstop) && (burnstarted)) { + System.out.println(t+" burn "+dv_index+" completed, incrementing"); + if (burnlist.hasNext(dv_index)) { + dv_index = dv_index + 1; + } + burnstarted = false; + } + } + + newiss = rk8.step(t, oldiss, issEOM); + + // normalize the quaternion + VectorN r = new VectorN(newchaser[0], newchaser[1], newchaser[2]); + VectorN v = new VectorN(newchaser[3], newchaser[4], newchaser[5]); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix x = rsw.ECI2RSW().transpose(); + Quaternion q = new Quaternion(x); + // check for sign flip + for (int i = 0; i < 4; i++) { + double mult = newchaser[i+6] * q.x[i]; + newchaser[i+6] = q.x[i]; + if ((mult < 0.0)&&(Math.abs(newchaser[i+6]) > 1.0E-12)) newchaser[i+6] = -1.0*q.x[i]; + } + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = newchaser[i]; + oldiss[i] = newiss[i]; + } + + t = t + dt; + + insStates = this.INSmeas(t, oldchaser, insStates); + + if (MathUtils.Frac(t) == 0.0){ + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + } + + + // set the attributes + chaser.setTitle(this.title); + chaser.setCentralBody(CentralBody.EARTH); + chaser.setCoordinateSystem(CoordinateSystem.INERTIAL); + chaser.setDistanceUnits(DistanceUnits.METERS); + chaser.setEpoch(2001, 3, 1, 0, 0, 0.0); + chaser.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot","q1","q2","q3","q4","fx","fy","fz"}; + chaser.setLabels(labels); + + iss.setTitle(this.title); + iss.setCentralBody(CentralBody.EARTH); + iss.setCoordinateSystem(CoordinateSystem.INERTIAL); + iss.setDistanceUnits(DistanceUnits.METERS); + iss.setEpoch(2001, 3, 1, 0, 0, 0.0); + iss.setTimeUnits(TimeUnits.SECONDS); + iss.setLabels(labels); + + + // Serialize the trajectory + chaser.serialize(this.chaserFile); + iss.serialize(this.issFile); + list.serialize(this.insMeasFile); + System.out.println("trajectory serialized"); + this.biaslp.close(); + + } + + private VectorN INSmeas(double t, double[] state, VectorN in) { + // get the true accel and omega + VectorN accel_true = new VectorN(state[10], state[11], state[12]); + VectorN omega_true = new VectorN(state[13], state[14], state[15]); + + // strip out the bias states + VectorN accel_bias = in.get(0, 3); + VectorN gyro_bias = in.get(6, 3); + + // form the state vectors, zeroing out the accel and gyro accumulators + VectorN zero = new VectorN(3); + VectorN accel_state = accel_bias.append(zero); + VectorN gyro_state = gyro_bias.append(zero); + + // get the next noise values + this.accel_noise.nextSet(); + this.gyro_noise.nextSet(); + + // propagate the states forward in time + accel_state = this.phi.times(accel_state).plus(this.accel_noise); + gyro_state = this.phi.times(gyro_state).plus(this.gyro_noise); + + // get the noise accumulators + VectorN accel_noise_acc = accel_state.get(3, 3); + VectorN gyro_noise_acc = gyro_state.get(3, 3); + + // add in scalefactor-misalignment + VectorN accel_temp = this.accel_sfma.times(accel_true); + VectorN gyro_temp = this.gyro_sfma.times(omega_true); + + + // form the measurements + //VectorN accel_meas = accel_temp.plus(accel_noise_acc); + //VectorN gyro_meas = gyro_temp.plus(gyro_noise_acc); + + // add the measurements to the list +// INS_Measurement meas = new INS_Measurement(t, accel_meas, gyro_meas); + INS_Measurement meas = new INS_Measurement(t, accel_true, omega_true); + list.add(meas); +// System.out.println(t+"\t"+accel_meas+"\t"+gyro_meas); + + // send the biases to the lineprinter + if (MathUtils.Frac(t) == 0.0){ + this.biaslp.println(t+"\t"+accel_state.toString()+gyro_state.toString()); + } + + // form the output state vector + VectorN out = accel_state.append(gyro_state); + return out; + + } + + + /** Runs the example. + * @param args Arguments. + */ + public VectorN initChaser () { + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + public VectorN initISS () { + + // create a TwoBody orbit using orbit elements + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + + public static void main(String[] args){ + + // set up the generator + String title = "STS/ISS Rendezvous Trajectory"; + String file1 = "C:\\Jat\\jat\\traj\\reference\\rvtraj_simu_vbar.jat"; + String file2 = "C:\\Jat\\jat\\traj\\reference\\isstraj_simu_vbar.jat"; + String file3 = "C:\\Jat\\jat\\input\\burns\\vbar_burns.jat"; + String file4 = "C:\\Jat\\jat\\input\\simu_vbar.jat"; + String file5 = "C:\\Jat\\jat\\output\\simu_vbar_bias.txt"; +// String file4 = "C:\\Jat\\jat\\input\\sigi_ins.jat"; +// String file5 = "C:\\Jat\\jat\\output\\sigi_bias.txt"; + + SIMU_MeasurementGenerator x = new SIMU_MeasurementGenerator(title, file1, file2, file3, file4, file5); + VectorN x0 = x.initChaser(); + VectorN xref0 = x.initISS(); + + + double t0 = 0.0; +// double tf = 5579.0; + double tf = 9400.0; + x.generate(t0, tf, x0, xref0); + System.out.println("Done Generating"); + + LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\traj\\rvtraj_simu_vbar.txt"); + + x.chaser.sendToLinePrinter(lp1); + + + LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\traj\\isstraj_simu_vbar.txt"); + + x.iss.sendToLinePrinter(lp2); + + } + + +} diff --git a/src/jat/coreNOSA/ins/SIMU_MeasurementGenerator_MC.java b/src/jat/coreNOSA/ins/SIMU_MeasurementGenerator_MC.java new file mode 100644 index 0000000..57133dc --- /dev/null +++ b/src/jat/coreNOSA/ins/SIMU_MeasurementGenerator_MC.java @@ -0,0 +1,505 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 29, 2003 + */ + +package jat.coreNOSA.ins; +//import jat.gps_ins.*; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.cm.FiniteBurnList; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.RSW_Frame; +import jat.coreNOSA.trajectory.CentralBody; +import jat.coreNOSA.trajectory.ChaserBurnEOM; +import jat.coreNOSA.trajectory.ChaserEOM; +import jat.coreNOSA.trajectory.CoordinateSystem; +import jat.coreNOSA.trajectory.DistanceUnits; +import jat.coreNOSA.trajectory.JGM3DragEOM; +import jat.coreNOSA.trajectory.TimeUnits; +import jat.coreNOSA.trajectory.Trajectory; + +/** + * SIMU_MeasurementGenerator generates SIMU measurements and truth trajectories for + * the chaser and ISS for a Monte Carlo study. + * + * @author + * @version 1.0 + */ +public class SIMU_MeasurementGenerator_MC { + public Trajectory chaser = new Trajectory(); + + public Trajectory iss = new Trajectory(); + + private ChaserEOM chaserEOM = new ChaserEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + private ChaserBurnEOM burnEOM = new ChaserBurnEOM(chaser, 51969.0, 104328.0, 454.4, 2.0); + + private JGM3DragEOM issEOM = new JGM3DragEOM(iss, 51969.0, 128990.0, 640.7, 2.35); + + private String title; + + private String chaserFile; + + private String issFile; + + private String insMeasFile; + + private double dt = 0.5; + + private RungeKutta8 rk8 = new RungeKutta8(this.dt); + + public FiniteBurnList burnlist; + private int dv_index = 0; + + private INS_MeasurementList list = new INS_MeasurementList(); + private double tau = 3.0 * 3600.0; + private VectorN gyro_sigma; + private VectorN accel_sigma; + private GaussianVector gyro_noise; + private GaussianVector accel_noise; + private Matrix accel_sfma; // later + private Matrix gyro_sfma; // later + + private LinePrinter biaslp; + + private long seed = -1; + + + private Matrix phi; + + /** + * Constructor + * @param t String containing the title + * @param file1 String containing the chaser trajectory file to be created + * @param file2 String containing the ISS trajectory file to be created + * @param file3 String containing the finite burn file name to be input + * @param file4 String containing the INS measurement file to be created + * @param file5 String containing the true bias file to be created + */ + public SIMU_MeasurementGenerator_MC(String t, String file1, String file2, String file3, String file4, String file5, long sd) { + this.seed = sd; + this.chaserFile = file1; + this.issFile = file2; + this.title = t; + this.burnlist = FiniteBurnList.recover(file3); + this.insMeasFile = file4; + this.biaslp = new LinePrinter(file5); + + // set up stochastic stuff + this.phi = this.phi(this.dt, this.tau); + this.accel_sigma = this.qAccel(this.dt).ebeSqrt(); + this.gyro_sigma = this.qGyro(this.dt).ebeSqrt(); + VectorN zero = new VectorN(6); + this.accel_noise = new GaussianVector(zero, this.accel_sigma, seed); + this.gyro_noise = new GaussianVector(zero, this.gyro_sigma, (seed-1)); + + // set scalefactor-misalignment matrix + this.accel_sfma = this.sfmaAccel(); + this.gyro_sfma = this.sfmaGyro(); + + } + + private Matrix phi(double dt, double tau) { + Matrix out = new Matrix(6); + double exponent = -1.0 * dt / tau; + double term1 = Math.exp(exponent); + double term2 = (term1 - 1.0) * tau; + out.set(0, 0, term1); + out.set(1, 1, term1); + out.set(2, 2, term1); + out.set(3, 0, term2); + out.set(4, 1, term2); + out.set(5, 2, term2); + return out; + } + + private VectorN qGyro(double dt){ + + double biasSigma = 5.0E-05 * MathUtils.DEG2RAD / 3600.0; + double exponent = -2.0*dt/tau; + double biasQ = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); + + double noiseSigma = 7.9E-05 * MathUtils.DEG2RAD; + double noiseQ = noiseSigma * noiseSigma*dt / 3600.0; + VectorN out = new VectorN(6); + for (int i = 0; i < 3; i++) { + out.set(i, biasQ); + out.set(i+3, noiseQ); + } + return out; + } + + private Matrix sfmaGyro(){ + long sd = this.seed - 2; + RandomNumber rn = new RandomNumber(sd); + double sigma_ma = 1.0 * MathUtils.ARCSEC2RAD; // 1 arcsec + double sigma_sf = 1.0E-06; // 1 parts per million + Matrix temp = new Matrix(3, 3); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + double x = rn.normal(0.0, sigma_ma); + if (i == j) x = rn.normal(0.0, sigma_sf); + temp.set(i, j, x); + } + } + + Matrix eye = new Matrix(3); + Matrix out = eye.minus(temp); + return out; + + } + + private Matrix sfmaAccel(){ + long sd = this.seed - 3; + RandomNumber rn = new RandomNumber(sd); + double sigma_ma = 2.5E-05; // 100 microrad + double sigma_sf = 5.0E-05; // 310 parts per million + Matrix temp = new Matrix(3, 3); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + double x = rn.normal(0.0, sigma_ma); + if (i == j) x = rn.normal(0.0, sigma_sf); + temp.set(i, j, x); + } + } + Matrix eye = new Matrix(3); + Matrix out = eye.minus(temp); + return out; + + } + + + private VectorN qAccel(double dt){ + double biasSigma = 1.0E-09; + double exponent = -2.0*dt/tau; + double biasQ = biasSigma*biasSigma*(1.0 - Math.exp(exponent)); + + double noiseSigma = 1.0E-10; + double noiseQ = noiseSigma * noiseSigma * dt; + VectorN out = new VectorN(6); + for (int i = 0; i < 3; i++) { + out.set(i, biasQ); + out.set(i+3, noiseQ); + } + return out; + } + + private VectorN initBiases(){ + long sd = this.seed - 4; + RandomNumber rn = new RandomNumber(sd); + VectorN out = new VectorN(12); + double gyro_sigma = 0.0003 * MathUtils.DEG2RAD / 3600.0; + double accel_sigma = 1.0E-06 * 9.81; + for (int i = 0; i < 3; i++) { + double xa = rn.normal(0.0, accel_sigma); + double xg = rn.normal(0.0, gyro_sigma); + out.set(i, xa); + out.set((i+6), xg); + } + return out; + } + + /** + * Generate the data + * @param t0 initial time (sim time in seconds) + * @param tf final time (sim time in seconds) + * @param x0 VectorN containing the initial chaser state + * @param xref0 VectorN containing the initial ISS state + */ + public void generate (double t0, double tf, VectorN x0, VectorN xref0) { + + // propagate the orbit + int neqns = x0.length; + + double t = t0; + double[] newchaser = new double[neqns]; + double[] oldchaser = new double[neqns]; + double[] newiss = new double[neqns]; + double[] oldiss = new double[neqns]; + + // put initial conditions into the previous state array + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = x0.x[i]; + oldiss[i] = xref0.x[i]; + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + + boolean burnstarted = false; + + // initialize INS states, add an init function to start with non-zero biases + VectorN insStates = this.initBiases(); + this.biaslp.println(t+"\t"+insStates.toString()); + + // main integration loop + while (t < tf) { + + // reset accelerometer and gyro accumulators + for (int i = 0; i < 6; i++) { + oldchaser[i+10] = 0.0; + } + + // check next burn time + FiniteBurn burn = burnlist.get(dv_index); + double tstart = burn.tstart; + double tstop = burn.tstop; + if ((t >= tstart) && (t < tstop)) { + burnEOM.setBurn(burn); + newchaser = rk8.step(t, oldchaser, burnEOM); + burnstarted = true; + } + else { + newchaser = rk8.step(t, oldchaser, chaserEOM); + if ((t > tstop) && (burnstarted)) { + System.out.println(t+" burn "+dv_index+" completed, incrementing"); + if (burnlist.hasNext(dv_index)) { + dv_index = dv_index + 1; + } + burnstarted = false; + } + } + + newiss = rk8.step(t, oldiss, issEOM); + + // normalize the quaternion + VectorN r = new VectorN(newchaser[0], newchaser[1], newchaser[2]); + VectorN v = new VectorN(newchaser[3], newchaser[4], newchaser[5]); + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix x = rsw.ECI2RSW().transpose(); + Quaternion q = new Quaternion(x); + // check for sign flip + for (int i = 0; i < 4; i++) { + double mult = newchaser[i+6] * q.x[i]; + newchaser[i+6] = q.x[i]; + if ((mult < 0.0)&&(Math.abs(newchaser[i+6]) > 1.0E-12)) newchaser[i+6] = -1.0*q.x[i]; + } + + for (int i = 0; i < neqns; i++) { + oldchaser[i] = newchaser[i]; + oldiss[i] = newiss[i]; + } + + t = t + dt; + + insStates = this.INSmeas(t, oldchaser, insStates); + + if (MathUtils.Frac(t) == 0.0){ + chaserEOM.print(t, oldchaser); + issEOM.print(t, oldiss); + } + + if ((t + dt) > tf) { + dt = tf - t; + } + + } + + + // set the attributes + chaser.setTitle(this.title); + chaser.setCentralBody(CentralBody.EARTH); + chaser.setCoordinateSystem(CoordinateSystem.INERTIAL); + chaser.setDistanceUnits(DistanceUnits.METERS); + chaser.setEpoch(2001, 3, 1, 0, 0, 0.0); + chaser.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot","q1","q2","q3","q4","fx","fy","fz"}; + chaser.setLabels(labels); + + iss.setTitle(this.title); + iss.setCentralBody(CentralBody.EARTH); + iss.setCoordinateSystem(CoordinateSystem.INERTIAL); + iss.setDistanceUnits(DistanceUnits.METERS); + iss.setEpoch(2001, 3, 1, 0, 0, 0.0); + iss.setTimeUnits(TimeUnits.SECONDS); + iss.setLabels(labels); + + + // Serialize the trajectory + chaser.serialize(this.chaserFile); + iss.serialize(this.issFile); + list.serialize(this.insMeasFile); + System.out.println("trajectory serialized"); + this.biaslp.close(); + + } + + private VectorN INSmeas(double t, double[] state, VectorN in) { + // get the true accel and omega + VectorN accel_true = new VectorN(state[10], state[11], state[12]); + VectorN omega_true = new VectorN(state[13], state[14], state[15]); + + // strip out the bias states + VectorN accel_bias = in.get(0, 3); + VectorN gyro_bias = in.get(6, 3); + + // form the state vectors, zeroing out the accel and gyro accumulators + VectorN zero = new VectorN(3); + VectorN accel_state = accel_bias.append(zero); + VectorN gyro_state = gyro_bias.append(zero); + + // get the next noise values + this.accel_noise.nextSet(); + this.gyro_noise.nextSet(); + + // propagate the states forward in time + accel_state = this.phi.times(accel_state).plus(this.accel_noise); + gyro_state = this.phi.times(gyro_state).plus(this.gyro_noise); + + // get the noise accumulators + VectorN accel_noise_acc = accel_state.get(3, 3); + VectorN gyro_noise_acc = gyro_state.get(3, 3); + + // add in scalefactor-misalignment + VectorN accel_temp = this.accel_sfma.times(accel_true); + VectorN gyro_temp = this.gyro_sfma.times(omega_true); + + + // form the measurements + VectorN accel_meas = accel_temp.plus(accel_noise_acc); + VectorN gyro_meas = gyro_temp.plus(gyro_noise_acc); + + // add the measurements to the list +// INS_Measurement meas = new INS_Measurement(t, accel_meas, gyro_meas); + INS_Measurement meas = new INS_Measurement(t, accel_true, omega_true); + list.add(meas); +// System.out.println(t+"\t"+accel_meas+"\t"+gyro_meas); + + // send the biases to the lineprinter + if (MathUtils.Frac(t) == 0.0){ + this.biaslp.println(t+"\t"+accel_state.toString()+gyro_state.toString()); + } + + // form the output state vector + VectorN out = accel_state.append(gyro_state); + return out; + + } + + + /** Runs the example. + * @param args Arguments. + */ + public VectorN initChaser () { + + double d = 15.0/6765.5000; + double theta = 360.0 - d * Constants.rad2deg; + + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, theta); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + public VectorN initISS () { + + // create a TwoBody orbit using orbit elements + TwoBody sat = + new TwoBody(Constants.GM_Earth, 6765500.0, 0.0, 51.8, 0.0, 0.0, 0.0); + + VectorN r = sat.getR(); + VectorN v = sat.getV(); + VectorN rv = new VectorN(r, v); + + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + Quaternion q0 = new Quaternion(Cb2i); + VectorN x0 = new VectorN(rv, q0); + VectorN zero = new VectorN(6); + x0 = x0.append(zero); + + return x0; + } + + + public static void main(String[] args){ + long counter = 1; + int j = 1; + for (int i = 0; i < 30; i++) { + + String num = Integer.toString(j); + + String dotJat = ".jat"; + String dotTxt = ".txt"; + + // set up the generator + String title = "STS/ISS Rendezvous Trajectory"; + String file1 = "C:\\Jat\\jat\\output\\monte\\rvtraj_simu_rbar.jat"; + String file2 = "C:\\Jat\\jat\\output\\monte\\isstraj_simu_rbar.jat"; + String file3 = "C:\\Jat\\jat\\input\\burns\\rbar_burns.jat"; + String file4 = "C:\\Jat\\jat\\input\\monte\\simu_rbar_" + num + dotJat; + String file5 = "C:\\Jat\\jat\\output\\monte\\simu_rbar_bias_"+ num + dotTxt; + // String file4 = "C:\\Jat\\jat\\input\\sigi_ins.jat"; + // String file5 = "C:\\Jat\\jat\\output\\sigi_bias.txt"; + + System.out.println("Generating: "+file4); + + long seed = -1 * counter; + + SIMU_MeasurementGenerator_MC x = new SIMU_MeasurementGenerator_MC(title, file1, file2, file3, file4, file5, seed); + VectorN x0 = x.initChaser(); + VectorN xref0 = x.initISS(); + + + double t0 = 0.0; + // double tf = 5579.0; + double tf = 9400.0; + x.generate(t0, tf, x0, xref0); + System.out.println("Done Generating"); + +// LinePrinter lp1 = new LinePrinter("C:\\Jat\\jat\\traj\\rvtraj_simu_rbar.txt"); +// x.chaser.sendToLinePrinter(lp1); +// LinePrinter lp2 = new LinePrinter("C:\\Jat\\jat\\traj\\isstraj_simu_rbar.txt"); +// x.iss.sendToLinePrinter(lp2); + + counter = counter + 1; + j = j + 1; + + } + + } + + +} diff --git a/src/jat/coreNOSA/math/CoordTransform.java b/src/jat/coreNOSA/math/CoordTransform.java new file mode 100644 index 0000000..8b9143f --- /dev/null +++ b/src/jat/coreNOSA/math/CoordTransform.java @@ -0,0 +1,59 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math; + +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Transformations between different coordinate systems + * + * @author Tobias Berthold + * + */ +public class CoordTransform { + /** + * Convert spherical coordinates to Cartesian coordinates + * + * @param r + * radius + * @param theta + * angle between z-axis and point in radians + * @param phi + * angle between x-axis and projection of point onto x-y plane in + * radians + * @return VectorN + */ + public static VectorN Spherical_to_Cartesian_rad(double r, double theta, double phi) { + VectorN out = new VectorN(3); + out.set(0, r * Math.sin(theta) * Math.cos(phi)); + out.set(1, r * Math.sin(theta) * Math.sin(phi)); + out.set(2, r * Math.cos(theta)); + return out; + } + + public static VectorN Spherical_to_Cartesian_deg(double r, double theta, double phi) { + return Spherical_to_Cartesian_rad(r, MathUtils.DEG2RAD * theta, MathUtils.DEG2RAD * phi); + } + + + +} diff --git a/src/jat/coreNOSA/math/Interpolator.java b/src/jat/coreNOSA/math/Interpolator.java new file mode 100644 index 0000000..147c7eb --- /dev/null +++ b/src/jat/coreNOSA/math/Interpolator.java @@ -0,0 +1,396 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.FileReader; +import java.io.IOException; +import java.io.StreamTokenizer; + +/** + * Linearly interpolates values in double arrays + * + * @author Tobias Berthold

+ * Date : 11-19-2002 + */ +public class Interpolator +{ + private double[] data; + private double[] vari; // var is actually a keyword, so can't use + private int length; + private int lengthx; + private int lengthy; + private int lower, upper; + private int lowerx, lowery, upperx, uppery; + private Matrix dataMat; + private VectorN Xaxis; + private VectorN Yaxis; + + /** + * Create an interpolator where data holds the given values of the function at variable + * @param variable independent variable + * @param data dependent variable + */ + public Interpolator(double[] variable, double[] data) + { + this.data=data; + this.vari=variable; + length=data.length-1; + } + + /** + * Create inerpolation data for a 2-D bi-linear interpolation + * This will hold the incoming data matrix as well as the + * X and Y axis parameters + * @param variable independent variable + * @param data dependent variable + */ + public Interpolator(String filename) + { + try { + this.Xaxis = new VectorN(readXAxis(filename)); + this.Yaxis = new VectorN(readYAxis(filename)); + + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + + this.dataMat = readData(filename, this.Xaxis.length, this.Yaxis.length); + + lengthy=this.dataMat.getColumnDimension()-1; + lengthx=this.dataMat.getRowDimension()-1; + } + + /** + * Return the interpolated value of the function at x + * @param x independent variable + * @return interpolated value at x + */ + public double get_value(double x) + { + if(xvari[length]) return 0.; // too high: really should catch exception.. + + // Find bracketing values + int i; + for(i=0;ivari[i] && xXaxis.get(Xaxis.getLength()-1)) // too high: really should catch exception.. + { + System.out.println("Interpolator: Interpolation value too High!"); + System.out.println("X is : " + x + " Y is: " + y); + System.exit(0); + } + if(y>Yaxis.get(Yaxis.getLength()-1)) + { + y = y -2; + } + + //Determine the X bracketing Value + int i; + for(i=0;iXaxis.get(i) && xYaxis.get(i) && y + * The MathUtils Class provides the mathematical constants and functions that + * really should be in java.Math. + * + * @author + * @version 1.0 + */ +public class MathUtils implements Serializable { + /** + * + */ + private static final long serialVersionUID = -4379394846262822719L; + /** PI. + */ + public final static double PI = Math.acos(-1.0); + /** 2*PI. + */ + public final static double TWOPI = 2.0*Math.acos(-1.0); + + /** Conversion factor for degrees to radians. + */ + public final static double DEG2RAD = PI / 180.0; + + /** Conversion factor for arcsec to radians. + */ + public final static double ARCSEC2RAD = PI / 648000.0; + + /** Conversion factor for radians to degrees. + */ + public final static double RAD2DEG = 180.0 / PI; + + /** Machine precision for doubles. + */ + public final static double MACHEPS = 1.1102230246251565E-16; + + /** Creates a new instance of math */ + public MathUtils() { + } + + /** Fractional part of a number (y=x-[x]) + * @return fractional part of a number + */ + public static double Frac(double x) { + return x - Math.floor(x); + } + + /** Modulo function + * @return the Modulo + */ + public static double Modulo(double x, double y) { + return y * Frac(x / y); + } + + /** mod function + * @param x Numerator. + * @param y Denominator. + * @return Integer remainder of (x/y) + */ + public static double mod(double x, double y) { + int temp = (int) (x / y); + double out = x - temp * y; + return out; + } + + /** Convert Degrees:Minutes:Seconds to Degrees. + * @param degrees Integer degrees. + * @param minutes Integer minutes. + * @param seconds seconds. + * @return real number of degrees. + */ + public static double dms2deg(int degrees, int minutes, double seconds) { + double out = degrees + (minutes / 60.0) + (seconds / 3600.0); + return out; + } + + /** Convert Degrees:Minutes:Seconds to Radians. + * @param degrees Integer degrees. + * @param minutes Integer minutes. + * @param seconds seconds. + * @return real number of radians. + */ + public static double dms2rad(int degrees, int minutes, double seconds) { + double out = dms2deg(degrees, minutes, seconds) * DEG2RAD; + return out; + } + + /** Returns sign of double number. + * @param z double number. + * @return int sign. + */ + public static int signum(double z) { + return (z < 0) ? -1 : 1; + } + + /** Returns absolute value of double number. + * @param z double number. + * @return int sign. + */ + public static double abs(double z) { + return (z < 0) ? -z : z; + } + + /** Returns absolute value of a times the sign of b. + * @param a double + * @param b double number. + * @return absolute value of a times the sign of b. + */ + + public static double sign(double a, double b) { + double amag = Math.abs(a); + double out = amag; + if (b < 0.0) + out = -1.0 * amag; + return out; + } + + /** Returns absolute value of a times the sign of b. + * @param a integer + * @param b integer. + * @return absolute value of a times the sign of b. + */ + public static int sign(int a, int b) { + int amag = Math.abs(a); + int out = amag; + if (b < 0.0) + out = -1 * amag; + return out; + } + + /** Returns a double rounded to the nearest integer. + * @param a double to be rounded + * @return double containing the rounded number. + */ + public static double round(double a) { + return Math.floor(a + 0.5); + } + + /** Returns a double rounded to the nearest integer. + * @param a double to be rounded + * @return int containing the rounded number. + */ + public static int roundInt(double a) { + return (int) Math.floor(a + 0.5); + } + + /** Returns a double rounded to the nearest integer. + * @param a double to be rounded + * @return long containing the rounded number. + */ + public static long roundLong(double a) { + return (long) Math.floor(a + 0.5); + } + + /** Returns n! + * @param n an int + * @return n! + */ + public static int factorial(int n) { + int returnValue; + if (n < 0) { + throw new IllegalArgumentException("Illegal value: " + n); + } else if ((n == 0)||(n == 1)) { + returnValue = 1; + } else { + returnValue = n * factorial(n - 1); + } + return returnValue; + } + /** Returns n! + * @param n a long + * @return n! + */ + public static double factorial(double n) { + double returnValue; + if (n < 0.0) { + throw new IllegalArgumentException("Illegal value: " + n); + } else if ((n == 0)||(n == 1)) { + returnValue = 1.0; + } else { + returnValue = n * factorial(n - 1.0); + } + return returnValue; + } + + /** Returns x+y assuming that both x and y have length: x.length + * @param x double array + * @param y double array + * @return x+y double array + */ + public static double[] plus(double[] x, double[] y){ + double[] out = new double[x.length]; + for(int i=0; i + * The GaussianVector Class provides the means to create vectors of numbers which are samples of Gaussian + * distributions. The algorithms come from Chapter 7 of Numerical Recipes. + * + * @author + * @version 1.0 + */ +public class GaussianVector extends VectorN { + + /** + * + */ + private static final long serialVersionUID = 5300230095960432075L; + /** Seed for random number generator. + */ + protected long idum; + /** VectorN containing the mean for each component. + */ + public VectorN mean; + /** VectorN containing the sigman for each component. + */ + public VectorN sigma; + + private RandomNumber rn; + /** Creates a new instance of GaussianVector (Vector3 with zero means). */ + public GaussianVector() { + super(3); + this.mean = new VectorN(3); + this.sigma = new VectorN(1.0, 1.0, 1.0); + this.idum = -1; + this.rn = new RandomNumber(this.idum); + fillVector(); + } + + /** Create a GaussianVector given a VectorN containing the means and sigmas. + * @param mn VectorN containing the mean values. + * @param sig VectorN containing the sigmas values. + */ + public GaussianVector(VectorN mn, VectorN sig){ + super(mn.length); + sig.checkVectorDimensions(mn.length); + this.mean = new VectorN(mn); + this.sigma = new VectorN(sig); + this.idum = -1; + this.rn = new RandomNumber(this.idum); + fillVector(); + } + + /** Create a GaussianVector given a VectorN containing the means, sigmas and + * a seed. + * @param mn VectorN containing the mean values. + * @param sig VectorN containing the sigmas values. + * @param seed Seed for the random number generator. + */ + public GaussianVector(VectorN mn, VectorN sig, long seed){ + super(mn.length); + sig.checkVectorDimensions(mn.length); + this.mean = new VectorN(mn); + this.sigma = new VectorN(sig); + if (seed > 0) seed = -seed; + this.idum = seed; + this.rn = new RandomNumber(this.idum); + fillVector(); + } + + /** Fills the vector components with random numbers. + */ + public void fillVector(){ + int n = mean.length; + for (int i = 0; i < n; i++) { + this.x[i] = rn.normal()*sigma.x[i] + mean.x[i]; + } + } + + /** Fills the vector components with the next set of random numbers. + */ + public void nextSet(){ + this.fillVector(); + } + + /** Method to test the class. + * @param args Program arguments. + * @throws IOException If there is a problem with the output file. + */ + public static void main(java.lang.String args[]) throws IOException { + + FileOutputStream outf = new FileOutputStream("gaussian.txt"); + PrintWriter pw = new PrintWriter(outf); + PrintWriter sys = new PrintWriter(System.out, true); + VectorN means = new VectorN(1.0, 2.0, 3.0); + VectorN sigmas = new VectorN(1.0, 2.0, 3.0); + GaussianVector x = new GaussianVector(means, sigmas); + + for (int i = 0; i < 5000; i++) { + x.fillVector(); + x.print(pw); + x.print(sys); + } + pw.close(); + outf.close(); + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/Matrix.java b/src/jat/coreNOSA/math/MatrixVector/data/Matrix.java new file mode 100644 index 0000000..2000b37 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/Matrix.java @@ -0,0 +1,2455 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math.MatrixVector.data; + +import jat.coreNOSA.math.MatrixVector.data.arrayTools.Find; +import jat.coreNOSA.math.MatrixVector.data.arrayTools.Sort; +import jat.coreNOSA.math.MatrixVector.data.function.DoubleFunction; +import jat.coreNOSA.math.MatrixVector.data.io.data.MatrixFile; +import jat.coreNOSA.math.MatrixVector.data.io.data.fileTools.MatrixString; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FrameView; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixPlot2D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixPlot3D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixTable; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.CholeskyDecomposition; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.EigenvalueDecomposition; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.LUDecomposition; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.Mathfun; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.QRDecomposition; +import jat.coreNOSA.math.MatrixVector.data.matrixDecompositions.SingularValueDecomposition; + +import java.io.File; +import java.io.PrintWriter; +import java.io.Serializable; + +/** + *

+ * The Matrix Class provides the fundamental operations of numerical linear algebra (from the package JAMA), + * basic manipulations, and visualization tools. + * All the operations in this version of the Matrix Class involve only real matrices. + * This Matrix Class is an extension of JMAT's Matrix Class, which was an extension of JAMA's Matrix Class. + * + * @author + * @version 1.0 + */ + +public class Matrix implements Cloneable, Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -5889173925188282718L; + + /** Array for internal storage of elements. + * @serial internal array storage. + */ + public double[][] A; + + /** Row and column dimensions. + * @serial row dimension. + * @serial column dimension. + */ + public int m, n; + +/* ------------------------ + Constructors + * ------------------------ */ + + /** Construct an m-by-n matrix of zeros. + * @param m Number of rows. + * @param n Number of colums. + */ + + public Matrix(int m, int n) { + this.m = m; + this.n = n; + A = new double[m][n]; + } + + /** Construct an n-by-n identity matrix. + * @param n Number of rows and colums. + */ + + public Matrix(int n) { + this.m = n; + this.n = n; + A = new double[n][n]; + for (int i = 0; i < n; i++) { + A[i][i] = 1.0; + } + } + + /** Construct a matrix from a Matrix. + * @param in Matrix to create a copy of. + */ + + public Matrix(Matrix in) { + this.m = in.m; + this.n = in.n; + A = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + this.A[i][j] = in.A[i][j]; + } + } + } + /** Construct an m-by-n constant matrix. + * @param m Number of rows. + * @param n Number of colums. + * @param s Fill the matrix with this scalar value. + */ + + public Matrix(int m, int n, double s) { + this.m = m; + this.n = n; + A = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = s; + } + } + } + + /** Construct a square matrix from a vector. + * @param X Put the elements of x on the diagonal. + */ + + public Matrix(VectorN X) { + this.m = X.length; + this.n = X.length; + this.A = new double[m][n]; + + for (int i = 0; i < m; i++) { + for(int j = 0; j < n; j++) { + this.A[i][j] = 0.0; + } + } + + for (int i = 0; i < n; i++) { + this.A[i][i] = X.x[i]; + } + } + + /** Construct a matrix from a 2D-array. + * @param B Two-dimensional array of doubles. + * @exception IllegalArgumentException All rows must have the same length + * @see #constructWithCopy + */ + + public Matrix(double[][] B) { + m = B.length; + n = B[0].length; + A = new double[m][n]; + for (int i = 0; i < m; i++) { + if (B[i].length != n) { + throw new IllegalArgumentException("All rows must have the same length : " + n); + } + for (int j = 0; j < n; j++) { + A[i][j] = B[i][j]; + } + } + } + + /** Construct a matrix from a 2D-array. + * @param B Two-dimensional array of doubles. + * @param m Number of rows. + * @param n Number of columns. + * @exception IllegalArgumentException All rows must have the same length + * @see #constructWithCopy + */ + + public Matrix(double[][] B, int m, int n) { + this.m = m; + this.n = n; + A = new double[m][n]; + for (int i = 0; i < m; i++) { + if (B[i].length < n) { + throw new IllegalArgumentException("All rows must have a length >= " + n); + } + for (int j = 0; j < n; j++) { + A[i][j] = B[i][j]; + } + } + } + + /** Construct a matrix from a one-dimensional packed array + * @param vals One-dimensional array of doubles, packed by columns (ala Fortran). + * @param m Number of rows. + * @exception IllegalArgumentException Array length must be a multiple of m. + */ + + public Matrix(double vals[], int m) { + this.m = m; + n = (m != 0 ? vals.length/m : 0); + if (m*n != vals.length) { + throw new IllegalArgumentException("Array length must be a multiple of " + m); + } + A = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + A[i][j] = vals[i+j*m]; + } + } + } + +/* ---------------------- + Public Methods + * ---------------------- */ + + ////////////////////////////////////////// + //Static constructors for simple matrix.// + ////////////////////////////////////////// + + /** Generate matrix with random elements + * @param m Number of rows. + * @param n Number of colums. + * @return An m-by-n matrix with uniformly distributed random elements. + */ + + public static Matrix random(int m, int n) { + Matrix A = new Matrix(m,n); + double[][] X = A.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + X[i][j] = Math.random(); + } + } + return A; + } + + /** Generate identity matrix + * @param m Number of rows. + * @param n Number of colums. + * @return An m-by-n matrix with ones on the diagonal and zeros elsewhere. + */ + + public static Matrix identity(int m, int n) { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = (i == j ? 1.0 : 0.0); + } + } + return X; + } + + /** Generate a matrix with a constant pitch beetwen each row + * @param m Number of rows. + * @param n Number of colums. + * @param begin begining value to increment. + * @param pitch pitch to add. + * @return An m-by-n matrix. + */ + + public static Matrix increment(int m, int n,double begin,double pitch) { + return incrementRows(m,n,begin,pitch); + } + + /** Generate a matrix with a constant pitch beetwen each row + * @param m Number of rows. + * @param n Number of colums. + * @param begin begining value to increment. + * @param pitch pitch to add. + * @return An m-by-n matrix. + */ + + public static Matrix incrementRows(int m, int n,double begin,double pitch) { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = begin+i*pitch; + } + } + return X; + } + + /** Generate a matrix with a constant pitch beetwen each column + * @param m Number of rows. + * @param n Number of colums. + * @param begin begining value to increment. + * @param pitch pitch to add. + * @return An m-by-n matrix. + */ + + public static Matrix incrementColumns(int m, int n,double begin,double pitch) { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = begin+j*pitch; + } + } + return X; + } + + /** Generate a matrix from other matrix. + * @param Xs Matrix to merge. + * @return An m1+m2+...-by-n matrix. + */ + + public static Matrix merge(Matrix[] Xs) { + return mergeRows(Xs); + } + + /** Generate a matrix from other matrix. + * @param Xs Matrix to merge. + * @return An m1+m2+...-by-n matrix. + */ + + public static Matrix mergeRows(Matrix[] Xs) { + int n = Xs[0].n; + int M =0; + for (int k = 0; k < Xs.length; k++) { + M = M + Xs[k].m; + } + + Matrix X = new Matrix(M,n); + double[][] C = X.getArray(); + int ind = 0; + for (int k = 0; k < Xs.length; k++) { + for (int i = 0; i < Xs[k].m; i++) { + for (int j = 0; j < n; j++) { + C[i+ind][j] = Xs[k].A[i][j]; + } + } + ind = ind + Xs[k].m; + } + return X; + } + + /** Generate a matrix from other matrix. + * @param Xs Matrix to merge. + * @return An m-by-n1+n2+... matrix. + */ + + public static Matrix mergeColumns(Matrix[] Xs) { + int m = Xs[0].m; + int N =0; + for (int k = 0; k < Xs.length; k++) { + N = N + Xs[k].n; + } + Matrix X = new Matrix(m,N); + double[][] C = X.getArray(); + int ind = 0; + for (int k = 0; k < Xs.length; k++) { + for (int i = 0; i < m; i++) { + for (int j = 0; j < Xs[k].n; j++) { + C[i][j+ind] = Xs[k].A[i][j]; + } + } + ind = ind + Xs[k].n; + } + return X; + } + + + /////////////////////////////////////////////////////////////////////// + //Basic methods to create, convert into array, clone, or copy matrix.// + /////////////////////////////////////////////////////////////////////// + + /** Make a deep copy of a matrix + * @return A matrix. + */ + + public Matrix copy() { + Matrix X = new Matrix(m,n); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j]; + } + } + return X; + } + + /** Clone the Matrix object. + * @return A matrix Object. + */ + + public Object clone() { + return this.copy(); + } + + /** Access the internal two-dimensional array. + * @return Pointer to the two-dimensional array of matrix elements. + */ + + public double[][] getArray() { + return A; + } + + /** Copy the internal two-dimensional array. + * @return Two-dimensional array copy of matrix elements. + */ + + public double[][] getArrayCopy() { + double[][] C = new double[m][n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[i][j]; + } + } + return C; + } + + //////////////////////////////////////////////////////////// + //Basic and advanced Get methods for matrix and submatrix.// + //////////////////////////////////////////////////////////// + + /** Get a single element. + * @param i Row index. + * @param j Column index. + * @return A(i,j) + * @exception ArrayIndexOutOfBoundsException + */ + + public double get(int i, int j) { + return A[i][j]; + } + + /** Get a several elements in Column. + * @param I Row index. + * @param J Column index. + * @return A(I(:),J(:)) + * @exception ArrayIndexOutOfBoundsException + */ + + public Matrix get(int[] I, int[] J) { + checkIndicesLengths(I,J); + Matrix X = new Matrix(I.length,1); + double[][] B = X.getArray(); + for (int i = 0; i < I.length; i++) { + B[i][0] = A[I[i]][J[i]]; + } + return X; + } + + /** Get a several elements. + * @param I Row index. + * @param J Column index. + * @return A(I(:,:),J(:,:)) + * @exception ArrayIndexOutOfBoundsException + */ + + public Matrix get(int[][] I, int[][] J) { + checkIndicesDimensions(I,J); + Matrix X = new Matrix(I.length,I[0].length); + double[][] B = X.getArray(); + for (int i = 0; i < I.length; i++) { + for (int j = 0; j < I[i].length; j++) { + B[i][j] = A[I[i][j]][J[i][j]]; + } + } + return X; + } + + /** Get a submatrix. + * @param i0 Initial row index + * @param i1 Final row index + * @param j0 Initial column index + * @param j1 Final column index + * @return A(i0:i1,j0:j1) + * @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public Matrix getMatrix(int i0, int i1, int j0, int j1) { + Matrix X = new Matrix(i1-i0+1,j1-j0+1); + double[][] B = X.getArray(); + try { + for (int i = i0; i <= i1; i++) { + for (int j = j0; j <= j1; j++) { + B[i-i0][j-j0] = A[i][j]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + return X; + } + + /** Copy an internal one-dimensional array from a row. + * @param l Row index + * @return one-dimensional array copy of matrix elements. + */ + + public double[] getRowArrayCopy(int l) { + double[] C = new double[n]; + for (int i = 0; i < n; i++) { + C[i] = A[l][i]; + } + return C; + } + + /** Copy a row into a VectorN. + * @param c Row index + * @return VectorN copy of matrix elements. + */ + + public VectorN getRowVector(int c) { + VectorN out = new VectorN(n); + for (int i = 0; i < n; i++) { + out.x[i] = A[c][i]; + } + return out; + } + + /** Copy an internal one-dimensional array from a row. + * @param l Row index + * @return one-dimensional array copy of matrix elements. + */ + + public Matrix getRow(int l) { + Matrix X = new Matrix(1,n); + double[][] C = X.getArray(); + for (int j = 0; j < n; j++) { + C[0][j] = A[l][j]; + } + return X; + } + + /** Copy an internal one-dimensional array from many rows. + * @param l Rows indexes + * @return one-dimensional array copy of matrix elements. + */ + + public Matrix getRows(int[] l) { + Matrix X = new Matrix(l.length,n); + double[][] C = X.getArray(); + for (int i = 0; i < l.length; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = A[l[i]][j]; + } + } + return X; + } + + /** Copy an internal one-dimensional array from a column. + * @param c Column index + * @return one-dimensional array copy of matrix elements. + */ + + public double[] getColumnArrayCopy(int c) { + double[] C = new double[m]; + for (int i = 0; i < m; i++) { + C[i] = A[i][c]; + } + return C; + } + + /** Copy an internal one-dimensional array from a column. + * @param c Column index + * @return one-dimensional array copy of matrix elements. + */ + + public Matrix getColumn(int c) { + Matrix X = new Matrix(m,1); + double[][] C = X.getArray(); + for (int i = 0; i < m; i++) { + C[i][0] = A[i][c]; + } + return X; + } + + /** Copy a column into a VectorN. + * @param c Column index + * @return VectorN copy of matrix elements. + */ + + public VectorN getColumnVector(int c) { + VectorN out = new VectorN(m); + for (int i = 0; i < m; i++) { + out.x[i] = A[i][c]; + } + return out; + } + + /** Copy an internal one-dimensional array from a column. + * @param c Columns indexes + * @return one-dimensional array copy of matrix elements. + */ + + public Matrix getColumns(int[] c) { + Matrix X = new Matrix(m,c.length); + double[][] C = X.getArray(); + for (int j = 0; j < c.length; j++) { + for (int i = 0; i < m; i++) { + C[i][j] = A[i][c[j]]; + } + } + return X; + } + + /** Make a one-dimensional row packed copy of the internal array. + * @return Matrix elements packed in a one-dimensional array by rows. + */ + + public double[] getRowPackedCopy() { + double[] C = new double[m*n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i*n+j] = A[i][j]; + } + } + return C; + } + + /** Make a one-dimensional row packed copy of the internal array. + * @return Matrix elements packed in a vector by rows. + */ + + public VectorN getRowPackedVector() { + double [] temp = this.getRowPackedCopy(); + VectorN out = new VectorN(temp); + return out; + } + + + /** Make a one-dimensional column packed copy of the internal array. + * @return Matrix elements packed in a one-dimensional array by columns. + */ + + public double[] getColumnPackedCopy() { + double[] C = new double[m*n]; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + C[i+j*m] = A[i][j]; + } + } + return C; + } + + /** Make a one-dimensional column packed copy of the internal array. + * @return Matrix elements packed in a vector by column. + */ + + public VectorN getColumnPackedVector() { + double [] temp = this.getColumnPackedCopy(); + VectorN out = new VectorN(temp); + return out; + } + + + /** Get row dimension. + * @return m, the number of rows. + */ + + public int getRowDimension() { + return m; + } + + /** Get column dimension. + * @return n, the number of columns. + */ + + public int getColumnDimension() { + return n; + } + + /** Matrix diagonal extraction. + * @return An d*1 Matrix of diagonal elements, d = min(m,n). + */ + + public Matrix diag() { + int d = Math.min(m,n); + Matrix X = new Matrix(d,1); + double[][] C = X.getArray(); + for (int i = 0; i < d; i++) { + C[i][0] = A[i][i]; + } + return X; + } + + /** Matrix diagonal extraction. + * @param num diagonal number. + * @return Matrix of the n-th diagonal elements. + */ + + public Matrix diag(int num) { + int l = 0; + if (n=0) { + l = n - num; + } else if (num<(n-m)) { + l = m + num; + } else { + l = n; + } + } else { + if (num<=0) { + l = m + num; + } else if (num>(n-m)) { + l = n - num; + } else { + l = m; + } + } + Matrix X = new Matrix(l,1); + double[][] C = X.getArray(); + for (int i = 0; i < l; i++) { + C[i][0] = (num>0) ? (A[i][i+num]) : (A[i-num][i]); + } + return X; + } + + /** Return the diagonals of a square matrix in a VectorN + * @return VectorN containing the diagonal elements + */ + public VectorN diagonal(){ + VectorN out = new VectorN(this.m); + for (int i = 0; i < this.m; i++){ + out.x[i] = this.A[i][i]; + } + return out; + } + + //////////////////////////////////////////////////////////// + //Basic and advanced Set methods for matrix and submatrix.// + //////////////////////////////////////////////////////////// + + /** Set a single element. + * @param i Row index. + * @param j Column index. + * @param s A(i,j). + * @exception ArrayIndexOutOfBoundsException + */ + + + public void set(int i, int j, double s) { + A[i][j] = s; + } + + /** Set several elements. + * @param I Row index. + * @param J Column index. + * @param s A(I(:),J(:)). + * @exception ArrayIndexOutOfBoundsException + */ + + + public void set(int[] I, int[] J, double s) { + checkIndicesLengths(I,J); + for (int i = 0; i < I.length; i++) { + A[I[i]][J[i]] = s; + } + } + + /** Set a submatrix. + * @param i0 Initial row index + * @param j0 Initial column index + * @param X subMatrix to set + * @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix(int i0, int j0, Matrix X) { + try { + for (int i = i0; i < i0+X.m; i++) { + for (int j = j0; j < j0+X.n; j++) { + A[i][j] = X.A[i-i0][j-j0]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Set a submatrix. + * @param I0 Initial row indexes + * @param J0 Initial column indexes + * @param X subMatrix to set + * @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix(int[] I0, int[] J0, Matrix X) { + checkIndicesLengths(I0,J0); + for (int k = 0; k < I0.length; k++) { + int i0 = I0[k]; + int j0 = J0[k]; + try { + for (int i = i0; i < i0+X.m; i++) { + for (int j = j0; j < j0+X.n; j++) { + A[i][j] = X.A[i-i0][j-j0]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + } + + /** Set a submatrix. + * @param i0 Initial row index + * @param i1 Final row index + * @param j0 Initial column index + * @param j1 Final column index + * @param v Value to set in the submatrix + * @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix(int i0, int i1, int j0, int j1, double v) { + try { + for (int i = i0; i <= i1; i++) { + for (int j = j0; j <= j1; j++) { + A[i][j] = v; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Set a submatrix. + * @param i0 Initial row index + * @param i1 Final row index + * @param j0 Initial column index + * @param j1 Final column index + * @param X A(i0:i1,j0:j1) + * @exception ArrayIndexOutOfBoundsException Submatrix indices + */ + + public void setMatrix(int i0, int i1, int j0, int j1, Matrix X) { + X.checkMatrixDimensions(i1-i0+1,j1-j0+1); + try { + for (int i = i0; i <= i1; i++) { + for (int j = j0; j <= j1; j++) { + A[i][j] = X.A[i-i0][j-j0]; + } + } + } catch(ArrayIndexOutOfBoundsException e) { + throw new ArrayIndexOutOfBoundsException("Submatrix indices"); + } + } + + /** Copy an internal one-dimensional array from a row. + * @param l Row index + * @param B Row-matrix + */ + + public void setRow(int l,Matrix B) { + B.checkMatrixDimensions(1,n); + for (int j = 0; j < n; j++) { + A[l][j] = B.A[0][j]; + } + } + + /** Copy an internal one-dimensional array from a row. + * @param l Row index + * @param B VectorN + */ + + public void setRow(int l,VectorN B) { + B.checkVectorDimensions(n); + for (int j = 0; j < n; j++) { + A[l][j] = B.x[j]; + } + } + + /** Copy an internal one-dimensional array from many rows. + * @param l Rows indexes + * @param B Rows-matrix + */ + + public void setRows(int[] l,Matrix B) { + B.checkMatrixDimensions(l.length,n); + for (int i = 0; i < l.length; i++) { + for (int j = 0; j < n; j++) { + A[l[i]][j] = B.A[i][j]; + } + } + } + + /** Set a column to an internal one-dimensional Column. + * @param c Column index + * @param B Column-matrix + */ + + public void setColumn(int c,Matrix B) { + B.checkMatrixDimensions(m,1); + for (int i = 0; i < m; i++) { + A[i][c] = B.A[i][0]; + } + } + + /** Set a column to an internal one-dimensional Column. + * @param c Column index + * @param B VectorN + */ + + public void setColumn(int c,VectorN B) { + B.checkVectorDimensions(m); + for (int i = 0; i < m; i++) { + A[i][c] = B.x[i]; + } + } + + /** Copy an internal one-dimensional array from a column. + * @param c Columns indexes + * @param B Columns-matrix + */ + + public void setColumns(int[] c,Matrix B) { + B.checkMatrixDimensions(m,c.length); + for (int j = 0;j n) { + throw new IllegalArgumentException("Matrix Columns dimensions must < " + c); + } + int[] I = new int[m]; + Sort order = new Sort(getColumnArrayCopy(c)); + for (int i = 0; i < m; i++) { + I[i] = order.getOrder(i); + } + return I; + } + + /** Generate a row-permuted matrix, columns are permuted in order to sort the row 'l' + * @param l Number of the row which leads the permuation + * @return An Integer Array. + */ + + public int[] sortColumns(int l) { + if (l > m) { + throw new IllegalArgumentException("Matrix Rows dimensions must < " + l); + } + int[] I = new int[n]; + Sort order = new Sort(getRowArrayCopy(l)); + for (int i = 0; i < n; i++) { + I[i] = order.getOrder(i); + } + return I; + } + + /** Generate a column-permuted matrix, rows are permuted in order to sort the column 'c' + * @param c Number of the colum which leads the permuation + * @return An m-by-n matrix. + */ + + public Matrix sortedMatrix(int c) { + return sortedRowsMatrix(c); + } + + /** Generate a column-permuted matrix, rows are permuted in order to sort the column 'c' + * @param c Number of the colum which leads the permuation + * @return An m-by-n matrix. + */ + + public Matrix sortedRowsMatrix(int c) { + if (c > n) { + throw new IllegalArgumentException("Matrix Columns dimensions must < " + c); + } + Matrix X = new Matrix(m,n); + Sort order = new Sort(getColumnArrayCopy(c)); + for (int i = 0; i < m; i++) { + X.setRow(i,getRow(order.getOrder(i))); + } + return X; + } + + /** Generate a row-permuted matrix, columns are permuted in order to sort the row 'l' + * @param l Number of the row which leads the permuation + * @return An m-by-n matrix. + */ + + public Matrix sortedColumnsMatrix(int l) { + if (l > m) { + throw new IllegalArgumentException("Matrix Rows dimensions must < " + l); + } + Matrix X = new Matrix(m,n); + Sort order = new Sort(getRowArrayCopy(l)); + for (int i = 0; i < n; i++) { + X.setColumn(i,getColumn(order.getOrder(i))); + } + return X; + } + + /** Find an element + * @param e Element (value) to find + * @return A list of indices where this element is found. + */ + + public int[][] find(double e) { + Find f = new Find(getArrayCopy(),e); + return f.getIndices(); + } + + /** Find elements verifying a boolean test + * @param test Test to apply: < > =... + * @param e Element (value) to compare + * @return A list of indices where this element is found. + */ + + public int[][] find(String test,double e) { + Find f = new Find(getArrayCopy(),test,e); + return f.getIndices(); + } + + /** Find an element + * @param e Element (value) to find + * @return A list of indices where this element is found. + */ + + public Matrix findMatrix(double e) { + Find f = new Find(getArrayCopy(),e); + return new Matrix(f.getDoubleArray()); + } + + /** Find elements verifying a boolean test + * @param test Test to apply: < > =... + * @param e Element (value) to compare + * @return A list of indices where this element is found. + */ + + public Matrix findMatrix(String test,double e) { + Find f = new Find(getArrayCopy(),test,e); + return new Matrix(f.getDoubleArray()); + } + + ///////////////////////////////////////////////////////// + //Matrix io methods, in panels, frames or command line.// + ///////////////////////////////////////////////////////// + + /** Print the Matrix in the Command Line. + * @param title title to display in the command line. + */ + + public void toCommandLine(String title) { + System.out.println(title + " ="); + System.out.println(MatrixString.printMatrix(this)); + } + + /** Save the Matrix in a file. + * @param fileName filename to save in. + */ + + public void toFile(String fileName) { + MatrixFile mf = new MatrixFile(fileName,this); + } + + /** Save the Matrix in a file. + * @param file file to save in. + */ + + public void toFile(File file) { + MatrixFile mf = new MatrixFile(file,this); + } + + /** Load the Matrix from a file. + * @param fileName filename of the file to load. + * @return A matrix. + */ + + public static Matrix fromFile(String fileName) { + MatrixFile mf = new MatrixFile(fileName); + return mf.getMatrix(); + } + + /** Load the Matrix from a file + * @param file file to load + * @return A matrix + */ + + public static Matrix fromFile(File file) { + MatrixFile mf = new MatrixFile(file); + return mf.getMatrix(); + } + + /** Convert the Matrix into a String + * @return A String + */ + + public String toString() { + String s = MatrixString.printMatrix(this); + return s; + } + + /** Load the Matrix from a String + * @param s String to load + * @return A matrix + */ + + public static Matrix fromString(String s) { + Matrix m = MatrixString.readMatrix(s); + return m; + } + + /** Print the Matrix in a JTable + * @return A Swing JTable in a JPanel + */ + + public MatrixTable toPanelTable() { + return new MatrixTable(this); + } + + /** Print the Matrix data in a Table in a JFrame + * @param title Title of the JFrame. + */ + + public void toFrameTable(String title) { + FrameView fv = new FrameView(title,toPanelTable()); + } + + /** Plot the Matrix in a JPanel + * @return A MatrixPlot2D (extends a JPanel) + */ + + public MatrixPlot2D toPanelPlot2D() { + MatrixPlot2D mp2d = new MatrixPlot2D(this); + return mp2d; + } + + /** Plot the Matrix in a JFrame + * @param title Title of the JFrame. + * @return A MatrixPlot2D (extends a Swing JPanel) + */ + + public MatrixPlot2D toFramePlot2D(String title) { + MatrixPlot2D mp2d = toPanelPlot2D(); + FrameView fv = new FrameView(title,mp2d); + return mp2d; + } + + /** Plot the Matrix in a JPanel + * @param X Matrix + * @return A MatrixPlot2D (extends a Swing JPanel) + */ + + public MatrixPlot2D toPanelPlot2D(Matrix X) { + MatrixPlot2D mp2d; + if (X.m==1) { + mp2d = new MatrixPlot2D(X.times(new Matrix(1,n,1)),this); + return mp2d; + } else { + mp2d = new MatrixPlot2D(X,this); + return mp2d; + } + } + + /** Plot the Matrix in a JFrame + * @param title Title of the JFrame. + * @param X Matrix + * @return A MatrixPlot2D (extends a Swing JPanel) + */ + + public MatrixPlot2D toFramePlot2D(String title,Matrix X) { + MatrixPlot2D mp2d = toPanelPlot2D(X); + FrameView fv = new FrameView(title,mp2d); + return mp2d; + } + + + /** Plot the Matrix in a JPanel + * @return A MatrixPlot3D (extends a Swing JPanel) + */ + + public MatrixPlot3D toPanelPlot3D() { + MatrixPlot3D mp3d = new MatrixPlot3D(this); + return mp3d; + } + + /** Plot the Matrix in a JFrame + * @param title Title of the JFrame. + * @return A MatrixPlot3D (extends a Swing JPanel) + */ + + public MatrixPlot3D toFramePlot3D(String title) { + MatrixPlot3D mp3d = toPanelPlot3D(); + FrameView fv = new FrameView(title,mp3d); + return mp3d; + } + + /** Plot the Matrix in a JFrame + * @param X Matrix + * @param Y Matrix + * @return A MatrixPlot3D (extends a Swing JPanel) + */ + + public MatrixPlot3D toPanelPlot3D(Matrix X,Matrix Y) { + MatrixPlot3D mp3d; + if ((X.m==1)&&(Y.m==1)) { + mp3d = new MatrixPlot3D(X.times(new Matrix(1,n,1)),Y.times(new Matrix(1,n,1)),this.copy()); + return mp3d; + } else { + mp3d = new MatrixPlot3D(X,Y,this); + return mp3d; + } + } + + /** Plot the Matrix in a Window in a JFrame + * @param title Title of the JFrame. + * @param X Matrix + * @param Y Matrix + * @return A MatrixPlot3D (extends a Swing JPanel) + */ + + public MatrixPlot3D toFramePlot3D(String title,Matrix X,Matrix Y) { + MatrixPlot3D mp3d = toPanelPlot3D(X,Y); + FrameView fv = new FrameView(title,mp3d); + return mp3d; + } + + /** Print the Matrix to System.out + */ + + public void print() { + System.out.println(this.m +" X "+this.n+" Matrix:"); + for (int i = 0; i < this.m; i++) { + System.out.println(""); + for (int j = 0; j < this.n; j++) { + System.out.print(this.A[i][j]+"\t"); + } + } + System.out.println(); + System.out.println("-------------"); + } + + /** Print the Matrix to a PrintWriter + *@param pw PrintWriter to print to. + */ + + public void print(PrintWriter pw) { + for (int i = 0; i < this.m; i++) { + + for (int j = 0; j < this.n; j++) { + pw.print(this.A[i][j]+"\t"); + } + pw.println(); + } + } + + /** Print the Matrix to System.out + * @param title A title or label for the matrix + */ + + public void print(String title) { + System.out.println(title+": "+this.m +" X "+this.n+" Matrix:"); + for (int i = 0; i < this.m; i++) { + System.out.println(""); + for (int j = 0; j < this.n; j++) { + System.out.print(this.A[i][j]+"\t"); + } + } + System.out.println(); + System.out.println("-------------"); + } + + /** Print the first n rows of Matrix to System.out + * @param title A title or label for the matrix + * @param rows Number of rows to print + */ + + public void printrows(String title, int rows) { + System.out.println(title+": "+this.m +" X "+this.n+" Matrix:"); + for (int i = 0; i < rows; i++) { + System.out.println(""); + for (int j = 0; j < this.n; j++) { + System.out.print(this.A[i][j]+"\t"); + } + } + System.out.println(); + System.out.println("-------------"); + } + + + ///////////////////////////////////// + //Matrix Test and checking methods.// + ///////////////////////////////////// + + /** Check if size(A) == size(B). + * @param B Matrix to test. + */ + + public void checkMatrixDimensions(Matrix B) { + if (B.m != m || B.n != n) { + throw new IllegalArgumentException("Matrix dimensions must equals " + B.m + " x " + B.n); + } + } + + /** Check if size(A) == m2*n2. + * @param m2 Number of rows. + * @param n2 Number of columns. + */ + + public void checkMatrixDimensions(int m2, int n2) { + if (m2 != m || n2 != n) { + throw new IllegalArgumentException("Matrix dimensions must equals " + m2 + " x " + n2); + } + } + + /** Check if indices have the same length. + * @param i Indices. + * @param j Indices. + */ + + public static void checkIndicesLengths(int[] i, int[] j) { + if (i.length != j.length) { + throw new IllegalArgumentException("Indices lenghts must equals"); + } + } + + /** Check if indices have the same length. + * @param i Indices. + * @param j Indices. + */ + + public static void checkIndicesDimensions(int[][] i, int[][] j) { + if ((i.length != j.length) || (i[0].length != j[0].length)) { + throw new IllegalArgumentException("Indices dimensions must equals"); + } + } + + /** Check if number of Rows(A) == number of Rows(B). + * @param B Matrix to test. + */ + + public void checkRowDimension(Matrix B) { + if (B.m != m) { + throw new IllegalArgumentException("Matrix Rows dimensions must equals " + B.m); + } + } + + /** Check if number of Rows(A) == row. + * @param row number of rows. + */ + + public void checkRowDimension(int row) { + if (row != m) { + throw new IllegalArgumentException("Matrix Rows dimensions must equals " + row); + } + } + + /** Check if number of Columns(A) == number of Columns(B). + * @param B Matrix to test. + */ + + public void checkColumnDimension(Matrix B) { + if (B.n != n) { + throw new IllegalArgumentException("Matrix Columns dimensions must equals " + B.n); + } + } + + /** Check if number of Columns(A) == column. + * @param column number of columns. + */ + + public void checkColumnDimension(int column) { + if (column != n) { + throw new IllegalArgumentException("Matrix Columns dimensions must equals " + column); + } + } + + /** Invert a matrix. + * @return the inverse. + */ + + public Matrix invert() { + // Check for a square matrix. + if (this.m != this.n) { + System.out.println("Can't take determinant of non-square matrix"); + System.exit(1); + } + + double a[][] = new double[this.m][this.n]; + + // copy input matrix into the a matrix + + for (int i = 0; i < this.m; i++) { + for (int j = 0; j < this.n; j++) { + a[i][j] = this.A[i][j]; + } + } + + // set some parameters + + double eps = 1.0e-12; + int kp1 = 0; + int imax = 0; + double amax = 0.0; + double amult, adiv; + double atmp = 0.0; + double invtmp = 0.0; + + Matrix inverse = new Matrix(this.n); // declare the output matrix + int nn = this.n; + + // locate maximum magnitude on or below main diagonal + double determinant = 1.0; + for (int k = 0; k < nn; k++) { + if ((k - nn) < 0) { + imax = k; + amax = Math.abs(a[k][k]); + kp1 = k + 1; + for (int i = kp1; i < nn ; i++) { + if (amax - Math.abs(a[i][k]) < 0.0) { + imax = i; + amax = Math.abs(a[i][k]); + } + } + // interchange rows imax and k if imax not equal to k + if ((imax - k) != 0) { + for (int j = 0; j < n; j++) { + atmp = a[imax][j]; + a[imax][j] = a[k][j]; + a[k][j] = atmp; + invtmp = inverse.A[imax][j]; + inverse.A[imax][j] = inverse.A[k][j]; + inverse.A[k][j] = invtmp; + } + determinant = -determinant; + } + } + // test for singular matrix + if ((Math.abs(a[k][k]) - eps) > 0.0) { + determinant = a[k][k] * determinant; + // divide pivot row by its main diagonal element + adiv = a[k][k]; + for (int j = 0; j < nn ; j++) { + a[k][j] = a[k][j] / adiv; + inverse.A[k][j] = inverse.A[k][j] / adiv; + } + // replace each row by linear combination with pivot row + for (int i = 0; i < n; i++) { + amult = a[i][k]; + if ((i - k) != 0) { + for (int j = 0; j < n; j++) { + a[i][j] = a[i][j] - amult * a[k][j]; + inverse.A[i][j] = inverse.A[i][j] - amult * inverse.A[k][j]; + } + } + } + } + else { + // Handle singular matrix + System.out.println(" Singular matrix for k = "+k); + // System.exit(1); + // for the moment set all the elements of the invese matrix be + // zero, in fact the inverse matrix does not exist + for (int i = 0; i + * The Quaternion Class provides the fundamental operations of quaternions. + * Quaternions are used to transform a Vector3 from Reference Frame A + * to Reference Frame B. + * + * The following quaternion definition is used: + * q.x[0] = e.x[0] * sin(phi/2) + * q.x[1] = e.x[1] * sin(phi/2) + * q.x[2] = e.x[2] * sin(phi/2) + * q.x[3] = cos(phi/2) + * + * Reference: Farrell, Jay A. and Matthew Barth, The Global Positioning System & + * Inertial Navigation, pp. 39 - 42. + * + * @author + * @version 1.0 + */ + +public class Quaternion extends VectorN { + +/* ------------------------ + Constructors + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -5493723214590889536L; + + /** Creates new Quaternion */ + public Quaternion() { + super(4); + } + + /** Construct a quaternion from a double array. + * @param x Array containing the 4 values. + */ + + public Quaternion(double[] x) { + super(x); + } + + /** Construct a quaternion from a Vector4. + * @param r Vector4 containing the 4 values. + */ + + public Quaternion(VectorN r) { + super(r); + r.checkVectorDimensions(4); + } + + /** Construct a quaternion from 4 doubles. + * @param q1 1st component of the quaternion. + * @param q2 2nd component of the quaternion. + * @param q3 3rd component of the quaternion. + * @param q4 4th component of the quaternion. + */ + + public Quaternion(double q1, double q2, double q3, double q4) { + super(4); + x[0] = q1; + x[1] = q2; + x[2] = q3; + x[3] = q4; + } + + /** Construct a quaternion from a Vector3 and an angle. + * @param e Vector3 axis of rotation (unit vector), expressed in frame A. + * @param phi Rotation angle in radians. + */ + + public Quaternion(VectorN e, double phi) { + super(4); + double cos_phi = Math.cos(phi/2.0); + double sin_phi = Math.sin(phi/2.0); + x[0] = e.x[0] * sin_phi; + x[1] = e.x[1] * sin_phi; + x[2] = e.x[2] * sin_phi; + x[3] = cos_phi; + } + + /** Construct a quaternion from a 3x3 Direction Cosine Matrix. + * @param c Direction Cosine Matrix from A to B. + */ + + public Quaternion(Matrix c) { + super(4); + c.checkMatrixDimensions(3, 3); + double[][] r = c.getArrayCopy(); + x[3] = 0.5 * Math.sqrt(1.0 + r[0][0] + r[1][1] + r[2][2]); + double den = 4.0 * x[3]; + x[0] = (r[2][1] - r[1][2])/den; + x[1] = (r[0][2] - r[2][0])/den; + x[2] = (r[1][0] - r[0][1])/den; + } +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Compute the conjugate of this quaternion. + * @return Conjugate of this quaternion. + */ + + public Quaternion conjugate() { + double q1 = -1.0 * this.x[0]; + double q2 = -1.0 * this.x[1]; + double q3 = - 1.0 * this.x[2]; + double q4 = this.x[3]; + Quaternion out = new Quaternion(q1, q2, q3, q4); + return out; + } + + /** Compute the 4x4 Matrix version of this quaternion. + * @return 4x4 Matrix version of this quaternion. + */ + + public Matrix yMatrix() { + double[][] temp = new double[4][4]; + double q1 = this.x[0]; + double q2 = this.x[1]; + double q3 = this.x[2]; + double q4 = this.x[3]; + + temp[0][0] = q4; + temp[0][1] = -1.0 * q3; + temp[0][2] = q2; + temp[0][3] = q1; + + temp[1][0] = q3; + temp[1][1] = q4; + temp[1][2] = -1.0 * q1; + temp[1][3] = q2; + + temp[2][0] = -1.0 * q2; + temp[2][1] = q1; + temp[2][2] = q4; + temp[2][3] = q3; + + temp[3][0] = -1.0 * q1; + temp[3][1] = -1.0 * q2; + temp[3][2] = -1.0 * q3; + temp[3][3] = q4; + Matrix out = new Matrix(temp); + return out; + } + + /** Compute the 4x4 Matrix version of this quaternion. R = [2Q|-q] + * @return 4x4 Matrix version of this quaternion. + */ + + public Matrix rMatrix() { + double[][] temp = new double[4][4]; + double q1 = this.x[0]; + double q2 = this.x[1]; + double q3 = this.x[2]; + double q4 = this.x[3]; + + temp[0][0] = q4; + temp[0][1] = -1.0 * q3; + temp[0][2] = q2; + temp[0][3] = -1.0 * q1; + + temp[1][0] = q3; + temp[1][1] = q4; + temp[1][2] = -1.0 * q1; + temp[1][3] = -1.0 * q2; + + temp[2][0] = -1.0 * q2; + temp[2][1] = q1; + temp[2][2] = q4; + temp[2][3] = - 1.0 * q3; + + temp[3][0] = -1.0 * q1; + temp[3][1] = -1.0 * q2; + temp[3][2] = -1.0 * q3; + temp[3][3] = -1.0 * q4; + Matrix out = new Matrix(temp); + return out; + } + + /** Compute the 4x3 Matrix version of this quaternion. + * @return 4x3 Matrix version of this quaternion. + */ + + public Matrix qMatrix() { + double[][] temp = new double[4][3]; + double q1 = this.x[0]; + double q2 = this.x[1]; + double q3 = this.x[2]; + double q4 = this.x[3]; + + temp[0][0] = q4; + temp[0][1] = -1.0 * q3; + temp[0][2] = q2; + + temp[1][0] = q3; + temp[1][1] = q4; + temp[1][2] = -1.0 * q1; + + temp[2][0] = -1.0 * q2; + temp[2][1] = q1; + temp[2][2] = q4; + + temp[3][0] = -1.0 * q1; + temp[3][1] = -1.0 * q2; + temp[3][2] = -1.0 * q3; + Matrix out = new Matrix(temp); + out = out.divide(2.0); + return out; + } + + + /** Compute the product of two quaternions. + * @param q2 Quaternion to multiply + * @return q1 x q2. + */ + public Quaternion times(Quaternion q2) { + Matrix temp = this.yMatrix(); + VectorN q3 = temp.times(q2); + Quaternion out = new Quaternion(q3); + return out; + } + + /** Compute the Direction Cosine Matrix from this quaternion. + * @return Direction Cosine Matrix from A to B. + */ + + public Matrix quat2DCM() { + double[][] r = new double[3][3]; + double q1 = this.x[0]; + double q2 = this.x[1]; + double q3 = this.x[2]; + double q4 = this.x[3]; + + double p1 = q1 * q1; + double p2 = q2 * q2; + double p3 = q3 * q3; + double p4 = q4 * q4; + double p5 = p2 + p3; + double p6 = p5 + p4 + p1; + if (p6 != 0.0) p6 = 2.0 / p6; + + r[0][0] = 1.0 - p6 * p5; + r[1][1] = 1.0 - p6 * (p1 + p3); + r[2][2] = 1.0 - p6 * (p1 + p2); + + p1 = p6 * q1; + p2 = p6 * q2; + p5 = p6 * q3 * q4; + p6 = p1 * q2; + + r[0][1] = p6 - p5; + r[1][0] = p6 + p5; + + p5 = p2 * q4; + p6 = p1 * q3; + + r[0][2] = p6 + p5; + r[2][0] = p6 - p5; + + p5 = p1 * q4; + p6 = p2 * q3; + + r[1][2] = p6 - p5; + r[2][1] = p6 + p5; + + Matrix out = new Matrix(r); + return out; + } + + /** Transform a Vector3 from Frame A to Frame B using this quaternion. + * @param xin Vector3 expressed in Frame A. + * @return Vector3 expressed in Frame B. + */ + + public VectorN transform(VectorN xin) { + xin.checkVectorDimensions(3); + Matrix c = this.quat2DCM(); + VectorN out = c.times(xin); + return out; + } + + /** Compute the perturbation quaternion from 3 tilts, performed on the true + * quaternion. + * @param tilts Vector3 containing 3 tilt angles in radians. + * @return perturbation quaternion. + */ + + public Quaternion tilt2quat(VectorN tilts) { + tilts.checkVectorDimensions(3); + if (tilts.mag() == 0.0) { + Quaternion out = new Quaternion(); + return out; + } + else { + Matrix Q = this.qMatrix(); + Q = Q.times(-1.0); + VectorN temp = Q.times(tilts); + Quaternion out = new Quaternion(temp); + return out; + } + } + +// public Quaternion tilt2quat(VectorN tilts) { +// tilts.checkVectorDimensions(3); + +// if (tilts.mag() == 0.0) { +// Quaternion out = new Quaternion(); +// return out; +// } +// else { +// Matrix ctrue = this.quat2DCM(); + // double ctdet = ctrue.det(); +// System.out.println("det of ctrue = "+ctdet); +// RotationMatrix b = new RotationMatrix(tilts.x[0], tilts.x[1], tilts.x[2]); +// b.print("b matrix"); +// double bdet = b.det(); +// System.out.println("det of b = "+bdet); +// Matrix btrans = b.transpose(); + // double btdet = btrans.det(); +// System.out.println("det of btrans = "+btdet); +// btrans = btrans.divide(btdet); +// btdet = btrans.det(); +// System.out.println("det of btrans = "+btdet); +// Matrix chat = btrans.times(ctrue); +// ctrue.print("c true"); +// chat.print("chat"); + +// this.print("q true"); + +// Quaternion qhat = new Quaternion(chat); +// qhat.print("qhat"); +// VectorN temp = this.minus(qhat); +// Quaternion out = new Quaternion(temp); +// return out; +// } +// } + + /** Compute the 3 tilts from a perturbation quaternion. Implements equation 29 + * from Friedland, Bernard, "Analysis of Strapdown Navigation Using Quaternions". + * @param q Base quaternion (not the perturbation quaternion) + * @return VectorN containing the tilts in radians. + */ + + public VectorN tilts(Quaternion q) { + // form -4Q^T + Matrix Q = q.qMatrix(); + Matrix Qt = Q.transpose(); + Qt = Qt.times(-4.0); +// System.out.println("tilts function"); +// double dqmag = this.mag(); +// double qmag = q.mag(); +// double Qtdet = Qt.det(); +// System.out.println("dqmag = "+dqmag+" qmag = "+qmag); + + double[] temp = Qt.times(this.x); + VectorN out = new VectorN(temp); + return out; + } + + /** Compute the big omega matrix from an angular rate vector. + * Used to propagate quaternions: qdot = omega * q + * @param w angular rate vector + * @return angular rate matrix + */ + public static Matrix omega(VectorN w) { + w.checkVectorDimensions(3); + Matrix out = new Matrix(4,4); + double w1 = 0.5 * w.x[0]; + double w2 = 0.5 * w.x[1]; + double w3 = 0.5 * w.x[2]; + out.set(0,1, w3); + out.set(0,2, -w2); + out.set(0,3, w1); + out.set(1,0, -w3); + out.set(1,2, w1); + out.set(1,3, w2); + out.set(2,0, w2); + out.set(2,1, -w1); + out.set(2,3, w3); + out.set(3,0, -w1); + out.set(3,1, -w2); + out.set(3,2, -w3); + return out; + } + +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/RandomMatrix.java b/src/jat/coreNOSA/math/MatrixVector/data/RandomMatrix.java new file mode 100644 index 0000000..a119a97 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/RandomMatrix.java @@ -0,0 +1,706 @@ +package jat.coreNOSA.math.MatrixVector.data; + +import jat.coreNOSA.math.MatrixVector.data.arrayTools.Shuffle; +import jat.coreNOSA.math.MatrixVector.data.function.DoubleFunction; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FrameView; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixHist2D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixHist3D; + + + +/** +

+ The RandomMatrix Class provides tools for statistical simulations,it extends the Matrix Class and adds many methods. + +@author Yann RICHET. +@version 2.0 +*/ + + +public class RandomMatrix extends Matrix { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = 2148303790236983401L; +/** Is the RandomMatrix a sample or an overal population? + */ + + private boolean isSample = true; + + +/* ------------------------ + Constructors + * ------------------------ */ + + /** Construct an m-by-n matrix of 0. + @param m Number of rows. + @param n Number of columns. + */ + + public RandomMatrix(int m,int n) { + super(m,n); + } + + /** Construct a RandomMatrix from a Matrix (conversion). + @param M Matrix. + */ + + public RandomMatrix(Matrix M) { + super(M.getArrayCopy()); + } + +/* ---------------------- + Public Methods + * ---------------------- */ + +//////////////////////// +//Static constructors.// +//////////////////////// + + /** Construct an m-by-n matrix of random numbers from a uniform random variable. + @param m Number of rows. + @param n Number of columns. + @param min Min of the random variable. + @param max Max of the random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix uniform(int m,int n,double min,double max) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.uniform(min, max); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a discrete random variable. + @param m Number of rows. + @param n Number of columns. + @param val_prob Matrix of the discrete value and their probabilities. + @return A RandomMatrix. + */ + + public static RandomMatrix dirac(int m,int n,Matrix val_prob) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + double y; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.dirac(val_prob.getColumnArrayCopy(0),val_prob.getColumnArrayCopy(1)); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a Gaussian (Normal) random variable. + @param m Number of rows. + @param n Number of columns. + @param mu Mean of the random variable. + @param sigma Standard deviation of the random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix normal(int m,int n,double mu,double sigma) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.normal(mu,sigma); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a LogNormal random variable. + @param m Number of rows. + @param n Number of columns. + @param mu Mean of the Normal random variable. + @param sigma Standard deviation of the Normal random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix logNormal(int m,int n,double mu,double sigma) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.logNormal(mu,sigma); + C[i][j] = Math.exp(x); + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from an exponantial random variable. + @param m Number of rows. + @param n Number of columns. + @param lambda Parmaeter of the exponential random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix exponential(int m,int n,double lambda) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.exponential(lambda); + C[i][j] = x; + } + } + return X; + } + + + /** Construct an m-by-n matrix of random numbers from a symetric triangular random variable. + @param m Number of rows. + @param n Number of columns. + @param min Min of the random variable. + @param max Max of the random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix triangular(int m,int n,double min,double max) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.triangular(min,max); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a non-symetric triangular random variable. + @param m Number of rows. + @param n Number of columns. + @param min Min of the random variable. + @param med Value of the random variable with max density. + @param max Max of the random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix triangular(int m,int n,double min,double med,double max) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + double y; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.triangular(min,med,max); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a Beta random variable. + @param m Number of rows. + @param n Number of columns. + @param a First parameter of the Beta random variable. + @param b Second parameter of the Beta random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix beta(int m,int n,double a,double b) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + double y; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.beta(a,b); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a Cauchy random variable. + @param m Number of rows. + @param n Number of columns. + @param mu Median of the Weibull random variable + @param sigma Second parameter of the Cauchy random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix cauchy(int m,int n,double mu,double sigma) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + double y; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.cauchy(mu,sigma); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a Weibull random variable. + @param m Number of rows. + @param n Number of columns. + @param lambda First parameter of the Weibull random variable. + @param c Second parameter of the Weibull random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix weibull(int m,int n,double lambda,double c) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + double y; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + x = RandomVariable.weibull(lambda,c); + C[i][j] = x; + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a sample of this random variable, using the BOOTSTRAP technic. + @param m Number of rows. + @param n Number of columns. + @param sample RandomMatrix of a sample of the random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix bootstrap(int m,int n,RandomMatrix sample) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + int num = RandomVariable.randInt(0,sample.n*sample.m-1); + x = sample.getColumnPackedCopy()[num]; + C[i][j] = x; + + } + } + return X; + } + + /** Construct an m-by-n matrix of random numbers from a random variable definied by its density function, using the rejection technic. + * ! WARNING : this simulation technic can take a very long time ! + @param m Number of rows. + @param n Number of columns. + @param fun Density function of the random variable. + @param min Min of the random variable. + @param max Max of the random variable. + @return A RandomMatrix. + */ + + public static RandomMatrix rejection(int m,int n,DoubleFunction fun, double min, double max) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + + double maxFun = 0; + for (int i = 0; i < (10*m*n); i++) { + double[] val = {min + i*(max-min)/(10*m*n-1)}; + maxFun = Math.max(maxFun,fun.eval(val)); + } + + double try_x; + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + try_x = RandomVariable.rejection(fun,maxFun,min,max); + C[i][j] = try_x; + } + } + return X; + } + + /** Construct shuffled copy of a matrix. + @param B Matrix to shuffle. + @return A RandomMatrix. + */ + + public static RandomMatrix shuffle(Matrix B) { + Shuffle order = new Shuffle(B.m*B.n); + double[] b = B.getColumnPackedCopy(); + double[] x = new double[b.length]; + for (int i = 0; i < x.length; i++) { + x[i] = b[order.getOrder(i)]; + } + RandomMatrix X = new RandomMatrix(new Matrix(x,B.m)); + return X; + } + + /** Construct a sample with replacement of a matrix. + @param m Number of rows. + @param n Number of columns. + @param B Matrix to sample. + @return A RandomMatrix. + */ + + public static RandomMatrix sampleWithReplacement(int m, int n,Matrix B) { + RandomMatrix X = new RandomMatrix(m,n); + double[][] C = X.getArray(); + double[] b = B.getColumnPackedCopy(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + int num = RandomVariable.randInt(0,B.n*B.m-1); + C[i][j] = b[num]; + } + } + return X; + } + + /** Construct a sample without replacement of a matrix. + @param m Number of rows. + @param n Number of columns. + @param B Matrix to sample. + @return A RandomMatrix. + */ + + public static RandomMatrix sampleWithoutReplacement(int m, int n,Matrix B) { + if ((m*n) > ((B.m)*(B.n))) { + throw new IllegalArgumentException("Matrix number of elements must be < " + ((B.m)*(B.n))); + } + Shuffle order = new Shuffle(B.m*B.n); + double[] b = B.getColumnPackedCopy(); + double[] x = new double[m*n]; + for (int i = 0; i < x.length; i++) { + x[i] = b[order.getOrder(i)]; + } + RandomMatrix X = new RandomMatrix(new Matrix(x,m)); + return X; + } + + +//////////////////////////////////////// +//Norms and characteristics of Matrix.// +//////////////////////////////////////// + + /** Specify if the RandomMatrix is a sample of an overall population, or if it's an overall population. + * This information is needed to calculate unbiaised estimtors of variance for instance. + @param is Is sample?. + */ + + public void setIsSample(boolean is) { + isSample = is; + } + + /** Generate a row matrix, each column contents the mean value of the columns. + @return An 1-by-n matrix. + */ + + public Matrix mean() { + return meanRows(); + } + + /** Generate a row matrix, each column contents the mean value of the columns. + @return An 1-by-n matrix. + */ + + public Matrix meanRows() { + Matrix X = new Matrix(1,n); + double[][] C = X.getArray(); + double s ; + for (int j = 0; j < n; j++) { + s = 0; + for (int k = 0; k < m; k++) { + s = s + A[k][j]; + } + C[0][j] = s/m; + } + return X; + } + + /** Generate a column matrix, each line contents the mean value of the lines. + @return An m-by-1 matrix. + */ + + public Matrix meanColumns() { + Matrix X = new Matrix(m,1); + double[][] C = X.getArray(); + double s ; + for (int i = 0; i < m; i++) { + s = 0; + for (int k = 0; k < n; k++) { + s = s + A[i][k]; + } + C[i][0] = s/n; + } + return X; + } + + /** Generate a covariance matrix, each column contains values of a pulling. + @return An n-by-n matrix. + */ + + public Matrix cov() { + return covRows(); + } + + /** Generate a covariance matrix, each column contains values of a pulling. + @return An n-by-n matrix. + */ + + public Matrix covRows() { + Matrix X = new Matrix(n,n); + int degrees = (isSample) ? (m-1) : (m); + double[][] C = X.getArray(); + double c ; + double s1 ; + double s2 ; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + c = 0; + s1 = 0; + s2 = 0; + for (int k = 0; k < m; k++) { + s1 = s1 + A[k][i]; + s2 = s2 + A[k][j]; + } + s1 = s1/m; + s2 = s2/m; + for (int k = 0; k < m; k++) { + c = c + (A[k][i] - s1)*(A[k][j] - s2); + } + C[i][j] = c/degrees; + } + } + return X; + } + + /** Generate a covariance matrix, each row contains values of a pulling. + @return An m-by-m matrix. + */ + + public Matrix covColumns() { + Matrix X = new Matrix(m,m); + int degrees = (isSample) ? (n-1) : (n); + double[][] C = X.getArray(); + double c ; + double s1 ; + double s2 ; + for (int i = 0; i < m; i++) { + for (int j = 0; j < m; j++) { + c = 0; + s1 = 0; + s2 = 0; + for (int k = 0; k < n; k++) { + s1 = s1 + A[i][k]; + s2 = s2 + A[j][k]; + } + s1 = s1/n; + s2 = s2/n; + for (int k = 0; k < n; k++) { + c = c + (A[i][k] - s1)*(A[j][k] - s2); + } + C[i][j] = c/degrees; + } + } + return X; + } + + /** Generate a correlation matrix, each column contains values of a pulling. + @return An n-by-n matrix. + */ + + public Matrix cor() { + return corRows(); + } + + /** Generate a correlation matrix, each column contains values of a pulling. + @return An n-by-n matrix. + */ + + public Matrix corRows() { + Matrix X = new Matrix(n,n); + int degrees = (isSample) ? (m-1) : (m); + double[][] C = X.getArray(); + double[][] V = new double[n][n]; + double c ; + double s1 ; + double s2 ; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + c = 0; + s1 = 0; + s2 = 0; + for (int k = 0; k < m; k++) { + s1 = s1 + A[k][i]; + s2 = s2 + A[k][j]; + } + s1 = s1/m; + s2 = s2/m; + for (int k = 0; k < m; k++) { + c = c + (A[k][i] - s1)*(A[k][j] - s2); + } + V[i][j] = c/degrees; + } + } + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + C[i][j] = V[i][j]/Math.sqrt(V[i][i]*V[j][j]);//c/degrees; + } + } + return X; + } + + /** Generate a correlation matrix, each row contains values of a pulling. + @return An m-by-m matrix. + */ + + public Matrix corColumns() { + Matrix X = new Matrix(m,m); + int degrees = (isSample) ? (n-1) : (n); + double[][] C = X.getArray(); + double[][] V = new double[m][m]; + double c ; + double s1 ; + double s2 ; + for (int i = 0; i < m; i++) { + for (int j = 0; j < m; j++) { + c = 0; + s1 = 0; + s2 = 0; + for (int k = 0; k < n; k++) { + s1 = s1 + A[i][k]; + s2 = s2 + A[j][k]; + } + s1 = s1/n; + s2 = s2/n; + for (int k = 0; k < n; k++) { + c = c + (A[i][k] - s1)*(A[j][k] - s2); + } + V[i][j] = c/degrees; + } + } + for (int i = 0; i < m; i++) { + for (int j = 0; j < m; j++) { + C[i][j] = V[i][j]/Math.sqrt(V[i][i]*V[j][j]); + } + } + return X; + } + + /** Generate a variance matrix, each column contains values of a pulling. + @return An 1-by-n matrix. + */ + + public Matrix var() { + return varRows(); + } + + /** Generate a variance matrix, each column contains values of a pulling. + @return An 1-by-n matrix. + */ + + public Matrix varRows() { + Matrix X = new Matrix(1,n); + int degrees = (isSample) ? (m-1) : (m); + double[][] C = X.getArray(); + double c ; + double s ; + for (int j = 0; j < n; j++) { + c = 0; + s = 0; + for (int k = 0; k < m; k++) { + s = s + A[k][j]; + } + s = s/m; + for (int k = 0; k < m; k++) { + c = c + (A[k][j] - s)*(A[k][j] - s); + } + C[0][j] = c/degrees; + } + return X; + } + + /** Generate a variance matrix, each row contains values of a pulling. + @return An m-by-1 matrix. + */ + + public Matrix varColumns() { + Matrix X = new Matrix(m,1); + int degrees = (isSample) ? (n-1) : (n); + double[][] C = X.getArray(); + double c ; + double s ; + for (int i = 0; i < m; i++) { + c = 0; + s = 0; + for (int k = 0; k < n; k++) { + s = s + A[i][k]; + } + s = s/n; + for (int k = 0; k < n; k++) { + c = c + (A[i][k] - s)*(A[i][k] - s); + } + C[i][0] = c/degrees; + } + return X; + } + +///////////////////////////////////////////////////////// +//Matrix io methods, in panels, frames or command line.// +///////////////////////////////////////////////////////// + + /** Plot the histogram of the Matrix Columns in a JPanel + @param slices Number of slices + @return A MatrixHist2D (extends a JPanel) + */ + + public MatrixHist2D toPanelHist2D(int slices) { + MatrixHist2D mp2d = new MatrixHist2D(this,slices); + return mp2d; + } + + /** Plot the histogram of the Matrix Columns in a JFrame + @param title Title of the JFrame. + @param slices Number of slices + @return A MatrixHist2D (extends a JPanel) + */ + + public MatrixHist2D toFrameHist2D(String title,int slices) { + MatrixHist2D mp2d = toPanelHist2D(slices); + FrameView fv = new FrameView(title,mp2d); + return mp2d; + } + + /** Plot the histogram of the Matrix Columns in a JPanel + @param slicesX Number of slices in X + @param slicesY Number of slices in Y + @return A MatrixHist3D (extends a JPanel) + */ + + public MatrixHist3D toPanelHist3D(int slicesX,int slicesY) { + MatrixHist3D mp3d = new MatrixHist3D(this,slicesX,slicesY); + return mp3d; + } + + /** Plot the histogram of the Matrix Columns in a JFrame + @param title Title of the JFrame. + @param slicesX Number of slices in X + @param slicesY Number of slices in Y + @return A MatrixHist3D (extends a JPanel) + */ + + public MatrixHist3D toFrameHist3D(String title,int slicesX,int slicesY) { + MatrixHist3D mp3d = toPanelHist3D(slicesX,slicesY); + FrameView fv = new FrameView(title,mp3d); + return mp3d; + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/RandomNumber.java b/src/jat/coreNOSA/math/MatrixVector/data/RandomNumber.java new file mode 100644 index 0000000..a1410c2 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/RandomNumber.java @@ -0,0 +1,197 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math.MatrixVector.data; +import java.io.FileOutputStream; +import java.io.IOException; +import java.io.PrintWriter; + +/** + *

+ * The RandomNumber Class is a random number generator used to create samples of uniform + * and Gaussian distributions. The algorithms come from Chapter 7 of Numerical Recipes. + * + * @author + * @version 1.0 + */ +public class RandomNumber { + + protected long idum; + + /** Creates a new instance of RandomNumber */ + public RandomNumber() { + idum = -1; + } + + /** Create a RandomNumber generator given the dimension and seed. + * @param seed Seed for the random number generator. + */ + public RandomNumber(long seed) { + if (seed > 0) + seed = -seed; + idum = seed; + } + + private static final int IM1 = 2147483563; + private static final int IM2 = 2147483399; + private static final int IMM1 = IM1 - 1; + private static final int IA1 = 40014; + private static final int IA2 = 40692; + private static final int IQ1 = 53668; + private static final int IQ2 = 52774; + private static final int IR1 = 12211; + private static final int IR2 = 3791; + private static final int NTAB = 32; + private static final long NDIV = 1 + IMM1 / NTAB; + private static final double AM = 1.0 / IM1; + private static final double EPS = 1.0E-07; + private static final double RNMX = 1.0 - EPS; + + private long[] iv = new long[NTAB]; + private long iy = 0; + private long idum2 = 123456789; + + /** Returns a uniform random deviate between 0.0 and 1.0, exclusive of the endpoints. + * Call with a negative integer to initialize and do not alter iseed between successive calls. + * Based on ran2.c from Numerical Recipes. + * @param iseed Seed for random number generator, initialize with iseed < 0. + * @return returns a uniform random deviate. + */ + public double uniformDeviate() { + double temp; + int j; + long k; + if (idum <= 0) { + idum = Math.max(-idum, 1); + idum2 = idum; + for (j = NTAB + 7; j >= 0; j--) { + k = idum / IQ1; + idum = IA1 * (idum - k * IQ1) - k * IR1; + if (idum < 0) + idum = idum + IM1; + if (j < NTAB) + iv[j] = idum; + } + iy = iv[0]; + } + k = idum / IQ1; + idum = IA1 * (idum - k * IQ1) - k * IR1; + if (idum < 0) + idum = idum + IM1; + k = idum2 / IQ2; + idum2 = IA2 * (idum2 - k * IQ2) - k * IR2; + if (idum2 < 0) + idum2 = idum2 + IM2; + j = (int) (iy / NDIV); + iy = iv[j] - idum2; + iv[j] = idum; + if (iy < 1) + iy = iy + IMM1; + temp = Math.min(AM * iy, RNMX); + return temp; + } + + /** Generate a random number from a uniform random variable. + @param min Min of the random variable. + @param max Max of the random variable. + @return A double. + */ + + public double uniform(double min, double max) { + double x = min + (max - min) * uniformDeviate(); + return x; + } + + private int iset = 0; + private double gset; + + /** Returns a normally distributed deviate with zero mean and unit variance using uniform(iseed) as the source of uniform deviates. + * Based on gasdev.c from Numerical Recipes. Uses a Box-Muller transformation. + * @param iseed Seed for random number generator. + * @return returns a sample from normally distribution. + */ + public double normal() { + double fac; + double rsq; + double v1; + double v2; + + if (idum < 0) + iset = 0; + if (iset == 0) { + do { + v1 = 2.0 * uniformDeviate() - 1.0; + v2 = 2.0 * uniformDeviate() - 1.0; + rsq = v1 * v1 + v2 * v2; + } while (rsq >= 1.0 || rsq == 0.0); + fac = Math.sqrt(-2.0 * Math.log(rsq) / rsq); + gset = v1 * fac; + iset = 1; + return v2 * fac; + } else { + iset = 0; + return gset; + } + } + + /** Generate a random number from an normal random variable. + @param mean mean. + @param sigma sigma. + @return A double. + */ + public double normal(double mean, double sigma) { + double x = this.normal() * sigma + mean; + return x; + } + + /** Generate a random number from an exponantial random variable (Mean = 1/lambda, variance = 1/lambda^2). + @param lambda Parmaeter of the exponential random variable. + @return A double. + */ + public double exponential(double beta) { + double x = -beta * Math.log(uniformDeviate()); + return x; + } + + public static void main(java.lang.String args[]) throws IOException { + + FileOutputStream outf = new FileOutputStream("c:\\temp\\random.txt"); + PrintWriter pw = new PrintWriter(outf); + RandomNumber x = new RandomNumber(); + double beta = 3.30E-07; + for (int i = 0; i < 3000; i++) { + pw.println( + x.uniformDeviate() + + "\t" + + x.normal() + + "\t" + + x.exponential(beta)); + System.out.println( + x.uniformDeviate() + + "\t" + + x.normal() + + "\t" + + x.exponential(beta)); + } + pw.close(); + outf.close(); + } + +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/RandomVariable.java b/src/jat/coreNOSA/math/MatrixVector/data/RandomVariable.java new file mode 100644 index 0000000..68a6027 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/RandomVariable.java @@ -0,0 +1,185 @@ +package jat.coreNOSA.math.MatrixVector.data; + +import jat.coreNOSA.math.MatrixVector.data.function.DoubleFunction; + +/** +

+ The RandomVaraibale Class provides static methods for generating random numbers. + +@author Yann RICHET. +@version 2.0 +*/ + + +public class RandomVariable { + + /** Generate a random number between 0 and 1. + @return A double between 0 and 1. + */ + + protected static double rand() { + double x = Math.random(); + return x; + } + + /** Generate a random integer. + @param i0 Min of the random variable. + @param i1 Max of the random variable. + @return An int between i0 and i1. + */ + + protected static int randInt(int i0, int i1) { + double x = rand(); + int i = i0 + new Double(Math.floor((i1-i0+1)*x)).intValue(); + return i; + } + + /** Generate a random number from a uniform random variable. + @param min Min of the random variable. + @param max Max of the random variable. + @return A double. + */ + + public static double uniform(double min,double max) { + double x = min+(max-min)*rand(); + return x; + } + + /** Generate a random number from a discrete random variable. + @param values Discrete values. + @param prob Probability of each value. + @return A double. + */ + + public static double dirac(double[] values,double[] prob) { + double[] prob_cumul = new double[values.length]; + prob_cumul[0] = prob[0]; + for (int i = 1; i < values.length; i++) { + prob_cumul[i] = prob_cumul[i-1] + prob[i]; + } + double y = rand(); + double x = 0; + for (int i = 0; i < values.length-1; i++) { + if ((y > prob_cumul[i])&(y < prob_cumul[i+1])) { + x = values[i]; + } + } + return x; + } + + /** Generate a random number from a Gaussian (Normal) random variable. + @param mu Mean of the random variable. + @param sigma Standard deviation of the random variable. + @return A double. + */ + + public static double normal(double mu,double sigma) { + double x = mu + sigma*Math.cos(2*Math.PI*rand())*Math.sqrt(-2*Math.log(rand())); + return x; + } + + /** Generate a random number from a LogNormal random variable. + @param mu Mean of the Normal random variable. + @param sigma Standard deviation of the Normal random variable. + @return A double. + */ + + public static double logNormal(double mu,double sigma) { + double x = mu + sigma*Math.cos(2*Math.PI*rand())*Math.sqrt(-2*Math.log(rand())); + return x; + } + + /** Generate a random number from an exponantial random variable (Mean = 1/lambda, variance = 1/lambda^2). + @param lambda Parmaeter of the exponential random variable. + @return A double. + */ + + public static double exponential(double lambda) { + double x = -1/lambda*Math.log(rand()); + return x; + } + + + /** Generate a random number from a symetric triangular random variable. + @param min Min of the random variable. + @param max Max of the random variable. + @return A double. + */ + + public static double triangular(double min,double max) { + double x = min/2+(max-min)*rand()/2 + min/2+(max-min)*rand()/2; + return x; + } + + /** Generate a random number from a non-symetric triangular random variable. + @param min Min of the random variable. + @param med Value of the random variable with max density. + @param max Max of the random variable. + @return A double. + */ + + public static double triangular(double min,double med,double max) { + double y = rand(); + //if min < x < med, y = (x-min)�/(max-min)(med-min), else, med < x < max, and y = 1-(max-x)�/(max-min)(max-med) + double x = (y < ((med-min)/(max-min))) ? (min+Math.sqrt(y*(max-min)*(med-min))) : (max-Math.sqrt((1-y)*(max-min)*(max-med))); + return x; + } + + /** Generate a random number from a beta random variable. + @param a First parameter of the Beta random variable. + @param b Second parameter of the Beta random variable. + @return A double. + */ + + public static double beta(double a,double b) { + double try_x; + double try_y; + do { + try_x = Math.pow(rand(),1/a); + try_y = Math.pow(rand(),1/b); + } while ((try_x + try_y) > 1); + return try_x/(try_x + try_y); + } + + /** Generate a random number from a Cauchy random variable (Mean = Inf, and Variance = Inf). + @param mu Median of the Weibull random variable + @param sigma Second parameter of the Cauchy random variable. + @return A double. + */ + + public static double cauchy(double mu,double sigma) { + double x = sigma*Math.tan(Math.PI*(rand()-0.5)) + mu; + return x; + } + + /** Generate a random number from a Weibull random variable. + @param lambda First parameter of the Weibull random variable. + @param c Second parameter of the Weibull random variable. + @return A double. + */ + + public static double weibull(double lambda,double c) { + double x = Math.pow(-Math.log(1-rand()),1/c)/lambda; + return x; + } + + /** Generate a random number from a random variable definied by its density function, using the rejection technic. + * !!! WARNING : this simulation technic can take a very long time !!! + @param fun Density function (may be not normalized) of the random variable. + @param maxFun Max of the function. + @param min Min of the random variable. + @param max Max of the random variable. + @return A double. + */ + + public static double rejection(DoubleFunction fun, double maxFun, double min, double max) { + double[] try_x = new double[1]; + double try_y; + do { + try_x[0] = min + rand()*(max-min); + try_y = rand()*maxFun; + } while (fun.eval(try_x) < try_y); + return try_x[0]; + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/RotationMatrix.java b/src/jat/coreNOSA/math/MatrixVector/data/RotationMatrix.java new file mode 100644 index 0000000..d897275 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/RotationMatrix.java @@ -0,0 +1,185 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math.MatrixVector.data; + +/** + *

+ * The RotationMatrix Class provides the fundamental operations of direction + * cosine matrices. + * + * @author + * @version 1.0 + */ + +public class RotationMatrix extends Matrix { + +/* ------------------------ + Constructors + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -8626774206511056297L; + + /** Construct a 3x3 identity matrix. + */ + + public RotationMatrix() { + super(3); + } + + /** Construct a copy of a Rotation Matrix. + * @param in Rotation matrix to make a copy of. + */ + + public RotationMatrix(RotationMatrix in) { + super(in); + in.checkMatrixDimensions(3,3); + } + + /** Construct a copy of a Rotation Matrix. + * @param in Matrix to make a copy of. + */ + + public RotationMatrix(Matrix in) { + super(in); + in.checkMatrixDimensions(3,3); + } + + /** Construct a small angle Rotation matrix from 3 small angles. + * @param in Matrix to make a copy of. + */ + + public RotationMatrix(double a, double b, double c) { + super(3); + this.A[0][1] = c; + this.A[0][2] = -b; + this.A[1][0] = -c; + this.A[1][2] = a; + this.A[2][0] = b; + this.A[2][1] = -a; + } + + /** Construct a single axis rotation matrix. + * @param n Axis to rotate about. + * @param phi Angle to rotate through in radians. + */ + + public RotationMatrix(int n, double phi) { + super(3); + double cos_phi = Math.cos(phi); + double sin_phi = Math.sin(phi); + double msin_phi = -1.0 * sin_phi; + for(int i = 0; i < 3; i++) { + for(int j = 0; j < 3; j++) { + this.A[i][j] = 0.0; + } + this.A[i][i] = cos_phi; + } + switch (n) { + case 1: // Rotate about 1st axis + this.A[0][0] = 1.0; + this.A[1][2] = sin_phi; + this.A[2][1] = msin_phi; + break; + case 2: // Rotate about 2nd axis + this.A[1][1] = 1.0; + this.A[0][2] = msin_phi; + this.A[2][0] = sin_phi; + break; + case 3: // Rotate about 3rd axis + this.A[2][2] = 1.0; + this.A[0][1] = sin_phi; + this.A[1][0] = msin_phi; + break; + default: + System.out.println("Only rotations about 1, 2 or 3 are allowed"); + break; + } + } + + /** Construct a two axis rotation matrix. + * @param n 1st axis to rotate about. + * @param theta Angle to rotate through in radians. + * @param m 2nd axis to rotate about. + * @param phi Angle to rotate through in radians. + */ + public RotationMatrix(int n, double theta, int m, double phi) { + super(3); + RotationMatrix t1 = new RotationMatrix(n, theta); + RotationMatrix t2 = new RotationMatrix(m, phi); + Matrix temp = t2.times(t1); + double [][] out = temp.getArrayCopy(); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + this.A[i][j] = out[i][j]; + } + } + } + + /** Construct a three axis rotation matrix. + * @param n 1st axis to rotate about. + * @param psi Angle to rotate through in radians. + * @param m 2nd axis to rotate about. + * @param theta Angle to rotate through in radians. + * @param l 3rd axis to rotate about. + * @param phi Angle to rotate through in radians. + */ + + public RotationMatrix(int n, double psi, int m, double theta, int l, double phi) { + super(3); + RotationMatrix t1 = new RotationMatrix(n, psi); + RotationMatrix t2 = new RotationMatrix(m, theta); + RotationMatrix t3 = new RotationMatrix(l, phi); + Matrix temp1 = t2.times(t1); + Matrix temp = t3.times(temp1); + double [][] out = temp.getArrayCopy(); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + this.A[i][j] = out[i][j]; + } + } + } +/* ------------------------ + public methods + * ------------------------ */ + + /** Perform the transformation on the vector. + * @param in Vector3 to rotate. + * @return Vector3 expressed in new frame. + */ + + public VectorN transform(VectorN in) { + in.checkVectorDimensions(3); + VectorN out = this.times(in); + return out; + } + + /** Find the inverse rotation matrix. + * @return Inverse of this rotation matrix. + */ + + public Matrix inverse() { + Matrix out = this.transpose(); + return out; + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/Text.java b/src/jat/coreNOSA/math/MatrixVector/data/Text.java new file mode 100644 index 0000000..1bc2746 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/Text.java @@ -0,0 +1,163 @@ +package jat.coreNOSA.math.MatrixVector.data; + +import jat.coreNOSA.math.MatrixVector.data.io.data.TextFile; +import jat.coreNOSA.math.MatrixVector.data.io.data.fileTools.MatrixString; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FrameView; +import jat.coreNOSA.math.MatrixVector.data.io.gui.TextWindow; + +import javax.swing.JPanel; + +/** +

+ The Text Class is just designed to provide easy-to-use string operations + like building log files, displaying text in a window, converting matrix to String format... + +@author Yann RICHET +@version 2.0 +*/ + + +public class Text implements java.io.Serializable { + +/* ------------------------ + Class variables +* ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -3421968800724612257L; +/** String for internal storage. + @serial internal string storage. + */ + private String string = new String(""); + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Construct a text. + @param str String of the text. + */ + public Text(String str) { + setString(str); + } + + /** Construct a text. + @param X Matrix to convert in text. + */ + public Text(Matrix X) { + setString(X); + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Provides access to the string of the text. + @return String of the text. + */ + public String getString() { + String s = new String(string); + return s; + } + + /** Provides access to the string of the text. + @param str String of the text. + */ + public void setString(String str) { + string = str; + } + + public void setString(Matrix X) { + string = MatrixString.printMatrix(X); + } + + + /** Merge the two Texts. + @param text text to merge. + */ + + public void merge(Text text) { + string = new String(string + text.getString()); + } + + /** Merge the Matrix. + @param X Matrix to merge. + */ + + public void merge(Matrix X) { + Text text = new Text(X); + string = new String(string + text.getString()); + } + + /** Merge the string. + @param s String to merge. + */ + + public void merge(String s) { + string = new String(string + s); + } + + /** Print the Text in the Command Line. + */ + + public void toCommandLine() { + System.out.println(string); + } + + /** Save the Text in a file. + @param fileName fileName. + */ + + public void toFile(String fileName) { + TextFile mf = new TextFile(fileName,this); + } + + /** Save the text in a file. + @param file file. + */ + + public void toFile(java.io.File file) { + TextFile mf = new TextFile(file,this); + } + + /** Load the text from a file. + @param fileName fileName. + @return Text. + */ + + public static Text fromFile(String fileName) { + TextFile mf = new TextFile(fileName); + return mf.getText(); + } + + /** Save the text from a file. + @param file file. + @return Text. + */ + + public static Text fromFile(java.io.File file) { + TextFile mf = new TextFile(file); + return mf.getText(); + } + + + /** Display the text in a Window. + @return JPanel. + */ + + public JPanel toPanel() { + return new TextWindow(this); + } + + /** Display the text in a Window in a Frame. + @param title Title of the JFrame. + */ + + public void toFrame(String title) { + FrameView fv = new FrameView(title,toPanel()); + } + + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/UniformVector.java b/src/jat/coreNOSA/math/MatrixVector/data/UniformVector.java new file mode 100644 index 0000000..f74695c --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/UniformVector.java @@ -0,0 +1,109 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math.MatrixVector.data; + +/** + *

+ * The UniformVector Class provides the means to create vectors of numbers which are samples of uniform + * distributions. The algorithms come from Chapter 7 of Numerical Recipes. + * + * @author + * @version 1.0 + */ +public class UniformVector extends VectorN { + + /** + * + */ + private static final long serialVersionUID = 1483142200202199751L; + + /** Seed for random number generator. + */ + protected long idum; + + /** VectorN containing the min for each component. + */ + public VectorN min; + + /** VectorN containing the max for each component. + */ + public VectorN max; + + private RandomNumber rn; + + /** Creates a new instance of UniformVector (Vector3 with zero means). */ + public UniformVector() { + super(3); + this.min = new VectorN(3); + this.max = new VectorN(1.0, 1.0, 1.0); + this.idum = -1; + this.rn = new RandomNumber(this.idum); + fillVector(); + } + + /** Create a UniformVector given a VectorN containing the mins and another + * containing the max values. + * @param mn VectorN containing the min values. + * @param mx VectorN containing the max values. + */ + public UniformVector(VectorN mn, VectorN mx){ + super(mn.length); + mx.checkVectorDimensions(mn); + this.min = new VectorN(mn); + this.max = new VectorN(mx); + this.idum = -1; + this.rn = new RandomNumber(this.idum); + fillVector(); + } + + /** Create a UniformVector given a VectorN containing the mins and another + * containing the max values. + * @param mn VectorN containing the min values. + * @param mx VectorN containing the max values. + * @param seed Seed for random number generator. + */ + public UniformVector(VectorN mn, VectorN mx, long seed){ + super(mn.length); + mx.checkVectorDimensions(mn); + this.min = new VectorN(mn); + this.max = new VectorN(mx); + if (seed > 0) seed = -seed; + this.idum = seed; + this.rn = new RandomNumber(this.idum); + fillVector(); + } + + /** Fills the vector components with random numbers. + */ + public void fillVector(){ + int n = min.length; + for (int i = 0; i < n; i++) { + this.x[i] = min.x[i] + (max.x[i] - min.x[i])*rn.uniformDeviate(); + } + } + + /** Fills the vector components with the next set of random numbers. + */ + public void nextSet(){ + this.fillVector(); + } + +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/VectorList.java b/src/jat/coreNOSA/math/MatrixVector/data/VectorList.java new file mode 100644 index 0000000..2d423d2 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/VectorList.java @@ -0,0 +1,70 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 25, 2003 + */ +package jat.coreNOSA.math.MatrixVector.data; + +import java.util.ArrayList; + +/** + *

+ * The VectorList Class provides a type-conscious ArrayList for VectorN objects. + * + * @author + * @version 1.0 + */ + +public class VectorList { + private ArrayList list = new ArrayList(); + + /** + * Add a vector to the list + * @param x VectorN to be added + */ + public void add(VectorN x) { + list.add(x); + } + + /** + * Get a VectorN from the list + * @param index index of the VectorN to be returned. + * @return VectorN + */ + public VectorN get(int index) { + return (VectorN) list.get(index); + } + + /** + * Return the size of the list. + * @return the size of the list. + */ + public int size() { + return list.size(); + } + + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.size())) { + out = true; + } + return out; + } + +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/VectorN.java b/src/jat/coreNOSA/math/MatrixVector/data/VectorN.java new file mode 100644 index 0000000..930d31b --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/VectorN.java @@ -0,0 +1,1019 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math.MatrixVector.data; + +import java.io.PrintWriter; +import java.io.Serializable; + +import javax.vecmath.Vector3d; + +/** + *

+ * The VectorN Class provides the fundamental operations of numerical vector math, + * basic manipulations, and visualization tools. + * All the operations in this version of the VectorN Class involve only real matrices. + * + * @author + * @version 1.0 + */ + +public class VectorN implements Cloneable, Serializable { + + /* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -5400346413116110237L; + + /** Array for internal storage of elements. + * @serial internal array storage. + */ + public double[] x; + + /** Row and column dimensions. + * @serial vector dimension. + */ + public int length; + + /* ------------------------ + Constructors + * ------------------------ */ + + /** Construct an n-length vector of zeros. + * @param n Number of rows. + */ + + public VectorN(int n) { + this.length = n; + this.x = new double[n]; + for (int i = 0; i < n; i++) { + this.x[i] = 0.0; + } + } + + /** Construct an n-length constant vector. + * @param n Number of rows. + * @param s Fill the vector with this scalar value. + */ + + public VectorN(int n, double s) { + this.length = n; + this.x = new double[n]; + for (int i = 0; i < n; i++) { + x[i] = s; + } + } + + /** Construct a vector from an array. + * @param B One-dimensional array of doubles. + */ + + public VectorN(double[] B) { + this.length = B.length; + this.x = new double[this.length]; + for (int i = 0; i < this.length; i++) { + this.x[i] = B[i]; + } + } + + /** Construct a vector from the first n elements of an array. + * @param B One-dimensional array of doubles. + * @param n Number of elements + */ + + public VectorN(double[] B, int n) { + if (B.length < n) { + throw new IllegalArgumentException( + "Vector dimensions must be greater than or equal to " + n); + } + this.length = n; + this.x = new double[n]; + for (int i = 0; i < n; i++) { + this.x[i] = B[i]; + } + } + /** Construct a vector from an array. + * @param B One-dimensional array of Doubles. + */ + + public VectorN(Double[] B) { + int n = B.length; + System.out.println("n = "+n); + this.length = n; + this.x = new double[n]; + for (int i = 0; i < n; i++) { + this.x[i] = B[i].doubleValue(); + } + } + + /** Construct a vector from the first n elements of an array. + * @param B One-dimensional array of Doubles. + * @param n Number of elements + */ + + public VectorN(Double[] B, int n) { + if (B.length < n) { + throw new IllegalArgumentException( + "Vector dimensions must be greater than or equal to " + n); + } + this.length = n; + this.x = new double[n]; + for (int i = 0; i < n; i++) { + this.x[i] = B[i].doubleValue(); + } + } + + /** Construct a vector from another vector. + * @param y VectorN. + */ + + public VectorN(VectorN y) { + this.length = y.length; + this.x = new double[this.length]; + for (int i = 0; i < this.length; i++) { + this.x[i] = y.x[i]; + } + } + + /** Construct a vector by appending one vector to another vector. + * @param y VectorN. + * @param z VectorN. + */ + public VectorN(VectorN y, VectorN z) { + this.length = y.length + z.length; + this.x = new double[this.length]; + for (int i = 0; i < y.length; i++) { + this.x[i] = y.x[i]; + } + for (int i = 0; i < z.length; i++) { + int j = i + y.length; + this.x[j] = z.x[i]; + } + + } + + /** Construct a VectorN from 3 doubles. + * @param x first element. + * @param y second element. + * @param z third element. + */ + + public VectorN(double x, double y, double z) { + this.length = 3; + this.x = new double[3]; + this.x[0] = x; + this.x[1] = y; + this.x[2] = z; + } + + /** Construct a VectorN from a Vector3d. + * @param x first element. + * @param y second element. + * @param z third element. + */ + + public VectorN(Vector3d in) { + this.length = 3; + this.x = new double[3]; + this.x[0] = in.x; + this.x[1] = in.y; + this.x[2] = in.z; + } + /* ---------------------- + Public Methods + * ---------------------- */ + + ////////////////////////////////// + // Append methods + ///////////////////////////////// + + /** Construct a vector by appending a vector to this vector. + * @param in VectorN to append to this one. + * @return new VectorN. + */ + public VectorN append(VectorN in) { + int length = this.length + in.length; + VectorN out = new VectorN(length); + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i]; + } + for (int i = 0; i < in.length; i++) { + int j = i + this.length; + out.x[j] = in.x[i]; + } + return out; + } + + /** Construct a vector by appending a double to this vector. + * @param in double to append. + * @return new VectorN. + */ + public VectorN append(double in) { + int length = this.length + 1; + VectorN out = new VectorN(length); + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i]; + } + out.x[this.length] = in; + return out; + } + + /////////////////////////////////////////////////////////////////////// + //Basic methods to create, convert into array, clone, or copy VectorN.// + /////////////////////////////////////////////////////////////////////// + + + /** Make a deep copy of a vector + * @return X vector. + */ + + public VectorN copy() { + VectorN X = new VectorN(this); + return X; + } + + /** Clone the VectorN object. + * @return A VectorN Object. + */ + + public Object clone() { + return this.copy(); + } + + /** Access the internal one-dimensional array. + * @return Pointer to the one-dimensional array of matrix elements. + */ + + public double[] getArray() { + return x; + } + + /** Copy the internal one-dimensional array. + * @return One-dimensional array copy of vector elements. + */ + + public double[] getArrayCopy() { + double[] C = new double[this.length]; + for (int i = 0; i < this.length; i++) { + C[i] = x[i]; + } + return C; + } + + //////////////////////////////////////////////////////////// + //Basic and advanced Get methods for VectorN. // + //////////////////////////////////////////////////////////// + + /** Get a single element. + * @param i Row index. + * @return x(i) + * @exception ArrayIndexOutOfBoundsException + */ + + public double get(int i) { + return x[i]; + } + + /** Get the length of the vector. + * @return length of the vector. + */ + + public int getLength() { + return this.length; + } + + /** Get a subvector from consecutive elements. + * @param i Index of first element. + * @param n Number of elements to be retrieved. + * @return VectorN containing n elements. + * @exception ArrayIndexOutOfBoundsException + */ + + public VectorN get(int i, int n) { + VectorN out = new VectorN(n); + for (int j = 0; j < n; j++) { + out.x[j] = this.x[i + j]; + } + return out; + } + //////////////////////////////////////////////////////////// + //Basic and advanced Set methods for VectorN.// + //////////////////////////////////////////////////////////// + + /** Set a single element. + * @param i Row index. + * @param s value for x(i). + * @exception ArrayIndexOutOfBoundsException + */ + + public void set(int i, double s) { + this.x[i] = s; + } + + /** Set a set of consecutive elements. + * @param i Index of first element to be set. + * @param in VectorN containing values. + * @exception ArrayIndexOutOfBoundsException + */ + + public void set(int i, VectorN in) { + int end = i + in.length - 1; + if (this.length < end) { + throw new IllegalArgumentException( + "Vector dimensions must be equal or greater than "+end); + } + + for (int j = 0; j < in.length; j++) { + this.x[i + j] = in.x[j]; + } + } + + /** Set all elements to a single value. + * @param s value for x(i). + */ + + public void set(double s) { + for (int i = 0; i < this.length; i++) { + this.x[i] = s; + } + } + //////////////////////////////////////// + //Norms and characteristics of VectorN.// + //////////////////////////////////////// + + /** Vector magnitude + * @return sqrt of sum of squares of all elements. + */ + + public double mag() { + double out = 0.0; + for (int i = 0; i < this.length; i++) { + out = out + this.x[i] * this.x[i]; + } + out = Math.sqrt(out); + return out; + } + + /** Distance between two vectors + * @param b the second vector. + * @return distance between two vectors. + */ + + public double dist(VectorN b) { + checkVectorDimensions(b); + VectorN temp = this.minus(b); + double out = temp.mag(); + return out; + } + + /////////////////////////////////// + //Algebraic Functions for Matrix.// + /////////////////////////////////// + + /** C = A + B + * @param B another vector + * @return this vector + B + */ + + public VectorN plus(VectorN B) { + checkVectorDimensions(B); + VectorN out = new VectorN(this.length); + + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] + B.x[i]; + } + return out; + } + + /** C = A - B + * @param B another vector + * @return this vector - B + */ + + public VectorN minus(VectorN B) { + checkVectorDimensions(B); + VectorN out = new VectorN(this.length); + + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] - B.x[i]; + } + return out; + } + + /** Multiply a vector by a scalar, C = s*A + * @param s scalar + * @return s*A + */ + + public VectorN times(double s) { + VectorN out = new VectorN(this.length); + + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] * s; + } + return out; + } + + /** Multiply a row vector by a matrix + * @param p Matrix + * @return product of row vector and a matrix + */ + public VectorN times(Matrix p) { + + p.checkMatrixDimensions(this.length, this.length); + + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + for (int j = 0; j < this.length; j++) { + out.x[i] = out.x[i] + this.x[j] * p.A[j][i]; + } + } + + return out; + } + + /** Dot Product, A * B + * @param B another vector + * @return Dot product, A * B + * @exception IllegalArgumentException Matrix inner dimensions must agree. + */ + + public double dotProduct(VectorN B) + // computes the dot product of a * b + { + checkVectorDimensions(B); + + double out = 0.0; + for (int i = 0; i < this.length; i++) { + out = out + this.x[i] * B.x[i]; + } + return out; + } + + /** Outer Product, A * B + * @param B another vector + * @return Matrix containing outer product, A * B + * @exception IllegalArgumentException Matrix inner dimensions must agree. + */ + + public Matrix outerProduct(VectorN B) { + checkVectorDimensions(B); + Matrix out = new Matrix(this.length, this.length); + + for (int i = 0; i < this.length; i++) { + for (int j = 0; j < this.length; j++) { + out.A[i][j] = this.x[i] * B.x[j]; + } + } + return out; + } + + /** Divide a vector by a scalar, C = A/s + * @param s scalar + * @return A/s + */ + + public VectorN divide(double s) { + VectorN out = new VectorN(this.length); + + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] / s; + } + return out; + } + + ///////////////////////////////////////////// + //Element-by-elements Functions for vector.// + ///////////////////////////////////////////// + + /** Add a scalar to each element of a vector, C = A .+ s + * @param s double + * @return A .+ s + */ + + public VectorN ebePlus(double s) { + VectorN X = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + X.x[i] = this.x[i] + s; + } + return X; + } + + /** Sub a scalar to each element of a vector, C = A .- B + * @param s double + * @return A .- s + */ + + public VectorN ebeMinus(double s) { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] - s; + } + return out; + } + + /** Element-by-element multiplication, C = A.*B + * @param B another matrix + * @return A.*B + */ + + public VectorN ebeTimes(VectorN B) { + checkVectorDimensions(B); + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] * B.x[i]; + } + return out; + } + + /** Element-by-element division, C = A.*B + * @param B another matrix + * @return A.*B + */ + + public VectorN ebeDivide(VectorN B) { + checkVectorDimensions(B); + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = this.x[i] / B.x[i]; + } + return out; + } + + /**Element-by-element exponential + * @return exp.(A) + */ + + public VectorN ebeExp() { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = Math.exp(this.x[i]); + } + return out; + } + + /**Element-by-element power + * @param p double + * @return A.^p + */ + + public VectorN ebePow(double p) { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = Math.pow(this.x[i], p); + } + return out; + } + + /**Element-by-element power + * @param B another matrix + * @return A.^B + */ + + public VectorN ebePow(VectorN B) { + checkVectorDimensions(B); + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = Math.pow(this.x[i], B.x[i]); + } + return out; + } + + /**Element-by-element neperian logarithm + * @return log.(A) + */ + + public VectorN ebeLog() { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = Math.log(this.x[i]); + } + return out; + } + + /**Element-by-element inverse + * @return A.^-1 + */ + + public VectorN ebeInv() { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = 1.0 / this.x[i]; + } + return out; + } + + /**Element-by-element square root + * @return A.^1/2 + */ + + public VectorN ebeSqrt() { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = Math.sqrt(this.x[i]); + } + return out; + } + + /**Element-by-element absolute value + * @return A.^-1 + */ + + public VectorN ebeAbs() { + VectorN out = new VectorN(this.length); + for (int i = 0; i < this.length; i++) { + out.x[i] = Math.abs(this.x[i]); + } + return out; + } + + /////////////////////////////////////////////// + //Unit vector methods. // + /////////////////////////////////////////////// + + /**Creates a unit vector pointing in direction of this vector + * @return a unit vector pointing in direction of this vector + */ + + public VectorN unitVector() { + double mag = this.mag(); + VectorN out = this.divide(mag); + return out; + } + + /**Converts this vector into a unit vector + */ + + public void unitize() { + double mag = this.mag(); + for (int i = 0; i < this.length; i++) { + this.x[i] = this.x[i] / mag; + } + } + + ///////////////////////////////////////// + //Advanced functions like sort or find.// + ///////////////////////////////////////// + + /** Return the average of the vector elements + * @return the average of the vector elements + */ + public double average(){ + double sum = 0.0; + for (int i = 0; i < this.length; i++) { + sum = sum + this.x[i]; + } + double n = (double)this.length; + double out = sum/n; + return out; + } + + /** Return the sample variance of the vector elements + * @return the sample variance of the vector elements + */ + public double variance(){ + double mean = this.average(); + double sum = 0.0; + for (int i = 0; i < this.length; i++) { + double var = this.x[i] - mean; + double var2 = var * var; + sum = sum + var2; + } + double n = (double)this.length; + double out = sum/(n - 1.0); + return out; + } + + /** Return the sample standard deviation of the vector elements + * @return the sample standard deviation of the vector elements + */ + public double sigma(){ + double var = this.variance(); + double out = Math.sqrt(var); + return out; + } + + /** + * Compares two vectors to see if they have the same + * values. + * @param o another object (hopefully a vector) + * @return true if o is a vector with the same dimensions + * and same values as this. false otherwise. + */ + public boolean equals(Object o) { + boolean equals = false; + if (o instanceof VectorN) { + VectorN v = (VectorN)o; + if (this.length == v.length) { + equals = true; + for(int ctr=0; equals && (ctr this.length) { + System.out.println("VectorN.print: too many elements to print"); + return; + } + for (int j = 0; j < i.length; j++) { + pw.print(this.x[i[j]] + "\t"); + } + pw.println(); + } + + public String toString(){ + String out = new String(); + for (int j = 0; j < this.length; j++){ + String number = Double.toString(this.x[j]); + out = out + number + "\t"; + } + return out; + } + /** Conversion to double array for use in Matlab + * @param none + * @return array of doubles + * @author DMS + */ + public double[] toDouble(){ + double[] out = new double[this.length]; + for (int j = 0; j < this.length; j++){ + out[j] = this.x[j]; + } + return out; + } + + ///////////////////////////////////// + //Vector Test and checking methods.// + ///////////////////////////////////// + + /** Check if size(A) == size(B). + * @param B Vector to test. + */ + + public void checkVectorDimensions(VectorN B) { + if (B.length != this.length) { + throw new IllegalArgumentException( + "Vector dimensions must equal " + this.length); + } + } + + /** Check if size(A) == n. + * @param B Vector to test. + */ + + public void checkVectorDimensions(int n) { + if (this.length != n) { + throw new IllegalArgumentException( + "Vector dimensions must equal " + n); + } + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Find.java b/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Find.java new file mode 100644 index 0000000..548677a --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Find.java @@ -0,0 +1,236 @@ +package jat.coreNOSA.math.MatrixVector.data.arrayTools; + + /** Find a value or a verified condition in a 2D-Array of double. + */ + +public class Find { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** 2D-Array to test. + */ + private double[][] A; + + /** Indices of elements found. + */ + private int[][] indices; + + /** Value to find or to compare. + */ + private double value; + + /** String of the test. + */ + private String test; + + +/* ------------------------ + Constructors + * ------------------------ */ + + /** Find a value. + @param a Double array to test. + @param v Value to compare. + */ + + public Find(double[][] a, double v) { + A = a; + value = v; + test = "=="; + indices = find(A,test,value); + } + + /** Find elements verifying a test. + @param a Double array to test. + @param t Test : "==", "<=", ">=", "<", ">", "!=". + @param v Value to compare. + */ + + + public Find(double[][] a, String t, double v) { + A = a; + value = v; + test = t; + indices = find(A,test,value); + } + + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Get the indices verifying the test. + @return 2D-indices. + */ + + public int[][] getIndices() { + return indices; + } + + /** Get the boolean array of the test (true / false). + @return 2D-boolean array. + */ + + public boolean[][] getBooleanArray() { + boolean[][] b = setBooleanArray(indices,A); + return b; + } + + /** Get the double array of the test (1D / 0D). + @return 2D-double array of 1 or 0. + */ + + public double[][] getDoubleArray() { + double[][] d = setDoubleArray(indices,A); + return d; + } + +/* ------------------------ + Private Methods + * ------------------------ */ + + /** Set the boolean array. + @param ind Indices verifying the test. + @param a Array to test + @return Boolean array. + */ + + private boolean[][] setBooleanArray(int[][] ind, double[][] a) { + boolean[][] b = new boolean[a.length][a[0].length]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + b[i][j] = false; + } + } + for (int i = 0; i < ind.length; i++) { + b[ind[i][0]][ind[i][1]] = true; + } + return b; + } + + /** Set the double array. + @param ind Indices verifying the test. + @param a Array to test. + @return Double array. + */ + + private double[][] setDoubleArray(int[][] ind, double[][] a) { + double[][] d = new double[a.length][a[0].length]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + d[i][j] = 0; + } + } + for (int i = 0; i < ind.length; i++) { + d[ind[i][0]][ind[i][1]] = 1; + } + return d; + } + + /** Find elements verifying the test. + @param a Double array to test. + @param t String of the test. + @param v Value to test + @return Double array. + */ + + private int[][] find(double[][] a, String t, double v) { + if (t.equals("==")) { + return findEqual(a,v); + } else if (t.equals("<=")) { + return findInfEqual(a,v); + } else if (t.equals(">=")) { + return findSupEqual(a,v); + } else if (t.equals("<")) { + return findInf(a,v); + } else if (t.equals(">")) { + return findSup(a,v); + } else if (t.equals("!=")) { + return findDiff(a,v); + } else { + throw new IllegalArgumentException("Test String " + t + " is unknown."); + } + } + + + private int[][] findEqual(double[][] a, double v) { + int[][] ind = new int[0][2]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + if (a[i][j] == v) + ind = put(ind,i,j); + } + } + return ind; + } + + private int[][] findInfEqual(double[][] a, double v) { + int[][] ind = new int[0][2]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + if (a[i][j] <= v) + ind = put(ind,i,j); + } + } + return ind; + } + + private int[][] findSupEqual(double[][] a, double v) { + int[][] ind = new int[0][2]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + if (a[i][j] >= v) + ind = put(ind,i,j); + } + } + return ind; + } + + private int[][] findInf(double[][] a, double v) { + int[][] ind = new int[0][2]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + if (a[i][j] < v) + ind = put(ind,i,j); + } + } + return ind; + } + + private int[][] findSup(double[][] a, double v) { + int[][] ind = new int[0][2]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + if (a[i][j] > v) + ind = put(ind,i,j); + } + } + return ind; + } + + private int[][] findDiff(double[][] a, double v) { + int[][] ind = new int[0][2]; + for (int i = 0; i < a.length; i++) { + for (int j = 0; j < a[0].length; j++) { + if (a[i][j] != v) + ind = put(ind,i,j); + } + } + return ind; + } + + private int[][] put(int[][] ind, int i0, int j0) { + int[][] new_ind = new int[ind.length+1][2]; + for (int i = 0; i < ind.length; i++) { + for (int j = 0; j < 2; j++) { + new_ind[i][j] = ind[i][j]; + } + } + new_ind[ind.length][0] = i0; + new_ind[ind.length][1] = j0; + return new_ind; + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Shuffle.java b/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Shuffle.java new file mode 100644 index 0000000..28165f9 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Shuffle.java @@ -0,0 +1,123 @@ +package jat.coreNOSA.math.MatrixVector.data.arrayTools; + + /** Shuffle algoritm. + */ + +public class Shuffle { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** Number of elements to shuffle. + */ + private int numOE; + + /** Array for internal storage of the order. + */ + private int[] order; + + +/* ------------------------ + Constructors + * ------------------------ */ + + /** Construct a shuffled order. + @param n Size to shuffle. + */ + + public Shuffle(int n) { + numOE = n; + order = shuffle(numOE); + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Get the order of one line. + @param i order of the line i. + @return order shuffled. + */ + + public int getOrder(int i) { + return order[i]; + } + + /** Get the order of the entire column. + @return orders shuffled. + */ + + public int[] getOrder() { + return order; + } + +/* ------------------------ + Private Methods + * ------------------------ */ + + /** Shuffle the order. + @param numOE Size to shuffle. + @return order shuffled. + */ + + private int[] shuffle(int numOE) { + int[] order_in = new int[numOE]; + for (int i = 0; i < numOE; i++) { + order_in[i] = i; + } + + int[] order_out = new int[0]; + + for (int i = 0; i < numOE; i++) { + int ind = randInt(order_in.length-1); + int val = order_in[ind]; + order_out = put(order_out,val); + order_in = push(order_in,ind); + } + + return order_out; + } + + private int[] put (int[] ind, int add) { + int[] new_ind = new int[ind.length + 1]; + + for (int i = 0; i < ind.length; i++) { + new_ind[i] = ind[i]; + } + new_ind[ind.length] = add; + + return new_ind; + } + + private int[] push (int[] ind, int sub) { + int[] new_ind = new int[ind.length - 1]; + + if (sub == 0) { + for (int i = 0; i < ind.length - 1; i++) + new_ind[i] = ind[i+1]; + } else if (sub == ind.length) { + for (int i = 0; i < ind.length - 1; i++) + new_ind[i] = ind[i]; + } else { + for (int i = 0; i < sub; i++) + new_ind[i] = ind[i]; + for (int i = sub; i < ind.length - 1; i++) + new_ind[i] = ind[i+1]; + } + + return new_ind; + } + + /** Generate a random integer. + @param i Max of the random variable. + @return An int between 0 and i. + */ + + private static int randInt(int i) { + double x = Math.random(); + int r = new Double(Math.floor((i+1)*x)).intValue(); + return r; + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Sort.java b/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Sort.java new file mode 100644 index 0000000..a48bc02 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/arrayTools/Sort.java @@ -0,0 +1,148 @@ +package jat.coreNOSA.math.MatrixVector.data.arrayTools; + + /** Quick Sort algoritm. +

+ Allows to sort a column quickly, + Using a generic version of C.A.R Hoare's Quick Sort algorithm. +

+ */ + +public class Sort { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** Array for internal storage of the matrix to sort. + */ + + private double[] A; + + /** Array for internal storage of the order. + */ + private int[] order; + + +/* ------------------------ + Constructors + * ------------------------ */ + + /** Construct an ascending order. + @param a Array to sort. + */ + + public Sort(double[] a) { + A = a; + order = new int[a.length]; + for (int i = 0; i < a.length; i++) + order[i] = i; + + sort(A); + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Get the ascending order of one line. + @param i Line number. + @return Ascending order of the line. + */ + + public int getOrder(int i) { + return order[i]; + } + +/* ------------------------ + Private Methods + * ------------------------ */ + + /** This is a generic version of C.A.R Hoare's Quick Sort + * algorithm. This will handle arrays that are already + * sorted, and arrays with duplicate keys.
+ * + * If you think of a one dimensional array as going from + * the lowest index on the left to the highest index on the right + * then the parameters to this function are lowest index or + * left and highest index or right. The first time you call + * this function it will be with the parameters 0, a.length - 1. + * + * @param a A double array. + * @param lo0 Int. + * @param hi0 Int. + */ + + private void QuickSort(double a[],int lo0, int hi0) { + + int lo = lo0; + int hi = hi0; + double mid; + + if ( hi0 > lo0) + { + + /* Arbitrarily establishing partition element as the midpoint of + * the array. + */ + mid = a[ ( lo0 + hi0 ) / 2 ]; + + // loop through the array until indices cross + while( lo <= hi ) + { + /* find the first element that is greater than or equal to + * the partition element starting from the left Index. + */ + while( ( lo < hi0 ) && ( a[lo] < mid )) + ++lo; + + /* find an element that is smaller than or equal to + * the partition element starting from the right Index. + */ + while( ( hi > lo0 ) && ( a[hi] > mid )) + --hi; + + // if the indexes have not crossed, swap + if( lo <= hi ) + { + swap(a, lo, hi); + ++lo; + --hi; + } + } + + /* If the right index has not reached the left side of array + * must now sort the left partition. + */ + if( lo0 < hi ) + QuickSort( a, lo0, hi ); + + /* If the left index has not reached the right side of array + * must now sort the right partition. + */ + if( lo < hi0 ) + QuickSort( a, lo, hi0 ); + + } + } + + /** Swap two positions. + @param a Array. + @param i Line number. + @param j Line number. + */ + + private void swap(double a[], int i, int j) { + double T; + T = a[i]; + a[i] = a[j]; + a[j] = T; + int t; + t = order[i]; + order[i] = order[j]; + order[j] = t; + } + + private void sort(double[] a) { + QuickSort(a, 0, a.length-1); + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/function/DoubleFunction.java b/src/jat/coreNOSA/math/MatrixVector/data/function/DoubleFunction.java new file mode 100644 index 0000000..e5b3ace --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/function/DoubleFunction.java @@ -0,0 +1,66 @@ +package jat.coreNOSA.math.MatrixVector.data.function; + +import jat.coreNOSA.math.MatrixVector.data.io.gui.FrameView; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FunctionPlot2D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FunctionPlot3D; +/** + *

Titre : JAva MAtrix TOols

+ *

Description :

+ * @author Yann RICHET + * @version 1.0 + */ + +public abstract class DoubleFunction { + + protected int argNumber; + + public abstract double eval(double[] values); + + public void checkArgNumber(int n) { + if (argNumber != n) { + throw new IllegalArgumentException("Number of arguments must equals " + argNumber); + } + } + + /** Plot the DoubleFunction in a JPanel + @param Xmin Min value in X. + @param Xmax Max value in X. + @return A FunctionPlot2D (extends a JPanel) + */ + + public FunctionPlot2D toPanelPlot2D(double Xmin, double Xmax) { + return new FunctionPlot2D(this,Xmin,Xmax); + } + + /** Plot the DoubleFunction in a JFrame + @param Xmin Min value in X. + @param Xmax Max value in X. + */ + + public void toFramePlot2D(double Xmin, double Xmax) { + FrameView fv = new FrameView(toPanelPlot2D(Xmin,Xmax)); + } + + /** Plot the DoubleFunction in a JPanel + @param Xmin Min value in X. + @param Xmax Max value in X. + @param Ymin Min value in Y. + @param Ymax Max value in Y. + @return A FunctionPlot3D (extends a Swing JPanel) + */ + + public FunctionPlot3D toPanelPlot3D(double Xmin, double Xmax,double Ymin, double Ymax) { + return new FunctionPlot3D(this,Xmin,Xmax,Ymin,Ymax); + } + + /** Plot the DoubleFunction in a JFrame + @param Xmin Min value in X. + @param Xmax Max value in X. + @param Ymin Min value in Y. + @param Ymax Max value in Y. + */ + + public void toFramePlot3D(double Xmin, double Xmax,double Ymin, double Ymax) { + FrameView fv = new FrameView(toPanelPlot3D(Xmin,Xmax,Ymin,Ymax)); + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/function/DoubleFunctionExpression.java b/src/jat/coreNOSA/math/MatrixVector/data/function/DoubleFunctionExpression.java new file mode 100644 index 0000000..930fe17 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/function/DoubleFunctionExpression.java @@ -0,0 +1,65 @@ +package jat.coreNOSA.math.MatrixVector.data.function; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.function.expressionParser.Evaluator; + +public class DoubleFunctionExpression extends DoubleFunction { + + private String expression; + private String[] variables; + private Evaluator E = new Evaluator(); + + public DoubleFunctionExpression(String exp,String[] vars) { + argNumber = vars.length; + setFunction(exp,vars); + } + + public DoubleFunctionExpression(String exp,String vars) { + argNumber = 1; + String[] variable = new String[1]; + variable[0] = vars; + setFunction(exp,variable); + } + + private void setFunction(String exp,String[] vars) { + expression = exp; + variables = vars; + } + + private void setVariableValues(double[] values) { + for (int i = 0;iTitre : JAva MAtrix TOols

+ *

Description :

+ * @author Yann RICHET + * @version 1.0 + */ + +public abstract class MatrixFunction { + + protected int argNumber; + + public abstract Matrix eval(Matrix[] values); + + public void checkArgNumber(int n) { + if (argNumber != n) { + throw new IllegalArgumentException("Number of arguments must equals " + n); + } + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/function/MatrixFunctionExpression.java b/src/jat/coreNOSA/math/MatrixVector/data/function/MatrixFunctionExpression.java new file mode 100644 index 0000000..07ed632 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/function/MatrixFunctionExpression.java @@ -0,0 +1,55 @@ +package jat.coreNOSA.math.MatrixVector.data.function; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.function.expressionParser.Evaluator; + +public class MatrixFunctionExpression extends MatrixFunction { + + //private int argNumber; + + private String expression; + private String[] variables; + private Evaluator ME = new Evaluator(); + + public MatrixFunctionExpression(String exp,String[] vars) { + argNumber = vars.length; + setFunction(exp,vars); + } + + public MatrixFunctionExpression(String exp,String vars) { + argNumber = 1; + String[] variable = new String[1]; + variable[0] = vars; + setFunction(exp,variable); + } + + private void setFunction(String exp,String[] vars) { + expression = exp; + variables = vars; + } + + + private void setVariableValues(Matrix[] values) { + for (int i = 0;iTitre : JAva MAtrix TOols

+ *

Description :

+ * @author Yann RICHET + * @version 1.0 + */ + +public abstract class TestDoubleFunction { + + protected int argNumber; + + public abstract boolean eval(double[] values); + + public void checkArgNumber(int n) { + if (argNumber != n) { + throw new IllegalArgumentException("Number of arguments must equals " + n); + } + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/function/TestDoubleFunctionExpression.java b/src/jat/coreNOSA/math/MatrixVector/data/function/TestDoubleFunctionExpression.java new file mode 100644 index 0000000..2fd0207 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/function/TestDoubleFunctionExpression.java @@ -0,0 +1,71 @@ +package jat.coreNOSA.math.MatrixVector.data.function; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.function.expressionParser.Evaluator; + +public class TestDoubleFunctionExpression extends TestDoubleFunction { + + //private int argNumber; + + private String expression; + private String[] variables; + private Evaluator E = new Evaluator(); + + public TestDoubleFunctionExpression(String exp,String[] vars) { + argNumber = vars.length; + setFunction(exp,vars); + } + + public TestDoubleFunctionExpression(String exp,String vars) { + argNumber = 1; + String[] variable = new String[1]; + variable[0] = vars; + setFunction(exp,variable); + } + + private void setFunction(String exp,String[] vars) { + expression = exp; + variables = vars; + } + + + private void setVariableValues(double[] values) { + for (int i = 0;i0.5) ? (true) : (false); + return bool; + } + + public boolean eval(double value) { + checkArgNumber(1); + setVariableValues(value); + boolean bool = (((Double)(E.getValue())).doubleValue()>0.5) ? (true) : (false); + return bool; + } + + public boolean eval(Matrix values) { + checkArgNumber(values.getRowDimension()); + setVariableValues(values); + boolean bool = (((Double)(E.getValue())).doubleValue()>0.5) ? (true) : (false); + return bool; + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/function/expressionParser/Evaluator.java b/src/jat/coreNOSA/math/MatrixVector/data/function/expressionParser/Evaluator.java new file mode 100644 index 0000000..b324363 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/function/expressionParser/Evaluator.java @@ -0,0 +1,649 @@ +package jat.coreNOSA.math.MatrixVector.data.function.expressionParser; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RandomMatrix; + +import java.util.HashMap; + +/************************************************************************ + * Mathematic expression evaluator. Supports the following functions: + * +, -, *, /, ^, %, cos, sin, tan, acos, asin, atan, sqrt, sqr, log, min, max, ceil, floor, abs, neg, rndr.
+ * When the getValue() is called, a Double object is returned. If it returns null, an error occured.

+ * 

+ * Sample:
+ * MathEvaluator m = new MathEvaluator("-5-6/(-2) + sqr(15+x)");
+ * m.addVariable("x", 15.1d);
+ * System.out.println( m.getValue() );
+ *
+ * @version 1.1 + * @author The-Son LAI, Lts@writeme.com + * @date April 2001 + ************************************************************************/ +public class Evaluator +{ + protected static Operator[] operators = null; + private Node node = null; + private String expression = null; + private HashMap variables = new HashMap(); + + /*** + * creates an empty MathEvaluator. You need to use setExpression(String s) to assign a math expression string to it. + */ + public Evaluator() + { + init(); + } + + /*** + * creates a MathEvaluator and assign the math expression string. + */ + public Evaluator(String s) + { + init(); + setExpression(s); + } + + private void init() + { + if ( operators == null ) initializeOperators(); + } + + /*** + * adds a variable and its value in the MathEvaluator + */ + public void addVariable(String v, Matrix val) + { + variables.put(v, val); + } + + /*** + * adds a variable and its value in the MathEvaluator + */ + public void addVariable(String v, double val) + { + variables.put(v, new Double(val)); + } + + /*** + * adds a variable and its value in the MathEvaluator + */ + public void addVariable(String v, Double val) + { + variables.put(v, val); + } + + /*** + * sets the expression + */ + public void setExpression(String s) + { + expression = s; + } + + /*** + * resets the evaluator + */ + public void reset() + { + node = null; + expression = null; + variables = new HashMap(); + } + + /*** + * trace the binary tree for debug + */ + public void trace() + { + try + { + node = new Node(expression); + node.trace(); + } + catch (Exception e) + { + e.printStackTrace(); + } + } + + /*** + * evaluates and returns the value of the expression + */ + public Object getValue() + { + if (expression == null) return null; + + try + { + node = new Node(expression); + return (evaluate(node)); + } + catch (Exception e) + { + e.printStackTrace(); + return null; + } + } + + private static Object evaluate(Node n) + { + if ( n.hasOperator() && n.hasChild() ) + { + if ( n.getOperator().getType() == 1 ) + n.setValue ( evaluateExpression1( n.getOperator(), evaluate( n.getLeft() )) ); + else if ( n.getOperator().getType() == 2 ) + n.setValue( evaluateExpression2( n.getOperator(), evaluate( n.getLeft() ), evaluate( n.getRight() ) ) ); + } + return (n.getValue()); + } + + private static Object evaluateExpression1(Operator o, Object o1) + { + + String op = o.getOperator(); + Object res = null; + + boolean o1isMatrix; + boolean o2isMatrix; + + try { + Matrix m1 = (Matrix)o1; + o1isMatrix = true; + } catch (Exception e) { + o1isMatrix = false; + } + + if (o1isMatrix) { + Matrix f1 = (Matrix)o1; + + if ( "t".equals(op) ) res = (Object)(f1.transpose()) ; + else if ( "inv".equals(op) ) res = (Object)(f1.inverse()) ; + else if ( "diag".equals(op) ) res = (Object)(f1.diag()) ; + else if ( "det".equals(op) ) res = (Object)(new Double((double)(f1.det()))) ; + else if ( "trace".equals(op) ) res = (Object)(new Double((double)(f1.trace()))) ; + else if ( "rank".equals(op) ) res = (Object)(new Double((double)(f1.rank()))) ; + else if ( "sum".equals(op) ) res = (Object)(f1.sum()) ; + else if ( "prod".equals(op) ) res = (Object)(f1.prod()) ; + else if ( "min".equals(op) ) res = (Object)(f1.min()) ; + else if ( "max".equals(op) ) res = (Object)(f1.max()) ; + else if ( "mean".equals(op) ) res = (Object)(((RandomMatrix)(f1)).mean()) ; + else if ( "cov".equals(op) ) res = (Object)(((RandomMatrix)(f1)).cov()) ; + else if ( "var".equals(op) ) res = (Object)(((RandomMatrix)(f1)).var()) ; + else if ( "cor".equals(op) ) res = (Object)(((RandomMatrix)(f1)).cor()) ; + + } else { + double f1 = ((Double)o1).doubleValue(); + + if ( "cos".equals(op) ) res = (Object)(new Double(Math.cos(f1))) ; + else if ( "sin".equals(op) ) res = (Object)(new Double(Math.sin(f1))) ; + else if ( "tan".equals(op) ) res = (Object)(new Double(Math.tan(f1))) ; + else if ( "acos".equals(op) ) res = (Object)(new Double(Math.acos(f1))) ; + else if ( "asin".equals(op) ) res = (Object)(new Double(Math.asin(f1))) ; + else if ( "atan".equals(op) ) res = (Object)(new Double(Math.atan(f1))) ; + else if ( "sqrt".equals(op) ) res = (Object)(new Double(Math.sqrt(f1))) ; + else if ( "log".equals(op) ) res = (Object)(new Double(Math.log(f1))) ; + else if ( "exp".equals(op) ) res = (Object)(new Double(Math.exp(f1))) ; + else if ( "floor".equals(op) ) res = (Object)(new Double(Math.floor(f1))) ; + else if ( "ceil".equals(op) ) res = (Object)(new Double(Math.ceil(f1))) ; + else if ( "abs".equals(op) ) res = (Object)(new Double(Math.abs(f1))) ; + } + + return res; + } + + private static Object evaluateExpression2(Operator o, Object o1, Object o2) + { + + String op = o.getOperator(); + Object res = null; + + boolean o1isMatrix; + boolean o2isMatrix; + + try { + Matrix m1 = (Matrix)o1; + o1isMatrix = true; + } catch (Exception e) { + o1isMatrix = false; + } + + try { + Matrix m2 = (Matrix)o2; + o2isMatrix = true; + } catch (Exception e) { + o2isMatrix = false; + } + + if (o1isMatrix) { + Matrix f1 = (Matrix)o1; + if (o2isMatrix) { + Matrix f2 = (Matrix)o2; + + if ( "+".equals(op) ) res = (Object)(f1.plus(f2)) ; + else if ( "-".equals(op) ) res = (Object)(f1.minus(f2)) ; + else if ( "*".equals(op) ) res = (Object)(f1.times(f2)) ; + else if ( "/".equals(op) ) res = (Object)(f1.divide(f2)) ; + + } else { + double f2 = ((Double)o2).doubleValue(); + + if ( "*".equals(op) ) res = (Object)(f1.times(f2)) ; + else if ( "/".equals(op) ) res = (Object)(f1.divide(f2)) ; + + else if ( "sort".equals(op) ) res = (Object)(f1.sort(Math.round((float)f2))) ; + else if ( "find".equals(op) ) res = (Object)(f1.find(f2)) ; + } + + } else { + double f1 = ((Double)o1).doubleValue(); + if (o2isMatrix) { + Matrix f2 = (Matrix)o2; + + if ( "*".equals(op) ) res = (Object)(f2.times(f1)) ; + + } else { + double f2 = ((Double)o2).doubleValue(); + + if ( "+".equals(op) ) res = (Object)(new Double(f1 + f2)) ; + else if ( "-".equals(op) ) res = (Object)(new Double(f1 - f2)) ; + else if ( "*".equals(op) ) res = (Object)(new Double(f1 * f2)) ; + else if ( "/".equals(op) ) res = (Object)(new Double(f1 / f2)) ; + + else if ( "^".equals(op) ) res = (Object)(new Double(Math.pow(f1,f2))) ; + else if ( "%".equals(op) ) res = (Object)(new Double(f1 % f2)) ; + else if ( "min".equals(op) ) res = (Object)(new Double(Math.min(f1,f2))) ; + else if ( "max".equals(op) ) res = (Object)(new Double(Math.max(f1,f2))) ; + else if ( "&".equals(op) ) res = (Object)(new Double(((f1>0)&&(f2>0)) ? (1) : (0))) ; + else if ( "|".equals(op) ) res = (Object)(new Double(((f1>0)||(f2>0)) ? (1) : (0))) ; + else if ( "<".equals(op) ) res = (Object)(new Double((f1".equals(op) ) res = (Object)(new Double((f1>f2) ? (1) : (0))) ; + else if ( "=".equals(op) ) res = (Object)(new Double((f1==f2) ? (1) : (0))) ; + + } + } + + return res; + } + + private void initializeOperators() + { + operators = new Operator[39]; + + operators[0] = new Operator("+" , 2, 0); + operators[1] = new Operator("-" , 2, 0); + operators[2] = new Operator("*" , 2, 10); + operators[3] = new Operator("/" , 2, 10); + operators[4] = new Operator("t" , 1, 20); + operators[5] = new Operator("inv" , 1, 20); + operators[6] = new Operator("diag" , 1, 20); + operators[7] = new Operator("det" , 1, 20); + operators[8] = new Operator("trace" , 1, 20); + operators[9] = new Operator("rank" , 1, 20); + operators[10] = new Operator("sum" , 1, 20); + operators[11] = new Operator("prod" , 1, 20); + operators[12] = new Operator("min" , 1, 20); + operators[13] = new Operator("max" , 1, 20); + operators[14] = new Operator("mean" , 1, 20); + operators[15] = new Operator("cov" , 1, 20); + operators[16] = new Operator("var" , 1, 20); + operators[17] = new Operator("cor" , 1, 20); + operators[18] = new Operator("sort" , 2, 20); + operators[19] = new Operator("find" , 2, 20); + operators[20] = new Operator("%" , 2, 10); + operators[21] = new Operator("^" , 2, 10); + operators[22] = new Operator("cos" , 1, 20); + operators[23] = new Operator("sin" , 1, 20); + operators[24] = new Operator("tan" , 1, 20); + operators[25] = new Operator("acos" , 1, 20); + operators[26] = new Operator("asin" , 1, 20); + operators[27] = new Operator("atan" , 1, 20); + operators[28] = new Operator("sqrt" , 1, 20); + operators[29] = new Operator("exp" , 1, 20); + operators[30] = new Operator("log" , 1, 20); + operators[31] = new Operator("floor" , 1, 20); + operators[32] = new Operator("ceil" , 1, 20); + operators[33] = new Operator("abs" , 1, 20); + operators[34] = new Operator("&" , 2, 0); + operators[35] = new Operator("|" , 2, 0); + operators[36] = new Operator("<" , 2, 0); + operators[37] = new Operator(">" , 2, 0); + operators[38] = new Operator("=" , 2, 0); + + } + + /*** + * gets the variable's value that was assigned previously + */ + public Object getVariable(String s) + { + return variables.get(s); + } + + private Object getObject(String s) + { + if ( s == null ) return null; + + Object res = null; + try + { + res = new Double(Double.parseDouble(s)); + } + catch(Exception e) + { + return getVariable(s); + } + + return res; + } + + protected Operator[] getOperators() + { + return operators; + } + + protected class Operator + { + private String op; + private int type; + private int priority; + + public Operator(String o, int t, int p) + { + op = o; + type = t; + priority = p; + } + + public String getOperator() + { + return op; + } + + public void setOperator(String o) + { + op = o; + } + + public int getType() + { + return type; + } + + public int getPriority() + { + return priority; + } + } + + protected class Node + { + public String nString = null; + public Operator nOperator = null; + public Node nLeft = null; + public Node nRight = null; + public Node nParent = null; + public int nLevel = 0; + public Object nValue = null; + + public Node(String s) throws Exception + { + init(null, s, 0); + } + + public Node(Node parent, String s, int level) throws Exception + { + init(parent, s, level); + } + + private void init(Node parent, String s, int level) throws Exception + { + s = removeIllegalCharacters(s); + s = removeBrackets(s); + s = addZero(s); + if ( checkBrackets(s) != 0 ) throw new Exception("Wrong number of brackets in [" + s + "]"); + + nParent = parent; + nString = s; + nValue = getObject(s); + nLevel = level; + int sLength = s.length(); + int inBrackets = 0; + int startOperator = 0; + + for (int i=0; i= o.getPriority() ) + { + nOperator = o; + startOperator = i; + } + } + } + } + } + + if ( nOperator != null ) + { + // one operand, should always be at the beginning + if ( startOperator==0 && nOperator.getType() == 1 ) + { + // the brackets must be ok + if ( checkBrackets( s.substring( nOperator.getOperator().length() ) ) == 0 ) + { + nLeft = new Node( this, s.substring( nOperator.getOperator().length() ) , nLevel + 1); + nRight = null; + return; + } + else + throw new Exception("Error during parsing... missing brackets in [" + s + "]"); + } + // two operands + else if ( startOperator > 0 && nOperator.getType() == 2 ) + { +// nOperator = nOperator; + nLeft = new Node( this, s.substring(0, startOperator), nLevel + 1 ); + nRight = new Node( this, s.substring(startOperator + nOperator.getOperator().length()), nLevel + 1); + } + } + } + + private Operator getOperator(String s, int start) + { + Operator[] operators = getOperators(); + String temp = s.substring(start); + temp = getNextWord(temp); + + for (int i=0; i 'z' || c < 'a') && (c > '9' || c < '0') ) + return s.substring(0, i); + } + return s; + } + + /*** + * checks if there is any missing brackets + * @return true if s is valid + */ + protected int checkBrackets(String s) + { + int sLength = s.length(); + int inBracket = 0; + + for (int i=0; i= 0 ) + inBracket++; + else if ( s.charAt(i) == ')' ) + inBracket--; + } + + return inBracket; + } + + /*** + * returns a string that doesnt start with a + or a - + */ + protected String addZero(String s) + { + if ( s.startsWith("+") || s.startsWith("-") ) + { + int sLength = s.length(); + for (int i=0; i 2 && res.startsWith("(") && res.endsWith(")") && checkBrackets(s.substring(1,s.length()-1)) == 0 ) + { + res = res.substring(1, res.length()-1 ); + } + if ( res != s ) + return removeBrackets(res); + else + return res; + } + + /*** + * Removes illegal characters + */ + public String removeIllegalCharacters(String s) + { + char[] illegalCharacters = { ' ' }; + String res = s; + + for ( int j=0; jTitre : JAva MAtrix TOols

+ *

Description :

+ *

Copyright : Copyright (c) 2002

+ *

Soci�t� : IRSN

+ * @author Yann RICHET + * @version 1.0 + */ + +public class CharFile { + + public static String fromFile(File file) { + String string = new String(""); + try { + FileReader fr = new FileReader(file); + BufferedReader b = new BufferedReader(fr); + boolean eof = false; + while (!eof) { + String line = b.readLine(); + if (line == null) { + eof = true; + string = string.substring(0,string.length()-1); + } else + string = string + line + "\n"; + } + b.close(); + } catch (IOException e) { + System.out.println("File " + file.getName() + " is unreadable."); + } + return string; + } + + public static void toFile(File file,String s) { + try { + FileWriter fw = new FileWriter(file); + BufferedWriter bw = new BufferedWriter(fw); + bw.write(s); + bw.close(); + } catch (IOException e) { + System.out.println("File " + file.getName() + " is unwritable."); + } + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/io/data/fileTools/MatrixString.java b/src/jat/coreNOSA/math/MatrixVector/data/io/data/fileTools/MatrixString.java new file mode 100644 index 0000000..0cede22 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/io/data/fileTools/MatrixString.java @@ -0,0 +1,124 @@ +package jat.coreNOSA.math.MatrixVector.data.io.data.fileTools; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +import java.io.IOException; +import java.io.StreamTokenizer; +import java.io.StringReader; +import java.text.DecimalFormat; +import java.text.DecimalFormatSymbols; +import java.util.Locale; + +public class MatrixString { + + private static int decimalSize = 10; + + private Matrix M; + private String S; + + public MatrixString(Matrix m) { + M = m; + S = printMatrix(M); + } + + public MatrixString(String s) { + S = s; + M = readMatrix(S); + } + + public Matrix getMatrix() { + return M; + } + + public String getString() { + return S; + } + + public static String printMatrix(Matrix m) { + + String str = new String(""); + + DecimalFormat format = new DecimalFormat(); + format.setDecimalFormatSymbols(new DecimalFormatSymbols(Locale.US)); + format.setMinimumIntegerDigits(1); + format.setMaximumFractionDigits(decimalSize); + format.setMinimumFractionDigits(decimalSize); + format.setGroupingUsed(false); + + + for (int i = 0; i < m.getRowDimension(); i++) { + for (int j = 0; j < m.getColumnDimension(); j++) { + String s = format.format(m.get(i,j)); // format the number + int padding = Math.max(1,decimalSize+2-s.length()); // At _least_ 1 space + for (int k = 0; k < padding; k++) + str = str + " "; + str = str + s; + } + str = str + "\n"; + } + str = str + "\n"; // end with blank line. + + return str; + } + + + + /** Read a matrix from a stream. The format is the same the print method, + * so printed matrices can be read back in (provided they were printed using + * US Locale). Elements are separated by + * whitespace, all the elements for each row appear on a single line, + * the last row is followed by a blank line. + @param s the input String. + @return A Matrix. + */ + + public static Matrix readMatrix (String s) { + try { + StreamTokenizer tokenizer= new StreamTokenizer(new StringReader(s)); + + // Although StreamTokenizer will parse numbers, it doesn't recognize + // scientific notation (E or D); however, Double.valueOf does. + // The strategy here is to disable StreamTokenizer's number parsing. + // We'll only get whitespace delimited words, EOL's and EOF's. + // These words should all be numbers, for Double.valueOf to parse. + + tokenizer.resetSyntax(); + tokenizer.wordChars(0,255); + tokenizer.whitespaceChars(0, ' '); + tokenizer.eolIsSignificant(true); + java.util.Vector v = new java.util.Vector(); + + // Ignore initial empty lines + while (tokenizer.nextToken() == StreamTokenizer.TT_EOL); + if (tokenizer.ttype == StreamTokenizer.TT_EOF) + throw new IOException("Unexpected EOF on matrix read."); + do { + v.addElement(Double.valueOf(tokenizer.sval)); // Read & store 1st row. + } while (tokenizer.nextToken() == StreamTokenizer.TT_WORD); + + int n = v.size(); // Now we've got the number of columns! + double row[] = new double[n]; + for (int j=0; j= n) throw new IOException("Row " + v.size() + " is too long."); + row[j++] = Double.valueOf(tokenizer.sval).doubleValue(); + } while (tokenizer.nextToken() == StreamTokenizer.TT_WORD); + if (j < n) throw new IOException("Row " + v.size() + " is too short."); + } + int m = v.size(); // Now we've got the number of rows. + double[][] A = new double[m][]; + v.copyInto(A); // copy the rows out of the vector + return new Matrix(A); + } catch (IOException e) { + System.out.println("Error while reading a Matrix : " + e); + return new Matrix(0,0); + } + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/io/data/fileTools/TextString.java b/src/jat/coreNOSA/math/MatrixVector/data/io/data/fileTools/TextString.java new file mode 100644 index 0000000..b2fc700 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/io/data/fileTools/TextString.java @@ -0,0 +1,38 @@ +package jat.coreNOSA.math.MatrixVector.data.io.data.fileTools; + +import jat.coreNOSA.math.MatrixVector.data.Text; + +public class TextString { + + private static int decimalSize = 10; + + private Text T; + private String S; + + public TextString(Text t) { + T = t; + S = TextString.printText(T); + } + + public TextString(String s) { + S = s; + T = readText(S); + } + + public Text getText() { + return T; + } + + public String getString() { + return S; + } + + public static Text readText(String s) { + return new Text(s); + } + + public static String printText(Text t) { + return t.getString(); + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/io/gui/FrameView.java b/src/jat/coreNOSA/math/MatrixVector/data/io/gui/FrameView.java new file mode 100644 index 0000000..85adc79 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/io/gui/FrameView.java @@ -0,0 +1,39 @@ +package jat.coreNOSA.math.MatrixVector.data.io.gui; + + +import javax.swing.JFrame; +import javax.swing.JPanel; + +public class FrameView extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 6513530503609461907L; + +public FrameView(JPanel panel) { + setContentPane(panel); + pack(); + setVisible(true); + } + + public FrameView(String title,JPanel panel) { + super(title); + setContentPane(panel); + pack(); + setVisible(true); + } + + public FrameView(JPanel[] panels) { + JPanel panel = new JPanel(); + for (int i=0;iTitre : JAva MAtrix TOols

+ *

Description : builds a JPanel containing fields for setting parameters.

+ * @author Yann RICHET + */ + +public class PanelParameters extends JPanel implements FocusListener { + + /** + * + */ + private static final long serialVersionUID = -8372158758790562483L; + +private Dimension defaultSize ; + + private String[] paramLabels; + private String[] paramValues; + private String[][] paramChoices; + + private JLabel[] labels; + private JComboBox[] fields; + + public PanelParameters(String[] lab, String[] val) { + paramLabels = lab; + paramValues = val; + paramChoices = new String[paramLabels.length][1]; + for (int i = 0; i < paramLabels.length; i++) { + paramChoices[i][0] = paramValues[i]; + } + + setComponents(); + setAppearence(); + draw(); + } + + public PanelParameters(String[] lab, String[][] ch) { + paramLabels = lab; + paramValues = new String[paramLabels.length]; + paramChoices = ch; + for (int i = 0; i < paramLabels.length; i++) { + paramValues[i] = paramChoices[i][0]; + } + + setComponents(); + setAppearence(); + draw(); + } + + public PanelParameters(String[] lab) { + paramLabels = lab; + paramValues = new String[paramLabels.length]; + paramChoices = new String[paramLabels.length][1]; + + setComponents(); + setAppearence(); + draw(); + } + + private void setComponents() { + labels = new JLabel[paramLabels.length]; + fields = new JComboBox[paramLabels.length]; + for (int i = 0 ; i < paramLabels.length; i++) { + labels[i] = new JLabel(paramLabels[i],JLabel.RIGHT); + fields[i] = new JComboBox(paramChoices[i]); + fields[i].setEditable(true); + } + defaultSize = new Dimension(400,paramLabels.length*30); + } + + private void setAppearence() { + setPreferredSize(defaultSize); + setSize(defaultSize); + } + + private void updateValues() { + for (int i=0;i=max) setVisible(false); + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/io/gui/TextWindow.java b/src/jat/coreNOSA/math/MatrixVector/data/io/gui/TextWindow.java new file mode 100644 index 0000000..eca4f64 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/io/gui/TextWindow.java @@ -0,0 +1,33 @@ +package jat.coreNOSA.math.MatrixVector.data.io.gui; + +import jat.coreNOSA.math.MatrixVector.data.Text; + +import javax.swing.JPanel; +import javax.swing.JScrollPane; +import javax.swing.JTextArea; + +public class TextWindow extends JPanel { + + /** + * + */ + private static final long serialVersionUID = 7866316047060272256L; +private Text text; + + public TextWindow(Text t) { + text = t; + toWindow(); + } + + public TextWindow(String s) { + text = new Text(s); + toWindow(); + } + + private void toWindow() { + JTextArea textArea = new JTextArea(text.getString()); + JScrollPane scrollPane = new JScrollPane(textArea); + add(scrollPane); + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/io/gui/plotTools/Axe2D.java b/src/jat/coreNOSA/math/MatrixVector/data/io/gui/plotTools/Axe2D.java new file mode 100644 index 0000000..e863df6 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/io/gui/plotTools/Axe2D.java @@ -0,0 +1,214 @@ +package jat.coreNOSA.math.MatrixVector.data.io.gui.plotTools; + +import java.awt.Color; +import java.awt.Dimension; +import java.awt.Font; +import java.awt.Graphics2D; + +import javax.swing.JPanel; + +//import jat.matvec.data.*; + +public class Axe2D { + + private double[] Pl_XMin = new double[2]; + private double[] Pl_XMax = new double[2]; + private double[] Pl_YMin = new double[2]; + private double[] Pl_YMax = new double[2]; + + private int[] Sc_XMin = new int[2]; + private int[] Sc_XMax = new int[2]; + private int[] Sc_YMin = new int[2]; + private int[] Sc_YMax = new int[2]; + + private String[] legend; + + private double[] Pl_0 = {0,0}; + private int[] Sc_0 = new int[2]; + + private Dimension panelDimension; + + private static double delta = 0.2; + + public Axe2D(double[] x,double[] y,JPanel panel,String[] leg) { + + legend = leg; + Pl_XMin[0] = Min(Min(x),Pl_0[0])-(Max(x)-Min(x))*delta; + Pl_XMin[1] = Pl_0[1]; + Pl_XMax[0] = Max(Max(x),Pl_0[0])+(Max(x)-Min(x))*delta; + Pl_XMax[1] = Pl_0[1]; + Pl_YMin[0] = Pl_0[0]; + Pl_YMin[1] = Min(Min(y),Pl_0[1])-(Max(y)-Min(y))*delta; + Pl_YMax[0] = Pl_0[0]; + Pl_YMax[1] = Max(Max(y),Pl_0[1])+(Max(y)-Min(y))*delta; + + panelDimension = panel.getSize(); + + PlScConvert(); + } + + public Axe2D(double x0,double y0,double[] x,double[] y,JPanel panel,String[] leg) { + + Pl_0[0] = x0; + Pl_0[1] = y0; + + legend = leg; + Pl_XMin[0] = Min(Min(x),Pl_0[0])-(Max(x)-Min(x))*delta; + Pl_XMin[1] = Pl_0[1]; + Pl_XMax[0] = Max(Max(x),Pl_0[0])+(Max(x)-Min(x))*delta; + Pl_XMax[1] = Pl_0[1]; + Pl_YMin[0] = Pl_0[0]; + Pl_YMin[1] = Min(Min(y),Pl_0[1])-(Max(y)-Min(y))*delta; + Pl_YMax[0] = Pl_0[0]; + Pl_YMax[1] = Max(Max(y),Pl_0[1])+(Max(y)-Min(y))*delta; + + panelDimension = panel.getSize(); + + PlScConvert(); + } + + + private void PlScConvert() { + + Sc_0 = Pl2Sc(Pl_0); + + Sc_XMin = Pl2Sc(Pl_XMin); + Sc_XMax = Pl2Sc(Pl_XMax); + Sc_YMin = Pl2Sc(Pl_YMin); + Sc_YMax = Pl2Sc(Pl_YMax); + } + + private double[] D2D(double[] XY) { + double[] xy = new double[2]; + xy[0] = (XY[0]-(Pl_XMax[0]+Pl_XMin[0])/2)/(Pl_XMax[0]-Pl_XMin[0]); + xy[1] = (XY[1]-(Pl_YMax[1]+Pl_YMin[1])/2)/(Pl_YMax[1]-Pl_YMin[1]); + return xy; + } + + public int[][] Pl2Sc(double[][] XY) { + int[][] ret = new int[XY.length][2]; + for (int i = 0;i + For a symmetric, positive definite matrix A, the Cholesky decomposition + is an lower triangular matrix L so that A = L*L'. +

+ If the matrix is not symmetric or positive definite, the constructor + returns a partial decomposition and sets an internal flag that may + be queried by the isSPD() method. + */ + +public class CholeskyDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -1352973669832186533L; + +/** Array for internal storage of decomposition. + @serial internal array storage. + */ + private double[][] L; + + /** Row and column dimension (square matrix). + @serial matrix dimension. + */ + private int n; + + /** Symmetric and positive definite flag. + @serial is symmetric and positive definite flag. + */ + private boolean isspd; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Cholesky algorithm for symmetric and positive definite matrix. + @param Arg Square, symmetric matrix. + @return Structure to access L and isspd flag. + */ + + public CholeskyDecomposition (Matrix Arg) { + // Initialize. + double[][] A = Arg.getArray(); + n = Arg.getRowDimension(); + L = new double[n][n]; + isspd = (Arg.getColumnDimension() == n); + // Main loop. + for (int j = 0; j < n; j++) { + double[] Lrowj = L[j]; + double d = 0.0; + for (int k = 0; k < j; k++) { + double[] Lrowk = L[k]; + double s = 0.0; + for (int i = 0; i < k; i++) { + s += Lrowk[i]*Lrowj[i]; + } + Lrowj[k] = s = (A[j][k] - s)/L[k][k]; + d = d + s*s; + isspd = isspd & (A[k][j] == A[j][k]); + } + d = A[j][j] - d; + isspd = isspd & (d > 0.0); + L[j][j] = Math.sqrt(Math.max(d,0.0)); + for (int k = j+1; k < n; k++) { + L[j][k] = 0.0; + } + } + } + +/* ------------------------ + Temporary, experimental code. + * ------------------------ *\ + + \** Right Triangular Cholesky Decomposition. +

+ For a symmetric, positive definite matrix A, the Right Cholesky + decomposition is an upper triangular matrix R so that A = R'*R. + This constructor computes R with the Fortran inspired column oriented + algorithm used in LINPACK and MATLAB. In Java, we suspect a row oriented, + lower triangular decomposition is faster. We have temporarily included + this constructor here until timing experiments confirm this suspicion. + *\ + + \** Array for internal storage of right triangular decomposition. **\ + private transient double[][] R; + + \** Cholesky algorithm for symmetric and positive definite matrix. + @param A Square, symmetric matrix. + @param rightflag Actual value ignored. + @return Structure to access R and isspd flag. + *\ + + public CholeskyDecomposition (Matrix Arg, int rightflag) { + // Initialize. + double[][] A = Arg.getArray(); + n = Arg.getColumnDimension(); + R = new double[n][n]; + isspd = (Arg.getColumnDimension() == n); + // Main loop. + for (int j = 0; j < n; j++) { + double d = 0.0; + for (int k = 0; k < j; k++) { + double s = A[k][j]; + for (int i = 0; i < k; i++) { + s = s - R[i][k]*R[i][j]; + } + R[k][j] = s = s/R[k][k]; + d = d + s*s; + isspd = isspd & (A[k][j] == A[j][k]); + } + d = A[j][j] - d; + isspd = isspd & (d > 0.0); + R[j][j] = Math.sqrt(Math.max(d,0.0)); + for (int k = j+1; k < n; k++) { + R[k][j] = 0.0; + } + } + } + + \** Return upper triangular factor. + @return R + *\ + + public Matrix getR () { + return new Matrix(R,n,n); + } + +\* ------------------------ + End of temporary code. + * ------------------------ */ + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Is the matrix symmetric and positive definite? + @return true if A is symmetric and positive definite. + */ + + public boolean isSPD () { + return isspd; + } + + /** Return triangular factor. + @return L + */ + + public Matrix getL () { + return new Matrix(L,n,n); + } + + /** Solve A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X so that L*L'*X = B + @exception IllegalArgumentException Matrix row dimensions must agree. + @exception RuntimeException Matrix is not symmetric positive definite. + */ + + public Matrix solve (Matrix B) { + if (B.getRowDimension() != n) { + throw new IllegalArgumentException("Matrix row dimensions must agree."); + } + if (!isspd) { + throw new RuntimeException("Matrix is not symmetric positive definite."); + } + + // Copy right hand side. + double[][] X = B.getArrayCopy(); + int nx = B.getColumnDimension(); + + // Solve L*Y = B; + for (int k = 0; k < n; k++) { + for (int i = k+1; i < n; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*L[i][k]; + } + } + for (int j = 0; j < nx; j++) { + X[k][j] /= L[k][k]; + } + } + + // Solve L'*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + X[k][j] /= L[k][k]; + } + for (int i = 0; i < k; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*L[k][i]; + } + } + } + return new Matrix(X,n,nx); + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/EigenvalueDecomposition.java b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/EigenvalueDecomposition.java new file mode 100644 index 0000000..71850d7 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/EigenvalueDecomposition.java @@ -0,0 +1,989 @@ +package jat.coreNOSA.math.MatrixVector.data.matrixDecompositions; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +/** Eigenvalues and eigenvectors of a real matrix. +

+ If A is symmetric, then A = V*D*V' where the eigenvalue matrix D is + diagonal and the eigenvector matrix V is orthogonal. + I.e. A = V.times(D.times(V.transpose())) and + V.times(V.transpose()) equals the identity matrix. +

+ If A is not symmetric, then the eigenvalue matrix D is block diagonal + with the real eigenvalues in 1-by-1 blocks and any complex eigenvalues, + lambda + i*mu, in 2-by-2 blocks, [lambda, mu; -mu, lambda]. The + columns of V represent the eigenvectors in the sense that A*V = V*D, + i.e. A.times(V) equals V.times(D). The matrix V may be badly + conditioned, or even singular, so the validity of the equation + A = V*D*inverse(V) depends upon V.cond(). +**/ + +public class EigenvalueDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = 7980481921250371951L; + +/** Row and column dimension (square matrix). + @serial matrix dimension. + */ + private int n; + + /** Symmetry flag. + @serial internal symmetry flag. + */ + private boolean issymmetric; + + /** Arrays for internal storage of eigenvalues. + @serial internal storage of eigenvalues. + */ + private double[] d, e; + + /** Array for internal storage of eigenvectors. + @serial internal storage of eigenvectors. + */ + private double[][] V; + + /** Array for internal storage of nonsymmetric Hessenberg form. + @serial internal storage of nonsymmetric Hessenberg form. + */ + private double[][] H; + + /** Working storage for nonsymmetric algorithm. + @serial working storage for nonsymmetric algorithm. + */ + private double[] ort; + +/* ------------------------ + Private Methods + * ------------------------ */ + + // Symmetric Householder reduction to tridiagonal form. + + private void tred2 () { + + // This is derived from the Algol procedures tred2 by + // Bowdler, Martin, Reinsch, and Wilkinson, Handbook for + // Auto. Comp., Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + for (int j = 0; j < n; j++) { + d[j] = V[n-1][j]; + } + + // Householder reduction to tridiagonal form. + + for (int i = n-1; i > 0; i--) { + + // Scale to avoid under/overflow. + + double scale = 0.0; + double h = 0.0; + for (int k = 0; k < i; k++) { + scale = scale + Math.abs(d[k]); + } + if (scale == 0.0) { + e[i] = d[i-1]; + for (int j = 0; j < i; j++) { + d[j] = V[i-1][j]; + V[i][j] = 0.0; + V[j][i] = 0.0; + } + } else { + + // Generate Householder vector. + + for (int k = 0; k < i; k++) { + d[k] /= scale; + h += d[k] * d[k]; + } + double f = d[i-1]; + double g = Math.sqrt(h); + if (f > 0) { + g = -g; + } + e[i] = scale * g; + h = h - f * g; + d[i-1] = f - g; + for (int j = 0; j < i; j++) { + e[j] = 0.0; + } + + // Apply similarity transformation to remaining columns. + + for (int j = 0; j < i; j++) { + f = d[j]; + V[j][i] = f; + g = e[j] + V[j][j] * f; + for (int k = j+1; k <= i-1; k++) { + g += V[k][j] * d[k]; + e[k] += V[k][j] * f; + } + e[j] = g; + } + f = 0.0; + for (int j = 0; j < i; j++) { + e[j] /= h; + f += e[j] * d[j]; + } + double hh = f / (h + h); + for (int j = 0; j < i; j++) { + e[j] -= hh * d[j]; + } + for (int j = 0; j < i; j++) { + f = d[j]; + g = e[j]; + for (int k = j; k <= i-1; k++) { + V[k][j] -= (f * e[k] + g * d[k]); + } + d[j] = V[i-1][j]; + V[i][j] = 0.0; + } + } + d[i] = h; + } + + // Accumulate transformations. + + for (int i = 0; i < n-1; i++) { + V[n-1][i] = V[i][i]; + V[i][i] = 1.0; + double h = d[i+1]; + if (h != 0.0) { + for (int k = 0; k <= i; k++) { + d[k] = V[k][i+1] / h; + } + for (int j = 0; j <= i; j++) { + double g = 0.0; + for (int k = 0; k <= i; k++) { + g += V[k][i+1] * V[k][j]; + } + for (int k = 0; k <= i; k++) { + V[k][j] -= g * d[k]; + } + } + } + for (int k = 0; k <= i; k++) { + V[k][i+1] = 0.0; + } + } + for (int j = 0; j < n; j++) { + d[j] = V[n-1][j]; + V[n-1][j] = 0.0; + } + V[n-1][n-1] = 1.0; + e[0] = 0.0; + } + + // Symmetric tridiagonal QL algorithm. + + private void tql2 () { + + // This is derived from the Algol procedures tql2, by + // Bowdler, Martin, Reinsch, and Wilkinson, Handbook for + // Auto. Comp., Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + for (int i = 1; i < n; i++) { + e[i-1] = e[i]; + } + e[n-1] = 0.0; + + double f = 0.0; + double tst1 = 0.0; + double eps = Math.pow(2.0,-52.0); + for (int l = 0; l < n; l++) { + + // Find small subdiagonal element + + tst1 = Math.max(tst1,Math.abs(d[l]) + Math.abs(e[l])); + int m = l; + while (m < n) { + if (Math.abs(e[m]) <= eps*tst1) { + break; + } + m++; + } + + // If m == l, d[l] is an eigenvalue, + // otherwise, iterate. + + if (m > l) { + int iter = 0; + do { + iter = iter + 1; // (Could check iteration count here.) + + // Compute implicit shift + + double g = d[l]; + double p = (d[l+1] - g) / (2.0 * e[l]); + double r = Mathfun.hypot(p,1.0); + if (p < 0) { + r = -r; + } + d[l] = e[l] / (p + r); + d[l+1] = e[l] * (p + r); + double dl1 = d[l+1]; + double h = g - d[l]; + for (int i = l+2; i < n; i++) { + d[i] -= h; + } + f = f + h; + + // Implicit QL transformation. + + p = d[m]; + double c = 1.0; + double c2 = c; + double c3 = c; + double el1 = e[l+1]; + double s = 0.0; + double s2 = 0.0; + for (int i = m-1; i >= l; i--) { + c3 = c2; + c2 = c; + s2 = s; + g = c * e[i]; + h = c * p; + r = Mathfun.hypot(p,e[i]); + e[i+1] = s * r; + s = e[i] / r; + c = p / r; + p = c * d[i] - s * g; + d[i+1] = h + s * (c * g + s * d[i]); + + // Accumulate transformation. + + for (int k = 0; k < n; k++) { + h = V[k][i+1]; + V[k][i+1] = s * V[k][i] + c * h; + V[k][i] = c * V[k][i] - s * h; + } + } + p = -s * s2 * c3 * el1 * e[l] / dl1; + e[l] = s * p; + d[l] = c * p; + + // Check for convergence. + + } while (Math.abs(e[l]) > eps*tst1); + } + d[l] = d[l] + f; + e[l] = 0.0; + } + + // Sort eigenvalues and corresponding vectors. + + for (int i = 0; i < n-1; i++) { + int k = i; + double p = d[i]; + for (int j = i+1; j < n; j++) { + if (d[j] < p) { + k = j; + p = d[j]; + } + } + if (k != i) { + d[k] = d[i]; + d[i] = p; + for (int j = 0; j < n; j++) { + p = V[j][i]; + V[j][i] = V[j][k]; + V[j][k] = p; + } + } + } + } + + // Nonsymmetric reduction to Hessenberg form. + + private void orthes () { + + // This is derived from the Algol procedures orthes and ortran, + // by Martin and Wilkinson, Handbook for Auto. Comp., + // Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutines in EISPACK. + + int low = 0; + int high = n-1; + + for (int m = low+1; m <= high-1; m++) { + + // Scale column. + + double scale = 0.0; + for (int i = m; i <= high; i++) { + scale = scale + Math.abs(H[i][m-1]); + } + if (scale != 0.0) { + + // Compute Householder transformation. + + double h = 0.0; + for (int i = high; i >= m; i--) { + ort[i] = H[i][m-1]/scale; + h += ort[i] * ort[i]; + } + double g = Math.sqrt(h); + if (ort[m] > 0) { + g = -g; + } + h = h - ort[m] * g; + ort[m] = ort[m] - g; + + // Apply Householder similarity transformation + // H = (I-u*u'/h)*H*(I-u*u')/h) + + for (int j = m; j < n; j++) { + double f = 0.0; + for (int i = high; i >= m; i--) { + f += ort[i]*H[i][j]; + } + f = f/h; + for (int i = m; i <= high; i++) { + H[i][j] -= f*ort[i]; + } + } + + for (int i = 0; i <= high; i++) { + double f = 0.0; + for (int j = high; j >= m; j--) { + f += ort[j]*H[i][j]; + } + f = f/h; + for (int j = m; j <= high; j++) { + H[i][j] -= f*ort[j]; + } + } + ort[m] = scale*ort[m]; + H[m][m-1] = scale*g; + } + } + + // Accumulate transformations (Algol's ortran). + + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + V[i][j] = (i == j ? 1.0 : 0.0); + } + } + + for (int m = high-1; m >= low+1; m--) { + if (H[m][m-1] != 0.0) { + for (int i = m+1; i <= high; i++) { + ort[i] = H[i][m-1]; + } + for (int j = m; j <= high; j++) { + double g = 0.0; + for (int i = m; i <= high; i++) { + g += ort[i] * V[i][j]; + } + // Double division avoids possible underflow + g = (g / ort[m]) / H[m][m-1]; + for (int i = m; i <= high; i++) { + V[i][j] += g * ort[i]; + } + } + } + } + } + + + // Complex scalar division. + + private transient double cdivr, cdivi; + private void cdiv(double xr, double xi, double yr, double yi) { + double r,d; + if (Math.abs(yr) > Math.abs(yi)) { + r = yi/yr; + d = yr + r*yi; + cdivr = (xr + r*xi)/d; + cdivi = (xi - r*xr)/d; + } else { + r = yr/yi; + d = yi + r*yr; + cdivr = (r*xr + xi)/d; + cdivi = (r*xi - xr)/d; + } + } + + + // Nonsymmetric reduction from Hessenberg to real Schur form. + + private void hqr2 () { + + // This is derived from the Algol procedure hqr2, + // by Martin and Wilkinson, Handbook for Auto. Comp., + // Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + // Initialize + + int nn = this.n; + int n = nn-1; + int low = 0; + int high = nn-1; + double eps = Math.pow(2.0,-52.0); + double exshift = 0.0; + double p=0,q=0,r=0,s=0,z=0,t,w,x,y; + + // Store roots isolated by balanc and compute matrix norm + + double norm = 0.0; + for (int i = 0; i < nn; i++) { + if (i < low | i > high) { + d[i] = H[i][i]; + e[i] = 0.0; + } + for (int j = Math.max(i-1,0); j < nn; j++) { + norm = norm + Math.abs(H[i][j]); + } + } + + // Outer loop over eigenvalue index + + int iter = 0; + while (n >= low) { + + // Look for single small sub-diagonal element + + int l = n; + while (l > low) { + s = Math.abs(H[l-1][l-1]) + Math.abs(H[l][l]); + if (s == 0.0) { + s = norm; + } + if (Math.abs(H[l][l-1]) < eps * s) { + break; + } + l--; + } + + // Check for convergence + // One root found + + if (l == n) { + H[n][n] = H[n][n] + exshift; + d[n] = H[n][n]; + e[n] = 0.0; + n--; + iter = 0; + + // Two roots found + + } else if (l == n-1) { + w = H[n][n-1] * H[n-1][n]; + p = (H[n-1][n-1] - H[n][n]) / 2.0; + q = p * p + w; + z = Math.sqrt(Math.abs(q)); + H[n][n] = H[n][n] + exshift; + H[n-1][n-1] = H[n-1][n-1] + exshift; + x = H[n][n]; + + // Real pair + + if (q >= 0) { + if (p >= 0) { + z = p + z; + } else { + z = p - z; + } + d[n-1] = x + z; + d[n] = d[n-1]; + if (z != 0.0) { + d[n] = x - w / z; + } + e[n-1] = 0.0; + e[n] = 0.0; + x = H[n][n-1]; + s = Math.abs(x) + Math.abs(z); + p = x / s; + q = z / s; + r = Math.sqrt(p * p+q * q); + p = p / r; + q = q / r; + + // Row modification + + for (int j = n-1; j < nn; j++) { + z = H[n-1][j]; + H[n-1][j] = q * z + p * H[n][j]; + H[n][j] = q * H[n][j] - p * z; + } + + // Column modification + + for (int i = 0; i <= n; i++) { + z = H[i][n-1]; + H[i][n-1] = q * z + p * H[i][n]; + H[i][n] = q * H[i][n] - p * z; + } + + // Accumulate transformations + + for (int i = low; i <= high; i++) { + z = V[i][n-1]; + V[i][n-1] = q * z + p * V[i][n]; + V[i][n] = q * V[i][n] - p * z; + } + + // Complex pair + + } else { + d[n-1] = x + p; + d[n] = x + p; + e[n-1] = z; + e[n] = -z; + } + n = n - 2; + iter = 0; + + // No convergence yet + + } else { + + // Form shift + + x = H[n][n]; + y = 0.0; + w = 0.0; + if (l < n) { + y = H[n-1][n-1]; + w = H[n][n-1] * H[n-1][n]; + } + + // Wilkinson's original ad hoc shift + + if (iter == 10) { + exshift += x; + for (int i = low; i <= n; i++) { + H[i][i] -= x; + } + s = Math.abs(H[n][n-1]) + Math.abs(H[n-1][n-2]); + x = y = 0.75 * s; + w = -0.4375 * s * s; + } + + // MATLAB's new ad hoc shift + + if (iter == 30) { + s = (y - x) / 2.0; + s = s * s + w; + if (s > 0) { + s = Math.sqrt(s); + if (y < x) { + s = -s; + } + s = x - w / ((y - x) / 2.0 + s); + for (int i = low; i <= n; i++) { + H[i][i] -= s; + } + exshift += s; + x = y = w = 0.964; + } + } + + iter = iter + 1; // (Could check iteration count here.) + + // Look for two consecutive small sub-diagonal elements + + int m = n-2; + while (m >= l) { + z = H[m][m]; + r = x - z; + s = y - z; + p = (r * s - w) / H[m+1][m] + H[m][m+1]; + q = H[m+1][m+1] - z - r - s; + r = H[m+2][m+1]; + s = Math.abs(p) + Math.abs(q) + Math.abs(r); + p = p / s; + q = q / s; + r = r / s; + if (m == l) { + break; + } + if (Math.abs(H[m][m-1]) * (Math.abs(q) + Math.abs(r)) < + eps * (Math.abs(p) * (Math.abs(H[m-1][m-1]) + Math.abs(z) + + Math.abs(H[m+1][m+1])))) { + break; + } + m--; + } + + for (int i = m+2; i <= n; i++) { + H[i][i-2] = 0.0; + if (i > m+2) { + H[i][i-3] = 0.0; + } + } + + // Double QR step involving rows l:n and columns m:n + + for (int k = m; k <= n-1; k++) { + boolean notlast = (k != n-1); + if (k != m) { + p = H[k][k-1]; + q = H[k+1][k-1]; + r = (notlast ? H[k+2][k-1] : 0.0); + x = Math.abs(p) + Math.abs(q) + Math.abs(r); + if (x != 0.0) { + p = p / x; + q = q / x; + r = r / x; + } + } + if (x == 0.0) { + break; + } + s = Math.sqrt(p * p + q * q + r * r); + if (p < 0) { + s = -s; + } + if (s != 0) { + if (k != m) { + H[k][k-1] = -s * x; + } else if (l != m) { + H[k][k-1] = -H[k][k-1]; + } + p = p + s; + x = p / s; + y = q / s; + z = r / s; + q = q / p; + r = r / p; + + // Row modification + + for (int j = k; j < nn; j++) { + p = H[k][j] + q * H[k+1][j]; + if (notlast) { + p = p + r * H[k+2][j]; + H[k+2][j] = H[k+2][j] - p * z; + } + H[k][j] = H[k][j] - p * x; + H[k+1][j] = H[k+1][j] - p * y; + } + + // Column modification + + for (int i = 0; i <= Math.min(n,k+3); i++) { + p = x * H[i][k] + y * H[i][k+1]; + if (notlast) { + p = p + z * H[i][k+2]; + H[i][k+2] = H[i][k+2] - p * r; + } + H[i][k] = H[i][k] - p; + H[i][k+1] = H[i][k+1] - p * q; + } + + // Accumulate transformations + + for (int i = low; i <= high; i++) { + p = x * V[i][k] + y * V[i][k+1]; + if (notlast) { + p = p + z * V[i][k+2]; + V[i][k+2] = V[i][k+2] - p * r; + } + V[i][k] = V[i][k] - p; + V[i][k+1] = V[i][k+1] - p * q; + } + } // (s != 0) + } // k loop + } // check convergence + } // while (n >= low) + + // Backsubstitute to find vectors of upper triangular form + + if (norm == 0.0) { + return; + } + + for (n = nn-1; n >= 0; n--) { + p = d[n]; + q = e[n]; + + // Real vector + + if (q == 0) { + int l = n; + H[n][n] = 1.0; + for (int i = n-1; i >= 0; i--) { + w = H[i][i] - p; + r = 0.0; + for (int j = l; j <= n; j++) { + r = r + H[i][j] * H[j][n]; + } + if (e[i] < 0.0) { + z = w; + s = r; + } else { + l = i; + if (e[i] == 0.0) { + if (w != 0.0) { + H[i][n] = -r / w; + } else { + H[i][n] = -r / (eps * norm); + } + + // Solve real equations + + } else { + x = H[i][i+1]; + y = H[i+1][i]; + q = (d[i] - p) * (d[i] - p) + e[i] * e[i]; + t = (x * s - z * r) / q; + H[i][n] = t; + if (Math.abs(x) > Math.abs(z)) { + H[i+1][n] = (-r - w * t) / x; + } else { + H[i+1][n] = (-s - y * t) / z; + } + } + + // Overflow control + + t = Math.abs(H[i][n]); + if ((eps * t) * t > 1) { + for (int j = i; j <= n; j++) { + H[j][n] = H[j][n] / t; + } + } + } + } + + // Complex vector + + } else if (q < 0) { + int l = n-1; + + // Last vector component imaginary so matrix is triangular + + if (Math.abs(H[n][n-1]) > Math.abs(H[n-1][n])) { + H[n-1][n-1] = q / H[n][n-1]; + H[n-1][n] = -(H[n][n] - p) / H[n][n-1]; + } else { + cdiv(0.0,-H[n-1][n],H[n-1][n-1]-p,q); + H[n-1][n-1] = cdivr; + H[n-1][n] = cdivi; + } + H[n][n-1] = 0.0; + H[n][n] = 1.0; + for (int i = n-2; i >= 0; i--) { + double ra,sa,vr,vi; + ra = 0.0; + sa = 0.0; + for (int j = l; j <= n; j++) { + ra = ra + H[i][j] * H[j][n-1]; + sa = sa + H[i][j] * H[j][n]; + } + w = H[i][i] - p; + + if (e[i] < 0.0) { + z = w; + r = ra; + s = sa; + } else { + l = i; + if (e[i] == 0) { + cdiv(-ra,-sa,w,q); + H[i][n-1] = cdivr; + H[i][n] = cdivi; + } else { + + // Solve complex equations + + x = H[i][i+1]; + y = H[i+1][i]; + vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q; + vi = (d[i] - p) * 2.0 * q; + if (vr == 0.0 & vi == 0.0) { + vr = eps * norm * (Math.abs(w) + Math.abs(q) + + Math.abs(x) + Math.abs(y) + Math.abs(z)); + } + cdiv(x*r-z*ra+q*sa,x*s-z*sa-q*ra,vr,vi); + H[i][n-1] = cdivr; + H[i][n] = cdivi; + if (Math.abs(x) > (Math.abs(z) + Math.abs(q))) { + H[i+1][n-1] = (-ra - w * H[i][n-1] + q * H[i][n]) / x; + H[i+1][n] = (-sa - w * H[i][n] - q * H[i][n-1]) / x; + } else { + cdiv(-r-y*H[i][n-1],-s-y*H[i][n],z,q); + H[i+1][n-1] = cdivr; + H[i+1][n] = cdivi; + } + } + + // Overflow control + + t = Math.max(Math.abs(H[i][n-1]),Math.abs(H[i][n])); + if ((eps * t) * t > 1) { + for (int j = i; j <= n; j++) { + H[j][n-1] = H[j][n-1] / t; + H[j][n] = H[j][n] / t; + } + } + } + } + } + } + + // Vectors of isolated roots + + for (int i = 0; i < nn; i++) { + if (i < low | i > high) { + for (int j = i; j < nn; j++) { + V[i][j] = H[i][j]; + } + } + } + + // Back transformation to get eigenvectors of original matrix + + for (int j = nn-1; j >= low; j--) { + for (int i = low; i <= high; i++) { + z = 0.0; + for (int k = low; k <= Math.min(j,high); k++) { + z = z + V[i][k] * H[k][j]; + } + V[i][j] = z; + } + } + } + + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Check for symmetry, then construct the eigenvalue decomposition + @param Arg Square matrix + @return Structure to access D and V. + */ + + public EigenvalueDecomposition (Matrix Arg) { + double[][] A = Arg.getArray(); + n = Arg.getColumnDimension(); + V = new double[n][n]; + d = new double[n]; + e = new double[n]; + + issymmetric = true; + for (int j = 0; (j < n) & issymmetric; j++) { + for (int i = 0; (i < n) & issymmetric; i++) { + issymmetric = (A[i][j] == A[j][i]); + } + } + + if (issymmetric) { + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + V[i][j] = A[i][j]; + } + } + + // Tridiagonalize. + tred2(); + + // Diagonalize. + tql2(); + + } else { + H = new double[n][n]; + ort = new double[n]; + + for (int j = 0; j < n; j++) { + for (int i = 0; i < n; i++) { + H[i][j] = A[i][j]; + } + } + + // Reduce to Hessenberg form. + orthes(); + + // Reduce Hessenberg to real Schur form. + hqr2(); + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Return the eigenvector matrix + @return V + */ + + public boolean isDReal () { + boolean b = false; + for (int i = 0; i 0) b = true; + return b; + } + + /** Return the eigenvector matrix + @return V + */ + + public Matrix getV () { + return new Matrix(V,n,n); + } + + + /** Return the block diagonal eigenvalue matrix + @return D + */ + + public Matrix getD () { + Matrix X = new Matrix(n,n); + double[][] D = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + D[i][j] = 0.0; + } + D[i][i] = d[i]; + if (e[i] > 0) { + D[i][i+1] = e[i]; + } else if (e[i] < 0) { + D[i][i-1] = e[i]; + } + } + return X; + } + + /** Return the real diagonal eigenvalue matrix + @return Real(D) + */ + + public Matrix getD_Real () { + Matrix X = new Matrix(n,n); + double[][] D = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + D[i][j] = 0.0; + } + D[i][i] = d[i]; + } + return X; + } + + /** Return the imaginary diagonal eigenvalue matrix + @return Imag(D) + */ + + public Matrix getD_Imag () { + Matrix X = new Matrix(n,n); + double[][] E = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + E[i][j] = 0.0; + } + E[i][i] = e[i]; + } + return X; + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/Householder.java b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/Householder.java new file mode 100644 index 0000000..7ac5659 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/Householder.java @@ -0,0 +1,172 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.math.MatrixVector.data.matrixDecompositions; +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +/** + *

+ * The Householder Class provides the solution to the equation y = Hx, where we are solving for x, + * a double array by using a Householder decomposition. + * + * @author + * @version 1.0 + */ +public class Householder +// Householder +{ + public double xhat[]; + public Matrix R; + public Matrix P; + int n; + int m; + + public Householder(Matrix H, double [] y) + { + this.n = H.n; + this.m = y.length; + H.checkRowDimension(y.length); + double [] out = new double[n]; + out = this. compute(H, y); + } + + public Householder(int n_in, int m_in) + { + this.n = n_in; + this.m = m_in; + } + + public double [] compute( Matrix H, double [] y) + { +// long ts = System.currentTimeMillis(); + + Matrix A = new Matrix((n+m),(n+1)); + + for (int i = 0; i < n; i++) + { + for (int j = 0; j < n; j++) + { + A.A[i][j] = 0.0; + } + A.A[i][n] = 0.0; + } + + for (int i = 0; i < m; i++) + { + for (int j = 0; j < n; j++) + { + A.A[i+n][j] = H.A[i][j]; + } + A.A[i+n][n] = y[i]; + } + + this.R = new Matrix(n,n); + this.xhat = new double[n]; + this.P = new Matrix(n,n); + Matrix Rtrans = new Matrix(n,n); + Matrix RTR = new Matrix(n,n); + + double sigma = 0.0; + double [] u = new double[m+n]; + + for (int k = 0; k < n; k++) + { + double sum1 = 0.0; + for (int i = k; i < (m+n); i++) + { + sum1 = sum1 + A.A[i][k]*A.A[i][k]; + } + if (A.A[k][k] < 0.0) + { + sigma = -1.0 * Math.sqrt(sum1); + } + else + { + sigma = Math.sqrt(sum1); + } + + u[k] = A.A[k][k] + sigma; + A.A[k][k] = -1.0 * sigma; + + for (int i = (k+1); i < (m+n); i++) + { + u[i] = A.A[i][k]; + } + + double beta = 1.0/(sigma*u[k]); + + for (int j = (k+1); j < (n+1); j++) + { + double sum2 = 0.0; + for (int i = k; i < (m+n); i++) + { + sum2 = sum2 + u[i]*A.A[i][j]; + } + double gamma = beta * sum2; + for (int i = k; i < (m+n); i++) + { + A.A[i][j] = A.A[i][j] - gamma * u[i]; + } + } // Next j + + for (int i = (k+1); i < (m+n); i++) + { + A.A[i][k] = 0.0; + } + } // Next k + + double sum = 0.0; + for (int i = 0; i < m; i++) + { + sum = sum + A.A[n+i][n]*A.A[n+i][n]; + } + + + double [] b = new double[n]; + for (int i = 0; i < n; i++) + { + for (int j = 0; j < n; j++) + { + this.R.A[i][j] = A.A[i][j]; + } + b[i] = A.A[i][n]; + this.xhat[i] = 0.0; + } + + + for (int i = (n-1); i > -1; i--) + { + double rijxj = 0.0; + for (int j = (i+1); j < n; j++) + { + rijxj = rijxj + R.A[i][j]*this.xhat[j]; + } + + this.xhat[i] = (b[i] - rijxj)/R.A[i][i]; + } + + Rtrans = this.R.transpose(); + RTR = Rtrans.times(this.R); + + return this.xhat; + + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/LUDecomposition.java b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/LUDecomposition.java new file mode 100644 index 0000000..123e774 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/LUDecomposition.java @@ -0,0 +1,339 @@ +package jat.coreNOSA.math.MatrixVector.data.matrixDecompositions; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + + /** LU Decomposition. +

+ For an m-by-n matrix A with m >= n, the LU decomposition is an m-by-n + unit lower triangular matrix L, an n-by-n upper triangular matrix U, + and a permutation vector piv of length m so that A(piv,:) = L*U. + In other words, assuming P the permutation Matrix, P*A = L*U. + If m < n, then L is m-by-m and U is m-by-n. +

+ The LU decompostion with pivoting always exists, even if the matrix is + singular, so the constructor will never fail. The primary use of the + LU decomposition is in the solution of square systems of simultaneous + linear equations. This will fail if isNonsingular() returns false. + */ + +public class LUDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -6818062185820778685L; + +/** Array for internal storage of decomposition. + @serial internal array storage. + */ + private double[][] LU; + + /** Row and column dimensions, and pivot sign. + @serial column dimension. + @serial row dimension. + @serial pivot sign. + */ + private int m, n, pivsign; + + /** Internal storage of pivot vector. + @serial pivot vector. + */ + private int[] piv; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** LU Decomposition + @param A Rectangular matrix + @return Structure to access L, U and piv. + */ + + public LUDecomposition (Matrix A) { + + // Use a "left-looking", dot-product, Crout/Doolittle algorithm. + + LU = A.getArrayCopy(); + m = A.getRowDimension(); + n = A.getColumnDimension(); + piv = new int[m]; + for (int i = 0; i < m; i++) { + piv[i] = i; + } + pivsign = 1; + double[] LUrowi; + double[] LUcolj = new double[m]; + + // Outer loop. + + for (int j = 0; j < n; j++) { + + // Make a copy of the j-th column to localize references. + + for (int i = 0; i < m; i++) { + LUcolj[i] = LU[i][j]; + } + + // Apply previous transformations. + + for (int i = 0; i < m; i++) { + LUrowi = LU[i]; + + // Most of the time is spent in the following dot product. + + int kmax = Math.min(i,j); + double s = 0.0; + for (int k = 0; k < kmax; k++) { + s += LUrowi[k]*LUcolj[k]; + } + + LUrowi[j] = LUcolj[i] -= s; + } + + // Find pivot and exchange if necessary. + + int p = j; + for (int i = j+1; i < m; i++) { + if (Math.abs(LUcolj[i]) > Math.abs(LUcolj[p])) { + p = i; + } + } + if (p != j) { + for (int k = 0; k < n; k++) { + double t = LU[p][k]; LU[p][k] = LU[j][k]; LU[j][k] = t; + } + int k = piv[p]; piv[p] = piv[j]; piv[j] = k; + pivsign = -pivsign; + } + + // Compute multipliers. + + if (j < m & LU[j][j] != 0.0) { + for (int i = j+1; i < m; i++) { + LU[i][j] /= LU[j][j]; + } + } + } + } + +/* ------------------------ + Temporary, experimental code. + ------------------------ *\ + + \** LU Decomposition, computed by Gaussian elimination. +

+ This constructor computes L and U with the "daxpy"-based elimination + algorithm used in LINPACK and MATLAB. In Java, we suspect the dot-product, + Crout algorithm will be faster. We have temporarily included this + constructor until timing experiments confirm this suspicion. +

+ @param A Rectangular matrix + @param linpackflag Use Gaussian elimination. Actual value ignored. + @return Structure to access L, U and piv. + *\ + + public LUDecomposition (Matrix A, int linpackflag) { + // Initialize. + LU = A.getArrayCopy(); + m = A.getRowDimension(); + n = A.getColumnDimension(); + piv = new int[m]; + for (int i = 0; i < m; i++) { + piv[i] = i; + } + pivsign = 1; + // Main loop. + for (int k = 0; k < n; k++) { + // Find pivot. + int p = k; + for (int i = k+1; i < m; i++) { + if (Math.abs(LU[i][k]) > Math.abs(LU[p][k])) { + p = i; + } + } + // Exchange if necessary. + if (p != k) { + for (int j = 0; j < n; j++) { + double t = LU[p][j]; LU[p][j] = LU[k][j]; LU[k][j] = t; + } + int t = piv[p]; piv[p] = piv[k]; piv[k] = t; + pivsign = -pivsign; + } + // Compute multipliers and eliminate k-th column. + if (LU[k][k] != 0.0) { + for (int i = k+1; i < m; i++) { + LU[i][k] /= LU[k][k]; + for (int j = k+1; j < n; j++) { + LU[i][j] -= LU[i][k]*LU[k][j]; + } + } + } + } + } + +\* ------------------------ + End of temporary code. + * ------------------------ */ + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Is the matrix nonsingular? + @return true if U, and hence A, is nonsingular. + */ + + public boolean isNonsingular () { + for (int j = 0; j < n; j++) { + if (LU[j][j] == 0) + return false; + } + return true; + } + + /** Return lower triangular factor + @return L + */ + + public Matrix getL () { + Matrix X = new Matrix(m,n); + double[][] L = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + if (i > j) { + L[i][j] = LU[i][j]; + } else if (i == j) { + L[i][j] = 1.0; + } else { + L[i][j] = 0.0; + } + } + } + return X; + } + + /** Return upper triangular factor + @return U + */ + + public Matrix getU () { + Matrix X = new Matrix(n,n); + double[][] U = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (i <= j) { + U[i][j] = LU[i][j]; + } else { + U[i][j] = 0.0; + } + } + } + return X; + } + +/* ---------- + JAMA code. + ---------- *\ + + \** Return pivot permutation vector + @return piv + *\ + + public int[] getPivot () { + int[] p = new int[m]; + for (int i = 0; i < m; i++) { + p[i] = piv[i]; + } + return p; + } + + \** Return pivot permutation vector as a one-dimensional double array + @return (double) piv + *\ + + public double[] getDoublePivot () { + double[] vals = new double[m]; + for (int i = 0; i < m; i++) { + vals[i] = (double) piv[i]; + } + return vals; + } + +\* ----------------- + End of JAMA code. + * ----------------- */ + + /** Return pivot permutation vector + @return piv + */ + + public Matrix getP () { + Matrix p = new Matrix(m,m); + for (int i = 0; i < m; i++) { + p.set(i,piv[i],1); + } + return p; + } + + /** Determinant + @return det(A) + @exception IllegalArgumentException Matrix must be square + */ + + public double det () { + if (m != n) { + throw new IllegalArgumentException("Matrix must be square."); + } + double d = (double) pivsign; + for (int j = 0; j < n; j++) { + d *= LU[j][j]; + } + return d; + } + + /** Solve A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X so that L*U*X = B(piv,:) + @exception IllegalArgumentException Matrix row dimensions must agree. + @exception RuntimeException Matrix is singular. + */ + + public Matrix solve (Matrix B) { + if (B.getRowDimension() != m) { + throw new IllegalArgumentException("Matrix row dimensions must agree."); + } + if (!this.isNonsingular()) { + throw new RuntimeException("Matrix is singular."); + } + + // Copy right hand side with pivoting + int nx = B.getColumnDimension(); + Matrix Xmat = B.getRows(piv);//B.getMatrix(piv,0,nx-1); + double[][] X = Xmat.getArray(); + + // Solve L*Y = B(piv,:) + for (int k = 0; k < n; k++) { + for (int i = k+1; i < n; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*LU[i][k]; + } + } + } + // Solve U*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + X[k][j] /= LU[k][k]; + } + for (int i = 0; i < k; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*LU[i][k]; + } + } + } + return Xmat; + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/Mathfun.java b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/Mathfun.java new file mode 100644 index 0000000..876310b --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/Mathfun.java @@ -0,0 +1,22 @@ +package jat.coreNOSA.math.MatrixVector.data.matrixDecompositions; + +//import jat.matvec.data.Matrix; + +public class Mathfun { + + /** sqrt(a^2 + b^2) without under/overflow. **/ + + public static double hypot(double a, double b) { + double r; + if (Math.abs(a) > Math.abs(b)) { + r = b/a; + r = Math.abs(a)*Math.sqrt(1+r*r); + } else if (b != 0) { + r = a/b; + r = Math.abs(b)*Math.sqrt(1+r*r); + } else { + r = 0.0; + } + return r; + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/QRDecomposition.java b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/QRDecomposition.java new file mode 100644 index 0000000..8d2a667 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/QRDecomposition.java @@ -0,0 +1,224 @@ +package jat.coreNOSA.math.MatrixVector.data.matrixDecompositions; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +/** QR Decomposition. +

+ For an m-by-n matrix A with m >= n, the QR decomposition is an m-by-n + orthogonal matrix Q and an n-by-n upper triangular matrix R so that + A = Q*R. +

+ The QR decompostion always exists, even if the matrix does not have + full rank, so the constructor will never fail. The primary use of the + QR decomposition is in the least squares solution of nonsquare systems + of simultaneous linear equations. This will fail if isFullRank() + returns false. +*/ + +public class QRDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -7131096493033671360L; + +/** Array for internal storage of decomposition. + @serial internal array storage. + */ + private double[][] QR; + + /** Row and column dimensions. + @serial column dimension. + @serial row dimension. + */ + private int m, n; + + /** Array for internal storage of diagonal of R. + @serial diagonal of R. + */ + private double[] Rdiag; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** QR Decomposition, computed by Householder reflections. + @param A Rectangular matrix + @return Structure to access R and the Householder vectors and compute Q. + */ + + public QRDecomposition (Matrix A) { + // Initialize. + QR = A.getArrayCopy(); + m = A.getRowDimension(); + n = A.getColumnDimension(); + Rdiag = new double[n]; + + // Main loop. + for (int k = 0; k < n; k++) { + // Compute 2-norm of k-th column without under/overflow. + double nrm = 0; + for (int i = k; i < m; i++) { + nrm = Mathfun.hypot(nrm,QR[i][k]); + } + + if (nrm != 0.0) { + // Form k-th Householder vector. + if (QR[k][k] < 0) { + nrm = -nrm; + } + for (int i = k; i < m; i++) { + QR[i][k] /= nrm; + } + QR[k][k] += 1.0; + + // Apply transformation to remaining columns. + for (int j = k+1; j < n; j++) { + double s = 0.0; + for (int i = k; i < m; i++) { + s += QR[i][k]*QR[i][j]; + } + s = -s/QR[k][k]; + for (int i = k; i < m; i++) { + QR[i][j] += s*QR[i][k]; + } + } + } + Rdiag[k] = -nrm; + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Is the matrix full rank? + @return true if R, and hence A, has full rank. + */ + + public boolean isFullRank () { + for (int j = 0; j < n; j++) { + if (Rdiag[j] == 0) + return false; + } + return true; + } + + /** Return the Householder vectors + @return Lower trapezoidal matrix whose columns define the reflections + */ + + public Matrix getH () { + Matrix X = new Matrix(m,n); + double[][] H = X.getArray(); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + if (i >= j) { + H[i][j] = QR[i][j]; + } else { + H[i][j] = 0.0; + } + } + } + return X; + } + + /** Return the upper triangular factor + @return R + */ + + public Matrix getR () { + Matrix X = new Matrix(n,n); + double[][] R = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (i < j) { + R[i][j] = QR[i][j]; + } else if (i == j) { + R[i][j] = Rdiag[i]; + } else { + R[i][j] = 0.0; + } + } + } + return X; + } + + /** Generate and return the (economy-sized) orthogonal factor + @return Q + */ + + public Matrix getQ () { + Matrix X = new Matrix(m,n); + double[][] Q = X.getArray(); + for (int k = n-1; k >= 0; k--) { + for (int i = 0; i < m; i++) { + Q[i][k] = 0.0; + } + Q[k][k] = 1.0; + for (int j = k; j < n; j++) { + if (QR[k][k] != 0) { + double s = 0.0; + for (int i = k; i < m; i++) { + s += QR[i][k]*Q[i][j]; + } + s = -s/QR[k][k]; + for (int i = k; i < m; i++) { + Q[i][j] += s*QR[i][k]; + } + } + } + } + return X; + } + + /** Least squares solution of A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X that minimizes the two norm of Q*R*X-B. + @exception IllegalArgumentException Matrix row dimensions must agree. + @exception RuntimeException Matrix is rank deficient. + */ + + public Matrix solve (Matrix B) { + if (B.getRowDimension() != m) { + throw new IllegalArgumentException("Matrix row dimensions must agree."); + } + if (!this.isFullRank()) { + throw new RuntimeException("Matrix is rank deficient."); + } + + // Copy right hand side + int nx = B.getColumnDimension(); + double[][] X = B.getArrayCopy(); + + // Compute Y = transpose(Q)*B + for (int k = 0; k < n; k++) { + for (int j = 0; j < nx; j++) { + double s = 0.0; + for (int i = k; i < m; i++) { + s += QR[i][k]*X[i][j]; + } + s = -s/QR[k][k]; + for (int i = k; i < m; i++) { + X[i][j] += s*QR[i][k]; + } + } + } + // Solve R*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + X[k][j] /= Rdiag[k]; + } + for (int i = 0; i < k; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*QR[i][k]; + } + } + } + return (new Matrix(X,n,nx).getMatrix(0,n-1,0,nx-1)); + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/SingularValueDecomposition.java b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/SingularValueDecomposition.java new file mode 100644 index 0000000..a33d6b4 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/matrixDecompositions/SingularValueDecomposition.java @@ -0,0 +1,545 @@ +package jat.coreNOSA.math.MatrixVector.data.matrixDecompositions; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + + /** Singular Value Decomposition. +

+ For an m-by-n matrix A with m >= n, the singular value decomposition is + an m-by-n orthogonal matrix U, an n-by-n diagonal matrix S, and + an n-by-n orthogonal matrix V so that A = U*S*V'. +

+ The singular values, sigma[k] = S[k][k], are ordered so that + sigma[0] >= sigma[1] >= ... >= sigma[n-1]. +

+ The singular value decompostion always exists, so the constructor will + never fail. The matrix condition number and the effective numerical + rank can be computed from this decomposition. + */ + +public class SingularValueDecomposition implements java.io.Serializable { + +/* ------------------------ + Class variables + * ------------------------ */ + + /** + * + */ + private static final long serialVersionUID = -2188063182100722103L; + +/** Arrays for internal storage of U and V. + @serial internal storage of U. + @serial internal storage of V. + */ + private double[][] U, V; + + /** Array for internal storage of singular values. + @serial internal storage of singular values. + */ + private double[] s; + + /** Row and column dimensions. + @serial row dimension. + @serial column dimension. + */ + private int m, n; + +/* ------------------------ + Constructor + * ------------------------ */ + + /** Construct the singular value decomposition + @param Arg Rectangular matrix + @return Structure to access U, S and V. + */ + + public SingularValueDecomposition (Matrix Arg) { + + // Derived from LINPACK code. + // Initialize. + double[][] A = Arg.getArrayCopy(); + m = Arg.getRowDimension(); + n = Arg.getColumnDimension(); + int nu = Math.min(m,n); + s = new double [Math.min(m+1,n)]; + U = new double [m][nu]; + V = new double [n][n]; + double[] e = new double [n]; + double[] work = new double [m]; + boolean wantu = true; + boolean wantv = true; + + // Reduce A to bidiagonal form, storing the diagonal elements + // in s and the super-diagonal elements in e. + + int nct = Math.min(m-1,n); + int nrt = Math.max(0,Math.min(n-2,m)); + for (int k = 0; k < Math.max(nct,nrt); k++) { + if (k < nct) { + + // Compute the transformation for the k-th column and + // place the k-th diagonal in s[k]. + // Compute 2-norm of k-th column without under/overflow. + s[k] = 0; + for (int i = k; i < m; i++) { + s[k] = Mathfun.hypot(s[k],A[i][k]); + } + if (s[k] != 0.0) { + if (A[k][k] < 0.0) { + s[k] = -s[k]; + } + for (int i = k; i < m; i++) { + A[i][k] /= s[k]; + } + A[k][k] += 1.0; + } + s[k] = -s[k]; + } + for (int j = k+1; j < n; j++) { + if ((k < nct) & (s[k] != 0.0)) { + + // Apply the transformation. + + double t = 0; + for (int i = k; i < m; i++) { + t += A[i][k]*A[i][j]; + } + t = -t/A[k][k]; + for (int i = k; i < m; i++) { + A[i][j] += t*A[i][k]; + } + } + + // Place the k-th row of A into e for the + // subsequent calculation of the row transformation. + + e[j] = A[k][j]; + } + if (wantu & (k < nct)) { + + // Place the transformation in U for subsequent back + // multiplication. + + for (int i = k; i < m; i++) { + U[i][k] = A[i][k]; + } + } + if (k < nrt) { + + // Compute the k-th row transformation and place the + // k-th super-diagonal in e[k]. + // Compute 2-norm without under/overflow. + e[k] = 0; + for (int i = k+1; i < n; i++) { + e[k] = Mathfun.hypot(e[k],e[i]); + } + if (e[k] != 0.0) { + if (e[k+1] < 0.0) { + e[k] = -e[k]; + } + for (int i = k+1; i < n; i++) { + e[i] /= e[k]; + } + e[k+1] += 1.0; + } + e[k] = -e[k]; + if ((k+1 < m) & (e[k] != 0.0)) { + + // Apply the transformation. + + for (int i = k+1; i < m; i++) { + work[i] = 0.0; + } + for (int j = k+1; j < n; j++) { + for (int i = k+1; i < m; i++) { + work[i] += e[j]*A[i][j]; + } + } + for (int j = k+1; j < n; j++) { + double t = -e[j]/e[k+1]; + for (int i = k+1; i < m; i++) { + A[i][j] += t*work[i]; + } + } + } + if (wantv) { + + // Place the transformation in V for subsequent + // back multiplication. + + for (int i = k+1; i < n; i++) { + V[i][k] = e[i]; + } + } + } + } + + // Set up the final bidiagonal matrix or order p. + + int p = Math.min(n,m+1); + if (nct < n) { + s[nct] = A[nct][nct]; + } + if (m < p) { + s[p-1] = 0.0; + } + if (nrt+1 < p) { + e[nrt] = A[nrt][p-1]; + } + e[p-1] = 0.0; + + // If required, generate U. + + if (wantu) { + for (int j = nct; j < nu; j++) { + for (int i = 0; i < m; i++) { + U[i][j] = 0.0; + } + U[j][j] = 1.0; + } + for (int k = nct-1; k >= 0; k--) { + if (s[k] != 0.0) { + for (int j = k+1; j < nu; j++) { + double t = 0; + for (int i = k; i < m; i++) { + t += U[i][k]*U[i][j]; + } + t = -t/U[k][k]; + for (int i = k; i < m; i++) { + U[i][j] += t*U[i][k]; + } + } + for (int i = k; i < m; i++ ) { + U[i][k] = -U[i][k]; + } + U[k][k] = 1.0 + U[k][k]; + for (int i = 0; i < k-1; i++) { + U[i][k] = 0.0; + } + } else { + for (int i = 0; i < m; i++) { + U[i][k] = 0.0; + } + U[k][k] = 1.0; + } + } + } + + // If required, generate V. + + if (wantv) { + for (int k = n-1; k >= 0; k--) { + if ((k < nrt) & (e[k] != 0.0)) { + for (int j = k+1; j < nu; j++) { + double t = 0; + for (int i = k+1; i < n; i++) { + t += V[i][k]*V[i][j]; + } + t = -t/V[k+1][k]; + for (int i = k+1; i < n; i++) { + V[i][j] += t*V[i][k]; + } + } + } + for (int i = 0; i < n; i++) { + V[i][k] = 0.0; + } + V[k][k] = 1.0; + } + } + + // Main iteration loop for the singular values. + + int pp = p-1; + int iter = 0; + double eps = Math.pow(2.0,-52.0); + while (p > 0) { + int k,kase; + + // Here is where a test for too many iterations would go. + + // This section of the program inspects for + // negligible elements in the s and e arrays. On + // completion the variables kase and k are set as follows. + + // kase = 1 if s(p) and e[k-1] are negligible and k

= -1; k--) { + if (k == -1) { + break; + } + if (Math.abs(e[k]) <= eps*(Math.abs(s[k]) + Math.abs(s[k+1]))) { + e[k] = 0.0; + break; + } + } + if (k == p-2) { + kase = 4; + } else { + int ks; + for (ks = p-1; ks >= k; ks--) { + if (ks == k) { + break; + } + double t = (ks != p ? Math.abs(e[ks]) : 0.) + + (ks != k+1 ? Math.abs(e[ks-1]) : 0.); + if (Math.abs(s[ks]) <= eps*t) { + s[ks] = 0.0; + break; + } + } + if (ks == k) { + kase = 3; + } else if (ks == p-1) { + kase = 1; + } else { + kase = 2; + k = ks; + } + } + k++; + + // Perform the task indicated by kase. + + switch (kase) { + + // Deflate negligible s(p). + + case 1: { + double f = e[p-2]; + e[p-2] = 0.0; + for (int j = p-2; j >= k; j--) { + double t = Mathfun.hypot(s[j],f); + double cs = s[j]/t; + double sn = f/t; + s[j] = t; + if (j != k) { + f = -sn*e[j-1]; + e[j-1] = cs*e[j-1]; + } + if (wantv) { + for (int i = 0; i < n; i++) { + t = cs*V[i][j] + sn*V[i][p-1]; + V[i][p-1] = -sn*V[i][j] + cs*V[i][p-1]; + V[i][j] = t; + } + } + } + } + break; + + // Split at negligible s(k). + + case 2: { + double f = e[k-1]; + e[k-1] = 0.0; + for (int j = k; j < p; j++) { + double t = Mathfun.hypot(s[j],f); + double cs = s[j]/t; + double sn = f/t; + s[j] = t; + f = -sn*e[j]; + e[j] = cs*e[j]; + if (wantu) { + for (int i = 0; i < m; i++) { + t = cs*U[i][j] + sn*U[i][k-1]; + U[i][k-1] = -sn*U[i][j] + cs*U[i][k-1]; + U[i][j] = t; + } + } + } + } + break; + + // Perform one qr step. + + case 3: { + + // Calculate the shift. + + double scale = Math.max(Math.max(Math.max(Math.max( + Math.abs(s[p-1]),Math.abs(s[p-2])),Math.abs(e[p-2])), + Math.abs(s[k])),Math.abs(e[k])); + double sp = s[p-1]/scale; + double spm1 = s[p-2]/scale; + double epm1 = e[p-2]/scale; + double sk = s[k]/scale; + double ek = e[k]/scale; + double b = ((spm1 + sp)*(spm1 - sp) + epm1*epm1)/2.0; + double c = (sp*epm1)*(sp*epm1); + double shift = 0.0; + if ((b != 0.0) | (c != 0.0)) { + shift = Math.sqrt(b*b + c); + if (b < 0.0) { + shift = -shift; + } + shift = c/(b + shift); + } + double f = (sk + sp)*(sk - sp) + shift; + double g = sk*ek; + + // Chase zeros. + + for (int j = k; j < p-1; j++) { + double t = Mathfun.hypot(f,g); + double cs = f/t; + double sn = g/t; + if (j != k) { + e[j-1] = t; + } + f = cs*s[j] + sn*e[j]; + e[j] = cs*e[j] - sn*s[j]; + g = sn*s[j+1]; + s[j+1] = cs*s[j+1]; + if (wantv) { + for (int i = 0; i < n; i++) { + t = cs*V[i][j] + sn*V[i][j+1]; + V[i][j+1] = -sn*V[i][j] + cs*V[i][j+1]; + V[i][j] = t; + } + } + t = Mathfun.hypot(f,g); + cs = f/t; + sn = g/t; + s[j] = t; + f = cs*e[j] + sn*s[j+1]; + s[j+1] = -sn*e[j] + cs*s[j+1]; + g = sn*e[j+1]; + e[j+1] = cs*e[j+1]; + if (wantu && (j < m-1)) { + for (int i = 0; i < m; i++) { + t = cs*U[i][j] + sn*U[i][j+1]; + U[i][j+1] = -sn*U[i][j] + cs*U[i][j+1]; + U[i][j] = t; + } + } + } + e[p-2] = f; + iter = iter + 1; + } + break; + + // Convergence. + + case 4: { + + // Make the singular values positive. + + if (s[k] <= 0.0) { + s[k] = (s[k] < 0.0 ? -s[k] : 0.0); + if (wantv) { + for (int i = 0; i <= pp; i++) { + V[i][k] = -V[i][k]; + } + } + } + + // Order the singular values. + + while (k < pp) { + if (s[k] >= s[k+1]) { + break; + } + double t = s[k]; + s[k] = s[k+1]; + s[k+1] = t; + if (wantv && (k < n-1)) { + for (int i = 0; i < n; i++) { + t = V[i][k+1]; V[i][k+1] = V[i][k]; V[i][k] = t; + } + } + if (wantu && (k < m-1)) { + for (int i = 0; i < m; i++) { + t = U[i][k+1]; U[i][k+1] = U[i][k]; U[i][k] = t; + } + } + k++; + } + iter = 0; + p--; + } + break; + } + } + } + +/* ------------------------ + Public Methods + * ------------------------ */ + + /** Return the left singular vectors + @return U + */ + + public Matrix getU () { + return new Matrix(U,m,Math.min(m+1,n)); + } + + /** Return the right singular vectors + @return V + */ + + public Matrix getV () { + return new Matrix(V,n,n); + } + + /** Return the one-dimensional array of singular values + @return diagonal of S. + */ + + public double[] getSingularValues () { + return s; + } + + /** Return the diagonal matrix of singular values + @return S + */ + + public Matrix getS () { + Matrix X = new Matrix(n,n); + double[][] S = X.getArray(); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + S[i][j] = 0.0; + } + S[i][i] = this.s[i]; + } + return X; + } + + /** Two norm + @return max(S) + */ + + public double norm2 () { + return s[0]; + } + + /** Two norm condition number + @return max(S)/min(S) + */ + + public double cond () { + return s[0]/s[Math.min(m,n)-1]; + } + + /** Effective numerical matrix rank + @return Number of nonnegligible singular values. + */ + + public int rank () { + double eps = Math.pow(2.0,-52.0); + double tol = Math.max(m,n)*s[0]*eps; + int r = 0; + for (int i = 0; i < s.length; i++) { + if (s[i] > tol) { + r++; + } + } + return r; + } +} diff --git a/src/jat/coreNOSA/math/MatrixVector/data/package.html b/src/jat/coreNOSA/math/MatrixVector/data/package.html new file mode 100644 index 0000000..570e843 --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/package.html @@ -0,0 +1,2 @@ + +Matrix and vector functions derived from JAMA and JMAT \ No newline at end of file diff --git a/src/jat/coreNOSA/math/MatrixVector/data/test/Testjmat.java b/src/jat/coreNOSA/math/MatrixVector/data/test/Testjmat.java new file mode 100644 index 0000000..f68174e --- /dev/null +++ b/src/jat/coreNOSA/math/MatrixVector/data/test/Testjmat.java @@ -0,0 +1,440 @@ +package jat.coreNOSA.math.MatrixVector.data.test; + + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RandomMatrix; +import jat.coreNOSA.math.MatrixVector.data.Text; +import jat.coreNOSA.math.MatrixVector.data.function.DoubleFunction; +import jat.coreNOSA.math.MatrixVector.data.function.DoubleFunctionExpression; +import jat.coreNOSA.math.MatrixVector.data.function.DoubleFunctionInterpolation; +import jat.coreNOSA.math.MatrixVector.data.function.InvokeDoubleFunction; +import jat.coreNOSA.math.MatrixVector.data.function.InvokeMatrixFunction; +import jat.coreNOSA.math.MatrixVector.data.function.MatrixFunctionExpression; +import jat.coreNOSA.math.MatrixVector.data.function.TestDoubleFunctionExpression; +import jat.coreNOSA.math.MatrixVector.data.io.data.TextFile; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FrameView; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FunctionPlot2D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.FunctionPlot3D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixHist2D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixHist3D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixPlot2D; +import jat.coreNOSA.math.MatrixVector.data.io.gui.MatrixPlot3D; + +import java.io.File; + +//import javax.swing.*; +//import java.awt.*; + + +public class Testjmat { + + public Testjmat() { + testText(); + testMatrix(); + testRandomMatrix(); + testFunction(); + } + + private void title(String s) { + System.out.println("--------------- "+s+" ---------------"); + } + + private void print(String s) { + System.out.print(s); + } + private void println(String s) { + System.out.println(s); + } + + private void printMatrixResult(double x,String s) { + System.out.println(s + " = " + x); + } + + private void printMatrixResult(Matrix X,String s) { + X.toCommandLine(s); + } + + + private void testText() { + title("test de la classe Text"); + + Text t = new Text("texte"); + + t.setString("123456..."); + t.setString(Matrix.random(5,5)); + + t.merge("abcde..."); + t.merge(t); + t.merge(Matrix.random(3,3)); + + testTextFile(); + testTextWindow(); + } + + private void testTextFile() { + Text t1 = new Text("abcd"); + + t1.toFile("text.dat"); + t1.toFile(new File("text.dat")); + + Text t2 = Text.fromFile("text.dat"); + t2.toCommandLine(); + TextFile f2 = new TextFile("text2.dat",t2); + f2.append("suite..."); + } + + private void testTextWindow() { + Text t1 = new Text("abcd"); + t1.toFrame("texte"); + } + + + private void testMatrix() { + title("test de la classe Matrix"); + + Matrix A = Matrix.random(5,5); + Matrix B = Matrix.random(3,3); + Matrix C = Matrix.random(10,4); + int[] I = {0,2,1}; + int[] J = {3,4,1}; + int[] I2 = {0,2,1}; + int[] J2 = {3,4,1}; + + int[] i = {0,2,4}; + + printMatrixResult(A,"A"); + printMatrixResult(B,"B"); + printMatrixResult(C,"C"); + + printMatrixResult(A.get(0,0),"A.get(0,0)"); + printMatrixResult(A.get(I,J),"A.get(I,J)"); + printMatrixResult(A.getMatrix(0,2,0,3),"A.getMatrix(0,2,0,3)"); + printMatrixResult(A.getRow(2),"A.getRow(2)"); + printMatrixResult(A.getRows(i),"A.getRows(i)"); + printMatrixResult(A.getColumn(1),"A.getColumn(1)"); + printMatrixResult(C.diag(),"C.diag()"); + printMatrixResult(C.diag(-2),"C.diag(-2)"); + printMatrixResult(C.diag(-7),"C.diag(-7)"); + printMatrixResult(C.diag(2),"C.diag(2)"); + + A.set(0,1,2.2); + printMatrixResult(A,"A.set(0,1,2.2)"); + A.set(I2,J2,5); + printMatrixResult(A,"A.set(I2,J2,5)"); + A.setMatrix(0,0,B); + printMatrixResult(A,"A.set(0,0,B)"); + A.setMatrix(1,0,Matrix.random(3,3)); + printMatrixResult(A,"A.setMatrix(1,0,Matrix.random(3,3))"); + A.setMatrix(0,2,0,2,Matrix.random(3,3)); + printMatrixResult(A,"A.setMatrix(0,2,0,2,Matrix.random(3,3))"); + A.setMatrix(0,2,1,1,0.2); + printMatrixResult(A,"A.setMatrix(0,2,1,1,0.2)"); + A.setRow(1,Matrix.random(1,5)); + printMatrixResult(A,"A.setRow(1,Matrix.random(1,5))"); + A.setRows(i,Matrix.random(3,5)); + printMatrixResult(A,"A.setRows(i,Matrix.random(3,5))"); + A.setColumn(1,Matrix.random(5,1)); + printMatrixResult(A,"A.setColumn(1,Matrix.random(5,1))"); + A.setColumns(i,Matrix.random(5,3)); + printMatrixResult(A,"A.setColumns(i,Matrix.random(5,3))"); + + printMatrixResult(C.reshapeRows(20,2),"C.reshapeRows(20,2)"); + printMatrixResult(C.reshapeColumns(20,2),"C.reshapeColumns(20,2)"); + printMatrixResult(C.transpose(),"C.transpose()"); + printMatrixResult(C.merge(Matrix.random(2,4)),"C.merge(Matrix.random(2,4))"); + printMatrixResult(A.norm1(),"A.norm1()"); + printMatrixResult(A.norm2(),"A.norm2()"); + printMatrixResult(A.normInf(),"A.normInf()"); + printMatrixResult(A.normF(),"A.normF()"); + printMatrixResult(A.det(),"A.det()"); + printMatrixResult(A.rank(),"A.rank()"); + printMatrixResult(A.cond(),"A.cond()"); + printMatrixResult(A.trace(),"A.trace()"); + printMatrixResult(A.min(),"A.min()"); + printMatrixResult(A.max(),"A.max()"); + printMatrixResult(A.sum(),"A.sum()"); + printMatrixResult(A.prod(),"A.prod()"); + + printMatrixResult(A.plus(A),"A.plus(A)"); + printMatrixResult(A.minus(A),"A.minus(A)"); + printMatrixResult(A.uminus(),"A.uminus()"); + printMatrixResult(A.times(Matrix.random(5,10)),"A.times(Matrix.random(5,10))"); + printMatrixResult(A.times(3.5),"A.times(3.5)"); + printMatrixResult(A.divide(2.5),"A.divide(2.5)"); + printMatrixResult(A.divide(Matrix.random(5,5)),"A.divide(Matrix.random(5,5))"); + printMatrixResult(A.solve(Matrix.random(5,5)),"A.solve(Matrix.random(5,5))"); + printMatrixResult(A.inverse(),"A.inverse()"); + printMatrixResult(A.ebeTimes(Matrix.random(5,5)),"A.ebeTimes(Matrix.random(5,5))"); + printMatrixResult(A.ebeDivide(Matrix.random(5,5)),"A.ebeDivide(Matrix.random(5,5))"); + printMatrixResult(A.ebeCos(),"A.ebeCos()"); + printMatrixResult(A.ebeSin(),"A.ebeSin()"); + printMatrixResult(A.ebeExp(),"A.ebeExp()"); + printMatrixResult(A.ebePow(Matrix.random(5,5)),"A.ebePow(Matrix.random(5,5))"); + printMatrixResult(A.ebeLog(),"A.ebeLog()"); + printMatrixResult(A.ebeInv(),"A.ebeInv()"); + printMatrixResult(A.ebeSqrt(),"A.ebeSqrt()"); + printMatrixResult(A.ebeFun(new DoubleFunctionExpression("3*x+5-x^2","x")),"A.ebeFun(new DoubleFunctionExpression('3*x+5-x^2','x'))"); + printMatrixResult(A.sortedMatrix(0),"A.sortMatrix(0)"); + printMatrixResult(A.findMatrix(0.5),"A.findMatrix(0.5)"); + printMatrixResult(A.findMatrix(">",0.5),"A.findMatrix('!=',0.5)"); + + title("test des decompositions matricielles"); + + title("test decomposition LU"); + printMatrixResult(A.lu().getL(),"A.lu().getL()"); + printMatrixResult(A.lu().getU(),"A.lu().getU()"); + printMatrixResult(A.lu().getP().times(A),"P*A"); + printMatrixResult(A.lu().getL().times(A.lu().getU()),"A.lu().getL().times(A.lu().getU())"); + + title("test decomposition QR"); + printMatrixResult(A.qr().getQ(),"A.qr().getQ()"); + printMatrixResult(A.qr().getR(),"A.qr().getR()"); + printMatrixResult(A,"A"); + printMatrixResult(A.qr().getQ().times(A.qr().getR()),"Q*R"); + + title("test decomposition LL'"); + printMatrixResult(A.chol().getL(),"A.chol().getL()"); + printMatrixResult(A,"A"); + printMatrixResult(A.chol().getL().times(A.chol().getL().transpose()),"L*L'"); + + title("test decomposition Singular Value"); + printMatrixResult(A.svd().getU(),"A.svd().getU()"); + printMatrixResult(A.svd().getS(),"A.svd().getS()"); + printMatrixResult(A.svd().getV(),"A.svd().getV()"); + printMatrixResult(A,"A"); + printMatrixResult(A.svd().getU().times(A.svd().getS().times(A.svd().getV().transpose())),"U*S*V'"); + + title("test decomposition Diagonale"); + printMatrixResult(A.eig().getD(),"A.eig().getD()"); + printMatrixResult(A.eig().getV(),"A.eig().getV()"); + printMatrixResult(A.times(A.eig().getV()),"A*V"); + printMatrixResult(A.eig().getV().times(A.eig().getD()),"V*D"); + + + testMatrixFile(); + testMatrixPlot(); + testMatrixTable(); + } + + private void testRandomMatrix() { + title("test de la classe RandomMatrix"); + + RandomMatrix A = RandomMatrix.normal(400,1,0,1); + A.toFrameHist2D("normal",10); + A = RandomMatrix.exponential(400,1,1); + A.toFrameHist2D("exponential",10); + A = RandomMatrix.logNormal(400,1,0,1); + A.toFrameHist2D("logNormal",10); + A = RandomMatrix.triangular(400,1,0,1); + A.toFrameHist2D("triangular",10); + A = RandomMatrix.triangular(400,1,0,0.1,1); + A.toFrameHist2D("triangular",10); + A = RandomMatrix.uniform(400,1,0,1); + A.toFrameHist2D("uniform",10); + A = RandomMatrix.beta(400,1,0.5,0.5); + A.toFrameHist2D("beta",10); + A = RandomMatrix.cauchy(400,1,10,10); + A.toFrameHist2D("cauchy",10); + A = RandomMatrix.weibull(400,1,0.5,0.5); + A.toFrameHist2D("weibull",10); + A = RandomMatrix.rejection(400,1,new DoubleFunctionExpression("sin(x*3.14)","x"),0,1); + A.toFrameHist2D("rejection",10); + + + A = RandomMatrix.uniform(5,3,0,1); + printMatrixResult(A,"A"); + printMatrixResult(A.mean(),"A.mean()"); + printMatrixResult(A.cov(),"A.cov()"); + printMatrixResult(A.cor(),"A.cor()"); + printMatrixResult(A.var(),"A.vari()"); + + printMatrixResult(RandomMatrix.shuffle(A),"RandomMatrix.shuffle(A)"); + printMatrixResult(RandomMatrix.bootstrap(5,5,A),"RandomMatrix.bootstrap(5,5,A)"); + printMatrixResult(RandomMatrix.sampleWithoutReplacement(2,2,A),"RandomMatrix.sampleWithoutReplacement(2,2,A)"); + printMatrixResult(RandomMatrix.sampleWithReplacement(6,6,A),"RandomMatrix.sampleWithReplacement(6,6,A)"); + + testMatrixHist(); + + } + + private void testMatrixFile() { + Matrix M1 = Matrix.random(5,5); + + M1.toFile(new File("essai.mat")); + M1.toFile("essai.mat"); + + Matrix M2 = Matrix.fromFile(new File("essai.mat")); + } + + private void testMatrixPlot() { + Matrix M1 = RandomMatrix.normal(10,2,5,5); + M1.toFramePlot2D("normal"); + + Matrix M2 = RandomMatrix.normal(10,2,0,1); + Matrix M3 = RandomMatrix.normal(10,2,0,1); + Matrix[] M = {M2,M3}; + FrameView fv = new FrameView("normal", new MatrixPlot2D(M)); + + Matrix MM1 = RandomMatrix.normal(10,3,5,5); + MM1.toFramePlot3D("normal"); + + Matrix MM2 = RandomMatrix.normal(10,3,0,1); + Matrix MM3 = RandomMatrix.normal(10,3,0,1); + Matrix[] MM = {MM2,MM3}; + FrameView fvv = new FrameView("normal", new MatrixPlot3D(MM)); + } + + private void testMatrixTable() { + Matrix M1 = Matrix.random(50,15); + + M1.toFrameTable("random"); + } + + private void testMatrixHist() { + RandomMatrix rand1 = RandomMatrix.normal(40,1,0,1); + rand1.toFrameHist2D("normal",5); + + RandomMatrix rand2 = RandomMatrix.normal(40,1,0,1); + RandomMatrix rand3 = RandomMatrix.normal(40,1,0,1); + RandomMatrix[] rand = {rand2,rand3}; + FrameView fv = new FrameView("normal", new MatrixHist2D(rand,5)); + + RandomMatrix randd1 = RandomMatrix.normal(100,2,0,1); + randd1.toFrameHist3D("normal",5,5); + + RandomMatrix randd2 = RandomMatrix.normal(100,2,0,1); + RandomMatrix randd3 = RandomMatrix.normal(100,2,0,1); + RandomMatrix[] randd = {randd2,randd3}; + FrameView fvv = new FrameView("normal", new MatrixHist3D(randd,5,5)); + + } + + private void testFunction() { + title("test de la classe Function"); + + testDoubleFunctionExpression(); + testMatrixFunctionExpression(); + testTestDoubleFunctionExpression(); + testInvokeDoubleFunction(); + testInvokeMatrixFunction(); + testDoubleFunctionInterpolation(); + + testFunctionPlot(); + } + + private void testFunctionPlot() { + DoubleFunction[] df1 = {new DoubleFunctionExpression("cos(x)","x"),new DoubleFunctionExpression("sin(x)","x")}; + FrameView fv1 = new FrameView("cos(x)", new FunctionPlot2D(df1,-6,6)); + + String[] s = {"x","y"}; + DoubleFunction df2 = new DoubleFunctionExpression("3*x/y",s); + FrameView fv2 = new FrameView("3*x/y", new FunctionPlot3D(df2,0.1,1,0.1,1)); + } + + private void testDoubleFunctionExpression() { + title("test de la fonction de double"); + + + String[] vars = new String[2]; + vars[0] = "x"; + vars[1] = "y"; + String expression = new String("3*x+1/y"); + DoubleFunctionExpression f = new DoubleFunctionExpression(expression,vars); + + Matrix vals = Matrix.random(2,1); + vals.toCommandLine("[x,y]"); + double result1 = f.eval(vals); + println("resultat :"); + println(expression+" = "+result1); + } + + private void testMatrixFunctionExpression() { + title("test de la fonction matricielle"); + + String[] vars = new String[3]; + vars[0] = "x"; + vars[1] = "y"; + vars[2] = "z"; + String expression = new String("x*y+diag(z)"); + MatrixFunctionExpression f = new MatrixFunctionExpression(expression,vars); + + Matrix[] vals = new Matrix[3]; + vals[0] = Matrix.random(3,1); + vals[1] = Matrix.random(1,1); + vals[2] = Matrix.random(3,3); + Matrix result1 = f.eval(vals); + vals[0].toCommandLine("x"); + vals[1].toCommandLine("y"); + vals[2].toCommandLine("z"); + result1.toCommandLine("resultat : " + expression); + } + + private void testTestDoubleFunctionExpression() { + title("test de la fonction bool�enne"); + + String[] vars = new String[3]; + vars[0] = "x"; + vars[1] = "y"; + vars[2] = "z"; + String expression = new String("3*x+1/y " + Y[i]); + } + println("resultat :"); + print("("); + for (int j = 0; j < x.length; j++) { + print(x[j] + ","); + } + print(") -> " + d); + + } + + public static void main(String[] args) { + Testjmat t = new Testjmat(); + } + +} diff --git a/src/jat/coreNOSA/math/package.html b/src/jat/coreNOSA/math/package.html new file mode 100644 index 0000000..e49bbb1 --- /dev/null +++ b/src/jat/coreNOSA/math/package.html @@ -0,0 +1,3 @@ + +Package math contains mathematical functions that should have been included in java.math. + \ No newline at end of file diff --git a/src/jat/coreNOSA/matlabInterface/MatlabControl.java b/src/jat/coreNOSA/matlabInterface/MatlabControl.java new file mode 100644 index 0000000..b31c1b6 --- /dev/null +++ b/src/jat/coreNOSA/matlabInterface/MatlabControl.java @@ -0,0 +1,278 @@ +/* MatlabControl.java +* +* "Copyright (c) 2001 and The Regents of the University +* of California. All rights reserved. +* +* Permission to use, copy, modify, and distribute this software and its +* documentation for any purpose, without fee, and without written agreement is +* hereby granted, provided that the above copyright notice and the following +* two paragraphs appear in all copies of this software. +* +* IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR +* DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT +* OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF +* CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES, +* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY +* AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS +* ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO +* PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS." +* +* $\Id$ +*/ + +/** +* This class interfaces with the current Matlab session, allowing you +* to call matlab commands from Java objects +* +* @author Kamin Whitehouse +*/ + +//package net.tinyos.matlab; + +package jat.coreNOSA.matlabInterface; + +import com.mathworks.jmi.Matlab; + +public class MatlabControl { + Matlab matlab = null; //this is the com.mathworks.jmi.Matlab class,which has functionality allowing one to interact with the matlab session. + boolean useCb=false; + Object returnVal; + String callbackFunction; + + /***************CONSTRUCTORS****************/ + /*** usually, the default constructor with no arguments is fine. + * Sometimes, a callback function is useful. A callback function + * is allows the user to pass the command and its arguments to a + * matlab function, which will figure out the best way to executue + * it, instead of trying to execute it directly from java. This + * is often useful for handling/printing errors as well as dealing + * with native matlab data types, like cell arrays. The cell + * array is not really converted to a java type, only the handle + * of the cell array is converted to a java type, so often a + * matlab callback function is useful for dealing specially with + * cell arrays, etc. + ***/ + + public MatlabControl() { + this(false); + } + + public MatlabControl(boolean useCallback) { + this(useCallback,new String("matlabControlcb")); + } + + public MatlabControl(boolean useCallback, String CallBackFunction) { + try { + if (matlab == null) + matlab = new Matlab();//this command links to the current matlab session + } catch (Exception e) { + System.out.println(e.toString()); + } + returnVal = new String("noReturnValYet"); + this.useCb=useCallback; + callbackFunction=CallBackFunction; + } + + /***************USER-LEVEL FUNCTIONS****************/ + /***call these from any java thread (as long as the thread + * originated from within matlab) + ***/ + + /**Evaluate a string, Matlab script, or Matlab function**/ + public void eval(String Command) { + Matlab.whenMatlabReady(new MatlabEvalCommand(Command,useCb)); + } + + /**Evaluate a Matlab function that requires arguments. Each element of + the "args" vector is an argument to the function "Command"**/ + public void feval(String Command, Object[] args) { + Matlab.whenMatlabReady(new MatlabFevalCommand(Command, args,useCb)); + } + + /**Evaluate a Matlab function that requires arguments and provide return arg. + * Each element of the "args" vector is an argument to the function "Command"**/ + public Object blockingFeval(String Command, Object[] args) throws InterruptedException { + returnVal = new String("noReturnValYet"); + Matlab.whenMatlabReady(new MatlabBlockingFevalCommand(Command, args, useCb, this)); + if (returnVal.equals(new String("noReturnValYet"))) { + synchronized(returnVal){ + returnVal.wait(); + } + } + return returnVal; + } + + /**Echoing the eval statement is useful if you want to see in + * matlab each time that a java function tries to execute a matlab + * command **/ + public void setEchoEval(boolean echo){ + Matlab.setEchoEval(echo); + } + + /**********TEST FUNCTIONS***********************/ + /***call these functions from within Matlab itself. These are examples of the general execution order: + 1. instantiate java object from matlab + 2. spawn a new Java thread + 3. call matlab functions from new java thread + + EXAMPLE (from matlab prompt): + + >> mc=MatlabControl; + >> mc.testEval('x = 5') + x = + 5 + > mc.testFeval('help',{'sqrt'}) + SQRT Square root. + SQRT(X) is the square root of the elements of X. Complex + results are produced if X is not positive. + + See also SQRTM. + + Overloaded methods + help sym/sqrt.m + + >> mc.testBlockingFeval('sqrt',{x}) + 2.2361 + ****/ + + public void testEval(final String Command) { + class Caller extends Thread{ + public void run(){ + try{ + eval(Command); + } catch(Exception e){ + // System.out.println(e.toString()); + } + } + } + Caller c = new Caller(); + c.start(); + } + + public void testFeval(final String Command, final Object[] args) { + class Caller extends Thread{ + public void run(){ + try{ + feval(Command, args); + } catch(Exception e){ + // System.out.println(e.toString()); + } + } + } + Caller c = new Caller(); + c.start(); + } + + public void testBlockingFeval(final String Command, final Object[] args) { + class Caller extends Thread{ + public void run(){ + try{ + Object rets[] = new Object[1]; + rets[0] = blockingFeval(Command, args); + feval(new String("disp"),rets ); + } catch(Exception e){ + // System.out.println(e.toString()); + } + } + } + Caller c = new Caller(); + c.start(); + } + + + + /******** INTERNAL FUNCTIONS AND CLASSES *******/ + + public void setReturnVal(Object val) { + synchronized(returnVal){ + Object oldVal = returnVal; + returnVal = val; + oldVal.notifyAll(); + } + } + + /** This class is used to execute a string in Matlab **/ + protected class MatlabEvalCommand implements Runnable { + String command; + boolean useCallback,eval; + Object[] args; + + public MatlabEvalCommand(String Command, boolean useCallback) { + command = Command; + this.useCallback = useCallback; + eval=true; + args=null; + } + + protected Object useMatlabCommandCallback(String command, Object[] args){ + int numArgs = (args==null)? 0 : args.length; + Object newArgs[] = new Object[numArgs+1] ; + newArgs[0]=command; + for(int i=0;i= 1.0 ) + timeLength = (int) (tSimulation/stepSize)+2; + else + timeLength = (int) (tSimulation/stepSize)+1; + + double[] outputTime = new double[timeLength]; + double[][] simStates = new double[timeLength][neqns]; + double[] simTime = createStepTime(inputTime, stepSize, timeLength); + + if (inputTime.length<3) + outputTime = simTime; // if user did not specify timesteps, use integrator steps + else { + outputTime = new double[inputTime.length]; + outputTime = inputTime; + } + + // store the initial states + for (i=0; i < neqns; i++) { + simStates[0][i]= x0[i]; + xOld[i] = x0[i]; + } + + System.out.println("Integrating..."); + + /* Step the integrator and store new states. */ + for (int tCounter=1; tCounter= 1.0 ) + timeLength = (int) (tSimulation/stepSize)+2; + else + timeLength = (int) (tSimulation/stepSize)+1; + + double[] outputTime = new double[timeLength]; + double[][] simStates = new double[timeLength][neqns]; + double[] simTime = createStepTime(inputTime, stepSize, timeLength); + + if (inputTime.length<3) + outputTime = simTime; // if user did not specify timesteps, use integrator steps + else { + outputTime = new double[inputTime.length]; + outputTime = inputTime; + } + + // store the initial states + for (i=0; i < neqns; i++) { + simStates[0][i]= x0[i]; + xOld[i] = x0[i]; + } + + System.out.println("Integrating..."); + + /* Step the integrator and store new states. */ + for (int tCounter=1; tCounter tFinal ) { + newStep = tFinal - stepTime[counter]; + } + else { + newStep = stepSize; + } + stepTime[counter+1] = stepTime[counter]+newStep; + counter ++; + } + + return stepTime; + } + + /** Determines if states and time need to be interpolated and then calls the + * interpolator to get the states corresponding to the user defined times. + * Also packages time and sim states into one array formatted per Matlab ode outputs + * Each row is a different timestep + * First column is time + * Remaining columns are states */ + private static double[][] interpolateStates(double[] outputTime, double[] simTime, double[][] simStates, int neqns) + { + int timeSpot = 0; + double currentTime; + double[] interpolatedState = new double[neqns]; + double[][] newOutput = new double[outputTime.length][neqns+1]; + + System.out.println("Interpolating..."); + for (int i=0; i timeArray[t]) && (currentTime timeArray[timeArray.length-1]) + { + position = t; + } + else + { + position=t+1; + } + break; + } + } + if (currentTime > timeArray[timeArray.length-1]) + { + // Use Linear Extrapolation + for (int g=0; g= 1.0)) + { + timeLength = (int) ((initialTime[initialTime.length-1]-initialTime[0])/stepSize)+2; + } + else + { + timeLength = (int) ((initialTime[initialTime.length-1]-initialTime[0])/stepSize)+1; + } + double[] time = new double[timeLength]; + double[] stepTime = new double[timeLength]; + + if (initialTime.length<3) + { + stepTime = createStepTime(initialTime, stepSize, timeLength); + time = stepTime; + + } + else + { + stepTime = createStepTime(initialTime, stepSize, timeLength); + time = new double[initialTime.length]; + time = initialTime; + } + // Initialize start and finish times + int neqns = x0.length; + double [][] oldState = new double [time.length][neqns+1]; + + // Use if calling from java + //JatDerivatives MD = new JatDerivatives(); + // Use if calling from Matlab + MatlabDerivs MD = new MatlabDerivs(DerivativesName); + + // Send to integrate the equations + oldState = jat_RK8(time, x0, stepSize, MD); + + return oldState; + } + + /** This method calls the RK8 integrator based on the initial conditions from Matlab + * for the JGM2 & JGM3 cases + * + * @param DerivativesName -- Whether it is JGM2 or JGM3 test case + * @param initialTime -- User defined times + * @param x0 -- Initial State + * @param stepSize -- Integrator step size + * @param cd -- Coefficient of drag + * @param cr -- Coefficient of reflectivity + * @param mass -- Mass of the satellite + * @param cArea -- Cross sectional area + * @param mjd_utc -- Mean Julian Date in UTC time + * @param path -- Path to JAT + * @param matOrder -- added by DMS on 5/18/07 + * @param matDegree -- added by DMS on 5/18/07 + * @return -- Return the states based on times to Matlab + */ + public static double[][] RK8(String DerivativesName, double [] initialTime, double [] x0, double stepSize, double cd, double cr, double mass, double cArea, double mjd_utc, String path, double matOrder, double matDegree) + { + int degree = (int) matDegree; // added by DMS 5/18/07 + int order = (int) matOrder; // added by DMS 5/18/07 + + double mod = ((initialTime[initialTime.length-1]-initialTime[0])%stepSize); + int timeLength; + if (mod !=0.0 && mod>=1.0) + { + timeLength = (int) ((initialTime[initialTime.length-1]-initialTime[0])/stepSize)+2; + } + else + { + timeLength = (int) ((initialTime[initialTime.length-1]-initialTime[0])/stepSize)+1; + } + double[] time = new double[timeLength]; + double[] stepTime = new double[timeLength]; + + if (initialTime.length<3) + { + stepTime = createStepTime(initialTime, stepSize, timeLength); + time = stepTime; + } + else + { + stepTime = createStepTime(initialTime, stepSize, timeLength); + time = new double[initialTime.length]; + time = initialTime; + } + // Initialize start and finish times + int neqns = x0.length; + double[][] output = new double[stepTime.length][neqns+1]; + double [][] oldState = new double [time.length][neqns+1]; + + if (DerivativesName.equals("JatUniverseJGM2")) + { + boolean use_JGM2 = true; + // add order,degree to runJGMSimulation call (DMS 5/18/07) + output = runJGMSimulation(x0,stepTime, mjd_utc, stepSize, cd, cr, mass, cArea, use_JGM2,neqns, path, order, degree); + oldState = checkOutput(output, initialTime, neqns); + + } + + else + { + boolean use_JGM2 = false; + // add order,degree to runJGMSimulation call (DMS 5/18/07) + output = runJGMSimulation(x0,stepTime, mjd_utc, stepSize, cd, cr, mass, cArea, use_JGM2, neqns, path, order, degree); + oldState = checkOutput(output,initialTime, neqns); + } + + return oldState; + + } + + private static double[] createStepTime(double[] initialTime, double stepSize, int timeLength) + { + double[] stepTime = new double[timeLength]; + int counter = 1; + stepTime[0] = initialTime[0]; + double newStep; + double stop = initialTime[initialTime.length-1]-(stepSize/1000); + + while (stepTime[counter-1] initialTime[initialTime.length-1]) + { + newStep = stepSize - (stepTime[counter-1]+stepSize-initialTime[initialTime.length-1]); + + } + else + { + newStep = stepSize; + } + + stepTime[counter] = stepTime[counter-1]+newStep; + counter ++; + } + return stepTime; + } + + private static double[][] checkOutput(double[][] output, double[] time, int neqns) + { + if(time.length<3) + { + } + /* When user specifies output times the code comes here to get the corresponding + * states. */ + else + { + double[] timeArray = new double[output.length]; + double[][] newStates = new double[output.length][neqns]; + + for (int i=0; i=.09) + { + timeLength = (int) ((tf-t)/stepSize)+2; + } + else + { + timeLength = (int) ((tf-t)/stepSize)+1; + } + + double[] newstate = new double[neqns]; + double[] oldstate = new double[neqns]; + RungeKutta8 integrate = new RungeKutta8(stepSize); + double[] timeArray = new double[timeLength]; + double[][] newStates = new double[timeLength][neqns]; + + // put initial conditions into the previous state array + for (int i = 0; i < neqns; i++) + { + oldstate[i] = x0[i]; + } + + if ((t + dt) > tf) + { + dt = (tf - t); + } + + int counter=1; + // Set the initial time in the time vector + timeArray[0]=t; + + /* Steps the integrator while t tf) + { + dt = tf - t; + } + } + + // Sets the initial states in the newStates vector. + for (int j = 0; j timeArray[t]) && (currentTime timeArray[timeArray.length-1]) + { + position = t; + } + else + { + position=t+1; + } + break; + } + } + if (currentTime > timeArray[timeArray.length-1]) + { + // Use Linear Extrapolation + for (int g=0; g + * The SimpleIntegrator Class provides an example of how the RungeKutta8 class can be used to + * integrate a set of ODEs and plot the solution. + * + * @author + * @version 1.0 + */ + +public class SimpleIntegratorTest implements Printable { + + TwoPlots traj_plot = new TwoPlots(); + + /** Creates a new instance of SimpleIntegrator */ + public SimpleIntegratorTest() { + // set up the trajectory plot + traj_plot.setTitle("Simple Oscillator"); + traj_plot.topPlot.setXLabel("t"); + traj_plot.topPlot.setYLabel("x"); + traj_plot.bottomPlot.setXLabel("t"); + traj_plot.bottomPlot.setYLabel("y"); + + } + + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + // print to the screen for warm fuzzy feeling + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // add data point to the plot + traj_plot.topPlot.addPoint(0, t, y[0], first); + traj_plot.bottomPlot.addPoint(0, t, y[1], first); + + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an instance + SimpleIntegratorTest si = new SimpleIntegratorTest(); + + // make it go + si.go(); + + } + + public void go(){ + // create an RungeKutta8 integrator with step-size of 0.1 + RungeKutta8 rk8 = new RungeKutta8(0.1); + + MatlabDerivs derivs = new MatlabDerivs("eom"); + + // initialize the variables + double [] x0 = new double[2]; + x0[0] = 1.0; + x0[1] = 0.0; + + // set the final time + double tf = 10.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, derivs, this, true); + + // make the plot visible + this.traj_plot.setVisible(true); + + } +} diff --git a/src/jat/coreNOSA/matlabInterface/whereIsJat.m b/src/jat/coreNOSA/matlabInterface/whereIsJat.m new file mode 100644 index 0000000..4a3ac39 --- /dev/null +++ b/src/jat/coreNOSA/matlabInterface/whereIsJat.m @@ -0,0 +1,6 @@ +function JATPath = whereIsJat() + +fp = mfilename('fullpath'); +mn = mfilename; +pathlength=length(fp)-length(mn); +JATPath=fp(1:pathlength); %Gets path to m-file's directory \ No newline at end of file diff --git a/src/jat/coreNOSA/measurements/GPSStateMeasurementModel.java b/src/jat/coreNOSA/measurements/GPSStateMeasurementModel.java new file mode 100644 index 0000000..8766070 --- /dev/null +++ b/src/jat/coreNOSA/measurements/GPSStateMeasurementModel.java @@ -0,0 +1,197 @@ +package jat.coreNOSA.measurements; + + +import jat.coreNOSA.algorithm.estimators.EKF; +import jat.coreNOSA.algorithm.estimators.MeasurementFileModel; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.EstimatorSimModel; +import jat.coreNOSA.simulation.initializer; + +import java.util.HashMap; +import java.util.Random; + +public class GPSStateMeasurementModel implements MeasurementFileModel,MeasurementModel{ + + public static VectorN R; + public static int numStates; + HashMap hm;// = closedLoopSim.hm; + //* *NOTE* Added argument to default constructor instead of call to static var at instantiation + Random generator; + private int FILTER_states; + + public GPSStateMeasurementModel(HashMap h) { + /*Add a sleep in here to insure that the Random Number + * Seeds don't allign with any other random number generator + */ + hm = h; + this.FILTER_states = initializer.parseInt(hm,"FILTER.states"); + try { + Thread.sleep(20); + generator = new Random(); + } catch (InterruptedException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + + } + } + + public VectorN getMeasurement() + { + String tmp; + VectorN pointSolution = new VectorN(3); + + tmp = "MEAS."+EKF.measNum+".satellite"; + int sat = initializer.parseInt(hm,tmp); + + //double[] truth = closedLoopSim.truth[sat].sc.get_spacecraft().toStateVector(); + double[] truth = EstimatorSimModel.truth[sat].get_spacecraft().toStateVector(); + + //Add in the measurement noise read out of the file + for(int j = 0; j < 3; j++) + { + tmp = "MEAS."+EKF.measNum+".R."+j; + double R = initializer.parseDouble(hm,tmp); + + /*Scale the error as Gaussian noise times the + square of the measurement noise*/ + //* TODO .nextGaussian() is already zero mean + pointSolution.x[j] = truth[j] +(2*(generator.nextGaussian()-0.5))*R*R; + } + return pointSolution; + } + + public VectorN predictMeasurement(VectorN state){ + + String tmp = "MEAS."+EKF.measNum+".satellite"; + int sat = initializer.parseInt(hm,tmp); + + VectorN range = new VectorN(3); + range.set(0,state.get(0+(6*sat))); + range.set(1,state.get(1+(6*sat))); + range.set(2,state.get(2+(6*sat))); + + return range; + } + public VectorN predictMeasurement(int sat,VectorN state){ + + //String tmp = "MEAS."+EKF.measNum+".satellite"; + //int sat = initializer.parseInt(hm,tmp); + + VectorN range = new VectorN(3); + range.set(0,state.get(0+(6*sat))); + range.set(1,state.get(1+(6*sat))); + range.set(2,state.get(2+(6*sat))); + + return range; +} + + public double zPred(int i, double time, VectorN state){ + String tmp = "MEAS."+EKF.measNum+".satellite"; + int sat = initializer.parseInt(hm,tmp); + + VectorN oMinusC; + VectorN pred = predictMeasurement(state); + VectorN obs = getMeasurement(); + oMinusC = obs.minus(pred); + + //Ensure we are returning the correct state when there is more than + //one satellite + int j = i - 6*sat; + return oMinusC.get(j); + } + public double zPred(ObservationMeasurement om,int i, double time, VectorN state){ + //String tmp = "MEAS."+om.get_sc_id()+".satellite"; + //int sat = initializer.parseInt(hm,tmp); + int whichState = om.get_whichState(); //* Note i = GPS_PRN om.get_sc_id() = Sim_SC_ID + VectorN oMinusC; + VectorN pred = predictMeasurement(om.get_sc_id(),state); + VectorN obs = om.get_state(3); + oMinusC = obs.minus(pred); + + //Ensure we are returning the correct state when there is more than + //one satellite + //int j = i - 6*sat; + //return oMinusC.get(j); + return oMinusC.get(whichState); + } + + /** Return the measurement noise value for this measurement + * + * + */ + public double R() + { + int whichState = EKF.stateNum; + int measNum = EKF.measNum; + + + //Ensure we are returning the correct state when there is more than + //one satellite + String tmp = "MEAS."+EKF.measNum+".satellite"; + int sat = initializer.parseInt(hm,tmp); + int j = whichState - 6*sat; + + + tmp = "MEAS."+measNum+".R."+j; + double R = initializer.parseDouble(hm,tmp); + return R; + } + /** Return the measurement noise value for this measurement + * + * + */ + public double R(ObservationMeasurement om) + { + int whichState = om.get_whichState();//EKF.stateNum; + int measNum = 0;//EKF.measNum; + double R=0.0; + + try{ + //Ensure we are returning the correct state when there is more than + //one satellite + String tmp = "MEAS."+measNum+".satellite"; + int sat = initializer.parseInt(hm,tmp); + int j = whichState - 6*sat; + + + tmp = "MEAS."+measNum+".R."+j; + R = initializer.parseDouble(hm,tmp); + }catch(NumberFormatException e){ + System.err.println("Warning: Number format exception - return zero noise"); + //System.exit(0); + }catch(NullPointerException ne){ + System.err.println("Warning: Null pointer exception - return zero noise"); + //System.exit(0); + } + return R; + } + + public VectorN H(VectorN state) + { + /*Determine the number of states*/ + int whichState = EKF.stateNum; + int numStates = initializer.parseInt(hm,"FILTER.states"); + + + /*for a Range measurement, the current state has H = 1, all other states H = 0 */ + VectorN H = new VectorN(numStates); + H.set(0.0); + H.set(whichState,1.0); + return H; + } + public VectorN H(ObservationMeasurement om, VectorN state) + { + /*Determine the number of states*/ + int whichState = om.get_whichState();//EKF.stateNum; + int numStates = this.FILTER_states;//initializer.parseInt(hm,"FILTER.states"); + + + /*for a Range measurement, the current state has H = 1, all other states H = 0 */ + VectorN H = new VectorN(numStates); + H.set(0.0); + H.set(whichState,1.0); + return H; + } + +} \ No newline at end of file diff --git a/src/jat/coreNOSA/measurements/GPSmeasurementModel.java b/src/jat/coreNOSA/measurements/GPSmeasurementModel.java new file mode 100644 index 0000000..8e6e566 --- /dev/null +++ b/src/jat/coreNOSA/measurements/GPSmeasurementModel.java @@ -0,0 +1,734 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 22, 2003 + */ + +package jat.coreNOSA.measurements; + +import jat.coreNOSA.algorithm.estimators.EKF; +import jat.coreNOSA.algorithm.estimators.MeasurementFileModel; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.gps.GEO_Blockage_Models; +import jat.coreNOSA.gps.GPS_Constellation; +import jat.coreNOSA.gps.GPS_SV; +import jat.coreNOSA.gps.GPS_Utils; +import jat.coreNOSA.gps.IonoModel; +import jat.coreNOSA.gps.ReceiverModel; +import jat.coreNOSA.gps.URE_Model; +import jat.coreNOSA.gps.Visible; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RandomNumber; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.EstimatorSimModel; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.FitIERS; +import jat.coreNOSA.spacetime.GPSTimeFormat; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.util.FileUtil; + +import java.io.FileNotFoundException; +import java.io.FileOutputStream; +import java.io.PrintStream; +import java.util.HashMap; + +/** +* The GPS_MeasurementGenerator.java Class generates GPS measurements +* +* @author +* @version 1.0 +* +* NOTE: This model assumes that the the satellite will have +* position and velocity in states 0-5. The clock bias and +* drift states are defined in the input file +*/ +public class GPSmeasurementModel implements MeasurementFileModel,MeasurementModel{ + + + private boolean obsfromfile = false; + public static LinePrinter gps_rv; + + private ReceiverModel rcvr; + public GPS_Constellation constell; + private IonoModel iono = new IonoModel(); + private URE_Model ure; + private static GEO_Blockage_Models block; + private double [] integerAmbiguity; + static public LinePrinter noiseOut; + static public LinePrinter azOut; + static public LinePrinter elOut; + private Visible vis; + public static int CurrentSv; + public double numvis; + public static HashMap hm; + static boolean [] AcquisitionFlag = new boolean[33]; + double AcquisitionThreshold = 25;// (dB-Hz) + double TrackingThreshold = 21;// (dB-Hz) + double[] oldclock = this.initClock(); + double[] newclock = oldclock; + double currentTime = 0; + double lastTime = 0; + double MJD0; + boolean firstTime = true; + int clockState, biasState; + public static VectorN H; + static public boolean visible; + public static double oldtime, newitme; + public static VectorN Cn0_out; + private static FileOutputStream visableSats; + + private int FILTER_states; + + /** + * Constructor + * @param t Spacecraft Trajectory + * @param i ISS Trajectory + * @param c GPS_Constellation + * @param v Visible checker + * @param file String containing the output file name + * @param clp LinePrinter for clock data output + * @param mlp LinePrinter for measurement data output + */ + public GPSmeasurementModel(HashMap h) { + obsfromfile = initializer.parseBool(h,"init.fromfile"); + hm = h; //closedLoopSim.hm; //* *NOTE* added argument rather than static var + this.FILTER_states = initializer.parseInt(hm,"FILTER.states"); + block = new GEO_Blockage_Models(); + + //Set up the GPS constellation + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + String fileName = initializer.parseString(hm,"GPS.const"); + constell = new GPS_Constellation(dir_in+fileName); + + // Set up the Receiver Model + this.rcvr = new ReceiverModel(); + + int nsv = this.constell.size(); + this.ure = new URE_Model(nsv); + + //Determine which state is the clock state + clockState = initializer.parseInt(hm,"FILTER.clock"); + biasState = initializer.parseInt(hm,"FILTER.bias"); + + MJD0 = initializer.parseDouble(hm,"init.MJD0") + initializer.parseDouble(hm,"init.T0")/86400.0; + Cn0_out = new VectorN(33); + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + String fileName5 = dir_in+"Visible.txt"; + try { + visableSats = new FileOutputStream(fileName5); + } catch (FileNotFoundException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + + + // initialize integer ambiguity if it is used + this.integerAmbiguity = new double[nsv]; + RandomNumber rn = new RandomNumber(); + for (int j = 0; j < nsv; j++) { + double number = rn.normal(0.0, 1.0E+06); + double num = MathUtils.round(number); + this.integerAmbiguity[j] = GPS_Utils.lambda*num; + } + + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + gps_rv = new LinePrinter(dir_in+"gps_rv.txt"); + } + + + private double[] initClock() { + double[] out = new double[2]; + out[0] = (Math.random() - 0.5)*10; + out[1] = .1; + + + firstTime = true; + return out; + } + + + + public double R(ObservationMeasurement om) + { + int measNum = 0;//EKF.measNum; + String tmp = "MEAS."+measNum+".R"; + double sigma = initializer.parseDouble(hm,tmp); + double R = sigma*sigma; + return R; + } + public double R() + { + int measNum = EKF.measNum; + String tmp = "MEAS."+measNum+".R"; + double sigma = initializer.parseDouble(hm,tmp); + double R = sigma*sigma; + return R; + } + //* Cheating * + //* NOTE * H is actually computed in the call to "predictedMeasurement" + public VectorN H(ObservationMeasurement om,VectorN state) + { + //int numStates = initializer.parseInt(hm,"FILTER.states"); + //VectorN H = new VectorN(numStates); + return H; + } + //* Cheating * + //* NOTE * H is actually computed in the call to "predictedMeasurement" + public VectorN H(VectorN state) + { + //int numStates = initializer.parseInt(hm,"FILTER.states"); + //VectorN H = new VectorN(numStates); + return H; + } + + + public double zPred(int isv, double t_mjd, VectorN state){ + double out,obs; + + + + obs = observedMeasurement(isv,t_mjd,state); + double pred = predictedMeasurement(isv, t_mjd, state); + + if(obs == 0) + out = 0.0; + else + out = obs-pred; + return out; + } + + public double zPred(ObservationMeasurement om, int isv, double t_mjd, VectorN state){ + + double out,obs; + if(obsfromfile){ + obs = om.get_range(); + }else{ + obs = observedMeasurement(isv, t_mjd, state); + } + //*TODO watch - the following line is a random attempt at hard-tweaking data + //t_mjd = t_mjd+30*60/86400; + //double pred = predictedMeasurement(isv, t_mjd, state, om.get_ECF2ECI()); + double pred = predictedMeasurement(isv, t_mjd, state); + //if(Double.isNaN(pred)) return Double.NaN; + if(obs == 0) + out = 0.0; + else + out = obs-pred; + + //*TODO watch should this be absolute value? + //return Math.abs(out); + return out; + } + public double observedMeasurement(int isv, double t, VectorN state) + { + double[] Cn0 = new double[33]; + double out,dt; + + + currentTime = t/(double)86400 + MJD0; + if(firstTime == true) + { + double filterStart = initializer.parseDouble(hm,"init.T0"); + lastTime = currentTime; + dt = t-filterStart; +// Propagate the clock forward + newclock = rcvr.propClock(dt, oldclock); + + oldtime = 99; + firstTime = false; + } + else if(currentTime > lastTime && firstTime == false) + { + dt = (currentTime - lastTime)*86400; + double[] tmpClock = newclock; + newclock = rcvr.propClock(dt, oldclock); + oldclock = tmpClock; + lastTime = currentTime; + } + + //state= new VectorN (closedLoopSim.truth[0].sc.get_spacecraft().toStateVector()); +//* TODO Cheating - static reference to EstimatorSimModel + //state= new VectorN (CEVSim.truth_traj[0].getState(0)); + state = new VectorN(EstimatorSimModel.truth[0].get_spacecraft().toStateVector()); + + + + // get the SVID and MJD time of measurement + GPS_SV sv = constell.getSV(isv); + int prn = sv.prn(); + + double t_mjd = t/(double)86400 + MJD0; + +// compute time of transmission + VectorN r = new VectorN(state.get(0,3)); + VectorN v = new VectorN(state.get(3,3)); + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + +// compute the GPS position vector + + /*Follow the method used in the Predicted Measurement method*/ + Time time = new Time(ts_mjd); + FitIERS iers = new FitIERS(); + double[] params = iers.search(time.mjd_utc()); + time.set_UT1_UTC(params[2]); + EarthRef earth = new EarthRef(time); + earth.setIERS(params[0], params[1]); + + //Previous Implimentation + //Time time = new Time(ts_mjd); + //EarthRef earth = new EarthRef(time); + + Matrix pole = earth.PoleMatrix(); + Matrix gha = earth.GHAMatrix(time.mjd_ut1(),time.mjd_tt()); + Matrix tod = earth.TOD(); + VectorN rvGPS = sv.rvECI(ts_mjd,pole,gha,tod); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the line of sight vector + VectorN los = GPS_Utils.lineOfSight(r, rGPS); + VectorN losu = los.unitVector(); + + + boolean visibleBlockage = block.visible(losu, r, rGPS); + + visible = acquisitionAndTracking(visibleBlockage, prn, t); + + if (visible) { + + // compute measured range + double truerho = los.mag(); + double clock_err = rcvr.clockError(los, v, vGPS, oldclock[0]); + double code_noise = rcvr.codeNoise(); + + double cp_noise = rcvr.cpNoise(); + + //double ionoDelay = iono.error(t_mjd, this.r, rGPS, iv); + double ionoDelay = 0; + + double uree = ure.ure(isv, los, rGPS, vGPS); + + //Use 2 meters of random noise for URE + + /*Added in the bias correction from the ephemeris here, because it is in the + * predicted measurement method. Not sure why it was omitted here*/ + double rho = truerho + clock_err + code_noise + 4*(Math.random()-0.5) - GPS_Utils.c*sv.biasCorrection(new GPSTimeFormat(ts_mjd).gps_sow());//+ code_noise;// + 4*(Math.random()-0.5); + + //double rho = truerho + 4*(Math.random()-0.5) - GPS_Utils.c*sv.biasCorrection(new GPSTimeFormat(ts_mjd).gps_sow()); + + //double rho = truerho + clock_err + uree + code_noise; + //double rho = truerho + clock_err + ionoDelay + uree + code_noise; + + double ia = integerAmbiguity[isv]; +// double carrier_rho = truerho + clock_err - ionoDelay + uree + ia + cp_noise; + double carrier_rho = truerho + clock_err + uree + ia + cp_noise; +// double carrier_rho = truerho + clock_err - ionoDelay + uree + cp_noise; + +// double diff = carrier_rho - rho; +// double twoiono = -2.0*ionoDelay; + + out = rho; + } + else + out = 0; + + return out; + } + + + public boolean acquisitionAndTracking(boolean visIn, int prn, double t) + { + /*Todo: Need to be able to get the Cn0 without + * directly referencing the visibility file!! + * sort of stuck with the way the visible interface + * is set up + */ + double Cn0 = GEO_Blockage_Models.Cn0; + + boolean visible = false; + if(visIn == false) + AcquisitionFlag[prn] = false; + + //System.out.println("Cn0 for PRN : " + prn + " is: "+Cn0); + //If it is visible and strong enough, "Acquire" satellite + if(visIn && AcquisitionFlag[prn] == false && Cn0 > AcquisitionThreshold) + AcquisitionFlag[prn] = true; + + //If we have "acquired" a satellite and if the Cn0 is greater than + //the tracking threshold, then it is visible + if(AcquisitionFlag[prn]) + { + if(Cn0 > TrackingThreshold) + { + visible = true; + } + } + else + { + visible = false; + } + //System.out.println("Cn0 Value: " + Cn0 + " PRN: " + prn + " Visible: " + visible + " Time :" + t); + + if(visible) + { + if(t != oldtime) + { + //The time has been updated, so end out the information + new PrintStream(visableSats).println (Cn0_out.toString()); + //Reset the Cn/0 vector + Cn0_out = new VectorN(33); + Cn0_out.set(0,t); + Cn0_out.set(prn,Cn0); + oldtime = t; + } + else + { + Cn0_out.set(prn,Cn0); + } + } + + return visible; + } + + public double predictedMeasurement(int isv, double t, VectorN state) + { + //private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // get the SVID of measurement + GPS_SV sv; + //int index = isv;//constell.getIndex(isv); + //int index = constell.getIndex(isv); + sv = constell.getSV(isv); + int prn = sv.prn(); +// if(prn!=13) +// return Double.NaN; + int clockIndex = clockState; + + // extract the current spacecraft position vector + VectorN r = new VectorN(state.get(0,3)); + VectorN v = new VectorN(state.get(3,3)); + + //* The following is used when feeding in the sim_time + //* currently when using files, the mjd_utc time is fed in + double t_mjd = t/(double)86400 + MJD0; + //double t_mjd = t; + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + //* TODO watch this + // compute the GPS SV position vector at transmission time +// * TODO watch this - should this be transmit time? + //Time time = new Time(t_mjd); + Time time = new Time(ts_mjd); + FitIERS iers = new FitIERS(); + double[] params = iers.search(time.mjd_utc()); + time.set_UT1_UTC(params[2]); + EarthRef earth = new EarthRef(time); + earth.setIERS(params[0], params[1]); + + Matrix pole = earth.PoleMatrix(); + Matrix gha = earth.GHAMatrix(time.mjd_ut1(),time.mjd_tt()); + Matrix tod = earth.TOD(); + VectorN rvGPS_ECEF = sv.rvECEF(ts_mjd); + VectorN rvGPS = sv.rvECI(ts_mjd,pole,gha,tod); + VectorN rvGPS_ECEF_meas = sv.rvECEF(t_mjd); + gps_rv.println("t:\t"+(new Time(ts_mjd).secOfDay())+"\t prn:\t"+sv.prn()+"\t rveci:\t"+rvGPS.toString()+"\t rvecef:\t"+rvGPS_ECEF.toString()+"\t rvecef_meas:\t"+rvGPS_ECEF_meas.toString()); + + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = state.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + range = range + bcpart - GPS_Utils.c*sv.biasCorrection(new GPSTimeFormat(ts_mjd).gps_sow()); + //range = range - GPS_Utils.c*sv.biasCorrection(new GPSTimeFormat(ts_mjd).gps_sow()); + + // add iono contribution to range + //int iono_index = 9; + //double diono = xref.x[iono_index]; + //double iv = (1.0 + diono)*iono.Ivbar; + //double elev = GPS_Utils.elevation(r, rGPS); + //double ionopart = IonoModel.del_iono(iv, elev); + //Assume there is no Ionosphere Delay + //range = range + ionopart; + + // add ure contribution to range + //int ure_index = 9 + svindex; + //double dure = xref.x[ure_index]; + //range = range + dure; + + //Create and zero out the H vector + int numStates = this.FILTER_states;//initializer.parseInt(hm,"FILTER.states"); + H = new VectorN(numStates); + H.set(0.0); + + // compute the H vector + VectorN drrdr = drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + H.set(0, drhodr); + H.set((3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + + H.set(clockIndex, drdbc); + + + + //double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + //htilde.set(iono_index, drdiono); + //htilde.set(ure_index, 1.0); + + return range; + } + public double predictedMeasurement(int isv, Time t, VectorN state) + { + //private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // get the SVID of measurement + GPS_SV sv; + int index = constell.getIndex(isv); + sv = constell.getSV(index); + //int prn = sv.prn(); + + int clockIndex = clockState; + + + // extract the current spacecraft position vector + VectorN r = new VectorN(state.get(0,3)); + VectorN v = new VectorN(state.get(3,3)); + + double t_mjd = t.mjd_utc(); + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + t.updateTo(ts_mjd); + + //* TODO watch this + // compute the GPS SV position vector at transmission time + EarthRef earth = new EarthRef(t); + + Matrix pole = earth.PoleMatrix(); + Matrix gha = earth.GHAMatrix(t.mjd_ut1(),t.mjd_tt()); + Matrix tod = earth.TOD(); + VectorN rvGPS = sv.rvECI(ts_mjd,pole,gha,tod); +// VectorN rvGPSecef = sv.rvECI(ts_mjd); +// VectorN recef = new VectorN(rvGPSecef.get(0,3)); +// VectorN vecef = new VectorN(rvGPSecef.get(3,3)); +// VectorN rvGPS = earth.ecf2eci(recef,vecef,time); +// VectorN rvGPS = sv.rvECI(ts_mjd); + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate +// VectorN vrel = vGPS.minus(v); + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = state.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + + range = range + bcpart; + + // add iono contribution to range + //int iono_index = 9; + //double diono = xref.x[iono_index]; + //double iv = (1.0 + diono)*iono.Ivbar; + //double elev = GPS_Utils.elevation(r, rGPS); + //double ionopart = IonoModel.del_iono(iv, elev); + //Assume there is no Ionosphere Delay + //range = range + ionopart; + + // add ure contribution to range + //int ure_index = 9 + svindex; + //double dure = xref.x[ure_index]; + //range = range + dure; + + //Create and zero out the H vector + int numStates = this.FILTER_states;//initializer.parseInt(hm,"FILTER.states"); + H = new VectorN(numStates); + H.set(0.0); + + // compute the H vector + VectorN drrdr = drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + H.set(0, drhodr); + H.set((3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + + H.set(clockIndex, drdbc); + + + + //double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + //htilde.set(iono_index, drdiono); + //htilde.set(ure_index, 1.0); + + return range; + } + public double predictedMeasurement(int isv, double t, VectorN state, RotationMatrix ECF2ECI) + { + //private double rangePred(double t_mjd, VectorN xref, int prn, int type ){ + + // get the SVID of measurement + GPS_SV sv; + int index = constell.getIndex(isv); + sv = constell.getSV(index); + //int prn = sv.prn(); + + int clockIndex = clockState; + + // extract the current spacecraft position vector + VectorN r = new VectorN(state.get(0,3)); + VectorN v = new VectorN(state.get(3,3)); + + double t_mjd = t;//t/(double)86400 + MJD0; + //* TODO watch this + double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + //double ts_mjd = GPS_Utils.transmitTime(t_mjd, sv, r); + + // compute the GPS SV position vector at transmission time + VectorN rvGPS = sv.rvECI(ts_mjd); + + VectorN rGPS = new VectorN(rvGPS.x[0], rvGPS.x[1], rvGPS.x[2]); + VectorN vGPS = new VectorN(rvGPS.x[3], rvGPS.x[4], rvGPS.x[5]); +// * TODO watch this for accuracy + //* sv.rvECI really seems to output as rvWGS84 (EarthFixed) + //* the velocity should be inertial but still unsure + rGPS = ECF2ECI.transform(rGPS); + vGPS = ECF2ECI.transform(vGPS); + + // compute the LOS vector + VectorN los = rGPS.minus(r); + VectorN losu = los.unitVector(); + + // compute the expected range + double range = los.mag(); + + // compute the range rate +// VectorN vrel = vGPS.minus(v); + double range_rate = GPS_Utils.rangeRate(los, v, vGPS); + + // add clock bias contribution to range + double bc = state.x[clockIndex]; + double omrroc = 1.0 - (range_rate/GPS_Utils.c); + double bcpart = omrroc*bc; + range = range + bcpart; + + // add iono contribution to range + //int iono_index = 9; + //double diono = xref.x[iono_index]; + //double iv = (1.0 + diono)*iono.Ivbar; + //double elev = GPS_Utils.elevation(r, rGPS); + //double ionopart = IonoModel.del_iono(iv, elev); + //Assume there is no Ionosphere Delay + //range = range + ionopart; + + // add ure contribution to range + //int ure_index = 9 + svindex; + //double dure = xref.x[ure_index]; + //range = range + dure; + + //Create and zero out the H vector + int numStates = this.FILTER_states;//initializer.parseInt(hm,"FILTER.states"); + H = new VectorN(numStates); + H.set(0.0); + + // compute the H vector + VectorN drrdr = drrdr(los, vGPS, range_rate); + double term1 = -1.0 * bc / GPS_Utils.c; + drrdr = drrdr.times(term1); + VectorN drrdv = this.drrdv(los, vGPS); + VectorN drhodv = drrdv.times(term1); + VectorN drhodr = drrdr.minus(losu); + H.set(0, drhodr); + H.set((3), drhodv); + double drdbc = 1.0 - range_rate/GPS_Utils.c; + + H.set(clockIndex, drdbc); + + + + //double drdiono = IonoModel.del_iono(iono.Ivbar, elev); + //htilde.set(iono_index, drdiono); + //htilde.set(ure_index, 1.0); + + return range; + } + + private VectorN drrdr (VectorN los, VectorN vGPS, double rr){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = 1.0 / (range + corr); + VectorN losu = los.unitVector(); + VectorN part2 = losu.plus(vc); + part2 = part2.times(rr); + VectorN numerator = part2.minus(los); + VectorN out = numerator.times(factor); + return out; + } + + private VectorN drrdv (VectorN los, VectorN vGPS){ + VectorN vc = vGPS.divide(GPS_Utils.c); + double range = los.mag(); + double corr = los.dotProduct(vc); + double factor = -1.0 / (range + corr); + VectorN out = los.times(factor); + return out; + } + +} diff --git a/src/jat/coreNOSA/measurements/ObservationMeasurement.java b/src/jat/coreNOSA/measurements/ObservationMeasurement.java new file mode 100644 index 0000000..8a18d36 --- /dev/null +++ b/src/jat/coreNOSA/measurements/ObservationMeasurement.java @@ -0,0 +1,345 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on 3 October 2005 + * Created by Kathryn Bradley, National Aeronautics and Space Administration + * */ +package jat.coreNOSA.measurements; + +import jat.coreNOSA.algorithm.estimators.MeasurementFileModel; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacecraft.SpacecraftModel; + +import java.io.Serializable; +import java.util.HashMap; +import java.util.Vector; + +public class ObservationMeasurement implements Serializable{ + + /** + * + */ + private static final long serialVersionUID = 7255344896250541223L; + //** Flags for measurement data type + public static final int DATA_UNKNOWN = 0; + public static final int DATA_PSEUDORANGE = 1; + public static final int DATA_DOPLER = 2; + public static final int DATA_UTILITY = 3; + public static final int DATA_CARRIERPHASE = 4; + public static final int DATA_STATE_3 = 5; + public static final int DATA_STATE_6 = 6; + private int[] data_index = new int[7]; + + //** Flags for observation type + public static final int TYPE_GPS = 1; + public static final int TYPE_GPSSTATE = 2; + public static final int TYPE_RANGE = 3; + public static final int TYPE_STATE = 4; + public static final int TYPE_STATEUPDATE = 5; + + /** Epoch time of measurement in MJD */ + private double time_mjd; + + /** List of Measurement Types from Header */ + private Vector measurementType = new Vector(); + + /** Observation Type Flag */ + private int obs_type; + /** Observation Flag indicating which state is being observed **/ + private int whichState; + + /** Observation Measurements from File */ + private Vector measurement = new Vector(); + private VectorN obs_state; + private double pseudorange; + private boolean data_initialized=false; + + /** Satellite PRN number */ + public Object prn; + + private RotationMatrix ECF2ECI; + + private int stateNum = 0; //????? from EKF.stateNum + + /** Measurement Model */ + private MeasurementFileModel measModel; + + /** Constructor + * @param timeMjd Time of the measurement in MJD + * @param observationType an array with the types of measurements + * @param measurement actual observation measurements. + * @param PRN satellite ID number + */ + public ObservationMeasurement(double timeMjd, Vector observationType, + Vector measurement, Object prn, HashMap input, MeasurementFileModel mfm,int type) { + this.time_mjd = timeMjd; + this.measurementType = observationType; + this.measurement = measurement; + this.prn = prn; + this.obs_type = type; //chooseType((String)prn); + this.measModel = mfm; + initializeMeasType(); + } + +// public ObservationMeasurement(double timeMjd, double x,double y, double z, +// String id, HashMap input, MeasurementFileModel mfm){ +// this.time_mjd = timeMjd; +// this.measurementType = new Vector(); +// this.obs_state = new VectorN(x,y,z); +// this.measurement = new Vector(); +// measurement.add(new Double(x)); +// measurement.add(new Double(y)); +// measurement.add(new Double(z)); +// this.prn = "0"; +// this.obs_type = ObservationMeasurement.TYPE_GPSSTATE; +// this.measModel = mfm; +// data_index[DATA_STATE_3] = 0; +// } + + /** Override toString() + * @return Observation data on a single line + */ + public String toString() { + String out = time_mjd+"\t"+measurementType+"\t"+measurement+"\t"+prn; + return out; + } + + protected void set_ECF2ECI(RotationMatrix m){ + this.ECF2ECI = m; + } + public RotationMatrix get_ECF2ECI(){ + return this.ECF2ECI; + } + + /** + * The ID of the spacecraft in the simulation to estimate. + * @return int ID number + */ + public int get_sc_id(){ + return get_PRN(); + //return this.spacecraft_id; + } + public int get_stateNum(){ + return this.stateNum; + } + public double get_mjd(){ + return this.time_mjd; + } + + private void initializeMeasType(){ + try{ + for(int i=0; i0) processedOther = true; + line = in.readLine(); + while(!line.equals("") && loop){ + try{ + tok = new StringTokenizer(line, " "); + year = Integer.parseInt(tok.nextToken()); + day = Integer.parseInt(tok.nextToken()); + sec = Double.parseDouble(tok.nextToken()); + date = new GPSTimeFormat(year,day,0,0,sec); + mjd = date.mjd(); + if(mjd>=mjd0 && mjd<= mjdf){ + x = Double.parseDouble(tok.nextToken()); + y = Double.parseDouble(tok.nextToken()); + z = Double.parseDouble(tok.nextToken()); + clock = Double.parseDouble(tok.nextToken())/jat.coreNOSA.cm.Constants.c; + mjd = mjd - (clock)/86400; + r = new VectorN(x,y,z); + time = new Time(mjd); + //*TODO watch + earth = new EarthRef(time); + + FitIERS iers = new FitIERS(); + //iers.process(); //* don't need this + double[] param = iers.search(time.mjd_tt()); + earth.setIERS(param[0],param[1]); + time.set_UT1_UTC(param[2]); + //earth.computePole(time); + + Matrix tmp = earth.eci2ecef(time); + rot = new RotationMatrix(tmp.transpose()); + r = rot.transform(r); + v_data = new Vector(); + v_data.add(""+r.x[0]); + v_data.add(""+r.x[1]); + v_data.add(""+r.x[2]); + if(processedOther){ + i = searchListMJD(mjd); + for(int snum=0; snum<3; snum++){ + om = new ObservationMeasurement(mjd,v_type,v_data,"0",this.input, + this.model_gpsstate,ObservationMeasurement.TYPE_GPSSTATE); + om.set_whichState(snum); + System.out.println(om.toString()); + list.add(i,om); + } + }else{ + for(int snum=0; snum<3; snum++){ + om = new ObservationMeasurement(mjd,v_type,v_data,"0",this.input, + this.model_gpsstate,ObservationMeasurement.TYPE_GPSSTATE); + om.set_whichState(snum); + System.out.println(om.toString()); + list.add(om); + } + } + } + line = in.readLine(); + }catch(EOFException eof){ + loop = false; + } + } + } + /** Method Class which accesses the other classes to read the RINEX observation files.*/ + public void processRINEX(String fileName) //Needs the fileName + throws IOException{ + File inputFile = new File(fileName); + FileReader fr = new FileReader(inputFile); + BufferedReader in = new BufferedReader(fr); + + while (notDone) //Reading the Header information in this While loop + { + count++; + line = in.readLine(); + StringTokenizer tok = new StringTokenizer(line, " "); + if (count == 1) + { + version = Double.parseDouble(tok.nextToken()); + } + else if (count == 2) + { + observationNumber = Integer.parseInt(tok.nextToken()); + for (int k =0; k < observationNumber; k++) + { + observationType.add(tok.nextToken()); + } + } + else + { + ObservationMeasurementList headerFinished = new ObservationMeasurementList(); + notDone = headerFinished.setHeaderReader(tok, count); //Returns false if header has been read + } + } + while (in.ready()) //Reading the file blocks with the measurement data + { + /**dataCount is invented for first line of data. The timeStamp + is true if the data from the previous time has already been read. + Initially timeStamp is set to false and dataCount is set to zero*/ + + dataCount++; + if ((dataCount==1) || (timeStamp == true)) + { + lineNew = in.readLine(); + //ObservationMeasurementList date = new ObservationMeasurementList(); + GPSTimeFormat newDate = ObservationMeasurementList.setDateStuff(lineNew); + timeMjd =newDate.mjd(); + //if(timeMjd > 52189.06403935186){ + //int stop_to_debug = 0; + //} + if(currentIndex <0){ + current_mjd = timeMjd; + currentIndex = 0; + } + //ObservationMeasurementList num = new ObservationMeasurementList(); + numOfSatellites = ObservationMeasurementList.setNumberOfSatellites(lineNew); + //data.add(new Integer(numOfSatellites)); + int newNumOfSatellites = numOfSatellites; + int start = 32; + if (numOfSatellites >12) + { + newNumOfSatellites =12; + } + //prns.clear(); + prns = new Vector(); + for (int t=0; t 12){ + String secondLine = in.readLine(); + + int secondLineSatellites = numOfSatellites-12; + int secondStart = 33; + for (int n=0; n MJDF) + break; + //if(timeMjd > 52189.06403935186){ + //int stop_to_debug = 0; + //} + if(currentIndex <0){ + current_mjd = timeMjd; + currentIndex = 0; + } + //ObservationMeasurementList num = new ObservationMeasurementList(); + numOfSatellites = ObservationMeasurementList.setNumberOfSatellites(lineNew); + //data.add(new Integer(numOfSatellites)); + int newNumOfSatellites = numOfSatellites; + int start = 32; + if (numOfSatellites >12) + { + newNumOfSatellites =12; + } + //prns.clear(); + prns = new Vector(); + for (int t=0; t 12){ + String secondLine = in.readLine(); + + int secondLineSatellites = numOfSatellites-12; + int secondStart = 33; + for (int n=0; n=(list.size()-1)){ + //currentIndex=(list.size()-1); + return null; + }else + currentIndex++; + ObservationMeasurement om = (ObservationMeasurement)list.get(currentIndex); + return om; + } + public ObservationMeasurement getPrev(){ + if(currentIndex>0) + currentIndex--; + else + currentIndex=0; + ObservationMeasurement om = (ObservationMeasurement)list.get(currentIndex); + return om; + } + public ObservationMeasurement getFirst(){ + currentIndex = 0; + return (ObservationMeasurement)list.get(currentIndex); + } + public int getIndex(){ + return currentIndex; + } + public Trajectory get_meas_traj(){ + Trajectory traj = new Trajectory(); + double t; + double[] data = new double[6]; + ObservationMeasurement tmp; + for(int i=0; i=mjd) + return i; + } + return i; + } + + /** This method setNumberOfSatellites gets the number of satellites from the + * file and returns it to the process method. */ + private static int setNumberOfSatellites(String lineNew) + { + int num; + StringTokenizer satelliteToken = new StringTokenizer(lineNew.substring(29,32), " "); + String numDum = satelliteToken.nextToken(); + num = Integer.parseInt(numDum); + return num; + } + + /** This method setDateStuff reads the time stamp from the line being fed + * in and then calls two methods GPSTimeFormat and CalDate to determine the + * time in GPS time. This time is then sent to the Process method to be + * stored. */ + private static GPSTimeFormat setDateStuff(String lineNew) + { + StringTokenizer newTok = new StringTokenizer(lineNew, " "); + String yrsString = newTok.nextToken(); + String monString = newTok.nextToken(); + String dayString = newTok.nextToken(); + String hrString = newTok.nextToken(); + String minString = newTok.nextToken(); + String secString = newTok.nextToken(); + int month = Integer.parseInt(monString); + int day = Integer.parseInt(dayString); + int hour =Integer.parseInt(hrString); + int min = Integer.parseInt(minString); + double sec = Double.parseDouble(secString); + int years = Integer.parseInt(yrsString); + int year = 0; + if (years < 50) + { + year = (years + 2000); + } + else + { + year = (years + 1900); + } + CalDate toc_dt = new CalDate(year, month, day, hour, min, sec); + GPSTimeFormat date = new GPSTimeFormat(toc_dt); + return date; + } + /** This method setHeaderRead determines if the header has finished being + * read. If the header is finished being read then it returns a false + * to the Process method. */ + public boolean setHeaderReader(StringTokenizer tok, int count) + { + String end = "END"; + String header = "HEADER"; + String of = "OF"; + int check=0; + boolean headerFinished = true; + while(tok.hasMoreTokens()) + { + String temp = tok.nextToken(); + if ((temp.equals(end))||(temp.equals(of))||(temp.equals(header))) check++; + { + if (check > 2) + { + headerFinished = false; + } + } + } + return headerFinished; + } +} + diff --git a/src/jat/coreNOSA/measurements/OpticalMeasurementModel.java b/src/jat/coreNOSA/measurements/OpticalMeasurementModel.java new file mode 100644 index 0000000..87b0e93 --- /dev/null +++ b/src/jat/coreNOSA/measurements/OpticalMeasurementModel.java @@ -0,0 +1,1141 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + * Some implementation translated from Matlab written by Sun Hur-Diaz. + **/ +package jat.coreNOSA.measurements; + +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.Interpolator; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.CEVLunarSim; +import jat.coreNOSA.simulation.CEVSim; +import jat.coreNOSA.simulation.EstimatorSimModel; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.BodyCenteredInertialRef; +import jat.coreNOSA.spacetime.EarthFixedRef; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.LunaFixedRef; +import jat.coreNOSA.spacetime.LunaRef; +import jat.coreNOSA.spacetime.ReferenceFrame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.util.FileUtil; + +import java.util.ArrayList; +import java.util.HashMap; +import java.util.Random; + +public class OpticalMeasurementModel implements MeasurementModel{ + + public static final int TYPE_YANGLE_STAR = 1; + public static final int TYPE_YANGLE_LOS = 2; + public static final int TYPE_RANGE = 3; + public static final int TYPE_LANDMARK = 4; + + /** A list of bodies and the landmarks on them */ + private static ArrayList gravbody = setupCentralBodies(); + + public static final int BODY_EARTH = 0; + public static final int BODY_MOON = 1; + public static final int BODY_SUN = 2; + private VectorN H; + + private int type; + private double freq; + private double t0,tf; + private VectorN ustar; + private int cbody; + private int vbody; + private Quaternion q; + private double R; + private double Rdeg; + private int i_ydiskbias; + private int i_yanglebias; + private int num_landmarks=0; + private int current_landmark=0; + + + private double mjd0; + //* global from y_angle + private double jd0; + + //* global from camerr + private int biasflag = 1; + + private DE405 ephem; + + public static LinePrinter fobs,fpred; + + //private RandomNumber rnd; + private Random rnd; + private boolean runMonteCarlo; + + public OpticalMeasurementModel(double mjd_epoch,DE405 jpl){ + mjd0=mjd_epoch; + jd0 = mjd0+2400000.5; + ephem = jpl; + //rnd = new RandomNumber(); + rnd = new Random(System.currentTimeMillis()); + } + + public OpticalMeasurementModel(HashMap hm, int measNum) { + mjd0 = initializer.parseDouble(hm,"init.MJD0")+initializer.parseDouble(hm,"init.T0")/86400; + jd0 = mjd0+2400000.5; + ephem = new DE405(); + initialize(hm,measNum); + String dir_in,fs; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"output"+fs; + }catch(Exception e){ + dir_in = ""; + } + int jat_case = CEVSim.JAT_case; + if(CEVSim.JAT_case == 0) jat_case = CEVLunarSim.JAT_case; + try{ + runMonteCarlo = initializer.parseBool(hm, "init.runMonteCarlo"); + }catch(NullPointerException ne){runMonteCarlo = false;} + if(!runMonteCarlo){ + fobs = new LinePrinter(dir_in+"obs_"+jat_case+".txt"); + fpred = new LinePrinter(dir_in+"pred_"+jat_case+".txt"); + } + rnd = new Random(System.currentTimeMillis()); + } + + private void initialize(HashMap hm, int measNum){ + String pref = "MEAS."+measNum+"."; + type = chooseType(initializer.parseString(hm,pref+"type")); + String tmp; + switch(type){ + case TYPE_YANGLE_STAR: + freq = initializer.parseDouble(hm,pref+"frequency"); + t0 = initializer.parseDouble(hm,pref+"t0"); + tf = initializer.parseDouble(hm,pref+"tf"); + ustar = new VectorN(initializer.parseDouble(hm,pref+"ustar.1"), + initializer.parseDouble(hm,pref+"ustar.2"), + initializer.parseDouble(hm,pref+"ustar.3")); + tmp = initializer.parseString(hm,pref+"cbody"); + if(tmp.equalsIgnoreCase("earth")) + cbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + cbody = BODY_MOON; + else + cbody = 0; + R = initializer.parseDouble(hm,pref+"R"); + break; + case TYPE_YANGLE_LOS: + freq = initializer.parseDouble(hm,pref+"frequency"); + t0 = initializer.parseDouble(hm,pref+"t0"); + tf = initializer.parseDouble(hm,pref+"tf"); + q = new Quaternion(initializer.parseDouble(hm,pref+"q.1"), + initializer.parseDouble(hm,pref+"q.2"), + initializer.parseDouble(hm,pref+"q.3"), + initializer.parseDouble(hm,pref+"q.4")); + tmp = initializer.parseString(hm,pref+"cbody"); + if(tmp.equalsIgnoreCase("earth")) + cbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + cbody = BODY_MOON; + else + cbody = 0; + tmp = initializer.parseString(hm,pref+"vbody"); + if(tmp.equalsIgnoreCase("earth")) + vbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + vbody = BODY_MOON; + else + vbody = 0; + R = initializer.parseDouble(hm,pref+"R"); + try{ + i_yanglebias = initializer.parseInt(hm,"FILTER.anglebias"); + }catch(Exception e){ i_yanglebias = 6;} + break; + case TYPE_RANGE: + freq = initializer.parseDouble(hm,pref+"frequency"); + t0 = initializer.parseDouble(hm,pref+"t0"); + tf = initializer.parseDouble(hm,pref+"tf"); + tmp = initializer.parseString(hm,pref+"cbody"); + if(tmp.equalsIgnoreCase("earth")) + cbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + cbody = BODY_MOON; + else + cbody = 0; + tmp = initializer.parseString(hm,pref+"vbody"); + if(tmp.equalsIgnoreCase("earth")) + vbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + vbody = BODY_MOON; + else + vbody = 0; + R = initializer.parseDouble(hm,pref+"R"); + try{ + i_yanglebias = initializer.parseInt(hm,"FILTER.rangebias"); + }catch(Exception e){ i_yanglebias = 6;} + break; + case TYPE_LANDMARK: + freq = initializer.parseDouble(hm,pref+"frequency"); + t0 = initializer.parseDouble(hm,pref+"t0"); + tf = initializer.parseDouble(hm,pref+"tf"); + tmp = initializer.parseString(hm,pref+"cbody"); + if(tmp.equalsIgnoreCase("earth")) + cbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + cbody = BODY_MOON; + else + cbody = 0; + tmp = initializer.parseString(hm,pref+"vbody"); + if(tmp.equalsIgnoreCase("earth")) + vbody = BODY_EARTH; + else if(tmp.equalsIgnoreCase("moon")) + vbody = BODY_MOON; + else + vbody = 0; + R = initializer.parseDouble(hm,pref+"R"); + Rdeg = initializer.parseDouble(hm, pref+"Rdeg"); + num_landmarks = initializer.parseInt(hm, pref+"datacount"); + for(int L=0; L1){ + System.out.println("R/r greater than 1, pause"); +// try{ +// System.in.read(); +// }catch(Exception e){} + } + + //% Add noise + if (inoise==1){ + double[] arnd_abias =camerr(r,p); //% 1-sigma noise and bias on angular measurement + if(type==TYPE_LANDMARK){ + arnd_abias[0] = arnd_abias[0]*1; + } + y=Math.sin(Math.asin(y)+arnd_abias[0]*randn()+arnd_abias[1]); + }else{ + //y = y + state.x[i_ydiskbias]; + } + + //% Compute Jacobian + VectorN tmp = new VectorN(xr.times(-R/(r*r*r)),new VectorN(3)); + double[] dydx = tmp.x; + + //% % Assume the bias is on the pseudo measurement rather than angle itself + //% if lx==8 + //% y=y+x(8); + //% dydx=[dydx 0 1]; + //% end + + + double[] out = new double[state.length+1]; + out[0] = y; + for(int i=1; i<7; i++) out[i] = dydx[i-1]; + return out; + } + + /** + * Converted from Matlab. + * % It either checks to see if there is enough illumination to obtain centroid + % information of the body based on the user-specified limit on the fraction of + % illumination or if an earth-fixed landmark position is visible and + % illuminated. The check selection depends on the size of the input + % parameter frac_or_xlf. + * @param jd + * @param cbody + * @param state + * @param frac_or_xlf + * @return + */ + private double[] illum(double jd, CentralBody cbody, String eval, VectorN state, double[] frac_or_xlf){ + VectorN r = state.get(0,3); + //% x is position relative to the central body + double xnorm=r.mag(); + VectorN xhat=r.unitVector(); + + // Figure out the vector from the central body to the sun. + // We translate the sun's origin to the central body's + // reference frame. + Time t = new Time(TimeUtils.JDtoMJD(jd)); + BodyCenteredInertialRef sunRef = + new BodyCenteredInertialRef(DE405_Body.SUN); + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(sunRef, cbody.inertialRef, t); + VectorN xs = xlater.translatePoint(new VectorN(3)); + VectorN xshat=xs.unitVector(); + + double R2r=0; + R2r=cbody.R/xnorm; + + int flag = 0; + double ratio = 0; + if (frac_or_xlf.length==1){ + double frac=frac_or_xlf[0]; + //% Determine if accurate measurements can be had + double theta=Math.acos(R2r); //% half-angle of the horizon disk centered at body + double gam=Math.acos(xshat.dotProduct(xhat)); // % angle between spacecraft and sun centered at body + ratio=(theta+Math.PI/2-gam)/(2*theta); + if (ratio>=frac){ + flag=1; + } else{ + flag=0; //% Not enough illumination for accurate measurement + } + }else if (frac_or_xlf.length==3){ + VectorN xlf= new VectorN(frac_or_xlf); + //xlf=xlf(:); + // Check if the landmark is visible and illuminated + // We need to translate xlf to an inertial reference frame + xlater = new ReferenceFrameTranslater(cbody.bodyFixedRef, + cbody.inertialRef, t); + VectorN xli = xlater.translatePoint(xlf); + VectorN xlihat=xli.unitVector();//xli/norm(xli); + flag=0; //% initialize + if (xlihat.dotProduct(xhat) > R2r){ + flag=1; //% is visible + if (xlihat.dotProduct(xshat) > 0){ + flag=2; //% is visible and illuminated + } + } + } else{ + System.err.println("Invalid frac_or_xlf"); + } + + double[] out = {flag,ratio}; + return out; + + } + public boolean isIllum(double mjd, VectorN state){ + VectorN xlf = new VectorN(gravbody.get(vbody).getLandmark(current_landmark).lmf); + double[] in = illum2(TimeUtils.MJDtoJD(mjd),cbody,vbody,state.get(0,3),xlf.x); + if(in[0]==2) return true; + else return false; + } + /** + * Converted from Matlab. + % More accurate than illum.m + % It either checks to see if there is enough illumination to obtain centroid + % information of the body based on the user-specified limit on the fraction of + % illumination or if an earth-fixed landmark position is visible and + % illuminated. The check selection depends on the size of the input + % parameter frac_or_xlf. + % cbody is body that x is relative to + % vbody is body that you are looking at + * @param jd + * @param origin + * @param target + * @param state + * @param frac_or_xlf + * @return + */ + private double[] illum2(double jd, int origin, int target, + VectorN state, double[] frac_or_xlf){ + + //% xc is position relative to the central body + VectorN r = state.get(0,3); + double xnorm=r.mag(); + VectorN xhat=r.unitVector(); + VectorN r_vbody; +// Figure out the vector from the central body to the sun. + // We translate the sun's origin to the central body's + // reference frame. + Time t = new Time(TimeUtils.JDtoMJD(jd)); + CentralBody originBody,targetBody; + if(origin == BODY_MOON){ + originBody = gravbody.get(1); + }else{ + originBody = gravbody.get(0); + } + if(target == BODY_MOON){ + targetBody = gravbody.get(1); + }else{ + targetBody = gravbody.get(0); + } + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(originBody.inertialRef, targetBody.inertialRef, t); + VectorN xsv = xlater.translatePoint(r); + VectorN xsvhat=xsv.unitVector(); + + BodyCenteredInertialRef sunRef = + new BodyCenteredInertialRef(DE405_Body.GEOCENTRIC_SUN); + xlater = new ReferenceFrameTranslater(sunRef, originBody.inertialRef, t); + VectorN xs = xlater.translatePoint(new VectorN(3)); + VectorN shat=xs.unitVector(); + + double R2r = targetBody.R/xsv.mag(); + int flag = 2; + double ratio = 1; + // % Determine if accurate measurements can be had + if (frac_or_xlf.length==1){ + double frac=frac_or_xlf[0]; + //% half-angle of the horizon disk centered at body + double theta= Math.acos(R2r); + VectorN z= shat.crossProduct(xsvhat); + double znorm=z.mag(); + if( znorm<1e-20){ + ratio=1; + }else{ + z=z.divide(znorm); + VectorN p=z.crossProduct(shat); + double sig=Math.signum(z.dotProduct(p.crossProduct(xsvhat))); + double gam=Math.acos(p.dotProduct(xsvhat)); + ratio=(theta-sig*gam)/(2*theta); + ratio=Math.max(0,ratio); + ratio=Math.min(1,ratio); + } + if( ratio>=frac){ + flag=1; + }else{ + flag=0; //% Not enough illumination for accurate measurement + } + }else if( frac_or_xlf.length==3){ + VectorN xlf= new VectorN(frac_or_xlf); + //% Check if the landmark is visible and illuminated + ReferenceFrame lfr = targetBody.bodyFixedRef; + ReferenceFrame lref = targetBody.inertialRef; + xlater = new ReferenceFrameTranslater(lfr, lref , t); + VectorN xli = xlater.translatePoint(xlf); + VectorN xlihat= xli.divide(xli.mag()); + flag=0; //% initialize + if( xlihat.dotProduct(xsvhat) > R2r){ + flag=1; //% is visible + if( xlihat.dotProduct(shat) > 0){ + flag=2; //% is visible and illuminated + }else{ + flag=1; + } + } + }else{ + System.err.println("Invalid frac_or_xlf"); + } + int stop; + if(flag!=2) + stop = 0; + double[] out = {flag,ratio}; + + //out[0] = 2; + return out; + + } + public int get_num_landmarks(){ + return this.num_landmarks; + } + /** + * Computes the measurement between the LOS of a landmark on a body + * and a star or the pseudorange to the landmark based on the apparent + * size of the landmark. Note that the star can be a component vector + * of the sensor if the inertial attitude of the spacecraft is known. + * Note that it assumes the position vector is inertial and relative + * to the body that contains the landmark. + * @param x state vector containing inertial s/c position and + * velocity relative to the body (6 values). May additionally + * contain body-fixed coordinates of a landmark. If not provided, + * landmark location determined from structure. + * [x y z xdot ydot zdot xl yl zl] + * @param t time + * @param p index into the gravbody structure which knows landmark + * positions + * @param s inertial reference unit vector. If null is passed in + * (or a vector of length less than 3) this indicates that the pseudorange + * should be computed + * @param lindex landmark index + * @param inoise noise flag + * @return a array of 10 doubles. The first double is the angle between + * unit vector from s/c to landmark and an inertial reference unit vector. + * The next 9 doubles are the Jacobian matrix (dydx) + */ + private double[] y_landmark(VectorN x, Time t, int p, + VectorN s, int lindex, boolean inoise) { + + // We'll need a Gaussian random number generator + //Random randn = new Random(System.currentTimeMillis()); + + double y = 0; + VectorN dydx = new VectorN(x.length); + + // TODO: Do we need t to be relative? + // jd=jd0+t/86400; + + // If the number of states is greater than 6, assume that the + // components 7-9 are the body-fixed coordinates of the landmark, + // otherwise, it is assumed the landmark is known and specified by + // the structure. + CentralBody body = gravbody.get(p); + VectorN lf = null; + if (x.length == 9) { + lf = x.get(6, 3); + //Landmark mark = new Landmark(20, x.get(6), x.get(7), x.get(8),LunaRef.R_Luna); + //lf = mark.lmf; + } + else { + lf = body.getLandmark(lindex).lmf; + } + + // Compute the coordinate transformation from body-fixed to inertial + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(body.bodyFixedRef, body.inertialRef, t); + VectorN li = xlater.translatePoint(lf); + + // Compute the vector from the spacecraft to the landmark + VectorN d = li.minus(x.get(0, 3)); + double dmag = d.mag(); + VectorN dhat = d.unitVector(); + if ((s != null) && (s.length == 3)) { + // Referece unit vector is provided. Compute measurment + // between LOS. + + // Compute predicted measurement cos(theta) + y = dhat.dotProduct(s); + + if (inoise) { + // Assume similar noise as star and zero bias for now + // TODO: Make arnd and abias configurable instead of + // hardcoded. + double arnd=.0034*Math.PI/180.0; + //arnd=.07*Math.PI/180.0; + arnd=Rdeg*Math.PI/180.0; + double abias=0; + y=Math.cos(Math.acos(y)+arnd*rnd.nextGaussian()+abias); + } + + // (1/dmag)*s'*(-eye(3)+dhat*dhat') + VectorN rdot = s.divide(dmag); + Matrix tmp = dhat.outerProduct(dhat).minus(Matrix.identity(3,3)); + rdot = rdot.times(tmp); + dydx.set(0, rdot); + // vdot is 0 + + if (x.length == 9) { + //VectorN ldot = xlater.translatePointBack(rdot);//.times(-1); + VectorN ldot = xlater.translatePointBack(rdot.times(-1)); + dydx.set(6, ldot); + } + } + else { + // No reference unit vector is provided. Compute pseudo range. + + // measurement is tan((D/2)/r) + double D = body.getLandmark(lindex).D; + y=D*.5/dmag; + + if (inoise) { + // 1-sigma noise and bias on angular measurement + double[] noiseFactors = camerr(dmag,p); + double arnd = noiseFactors[0]; + double abias = noiseFactors[1]; + y=Math.tan(Math.atan(y)+arnd*rnd.nextGaussian()+abias); + } + + double scale = (0.5 * D) / (dmag * dmag * dmag); + VectorN rpart = d.times(scale); + + if (x.length == 9) { + VectorN ldot = xlater.translatePointBack(rpart).times(-1); + dydx.set(6, ldot); + } + } + + // TODO: Do we really want to shmoosh these into one array + // just to return it? + // We combine the angle and the Jacobian into a single array to return it + double[] out = new double[x.length+1]; + out[0] = y; + //System.arraycopy(dydx, 0, toReturn, 1, dydx.length); + for(int i=1; i landmarks; + + /** The body-centered body-fixed reference frame */ + public final ReferenceFrame bodyFixedRef; + + public CentralBody(String inName, double inMu, double inR, + ReferenceFrame inInertial, ReferenceFrame inFixed) { + name = inName; + MU = inMu; + R = inR; + inertialRef = inInertial; + bodyFixedRef = inFixed; + landmarks = new ArrayList(); + } + + public void addLandmark(double diam, double lat, double longd, + double alt) { + Landmark l = new Landmark(diam, lat, longd, alt, R); + landmarks.add(l); + } + public void addLandmark(double diam, double lat, double longd, + double alt,boolean known) { + Landmark l = new Landmark(diam, lat, longd, alt, R,known); + landmarks.add(l); + } + public Landmark getLandmark(int i) { + return landmarks.get(i); + } + } + + private static ArrayList setupCentralBodies() { + ArrayList bodies = new ArrayList(); + + // Setup Earth + // TODO: This is a guess at R. Figure out real R. +// CentralBody earth = new CentralBody("earth", 398600.436, 6377.8037, +// new BodyCenteredInertialRef(DE405.EARTH), +// new EarthFixedRef()); + CentralBody earth = new CentralBody("earth", EarthRef.GM_Earth, EarthRef.R_Earth, + new BodyCenteredInertialRef(DE405_Body.EARTH), + new EarthFixedRef()); + // Add earth landmark + // TODO: Read these landmarks from a file somewhere? + //earth.addLandmark(20, -50.75, 127, 0); + bodies.add(earth); + + // Setup the Moon +// CentralBody moon = new CentralBody("moon", 4902.801056, 1738, +// new BodyCenteredInertialRef(DE405.MOON), +// new LunaFixedRef()); + CentralBody moon = new CentralBody("moon", LunaRef.GM_Luna, LunaRef.R_Luna, + new BodyCenteredInertialRef(DE405_Body.GEOCENTRIC_MOON), + new LunaFixedRef()); + // Add moon landmarks + //moon.addLandmark(20, -50.7, 127.4, 0); + //moon.addLandmark(20, 0, 127.4, 0); + //moon.addLandmark(20, 50.7, 127.4, 0); + bodies.add(moon); + + // Setup the Sun +// CentralBody sun = new CentralBody("sun", 1.32712440018e11, 0, +// new BodyCenteredInertialRef(DE405.SUN), null); + CentralBody sun = new CentralBody("sun", Constants.GM_Sun, Constants.R_Sun, + new BodyCenteredInertialRef(DE405_Body.SUN), null); + bodies.add(sun); + return bodies; + } + + public void currentLandmark(int nmark) { + this.current_landmark = nmark; + } + +// public static void main(String args[]){ +// +// double jd = ; +// int origin; +// int target; +// VectorN state; +// double[] frac_or_xlf; +// OpticalMeasurementModel test = new OpticalMeasurementModel(jd-2400000.5,new DE405()); +// double[] out = test.illum2(jd,origin,target,state,frac_or_xlf); +// } +} diff --git a/src/jat/coreNOSA/measurements/createMeasurements.java b/src/jat/coreNOSA/measurements/createMeasurements.java new file mode 100644 index 0000000..537b884 --- /dev/null +++ b/src/jat/coreNOSA/measurements/createMeasurements.java @@ -0,0 +1,89 @@ +package jat.coreNOSA.measurements; + +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.initializer; + +import java.util.HashMap; + + +public class createMeasurements{ + +// public static String []measurementTypes; +// public static VectorN measurementValues; +// public static int numMeasurementTypes; +// public static MeasurementModel [] mm; +// public static double [] frequency; + public String []measurementTypes; + public VectorN measurementValues; + public int numMeasurementTypes; + public MeasurementModel [] mm; + public double [] frequency; + + //* *NOTE* added HashMap as an argument rather than calling static closedLoopSim.hm + public createMeasurements(HashMap hm) + { + //Read in all of the required measurements + //HashMap hm = closedLoopSim.hm; + numMeasurementTypes = initializer.parseInt(hm,"MEAS.types"); + measurementTypes = new String[numMeasurementTypes]; + mm = new MeasurementModel [numMeasurementTypes]; + frequency = new double[numMeasurementTypes]; + + for(int i = 0;iXaxis.get(Xaxis.getLength()-1)) // too high: really should catch exception.. + { + System.out.println("generatePolarization: Interpolation value too High!"); + System.out.println("X is : " + x + " Y is: " + y); + System.exit(0); + } + if(y>Yaxis.get(Yaxis.getLength()-1)) + { + y = y -2; + } + + //Determine the X bracketing Value + int i; + for(i=0;i=Xaxis.get(i) && x<=Xaxis.get(i+1)) + { + //System.out.println("x "+x+" i "+i); + lowerx =i; + upperx =i+1; + break; + } + } + +// Determine the Y bracketing Value + for(i=0;i=Yaxis.get(i) && y<=Yaxis.get(i+1)) + { + //System.out.println("x "+x+" i "+i); + lowery =i; + uppery =i+1; + break; + } + } + + //Isolate the square on the grid where our point lies + //Number them successivly counter clockwise from the + //Bottom left + double y1 = dataMat.get(lowerx,lowery); + double y2 = dataMat.get(upperx,lowery); + double y3 = dataMat.get(upperx,uppery); + double y4 = dataMat.get(lowerx,uppery); + + //Define some utility variables + double t = (x - lowerx)/(upperx-lowerx); + double u = (y - lowery)/(uppery-lowery); + + //Compute the interpolated value + out = (1-t)*(1-u)*y1 + t*(1-u)*y2 + t*u*y3 + (1-t)*u*y4; + + + return out; + } + + public static double getGPSlengthx() { + return GPSlengthx; + } + + public static void setGPSlengthx(double gPSlengthx) { + GPSlengthx = gPSlengthx; + } + + public static double getGPSlengthy() { + return GPSlengthy; + } + + public static void setGPSlengthy(double gPSlengthy) { + GPSlengthy = gPSlengthy; + } + + public static double getRecLengthy() { + return recLengthy; + } + + public static void setRecLengthy(double recLengthy) { + generatePolarization.recLengthy = recLengthy; + } + + public static double getRecLengthx() { + return recLengthx; + } + + public static void setRecLengthx(double recLengthx) { + generatePolarization.recLengthx = recLengthx; + } + +} + diff --git a/src/jat/coreNOSA/measurements/generateYaw.java b/src/jat/coreNOSA/measurements/generateYaw.java new file mode 100644 index 0000000..1d42e97 --- /dev/null +++ b/src/jat/coreNOSA/measurements/generateYaw.java @@ -0,0 +1,118 @@ +package jat.coreNOSA.measurements; + + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.timeRef.RSW_Frame; + + +public class generateYaw{ + + public static double yawAngle; + public static double alpha; + public static double beta; + public static Matrix T; + static public LinePrinter yawResults; + static boolean firstTime = true; + + /** + * Internal function to return the Transformation matrix + * to rotate the statellite into a frame useful for determining + * the yaw angle for a GPS satellite. This frame is an RTN frame + * with the N defined in the oppsite direction (negative orbit normal) + * @param r Position of the GPS satellite + * @param v Velocity of the GPS satellite + * @return + */ + + public static Matrix YawRotationMatrix(VectorN r, VectorN v) + { + //Note: Make sure the position and velocity have + // been rotated into the ECI frame + Matrix T = new Matrix(3); + T = RSW_Frame.ECI2SWR(r,v); + return T; + + } + + /** + * Return the unit sun vector + * @param MJD_TT + * @return + */ + public static VectorN unitSun(double MJD_TT,VectorN r) + { + + VectorN SunV = new VectorN(jat.coreNOSA.spacetime.EarthRef.sunVector(MJD_TT)); + VectorN deltasun = SunV.minus(r); + SunV = deltasun.unitVector(); + return SunV; + } + + /** + * Generate the appropirate yaw angle of a GPS satellite to + * keep it in a favorable allignement for solar pannel pointing + * @param MJD_TT + * @param r GPS satellite State in ECI + * @param v GPS satellite State in ECI + * @return + */ + public static double getYawAngle(double MJD, VectorN r, VectorN v, int prn) + { + if (firstTime) + { + String out_directory = "C:\\GOESR\\output\\"; + String alphaFile = "yawResults.txt"; + yawResults = new LinePrinter(out_directory+alphaFile); + firstTime = false; + + } + + + //Get the transformation matrix from ECI to RTN with the + //understanding that the normal component is defined to be + //negative + T = new Matrix(YawRotationMatrix(r,v)); + + //Determine the Sun Vector + double MJD_TT = TimeUtils.UTCtoTT(MJD); + VectorN uSun = unitSun(MJD_TT,r); + + //Rotate the Sun Vector into the Orbit Frame for + VectorN uSunRSW = T.times(uSun); + + //Determine the elevation of the sun above the orbit plane + //b = asin(-Ry); + beta = Math.asin(uSunRSW.get(2)*(-1.0)); + + //Determine the azimuth of the sun vector in the orbit plane + //This angle is the angle from Noon to the spacecraft in a + //Counter-Clockwise direction + //a = atan2(-Rx/-Rz); + alpha = Math.atan2(((-1.0)*uSunRSW.get(0)),(-1.0)*uSunRSW.get(1)); + + + + //Use alpha and beta to determine the yaw angle + //yaw = atan2(sin(b)/(cos(b)*sin(a)); + yawAngle = (180/Math.PI)*Math.atan2(Math.sin(beta),Math.cos(beta)*Math.sin(alpha)); + alpha = alpha *(180/Math.PI); + beta = beta *(180/Math.PI); + + VectorN results = new VectorN(7); + results.set(0,prn); + results.set(1,alpha); + results.set(2,beta); + results.set(3,(yawAngle)); + results.set(4,r.get(0)); + results.set(5,r.get(1)); + results.set(6,r.get(2)); + yawResults.println(results.toString()); + + return yawAngle; + } + +} + diff --git a/src/jat/coreNOSA/measurements/rangeMeasurementModel.java b/src/jat/coreNOSA/measurements/rangeMeasurementModel.java new file mode 100644 index 0000000..4ab638a --- /dev/null +++ b/src/jat/coreNOSA/measurements/rangeMeasurementModel.java @@ -0,0 +1,372 @@ +package jat.coreNOSA.measurements; + + +import jat.coreNOSA.algorithm.estimators.EKF; +import jat.coreNOSA.algorithm.estimators.MeasurementFileModel; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.EstimatorSimModel; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.File; +import java.io.FileNotFoundException; +import java.io.FileReader; +import java.io.IOException; +import java.util.HashMap; +import java.util.Random; +import java.util.StringTokenizer; + +public class rangeMeasurementModel implements MeasurementFileModel,MeasurementModel{ + + private boolean obsfromfile = false; + double pseudorange; + int prn; + private PreciseEphemeris[] ephem; + + public static VectorN R; + public static int numStates; + HashMap hm;// = closedLoopSim.hm; + //* *NOTE* added argument to default constructor instead of call to static + //* at instantiation + Random generator; + + public rangeMeasurementModel(ObservationMeasurement om, HashMap h){ + hm = h; + obsfromfile = true; + pseudorange = om.get_obs_data(ObservationMeasurement.DATA_PSEUDORANGE); + prn = om.get_PRN(); + + /*Add a sleep in here to insure that the Random Number + * Seeds don't allign with any other random number generator + */ + try { + Thread.sleep(20); + } catch (InterruptedException e) { + e.printStackTrace(); + } + generator = new Random(); + } + + public rangeMeasurementModel(HashMap h) { + obsfromfile = initializer.parseBool(h,"init.fromfile"); + hm = h; + + if(obsfromfile){ + int n = initializer.parseInt(hm,"RANGE.numsc"); + //String[] fileName = new String[n]; + ephem = new PreciseEphemeris[n]; + for(int i=0; i + * The ThreePlots Class provides a way to create a page with three plots. + * + * @author + * @version 1.0 + */ + +public class FourPlots extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 8417772048069115864L; + + /** The uppermost plot */ + public Plot firstPlot = new Plot(); + + /** The plot that is second from the top */ + public Plot secondPlot = new Plot(); + + /** The plot that is third from the top */ + public Plot thirdPlot = new Plot(); + + /** The bottom plot */ + public Plot fourthPlot = new Plot(); + + + /** Default constructor. + */ + public FourPlots() { + + // Set the size of the toplevel window. + setSize(560, 700); // width, height in pixels + + // Create the top plot by calling methods. + firstPlot.setSize(350,300); + firstPlot.setButtons(true); + + // Create the second plot by calling methods. + secondPlot.setSize(350,300); + secondPlot.setButtons(true); + + // Create the third plot by calling methods. + thirdPlot.setSize(350,300); + thirdPlot.setButtons(true); + + // Create the bottom plot by calling methods. + fourthPlot.setSize(350,300); + fourthPlot.setButtons(true); + + + // Layout the two plots + GridBagLayout gridbag = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + getContentPane().setLayout(gridbag); + + // Handle the topPlot + c.gridx = 0; + c.gridy = 0; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(firstPlot, c); + getContentPane().add(firstPlot); + + // Handle the secondPlot + c.gridx = 0; + c.gridy = 1; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(secondPlot, c); + getContentPane().add(secondPlot); + + // Handle the thirdPlot + c.gridx = 0; + c.gridy = 2; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(thirdPlot, c); + getContentPane().add(thirdPlot); + + // Handle the bottomPlot + c.gridx = 0; + c.gridy = 3; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(fourthPlot, c); + getContentPane().add(fourthPlot); + + } + +} diff --git a/src/jat/coreNOSA/plotutil/SinglePlot.java b/src/jat/coreNOSA/plotutil/SinglePlot.java new file mode 100644 index 0000000..698f5bd --- /dev/null +++ b/src/jat/coreNOSA/plotutil/SinglePlot.java @@ -0,0 +1,77 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.plotutil; + +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; + +import javax.swing.JFrame; + +import ptolemy.plot.Plot; +/** + *

+ * The SinglePlot Class provides a way to create a page with one plots + * using Ptplot. + * + * @author + * @version 1.0 + */ + +public class SinglePlot extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 674515018881954664L; + /** The plot object */ + public Plot plot = new Plot(); + + + /** Default constructor. + */ + public SinglePlot() { + + // Set the size of the toplevel window. + setSize(560, 560); // width, height in pixels + + // Create the top plot by calling methods. + plot.setSize(300,300); + plot.setButtons(true); + + + // Layout the two plots + GridBagLayout gridbag = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + getContentPane().setLayout(gridbag); + + // Handle the Plot + c.gridx = 0; + c.gridy = 0; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(plot, c); + getContentPane().add(plot); + + } + +} diff --git a/src/jat/coreNOSA/plotutil/ThreePlots.java b/src/jat/coreNOSA/plotutil/ThreePlots.java new file mode 100644 index 0000000..c2a5e4a --- /dev/null +++ b/src/jat/coreNOSA/plotutil/ThreePlots.java @@ -0,0 +1,112 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.plotutil; + +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; + +import javax.swing.JFrame; + +import ptolemy.plot.Plot; +/** + *

+ * The ThreePlots Class provides a way to create a page with three plots + * using Ptplot. + * + * @author + * @version 1.0 + */ + +public class ThreePlots extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 4489764452918055866L; + + /** the top plot */ + public Plot topPlot = new Plot(); + + /** the bottom plot */ + public Plot bottomPlot = new Plot(); + + /** the middle plot */ + public Plot middlePlot = new Plot(); + + + /** Default constructor. + */ + public ThreePlots() { + + // Set the size of the toplevel window. + setSize(560, 700); // width, height in pixels + + // Create the top plot by calling methods. + topPlot.setSize(350,300); + topPlot.setButtons(true); + + // Create the bottom plot by calling methods. + middlePlot.setSize(350,300); + middlePlot.setButtons(true); + + // Create the bottom plot by calling methods. + bottomPlot.setSize(350,300); + bottomPlot.setButtons(true); + + + // Layout the two plots + GridBagLayout gridbag = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + getContentPane().setLayout(gridbag); + + // Handle the topPlot + c.gridx = 0; + c.gridy = 0; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(topPlot, c); + getContentPane().add(topPlot); + + // Handle the middlePlot + c.gridx = 0; + c.gridy = 1; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(middlePlot, c); + getContentPane().add(middlePlot); + + // Handle the bottomPlot + c.gridx = 0; + c.gridy = 2; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(bottomPlot, c); + getContentPane().add(bottomPlot); + + } + +} diff --git a/src/jat/coreNOSA/plotutil/TwoPlots.java b/src/jat/coreNOSA/plotutil/TwoPlots.java new file mode 100644 index 0000000..de42954 --- /dev/null +++ b/src/jat/coreNOSA/plotutil/TwoPlots.java @@ -0,0 +1,95 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.plotutil; + +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; + +import javax.swing.JFrame; + +import ptolemy.plot.Plot; +/** + *

+ * The TwoPlots Class provides a way to create a page with two plots + * using Ptplot. + * + * @author + * @version 1.0 + */ + +public class TwoPlots extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 7776468877249739810L; + + /** the top plot */ + public Plot topPlot = new Plot(); + + /** the bottom plot */ + public Plot bottomPlot = new Plot(); + + + /** Default constructor. + */ + public TwoPlots() { + + // Set the size of the toplevel window. + setSize(560, 700); // width, height in pixels + + // Create the top plot by calling methods. + topPlot.setSize(350,300); + topPlot.setButtons(true); + + // Create the bottom plot by calling methods. + bottomPlot.setSize(350,300); + bottomPlot.setButtons(true); + + + // Layout the two plots + GridBagLayout gridbag = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + getContentPane().setLayout(gridbag); + + // Handle the topPlot + c.gridx = 0; + c.gridy = 0; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(topPlot, c); + getContentPane().add(topPlot); + + // Handle the bottomPlot + c.gridx = 0; + c.gridy = 2; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(bottomPlot, c); + getContentPane().add(bottomPlot); + + } + +} diff --git a/src/jat/coreNOSA/plotutil/package.html b/src/jat/coreNOSA/plotutil/package.html new file mode 100644 index 0000000..e86a29f --- /dev/null +++ b/src/jat/coreNOSA/plotutil/package.html @@ -0,0 +1,2 @@ + +Plotting based on Ptolemy and Gr. \ No newline at end of file diff --git a/src/jat/coreNOSA/sensors/AccelerometerErrorModel.java b/src/jat/coreNOSA/sensors/AccelerometerErrorModel.java new file mode 100644 index 0000000..e5888c5 --- /dev/null +++ b/src/jat/coreNOSA/sensors/AccelerometerErrorModel.java @@ -0,0 +1,120 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.sensors; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The AccelerometerErrorModel Class models a generic accelerometer. It does + * not include g-sensitive or non-linearity error effects. + * + * @author + * @version 1.0 + */ +public class AccelerometerErrorModel { + public VectorN scaleFactors; // random constants, just treat as constant for now + public VectorN misalignments; // random constants, just treat as constant for now + public VectorN noiseSigmas; + public VectorN initialBiases; + public VectorN biasRWsigmas; + public GaussianVector noise; + public GaussianVector randwalk; + public Matrix sf; + + /** Default constructor. Models a perfect accelerometer. + */ + public AccelerometerErrorModel() { + this.scaleFactors = new VectorN(3); + this.misalignments = new VectorN(6); + this.noiseSigmas = new VectorN(3); + this.initialBiases = new VectorN(3); + this.biasRWsigmas = new VectorN(3); + } + + /** Construct an accelerometer error model. + * @param sf Vector3 containing scale factor errors in ppm. + * @param ma Vector6 containing accelerometer misalignments in arcsec. + * @param ns Vector3 containing the accelerometer measurement noise sigmas in micro-g/rt-Hz. + * @param ib Vector3 containing the initial accel bias sigma in mg. This is the random constant part. + * @param bs Vector3 containing the sigmas for accel random walk in m/rt s. + */ + public AccelerometerErrorModel(VectorN sf, VectorN ma, VectorN ns, VectorN ib, VectorN bs){ + sf.checkVectorDimensions(3); + ma.checkVectorDimensions(6); + ns.checkVectorDimensions(3); + ib.checkVectorDimensions(3); + bs.checkVectorDimensions(3); + + // convert from user to internal units + + this.scaleFactors = sf.divide(1.0E+06); + this.misalignments = ma.times(MathUtils.ARCSEC2RAD); + + // convert mg to km/s^2 + + double mg = 9.81E-06; + + this.noiseSigmas = ns.times(mg * 1.0E-03); + this.initialBiases = ib.times(mg); + this.biasRWsigmas = bs.times(mg); + VectorN zeroMean = new VectorN(3); + this.noise = new GaussianVector(zeroMean, this.noiseSigmas); + this.randwalk = new GaussianVector(zeroMean, this.biasRWsigmas); + this.sf = this.SFmatrix(); + } + + private Matrix SFmatrix(){ + Matrix out = new Matrix(this.scaleFactors); + out.A[0][1] = -1.0 * this.misalignments.x[0]; + out.A[0][2] = this.misalignments.x[1]; + out.A[1][0] = this.misalignments.x[2]; + out.A[1][2] = -1.0 * this.misalignments.x[3]; + out.A[2][0] = -1.0 * this.misalignments.x[4]; + out.A[2][1] = this.misalignments.x[5]; + return out; + } + + /** Outputs the accelerometer's contribution to the INS velocity error (del-f in body frame). + * @return Velocity due to accelerometer errors. + * @param qref reference quaternion. + * @param f Specific force vector. + * @param ba Vector3 containing the current accel bias state. + */ + public VectorN computeErrors(VectorN f, VectorN ba){ + + + + // create the accel measurement noise vector + + this.noise.nextSet(); + + // create the scalefactor-misalignment error vector + VectorN sfma = this.sf.times(f); + + // add up the effects + VectorN sum = sfma.plus(ba.plus(this.noise)); + + return sum; + } +} diff --git a/src/jat/coreNOSA/sensors/GyroErrorModel.java b/src/jat/coreNOSA/sensors/GyroErrorModel.java new file mode 100644 index 0000000..12a2e94 --- /dev/null +++ b/src/jat/coreNOSA/sensors/GyroErrorModel.java @@ -0,0 +1,118 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.sensors; + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.GaussianVector; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The GyroErrorModel Class models a generic optical (RLG or FOG) gyro. It does + * not include g-sensitive or non-linearity error effects. + * + * @author + * @version 1.0 + */ +public class GyroErrorModel { + public VectorN scaleFactors; // random constants, just treat as constant for now + public VectorN misalignments; // random constants, just treat as constant for now + public VectorN noiseSigmas; + public VectorN initialBiases; + public VectorN biasRWsigmas; + public GaussianVector noise; + public GaussianVector randwalk; + public Matrix sf; + + /** Construct a gyro error model. + * @param sf Vector3 containing scale factor errors in ppm. + * @param ma Vector6 containing gyro misalignments in arcsec. + * @param ns Vector3 containing the gyro measurement noise sigmas in deg/hr. + * @param ib Vector3 containing the initial gyro drift sigma in deg/hr. This is the random constant part. + * @param bs Vector3 containing the sigmas for gyro random walk in deg/rt hr. + */ + public GyroErrorModel(VectorN sf, VectorN ma, VectorN ns, VectorN ib, VectorN bs){ + sf.checkVectorDimensions(3); + ma.checkVectorDimensions(6); + ns.checkVectorDimensions(3); + ib.checkVectorDimensions(3); + bs.checkVectorDimensions(3); + + // convert from user to internal units + + this.scaleFactors = sf.divide(1.0E+06); + this.misalignments = ma.times(MathUtils.ARCSEC2RAD); + + double dprth2rps = MathUtils.DEG2RAD / 60.0; + double dph2rps = dprth2rps / 60.0; + this.noiseSigmas = ns.times(dph2rps); + this.initialBiases = ib.times(dph2rps); + this.biasRWsigmas = bs.times(dprth2rps); + VectorN zeroMean = new VectorN(3); + this.noise = new GaussianVector(zeroMean, this.noiseSigmas); + this.randwalk = new GaussianVector(zeroMean, this.biasRWsigmas); + this.sf = this.SFmatrix(); + } + + private Matrix SFmatrix(){ + Matrix out = new Matrix(this.scaleFactors); + out.A[0][1] = -1.0 * this.misalignments.x[0]; + out.A[0][2] = this.misalignments.x[1]; + out.A[1][0] = this.misalignments.x[2]; + out.A[1][2] = -1.0 * this.misalignments.x[3]; + out.A[2][0] = -1.0 * this.misalignments.x[4]; + out.A[2][1] = this.misalignments.x[5]; + return out; + } + + /** Outputs the gyro's contribution to the INS error quaternion. + * @param qref Quaternion containing the current reference quaternion. + * @param wref Vector3 containing the reference angular velocity vector. + * @param bg Vector3 containing the current gyro bias state. + * @return Error quaternion due to gyro errors. + */ + public Quaternion computeErrors(Quaternion qref, VectorN wref, VectorN bg){ + Matrix Q = qref.qMatrix(); + + // fill the gyro measurement noise vector + + this.noise.nextSet(); +// this.noise.print("noise"); + + // create the scalefactor-misalignment error vector +// wref.print("wref"); + VectorN sfma = this.sf.times(wref); +// sfma.print("error due to sfma"); +// bg.print("gyro bias"); + + // add up the effects + VectorN sum = sfma.plus(bg.plus(this.noise)); +// sum.print("sum of all gyro errors"); + + // multiply by Q matrix to get gyro contribution to error quaternion + VectorN temp = Q.times(sum); +// temp.print("error quaternion due to gyro"); + Quaternion out = new Quaternion(temp); + return out; + } +} diff --git a/src/jat/coreNOSA/sensors/INSErrorState.java b/src/jat/coreNOSA/sensors/INSErrorState.java new file mode 100644 index 0000000..52e8a8e --- /dev/null +++ b/src/jat/coreNOSA/sensors/INSErrorState.java @@ -0,0 +1,159 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.sensors; + +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + *

+ * The INSErrorState Class provides a way to initialize and handling of an INS + * error state + * + * + * @author + * @version 1.0 + */ + +public class INSErrorState { + + /** + * Initial position vector, ECI in km. + */ + public VectorN r; + /** + * Initial velocity vector, ECI in km/s. + */ + public VectorN v; + /** + * Initial RSW2ECI quaternion. + */ + public Quaternion q; + /** + * Initial position error, ECI in km. + */ + public VectorN dr; + /** + * Initial velocity error, ECI in km/s. + */ + public VectorN dv; + /** + * Initial tilt errors about RSW axis in radians. + */ + public Quaternion dq; + + public VectorN tilt; + + public VectorN bg; + + public VectorN ba; + + /** Creates a new instance of FreeINS */ + public INSErrorState() { + } + + /** + * Creates a FreeINS from a set of initial conditions. + * + * @param r + * Initial position vector, ECI in km. + * @param v + * Initial velocity vector, ECI in km/s. + * @param q + * Initial platform to ECI quaternion. + * @param dr + * Initial position error, RSW in m. + * @param dv + * Initial velocity error, RSW in m/s. + * @param tilt + * Initial tilt errors about RSW axes in arc-sec. + */ + public INSErrorState(VectorN r, VectorN v, Quaternion q, VectorN dr, VectorN dv, VectorN tilt) { + r.checkVectorDimensions(3); + v.checkVectorDimensions(3); + dr.checkVectorDimensions(3); + dv.checkVectorDimensions(3); + tilt.checkVectorDimensions(3); + + // set initial position and velocity + this.r = new VectorN(r); + this.v = new VectorN(v); + this.q = new Quaternion(q); + + // rotate position and velocity errors from RSW to ECI and convert to km + TwoBody orbit = new TwoBody(r, v); + Matrix rsw2eci = orbit.RSW2ECI(); + double h = orbit.getHmag(); + double rmag = r.mag(); + double rsq = rmag * rmag; + VectorN omega = new VectorN(0.0, 0.0, (h / rsq)); + // rsw2eci.print(); + VectorN drtmp = rsw2eci.times(dr); + VectorN coriolis = omega.crossProduct(dr); + VectorN dvtmp = rsw2eci.times(dv.plus(coriolis)); + this.dr = drtmp.divide(1000.0); + this.dv = dvtmp.divide(1000.0); + + // convert tilts from arcsec to radians + this.tilt = tilt.times(MathUtils.ARCSEC2RAD); + this.dq = this.q.tilt2quat(this.tilt); + // tilt.print("tilt out of constructor"); + } + + /** + * Builds the state array from the pieces. + * + * @return Total State array. + * @param dq + * Error quaterion. + * @param r + * Position vector. + * @param v + * Velocity vector. + * @param dr + * Position error. + * @param dv + * Velocity error. + * @param q + * Quaternion error. + */ + public double[] stateArray(VectorN r, VectorN v, Quaternion q, VectorN dr, VectorN dv, Quaternion dq, VectorN bg, + VectorN ba) { + double out[] = new double[26]; + for (int i = 0; i < 3; i++) { + out[i] = r.x[i]; + out[i + 3] = v.x[i]; + out[i + 6] = q.x[i]; + out[i + 10] = dr.x[i]; + out[i + 13] = dv.x[i]; + out[i + 16] = dq.x[i]; + out[i + 20] = bg.x[i]; + out[i + 23] = ba.x[i]; + } + out[9] = q.x[3]; + out[19] = dq.x[3]; + return out; + } + +} diff --git a/src/jat/coreNOSA/sensors/package.html b/src/jat/coreNOSA/sensors/package.html new file mode 100644 index 0000000..7cf8e9d --- /dev/null +++ b/src/jat/coreNOSA/sensors/package.html @@ -0,0 +1,3 @@ + +Package sensors contains models of various spacecraft sensors such as gyros, accelerometers, etc. + \ No newline at end of file diff --git a/src/jat/coreNOSA/simulation/CEVLunarSim.java b/src/jat/coreNOSA/simulation/CEVLunarSim.java new file mode 100644 index 0000000..ebaff74 --- /dev/null +++ b/src/jat/coreNOSA/simulation/CEVLunarSim.java @@ -0,0 +1,990 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.simulation; + +import jat.coreNOSA.algorithm.estimators.EKF; +import jat.coreNOSA.algorithm.estimators.LunarEOM; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.measurements.OpticalMeasurementModel; +import jat.coreNOSA.measurements.createMeasurements; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.LunaFixedRef; +import jat.coreNOSA.spacetime.LunaRef; +import jat.coreNOSA.spacetime.RSW_Frame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.trajectory.RelativeTraj; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.Celestia; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.File; +import java.io.FileNotFoundException; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.PrintStream; +import java.util.HashMap; +import java.util.StringTokenizer; + +public class CEVLunarSim { + + //** Static Variables **// + + //* TODO Cheating + //** Externally referenced Static Variables **// + public static SpacecraftModel truth[]; + public static String InputFile; + public static int JAT_case = 0; + public static boolean JAT_runtruth = true; + public static String MEAS_GPSSTATE,MEAS_GPS; + public static String Truth,GEONS_Ref; + public static boolean PlotJAT = false; + public static boolean PlotTruth = false; + public static boolean PlotGEONSRef = false; + public static boolean PlotGEONSBoth = false; + public static boolean PlotMeasurements = false; + public static boolean Flag_GPS = false; + public static boolean Flag_GPSState = false; + public static boolean Flag_Cross = false; + public static boolean COV_printoffdiag = false; + + //** Object Variables **// + + protected boolean gravityModel; + protected HashMap input; + protected createMeasurements created_meas; + + //private SpacecraftModel truth[]; + protected SpacecraftModel ref[]; + protected Trajectory truth_traj[]; + protected Trajectory ref_traj[]; + protected Trajectory sim_truth; + protected Trajectory sim_cov; + protected static int numSpacecraft; + //public SimModel[] truth = null; + //public SimModel[] ref = null; + protected FileOutputStream[] trajectories; + protected FileOutputStream[] truths; + protected FileOutputStream[] ECIError; + protected FileOutputStream[] covariance; + + protected int simStep; + public EKF filter; + protected double dt; + private VectorN newState; + private int numStates; + //public double simTime; + protected Time simTime; + + protected boolean verbose_estimation=false; + protected boolean useMeas=true; + private boolean obsFromFile=false; + private boolean verbose_timestep = false; + private double tf; + private RungeKutta8 rk8; + private boolean runMonteCarlo = false; + + public static String JAT_name; + private static boolean PlotBoeing; + private static boolean PlotCov; + private static boolean MONTE_Plot_override = false; + + public CEVLunarSim(boolean useFilter) { + //super(useFilter); + this.useMeas = useFilter; + initializeConst(); + } + +// ** Object Methods **// + protected void initializeConst(){ + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + this.input = initializer.parse_file(dir_in+InputFile); + runMonteCarlo = initializer.parseBool(input, "init.runMonteCarlo"); + double MJD0 = initializer.parseDouble(input,"init.MJD0"); + double T0 = initializer.parseDouble(input, "init.T0"); + double MJDF = initializer.parseDouble(input, "init.MJDF"); + double TF = initializer.parseDouble(input, "init.TF"); + simTime = new Time(MJD0+T0/86400); + + //geons_truth = parseGEONSTruth(simTime.get_epoch_mjd_utc(),MJDF+TF/86400); + + numSpacecraft = initializer.parseInt(input,"prop.NumSpacecraft"); + numStates = initializer.parseInt(input,"FILTER.states"); + dt = initializer.parseInt(input,"init.dt"); + if(JAT_runtruth){ + truth = new SpacecraftModel[numSpacecraft]; + truth_traj = new Trajectory[2]; + } + ref = new SpacecraftModel[numSpacecraft]; + ref_traj = new Trajectory[2]; + for(int i=0; i<2; i++){ + if(JAT_runtruth) truth_traj[i] = new Trajectory(); + ref_traj[i] = new Trajectory(); + } + sim_cov = new Trajectory(); + int i=0; + double[] sigmas = new double[6]; + String tmp = "P0."+i+".X"; + sigmas[6*i + 0] = initializer.parseDouble(input,tmp); + tmp = "P0."+i+".Y"; + sigmas[6*i + 1] = initializer.parseDouble(input,tmp); + tmp = "P0."+i+".Z"; + sigmas[6*i + 2] = initializer.parseDouble(input,tmp); + tmp = "P0."+i+".VX"; + sigmas[6*i + 3] = initializer.parseDouble(input,tmp); + tmp = "P0."+i+".VY"; + sigmas[6*i + 4] = initializer.parseDouble(input,tmp); + tmp = "P0."+i+".VZ"; + sigmas[6*i + 5] = initializer.parseDouble(input,tmp); + sim_cov.add(simTime.get_sim_time(), sigmas); + + created_meas = new createMeasurements(input); + filter = new EKF(input,CEVLunarSim.JAT_case,created_meas); + rk8 = new RungeKutta8(dt); + + } + + protected void initialize() + { + double[] r = new double[3]; + double[] tr = new double[3]; //variable for true trajectory + double[] v = new double[3]; + double[] tv = new double[3]; //variable for true trajectory + double cr,cd,area,mass,dt; + + double MJD0 = initializer.parseDouble(input,"init.MJD0") + initializer.parseDouble(input,"init.T0")/86400.0; + simTime = new Time(MJD0); + double MJDF = initializer.parseDouble(input,"init.MJDF") + initializer.parseDouble(input,"init.TF")/86400.0; + this.tf = (MJDF-MJD0)*86400.0; + //For each spacecraft extract the initial vector and force information + //Use this information to create a sim model + System.out.println("Propagating "+numSpacecraft+" Spacecraft"); + for(int i = 0;i < numSpacecraft; i++) + { + /*Position*/ + String refs = "REF_STATE."; + String tru = "TRUE_STATE."; + + String str = refs+i+".X"; + String strt = tru+i+".X"; + r[0] = initializer.parseDouble(this.input,str); + tr[0] = initializer.parseDouble(this.input,strt); + + str = refs+i+".Y"; + strt = tru+i+".Y"; + r[1] = initializer.parseDouble(this.input,str); + tr[1] = initializer.parseDouble(this.input,strt); + + str = refs+i+".Z"; + strt = tru+i+".Z"; + r[2] = initializer.parseDouble(this.input,str); + tr[2] = initializer.parseDouble(this.input,strt); + + /*Velocity*/ + str = refs+i+".VX"; + strt = tru+i+".VX"; + v[0] = initializer.parseDouble(this.input,str); + tv[0] = initializer.parseDouble(this.input,strt); + + str = refs+i+".VY"; + strt = tru+i+".VY"; + v[1] = initializer.parseDouble(this.input,str); + tv[1] = initializer.parseDouble(this.input,strt); + + str = refs+i+".VZ"; + strt = tru+i+".VZ"; + v[2] = initializer.parseDouble(this.input,str); + tv[2] = initializer.parseDouble(this.input,strt); + + + /*Solar Radiation Pressure Coefficient*/ + str = "jat."+i+".Cr"; + cr = initializer.parseDouble(this.input,str); + + /*Drag Coefficient*/ + str = "jat."+i+".Cd"; + cd = initializer.parseDouble(this.input,str); + + /*Initial Mass*/ + str = "jat."+i+".mass"; + mass = initializer.parseDouble(this.input,str); + + /*Initial Area*/ + str = "jat."+i+".area"; + area = initializer.parseDouble(this.input,str); + + LunaFixedRef lfr = new LunaFixedRef(); + LunaRef lref = new LunaRef(); + ReferenceFrameTranslater trans = new ReferenceFrameTranslater(lfr,lref,simTime); + /*Read in the appropriate model flags*/ + VectorN rr = new VectorN(r); + VectorN vv = new VectorN(v); +// DE405 ephem = new DE405(); +// VectorN e2m = ephem.get_Geocentric_Moon_pos(TimeUtils.MJDtoJD(MJD0)); + //rr = (rr.plus(e2m)); + rr = rr.times(1000); + vv = vv.times(1000); + vv = trans.translateVelocity(vv,rr); + rr = trans.translatePoint(rr); + +// VectorN out = new VectorN(6); +// out.x[0] = 0.01721537446918e7; +// out.x[1] = 0.16362908568758e7; +// out.x[2] = -0.08151111642821e7; +// out.x[3] = 0.13822834993145e7; +// out.x[4] = 0.71321929326561e7; +// out.x[5] = 1.46094273856495e7; +// rr = out.get(0,3); +// vv = out.get(3,3); + + Spacecraft s = new Spacecraft(rr,vv,cr,cd,area,mass); + s.set_use_params_in_state(false); + int ncoef = initializer.parseInt(input,"jat.0.lunar_n.jat"); + LunarEOM eom = new LunarEOM(input,ncoef,false); + ref[i] = new SpacecraftModel(s,eom,MJD0); + + rr = new VectorN(tr); + vv = new VectorN(tv); + //rr = (rr.plus(e2m)); + rr = rr.times(1000); + vv = vv.times(1000); + TwoBody orbit2 = new TwoBody(LunaRef.GM_Luna,rr,vv); + orbit2.printElements("Lunar LCF"); + + vv = trans.translateVelocity(vv,rr); + rr = trans.translatePoint(rr); + s = new Spacecraft(rr,vv,cr,cd,area,mass); + s.set_use_params_in_state(false); + truth[i] = new SpacecraftModel(s,eom,MJD0); + + TwoBody orbit = new TwoBody(LunaRef.GM_Luna,rr,vv); + orbit.printElements("Lunar"); + + + /*Set the step size for the trajectory generation*/ + /*Set the integrator Step size*/ + dt = initializer.parseInt(this.input,"init.dt"); + //ref[i].set_sc_dt(dt); + //truth[i].set_sc_dt(dt); + int numSats = i; + VectorN newState = new VectorN(filter.xref.state().get(0, 6)); + double tmpState[] = new double[newState.length]; + //Extract the state of the current satellite + for(int k = 0;k < newState.length; k++) + { + tmpState[k]=newState.x[numSats*6 + k]; + } + ref[numSats].get_spacecraft().updateMotion(tmpState); + ref[numSats].update(simTime.get_sim_time()); +// Write out the current True States + double [] true_state = truth[numSats].get_spacecraft().toStateVector(); + + //Print out simStep + 1 because we didn't output the initial state + VectorN vecTime = new VectorN(1,(simStep)*dt); + VectorN trueState = new VectorN(true_state); + VectorN truthOut = new VectorN(vecTime,trueState); + if(!runMonteCarlo) + new PrintStream(truths[numSats]).println (truthOut.toString()); + + //Write out the current State estimates + double [] ref_state = tmpState;//ref[numSats].get_spacecraft().toStateVector(); + VectorN vecState = new VectorN(ref_state); + VectorN stateOut = new VectorN(vecTime,vecState); + if(!runMonteCarlo) + new PrintStream(trajectories[numSats]).println (stateOut.toString()); + + //Output the current ECI error + VectorN error_out = new VectorN(6); + for(int k = 0; k < 6; k++) + { + error_out.x[k] = true_state[k] - ref_state[k]; + } + VectorN ErrState = new VectorN(error_out); + stateOut = new VectorN(vecTime,ErrState); + new PrintStream(ECIError[numSats]).println (stateOut.toString()); + +// Output the current Covariances +// Matrix Covariance = EKF.pold; + Matrix Covariance = filter.get_pold(); + VectorN var = new VectorN(6); + if(!runMonteCarlo || MONTE_Plot_override){ + RSW_Frame rictrans = new RSW_Frame(trueState.get(0, 3),trueState.get(3, 3)); + Matrix covtrans = rictrans.ECI2RSW(); + Matrix covr = covtrans.times((Covariance.getMatrix(0, 2, 0, 2)).times(covtrans.transpose())); + Matrix covv = covtrans.times((Covariance.getMatrix(3, 5, 3, 5)).times(covtrans.transpose())); + var = new VectorN(covr.diagonal(),covv.diagonal()); + } + int numStates = filter.get_numStates(); + //double[] tmp = new double[numStates*numStates]; + double[] tmp = new double[numStates]; + double[] tmp2 = new double[numStates]; + int m = 0; + for(int k = 0; k < numStates; k++) + { + //for(int j = 0; j < numStates; j++) + //{ + tmp[m] = Covariance.get(k,k); + try{ + if(!runMonteCarlo || MONTE_Plot_override) + tmp2[m] = Math.sqrt(var.get(k)); + }catch(Exception e){ + //out of range + } + m++; + //} + } + if(!runMonteCarlo || MONTE_Plot_override) + sim_cov.add(simTime.get_sim_time()/3600.0, new VectorN(tmp2,6).x); + VectorN ErrCov = new VectorN(tmp); + stateOut = new VectorN(vecTime,ErrCov); + new PrintStream(covariance[numSats]).println (stateOut.toString()); + } + + } + + /** + * Propagation method for an individual spacecraft. Increments the + * model held in the spacecraft flight computer by a time 'dt'. + * Updates the computer's models according to the progression of time. + * Updates the spacecraft state. + * + */ + public void step(SpacecraftModel sm){ + double t = sm.get_sc_t(); + if(verbose_timestep ){ + System.out.println("step: "+t+" / "+tf+" stepsize: "+dt); + } + + //rk8.setStepSize(sm.get_sc_dt()); + //rk8.setStepSize(dt); + //* update models + //double mjd_utc = spacetime.get_mjd_utc(); + double[] X = new double[6]; + double[] Xnew = new double[6]; + //double[] thrust = new double[3]; + //VectorN rnew; + //VectorN vnew; + //double[] tmp = new double[6]; + double num_sc = 1; + for(int i=0; i (tf-sm.get_sc_dt()) && t != tf){ +// sm.set_sc_dt(tf-t); +// } +// t=t+sm.get_sc_dt(); + if(t > (tf-dt) && t != tf){ + dt=(tf-t); + } + t=t+dt; + //* add to trajectory + //traj.add(sm.get_sc_mjd_utc(),sm.get_spacecraft().toStateVector()); + //* update the universe + sm.update(t); + //iteration++; + } + + + /** + * + */ + protected void filter() + { + + /*Provide the algorithm to run the Kalman filter one step at + a time. This may need to be placed into another file later on*/ + + /*Determine the num ber of measurements that we will be processing. + * Since this is a scalar update, we can simply loop over the + * measurement update step that many times + */ + int numMeas = created_meas.getNumberMeasurements(); + + /*Loop over the number of measurements being carefull to + * omit measurements of 0 + */ + + VectorN newState = new VectorN(ref[0].get_spacecraft().toStateVector()); + int processedMeasurements = 0; + for(int i = 0;i4620){ +// int donothing = 0; +// donothing++; +// } + //System.out.println("SimTime: " + simTime.get_sim_time() + " SimStep: " + simStep); + + //for(int i=0; i 0) { + CEVLunarSim.InputFile = args[0]; + } + + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + HashMap hm = initializer.parse_file(dir_in + CEVLunarSim.InputFile); + boolean runningMonteCarlo = initializer.parseBool(hm,"init.runMonteCarlo"); + int num_runs = (runningMonteCarlo ? + initializer.parseInt(hm,"MONTE.num_runs") : 1); + Integer startCase = initializer.parseInt(hm, "MONTE.start_case_num"); + if (runningMonteCarlo && (startCase != null)) { + CEVLunarSim.JAT_case = startCase; + } + for(int c=0; c (tf-sm.get_sc_dt()) && t != tf){ +// sm.set_sc_dt(tf-t); +// } +// t=t+sm.get_sc_dt(); + if(t > (tf-dt) && t != tf){ + dt=(tf-t); + } + t=t+dt; + //* add to trajectory + //traj.add(sm.get_sc_mjd_utc(),sm.get_spacecraft().toStateVector()); + //* update the universe + sm.update(t); + iteration++; + } + + + /** + * + */ + protected void filter() + { + + /*Provide the algorithm to run the Kalman filter one step at + a time. This may need to be placed into another file later on*/ + + /*Determine the num ber of measurements that we will be processing. + * Since this is a scalar update, we can simply loop over the + * measurement update step that many times + */ + int numMeas = created_meas.getNumberMeasurements(); + + /*Loop over the number of measurements being carefull to + * omit measurements of 0 + */ + + VectorN newState = new VectorN(ref[0].get_spacecraft().toStateVector()); + int processedMeasurements = 0; + for(int i = 0;i4620){ +// int donothing = 0; +// donothing++; +// } + //System.out.println("SimTime: " + simTime.get_sim_time() + " SimStep: " + simStep); + + for(int i=0; i 0 ? args[0] : "initialConditions_cev_e2m.txt"); + +// CEVSim.JAT_name = "earth2moon"; +// CEVSim.InputFile = "initialConditions_cev_e2m_bias.txt"; + + CEVSim.PlotJAT = true; + + CEVSim Sim = new CEVSim(useFilter); + Sim.set_verbose(true); + Sim.runloop(); + if (OpticalMeasurementModel.fobs != null) { + OpticalMeasurementModel.fobs.close(); + } + if (OpticalMeasurementModel.fpred != null) { + OpticalMeasurementModel.fpred.close(); + } + System.out.println("Finished."); + } +} diff --git a/src/jat/coreNOSA/simulation/EstimatorSimModel.java b/src/jat/coreNOSA/simulation/EstimatorSimModel.java new file mode 100644 index 0000000..bd13525 --- /dev/null +++ b/src/jat/coreNOSA/simulation/EstimatorSimModel.java @@ -0,0 +1,1459 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * National Aeronautics and Space Administration + * Created by Richard C. Page III + * */ +package jat.coreNOSA.simulation; + +import jat.coreNOSA.algorithm.estimators.EKF; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.forces.GravitationalBody; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.Moon; +import jat.coreNOSA.forces.NRLMSISE_Drag; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.forces.Sun; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.measurements.ObservationMeasurementList; +import jat.coreNOSA.measurements.createMeasurements; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.spacetime.FitIERS; +import jat.coreNOSA.spacetime.RSW_Frame; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.spacetime.UniverseModel; +import jat.coreNOSA.trajectory.RelativeTraj; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.Celestia; +import jat.coreNOSA.util.FileUtil; + +import java.io.BufferedReader; +import java.io.File; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.PrintStream; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.HashMap; +import java.util.List; +import java.util.StringTokenizer; + +public class EstimatorSimModel extends SimModel { + + //** Static Variables **// + + //* TODO Cheating + //** Externally referenced Static Variables **// + public static SpacecraftModel truth[]; + public static String InputFile; + public static int JAT_case = 0; + public static boolean JAT_runtruth = true; + public static String MEAS_GPSSTATE,MEAS_GPS; + public static String Truth,GEONS_Ref; + public static boolean PlotJAT = false; + public static boolean PlotTruth = false; + public static boolean PlotGEONSRef = false; + public static boolean PlotGEONSBoth = false; + public static boolean PlotMeasurements = false; + public static boolean Flag_GPS = false; + public static boolean Flag_GPSState = false; + public static boolean Flag_Cross = false; + public static boolean COV_printoffdiag = false; + + //** Object Variables **// + + protected boolean gravityModel; + protected HashMap input; + protected createMeasurements created_meas; + private ObservationMeasurementList obs_list; + + //private SpacecraftModel truth[]; + protected SpacecraftModel ref[]; + protected Trajectory truth_traj[]; + protected Trajectory ref_traj[]; + public static Trajectory sim_truth; + protected Trajectory sim_cov; + protected static int numSpacecraft; + //public SimModel[] truth = null; + //public SimModel[] ref = null; + protected FileOutputStream[] trajectories; + protected FileOutputStream[] truths; + protected FileOutputStream[] ECIError; + protected FileOutputStream[] covariance; + protected FileOutputStream[] RICError; + protected FileOutputStream[] RICCov; + protected FileOutputStream[] RRError; + protected FileOutputStream[] ECEFerr; + + + protected int simStep; + public EKF filter; + protected double dt; + private VectorN newState; + private int numStates; + //public double simTime; + protected Time simTime; + public int numVis; + + protected boolean verbose_estimation=false; + protected boolean useMeas=true; + private boolean obsFromFile=false; + // If this is set, it means don't do a lot of the outputs and plots + protected boolean runMonteCarlo = false; + + //** Constructors **// + + public EstimatorSimModel(){ + super(); + initializeConst(); + obsFromFile = false; + } + public EstimatorSimModel(boolean filter_is_on){ + super(); + initializeConst(); + configurePlotting(); + useMeas = filter_is_on; + + } + public EstimatorSimModel(double[] r, double[] v, double cr, double cd, double area, double mass){ + super(r, v, cr, cd, area, mass); + initializeConst(); + configurePlotting(); + obsFromFile = false; + } + public EstimatorSimModel(double[][] r, double[][] v, double[] cr, double[] cd, + double[] area, double[] mass){ + super(r, v, cr,cd,area, mass); + initializeConst(); + configurePlotting(); + obsFromFile = false; + } + + //** Object Methods **// + protected void initializeConst(){ + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + this.input = initializer.parse_file(dir_in+InputFile); + + double MJD0 = initializer.parseDouble(input,"init.MJD0"); + double T0 = initializer.parseDouble(input, "init.T0"); + double MJDF = initializer.parseDouble(input, "init.MJDF"); + double TF = initializer.parseDouble(input, "init.TF"); + this.mjd_utc_start = MJD0+T0/86400; + simTime = new Time(MJD0+T0/86400); + + runMonteCarlo = + (initializer.parseInt(input, "MONTE.num_runs") != null); + + sim_truth = parseTruth(simTime.get_epoch_mjd_utc(),MJDF+TF/86400.0); + + this.obsFromFile = initializer.parseBool(this.input,"init.fromfile"); + if(obsFromFile){ + obs_list = new ObservationMeasurementList(this.input); + String path = FileUtil.getClassFilePath("jat.measurements","ObservationMeasurementList"); + if(useMeas){ + try { + //obs_list.processRINEX(path+fs+"ExampleRINEXGEONS.rnx"); +// if(Flag_GPS || Flag_Cross) +// obs_list.processRINEX(path+fs+"Case-820.rnx"); +// if(Flag_GPSState) +// obs_list.processStateUpdateFile(path+fs+"test1_8.rnx"); + if(Flag_GPS || Flag_Cross) + obs_list.processRINEX(MEAS_GPS,Flag_GPS,Flag_Cross); + if(Flag_GPSState) + obs_list.processStateUpdateFile(MEAS_GPSSTATE,mjd_utc_start,MJDF+TF/86400.0); + } catch (IOException e) { + System.out.println("Error finding Observation RINEX file: "+path+fs+"ExampleRINEXGEONS.rnx"); + e.printStackTrace(); + } + } + numSpacecraft = initializer.parseInt(input,"prop.NumSpacecraft"); + numStates = initializer.parseInt(input,"FILTER.states"); + dt = initializer.parseInt(input,"init.dt"); + if(JAT_runtruth){ + truth = new SpacecraftModel[numSpacecraft]; + truth_traj = new Trajectory[numSpacecraft]; + } + ref = new SpacecraftModel[numSpacecraft]; + ref_traj = new Trajectory[numSpacecraft]; + for(int i=0; i plotList = + new ArrayList(Arrays.asList(plotNames.split("\\s*,\\s*"))); + PlotJAT = plotList.remove("jat"); + PlotTruth = plotList.remove("truth"); + PlotGEONSRef = plotList.remove("geonsref"); + PlotGEONSBoth = plotList.remove("geonsboth"); + PlotMeasurements = plotList.remove("measurements"); + if (!plotList.isEmpty()) { + System.err.println("Warning: Unknown plot names " + plotList); + } + } + } + + protected void initialize() + { + double[] r = new double[3]; + double[] tr = new double[3]; //variable for true trajectory + double[] v = new double[3]; + double[] tv = new double[3]; //variable for true trajectory + double cr,cd,area,mass,dt; + + + //For each spacecraft extract the initial vector and force information + //Use this information to create a sim model + System.out.println("Propagating "+numSpacecraft+" Spacecraft"); + for(int i = 0;i < numSpacecraft; i++) + { + /*Position*/ + String refs = "REF_STATE."; + String tru = "TRUE_STATE."; + + String str = refs+i+".X"; + String strt = tru+i+".X"; + r[0] = initializer.parseDouble(this.input,str); + tr[0] = initializer.parseDouble(this.input,strt); + + str = refs+i+".Y"; + strt = tru+i+".Y"; + r[1] = initializer.parseDouble(this.input,str); + tr[1] = initializer.parseDouble(this.input,strt); + + str = refs+i+".Z"; + strt = tru+i+".Z"; + r[2] = initializer.parseDouble(this.input,str); + tr[2] = initializer.parseDouble(this.input,strt); + + /*Velocity*/ + str = refs+i+".VX"; + strt = tru+i+".VX"; + v[0] = initializer.parseDouble(this.input,str); + tv[0] = initializer.parseDouble(this.input,strt); + + str = refs+i+".VY"; + strt = tru+i+".VY"; + v[1] = initializer.parseDouble(this.input,str); + tv[1] = initializer.parseDouble(this.input,strt); + + str = refs+i+".VZ"; + strt = tru+i+".VZ"; + v[2] = initializer.parseDouble(this.input,str); + tv[2] = initializer.parseDouble(this.input,strt); + + + /*Solar Radiation Pressure Coefficient*/ + str = "jat."+i+".Cr"; + cr = initializer.parseDouble(this.input,str); + + /*Drag Coefficient*/ + str = "jat."+i+".Cd"; + cd = initializer.parseDouble(this.input,str); + + /*Initial Mass*/ + str = "jat."+i+".mass"; + mass = initializer.parseDouble(this.input,str); + + /*Initial Area*/ + str = "jat."+i+".area"; + area = initializer.parseDouble(this.input,str); + + /*Read in the appropriate model flags*/ + boolean[] force_flag = createForceFlag(i); + VectorN rr = new VectorN(r); + VectorN vv = new VectorN(v); + Spacecraft s = new Spacecraft(rr,vv,cr,cd,area,mass); + s.set_use_params_in_state(false); + UniverseModel spacetime = createUniverseModel(simTime.get_epoch_mjd_utc(),s,force_flag, gravityModel, "HP"); + spacetime.set_use_iers(true); + ref[i] = new SpacecraftModel(s,spacetime); + + if(JAT_runtruth){ + rr = new VectorN(tr); + vv = new VectorN(tv); + s = new Spacecraft(rr,vv,cr,cd,area,mass); + s.set_use_params_in_state(false); + truth[i] = new SpacecraftModel(s,spacetime);; + } + + + /*Set the step size for the trajectory generation*/ + /*Set the integrator Step size*/ + dt = initializer.parseInt(this.input,"init.dt"); + //ref[i].set_sc_dt(dt); + //truth[i].set_sc_dt(dt); + + /* Read in the value for the spacecraft receiver noise */ + double range_noise=0; + double state_noise[] = new double[3]; + str = "MEAS.types"; + String str2; + int numMeas = initializer.parseInt(this.input,str); + for(int m=0; m (tf-sm.get_sc_dt()) && t != tf){ +// sm.set_sc_dt(tf-t); +// } +// t=t+sm.get_sc_dt(); + if(t > (tf-dt) && t != tf){ + dt=(tf-t); + } + t=t+dt; + //* add to trajectory + traj.add(sm.get_sc_mjd_utc(),sm.get_spacecraft().toStateVector()); + //* update the universe + sm.update(t); + iteration++; + } + /** + * Propagation method for an individual spacecraft. Increments the + * model held in the spacecraft flight computer by a time 'dt'. + * Updates the computer's models according to the progression of time. + * Updates the spacecraft state. + * + */ + public void step(SpacecraftModel sm){ + double t = sm.get_sc_t(); + if(verbose_timestep){ + System.out.println("step: "+t+" / "+tf+" stepsize: "+dt); + } + + //rk8.setStepSize(sm.get_sc_dt()); + rk8.setStepSize(dt); + //* update models + //double mjd_utc = spacetime.get_mjd_utc(); + double[] X = new double[6]; + double[] Xnew = new double[6]; + double[] thrust = new double[3]; + VectorN rnew; + VectorN vnew; + double[] tmp = new double[6]; + double num_sc = 1; + for(int i=0; i (tf-sm.get_sc_dt()) && t != tf){ +// sm.set_sc_dt(tf-t); +// } +// t=t+sm.get_sc_dt(); + if(t > (tf-dt) && t != tf){ + dt=(tf-t); + } + t=t+dt; + //* add to trajectory + //traj.add(sm.get_sc_mjd_utc(),sm.get_spacecraft().toStateVector()); + //* update the universe + sm.update(t); + iteration++; + } + public boolean[] createForceFlag(int i){ + boolean[] force_flag = new boolean[6]; + + /*Determine if only two body EOMS should be used*/ + if(initializer.parseBool(this.input,"jat."+i+".2body")) + force_flag[0]=true; + else + force_flag[0]=false; + + /*Determine if Solar gravity*/ + if(initializer.parseBool(this.input,"jat."+i+".solar")) + force_flag[1]=true; + else + force_flag[1]=false; + + /*Determine if Lunar Gravity is to be modeled*/ + if(initializer.parseBool(this.input,"jat."+i+".lunar")) + force_flag[2]=true; + else + force_flag[2]=false; + + /*Derermine if Drag is to be modeled*/ + if(initializer.parseBool(this.input,"jat."+i+".drag")) + force_flag[3]=true; + else + force_flag[3]=false; + + /*Determine if solar radiation pressure should be modeled*/ + if(initializer.parseBool(this.input,"jat."+i+".srp")) + force_flag[4]=true; + else + force_flag[4]=false; + + /*Determine which Gravity model to use*/ + if(initializer.parseBool(this.input,"jat."+i+".jgm2")) + gravityModel = true; + else + gravityModel = false; + + return force_flag; + } + + protected void propagate(double simStep) + { + /*In the propagation step we want to move the orbits of all the + satellites forward the desired timestep. Output the states of + each vehicle*/ + + for(int numSats = 0; numSats < numSpacecraft; numSats ++) + { + //Step the trajectory forward the indicated amount + + //step(truth[numSats],truth_traj[numSats]); + step(truth[numSats]); + + //Extract the State Vector + //Only need to propagate the reference state if + //We aren't estimating it + //* NOTE * originally == 0 ??? + //* TODO Add flag to avoid running the 'truth' trajectory + if(initializer.parseDouble(this.input,"init.mode") == 0) + { + double [] true_state = truth[numSats].get_spacecraft().toStateVector(); + + //Print out simStep + 1 because we didn't output the initial state + VectorN vecTime = new VectorN(1,(simStep)*dt); + VectorN trueState = new VectorN(true_state); + VectorN truthOut = new VectorN(vecTime,trueState); + new PrintStream(truths[numSats]).println (truthOut.toString()); + + + //step(ref[numSats],ref_traj[numSats]); + step(ref[numSats]); + double [] ref_state = ref[numSats].get_spacecraft().toStateVector(); + VectorN vecState = new VectorN(ref_state); + VectorN stateOut = new VectorN(vecTime,vecState); + new PrintStream(trajectories[numSats]).println (stateOut.toString()); + } + + } + + } + + protected void filter_fromfile(){ + /*Provide the algorithm to run the Kalman filter one step at + a time. This may need to be placed into another file later on*/ + + + /*Determine the num ber of measurements that we will be processing. + * Since this is a scalar update, we can simply loop over the + * measurement update step that many times + */ + //int numMeas = created_meas.getNumberMeasurements(); + + + /*Loop over the number of measurements being carefull to + * omit measurements of 0 + */ + + int processedMeasurements = 0; + + //Update the current state with the output of the filter + //Write the current state information to files + + double tmpState[] = new double[6]; + for(int numSats = 0; numSats < numSpacecraft; numSats ++) + { + + newState = filter.estimate(simTime,ref[numSats],obs_list,this.useMeas); + processedMeasurements++; + +// if(Double.isNaN(newState.x[0])){ +// int donothing = 0; +// } + + //Extract the state of the current satellite + for(int i = 0;i < 6; i++) + { + tmpState[i]=newState.x[numSats*6 + i]; + } + ref[numSats].get_spacecraft().updateMotion(tmpState); + ref[numSats].update(simTime.get_sim_time()); + + //Write out the current True States + VectorN vecTime = new VectorN(1,simTime.get_sim_time()); + //new VectorN(1,(simStep)*dt); + +// Write out the current State estimates + double [] ref_state = newState.x;//ref[numSats].get_spacecraft().toStateVector(); + VectorN vecState = new VectorN(ref_state); + VectorN stateOut = new VectorN(vecTime,vecState); + + new PrintStream(trajectories[numSats]).println (stateOut.toString()); + + VectorN true_state = new VectorN(6); + if(JAT_runtruth){ + true_state = new VectorN(truth[numSats].get_spacecraft().toStateVector()); + + // Print out simStep + 1 because we didn't output the initial state + VectorN trueState = new VectorN(true_state); + VectorN truthOut = new VectorN(vecTime,trueState); + new PrintStream(truths[numSats]).println (truthOut.toString()); + + } + + //* Output the current ECI error + VectorN error_out = new VectorN(6); + if(!JAT_runtruth) true_state = sim_truth.getStateAt(simTime.mjd_utc()); + if(true_state.mag()>0){ + for(int i = 0; i < 6; i++) + { + error_out.x[i] = true_state.x[i] - ref_state[i]; + } + VectorN ErrState = new VectorN(error_out); + stateOut = new VectorN(vecTime,ErrState); + new PrintStream(ECIError[numSats]).println(stateOut.toString()); + } +// Output the current Covariances + //Matrix Covariance = EKF.pold; + + Matrix Covariance = filter.get_pold(); + VectorN var = new VectorN(6); + if(true){ + if(true_state.get(0, 3).equals(new VectorN(3))) + true_state = new VectorN(ref_state); + RSW_Frame trans = new RSW_Frame(true_state.get(0, 3),true_state.get(3, 3)); + Matrix covtrans = trans.ECI2RSW(); + Matrix covr = covtrans.times((Covariance.getMatrix(0, 2, 0, 2)).times(covtrans.transpose())); + Matrix covv = covtrans.times((Covariance.getMatrix(3, 5, 3, 5)).times(covtrans.transpose())); + var = new VectorN(covr.diagonal(),covv.diagonal()); + } + int numStates = filter.get_numStates(); + //double[] tmp = new double[numStates*numStates]; + double[] tmp = new double[numStates]; + double[] tmp2 = new double[numStates]; + int k = 0; + boolean runMonteCarlo = false; + for(int i = 0; i < numStates; i++) + { + //for(int j = 0; j < numStates; j++) + //{ + tmp[k] = Covariance.get(i,i); + try{ + if(!runMonteCarlo) + tmp2[k] = Math.sqrt(var.get(i)); + }catch(Exception e){ + //out of range + } + k++; + //} + } + if(!runMonteCarlo) + sim_cov.add(simTime.mjd_utc(), new VectorN(tmp2,6).x); + VectorN ErrCov = new VectorN(tmp); + stateOut = new VectorN(vecTime,ErrCov); + new PrintStream(covariance[numSats]).println (stateOut.toString()); + +// Matrix Covariance = filter.get_pold(); +// if(COV_printoffdiag){ +// double[] tmp = new double[numStates*numStates]; +// int k = 0; +// for(int i = 0; i < numStates; i++) +// { +// for(int j = 0; j < numStates; j++) +// { +// tmp[k] = Covariance.get(i,j); +// k++; +// } +// } +// VectorN ErrCov = new VectorN(tmp); +// stateOut = new VectorN(vecTime,ErrCov); +// new PrintStream(covariance[numSats]).println (stateOut.toString()); +// }else{ +// double[] tmp = new double[numStates]; +// int k = 0; +// for(int i = 0; i < numStates; i++) +// { +// //for(int j = 0; j < numStates; j++) +// //{ +// tmp[k] = Covariance.get(i,i); +// k++; +// //} +// } +// VectorN ErrCov = new VectorN(tmp); +// stateOut = new VectorN(vecTime,ErrCov); +// new PrintStream(covariance[numSats]).println (stateOut.toString()); +// } + + //Output the Number of Visible Satellites + //stateOut = new VectorN(2); + //stateOut.set(0,(simStep+1)*dt); + //stateOut.set(1,(double)numVis); + //System.out.println("Number of visible Satellites " + numVis); + + } + } + + /** + * + */ + protected void filter() + { + + /*Provide the algorithm to run the Kalman filter one step at + a time. This may need to be placed into another file later on*/ + + + /*Determine the num ber of measurements that we will be processing. + * Since this is a scalar update, we can simply loop over the + * measurement update step that many times + */ + int numMeas = created_meas.getNumberMeasurements(); + + /*Loop over the number of measurements being carefull to + * omit measurements of 0 + */ + + int processedMeasurements = 0; + for(int i = 0;i4620){ + int donothing = 0; + donothing++; + } + //System.out.println("SimTime: " + simTime.get_sim_time() + " SimStep: " + simStep); + + for(int i=0; iend_mjd) break; + if(mjd>=start_mjd){ + for(int j=0; j<6; j++) + x[j] = Double.parseDouble(tok.nextToken()); + traj.add(mjd,x); + } + line=in.readLine(); + } + in.close(); + }catch(IOException ioe){ + System.err.println("Error: could not parse truth file."); + } + return traj; + } + public Trajectory parseGEONSRef(double start_mjd,double end_mjd){ + //String filename = "C:/Code/Misc/GEONS/CASE"+JAT_case+"/GEONS_"+JAT_case+".eci"; + String filename = GEONS_Ref; + Trajectory traj = new Trajectory(); + try{ + File inputFile = new File(filename); + FileReader fr = new FileReader(inputFile); + BufferedReader in = new BufferedReader(fr); + String line="start"; + StringTokenizer tok; + double year = 0; + double sec = 0; + double mjd = 0.0; + double x[] = new double[6]; + for(int i=0; i<5; i++) line=in.readLine(); + while(!line.equalsIgnoreCase(" ")){ + tok = new StringTokenizer(line, " "); + year = Double.parseDouble(tok.nextToken()); + sec = Double.parseDouble(tok.nextToken()); + mjd = year+sec/86400.0; + if(mjd>end_mjd) break; + if(mjd>=start_mjd){ + for(int j=0; j<6; j++) + x[j] = Double.parseDouble(tok.nextToken()); + traj.add(mjd,x); + } + line=in.readLine(); + } + in.close(); + }catch(IOException ioe){ } + return traj; + } + + +// ** Main **// + + public static void main(String[] args) { + + boolean useMeas = true; + int jat_case = 0; + EstimatorSimModel.JAT_case = jat_case; + EstimatorSimModel.JAT_runtruth = false; + + //* TODO Flag marker + EstimatorSimModel.PlotJAT = true; + EstimatorSimModel.PlotGEONSRef = false; + EstimatorSimModel.PlotTruth = true; + EstimatorSimModel.PlotGEONSBoth = false; + + + EstimatorSimModel.COV_printoffdiag = false; + + if(jat_case==0){ + EstimatorSimModel.InputFile = "initialConditions_patrick.txt"; + EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/patrick_data/Case_1_1/out/st9_1.sta"; + EstimatorSimModel.Truth = "C:/Code/Misc/patrick_data/Case_1_1/st9_1.sat.ascii"; + EstimatorSimModel.MEAS_GPS = "C:/Code/Jat/jat/measurements/A1_st9_s1_1.rnx"; + EstimatorSimModel.Flag_GPSState = false; + EstimatorSimModel.Flag_GPS = true; + EstimatorSimModel.Flag_Cross = false; + + }else if(jat_case==1){ + EstimatorSimModel.PlotMeasurements = true; + + EstimatorSimModel.InputFile = "initialConditions_gps.txt"; + EstimatorSimModel.MEAS_GPSSTATE = "C:/Code/Jat/jat/measurements/Truth_ptsol.ecf"; + EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/ORION/GEONS/Case-1_j2000_state.txt"; + EstimatorSimModel.Truth = "C:/Code/Misc/ORION/Truth.j2k"; + +// EstimatorSimModel.InputFile = "initialConditions_1_8.txt"; +// EstimatorSimModel.MEAS_GPSSTATE = "C:/Code/Jat/jat/measurements/test1_8.rnx"; +// EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/GEONS/Case1_8/test1_8.rel26a.sta"; +// EstimatorSimModel.Truth = "C:/Code/Misc/GEONS/Case1_8/test1_8.j2k.ascii"; + + //EstimatorSimModel.MEAS_GPSSTATE = "C:/Code/Jat/jat/measurements/test1_8_jat_eci.rnx"; + //EstimatorSimModel.MEAS_GPSSTATE = "C:/Code/Jat/jat/measurements/test1_8.meas"; + //EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/JAT_Traj/GEONS_1a.eci"; + //EstimatorSimModel.Truth = "C:/Code/Misc/GEONS/Case1_8/jat_j2k1_8.txt"; + EstimatorSimModel.Flag_GPSState = true; + EstimatorSimModel.Flag_GPS = false; + EstimatorSimModel.Flag_Cross = false; + }else if(jat_case==2){ + EstimatorSimModel.InputFile = "initialConditions_1_1.txt"; + EstimatorSimModel.MEAS_GPS = "C:/Code/Jat/jat/measurements/test1_1.rnx"; +// EstimatorSimModel.InputFile = "initialConditions_gps.txt"; +// EstimatorSimModel.MEAS_GPS = "C:/Code/Jat/jat/measurements/orion_mod.rnx"; + EstimatorSimModel.Flag_GPSState = false; + EstimatorSimModel.Flag_GPS = true; + EstimatorSimModel.Flag_Cross = false; + if(Flag_GPS){ + EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/GEONS/Case1_1/test1_1.rel26a.sta"; + //EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/case2/GEONS_2a.eci"; + EstimatorSimModel.Truth = "C:/Code/Misc/GEONS/Case1_1/test1_1.j2k.ascii"; +// EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/ORION/GEONS/Case-1_j2000_state.txt"; +// EstimatorSimModel.Truth = "C:/Code/Misc/ORION/Truth.j2k"; + }else{ + EstimatorSimModel.Truth = "C:/Code/Misc/GEONS/Case1_1/GEONS_2a.j2k.ascii"; + EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/GEONS/Case1_1/GEONS_2a.eci"; + } + + }else if(jat_case==3){ + EstimatorSimModel.InputFile = "initialConditions_1_6.txt"; + EstimatorSimModel.MEAS_GPS = "C:/Code/Jat/jat/measurements/test1_6.rnx"; + EstimatorSimModel.GEONS_Ref = "C:/Code/Misc/GEONS/Case1_6/test1_6.rel26a.sta"; + EstimatorSimModel.Truth = "C:/Code/Misc/GEONS/Case1_6/test1_6.j2k.ascii"; + EstimatorSimModel.Flag_GPSState = false; + EstimatorSimModel.Flag_GPS = true; + EstimatorSimModel.Flag_Cross = false; + } + //EstimatorSimModel.MEAS_GPS = "C:/Code/Jat/jat/measurements/Case-820.rnx"; + + + EstimatorSimModel Sim = new EstimatorSimModel(useMeas); + Sim.set_verbose(true); + Sim.runloop(); + + System.out.println("Finished."); + } +} diff --git a/src/jat/coreNOSA/simulation/PlotTrajectory.java b/src/jat/coreNOSA/simulation/PlotTrajectory.java new file mode 100644 index 0000000..e9d9e5f --- /dev/null +++ b/src/jat/coreNOSA/simulation/PlotTrajectory.java @@ -0,0 +1,77 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.simulation; + + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.trajectory.RelativeTraj; +import jat.coreNOSA.trajectory.Trajectory; +/** + * @author Richard C. Page III + * + */ +public class PlotTrajectory { + + /** + * + */ + public PlotTrajectory() { + + } + + public static void plot(String sjat, String sstk){ + Trajectory jat = new Trajectory(); + Trajectory stk = new Trajectory(); + //String test = "GEO35_HP_jat.txt"; + String file = "C:/Code/Jat/jat/test/propagator/output/"+sjat; + jat.readFromFile(file,"\t","km"); + String stkfile = "C:/Code/Jat/jat/test/propagator/output/"+sstk; + try{ + stk.readFromFile(stkfile," ","km"); + }catch(NumberFormatException e){ + stk = new Trajectory(); + stk.readFromFile(stkfile, "\t", "km"); + } + LinePrinter lp = new LinePrinter(); + RelativeTraj comp = new RelativeTraj(jat,stk,lp,sjat); + //comp.process(1e-5); + comp.process_RSS(1e-7); + } + + public static void main(String[] args) throws java.io.IOException { + //String sjat = "GEO35_HP_jat.txt"; + //String sstk = "GEO35_HP_stk.txt"; + //String sjat = "GEO34_jat.txt"; + //String sstk = "GEO34_stk.txt"; + String sjat = "GEO33_jat.txt"; + String sstk = "GEO33_stk.txt"; + //String sjat = "ISS7_HP_jat.txt"; + //String sstk = "ISS7_HP_stk.txt"; + //String sjat = "ISS4_HP_jat.txt"; + //String sstk = "ISS4_HP_stk.txt"; + PlotTrajectory.plot(sjat,sstk); + +// String s = "C:/Code/Jat/jat/sim/output/JAT_error_2.txt"; +// Trajectory traj = new Trajectory(); +// traj.readFromFile(s); + + } +} diff --git a/src/jat/coreNOSA/simulation/SimModel.java b/src/jat/coreNOSA/simulation/SimModel.java new file mode 100644 index 0000000..3ce6caf --- /dev/null +++ b/src/jat/coreNOSA/simulation/SimModel.java @@ -0,0 +1,1150 @@ + /* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.simulation; + +//import jat.matlabInterface.MatlabControl; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.forces.ForceModel; +import jat.coreNOSA.forces.GravitationalBody; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.Moon; +import jat.coreNOSA.forces.NRLMSISE_Drag; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.forces.Sun; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.matlabInterface.MatlabFunc; +import jat.coreNOSA.spacecraft.ControlLaw; +import jat.coreNOSA.spacecraft.Formation; +import jat.coreNOSA.spacecraft.MatlabControlLaw; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.spacecraft.StateEstimation; +import jat.coreNOSA.spacetime.UniverseModel; +import jat.coreNOSA.trajectory.RelativeTraj; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.FileUtil; + +/** + * This is the primary helper class for Simulation.java. It encapsulates the + * various spacecraft to be propagated along with the reference frame and time + * information needed in the simulation. + * + * @author Richard C. Page III + * + */ +public class SimModel implements Derivatives { + + /** + * Flag indicating whether to print to file + */ + protected boolean doPrint = true; + /** + * Eigth Order Runge Kutta integration algorithm + */ + protected RungeKutta8 rk8; + /** + * Spacetime model containing: time, reference frames, and forces + */ + public UniverseModel spacetime; + /** + * Spacecraft model used when propagating a single spacecraft + */ + public SpacecraftModel sc; + /** + * Flag indicating whether multiple spacecraft are present + */ + protected boolean use_formation; + /** + * A container class carrying the various spacecraft and their relationships + */ + protected Formation sc_formation; + /** + * Printer to write data to a file or the command line + */ + protected LinePrinter lp; + /** + * Counter to keep track of the current spacecraft being propagated + */ + protected int current_sc=0; + /** + * Initial time offset of the simulation [sec] (default is zero seconds) + */ + public double t0 = 0; + /** + * Final time of the simulation [sec] (default is 86400 seconds) + */ + public double tf = 86400; + /** + * Simulation time [sec] + */ + public double t = t0; + /** + * The start date of the simulation in Modified Julian Date Universal Coordinated Time (UTC) + */ + public double mjd_utc_start; + /** + * Integrator stepsize + */ + public double stepsize=60; + /** + * Counter for the number of iterations + */ + public int iteration = 0; + /** + * Reference trajectories for doing analysis on single spacecraft + */ + private Trajectory jat,truth; + /** + * Reference trajectories for doing analysis on spacecraft formations + */ + private Trajectory[] traj_formation; + /** + * Flag to tell whether to print the progress of the simulation. + */ + protected boolean verbose_timestep=false; + /** + * Properties member which loads and stores ephemeris data. + */ + protected SimProperties properties; + /** + * Default ephemeris filename. + */ + protected String default_file; + + /** + * Default Constructor initializes the universe model, integrator, and prints + * to the command line. + */ + public SimModel(){ + rk8 = new RungeKutta8(); + lp = new LinePrinter(); + spacetime = new UniverseModel(); + } + /** + * Constructor initializes a single spacecraft simulation given relevant parameters + * @param r Position vector [m] + * @param v Velocity vector [m/s] + * @param cr Coefficient of Reflectivity used for Solar Radiation Pressure + * @param cd Coefficient of Drag used for Atmospheric Drag calculations + * @param area Cross sectional area used both for drag and Solar Radiation Pressure + * @param mass Mass of the spacecraft + */ + public SimModel(double[] r, double[] v, double cr, double cd, double area, double mass){ + VectorN rr = new VectorN(r); + VectorN vv = new VectorN(v); + Spacecraft s = new Spacecraft(rr,vv,cr,cd,area,mass); + s.set_use_params_in_state(false); + sc = new SpacecraftModel(s); + rk8 = new RungeKutta8(); + use_formation = false; + lp = new LinePrinter(); + spacetime = new UniverseModel(); + } + + + /** + * Constructor initializes a single spacecraft simulation given relevant parameters + * @param r Position vector [m] + * @param v Velocity vector [m/s] + * @param cr Coefficient of Reflectivity used for Solar Radiation Pressure + * @param cd Coefficient of Drag used for Atmospheric Drag calculations + * @param area Cross sectional area used both for drag and Solar Radiation Pressure + * @param mass Mass of the spacecraft + */ + public SimModel(double[] r, double[] v, double cr, double cd, double area, double mass, double utc){ + VectorN rr = new VectorN(r); + VectorN vv = new VectorN(v); + Spacecraft s = new Spacecraft(rr,vv,cr,cd,area,mass); + s.set_use_params_in_state(false); + sc = new SpacecraftModel(s); + rk8 = new RungeKutta8(); + use_formation = false; + lp = new LinePrinter(); + spacetime = new UniverseModel(utc); + } + + + + /** + * Constructor initializes a formation of spacecraft given relevant parameters + * @param r Array of position vectors r[number_of_sc][3] [m] + * @param v Array of velocity vectors v[number_of_sc][3] [m/s] + * @param cr Array of Coefficients of Reflectivity used for Solar Radiation Pressure + * @param cd Array of Coefficients of Drag used for Atmospheric Drag calculations + * @param area Array of Cross-sectional area for both Drag and Solar Radiation + * @param mass Array of spacecraft masses + */ + public SimModel(double[][] r, double[][] v, double[] cr, double[] cd, + double[] area, double[] mass){ + rk8 = new RungeKutta8(); + VectorN rr,vv; + Spacecraft s; + sc_formation = new Formation(); + for(int i=0; i1){ + sc_formation = new Formation(); + this.use_formation = true; + traj_formation = new Trajectory[numsc]; + for(int i=0; i (tf-dt) && t != tf){ + dt = tf-t; + } + t = t+dt; + //* update the universe + spacetime.update(t); + iteration++; + } + + /** + * Primary propagation method. Increments the simulation by a time 'dt'. + * Updates the universe model according to the progression of time. + * Updates the spacecraft state. + * @param dt Timestep in seconds + */ + public double[] stepMatlabAdaptor(double dt, int neqns){ + + if(verbose_timestep){ + System.out.println("step: "+t+" / "+tf+" stepsize: "+dt); + } + + rk8.setStepSize(dt); + //* update models + //double mjd_utc = spacetime.get_mjd_utc(); + double[] X = new double[neqns]; + double[] Xnew = new double[neqns]; + //double[] thrust = new double[3]; + VectorN rnew; + VectorN vnew; + //double[] tmp = new double[neqns]; + double num_sc = 1; + if(use_formation){ + num_sc = sc_formation.get_num_sc(); + sc_formation.compute_control(t); + for(int i=0; i (tf-dt) && t != tf){ + dt = tf-t; + } + t = t+dt; + //* update the universe + spacetime.update(t); + iteration++; + return Xnew; + } + + /** + * Used to increment the simulation and output to a file or the command line. + * @see jat.simulation.SimModel#step(double) + * @param dt Timestep in seconds + * @param lp Printer to file or command line + */ + public void step(double dt, LinePrinter lp){ + step(dt); + if(MathUtils.mod(iteration,lp.getThinning())== 0) + print(lp); + } + + /** + * Method used to propagate the simulation from initial to final states. + * Calls SimModel.stepDefault(dt) + */ + public double[][] runloopMatlabAdaptor(double[] x0, double[] time){ + + double[][] newX0 = new double[time.length][x0.length]; + double[] timeArray = new double[time.length]; + double[][] output = new double[time.length][x0.length+1]; + int neqns = x0.length; + int counter = 1; + t = t0; + timeArray[0]=time[0]; + newX0[0]= x0; +// * update the universe + spacetime.update(t); + //* loop over time equal to the sim duration + + while(t < tf){ + newX0[counter]=stepMatlabAdaptor(stepsize, neqns); + timeArray[counter]=t; + counter++; + } + + for (int i=0; i0){ + sim.runloop(); + Trajectory traj = sim.get_traj(); +// FitIERS iers = new FitIERS(); +// iers.process(); +// Time time = new Time(mjd_utc[i]); +// EarthRef earth = new EarthRef(time); +// double[] param = iers.search(time.mjd_tt()); +// //earth.setIERS(param[0],param[1]); +// //time.set_UT1_UTC(param[2]); +// Trajectory traj_ecf = new Trajectory(); +// for(int k=0; k(sum)-->[Dynamics]->[Control Law]-->acceleration[] + * A - | + * |_______________________________| + * + * @author Richard C. Page III + */ +public class ControlLaw { + + public ControlLaw(){ } + + public double[] compute_control(double t, double[] x){ + return new double[x.length]; + } + + public double[] compute_control(double t, double[] x, double[] xrel){ + return new double[3]; + } + +} diff --git a/src/jat/coreNOSA/spacecraft/Formation.java b/src/jat/coreNOSA/spacecraft/Formation.java new file mode 100644 index 0000000..93ea605 --- /dev/null +++ b/src/jat/coreNOSA/spacecraft/Formation.java @@ -0,0 +1,279 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.spacecraft; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +import java.util.ArrayList; + +/** + * This class represents a spacecraft formation. It contains any number of spacecraft + * with one designated as the primary spacecraft. + * + * @author Richard C. Page III + * + */ +public class Formation { + + /** + * String ID for the formation + */ + public String id; + /** + * List of member spacecraft + */ + protected ArrayList member_spacecraft; + /** + * Parallel list of member spacecraft IDs + */ + protected ArrayList member_id; + /** + * Primary spacecraft of the formation. + */ + protected SpacecraftModel primary; + /** + * Connectivity table. (Graph) Spacecraft represent nodes and their + * relative distances represent edges retrieved by calls to the member + * spacecraft. + */ + protected Matrix connect; + + /** + * Default Constructor. + */ + public Formation(){ + connect = new Matrix(2); + member_spacecraft = new ArrayList(); + member_id = new ArrayList(); + } + /** + * Constructor - initializes for a certain number of spacecraft + * @param num Number of spacecraft. + */ + public Formation(int num){ + connect = new Matrix(num); + member_spacecraft = new ArrayList(num); + member_id = new ArrayList(num); + } + /** + * Constructor - initializes the primary spacecraft. + * @param p Primary spacecraft. + */ + public Formation(SpacecraftModel p){ + primary = p; + connect = new Matrix(2); + member_spacecraft = new ArrayList(); + member_id = new ArrayList(); + } + /** + * Add a spacecraft to the formation. If no primary has been designated, + * the first spacecraft added will become the primary. + * @param s Spacecraft model. + */ + public void add_spacecraft(SpacecraftModel s){ + if(primary == null){ + primary = s; + } else{ + member_spacecraft.add(s); + member_id.add(s.get_id()); + } + } + /** + * Add a spacecraft to the formation. If no primary has been designated, + * the first spacecraft added will become the primary. + * @param s Spacecraft used to create a generic spacecraft model. + */ + public void add_spacecraft(Spacecraft s){ + if(primary == null){ + primary = new SpacecraftModel(s); + } else { + SpacecraftModel sc = new SpacecraftModel(s); + member_spacecraft.add(sc); + member_id.add(s.id); + } + } + /** + * Return the spacecraft model for a given index (in order of addition). + * @param i Index + * @return Spacecraft model + */ + public SpacecraftModel get_spacecraftmodel(int i){ + if(i>0) + return (SpacecraftModel)member_spacecraft.get(i-1); + else if(i==0) + return primary; + else + return null; + } + /** + * Return the spacecraft object for a given index (in order of addition). + * @param i Index + * @return Spacecraft + */ + public Spacecraft get_spacecraft(int i){ + if(i>0){ + SpacecraftModel sc = (SpacecraftModel)member_spacecraft.get(i-1); + return sc.get_spacecraft(); + } else if(i==0) + return primary.get_spacecraft(); + else + return null; + } + /** + * Search the list for a spacecraft corresponding to the given ID. + * @param id + * @return Spacecraft Model or null if not found + */ + public SpacecraftModel get_spacecraftmodel(String id){ + int i = search(id); + if(i>0) + return (SpacecraftModel)member_spacecraft.get(i-1); + else if(id.equalsIgnoreCase(primary.get_id())) + return primary; + else + return null; + } + /** + * Search the list for a spacecraft corresponding to the given ID. + * @param id + * @return Spacecraft or null if not found + */ + public Spacecraft get_spacecraft(String id){ + int i = search(id); + if(i>0){ + SpacecraftModel sc = (SpacecraftModel)member_spacecraft.get(search(id)); + return sc.get_spacecraft(); + }else if(id.equalsIgnoreCase(primary.get_id())) + return primary.get_spacecraft(); + else + return null; + + } + /** + * Return the primary spacecraft model. + * @return Spacecraft model + */ + public SpacecraftModel get_primarymodel(){ + return primary; + } + /** + * Return the primary spacecraft. + * @return Spacecraft. + */ + public Spacecraft get_primary(){ + return primary.get_spacecraft(); + } + /** + * Get the total number of spacecraft (including the primary). + * @return Number of spacecraft. + */ + public int get_num_sc(){ + return member_spacecraft.size()+1; + } + + /** + * Connect two spacecraft in the formation. + * If 'directed' is true then "x tracks y", otherwise both are connected. + * @param x String ID for the first spacecraft + * @param y String ID for the second spacecraft + * @param directed + */ + //* if directed==true connect scx to scy - "x tracks y" + //* else connect both + public void connect(String x, String y, boolean directed){ + int xnum = search(x); + int ynum = search(y); + if(xnum > 0 && ynum > 0){ + if(directed) + connect.set(xnum,ynum,1.0); + else{ + connect.set(xnum,ynum,1.0); + connect.set(ynum,xnum,1.0); + } + + } else { + if(xnum < 0) + System.err.println("Error: '"+x+"' does not appear in formation '"+this.id+"'"); + if(ynum < 0) + System.err.println("Error: '"+y+"' does not appear in formation '"+this.id+"'"); + } + } + + /** + * Connect two spacecraft in the formation. + * If 'directed' is true then "x tracks y", otherwise both are connected. + * @param x Index for the first spacecraft + * @param y Index for the second spacecraft + * @param directed + */ + //* if directed==true connect scx to scy - "x tracks y" + //* else connect both + public void connect(int xnum, int ynum, boolean directed){ + if(xnum > 0 && ynum > 0){ + if(directed) + connect.set(xnum,ynum,1.0); + else{ + connect.set(xnum,ynum,1.0); + connect.set(ynum,xnum,1.0); + } + + } else { + if(xnum > get_num_sc()) + System.err.println("Error: '"+xnum+"' does not appear in formation '"+this.id+"'"); + if(ynum > get_num_sc()) + System.err.println("Error: '"+ynum+"' does not appear in formation '"+this.id+"'"); + } + } + + // private void connect(String x){ +// int xnum = search(x); +// } + + /** + * Searches the formation for a spacecraft with the given ID. + * @param x The spacecraft ID. + */ + public int search(String x){ + int out = -1; + for(int i=0; i + * The CalDate Class provides methods of converting between the CalDate and MJD and GPSTimeFormat formats. + * Reference: Satellite Orbits by Montenbruck and Gill. + * + * Note: CalDate is just a time format. The actual time depicted could be GPS time, UTC, TAI, etc. + * + * @author + * @version 1.0 + */ +public class CalDate implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -8297334516560701054L; + /** Year. + */ + protected int Year; + /** Month. + */ + protected int Month; + /** Day. + */ + protected int Day; + /** Hours. + */ + protected int Hour; + /** Minutes. + */ + protected int Min; + /** Seconds. + */ + protected double Sec; + + /** Day of year. + */ + protected int DOY; + + /** Construct a time object using a calendar date. + * @param Yr Year. + * @param Mon Month. + * @param D Day. + * @param Hr Hours. + * @param Mn Minutes. + * @param S Seconds. + */ + public CalDate( int Yr, int Mon, int D, int Hr, int Mn, double S ) { + // accept the inputs, probably should add some checking some day + this.Year = Yr; + this.Month = Mon; + this.Day = D; + this.Hour = Hr; + this.Min = Mn; + this.Sec = S; + this.DOY = TimeUtils.day2doy(Yr, Mon, D); + } + + /** Construct a clone of a CalDate object. + * @param cal CalDate object to be cloned. + */ + public CalDate( CalDate cal) { + this.Year = cal.Year; + this.Month = cal.Month; + this.Day = cal.Day; + this.Hour = cal.Hour; + this.Min = cal.Min; + this.Sec = cal.Sec; + this.DOY = cal.DOY; + } + + /** Create a CalDate object using MJD. From Montenbruck C++ code. + * @param mjd Modified Julian Date. + */ + public CalDate(double mjd){ + long a,b,c,d,e,f; + double Hours,x; + + // Convert Julian day number to calendar date + a = (long)(mjd+2400001.0); + + if ( a < 2299161 ) { // Julian calendar + b = 0; + c = a + 1524; + } + else { // Gregorian calendar + b = (long)((a-1867216.25)/36524.25); + c = a + b - (b/4) + 1525; + } + + d = (long)( (c-122.1)/365.25 ); + e = 365*d + d/4; + f = (long)( (c-e)/30.6001 ); + + long temp = (long)(30.6001*f); + this.Day = (int)(c - e - temp); + temp = (long)(f/14); + this.Month = (int)(f - 1 - 12*temp); + temp = (long)((7+Month)/10); + this.Year = (int)(d - 4715 - temp); + + Hours = 24.0*(mjd-Math.floor(mjd)); + + this.Hour = (int)Hours; + x = (Hours-Hour)*60.0; + this.Min = (int) x; + this.Sec = (x-Min)*60.0; + this.DOY = TimeUtils.day2doy(this.Year, this.Month, this.Day); + } + + /** Create a CalDate object using GPS Time. Translated code from the + * NOAA GPS Toolbox (www.ngs.noaa.gov/gps-toolbox/index.html). + * @param gps GPSTimeFormat object. + */ + public CalDate(GPSTimeFormat gps){ + long GPS_Week = gps.gps_week(); + double GPS_SOW = gps.gps_sow(); + + long mjd, days_fr_jan1_1901; + double fmjd; + long delta_yrs, num_four_yrs, years_so_far, days_left; + + mjd = (long)(GPS_Week*7 + GPS_SOW/GPSTimeFormat.SEC_PER_DAY + GPSTimeFormat.JAN61980); + fmjd = MathUtils.mod(GPS_SOW, GPSTimeFormat.SEC_PER_DAY)/GPSTimeFormat.SEC_PER_DAY; + + days_fr_jan1_1901 = mjd - GPSTimeFormat.JAN11901; + num_four_yrs = days_fr_jan1_1901/1461; + years_so_far = 1901 + 4*num_four_yrs; + days_left = days_fr_jan1_1901 - 1461*num_four_yrs; + delta_yrs = days_left/365 - days_left/1460; + + this.Year = (int)(years_so_far + delta_yrs); + this.DOY = (int)(days_left - 365*delta_yrs + 1); + this.Month = TimeUtils.doy2month(this.Year, this.DOY); + this.Day = TimeUtils.doy2day(this.Year, this.DOY); + this.Hour = (int)(fmjd*24.0); + this.Min = (int)(fmjd*1440.0 - Hour*60.0); + this.Sec = fmjd*86400.0 - Hour*3600.0 - Min*60.0; + } + + /** Returns the modified Julian date. From Montenbruck C++ code. + * @return modified Julian date. + */ + public double mjd(){ + long MjdMidnight; + double FracOfDay; + int b; + int year = this.Year; + int month = this.Month; + int day = this.Day; + int hour = this.Hour; + int min = this.Min; + double sec = this.Sec; + + // compute the MJD + if (month<=2) { + month += 12; + --year; + } + + if ( (10000L*year+100L*month+day) <= 15821004L ){ + b = -2 + ((year+4716)/4) - 1179; // Julian calendar + } + else { + b = (year/400)-(year/100)+(year/4); // Gregorian calendar + } + + int temp = (int)(30.6001*(month+1)); + + MjdMidnight = 365L*year - 679004L + b + temp + day; + FracOfDay = (hour+min/60.0+sec/3600.0) / 24.0; + + double mjd = MjdMidnight + FracOfDay; + return mjd; + } + + /** Return the time in GPSTimeFormat format. From GPS Toolkit code. + * @return Time in GPSTimeFormat format. + */ + public GPSTimeFormat gpsTime(){ + GPSTimeFormat out = new GPSTimeFormat(this); + return out; + } + + + /** Increments time forward or backwards. + * @param sec Increment to move time in seconds. Positive for forward, negative for backwards. + */ + public void increment(double sec){ + GPSTimeFormat gps = new GPSTimeFormat(this); + gps.increment(sec); + CalDate out = new CalDate(gps); + this.Year = out.Year; + this.Month = out.Month; + this.Day = out.Day; + this.Hour = out.Hour; + this.Min = out.Min; + this.Sec = out.Sec; + this.DOY = out.DOY; + } + + /** Returns the year. + * @return Year. + */ + public int year(){ + return this.Year; + } + + /** Returns the month. + * @return Month. + */ + public int month(){ + return this.Month; + } + + /** Return the day of the month. + * @return Day of month. + */ + public int day(){ + return this.Day; + } + + /** Return the hour. + * @return Hour. + */ + public int hour(){ + return this.Hour; + } + + /** Return the minutes. + * @return Minute. + */ + public int min(){ + return this.Min; + } + + /** Return the second. + * @return Second. + */ + public double sec(){ + return this.Sec; + } + + /** Return the day of year. + * @return Day of year. + */ + public int doy(){ + return this.DOY; + } + /** Return the seconds of the day. + * @return seconds of the day. + */ + public double sec_of_day(){ + return (this.Hour*3600.0 + this.Min*60.0 + this.Sec); + } + + + /** Convert UTC time to GPS time. + * @return CalDate object with current UTC time. + */ + public GPSTimeFormat UTC2GPS(){ + // get the current mjd + double mjd = this.mjd(); + + // compute the difference between GPS and UTC + int gps_utc = TimeUtils.tai_utc(mjd) - TimeUtils.TAI_GPS; + + // convert the current time to GPSTimeFormat format + GPSTimeFormat out = new GPSTimeFormat(this); + + // convert from UTC time to GPS time + out.increment(gps_utc); + return out; + } + + /** Convert UTC time to TT. + * @param mjd_utc MJD of Current UTC time + * @return MJD of current TT. + */ + public static double UTC2TT(double mjd_utc){ + + // compute the difference between TT and UTC + double tt_utc = (double)(TimeUtils.tai_utc(mjd_utc) + TimeUtils.TT_TAI); + double out = mjd_utc + tt_utc/86400.0; + return out; + } + + /** + * Send it to string + * @return String containing the calendar date + */ + public String toString(){ + String out = this.Year+","+this.Month+","+this.Day+" "+this.Hour+":"+this.Min+":"+this.Sec; + return out; + } + + /** + * Print out the date + * @param title String containing a title + */ + public void print(String title){ + System.out.println(title); + System.out.println(this.Year+","+this.Month+","+this.Day+" "+this.Hour+":"+this.Min+":"+this.Sec); + } +} diff --git a/src/jat/coreNOSA/spacetime/EarthFixedRef.java b/src/jat/coreNOSA/spacetime/EarthFixedRef.java new file mode 100644 index 0000000..efdf003 --- /dev/null +++ b/src/jat/coreNOSA/spacetime/EarthFixedRef.java @@ -0,0 +1,112 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Represents the Earth-Centered Body-Fixed Reference Frame. + * + * @author Rob Antonucci + */ +public class EarthFixedRef implements ReferenceFrame { + + /** + * Construct a ECF reference frame. + */ + public EarthFixedRef() + { + // Does nothing. + } + + /** + * Compute the ECI to ECF transformation matrix. + */ + private Matrix computeECI2ECF(Time t) { + // EarthRef already does this. + EarthRef ref = new EarthRef(t); + return ref.ECI2ECEF(); + } + + + /** + * Returns a translater to translate into other reference frames. + * @param other another reference frame + * @param t time at which translation will be done + * @return translater object or null if does not know how + * to translate + */ + public ReferenceFrameTranslater getTranslater(ReferenceFrame other, Time t) + { + ReferenceFrameTranslater xlater = null; + if (other instanceof EarthFixedRef) { + // Same reference frame. No translation needed. + xlater = new ReferenceFrameTranslater(); + } + else if (other instanceof BodyCenteredInertialRef) { + xlater = getTranslater((BodyCenteredInertialRef)other, t); + } + return xlater; + } + + /** + * Returns a translater to translate to ECI or LCI or any + * other something-CI. + * @param inertialRef an inertial reference frame + * @param t time at which translation will be done + * @return translater object + */ + private ReferenceFrameTranslater + getTranslater(BodyCenteredInertialRef inertialRef, Time t) + { + // We determine the transformation matrix from ECF to ECI. + // This can be used for transformation to any body-centered + // inertial frame. + Matrix eci2ecf = computeECI2ECF(t); + Matrix xform = eci2ecf.transpose(); + + // Determine the position of the other body relative to the Earth. + // Then transform it to the ECF reference frame. + DE405 jpl_ephem = new DE405(); + VectorN state1 = new VectorN(jpl_ephem.get_planet_posvel(DE405_Body.EARTH, t.mjd_tt())); + VectorN state2 = new VectorN(6); + if (!inertialRef.getBody().equals(DE405_Body.SOLAR_SYSTEM_BARY)){ // used to be EARTH + state2 = jpl_ephem.get_planet_posvel(inertialRef.getBody(), t.mjd_tt()); + } + + // We difference and convert to meters (JPL reports kilometers) + VectorN originDiff = state2.get(0, 3).minus(state1.get(0, 3)).times(1000); + VectorN bodyPos = eci2ecf.times(originDiff); + VectorN originVel = state2.get(3, 3).minus(state1.get(3, 3)).times(1000); + VectorN bodyVel = eci2ecf.times(originVel); + // We use -omega because we want the rotation of inertial frame with respect to + // the fixed frame. + double[] rotation = {0, 0, -EarthRef.omega_e}; + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(xform, bodyPos, bodyVel, new VectorN(rotation)); + + return xlater; + } +} diff --git a/src/jat/coreNOSA/spacetime/EarthRef.java b/src/jat/coreNOSA/spacetime/EarthRef.java new file mode 100644 index 0000000..3a14a1a --- /dev/null +++ b/src/jat/coreNOSA/spacetime/EarthRef.java @@ -0,0 +1,1511 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.util.FileUtil; + +/** + *

+ * The EarthRef Class provides methods of converting between various types of + * Earth reference systems. Reference: Satellite Orbits by Montenbruck and Gill. + * This is basically their C++ code converted to Java. The interface to this + * class is an input Terrestrial time in MJD format, which is available from + * either the CalDate or GPSTimeFormat classes. + * + * @author + * @version 1.0 + */ +public class EarthRef extends BodyCenteredInertialRef implements BodyRef { + + public boolean use_moon = false; + public boolean use_sun = false; + // * TODO Watch this + private boolean debug_polar = false; + private boolean debug_geons = false; + + // private double GMST_REF, MJD_UT1_0; + // private boolean gmst_initialized = false; + + /** + * Earth's rotation rate in rad/s. + */ + // public final static double omega_e = 7.2921157746E-05; // earth rotation + // rate + public final static double omega_e = 7.292115E-05; // IERS 1996 conventions + // public final static double omega_e = 7.2921151467E-05; // WGS-84 + + // public double omega_e_dynamic = omega_e; + + /** + * Equatorial radius of earth in m from WGS-84 + */ + // public final static double R_Earth = 6378.137e3; // Radius Earth [m]; + // WGS-84 + public final static double R_Earth = 6378.1363e3; // Radius Earth [m]; STK + // JGM3 + + /** + * Flattening factor of earth from WGS-84 + */ + // public final static double f_Earth = 1.0/298.257223563; // Flattening; + // WGS-84 + // public final static double f_Earth = 0.003353; // STK HPOP + public final static double f_Earth = 0.00335281; // STK HPOP - 2 + + /** + * Earth gravity constant in m^3/s^2 from JGM3 + */ + public final static double GM_Earth = 398600.4415e+9; // [m^3/s^2]; JGM3 + + /** + * Two PI. + */ + private static final double pi2 = 2.0 * MathUtils.PI; + + /** + * Psi angle + */ + private double dpsi; // Celestial pole offsets, computed or gotten from + // IERS. + /** + * Epsilon nutation angle. + */ + private double deps; // Celestial pole offsets, computed or gotten from + // IERS. + + private double Om; // Ascending node of Moon see Astro Almenac + + /** + * X Pole Coordinate in radians. + */ + private double x_pole = 0.0; // Pole coordinate [rad]. From IERS Bulletin A. + + /** + * Y Pole Coordinate in radians. + */ + private double y_pole = 0.0; // Pole coordinate [rad]. From IERS Bulletin A. + + private Matrix T; + + private Matrix E; + + protected DE405 jpl_ephem; + private VectorN r_sun; + private VectorN r_moon; + + private Time time_odtbx; // OD Toolbox initialization time + + /** + * Construct an EarthRef object using UTC Time in Modified Julian Date + * format. + * + * @param mjd_UTC + * UTC time in MJD format. + */ + public EarthRef(Time t0) { + super(DE405_Body.EARTH); + // accept the input + // CalDate utc = new CalDate(mjd_UTC); + this.T = trueOfDate(t0.mjd_tt()); + this.E = eci2ecef(t0); + if (this.use_moon || this.use_sun) { + String fs, dir_in; + fs = FileUtil.file_separator(); + try { + dir_in = FileUtil.getClassFilePath("jat.eph", "DE405") + "DE405data" + fs; + } catch (Exception e) { + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } + jpl_ephem = new DE405(dir_in); + } + this.use_moon = false; + this.use_sun = false; + } + + /** + * OD Toolbox interface for EarthRef constructor + * + * @param mjd_utc + * Universal coordinated time in modified julian date + */ + public EarthRef(double mjd_utc) { + super(DE405_Body.EARTH); + Time t0 = new Time(mjd_utc); + this.T = trueOfDate(t0.mjd_tt()); + this.E = eci2ecef(t0); + this.time_odtbx = t0; + } + + /** + * Construct an EarthRef object using UTC Time in Modified Julian Date + * format. + * + * @param mjd_UTC + * UTC time in MJD format. + */ + public EarthRef(double MJD_UT1, double MJD_TT) { + super(DE405_Body.EARTH); + // accept the input + // CalDate utc = new CalDate(mjd_UTC); + this.T = trueOfDate(MJD_TT); + this.E = eci2ecef(MJD_UT1, MJD_TT); + if (this.use_moon || this.use_sun) { + String fs, dir_in; + fs = FileUtil.file_separator(); + try { + dir_in = FileUtil.getClassFilePath("jat.eph", "DE405") + "DE405data" + fs; + } catch (Exception e) { + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } + jpl_ephem = new DE405(dir_in); + } + this.use_moon = false; + this.use_sun = false; + } + + /** + * Construct an EarthRef object using UTC Time in Modified Julian Date + * format. + * + * @param mjd_UTC + * UTC time in MJD format. + */ + public EarthRef(double MJD_UT1, double MJD_TT, boolean use_moon, boolean use_sun) { + super(DE405_Body.EARTH); + // accept the input + // CalDate utc = new CalDate(mjd_UTC); + this.T = trueOfDate(MJD_TT); + this.E = eci2ecef(MJD_UT1, MJD_TT); + this.use_sun = use_sun; + this.use_moon = use_moon; + if (this.use_moon || this.use_sun) { + String fs, dir_in; + fs = FileUtil.file_separator(); + try { + dir_in = FileUtil.getClassFilePath("jat.eph", "DE405") + fs + "DE405data" + fs; + } catch (Exception e) { + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } + jpl_ephem = new DE405(dir_in); + } + // double JD_TDB = MJD_TT+2400000.5; + // if(this.use_sun) compute_JPL_Sun_Vector(JD_TDB); + if (this.use_sun) + compute_JPL_Sun_Vector(MJD_TT); + // if(this.use_moon) compute_JPL_Moon_Vector(JD_TDB); + if (this.use_moon) + compute_JPL_Moon_Vector(MJD_TT); + } + + // /** + // * For use with Matlab. + // * @param MJD_UT1 + // * @param MJD_TT + // * @param usingmatlab + // */ + // // For use with matlab + // public EarthRef(double MJD_UT1, double MJD_TT, boolean usingmatlab){ + // //accept the input + // // CalDate utc = new CalDate(mjd_UTC); + // this.T = trueOfDate(MJD_TT); + // this.E = eci2ecef(MJD_UT1,MJD_TT); + // if(this.use_moon || this.use_sun){ + // String fs, dir_in; + // fs = FileUtil.file_separator(); + // dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + // jpl_ephem = new DE405(dir_in); + // } + // double JD_TDB = MJD_TT+2400000.5; + // if(this.use_sun) compute_JPL_Sun_Vector(JD_TDB); + // if(this.use_moon) compute_JPL_Moon_Vector(JD_TDB); + // } + + /** + * Set the IERS (Earth Rotation) Data + * + * @param x + * x_pole coordinate (rad) + * @param y + * y_pole coordinate (rad) + */ + public void setIERS(double x, double y) { + this.x_pole = x * Constants.arcsec2rad; + this.y_pole = y * Constants.arcsec2rad; + // this.T = trueOfDate(); + // this.E = eci2ecef(); + } + + /** + * Initialize the JPL DE405 ephemerides and initialize the Moon vector. + * + */ + public void initializeMoonEphem(double MJD_TT) { + this.use_moon = true; + if (this.use_moon || this.use_sun) { + String fs, dir_in; + fs = FileUtil.file_separator(); + try { + dir_in = FileUtil.getClassFilePath("jat.eph", "DE405") + fs + "DE405data" + fs; + } catch (Exception e) { + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } + jpl_ephem = new DE405(dir_in); + } + // double JD_TDB = MJD_TT+2400000.5; + compute_JPL_Moon_Vector(MJD_TT); + } + + /** + * Initialize the JPL DE405 ephemerides and initialize the Sun vector. + * + */ + public void initializeSunEphem(double MJD_TT) { + this.use_sun = true; + if (this.use_moon || this.use_sun) { + String fs, dir_in; + fs = FileUtil.file_separator(); + try { + dir_in = FileUtil.getClassFilePath("jat.eph", "DE405") + fs + "DE405data" + fs; + } catch (Exception e) { + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } + jpl_ephem = new DE405(dir_in); + } + // double JD_TDB = MJD_TT+2400000.5; + compute_JPL_Sun_Vector(MJD_TT); + } + + /** + * Returns the (precalculated) ECI to ECEF (ICRF to ITRF) Transformation + * Matrix. + * + * @return ECI to ECEF Transformation Matrix. + */ + public Matrix ECI2ECEF() { + return this.E; + } + + /** + * Returns the (precalculated) J2000 to True of Date (ICRF to TOD) + * Transformation Matrix. + * + * @return J2000 to TOD Transformation Matrix. + */ + public Matrix TOD() { + return this.T; + } + + /** + * Computes the mean obliquity of the ecliptic. Uses Mjd_TT (Terrestrial + * Time). + * + * @return Mean obliquity of the ecliptic + */ + public double MeanObliquity(double MJD_TT) { + double T = (MJD_TT - TimeUtils.MJD_J2000) / 36525.0; + // double T = (this.MJD_TDB - MJD_J2000)/36525.0; //* used prior to + // IERS1996 convention + // TODO + return MathUtils.DEG2RAD * (23.43929111 - (46.8150 + (0.00059 - 0.001813 * T) * T) * T / 3600.0); + // * Following taken from GTDS documentation + // return MathUtils.DEG2RAD *( + // 23.43929111-0.0130047*T-(0.1639e-6)*T*T+(0.5036e-6)*T*T*T); + // * Debug - updated the epsilon-0 value according to the Supplemental + // Astro Almanac (old above) + // return MathUtils.DEG2RAD *( + // 23.4392911111-(46.8150+(0.00059-0.001813*T)*T)*T/3600.0 ); + // return Constants.arcsec2rad *( + // 84381.448-(46.8150+(0.00059-0.001813*T)*T)*T ); + // * Debug Vallado p 209 + // double T = Time.TTtoTDB(MJD_TT); + // T = (T-Time.MJD_J2000)/36525.0; + // return MathUtils.DEG2RAD * (23.439291 - + // 0.0130042*T-1.64e-7*T*T+5.04e-7*T*T*T); + // //return Constants.arcsec2rad * + // (84381.948-(46.8150+(0.00059-0.001813*T)*T)*T ); + } + + // *** <- The following is a backup of MeanObliquity as verified Summer 2005 + // -> *** + // /** Computes the mean obliquity of the ecliptic. Uses Mjd_TT (Terrestrial + // Time). + // *@return Mean obliquity of the ecliptic + // */ + // public double MeanObliquity(double MJD_TT) { + // double T = (MJD_TT - TimeUtils.MJD_J2000)/36525.0; + // //double T = (this.MJD_TDB - MJD_J2000)/36525.0; //* used prior to + // IERS1996 convention + // // TODO + // return MathUtils.DEG2RAD *( + // 23.43929111-(46.8150+(0.00059-0.001813*T)*T)*T/3600.0 ); + // //* Debug - updated the epsilon-0 value according to the Supplemental + // Astro Almanac (old above) + // //return MathUtils.DEG2RAD *( + // 23.4392911111-(46.8150+(0.00059-0.001813*T)*T)*T/3600.0 ); + // //return Constants.arcsec2rad *( + // 84381.448-(46.8150+(0.00059-0.001813*T)*T)*T ); + // //* Debug Vallado p 209 + // // double T = Time.TTtoTDB(MJD_TT); + // // T = (T-Time.MJD_J2000)/36525.0; + // // return MathUtils.DEG2RAD * (23.439291 - + // 0.0130042*T-1.64e-7*T*T+5.04e-7*T*T*T); + // // //return Constants.arcsec2rad * + // (84381.948-(46.8150+(0.00059-0.001813*T)*T)*T ); + // } + + /** + * Transformation of equatorial to ecliptical coordinates. Uses Mjd_TT + * (Terrestrial Time). + * + * @return Transformation matrix + */ + public RotationMatrix EclMatrix(double MJD_TT) { + RotationMatrix out = new RotationMatrix(1, MeanObliquity(MJD_TT)); + return out; + } + + /** + * Precession transformation of equatorial coordinates. Uses Mjd_TT + * (Terrestrial Time). + * + * @return Precession transformation matrix + */ + public Matrix PrecMatrix(double MJD_TT) { + double Mjd_1 = TimeUtils.MJD_J2000; // Epoch given (Modified Julian Date + // TT) + double Mjd_2 = MJD_TT; // Epoch to precess to (Modified Julian Date TT) + // double Mjd_2 = this.MJD_TDB; //* used prior to IERS1996 convention + + // Constants + final double Arcs = 1.0 / MathUtils.ARCSEC2RAD; + final double T = (Mjd_1 - TimeUtils.MJD_J2000) / 36525.0; + final double dT = (Mjd_2 - Mjd_1) / 36525.0; + + // Variables + double zeta, z, theta; + + // Precession angles + zeta = ((2306.2181 + (1.39656 - 0.000139 * T) * T) + ((0.30188 - 0.000344 * T) + 0.017998 * dT) * dT) * dT + / Arcs; + z = zeta + ((0.79280 + 0.000411 * T) + 0.000205 * dT) * dT * dT / Arcs; + theta = ((2004.3109 - (0.85330 + 0.000217 * T) * T) - ((0.42665 + 0.000217 * T) + 0.041833 * dT) * dT) * dT + / Arcs; + + // Precession matrix + RotationMatrix r1 = new RotationMatrix(3, -z); + RotationMatrix r2 = new RotationMatrix(2, theta); + RotationMatrix r3 = new RotationMatrix(3, -zeta); + + Matrix out = r1.times(r2.times(r3)); + return out; + } + + /** + * Computes Nutation in longitude and obliquity using the IAU 1980 nutation + * theory. Uses Mjd_TT (Terrestrial Time). + */ + public void NutAngles(double MJD_TT) { + double Mjd_TT = MJD_TT; + // double Mjd_TT = this.MJD_TDB; //* used prior to IERS1996 convention + + // Constants + + final double T = (Mjd_TT - TimeUtils.MJD_J2000) / 36525.0; + final double T2 = T * T; + final double T3 = T2 * T; + final double rev = 360.0 * 3600.0; // arcsec/revolution + + final int N_coeff = 106; + final long[][] C = { { 0, 0, 0, 0, 1, -1719960, -1742, 920250, 89 }, // 1 + { 0, 0, 0, 0, 2, 20620, 2, -8950, 5 }, // 2 + { -2, 0, 2, 0, 1, 460, 0, -240, 0 }, // 3 + { 2, 0, -2, 0, 0, 110, 0, 0, 0 }, // 4 + { -2, 0, 2, 0, 2, -30, 0, 10, 0 }, // 5 + { 1, -1, 0, -1, 0, -30, 0, 0, 0 }, // 6 + { 0, -2, 2, -2, 1, -20, 0, 10, 0 }, // 7 + { 2, 0, -2, 0, 1, 10, 0, 0, 0 }, // 8 + { 0, 0, 2, -2, 2, -131870, -16, 57360, -31 }, // 9 + { 0, 1, 0, 0, 0, 14260, -34, 540, -1 }, // 10 + { 0, 1, 2, -2, 2, -5170, 12, 2240, -6 }, // 11 + { 0, -1, 2, -2, 2, 2170, -5, -950, 3 }, // 12 + { 0, 0, 2, -2, 1, 1290, 1, -700, 0 }, // 13 + { 2, 0, 0, -2, 0, 480, 0, 10, 0 }, // 14 + { 0, 0, 2, -2, 0, -220, 0, 0, 0 }, // 15 + { 0, 2, 0, 0, 0, 170, -1, 0, 0 }, // 16 + { 0, 1, 0, 0, 1, -150, 0, 90, 0 }, // 17 + { 0, 2, 2, -2, 2, -160, 1, 70, 0 }, // 18 + { 0, -1, 0, 0, 1, -120, 0, 60, 0 }, // 19 + { -2, 0, 0, 2, 1, -60, 0, 30, 0 }, // 20 + { 0, -1, 2, -2, 1, -50, 0, 30, 0 }, // 21 + { 2, 0, 0, -2, 1, 40, 0, -20, 0 }, // 22 + { 0, 1, 2, -2, 1, 40, 0, -20, 0 }, // 23 + { 1, 0, 0, -1, 0, -40, 0, 0, 0 }, // 24 + { 2, 1, 0, -2, 0, 10, 0, 0, 0 }, // 25 + { 0, 0, -2, 2, 1, 10, 0, 0, 0 }, // 26 + { 0, 1, -2, 2, 0, -10, 0, 0, 0 }, // 27 + { 0, 1, 0, 0, 2, 10, 0, 0, 0 }, // 28 + { -1, 0, 0, 1, 1, 10, 0, 0, 0 }, // 29 + { 0, 1, 2, -2, 0, -10, 0, 0, 0 }, // 30 + { 0, 0, 2, 0, 2, -22740, -2, 9770, -5 }, // 31 + { 1, 0, 0, 0, 0, 7120, 1, -70, 0 }, // 32 + { 0, 0, 2, 0, 1, -3860, -4, 2000, 0 }, // 33 + { 1, 0, 2, 0, 2, -3010, 0, 1290, -1 }, // 34 + { 1, 0, 0, -2, 0, -1580, 0, -10, 0 }, // 35 + { -1, 0, 2, 0, 2, 1230, 0, -530, 0 }, // 36 + { 0, 0, 0, 2, 0, 630, 0, -20, 0 }, // 37 + { 1, 0, 0, 0, 1, 630, 1, -330, 0 }, // 38 + { -1, 0, 0, 0, 1, -580, -1, 320, 0 }, // 39 + { -1, 0, 2, 2, 2, -590, 0, 260, 0 }, // 40 + { 1, 0, 2, 0, 1, -510, 0, 270, 0 }, // 41 + { 0, 0, 2, 2, 2, -380, 0, 160, 0 }, // 42 + { 2, 0, 0, 0, 0, 290, 0, -10, 0 }, // 43 + { 1, 0, 2, -2, 2, 290, 0, -120, 0 }, // 44 + { 2, 0, 2, 0, 2, -310, 0, 130, 0 }, // 45 + { 0, 0, 2, 0, 0, 260, 0, -10, 0 }, // 46 + { -1, 0, 2, 0, 1, 210, 0, -100, 0 }, // 47 + { -1, 0, 0, 2, 1, 160, 0, -80, 0 }, // 48 + { 1, 0, 0, -2, 1, -130, 0, 70, 0 }, // 49 + { -1, 0, 2, 2, 1, -100, 0, 50, 0 }, // 50 + { 1, 1, 0, -2, 0, -70, 0, 0, 0 }, // 51 + { 0, 1, 2, 0, 2, 70, 0, -30, 0 }, // 52 + { 0, -1, 2, 0, 2, -70, 0, 30, 0 }, // 53 + { 1, 0, 2, 2, 2, -80, 0, 30, 0 }, // 54 + { 1, 0, 0, 2, 0, 60, 0, 0, 0 }, // 55 + { 2, 0, 2, -2, 2, 60, 0, -30, 0 }, // 56 + { 0, 0, 0, 2, 1, -60, 0, 30, 0 }, // 57 + { 0, 0, 2, 2, 1, -70, 0, 30, 0 }, // 58 + { 1, 0, 2, -2, 1, 60, 0, -30, 0 }, // 59 + { 0, 0, 0, -2, 1, -50, 0, 30, 0 }, // 60 + { 1, -1, 0, 0, 0, 50, 0, 0, 0 }, // 61 + { 2, 0, 2, 0, 1, -50, 0, 30, 0 }, // 62 + { 0, 1, 0, -2, 0, -40, 0, 0, 0 }, // 63 + { 1, 0, -2, 0, 0, 40, 0, 0, 0 }, // 64 + { 0, 0, 0, 1, 0, -40, 0, 0, 0 }, // 65 + { 1, 1, 0, 0, 0, -30, 0, 0, 0 }, // 66 + { 1, 0, 2, 0, 0, 30, 0, 0, 0 }, // 67 + { 1, -1, 2, 0, 2, -30, 0, 10, 0 }, // 68 + { -1, -1, 2, 2, 2, -30, 0, 10, 0 }, // 69 + { -2, 0, 0, 0, 1, -20, 0, 10, 0 }, // 70 + { 3, 0, 2, 0, 2, -30, 0, 10, 0 }, // 71 + { 0, -1, 2, 2, 2, -30, 0, 10, 0 }, // 72 + { 1, 1, 2, 0, 2, 20, 0, -10, 0 }, // 73 + { -1, 0, 2, -2, 1, -20, 0, 10, 0 }, // 74 + { 2, 0, 0, 0, 1, 20, 0, -10, 0 }, // 75 + { 1, 0, 0, 0, 2, -20, 0, 10, 0 }, // 76 + { 3, 0, 0, 0, 0, 20, 0, 0, 0 }, // 77 + { 0, 0, 2, 1, 2, 20, 0, -10, 0 }, // 78 + { -1, 0, 0, 0, 2, 10, 0, -10, 0 }, // 79 + { 1, 0, 0, -4, 0, -10, 0, 0, 0 }, // 80 + { -2, 0, 2, 2, 2, 10, 0, -10, 0 }, // 81 + { -1, 0, 2, 4, 2, -20, 0, 10, 0 }, // 82 + { 2, 0, 0, -4, 0, -10, 0, 0, 0 }, // 83 + { 1, 1, 2, -2, 2, 10, 0, -10, 0 }, // 84 + { 1, 0, 2, 2, 1, -10, 0, 10, 0 }, // 85 + { -2, 0, 2, 4, 2, -10, 0, 10, 0 }, // 86 + { -1, 0, 4, 0, 2, 10, 0, 0, 0 }, // 87 + { 1, -1, 0, -2, 0, 10, 0, 0, 0 }, // 88 + { 2, 0, 2, -2, 1, 10, 0, -10, 0 }, // 89 + { 2, 0, 2, 2, 2, -10, 0, 0, 0 }, // 90 + { 1, 0, 0, 2, 1, -10, 0, 0, 0 }, // 91 + { 0, 0, 4, -2, 2, 10, 0, 0, 0 }, // 92 + { 3, 0, 2, -2, 2, 10, 0, 0, 0 }, // 93 + { 1, 0, 2, -2, 0, -10, 0, 0, 0 }, // 94 + { 0, 1, 2, 0, 1, 10, 0, 0, 0 }, // 95 + { -1, -1, 0, 2, 1, 10, 0, 0, 0 }, // 96 + { 0, 0, -2, 0, 1, -10, 0, 0, 0 }, // 97 + { 0, 0, 2, -1, 2, -10, 0, 0, 0 }, // 98 + { 0, 1, 0, 2, 0, -10, 0, 0, 0 }, // 99 + { 1, 0, -2, -2, 0, -10, 0, 0, 0 }, // 100 + { 0, -1, 2, 0, 1, -10, 0, 0, 0 }, // 101 + { 1, 1, 0, -2, 1, -10, 0, 0, 0 }, // 102 + { 1, 0, -2, 2, 0, -10, 0, 0, 0 }, // 103 + { 2, 0, 0, 2, 0, 10, 0, 0, 0 }, // 104 + { 0, 0, 2, 4, 2, -10, 0, 0, 0 }, // 105 + { 0, 1, 0, 1, 0, 10, 0, 0, 0 } // 106 + }; + + // Variables + double l, lp, F, D;// , Om; //Om changed to class variable + double arg; + + // Mean arguments of luni-solar motion + // + // l mean anomaly of the Moon + // l' mean anomaly of the Sun + // F mean argument of latitude + // D mean longitude elongation of the Moon from the Sun + // Om mean longitude of the ascending node + + l = MathUtils.Modulo(485866.733 + (1325.0 * rev + 715922.633) * T + 31.310 * T2 + 0.064 * T3, rev); + lp = MathUtils.Modulo(1287099.804 + (99.0 * rev + 1292581.224) * T - 0.577 * T2 - 0.012 * T3, rev); + F = MathUtils.Modulo(335778.877 + (1342.0 * rev + 295263.137) * T - 13.257 * T2 + 0.011 * T3, rev); + D = MathUtils.Modulo(1072261.307 + (1236.0 * rev + 1105601.328) * T - 6.891 * T2 + 0.019 * T3, rev); + // Om = MathUtils.Modulo( 450160.280 - ( 5.0*rev + 482890.539)*T + // + 7.455*T2 + 0.008*T3, rev ); + // TODO + // * Debug - changed to correspond to the Supplemental Astro Almanac + // (old above) + // * Warning!!! This value below causes error ~8.816m for ISS ~1.264m + // Sun-Sync + // Om = MathUtils.Modulo( 486160.28 - ( 5.0*rev + 482890.539)*T + // + 7.455*T2 + 0.008*T3, rev ); + // * Debug2 - IERS tech report 21 1996 conventions (below) + Om = MathUtils.Modulo(450160 - 6962890.2665 * T + 7.4722 * T2 + 0.007702 * T3 - 0.00005939 * T3 * T, rev); + + // Nutation in longitude and obliquity [rad] + final double Arcs = MathUtils.ARCSEC2RAD; + + deps = 0.0; + dpsi = 0.0; + for (int i = 0; i < N_coeff; i++) { + arg = (C[i][0] * l + C[i][1] * lp + C[i][2] * F + C[i][3] * D + C[i][4] * Om) * Arcs; + dpsi += (C[i][5] + C[i][6] * T) * Math.sin(arg); + deps += (C[i][7] + C[i][8] * T) * Math.cos(arg); + } + // TODO + // * Delta Delta corrections + // double ddpsi = -0.0534; + // double ddeps = -0.00472; + // this.dpsi = this.dpsi + ddpsi; + // this.deps = this.deps + ddeps; + + this.dpsi = 1.0E-5 * dpsi * Arcs; + this.deps = 1.0E-5 * deps * Arcs; + this.Om = Om * Arcs; + + // * Vallado p 223 + // double mjd_TDB = Time.TTtoTDB(MJD_TT); + // double TDB = (mjd_TDB-Time.MJD_J2000)/36525.0; + // double TDB2 = TDB*TDB; + // double TDB3 = TDB2*TDB; + // double TDB4 = TDB3*TDB; + // double r = 360; + // //* degrees + // l = MathUtils.Modulo( 134.96340251 + (1325.0*r + 198.8675605)*TDB + // + 0.0088553*TDB2 + (1.4343e-5)*TDB3-(6.797e-6)*TDB4, r ); + // lp = MathUtils.Modulo( 357.52910918 + ( 99.0*r + 359.0502911)*TDB + // - 0.0001537*TDB2 - 3.8e-8*TDB3 -3.19e-9*TDB4, r ); + // F = MathUtils.Modulo( 93.27209062 + (1342.0*r + 82.0174577)*TDB + // - 0.0035420*TDB2 + 2.88e-7*TDB3+1.16e-9*TDB4, r ); + // D = MathUtils.Modulo( 297.85019547 + (1236.0*r + 307.1114469)*TDB + // - 0.0017696*TDB2 + 1.831e-6*TDB3 - 8.80e-9*TDB4, r ); + // Om = MathUtils.Modulo( 125.04455501 - ( 5.0*r + 134.1361851)*TDB + // + 0.0020756*TDB2 + 2.139e-6*TDB3 - 1.65e-8*TDB4, r ); + // final double deg2rad = MathUtils.PI/180.0; + // + // // Nutation in longitude and obliquity [rad] + // final double Arcs = MathUtils.ARCSEC2RAD; + // + // deps = 0.0; + // dpsi = 0.0; + // for (int i=0; i 0) { + // //x = mjd[i] - mjd[i - 1]; + // //x += (mjd[i]-mjd[i-1]); + // x = i * 1.0; // one day increment in data file + // if (Math.abs(y[i] - y[i - 1]) > 0.5) { + // dtleap = 1.0; + // } + // y[i] = y[i] - dtleap; + // } + + // double x2 = x * x; + // double x3 = x2 * x; + // double x4 = x3 * x; + // hth.set(2, 2, (hth.get(2, 2) + 1.0)); + // hth.set(2, 1, (hth.get(2, 1) + x)); + // hth.set(1, 2, (hth.get(2, 1))); + // hth.set(2, 0, (hth.get(2, 0) + x2)); + // hth.set(1, 1, (hth.get(2, 0))); + // hth.set(0, 2, (hth.get(2, 0))); + // hth.set(1, 0, (hth.get(1, 0) + x3)); + // hth.set(0, 1, (hth.get(1, 0))); + // hth.set(0, 0, (hth.get(0, 0) + x4)); + + // ht.set(0, i, x2); + // ht.set(1, i, x); + // ht.set(2, i, 1.0); + // // process polar motion data + // tp = mjd[0] - 1.0; + // double num = 2.0 * (mjd[i] - tp) * MathUtils.PI; + // double ca = num / 365.25; + // double cc = num / 435.0; + // double cosa = Math.cos(ca); + // double sina = Math.sin(ca); + // double cosc = Math.cos(cc); + // double sinc = Math.sin(cc); + + // ata.set(0, 0, (ata.get(0, 0) + 1.0)); + // ata.set(1, 0, (ata.get(1, 0) + cosa)); + // ata.set(2, 0, (ata.get(2, 0) + sina)); + // ata.set(3, 0, (ata.get(3, 0) + cosc)); + // ata.set(4, 0, (ata.get(4, 0) + sinc)); + // ata.set(0, 1, (ata.get(1, 0))); + // ata.set(0, 2, (ata.get(2, 0))); + // ata.set(0, 3, (ata.get(3, 0))); + // ata.set(0, 4, (ata.get(4, 0))); + // ata.set(1, 1, (ata.get(1, 1) + cosa * cosa)); + // ata.set(2, 1, (ata.get(2, 1) + cosa * sina)); + // ata.set(3, 1, (ata.get(3, 1) + cosa * cosc)); + // ata.set(4, 1, (ata.get(4, 1) + cosa * sinc)); + // ata.set(1, 2, (ata.get(2, 1))); + // ata.set(1, 3, (ata.get(3, 1))); + // ata.set(1, 4, (ata.get(4, 1))); + // ata.set(2, 2, (ata.get(2, 2) + sina * sina)); + // ata.set(3, 2, (ata.get(3, 2) + sina * cosc)); + // ata.set(4, 2, (ata.get(4, 2) + sina * sinc)); + // ata.set(2, 3, (ata.get(3, 2))); + // ata.set(2, 4, (ata.get(4, 2))); + // ata.set(3, 3, (ata.get(3, 3) + cosc * cosc)); + // ata.set(3, 4, (ata.get(3, 4) + cosc * sinc)); + // ata.set(4, 3, (ata.get(3, 4))); + // ata.set(4, 4, (ata.get(4, 4) + sinc * sinc)); + + // atx.set(0, (atx.get(0) + pmx)); + // atx.set(1, (atx.get(1) + pmx * cosa)); + // atx.set(2, (atx.get(2) + pmx * sina)); + // atx.set(3, (atx.get(3) + pmx * cosc)); + // atx.set(4, (atx.get(4) + pmx * sinc)); + // aty.set(0, (aty.get(0) + pmy)); + // aty.set(1, (aty.get(1) + pmy * cosa)); + // aty.set(2, (aty.get(2) + pmy * sina)); + // aty.set(3, (aty.get(3) + pmy * cosc)); + // aty.set(4, (aty.get(4) + pmy * sinc)); + + // } + // //* Get inverse + // Matrix hthinv = hth.inverse(); + // //* Get hty + // VectorN ymat = new VectorN(y); + // VectorN hty = ht.times(ymat); + + // //* solve + // u = hthinv.times(hty); + // //* invert ata (least squares fit for x- and y- parameters + // Matrix atainv = ata.inverse(); + // //* multiply the inverses + // ax = atainv.times(atx); + // ay = atainv.times(aty); + } + mjd_1 = mjd[0]; + initialized = true; + } + } + + /** + * Interpolate (linear) the data to find the parameters. + * + * @param mjd_arg + * @return [xpole ypole UT1-UTC] + */ + public double[] search(double mjd_arg) { + // System.out.println("***SEARCH***"); + double[] output = new double[3]; + if (Math.abs(mjd_arg - FitIERS.out_mjd) < 1.0) { + output = FitIERS.out_data; + } else { + int n = mjd.length; + int out = n - 2; + // System.out.println("mjd0: "+mjd[0]+" mjdarg: "+mjd_arg); + // System.out.println("mjd2: "+mjd[n/2]+" mjdf: "+mjd[n-1]); + // System.out.println("mjd_arg: "+mjd_arg); + // System.out.println("length: "+mjd.length); + // System.out.println("den: "+(mjd[mjd.length-1]-mjd[0])); + double ref = (mjd.length / (mjd[mjd.length - 1] - mjd[0])); + int ai = (int) ((mjd_arg - mjd[0]) * ref - 5); + for (int i = ai; i < ai + 10; i++) { + // System.out.println("MATLAB: FitIERS search: "+i+" ai: "+ai+" ref: "+ref); + if ((mjd_arg - mjd[i]) < 1.0) { + out = i; + // System.out.println("mjd1: "+mjd[i]+" "+eop[i][0]); + break; + } + } + if (out == n - 2) { + if (mjd_arg <= mjd[0]) + return eop[0]; + else if (mjd_arg < mjd[n / 2]) { + for (int i = 0; i < n / 2; i++) { + if ((mjd_arg - mjd[i]) < 1.0) { + out = i; + // System.out.println("mjd1: "+mjd[i]+" "+eop[i][0]); + break; + } + } + } else if (mjd_arg >= mjd[n / 2] && mjd_arg <= mjd[n - 1]) { + for (int i = n / 2; i < n; i++) { + // System.out.println("i: "+i+" "+mjd[i]+" "+eop[i][0]); + if ((mjd_arg - mjd[i]) < 1.0) { + out = i; + // System.out.println("mjd2: "+mjd[i]+" "+eop[i][0]); + break; + } + } + } + } + // * linear interpolation + + output[0] = (eop[out + 1][0] - eop[out][0]) / (mjd[out + 1] - mjd[out]) * (mjd_arg - mjd[out]) + + eop[out][0]; + output[1] = (eop[out + 1][1] - eop[out][1]) / (mjd[out + 1] - mjd[out]) * (mjd_arg - mjd[out]) + + eop[out][1]; + output[2] = (eop[out + 1][2] - eop[out][2]) / (mjd[out + 1] - mjd[out]) * (mjd_arg - mjd[out]) + + eop[out][2]; + FitIERS.out_mjd = mjd[out]; + FitIERS.out_data = output; + } + return output; + + // System.out.println("Search out: "+mjd[out]+" "+eop[out][0]); + // return eop[out]; + } + + // /** + // * Fit the x and y poles to the given Julian Date + // * @param mjd Modified Julian Date + // */ + // public void fit(double mjd){ + // // Find the nearest UT1 value + // // for(int i=0; i + * The GPSTimeFormat Class provides methods of converting between the GPS Time and MJD and CalDate time formats. + * Reference: Satellite Orbits by Montenbruck and Gill. + * Translated code from the NOAA GPS Toolbox (www.ngs.noaa.gov/gps-toolbox/index.html) + * + * @author + * @version 1.0 + */ +public class GPSTimeFormat { + + private long GPS_Week; + + private double GPS_SOW; + + /** MJD of GPS epoch (Jan 6, 1980). + */ + public static final long JAN61980 = 44244; + + /** MJD of Jan 1, 1901 + */ + public static final long JAN11901 = 15385; + + /** Seconds per day. + */ + public static final double SEC_PER_DAY = 86400.0; + + public static final double TAI_TT = 32.184; // constant + + public static final int TAI_GPS = 19; // constant + + /** Create a GPSTimeFormat object using GPS Week and Seconds of the Week. + * @param gps_week Long GPS Week number. + * @param gps_sow Double GPS seconds of the week. + */ + public GPSTimeFormat(long gps_week, double gps_sow){ + this.GPS_Week = gps_week; + this.GPS_SOW = gps_sow; + } + + /** Create a clone of a GPSTimeFormat object. + * @param gps GPSTimeFormat object to be cloned. + */ + public GPSTimeFormat(GPSTimeFormat gps){ + this.GPS_Week = gps.GPS_Week; + this.GPS_SOW = gps.GPS_SOW; + } + + /** Creates a new instance of GPSTimeFormat + * @param year Integer year. + * @param doy Integer day of year. + * @param hour Integer hours. + * @param minute Integer minutes. + * @param second Integer seconds. + */ + public GPSTimeFormat(int year, int doy, int hour, int minute, double second) { + long mjd; + double fmjd; + + mjd = ((year - 1901)/4)*1461 + ((year - 1901)%4)*365 + doy - 1 + JAN11901; + fmjd = ((second/60.0 + minute)/60.0 + hour)/24.0; + + this.GPS_Week = (mjd - JAN61980)/7; + this.GPS_SOW = ( (mjd - JAN61980) - GPS_Week*7 + fmjd )*SEC_PER_DAY; + } + + /** Create a GPSTimeFormat object from a CalDate object. + * @param cal CalDate object. + */ + public GPSTimeFormat(CalDate cal){ + long mjd; + double fmjd; + int year = cal.Year; + int doy = cal.DOY; + int hour = cal.Hour; + int minute = cal.Min; + double second = cal.Sec; + + mjd = ((year - 1901)/4)*1461 + ((year - 1901)%4)*365 + doy - 1 + JAN11901; + fmjd = ((second/60.0 + minute)/60.0 + hour)/24.0; + + this.GPS_Week = (mjd - JAN61980)/7; + this.GPS_SOW = ( (mjd - JAN61980) - GPS_Week*7 + fmjd )*SEC_PER_DAY; + } + + /** Create a GPSTimeFormat object from an MJD. + * @param mjd Modified Julian Date. + */ + public GPSTimeFormat(double mjd){ + long lmjd = (long)mjd; + double fmjd = MathUtils.Frac(mjd); + this.GPS_Week = (lmjd - JAN61980)/7; + this.GPS_SOW = ( (lmjd - JAN61980) - GPS_Week*7 + fmjd )*SEC_PER_DAY; + } + + public double mjd_utc(){ + return TimeUtils.gps2utc(mjd()); + } + + /** Returns the modified Julian date. + * @return modified Julian date. + */ + public double mjd(){ + double out = (double)(GPS_Week*7 + GPS_SOW/SEC_PER_DAY + JAN61980); + return out; + } + + /** Returns the time in CalDate format. + * @return Time in CalDate format. + */ + public CalDate calDate(){ + CalDate out = new CalDate(this); + return out; + } + + /** Returns the GPS Week number. + * @return GPS week number. + */ + public long gps_week(){ + return this.GPS_Week; + } + + /** Returns the GPS Seconds of the Week. + * @return GPS seconds of the week. + */ + public double gps_sow(){ + return this.GPS_SOW; + } + + /** + * Print out the GPS time + * @param title String containing a title + */ + public void print(String title) { + System.out.println(title + " GPS Time"); + System.out.println(" GPS Week: "+this.GPS_Week); + System.out.println(" GPS SOW: "+this.GPS_SOW); + System.out.println(" MJD: "+this.mjd()); + } + + /** + * Print out the GPS time in CalDate format + * @param title String containing a title + */ + public void printCalDate(String title){ + CalDate temp = this.calDate(); + temp.print(title); + } + + /** Increments time forward or backwards. + * @param sec Increment to move time in seconds. Positive for forward, negative for backwards. + */ + public void increment(double sec){ + double temp = this.GPS_SOW + sec; + double max_sow = 604800.0; + if (Math.abs(sec) > max_sow){ + System.out.println("Sorry I can't increment time by >= 1 week"); + return; + } + // incrementing backwards into last week + if (temp < 0.0){ + this.GPS_Week = this.GPS_Week - 1; + this.GPS_SOW = max_sow + temp; + } + // incrementing forward into next week + if (temp >= max_sow){ + this.GPS_Week = this.GPS_Week + 1; + this.GPS_SOW = temp - max_sow; + } + // incrementing within the week + if ((temp >= 0.0)&&(temp < max_sow)){ + this.GPS_SOW = temp; + } + } + + /** Convert GPS time to UTC time. + * @return CalDate object with current UTC time. + */ + public CalDate GPS2UTC(){ + // get the current mjd + double mjd = this.mjd(); + + // convert the current time to CalDate format + CalDate out = new CalDate(this); + + // compute the difference between GPS and UTC + int utc_gps = TAI_GPS - TimeUtils.tai_utc(mjd); + + // convert from GPS time to UTC time + out.increment(utc_gps); + return out; + } + + /** Convert GPS time to TT. + * @return mjd with current TT. + */ + public double GPS2TT(){ + // get the current mjd + double mjd = this.mjd(); + + // compute the difference between Terrestrial and GPS + double tt_gps = TAI_GPS - TAI_TT; + + // make a copy + GPSTimeFormat out = new GPSTimeFormat(this); + + // convert from GPS time to Terrestrial time + out.increment(tt_gps); + return out.mjd(); + } + +} diff --git a/src/jat/coreNOSA/spacetime/ITRF.java b/src/jat/coreNOSA/spacetime/ITRF.java new file mode 100644 index 0000000..7f161f1 --- /dev/null +++ b/src/jat/coreNOSA/spacetime/ITRF.java @@ -0,0 +1,384 @@ +package jat.coreNOSA.spacetime; +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2007 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +*/ + +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +/** + * ITRF provides a representation of the Internation Terrestrial Reference Frame. + * It is used to compute the transformation between ECI and ECEF frames. + * @author + * @version 1.0 + */ +public class ITRF { + private double omega = 0.0; + private double dpsi = 0.0; + private double deps = 0.0; + private Matrix nutMatrix; + private Matrix precMatrix; + private Matrix poleMatrix; + private Matrix gstMatrix; + private double mjd_tt; + private double mjd_ut1; + private double _xp; + private double _yp; + private static final double JAN11997 = TimeUtils.JDtoMJD(2450449.5); + private double t; + private double t2; + private double t3; + private double t4; + private double eps; + + /** + * Create an instance of ITRF + * @param time a Time Object + * @param xp double containing the x-pole location in arcsec (from IERS Bulletin B) + * @param yp double containing the y-pole location in arcsec (from IERS Bulletin B) + * @param ut1_utc double containing the difference between UT1 and UTC in seconds (from IERS Bulletin B) + */ + public ITRF(Time time, double xp, double yp, double ut1_utc){ + // convert polar motion data to radians + _xp = xp * MathUtils.ARCSEC2RAD; + _yp = yp * MathUtils.ARCSEC2RAD; +// System.out.println("xp = "+_xp+" yp = "+_yp); + // get the Terrestrial Time + mjd_tt = time.mjd_tt(); + time.set_UT1_UTC(ut1_utc); + t = centuriesSinceJ2000(mjd_tt); + t2 = t*t; + t3 = t2*t; + t4 = t3*t; + mjd_ut1 = time.mjd_ut1(); + + // make the computations + this.precession(); + this.nutation(); + this.sidereal(); + this.polarMotion(); + } + + /** + * Return Julian centuries since J2000 (Terrestrial Time) + * @param mjd_tt double containing TT in MJD format + * @return Julian centuries since J2000 (Terrestrial Time) + */ + private static double centuriesSinceJ2000(double mjd) { + return (mjd - TimeUtils.MJD_J2000) / 36525.0; + } + + /** + * Return Greenwich Mean Sidereal Time in radians + * @return GMST in radians + */ + private double GMST(){ + // compute time since J2000 in days + double T = mjd_ut1 - TimeUtils.MJD_J2000; + // compute GMST in radians (CSR-02-01, p.21, MSODP Implementation) + double gmst = 4.894961212823058751375704430 + T*(6.30038809898489355227651372 + T*(5.075209994113591478053805523E-15 - 9.25309756819433560067190688E-24*T)); + // quadrant check (return a value between 0 and 2PI) + gmst = MathUtils.radiancheck(gmst); +// System.out.println("gmst = "+gmst); + return gmst; + } + + /** + * Return mean obliquity in radians + * @return GMST in radians + */ + private void meanObliquity (){ + // compute meanObliquity in arcsec + eps = 84381.448 - 46.8150*t - 0.00059*t2 + 0.001813*t3; + // convert to radians + eps = eps*MathUtils.ARCSEC2RAD; + eps = MathUtils.radiancheck(eps); +// System.out.println("eps = "+eps); + } + + /** Computes Nutation in longitude and obliquity using the IAU 1980 nutation theory. + */ + private void nutation() { + meanObliquity(); + // Constants + + final int N_coeff = 106; + final long [][] C = { + { 0, 0, 0, 0, 1,-1719960,-1742, 920250, 89 }, // 1 + { 0, 0, 0, 0, 2, 20620, 2, -8950, 5 }, // 2 + { -2, 0, 2, 0, 1, 460, 0, -240, 0 }, // 3 + { 2, 0,-2, 0, 0, 110, 0, 0, 0 }, // 4 + { -2, 0, 2, 0, 2, -30, 0, 10, 0 }, // 5 + { 1,-1, 0,-1, 0, -30, 0, 0, 0 }, // 6 + { 0,-2, 2,-2, 1, -20, 0, 10, 0 }, // 7 + { 2, 0,-2, 0, 1, 10, 0, 0, 0 }, // 8 + { 0, 0, 2,-2, 2, -131870, -16, 57360, -31 }, // 9 + { 0, 1, 0, 0, 0, 14260, -34, 540, -1 }, // 10 + { 0, 1, 2,-2, 2, -5170, 12, 2240, -6 }, // 11 + { 0,-1, 2,-2, 2, 2170, -5, -950, 3 }, // 12 + { 0, 0, 2,-2, 1, 1290, 1, -700, 0 }, // 13 + { 2, 0, 0,-2, 0, 480, 0, 10, 0 }, // 14 + { 0, 0, 2,-2, 0, -220, 0, 0, 0 }, // 15 + { 0, 2, 0, 0, 0, 170, -1, 0, 0 }, // 16 + { 0, 1, 0, 0, 1, -150, 0, 90, 0 }, // 17 + { 0, 2, 2,-2, 2, -160, 1, 70, 0 }, // 18 + { 0,-1, 0, 0, 1, -120, 0, 60, 0 }, // 19 + { -2, 0, 0, 2, 1, -60, 0, 30, 0 }, // 20 + { 0,-1, 2,-2, 1, -50, 0, 30, 0 }, // 21 + { 2, 0, 0,-2, 1, 40, 0, -20, 0 }, // 22 + { 0, 1, 2,-2, 1, 40, 0, -20, 0 }, // 23 + { 1, 0, 0,-1, 0, -40, 0, 0, 0 }, // 24 + { 2, 1, 0,-2, 0, 10, 0, 0, 0 }, // 25 + { 0, 0,-2, 2, 1, 10, 0, 0, 0 }, // 26 + { 0, 1,-2, 2, 0, -10, 0, 0, 0 }, // 27 + { 0, 1, 0, 0, 2, 10, 0, 0, 0 }, // 28 + { -1, 0, 0, 1, 1, 10, 0, 0, 0 }, // 29 + { 0, 1, 2,-2, 0, -10, 0, 0, 0 }, // 30 + { 0, 0, 2, 0, 2, -22740, -2, 9770, -5 }, // 31 + { 1, 0, 0, 0, 0, 7120, 1, -70, 0 }, // 32 + { 0, 0, 2, 0, 1, -3860, -4, 2000, 0 }, // 33 + { 1, 0, 2, 0, 2, -3010, 0, 1290, -1 }, // 34 + { 1, 0, 0,-2, 0, -1580, 0, -10, 0 }, // 35 + { -1, 0, 2, 0, 2, 1230, 0, -530, 0 }, // 36 + { 0, 0, 0, 2, 0, 630, 0, -20, 0 }, // 37 + { 1, 0, 0, 0, 1, 630, 1, -330, 0 }, // 38 + { -1, 0, 0, 0, 1, -580, -1, 320, 0 }, // 39 + { -1, 0, 2, 2, 2, -590, 0, 260, 0 }, // 40 + { 1, 0, 2, 0, 1, -510, 0, 270, 0 }, // 41 + { 0, 0, 2, 2, 2, -380, 0, 160, 0 }, // 42 + { 2, 0, 0, 0, 0, 290, 0, -10, 0 }, // 43 + { 1, 0, 2,-2, 2, 290, 0, -120, 0 }, // 44 + { 2, 0, 2, 0, 2, -310, 0, 130, 0 }, // 45 + { 0, 0, 2, 0, 0, 260, 0, -10, 0 }, // 46 + { -1, 0, 2, 0, 1, 210, 0, -100, 0 }, // 47 + { -1, 0, 0, 2, 1, 160, 0, -80, 0 }, // 48 + { 1, 0, 0,-2, 1, -130, 0, 70, 0 }, // 49 + { -1, 0, 2, 2, 1, -100, 0, 50, 0 }, // 50 + { 1, 1, 0,-2, 0, -70, 0, 0, 0 }, // 51 + { 0, 1, 2, 0, 2, 70, 0, -30, 0 }, // 52 + { 0,-1, 2, 0, 2, -70, 0, 30, 0 }, // 53 + { 1, 0, 2, 2, 2, -80, 0, 30, 0 }, // 54 + { 1, 0, 0, 2, 0, 60, 0, 0, 0 }, // 55 + { 2, 0, 2,-2, 2, 60, 0, -30, 0 }, // 56 + { 0, 0, 0, 2, 1, -60, 0, 30, 0 }, // 57 + { 0, 0, 2, 2, 1, -70, 0, 30, 0 }, // 58 + { 1, 0, 2,-2, 1, 60, 0, -30, 0 }, // 59 + { 0, 0, 0,-2, 1, -50, 0, 30, 0 }, // 60 + { 1,-1, 0, 0, 0, 50, 0, 0, 0 }, // 61 + { 2, 0, 2, 0, 1, -50, 0, 30, 0 }, // 62 + { 0, 1, 0,-2, 0, -40, 0, 0, 0 }, // 63 + { 1, 0,-2, 0, 0, 40, 0, 0, 0 }, // 64 + { 0, 0, 0, 1, 0, -40, 0, 0, 0 }, // 65 + { 1, 1, 0, 0, 0, -30, 0, 0, 0 }, // 66 + { 1, 0, 2, 0, 0, 30, 0, 0, 0 }, // 67 + { 1,-1, 2, 0, 2, -30, 0, 10, 0 }, // 68 + { -1,-1, 2, 2, 2, -30, 0, 10, 0 }, // 69 + { -2, 0, 0, 0, 1, -20, 0, 10, 0 }, // 70 + { 3, 0, 2, 0, 2, -30, 0, 10, 0 }, // 71 + { 0,-1, 2, 2, 2, -30, 0, 10, 0 }, // 72 + { 1, 1, 2, 0, 2, 20, 0, -10, 0 }, // 73 + { -1, 0, 2,-2, 1, -20, 0, 10, 0 }, // 74 + { 2, 0, 0, 0, 1, 20, 0, -10, 0 }, // 75 + { 1, 0, 0, 0, 2, -20, 0, 10, 0 }, // 76 + { 3, 0, 0, 0, 0, 20, 0, 0, 0 }, // 77 + { 0, 0, 2, 1, 2, 20, 0, -10, 0 }, // 78 + { -1, 0, 0, 0, 2, 10, 0, -10, 0 }, // 79 + { 1, 0, 0,-4, 0, -10, 0, 0, 0 }, // 80 + { -2, 0, 2, 2, 2, 10, 0, -10, 0 }, // 81 + { -1, 0, 2, 4, 2, -20, 0, 10, 0 }, // 82 + { 2, 0, 0,-4, 0, -10, 0, 0, 0 }, // 83 + { 1, 1, 2,-2, 2, 10, 0, -10, 0 }, // 84 + { 1, 0, 2, 2, 1, -10, 0, 10, 0 }, // 85 + { -2, 0, 2, 4, 2, -10, 0, 10, 0 }, // 86 + { -1, 0, 4, 0, 2, 10, 0, 0, 0 }, // 87 + { 1,-1, 0,-2, 0, 10, 0, 0, 0 }, // 88 + { 2, 0, 2,-2, 1, 10, 0, -10, 0 }, // 89 + { 2, 0, 2, 2, 2, -10, 0, 0, 0 }, // 90 + { 1, 0, 0, 2, 1, -10, 0, 0, 0 }, // 91 + { 0, 0, 4,-2, 2, 10, 0, 0, 0 }, // 92 + { 3, 0, 2,-2, 2, 10, 0, 0, 0 }, // 93 + { 1, 0, 2,-2, 0, -10, 0, 0, 0 }, // 94 + { 0, 1, 2, 0, 1, 10, 0, 0, 0 }, // 95 + { -1,-1, 0, 2, 1, 10, 0, 0, 0 }, // 96 + { 0, 0,-2, 0, 1, -10, 0, 0, 0 }, // 97 + { 0, 0, 2,-1, 2, -10, 0, 0, 0 }, // 98 + { 0, 1, 0, 2, 0, -10, 0, 0, 0 }, // 99 + { 1, 0,-2,-2, 0, -10, 0, 0, 0 }, // 100 + { 0,-1, 2, 0, 1, -10, 0, 0, 0 }, // 101 + { 1, 1, 0,-2, 1, -10, 0, 0, 0 }, // 102 + { 1, 0,-2, 2, 0, -10, 0, 0, 0 }, // 103 + { 2, 0, 0, 2, 0, 10, 0, 0, 0 }, // 104 + { 0, 0, 2, 4, 2, -10, 0, 0, 0 }, // 105 + { 0, 1, 0, 1, 0, 10, 0, 0, 0 } // 106 + }; + + // Variables + double l, lp, F, D; + double arg; + + // Mean arguments of luni-solar motion in degrees + // + // l mean anomaly of the Moon + // l' mean anomaly of the Sun + // F mean argument of latitude + // D mean longitude elongation of the Moon from the Sun + // omega mean longitude of the ascending node + + l = 134.96340251 + (1717915923.2178*t + 31.8792*t2 + 0.051635*t3 - 0.0002447*t4)/3600.0; + lp = 357.52910918 + (129596581.0481*t - 0.5532*t2 + 0.000136*t3 - 0.00001149*t4)/3600.0; + F = 93.27209062 + (1739527262.8478*t - 12.7512*t2 - 0.001037*t3 + 0.00000417*t4)/3600.0; + D = 297.85019547 + (1602961601.2090*t - 6.3706*t2 + 0.006593*t3 - 0.00003169*t4)/3600.0; + omega = 125.04455501 + (-6962890.2665*t + 7.4722*t2 + 0.007702*t3 - 0.00005939*t4)/3600.0; + + // Quadrant checks and convert to radians + l = MathUtils.degreecheck(l)*MathUtils.DEG2RAD; + lp = MathUtils.degreecheck(lp)*MathUtils.DEG2RAD; + F = MathUtils.degreecheck(F)*MathUtils.DEG2RAD; + D = MathUtils.degreecheck(D)*MathUtils.DEG2RAD; + omega = MathUtils.degreecheck(omega)*MathUtils.DEG2RAD; + + // Nutation in longitude and obliquity + for (int i=0; i JAN11997){ + double term1 = 0.00264 * Math.sin(omega); + double term2 = 0.000063 * Math.sin(2.0 * omega); + gst = gst + (term1 + term2)*MathUtils.ARCSEC2RAD; + } + // quadrant check + gst = MathUtils.radiancheck(gst); +// System.out.println("gst = "+gst); + return gst; + } + /** + * Computes the Polar Motion Matrix + */ + private void polarMotion(){ + RotationMatrix r1 = new RotationMatrix(1, _yp); + RotationMatrix r2 = new RotationMatrix(2, _xp); + poleMatrix = r1.times(r2); +// poleMatrix.print("pole"); + } + /** + * Computes the Matrix to account for Sidereal Time + */ + private void sidereal(){ + double gst = this.GST(); + gstMatrix = new RotationMatrix(3, -gst); +// gstMatrix.print("gstMatrix"); + } + /** + * Computes the ECEF to ECI Transformation Matrix + * @return Matrix containing the ECEF to ECI transformation + */ + public Matrix ECEF2ECI(){ + return precMatrix.times(nutMatrix.times(gstMatrix.times(poleMatrix))); + } + /** + * Computes the ECI to ECEF Transformation Matrix + * @return Matrix containing the ECI to ECEF transformation + */ + public Matrix ECI2ECEF() { + return ECEF2ECI().transpose(); + } + + + /** + * Runs the CSR-02-01 Test Case + * @param args + */ + public static void main(String[] args) { + Time t = new Time(2001, 11, 26, 18, 30, 24.50); + t.set_UT1_UTC(-0.088405058232); + double xpole = -5.299915237216626E-07 * MathUtils.RAD2DEG * 3600.0; + double ypole = 8.9015513447899459E-07 * MathUtils.RAD2DEG * 3600.0; + ITRF x = new ITRF(t, xpole, ypole, -0.088405058232); + Matrix ecef2eci = x.ECEF2ECI(); + ecef2eci.print("ecef2eci"); + Matrix eci2ecef = x.ECI2ECEF(); + eci2ecef.print("eci2ecef"); + +// Time t2 = new Time(2004, 6, 1, 12, 0, 0.0); +// ITRF test = new ITRF(t2, 0.2251760, 0.3927010, -0.0256666); +// eci2ecef = test.ECI2ECEF(); +// VectorN iss_eci = new VectorN(-4453.783586, -5038.203756, -426.384456); +// VectorN iss_ecef = eci2ecef.times(iss_eci); +// iss_ecef.print("iss_ecef"); +// VectorN ss_eci = new VectorN(-2290.301063, -6379.471940, 0.0); +// VectorN ss_ecef = eci2ecef.times(ss_eci); +// ss_ecef.print("ss_ecef"); +// VectorN gps_eci = new VectorN(5525.33668, -15871.18494, -20998.992446); +// VectorN gps_ecef = eci2ecef.times(gps_eci); +// gps_ecef.print("gps_ecef"); +// VectorN mol_eci = new VectorN(-1529.894287, -2672.877357, -6150.115340); +// VectorN mol_ecef = eci2ecef.times(mol_eci); +// mol_ecef.print("mol_ecef"); +// VectorN geo_eci = new VectorN(36607.358256, -20921.723703, 0.0); +// VectorN geo_ecef = eci2ecef.times(geo_eci); +// geo_ecef.print("geo_ecef"); + } + +} diff --git a/src/jat/coreNOSA/spacetime/LunaFixedRef.java b/src/jat/coreNOSA/spacetime/LunaFixedRef.java new file mode 100644 index 0000000..988754a --- /dev/null +++ b/src/jat/coreNOSA/spacetime/LunaFixedRef.java @@ -0,0 +1,140 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Represents the Lunar Centered Fixed or Selenographic Reference Frame. + * + * @author Rob Antonucci + */ +public class LunaFixedRef implements ReferenceFrame { + + /** + * Construct a LCF reference frame. + */ + public LunaFixedRef() + { + // Does nothing. + } + + /** + * Compute the LCI to LCF transformation matrix. + */ + private Matrix computeLCI2LCF(Time t) { + + // First compute the Euler angles + DE405 jpl_ephem = new DE405(); + VectorN angles = jpl_ephem.get_Moon_Libration(t.mjd_tt()); + + // Then compute the transformation matrix + double alpha = angles.get(0) - Math.PI/2; + double sina = Math.sin(alpha); + double cosa = Math.cos(alpha); + double delta = Math.PI/2 - angles.get(1); + double sind = Math.sin(delta); + double cosd = Math.cos(delta); + double lambda = angles.get(2); + double sinl = Math.sin(lambda); + double cosl = Math.cos(lambda); + Matrix xform = new Matrix(3, 3); + xform.set(0, 0, -cosl*sina - sinl*sind*cosa); + xform.set(0, 1, cosl*cosa - sinl*sind*sina); + xform.set(0, 2, sinl*cosd); + xform.set(1, 0, sinl*sina-cosl*sind*cosa); + xform.set(1, 1, -sinl*cosa - cosl*sind*sina); + xform.set(1, 2, cosl*cosd); + xform.set(2, 0, cosd*cosa); + xform.set(2, 1, cosd*sina); + xform.set(2, 2, sind); + + return xform; + } + + + /** + * Returns a translater to translate into other reference frames. + * @param other another reference frame + * @param t time at which translation will be done + * @return translater object or null if does not know how + * to translate + */ + public ReferenceFrameTranslater getTranslater(ReferenceFrame other, Time t) + { + ReferenceFrameTranslater xlater = null; + if (other instanceof LunaFixedRef) { + // Same reference frame. No translation needed. + xlater = new ReferenceFrameTranslater(); + } + else if (other instanceof BodyCenteredInertialRef) { + xlater = getTranslater((BodyCenteredInertialRef)other, t); + } + else if (other instanceof EarthRef) { + // EarthRef is just a BodyCenteredInertialRef centered on Earth + xlater = getTranslater(new BodyCenteredInertialRef(DE405_Body.EARTH), t); + } + return xlater; + } + + /** + * Returns a translater to translate to LCI or ECI or any + * other something-CI. + * @param inertialRef an inertial reference frame + * @param t time at which translation will be done + * @return translater object + */ + private ReferenceFrameTranslater + getTranslater(BodyCenteredInertialRef inertialRef, Time t) + { + // We determine the transformation matrix from LCF to LCI. + // This can be used for transformation to any body-centered + // inertial frame. + Matrix lci2lcf = computeLCI2LCF(t); + Matrix xform = lci2lcf.transpose(); + + // Determine the position of the other body relative to the Earth. + // Then transform it to the ECF reference frame. + DE405 jpl_ephem = new DE405(); + VectorN state1 = new VectorN(jpl_ephem.get_planet_posvel(DE405_Body.MOON, t.mjd_tt())); + VectorN state2 = new VectorN(6); + if (!inertialRef.getBody().equals(DE405_Body.MOON)) { + state2 = jpl_ephem.get_planet_posvel(inertialRef.getBody(), t.mjd_tt()); + } + // We difference and convert to meters (JPL reports kilometers) + VectorN originDiff = state2.get(0, 3).minus(state1.get(0, 3)).times(1000); + VectorN bodyPos = lci2lcf.times(originDiff); + VectorN originVel = state2.get(3, 3).minus(state1.get(3, 3)).times(1000); + VectorN bodyVel = lci2lcf.times(originVel); + // We use -omega because we want the rotation of inertial frame with respect to + // the fixed frame. + double[] rotation = {0, 0, -LunaRef.omega}; + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(xform, bodyPos, bodyVel, new VectorN(rotation)); + + return xlater; + } + +} diff --git a/src/jat/coreNOSA/spacetime/LunaRef.java b/src/jat/coreNOSA/spacetime/LunaRef.java new file mode 100644 index 0000000..fa71292 --- /dev/null +++ b/src/jat/coreNOSA/spacetime/LunaRef.java @@ -0,0 +1,117 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class LunaRef extends BodyCenteredInertialRef implements BodyRef { + + /** Moon's rotation rate in rad/s. + */ + public final static double omega = 2.6617e-6; // converted from Vallado - rounded to 5 sigfigs + + /** Rotational Period of Moon in days from Vallado + */ + public final static double RotPeriod = 27.32166; //[days] Vallado + + /** Mass of the Moon [kg] + */ + public final static double M_Luna = 734.9e20; //[kg] HORIZONS + + /** Equatorial radius of moon in m + */ + public final static double R_Luna = 1737.53e3; // Radius Moon [m]; HORIZONS +-0.03e3 + + /** Flattening factor of Moon from WGS-84 + */ + //public final static double f_Moon = ; // STK HPOP - 2 + + /** Moon gravity constant in m^3/s^2 from HORIZONS + */ + public final static double GM_Luna = 4902.798e9; // [m^3/s^2]; HORIZONS +-0.005e9 + + /** Moon J2 term for gravity + */ + public final static double J2_Luna = 0.0002027; // from vallado p906 + + /** Obliquity to orbit for the Moon 6.67 deg converted to radians + */ + public final static double Obliquity_Luna = 0.11641346110802178278081017425819; //Rad HORIZONS + + /** Lunar orientation parameters + * Phi, Theta, Phi - euler angles defining the lunar fixed reference frame + * Phi = angle between ICRF-x and intersection of lunar equator with ICRF-xy + * Theta = inclination of the lunar equator to the ICRF-xy plane + * Psi - angle from the intersection between ICRF-lunar to the lunar meridian + */ + public double phi,theta,psi; + + /** Two PI. + */ + //private static final double pi2 = 2.0*MathUtils.PI; + + private Matrix LCI2LCF; + + protected DE405 jpl_ephem; + + public LunaRef(){ + super(DE405_Body.MOON); + jpl_ephem = new DE405(); + } + + public double get_spin_rate(Time t) { + return LunaRef.omega; + } + + public double get_mean_radius() { + return LunaRef.R_Luna; + } + + public double get_grav_const() { + return LunaRef.GM_Luna; + } + + public Matrix inertial_to_body(Time t) { + //*TODO update LCI2LCF + return this.LCI2LCF; + } + + public Matrix body_to_inertial(Time t) { + //*TODO update LCI2LCF + return this.LCI2LCF.transpose(); + } + + /** + * Get the current JPL vector to the Sun [km] + * @return Vector [km] + */ + public VectorN get_JPL_Sun_Vector(Time t) { + DE405 jpl_ephemeris = new DE405(); + VectorN moon = new VectorN(jpl_ephemeris.get_planet_pos(DE405_Body.MOON, t.mjd_tt())); + VectorN sun = new VectorN(jpl_ephemeris.get_planet_pos(DE405_Body.SUN, t.mjd_tt())); + return sun.minus(moon); + } + +} diff --git a/src/jat/coreNOSA/spacetime/RSW_Frame.java b/src/jat/coreNOSA/spacetime/RSW_Frame.java new file mode 100644 index 0000000..106649f --- /dev/null +++ b/src/jat/coreNOSA/spacetime/RSW_Frame.java @@ -0,0 +1,182 @@ +package jat.coreNOSA.spacetime; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 4, 2003 + */ + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +/** + *

+ * The RSW_Frame Class provides methods of converting between the ECI and RSW frame, + * accounting for the Coriolis effect. The RSW frame is also referred to as: + * RTN, UVW, LVLH. The first axis is along the radius vector, the third axis is along + * the angular momentum vector and the second is along track. + * Reference: Vallado. + * + * @see jat.coreNOSA.spacetime.RSW_Frame + * @author + * @version 1.0 + */ +public class RSW_Frame { + + /** Reference ECI position vector */ + private VectorN rref; + + /** Reference ECI velocity vector */ + private VectorN vref; + + /** ECI to RSW direction cosine matrix */ + private Matrix eci2rsw; + + /** The angular velocity of RSW frame wrt ECI frame, expressed in RSW frame */ + private VectorN omega; + + /** Construct an RSW reference frame + * @param r reference ECI position vector + * @param v reference ECI velocity vector + */ + public RSW_Frame(VectorN r, VectorN v){ + this.rref = r; + this.vref = v; + + this.eci2rsw = this.ECI2RSW(r, v); + } + + /** Return the ECI to RSW direction cosine matrix + * @return the ECI to RSW direction cosine matrix + */ + public Matrix ECI2RSW(){ + return this.eci2rsw; + } + + public VectorN omega(){ + return this.omega; + } + + /** Transform a position vector from ECI to RSW frame. + * @param r_eci position vector in ECI frame + * @return VectorN containing RSW position vector. + */ + public VectorN transform(VectorN r_eci) { + VectorN r_rsw = this.eci2rsw.times(r_eci); + return r_rsw; + } + + /** Transform a position and velocity vector pair from ECI to RSW frame, + * accounting for Coriolis. + * @param r_eci position vector in ECI frame + * @param v_eci velocity vector in ECI frame + * @return VectorN containing RSW position and velocity vector. + */ + public VectorN transform(VectorN r_eci, VectorN v_eci){ + VectorN r_rsw = this.eci2rsw.times(r_eci); + VectorN v_rsw = this.transformVelocity(r_rsw, v_eci); + VectorN out = new VectorN(r_rsw, v_rsw); + return out; + } + + /** Compute the transformation from ECI to the RSW frame. + * @param rref target position vector in ECI frame. + * @param vref target velocity vector in ECI frame. + * @return the ECI to RSW transformation matrix + */ + private Matrix ECI2RSW(VectorN rref, VectorN vref) { + VectorN h = rref.crossProduct(vref); + VectorN rhat = rref.unitVector(); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + + double rmag = rref.mag(); + double num = shat.dotProduct(vref); + double w = num/rmag; + this.omega = new VectorN(0.0, 0.0, w); + + return out.transpose(); + } + + /** + * Utility function to transform between inertial and radial-intrack-crosstrack + * @param rref Position (inertial) + * @param vref Velocity (inertial) + * @return Transformatin Matrix + */ + public static Matrix ECI2RIC(VectorN rref, VectorN vref){ + VectorN h = rref.crossProduct(vref); + VectorN rhat = rref.unitVector(); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + + return out.transpose(); + } + + /** Compute the transformation from ECI to the SWR frame. + * For use with a sun tracking nadir pointing trajectory + * and calculating the required jaw + * @param rref target position vector in ECI frame. + * @param vref target velocity vector in ECI frame. + * @return the ECI to SWR transformation matrix + */ + public static Matrix ECI2SWR(VectorN rref, VectorN vref) { + + VectorN h = rref.crossProduct(vref); + h = h.times(-1.0); + VectorN rhat = rref.unitVector(); + rhat = rhat.times(-1.0); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + + + + return out.transpose(); + } + + + /** Transform a velocity vector from ECI to the RSW frame, accounting + * for Coriolis. + * @param r_rsw position vector in RSW frame. + * @param v_eci velocity vector in ECI frame. + * @return the velocity in the RSW frame + */ + public VectorN transformVelocity(VectorN r_rsw, VectorN v_eci){ + VectorN v = this.eci2rsw.times(v_eci); + VectorN cor = this.omega.crossProduct(r_rsw); + VectorN out = v.minus(cor); + return out; + } + + +} diff --git a/src/jat/coreNOSA/spacetime/ReferenceFrame.java b/src/jat/coreNOSA/spacetime/ReferenceFrame.java new file mode 100644 index 0000000..f8b6211 --- /dev/null +++ b/src/jat/coreNOSA/spacetime/ReferenceFrame.java @@ -0,0 +1,42 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.spacetime; + + +/** + * Interface used to represent any reference frame. Subclasses must not + * only know how to represent positions, vectors, and angles in their + * reference frame, but also how to translate to other reference frames. + * + * @author Rob Antonucci + * + */ +public interface ReferenceFrame { + + /** + * Creates a translate that can translate between two reference + * frames at a given time + * @param other another reference frame + * @param t the time at which translation will be done + * @return a translating object or null if the reference frame + * does not know how to translate to the other reference frame. + */ + public ReferenceFrameTranslater getTranslater(ReferenceFrame other, Time t); +} diff --git a/src/jat/coreNOSA/spacetime/ReferenceFrameTranslater.java b/src/jat/coreNOSA/spacetime/ReferenceFrameTranslater.java new file mode 100644 index 0000000..ad3a2e1 --- /dev/null +++ b/src/jat/coreNOSA/spacetime/ReferenceFrameTranslater.java @@ -0,0 +1,333 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Class used to perform translation or transformation between two + * reference frames. Whereas the ReferenceFrame class understands and + * simulates the complex dynamics of the reference frame, the translater + * only works in a given time instant. + */ +public class ReferenceFrameTranslater { + + /** The matrix to transform from the source reference frame + * to the target reference frame. */ + private final Matrix xform; + + /** The origin of the target reference frame in terms of the + * source reference frame. */ + private final VectorN origin; + + /** The velocity of the target reference frame with respect to the + * source reference frame in terms of the source reference frame. */ + private final VectorN originVel; + + /** The rate of rotation of the target reference frame with respect + * to the source reference frame in terms of the source reference frame. */ + private final VectorN omega; + + /** Whether this translater can be used to translate velocities. */ + private final boolean supportsVelocity; + + /** + * Constructs a translater that translates from the source + * reference frame to the target. + * @param source the reference frame that you have coordinates in + * @param target the reference frame you want to translate to + * @param t the time at which translation will be done + * @throws IllegalArgumentException if there is no translation + * between the two reference frames + */ + public ReferenceFrameTranslater(ReferenceFrame source, + ReferenceFrame target, Time t) + { + // We check with both the source and the target to see if + // they know how to translate. + ReferenceFrameTranslater xlater = source.getTranslater(target, t); + if (xlater == null) { + xlater = target.getTranslater(source, t); + if (xlater == null) { + throw new IllegalArgumentException("No known translation from " + + source.getClass().getName() + " to " + + target.getClass().getName()); + } + xlater = xlater.reverse(); + } + + // This is a constructor. Copy the found values into this class. + xform = xlater.xform; + origin = xlater.origin; + originVel = xlater.originVel; + omega = xlater.omega; + supportsVelocity = xlater.supportsVelocity; + } + + /** + * Construct a translater that does no translation. Just spits + * out what it is given. This is useful when translating into + * the same reference frame. + */ + public ReferenceFrameTranslater() + { + xform = null; + origin = null; + originVel = null; + omega = null; + supportsVelocity = true; + } + + /** + * Construct a translater + * @param transformationMatrix the transformation matrix for + * transforming directions from the source reference frame to + * the target reference frame + * @param originDifference the origin of the target reference frame + * in terms of the source reference frame + * @param originVelocity the velocity of the target reference frame with + * respect to the source reference frame + */ + public ReferenceFrameTranslater(Matrix transformationMatrix, + VectorN originDifference, VectorN originVelocity, VectorN rotation) + { + xform = transformationMatrix; + origin = originDifference; + originVel = originVelocity; + omega = rotation; + supportsVelocity = true; + } + + /** + * Construct a translater that does not support velocity transformations. + * Useful when you know you will only do position transformations and + * don't want to spend computation time figuring out + * rotation and velocity dynamics. + * @param transformationMatrix the transformation matrix for + * transforming directions from the source reference frame to + * the target reference frame + * @param originDifference the origin of the target reference frame + * in terms of the source reference frame + */ + public ReferenceFrameTranslater(Matrix transformationMatrix, + VectorN originDifference) + { + xform = transformationMatrix; + origin = originDifference; + originVel = null; + omega = null; + supportsVelocity = false; + } + + /** + * Translates a given position's coordinates from the source + * reference frame to the coordinates in the target reference frame + * @param coords x,y, and z coordinates in the source reference frame + * (in meters) + * @return x,y, and z coordinates in the target reference frame + * (in meters) + */ + public VectorN translatePoint(VectorN coords) + { + if ((origin == null) && (xform == null)) { + coords = coords.copy(); + } + else { + coords = (origin == null ? coords : coords.minus(origin)); + coords = (xform == null ? coords : xform.times(coords)); + } + return coords; + } + + /** + * Translates a given position's coordinates from the TARGET + * reference frame to the coordinates in the SOURCE reference frame + * @param coords x,y, and z coordinates in the target reference frame + * (in meters) + * @return x,y, and z coordinates in the source reference frame + * (in meters) + */ + public VectorN translatePointBack(VectorN coords) + { + if ((origin == null) && (xform == null)) { + coords = coords.copy(); + } + else { + coords = (xform == null ? coords : xform.transpose().times(coords)); + coords = (origin == null ? coords : coords.plus(origin)); + } + return coords; + } + + /** + * Translates a given velocity's coordinates from the source + * reference frame to the coordinates in the target reference frame + * @param velocity x,y, and z coordinates in the source reference frame + * (in meters/sec) + * @param position x,y, and z coordinates in the source reference frame + * (in meters/sec) + * @return x,y, and z coordinates in the target reference frame + * (in meters/sec) + */ + public VectorN translateVelocity(VectorN velocity, VectorN position) + { + if (!supportsVelocity) { + throw new RuntimeException("Reference frames do not have a translation " + + "that supports translating velocities."); + } + if ((originVel == null) && (xform == null) && (omega == null)) { + velocity = velocity.copy(); + } + else { + velocity = (omega == null ? + velocity : velocity.minus(omega.crossProduct(position))); + velocity = (xform == null ? velocity : xform.times(velocity)); + velocity = (originVel == null ? velocity : velocity.minus(originVel)); + } + return velocity; + } + + /** + * Translates a given velocity's coordinates from the TARGET + * reference frame to the coordinates in the SOURCE reference frame + * @param coords x,y, and z coordinates in the target reference frame + * (in meters/sec) + * @param position x,y, and z coordinates in the source reference frame + * (in meters/sec) + * @return x,y, and z coordinates in the source reference frame + * (in meters/sec) + */ + public VectorN translateVelocityBack(VectorN velocity, VectorN position) + { + if (!supportsVelocity) { + throw new RuntimeException("Reference frames do not have a translation " + + "that supports translating velocities."); + } + if ((originVel == null) && (xform == null) && (omega == null)) { + velocity = velocity.copy(); + } + else { + velocity = (originVel == null ? velocity : velocity.plus(originVel)); + velocity = (xform == null ? velocity : xform.transpose().times(velocity)); + velocity = (omega == null ? + velocity : velocity.plus(omega.crossProduct(position))); + } + return velocity; + } + + /** + * Transforms a given direction's coordinates in the source + * reference frame to the coordinates in the target reference frame. + * There is no translation to account for difference in + * reference frames' origins + * @param coords x,y, and z coordinates in the source reference frame + * @return x,y, and z coordinates in the target reference frame + */ + public VectorN transformDirection(VectorN coords) + { + return (xform == null ? coords.copy() : xform.times(coords)); + } + + /** + * Transforms a given direction's coordinates from the TARGET + * reference frame to the coordinates in the SOURCE reference frame. + * There is no translation to account for difference in + * reference frames' origins + * @param coords x,y, and z coordinates in the target reference frame + * @return x,y, and z coordinates in the source reference frame + */ + public VectorN transformDirectionBack(VectorN coords) + { + return (xform == null ? coords.copy() : xform.transpose().times(coords)); + } + + /** + * Transforms a given quaternian's angles in the source + * reference frame to the angles in the target reference frame. + * @param quat quaternian in the source reference frame + * @return quaternian in the target reference frame + */ + public double[] transformAngles(double[] quat) + { + // TODO: How do I transform quaternians? + return null; + } + + /** + * Transforms a given quaternian's angles in the TARGET + * reference frame to the angles in the SOURCE reference frame. + * @param quat quaternian in the target reference frame + * @return quaternian in the source reference frame + */ + public double[] transformAnglesBack(double[] quat) + { + // TODO: How do I transform quaternians? + return null; + } + + /** + * Return a translater that translates from TARGET reference frame + * to SOURCE reference frame, instread of source to target. + * translater.translatePoint() == translater.reverse().translatePointBack() + * @return a reverse translater + */ + public ReferenceFrameTranslater reverse() { + VectorN newOrigin = null; + VectorN newVelocity = null; + VectorN newRotation = null; + Matrix newXform = (xform == null ? null : xform.transpose()); + if (origin != null) { + // We have to reverse and transform the origin + newOrigin = origin.times(-1); + if (xform != null) { + newOrigin = xform.times(newOrigin); + } + } + if (originVel != null) { + // We have to reverse and transform the origin velocity + newVelocity = originVel.times(-1); + if (xform != null) { + newVelocity = xform.times(newVelocity); + } + } + if (omega != null) { + // We have to reverse and transform the rotation of the frame + newRotation = omega.times(-1); + if (xform != null) { + newRotation = xform.times(newRotation); + } + } + return new ReferenceFrameTranslater(newXform, newOrigin, newVelocity, newRotation); + } + + public static void main(String[] args){ + VectorN r = new VectorN(-7.0653447440413493e+002, 9.2387238910403778e+002, -1.4232051310790273e+003); + VectorN v = new VectorN(-7.6578459477044203e-001, 1.0064446005845396e+000, 1.0334979559135251e+000); + LunaFixedRef lfr = new LunaFixedRef(); + LunaRef lref = new LunaRef(); + Time t = new Time(58232); + ReferenceFrameTranslater trans = new ReferenceFrameTranslater(lfr,lref,t); + VectorN rLCI = trans.transformDirection(r); + VectorN vLCI = trans.translateVelocity(v,r); + System.out.println("rLCI: "+rLCI); + System.out.println("vLCI: "+vLCI); + } +} diff --git a/src/jat/coreNOSA/spacetime/SolarBarycenterRef.java b/src/jat/coreNOSA/spacetime/SolarBarycenterRef.java new file mode 100644 index 0000000..85cfcbd --- /dev/null +++ b/src/jat/coreNOSA/spacetime/SolarBarycenterRef.java @@ -0,0 +1,113 @@ +/* + * JAT: Java Astrodynamics Toolkit + * + * Created on Mar 1, 2006 + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * TODO Javadoc + * @author Richard C. Page III + */ +public class SolarBarycenterRef implements BodyRef { + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#get_spin_rate(jat.spacetime.Time) + */ + public double get_spin_rate(Time t) { + // TODO Auto-generated method stub + return 0; + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#get_mean_radius() + */ + public double get_mean_radius() { + // TODO Auto-generated method stub + return 0; + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#get_grav_const() + */ + public double get_grav_const() { + // TODO Auto-generated method stub + return 0; + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#inertial_to_body(jat.spacetime.Time) + */ + public Matrix inertial_to_body(Time t) { + // TODO Auto-generated method stub + return new Matrix(3); + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#body_to_inertial(jat.spacetime.Time) + */ + public Matrix body_to_inertial(Time t) { + // TODO Auto-generated method stub + return new Matrix(3); + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#trueOfDate(jat.spacetime.Time) + */ + public Matrix trueOfDate(Time t) { + // TODO Auto-generated method stub + return new Matrix(3); + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#get_JPL_Sun_Vector() + */ + public VectorN get_JPL_Sun_Vector(Time t) { + // TODO Auto-generated method stub + return null; + } + + /* (non-Javadoc) + * @see jat.spacetime.BodyRef#get_JPL_Moon_Vector() + */ + public VectorN get_JPL_Moon_Vector() { + // TODO Auto-generated method stub + return null; + } + + /** + * Returns a translater to translate into other reference frames. + * @param other another reference frame + * @param t time at which translation will be done + * @return translater object or null if does not know how + * to translate + */ + public ReferenceFrameTranslater getTranslater(ReferenceFrame other, Time t) + { + // Currently does not translate anything (but itself). + return (other instanceof SolarBarycenterRef ? + new ReferenceFrameTranslater() : null); + } + + + public static void main(String[] args) { + } +} diff --git a/src/jat/coreNOSA/spacetime/Time.java b/src/jat/coreNOSA/spacetime/Time.java new file mode 100644 index 0000000..bdbe4a6 --- /dev/null +++ b/src/jat/coreNOSA/spacetime/Time.java @@ -0,0 +1,349 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.spacetime; + + +import java.util.Calendar; + +/** + * Time implements conversions between various time systems. + * e.g. TT, TDB... + * + * Translated from c by Richard C. Page III + * + * @author Richard C. Page III + * + * @author Tobias Berthold + * @since 04-24-2012: Replaced deprecated Date with Calendar + */ +public class Time { + + // private boolean debugGEONS = false; + // *** See bottom of this file for the original c code headers for TT2TDB + + /** + * Simulation time in seconds since epoch. + */ + protected double sim_time = 0; // [s] + private double MJD_TT; + /** + * Modified Julian Date of Barycentric Dynamical Time. + */ + private double MJD_TDB; + /** + * Modified Julian Date of Universal Coordinated Time. + */ + private double MJD_UTC; + /** + * Modified Julian Date of Universal Time UT1 + */ + private double MJD_UT1; + /** + * Modified Julian Date of the simulation epoch in Universal Coordinated + * Time. + */ + private double MJD_UTC_START; + + /** + * Difference between UT1 and UTC. UT1-UTC [sec] obtained from IERS Bulletin + * A. + * + * @see jat.coreNOSA.spacetime.FitIERS + */ + private double UT1_UTC = 0; // UT1-UTC time difference [s]. From IERS + // Bulletin A. + + /** + * local International Earth Rotation and Reference Service object to avoid + * multiple instances. + */ + private FitIERS fit = null; + + /** + * Default constructor initializes to current system time to nearest + * millisecond + */ + public Time() { + //java.util.Date d = new java.util.Date(); + //CalDate cd = new CalDate(1900 + d.getYear(), 1 + d.getMonth(), d.getDay(), d.getHours(), d.getMinutes(),d.getSeconds()); + Calendar cal = Calendar.getInstance(); + CalDate cd = new CalDate(cal.get(Calendar.YEAR), 1 + cal.get(Calendar.MONTH), cal.get(Calendar.DAY_OF_MONTH),cal.get(Calendar.HOUR_OF_DAY), cal.get(Calendar.MINUTE),cal.get(Calendar.SECOND)); + this.MJD_UTC = cd.mjd(); + this.MJD_UTC_START = this.MJD_UTC; + this.MJD_TT = TimeUtils.UTCtoTT(this.MJD_UTC); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + } + + /** + * Constructor. Initializes all time values to the simulation epoch. + * + * @param mjd_UTC + * Universal Coordinated Time in modified julian date + */ + public Time(double mjd_UTC) { + this.MJD_UTC = mjd_UTC; + this.MJD_UTC_START = mjd_UTC; + this.MJD_TT = TimeUtils.UTCtoTT(mjd_UTC); + this.MJD_TDB = TimeUtils.TTtoTDB(this.MJD_TT); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC / 86400.0; + } + + /** + * Constructor. Calculates the simulation epoch time from the given Calendar + * Date. + * + * @param date + * Gregorian Calendar Date + */ + public Time(CalDate date) { + this.MJD_UTC = date.mjd(); + this.MJD_UTC_START = this.MJD_UTC; + this.MJD_TT = TimeUtils.UTCtoTT(this.MJD_UTC); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + } + + /** + * Constructor. Creates a CalDate from the given parameters and then does + * Time(CalDate date) + * + * @param Yr + * @param Mon + * @param D + * @param Hr + * @param Mn + * @param S + */ + public Time(int Yr, int Mon, int D, int Hr, int Mn, double S) { + CalDate date = new CalDate(Yr, Mon, D, Hr, Mn, S); + this.MJD_UTC = date.mjd(); + this.MJD_UTC_START = this.MJD_UTC; + this.MJD_TT = TimeUtils.UTCtoTT(this.MJD_UTC); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + } + + /** + * Returns Universal Coordinated Time in modified julian date + * + * @return MJD_UTC + */ + public double mjd_utc() { + return this.MJD_UTC; + } + + /** + * Returns Terrestrial Dynamical Time in modified julian date + * + * @return MJD_TT + */ + public double mjd_tt() { + return this.MJD_TT; + } + + /** + * Returns Universal Time in modified julian date + * + * @return MJD_UT1 + */ + public double mjd_ut1() { + // * TODO watch this + // if(this.MJD_UT1==this.MJD_UTC || this.UT1_UTC==0){ + // System.err.println("Warning: UT1-UTC has not been initialized"); + if (fit == null) { + fit = new FitIERS(); + } + + try { + UT1_UTC = fit.search(MJD_UTC)[2]; + } catch (Exception e) { + UT1_UTC = 0; + } + // } + // this.UT1_UTC = 0; + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + // if(debugGEONS){ + // double UTC_UT1_Constant_Bias = -0.11046918435961; + // double UTC_UT1_Linear_Coefficient = -0.62804835480612E-03; + // double UTC_UT1_Quadratic_Coefficient = 0.31180866068779E-05; + // double mjdepoch = 51024; + // double dt = this.MJD_UTC - mjdepoch; + // this.MJD_UT1 = MJD_UTC + (UTC_UT1_Constant_Bias/86400) + + // (UTC_UT1_Linear_Coefficient*dt /(86400*86400))+ + // UTC_UT1_Quadratic_Coefficient*dt*dt/(86400*86400*86400); + // } + + return this.MJD_UT1; + } + + /** + * Returns Barycentric Dynamical Time (TDB) in julian date + * + * @return MJD_TDB + */ + public double mjd_tdb() { + return TimeUtils.TTtoTDB(this.MJD_TT); + } + + /** + * Returns Universal Coordinated Time in julian date + * + * @return JD_UTC + */ + public double jd_utc() { + return TimeUtils.MJDtoJD(this.MJD_UTC); + } + + /** + * Returns Terrestrial Dynamical Time in julian date + * + * @return JD_TT + */ + public double jd_tt() { + return TimeUtils.MJDtoJD(this.MJD_TT); + } + + /** + * Returns Barycentric Dynamical Time (TDB) in julian date + * + * @return JD_TDB + */ + public double jd_tdb() { + return TimeUtils.MJDtoJD(this.MJD_TDB); + } + + /** + * Returns Universal Time in julian date + * + * @return JD_UT1 + */ + public double jd_ut1() { + return TimeUtils.MJDtoJD(this.MJD_UT1); + } + + /** + * Returns a count of seconds since the reference epoch. + * + * @return sim_time [sec] + */ + public double get_sim_time() { + return this.sim_time; // [s] + } + + /** + * Returns the initial epoch in modified julian date universal coordinated + * time + * + * @return date [modified julian days] + */ + public double get_epoch_mjd_utc() { + return this.MJD_UTC_START; + } + + /** + * Set the difference in seconds between Universal and Universal Coordinated + * Time + * + * @param d + * [sec] + */ + public void set_UT1_UTC(double d) { + this.UT1_UTC = d; + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + } + + /** + * Update simulation time since epoch. + * + * @param t + * Seconds since epoch. + */ + public void update(double t) { + sim_time = t; + this.MJD_UTC = this.MJD_UTC_START + t * TimeUtils.sec2days; + this.MJD_TT = TimeUtils.UTCtoTT(this.MJD_UTC); + this.MJD_TDB = TimeUtils.TTtoTDB(this.MJD_TT); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + } + + public void updateTo(double mjd) { + sim_time = (mjd - this.MJD_UTC_START) * 86400.0; + this.MJD_UTC = mjd;// this.MJD_UTC_START+sim_time*TimeUtils.sec2days; + this.MJD_TT = TimeUtils.UTCtoTT(this.MJD_UTC); + this.MJD_TDB = TimeUtils.TTtoTDB(this.MJD_TT); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC / 86400.0; + } + + /** + * Advance the clock by a number of seconds + * + * @param dt + * [sec] + */ + public void step_seconds(double dt) { + this.MJD_UTC = this.MJD_UTC + dt * TimeUtils.sec2days; + this.MJD_TT = TimeUtils.UTCtoTT(this.MJD_UTC); + this.MJD_TDB = TimeUtils.TTtoTDB(this.MJD_TT); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC * TimeUtils.sec2days; + } + + /** + * Converts the MJD expressed in UTC to give the days since Jan 01 00:00 + * + * @return The number of days since the beginning of the current year. + */ + public int dayOfYear() { + GPSTimeFormat time = new GPSTimeFormat(this.MJD_UTC); + CalDate date = time.calDate(); + return date.doy(); + } + + /** + * Converts the MJD expressed in UTC to give the seconds since 00:00 UTC + * + * @return The number of seconds since the beginning of the current day + * (UTC). + */ + public double secOfDay() { + GPSTimeFormat time = new GPSTimeFormat(this.MJD_UTC); + CalDate date = time.calDate(); + return date.sec_of_day(); + } + + /** + * Create a new Time object by taking the current one and adding s seconds + * + * @param s + * number of seconds to add to the current time + * @return new Time object that is s seconds later than the current time + */ + public Time plus(double s) { + double mjd_utc = this.mjd_utc() + s / 86400.0; + Time out = new Time(mjd_utc); + return out; + } + + /** + * Test. + * + * @param args + */ + public static void main(String[] args) { + } + +} diff --git a/src/jat/coreNOSA/spacetime/TimeUtils.java b/src/jat/coreNOSA/spacetime/TimeUtils.java new file mode 100644 index 0000000..325942b --- /dev/null +++ b/src/jat/coreNOSA/spacetime/TimeUtils.java @@ -0,0 +1,784 @@ +package jat.coreNOSA.spacetime; + +import jat.coreNOSA.math.MathUtils; + +public class TimeUtils { + /** + * Modified Julian Date of the J2000 Epoch. + */ + public static final double MJD_J2000 = 51544.5; + /** + * Fraction of a day per second. + */ + public static final double sec2days = 1.0/86400; + /** + * Seconds per day. + */ + public static final double days2sec = 86400; + /** + * Constant used for conversion to Terrestrial Time. + */ + public static final double TT_TAI = 32.184; // constant + + /** + * Constant used for conversion to GPS time. + */ + public static final int TAI_GPS = 19; // constant + /** + * Modified Julian Date of Terrestrial Time. + */ + + /** Convert Day of Month to Day of Year. + * @param year Year. + * @param month Month. + * @param mday Day of month. + * @return Day of year. + */ + public static int day2doy(int year, int month, int mday){ + int [] regu_month_day = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334}; + int [] leap_month_day = {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335}; + int yday = 0; + + // check for leap year + if((year%4) == 0 ){ + yday = leap_month_day[month - 1] + mday; + } + else { + yday = regu_month_day[month - 1] + mday; + } + return yday; + } + + /** Compute the month from day of year. From GPS Toolkit code. + * @param year Year. + * @param doy Day of year. + * @return Month. + */ + public static int doy2month(int year, int doy){ + int [] regu_month_day = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365}; + int [] leap_month_day = {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}; + + int month = 0; +// int mday = 0; + + int guess = (int)(doy*0.032); + int more = 0; + + // check for leap year + if((year%4) == 0 ){ + if ((doy - leap_month_day[guess+1]) > 0) more = 1; + month = guess + more + 1; +// mday = doy - leap_month_day[guess+more]; + } + else { + if ((doy - regu_month_day[guess+1]) > 0) more = 1; + month = guess + more + 1; +// mday = doy - regu_month_day[guess+more]; + } + return month; + } + + /** Compute the day of month from day of year. From GPS Toolkit code. + * @param year Year. + * @param doy Day of year. + * @return Day of month. + */ + public static int doy2day(int year, int doy){ + int [] regu_month_day = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365}; + int [] leap_month_day = {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}; + +// int month = 0; + int mday = 0; + + int guess = (int)(doy*0.032); + int more = 0; + + // check for leap year + if((year%4) == 0 ){ + if ((doy - leap_month_day[guess+1]) > 0) more = 1; +// month = guess + more + 1; + mday = doy - leap_month_day[guess+more]; + } + else { + if ((doy - regu_month_day[guess+1]) > 0) more = 1; +// month = guess + more + 1; + mday = doy - regu_month_day[guess+more]; + } + return mday; + } + + + /** Return the difference between TAI and UTC (known as leap seconds). + * Values from the USNO website: ftp://maia.usno.navy.mil/ser7/leapsec.dat + * As of July 19, 2002, no leap second in Dec 2002 so next opportunity for + * adding a leap second is July 2003. Check IERS Bulletin C. + * @param mjd Modified Julian Date + * @return number of leaps seconds. + */ + + public static int tai_utc(double mjd){ + if (mjd < 0.0) { + System.out.println("[TimeUtils] MJD before the beginning of the leap sec table"); + return 0; + } + if ((mjd >=41317.0)&&(mjd < 41499.0)) return 10; + if ((mjd >=41499.0)&&(mjd < 41683.0)) return 11; + if ((mjd >=41683.0)&&(mjd < 42048.0)) return 12; + if ((mjd >=42048.0)&&(mjd < 42413.0)) return 13; + if ((mjd >=42413.0)&&(mjd < 42778.0)) return 14; + if ((mjd >=42778.0)&&(mjd < 43144.0)) return 15; + if ((mjd >=43144.0)&&(mjd < 43509.0)) return 16; + if ((mjd >=43509.0)&&(mjd < 43874.0)) return 17; + if ((mjd >=43874.0)&&(mjd < 44239.0)) return 18; + if ((mjd >=44239.0)&&(mjd < 44786.0)) return 19; + if ((mjd >=44786.0)&&(mjd < 45151.0)) return 20; + if ((mjd >=45151.0)&&(mjd < 45516.0)) return 21; + if ((mjd >=45516.0)&&(mjd < 46247.0)) return 22; + if ((mjd >=46247.0)&&(mjd < 47161.0)) return 23; + if ((mjd >=47161.0)&&(mjd < 47892.0)) return 24; + if ((mjd >=47892.0)&&(mjd < 48257.0)) return 25; + if ((mjd >=48257.0)&&(mjd < 48804.0)) return 26; + if ((mjd >=48804.0)&&(mjd < 49169.0)) return 27; + if ((mjd >=49169.0)&&(mjd < 49534.0)) return 28; + if ((mjd >=49534.0)&&(mjd < 50083.0)) return 29; + if ((mjd >=50083.0)&&(mjd < 50630.0)) return 30; + if ((mjd >=50630.0)&&(mjd < 51179.0)) return 31; + if ((mjd >=51179.0)&&(mjd < 53736.0)) return 32; + if (mjd >= 53736.0) return 33; + + System.out.println("[TimeUtils] Input MJD out of bounds"); + return 0; + } + + /** Return the corrected value of utc time from the given gps time in modified julian date. + * Values from the USNO website: ftp://maia.usno.navy.mil/ser7/leapsec.dat + * As of July 19, 2002, no leap second in Dec 2002 so next opportunity for + * adding a leap second is July 2003. Check IERS Bulletin C. + * @param mjd_gps Modified Julian Date + * @return time in mjd utc + */ + public static double gps2utc(double mjd_gps){ + double mjd = mjd_gps; + double mjd0=0,mjd1=1000000; + int tai=0; + double offset = 0; + if (mjd < 41317.0) { + System.out.println("TimeUtils.gps2utc: MJD before the beginning of the leap sec table"); + return 0; + } + if ((mjd >=41317.0)&&(mjd < 41499.0)){ + offset = (TAI_GPS-10)/86400.0; + tai = 10; + mjd0 = 41317.0; + mjd1 = 41499.0; + } + if ((mjd >=41499.0)&&(mjd < 41683.0)){ + tai = 11; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 41499.0; + mjd1 = 41683.0; + } + if ((mjd >=41683.0)&&(mjd < 42048.0)){ + tai = 12; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 41683.0; + mjd1 = 42049.0; + } + if ((mjd >=42048.0)&&(mjd < 42413.0)){ + tai = 13; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 42048.0; + mjd1 = 42413.0; + } + if ((mjd >=42413.0)&&(mjd < 42778.0)){ + tai = 14; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 42413.0; + mjd1 = 42778.0; + } + if ((mjd >=42778.0)&&(mjd < 43144.0)){ + tai = 15; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 42413.0; + mjd1 = 42778.0; + } + if ((mjd >=43144.0)&&(mjd < 43509.0)){ + tai = 16; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 43144.0; + mjd1 = 43509.0; + } + if ((mjd >=43509.0)&&(mjd < 43874.0)){ + tai = 17; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 43509.0; + mjd1 = 43874.0; + } + if ((mjd >=43874.0)&&(mjd < 44239.0)){ + tai = 18; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 43874.0; + mjd1 = 44239.0; + } + if ((mjd >=44239.0)&&(mjd < 44786.0)){ + tai = 19; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 44239.0; + mjd1 = 44786.0; + } + if ((mjd >=44786.0)&&(mjd < 45151.0)){ + tai = 20; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 44786.0; + mjd1 = 45151.0; + } + if ((mjd >=45151.0)&&(mjd < 45516.0)){ + tai = 21; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 45151.0; + mjd1 = 45516.0; + } + if ((mjd >=45516.0)&&(mjd < 46247.0)){ + tai = 22; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 45516.0; + mjd1 = 46247.0; + } + if ((mjd >=46247.0)&&(mjd < 47161.0)){ + tai = 23; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 46247.0; + mjd1 = 47161.0; + } + if ((mjd >=47161.0)&&(mjd < 47892.0)){ + tai = 24; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 47161.0; + mjd1 = 47892.0; + } + if ((mjd >=47892.0)&&(mjd < 48257.0)){ + tai = 25; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 47892.0; + mjd1 = 48257.0; + } + if ((mjd >=48257.0)&&(mjd < 48804.0)){ + tai = 26; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 48257.0; + mjd1 = 48804.0; + } + if ((mjd >=48804.0)&&(mjd < 49169.0)){ + tai = 27; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 48804.0; + mjd1 = 49169.0; + } + if ((mjd >=49169.0)&&(mjd < 49534.0)){ + tai = 28; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 49169.0; + mjd1 = 49534.0; + } + if ((mjd >=49534.0)&&(mjd < 50083.0)){ + tai = 29; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 49534.0; + mjd1 = 50083.0; + } + if ((mjd >=50083.0)&&(mjd < 50630.0)){ + tai = 30; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 50083.0; + mjd1 = 50630.0; + } + if ((mjd >=50630.0)&&(mjd < 51179.0)){ + tai = 31; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 50630.0; + mjd1 = 51179.0; + } + if ((mjd >=51179.0)&&(mjd < 53736.0)){ + tai = 32; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 51179.0; + mjd1 = 53736.0; + } + if (mjd >= 53736.0){ + tai = 33; + offset = (TAI_GPS-tai)/86400.0; + mjd0 = 53736.0; + mjd1 = 1000000.0; + } + + if(mjd+offset mjd1){ + tai++; + offset = (TAI_GPS-tai)/86400.0; + return mjd_gps + offset; + }else{ + return mjd_gps + offset; + } + + } + /** + * Return Julian centuries since J2000 (Terrestrial Time) + * @param mjd_tt double containing TT in MJD format + * @return Julian centuries since J2000 (Terrestrial Time) + */ + public static double centuriesSinceJ2000(double mjd_tt){ + return (mjd_tt - TimeUtils.MJD_J2000)/36525.0; + } + /** + * Converts modified julian date to julian date. + * @param MJD Modified Julian Date + * @return JD Julian Date + */ + public static double MJDtoJD(double MJD){ + return MJD+2400000.5; + } + /** + * Converts julian date to modified julian date. + * @param JD Julian Date + * @return MJD Modified Julian Date + */ + public static double JDtoMJD(double JD){ + return JD-2400000.5; + } + + /** Convert UTC time to TT. + * @param mjd_utc MJD of Current UTC time + * @return MJD of current TT. + */ + public static double UTCtoTT(double mjd_utc){ + + // compute the difference between TT and UTC + double tt_utc = (double)(tai_utc(mjd_utc) + TT_TAI); + double out = mjd_utc + tt_utc/86400.0; + return out; + } + + /** Convert TT time to UTC + * @param mjd_tt + * @return mjd_utc + */ + public static double TTtoUTC(double mjd_tt){ +// compute the difference between TT and UTC + double tt_utc = (double)(tai_utc(mjd_tt) + TT_TAI); + double out = mjd_tt - tt_utc/86400.0; + return out; + } + /** Convert TDB time to TT + * Converted from NOVAS C code. Expressions used in this version are approximations resulting + * in accuracies of about 20 microseconds. + * + * @param mjd_tbd + * @return mjd_tt + */ + public static double TDBtoTT (double mjd_tdb) { + double jd_tdb = MJDtoJD(mjd_tdb); + double ecc = 0.01671022; + double rev = 1296000.0; + double T0 = 2451545.0; + double RAD2SEC = 1.0/MathUtils.ARCSEC2RAD; + double tdays = jd_tdb - T0; + double m = ( 357.51716 + 0.985599987 * tdays ) * 3600.0; + double l = ( 280.46435 + 0.985609100 * tdays ) * 3600.0; + double lj = ( 34.40438 + 0.083086762 * tdays ) * 3600.0; + m = MathUtils.mod(m,rev) / RAD2SEC; + l = MathUtils.mod(l,rev) / RAD2SEC; + lj = MathUtils.mod(lj,rev) / RAD2SEC; + double e = m + ecc * Math.sin (m) + 0.5 * ecc * ecc * Math.sin (2.0 * m); + double secdiff = 1.658e-3 * Math.sin (e) + 20.73e-6 * Math.sin (l - lj); + System.out.println("secdiff = "+secdiff); + double jd_tt = jd_tdb - secdiff / 86400.0; + double mjd_tt = JDtoMJD(jd_tt); + return mjd_tt; + } + + /** + * Convert from the TT to TDB time system. + * Accuracy is claimed to be 10 ns (see comments at end of file). + * @param MJD_TT Modified Julian Date of Terrestrial Time + * @return time in TDB expressed as a modified julian date + * + */ + public static double TTtoTDB (double MJD_TT){//long MJDint_in, double MJDfr_in) { + long MJDint = (long)Math.floor(MJD_TT); + double MJDfr = MJD_TT - MJDint; + //public TimeSys ts ; //* not used in this function + + double tdbtdt =0; + double tdbtdtdot =0; + long oldmjd = 0 ; + long l ; + + while ( MJDfr >= 1.0 ) { + MJDint++ ; + MJDfr-- ; + } + while ( MJDfr < 0.0 ) { + MJDint-- ; + MJDfr++ ; + } + + if ( MJDint != oldmjd ) { + oldmjd = MJDint ; + l = oldmjd + 2400001 ; + + tdbtdt = ctatv (l, 0.0) ; + tdbtdtdot = ctatv (l, 0.5) - ctatv (l, -0.5) ; + } + double TDB_minus_TT = ( tdbtdt + (MJDfr - 0.5) * tdbtdtdot ); + return MJD_TT+TDB_minus_TT/86400.0; + } + + //*** See bottom of this file for original header + /** + * Computes the cumulative relativistic time correction to + * earth-based clocks, TDB-TDT, for a given time. Routine + * furnished by the Bureau des Longitudes, modified by + * removal of terms much smaller than 0.1 microsecond. + * @param jdno. Julian day number of lookup + * @param fjdno. Fractional part of Julian day number + * @return Time difference TDB-TDT (seconds) + */ + private static double ctatv(long jdno, double fjdno) + { + + double t, tt, t1, t2, t3, t4, t5, t24, t25, t29, t30; +// double t31 ; + + t = ((jdno-2451545) + fjdno)/(365250.0) ; + tt = t*t ; + + t1 = 1656.674564 * Math.sin( 6283.075943033*t + 6.240054195) + + 22.417471 * Math.sin( 5753.384970095*t + 4.296977442) + + 13.839792 * Math.sin( 12566.151886066*t + 6.196904410) + + 4.770086 * Math.sin( 529.690965095*t + 0.444401603) + + 4.676740 * Math.sin( 6069.776754553*t + 4.021195093) + + 2.256707 * Math.sin( 213.299095438*t + 5.543113262) + + 1.694205 * Math.sin( -3.523118349*t + 5.025132748) + + 1.554905 * Math.sin( 77713.772618729*t + 5.198467090) + + 1.276839 * Math.sin( 7860.419392439*t + 5.988822341) + + 1.193379 * Math.sin( 5223.693919802*t + 3.649823730) + + 1.115322 * Math.sin( 3930.209696220*t + 1.422745069) + + 0.794185 * Math.sin( 11506.769769794*t + 2.322313077) + + 0.600309 * Math.sin( 1577.343542448*t + 2.678271909) + + 0.496817 * Math.sin( 6208.294251424*t + 5.696701824) + + 0.486306 * Math.sin( 5884.926846583*t + 0.520007179) + + 0.468597 * Math.sin( 6244.942814354*t + 5.866398759) + + 0.447061 * Math.sin( 26.298319800*t + 3.615796498) + + 0.435206 * Math.sin( -398.149003408*t + 4.349338347) + + 0.432392 * Math.sin( 74.781598567*t + 2.435898309) + + 0.375510 * Math.sin( 5507.553238667*t + 4.103476804) ; + + t2 = 0.243085 * Math.sin( -775.522611324*t + 3.651837925) + + 0.230685 * Math.sin( 5856.477659115*t + 4.773852582) + + 0.203747 * Math.sin( 12036.460734888*t + 4.333987818) + + 0.173435 * Math.sin( 18849.227549974*t + 6.153743485) + + 0.159080 * Math.sin( 10977.078804699*t + 1.890075226) + + 0.143935 * Math.sin( -796.298006816*t + 5.957517795) + + 0.137927 * Math.sin( 11790.629088659*t + 1.135934669) + + 0.119979 * Math.sin( 38.133035638*t + 4.551585768) + + 0.118971 * Math.sin( 5486.777843175*t + 1.914547226) + + 0.116120 * Math.sin( 1059.381930189*t + 0.873504123) + + 0.101868 * Math.sin( -5573.142801634*t + 5.984503847) + + 0.098358 * Math.sin( 2544.314419883*t + 0.092793886) + + 0.080164 * Math.sin( 206.185548437*t + 2.095377709) + + 0.079645 * Math.sin( 4694.002954708*t + 2.949233637) + + 0.075019 * Math.sin( 2942.463423292*t + 4.980931759) + + 0.064397 * Math.sin( 5746.271337896*t + 1.280308748) + + 0.063814 * Math.sin( 5760.498431898*t + 4.167901731) + + 0.062617 * Math.sin( 20.775395492*t + 2.654394814) + + 0.058844 * Math.sin( 426.598190876*t + 4.839650148) + + 0.054139 * Math.sin( 17260.154654690*t + 3.411091093) ; + + t3 = 0.048373 * Math.sin( 155.420399434*t + 2.251573730) + + 0.048042 * Math.sin( 2146.165416475*t + 1.495846011) + + 0.046551 * Math.sin( -0.980321068*t + 0.921573539) + + 0.042732 * Math.sin( 632.783739313*t + 5.720622217) + + 0.042560 * Math.sin(161000.685737473*t + 1.270837679) + + 0.042411 * Math.sin( 6275.962302991*t + 2.869567043) + + 0.040759 * Math.sin( 12352.852604545*t + 3.981496998) + + 0.040480 * Math.sin( 15720.838784878*t + 2.546610123) + + 0.040184 * Math.sin( -7.113547001*t + 3.565975565) + + 0.036955 * Math.sin( 3154.687084896*t + 5.071801441) + + 0.036564 * Math.sin( 5088.628839767*t + 3.324679049) + + 0.036507 * Math.sin( 801.820931124*t + 6.248866009) + + 0.034867 * Math.sin( 522.577418094*t + 5.210064075) + + 0.033529 * Math.sin( 9437.762934887*t + 2.404714239) + + 0.033477 * Math.sin( 6062.663207553*t + 4.144987272) + + 0.032438 * Math.sin( 6076.890301554*t + 0.749317412) + + 0.032423 * Math.sin( 8827.390269875*t + 5.541473556) + + 0.030215 * Math.sin( 7084.896781115*t + 3.389610345) + + 0.029862 * Math.sin( 12139.553509107*t + 1.770181024) + + 0.029247 * Math.sin(-71430.695617928*t + 4.183178762) ; + + t4 = 0.028244 * Math.sin( -6286.598968340*t + 5.069663519) + + 0.027567 * Math.sin( 6279.552731642*t + 5.040846034) + + 0.025196 * Math.sin( 1748.016413067*t + 2.901883301) + + 0.024816 * Math.sin( -1194.447010225*t + 1.087136918) + + 0.022567 * Math.sin( 6133.512652857*t + 3.307984806) + + 0.022509 * Math.sin( 10447.387839604*t + 1.460726241) + + 0.021691 * Math.sin( 14143.495242431*t + 5.952658009) + + 0.020937 * Math.sin( 8429.241266467*t + 0.652303414) + + 0.020322 * Math.sin( 419.484643875*t + 3.735430632) + + 0.017673 * Math.sin( 6812.766815086*t + 3.186129845) + + 0.017806 * Math.sin( 73.297125859*t + 3.475975097) + + 0.016155 * Math.sin( 10213.285546211*t + 1.331103168) + + 0.015974 * Math.sin( -2352.866153772*t + 6.145309371) + + 0.015949 * Math.sin( -220.412642439*t + 4.005298270) + + 0.015078 * Math.sin( 19651.048481098*t + 3.969480770) + + 0.014751 * Math.sin( 1349.867409659*t + 4.308933301) + + 0.014318 * Math.sin( 16730.463689596*t + 3.016058075) + + 0.014223 * Math.sin( 17789.845619785*t + 2.104551349) + + 0.013671 * Math.sin( -536.804512095*t + 5.971672571) + + 0.012462 * Math.sin( 103.092774219*t + 1.737438797) ; + + t5 = 0.012420 * Math.sin( 4690.479836359*t + 4.734090399) + + 0.011942 * Math.sin( 8031.092263058*t + 2.053414715) + + 0.011847 * Math.sin( 5643.178563677*t + 5.489005403) + + 0.011707 * Math.sin( -4705.732307544*t + 2.654125618) + + 0.011622 * Math.sin( 5120.601145584*t + 4.863931876) + + 0.010962 * Math.sin( 3.590428652*t + 2.196567739) + + 0.010825 * Math.sin( 553.569402842*t + 0.842715011) + + 0.010396 * Math.sin( 951.718406251*t + 5.717799605) + + 0.010453 * Math.sin( 5863.591206116*t + 1.913704550) + + 0.010099 * Math.sin( 283.859318865*t + 1.942176992) + + 0.009858 * Math.sin( 6309.374169791*t + 1.061816410) + + 0.009963 * Math.sin( 149.563197135*t + 4.870690598) + + 0.009370 * Math.sin(149854.400135205*t + 0.673880395) ; + + t24 = t * ( 102.156724 * Math.sin( 6283.075849991*t + 4.249032005) + + 1.706807 * Math.sin( 12566.151699983*t + 4.205904248) + + 0.269668 * Math.sin( 213.299095438*t + 3.400290479) + + 0.265919 * Math.sin( 529.690965095*t + 5.836047367) + + 0.210568 * Math.sin( -3.523118349*t + 6.262738348) + + 0.077996 * Math.sin( 5223.693919802*t + 4.670344204) ) ; + + t25 = t * ( 0.059146 * Math.sin( 26.298319800*t + 1.083044735) + + 0.054764 * Math.sin( 1577.343542448*t + 4.534800170) + + 0.034420 * Math.sin( -398.149003408*t + 5.980077351) + + 0.033595 * Math.sin( 5507.553238667*t + 5.980162321) + + 0.032088 * Math.sin( 18849.227549974*t + 4.162913471) + + 0.029198 * Math.sin( 5856.477659115*t + 0.623811863) + + 0.027764 * Math.sin( 155.420399434*t + 3.745318113) + + 0.025190 * Math.sin( 5746.271337896*t + 2.980330535) + + 0.024976 * Math.sin( 5760.498431898*t + 2.467913690) + + 0.022997 * Math.sin( -796.298006816*t + 1.174411803) + + 0.021774 * Math.sin( 206.185548437*t + 3.854787540) + + 0.017925 * Math.sin( -775.522611324*t + 1.092065955) + + 0.013794 * Math.sin( 426.598190876*t + 2.699831988) + + 0.013276 * Math.sin( 6062.663207553*t + 5.845801920) + + 0.012869 * Math.sin( 6076.890301554*t + 5.333425680) + + 0.012152 * Math.sin( 1059.381930189*t + 6.222874454) + + 0.011774 * Math.sin( 12036.460734888*t + 2.292832062) + + 0.011081 * Math.sin( -7.113547001*t + 5.154724984) + + 0.010143 * Math.sin( 4694.002954708*t + 4.044013795) + + 0.010084 * Math.sin( 522.577418094*t + 0.749320262) + + 0.009357 * Math.sin( 5486.777843175*t + 3.416081409) ) ; + + t29 = tt * ( 0.370115 * Math.sin( 4.712388980) + + 4.322990 * Math.sin( 6283.075849991*t + 2.642893748) + + 0.122605 * Math.sin( 12566.151699983*t + 2.438140634) + + 0.019476 * Math.sin( 213.299095438*t + 1.642186981) + + 0.016916 * Math.sin( 529.690965095*t + 4.510959344) + + 0.013374 * Math.sin( -3.523118349*t + 1.502210314) ) ; + + t30 = t * tt * 0.143388 * Math.sin( 6283.075849991*t + 1.131453581) ; + + return (t1+t2+t3+t4+t5+t24+t25+t29+t30) * 1.0e-6 ; + } + +} +//*** Original .h file header +/* RCS: $Id: bary.h,v 3.4 2001/06/28 21:47:02 arots Exp arots $ */ +/*----------------------------------------------------------------------- + * + * bary.h + * + * Date: 19 November 1997 + * Unified FITS version + * + * Arnold Rots, USRA + * + * This is the header file for bary.c and related source files. + * + * Do not ever use DE405 on a FITS file that has: + * TIMESYS='TDB' + * but not: + * RADECSYS='ICRS' or PLEPHEM='JPL-DE405' + * TIMESYS='TDB' _with_ RADECSYS='ICRS' and/or PLEPHEM='JPL-DE405' + * should use denum=405. + * TIMESYS='TDB' _without_ RADECSYS='ICRS' or PLEPHEM='JPL-DE405' + * should use denum=200. + * + * Time is kept in three possible ways: + * The basic convention is: + * MJDTime t ; The MJDTime struct is defined below; + * a C++ class would be better. + * The JPL ephemeris functions use: + * double time[2] ; Where: + * time[0] Integer part of JD + * time[1] Fractional part of JD; -0.5 <= time[1] < 0.5 + * MET uses a single double: + * double time ; Where: + * time Seconds or days since MJDREF + * + * We shall use the following convention: + * + * If the FITS file has Then we shall adopt + * TIMESYS TIMEUNIT refTS fromTS mjdRef + * + * TT s TT TT MJDREF + * TT d TT TT MJDREF + * UTC s UTC TT toTT(MJDREF) + * UTC d UTC UTC MJDREF + * TDB s TDB TDB MJDREF + * TDB d TDB TDB MJDREF + * + * System files (JPLEPH, JPLEPH.200, JPLEPH.405, psrtime.dat, psrbin.dat, + * tai-utc.dat, tdc.dat) are first searched for in $TIMING_DIR, + * then $LHEA_DATA ($ASC_DATA, depending on what LHEADIR is set to). + * + *----------------------------------------------------------------------*/ + +//*** Original .c file header +/*----------------------------------------------------------------------- +* +* bary.c +* +* Date: 20 November 1997 +* +* Arnold Rots, USRA +* +* bary contains a set of functions around barycorr, calculating barycenter +* corrections for, in principle, any observations. +* Required: +* bary.h +* dpleph.c +* cfitsio +* +* Externally referenced: +* int baryinit (enum Observatory, char *, char *, double, double, char *, int) ; +* double barycorr (MJDTime *, double *, double *) ; +* int timeparms (char *, MJDTime *, double, int, PsrTimPar *, PsrBinPar *, int) ; +* double absphase (MJDTime *, PsrTimPar *, int, PsrBinPar *, +* int, double *, char *, int *) ; +* double xabsphase (double, PsrTimPar *, int, PsrBinPar *, +* int, double *, char *, int *) ; +* fitsfile *openFFile (const char *name) +* double *scorbit (char *, MJDTime *, int *oerror) +* void met2mjd (double, MJDTime *) ; +* double mjd2met (MJDTime *) ; +* const char *convertTime (MJDTime *) ; +* const char *fitsdate () +* double ctatv (long, double) ; +* void c200to405 (double *, int) ; +* +* MET equivalents: +* double xbarycorr (double, double *, double *) ; +* double *xscorbit (char *, double, int *) ; +* +* Internal: +* double TTtoTDB (MJDTime *) ; +* double TTtoTCG (MJDTime *) ; +* double TDBtoTCB (MJDTime *) ; +* double UTCtoTAI (MJDTime *) ; +* double toTT (MJDTime *) ; +* double toUTC (MJDTime *) ; +* double binorbit (MJDTime *, PsrBinPar *) ; +* +* It is assumed that the environment variable $TIMING_DIR is defined +* and that the ephemeris file $TIMING_DIR/ephem.fits exists. +* It is also assumed that $TIMING_DIR/psrtime.dat and +* $TIMING_DIR/psrbin.dat exist. +* However, all these names are defined as mocros in bary.h. +* +* Certain parts are adapted from software +* by Joseph M. Fierro, Stanford University, EGRET project, +* and from software provided with the JPL ephemeris. +* +*----------------------------------------------------------------------*/ + +//*** original TTtoTDB function header +/*----------------------------------------------------------------------- +* +* TTtoTDB calculates TDB-TT at time TT. +* double TTtoTDB (long jdTTint, double jdTTfr) +* mjdTT: MJD (TT) day +* return: TDB - TT (s) +* +* It uses the coefficients from Fairhead & Bretagnon 1990, +* A&A 229, 240, as provided by ctatv. +* The accuracy is better than 100 ns. +* +* The proper way to do all this is to abandon TDB and use TCB. +* +* The way this is done is as follows: TDB-TT and its derivative are +* calculated for the integer part of the Julian Day (when needed). +* The precise value is derived from fractional part and derivative. +* +*----------------------------------------------------------------------*/ + +//*** original ctatv function header +/* $Id: ctatv.c,v 3.0 1998/08/25 19:26:49 arots Exp arots $ + *---------------------------------------------------------------------- + * + * Routine name: CTATV + * + * Programmer and Completion Date: + * Lloyd Rawley - S.T.X. - 07/28/89 + * (Retyped by Masaki Mori - 04/19/96) + * (Converted to C for bary, optimized, + * corrected following Faithead & Bretagnon 1990, A&A 229, 240 + * by Arnold Rots - 1997-11-20) + * + * Function: Computes the cumulative relativistic time correction to + * earth-based clocks, TDB-TDT, for a given time. Routine + * furnished by the Bureau des Longitudes, modified by + * removal of terms much smaller than 0.1 microsecond. + * + * Calling Sequence: tdbdt = ctacv(jdno, fjdno) + * Argument Type I/O Description + * -------- ---- --- ---------------------------------------- + * jdno long I Julian day number of lookup + * fjdno double I Fractional part of Julian day number + * tdbtdt double O Time difference TDB-TDT (seconds) + * + * Called by: TTtoTDB + * + * Calls: none + * + * COMMON use: none + * + * Significant Local Variables: + * Variable Type Ini. Val. Description + * -------- ---- --------- ---------------------------------- + * t double - Time since 2000.0 (millennia) + * tt double - Square of T + * + * Logical Units Used: none + * + * Method: + * Convert input time to millennia since 2000.0 + * For each sinusoidal term of sufficient amplitude + * Compute value of term at input time + * End for + * Add together all terms and convert from microseconds to seconds + * End CTATV + * + * Note for the retyped version: + * Results of this routine has been confirmed up to (1E-10)microsecond + * level compared with the calculation by the IBM machine: this seems + * to be within the 64-bit precision allowance, but still the original + * hardcopy should be kept as the right one. (M.M.) + * + * Note for the C version: the accuracy is guaranteed to 100 ns. + * + *---------------------------------------------------------------------------*/ + diff --git a/src/jat/coreNOSA/spacetime/UniverseModel.java b/src/jat/coreNOSA/spacetime/UniverseModel.java new file mode 100644 index 0000000..73040df --- /dev/null +++ b/src/jat/coreNOSA/spacetime/UniverseModel.java @@ -0,0 +1,242 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 Emergent Space Technologies Inc. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * GNU General Public License as published by the Free Software + * Foundation; either version 2 of the License, or any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.spacetime; + +//import jat.spacetime.*; +import jat.coreNOSA.forces.AtmosphericDrag; +import jat.coreNOSA.forces.ForceModel; +import jat.coreNOSA.forces.ForceModelList; +import jat.coreNOSA.spacecraft.Spacecraft; + +/** + * This class encapsulates the universe model for a simulation. This includes the + * following elements: Time, Reference Frame, IERS data, and Force Models. + * + * @author Richard C. Page III + * + */ +public class UniverseModel { + + /** + * Reference Frame information, including conversions and relevant parameters + * for the body at the center of the frame. + */ + //** Note: This data member could be implemented better. In the future, it should + //** be generalized to represent any central body. To do this, it should be changed + //** either to be of type 'jat.spacetime.BodyRef' or include several different + //** reference frames with a class variable indicating which is the central body. + public EarthRef earthRef; + /** + * Time information, including conversions between time systems. + */ + public Time time; + /** + * Flag indicating whether or not to use the IERS Bulletin A correction data. + */ + protected boolean use_iers = false; + /** + * International Earth Rotation Service correction data. + */ + protected FitIERS iers; + /** + * List of the force models present in the simulation universe. + */ + protected ForceModelList forces; + + /** + * Default Constructor. Initializes to epoch of J2000. + * + */ + public UniverseModel(){ + time = new Time(TimeUtils.MJD_J2000); + earthRef = new EarthRef(time.mjd_ut1(),time.mjd_tt()); + forces = new ForceModelList(); + } + + /** + * Constructor. Initializes to the given UTC epoch. + * @param MJD_UTC Modified Julian Date in Universal Coordinated Time + */ + public UniverseModel(double MJD_UTC){ + time = new Time(MJD_UTC); + earthRef = new EarthRef(time.mjd_ut1(),time.mjd_tt()); + forces = new ForceModelList(); + } + + /** + * Set the current time to the given value. Updates time and bodyRef + * @param mjd_utc Modified Julian Date in Universal Coordinated Time + */ + public void set_time(double mjd_utc){ + time = new Time(mjd_utc); + boolean temp1 = earthRef.use_moon; + boolean temp2 = earthRef.use_sun; + earthRef = new EarthRef(time.mjd_ut1(),time.mjd_tt()); + earthRef.set_use_moon(temp1); + earthRef.set_use_sun(temp2); + } + + /** + * Sets whether the simulation applies the IERS pole wander and UT1-UTC corrections. + * It then updates the simulation models accordingly. + * + * @param b true to use IERS false to ignore it. + */ + public void set_use_iers(boolean b){ + use_iers = b; + if(iers == null) iers = new FitIERS(); + update(time.get_sim_time()); + } + + /** + * Sets whether the simulation needs to calculate the sun's position. Updates + * the relevant objects accordingly. + * @param b Boolean flag. + */ + public void set_compute_sun(boolean b){ + earthRef.set_use_sun(b); + update(time.get_sim_time()); + } + + /** + * Sets whether the simulation needs to calculate the moon's position. Updates + * the relevant objects accordingly. + * @param b Boolean flag. + */ + public void set_compute_moon(boolean b){ + earthRef.set_use_moon(b); + update(time.get_sim_time()); + } + + /** + * Return the current time in Modified Julian Date of Universal Coordinated Time + * @return The current time. + */ + public double get_mjd_utc(){ + return time.mjd_utc(); + } + + /** + * Add a force model to the universe. + * @see jat.coreNOSA.forces.ForceModel + * @param f The force model. + */ + public void addForce(ForceModel f){ + forces.addForce(f); + } + + /** + * Initializes the JPL DE405 ephemerides for use. + * + */ + public void initializeMoonEphem(){ + earthRef.initializeMoonEphem(time.mjd_tt()); + } + + /** + * Initializes the JPL DE405 ephemerides for use. + * + */ + public void initializeSunEphem(){ + earthRef.initializeSunEphem(time.mjd_tt()); + } + + /** + * Update the models to 't' seconds since the start epoch. + * @param t [sec] + */ + public void update(double t){ + if(use_iers){// && MathUtils.mod(t,60)==0){ + try{ + double[] param = iers.search(time.mjd_tt()); + earthRef.setIERS(param[0],param[1]); + time.set_UT1_UTC(param[2]); + }catch(Exception e){ + //e.printStackTrace(); + System.err.println("Error: Unable to interpret IERS Polar Motion data."); + System.err.println(" Polar motion data will be set to zero."); + use_iers = false; + } + }else{ + int donothing = 0; + } + time.update(t); + //if(MathUtils.mod(t,60)==0) + earthRef.update(time.mjd_ut1(),time.mjd_tt()); + } + + /** + * Though UniverseModel does not implement the Derivatives interface, this + * method has a similar purpose in providing the derivatives of a spacecraft + * state. Given the state and relevant properties for a spacecraft, derivs + * calculates the acceleration due to the current force list and returns + * the derivaties. + * + * This method is called by SimModel to provide the derivatives to the + * RungeKutta integrator. + * + * @see jat.simulation.SimModel + * + * @param t Current simulation time in seconds since the initial epoch. + * @param sc Spacecraft to opperate upon. + * @return The derivatives of the spacecraft state. + */ + public double[] derivs(double t, Spacecraft sc) { + double[] X = sc.toStateVector(); + double[] out = new double[X.length]; + time.update(t); + double[] accel = forces.acceleration(time,earthRef,sc); + out[0] = X[3]; + out[1] = X[4]; + out[2] = X[5]; + out[3] = accel[0]; + out[4] = accel[1]; + out[5] = accel[2]; + for(int i=6; i + * The CalDate Class provides methods of converting between the CalDate and MJD and GPSTimeFormat formats. + * Reference: Satellite Orbits by Montenbruck and Gill. + * + * Note: CalDate is just a time format. The actual time depicted could be GPS time, UTC, TAI, etc. + * + * @see jat.coreNOSA.spacetime.CalDate + * @author + * @version 1.0 + */ +public class CalDate implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 7001021639795466454L; + /** Year. + */ + protected int Year; + /** Month. + */ + protected int Month; + /** Day. + */ + protected int Day; + /** Hours. + */ + protected int Hour; + /** Minutes. + */ + protected int Min; + /** Seconds. + */ + protected double Sec; + + /** Day of year. + */ + protected int DOY; + + + /** Construct a time object using a calendar date. + * @param Yr Year. + * @param Mon Month. + * @param D Day. + * @param Hr Hours. + * @param Mn Minutes. + * @param S Seconds. + */ + public CalDate( int Yr, int Mon, int D, int Hr, int Mn, double S ) { + // accept the inputs, probably should add some checking some day + this.Year = Yr; + this.Month = Mon; + this.Day = D; + this.Hour = Hr; + this.Min = Mn; + this.Sec = S; + this.DOY = day2doy(Yr, Mon, D); + } + + /** Construct a clone of a CalDate object. + * @param cal CalDate object to be cloned. + */ + public CalDate( CalDate cal) { + this.Year = cal.Year; + this.Month = cal.Month; + this.Day = cal.Day; + this.Hour = cal.Hour; + this.Min = cal.Min; + this.Sec = cal.Sec; + this.DOY = cal.DOY; + } + + /** Create a CalDate object using MJD. From Montenbruck C++ code. + * @param mjd Modified Julian Date. + */ + public CalDate(double mjd){ + long a,b,c,d,e,f; + double Hours,x; + + // Convert Julian day number to calendar date + a = (long)(mjd+2400001.0); + + if ( a < 2299161 ) { // Julian calendar + b = 0; + c = a + 1524; + } + else { // Gregorian calendar + b = (long)((a-1867216.25)/36524.25); + c = a + b - (b/4) + 1525; + } + + d = (long)( (c-122.1)/365.25 ); + e = 365*d + d/4; + f = (long)( (c-e)/30.6001 ); + + long temp = (long)(30.6001*f); + this.Day = (int)(c - e - temp); + temp = (long)(f/14); + this.Month = (int)(f - 1 - 12*temp); + temp = (long)((7+Month)/10); + this.Year = (int)(d - 4715 - temp); + + Hours = 24.0*(mjd-Math.floor(mjd)); + + this.Hour = (int)Hours; + x = (Hours-Hour)*60.0; + this.Min = (int) x; + this.Sec = (x-Min)*60.0; + this.DOY = day2doy(this.Year, this.Month, this.Day); + } + + /** Create a CalDate object using GPS Time. Translated code from the + * NOAA GPS Toolbox (www.ngs.noaa.gov/gps-toolbox/index.html). + * @param gps GPSTimeFormat object. + */ + public CalDate(GPSTimeFormat gps){ + long GPS_Week = gps.gps_week(); + double GPS_SOW = gps.gps_sow(); + + long mjd, days_fr_jan1_1901; + double fmjd; + long delta_yrs, num_four_yrs, years_so_far, days_left; + + mjd = (long)(GPS_Week*7 + GPS_SOW/GPSTimeFormat.SEC_PER_DAY + GPSTimeFormat.JAN61980); + fmjd = MathUtils.mod(GPS_SOW, GPSTimeFormat.SEC_PER_DAY)/GPSTimeFormat.SEC_PER_DAY; + + days_fr_jan1_1901 = mjd - GPSTimeFormat.JAN11901; + num_four_yrs = days_fr_jan1_1901/1461; + years_so_far = 1901 + 4*num_four_yrs; + days_left = days_fr_jan1_1901 - 1461*num_four_yrs; + delta_yrs = days_left/365 - days_left/1460; + + this.Year = (int)(years_so_far + delta_yrs); + this.DOY = (int)(days_left - 365*delta_yrs + 1); + this.Month = doy2month(this.Year, this.DOY); + this.Day = doy2day(this.Year, this.DOY); + this.Hour = (int)(fmjd*24.0); + this.Min = (int)(fmjd*1440.0 - Hour*60.0); + this.Sec = fmjd*86400.0 - Hour*3600.0 - Min*60.0; + } + + /** Returns the modified Julian date. From Montenbruck C++ code. + * @return modified Julian date. + */ + public double mjd(){ + long MjdMidnight; + double FracOfDay; + int b; + int year = this.Year; + int month = this.Month; + int day = this.Day; + int hour = this.Hour; + int min = this.Min; + double sec = this.Sec; + + // compute the MJD + if (month<=2) { + month += 12; + --year; + } + + if ( (10000L*year+100L*month+day) <= 15821004L ){ + b = -2 + ((year+4716)/4) - 1179; // Julian calendar + } + else { + b = (year/400)-(year/100)+(year/4); // Gregorian calendar + } + + int temp = (int)(30.6001*(month+1)); + + MjdMidnight = 365L*year - 679004L + b + temp + day; + FracOfDay = (hour+min/60.0+sec/3600.0) / 24.0; + + double mjd = MjdMidnight + FracOfDay; + return mjd; + } + + /** Return the time in GPSTimeFormat format. From GPS Toolkit code. + * @return Time in GPSTimeFormat format. + */ + public GPSTimeFormat gpsTime(){ + GPSTimeFormat out = new GPSTimeFormat(this); + return out; + } + + /** Convert Day of Month to Day of Year. + * @param year Year. + * @param month Month. + * @param mday Day of month. + * @return Day of year. + */ + public int day2doy(int year, int month, int mday){ + int [] regu_month_day = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334}; + int [] leap_month_day = {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335}; + int yday = 0; + + // check for leap year + if((year%4) == 0 ){ + yday = leap_month_day[month - 1] + mday; + } + else { + yday = regu_month_day[month - 1] + mday; + } + return yday; + } + + /** Compute the month from day of year. From GPS Toolkit code. + * @param year Year. + * @param doy Day of year. + * @return Month. + */ + public int doy2month(int year, int doy){ + int [] regu_month_day = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365}; + int [] leap_month_day = {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}; + int yday = 0; + + int month = 0; + int mday = 0; + + int guess = (int)(doy*0.032); + int more = 0; + + // check for leap year + if((year%4) == 0 ){ + if ((doy - leap_month_day[guess+1]) > 0) more = 1; + month = guess + more + 1; + mday = doy - leap_month_day[guess+more]; + } + else { + if ((doy - regu_month_day[guess+1]) > 0) more = 1; + month = guess + more + 1; + mday = doy - regu_month_day[guess+more]; + } + return month; + } + + /** Compute the day of month from day of year. From GPS Toolkit code. + * @param year Year. + * @param doy Day of year. + * @return Day of month. + */ + public int doy2day(int year, int doy){ + int [] regu_month_day = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365}; + int [] leap_month_day = {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}; + int yday = 0; + + int month = 0; + int mday = 0; + + int guess = (int)(doy*0.032); + int more = 0; + + // check for leap year + if((year%4) == 0 ){ + if ((doy - leap_month_day[guess+1]) > 0) more = 1; + month = guess + more + 1; + mday = doy - leap_month_day[guess+more]; + } + else { + if ((doy - regu_month_day[guess+1]) > 0) more = 1; + month = guess + more + 1; + mday = doy - regu_month_day[guess+more]; + } + return mday; + } + + /** Increments time forward or backwards. + * @param sec Increment to move time in seconds. Positive for forward, negative for backwards. + */ + public void increment(double sec){ + GPSTimeFormat gps = new GPSTimeFormat(this); + gps.increment(sec); + CalDate out = new CalDate(gps); + this.Year = out.Year; + this.Month = out.Month; + this.Day = out.Day; + this.Hour = out.Hour; + this.Min = out.Min; + this.Sec = out.Sec; + this.DOY = out.DOY; + } + + /** Returns the year. + * @return Year. + */ + public int year(){ + return this.Year; + } + + /** Returns the month. + * @return Month. + */ + public int month(){ + return this.Month; + } + + /** Return the day of the month. + * @return Day of month. + */ + public int day(){ + return this.Day; + } + + /** Return the hour. + * @return Hour. + */ + public int hour(){ + return this.Hour; + } + + /** Return the minutes. + * @return Minute. + */ + public int min(){ + return this.Min; + } + + /** Return the second. + * @return Second. + */ + public double sec(){ + return this.Sec; + } + + /** Return the day of year. + * @return Day of year. + */ + public int doy(){ + return this.DOY; + } + /** Return the seconds of the day. + * @return seconds of the day. + */ + public double sec_of_day(){ + return (this.Hour*3600.0 + this.Min*60.0 + this.Sec); + } + + /** Return the difference between TAI and UTC (known as leap seconds). + * Values from the USNO website: ftp://maia.usno.navy.mil/ser7/leapsec.dat + * As of July 19, 2002, no leap second in Dec 2002 so next opportunity for + * adding a leap second is July 2003. Check IERS Bulletin C. + * @param mjd Modified Julian Date + * @return number of leaps seconds. + */ + + + /** Convert UTC time to GPS time. + * @return CalDate object with current UTC time. + */ + public GPSTimeFormat UTC2GPS(){ + // get the current mjd + double mjd = this.mjd(); + + // compute the difference between GPS and UTC + int gps_utc = TimeUtils.tai_utc(mjd) - TimeUtils.TAI_GPS; + + // convert the current time to GPSTimeFormat format + GPSTimeFormat out = new GPSTimeFormat(this); + + // convert from UTC time to GPS time + out.increment(gps_utc); + return out; + } + + /** Convert UTC time to TT. + * @param mjd_utc MJD of Current UTC time + * @return MJD of current TT. + */ + public static double UTC2TT(double mjd_utc){ + + // compute the difference between TT and UTC + double tt_utc = (double)(TimeUtils.tai_utc(mjd_utc) + TimeUtils.TT_TAI); + double out = mjd_utc + tt_utc/86400.0; + return out; + } + + /** + * Send it to string + * @return String containing the calendar date + */ + public String toString(){ + String out = this.Year+","+this.Month+","+this.Day+" "+this.Hour+":"+this.Min+":"+this.Sec; + return out; + } + + /** + * Print out the date + * @param title String containing a title + */ + public void print(String title){ + System.out.println(title); + System.out.println(this.Year+","+this.Month+","+this.Day+" "+this.Hour+":"+this.Min+":"+this.Sec); + } +} diff --git a/src/jat/coreNOSA/timeRef/EarthRef.java b/src/jat/coreNOSA/timeRef/EarthRef.java new file mode 100644 index 0000000..60b3389 --- /dev/null +++ b/src/jat/coreNOSA/timeRef/EarthRef.java @@ -0,0 +1,1034 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.timeRef; + +import jat.core.util.PathUtil; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.BodyCenteredInertialRef; +import jat.coreNOSA.spacetime.ReferenceFrame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.util.FileUtil; + +/** + *

+ * The EarthRef Class provides methods of converting between various types of Earth reference systems. + * Reference: Satellite Orbits by Montenbruck and Gill. This is basically their C++ code converted to Java. + * The interface to this class is an input Terrestrial time in MJD format, which is available from either + * the CalDate or GPSTimeFormat classes. + * + * For general use of Earth based coordinate systems, see jat.spacetime.EarthRef.java + * + * @see jat.coreNOSA.spacetime.EarthRef + * @author Richard C. Page III + * @author + * @version 1.0 + * @see jat.coreNOSA.spacetime.EarthRef + */ +public class EarthRef extends BodyCenteredInertialRef implements jat.coreNOSA.spacetime.BodyRef { + + protected double sim_time = 0; + public int n = 0; + public int increment = 0;//1800; + public boolean use_moon = true; + public boolean use_sun = true; + //public boolean use_iers = true; + + /** Modified Julian Date of the J2000 Epoch. + */ + public static final double MJD_J2000 = 51544.5; + + /** Two PI. + */ + private static final double pi2 = 2.0*MathUtils.PI; + + /** Psi angle + */ + private double dpsi; // Celestial pole offsets, computed or gotten from IERS. + /** Epsilon nutation angle. + */ + private double deps; // Celestial pole offsets, computed or gotten from IERS. + + private double Om; // Ascending node of Moon see Astro Almenac + + /** Modified Julian Date. + */ + private double MJD_TT; + + private double MJD_TDB; + + private double MJD_UTC; + + private double MJD_UT1; + + private double MJD_UTC_START; + + /** Difference between UT1 and UTC. + */ + private double UT1_UTC=0; // UT1-UTC time difference [s]. From IERS Bulletin A. + + /** X Pole Coordinate in radians. + */ + private double x_pole = 0.0; // Pole coordinate [rad]. From IERS Bulletin A. + + /** Y Pole Coordinate in radians. + */ + private double y_pole = 0.0; // Pole coordinate [rad]. From IERS Bulletin A. + + private Matrix T; + + private Matrix E; + + private VectorN r_sun; + private VectorN r_moon; + + private DE405 jpl_ephem; + + /** Construct an EarthRef object using UTC Time in Modified Julian Date format. + * @param mjd_UTC UTC time in MJD format. + */ + public EarthRef( double mjd_UTC ){ + super(DE405_Body.EARTH); + + //accept the input +// CalDate utc = new CalDate(mjd_UTC); + this.MJD_UTC = mjd_UTC; + this.MJD_UTC_START = mjd_UTC; + this.MJD_TT = CalDate.UTC2TT(mjd_UTC); + this.MJD_TDB = TimeUtils.TTtoTDB(this.MJD_TT); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC/86400.0; + this.T = trueOfDate(); + this.E = eci2ecef(); + if(this.use_moon || this.use_sun){ + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.eph","DE405")+fs+"DE405data"+fs; + }catch(Exception e){ + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + } + jpl_ephem = new DE405(dir_in); + } + if(this.use_sun) compute_JPL_Sun_Vector(); + if(this.use_moon) compute_JPL_Moon_Vector(); + } + + /** Construct an EarthRef object using UTC Time in CalDate format. + * @param date CalDate object containing UTC time. + */ + public EarthRef(CalDate date){ + super(DE405_Body.EARTH); + + + + this.MJD_UTC = date.mjd(); + this.MJD_UTC_START = date.mjd(); + this.MJD_TT = CalDate.UTC2TT(this.MJD_UTC); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC/86400.0; + this.T = trueOfDate(); + this.E = eci2ecef(); + if(this.use_moon || this.use_sun){ + PathUtil p = new PathUtil(); + jpl_ephem = new DE405(p.DE405Path); + //String fs = FileUtil.file_separator(); + //String dir_in = FileUtil.getClassFilePath("jat.eph","DE405")+fs+"DE405data"+fs; + //jpl_ephem = new DE405(dir_in); + } + if(this.use_sun) compute_JPL_Sun_Vector(); + if(this.use_moon) compute_JPL_Moon_Vector(); + } + + // For use with matlab + public EarthRef( double mjd_UTC , boolean usingmatlab){ + super(DE405_Body.EARTH); + //accept the input +// CalDate utc = new CalDate(mjd_UTC); + this.MJD_UTC = mjd_UTC; + this.MJD_UTC_START = mjd_UTC; + this.MJD_TT = CalDate.UTC2TT(mjd_UTC); + this.MJD_TDB = TimeUtils.TTtoTDB(this.MJD_TT); + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC/86400.0; + this.T = trueOfDate(); + this.E = eci2ecef(); + if(this.use_moon || this.use_sun){ + String dir_in; +// String fs = FileUtil.file_separator(); + dir_in = "C:/Code/Jat/jat/eph/DE405data/"; + jpl_ephem = new DE405(dir_in); + } + if(this.use_sun) compute_JPL_Sun_Vector(); + if(this.use_moon) compute_JPL_Moon_Vector(); + } + + + /** Set the IERS (Earth Rotation) Data + * @param x x_pole coordinate (rad) + * @param y y_pole coordinate (rad) + * @param d UT1 - UTC difference in s. + */ + public void setIERS(double x, double y, double d){ + this.x_pole = x*Constants.arcsec2rad; + this.y_pole = y*Constants.arcsec2rad; + if(sim_time >= n){ + this.UT1_UTC = d; + n = n+increment; + }else{ + this.UT1_UTC = 0.0; + } + this.MJD_UT1 = this.MJD_UTC + this.UT1_UTC/86400.0; + //this.T = trueOfDate(); + //this.E = eci2ecef(); + } + + /** Returns the Modified Julian Date of the start of the simulation + * @return modified julian date of the start of the simulation in UTC + */ + public double MJD_UTC_START(){ + return this.MJD_UTC_START; + } + + /** Returns the ECI to ECEF (ICRF to ITRF) Transformation Matrix. + * @return ECI to ECEF Transformation Matrix. + */ + public Matrix ECI2ECEF(){ + return this.E; + } + + /** Returns the J2000 to True of Date (ICRF to TOD) Transformation Matrix. + * @return J2000 to TOD Transformation Matrix. + */ + public Matrix TOD(){ + return this.T; + } + + /** Return the current Terrestrial time in MJD format. + * @return MJD of current Terrestrial time. + */ + public double mjd_tt(){ + return this.MJD_TT; + } + + public double mjd_tdb(){ + return this.MJD_TDB; + } + /** Return the current UTC time in MJD format. + * @return MJD of current UTC time. + */ + public double mjd_utc(){ + return this.MJD_UTC; + } + + /** Return the current UTC time in JD format. + * @return JD of current UTC time. + */ + public double jd_utc(){ + return this.MJD_UTC+2400000.5; + } + + /** Return the current TT time in JD format. + * @return JD of current TT time. + */ + public double jd_tt(){ + return this.MJD_TT+2400000.5; + } + + /** Return the current UT1 time in MJD format. + * @return MJD of current UT1 time. + */ + public double mjd_ut1(){ + return this.MJD_UT1; + } + + /** Computes the mean obliquity of the ecliptic. Uses Mjd_TT (Terrestrial Time). + *@return Mean obliquity of the ecliptic + */ + public double MeanObliquity() { + double T = (this.MJD_TT - MJD_J2000)/36525.0; + //double T = (this.MJD_TDB - MJD_J2000)/36525.0; //* used prior to IERS1996 convention +// TODO + return MathUtils.DEG2RAD *( 23.43929111-(46.8150+(0.00059-0.001813*T)*T)*T/3600.0 ); + //* Debug - updated the epsilon-0 value according to the Supplemental Astro Almanac (old above) + //return MathUtils.DEG2RAD *( 23.4392911111-(46.8150+(0.00059-0.001813*T)*T)*T/3600.0 ); + //return Constants.arcsec2rad *( 84381.448-(46.8150+(0.00059-0.001813*T)*T)*T ); + } + + /** Transformation of equatorial to ecliptical coordinates. Uses Mjd_TT (Terrestrial Time). + * @return Transformation matrix + */ + public RotationMatrix EclMatrix() { + RotationMatrix out = new RotationMatrix(1, MeanObliquity()); + return out; + } + + /** Precession transformation of equatorial coordinates. Uses Mjd_TT (Terrestrial Time). + * @return Precession transformation matrix + */ + public Matrix PrecMatrix() { + double Mjd_1 = MJD_J2000; // Epoch given (Modified Julian Date TT) + double Mjd_2 = this.MJD_TT; // Epoch to precess to (Modified Julian Date TT) + //double Mjd_2 = this.MJD_TDB; //* used prior to IERS1996 convention + + // Constants + final double Arcs = MathUtils.ARCSEC2RAD; + final double T = (Mjd_1-MJD_J2000)/36525.0; + final double dT = (Mjd_2-Mjd_1)/36525.0; + + // Variables + double zeta,z,theta; + + // Precession angles + zeta = ( (2306.2181+(1.39656-0.000139*T)*T)+ + ((0.30188-0.000344*T)+0.017998*dT)*dT )*dT*Arcs; + z = zeta + ( (0.79280+0.000411*T)+0.000205*dT)*dT*dT*Arcs; + theta = ( (2004.3109-(0.85330+0.000217*T)*T)- + ((0.42665+0.000217*T)+0.041833*dT)*dT )*dT*Arcs; + + //***Debug - Vallado's method +// double Deg2Rad = 0.01745329251994; +// double TTDB = dT; +// double TTDB2 = TTDB*dT; +// double TTDB3 = TTDB2*dT; +// zeta = 0.6406161 * TTDB + 0.0000839 * TTDB2 + 0.0000050 * TTDB3; +// z = 0.6406161 * TTDB + 0.0003041 * TTDB2 + 0.0000051 * TTDB3; +// theta = 0.5567530 * TTDB - 0.0001185 * TTDB2 - 0.0000116 * TTDB3; +// zeta *= Deg2Rad; +// z *= Deg2Rad; +// theta *= Deg2Rad; + + + // Precession matrix + RotationMatrix r1 = new RotationMatrix(3, -z); + RotationMatrix r2 = new RotationMatrix(2, theta); + RotationMatrix r3 = new RotationMatrix(3, -zeta); + + Matrix out = r1.times(r2.times(r3)); + return out; + } + + /** Computes Nutation in longitude and obliquity using the IAU 1980 nutation theory. + * Uses Mjd_TT (Terrestrial Time). + */ + public void NutAngles() { + double Mjd_TT = this.MJD_TT; + //double Mjd_TT = this.MJD_TDB; //* used prior to IERS1996 convention + + // Constants + + final double T = (Mjd_TT-MJD_J2000)/36525.0; + final double T2 = T*T; + final double T3 = T2*T; + final double rev = 360.0*3600.0; // arcsec/revolution + + final int N_coeff = 106; + final long [][] C = { + { 0, 0, 0, 0, 1,-1719960,-1742, 920250, 89 }, // 1 + { 0, 0, 0, 0, 2, 20620, 2, -8950, 5 }, // 2 + { -2, 0, 2, 0, 1, 460, 0, -240, 0 }, // 3 + { 2, 0,-2, 0, 0, 110, 0, 0, 0 }, // 4 + { -2, 0, 2, 0, 2, -30, 0, 10, 0 }, // 5 + { 1,-1, 0,-1, 0, -30, 0, 0, 0 }, // 6 + { 0,-2, 2,-2, 1, -20, 0, 10, 0 }, // 7 + { 2, 0,-2, 0, 1, 10, 0, 0, 0 }, // 8 + { 0, 0, 2,-2, 2, -131870, -16, 57360, -31 }, // 9 + { 0, 1, 0, 0, 0, 14260, -34, 540, -1 }, // 10 + { 0, 1, 2,-2, 2, -5170, 12, 2240, -6 }, // 11 + { 0,-1, 2,-2, 2, 2170, -5, -950, 3 }, // 12 + { 0, 0, 2,-2, 1, 1290, 1, -700, 0 }, // 13 + { 2, 0, 0,-2, 0, 480, 0, 10, 0 }, // 14 + { 0, 0, 2,-2, 0, -220, 0, 0, 0 }, // 15 + { 0, 2, 0, 0, 0, 170, -1, 0, 0 }, // 16 + { 0, 1, 0, 0, 1, -150, 0, 90, 0 }, // 17 + { 0, 2, 2,-2, 2, -160, 1, 70, 0 }, // 18 + { 0,-1, 0, 0, 1, -120, 0, 60, 0 }, // 19 + { -2, 0, 0, 2, 1, -60, 0, 30, 0 }, // 20 + { 0,-1, 2,-2, 1, -50, 0, 30, 0 }, // 21 + { 2, 0, 0,-2, 1, 40, 0, -20, 0 }, // 22 + { 0, 1, 2,-2, 1, 40, 0, -20, 0 }, // 23 + { 1, 0, 0,-1, 0, -40, 0, 0, 0 }, // 24 + { 2, 1, 0,-2, 0, 10, 0, 0, 0 }, // 25 + { 0, 0,-2, 2, 1, 10, 0, 0, 0 }, // 26 + { 0, 1,-2, 2, 0, -10, 0, 0, 0 }, // 27 + { 0, 1, 0, 0, 2, 10, 0, 0, 0 }, // 28 + { -1, 0, 0, 1, 1, 10, 0, 0, 0 }, // 29 + { 0, 1, 2,-2, 0, -10, 0, 0, 0 }, // 30 + { 0, 0, 2, 0, 2, -22740, -2, 9770, -5 }, // 31 + { 1, 0, 0, 0, 0, 7120, 1, -70, 0 }, // 32 + { 0, 0, 2, 0, 1, -3860, -4, 2000, 0 }, // 33 + { 1, 0, 2, 0, 2, -3010, 0, 1290, -1 }, // 34 + { 1, 0, 0,-2, 0, -1580, 0, -10, 0 }, // 35 + { -1, 0, 2, 0, 2, 1230, 0, -530, 0 }, // 36 + { 0, 0, 0, 2, 0, 630, 0, -20, 0 }, // 37 + { 1, 0, 0, 0, 1, 630, 1, -330, 0 }, // 38 + { -1, 0, 0, 0, 1, -580, -1, 320, 0 }, // 39 + { -1, 0, 2, 2, 2, -590, 0, 260, 0 }, // 40 + { 1, 0, 2, 0, 1, -510, 0, 270, 0 }, // 41 + { 0, 0, 2, 2, 2, -380, 0, 160, 0 }, // 42 + { 2, 0, 0, 0, 0, 290, 0, -10, 0 }, // 43 + { 1, 0, 2,-2, 2, 290, 0, -120, 0 }, // 44 + { 2, 0, 2, 0, 2, -310, 0, 130, 0 }, // 45 + { 0, 0, 2, 0, 0, 260, 0, -10, 0 }, // 46 + { -1, 0, 2, 0, 1, 210, 0, -100, 0 }, // 47 + { -1, 0, 0, 2, 1, 160, 0, -80, 0 }, // 48 + { 1, 0, 0,-2, 1, -130, 0, 70, 0 }, // 49 + { -1, 0, 2, 2, 1, -100, 0, 50, 0 }, // 50 + { 1, 1, 0,-2, 0, -70, 0, 0, 0 }, // 51 + { 0, 1, 2, 0, 2, 70, 0, -30, 0 }, // 52 + { 0,-1, 2, 0, 2, -70, 0, 30, 0 }, // 53 + { 1, 0, 2, 2, 2, -80, 0, 30, 0 }, // 54 + { 1, 0, 0, 2, 0, 60, 0, 0, 0 }, // 55 + { 2, 0, 2,-2, 2, 60, 0, -30, 0 }, // 56 + { 0, 0, 0, 2, 1, -60, 0, 30, 0 }, // 57 + { 0, 0, 2, 2, 1, -70, 0, 30, 0 }, // 58 + { 1, 0, 2,-2, 1, 60, 0, -30, 0 }, // 59 + { 0, 0, 0,-2, 1, -50, 0, 30, 0 }, // 60 + { 1,-1, 0, 0, 0, 50, 0, 0, 0 }, // 61 + { 2, 0, 2, 0, 1, -50, 0, 30, 0 }, // 62 + { 0, 1, 0,-2, 0, -40, 0, 0, 0 }, // 63 + { 1, 0,-2, 0, 0, 40, 0, 0, 0 }, // 64 + { 0, 0, 0, 1, 0, -40, 0, 0, 0 }, // 65 + { 1, 1, 0, 0, 0, -30, 0, 0, 0 }, // 66 + { 1, 0, 2, 0, 0, 30, 0, 0, 0 }, // 67 + { 1,-1, 2, 0, 2, -30, 0, 10, 0 }, // 68 + { -1,-1, 2, 2, 2, -30, 0, 10, 0 }, // 69 + { -2, 0, 0, 0, 1, -20, 0, 10, 0 }, // 70 + { 3, 0, 2, 0, 2, -30, 0, 10, 0 }, // 71 + { 0,-1, 2, 2, 2, -30, 0, 10, 0 }, // 72 + { 1, 1, 2, 0, 2, 20, 0, -10, 0 }, // 73 + { -1, 0, 2,-2, 1, -20, 0, 10, 0 }, // 74 + { 2, 0, 0, 0, 1, 20, 0, -10, 0 }, // 75 + { 1, 0, 0, 0, 2, -20, 0, 10, 0 }, // 76 + { 3, 0, 0, 0, 0, 20, 0, 0, 0 }, // 77 + { 0, 0, 2, 1, 2, 20, 0, -10, 0 }, // 78 + { -1, 0, 0, 0, 2, 10, 0, -10, 0 }, // 79 + { 1, 0, 0,-4, 0, -10, 0, 0, 0 }, // 80 + { -2, 0, 2, 2, 2, 10, 0, -10, 0 }, // 81 + { -1, 0, 2, 4, 2, -20, 0, 10, 0 }, // 82 + { 2, 0, 0,-4, 0, -10, 0, 0, 0 }, // 83 + { 1, 1, 2,-2, 2, 10, 0, -10, 0 }, // 84 + { 1, 0, 2, 2, 1, -10, 0, 10, 0 }, // 85 + { -2, 0, 2, 4, 2, -10, 0, 10, 0 }, // 86 + { -1, 0, 4, 0, 2, 10, 0, 0, 0 }, // 87 + { 1,-1, 0,-2, 0, 10, 0, 0, 0 }, // 88 + { 2, 0, 2,-2, 1, 10, 0, -10, 0 }, // 89 + { 2, 0, 2, 2, 2, -10, 0, 0, 0 }, // 90 + { 1, 0, 0, 2, 1, -10, 0, 0, 0 }, // 91 + { 0, 0, 4,-2, 2, 10, 0, 0, 0 }, // 92 + { 3, 0, 2,-2, 2, 10, 0, 0, 0 }, // 93 + { 1, 0, 2,-2, 0, -10, 0, 0, 0 }, // 94 + { 0, 1, 2, 0, 1, 10, 0, 0, 0 }, // 95 + { -1,-1, 0, 2, 1, 10, 0, 0, 0 }, // 96 + { 0, 0,-2, 0, 1, -10, 0, 0, 0 }, // 97 + { 0, 0, 2,-1, 2, -10, 0, 0, 0 }, // 98 + { 0, 1, 0, 2, 0, -10, 0, 0, 0 }, // 99 + { 1, 0,-2,-2, 0, -10, 0, 0, 0 }, // 100 + { 0,-1, 2, 0, 1, -10, 0, 0, 0 }, // 101 + { 1, 1, 0,-2, 1, -10, 0, 0, 0 }, // 102 + { 1, 0,-2, 2, 0, -10, 0, 0, 0 }, // 103 + { 2, 0, 0, 2, 0, 10, 0, 0, 0 }, // 104 + { 0, 0, 2, 4, 2, -10, 0, 0, 0 }, // 105 + { 0, 1, 0, 1, 0, 10, 0, 0, 0 } // 106 + }; + + // Variables + double l, lp, F, D;//, Om; //Om changed to class variable + double arg; + + // Mean arguments of luni-solar motion + // + // l mean anomaly of the Moon + // l' mean anomaly of the Sun + // F mean argument of latitude + // D mean longitude elongation of the Moon from the Sun + // Om mean longitude of the ascending node + + l = MathUtils.Modulo( 485866.733 + (1325.0*rev + 715922.633)*T + + 31.310*T2 + 0.064*T3, rev ); + lp = MathUtils.Modulo( 1287099.804 + ( 99.0*rev + 1292581.224)*T + - 0.577*T2 - 0.012*T3, rev ); + F = MathUtils.Modulo( 335778.877 + (1342.0*rev + 295263.137)*T + - 13.257*T2 + 0.011*T3, rev ); + D = MathUtils.Modulo( 1072261.307 + (1236.0*rev + 1105601.328)*T + - 6.891*T2 + 0.019*T3, rev ); +// Om = MathUtils.Modulo( 450160.280 - ( 5.0*rev + 482890.539)*T +// + 7.455*T2 + 0.008*T3, rev ); +// TODO + //* Debug - changed to correspond to the Supplemental Astro Almanac (old above) + //* Warning!!! This value below causes error ~8.816m for ISS ~1.264m Sun-Sync +// Om = MathUtils.Modulo( 486160.28 - ( 5.0*rev + 482890.539)*T +// + 7.455*T2 + 0.008*T3, rev ); + //* Debug2 - IERS tech report 21 1996 conventions (below) + Om = MathUtils.Modulo( 450160 - 6962890.2665*T + + 7.4722*T2 + 0.007702*T3 - 0.00005939*T3*T, rev ); + + // Nutation in longitude and obliquity [rad] + final double Arcs = MathUtils.ARCSEC2RAD; + + deps = 0.0; + dpsi = 0.0; + for (int i=0; i 0) { + //x = mjd[i] - mjd[i - 1]; + //x += (mjd[i]-mjd[i-1]); + x = i * 1.0; // one day increment in data file + if (Math.abs(y[i] - y[i - 1]) > 0.5) { + dtleap = 1.0; + } + y[i] = y[i] - dtleap; + } + if(use_GEONS){ + double x2 = x * x; + double x3 = x2 * x; + double x4 = x3 * x; + hth.set(2, 2, (hth.get(2, 2) + 1.0)); + hth.set(2, 1, (hth.get(2, 1) + x)); + hth.set(1, 2, (hth.get(2, 1))); + hth.set(2, 0, (hth.get(2, 0) + x2)); + hth.set(1, 1, (hth.get(2, 0))); + hth.set(0, 2, (hth.get(2, 0))); + hth.set(1, 0, (hth.get(1, 0) + x3)); + hth.set(0, 1, (hth.get(1, 0))); + hth.set(0, 0, (hth.get(0, 0) + x4)); + + ht.set(0, i, x2); + ht.set(1, i, x); + ht.set(2, i, 1.0); + // process polar motion data + tp = mjd[0] - 1.0; + double num = 2.0 * (mjd[i] - tp) * MathUtils.PI; + double ca = num / 365.25; + double cc = num / 435.0; + double cosa = Math.cos(ca); + double sina = Math.sin(ca); + double cosc = Math.cos(cc); + double sinc = Math.sin(cc); + + ata.set(0, 0, (ata.get(0, 0) + 1.0)); + ata.set(1, 0, (ata.get(1, 0) + cosa)); + ata.set(2, 0, (ata.get(2, 0) + sina)); + ata.set(3, 0, (ata.get(3, 0) + cosc)); + ata.set(4, 0, (ata.get(4, 0) + sinc)); + ata.set(0, 1, (ata.get(1, 0))); + ata.set(0, 2, (ata.get(2, 0))); + ata.set(0, 3, (ata.get(3, 0))); + ata.set(0, 4, (ata.get(4, 0))); + ata.set(1, 1, (ata.get(1, 1) + cosa * cosa)); + ata.set(2, 1, (ata.get(2, 1) + cosa * sina)); + ata.set(3, 1, (ata.get(3, 1) + cosa * cosc)); + ata.set(4, 1, (ata.get(4, 1) + cosa * sinc)); + ata.set(1, 2, (ata.get(2, 1))); + ata.set(1, 3, (ata.get(3, 1))); + ata.set(1, 4, (ata.get(4, 1))); + ata.set(2, 2, (ata.get(2, 2) + sina * sina)); + ata.set(3, 2, (ata.get(3, 2) + sina * cosc)); + ata.set(4, 2, (ata.get(4, 2) + sina * sinc)); + ata.set(2, 3, (ata.get(3, 2))); + ata.set(2, 4, (ata.get(4, 2))); + ata.set(3, 3, (ata.get(3, 3) + cosc * cosc)); + ata.set(3, 4, (ata.get(3, 4) + cosc * sinc)); + ata.set(4, 3, (ata.get(3, 4))); + ata.set(4, 4, (ata.get(4, 4) + sinc * sinc)); + + atx.set(0, (atx.get(0) + pmx)); + atx.set(1, (atx.get(1) + pmx * cosa)); + atx.set(2, (atx.get(2) + pmx * sina)); + atx.set(3, (atx.get(3) + pmx * cosc)); + atx.set(4, (atx.get(4) + pmx * sinc)); + aty.set(0, (aty.get(0) + pmy)); + aty.set(1, (aty.get(1) + pmy * cosa)); + aty.set(2, (aty.get(2) + pmy * sina)); + aty.set(3, (aty.get(3) + pmy * cosc)); + aty.set(4, (aty.get(4) + pmy * sinc)); + + } + //* Get inverse + Matrix hthinv = hth.inverse(); + //* Get hty + VectorN ymat = new VectorN(y); + VectorN hty = ht.times(ymat); + + //* solve + u = hthinv.times(hty); + //* invert ata (least squares fit for x- and y- parameters + Matrix atainv = ata.inverse(); + //* multiply the inverses + ax = atainv.times(atx); + ay = atainv.times(aty); + } + mjd_1 = mjd[0]; + } + + public double[] search(double mjd_arg){ + // System.out.println("***SEARCH***"); + int n = mjd.length; + int out = n-2; + // System.out.println("mjd0: "+mjd[0]+" mjdarg: "+mjd_arg); + // System.out.println("mjd2: "+mjd[n/2]+" mjdf: "+mjd[n-1]); + double ref = (mjd.length/(mjd[mjd.length-1]-mjd[0])); + int ai = (int)( (mjd_arg-mjd[0])*ref-5); + for(int i=ai; i= mjd[n/2] && mjd_arg <= mjd[n-1]){ + for(int i=n/2; i + * The GPSTimeFormat Class provides methods of converting between the GPS Time and MJD and CalDate time formats. + * Reference: Satellite Orbits by Montenbruck and Gill. + * Translated code from the NOAA GPS Toolbox (www.ngs.noaa.gov/gps-toolbox/index.html) + * + * @see jat.coreNOSA.spacetime.GPSTimeFormat + * @author + * @version 1.0 + */ +public class GPSTimeFormat { + + private long GPS_Week; + + private double GPS_SOW; + + /** MJD of GPS epoch (Jan 6, 1980). + */ + public static final long JAN61980 = 44244; + + /** MJD of Jan 1, 1901 + */ + public static final long JAN11901 = 15385; + + /** Seconds per day. + */ + public static final double SEC_PER_DAY = 86400.0; + + public static final double TAI_TT = 32.184; // constant + + public static final int TAI_GPS = 19; // constant + + /** Create a GPSTimeFormat object using GPS Week and Seconds of the Week. + * @param gps_week Long GPS Week number. + * @param gps_sow Double GPS seconds of the week. + */ + public GPSTimeFormat(long gps_week, double gps_sow){ + this.GPS_Week = gps_week; + this.GPS_SOW = gps_sow; + } + + /** Create a clone of a GPSTimeFormat object. + * @param gps GPSTimeFormat object to be cloned. + */ + public GPSTimeFormat(GPSTimeFormat gps){ + this.GPS_Week = gps.GPS_Week; + this.GPS_SOW = gps.GPS_SOW; + } + + /** Creates a new instance of GPSTimeFormat + * @param year Integer year. + * @param doy Integer day of year. + * @param hour Integer hours. + * @param minute Integer minutes. + * @param second Integer seconds. + */ + public GPSTimeFormat(int year, int doy, int hour, int minute, double second) { + long mjd; + double fmjd; + + mjd = ((year - 1901)/4)*1461 + ((year - 1901)%4)*365 + doy - 1 + JAN11901; + fmjd = ((second/60.0 + minute)/60.0 + hour)/24.0; + + this.GPS_Week = (mjd - JAN61980)/7; + this.GPS_SOW = ( (mjd - JAN61980) - GPS_Week*7 + fmjd )*SEC_PER_DAY; + } + + /** Create a GPSTimeFormat object from a CalDate object. + * @param cal CalDate object. + */ + public GPSTimeFormat(CalDate cal){ + long mjd; + double fmjd; + int year = cal.Year; + int doy = cal.DOY; + int hour = cal.Hour; + int minute = cal.Min; + double second = cal.Sec; + + mjd = ((year - 1901)/4)*1461 + ((year - 1901)%4)*365 + doy - 1 + JAN11901; + fmjd = ((second/60.0 + minute)/60.0 + hour)/24.0; + + this.GPS_Week = (mjd - JAN61980)/7; + this.GPS_SOW = ( (mjd - JAN61980) - GPS_Week*7 + fmjd )*SEC_PER_DAY; + } + + /** Create a GPSTimeFormat object from an MJD. + * @param mjd Modified Julian Date. + */ + public GPSTimeFormat(double mjd){ + long lmjd = (long)mjd; + double fmjd = MathUtils.Frac(mjd); + this.GPS_Week = (lmjd - JAN61980)/7; + this.GPS_SOW = ( (lmjd - JAN61980) - GPS_Week*7 + fmjd )*SEC_PER_DAY; + } + + /** Returns the modified Julian date. + * @return modified Julian date. + */ + public double mjd(){ + double out = (double)(GPS_Week*7 + GPS_SOW/SEC_PER_DAY + JAN61980); + return out; + } + + /** Returns the time in CalDate format. + * @return Time in CalDate format. + */ + public CalDate calDate(){ + CalDate out = new CalDate(this); + return out; + } + + /** Returns the GPS Week number. + * @return GPS week number. + */ + public long gps_week(){ + return this.GPS_Week; + } + + /** Returns the GPS Seconds of the Week. + * @return GPS seconds of the week. + */ + public double gps_sow(){ + return this.GPS_SOW; + } + + /** + * Print out the GPS time + * @param title String containing a title + */ + public void print(String title) { + System.out.println(title + " GPS Time"); + System.out.println(" GPS Week: "+this.GPS_Week); + System.out.println(" GPS SOW: "+this.GPS_SOW); + System.out.println(" MJD: "+this.mjd()); + } + + /** + * Print out the GPS time in CalDate format + * @param title String containing a title + */ + public void printCalDate(String title){ + CalDate temp = this.calDate(); + temp.print(title); + } + + /** Increments time forward or backwards. + * @param sec Increment to move time in seconds. Positive for forward, negative for backwards. + */ + public void increment(double sec){ + double temp = this.GPS_SOW + sec; + double max_sow = 604800.0; + if (Math.abs(sec) > max_sow){ + System.out.println("Sorry I can't increment time by >= 1 week"); + return; + } + // incrementing backwards into last week + if (temp < 0.0){ + this.GPS_Week = this.GPS_Week - 1; + this.GPS_SOW = max_sow + temp; + } + // incrementing forward into next week + if (temp >= max_sow){ + this.GPS_Week = this.GPS_Week + 1; + this.GPS_SOW = temp - max_sow; + } + // incrementing within the week + if ((temp >= 0.0)&&(temp < max_sow)){ + this.GPS_SOW = temp; + } + } + + /** Convert GPS time to UTC time. + * @return CalDate object with current UTC time. + */ + public CalDate GPS2UTC(){ + // get the current mjd + double mjd = this.mjd(); + + // convert the current time to CalDate format + CalDate out = new CalDate(this); + + // compute the difference between GPS and UTC + int utc_gps = TAI_GPS - TimeUtils.tai_utc(mjd); + + // convert from GPS time to UTC time + out.increment(utc_gps); + return out; + } + + /** Convert GPS time to TT. + * @return mjd with current TT. + */ + public double GPS2TT(){ + // get the current mjd + double mjd = this.mjd(); + + // compute the difference between Terrestrial and GPS + double tt_gps = TAI_GPS - TAI_TT; + + // make a copy + GPSTimeFormat out = new GPSTimeFormat(this); + + // convert from GPS time to Terrestrial time + out.increment(tt_gps); + return out.mjd(); + } + +} diff --git a/src/jat/coreNOSA/timeRef/Geodetic.java b/src/jat/coreNOSA/timeRef/Geodetic.java new file mode 100644 index 0000000..9822cc7 --- /dev/null +++ b/src/jat/coreNOSA/timeRef/Geodetic.java @@ -0,0 +1,194 @@ +package jat.coreNOSA.timeRef; + +/* JAT: Java Astrodynamics Toolkit +* +* Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. +* +* This file is part of JAT. JAT is free software; you can +* redistribute it and/or modify it under the terms of the +* NASA Open Source Agreement +* +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* NASA Open Source Agreement for more details. +* +* You should have received a copy of the NASA Open Source Agreement +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +* +*/ + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.RotationMatrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +/** +*

+* The Geodetic Class provides methods of converting between geocentric and geodetic reference systems. +* Reference: Satellite Orbits by Montenbruck and Gill, Section 5.5. This is basically their C++ code converted to Java. +* +* @see jat.spacetime.Geodetic +* @author +* @version 1.0 +*/ +public class Geodetic { + + /** latitude in radians. + */ + protected double latitude = 0.0; + + /** longitude in radians. + */ + protected double longitude = 0.0; + + /** height above the ellipsoid in m. + */ + protected double hae = 0.0; + + private double R_equ = Constants.R_Earth; + + private double f = Constants.f_Earth; + + /** Creates a new instance of Geodetic from latitude, longitude and altitude. + * @param lambda longitude in radians. + * @param phi latitude in radians. + * @param alt altitude in meters. + */ + public Geodetic(double lambda, double phi, double alt) { + this.longitude = lambda; + this.latitude = phi; + this.hae = alt; + } + + /** create a Geodetic from a Geocentric Position Vector. + * @param r Geocentric position in m. + */ + public Geodetic(VectorN r){ + double eps = 1000.0 * MathUtils.MACHEPS; // Convergence criterion + //double eps = MathUtils.MACHEPS; // Convergence criterion + double epsRequ = eps*R_equ; + double e2 = f*(2.0-f); // Square of eccentricity + + double X = r.x[0]; // Cartesian coordinates + double Y = r.x[1]; + double Z = r.x[2]; + double rho2 = X*X + Y*Y; // Square of distance from z-axis + + // Iteration + double SinPhi; + double ZdZ = 0.0; + double Nh = 0.0; + double N = 0.0; + double dZ = e2*Z; + double dZ_new = 0.0; + + if (r.mag() > 0.0){ + + while (Math.abs(dZ-dZ_new) > epsRequ ) { + ZdZ = Z + dZ; + Nh = Math.sqrt ( rho2 + ZdZ*ZdZ ); + SinPhi = ZdZ / Nh; // Sine of geodetic latitude + N = R_equ / Math.sqrt(1.0-e2*SinPhi*SinPhi); + dZ = dZ_new; + dZ_new = N*e2*SinPhi; + } + + // Longitude, latitude, altitude + this.longitude = Math.atan2 ( Y, X ); + this.latitude = Math.atan2 ( ZdZ, Math.sqrt(rho2) ); + this.hae = Nh - N; + } + else{ + this.longitude = 0.0; + this.latitude = 0.0; + this.hae = -Constants.R_Earth; + } + } + + + /** Return the latitude. + * @return latitude in radians. + */ + public double getLatitude(){ + return this.latitude; + } + /** return the longitude. + * @return longitude in radians. + */ + public double getLongitude(){ + return this.longitude; + } + /** return the height above the ellipsoid. + * @return height above the ellipsoid in m. + */ + public double getHAE(){ + return this.hae; + } + /** set the equatorial radius. + * @param r_eq equatorial radius in m. + */ + public void setEquatorialRadius(double r_eq){ + this.R_equ = r_eq; + } + + /** get the equatorial radius. + * @return equatorial radius in m. + */ + public double getEquatorialRadius(){ + return this.R_equ; + } + + /** set the flattening factor. + * @param fin the flattening factor. + */ + public void setFlattening(double fin){ + this.f = fin; + } + + /** get the flattening factor. + * @return flattening factor. + */ + public double getFlattening(){ + return this.f; + } + + + /** computes the geocentric position vector. + * @return geocentric position in m. + */ + public VectorN geocentricPosition () { + double e2 = f*(2.0-f); // Square of eccentricity + double CosLat = Math.cos(this.latitude); // (Co)sine of geodetic latitude + double SinLat = Math.sin(this.latitude); + double CosLon = Math.cos(this.longitude); // (Co)sine of geodetic latitude + double SinLon = Math.sin(this.longitude); + double N; + VectorN r = new VectorN(3); + + // Position vector + + N = this.R_equ / Math.sqrt(1.0-e2*SinLat*SinLat); + double Nh = N + this.hae; + r.x[0] = Nh*CosLat*CosLon; + r.x[1] = Nh*CosLat*SinLon; + r.x[2] = ((1.0-e2)*Nh)*SinLat; + return r; + } + + /** Compute the transformation from ECEF to SEZ (topocentric horizon) reference frame. + * @return ECEF to SEZ transformation matrix + */ + public Matrix ECEF2SEZ (){ + double lambda = this.longitude; + double phi = this.latitude; + + RotationMatrix M = new RotationMatrix( 3, lambda, 2, (Constants.pi/2.0 - phi)); + Matrix out = new Matrix(M); + return out; + } + + +} diff --git a/src/jat/coreNOSA/timeRef/RSW_Frame.java b/src/jat/coreNOSA/timeRef/RSW_Frame.java new file mode 100644 index 0000000..9cff3b9 --- /dev/null +++ b/src/jat/coreNOSA/timeRef/RSW_Frame.java @@ -0,0 +1,182 @@ +package jat.coreNOSA.timeRef; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 4, 2003 + */ + +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +/** + *

+ * The RSW_Frame Class provides methods of converting between the ECI and RSW frame, + * accounting for the Coriolis effect. The RSW frame is also referred to as: + * RTN, UVW, LVLH. The first axis is along the radius vector, the third axis is along + * the angular momentum vector and the second is along track. + * Reference: Vallado. + * + * @see jat.coreNOSA.spacetime.RSW_Frame + * @author + * @version 1.0 + */ +public class RSW_Frame { + + /** Reference ECI position vector */ + private VectorN rref; + + /** Reference ECI velocity vector */ + private VectorN vref; + + /** ECI to RSW direction cosine matrix */ + private Matrix eci2rsw; + + /** The angular velocity of RSW frame wrt ECI frame, expressed in RSW frame */ + private VectorN omega; + + /** Construct an RSW reference frame + * @param r reference ECI position vector + * @param v reference ECI velocity vector + */ + public RSW_Frame(VectorN r, VectorN v){ + this.rref = r; + this.vref = v; + + this.eci2rsw = this.ECI2RSW(r, v); + } + + /** Return the ECI to RSW direction cosine matrix + * @return the ECI to RSW direction cosine matrix + */ + public Matrix ECI2RSW(){ + return this.eci2rsw; + } + + public VectorN omega(){ + return this.omega; + } + + /** Transform a position vector from ECI to RSW frame. + * @param r_eci position vector in ECI frame + * @return VectorN containing RSW position vector. + */ + public VectorN transform(VectorN r_eci) { + VectorN r_rsw = this.eci2rsw.times(r_eci); + return r_rsw; + } + + /** Transform a position and velocity vector pair from ECI to RSW frame, + * accounting for Coriolis. + * @param r_eci position vector in ECI frame + * @param v_eci velocity vector in ECI frame + * @return VectorN containing RSW position and velocity vector. + */ + public VectorN transform(VectorN r_eci, VectorN v_eci){ + VectorN r_rsw = this.eci2rsw.times(r_eci); + VectorN v_rsw = this.transformVelocity(r_rsw, v_eci); + VectorN out = new VectorN(r_rsw, v_rsw); + return out; + } + + /** Compute the transformation from ECI to the RSW frame. + * @param rref target position vector in ECI frame. + * @param vref target velocity vector in ECI frame. + * @return the ECI to RSW transformation matrix + */ + private Matrix ECI2RSW(VectorN rref, VectorN vref) { + VectorN h = rref.crossProduct(vref); + VectorN rhat = rref.unitVector(); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + + double rmag = rref.mag(); + double num = shat.dotProduct(vref); + double w = num/rmag; + this.omega = new VectorN(0.0, 0.0, w); + + return out.transpose(); + } + + /** + * Utility function to transform between inertial and radial-intrack-crosstrack + * @param rref Position (inertial) + * @param vref Velocity (inertial) + * @return Transformatin Matrix + */ + public static Matrix ECI2RIC(VectorN rref, VectorN vref){ + VectorN h = rref.crossProduct(vref); + VectorN rhat = rref.unitVector(); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + + return out.transpose(); + } + + /** Compute the transformation from ECI to the SWR frame. + * For use with a sun tracking nadir pointing trajectory + * and calculating the required jaw + * @param rref target position vector in ECI frame. + * @param vref target velocity vector in ECI frame. + * @return the ECI to SWR transformation matrix + */ + public static Matrix ECI2SWR(VectorN rref, VectorN vref) { + + VectorN h = rref.crossProduct(vref); + h = h.times(-1.0); + VectorN rhat = rref.unitVector(); + rhat = rhat.times(-1.0); + VectorN what = h.unitVector(); + VectorN s = what.crossProduct(rhat); + VectorN shat = s.unitVector(); + Matrix out = new Matrix(3, 3); + out.setColumn(0, rhat); + out.setColumn(1, shat); + out.setColumn(2, what); + + + + return out.transpose(); + } + + + /** Transform a velocity vector from ECI to the RSW frame, accounting + * for Coriolis. + * @param r_rsw position vector in RSW frame. + * @param v_eci velocity vector in ECI frame. + * @return the velocity in the RSW frame + */ + private VectorN transformVelocity(VectorN r_rsw, VectorN v_eci){ + VectorN v = this.eci2rsw.times(v_eci); + VectorN cor = this.omega.crossProduct(r_rsw); + VectorN out = v.minus(cor); + return out; + } + + +} diff --git a/src/jat/coreNOSA/timeRef/package.html b/src/jat/coreNOSA/timeRef/package.html new file mode 100644 index 0000000..f46bc40 --- /dev/null +++ b/src/jat/coreNOSA/timeRef/package.html @@ -0,0 +1,3 @@ + +Package timeRef contains classes for converting time formats and types and Earth reference frames. + \ No newline at end of file diff --git a/src/jat/coreNOSA/trajectory/BurnEOM.java b/src/jat/coreNOSA/trajectory/BurnEOM.java new file mode 100644 index 0000000..9065c52 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/BurnEOM.java @@ -0,0 +1,150 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 28, 2003 + */ + +package jat.coreNOSA.trajectory; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.JGM3; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** + *

+ * The BurnEOM Class implements the EquationsOfMotion interface. It provides + * the equations of motion for a body in a JGM3 gravity field with Harris-Priester drag + * and finite duration thrust. + * @author + * @version 1.0 + */ + +public class BurnEOM implements EquationsOfMotion { + private Trajectory traj; + private HarrisPriester hp; // earth atmosphere model + private double t_mjd0; + private double mass; + private double area; + private double cd; + private JGM3 jgm3 = new JGM3(12,12); + + private VectorN fburn; + private int index = 0; + private boolean used = false; + + /** + * Constructor - see HarrisPriester for parameter details + * @param t Trajectory + * @param mjd0 initial MJD + * @param m mass + * @param a area + * @param c Cd + */ + public BurnEOM(Trajectory t, double mjd0, double m, double a, double c){ + this.traj = t; + this.t_mjd0 = mjd0; + this.mass = m; + this.area = a; + this.cd = c; + this.hp = new HarrisPriester(this.cd, this.area, this.mass); + } + + /** + * Set the next finite burn + * @param b FiniteBurn + */ + public void setBurn(FiniteBurn b) { + double thrust = b.accel; + VectorN unit = b.unitVector; + this.fburn = unit.times(thrust); + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the trajectory. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double[] y) { + traj.add(t, y); + } + + /** Computes the derivatives for integration. + * @param t Time (not used). + * @param y State array. + * @return Array containing the derivatives. + */ + public double[] derivs(double t, double[] y) { + + VectorN out = new VectorN(y.length); + + // strip out incoming data + VectorN r = new VectorN(y[0], y[1], y[2]); + VectorN v = new VectorN(y[3], y[4], y[5]); + Quaternion q = new Quaternion(y[6], y[7], y[8], y[9]); + +// // construct the true orbit +// TwoBody true_orbit = new TwoBody(Constants.GM_Earth, r, v); +// +// // compute local gravity +// VectorN g = true_orbit.local_grav(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); + ref.setIERS(3.3E-07, 1.17E-06, 0.649232); + Matrix E = ref.eci2ecef(); + + // Acceleration due to harmonic gravity field + VectorN g = jgm3.gravity(r, E); + + // acceleration due to the burn + Matrix Cb2i = q.quat2DCM(); + VectorN thrust = Cb2i.times(this.fburn); + //Time t, BodyRef ref, VectorN r, VectorN v + Time time = new Time(Mjd); + hp.compute(time,ref, r, v); + VectorN drag = hp.dragAccel(); + VectorN accel = drag.plus(g); + + accel = accel.plus(thrust); + + // compute attitude rate + + RSW_Frame rsw = new RSW_Frame(r, v); + VectorN w = rsw.omega(); + Matrix omega_true = Quaternion.omega(w); + VectorN q_deriv = omega_true.times(q); + + // derivatives for true orbit + out.set(0, v); + out.set(3, accel); + out.set(6, q_deriv); + + return out.x; + } + + + +} diff --git a/src/jat/coreNOSA/trajectory/CentralBody.java b/src/jat/coreNOSA/trajectory/CentralBody.java new file mode 100644 index 0000000..c53cd9d --- /dev/null +++ b/src/jat/coreNOSA/trajectory/CentralBody.java @@ -0,0 +1,78 @@ +package jat.coreNOSA.trajectory; + + + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + import java.io.Serializable; + +/** +*

+* The CentralBody.java Class provides the means for specifying the +* central body used in creating a trajectory. +* +* @author +* @version 1.0 +*/ +public final class CentralBody implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -3323167295069025124L; + + +private String name; + + private CentralBody(String nm) { name = nm; } + + public String toString() { return name; } + + public final static CentralBody + EARTH = new CentralBody("Earth"), + SUN = new CentralBody("Sun"), + MERCURY = new CentralBody("Mercury"), + VENUS = new CentralBody("Venus"), + MARS = new CentralBody("Mars"), + JUPITER = new CentralBody("Jupiter"), + SATURN = new CentralBody("Saturn"), + URANUS = new CentralBody("Uranus"), + NEPTUNE = new CentralBody("Neptune"), + PLUTO = new CentralBody("Pluto"), + MOON = new CentralBody("Moon"), + OTHER = new CentralBody("Other"); + + + public final static CentralBody[] index = { + EARTH, SUN, MERCURY, VENUS, MARS, JUPITER, SATURN, + URANUS, NEPTUNE, PLUTO, MOON, OTHER + }; + + + public static void main(String[] args) { + CentralBody m = CentralBody.EARTH; + System.out.println(m); + m = CentralBody.index[4]; + System.out.println(m); + System.out.println(m == CentralBody.MARS); + System.out.println(m.equals(CentralBody.JUPITER)); + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/trajectory/ChaserBurnEOM.java b/src/jat/coreNOSA/trajectory/ChaserBurnEOM.java new file mode 100644 index 0000000..e4f8f89 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/ChaserBurnEOM.java @@ -0,0 +1,166 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 28, 2003 + */ + +package jat.coreNOSA.trajectory; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.cm.FiniteBurn; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.JGM3; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** + *

+ * The ChaserBurnEOM Class implements the EquationsOfMotion interface. It provides + * the equations of motion for a body in a JGM3 gravity field with Harris-Priester drag + * and finite duration thrust. + * @author + * @version 1.0 + */ + +public class ChaserBurnEOM implements EquationsOfMotion { + private Trajectory traj; + private HarrisPriester hp; // earth atmosphere model + private double t_mjd0; + private double mass; + private double area; + private double cd; + private JGM3 jgm3 = new JGM3(12,12); + + private VectorN fburn; + private int index = 0; + private boolean used = false; + + /** + * Constructor - see HarrisPriester for parameter details + * @param t Trajectory + * @param mjd0 initial MJD + * @param m mass + * @param a area + * @param c Cd + */ + public ChaserBurnEOM(Trajectory t, double mjd0, double m, double a, double c){ + this.traj = t; + this.t_mjd0 = mjd0; + this.mass = m; + this.area = a; + this.cd = c; + this.hp = new HarrisPriester(this.cd, this.area, this.mass); + } + + /** + * Set the next finite burn + * @param b FiniteBurn + */ + public void setBurn(FiniteBurn b) { + double thrust = b.accel; + VectorN unit = b.unitVector; + this.fburn = unit.times(thrust); + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the trajectory. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double[] y) { + traj.add(t, y); + } + + /** Computes the derivatives for integration. + * @param t Time (not used). + * @param y State array. + * @return Array containing the derivatives. + */ + public double[] derivs(double t, double[] y) { + + VectorN out = new VectorN(y.length); + + // strip out incoming data + VectorN r = new VectorN(y[0], y[1], y[2]); + VectorN v = new VectorN(y[3], y[4], y[5]); + Quaternion q = new Quaternion(y[6], y[7], y[8], y[9]); + q.unitize(); + +// // construct the true orbit +// TwoBody true_orbit = new TwoBody(Constants.GM_Earth, r, v); +// +// // compute local gravity +// VectorN g = true_orbit.local_grav(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); + ref.setIERS(3.3E-07, 1.17E-06, 0.649232); + Matrix E = ref.eci2ecef(); + + // Acceleration due to harmonic gravity field + VectorN g = jgm3.gravity(r, E); + + // acceleration due to the burn + RSW_Frame rsw = new RSW_Frame(r, v); + Matrix Cb2i = rsw.ECI2RSW().transpose(); + +// Matrix Cb2i = q.quat2DCM(); + VectorN thrust = Cb2i.times(this.fburn); + + Time time = new Time(Mjd); + hp.compute(time,ref, r, v); + VectorN drag = hp.dragAccel(); + VectorN sf = thrust.plus(drag); + + + VectorN accel = sf.plus(g); + + + // compute attitude rate + + VectorN w = rsw.omega(); + Matrix omega_true = Quaternion.omega(w); + VectorN q_deriv = omega_true.times(q); + + // derivatives for true orbit + out.set(0, v); + out.set(3, accel); + out.set(6, q_deriv); + + // accelerometer state + Matrix eci2rsw = Cb2i.transpose(); + VectorN df = eci2rsw.times(sf); + out.set(10, df); + +// System.out.println("df = "+df); + + // gyro state + out.set(13, w); + + + return out.x; + } + + + +} diff --git a/src/jat/coreNOSA/trajectory/ChaserEOM.java b/src/jat/coreNOSA/trajectory/ChaserEOM.java new file mode 100644 index 0000000..f349e36 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/ChaserEOM.java @@ -0,0 +1,151 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 29, 2003 + */ + +package jat.coreNOSA.trajectory; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.JGM3; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + + +/** + *

+ * The ChaserEOM Class implements the EquationsOfMotion interface. It provides + * the equations of motion for a body in a JGM3 gravity field with Harris-Priester drag. + * @author + * @version 1.0 + */ + +public class ChaserEOM implements EquationsOfMotion{ + private Trajectory traj; + private HarrisPriester hp; // earth atmosphere model + private double t_mjd0; + private double mass; + private double area; + private double cd; + private JGM3 jgm3 = new JGM3(12,12); +// private CIRA_ExponentialDrag ced; + + public ChaserEOM(Trajectory t, double mjd0, double m, double a, double c){ + this.traj = t; + this.t_mjd0 = mjd0; + this.mass = m; + this.area = a; + this.cd = c; + this.hp = new HarrisPriester(this.cd, this.area, this.mass); +// this.ced = new CIRA_ExponentialDrag(this.cd, this.area, this.mass); + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the trajectory. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double[] y) { + traj.add(t, y); + } + + /** Computes the derivatives for integration. + * @param t Time (not used). + * @param y State array. + * @return Array containing the derivatives. + */ + public double[] derivs(double t, double[] y) { + + VectorN out = new VectorN(y.length); + + // strip out incoming data + VectorN r = new VectorN(y[0], y[1], y[2]); + VectorN v = new VectorN(y[3], y[4], y[5]); + Quaternion q = new Quaternion(y[6], y[7], y[8], y[9]); + q.unitize(); + + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); + ref.setIERS(3.3E-07, 1.17E-06, 0.649232); + Matrix E = ref.eci2ecef(); + + // Acceleration due to harmonic gravity field + VectorN g = jgm3.gravity(r, E); + +// TwoBody orbit = new TwoBody(Constants.GM_Earth, r, v); +// VectorN ggg = orbit.local_grav(); +// VectorN diff = g.minus(ggg); +// +// J2Gravity j2 = new J2Gravity(r); +// VectorN gg = j2.local_gravity(); +// VectorN diff2 = g.minus(gg); + + Time time = new Time(Mjd); + hp.compute(time,ref, r, v); + VectorN drag = hp.dragAccel(); + VectorN accel = drag.plus(g); + + // drag check +// ced.compute(ref, r, v); +// VectorN cedrag = ced.dragAccel(); +// System.out.println("hp: "+drag.mag()+" ced: "+cedrag.mag()); + + // compute attitude rate + + RSW_Frame rsw = new RSW_Frame(r, v); + VectorN w = rsw.omega(); + Matrix omega_true = Quaternion.omega(w); + VectorN q_deriv = omega_true.times(q); + + + // derivatives for true orbit + out.set(0, v); + out.set(3, accel); + out.set(6, q_deriv); + + // accelerometer state +// Matrix rsw2eci = q.quat2DCM(); +// Matrix eci2rsw = rsw2eci.transpose(); + Matrix eci2rsw = rsw.ECI2RSW(); + VectorN df = eci2rsw.times(drag); + out.set(10, df); + + +// diff = eci2rsw.times(diff); +// diff2 = eci2rsw.times(diff2); + +// System.out.println("df = "+df); + + // gyro state + out.set(13, w); + + + return out.x; + } + + + + +} diff --git a/src/jat/coreNOSA/trajectory/CoordinateSystem.java b/src/jat/coreNOSA/trajectory/CoordinateSystem.java new file mode 100644 index 0000000..bfd8a23 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/CoordinateSystem.java @@ -0,0 +1,67 @@ +package jat.coreNOSA.trajectory; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + import java.io.Serializable; + +/** +*

+* The CoordinateSystem.java Class provides the means for specifying the +* coordinate system used in creating a trajectory. +* +* @author +* @version 1.0 +*/ + +public final class CoordinateSystem implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -2568071532784654133L; + + +private String name; + + private CoordinateSystem(String nm) { name = nm; } + + public String toString() { return name; } + + public final static CoordinateSystem + INERTIAL = new CoordinateSystem("Inertial"), + PLANETFIXED = new CoordinateSystem("PlanetFixed"), + LLH = new CoordinateSystem("LLH"), + OTHER = new CoordinateSystem("Other"); + + + public final static CoordinateSystem[] index = { + INERTIAL, PLANETFIXED, LLH, OTHER + }; + + + public static void main(String[] args) { + CoordinateSystem m = CoordinateSystem.INERTIAL; + System.out.println(m); + m = CoordinateSystem.index[1]; + System.out.println(m); + System.out.println(m == CoordinateSystem.PLANETFIXED); + System.out.println(m.equals(CoordinateSystem.INERTIAL)); + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/trajectory/DistanceUnits.java b/src/jat/coreNOSA/trajectory/DistanceUnits.java new file mode 100644 index 0000000..d265732 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/DistanceUnits.java @@ -0,0 +1,66 @@ +package jat.coreNOSA.trajectory; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + import java.io.Serializable; + +/** +*

+* The DistanceUnits.java Class provides the means for specifying the +* distance units used in creating a trajectory. +* +* @author +* @version 1.0 +*/ + +public final class DistanceUnits implements Serializable { + + /** + * + */ + private static final long serialVersionUID = 8789300122389311359L; + + +private String name; + + private DistanceUnits(String nm) { name = nm; } + + public String toString() { return name; } + + public final static DistanceUnits + METERS = new DistanceUnits("meters"), + KILOMETERS = new DistanceUnits("km"), + OTHER = new DistanceUnits("Other"); + + + public final static DistanceUnits[] index = { + METERS, KILOMETERS, OTHER + }; + + + public static void main(String[] args) { + DistanceUnits m = DistanceUnits.METERS; + System.out.println(m); + m = DistanceUnits.index[1]; + System.out.println(m); + System.out.println(m == DistanceUnits.METERS); + System.out.println(m.equals(DistanceUnits.KILOMETERS)); + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/trajectory/JGM3DragEOM.java b/src/jat/coreNOSA/trajectory/JGM3DragEOM.java new file mode 100644 index 0000000..f73ce58 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/JGM3DragEOM.java @@ -0,0 +1,121 @@ +package jat.coreNOSA.trajectory; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 26, 2003 + */ + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.JGM3; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.timeRef.RSW_Frame; + +/** + *

+ * The JGM3DragEOM Class implements the EquationsOfMotion interface. It provides + * the equations of motion for a body in a JGM3 gravity field with Harris-Priester drag + * and finite duration thrust. + * @author + * @version 1.0 + */ +public class JGM3DragEOM implements EquationsOfMotion{ + private Trajectory traj; + private HarrisPriester hp; // earth atmosphere model + private double t_mjd0; + private double mass; + private double area; + private double cd; + private JGM3 jgm3 = new JGM3(12,12); + + public JGM3DragEOM(Trajectory t, double mjd0, double m, double a, double c){ + this.traj = t; + this.t_mjd0 = mjd0; + this.mass = m; + this.area = a; + this.cd = c; + this.hp = new HarrisPriester(this.cd, this.area, this.mass); + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the trajectory. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double[] y) { + traj.add(t, y); + + } + + /** Computes the derivatives for integration. + * @param t Time (not used). + * @param y State array. + * @return Array containing the derivatives. + */ + public double[] derivs(double t, double[] y) { + + VectorN out = new VectorN(y.length); + + // strip out incoming data + VectorN r = new VectorN(y[0], y[1], y[2]); + VectorN v = new VectorN(y[3], y[4], y[5]); + Quaternion q = new Quaternion(y[6], y[7], y[8], y[9]); + +// // construct the true orbit +// TwoBody true_orbit = new TwoBody(Constants.GM_Earth, r, v); +// +// // compute local gravity +// VectorN g = true_orbit.local_grav(); + + double Mjd = this.t_mjd0 + t/86400.0; + EarthRef ref = new EarthRef(Mjd); + ref.setIERS(3.3E-07, 1.17E-06, 0.649232); + Matrix E = ref.eci2ecef(); + + // Acceleration due to harmonic gravity field + VectorN g = jgm3.gravity(r, E); + + Time time = new Time(Mjd); + hp.compute(time,ref, r, v); + VectorN drag = hp.dragAccel(); + VectorN accel = drag.plus(g); + + // compute attitude rate + + RSW_Frame rsw = new RSW_Frame(r, v); + VectorN w = rsw.omega(); + Matrix omega_true = Quaternion.omega(w); + VectorN q_deriv = omega_true.times(q); + + // derivatives for true orbit + out.set(0, v); + out.set(3, accel); + out.set(6, q_deriv); + + return out.x; + } + + + +} diff --git a/src/jat/coreNOSA/trajectory/RelativeTraj.java b/src/jat/coreNOSA/trajectory/RelativeTraj.java new file mode 100644 index 0000000..ec3f618 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/RelativeTraj.java @@ -0,0 +1,597 @@ +package jat.coreNOSA.trajectory; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Jun 8, 2003 + */ + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; +import jat.coreNOSA.spacetime.RSW_Frame; + +import java.awt.Color; + +/** +* The RelativeTraj.java Class takes two trajectories and computes the relative trajectory. +* The relative trajectory is defined as the difference between them. +* It assumes the input trajectories are in ECI and rotates the differences to RSW. +* +* @author +* @version 1.0 +*/ +public class RelativeTraj { + + private Trajectory chaser; + private Trajectory target; + private double omega; + private LinePrinter lp; + SinglePlot traj_plot = new SinglePlot(); + TwoPlots rss_plot = new TwoPlots(); + ThreePlots xyz_plot = new ThreePlots(); + ThreePlots vel_plot = new ThreePlots(); + private boolean verbose = true; + + /** Create the relative trajectory from two trajectories + * @param sv the satellite trajectory + * @param tgt the target or reference trajectory + * @param l LinePrinter + */ + public RelativeTraj(Trajectory sv, Trajectory tgt, LinePrinter l) { + this.chaser = sv; + this.target = tgt; + this.lp = l; + traj_plot.setTitle("Relative Trajectory"); + traj_plot.plot.setXLabel("along track"); + traj_plot.plot.setYLabel("radial"); + + rss_plot.setTitle("RSS Error"); + rss_plot.topPlot.setXLabel("t"); + rss_plot.topPlot.setYLabel("RSS Position"); + rss_plot.bottomPlot.setXLabel("t"); + rss_plot.bottomPlot.setYLabel("RSS Velocity"); + + xyz_plot.setTitle("Relative Position vs Time"); + xyz_plot.bottomPlot.setXLabel("t"); + xyz_plot.topPlot.setYLabel("radial"); + xyz_plot.middlePlot.setYLabel("along track"); + xyz_plot.bottomPlot.setYLabel("cross track"); + + vel_plot.setTitle("Relative Velocity vs Time"); + vel_plot.bottomPlot.setXLabel("t"); + vel_plot.topPlot.setYLabel("radial"); + vel_plot.middlePlot.setYLabel("along track"); + vel_plot.bottomPlot.setYLabel("cross track"); + + } + + /** Create the relative trajectory from two trajectories + * @param sv the satellite trajectory + * @param tgt the target or reference trajectory + * @param l LinePrinter + * @param title the name of the set of figures to be generated e.g. name of spacecraft + */ + public RelativeTraj(Trajectory sv, Trajectory tgt, LinePrinter l, String title) { + this.chaser = sv; + this.target = tgt; + this.lp = l; + traj_plot.setTitle(title+" : Relative Trajectory"); + traj_plot.plot.setXLabel("along track"); + traj_plot.plot.setYLabel("radial"); + + rss_plot.setTitle(title+" : RSS Error"); + rss_plot.topPlot.setXLabel("t"); + rss_plot.topPlot.setYLabel("RSS Position"); + rss_plot.bottomPlot.setXLabel("t"); + rss_plot.bottomPlot.setYLabel("RSS Velocity"); + + xyz_plot.setTitle(title+" : Relative Position vs Time"); + xyz_plot.bottomPlot.setXLabel("t"); + xyz_plot.topPlot.setYLabel("radial"); + xyz_plot.middlePlot.setYLabel("along track"); + xyz_plot.bottomPlot.setYLabel("cross track"); + + vel_plot.setTitle(title+" : Relative Velocity vs Time"); + vel_plot.bottomPlot.setXLabel("t"); + vel_plot.topPlot.setYLabel("radial"); + vel_plot.middlePlot.setYLabel("along track"); + vel_plot.bottomPlot.setYLabel("cross track"); + + } + + + /** Implements the Printable interface + * @param t time + * @param y double[] containing data + */ + public void print(double t, VectorN x) { + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) + first = false; + + // add data point to the plot + this.traj_plot.plot.addPoint(0, x.x[1], x.x[0], first); + this.vel_plot.topPlot.addPoint(0, t, x.x[3], first); + this.vel_plot.middlePlot.addPoint(0, t, x.x[4], first); + this.vel_plot.bottomPlot.addPoint(0, t, x.x[5], first); + this.xyz_plot.topPlot.addPoint(0, t, x.x[0], first); + this.xyz_plot.middlePlot.addPoint(0, t, x.x[1], first); + this.xyz_plot.bottomPlot.addPoint(0, t, x.x[2], first); + + // also print to the screen for warm fuzzy feeling or plotting in matlab (boo!) + if(verbose){ + this.lp.println(t + "\t" + x.toString()); + System.out.println(t + "\t" + x.toString()); + } + } + /** Implements the Printable interface + * @param t time + * @param y double[] containing data + */ + public void printRSS(double t, double pos, double vel) { + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) + first = false; + + // add data point to the plot + this.rss_plot.topPlot.addPoint(0, t, pos, first); + this.rss_plot.bottomPlot.addPoint(0, t, vel, first); + + // also print to the screen for warm fuzzy feeling or plotting in matlab (boo!) + if(verbose){ + this.lp.println(t + "\t" + pos); + System.out.println(t + "\t" + vel); + } + } + /** Implements the Printable interface + * @param t time + * @param y double[] containing data + */ + public void printCov(double t, VectorN x, int c) { + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) + first = false; + Color tmp; + // add data point to the plot + //this.traj_plot.plot.addPoint(c, x.x[1], x.x[0], first); + this.vel_plot.topPlot.addPoint(1, t, x.x[3], first); + this.vel_plot.middlePlot.addPoint(1, t, x.x[4], first); + this.vel_plot.bottomPlot.addPoint(1, t, x.x[5], first); + this.xyz_plot.topPlot.addPoint(1, t, x.x[0], first); + this.xyz_plot.middlePlot.addPoint(1, t, x.x[1], first); + this.xyz_plot.bottomPlot.addPoint(1, t, x.x[2], first); + //plot the negative + this.vel_plot.topPlot.addPoint(2, t, -x.x[3], first); + this.vel_plot.middlePlot.addPoint(2, t, -x.x[4], first); + this.vel_plot.bottomPlot.addPoint(2, t, -x.x[5], first); + this.xyz_plot.topPlot.addPoint(2, t, -x.x[0], first); + this.xyz_plot.middlePlot.addPoint(2, t, -x.x[1], first); + this.xyz_plot.bottomPlot.addPoint(2, t, -x.x[2], first); + + // also print to the screen for warm fuzzy feeling or plotting in matlab (boo!) + if(verbose){ + this.lp.println(t + "\t" + x.toString()); + System.out.println(t + "\t" + x.toString()); + } + } + + /** Compute the relative trajectory + */ + public void process() { + this.chaser.reset(); + this.target.reset(); + int nchaser = this.chaser.npts(); + int ntgt = this.target.npts(); + int n = 0; + if (ntgt > nchaser) { + n = nchaser; + } else { + n = ntgt; + } + double units = 1; + double mjd0 = 0; + if(this.target.getTimeAt(0)!=0){ + units = 3600.0; //hours + mjd0 = this.target.getTimeAt(0); + } + if(verbose) + System.out.println("number of points = "+n+" "+nchaser+" "+ntgt); + + for (int i = 0; i < n; i++) { + double[] chase = chaser.next(); + double[] tgt = target.next(); + double t = tgt[0]; + double dt = chase[0] - t; + if (dt != 0.0 && verbose) + System.out.println("times out of sync: " + chase[0] + "\t" + t); + + VectorN r = new VectorN(chase[1], chase[2], chase[3]); + VectorN v = new VectorN(chase[4], chase[5], chase[6]); + + VectorN rtgt = new VectorN(tgt[1], tgt[2], tgt[3]); + VectorN vtgt = new VectorN(tgt[4], tgt[5], tgt[6]); + + RSW_Frame rsw = new RSW_Frame(rtgt, vtgt); + + VectorN dr_eci = r.minus(rtgt); + VectorN dv_eci = v.minus(vtgt); + + VectorN x_rsw = rsw.transform(dr_eci, dv_eci); + + t = (t - mjd0)/units; + this.print(t, x_rsw); + } + System.out.println("done processing"); + traj_plot.setVisible(true); + vel_plot.setVisible(true); + xyz_plot.setVisible(true); + this.lp.close(); + } + + /** Compute the relative trajectory + * @param tol Tolerance for time mismatch + */ + public void process(double tol) { + this.chaser.reset(); + this.target.reset(); + int nchaser = this.chaser.npts(); + int ntgt = this.target.npts(); + int n = 0; + if (ntgt > nchaser) { + n = nchaser; + } else { + n = ntgt; + } + double units = 1; + double mjd0 = 0; + if(this.target.getTimeAt(0)!=0){ + units = 24.0*3600; //hours + mjd0 = this.target.getTimeAt(0); + } + if(verbose) + System.out.println("number of points = "+n+" "+nchaser+" "+ntgt); + int i=0, j=0; + while( i nchaser) { + n = nchaser; + } else { + n = ntgt; + } + double units = 1; + double mjd0 = 0; + if(this.target.getTimeAt(0)!=0){ + units = 24.0*3600; //hours + mjd0 = this.target.getTimeAt(0); + } + if(verbose) + System.out.println("number of points = "+n+" "+nchaser+" "+ntgt); + int i=0, j=0; + while( i nchaser) { + n = nchaser; + } else { + n = ntgt; + } + if(verbose) + System.out.println("number of points = "+n+" "+nchaser+" "+ntgt); + int i=0, j=0; + while( i nchaser) { + n = nchaser; + } else { + n = ntgt; + } + double units = 1; + double mjd0 = 0; + if(this.target.getTimeAt(0)!=0){ + units = 24.0*3600; //hours + mjd0 = this.target.getTimeAt(0); + } + if(verbose) + System.out.println("number of points = "+n+" "+nchaser+" "+ntgt); + int i=0, j=0; + while( i nchaser) { + n = nchaser; + } else { + n = ntgt; + } + if(verbose) + System.out.println("number of points = "+n+" "+nchaser+" "+ntgt); + double max = 0; + for (int i = 0; i < n; i++) { + double[] chase = chaser.get(i); + double[] tgt = target.get(i); + double t = tgt[0]; + double dt = chase[0] - t; + if (dt != 0.0 && verbose) + System.out.println("times out of sync: " + chase[0] + "\t" + t); + + VectorN r = new VectorN(chase[1], chase[2], chase[3]); + VectorN v = new VectorN(chase[4], chase[5], chase[6]); + + VectorN rtgt = new VectorN(tgt[1], tgt[2], tgt[3]); + VectorN vtgt = new VectorN(tgt[4], tgt[5], tgt[6]); + + RSW_Frame rsw = new RSW_Frame(rtgt, vtgt); + + VectorN dr_eci = r.minus(rtgt); + VectorN dv_eci = v.minus(vtgt); + + VectorN x_rsw = rsw.transform(dr_eci, dv_eci); + + if(dr_eci.mag() > max) max = dr_eci.mag(); + //this.print(t, x_rsw); + } + System.out.println("done processing relative trajectory"); + + return max; + } + + private void get_next_time(int[] i){ + i[0]++; i[1]++; + double one_time = chaser.getTimeAt(i[0]),two_time = target.getTimeAt(i[1]); + while(i[0] +* The TimeUnits.java Class provides the means for specifying the +* time units used in creating a trajectory. +* +* @author +* @version 1.0 +*/ + +public final class TimeUnits implements Serializable { + + /** + * + */ + private static final long serialVersionUID = -6348915627577412589L; + + +private String name; + + private TimeUnits(String nm) { name = nm; } + + public String toString() { return name; } + + public final static TimeUnits + SECONDS = new TimeUnits("s"), + DAYS = new TimeUnits("days"), + OTHER = new TimeUnits("Other"); + + + public final static TimeUnits[] index = { + SECONDS, DAYS, OTHER + }; + + + public static void main(String[] args) { + TimeUnits m = TimeUnits.SECONDS; + System.out.println(m); + m = TimeUnits.index[1]; + System.out.println(m); + System.out.println(m == TimeUnits.SECONDS); + System.out.println(m.equals(TimeUnits.DAYS)); + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/trajectory/TrajTest.java b/src/jat/coreNOSA/trajectory/TrajTest.java new file mode 100644 index 0000000..487df5b --- /dev/null +++ b/src/jat/coreNOSA/trajectory/TrajTest.java @@ -0,0 +1,136 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.coreNOSA.trajectory; + +//import jat.plot.*; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.TwoBody; + +/** + *

+ * The TrajTest Class provides an example of how the Trajectory class can be used. + * + * @author + * @version 1.0 + */ + +public class TrajTest implements Printable +{ + public Trajectory traj = new Trajectory(); + + + /** Implements the Printable interface to get the data out of the propagator and pass it to the trajectory. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + traj.add(t, y); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + TrajTest x = new TrajTest(); + + // create a TwoBody orbit using orbit elements + TwoBody sat = new TwoBody(7000.0, 0.1, 0.0, 0.0, 0.0, 0.0); + + // find out the period of the orbit + double period = sat.period(); + + // set the final time = one orbit period + double tf = period; + + // set the initial time to zero + double t0 = 0.0; + + // propagate the orbit + sat.propagate(t0, tf, x, true); + + // set the attributes + x.traj.setTitle("Test Trajectory 1"); + x.traj.setCentralBody(CentralBody.EARTH); + x.traj.setCoordinateSystem(CoordinateSystem.INERTIAL); + x.traj.setDistanceUnits(DistanceUnits.KILOMETERS); + x.traj.setEpoch(2003, 3, 27, 12, 16, 0.0); + x.traj.setTimeUnits(TimeUnits.SECONDS); + String[] labels = {"t","x","y","z","xdot","ydot","zdot"}; + x.traj.setLabels(labels); + + // Print out the trajectory to the screen +// LinePrinter lp1 = new LinePrinter(); +// x.traj.printAll(lp1); +// lp1.close(); + + // Print the trajectory to an ASCII file + System.out.println("Printing to an ASCII file"); + String dir = "C:\\Temp\\"; + String file = "traj1.txt"; + LinePrinter lpout = new LinePrinter(dir + file); + x.traj.sendToLinePrinter(lpout); + lpout.close(); + System.out.println("traj1.txt written"); + + // Serialize the trajectory + x.traj.serialize(dir+"trajobj.jat"); + System.out.println("trajectory serialized"); + + // Recover the trajectory and print all to screen + Trajectory traj2 = Trajectory.recover(dir+"trajobj.jat"); + traj2.setTitle("Test Trajectory 1 Recovered"); + System.out.println("Printing Recovered Trajectory"); +// LinePrinter lp2 = new LinePrinter(); +// traj2.printAll(lp2); +// lp2.close(); + + // Test 3d stuff + +// double[] times = traj2.timeArray(); +// double[] j3d = traj2.j3dArray(); +// int j = 0; +// for(int i = 0; i < times.length; i++) { +// System.out.println(times[i]+" "+j3d[j]+" "+j3d[j+1]+" "+j3d[j+2]); +// j = j + 3; +// } + + + // Read in data from the ASCII file, set attributes, print to screen + Trajectory traj3 = new Trajectory(); + traj3.readFromFile(dir+file); + traj3.setTitle("Test Trajectory 1 Read From ASCII file"); + traj3.setCentralBody(CentralBody.EARTH); + traj3.setCoordinateSystem(CoordinateSystem.INERTIAL); + traj3.setDistanceUnits(DistanceUnits.KILOMETERS); + traj3.setEpoch(2003, 3, 27, 12, 16, 0.0); + traj3.setTimeUnits(TimeUnits.SECONDS); + traj3.setLabels(labels); + LinePrinter lp3 = new LinePrinter(); + traj3.printAll(lp3); + lp3.close(); + + } +} diff --git a/src/jat/coreNOSA/trajectory/Trajectory.java b/src/jat/coreNOSA/trajectory/Trajectory.java new file mode 100644 index 0000000..cdc9a41 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/Trajectory.java @@ -0,0 +1,623 @@ +package jat.coreNOSA.trajectory; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.CalDate; + +import java.io.BufferedReader; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.FileReader; +import java.io.IOException; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.io.Serializable; +import java.util.StringTokenizer; +/** +*

+* The Trajectory.java Class provides the means for storing and accessing trajectory data. +* Trajectory data includes at least time, position and velocity and may include other +* variables such as mass, thrust, specific force, etc. +* +* Note: time can be in sim time or mjd, user needs to be consistent. +* +* @author +* @version 1.0 +*/ + +public class Trajectory implements Serializable, Printable { + + /** + * + */ + private static final long serialVersionUID = 4914774244272991197L; + + /** The trajectory data is stored in a TrajectoryList + */ + private TrajectoryList traj; + + /** The trajectory title */ + private String title; + + /** The column labels */ + private String[] labels; + + /** The number of columns of data */ + private int ncol; + + /** The trajectory epoch time (UTC) */ + private CalDate epoch; + + /** The trajectory central body */ + private CentralBody cb; + + /** The trajectory coordinate system */ + private CoordinateSystem cs; + + /** The trajectory distance units */ + private DistanceUnits du; + + /** The trajectory time units */ + private TimeUnits tu; + + /** False if the trajectory contains data */ + private boolean firstData = true; + + /** Construct a new Trajectory. + */ + public Trajectory() { + traj = new TrajectoryList(); + } + + //*************METHODS TO READ OR ADD TRAJECTORY DATA + + /** Add data to the trajectory. The first call to add sets the number of columns. + * @param in double array containing the next row of data to be added. + */ + public void add(double[] in) { + if (this.firstData) { + this.ncol = in.length; + traj.add(in); + this.firstData = false; + } else { + if (in.length != this.ncol) { + System.out.println( + "Trajectory.add: Number of columns do not match"); + System.exit(-99); + } else { + traj.add(in); + } + } + } + + /** Add data to the trajectory. The first call to add sets the number of columns. + * @param t double containing time. + * @param in double array containing the next row of data to be added. + */ + public void add(double t, double[] in) { + if (this.firstData) { + this.ncol = in.length + 1; + traj.add(t, in); + this.firstData = false; + } else { + if (in.length != (this.ncol - 1)) { + System.out.println( + "Trajectory.add: Number of columns do not match"); + System.exit(-99); + } else { + traj.add(t, in); + } + } + } + + /** Add data to the trajectory. The first call to add sets the number of columns. + * @param t double containing time. + * @param y1 double array containing part of data to be added. + * @param y2 double array containing the remainder of the data to be added. + */ + public void add(double t, double[] y1, double[] y2) { + if (this.firstData) { + this.ncol = y1.length + y2.length + 1; + traj.add(t, y1, y2); + this.firstData = false; + } else { + if ((y1.length + y2.length) != (this.ncol - 1)) { + System.out.println("Trajectory.add: Number of columns do not match"); + System.exit(-99); + } else { + traj.add(t, y1, y2); + } + } + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the trajectory. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + traj.add(t, y); + } + + + /** Recover a serialized JAT Trajectory File + * @param filename string containing the directory and filename. + * @return the trajectory + */ + public static Trajectory recover(String filename) { + Trajectory out = new Trajectory(); + try { + + FileInputStream file = new FileInputStream(filename); + ObjectInputStream in = new ObjectInputStream(file); + out = (Trajectory) in.readObject(); + in.close(); + file.close(); + } catch (Exception e) { + System.err.println("recover: " + e); + } + return out; + } + + /** Read the trajectory data from a tab-delimited ASCII text file. + * The first line read in sets the number of columns. + * @param file filename and directory + */ + public void readFromFile(String file) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, "\t"); + int total = tok.countTokens(); + + // check for consistent number of columns + if (this.firstData) { + this.ncol = total; + this.firstData = false; + } else { + if (total != this.ncol) { + System.out.println( + "Trajectory.readFromFile: Number of columns do not match"); + System.exit(-99); + } + } + + double[] temp = new double[total]; + int i = 0; + while (tok.hasMoreTokens()) { + String token = tok.nextToken(); + // System.out.println("token= "+token); + temp[i] = Double.parseDouble(token); + i = i + 1; + } + traj.add(temp); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + /** Read the trajectory data from a tab-delimited ASCII text file. + * The first line read in sets the number of columns. + * @param file filename and directory + * @param delim the delimiter character + */ + public void readFromFile(String file, String delim, String units) { + try { + FileReader fr = new FileReader(file); + BufferedReader in = new BufferedReader(fr); + String line; + + // loop through the file, one line at a time + while ((line = in.readLine()) != null) { + StringTokenizer tok = new StringTokenizer(line, delim); + int total = tok.countTokens(); + + // check for consistent number of columns + if (this.firstData) { + this.ncol = total; + this.firstData = false; + } else { + if (total != this.ncol) { + System.out.println( + "Trajectory.readFromFile: Number of columns do not match"); + System.exit(-99); + } + } + + double[] temp = new double[total]; + int i = 0; + while (tok.hasMoreTokens()) { + String token = tok.nextToken(); + // System.out.println("token= "+token); + temp[i] = Double.parseDouble(token); + if(units.equalsIgnoreCase("km") && i>0){ + temp[i] = temp[i]*1000; + } + i = i + 1; + } + traj.add(temp); + } + in.close(); + fr.close(); + } catch (IOException e) { + System.err.println("Error opening:" + file); + return; + } + } + + //*************METHODS TO WRITE OUT OR STORE TRAJECTORY DATA + + /** Write the trajectory out to a JAT Trajectory File + * @param filename string containing the directory and filename. + */ + public void serialize(String filename) { + try { + FileOutputStream file = new FileOutputStream(filename); + ObjectOutputStream out = new ObjectOutputStream(file); + out.writeObject(this); + out.close(); + file.close(); + } catch (Exception e) { + System.err.println("serialize: " + e); + } + } + + /** Write the trajectory out using a LinePrinter + * @param LinePrinter string containing the directory + */ + public void sendToLinePrinter(LinePrinter lp) { + for (int i = 0; i < this.npts(); i++) { + double[] temp = traj.get(i); + lp.print(temp); + } + lp.close(); + } + + /** Write the trajectory data to a tab-delimited ASCII text file. + * The first line writen sets the number of columns. + * @param file filename and directory + */ + public void writeToFile(String file) { + LinePrinter out = new LinePrinter(file); + String line; + + // loop through the file, one line at a time + double[] r = new double[7]; + for(int i=0; i= 0)&&(i < this.size())) { + double[] tmp = traj.get(i); + out = tmp[0]; + } else { + System.err.println("Trajectory.getTimeAt: i out of bounds"); + } + return out; + } + + /** Return the title of the trajectory + * @return String containing the title of the trajectory + */ + public String getTitle() { + return this.title; + } + + /** Return the column labels of the trajectory + * @return String containing the column labels of the trajectory + */ + public String[] getColumnLabels() { + return this.labels; + } + + /** Return the number of columns in the trajectory + * @return int containing the number of columns in the trajectory + */ + public int numberOfColumns() { + return this.ncol; + } + + /** Return the epoch time of the trajectory in MJD + * @return double containing the epoch time of the trajectory in MJD + */ + public double epochMJD() { + return this.epoch.mjd(); + } + + /** Return the epoch time of the trajectory + * @return String containing the epoch time of the trajectory + */ + public String getEpoch() { + return this.epoch.toString(); + } + + /** Return the CentralBody for the trajectory + * @return the CentralBody for the trajectory + */ + public CentralBody centralBody() { + return this.cb; + } + + /** Return the CoordinateSystem for the trajectory + * @return the CoordinateSystem for the trajectory + */ + public CoordinateSystem coordinateSystem() { + return this.cs; + } + + /** Return the DistanceUnits used in the trajectory + * @return the DistanceUnits used in the trajectory + */ + public DistanceUnits distanceUnits() { + return this.du; + } + + /** Return the TimeUnits used in the trajectory + * @return the TimeUnits used in the trajectory + */ + public TimeUnits timeUnits() { + return this.tu; + } + + /** Print the trajectory including attributes to a LinePrinter + * @param LinePrinter to use for printing. + */ + public void printAll(LinePrinter lp) { + lp.println("Title = " + this.title); + lp.println("NumberOfRows = " + this.npts()); + lp.println("NumberOfColumns = " + this.ncol); + lp.println("ScenarioEpoch = " + this.epoch); + lp.println("CentralBody = " + this.cb); + lp.println("CoordinateSystem = " + this.cs); + lp.println("DistanceUnits = " + this.du); + lp.println("TimeUnits = " + this.tu); + if(this.labels==null){ + String[] tmp = {"t ","x [m]","y [m]","z [m]","xdot [m]","ydot [m]","zdot [m]"}; + labels = tmp; + } + lp.println(this.labels); + this.sendToLinePrinter(lp); + } + + //*************METHODS TO SET TRAJECTORY ATTRIBUTES + /** Resets the index of the trajectory list. + */ + public void reset(){ + this.traj.reset(); + } + /** Set the trajectory title + * @param t String containing the title + */ + public void setTitle(String t) { + this.title = t; + } + + /** Set the column labels + * @param l String array containing the labels + */ + public void setLabels(String[] l) { + this.labels = new String[l.length]; + System.arraycopy(l, 0, this.labels, 0, l.length); + } + + /** Set the epoch time + * @param Yr int containing the year, 4 digits + * @param Mon int containing the month + * @param D int containing the day of the month + * @param Hr int containing the hour of the day + * @param Mn int containing the minutes + * @param S double containing the seconds + */ + public void setEpoch(int Yr, int Mon, int D, int Hr, int Mn, double S) { + this.epoch = new CalDate(Yr, Mon, D, Hr, Mn, S); + } + + /** Set the epoch time + * @param mjd double containing the MJD time of epoch + */ + public void setEpoch(double mjd) { + this.epoch = new CalDate(mjd); + } + + /** Set the Central Body + * @param m a CentralBody + */ + public void setCentralBody(CentralBody m) { + this.cb = m; + } + + /** Set the Coordinate System + * @param c a CoordinateSystem + */ + public void setCoordinateSystem(CoordinateSystem c) { + this.cs = c; + } + + /** Set the Distance Units + * @param d the DistanceUnits + */ + public void setDistanceUnits(DistanceUnits d) { + this.du = d; + } + + /** Set the Time Units + * @param t the TimeUnits + */ + public void setTimeUnits(TimeUnits t) { + this.tu = t; + } + + /** Return the size (number of elements) of the trajectory. + * @return size of the TrajectoryList + */ + public int size(){ + return this.traj.size(); + } + + /** + * Returns the position at the given modified julian date or sim time + * @param time + * @return VectorN position + */ + public VectorN getPositionAt(double time) { + int i=0; + while(i +* The TrajectoryList.java Class provides a typesafe list for trajectory data. +* The trajectory data is stored in a double[] for each time (or row of data). +* +* @author +* @version 1.0 +*/ + +public class TrajectoryList implements Serializable { + /** + * + */ + private static final long serialVersionUID = 1622362061452168406L; + private ArrayList list = new ArrayList(); + private int index = 0; + + public void add (double[] row){ + list.add(row); + } + + public void add (double t, double[] data){ + int n = data.length; + double [] temp = new double[n+1]; + temp[0] = t; + for(int i = 0; i < n; i++) { + temp[i+1] = data[i]; + } + this.add(temp); + } + + public void add (double t, double[] y1, double[] y2){ + int n = y1.length; + int m = y2.length; + double [] temp = new double[n+m+1]; + temp[0] = t; + for(int i = 0; i < n; i++) { + temp[i+1] = y1[i]; + } + for(int j = 0; j < m; j++) { + temp[j+n+1] = y2[j]; + } + this.add(temp); + } + + public double[] get (int i){ + return (double[]) list.get(i); + } + + public double[] next(){ + double[] out = this.get(index); + index++; + return out; + } + + public boolean hasNext(){ + if (this.index < this.size()){ + return true; + } + else { + return false; + } + } + + public int size(){ + return list.size(); + } + + public void reset() { + this.index = 0; + } + + +} diff --git a/src/jat/coreNOSA/trajectory/package.html b/src/jat/coreNOSA/trajectory/package.html new file mode 100644 index 0000000..c11b8d3 --- /dev/null +++ b/src/jat/coreNOSA/trajectory/package.html @@ -0,0 +1,2 @@ + +Trajectory file creation \ No newline at end of file diff --git a/src/jat/coreNOSA/util/Celestia.java b/src/jat/coreNOSA/util/Celestia.java new file mode 100644 index 0000000..ef611e4 --- /dev/null +++ b/src/jat/coreNOSA/util/Celestia.java @@ -0,0 +1,430 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.coreNOSA.util; + +import jat.coreNOSA.trajectory.Trajectory; + +import java.io.BufferedReader; +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileNotFoundException; +import java.io.FileReader; +import java.io.FileWriter; +import java.io.IOException; +import java.text.DecimalFormat; +import java.text.NumberFormat; +import java.util.ArrayList; +import java.util.StringTokenizer; + +/** + * This class provides a way to create the spacecraft files and the position + * information required to display a time-dependent spacecraft trajectory + * in Celestia. + * + * Celestia is an open source astronomical visualization application written + * using C++ and is available at the following location. + * + * The suggested use is as follows: + * Celestia celestia = new Celestia("C:/celestia/"); + * // propagate orbit sim.traj + * celestia.set_trajectory(sim.get_traj()); + * String name1 = "my_test_run_filename"; + * String name2 = "my_test_run" + * celestia.write_trajectory(name,name,sim.mjd_utc_start+2400000.5); + * + * Open Celestia, goto Earth, press enter and look for 'name2' + * + * @link http://www.shatters.net/celestia + * @link http://sourceforge.net/projects/celestia/ + * + * @author Richard C. Page III + * + */ +public class Celestia { + + /** + * Celestia's install directory + */ + public static String celestia_home; + /** + * Double array holding the position vectors [km] as expressed in the + * inertial frame about the central body (presumably J2000 ECI). + */ + private double[][] r; + /** + * Parallel array holding the time index for the corresponding + * position vectors in Julian Date of UTC. + */ + private double[] time; + + /** + * Default Constructor. Automatically searches for the Celestia home directory. + * Currently, only windows is supported (sincere apologies). + */ + public Celestia(){ + this(null); + } + + /** + * Constructor + * @param dir The install directory of Celestia (e.g. "C:/Celestia/") + */ + public Celestia(String dir) { + // We assume that every installation of Celestia has a + // celestia.cfg in the root directory. + final String targetName = "celestia.cfg"; + File targetFile = (dir == null ? null : new File(dir, targetName)); + if ((targetFile == null) || !targetFile.exists()) { + + // Try looking for it in the path + targetFile = searchPath(targetName); + if ((targetFile == null) || !targetFile.exists()) { + + // Other possibilities. + String[] dirs = {System.getenv("CELESTIA_HOME"), + "C:/Program Files/Celestia", + "/opt/kde3/share/apps/celestia"}; + boolean found = false; + for (int ctr=0; (ctr < dirs.length) && !found; ++ctr) { + targetFile = (dirs[ctr] == null ? + null : new File(dirs[ctr], targetName)); + found = ((targetFile != null) && (targetFile.exists())); + } + } + + if ((targetFile == null) || (!targetFile.exists())) { + String msg = "Cannot determine location of Celestia."; + if (dir != null) { + msg += " Not found in " + dir; + } + throw new RuntimeException(msg); + } + } + + celestia_home = targetFile.getParentFile().getAbsolutePath() + + File.separator; + } + + /** + * Create an XYZ position file in Celestia's "data" directory using the + * current values stored to the class members 'r' and 'time'. + * @param filename The filename for the XYZ file (e.g. "STS_115") + */ + public void write_xyz(String filename){ + String file = celestia_home+"data/"+filename+".xyz"; + File arg = new File(file); + write_xyz(arg,this.time,this.r,this.time.length); + } + + /** + * Helper method for write_xyz(filename) + * + * @param filename The filename for the XYZ file (e.g. "STS_115") + * @param time The parallel array of time values + * @param r The parallel array of position vectors + * @param size The number of ephemeris points + */ + public void write_xyz(File filename,double[] time, double[][] r, int size) { + //fprintf(fid,'%12.8f %12.8f %12.8f %12.8f\n',t(k),a_xyz(1,k),a_xyz(2,k),a_xyz(3,k)); + try{ + NumberFormat formatter = new DecimalFormat(); + //* This format is to ensure that the correct precision is printed to Celestia + //* as well as ensuring that there is no exponential notation + formatter = new DecimalFormat("######.###############"); + + BufferedWriter fout = new BufferedWriter(new FileWriter(filename)); + NumberFormat nf = NumberFormat.getInstance(); + nf.setMaximumIntegerDigits(12); + + int i=0; + while(size>i){ + fout.write(""+formatter.format(time[i])+" "+formatter.format(r[i][0])+ + " "+formatter.format(r[i][1])+" "+formatter.format(r[i][2])+"\n"); + i++; + } + fout.close(); + }catch(java.io.IOException ioe){System.out.println("EX file io");} + } + + /** + * Write the Spacecraft information file in Celestia's "extras" directory. + * @param name The name of the spacecraft to appear in Celestia (e.g. "STS-115") + * @param filename The name of the file (e.g. "STS-115") + * @param jd_begin The start date (julian date) of the spacecraft ephemerides + * @throws IOException + */ + public void write_ssc(String name, String filename, double jd_begin) throws IOException { + File file = new File(celestia_home+"extras/"+filename+".ssc"); + BufferedWriter fout = new BufferedWriter(new FileWriter(file)); + fout.write("# "+name); + fout.newLine(); + fout.write("#");fout.newLine(); + fout.write("\""+name+"\" \"Sol/Earth\""); + fout.newLine(); + fout.write("{");fout.newLine(); + fout.write("Class \"spacecraft\""); + fout.newLine(); + fout.write("Mesh \"cassini.3ds\""); + fout.newLine(); + fout.write("Radius 0.01"); + fout.newLine(); + fout.newLine(); + fout.write(" Beginning "+(time[0]));//jd_begin); + fout.newLine(); + fout.write(" Ending "+(time[time.length-1]));//(jd_begin+1000)); + fout.newLine(); + fout.newLine(); + fout.write(" SampledOrbit \""+filename+".xyz\""); + fout.newLine(); + fout.write("}"); + fout.newLine(); + fout.close(); + } + + /** + * Write the Spacecraft information file in Celestia's "extras" directory. + * Formats the file for a heliocentric trajectory. + * + * @param name The name of the spacecraft to appear in Celestia (e.g. "STS-115") + * @param filename The name of the file (e.g. "STS-115") + * @param jd_begin The start date (julian date) of the spacecraft ephemerides + * @throws IOException + */ + public void write_ssc_heliocentric(String name, String filename, double jd_begin) throws IOException { + File file = new File(celestia_home+"extras/"+filename+".ssc"); + BufferedWriter fout = new BufferedWriter(new FileWriter(file)); + fout.write("# "+name); + fout.newLine(); + fout.write("#");fout.newLine(); + fout.write("\""+name+"\" \"Sol\""); + fout.newLine(); + fout.write("{");fout.newLine(); + fout.write("Class \"spacecraft\""); + fout.newLine(); + fout.write("Mesh \"cassini.3ds\""); + fout.newLine(); + fout.write("Radius 0.01"); + fout.newLine(); + fout.newLine(); + fout.write(" Beginning "+(time[0]));//jd_begin); + fout.newLine(); + fout.write(" Ending "+(time[time.length-1]));//(jd_begin+1000)); + fout.newLine(); + fout.newLine(); + fout.write(" SampledOrbit \""+filename+".xyz\""); + fout.newLine(); + fout.write("}"); + fout.newLine(); + fout.close(); + } + + /** + * Reads a tab delimited state file into the class to then write to Celestia. + * The file should contain the following in each row: + * time(MJD_UTC) position_x(km) position_y(km) position_z(km) ...other_stuff + * + * @param filename Name of the file + * @throws IOException + */ + public void readStateFile(String filename) throws IOException { + FileReader fr; + BufferedReader in = null; + int size = 0; + try { + fr = new FileReader(filename); + in = new BufferedReader(fr); + } catch (FileNotFoundException e) { + e.printStackTrace(); + } + ArrayList lineCollection = new ArrayList(); + + // read in the file + boolean eof = false; + String str; + StringTokenizer tok; + + while (!eof) { + String line; + try { + if ((line = in.readLine()) == null) { + eof = true; + } else { + // add to the collection + lineCollection.add(line); + size++; + } + } catch (IOException e1) { + e1.printStackTrace(); + } + } + + r = new double[size][3]; + time = new double[size]; + for(int i=0; i= 0; ct = name.indexOf(".", ct+1)) { + rootDir = rootDir.getParentFile(); + } + outputDir = rootDir; + } + else { + // JAT is not deployed in a directory tree. Use the working directory. + outputDir = new File("."); + } + return outputDir; + } + + /** + * Determines where the file should reside and opens an output stream + * onto it. If file path is relative, will treat the path as relative to + * JAT root directory (or working directory if JAT is not a directory) + * @param path absolute or relative. "-" is a special case indicating + * standard out (its a Unix thing) + * @return stream that can write to the output file + */ + public static OutputStream openOutputFile(String path) + throws IOException { + // We open a writer to the output media. + // If fname is null, we open a writer to System.out + // If fname is a filename with no directory names at all + // (or if it specifies the default directory) + // we put it in the default directory. + // Otherwise, we open a writer to the file and if not + // an absolute file name will create it relative to + // the working directory. + + OutputStream strm = null; + if (path.equals("-")) { + strm = System.out; + } + else if (new File(path).isAbsolute()) { + strm = new FileOutputStream(path); + } + else { + path = outputDir.getAbsolutePath() + File.separator + path; + strm = new FileOutputStream(path); + } + return strm; + } +} \ No newline at end of file diff --git a/src/jat/coreNOSA/util/pr.java b/src/jat/coreNOSA/util/pr.java new file mode 100644 index 0000000..ab8ff80 --- /dev/null +++ b/src/jat/coreNOSA/util/pr.java @@ -0,0 +1,49 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + /* + * File : pr.java + * Author : Tobias Berthold + * Date : 11-17-2002 + * Change : + * Description : Print utilities + */ + +package jat.coreNOSA.util; + +public class pr +{ + + /* Format double with Fixed width double to string Fw.d */ + public static String fwdts (double x, int w, int d) + { + java.text.DecimalFormat fmt = new java.text.DecimalFormat(); + fmt.setMaximumFractionDigits(d); + fmt.setMinimumFractionDigits(d); + fmt.setGroupingUsed(false); + String s = fmt.format(x); + while (s.length() < w) + { + s = " " + s; + } + return s; + } + +} // end class diff --git a/src/jat/examples/CRTBP/CRTBPPlot.java b/src/jat/examples/CRTBP/CRTBPPlot.java new file mode 100644 index 0000000..61c9eb8 --- /dev/null +++ b/src/jat/examples/CRTBP/CRTBPPlot.java @@ -0,0 +1,155 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.CRTBP; + +import jat.core.cm.CRTBP; +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.plots.LinePlot; + +import java.awt.Color; + +import javax.swing.JApplet; +import javax.swing.JFrame; + +import org.apache.commons.lang3.ArrayUtils; +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.FirstOrderIntegrator; +import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator; + +public class CRTBPPlot extends JApplet { + static boolean print = false; + + public void init() { + doExample(); + } + + void doExample() { + double mu = 0.15; + double[] y0 = { .11, 0, 0, 1.35, 1.33, 0 }; // initial state + + // double mu = 0.1; + // double mu = 3.035909999e-6; + + // double mu = 0.012277471; + // double[] y0 = { .1, 0, 0, 2.69, 2.69, 0 }; // initial state + + // double mu = 0.2; + + CRTBP myCRTBP = new CRTBP(mu); + FirstOrderIntegrator dp853 = new DormandPrince853Integrator(1.0e-8, 100.0, 1.0e-10, 1.0e-10); + dp853.addStepHandler(myCRTBP.stepHandler); + + FirstOrderDifferentialEquations ode = myCRTBP; + + double tf; + double[] y = new double[6]; // initial state + + // for (int i = 1; i < 2; i++) { + // tf = i * 20.; + tf = 40.; + System.arraycopy(y0, 0, y, 0, 6); + + dp853.integrate(ode, 0.0, y, tf, y); // now y contains final state + // at + // time tf + if (print) { + System.out.printf("%9.6f %9.6f %9.6f %9.6f %9.6f", tf, y[0], y[1], y[2], myCRTBP.JacobiIntegral(y)); + System.out.println(); + } + + int arraySize = myCRTBP.time.size(); + double[] timeArray = ArrayUtils.toPrimitive(myCRTBP.time.toArray(new Double[arraySize])); + double[] xsolArray = ArrayUtils.toPrimitive(myCRTBP.xsol.toArray(new Double[arraySize])); + double[] ysolArray = ArrayUtils.toPrimitive(myCRTBP.ysol.toArray(new Double[arraySize])); + double[][] XY = new double[timeArray.length][2]; + for (int i = 0; i < timeArray.length; i++) { + XY[i][0] = xsolArray[i]; + XY[i][1] = ysolArray[i]; + } + + Plot2DPanel p = new Plot2DPanel(); + LinePlot l = new LinePlot("spacecraft", Color.RED, XY); + l.closed_curve = false; + l.draw_dot = true; + p.addPlot(l); + double plotSize = 1.2; + myCRTBP.findLibrationPoints(); + Color darkGreen = new java.awt.Color(0, 190, 0); + + addPoint(p, "Earth", java.awt.Color.BLUE, -mu, 0); + addPoint(p, "Moon", java.awt.Color.gray, 1 - mu, 0); + addPoint(p, "L1", darkGreen, myCRTBP.LibPoints[0].getX(), 0); + addPoint(p, "L2", darkGreen, myCRTBP.LibPoints[1].getX(), 0); + addPoint(p, "L3", darkGreen, myCRTBP.LibPoints[2].getX(), 0); + + String Labelmu = "mu = " + myCRTBP.mu; + p.addLabel(Labelmu, java.awt.Color.black, 1, .9 * plotSize); + String initial = "initial x,v = (" + y0[0] + "," + y0[1] + "),(" + y0[3] + "," + y0[4] + ")"; + p.addLabel(initial, java.awt.Color.black, 1, .8 * plotSize); + String Jacobi = "spacecraft C = " + myCRTBP.C; + p.addLabel(Jacobi, java.awt.Color.black, 1, .7 * plotSize); + String L1C = "L1 C = " + myCRTBP.C1; + p.addLabel(L1C, java.awt.Color.black, 1, .6 * plotSize); + + myCRTBP.findZeroVelocity(); + int size = myCRTBP.xzv.size(); + double[] xzvArray = ArrayUtils.toPrimitive(myCRTBP.xzv.toArray(new Double[size])); + double[] yzvArray = ArrayUtils.toPrimitive(myCRTBP.yzv.toArray(new Double[size])); + double[][] XYzv = new double[size][2]; + for (int i = 0; i < size; i++) { + XYzv[i][0] = xzvArray[i]; + XYzv[i][1] = yzvArray[i]; + } + LinePlot lzv = new LinePlot("zero vel", Color.blue, XYzv); + lzv.closed_curve = false; + lzv.draw_dot = true; + p.addPlot(lzv); + + p.setLegendOrientation(PlotPanel.SOUTH); + p.setFixedBounds(0, -plotSize, plotSize); + p.setFixedBounds(1, -plotSize, plotSize); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + } + + void addPoint(Plot2DPanel p, String s, Color c, double x, double y) { + double[][] points = new double[1][2]; + points[0][0] = x; + points[0][1] = y; + p.addScatterPlot(s, c, points); + } + + // public static void main(String[] args) { + // + // CRTBPPlot ex = new CRTBPPlot(); + // ex.doExample(); + // + // } + +} + +// double[][] points1 = new double[1][2]; +// points1[0][0] = -mu; +// points1[0][1] = 0; +// p.addScatterPlot("Earth", java.awt.Color.BLUE, points1); +// double[][] points2 = new double[1][2]; +// points2[0][0] = 1. - mu; +// points2[0][1] = 0; +// p.addScatterPlot("Moon", java.awt.Color.gray, points2); diff --git a/src/jat/examples/CommonsMath/RootFinder.java b/src/jat/examples/CommonsMath/RootFinder.java new file mode 100644 index 0000000..f10fb66 --- /dev/null +++ b/src/jat/examples/CommonsMath/RootFinder.java @@ -0,0 +1,66 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.CommonsMath; + +import org.apache.commons.math3.analysis.UnivariateFunction; +import org.apache.commons.math3.analysis.solvers.BrentSolver; +import org.apache.commons.math3.analysis.solvers.UnivariateSolver; + + +public class RootFinder { + + private static class MyFunction implements UnivariateFunction { + public double value(double x) { + double y = x * x - 2.; + return y; + } + } + + /** + * @param args + */ + public static void main(String[] args) { + final double relativeAccuracy = 1.0e-12; + final double absoluteAccuracy = 1.0e-8; + + UnivariateFunction function = new MyFunction(); + UnivariateSolver nonBracketing = new BrentSolver(relativeAccuracy, absoluteAccuracy); +// double baseRoot = bs.solve(100, function, -2.0, 0); + + System.out.println("Roots of f(x)=x^2-2: " ); + double baseRoot; + baseRoot= nonBracketing.solve(100, function, -2.0, 0); + System.out.println("root1: " + baseRoot); + baseRoot = nonBracketing.solve(100, function, 0, 2.0); + System.out.println("root2: " + baseRoot); + +// System.out.println("rs: " + Math.sqrt(2.)); + + } + +} + +//double rp = 1, M=10000, Mp = 500; +//double rrp = rp*rp, rp2 = 2.0*rp; // shorthand variables for powers +//of rp +//double[] c = { -rrp*rrp, rp2*rrp, -(Mp/M+1)*rrp, rrp, rp2, 1.0 }; +// +//PolynomialFunction lagrangian = new PolynomialFunction(c); +//LaguerreSolver solver = new LaguerreSolver(); +//double rs = solver.solve(100, lagrangian, rp, 2*rp); +//System.out.println("rs: "+rs); diff --git a/src/jat/examples/DatePicker/DatePickerExample.java b/src/jat/examples/DatePicker/DatePickerExample.java new file mode 100644 index 0000000..0fdad93 --- /dev/null +++ b/src/jat/examples/DatePicker/DatePickerExample.java @@ -0,0 +1,32 @@ +package jat.examples.DatePicker; + +import javax.swing.JApplet; +import javax.swing.JComponent; + +import net.sourceforge.jdatepicker.JDateComponentFactory; +import net.sourceforge.jdatepicker.JDatePicker; + +public class DatePickerExample extends JApplet{ + + private static final long serialVersionUID = 1920676464239324135L; + JDatePicker depart_date_picker; + + public void init() { + depart_date_picker = JDateComponentFactory.createJDatePicker(); + depart_date_picker.setTextEditable(true); + depart_date_picker.setShowYearButtons(true); + + add((JComponent) depart_date_picker); + + } + + public void start() { + + depart_date_picker.getModel().setYear(2010); + depart_date_picker.getModel().setMonth(1); + //depart_date_picker.getModel().setMonth(1); + depart_date_picker.getModel().setDay(15); + depart_date_picker.getModel().setSelected(true); + } + +} diff --git a/src/jat/examples/JulianDate/DateConverterEvents.java b/src/jat/examples/JulianDate/DateConverterEvents.java new file mode 100644 index 0000000..09a1022 --- /dev/null +++ b/src/jat/examples/JulianDate/DateConverterEvents.java @@ -0,0 +1,57 @@ +package jat.examples.JulianDate; + +import jat.coreNOSA.cm.cm; + +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.text.SimpleDateFormat; +import java.util.Calendar; + +class DateConverterEvents implements ActionListener { + DateConverterGUI d; + + public DateConverterEvents(DateConverterGUI d) { + this.d = d; + } + + public void actionPerformed(ActionEvent ev) { + + // Read in values + if (ev.getSource() == d.btn_Jul_to_Cal) { + System.out.println("button 1 pressed"); + JD_to_Cal(); + }// End of if(ev.getSource() == startButton) + if (ev.getSource() == d.btn_Cal_to_Jul) { + System.out.println("button 2 pressed"); + Cal_to_JD(); + } + }// End of ActionPerformed + + void JD_to_Cal() { + SimpleDateFormat sdf; + sdf = new SimpleDateFormat("MM/dd/yyyy hh:mm:ss aaa"); + Calendar cal = cm.JD_to_Calendar((Double) d.JDfield.getValue()); + System.out.println("JD: " + (Double) d.JDfield.getValue() + " Greg: " + + sdf.format(cal.getTime())); + d.yearfield.setValue(cal.get(Calendar.YEAR)); + d.monthfield.setValue(cal.get(Calendar.MONTH)+1); + d.dayfield.setValue(cal.get(Calendar.DAY_OF_MONTH)); + d.hourfield.setValue(cal.get(Calendar.HOUR_OF_DAY)); + d.minutefield.setValue(cal.get(Calendar.MINUTE)); + d.secondfield.setValue(cal.get(Calendar.SECOND)); + } + + void Cal_to_JD() { + Integer year, month, day, hour, minute, second; + year = (Integer) d.yearfield.getValue(); + month = (Integer) d.monthfield.getValue(); + day = (Integer) d.dayfield.getValue(); + hour = (Integer) d.hourfield.getValue(); + minute = (Integer) d.minutefield.getValue(); + second = (Integer) d.secondfield.getValue(); + d.JDfield.setValue((Double) cm.juliandate(year, month, day, hour, minute, second)); + // System.out.println(year); + // System.out.println(cm.juliandate(year, month, 1, 12, 0, 0)); + } + +}// End of Button Handler diff --git a/src/jat/examples/JulianDate/DateConverterGUI.java b/src/jat/examples/JulianDate/DateConverterGUI.java new file mode 100644 index 0000000..ff35969 --- /dev/null +++ b/src/jat/examples/JulianDate/DateConverterGUI.java @@ -0,0 +1,166 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.JulianDate; + +import java.awt.BorderLayout; +import java.awt.FlowLayout; + +import javax.swing.BorderFactory; +import javax.swing.BoxLayout; +import javax.swing.JApplet; +import javax.swing.JButton; +import javax.swing.JFormattedTextField; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.SwingConstants; + +import com.jgoodies.forms.factories.FormFactory; +import com.jgoodies.forms.layout.ColumnSpec; +import com.jgoodies.forms.layout.FormLayout; +import com.jgoodies.forms.layout.RowSpec; + +public class DateConverterGUI extends JApplet { + private static final long serialVersionUID = 1321470082814219656L; + public JButton btn_Jul_to_Cal; + JButton btn_Cal_to_Jul; + JFormattedTextField yearfield; + JFormattedTextField monthfield; + JFormattedTextField dayfield, hourfield, minutefield, secondfield; + JFormattedTextField JDfield; + DateConverterEvents myb; + + /** + * Create the applet. + */ + public DateConverterGUI() { + myb = new DateConverterEvents(this); + getContentPane().setLayout(new BorderLayout(0, 0)); + JPanel level1_Pane = new JPanel(); + JPanel level2_Pane_Mid = new JPanel(); + JPanel level2_Pane_Jul = new JPanel(); + JPanel level2_Pane_Cal = new JPanel(); + JPanel level3_Pane_Mid1 = new JPanel(); + JPanel level3_Pane_Mid2 = new JPanel(); + level2_Pane_Jul.setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5)); + + JLabel lblJulianDate = new JLabel("Days"); + level2_Pane_Jul.add(lblJulianDate); + level2_Pane_Jul.setBorder(BorderFactory + .createTitledBorder("Julian Date")); + + getContentPane().add(level1_Pane); + level1_Pane.setLayout(new BoxLayout(level1_Pane, BoxLayout.X_AXIS)); + level1_Pane.add(level2_Pane_Jul); + + JDfield = new JFormattedTextField(); + JDfield.setColumns(12); + JDfield.setValue(2456033.1); + level2_Pane_Jul.add(JDfield); + level1_Pane.add(level2_Pane_Mid); + level1_Pane.add(level2_Pane_Cal); + level2_Pane_Mid.setLayout(new BoxLayout(level2_Pane_Mid, + BoxLayout.Y_AXIS)); + btn_Jul_to_Cal = new JButton(">>"); + // btn_Jul_to_Cal.addActionListener(new ButtonHandler()); + btn_Jul_to_Cal.addActionListener(myb); + level3_Pane_Mid1.setLayout(new BorderLayout(0, 0)); + level3_Pane_Mid1.add(btn_Jul_to_Cal); + //level2_Pane_Mid.add(btn_Jul_to_Cal); + level2_Pane_Mid.add(level3_Pane_Mid1); + level2_Pane_Mid.add(level3_Pane_Mid2); + level3_Pane_Mid2.setLayout(new BorderLayout(0, 0)); + + btn_Cal_to_Jul = new JButton("<<"); + level3_Pane_Mid2.add(btn_Cal_to_Jul); + btn_Cal_to_Jul.addActionListener(myb); + + level2_Pane_Cal + .setLayout(new FormLayout(new ColumnSpec[] { + FormFactory.RELATED_GAP_COLSPEC, + ColumnSpec.decode("102px"), + FormFactory.LABEL_COMPONENT_GAP_COLSPEC, + ColumnSpec.decode("114px:grow"), + FormFactory.LABEL_COMPONENT_GAP_COLSPEC, + ColumnSpec.decode("32px"), }, new RowSpec[] { + RowSpec.decode("25px"), RowSpec.decode("19px"), + FormFactory.LINE_GAP_ROWSPEC, RowSpec.decode("19px"), + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, + FormFactory.RELATED_GAP_ROWSPEC, + FormFactory.DEFAULT_ROWSPEC, })); + + JLabel lblCalendarDate = new JLabel("Year"); + level2_Pane_Cal.add(lblCalendarDate, "2, 1, right, center"); + + yearfield = new JFormattedTextField(); + yearfield.setHorizontalAlignment(SwingConstants.RIGHT); + yearfield.setValue(2012); + yearfield.setColumns(6); + level2_Pane_Cal.add(yearfield, "4, 1, left, top"); + + JLabel lblYear = new JLabel("Month"); + level2_Pane_Cal.add(lblYear, "2, 2, right, center"); + level2_Pane_Cal.setBorder(BorderFactory + .createTitledBorder("Calendar Date")); + + monthfield = new JFormattedTextField(); + monthfield.setHorizontalAlignment(SwingConstants.RIGHT); + monthfield.setValue(4); + monthfield.setColumns(6); + level2_Pane_Cal.add(monthfield, "4, 2, left, top"); + + JLabel lblNewLabel = new JLabel("Day"); + level2_Pane_Cal.add(lblNewLabel, "2, 4, right, default"); + dayfield = new JFormattedTextField(); + dayfield.setHorizontalAlignment(SwingConstants.RIGHT); + // dayfield.setValue(new Integer(15)); + dayfield.setValue(15); + dayfield.setColumns(6); + level2_Pane_Cal.add(dayfield, "4, 4, left, top"); + + JLabel lblHour = new JLabel("Hour"); + level2_Pane_Cal.add(lblHour, "2, 6, right, default"); + + hourfield = new JFormattedTextField(); + hourfield.setColumns(6); + hourfield.setHorizontalAlignment(SwingConstants.RIGHT); + hourfield.setValue(14); + level2_Pane_Cal.add(hourfield, "4, 6, left, top"); + + JLabel lblMinute = new JLabel("Minute"); + level2_Pane_Cal.add(lblMinute, "2, 8, right, default"); + + minutefield = new JFormattedTextField(); + minutefield.setHorizontalAlignment(SwingConstants.RIGHT); + minutefield.setColumns(6); + minutefield.setValue(54); + level2_Pane_Cal.add(minutefield, "4, 8, left, top"); + + JLabel lblSecond = new JLabel("Second"); + level2_Pane_Cal.add(lblSecond, "2, 10, right, default"); + + secondfield = new JFormattedTextField(); + secondfield.setHorizontalAlignment(SwingConstants.RIGHT); + secondfield.setColumns(6); + secondfield.setValue(23); + level2_Pane_Cal.add(secondfield, "4, 10, left, top"); + } + +} diff --git a/src/jat/examples/JulianDate/DateConvertermain.java b/src/jat/examples/JulianDate/DateConvertermain.java new file mode 100644 index 0000000..bd9c876 --- /dev/null +++ b/src/jat/examples/JulianDate/DateConvertermain.java @@ -0,0 +1,53 @@ +package jat.examples.JulianDate; + +import java.awt.BorderLayout; +import java.awt.Dimension; +import java.awt.Toolkit; +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; + +import javax.swing.JButton; +import javax.swing.JFormattedTextField; +import javax.swing.JFrame; + +public class DateConvertermain { + private static DateConverterGUI theApplet; + static int appletwidth = 500; // Width of Applet + static int appletheight = 200; + JButton btn_Jul_to_Cal; + JButton btn_Cal_to_Jul; + JFormattedTextField yearfield; + DateConverterEvents myb; + + + /** + * Used when run as an application + * + * @param args + * (String[]) Argument + */ + public static void main(String[] args) { + theApplet = new DateConverterGUI(); + JFrame theFrame = new JFrame(); + // Initialize the applet + theApplet.init(); + theFrame.setTitle("Date Converter"); + theFrame.addWindowListener(new WindowAdapter() { + + public void windowClosing(WindowEvent e) { + System.exit(0); + } + }); + // When running this file as a stand-alone app, add the applet to + // the frame. + theFrame.getContentPane().add(theApplet, BorderLayout.CENTER); + + theFrame.setSize(appletwidth, appletheight); + Dimension d = Toolkit.getDefaultToolkit().getScreenSize(); + theFrame.setLocation((d.width - theFrame.getSize().width) / 2, + (d.height - theFrame.getSize().height) / 2); + theFrame.setVisible(true); + }// End of main() + + +} diff --git a/src/jat/examples/Plot/plotsphere.java b/src/jat/examples/Plot/plotsphere.java new file mode 100644 index 0000000..4849f07 --- /dev/null +++ b/src/jat/examples/Plot/plotsphere.java @@ -0,0 +1,39 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.Plot; + +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.plot.plot.PlotPanel; + +public class plotsphere { + + public static void main(String[] args) { + + Plot3DPanel p = new Plot3DPanel(); + + double radius=1; + + p.addSpherePlot("toto", radius); + p.setFixedBounds(0, -1, 1); + p.setFixedBounds(1, -1, 1); + p.setFixedBounds(2, -1, 1); + p.setLegendOrientation(PlotPanel.SOUTH); + new FrameView(p); + } +} diff --git a/src/jat/examples/PorkChopPlot/pcplot_JMathPlot.java b/src/jat/examples/PorkChopPlot/pcplot_JMathPlot.java new file mode 100644 index 0000000..1267298 --- /dev/null +++ b/src/jat/examples/PorkChopPlot/pcplot_JMathPlot.java @@ -0,0 +1,73 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.PorkChopPlot; + +import jat.core.cm.porkChopPlot; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.plot.plot.Plot3DPanel; +import jat.core.spacetime.TimeAPL; + +import java.awt.BorderLayout; +import java.awt.Dimension; +import java.io.IOException; + +import javax.swing.JApplet; +import javax.swing.JPanel; + + +public class pcplot_JMathPlot extends JApplet { + + private static final long serialVersionUID = 9137365030689531711L; + Plot3DPanel plotpanel; + JPanel panel; + int steps = 50; + int search_time = 86400 * 2000; + DE405Plus my_eph; + + public void init() { + plotpanel = new Plot3DPanel(); + plotpanel.addLegend("SOUTH"); + plotpanel.setSize(600, 600); + plotpanel.setPreferredSize(new Dimension(600, 600)); + + TimeAPL search_depart_time_start = new TimeAPL(2003, 5, 1, 1, 1, 1); + TimeAPL search_arrival_time_start = new TimeAPL(2003, 12, 1, 1, 1, 1); + + my_eph = new DE405Plus(); + porkChopPlot p = new porkChopPlot(my_eph); + try { + p.make_porkchop_plot(body.EARTH, body.MARS,search_depart_time_start, search_arrival_time_start, 2000, steps); + p.A.print(); + } catch (IOException e) { + e.printStackTrace(); + } + + double[] Xdata = new double[steps]; + for (int i = 0; i < steps; i++) { + Xdata[i] = i - steps / 2; + } + plotpanel.addGridPlot("data", Xdata,Xdata,p.A.A); + + panel = new JPanel(new BorderLayout()); + panel.add(plotpanel, BorderLayout.CENTER); + + this.add(panel); + + } +} diff --git a/src/jat/examples/PorkChopPlot/pcplot_text.java b/src/jat/examples/PorkChopPlot/pcplot_text.java new file mode 100644 index 0000000..b797db7 --- /dev/null +++ b/src/jat/examples/PorkChopPlot/pcplot_text.java @@ -0,0 +1,44 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.PorkChopPlot; + +import jat.core.cm.porkChopPlot; +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; + +import java.io.IOException; + +public class pcplot_text { + + public static void main(String args[]) { + + TimeAPL search_depart_time_start = new TimeAPL(2003, 5, 1, 1, 1, 1); + TimeAPL search_arrival_time_start = new TimeAPL(2003, 12, 1, 1, 1, 1); + DE405Plus my_eph; + + my_eph = new DE405Plus(); + porkChopPlot p = new porkChopPlot(my_eph); + try { + p.make_porkchop_plot(body.EARTH, body.MARS,search_depart_time_start, search_arrival_time_start, 500, 10); + p.A.print(); + } catch (IOException e) { + e.printStackTrace(); + } + } +} diff --git a/src/jat/examples/TwoBodyExample/TwoBodyCompare.java b/src/jat/examples/TwoBodyExample/TwoBodyCompare.java new file mode 100644 index 0000000..b64f034 --- /dev/null +++ b/src/jat/examples/TwoBodyExample/TwoBodyCompare.java @@ -0,0 +1,62 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.TwoBodyExample; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.cm.TwoBody; + +public class TwoBodyCompare implements Printable { + + public TwoBodyCompare() { + + } + + public static void main(String[] args) { + + System.out.println("Comparing twobody orbit data"); + // create a Two Body orbit (elliptical) + TwoBody orbit = new TwoBody(10000.0, 0.2, 0.0, 0.0, 0.0, 0.0); + + TwoBodyCompare rkt = new TwoBodyCompare(); + + // create an RungeKuttaFehlberg78 integrator + RungeKuttaFehlberg78 rk78f = new RungeKuttaFehlberg78(); + rk78f.setAccuracy(1.e-9); + + // initialize the state variables + double[] x0 = orbit.randv(); + + // set the final time to one orbit period + double tf = orbit.period(); + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + double[] xf = rk78f.integrate(t0, x0, tf, orbit, rkt, true); + + } + + public void print(double t, double[] y) { + + System.out.println(t + " " + y[0] + " " + y[1]); + + } + +} diff --git a/src/jat/examples/TwoBodyExample/TwoBodyExample.java b/src/jat/examples/TwoBodyExample/TwoBodyExample.java new file mode 100644 index 0000000..b38d031 --- /dev/null +++ b/src/jat/examples/TwoBodyExample/TwoBodyExample.java @@ -0,0 +1,111 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.TwoBodyExample; + +import jat.core.cm.TwoBodyAPL; +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.plots.ScatterPlot; + +import java.awt.Color; +import java.text.DecimalFormat; + +import javax.swing.JFrame; + +import org.apache.commons.lang3.ArrayUtils; +import org.apache.commons.math3.linear.ArrayRealVector; +import org.apache.commons.math3.linear.RealVectorFormat; +import org.apache.commons.math3.ode.FirstOrderIntegrator; +import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator; + +public class TwoBodyExample { + + public TwoBodyExample() { + } + + public static void main(String[] args) { + + TwoBodyExample x = new TwoBodyExample(); + + // create a TwoBody orbit using orbit elements + TwoBodyAPL sat = new TwoBodyAPL(7000.0, 0.3, 0.0, 0.0, 0.0, 0.0); + + double[] y = sat.randv(); + + ArrayRealVector v = new ArrayRealVector(y); + + DecimalFormat df2 = new DecimalFormat("#,###,###,##0.00"); + RealVectorFormat format = new RealVectorFormat(df2); + System.out.println(format.format(v)); + + // find out the period of the orbit + double period = sat.period(); + + // set the final time = one orbit period + double tf = period; + + // set the initial time to zero + double t0 = 0.0; + + // propagate the orbit + FirstOrderIntegrator dp853 = new DormandPrince853Integrator(1.0e-8, 100.0, 1.0e-10, 1.0e-10); + dp853.addStepHandler(sat.stepHandler); + // double[] y = new double[] { 7000.0, 0, 0, .0, 8, 0 }; // initial + // state + + dp853.integrate(sat, 0.0, y, 8000, y); // now y contains final state at + // tf + + Double[] objArray = sat.time.toArray(new Double[sat.time.size()]); + double[] timeArray = ArrayUtils.toPrimitive(objArray); + double[] xsolArray = ArrayUtils.toPrimitive(sat.xsol.toArray(new Double[sat.time.size()])); + double[] ysolArray = ArrayUtils.toPrimitive(sat.ysol.toArray(new Double[sat.time.size()])); + + double[][] XY = new double[timeArray.length][2]; + + // int a=0; + // System.arraycopy(timeArray,0,XY[a],0,timeArray.length); + // System.arraycopy(ysolArray,0,XY[1],0,ysolArray.length); + + for (int i = 0; i < timeArray.length; i++) { + XY[i][0] = xsolArray[i]; + XY[i][1] = ysolArray[i]; + } + + Plot2DPanel p = new Plot2DPanel(); + + // Plot2DPanel p = new Plot2DPanel(min, max, axesScales, axesLabels); + + ScatterPlot s = new ScatterPlot("orbit", Color.RED, XY); + // LinePlot l = new LinePlot("sin", Color.RED, XY); + // l.closed_curve = false; + // l.draw_dot = true; + p.addPlot(s); + p.setLegendOrientation(PlotPanel.SOUTH); + double plotSize = 10000.; + double[] min = { -plotSize, -plotSize }; + double[] max = { plotSize, plotSize }; + p.setFixedBounds(min, max); + + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + System.out.println("end"); + + } +} diff --git a/src/jat/examples/ephemeris/DE405PropagatePlot.java b/src/jat/examples/ephemeris/DE405PropagatePlot.java new file mode 100644 index 0000000..f269358 --- /dev/null +++ b/src/jat/examples/ephemeris/DE405PropagatePlot.java @@ -0,0 +1,130 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.ephemeris; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame; +import jat.core.ephemeris.DE405Plus; +import jat.core.plot.plot.FrameView; +import jat.core.plot.plot.Plot2DPanel; +import jat.core.plot.plot.PlotPanel; +import jat.core.plot.plot.plots.LinePlot; +import jat.core.spacetime.TimeAPL; +import jat.core.util.PathUtil; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.awt.Color; +import java.io.IOException; +import java.util.ArrayList; + +import javax.swing.JFrame; + +import org.apache.commons.lang3.ArrayUtils; +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.FirstOrderIntegrator; +import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator; + +public class DE405PropagatePlot { + static boolean print = false; + + void doExample() { + double tf = 3600 * 24 * 300; + double[] y0 = { 2e8, 0, 0, 0, 24.2, 0 }; // initial state + double[] y = new double[6]; + + PathUtil path = new PathUtil(); + DE405Plus Eph = new DE405Plus(path); + Eph.setFrame(DE405Frame.frame.HEE); + Eph.printSteps = true; + TimeAPL myTime = new TimeAPL(2003, 3, 1, 12, 0, 0); + Eph.setIntegrationStartTime(myTime); + Eph.bodyGravOnOff[body.SUN.ordinal()] = true; + // Eph.planetOnOff[body.JUPITER.ordinal()] = true; + + FirstOrderIntegrator dp853 = new DormandPrince853Integrator(1.0e-8, tf / 10.0, 1.0e-10, 1.0e-10); + dp853.addStepHandler(Eph.stepHandler); + FirstOrderDifferentialEquations ode = Eph; + + dp853.integrate(ode, 0.0, y0, tf, y); // now y contains final state at + // time tf + if (print) { + String nf = "%10.3f "; + String format = nf + nf + nf + nf + nf; + System.out.printf(format, tf, y[0], y[1], y[2], Eph.energy(tf,y)); + System.out.println(); + } + + + Plot2DPanel p = new Plot2DPanel(); + LinePlot l1 = new LinePlot("Jup. off", Color.RED, getXYforPlot(Eph.xsol,Eph.ysol)); + l1.closed_curve = false; + p.addPlot(l1); + + Eph.reset(); + Eph.bodyGravOnOff[body.JUPITER.ordinal()] = true; + dp853.integrate(ode, 0.0, y0, tf, y); // now y contains final state at + + LinePlot l2 = new LinePlot("Jup. on", Color.BLUE, getXYforPlot(Eph.xsol,Eph.ysol)); + l2.closed_curve = false; + p.addPlot(l2); + + VectorN EarthPos = null; + try { + EarthPos = Eph.get_planet_pos(body.EARTH, myTime); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + addPoint(p, "Earth", java.awt.Color.BLUE, EarthPos.x[0], EarthPos.x[1]); + + p.setLegendOrientation(PlotPanel.SOUTH); + double plotSize = 2e8; + p.setFixedBounds(0, -plotSize, plotSize); + p.setFixedBounds(1, -plotSize, plotSize); + new FrameView(p).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + } + + double[][] getXYforPlot(ArrayList xsol,ArrayList ysol) { + int arraySize = xsol.size(); + double[] xsolArray = ArrayUtils.toPrimitive(xsol.toArray(new Double[arraySize])); + double[] ysolArray = ArrayUtils.toPrimitive(ysol.toArray(new Double[arraySize])); + double[][] XY = new double[arraySize][2]; + for (int i = 0; i < arraySize; i++) { + XY[i][0] = xsolArray[i]; + XY[i][1] = ysolArray[i]; + } + + return XY; + } + + void addPoint(Plot2DPanel p, String s, Color c, double x, double y) { + double[][] points = new double[1][2]; + points[0][0] = x; + points[0][1] = y; + p.addScatterPlot(s, c, points); + } + + public static void main(String[] args) { + + DE405PropagatePlot ex = new DE405PropagatePlot(); + ex.doExample(); + + } + +} diff --git a/src/jat/examples/ephemeris/DE405PropagateText.java b/src/jat/examples/ephemeris/DE405PropagateText.java new file mode 100644 index 0000000..7c90940 --- /dev/null +++ b/src/jat/examples/ephemeris/DE405PropagateText.java @@ -0,0 +1,67 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.ephemeris; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.core.util.PathUtil; + +import org.apache.commons.math3.ode.FirstOrderDifferentialEquations; +import org.apache.commons.math3.ode.FirstOrderIntegrator; +import org.apache.commons.math3.ode.nonstiff.DormandPrince853Integrator; + +public class DE405PropagateText { + static boolean print = false; + + void doExample() { + //double tf = 10000000.; + double tf = 3600 * 24 * 500; + double[] y = { 2e8, 0, 0, 0, 24.2, 0 }; // initial state + + PathUtil path = new PathUtil(); + DE405Plus Eph = new DE405Plus(path); + Eph.setFrame(DE405Frame.frame.HEE); + Eph.printSteps = true; + TimeAPL myTime = new TimeAPL(2003, 3, 1, 12, 0, 0); + Eph.setIntegrationStartTime(myTime); + Eph.bodyGravOnOff[body.SUN.ordinal()] = true; + FirstOrderIntegrator dp853 = new DormandPrince853Integrator(1.0e-8, tf / 10.0, 1.0e-10, 1.0e-10); + dp853.addStepHandler(Eph.stepHandler); + FirstOrderDifferentialEquations ode = Eph; + + dp853.integrate(ode, 0.0, y, tf, y); // now y contains final state + // at + // time tf + if (print) { + String nf = "%10.3f "; + String format = nf + nf + nf + nf + nf; + System.out.printf(format, tf, y[0], y[1], y[2], Eph.energy(tf, y)); + System.out.println(); + } + } + + public static void main(String[] args) { + + DE405PropagateText ex = new DE405PropagateText(); + ex.doExample(); + + } + +} diff --git a/src/jat/examples/ephemeris/ephemerisAPL.java b/src/jat/examples/ephemeris/ephemerisAPL.java new file mode 100644 index 0000000..d6b49d8 --- /dev/null +++ b/src/jat/examples/ephemeris/ephemerisAPL.java @@ -0,0 +1,67 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.ephemeris; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.ephemeris.DE405Plus; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.io.IOException; + +public class ephemerisAPL +{ + public static void main (String argv[]) + { + Time mytime=new Time(2002, 2, 17, 12, 0, 0); + DE405Plus ephem = new DE405Plus(); + VectorN rv; + try { + ephem.setFrame(frame.ICRF); + System.out.println("ICRF Frame"); + //rv = ephem.get_planet_posvel(DE405Plus.body.MARS, mytime.jd_tt()); + rv = ephem.get_planet_posvel(body.MARS, mytime); + System.out.println("The position of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("x= "+rv.get(0)+" km"); + System.out.println("y= "+rv.get(1)+" km"); + System.out.println("z= "+rv.get(2)+" km"); + System.out.println("The velocity of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("vx= "+rv.get(3)+" km/s"); + System.out.println("vy= "+rv.get(4)+" km/s"); + System.out.println("vz= "+rv.get(5)+" km/s"); + System.out.println("HEE Frame"); + ephem.setFrame(frame.HEE); + //rv = ephem.get_planet_posvel(DE405Plus.body.MARS, mytime.jd_tt()); + rv = ephem.get_planet_posvel(body.MARS, mytime); + System.out.println("The position of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("x= "+rv.get(0)+" km"); + System.out.println("y= "+rv.get(1)+" km"); + System.out.println("z= "+rv.get(2)+" km"); + System.out.println("The velocity of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("vx= "+rv.get(3)+" km/s"); + System.out.println("vy= "+rv.get(4)+" km/s"); + System.out.println("vz= "+rv.get(5)+" km/s"); + } catch (IOException e) { + e.printStackTrace(); + } + + + } +} + diff --git a/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3DApplet.java b/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3DApplet.java new file mode 100644 index 0000000..395df8d --- /dev/null +++ b/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3DApplet.java @@ -0,0 +1,35 @@ +package jat.examples.jat3D.Hellojat3D.Hellojat3DApplet; + + +import javax.swing.JApplet; + +public class Hellojat3DApplet extends JApplet { + + private static final long serialVersionUID = -5807960663114666001L; + + public Hellojat3DApplet() { + + + getContentPane().add(new Hellojat3Dplot()); + +// getContentPane().setSize(200, 100); +// getContentPane().setLayout(new GridLayout(2, 1, 0, 0)); +// +// JButton btnNewButton = new JButton("Press Me!"); +// //getContentPane().add(btnNewButton); +// +// JPanel panel = new JPanel(); +// getContentPane().add(panel); +// +// +// Hellojat3Dplot hp=new Hellojat3Dplot(); +// panel.add(hp); +// +// this.setVisible(true); + } + + + + + +} diff --git a/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3Dmain.java b/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3Dmain.java new file mode 100644 index 0000000..3659ff0 --- /dev/null +++ b/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3Dmain.java @@ -0,0 +1,74 @@ +package jat.examples.jat3D.Hellojat3D.Hellojat3DApplet; + +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JFrame; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class Hellojat3Dmain extends JApplet { + + private static final long serialVersionUID = -5807960663114666001L; + + public Hellojat3Dmain() { + getContentPane().setLayout(new BorderLayout(0, 0)); + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + JScrollPane scrollPane_1 = new JScrollPane(); + getContentPane().add(scrollPane_1, BorderLayout.NORTH); + + // JScrollPane scrollPane = new JScrollPane(); + // getContentPane().add(scrollPane, BorderLayout.SOUTH); + boolean mcb = false; + if (mcb) { + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + } + System.out.println("Hellojat3DApplet started in main"); + System.out.println("redirected output"); + System.out.println("LD Library Path:" + System.getProperty("java.library.path")); + for (int i = 0; i < 4; i++) + System.out.println("line" + i); + + } + + public void start() { + System.out.println("Init complete"); + System.out.println("Attempting to create Applet"); + + JFrame frame = new JFrame("FrameDemo"); + frame.setSize(600, 400); + frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + Hellojat3DApplet h = new Hellojat3DApplet(); + frame.getContentPane().add(h, BorderLayout.CENTER); + frame.pack(); + frame.setVisible(true); + System.out.println("Applet created"); + + + +// JPanel panel = new JPanel(); +// getContentPane().add(new Hellojat3Dplot()); +// Hellojat3Dplot hp=new Hellojat3Dplot(); +// panel.add(hp); + + + + + } + +} diff --git a/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3Dplot.java b/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3Dplot.java new file mode 100644 index 0000000..17a41c7 --- /dev/null +++ b/src/jat/examples/jat3D/Hellojat3D/Hellojat3DApplet/Hellojat3Dplot.java @@ -0,0 +1,55 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.jat3D.Hellojat3D.Hellojat3DApplet; + +import jat.jat3D.BodyGroup3D; +import jat.jat3D.ColorCube3D; +import jat.jat3D.jatScene3D; +import jat.jat3D.plot3D.BoundingBox3D; +import jat.jat3D.plot3D.JatPlot3D; + +import javax.media.j3d.Group; +import javax.media.j3d.Node; + +public class Hellojat3Dplot extends JatPlot3D { + private static final long serialVersionUID = 599884902601254854L; + + public Hellojat3Dplot() { + + setSize(100, 100); + } + + public Node createScene() { + Group g = new Group(); + jatScene = new jatScene3D(); + jatScene.add(new ColorCube3D(.3), "cube"); + g.addChild(jatScene); + + // initial zoom: exponent of ten times kilometers + exponent = 0; + bbox = new BoundingBox3D(-.5f, .5f); + bbox.createAxes(exponent); + bboxgroup = new BodyGroup3D(bbox, "Box"); + g.addChild(bboxgroup); + + // jatScene.remove("cube"); + + return g; + } + +} diff --git a/src/jat/examples/jat3D/Hellojat3D/Hellojat3Dmain.java b/src/jat/examples/jat3D/Hellojat3D/Hellojat3Dmain.java new file mode 100644 index 0000000..fe88bae --- /dev/null +++ b/src/jat/examples/jat3D/Hellojat3D/Hellojat3Dmain.java @@ -0,0 +1,49 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.jat3D.Hellojat3D; + +import java.awt.BorderLayout; + +import javax.swing.JFrame; + +public class Hellojat3Dmain { + private static Hellojat3Dplot helloplot; + static int appletwidth = 900; // Width of Applet + static int appletheight = 700; + + /** + * Used when run as an application + * + * @param args + * (String[]) Argument + */ + public static void main(String[] args) { + helloplot = new Hellojat3Dplot(); + + JFrame sFrame = new JFrame(); + sFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + + // When running this file as a stand-alone app, add the applet to + // the frame. + sFrame.getContentPane().add(helloplot, BorderLayout.CENTER); + sFrame.setSize(appletwidth, appletheight); + sFrame.setVisible(true); + + }// End of main() + +} diff --git a/src/jat/examples/jat3D/Hellojat3D/Hellojat3Dplot.java b/src/jat/examples/jat3D/Hellojat3D/Hellojat3Dplot.java new file mode 100644 index 0000000..b484afb --- /dev/null +++ b/src/jat/examples/jat3D/Hellojat3D/Hellojat3Dplot.java @@ -0,0 +1,50 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.jat3D.Hellojat3D; + +import jat.jat3D.BodyGroup3D; +import jat.jat3D.ColorCube3D; +import jat.jat3D.jatScene3D; +import jat.jat3D.plot3D.BoundingBox3D; +import jat.jat3D.plot3D.JatPlot3D; + +import javax.media.j3d.Group; +import javax.media.j3d.Node; + +public class Hellojat3Dplot extends JatPlot3D { + private static final long serialVersionUID = 599884902601254854L; + + public Node createScene() { + Group g = new Group(); + jatScene = new jatScene3D(); + jatScene.add(new ColorCube3D(.3),"cube"); + g.addChild(jatScene); + + // initial zoom: exponent of ten times kilometers + exponent = 0; + bbox = new BoundingBox3D(-.5f,.5f); + bbox.createAxes( exponent); + bboxgroup = new BodyGroup3D(bbox, "Box"); + g.addChild(bboxgroup); + + //jatScene.remove("cube"); + + return g; + } + +} diff --git a/src/jat/examples/jat3D/Hellojat3D/simplest/HelloWorld3D.java b/src/jat/examples/jat3D/Hellojat3D/simplest/HelloWorld3D.java new file mode 100644 index 0000000..30e94d2 --- /dev/null +++ b/src/jat/examples/jat3D/Hellojat3D/simplest/HelloWorld3D.java @@ -0,0 +1,61 @@ +package jat.examples.jat3D.Hellojat3D.simplest; + +import java.applet.Applet; +import java.awt.BorderLayout; +import java.awt.GraphicsConfiguration; + +import javax.media.j3d.BranchGroup; +import javax.media.j3d.Canvas3D; +import javax.media.j3d.Transform3D; +import javax.vecmath.Point3d; +import javax.vecmath.Vector3d; + +import com.sun.j3d.utils.geometry.ColorCube; +import com.sun.j3d.utils.universe.SimpleUniverse; + +public class HelloWorld3D extends Applet { + + private static final long serialVersionUID = 4610808184465386022L; + + public HelloWorld3D() { + setLayout(new BorderLayout()); + GraphicsConfiguration config = SimpleUniverse + .getPreferredConfiguration(); + + Canvas3D canvas3D = new Canvas3D(config); + add("Center", canvas3D); + + BranchGroup scene = new BranchGroup(); + scene.addChild(new ColorCube(0.4)); + + SimpleUniverse simpleU = new SimpleUniverse(canvas3D); + + Transform3D lookAt = new Transform3D(); + + lookAt.lookAt(new Point3d(2, 2, 1), new Point3d(0, 0, 0), new Vector3d( + 0, 0, 1.0)); + lookAt.invert(); + simpleU.getViewingPlatform().getViewPlatformTransform() + .setTransform(lookAt); + simpleU.addBranchGraph(scene); + +// MessageFrame mf = new MessageFrame(); +// mf.setVisible(true); +// +// MessageConsole mc = new MessageConsole(mf.textArea); +// mc.redirectOut(); +// mc.redirectErr(Color.RED, null); +// mc.setMessageLines(100); + } + +// public static void main(String[] args) { +// // this code is executed when this class is run as an application +// System.out.println("HelloWorld3D started in main"); +// +// // Frame frame = +// new MainFrame(new HelloWorld3D(), 256, 256); +// +// System.out.println("redirected output"); +// +// } +} diff --git a/src/jat/examples/rotationMatrix/rotationMatrixExample.java b/src/jat/examples/rotationMatrix/rotationMatrixExample.java new file mode 100644 index 0000000..e87db5c --- /dev/null +++ b/src/jat/examples/rotationMatrix/rotationMatrixExample.java @@ -0,0 +1,108 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.examples.rotationMatrix; + +import jat.core.math.MathUtilsAPL; +import jat.core.math.arbaxisrot.RotationMatrixFull; + +public class rotationMatrixExample { + private double a = 0; + private double b = 0; + private double c = 0; + private double u = 0; + private double v = 0; + private double w = 0; + private double theta = 0; + RotationMatrixFull rM; + double degrees; + double[] point; + double[] direction; + + void zAxis(double degrees, double[] point) { + // Test rotation about the z-axis + // (u=0,v=0,w=1) + w = 1; + // degrees = 90; + theta = MathUtilsAPL.Radians(degrees); + + rM = new RotationMatrixFull(a, b, c, u, v, w, theta); + + double[] result = rM.timesXYZ(point); + + // rM.logMatrix(); + + System.out.println("Degrees: " + degrees); + printVector("in ", point); + printVector("out", result); + } + + void lineThroughOrigin(double degrees, double[] direction, double[] point) { + // Test rotation about the line (u=d[0],v=d[1],w=d[2]) + u = direction[0]; + v = direction[1]; + w = direction[2]; + theta = MathUtilsAPL.Radians(degrees); + + rM = new RotationMatrixFull(a, b, c, u, v, w, theta); + + double[] result = rM.timesXYZ(point); + + // rM.logMatrix(); + + System.out.println("Degrees: " + degrees); + printVector("in ", point); + printVector("out", result); + } + + void doExample() { + point = new double[] { 1, 0, 0 }; + System.out.println("z=axis rotation"); + zAxis(00, point); + zAxis(45, point); + zAxis(90, point); + zAxis(180, point); + point = new double[] { 1, 0, 1 }; + zAxis(45, point); + + System.out.println("rotation axis through origin"); + direction = new double[] { 1, 1, 0 }; + point = new double[] { 1, 0, 0 }; + printVector("axis", direction); + lineThroughOrigin(0, direction, point); + lineThroughOrigin(90, direction, point); + lineThroughOrigin(180, direction, point); + lineThroughOrigin(270, direction, point); + lineThroughOrigin(359, direction, point); + + } + + void printVector(String title, double[] v) { + + String format = title + " %10.5f %10.5f %10.5f"; + System.out.printf(format, v[0], v[1], v[2]); + System.out.println(); + + } + + public static void main(String[] args) { + + rotationMatrixExample m = new rotationMatrixExample(); + m.doExample(); + } + +} diff --git a/src/jat/examplesNOSA/AttitudeExample/RigidConstantTorque.java b/src/jat/examplesNOSA/AttitudeExample/RigidConstantTorque.java new file mode 100644 index 0000000..29d8695 --- /dev/null +++ b/src/jat/examplesNOSA/AttitudeExample/RigidConstantTorque.java @@ -0,0 +1,214 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.AttitudeExample; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

This class demonstrates a way to do a simple s/c attitude simulation. + * The simulated spacecraft is assumed to be rigid with constant external torque. + *

+ * If the main()is assumed to be a client to JAT, the steps taken to do the + * simulation is as follows:
+ * 1. Create an object of an integrator (RungeKutta8)
+ * 2. Create an object of the class containing EOM
+ * 3. Initialize variables
+ * 4. Set the start & end time of the simulation
+ * 5. Integrate the EOM
+ * 6. Gets data at each time-step
+ * 7. Make plots visible
+ * + * @author Noriko Takada + * @version 1.6 + */ +public class RigidConstantTorque implements EquationsOfMotion{ +ThreePlots rotation_plot = new ThreePlots(); +//TwoPlots quarternion_plot1 = new TwoPlots(); +//TwoPlots quarternion_plot2 = new TwoPlots(); +ThreePlots angle_plot = new ThreePlots(); +SinglePlot quarternion_check = new SinglePlot(); +TwoPlots quarternion_plot1 = new TwoPlots(); +TwoPlots quarternion_plot2 = new TwoPlots(); + + /** Creates a new instance of SimpleIntegrator */ + public RigidConstantTorque() + { + // set up the trajectory plot + rotation_plot.setTitle("Angular Velocity"); + rotation_plot.topPlot.setXLabel("t(sec)"); + rotation_plot.topPlot.setYLabel("w1(rad/sec)"); + rotation_plot.middlePlot.setXLabel("t(sec)"); + rotation_plot.middlePlot.setYLabel("w2(rad/sec)"); + rotation_plot.bottomPlot.setXLabel("t(sec)"); + rotation_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + quarternion_plot1.setTitle("Quaternions: e1 & e2"); + quarternion_plot1.topPlot.setXLabel("t"); + quarternion_plot1.topPlot.setYLabel("e1"); + quarternion_plot1.bottomPlot.setXLabel("t"); + quarternion_plot1.bottomPlot.setYLabel("e2"); + + quarternion_plot2.setTitle("Quaternions: e3 & e4"); + quarternion_plot2.topPlot.setXLabel("t"); + quarternion_plot2.topPlot.setYLabel("e1"); + quarternion_plot2.bottomPlot.setXLabel("t"); + quarternion_plot2.bottomPlot.setYLabel("e2"); + + angle_plot.setTitle("Angles between B and A frame"); + angle_plot.topPlot.setXLabel("t(sec)"); + angle_plot.topPlot.setYLabel("angle between a1 & b1 (rad)"); + angle_plot.middlePlot.setXLabel("t(sec)"); + angle_plot.middlePlot.setYLabel("angle between a2 & b2 (rad)"); + angle_plot.bottomPlot.setXLabel("t(sec)"); + angle_plot.bottomPlot.setYLabel("angle between a3 & b3 (rad)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("t(sec)"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + } + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + double M1 = 1; // External torque + double M2 = 0; + double M3 = 0; + double I1 = 10.42; // Spacecraft Principle inertia + double I2 = 35.42; + double I3 = 41.67; + + double [] out = new double[7]; + out[0] = ((I2-I3)/I1)*x[1]*x[2] + M1/I1 ; + out[1] = ((I3-I1)/I2)*x[0]*x[2] + M2/I2 ; + out[2] = ((I1-I2)/I3)*x[0]*x[1] + M3/I3 ; + out[3] = -0.5* (-x[2]*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -0.5* (x[2]*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -0.5* (-x[2]*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -0.5* (x[2]*x[5] + x[1]*x[4] + x[0]*x[3]); + + + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + + boolean first = true; + if (t == 0.0) first = false; + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double e1 = y[3]; + double e2 = y[4]; + double e3 = y[5]; + double e4 = y[6]; + double quat_check = e1*e1+e2*e2+e3*e3+e4*e4; + + // Calculate Transformation matrix elements + double c11 = 1- 2*(e2*e2 + e3*e3); + double c12 = 2* (e1*e2 + e3*e4); + double c13 = 2* (e1*e3 - e2*e4); + double c21 = 2* (e2*e1 - e3*e4); + double c22 = 1- 2*(e3*e3 + e1*e1); + double c23 = 2* (e2*e3 + e1*e4); + double c31 = 2* (e3*e1 + e2*e4); + double c32 = 2* (e3*e2 - e1*e4); + double c33 = 1- 2*(e1*e1 + e2*e2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + // add data point to the plot + rotation_plot.topPlot.addPoint(0, t, w1, first); + rotation_plot.middlePlot.addPoint(0, t, w2, first); + rotation_plot.bottomPlot.addPoint(0, t, w3, first); + quarternion_check.plot.addPoint(0, t, quat_check, first); + angle_plot.topPlot.addPoint(0, t, angle11, first); + angle_plot.middlePlot.addPoint(0, t, angle22, first); + angle_plot.bottomPlot.addPoint(0, t, angle33, first); + quarternion_plot1.topPlot.addPoint(0, t, e1, first); + quarternion_plot1.bottomPlot.addPoint(0,t,e2, first); + quarternion_plot2.topPlot.addPoint(0,t,e3, first); + quarternion_plot2.bottomPlot.addPoint(0,t,e4,first); + + + // also print to the screen + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an RK8 integrator with step-size of 0.1 + RungeKutta8 rk8 = new RungeKutta8(0.1); + + // create an instance + RigidConstantTorque si = new RigidConstantTorque(); + + // initialize the variables + double [] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.1; + x0[2] = 0.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + + // set the final time + double tf = 30.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.rotation_plot.setVisible(true); + si.angle_plot.setVisible(true); + si.quarternion_check.setVisible(true); + si.quarternion_plot1.setVisible(true); + si.quarternion_plot2.setVisible(true); + + } + + +} diff --git a/src/jat/examplesNOSA/AttitudeExample/RigidGGCircularOrbit.java b/src/jat/examplesNOSA/AttitudeExample/RigidGGCircularOrbit.java new file mode 100644 index 0000000..8ce285a --- /dev/null +++ b/src/jat/examplesNOSA/AttitudeExample/RigidGGCircularOrbit.java @@ -0,0 +1,221 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.AttitudeExample; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

This class demonstrates a way to do a simple s/c attitude simulation. + * The simulated s/c is assumed to be rigid. + * A circular orbit with gravity gradient effect is the torque environment for + * the spacecraft.

+ * + * If the main()is assumed to be a client to JAT, the steps taken to do the + * simulation is as follows:
+ * 1. Create an object of an integrator (RungeKutta8)
+ * 2. Create an object of the class containing EOM
+ * 3. Initialize variables
+ * 4. Set the start & end time of the simulation
+ * 5. Integrate the EOM
+ * 6. Gets data at each time-step
+ * 7. Make plots visible
+ * + * @author Noriko Takada + * @version 1.6 + * + * */ + +public class RigidGGCircularOrbit implements EquationsOfMotion{ + +ThreePlots rotation_plot = new ThreePlots(); +ThreePlots angle_plot = new ThreePlots(); +SinglePlot quarternion_check = new SinglePlot(); +TwoPlots quarternion_plot1 = new TwoPlots(); +TwoPlots quarternion_plot2 = new TwoPlots(); + +public static final double PI = 3.14159; + + /** Creates a new instance of SimpleIntegrator */ + public RigidGGCircularOrbit() + { + // set up the trajectory plot + rotation_plot.setTitle("Angular Velocity"); + rotation_plot.topPlot.setXLabel("# of orbits"); + rotation_plot.topPlot.setYLabel("w1(rad/sec)"); + rotation_plot.middlePlot.setXLabel("# of orbits"); + rotation_plot.middlePlot.setYLabel("w2(rad/sec)"); + rotation_plot.bottomPlot.setXLabel("# of orbits"); + rotation_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + quarternion_plot1.setTitle("Quaternions: e1 & e2"); + quarternion_plot1.topPlot.setXLabel("# of orbits"); + quarternion_plot1.topPlot.setYLabel("e1"); + quarternion_plot1.bottomPlot.setXLabel("# of orbits"); + quarternion_plot1.bottomPlot.setYLabel("e2"); + + quarternion_plot2.setTitle("Quaternions: e3 & e4"); + quarternion_plot2.topPlot.setXLabel("# of orbits"); + quarternion_plot2.topPlot.setYLabel("e1"); + quarternion_plot2.bottomPlot.setXLabel("# of orbits"); + quarternion_plot2.bottomPlot.setYLabel("e2"); + + angle_plot.setTitle("Angles between B and A frame"); + angle_plot.topPlot.setXLabel("# of orbits"); + angle_plot.topPlot.setYLabel("angle between a1 & b1 (rad)"); + angle_plot.middlePlot.setXLabel("# of orbits"); + angle_plot.middlePlot.setYLabel("angle between a2 & b2 (rad)"); + angle_plot.bottomPlot.setXLabel("# of orbits"); + angle_plot.bottomPlot.setYLabel("angle between a3 & b3 (rad)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("# of orbits"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + } + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + + double I1 = 10.42; // Spacecraft Principle Inertia + double I2 = 35.42; + double I3 = 41.67; + + double c11 = 1- 2*( x[4]*x[4] + x[5]*x[5]); + double c21 = 2* (x[3]*x[4]-x[5]*x[6]); + double c31 = 2* (x[3]*x[5]+x[4]*x[6]); + + double [] out = new double[7]; + out[0] = 2*PI*((I2-I3)/I1)* (x[1]*x[2] - 3*c21*c31); + out[1] = 2*PI*((I3-I1)/I2)* (x[0]*x[2] - 3*c31*c11) ; + out[2] = 2*PI*((I1-I2)/I3)* (x[0]*x[1] - 3*c11*c21) ; + out[3] = -PI* (-(x[2]+1)*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -PI* ((x[2]+1)*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -PI* (-(x[2]-1)*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -PI* ((x[2]-1)*x[5] + x[1]*x[4] + x[0]*x[3]); + + + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double e1 = y[3]; + double e2 = y[4]; + double e3 = y[5]; + double e4 = y[6]; + double quat_check = e1*e1+e2*e2+e3*e3+e4*e4; + + // Calculate Transformation matrix elements + double c11 = 1- 2*(e2*e2 + e3*e3); + double c12 = 2* (e1*e2 + e3*e4); + double c13 = 2* (e1*e3 - e2*e4); + double c21 = 2* (e2*e1 - e3*e4); + double c22 = 1- 2*(e3*e3 + e1*e1); + double c23 = 2* (e2*e3 + e1*e4); + double c31 = 2* (e3*e1 + e2*e4); + double c32 = 2* (e3*e2 - e1*e4); + double c33 = 1- 2*(e1*e1 + e2*e2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + // add data point to the plot + rotation_plot.topPlot.addPoint(0, t, w1, first); + rotation_plot.middlePlot.addPoint(0, t, w2, first); + rotation_plot.bottomPlot.addPoint(0, t, w3, first); + quarternion_check.plot.addPoint(0, t, quat_check, first); + angle_plot.topPlot.addPoint(0, t, angle11, first); + angle_plot.middlePlot.addPoint(0, t, angle22, first); + angle_plot.bottomPlot.addPoint(0, t, angle33, first); + quarternion_plot1.topPlot.addPoint(0, t, e1, first); + quarternion_plot1.bottomPlot.addPoint(0,t,e2, first); + quarternion_plot2.topPlot.addPoint(0,t,e3, first); + quarternion_plot2.bottomPlot.addPoint(0,t,e4,first); + + + // also print to the screen + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an RK8 integrator with step-size of 0.1 + RungeKutta8 rk8 = new RungeKutta8(0.1); + + // create an instance + RigidGGCircularOrbit si = new RigidGGCircularOrbit(); + + // initialize the variables + double [] x0 = new double[7]; + x0[0] = 0.5; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + + // set the final time + double tf = 10.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.rotation_plot.setVisible(true); + si.angle_plot.setVisible(true); + si.quarternion_check.setVisible(true); + si.quarternion_plot1.setVisible(true); + si.quarternion_plot2.setVisible(true); + + } + + +} diff --git a/src/jat/examplesNOSA/AttitudeExample/RigidGGEccentricOrbit.java b/src/jat/examplesNOSA/AttitudeExample/RigidGGEccentricOrbit.java new file mode 100644 index 0000000..8507a79 --- /dev/null +++ b/src/jat/examplesNOSA/AttitudeExample/RigidGGEccentricOrbit.java @@ -0,0 +1,252 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.AttitudeExample; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

This class demonstrates a way to do a simple s/c attitude simulation. + * The simulated s/c is assumed to be rigid. + * An eccentric orbit with gravity gradient effect is the torque environment for + * the spacecraft.

+ * + * If the main()is assumed to be a client to JAT, the steps taken to do the + * simulation is as follows:
+ * 1. Create an object of an integrator (RungeKutta8)
+ * 2. Create an object of the class containing EOM
+ * 3. Initialize variables
+ * 4. Set the start & end time of the simulation
+ * 5. Integrate the EOM
+ * 6. Gets data at each time-step
+ * 7. Make plots visible
+ * + * @author Noriko Takada + * @version 1.4 + * + * */ + +public class RigidGGEccentricOrbit implements EquationsOfMotion{ + +ThreePlots rotation_plot = new ThreePlots(); +ThreePlots angle_plot = new ThreePlots(); +SinglePlot quarternion_check = new SinglePlot(); +TwoPlots quarternion_plot1 = new TwoPlots(); +TwoPlots quarternion_plot2 = new TwoPlots(); + +public static final double PI = 3.14159; +//public static final double e = 0.5; + + /** Creates a new instance of SimpleIntegrator */ + public RigidGGEccentricOrbit() + { + // set up the trajectory plot + rotation_plot.setTitle("Angular Velocity"); + rotation_plot.topPlot.setXLabel("# of orbits"); + rotation_plot.topPlot.setYLabel("w1(rad/sec)"); + rotation_plot.middlePlot.setXLabel("# of orbits"); + rotation_plot.middlePlot.setYLabel("w2(rad/sec)"); + rotation_plot.bottomPlot.setXLabel("# of orbits"); + rotation_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + quarternion_plot1.setTitle("Quaternions: e1 & e2"); + quarternion_plot1.topPlot.setXLabel("# of orbits"); + quarternion_plot1.topPlot.setYLabel("e1"); + quarternion_plot1.bottomPlot.setXLabel("# of orbits"); + quarternion_plot1.bottomPlot.setYLabel("e2"); + + quarternion_plot2.setTitle("Quaternions: e3 & e4"); + quarternion_plot2.topPlot.setXLabel("# of orbits"); + quarternion_plot2.topPlot.setYLabel("e3"); + quarternion_plot2.bottomPlot.setXLabel("# of orbits"); + quarternion_plot2.bottomPlot.setYLabel("e4"); + + angle_plot.setTitle("Angles between B and A frame"); + angle_plot.topPlot.setXLabel("# of orbits"); + angle_plot.topPlot.setYLabel("angle between a1 & b1 (rad)"); + angle_plot.middlePlot.setXLabel("# of orbits"); + angle_plot.middlePlot.setYLabel("angle between a2 & b2 (rad)"); + angle_plot.bottomPlot.setXLabel("# of orbits"); + angle_plot.bottomPlot.setYLabel("angle between a3 & b3 (rad)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("# of orbits"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + } + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + + double I1 = 10.42; + double I2 = 35.42; + double I3 = 41.67; + double e = 0.3; + + + double c11 = 1- 2*( x[4]*x[4] + x[5]*x[5]); + double c21 = 2* (x[3]*x[4]-x[5]*x[6]); + double c31 = 2* (x[3]*x[5]+x[4]*x[6]); + + /* The non-dimensionalized equations of motion for this series are: + + // *** Angular Velocity Equations *** + w1dot = (2*pi*A)*((iyy-izz)/ixx)*(w2*w3-3*c21*c31*B); + w2dot = (2*pi*A)*((izz-ixx)/iyy)*(w1*w3-3*c31*c11*B); + w3dot = (2*pi*A)*((ixx-iyy)/izz)*(w1*w2-3*c11*c21*B); + + // *** Quaternions *** + e1dot = (-pi*A*(-(w3+1/A)*e2 + w2*e3 - w1*e4)); + e2dot = (-pi*A*((w3+1/A)*e1 - w1*e3 - w2*e4)); + e3dot = (-pi*A*(-w2*e1 + w1*e2 - (w3-1/A)*e4)); + e4dot = (-pi*A*(w1*e1 + w2*e2 + (w3-1/A)*e3)); + + c11 = 1 - 2*(e2^2 + e3^2) + c21 = 2*(e1*e2 - e3*e4) + c31 = 2*(e1*e3 + e2*e4) + + A = ((1-e^2)^(3/2)/(1+e*cos(2*pi*t))^2 + B = (1+e*cos(2*pi*t))^3/(1-e^2)^3 + */ + + double A=Math.pow((1-e*e),1.5)/Math.pow((1+ e*Math.cos(2*PI*t)),2); + double B=Math.pow((1+e*Math.cos(2*PI*t)),3)/Math.pow((1-e*e), 3); + + double [] out = new double[7]; + // *** Angular Velocity Equations (dw/dnu (orbits)) *** // + out[0] = A*2*PI*((I2-I3)/I1)*(x[1]*x[2]-3*c21*c31*B); + out[1] = A*2*PI*((I3-I1)/I2)*(x[0]*x[2]-3*c31*c11*B); + out[2] = A*2*PI*((I1-I2)/I3)*(x[0]*x[1]-3*c11*c21*B); + + // *** Quaternions (de/dnu (orbits)) *** + out[3] = -PI*A*(-(x[2]+1/A)*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -PI*A*((x[2]+1/A)*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -PI*A*(-x[1]*x[3] + x[0]*x[4] - (x[2]-1/A)*x[6]); + out[6] = -PI*A*(x[0]*x[3] + x[1]*x[4] + (x[2]-1/A)*x[5]); + //System.out.println("e is "+ e+ " "+ x[0]+" "+A+" " +B); + + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double e1 = y[3]; + double e2 = y[4]; + double e3 = y[5]; + double e4 = y[6]; + double quat_check = e1*e1+e2*e2+e3*e3+e4*e4; + + // Calculate Transformation matrix elements + double c11 = 1- 2*(e2*e2 + e3*e3); + double c12 = 2* (e1*e2 + e3*e4); + double c13 = 2* (e1*e3 - e2*e4); + double c21 = 2* (e2*e1 - e3*e4); + double c22 = 1- 2*(e3*e3 + e1*e1); + double c23 = 2* (e2*e3 + e1*e4); + double c31 = 2* (e3*e1 + e2*e4); + double c32 = 2* (e3*e2 - e1*e4); + double c33 = 1- 2*(e1*e1 + e2*e2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + // add data point to the plot + rotation_plot.topPlot.addPoint(0, t, w1, first); + rotation_plot.middlePlot.addPoint(0, t, w2, first); + rotation_plot.bottomPlot.addPoint(0, t, w3, first); + quarternion_check.plot.addPoint(0, t, quat_check, first); + angle_plot.topPlot.addPoint(0, t, angle11, first); + angle_plot.middlePlot.addPoint(0, t, angle22, first); + angle_plot.bottomPlot.addPoint(0, t, angle33, first); + quarternion_plot1.topPlot.addPoint(0, t, e1, first); + quarternion_plot1.bottomPlot.addPoint(0,t,e2, first); + quarternion_plot2.topPlot.addPoint(0,t,e3, first); + quarternion_plot2.bottomPlot.addPoint(0,t,e4,first); + + + // also print to the screen + //System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an RK8 integrator with step-size of 0.1 + RungeKutta8 rk8 = new RungeKutta8(0.1); + + // create an instance + RigidGGEccentricOrbit si = new RigidGGEccentricOrbit(); + + // initialize the variables + double [] x0 = new double[7]; + x0[0] = 0.0; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + + // set the final time + double tf = 10.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.rotation_plot.setVisible(true); + si.angle_plot.setVisible(true); + si.quarternion_check.setVisible(true); + si.quarternion_plot1.setVisible(true); + si.quarternion_plot2.setVisible(true); + + } + + +} diff --git a/src/jat/examplesNOSA/AttitudeExample/RigidSphericalDamperC.java b/src/jat/examplesNOSA/AttitudeExample/RigidSphericalDamperC.java new file mode 100644 index 0000000..13abe86 --- /dev/null +++ b/src/jat/examplesNOSA/AttitudeExample/RigidSphericalDamperC.java @@ -0,0 +1,233 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.AttitudeExample; + +import jat.coreNOSA.algorithm.integrators.EquationsOfMotion; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.plotutil.SinglePlot; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

This class demonstrates a way to do a simple s/c attitude simulation. + * The simulated s/c is assumed to be rigid. + * A circular orbit with gravity gradient effect is the torque environment for + * the spacecraft.

+ * + * Damping is provided by a damper spherical in shape.
+ * c = damping coefficient
+ * j = spherical damper inertia

+ * + * If the main()is assumed to be a client to JAT, the steps taken to do the + * simulation is as follows:
+ * 1. Create an object of an integrator (RungeKutta8)
+ * 2. Create an object of the class containing EOM
+ * 3. Initialize variables
+ * 4. Set the start & end time of the simulation
+ * 5. Integrate the EOM
+ * 6. Gets data at each time-step
+ * 7. Make plots visible
+ * + * @author Noriko Takada + * @version 1.6 + * + * + * */ + +public class RigidSphericalDamperC implements EquationsOfMotion{ + +ThreePlots rotation_plot = new ThreePlots(); +ThreePlots angle_plot = new ThreePlots(); +SinglePlot quarternion_check = new SinglePlot(); +TwoPlots quarternion_plot1 = new TwoPlots(); +TwoPlots quarternion_plot2 = new TwoPlots(); + +public static final double PI = 3.14159; + + /** Creates a new instance of SimpleIntegrator */ + public RigidSphericalDamperC() + { + // set up the trajectory plot + rotation_plot.setTitle("Angular Velocity"); + rotation_plot.topPlot.setXLabel("# of orbits"); + rotation_plot.topPlot.setYLabel("w1(rad/sec)"); + rotation_plot.middlePlot.setXLabel("# of orbits"); + rotation_plot.middlePlot.setYLabel("w2(rad/sec)"); + rotation_plot.bottomPlot.setXLabel("# of orbits"); + rotation_plot.bottomPlot.setYLabel("w3(rad/sec)"); + + quarternion_plot1.setTitle("Quaternions: e1 & e2"); + quarternion_plot1.topPlot.setXLabel("# of orbits"); + quarternion_plot1.topPlot.setYLabel("e1"); + quarternion_plot1.bottomPlot.setXLabel("# of orbits"); + quarternion_plot1.bottomPlot.setYLabel("e2"); + + quarternion_plot2.setTitle("Quaternions: e3 & e4"); + quarternion_plot2.topPlot.setXLabel("# of orbits"); + quarternion_plot2.topPlot.setYLabel("e1"); + quarternion_plot2.bottomPlot.setXLabel("# of orbits"); + quarternion_plot2.bottomPlot.setYLabel("e2"); + + angle_plot.setTitle("Angles between B and A frame"); + angle_plot.topPlot.setXLabel("# of orbits"); + angle_plot.topPlot.setYLabel("angle between a1 & b1 (rad)"); + angle_plot.middlePlot.setXLabel("# of orbits"); + angle_plot.middlePlot.setYLabel("angle between a2 & b2 (rad)"); + angle_plot.bottomPlot.setXLabel("# of orbits"); + angle_plot.bottomPlot.setYLabel("angle between a3 & b3 (rad)"); + + quarternion_check.setTitle("Quarternion Check"); + quarternion_check.plot.setXLabel("# of orbits"); + quarternion_check.plot.setYLabel("e1^2 + e2^2 + e3^2 + e4^2"); + + } + /** Compute the derivatives. + * Equations of Motion + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + + double I1 = 10.42; // spacecraft inertia + double I2 = 35.42; + double I3 = 41.67; + double c = 5; // damping coefficient + double j = 5; // spherical damper inertia + + double c11 = 1- 2*( x[4]*x[4] + x[5]*x[5]); + double c21 = 2* (x[3]*x[4]-x[5]*x[6]); + double c31 = 2* (x[3]*x[5]+x[4]*x[6]); + + double [] out = new double[10]; + out[0] = 2*PI*((I2-I3)/I1)* (x[1]*x[2] - 3*c21*c31) - 2*PI*(c/I1)*(x[0]-x[7]); + out[1] = 2*PI*((I3-I1)/I2)* (x[0]*x[2] - 3*c31*c11) - 2*PI*(c/I2)*(x[1]-x[8]); + out[2] = 2*PI*((I1-I2)/I3)* (x[0]*x[1] - 3*c11*c21) - 2*PI*(c/I3)*(x[2]-x[9]); + out[3] = -PI* (-(x[2]+1)*x[4] + x[1]*x[5] - x[0]*x[6]); + out[4] = -PI* ((x[2]+1)*x[3] - x[0]*x[5] - x[1]*x[6]); + out[5] = -PI* (-(x[2]-1)*x[6] + x[0]*x[4] - x[1]*x[3]); + out[6] = -PI* ((x[2]-1)*x[5] + x[1]*x[4] + x[0]*x[3]); + out[7] = 2*PI*(c/j)*(x[0]-x[7]) -2*PI*(x[1]*x[9] - x[2]*x[8]); + out[8] = 2*PI*(c/j)*(x[1]-x[8]) -2*PI*(x[2]*x[7] - x[0]*x[9]); + out[9] = 2*PI*(c/j)*(x[2]-x[9]) -2*PI*(x[0]*x[8] - x[1]*x[7]); + + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + double w1 = y[0]; + double w2 = y[1]; + double w3 = y[2]; + double e1 = y[3]; + double e2 = y[4]; + double e3 = y[5]; + double e4 = y[6]; + double quat_check = e1*e1+e2*e2+e3*e3+e4*e4; + + // Calculate Transformation matrix elements + double c11 = 1- 2*(e2*e2 + e3*e3); + double c12 = 2* (e1*e2 + e3*e4); + double c13 = 2* (e1*e3 - e2*e4); + double c21 = 2* (e2*e1 - e3*e4); + double c22 = 1- 2*(e3*e3 + e1*e1); + double c23 = 2* (e2*e3 + e1*e4); + double c31 = 2* (e3*e1 + e2*e4); + double c32 = 2* (e3*e2 - e1*e4); + double c33 = 1- 2*(e1*e1 + e2*e2); + double angle11 = Math.toDegrees(Math.acos(c11)); + double angle22 = Math.toDegrees(Math.acos(c22)); + double angle33 = Math.toDegrees(Math.acos(c33)); + + // add data point to the plot + rotation_plot.topPlot.addPoint(0, t, w1, first); + rotation_plot.middlePlot.addPoint(0, t, w2, first); + rotation_plot.bottomPlot.addPoint(0, t, w3, first); + quarternion_check.plot.addPoint(0, t, quat_check, first); + angle_plot.topPlot.addPoint(0, t, angle11, first); + angle_plot.middlePlot.addPoint(0, t, angle22, first); + angle_plot.bottomPlot.addPoint(0, t, angle33, first); + quarternion_plot1.topPlot.addPoint(0, t, e1, first); + quarternion_plot1.bottomPlot.addPoint(0,t,e2, first); + quarternion_plot2.topPlot.addPoint(0,t,e3, first); + quarternion_plot2.bottomPlot.addPoint(0,t,e4,first); + + + // also print to the screen for + System.out.println(t+" "+y[0]+" "+y[1]+" "+y[2]); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an RK8 integrator with step-size of 0.1 + RungeKutta8 rk8 = new RungeKutta8(0.1); + + // create an instance + RigidSphericalDamperC si = new RigidSphericalDamperC(); + + // initialize the variables + double [] x0 = new double[10]; + x0[0] = 0.5; + x0[1] = 0.0; + x0[2] = 1.0; + x0[3] = 0.0; + x0[4] = 0.0; + x0[5] = 0.0; + x0[6] = 1.0; + x0[7] = 0.0; + x0[8] = 0.0; + x0[9] = 1.0; + + // set the final time + double tf = 20.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, true); + + // make the plot visible + si.rotation_plot.setVisible(true); + si.angle_plot.setVisible(true); + si.quarternion_check.setVisible(true); + si.quarternion_plot1.setVisible(true); + si.quarternion_plot2.setVisible(true); + + } + + +} diff --git a/src/jat/examplesNOSA/FreeINS/FreeINS.java b/src/jat/examplesNOSA/FreeINS/FreeINS.java new file mode 100644 index 0000000..a3341f3 --- /dev/null +++ b/src/jat/examplesNOSA/FreeINS/FreeINS.java @@ -0,0 +1,394 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.FreeINS; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.Quaternion; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.ThreePlots; +import jat.coreNOSA.sensors.AccelerometerErrorModel; +import jat.coreNOSA.sensors.GyroErrorModel; +import jat.coreNOSA.sensors.INSErrorState; + +import java.io.FileOutputStream; +import java.io.IOException; +import java.io.PrintWriter; + +/** + *

+ * The FreeINS Class simulates an unaided INS in orbit. Currently the true orbit + * is a non-perturbed two-body orbit. The INS error model currently assumes + * perfect gyros, accelerometers and gravity model. + * + * + * @author + * @version 1.0 + */ + +public class FreeINS implements Derivatives { + + /** Initial position vector, ECI in km. + */ + public INSErrorState x; + public GyroErrorModel gyro; + public AccelerometerErrorModel accel; + + /** Create a 3 plot per page plot. + */ + public ThreePlots plots = new ThreePlots(); + + + + /** Creates a new instance of FreeINS */ + public FreeINS() { + } + + /** Generates the plot. + * @param title String containing a title for the plot. + */ + public void plotSetup(String title) { + plots.setTitle(title); + + plots.topPlot.setXLabel("t (s)"); + plots.middlePlot.setXLabel("t (s)"); + plots.bottomPlot.setXLabel("t (s)"); + + plots.topPlot.setYLabel("position (m)"); + plots.middlePlot.setYLabel("velocity (m/s)"); + plots.bottomPlot.setYLabel("tilt (arc-s)"); + + plots.topPlot.addLegend(0,"radial"); + plots.topPlot.addLegend(1,"intrack"); + plots.topPlot.addLegend(2,"xtrack"); + plots.middlePlot.addLegend(0,"radial"); + plots.middlePlot.addLegend(1,"intrack"); + plots.middlePlot.addLegend(2,"xtrack"); + plots.bottomPlot.addLegend(0,"radial"); + plots.bottomPlot.addLegend(1,"intrack"); + plots.bottomPlot.addLegend(2,"xtrack"); + } + /** Builds the vector for printing. + * @return Print vector. + * @param t Time. + * @param y State array. + */ + public VectorN printVector(double t, double[] y) { + VectorN out = new VectorN(23); + + // strip out the incoming data + VectorN r = new VectorN(y[0], y[1], y[2]); + VectorN v = new VectorN(y[3], y[4], y[5]); + Quaternion q = new Quaternion(y[6], y[7], y[8], y[9]); + VectorN dr = new VectorN(y[10], y[11], y[12]); + VectorN dv = new VectorN(y[13], y[14], y[15]); + Quaternion dq = new Quaternion(y[16], y[17], y[18], y[19]); + // dq.print("dq in printVector"); + + // construct the INS indicated orbit + VectorN rstar = r.minus(dr); + VectorN vstar = v.minus(dv); + VectorN qr = q.minus(dq); + Quaternion qref = new Quaternion(qr); + TwoBody ref_orbit = new TwoBody(rstar, vstar); + double href = ref_orbit.getHmag(); + double rmag = rstar.mag(); + double rsq = rmag * rmag; + VectorN omega = new VectorN(0.0, 0.0, (href/rsq)); + + // normalize qref + + qref.unitize(); + + // get the tilts in arc-sec + + VectorN tilt = dq.tilts(qref); + // tilt.print("tilt in rad"); + tilt = tilt.divide(Constants.arcsec2rad); + // tilt.print("tilt out of printVector"); + + // rotate INS errors from ECI to RSW and km to m + + Quaternion qprime = qref.conjugate(); + VectorN drr = qprime.transform(dr); + + VectorN coriolis = omega.crossProduct(drr); + VectorN dvr = qprime.transform(dv); + dvr = dvr.minus(coriolis); + drr = drr.times(1000.0); + dvr = dvr.times(1000.0); + + out.set(0, r); + out.set(3, v); + out.set(6, q); + out.set(10, drr); + out.set(13, dvr); + out.set(16, dq); + out.set(20, tilt); + + boolean first = true; + if (t == 0.0) first = false; + + plots.topPlot.addPoint(0, t, drr.x[0], first); + plots.topPlot.addPoint(1, t, drr.x[1], first); + plots.topPlot.addPoint(2, t, drr.x[2], first); + plots.middlePlot.addPoint(0, t, dvr.x[0], first); + plots.middlePlot.addPoint(1, t, dvr.x[1], first); + plots.middlePlot.addPoint(2, t, dvr.x[2], first); + plots.bottomPlot.addPoint(0, t, tilt.x[0], first); + plots.bottomPlot.addPoint(1, t, tilt.x[1], first); + plots.bottomPlot.addPoint(2, t, tilt.x[2], first); + + return out; + } + + /** Computes the derivatives for integration. + * @param t Time (not used). + * @param y State array. + * @return Array containing the derivatives. + */ + public double[] derivs(double t, double[] y){ + Constants c = new Constants(); + VectorN out = new VectorN(26); + + // strip out the incoming data + VectorN r = new VectorN(y[0], y[1], y[2]); + VectorN v = new VectorN(y[3], y[4], y[5]); + Quaternion q = new Quaternion(y[6], y[7], y[8], y[9]); + VectorN dr = new VectorN(y[10], y[11], y[12]); + VectorN dv = new VectorN(y[13], y[14], y[15]); + Quaternion dq = new Quaternion(y[16], y[17], y[18], y[19]); + VectorN bg = new VectorN(y[20], y[21], y[22]); + VectorN ba = new VectorN(y[23], y[24], y[25]); + + // q.unitize(); + // dq.unitize(); + + // construct the true orbit + TwoBody true_orbit = new TwoBody(r, v); + VectorN g = true_orbit.local_grav(); + Matrix omega_true = new Matrix(4, 4); + double rmag = r.mag(); + double rsq = rmag * rmag; + double htrue = true_orbit.getHmag(); + double wtrue = 0.5 * (htrue/rsq); + omega_true.set(0, 1, wtrue); + omega_true.set(1, 0, -wtrue); + omega_true.set(2, 3, wtrue); + omega_true.set(3, 2, -wtrue); + VectorN q_deriv = omega_true.times(q); + + // construct the INS indicated orbit + + VectorN rstar = r.minus(dr); + VectorN vstar = v.minus(dv); + + // compute quantities for derivs evaluated on the INS indicated orbit + + TwoBody ref_orbit = new TwoBody(rstar, vstar); + Matrix chat = ref_orbit.RSW2ECI(); + Matrix gg = ref_orbit.gravityGradient(); + VectorN dv_grav = gg.times(dr); + Matrix omega = new Matrix(4,4); + rmag = rstar.mag(); + rsq = rmag * rmag; + double href = ref_orbit.getHmag(); // reference orbit angular momentum + double w = href/rsq; // angular velocity + double whalf = 0.5 * w; + omega.set(0, 1, whalf); + omega.set(1, 0, -whalf); + omega.set(2, 3, whalf); + omega.set(3, 2, -whalf); + VectorN dq_unforced = omega.times(dq); + + // add in gyro error effects + VectorN qr = q.minus(dq); + Quaternion qref = new Quaternion(qr); + VectorN wref = new VectorN(0.0, 0.0, w); + VectorN dq_gyro = this.gyro.computeErrors(qref, wref, bg); + VectorN dq_deriv = dq_unforced.plus(dq_gyro); + this.gyro.randwalk.nextSet(); + + // add in constant acceleration + double accel = 0.0000001 * 9.81; // 100 micro-g + VectorN f = new VectorN(0.0, accel, 0.0); +// VectorN f = new VectorN(0.0, 0.0, 0.0); + + // add in accelerometer effects + VectorN del_f = this.accel.computeErrors(f, ba); +// del_f.print("del_f"); + + // construct the measured specific force + VectorN fhat = f.minus(del_f); + + Matrix abar = new Matrix(4, 3); + abar.A[0][1] = -fhat.x[2]; + abar.A[0][2] = fhat.x[1]; + abar.A[1][0] = fhat.x[2]; + abar.A[1][2] = -fhat.x[0]; + abar.A[2][0] = -fhat.x[1]; + abar.A[2][1] = fhat.x[0]; + abar.A[3][0] = -fhat.x[0]; + abar.A[3][1] = -fhat.x[1]; + abar.A[3][2] = -fhat.x[2]; + Matrix atrans = abar.transpose(); + Matrix rhat = qref.rMatrix(); + Matrix rtrans = rhat.transpose(); + VectorN dv_t = atrans.times(rtrans.times(dq)); + dv_t = dv_t.times(2.0); + + // sum errors due to accelerometer and tilt + VectorN df = del_f.plus(dv_t); + + // transform errors from body to ECI + VectorN dv_err = chat.times(df); + + // compute total dv due to gravity and sensors + VectorN dvdot = dv_grav.plus(dv_err); + + // derivatives for true orbit + out.set(0, v); + out.set(3, g); + out.set(6, q_deriv); + + //derivatives for the INS errors + out.set(10, dv); + out.set(13, dvdot); + out.set(16, dq_deriv); + out.set(20, this.gyro.randwalk); + out.set(23, this.accel.randwalk); + return out.x; + } + + /** Main program. + * @param args Program arguments. + * @throws IOException If there are problems with the output file. + */ + public static void main(java.lang.String args[]) throws IOException { + + String directory = "C:\\Temp\\"; + + FileOutputStream outf = new FileOutputStream(directory+"ins99.txt"); + PrintWriter pw = new PrintWriter(outf); + + FreeINS ins = new FreeINS(); + ins.plotSetup("Errors Due to Initial 1 meter Radial Position Error"); + + // set initial orbit + TwoBody orbit = new TwoBody(6770.0, 0.0, 51.0, 0.0, 0.0, 0.0); + VectorN r0 = orbit.getR(); + VectorN v0 = orbit.getV(); + Matrix Cb2i = orbit.RSW2ECI(); + Quaternion q0 = new Quaternion(Cb2i); + double period = orbit.period(); + + // set initial INS errors + + VectorN dr0 = new VectorN(0.0, 0.0, 0.0); + VectorN dv0 = new VectorN(0.0, 0.0, 0.0); + VectorN tilts0 = new VectorN(0.0, 0.0, 0.0); + + ins.x = new INSErrorState(r0, v0, q0, dr0, dv0, tilts0); + + // set gyro errors + + VectorN gsf = new VectorN(0.0, 0.0, 0.0); // Vector3 containing scale factor errors in ppm. + VectorN gma = new VectorN(6); // Vector6 containing gyro misalignments in arcsec. +// gma.x[1] = 20.0; +// gma.x[3] = 20.0; + VectorN gns = new VectorN(0.0, 0.0, 0.0); // Vector3 containing the gyro measurement noise sigmas in deg/rt-hr. + VectorN gib = new VectorN(0.0, 0.0, 0.0); // Vector3 containing the initial gyro drift sigma in deg/hr. This is the random constant part. + VectorN gbs = new VectorN(0.0, 0.0, 0.0); // Vector3 containing the sigmas for gyro random walk in deg/rt hr. + + ins.gyro = new GyroErrorModel(gsf, gma, gns, gib, gbs); +// ins.gyro = new GyroErrorModel(); + + // set accelerometer errors + VectorN asf = new VectorN(0.0, 350.0, 0.0); // Vector3 containing scale factor errors in ppm. + VectorN ama = new VectorN(6); // Vector6 containing accel misalignments in arcsec. +// ama.x[3] = 20.0; + VectorN ans = new VectorN(0.0, 0.0, 0.0); // Vector3 containing the accel measurement noise sigmas in micro-g/rt-Hz. + VectorN aib = new VectorN(0.0, 0.0, 0.0); // Vector3 containing the initial accel bias sigma in mg. This is the random constant part. + VectorN abs = new VectorN(0.0, 0.0, 0.0); // Vector3 containing the sigmas for accel random walk in ---. + + ins.accel = new AccelerometerErrorModel(asf, ama, ans, aib, abs); + RungeKutta8 rk8 = new RungeKutta8(); + int neqns = 26; + + double dt = rk8.step_size; + double t = 0.0; +// double tf = 2.0 * period; // go 2 orbit periods + double tf = 2000.0; // go 2 orbit periods + + double[] newstate = new double[neqns]; + double[] oldstate = ins.x.stateArray(ins.x.r, ins.x.v, ins.x.q, ins.x.dr, ins.x.dv, ins.x.dq, ins.gyro.initialBiases, ins.accel.initialBiases); + + // check to see if the first step will go past tf + + if ((t + dt) > tf) { + dt = tf - t; + } + + VectorN temp = ins.printVector(t, oldstate); + pw.print(t+"\t"); + temp.print(pw); + + // main integration loop + // for (int it = 0; it < 3; it++){ + while (t < tf) { + newstate = rk8.step(t, oldstate, ins); + for (int i = 0; i < neqns; i++) { + oldstate[i] = newstate[i]; + } + + t = t + dt; + + Quaternion q = new Quaternion(oldstate[6], oldstate[7], oldstate[8], oldstate[9]); + q.unitize(); + // Quaternion dq = new Quaternion(oldstate[16], oldstate[17], oldstate[18], oldstate[19]); + // dq.unitize(); + + for (int i = 0; i < 4; i++){ + oldstate[i+6] = q.x[i]; + // oldstate[i+16] = dq.x[i]; + } + + temp = ins.printVector(t, oldstate); + pw.print(t+"\t"); + temp.print(pw); + System.out.println(t); + + if ((t + dt) > tf) { + dt = tf - t; + } + } + System.out.println("FreeINS run completed"); + ins.plots.setVisible(true); + pw.close(); + outf.close(); + // pw2.close(); + // outf2.close(); + } + +} diff --git a/src/jat/examplesNOSA/IntegratorExample/RKF78Integrator.java b/src/jat/examplesNOSA/IntegratorExample/RKF78Integrator.java new file mode 100644 index 0000000..b0345e1 --- /dev/null +++ b/src/jat/examplesNOSA/IntegratorExample/RKF78Integrator.java @@ -0,0 +1,115 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.IntegratorExample; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

+ * The SimpleIntegrator Class provides an example of how the RungeKutta8 class can be used to + * integrate a set of ODEs and plot the solution. + * + * @author + * @version 1.0 + */ + +public class RKF78Integrator implements Derivatives, Printable { + + TwoPlots traj_plot = new TwoPlots(); + + /** Creates a new instance of SimpleIntegrator */ + public RKF78Integrator() { + // set up the trajectory plot + traj_plot.setTitle("Simple Oscillator"); + traj_plot.topPlot.setXLabel("t"); + traj_plot.topPlot.setYLabel("x"); + traj_plot.bottomPlot.setXLabel("t"); + traj_plot.bottomPlot.setYLabel("y"); + + } + /** Compute the derivatives. + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + double [] out = new double[2]; + out[0] = x[1]; + out[1] = -x[0]; + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + // print to the screen for warm fuzzy feeling + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // add data point to the plot + traj_plot.topPlot.addPoint(0, t, y[0], first); + traj_plot.bottomPlot.addPoint(0, t, y[1], first); + + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an RungeKuttaFehlberg78 integrator + RungeKuttaFehlberg78 rk78 = new RungeKuttaFehlberg78(); + rk78.setNonAdaptive(); + rk78.setStepSize(0.01); + + // create an instance + RKF78Integrator si = new RKF78Integrator(); + + + // initialize the variables + double [] x0 = new double[2]; + x0[0] = 1.0; + x0[1] = 0.0; + + // set the final time + double tf = 10.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk78.integrate(t0, x0, tf, si, si, true); + + // make the plot visible + si.traj_plot.setVisible(true); + } +} diff --git a/src/jat/examplesNOSA/IntegratorExample/SimpleIntegrator.java b/src/jat/examplesNOSA/IntegratorExample/SimpleIntegrator.java new file mode 100644 index 0000000..d01ad58 --- /dev/null +++ b/src/jat/examplesNOSA/IntegratorExample/SimpleIntegrator.java @@ -0,0 +1,112 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.IntegratorExample; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.plotutil.TwoPlots; + +/** + *

+ * The SimpleIntegrator Class provides an example of how the RungeKutta8 class can be used to + * integrate a set of ODEs and plot the solution. + * + * @author + * @version 1.0 + */ + +public class SimpleIntegrator implements Derivatives, Printable { + + TwoPlots traj_plot = new TwoPlots(); + + /** Creates a new instance of SimpleIntegrator */ + public SimpleIntegrator() { + // set up the trajectory plot + traj_plot.setTitle("Simple Oscillator"); + traj_plot.topPlot.setXLabel("t"); + traj_plot.topPlot.setYLabel("x"); + traj_plot.bottomPlot.setXLabel("t"); + traj_plot.bottomPlot.setYLabel("y"); + + } + /** Compute the derivatives. + * @param t double containing time or the independent variable. + * @param x VectorN containing the required data. + * @return double [] containing the derivatives. + */ + public double[] derivs(double t, double[] x) + { + double [] out = new double[2]; + out[0] = x[1]; + out[1] = -x[0]; + return out; + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y){ + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + // print to the screen for warm fuzzy feeling + System.out.println(t+" "+y[0]+" "+y[1]+" "+first); + + // add data point to the plot + traj_plot.topPlot.addPoint(0, t, y[0], first); + traj_plot.bottomPlot.addPoint(0, t, y[1], first); + + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + + // create an RungeKutta8 integrator with step-size of 0.1 + RungeKutta8 rk8 = new RungeKutta8(0.1); + + // create an instance + SimpleIntegrator si = new SimpleIntegrator(); + + // initialize the variables + double [] x0 = new double[2]; + x0[0] = 1.0; + x0[1] = 0.0; + + // set the final time + double tf = 10.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, si, si, true); + + // make the plot visible + si.traj_plot.setVisible(true); + } +} diff --git a/src/jat/examplesNOSA/IntegratorExample/run.bat b/src/jat/examplesNOSA/IntegratorExample/run.bat new file mode 100644 index 0000000..cc7600c --- /dev/null +++ b/src/jat/examplesNOSA/IntegratorExample/run.bat @@ -0,0 +1,6 @@ +dir + +java -cp .;E:\SourceCode\Java;E:\SourceCode\Java\beans\j3d\j3dcore.jar;E:\SourceCode\Java\beans\j3d\j3dutils.jar;E:\SourceCode\Java\beans\j3d\vecmath.jar -mx64m jat.demo.IntegratorExample.SimpleIntegrator + + +pause \ No newline at end of file diff --git a/src/jat/examplesNOSA/JulianDate/CalendarDate.java b/src/jat/examplesNOSA/JulianDate/CalendarDate.java new file mode 100644 index 0000000..6baacb0 --- /dev/null +++ b/src/jat/examplesNOSA/JulianDate/CalendarDate.java @@ -0,0 +1,64 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.JulianDate; + +import jat.coreNOSA.cm.cm; + +import java.text.SimpleDateFormat; +import java.util.Calendar; +import java.util.Date; + +/** + * @author Tobias Berthold + * Date : 10-15-2003 + * Description : JAT Julian date demo + * * + */ +public class CalendarDate +{ + public static void main(String argv[]) + { Date dd; + + SimpleDateFormat sdf; + sdf = new SimpleDateFormat("MM/dd/yyyy hh:mm:ss aaa"); + + // Fixed time + //double JD = cm.juliandate(1985, 2, 17, 7, 38, 16); + //double JD = cm.juliandate(2001, 1, 1, 12, 0, 0); + double JD = cm.juliandate(2005, 3, 8, 14, 23, 56); + JD=2456033; + Calendar cal = cm.JD_to_Calendar(JD); + System.out.println("JD: " + JD + " Greg: " + sdf.format(cal.getTime())); + + // Current Time + dd = new Date(java.lang.System.currentTimeMillis()); + //dd.setTime(java.lang.System.currentTimeMillis()); + cal.setTime(dd); + JD = cm.juliandate(cal); + cal = cm.JD_to_Calendar(JD); + System.out.println("JD: " + JD + " Greg: " + sdf.format(cal.getTime())); + + } +} + +// Practical Astronomy with your calculator by Peter Duffett-Smith +// 2446113.75 is 2-17-1985 at 6am diff --git a/src/jat/examplesNOSA/JulianDate/JulianDate.java b/src/jat/examplesNOSA/JulianDate/JulianDate.java new file mode 100644 index 0000000..7bc1521 --- /dev/null +++ b/src/jat/examplesNOSA/JulianDate/JulianDate.java @@ -0,0 +1,39 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.JulianDate; + +import jat.coreNOSA.cm.cm; + +/** + * @author Tobias Berthold + * Date : 7-7-2002 + * Description : JAT Julian date demo + * + */ +public class JulianDate +{ + public static void main(String argv[]) + { + System.out.print("The Julian date on 1-1-2001 at 12:00pm is "); + System.out.println(cm.juliandate(2001, 1, 1, 12, 0, 0)); + } +} diff --git a/src/jat/examplesNOSA/JulianDate/package.html b/src/jat/examplesNOSA/JulianDate/package.html new file mode 100644 index 0000000..192e6d2 --- /dev/null +++ b/src/jat/examplesNOSA/JulianDate/package.html @@ -0,0 +1,4 @@ + +

Simple Julian date demo

+ + \ No newline at end of file diff --git a/src/jat/examplesNOSA/Lambert/Lambert_test.java b/src/jat/examplesNOSA/Lambert/Lambert_test.java new file mode 100644 index 0000000..1a624f9 --- /dev/null +++ b/src/jat/examplesNOSA/Lambert/Lambert_test.java @@ -0,0 +1,130 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.examplesNOSA.Lambert; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.LambertException; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +/** + * @author Tobias Berthold + * + * Lambert Targeting example + * + */ +public class Lambert_test implements Printable { + SinglePlot traj_plot = new SinglePlot(); + private int plotnum = 0; + + /** Creates a new instance of TwoBodyExample */ + public Lambert_test() { + // set up the trajectory plot + traj_plot.setTitle("Lambert Targeting"); + traj_plot.plot.setXLabel("x (km)"); + traj_plot.plot.setYLabel("y (km)"); + } + + /** + * Implements the Printable interface to get the data out of the propagator + * and pass it to the plot. This method is executed by the propagator at + * each integration step. + * + * @param t + * Time. + * @param y + * Data array. + */ + public void print(double t, double[] y) { + // handle the first variable for plotting - this is a little mystery but + // it works + boolean first = true; + if (t == 0.0) + first = false; + // add data point to the plot + traj_plot.plot.addPoint(plotnum, y[0], y[1], first); + // also print to the screen for warm fuzzy feeling + // if(!first) System.out.println("t x y"); + // System.out.println(t+" "+y[0]+" "+y[1]); + } + + public static void main(String[] args) { + double muforthisproblem = 1. * Constants.mu; + double tof = 50000.; + + System.out.println("mu=" + muforthisproblem); + + Lambert_test x = new Lambert_test(); + // create a TwoBody orbit using orbit elements + TwoBody initpos = new TwoBody(muforthisproblem, 40000.0, 0., 0.0, 0.0, 0., 0.0); + TwoBody finalpos = new TwoBody(muforthisproblem, 80000.0, 0., 0.0, 0.0, 0.0, 120.0); + + // propagate the orbits for plotting + initpos.propagate(0., initpos.period(), x, true); + x.plotnum++; + finalpos.propagate(0., finalpos.period(), x, true); + x.plotnum++; + + // Get position and velocity vector according to orbit elements + VectorN r0 = initpos.getR(); + VectorN v0 = initpos.getV(); + VectorN rf = finalpos.getR(); + VectorN vf = finalpos.getV(); + + initpos.print("initpos"); + + Lambert lambert = new Lambert(muforthisproblem); + // double totaldv = lambert.compute(r0, v0, rf, vf,initpos.period()/1.5 + // ); + double totaldv; + try { + totaldv = lambert.compute(r0, v0, rf, vf, tof); + } catch (LambertException e) { + totaldv = -1; + e.printStackTrace(); + } + + // apply the first delta-v + VectorN dv0 = lambert.deltav0; + v0 = v0.plus(dv0); + System.out.println("tof = " + lambert.tof); + TwoBody chaser = new TwoBody(muforthisproblem, r0, v0); + chaser.print("chaser orbit"); + chaser.propagate(0.0, tof, x, true); + + // Plotting + x.traj_plot.plot.setMarksStyle("dots", 3); + x.traj_plot.plot.addPoint(3, initpos.getR().x[0], initpos.getR().x[1], false); + x.traj_plot.plot.addPoint(3, finalpos.getR().x[0], finalpos.getR().x[1], false); + x.traj_plot.plot.addLegend(0, "initial orbit"); + x.traj_plot.plot.addLegend(1, "target orbit"); + x.traj_plot.plot.addLegend(2, "chaser"); + // make the plot visible and square + x.traj_plot.setVisible(true); + int size = 100000; + x.traj_plot.plot.setXRange(-size, size); + x.traj_plot.plot.setYRange(-size, size); + + System.out.println("Total delta-v: " + totaldv); + } +} diff --git a/src/jat/examplesNOSA/Lambert/earth_mars.java b/src/jat/examplesNOSA/Lambert/earth_mars.java new file mode 100644 index 0000000..4d73556 --- /dev/null +++ b/src/jat/examplesNOSA/Lambert/earth_mars.java @@ -0,0 +1,122 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002, 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.examplesNOSA.Lambert; + + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.LambertException; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +/** + * @author Tobias Berthold Lambert Targeting example + */ +public class earth_mars implements Printable { + SinglePlot traj_plot = new SinglePlot(); + private int plotnum = 0; + + /** Creates a new instance of TwoBodyExample */ + public earth_mars() { + // set up the trajectory plot + traj_plot.setTitle("Lambert Targeting"); + traj_plot.plot.setXLabel("x (km)"); + traj_plot.plot.setYLabel("y (km)"); + } + + /** + * Implements the Printable interface to get the data out of the propagator + * and pass it to the plot. This method is executed by the propagator at + * each integration step. + * + * @param t + * Time. + * @param y + * Data array. + */ + public void print(double t, double[] y) { + // handle the first variable for plotting - this is a little mystery but + // it works + boolean first = true; + if (t == 0.0) + first = false; + // add data point to the plot + traj_plot.plot.addPoint(plotnum, y[0], y[1], first); + // also print to the screen for warm fuzzy feeling + // if(!first) System.out.println("t x y"); + // System.out.println(t+" "+y[0]+" "+y[1]); + } + + public static void main(String[] args) { + double muforthisproblem = Constants.GM_Sun / 1.e9; + double tof = 220. * 86400.0; + System.out.println("mu=" + muforthisproblem); + + earth_mars x = new earth_mars(); + // create a TwoBody orbit using orbit elements + TwoBody initpos = new TwoBody(muforthisproblem, cm.earth_moon_elements); + TwoBody finalpos = new TwoBody(muforthisproblem, cm.mars_elements); + initpos.setTa(-90.); + finalpos.setTa(130.); + + // propagate the orbits for plotting + initpos.propagate(0., initpos.period(), x, true); + x.plotnum++; + finalpos.propagate(0., finalpos.period(), x, true); + x.plotnum++; + // Get position and velocity vector according to orbit elements + VectorN r0 = initpos.getR(); + VectorN v0 = initpos.getV(); + VectorN rf = finalpos.getR(); + VectorN vf = finalpos.getV(); + initpos.print("initpos"); + Lambert lambert = new Lambert(muforthisproblem); + double totaldv; + try { + totaldv = lambert.compute(r0, v0, rf, vf, tof); + } catch (LambertException e) { + totaldv = -1; + e.printStackTrace(); + } + // apply the first delta-v + VectorN dv0 = lambert.deltav0; + v0 = v0.plus(dv0); + System.out.println("tof = " + lambert.tof); + TwoBody chaser = new TwoBody(muforthisproblem, r0, v0); + chaser.print("chaser orbit"); + chaser.propagate(0.0, tof, x, true); + // Plotting + x.traj_plot.plot.setMarksStyle("dots", 3); + x.traj_plot.plot.addPoint(3, initpos.getR().x[0], initpos.getR().x[1], false); + x.traj_plot.plot.addPoint(3, finalpos.getR().x[0], finalpos.getR().x[1], false); + x.traj_plot.plot.addLegend(0, "Earth orbit"); + x.traj_plot.plot.addLegend(1, "Mars orbit"); + x.traj_plot.plot.addLegend(2, "Spacecraft"); + // make the plot visible and square + x.traj_plot.setVisible(true); + int size = 300000000; + x.traj_plot.plot.setXRange(-size, size); + x.traj_plot.plot.setYRange(-size, size); + System.out.println("Total delta-v = " + totaldv + " km/s"); + } +} diff --git a/src/jat/examplesNOSA/Lambert/mars_odyssey.java b/src/jat/examplesNOSA/Lambert/mars_odyssey.java new file mode 100644 index 0000000..8596571 --- /dev/null +++ b/src/jat/examplesNOSA/Lambert/mars_odyssey.java @@ -0,0 +1,58 @@ +package jat.examplesNOSA.Lambert; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.LambertException; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.io.IOException; + +public class mars_odyssey { + + public void make_lambert() throws IOException { + DE405Plus my_eph = new DE405Plus(); + // Mars Odyssey Mission + + Time departure_time = new Time(2001, 4, 7, 1, 1, 1); + Time arrival_time = new Time(2001, 10, 24, 1, 1, 1); + double tof = 200. * 86400.0; + + Lambert lambert = new Lambert(Constants.GM_Sun / 1.e9); + VectorN r0 = my_eph.get_planet_pos(body.EARTH, departure_time); + VectorN v0 = my_eph.get_planet_vel(body.EARTH, departure_time); + r0.print("r0"); + v0.print("v0"); + System.out.println("orbital velocity of earth " + v0.mag()); + VectorN rf = my_eph.get_planet_pos(body.MARS, arrival_time); + VectorN vf = my_eph.get_planet_vel(body.MARS, arrival_time); + rf.print("rf"); + vf.print("vf"); + System.out.println("orbital velocity of Mars " + vf.mag()); + + double totaldv; + try { + totaldv = lambert.compute(r0, v0, rf, vf, tof); + } catch (LambertException e) { + totaldv = -1; + e.printStackTrace(); + } + lambert.deltav0.print("deltav0"); + lambert.deltavf.print("deltavf"); + System.out.println("Total DeltaV " + totaldv); + + } + + public static void main(String args[]) { + + mars_odyssey p = new mars_odyssey(); + try { + p.make_lambert(); + } catch (IOException e) { + e.printStackTrace(); + } + } + +} diff --git a/src/jat/examplesNOSA/Lambert/package.html b/src/jat/examplesNOSA/Lambert/package.html new file mode 100644 index 0000000..2b14765 --- /dev/null +++ b/src/jat/examplesNOSA/Lambert/package.html @@ -0,0 +1,2 @@ + +Lambert targeting demo \ No newline at end of file diff --git a/src/jat/examplesNOSA/OST/OptimalTrajectory.java b/src/jat/examplesNOSA/OST/OptimalTrajectory.java new file mode 100644 index 0000000..2145f8f --- /dev/null +++ b/src/jat/examplesNOSA/OST/OptimalTrajectory.java @@ -0,0 +1,158 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.OST; + +import jat.coreNOSA.algorithm.optimization.DFP; +import jat.coreNOSA.algorithm.optimization.GradientSearch; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.KeplerElements; +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.cm.eom.TwoBodyCSI; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +import java.io.IOException; + +/** + * @author Tobias Berthold + * + */ +public class OptimalTrajectory +{ + static SinglePlot plot; + static PerformanceIndex J; + static ThrustDirection thrust; + + public OptimalTrajectory() + {} + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) throws IOException + { + System.out.println("Trajectory optimization example"); + + // Set up the trajectory plot + plot = new SinglePlot(); + plot.setTitle("Transfer CSI Trajectory in a Two Body Force Field"); + plot.plot.setXLabel("x (km)"); + plot.plot.setYLabel("y (km)"); + double plotsize = 2.e4; + plot.plot.setXRange(-plotsize, plotsize); + plot.plot.setYRange(-plotsize, plotsize); + plot.plot.setMarksStyle("dots"); + plot.plot.addPoint(2, 0., 0., false); + plot.plot.setMarksStyle("none"); + plot.setVisible(true); // Make the plot visible + + + // Create two body orbits (elliptical) + KeplerElements k_initial = new KeplerElements(10000.0, 0., 0.0, 0.0, 0.0, 0.0); + //KeplerElements k_final = new KeplerElements(12500., 0., 0.0, 0.0, 0., 120. * Constants.deg2rad); + //KeplerElements k_final = new KeplerElements(14721., 0.46, 0.0, 0.0, 2.57 * Constants.deg2rad, 120. * Constants.deg2rad); + KeplerElements k_final = new KeplerElements(14721., 0.5, 0.0, 0.0, 2.57 * Constants.deg2rad, 120. * Constants.deg2rad); + /* + KeplerElements k_final = + new KeplerElements( + 14721.542737298156, + 0.45841936033455066, + 0.0, + 0.0, + 2.5695865408349197 * Constants.deg2rad, + 120.14931430671902 * Constants.deg2rad); + //120 * Constants.deg2rad); + */ + Orbit orbit_init=new Orbit(k_initial); + Orbit orbit_final=new Orbit(k_final); + // Plot the initial and the final orbit + orbit_init.plot_orbit(plot); + orbit_final.plot_orbit(plot); + + // Create instances of the classes + OptimalTrajectory example = new OptimalTrajectory(); + thrust = new ThrustDirection(plot); + TwoBodyCSI trajectory = new TwoBodyCSI(k_initial, cm.mu, 3000., thrust, 1.5e0, 10000); + + // initialize the state variables and times + double[] x0 = trajectory.rvm.getArray(); + double[] x0final = orbit_final.twobody.randv(); + double t0 = 0.0; + double tf_CSI = 4000.; // final time for transfer trajectory + //new VectorN(x0).print("initial"); + //new VectorN(x0final).print("final"); + + // Find the optimal trajectory + double[] x_guess = new double[4]; // initial guess of search vector + double[] x_search; // search vector x=[ tf theta0 theta1 .. ] + x_guess[0] = 4000.; + x_guess[1] = Math.toRadians(50.); + x_guess[2] = Math.toRadians(120.); + x_guess[3] = Math.toRadians(150.); + J = new PerformanceIndex( x0, x_guess[0], x0final, trajectory, thrust); + + int mode = 2; + if (mode == 0) + { + print_result(x_guess); + } + if (mode == 1) + { + J.create_grid(); + } + if (mode == 2) + { + GradientSearch OST = new GradientSearch(J, x_guess); + OST.err_ods = 1.e-4; + OST.err_grad = 1.e-1; + OST.eps_FD = 1.e-8; //-8; + thrust.plot_yes_no = true; + x_search = OST.find_min_gradient(); + thrust.plot_yes_no = true; + print_result(x_search); + } + if (mode == 3) + { + DFP OST = new DFP(J, x_guess); + OST.err_ods = 1.e-4; + OST.err_dfp = 1.e0; + OST.eps_CD = 1.e-4; + OST.max_it = 100; + thrust.plot_yes_no = false; + x_search = OST.find_min_DFP(); + print_result(x_search); + } + System.out.println("Done"); + + } + + static void print_result(double[] x_search) + { + thrust.plot_yes_no = true; + double result = J.evaluate(x_search); + System.out.println("Result"); + System.out.println("J= "+result); + new VectorN(x_search).print(); + + } + +} diff --git a/src/jat/examplesNOSA/OST/Orbit.java b/src/jat/examplesNOSA/OST/Orbit.java new file mode 100644 index 0000000..2f5558e --- /dev/null +++ b/src/jat/examplesNOSA/OST/Orbit.java @@ -0,0 +1,80 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.OST; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.KeplerElements; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.plotutil.SinglePlot; + +/** + * @author Tobias Berthold + * + */ +public class Orbit implements Printable +{ + SinglePlot plot; + TwoBody twobody; + + public Orbit(KeplerElements k_initial) + { + + twobody = new TwoBody( cm.mu, k_initial); + + } + + public void plot_orbit(SinglePlot plot) + { + this.plot=plot; + // create an RungeKuttaFehlberg78 integrator + RungeKutta8 rk = new RungeKutta8(); + //RungeKuttaFehlberg78 rk=new RungeKuttaFehlberg78(); + //rk.setNonAdaptive(); + rk.setStepSize(3.e2); + //rk.setAdaptive(); + double tfin = twobody.period(); + + double[] x0initial = twobody.randv(); + rk.integrate(0., x0initial, tfin, twobody, this, true); + + } + + public void print(double t, double[] y) + { + boolean first = true; + if (t == 0.0) + first = false; + + // print to the screen for warm fuzzy feeling + //System.out.println(t + " " + y[0] + " " + y[1] + " " + first); + + // add data point to the plot + plot.plot.addPoint(0, y[0], y[1], first); + } + +} + +//KeplerElements k_mid = new KeplerElements(11000.0, 0., 0.0, 0.0, 0.0, 0.0); +//Orbit mid=new Orbit(k_mid); +//mid.plot_orbit(plot); diff --git a/src/jat/examplesNOSA/OST/PerformanceIndex.java b/src/jat/examplesNOSA/OST/PerformanceIndex.java new file mode 100644 index 0000000..dc831ab --- /dev/null +++ b/src/jat/examplesNOSA/OST/PerformanceIndex.java @@ -0,0 +1,135 @@ +/* + * Created on Jun 22, 2004 + * + * To change the template for this generated file go to + * Window>Preferences>Java>Code Generation>Code and Comments + */ +package jat.examplesNOSA.OST; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.eom.TwoBodyCSI; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +/** + * @author Tobias Berthold + * + */ +public class PerformanceIndex implements ScalarfromArrayFunction +{ + + RungeKutta8 rk; + //RungeKuttaFehlberg78 rk; + double[] x0; + double tf_CSI; + double[] x_target; + TwoBodyCSI trajectory; + ThrustDirection thrust; + DecimalFormat Jf; // formatting + NumberFormat itf; + double tf_var; + + public PerformanceIndex( double[] x0, double tf_CSI, double[] x_target, TwoBodyCSI trajectory, ThrustDirection thrust) + { + this.x0 = x0; + this.tf_CSI = tf_CSI; + this.x_target = x_target; + this.trajectory = trajectory; + this.thrust = thrust; + Jf = (DecimalFormat)NumberFormat.getInstance(); + Jf.applyPattern(" ###.##;-###.##"); + Jf.setMinimumFractionDigits(2); + Jf.setMinimumIntegerDigits(4); + // Integers + itf = NumberFormat.getInstance(); + itf.setMinimumIntegerDigits(6); + + // create an RungeKuttaFehlberg78 integrator + rk = new RungeKutta8(); + //rk=new RungeKuttaFehlberg78(); + //rk.setNonAdaptive(); + rk.setStepSize(1.e2); + //rk.setAdaptive(); + + + + } + + // Performance index to be minimized is the penalty function |x_target - x_final| + public double evaluate(double[] x_search) + { + thrust.set_x_search(x_search); + tf_CSI=x_search[0]; + double[] finalstate = rk.integrate(0., x0, tf_CSI, trajectory, thrust, true); + VectorN target = new VectorN(x_target); + VectorN actual = new VectorN(finalstate, 6); + VectorN diff = actual.minus(target); + double result; + result = Math.abs(diff.x[0]/1000.) + Math.abs(diff.x[1]/1000.) + Math.abs(diff.x[3]) + Math.abs(diff.x[4]); + //result =diff.mag(); + return result; + } + + void create_grid() + { + double[] x_search = new double[2]; + double result; + + // System.out.println(df.format(ux)+" "+df.format(uy)+" "+ " " + miss); + for (x_search[1] = Math.toRadians(75.); x_search[1] < Math.toRadians(145.); x_search[1] += Math.toRadians(1.)) + { + //System.out.print(Jf.format(x_search[0])+" "); + System.out.print(" " + Jf.format(Math.toDegrees(x_search[1]))); + for (x_search[0] = 3900.; x_search[0] < 4100; x_search[0] += 20) + { + result = evaluate(x_search); + System.out.print(" " + Jf.format(result)); + } + System.out.println(); + } + } + + /* + static double compute_J( + RungeKutta8 rk8, + double[] x0c, + double tf_CSI, + double[] x_target, + TwoBodyCSI trajectory, + CSI csi, + double ux, + double uy) + { + csi.set_thrust(ux, uy, 0.); + double[] finalstate = rk8.integrate(0., x0c, tf_CSI, trajectory, csi, true); + VectorN target = new VectorN(x_target); + VectorN arrive = new VectorN(finalstate, 6); + VectorN diff = arrive.minus(target); + //new VectorN(arrive).print("arrive"); + //new VectorN(target).print("target"); + //new VectorN(diff).print("diff"); + //System.out.println("final mass: " + finalstate[6]); + + // Find a matching final orbit + // TwoBody finalorbit = new TwoBody(cm.mu,finalstate); + // double vel=finalorbit.getV().mag(); + // if(vel>5. &&vel<6.) + // { + // System.out.println(); + // System.out.println("Thrust "+uf.format(ux)+" "+uf.format(uy)); + // System.out.println("Velocity "+finalorbit.getV().mag()); + // finalorbit.getV().print("Velocity"); + // } + // finalorbit.print("final orbit"); + + double result; + result = Math.abs(diff.x[0]) + Math.abs(diff.x[1]) + 1000. * Math.abs(diff.x[3]) + 1000. * Math.abs(diff.x[4]); + //return arrive.minus(target).mag(); + return result; + } + */ + +} diff --git a/src/jat/examplesNOSA/OST/ThrustDirection.java b/src/jat/examplesNOSA/OST/ThrustDirection.java new file mode 100644 index 0000000..3ca3d65 --- /dev/null +++ b/src/jat/examplesNOSA/OST/ThrustDirection.java @@ -0,0 +1,158 @@ +/* + * Created on Jun 22, 2004 + * + * To change the template for this generated file go to + * Window>Preferences>Java>Code Generation>Code and Comments + */ +package jat.examplesNOSA.OST; + +import jat.coreNOSA.algorithm.VectorTimeFunction; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.math.Interpolator; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +/** + * @author Tobias Berthold + * + */ +public class ThrustDirection implements Printable, VectorTimeFunction +{ + // warning: u must not be null vector + double ux, uy, uz; + double[] x_search; + SinglePlot plot; + boolean plot_yes_no; + VectorN u = new VectorN(3); + DecimalFormat df; // formatting for double + NumberFormat inf; // formatting for int + + public ThrustDirection(SinglePlot plot) + { + this.plot = plot; + df = (DecimalFormat)NumberFormat.getInstance(); + df.applyPattern(" ###.##;-###.##"); + df.setMinimumFractionDigits(2); + df.setMinimumIntegerDigits(4); + // Integers + inf = NumberFormat.getInstance(); + inf.setMinimumIntegerDigits(6); + + } + + void set_x_search(double[] x_search) + { + this.x_search = x_search; + } + + public void print(double t, double[] y) + { + if (plot_yes_no) + { + boolean first = true; + if (t == 0.0) + first = false; + + // print to the screen for warm fuzzy feeling + //System.out.println(t + " " + y[0] + " " + y[1] + " " + y[6]); + + // add data point to the plot + plot.plot.addPoint(1, y[0], y[1], first); + } + } + + /* + void set_thrust(double theta) + { + ux = Math.cos(theta); + uy = Math.sin(theta); + uz = 0.; + u.x[0] = Math.cos(x_search[1]); + u.x[1] = Math.sin(x_search[1]); + } + */ + void set_thrust(double t) + { + double theta; + double tf; + int n=x_search.length; + int segs=n-1; + + tf = x_search[0]; + //int index=(int)Math.floor(segs*t/tf); + int index=1; + double r=t/tf; + if (r <= 1/3.) + index=1; + if (r >= 1 / 3. && r <= 2 / 3.) + index=2; + if (r >= 2/3.) + index=3; + + //System.out.println(df.format(t)+" "+df.format(tf)+" "+index); + + theta = x_search[index]; + //System.out.println(t);// set_thrust(x_search[2]); + u.x[0] = Math.cos(theta); + u.x[1] = Math.sin(theta); + u.x[2] = 0.; + } + + public VectorN evaluate(VectorN x, double t) + { + set_thrust(t); + + return u; + //System.out.println(tf.format(t)+" "+df.format(ux.get_value(t))+" "+uy.get_value(t)); + //return u.unitVector(); + } + + public void thrust_interpolator(double tf_CSI) + { + double[] uxdata, uydata, uzdata, t; + // double[] uxdata={1.,1.,1.}; + // double[] uydata={1.,1.,1.}; + // double[] uzdata={1.,1.,1.}; + // double[] t={0.,1.,1.}; + Interpolator ux, uy, uz; + + int segments = 10; + uxdata = new double[segments + 1]; + uydata = new double[segments + 1]; + uzdata = new double[segments + 1]; + t = new double[segments + 1]; + for (int i = 0; i < segments + 1; i++) + { + t[i] = tf_CSI * i / segments; + uxdata[i] = 0.1; + uydata[i] = 0.1; + uzdata[i] = 0.; + //System.out.println(tf.format(t[i]) + " " + df.format(uxdata[i]) + " " + uydata[i] + " " + uzdata[i]); + } + ux = new Interpolator(t, uxdata); + uy = new Interpolator(t, uydata); + uz = new Interpolator(t, uzdata); + } + +} + +//u.x[0] = ux; +//u.x[1] = uy; +//u.x[2] = uz; +/* +if (t <= tf / 3.) + theta = x_search[1]; +else +{ + if (t >= tf / 3. && t <= 2 * tf / 3.) + theta = x_search[2]; + else + { + if (t <= 2 * tf / 3.) + theta = x_search[3]; + } +} +*/ diff --git a/src/jat/examplesNOSA/OST/run.bat b/src/jat/examplesNOSA/OST/run.bat new file mode 100644 index 0000000..f71f23f --- /dev/null +++ b/src/jat/examplesNOSA/OST/run.bat @@ -0,0 +1,4 @@ + +java -cp .;E:\SourceCode\Java\jat;E:\SourceCode\Java\jat\external_jar\j3d\j3dcore.jar;E:\SourceCode\Java\jat\external_jar\j3d\j3dutils.jar;E:\SourceCode\Java\jat\external_jar\j3d\vecmath.jar;E:\SourceCode\Java\jat\external_jar\starfire\StarfireExt.jar -mx128m jat.demo.vr.Copernicus1.Copernicus1 + +pause \ No newline at end of file diff --git a/src/jat/examplesNOSA/OptimalLambert/OptimalLambert.java b/src/jat/examplesNOSA/OptimalLambert/OptimalLambert.java new file mode 100644 index 0000000..04a9ce6 --- /dev/null +++ b/src/jat/examplesNOSA/OptimalLambert/OptimalLambert.java @@ -0,0 +1,167 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.OptimalLambert; + +import jat.coreNOSA.algorithm.optimization.DFP; +import jat.coreNOSA.algorithm.optimization.GradientSearch; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +import java.io.IOException; + +/** + * @author Tobias Berthold + * + */ +public class OptimalLambert +{ + static SinglePlot plot; + static PerformanceIndex J; + static Lambert earth_mars; + static double muforthisproblem; + + public OptimalLambert() + {} + + /** Runs the example. + * @param args Arguments. + */ + + public static void main(String[] args) throws IOException + { + System.out.println("Optimization Lambert targeting example"); + muforthisproblem = Constants.GM_Sun/1.e9; + + // Create instances of the classes + earth_mars=new Lambert(muforthisproblem); + J = new PerformanceIndex(earth_mars); + + // Find the optimal parameters for transfer + double[] x_guess = new double[3]; // initial guess of search vector + double[] x_search={0,0,0}; // search vector x=[ tf theta0 theta1 ] + double tof=190. * 86400.0; + x_guess[0] = tof; + x_guess[1] = -10.; + x_guess[2] = 120.; + + // For a new optimization problem: test the performance index calculation, + // then create a grid to find good initial guesses, then run the optimization + int mode = 4; + + if (mode == 0) + { + print_result(x_guess); + plot_trajectories(x_guess); + } + + if (mode == 1) + { + J.initgrid(.8*tof,1.2*tof,0.1*tof); + J.create_combinations(); + } + if (mode == 2) + { + J.initgrid(.7*tof,1.3*tof,0.1*tof); + J.print_header(); + J.create_grid(); + } + if (mode == 3) + { + GradientSearch OST = new GradientSearch(J, x_guess); + OST.err_ods = 1.e-4; + OST.err_grad = 1.e-1; + OST.eps_FD = 1.e-8; //-8; + x_search = OST.find_min_gradient(); + print_result(x_search); + plot_trajectories(x_search); + } + if (mode == 4) + { + DFP OST = new DFP(J, x_guess); + OST.err_ods = 1.e-4; + OST.err_dfp = 1.e-6; + OST.eps_CD = 1.e-4; + OST.max_it = 100; + x_search = OST.find_min_DFP(); + print_result(x_search); + plot_trajectories(x_search); + } + + System.out.println("Done"); + + } + + static void plot_trajectories(double[] x) + { + // Plot the trajectory + // Set up the trajectory plot + plot = new SinglePlot(); + plot.setTitle("Optimal Lambert targeting"); + plot.plot.setXLabel("x (km)"); + plot.plot.setYLabel("y (km)"); + double plotsize = 300000000; + plot.plot.setXRange(-plotsize, plotsize); + plot.plot.setYRange(-plotsize, plotsize); + plot.plot.setMarksStyle("dots"); + plot.plot.addPoint(2, 0., 0., false); + plot.plot.setMarksStyle("none"); + plot.setVisible(true); // Make the plot visible + + // Create two body orbits (elliptical) + Orbit orbit_initial=new Orbit(muforthisproblem,cm.earth_moon_elements,0); + Orbit orbit_final=new Orbit(muforthisproblem,cm.mars_elements,1); + // Plot the initial and the final orbit + orbit_initial.plot_orbit(plot); + orbit_final.plot_orbit(plot); + + orbit_initial.twobody.setTa(x[1]); + VectorN dv0 = earth_mars.deltav0; + VectorN r0 = orbit_initial.twobody.getR(); + VectorN v0 = orbit_initial.twobody.getV(); + // apply the first delta-v + v0=v0.plus(dv0); + Orbit orbit_sc=new Orbit(muforthisproblem, r0,v0,2); + orbit_sc.plotperiod=x[0]; + orbit_sc.plot_orbit(plot); + plot.plot.setMarksStyle("dots", 3); + plot.plot.addPoint(3, orbit_initial.twobody.getR().x[0], orbit_initial.twobody.getR().x[1], false); + plot.plot.addPoint(3, orbit_sc.twobody.getR().x[0], orbit_sc.twobody.getR().x[1], false); + + System.out.println("tof = " + earth_mars.tof); + //TwoBody spacecraft = new TwoBody(muforthisproblem, r0, v0); + //spacecraft.print("spacecraft orbit"); + //spacecraft.propagate(0.0, tof, this, true); + + } + + static void print_result(double[] x_search) + { + double result = J.evaluate(x_search); + System.out.println("Result"); + System.out.println("J= "+result); + new VectorN(x_search).print(); + + } + +} diff --git a/src/jat/examplesNOSA/OptimalLambert/Orbit.java b/src/jat/examplesNOSA/OptimalLambert/Orbit.java new file mode 100644 index 0000000..84ec256 --- /dev/null +++ b/src/jat/examplesNOSA/OptimalLambert/Orbit.java @@ -0,0 +1,78 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.OptimalLambert; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.KeplerElements; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +/** + * @author Tobias Berthold + * + */ +public class Orbit implements Printable +{ + SinglePlot plot; + TwoBody twobody; + int plotnumber; + double plotperiod; + + public Orbit(double mu, KeplerElements k, int plotnumber) + { + twobody = new TwoBody( mu, k); + this.plotnumber=plotnumber; + plotperiod=twobody.period(); + + } + + public Orbit(double mu, VectorN r, VectorN v, int plotnumber) + { + + twobody = new TwoBody(mu, r,v); + this.plotnumber=plotnumber; + plotperiod=twobody.period(); + + } + + public void plot_orbit(SinglePlot plot) + { + this.plot=plot; + + twobody.propagate(0., plotperiod, this, true); + + } + + public void print(double t, double[] y) + { + boolean first = true; + if (t == 0.0) + first = false; + + // print to the screen for warm fuzzy feeling + //System.out.println(t + " " + y[0] + " " + y[1] + " " + first); + + // add data point to the plot + plot.plot.addPoint(plotnumber, y[0], y[1], first); + } + +} diff --git a/src/jat/examplesNOSA/OptimalLambert/PerformanceIndex.java b/src/jat/examplesNOSA/OptimalLambert/PerformanceIndex.java new file mode 100644 index 0000000..3dc1c1c --- /dev/null +++ b/src/jat/examplesNOSA/OptimalLambert/PerformanceIndex.java @@ -0,0 +1,133 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.OptimalLambert; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.Lambert; +import jat.coreNOSA.cm.LambertException; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +/** + * @author Tobias Berthold + * + */ +public class PerformanceIndex implements ScalarfromArrayFunction { + Lambert earth_mars; + DecimalFormat Jf; // formatting + NumberFormat itf; + double tf_var; + double alow, ahigh, astep; + + public PerformanceIndex(Lambert earth_mars) { + this.earth_mars = earth_mars; + Jf = (DecimalFormat) NumberFormat.getInstance(); + Jf.applyPattern(" ###.##;-###.##"); + Jf.setMinimumFractionDigits(2); + Jf.setMinimumIntegerDigits(4); + // Integers + itf = NumberFormat.getInstance(); + itf.setMinimumIntegerDigits(6); + } + + // Performance index to be minimized is the penalty function: delta-v + public double evaluate(double[] x_search) { + // compute parameters for current guess + double muforthisproblem = Constants.GM_Sun / 1.e9; + TwoBody elem0 = new TwoBody(muforthisproblem, cm.earth_moon_elements); + TwoBody elemf = new TwoBody(muforthisproblem, cm.mars_elements); + elem0.setTa(x_search[1]); + elemf.setTa(x_search[2]); + + VectorN r0 = elem0.getR(); + VectorN v0 = elem0.getV(); + VectorN rf = elemf.getR(); + VectorN vf = elemf.getV(); + double dt = x_search[0]; + double totaldv; + try { + totaldv = earth_mars.compute(r0, v0, rf, vf, dt); + } catch (LambertException e) { + totaldv = -1; + e.printStackTrace(); + } + return totaldv; + } + + public void initgrid(double d, double e, double f) { + alow = d; + ahigh = e; + astep = f; + } + + void print_header() { + + System.out.print("x1 / x0 "); + for (double x = alow; x < ahigh; x += astep) { + System.out.print(" " + Jf.format(x)); + } + System.out.println(); + } + + void create_grid() { + double[] x_search = new double[3]; + double result; + + x_search[2] = 120.; + for (x_search[1] = -100.; x_search[1] <= -80; x_search[1] += 10.) { + // System.out.print(Jf.format(x_search[0])+" "); + System.out.print(" " + Jf.format(x_search[1])); + for (x_search[0] = alow; x_search[0] < ahigh; x_search[0] += astep) { + result = evaluate(x_search); + System.out.print(" " + Jf.format(result)); + } + System.out.println(); + } + } + + void create_combinations() { + double a, b; + double[] x_search = new double[3]; + double result = 0.; + + // for (x_search[1] = -99.; x_search[1] < -80; x_search[1] += 1.) + for (b = -90.; b < -70; b += 10.) { + // for (x_search[0] = alow; x_search[0] < ahigh; x_search[0] += + // astep) + for (a = alow; a < ahigh; a += astep) { + x_search[0] = a; + x_search[1] = b; + x_search[2] = 130.; + System.out.print("" + Jf.format(x_search[0])); + System.out.print(" " + Jf.format(x_search[1])); + System.out.print(" " + Jf.format(x_search[2])); + result = evaluate(x_search); + System.out.println(" " + Jf.format(result)); + } + } + } + +} diff --git a/src/jat/examplesNOSA/OrbitDetermination/J2DragEOM.java b/src/jat/examplesNOSA/OrbitDetermination/J2DragEOM.java new file mode 100644 index 0000000..39dddb2 --- /dev/null +++ b/src/jat/examplesNOSA/OrbitDetermination/J2DragEOM.java @@ -0,0 +1,223 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ +package jat.examplesNOSA.OrbitDetermination; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The J2DragEOM.java Class provides the equations of motion (derivatives) +* for an orbit including J2 and the effects of exponential drag. +* +* @author +* @version 1.0 +*/ +public class J2DragEOM implements Derivatives { + + private static double re = 6378136.3; // radius of earth in meters + private static double h_0 = 920000.0; // atmosphere model parameter + private static double rho_0 = 4.36E-14; // atmosphere model parameter + private static double gamma_0 = 5.381E-06; // atmosphere model parameter + private static double omega_e = 7.2921157746E-05; // earth rotation rate + + /** + * Compute the time derivatives + * @param t time + * @param y double [] containing current state. + * @return double[] containing the time derivatives. + */ + public double[] derivs(double t, double[] y) { + + double out[] = new double[156]; + + // store elements of incoming state in more familiar looking variables + double xx = y[0]; + double yy = y[1]; + double zz = y[2]; + double vx = y[3]; + double vy = y[4]; + double vz = y[5]; + double mu = y[6]; + double j2 = y[7]; + double beta = y[8]; + + // compute derived variables + VectorN r = new VectorN(xx, yy, zz); + double rmag = r.mag(); + double rcubed = rmag * rmag * rmag; + double rsq = rmag * rmag; + double re_r = re / rmag; + re_r = re_r * re_r; + double zsq_rsq = (5.0 * zz * zz / rsq) - 1.0; + + // compute accelerations due to gravity + double ll = -1.0 * (mu * xx / rcubed) * (1.0 - 1.5 * re_r * j2 * zsq_rsq); + double mm = -1.0 * (mu * yy / rcubed) * (1.0 - 1.5 * re_r * j2 * zsq_rsq); + double nn = -1.0 * (mu * zz / rcubed) * (1.0 - 1.5 * re_r * j2 * (zsq_rsq - 2.0)); + + // compute accelerations due to drag + double r0 = re + h_0; + double exp = -gamma_0 * (rmag - r0); + double rho = rho_0 * Math.exp(exp); + + double aa = vx + omega_e * yy; + double bb = vy - omega_e * xx; + double cc = vz; + double qq = Math.sqrt(aa * aa + bb * bb + cc * cc); + double brq = beta * rho * qq; + + // compute state derivatives + + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + out[3] = ll - brq * aa; + out[4] = mm - brq * bb; + out[5] = nn - brq * cc; + + for (int i = 6; i < 12; i++) { + out[i] = 0.0; + } + + // compute A matrix + + Matrix a = new Matrix(12, 12); // creates a 12x12 matrix with all zeros + + a.A[0][3] = 1.0; + a.A[1][4] = 1.0; + a.A[2][5] = 1.0; + + double r5 = rsq * rcubed; + double mur5 = mu / r5; + double mur3 = mu / rcubed; + double sz2r2 = 7.0 * zz * zz / rsq; + + double muxyr5 = mu * xx * yy / r5; + double muxzr5 = mu * xx * zz / r5; + double muyzr5 = mu * yy * zz / r5; + + double bracket1 = 3.0 - 7.5 * re_r * j2 * (sz2r2 - 1.0); + double bracket3 = 3.0 - 7.5 * re_r * j2 * (sz2r2 - 3.0); + double bracket5 = 3.0 - 7.5 * re_r * j2 * (sz2r2 - 5.0); + double bracket2 = 1.5 * re_r * (5.0 * zz * zz / rsq - 1.0); + + double dldx = ll / xx + mur5 * xx * xx * bracket1; + double dldy = muxyr5 * bracket1; + double dldz = muxzr5 * bracket3; + double dldj2 = mur3 * xx * bracket2; + + double dmdx = dldy; + double dmdy = mm / yy + mur5 * yy * yy * bracket1; + double dmdz = muyzr5 * bracket3; + double dmdj2 = mur3 * yy * bracket2; + + double dndx = muxzr5 * bracket3; + double dndy = dmdz; + double dndz = nn / zz + mur5 * zz * zz * bracket5; + double dndj2 = mur3 * zz * (1.5 * re_r * (5.0 * zz * zz / rsq - 3.0)); + + double bp = beta * rho; + double aq = aa / qq; + double bq = bb / qq; + double cq = cc / qq; + double qwe = qq * omega_e; + double xr = xx / rmag; + double yr = yy / rmag; + double zr = zz / rmag; + double awe = aa * omega_e; + double bwe = bb * omega_e; + + double bpaq = bp * aq; + double bpbq = bp * bq; + double bpcq = bp * cq; + + double paren1 = bwe / qq + qq * gamma_0 * xr; + double paren2 = qq * gamma_0 * yr - awe / qq; + double paren3 = brq * gamma_0 * zr; + double rhoq = rho * qq; + + a.A[3][0] = dldx + bp * aa * paren1; + a.A[3][1] = dldy + bp * (qq * gamma_0 * aa * yr - qwe - awe * aq); + a.A[3][2] = dldz + paren3 * aa; + a.A[3][3] = -bp * (aa * aq + qq); + a.A[3][4] = -bpbq * aa; + a.A[3][5] = -bpcq * aa; + a.A[3][6] = ll / mu; + a.A[3][7] = dldj2; + a.A[3][8] = -rhoq * aa; + + a.A[4][0] = dmdx + bp * (qwe + bwe * bq - qq * gamma_0 * bb * xr); + a.A[4][1] = dmdy + bp * bb * paren2; + a.A[4][2] = dmdz - paren3 * bb; + a.A[4][3] = -bpaq * bb; + a.A[4][4] = -bp * (bb * bq + qq); + a.A[4][5] = -bpcq * bb; + a.A[4][6] = mm / mu; + a.A[4][7] = dmdj2; + a.A[4][8] = -rhoq * bb; + + a.A[5][0] = dndx + bp * cc * paren1; + a.A[5][1] = dndy + bp * cc * paren2; + a.A[5][2] = dndz + paren3 * cc; + a.A[5][3] = -bpaq * cc; + a.A[5][4] = -bpbq * cc; + a.A[5][5] = -bp * (cc * cq + qq); + a.A[5][6] = nn / mu; + a.A[5][7] = dndj2; + a.A[5][8] = -rhoq * cc; + + // a.print("A matrix"); + + // compute phi derivatives + + Matrix phi = this.phi(y); + + Matrix dphi = a.times(phi); + + // dphi.print("dphi"); + + // put phi derivatives into output array + int k = 12; + for (int i = 0; i < 12; i++) { + for (int j = 0; j < 12; j++) { + out[k] = dphi.A[i][j]; + k = k + 1; + } + } + + return out; + } + + private Matrix phi(double[] in) { + Matrix out = new Matrix(12, 12); + int k = 12; + for (int i = 0; i < 12; i++) { + for (int j = 0; j < 12; j++) { + out.A[i][j] = in[k]; + k = k + 1; + } + } + return out; + } + +} diff --git a/src/jat/examplesNOSA/OrbitDetermination/J2DragProcess.java b/src/jat/examplesNOSA/OrbitDetermination/J2DragProcess.java new file mode 100644 index 0000000..8176df4 --- /dev/null +++ b/src/jat/examplesNOSA/OrbitDetermination/J2DragProcess.java @@ -0,0 +1,173 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 8, 2003 + */ + +package jat.examplesNOSA.OrbitDetermination; + +import jat.coreNOSA.algorithm.estimators.EstSTM; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** +* The J2DragProcess.java Class provides the dynamics model for an orbit +* including J2 and effects of exponential drag. +* +* @author +* @version 1.0 +*/ +public class J2DragProcess implements ProcessModel { + + private int n = 12; + private VectorN xref = new VectorN(n); + private Matrix phi = new Matrix(n); + private RungeKutta8 rk8 = new RungeKutta8(1.0); + private J2DragEOM eom = new J2DragEOM(); + private LinePrinter lp1; + private LinePrinter lp2; + + public J2DragProcess(LinePrinter lp, LinePrinter lp_2){ + this.lp1 = lp; + this.lp2 = lp_2; + } + + /** + * Returns the initial covariance matrix. + * @return the initial covariance matrix. + */ + public Matrix P0() { + + // initialize sigmas + double[] sigmas = new double[12]; + sigmas[0] = 100.0; + sigmas[1] = 100.0; + sigmas[2] = 100.0; + sigmas[3] = 10.0; + sigmas[4] = 10.0; + sigmas[5] = 10.0; + sigmas[6] = 1.0E+06; + sigmas[7] = 1.0E-02; + sigmas[8] = 0.01; + sigmas[9] = 100.0; + sigmas[10] = 100.0; + sigmas[11] = 100.0; + + // square the sigmas + for (int j = 0; j < 12; j++) { + sigmas[j] = sigmas[j] * sigmas[j]; + } + + // initialize covariance + VectorN sig = new VectorN(sigmas); + Matrix p = new Matrix(sig); + return p; + } + + /** + * Returns the process noise matrix. + * @param t time + * @param dt dt = current time - previous time. + * @return the process noise matrix. + */ + public Matrix Q(double t, double dt, EstSTM x) { + return new Matrix(12, 12); + } + + /** + * Returns the initial reference state. + * @return the initial reference state. + */ + public VectorN xref0() { + VectorN out = new VectorN(12); + out.x[0] = 4973900.0; + out.x[1] = -4300600.0; + out.x[2] = 3486200.0; + out.x[3] = 2850.0; + out.x[4] = 5820.0; + out.x[5] = 3470.0; + out.x[6] = 3.986004415E+14; + out.x[7] = 1.1926268E-03; + out.x[8] = 0.0475; + out.x[9] = -2517400.0; + out.x[10] = -4198500.0; + out.x[11] = 4076500.0; + return out; + } + + /** + * Returns the number of states. + * @return the number of states. + */ + public int numberOfStates() { + return this.n; + } + + /** + * Propagate the state and state transition matrix to the next measurement time. + * @param t0 previous time + * @param xin array containing state and state transition matrix at previous time. + * @param tf next time + */ + public double[] propagate(double t0, double[] x, double tf) { + double[] out = rk8.step(t0, x, eom); + return out; + } + + /** + * Returns the state transition matrix. + * @return the state transition matrix (after propagation). + */ + public Matrix phi() { + return this.phi; + } + + /** + * Returns the current reference state (after propagation). + * @return the current reference state. + */ + public VectorN xref() { + return this.xref; + } + + public void print(double t, VectorN state, Matrix cov) { + VectorN sigmas = cov.diagonal(); + sigmas = sigmas.ebeSqrt(); + VectorN printvector = new VectorN(state, sigmas); + lp1.print(t, printvector.x); + + } + + public void printResiduals(double t, double r1, double r2) { + double[] y = new double[3]; + y[0] = t; + y[1] = r1; + y[2] = r2; + lp2.print(y); + } + + + public void closeLinePrinter(){ + lp1.close(); + } + +} diff --git a/src/jat/examplesNOSA/OrbitDetermination/OBSDAT2/OBSDAT2 b/src/jat/examplesNOSA/OrbitDetermination/OBSDAT2/OBSDAT2 new file mode 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0.243785790854067E+07 0.10000E+03 3 + 0.76300E+03 0.244319475965758E+07 0.10000E+03 3 + 0.76400E+03 0.244853480334680E+07 0.10000E+03 3 + 0.76500E+03 0.245387864271255E+07 0.10000E+03 3 + 0.76600E+03 0.245922581824175E+07 0.10000E+03 3 + 0.76700E+03 0.246457669645058E+07 0.10000E+03 3 + 0.76800E+03 0.246993098889117E+07 0.10000E+03 3 diff --git a/src/jat/examplesNOSA/OrbitDetermination/ODdemo.java b/src/jat/examplesNOSA/OrbitDetermination/ODdemo.java new file mode 100644 index 0000000..e558315 --- /dev/null +++ b/src/jat/examplesNOSA/OrbitDetermination/ODdemo.java @@ -0,0 +1,68 @@ +package jat.examplesNOSA.OrbitDetermination; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 9, 2003 + */ +import jat.core.util.PathUtil; +import jat.coreNOSA.algorithm.estimators.ExtendedKalmanFilter; +import jat.coreNOSA.algorithm.estimators.ProcessModel; +import jat.coreNOSA.algorithm.integrators.LinePrinter; + +import javax.swing.JApplet; + +/** + * The ODdemo.java Class is a demonstration of Orbit Determination. It processes + * range data in the file OBSDATA2 with an observation model defined by the + * ObsData class and dynamics model defined by J2DragProcss using an Extended + * Kalman Filter. + * + * @author + * @version 1.0 + * 2012: added PathUtil, JApplet + */ +public class ODdemo extends JApplet { + + private static final long serialVersionUID = -8949808323540904434L; + + public ODdemo() { + PathUtil p = new PathUtil(this); + ObsData obs = new ObsData(p.current_path); + LinePrinter lp = new LinePrinter(); + LinePrinter lp2 = new LinePrinter("C:\\Jat\\output\\resid.txt"); + ProcessModel process = new J2DragProcess(lp, lp2); + ExtendedKalmanFilter ekf = new ExtendedKalmanFilter(obs, obs, process); + System.out.println("Processing.."); + ekf.process(); + System.out.println("Processing completed"); + + } + + /** + * main - runs the demo. + * + * @params args none. + */ + public static void main(String[] args) { + + //ODdemo O = new ODdemo(); + + } +} diff --git a/src/jat/examplesNOSA/OrbitDetermination/ObsData.java b/src/jat/examplesNOSA/OrbitDetermination/ObsData.java new file mode 100644 index 0000000..7f6528a --- /dev/null +++ b/src/jat/examplesNOSA/OrbitDetermination/ObsData.java @@ -0,0 +1,241 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on May 7, 2003 + */ + +package jat.examplesNOSA.OrbitDetermination; +import jat.coreNOSA.algorithm.estimators.MeasurementData; +import jat.coreNOSA.algorithm.estimators.MeasurementModel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.BufferedReader; +import java.io.FileReader; +import java.io.IOException; +import java.util.StringTokenizer; + +/** +* The ObsData.java Class provides the measurements and measurement model for a +* demonstration of orbit determination in JAT. The data +* comes from the Estimation class at UT. +* +* @author +* @version 1.0 +2012: added PathUtil, JApplet +* +*/ +public class ObsData implements MeasurementModel, MeasurementData +{ + public double[] time = new double[2000]; // array of obs times + public double[] range = new double[2000]; // array of range measurements + public double[] weight = new double[2000]; // array of measurement weights + public int[] station = new int[2000]; // array of station ids + public int nobs = 0; // total number of observations + + private static double theta_0 = 1.6331958133; // initial Greenwich hour angle + private static double omega_e = 7.2921157746E-05; // earth rotation rate + private VectorN htilde; + + /** + * default constructor, reads in data from OBSDAT2 file. + */ + public ObsData(String currentPath) + { + try + { + String filename = currentPath + "OBSDAT2/"+"OBSDAT2"; + System.out.println(filename); + FileReader fr = new FileReader(filename); + BufferedReader in = new BufferedReader(fr); + String s; + this.nobs = 0; + + while ((s = in.readLine()) != null) // while there is data, keep reading lines + { + StringTokenizer t = new StringTokenizer(s, " "); + this.time[nobs] = Double.parseDouble(t.nextToken()); + this.range[nobs] = Double.parseDouble(t.nextToken()); + this.weight[nobs] = Double.parseDouble(t.nextToken()); + this.station[nobs] = Integer.parseInt(t.nextToken()); + this.nobs = this.nobs + 1; + } + +// for (int i = 0; i < nobs; i++) +// { +// System.out.println(i+" "+this.time[i]+" "+this.range[i]+" "+this.weight[i]+" "+this.station[i]); +// } + + in.close(); + System.out.println("Obs Data Read Successfully"); + } + catch (IOException e) // what to do if an i/o error occurs + { + System.out.println("Error: "+e); + System.exit(1); + } + } + + /** + * Returns the H matrix + * @param xref VectorN containing the current state + * @return H matrix (measurement state relation) + */ + public VectorN H (VectorN xref) { + return this.htilde; + } + + /** + * Returns the measurement noise value + * @return measurement noise (sigma^2) + */ + public double R () { + return 0.01; + } + + /** Returns the measurement + * @param index int containing the measurement index + * @return double containing the measurement corresponding to the index. + */ + public double z (int index) { + return range[index]; + } + + /** + * Returns the time of the measurement + * @param index int containing the measurement index + * @return double containing time of the measurement corresponding to the index. + */ + public double time (int index){ + return time[index]; + } + + /** + * Returns the predicted measurement based on the current state + * @param index measurement index + * @param t time of the measurement + * @param xref VectorN with the current state at the measurement time + */ + public double zPred (int index, double t, VectorN xref) { + // determine rotation from ECEF to ECI using theta + double theta = theta_0 + omega_e*t; + Matrix rot = new Matrix(3); + double cost = Math.cos(theta); + double sint = Math.sin(theta); + rot.A[0][0] = cost; + rot.A[0][1] = -sint; + rot.A[1][0] = sint; + rot.A[1][1] = cost; +// rot.print("rotation matrix"); + + // extract necessary items from x + + double xx = xref.x[0]; + double yy = xref.x[1]; + double zz = xref.x[2]; + VectorN r = new VectorN(xx, yy, zz); + double xs = xref.x[9]; + double ys = xref.x[10]; + double zs = xref.x[11]; + VectorN rsef = new VectorN(xs, ys, zs); + VectorN rs = new VectorN(3); + + double[] temp = new double[12]; + + int staID = this.station[index]; + + switch (staID) + { + case 1: + rs = rot.times(rsef); + break; + + case 2: + rsef = new VectorN(-2428826.1117, -4799750.4339, 3417273.0738); + rs = rot.times(rsef); + break; + + case 3: + rsef = new VectorN(-1736003.0850, -4425049.6149, 4241427.1084); + rs = rot.times(rsef); + break; + + default: + System.out.println("invalid station id in range function"); + System.exit(1); + break; + } + +// r.print("reference position"); +// rsef.print("ECEF station coords"); +// rs.print("ECI station coords"); + + VectorN dr = r.minus(rs); + double rsi = dr.mag(); + +// dr.print("range vector"); + +// System.out.println("Computed Range = "+rsi+" theta ="+theta); + + + temp[0] = dr.x[0]/rsi; + temp[1] = dr.x[1]/rsi; + temp[2] = dr.x[2]/rsi; + + for (int i = 3; i < 12; i++) + { + temp[i] = 0.0; + } + + if (staID == 1) + { + temp[9] = -1.0*(dr.x[0]*cost + dr.x[1]*sint)/rsi; + temp[10] = (dr.x[0]*sint - dr.x[1]*cost)/rsi; + temp[11] = -1.0*dr.x[2]/rsi; + } + + this.htilde = new VectorN(temp); + return rsi; + + } + + /** + * Checks for remaining measurements. + * True = more measurements left to be processed. + * @param index measurement index. + */ + public boolean hasNext(int index) { + boolean out = false; + if (index < (this.nobs)) { + out = true; + } + return out; + } + + + +// public static void main (String argv[]){ +// ObsData obs = new ObsData(); +// } + + +} + + + diff --git a/src/jat/examplesNOSA/PlotExample/PlotExample.java b/src/jat/examplesNOSA/PlotExample/PlotExample.java new file mode 100644 index 0000000..410f4ed --- /dev/null +++ b/src/jat/examplesNOSA/PlotExample/PlotExample.java @@ -0,0 +1,274 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +/* A simple plot application with two plots + + Copyright (c) 1998-2001 The Regents of the University of California. + All rights reserved. + Permission is hereby granted, without written agreement and without + license or royalty fees, to use, copy, modify, and distribute this + software and its documentation for any purpose, provided that the above + copyright notice and the following two paragraphs appear in all copies + of this software. + + IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY + FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES + ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF + THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF + SUCH DAMAGE. + + THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES, + INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE + PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF + CALIFORNIA HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, + ENHANCEMENTS, OR MODIFICATIONS. + + PT_COPYRIGHT_VERSION_2 + COPYRIGHTENDKEY +@ProposedRating red (eal@eecs.berkeley.edu) +@AcceptedRating red (cxh@eecs.berkeley.edu) +*/ + +package jat.examplesNOSA.PlotExample; + +// This class is not in the ptolemy.plot package so that it is a +// more realistic example. +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; + +import javax.swing.JFrame; + +import ptolemy.plot.Plot; + +// The java.io imports are only necessary for the right hand plot. +//import java.io.File; +//import java.io.FileInputStream; +//import java.io.FileNotFoundException; +//import java.io.IOException; + +////////////////////////////////////////////////////////////////////////// +//// PlotExample +/** +PlotExample is a simple example that uses displays two plots side by side +To compile and run this application, do the following: +
+javac -classpath ../../.. PlotExample.java
+java -classpath ../../.. ptolemy.plot.demo.PlotExample
+
+ +@author Christopher Hylands +@version $Id: PlotExample.java,v 1.3 2004/03/03 14:55:16 Exp $ +*/ +public class PlotExample extends JFrame { + + /** + * + */ + private static final long serialVersionUID = 5797520212359599189L; + + + /** We use a constructor here so that we can call methods + * directly on the Frame. The main method is static + * so getting at the Frame is a little trickier. + */ + PlotExample() { + // Instantiate the two plots. + Plot topPlot = new Plot(); + Plot bottomPlot = new Plot(); + Plot middlePlot = new Plot(); + + // Set the size of the toplevel window. + setSize(560, 700); // width, height in pixels + + // Create the top plot by calling methods. + topPlot.setSize(350,300); + topPlot.setButtons(true); + topPlot.setTitle("Top Plot"); +// topPlot.setYRange(-4, 4); +// topPlot.setXRange(0, 100); + topPlot.setXLabel("time"); + topPlot.setYLabel("value"); + topPlot.addYTick("-PI", -Math.PI); + topPlot.addYTick("-PI/2", -Math.PI/2); + topPlot.addYTick("0",0); + topPlot.addYTick("PI/2", Math.PI/2); + topPlot.addYTick("PI", Math.PI); + topPlot.setMarksStyle("none"); + topPlot.setImpulses(false); + topPlot.addLegend(0,"dataset 1"); + topPlot.addLegend(1,"dataset 2"); + + boolean first = true; + for (int i = 0; i <= 100; i++) { + topPlot.addPoint(0, (double)i, + 5 * Math.cos(Math.PI * i/20), !first); + topPlot.addPoint(1, (double)i, + 4.5 * Math.cos(Math.PI * i/25), !first); + topPlot.addPoint(2, (double)i, + 4 * Math.cos(Math.PI * i/30), !first); + topPlot.addPoint(3, (double)i, + 3.5* Math.cos(Math.PI * i/35), !first); + topPlot.addPoint(4, (double)i, + 3 * Math.cos(Math.PI * i/40), !first); + topPlot.addPoint(5, (double)i, + 2.5 * Math.cos(Math.PI * i/45), !first); + topPlot.addPoint(6, (double)i, + 2 * Math.cos(Math.PI * i/50), !first); + topPlot.addPoint(7, (double)i, + 1.5 * Math.cos(Math.PI * i/55), !first); + topPlot.addPoint(8, (double)i, + 1 * Math.cos(Math.PI * i/60), !first); + topPlot.addPoint(9, (double)i, + 0.5 * Math.cos(Math.PI * i/65), !first); + first = false; + + } + + // Create the bottom plot by calling methods. + middlePlot.setSize(350,300); + middlePlot.setButtons(true); + middlePlot.setTitle("Middle Plot"); +// middlePlot.setYRange(-4, 4); +// middlePlot.setXRange(0, 100); + middlePlot.setXLabel("time"); + middlePlot.setYLabel("value"); + middlePlot.addYTick("-PI", -Math.PI); + middlePlot.addYTick("-PI/2", -Math.PI/2); + middlePlot.addYTick("0",0); + middlePlot.addYTick("PI/2", Math.PI/2); + middlePlot.addYTick("PI", Math.PI); + middlePlot.setMarksStyle("none"); + middlePlot.setImpulses(false); + + for (int i = 0; i <= 100; i++) { + middlePlot.addPoint(0, (double)i, + 5 * Math.sin(Math.PI * i/20), !first); + middlePlot.addPoint(1, (double)i, + 4.5 * Math.sin(Math.PI * i/25), !first); + middlePlot.addPoint(2, (double)i, + 4 * Math.sin(Math.PI * i/30), !first); + middlePlot.addPoint(3, (double)i, + 3.5* Math.sin(Math.PI * i/35), !first); + middlePlot.addPoint(4, (double)i, + 3 * Math.sin(Math.PI * i/40), !first); + middlePlot.addPoint(5, (double)i, + 2.5 * Math.sin(Math.PI * i/45), !first); + middlePlot.addPoint(6, (double)i, + 2 * Math.sin(Math.PI * i/50), !first); + middlePlot.addPoint(7, (double)i, + 1.5 * Math.sin(Math.PI * i/55), !first); + middlePlot.addPoint(8, (double)i, + 1 * Math.sin(Math.PI * i/60), !first); + middlePlot.addPoint(9, (double)i, + 0.5 * Math.sin(Math.PI * i/65), !first); + first = false; + + } + + // Create the bottom plot by calling methods. + bottomPlot.setSize(350,300); + bottomPlot.setButtons(true); + bottomPlot.setTitle("Bottom Plot"); +// bottomPlot.setYRange(-4, 4); +// bottomPlot.setXRange(0, 100); + bottomPlot.setXLabel("time"); + bottomPlot.setYLabel("value"); + bottomPlot.addYTick("-PI", -Math.PI); + bottomPlot.addYTick("-PI/2", -Math.PI/2); + bottomPlot.addYTick("0",0); + bottomPlot.addYTick("PI/2", Math.PI/2); + bottomPlot.addYTick("PI", Math.PI); + bottomPlot.setMarksStyle("none"); + bottomPlot.setImpulses(false); + + for (int i = 0; i <= 100; i++) { + bottomPlot.addPoint(0, (double)i, + 5 * Math.sin(Math.PI * i/20), !first); + bottomPlot.addPoint(1, (double)i, + 4.5 * Math.sin(Math.PI * i/25), !first); + bottomPlot.addPoint(2, (double)i, + 4 * Math.sin(Math.PI * i/30), !first); + bottomPlot.addPoint(3, (double)i, + 3.5* Math.sin(Math.PI * i/35), !first); + bottomPlot.addPoint(4, (double)i, + 3 * Math.sin(Math.PI * i/40), !first); + bottomPlot.addPoint(5, (double)i, + 2.5 * Math.sin(Math.PI * i/45), !first); + bottomPlot.addPoint(6, (double)i, + 2 * Math.sin(Math.PI * i/50), !first); + bottomPlot.addPoint(7, (double)i, + 1.5 * Math.sin(Math.PI * i/55), !first); + bottomPlot.addPoint(8, (double)i, + 1 * Math.sin(Math.PI * i/60), !first); + bottomPlot.addPoint(9, (double)i, + 0.5 * Math.sin(Math.PI * i/65), !first); + first = false; + + } + + + // Layout the two plots + GridBagLayout gridbag = new GridBagLayout(); + GridBagConstraints c = new GridBagConstraints(); + getContentPane().setLayout(gridbag); + + // Handle the topPlot + c.gridx = 0; + c.gridy = 0; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(topPlot, c); + getContentPane().add(topPlot); + + // Handle the middlePlot + c.gridx = 0; + c.gridy = 1; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(middlePlot, c); + getContentPane().add(middlePlot); + + // Handle the bottomPlot + c.gridx = 0; + c.gridy = 2; + c.gridwidth = 1; + c.fill = GridBagConstraints.BOTH; + c.weightx = 1.0; + c.weighty = 1.0; + gridbag.setConstraints(bottomPlot, c); + getContentPane().add(bottomPlot); + + setVisible(true); + } + + + /** main method called in a standalone java application. + * We simple instantiate this class, most of the work + * happens in the constructor. + */ + public static void main(String args[]) { + PlotExample PlotExample = new PlotExample(); + } +} diff --git a/src/jat/examplesNOSA/Rendezvous/CW_Rendezvous.java b/src/jat/examplesNOSA/Rendezvous/CW_Rendezvous.java new file mode 100644 index 0000000..85d1feb --- /dev/null +++ b/src/jat/examplesNOSA/Rendezvous/CW_Rendezvous.java @@ -0,0 +1,109 @@ +package jat.examplesNOSA.Rendezvous; + +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * + * File Created on Aug 25, 2003 + */ + +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.ClohessyWiltshire; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class CW_Rendezvous { + + public static void main(String[] args) { + + + // set up the target orbit + double a = 6765500.0; + double mu = Constants.GM_Earth; + TwoBody tgt = new TwoBody( mu, a, 0.0, 0.0, 0.0, 0.0, 0.0); + + // create the CW model + ClohessyWiltshire cw = new ClohessyWiltshire(tgt); + + // set up the trajectory plot + cw.traj_plot.setTitle("Two Body Trajectory"); + cw.traj_plot.plot.setXLabel("y (km)"); + cw.traj_plot.plot.setYLabel("x (km)"); + + // create an RungeKutta8 integrator with step-size of 10 sec + RungeKutta8 rk8 = new RungeKutta8(1.0); + + // set up a LinePrinter for printing results to a file +// LinePrinter lp = new LinePrinter("c:\\temp\\", "sts-iss.dat"); + + + // set up the initial conditions + VectorN dr0 = new VectorN(0.0, -15000.0, 0.0); + VectorN dv0 = new VectorN(3); + + // set up the times + double tof = 5537.0; + double tcoast = 0.0; + double t0 = 0.0; + double tf = tcoast + tof; + + + // initialize the variables + double[] x0 = new double[6]; + x0[0] = dr0.x[0]; + x0[1] = dr0.x[1]; + x0[2] = dr0.x[2]; + x0[3] = dv0.x[0]; + x0[4] = dv0.x[1]; + x0[5] = dv0.x[2]; + + // integrate the equations to tcoast + double[] rv = rk8.integrate(t0, x0, tcoast, cw, cw, true); + + VectorN drminus = new VectorN(rv[0], rv[1], rv[2]); + VectorN dvminus = new VectorN(rv[3], rv[4], rv[5]); + + // compute the delta-v's + double dvtot = cw.twoImpulseRendezvous(tof, tof, drminus, dvminus); + System.out.println("dvtot = " + dvtot); + cw.deltav1.print("delta-v1"); + cw.deltav2.print("delta-v2"); + + // add in the effects of the first deltav + VectorN dv0plus = dvminus.plus(cw.deltav1); + x0[0] = drminus.x[0]; + x0[1] = drminus.x[1]; + x0[2] = drminus.x[2]; + x0[3] = dv0plus.x[0]; + x0[4] = dv0plus.x[1]; + x0[5] = dv0plus.x[2]; + + // integrate the equations from tcoast to tf + rk8.integrate(tcoast, x0, tf, cw, cw, true); + + // make the plot visible + cw.traj_plot.setVisible(true); + + // close the LinePrinter +// lp.close(); + + } + + +} diff --git a/src/jat/examplesNOSA/TwoBodyExample/CSIExample.java b/src/jat/examplesNOSA/TwoBodyExample/CSIExample.java new file mode 100644 index 0000000..963f483 --- /dev/null +++ b/src/jat/examplesNOSA/TwoBodyExample/CSIExample.java @@ -0,0 +1,143 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.TwoBodyExample; + +import jat.coreNOSA.algorithm.VectorTimeFunction; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.KeplerElements; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.cm.cm; +import jat.coreNOSA.cm.eom.TwoBodyCSI; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.plotutil.SinglePlot; + +import java.io.IOException; + +/** This demo computes the trajectory of a spacecraft with a constant specific + * impulse propulsion system with the thrust pointing in the velocity direction. + * The trajectory is plotted. + * @author Tobias Berthold + * + */ +public class CSIExample +{ + static SinglePlot traj_plot; + + public CSIExample() + { + // set up the trajectory plot + traj_plot.setTitle("CSI Trajectory in a Two Body Force Field"); + traj_plot.plot.setXLabel("x (km)"); + traj_plot.plot.setYLabel("y (km)"); + } + + public class Initial implements Printable + { + public void print(double t, double[] y) + { + boolean first = true; + if (t == 0.0) + first = false; + + // print to the screen for warm fuzzy feeling + //System.out.println(t + " " + y[0] + " " + y[1] + " " + first); + + // add data point to the plot + traj_plot.plot.addPoint(0, y[0], y[1], first); + } + } + + public class CSI implements Printable, VectorTimeFunction + { + public void print(double t, double[] y) + { + boolean first = true; + if (t == 0.0) + first = false; + + // print to the screen for warm fuzzy feeling + // System.out.println(t + " " + y[0] + " " + y[1] + " " + y[6]); + + // add data point to the plot + traj_plot.plot.addPoint(1, y[0], y[1], first); + } + + public VectorN evaluate(VectorN x, double t) + { + VectorN u = new VectorN(3); + // Constant thrust in velocity direction + u.x[0] = x.x[3]; + u.x[1] = x.x[4]; + u.x[2] = 0.; + // Constant thrust in x-direction + // u.x[0]=1. + // u.x[1]=0.; + // Constant thrust in radial direction + // u.x[0] = x.x[0]; + // u.x[1] = x.x[1]; + //System.out.println(tf.format(t)+" "+df.format(ux.get_value(t))+" "+uy.get_value(t)); + return u.unitVector(); + } + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) throws IOException + { + System.out.println("Continuous thrust trajectory example"); + traj_plot = new SinglePlot(); + + // create instances of the classes + CSIExample example = new CSIExample(); + Initial in = example.new Initial(); + CSI csi = example.new CSI(); + + // create Two Body orbits (elliptical) + KeplerElements k_initial = new KeplerElements(10000.0, 0., 0.0, 0.0, 0.0, 0.0); + TwoBody initialorbit = new TwoBody(cm.mu, k_initial); + TwoBodyCSI trajectory = new TwoBodyCSI(k_initial, cm.mu, 3000., csi, 0.05, 10000); + + // create an RungeKuttaFehlberg78 integrator + RungeKutta8 rk8 = new RungeKutta8(); + rk8.setStepSize(1.e2); + + // initialize the state variables and times + double[] x0initial = initialorbit.randv(); + double[] x0c = trajectory.rvm.getArray(); + double t0 = 0.0; + double tf = initialorbit.period(); + double tf_CSI = 170000.; // final time for transfer trajectory + + // make the plot visible + double plotsize = 3.e4; + traj_plot.plot.setXRange(-plotsize, plotsize); + traj_plot.plot.setYRange(-plotsize, plotsize); + traj_plot.setVisible(true); + + // integrate the equations + rk8.integrate(t0, x0initial, tf, initialorbit, in, true); + double[] finalstate = rk8.integrate(0., x0c, tf_CSI, trajectory, csi, true); + + } +} diff --git a/src/jat/examplesNOSA/TwoBodyExample/RK78F_Test.java b/src/jat/examplesNOSA/TwoBodyExample/RK78F_Test.java new file mode 100644 index 0000000..a37bc2f --- /dev/null +++ b/src/jat/examplesNOSA/TwoBodyExample/RK78F_Test.java @@ -0,0 +1,76 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.TwoBodyExample; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.cm.TwoBody; + +import java.io.IOException; + +/** + *

+ * The SimpleIntegrator Class provides an example of how the RungeKutta8 class can be used to + * integrate a set of ODEs and plot the solution. + * + * @author + * @version 1.0 + */ + +public class RK78F_Test +{ + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) throws IOException + { + + System.out.println("Create twobody orbit data"); + // create a Two Body orbit (elliptical) + TwoBody orbit = new TwoBody(10000.0, 0.2, 0.0, 0.0, 0.0, 0.0); + + // create a Line Printer, print to screen + LinePrinter lp = new LinePrinter(); + + // create an RungeKuttaFehlberg78 integrator + RungeKuttaFehlberg78 rk78f = new RungeKuttaFehlberg78(); + rk78f.setAccuracy(1.e-9); + + // initialize the state variables + double [] x0 = orbit.randv(); + + // set the final time to one orbit period + double tf = orbit.period(); + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + double [] xf = rk78f.integrate(t0, x0, tf, orbit, lp, true); + + // close the Line Printer + lp.close(); + + } + +} diff --git a/src/jat/examplesNOSA/TwoBodyExample/TwoBodyExample.java b/src/jat/examplesNOSA/TwoBodyExample/TwoBodyExample.java new file mode 100644 index 0000000..c65ae76 --- /dev/null +++ b/src/jat/examplesNOSA/TwoBodyExample/TwoBodyExample.java @@ -0,0 +1,97 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.examplesNOSA.TwoBodyExample; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.plotutil.SinglePlot; + +/** + *

+ * The TwoBodyExample Class provides an example of how the TwoBody class can be used to + * propagate a two body orbit and plot the trajectory. + * + * @author + * @version 1.0 + */ + +public class TwoBodyExample implements Printable +{ + + SinglePlot traj_plot = new SinglePlot(); + + /** Creates a new instance of TwoBodyExample */ + public TwoBodyExample() + { + // set up the trajectory plot + traj_plot.setTitle("Two Body Trajectory"); + traj_plot.plot.setXLabel("x (km)"); + traj_plot.plot.setYLabel("y (km)"); + } + + /** Implements the Printable interface to get the data out of the propagator and pass it to the plot. + * This method is executed by the propagator at each integration step. + * @param t Time. + * @param y Data array. + */ + public void print(double t, double [] y) + { + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + // add data point to the plot + traj_plot.plot.addPoint(0, y[0], y[1], first); + + // also print to the screen for warm fuzzy feeling + System.out.println(t+" "+y[0]+" "+y[1]); + } + + /** Runs the example. + * @param args Arguments. + */ + public static void main(String[] args) + { + TwoBodyExample x = new TwoBodyExample(); + + // create a TwoBody orbit using orbit elements + TwoBody sat = new TwoBody(7000.0, 0.3, 0.0, 0.0, 0.0, 0.0); + + // find out the period of the orbit + double period = sat.period(); + + // set the final time = one orbit period + double tf = period; + + // set the initial time to zero + double t0 = 0.0; + + // propagate the orbit + sat.propagate(t0, tf, x, true); + + // make the plot visible + x.traj_plot.setVisible(true); + x.traj_plot.plot.setXRange(-15000.,15000.); + x.traj_plot.plot.setYRange(-15000.,15000.); + + } +} diff --git a/src/jat/examplesNOSA/TwoBodyExample/package.html b/src/jat/examplesNOSA/TwoBodyExample/package.html new file mode 100644 index 0000000..b1df42d --- /dev/null +++ b/src/jat/examplesNOSA/TwoBodyExample/package.html @@ -0,0 +1,3 @@ + +Package demo contains example programs to help the user and to test the software. + \ No newline at end of file diff --git a/src/jat/examplesNOSA/TwoBodyExample/run.bat b/src/jat/examplesNOSA/TwoBodyExample/run.bat new file mode 100644 index 0000000..21042ef --- /dev/null +++ b/src/jat/examplesNOSA/TwoBodyExample/run.bat @@ -0,0 +1,4 @@ + +java -cp .;E:\SourceCode\Java; jat.demo.TwoBodyExample.TwoBodyExample + +pause \ No newline at end of file diff --git a/src/jat/examplesNOSA/ephemeris/ephemeris.java b/src/jat/examplesNOSA/ephemeris/ephemeris.java new file mode 100644 index 0000000..e218951 --- /dev/null +++ b/src/jat/examplesNOSA/ephemeris/ephemeris.java @@ -0,0 +1,63 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + /* + * File : ephemeris.java + * Author : Tobias Berthold + * Date : 10-9-2002 + * Change : + * Description : main program, JAT ephemeris demo + */ + +package jat.examplesNOSA.ephemeris; + +import jat.core.util.PathUtil; +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +/** + * @author Tobias Berthold + * @version 1.0 + */ +public class ephemeris +{ + public static void main (String argv[]) + { + //double jd=cm.juliandate(2002, 2, 17, 12, 0, 0); + Time mytime=new Time(2002, 2, 17, 12, 0, 0); + PathUtil f=new PathUtil(); + String fs = f.fs; + System.out.println(f.root_path); + String DE405_data_folder=f.root_path+"data"+fs+"core"+fs+"ephemeris"+fs+"DE405data"+fs; + System.out.println(DE405_data_folder); + DE405 my_eph = new DE405(DE405_data_folder); + VectorN rv=my_eph.get_planet_posvel(DE405_Body.MARS, mytime); + + System.out.println("The position of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("x= "+rv.get(0)+" km"); + System.out.println("y= "+rv.get(1)+" km"); + System.out.println("z= "+rv.get(2)+" km"); + + + } +} + diff --git a/src/jat/examplesNOSA/ephemeris/package.html b/src/jat/examplesNOSA/ephemeris/package.html new file mode 100644 index 0000000..2fd3eee --- /dev/null +++ b/src/jat/examplesNOSA/ephemeris/package.html @@ -0,0 +1,2 @@ + +Simple Ephemeris reader demo \ No newline at end of file diff --git a/src/jat/examplesNOSA/ephemeris/run.bat b/src/jat/examplesNOSA/ephemeris/run.bat new file mode 100644 index 0000000..19fd12b --- /dev/null +++ b/src/jat/examplesNOSA/ephemeris/run.bat @@ -0,0 +1,4 @@ + +java -cp .;E:\SourceCode\Java;E:\SourceCode\Java\beans\j3d\j3dcore.jar;E:\SourceCode\Java\beans\j3d\j3dutils.jar;E:\SourceCode\Java\beans\j3d\vecmath.jar -mx64m jat.demo.ephemeris.ephemeris + +pause \ No newline at end of file diff --git a/src/jat/examplesNOSA/simulation/EarthMoonSim.java b/src/jat/examplesNOSA/simulation/EarthMoonSim.java new file mode 100644 index 0000000..52eccc8 --- /dev/null +++ b/src/jat/examplesNOSA/simulation/EarthMoonSim.java @@ -0,0 +1,146 @@ +/* + * JAT: Java Astrodynamics Toolkit + * + * Created on Jan 30, 2006 + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.examplesNOSA.simulation; + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.forces.GravitationalBody; +import jat.coreNOSA.forces.Moon; +import jat.coreNOSA.forces.Sun; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.simulation.SimModel; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.util.FileUtil; + +/** + * TODO Javadoc + * @author Richard C. Page III + */ +public class EarthMoonSim { + + + public EarthMoonSim(){ } + + /** + * Simulation of an Earth-Moon Free return maneuver from LEO + * + */ + public static void runSimulation(){ + SimModel sim = new SimModel(); + sim.set_showtimestep(true); + //* Simulation parameters t0: initial time [sec] tf: final time [sec] + double t0 = 0, t1 = 0.0505*86400, t2 = 6*86400; + //* Modified Julian Date (in UTC) at the initial time + double mjd_utc = 53157.5; //* June 1, 2004 12:00 UTC + //* Simulation stepsize [sec] + double stepsize = 1*60; + //* Keep track of the runtime + double start = System.currentTimeMillis(); + //* Find the proper directory for input/output + String fs = FileUtil.file_separator(); + String dir = FileUtil.getClassFilePath("jat.sim", "SimModel"); + //* Name of the various spacecraft + String[] tests = {"demo"}; + //* Optional string which appends test numbers to the spacecraft + String[][] test_nums = {{""}}; + //* If plot_traj == true , then plot the output to Celestia + boolean plot_traj = true; + int i=0,j=0; + GravitationalBody earth = new GravitationalBody(Constants.GM_Earth); + Moon moon = new Moon(mjd_utc); + Sun sun = new Sun(); + sim.add_ForceModel(earth); + sim.add_ForceModel(moon); + sim.initializeMoonEphem(); + sim.add_ForceModel(sun); + sim.initializeSunEphem(); + //* Initial radius [km] + VectorN rold = new VectorN(-4453.783586,-5038.203756,-426.384456); + VectorN r = moon.getPosition().unitVector().times(rold.mag()); + //* convert to SI units [m] + r = r.times(1000); + //* Initial velocity [km/s] + VectorN vold = new VectorN(3.831888,-2.887221,-6.018232); + VectorN v = moon.getVelocity().unitVector().times(vold.mag()); + //* convert to SI units [m/s] + v = v.times(1000); + + //* Output directory (for the textual output data) + String out = dir+"output"+fs+tests[i]+test_nums[j][i]+".txt"; + //* Coeff. of reflectivity, Drag Coeff., Cross-section [m*m], Mass [kg] + double cr=1.2, cd=2.2, area=20, mass=1000; + //* Add the spacecraft parameters to the spacecraft model + SpacecraftModel sm = new SpacecraftModel(r,v,cr,cd,area,mass); + //* Initialize the simulation (input simulation parameters) + sim.initialize(sm,t0,t1,mjd_utc, stepsize, 1, out); + String test = tests[i]+test_nums[j][i]; + //* Add the force model to the simulation + //* Here, add any other custom properties, controllers, or other models + //* Run the simulation loop + sim.runloop(); +// if(plot_traj){ +// jat.util.Celestia celestia = new jat.util.Celestia("C:/games/Celestia_Dev/my_celestia/"); +// try{ +// //i--; +// //j--; +// celestia.set_trajectory(sim.get_traj()); +// //* append '_jat' to identify objects originating from JAT +// String name = tests[i]+"_1_jat"; +// celestia.write_trajectory(name,name,sim.mjd_utc_start+2400000.5); +// System.out.println("Wrote to Celestia"); +// }catch(java.io.IOException ioe){} +// } + sim.t0=t1; + sim.tf=t2; + double dvmag = 3100; + //VectorN dv = new VectorN(sim.sc.get_abs_vel().times(0.419)); + VectorN dv = new VectorN(sim.sc.get_abs_vel().times(0.41905)); + //dv.x[2] = dv.x[2]-0; + //dv = (dv.unitVector().times(dvmag)); + sm.applyDeltaV(dv); + sim.runloop(); + System.out.println("r0_mag: "+r.mag()+" m"); + System.out.println("v0_mag: "+v.mag()+" m/s"); + System.out.println("dv_mag: "+dv.mag()+" m/s/s"); + + //* Stop the runtime counter + double elapsed = (System.currentTimeMillis()-start)*0.001/60; + System.out.println("Elapsed time [min]: "+elapsed); + //* Format and output the Celestia files for visualization + if(plot_traj){ + jat.coreNOSA.util.Celestia celestia = new jat.coreNOSA.util.Celestia("C:/games/Celestia_Dev/my_celestia/"); + try{ + //i--; + //j--; + celestia.set_trajectory(sim.get_traj()); + //* append '_jat' to identify objects originating from JAT + String name = tests[i]+"_3_jat"; + celestia.write_trajectory(name,name,sim.mjd_utc_start+2400000.5); + System.out.println("Wrote to Celestia"); + }catch(java.io.IOException ioe){} + } + System.out.println("Finished"); + + } + + public static void main(String[] args) { + runSimulation(); + } +} diff --git a/src/jat/examplesNOSA/simulation/Simulation.java b/src/jat/examplesNOSA/simulation/Simulation.java new file mode 100644 index 0000000..dcca975 --- /dev/null +++ b/src/jat/examplesNOSA/simulation/Simulation.java @@ -0,0 +1,227 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.examplesNOSA.simulation; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.matlabInterface.MatlabControl; +import jat.coreNOSA.simulation.SimModel; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.trajectory.RelativeTraj; +import jat.coreNOSA.util.FileUtil; + +/** + * This is a demo class for a generic simulation scenario. It creates the necessary + * objects, propagates the trajectories, and prints the trajectories into the 'Celestia' + * format for visualization. 'Celestia' can be obtained at: + * @link http://celestia.sourceforge.net + * + * @author Richard C. Page III + * + */ +public class Simulation { + + /** + * Simulation Model created as the worker object to run the simulation + */ + public SimModel sim; + + /** + * Simple constructor which instantiates the simulation model. + */ + public Simulation(){ + sim = new SimModel(); + } + + /** + * This method is an example of using a hardcoded ephemeris to intialize the + * simulation. Values for initial radius, velocity, and relevant spacecraft + * characteristics are added to the model. The SimModel class then does the + * work propagating the orbit. Finally, the output is written to a Celestia + * spacecraft (*.ssc) and trajectory file (*.xyz). + * + */ + public void runSimManual(){ + //* Initialize the simulation model + SimModel sim = new SimModel(); + //* Keep track of the runtime + double start = System.currentTimeMillis(); + //* Find the proper directory for input/output + String fs = FileUtil.file_separator(); + String dir = FileUtil.getClassFilePath("jat.sim", "SimModel"); + //* Name of the various spacecraft + String[] tests = {"demo"}; + //* force_flag = {2-Body, Sun, Moon, Harris Priester, Solar Radiation} + boolean[][] force_flag = + {{false,true,true,false,false}}; + //* Optional string which appends test numbers to the spacecraft + String[][] test_nums = {{""}}; + //* If plot_traj == true , then plot the output to Celestia + boolean plot_traj = true; + int i=0,j=0; + //* Initial radius [km] + VectorN r = new VectorN(-4453.783586,-5038.203756,-426.384456); + //* convert to SI units [m] + r = r.times(1000); + //* Initial velocity [km/s] + VectorN v = new VectorN(3.831888,-2.887221,-6.018232); + //* convert to SI units [m/s] + v = v.times(1000); + //* Simulation parameters t0: initial time [sec] tf: final time [sec] + double t0 = 0, tf = 86400; + //* Modified Julian Date (in UTC) at the initial time + double mjd_utc = 53157.5; //* June 1, 2004 12:00 UTC + //* Simulation stepsize [sec] + double stepsize = 60; + //* Output directory (for the textual output data) + String out = dir+"output"+fs+tests[i]+test_nums[j][i]+".txt"; + //* Coeff. of reflectivity, Drag Coeff., Cross-section [m*m], Mass [kg] + double cr=1.2, cd=2.2, area=20, mass=1000; + //* Add the spacecraft parameters to the spacecraft model + SpacecraftModel sm = new SpacecraftModel(r,v,cr,cd,area,mass); + //* Loop over the number of spacecraft and test-runs (here only one) + for(j=0; j<1; j++){ + for(i=0; i<1; i++){ + //* Initialize the simulation (input simulation parameters) + sim.initialize(sm,t0,tf,mjd_utc, stepsize, 1, out); + String test = tests[i]+test_nums[j][i]; + //* Add the force model to the simulation + sim.initializeForces(force_flag[j], false, test); + //* Here, add any other custom properties, controllers, or other models + //* Run the simulation loop + sim.runloop(); + } + } + //* Stop the runtime counter + double elapsed = (System.currentTimeMillis()-start)*0.001/60; + System.out.println("Elapsed time [min]: "+elapsed); + //* Format and output the Celestia files for visualization + if(plot_traj){ + jat.coreNOSA.util.Celestia celestia = new jat.coreNOSA.util.Celestia("C:/games/Celestia_Dev/my_celestia/"); + try{ + i--; + j--; + celestia.set_trajectory(sim.get_traj()); + //* append '_jat' to identify objects originating from JAT + String name = tests[i]+test_nums[j][i]+"_jat"; + celestia.write_trajectory(name,name,sim.mjd_utc_start+2400000.5); + System.out.println("Wrote " + name + " to Celestia"); + }catch(java.io.IOException ioe){} + } + System.out.println("Finished"); + + } + + /** + * This method shows how to use Matlab to initialize a simulation run by JAT + * @throws InterruptedException + */ + public void runSimMatlab() throws InterruptedException{ + MatlabControl input = new MatlabControl(); + input.eval("disp('runSimMatlab init')"); + SimModel sim = new SimModel(); + //double start = System.currentTimeMillis(); + //String fs = FileUtil.file_separator(); + //String dir = FileUtil.getClassFilePath("jat.sim", "SimModel"); + + //* force_flag = {2-Body, Sun, Moon, Harris Priester, Solar Radiation} + boolean[][] force_flag = + {{false,false,false,false,false}, //JGM3 0 + {true, true, false, false, false}, //Sun 1 + {true, false, true, false, false}, //Moon 2 + {true, false, false, true, false}, //HP 3 + {true, false, false, true, false}, //NRL 4 + {true, false, false, false, true}, //SRP 5 + {false, true, true, true, true}, //ALL HP 6 + {false, true, true, true, true}, //ALL NRL 7 + {true, false, false, false, false}}; //two body 8 + + + int force_case = 8; + boolean plot_traj = true; + String name = "Matlab"; + input.eval("disp('runSimMatlab initMatlab')"); + sim.initializeMatlab("initJAT_sc2","initJAT_integ", + "output"+"/"+name+".txt"); + input.eval("disp('runSimMatlab initMatlab finished')"); + boolean use_JGM2 = false; + String test = name; + sim.initializeForces(force_flag[force_case], use_JGM2, test); + input.eval("disp('runSimMatlab initMatlab finished')"); + sim.runloop(); + //double elapsed = (System.currentTimeMillis()-start)*0.001/60; + //System.out.println("Elapsed time [min]: "+elapsed); + VectorN K = new VectorN(0,0,1); + double[] X0 = sim.get_traj(1).get(0); + VectorN r = new VectorN(X0[1],X0[2],X0[3]); + r.times(1000); + r.print("position: "); + VectorN v = new VectorN(X0[4],X0[5],X0[6]); + v.times(1000); + v.print("velocity: "); + VectorN hv = r.crossProduct(v); + VectorN nv = K.crossProduct(hv); + double n = Math.sqrt(nv.mag()*nv.mag()); + double h2 = (hv.mag()*hv.mag()); + double v2 = v.mag()*v.mag(); + double rmag = r.mag(); + System.out.println("rmag: "+rmag); + //ev = 1/EarthRef.GM_Earth *( (v2-EarthRef.GM_Earth/r)*rv - (rv'*vv)*vv ); + VectorN ev = (r.times(v2-EarthRef.GM_Earth/rmag).minus(v.times(r.dotProduct(v)))).times(1.0/EarthRef.GM_Earth); + double p = h2/EarthRef.GM_Earth; + double e = ev.mag(); + double a = p/(1-e*e); + double period = 2*Math.PI*Math.sqrt(a*a*a/EarthRef.GM_Earth); + System.out.println("Period [hr]: "+period+" a: "+a+" e: "+e); + + if(plot_traj){ + jat.coreNOSA.util.Celestia celestia = new jat.coreNOSA.util.Celestia("C:/games/Celestia_dev/celestia/"); + try{ + for(int k=0; k + * public static void captureImage(CapturingCanvas3D MyCanvas3D) { + * MyCanvas3D.writeJPEG_ = true; + * MyCanvas3D.repaint(); + * } + * + * + * Peter Z. Kunszt + * Johns Hopkins University + * Dept of Physics and Astronomy + * Baltimore MD + * + * @author Marcel Portner & Bernhard Hari + * @version $Revision: 1 $ + */ + +package jat.jat3D; +import java.awt.GraphicsConfiguration; +import java.awt.image.BufferedImage; +import java.io.FileOutputStream; +import java.io.IOException; + +import javax.media.j3d.Canvas3D; +import javax.media.j3d.GraphicsContext3D; +import javax.media.j3d.ImageComponent; +import javax.media.j3d.ImageComponent2D; +import javax.media.j3d.Raster; +import javax.vecmath.Point3f; + +// TODO: change code to javax.imageio.ImageIO.write(image, format, stream) +// http://www.java.net/node/662849 + + +public class CapturingCanvas3D extends Canvas3D +{ + /** + * + */ + private static final long serialVersionUID = 4329234650673891337L; + //static String frames_path="frames/"; + public boolean writeJPEG_; + private int postSwapCount_; + String frames_path; + + /** + * Constructor that generate a Canvas3D. + * + * @param gc the GraphicsConfiguration + */ + public CapturingCanvas3D(GraphicsConfiguration gc, String frames_path) + { + super(gc); + this.frames_path = frames_path; + postSwapCount_ = 0; + writeJPEG_ = false; + } + + /** + * Override Canvas3D's postSwap method to save a JPEG of the canvas. + */ + public void postSwap() + { + if (writeJPEG_) + { + System.out.println("Writing JPEG "); + int dimX = this.getScreen3D().getSize().width; + int dimY = this.getScreen3D().getSize().height; + + // The raster components need all be set! + Raster ras = + new Raster( + new Point3f(-1.0f, -1.0f, -1.0f), + Raster.RASTER_COLOR, + 0, + 0, + dimX, + dimY, + new ImageComponent2D( + ImageComponent.FORMAT_RGB, + new BufferedImage(dimX, dimY, BufferedImage.TYPE_INT_RGB)), + null); + GraphicsContext3D ctx = getGraphicsContext3D(); + ctx.readRaster(ras); + + // Now strip out the image info + BufferedImage img = ras.getImage().getImage(); + + // write that to disk.... + try + { + FileOutputStream out = new FileOutputStream(frames_path + "Capture00" + postSwapCount_ + ".jpg"); + /* + * deprecated code, replace + JPEGImageEncoder encoder = JPEGCodec.createJPEGEncoder(out); + JPEGEncodeParam param = encoder.getDefaultJPEGEncodeParam(img); + param.setQuality(1.0f, false); // x% quality JPEG + encoder.setJPEGEncodeParam(param); + encoder.encode(img); + */ + writeJPEG_ = false; + out.close(); + } catch (IOException e) + { + System.out.println("I/O exception!Maybe path" + frames_path + "does not exist?"); + } + postSwapCount_++; + } + } + + public void takePicture() + { + System.out.println("Writing JPEG "+postSwapCount_); + int dimX = this.getScreen3D().getSize().width; + int dimY = this.getScreen3D().getSize().height; + + + // The raster components need all be set! + Raster ras = + new Raster( new Point3f(-1.0f, -1.0f, -1.0f), + Raster.RASTER_COLOR, + 0, + 0, + dimX, + dimY, + new ImageComponent2D( + ImageComponent.FORMAT_RGB, + new BufferedImage(dimX, dimY, BufferedImage.TYPE_INT_RGB)), + null); + GraphicsContext3D ctx = getGraphicsContext3D(); + ctx.readRaster(ras); + + // Now strip out the image info + BufferedImage img = ras.getImage().getImage(); +// BufferedImage img = new BufferedImage(800,600,1); + + + // write that to disk.... + try + { + String filename="Capture"; + if(postSwapCount_<10) filename="Capture00"; + if(postSwapCount_>=10&&postSwapCount_<100) filename="Capture0"; + FileOutputStream out = new FileOutputStream(frames_path + filename + postSwapCount_ + ".jpg"); +/* + * * deprecated code, replace + + + JPEGImageEncoder encoder = JPEGCodec.createJPEGEncoder(out); + JPEGEncodeParam param = encoder.getDefaultJPEGEncodeParam(img); + param.setQuality(1.0f, false); // x% quality JPEG + encoder.setJPEGEncodeParam(param); + encoder.encode(img); +*/ out.close(); + } catch (IOException e) + { + System.out.println("I/O exception!Maybe path" + frames_path + "does not exist?"); + } + + postSwapCount_++; + } + +} diff --git a/src/jat/jat3D/ColorCube3D.java b/src/jat/jat3D/ColorCube3D.java new file mode 100644 index 0000000..bb17231 --- /dev/null +++ b/src/jat/jat3D/ColorCube3D.java @@ -0,0 +1,53 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import javax.vecmath.Color3f; + +import com.sun.j3d.utils.geometry.ColorCube; + + +/** + * @author Tobias Berthold + * Generic color cube + * + */ +public class ColorCube3D extends Body3D +{ + /** + * Constructor. + * @param size size + */ + public ColorCube3D(float size) + { +// this.size=size; + addChild(new ColorCube(size)); + } + + public ColorCube3D(double size) + { +// this.size=size; + addChild(new ColorCube(size)); + } + + public ColorCube3D(float size, Color3f color, float x, float y, float z) + { + addChild(new ColorCube(size)); + set_position(x, y, z); + } +} diff --git a/src/jat/jat3D/Colors.java b/src/jat/jat3D/Colors.java new file mode 100644 index 0000000..9583db4 --- /dev/null +++ b/src/jat/jat3D/Colors.java @@ -0,0 +1,48 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D; + +import javax.vecmath.Color3f; + +/** + * @author Tobias Berthold + * + */ +public class Colors +{ + public final static Color3f red = new Color3f(1.0f, 0.0f, 0.0f); + public final static Color3f green = new Color3f(0.f, 1.0f, 0.0f); + public final static Color3f blue = new Color3f(0.0f, 0.0f, 1.0f); + public final static Color3f white = new Color3f(1.0f, 1.0f, 1.0f); + public final static Color3f pink = new Color3f(0.9f, 0.1f, 0.5f); + public final static Color3f gold = new Color3f(0.7f, 0.5f, 0.0f); + public final static Color3f yellow = new Color3f(1.0f, 1.0f, 0.0f); + public final static Color3f orange = new Color3f(1.0f, 0.5f, 0.0f); + public final static Color3f gray = new Color3f(0.3f, 0.3f, 0.3f); + public final static Color3f darkgray = new Color3f(0.1f, 0.1f, 0.1f); + public final static Color3f black = new Color3f(0.0f, 0.0f, 0.0f); + public final static Color3f turquoise = new Color3f(0.4f, 1.0f, 1.0f); + + public Colors() + { + } +} \ No newline at end of file diff --git a/src/jat/jat3D/CoordTransform3D.java b/src/jat/jat3D/CoordTransform3D.java new file mode 100644 index 0000000..f5b00bf --- /dev/null +++ b/src/jat/jat3D/CoordTransform3D.java @@ -0,0 +1,60 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.math.MathUtilsAPL; + +import javax.vecmath.Vector3f; + +public class CoordTransform3D { + + //Test: (1.5,1.5,1) -> r=2.345207879911715, theta=1.1302856637901981, phi=0.7853981633974483 + + public static Vector3f Cartesian_to_Spherical(Vector3f coord) { + // r, theta, phi + if (coord.x == 0) + + coord.x = MathUtilsAPL.MACHEPS; + Vector3f out = new Vector3f(); + + out.x = (float) Math.sqrt((coord.x * coord.x) + (coord.y * coord.y) + (coord.z * coord.z)); + out.y = (float) Math.acos(coord.z / out.x); + out.z = (float) Math.atan2((double)coord.y , (double)coord.x); + + return out; + } + + //Test: (1.5,1.5,1) -> r=2.345207879911715, theta=1.1302856637901981, phi=0.7853981633974483 + + public static Vector3f Spherical_to_Cartesian(Vector3f coord) { + Vector3f out = new Vector3f(); + double r = coord.x; + double theta = coord.y; + double phi = coord.z; + out.x = (float) (r * Math.sin(theta) * Math.cos(phi)); + out.y = (float) (r * Math.sin(theta) * Math.sin(phi)); + out.z = (float) (r * Math.cos(theta)); + return out; + } + + + + +} diff --git a/src/jat/jat3D/Copernicus_Trajectory.java b/src/jat/jat3D/Copernicus_Trajectory.java new file mode 100644 index 0000000..7983734 --- /dev/null +++ b/src/jat/jat3D/Copernicus_Trajectory.java @@ -0,0 +1,223 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D; + +import jat.core.util.EasyReader; + +import javax.media.j3d.GeometryArray; +import javax.media.j3d.LineStripArray; +import javax.media.j3d.Shape3D; + +/** + * Create Java3D trajectory from COPERNICUS data file + * + * @author Tobias Berthold + */ +public class Copernicus_Trajectory extends Shape3D +{ + int num = 0; // number of records in file + public double[] coords; + public double[] t_read, x_read, y_read, z_read; // values from file + public double[] ux_read, uy_read, uz_read; // values from file + public double[] t, x, y, z; // original or interpolated values + public double[] ux, uy, uz; // original or interpolated values + double tmp; + + public Copernicus_Trajectory(double[] coords) + { + this.coords = coords; + } + + /** + * Create interpolated Java3D trajectory from COPERNICUS data file + * + * @param filename + * @param steps + */ + public Copernicus_Trajectory(String filename, int steps) + { + int i; + + get_data_from_file(filename); // read data into arrays t_read, etc. + + //int steps=10; + double delta_time = (t_read[num - 1] - t_read[0]) / steps; + jat.coreNOSA.math.Interpolator in_x = new jat.coreNOSA.math.Interpolator(t_read, x_read); + jat.coreNOSA.math.Interpolator in_y = new jat.coreNOSA.math.Interpolator(t_read, y_read); + jat.coreNOSA.math.Interpolator in_z = new jat.coreNOSA.math.Interpolator(t_read, z_read); + jat.coreNOSA.math.Interpolator in_ux = new jat.coreNOSA.math.Interpolator(t_read, ux_read); + jat.coreNOSA.math.Interpolator in_uy = new jat.coreNOSA.math.Interpolator(t_read, uy_read); + jat.coreNOSA.math.Interpolator in_uz = new jat.coreNOSA.math.Interpolator(t_read, uz_read); + // Create new arrays for interpolated values + t = new double[steps + 1]; + x = new double[steps + 1]; + y = new double[steps + 1]; + z = new double[steps + 1]; + ux = new double[steps + 1]; + uy = new double[steps + 1]; + uz = new double[steps + 1]; + + for (i = 0; i < steps + 1; i++) + { + t[i] = t_read[0] + i * delta_time; + x[i] = in_x.get_value(t[i]); + y[i] = in_y.get_value(t[i]); + z[i] = in_z.get_value(t[i]); + ux[i] = in_ux.get_value(t[i]); + uy[i] = in_uy.get_value(t[i]); + uz[i] = in_uz.get_value(t[i]); + //System.out.println(t[i]+" "+x[i]); + } + + // Copy data into coords array + coords = new double[steps * 3]; + for (i = 0; i < steps; i++) + { + coords[i * 3 + 0] = x[i]; + coords[i * 3 + 1] = y[i]; + coords[i * 3 + 2] = z[i]; + } + + create_trajectory_lines(); + + } + + /** + * Create Java3D trajectory from COPERNICUS data file + * + * @param filename + */ + public Copernicus_Trajectory(String filename) + { + + get_data_from_file(filename); // read data into arrays t_read, etc. + + // Copy data into coords array + //coords=new double[num*3]; + + //draw_trajectory(); + } + + public Copernicus_Trajectory() + { + //draw_trajectory(); + } + + public void get_data_from_file(String filename) + { + EasyReader inFile = new EasyReader(filename); + if (inFile.bad()) + { + System.err.println("Can't open " + filename); + System.exit(1); + } + + // find out how many numbers in file + while (!inFile.eof()) + { + inFile.readLine(); + //System.out.println(inFile.readLine()); + num++; + } + inFile.close(); + num -= 3; + System.out.println("lines " + num); + + // read the data from file + inFile = new EasyReader(filename); + t_read = new double[num]; + x_read = new double[num]; + y_read = new double[num]; + z_read = new double[num]; + ux_read = new double[num]; + uy_read = new double[num]; + uz_read = new double[num]; + + int i, line = 0; + inFile.readLine(); // read over first line + + for (i = 0; i < num; i++) + { + t_read[i] = inFile.readFORTRANDouble(); // Julian date + tmp = inFile.readFORTRANDouble(); // sim_time + tmp = inFile.readFORTRANDouble(); // seg_time + x_read[i] = inFile.readFORTRANDouble(); // x(km) + y_read[i] = inFile.readFORTRANDouble(); // y(km) + z_read[i] = inFile.readFORTRANDouble(); // z(km) + tmp = inFile.readFORTRANDouble(); // xd(km/s) + tmp = inFile.readFORTRANDouble(); // yd(km/s) + tmp = inFile.readFORTRANDouble(); // zd(km/s) + tmp = inFile.readFORTRANDouble(); // mass(kg) + ux_read[i] = inFile.readFORTRANDouble(); // t/m ux + uy_read[i] = inFile.readFORTRANDouble(); // t/m uy + uz_read[i] = inFile.readFORTRANDouble(); // t/m uz + tmp = inFile.readFORTRANDouble(); // lx + tmp = inFile.readFORTRANDouble(); // ly + tmp = inFile.readFORTRANDouble(); // lz + tmp = inFile.readFORTRANDouble(); // lxd + tmp = inFile.readFORTRANDouble(); // lyd + tmp = inFile.readFORTRANDouble(); // lzd + tmp = inFile.readFORTRANDouble(); // lm + tmp = inFile.readFORTRANDouble(); // lvmag + tmp = inFile.readFORTRANDouble(); // lvdmag + tmp = inFile.readFORTRANDouble(); // lrvlvd + tmp = inFile.readFORTRANDouble(); // alpha(deg) + tmp = inFile.readFORTRANDouble(); // beta(deg) + tmp = inFile.readFORTRANDouble(); // u_dot_mag(deg/day) + tmp = inFile.readFORTRANDouble(); // Hamiltonian + tmp = inFile.readFORTRANDouble(); // switch_func + tmp = inFile.readFORTRANDouble(); // thrust(N) + tmp = inFile.readFORTRANDouble(); // Isp(s) + tmp = inFile.readFORTRANDouble(); // c_exhaust(km/s) + tmp = inFile.readFORTRANDouble(); // power(watts) + //System.out.println(""+coords[line+2]); + inFile.readLine(); + line += 3; + } + inFile.close(); + } + + private void create_trajectory_lines() + { + + int num_vert = coords.length / 3; + //int[] stripLengths = { 200}; + int[] stripLengths = { num_vert }; + + LineStripArray myLines = new LineStripArray(num_vert, GeometryArray.COORDINATES, stripLengths); + myLines.setCoordinates(0, coords); + + this.setGeometry(myLines); + } + + private void create_test_lines() + { + double[] coords = { 0., 0., 0., 100000., 0., 0., 1000., 1000., 0., 1000., 1000., 1000. }; + + int[] stripLengths = { 4 }; + + LineStripArray myLines = new LineStripArray(4, GeometryArray.COORDINATES, stripLengths); + myLines.setCoordinates(0, coords); + + this.setGeometry(myLines); + } +} diff --git a/src/jat/jat3D/Cylinder3D.java b/src/jat/jat3D/Cylinder3D.java new file mode 100644 index 0000000..394935e --- /dev/null +++ b/src/jat/jat3D/Cylinder3D.java @@ -0,0 +1,97 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D; + +import javax.media.j3d.Appearance; +import javax.media.j3d.Material; +import javax.media.j3d.TransparencyAttributes; +import javax.vecmath.Color3f; + +import com.sun.j3d.utils.geometry.Cylinder; +import com.sun.j3d.utils.geometry.Sphere; + +/** + * @author Tobias Berthold + */ +public class Cylinder3D extends Body3D +{ + public static float size_factor = 1.0f; + float radius, height; + static Color3f EmissiveColor = Colors.darkgray; + + public Cylinder3D(float radius, float height, Color3f DiffuseColor) + { + this.radius = radius; + this.height = height; + addChild(new Cylinder(radius, height, createMatAppear(DiffuseColor, Colors.white, EmissiveColor,10.0f))); + } + + public Cylinder3D(float radius, Color3f DiffuseColor, Color3f EmissiveColor) + { + this.radius = radius; + addChild(new Sphere(radius, Sphere.GENERATE_NORMALS, 60, createMatAppear(DiffuseColor, Colors.white, EmissiveColor,10.0f))); + } + + public Cylinder3D(float radius, Color3f DiffuseColor, Color3f EmissiveColor, double x, double y, double z) + { + this.radius = radius; + addChild(new Sphere(radius, Sphere.GENERATE_NORMALS, 60, createMatAppear(DiffuseColor, Colors.white, EmissiveColor,10.0f))); + set_position(x, y, z); + } + + public Cylinder3D(float radius, Color3f DiffuseColor, float x, float y, float z) + { + this.radius = radius; + addChild(new Sphere(radius, Sphere.GENERATE_NORMALS, 60, createMatAppear(DiffuseColor, Colors.white, EmissiveColor,10.0f))); + set_position(x, y, z); + } + + public Cylinder3D(float radius, Color3f DiffuseColor, double x, double y, double z) + { + this.radius = radius; + addChild(new Sphere(radius, Sphere.GENERATE_NORMALS, 60, createMatAppear(DiffuseColor, Colors.white, EmissiveColor,10.0f))); + set_position(x, y, z); + } + + protected static Appearance createMatAppear( + Color3f DiffuseColor, + Color3f SpecularColor, + Color3f EmissiveColor, + float shine) + { + Appearance appear = new Appearance(); + Material material = new Material(); + material.setDiffuseColor(DiffuseColor); + material.setSpecularColor(SpecularColor); + material.setShininess(shine); + material.setEmissiveColor(EmissiveColor); + appear.setMaterial(material); + + //For Transparency + TransparencyAttributes ta = new TransparencyAttributes(); + ta.setTransparency(0.5f); + ta.setTransparencyMode(TransparencyAttributes.BLENDED); + appear.setTransparencyAttributes(ta); + + return appear; + } +} diff --git a/src/jat/jat3D/Ephemeris3D.java b/src/jat/jat3D/Ephemeris3D.java new file mode 100644 index 0000000..cd484cd --- /dev/null +++ b/src/jat/jat3D/Ephemeris3D.java @@ -0,0 +1,116 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Plus; +import jat.core.spacetime.TimeAPL; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import java.io.IOException; +import java.util.ArrayList; + +import javax.media.j3d.GeometryArray; +import javax.media.j3d.LineStripArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3f; + +/** + * @author Tobias Berthold + * + */ +public class Ephemeris3D extends Body3D { + float size; + DE405Plus myEph; + body body; + double jd; + int steps = 100; + int days; + Color3f Color = Colors.gray; + Shape3D s; + TimeAPL startTime; + + public Ephemeris3D(DE405Plus myEph, body body, TimeAPL startTime, + double days) { + this.myEph = myEph; + this.body = body; + this.startTime = startTime; + this.days = (int) days; + + draw(); + } + + private void draw() { + ArrayList coordinates = new ArrayList(); + VectorN r; + TimeAPL time = new TimeAPL(startTime.mjd_utc()); + boolean allDataLoaded = true; + double step = days * 86400 / steps; + for (int k = 0; k < steps; k++) { + + time.step_seconds(step); + // time.println(); + try { + r = new VectorN(myEph.get_planet_pos(body, time)); + double x, y, z; + x = r.get(0); + y = r.get(1); + z = r.get(2); + + coordinates.add(x); + coordinates.add(y); + coordinates.add(z); + + } catch (IOException e) { + allDataLoaded = false; + break;// e.printStackTrace(); + } + } + + // Create coords array + double[] coords; + if (allDataLoaded) + coords = new double[coordinates.size() + 3]; + else + coords = new double[coordinates.size()]; + + for (int i = 0; i < coordinates.size(); i++) + coords[i] = coordinates.get(i); + + int numberOfVertices = coords.length / 3; + if (allDataLoaded) { + // Close the loop + coords[steps * 3 + 0] = coords[0]; + coords[steps * 3 + 1] = coords[1]; + coords[steps * 3 + 2] = coords[2]; + } + int[] stripLengths = { numberOfVertices }; + + LineStripArray myLines = new LineStripArray(numberOfVertices, + GeometryArray.COORDINATES | GeometryArray.COLOR_3, stripLengths); + Color3f colors[] = new Color3f[numberOfVertices]; + for (int i = 0; i < numberOfVertices; i++) + colors[i] = Color; + myLines.setColors(0, colors); + myLines.setCoordinates(0, coords); + s = new Shape3D(); + s.setGeometry(myLines); + addChild(s); + + } +} diff --git a/src/jat/jat3D/FreeHEP/AbstractPlotBuilder.java b/src/jat/jat3D/FreeHEP/AbstractPlotBuilder.java new file mode 100644 index 0000000..81f9e95 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/AbstractPlotBuilder.java @@ -0,0 +1,79 @@ +package jat.jat3D.FreeHEP; + +import javax.media.j3d.IndexedLineArray; +import javax.media.j3d.Node; +import javax.media.j3d.Shape3D; +import javax.vecmath.Point3d; + +/** + * This is a base class for all PlotBuilders. + * + * Note that all of its build* methods return BranchGraphs which can be added to + * a 3D display. + * + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: AbstractPlotBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public abstract class AbstractPlotBuilder { + public float lo = -.5f, hi = .5f; + + public Node buildOutsideBox() { + // Allocate line array for wire-frame cube - 8 vertices, 24 coordinates + // (i.e. size of array) + IndexedLineArray xCube = new IndexedLineArray(8, IndexedLineArray.COORDINATES, 24); + + // Set coordinates for the cube // + xCube.setCoordinate(0, new Point3d(lo, hi, lo)); + xCube.setCoordinate(1, new Point3d(hi, hi, lo)); + xCube.setCoordinate(2, new Point3d(hi, lo, lo)); + xCube.setCoordinate(3, new Point3d(lo, lo, lo)); + xCube.setCoordinate(4, new Point3d(lo, hi, hi)); + xCube.setCoordinate(5, new Point3d(hi, hi, hi)); + xCube.setCoordinate(6, new Point3d(hi, lo, hi)); + xCube.setCoordinate(7, new Point3d(lo, lo, hi)); + + // Construct the vertical // + xCube.setCoordinateIndex(0, 0); + xCube.setCoordinateIndex(1, 1); + xCube.setCoordinateIndex(2, 3); + xCube.setCoordinateIndex(3, 2); + xCube.setCoordinateIndex(4, 4); + xCube.setCoordinateIndex(5, 5); + xCube.setCoordinateIndex(6, 7); + xCube.setCoordinateIndex(7, 6); + + // Construct the lower side // + xCube.setCoordinateIndex(8, 0); + xCube.setCoordinateIndex(9, 4); + xCube.setCoordinateIndex(10, 4); + xCube.setCoordinateIndex(11, 7); + xCube.setCoordinateIndex(12, 7); + xCube.setCoordinateIndex(13, 3); + xCube.setCoordinateIndex(14, 3); + xCube.setCoordinateIndex(15, 0); + + // Construct the upper side // + xCube.setCoordinateIndex(16, 1); + xCube.setCoordinateIndex(17, 5); + xCube.setCoordinateIndex(18, 5); + xCube.setCoordinateIndex(19, 6); + xCube.setCoordinateIndex(20, 6); + xCube.setCoordinateIndex(21, 2); + xCube.setCoordinateIndex(22, 2); + xCube.setCoordinateIndex(23, 1); + + return new Shape3D(xCube); + } + + /** + * @param label + * @param location + * @param tickLocation + * Value from 0-1 for each tick location + * @param tickLabels + * Label for each tick mark + */ + public Node buildAxis(int location, String label, double[] tickLocation, String[] tickLabels) { + return null; + } +} diff --git a/src/jat/jat3D/FreeHEP/AxisBuilder.java b/src/jat/jat3D/FreeHEP/AxisBuilder.java new file mode 100644 index 0000000..1ed53c9 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/AxisBuilder.java @@ -0,0 +1,234 @@ +package jat.jat3D.FreeHEP; +import java.awt.Font; + +import javax.media.j3d.Billboard; +import javax.media.j3d.BoundingSphere; +import javax.media.j3d.BranchGroup; +import javax.media.j3d.Font3D; +import javax.media.j3d.LineArray; +import javax.media.j3d.Node; +import javax.media.j3d.Shape3D; +import javax.media.j3d.Text3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Color3f; +import javax.vecmath.Point3d; +import javax.vecmath.Point3f; + +public class AxisBuilder +{ + public float lo=-.5f,hi=.5f; // coordinates of the box + //public float lo=-5f,hi=5f; // coordinates of the box + + private String labelText; + private Font3D labelFont = defaultLabelFont; + private double[] tickLocations; + private String[] tickLabels; + private Font3D tickFont = defaultTickFont; + + private TransformGroup mainGroup; + private Text3D label; + private Shape3D axis; + private BranchGroup ticks; + + protected static float scale = 256f; // See comment on apply + protected static float major = 0.02f*scale; + protected static float minor = 0.01f*scale; + protected static float tickOffSet = 0.06f*scale; + protected static float labelOffSet = 0.12f*scale; + + private static final Font3D defaultLabelFont = new Font3D(new Font("DIALOG",Font.BOLD,16),null); + private static final Font3D defaultTickFont = new Font3D(new Font("DIALOG",Font.PLAIN,12),null); + + private static Color3f white = new Color3f(1,1,1); + + /** + * Constructs an axis + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: AxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ + AxisBuilder() + { + // build all the major components of the Axis, keeping the important + // parts in member variables so we can modify them later. + + label = new Text3D(); // The Axis label + label.setAlignment(label.ALIGN_CENTER); + Point3f pos = new Point3f(scale/2,-labelOffSet,0); + label.setPosition(pos); + label.setCapability(label.ALLOW_FONT3D_WRITE); + label.setCapability(label.ALLOW_STRING_WRITE); + + axis = new Shape3D(); // The axis and tick marks. + axis.setCapability(axis.ALLOW_GEOMETRY_WRITE); + + // We can create the tick labels yet, since we don't know how many there + // will be, but we can make a group to hold them. + + ticks = new BranchGroup(); + ticks.setCapability(ticks.ALLOW_CHILDREN_READ); + ticks.setCapability(ticks.ALLOW_CHILDREN_WRITE); + ticks.setCapability(ticks.ALLOW_DETACH); + + // Group the components together + + mainGroup = new TransformGroup(); + mainGroup.setCapability(ticks.ALLOW_CHILDREN_WRITE); + mainGroup.setCapability(ticks.ALLOW_CHILDREN_EXTEND); + mainGroup.addChild(new Shape3D(label)); + mainGroup.addChild(axis); + mainGroup.addChild(ticks); + + // Set up a BulletinBoard behaviour to keep the axis oriented + // towards the user. + + mainGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + mainGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + Billboard bboard = new Billboard( mainGroup ); + mainGroup.addChild( bboard ); + bboard.setSchedulingBounds( new BoundingSphere(new Point3d(0,0,0),10)); + bboard.setAlignmentAxis( 1.0f, 0.0f, 0.0f); + } + public String getLabel() + { + return labelText; + } + public void setLabel(String label) + { + labelText = label; + } + public Font3D getLabelFont() + { + return labelFont; + } + public void setLabelFont(Font3D font) + { + labelFont = font; + } + public Font3D getTickFont() + { + return tickFont; + } + public void setTickFont(Font3D font) + { + tickFont = font; + } + + /** + * Tick labels and locations (positions) can be set + * by the caller or calculated and set by the + * createLabelsNTicks method as a convenience. + */ + public double[] getTickLocations() + { + return tickLocations; + } + public void setTickLocations(double[] ticks) + { + tickLocations = ticks; + } + public String[] getTickLabels() + { + return tickLabels; + } + public void setTickLabels(String[] labels) + { + tickLabels = labels; + } + + /** + * Call the createLabelsNTicks method if you would like the + * axisbuilder to create axis labels and tick positions for you. + */ + public void createLabelsNTicks(double min, double max) + { + AxisLabelCalculator axisCalc = new AxisLabelCalculator(); + axisCalc.createNewLabels(min, max); + // System.out.println("in createLabelsNTicks: min = " + min + ", max = " + max); + // axisCalc.printLabels(); + tickLabels = axisCalc.getLabels(); + tickLocations = axisCalc.getPositions(); + } + + /** + * Call this method after setting the required axis properties, to actually + * setup/modify the axis appearance. + */ + public void apply() + { + /* + * Build an axis on the X axis from 0 to 256. Note the reason for the + * 256 is to compensate for the giant size of the Text3D characters. + * The axis is built in the XY plane. + * We will use suitable translation and rotation to position it later. + * + * Note we currently use Text3D to draw the labels. This is because Text3D + * seems somewhat easier to use. A better solution would + * probably involve using Text2D, but the com.sun.j3d.utils.geometry.Text2D + * class seems pretty brain dead. A better solution may be to get the source + * for the Text2D class and rewrite it for our own purposes. + */ + + int tMajor = (tickLocations.length-1)/(tickLabels.length-1); + + LineArray lines = new LineArray(2*tickLocations.length+2, LineArray.COORDINATES); + int coordIdx = 0; // coordinate index into Axis linearray + + // Actual axis + lines.setCoordinate(coordIdx++, new Point3d(0, 0, 0)); + lines.setCoordinate(coordIdx++, new Point3d(scale, 0, 0)); + + // Remove the old tick labels. Note a more efficient implementation + // we would keep as many as of the old labels as possible, adding/removing + // new tick marks only as the number of tick marks change, and changing the + // text only as necessary. For now we just do the easiest thing. + // TODO: More efficient implementation. + + // while (ticks.numChildren() > 0) + // ticks.removeChild(0); + + ticks.detach(); + ticks = new BranchGroup(); + ticks.setCapability(ticks.ALLOW_CHILDREN_READ); + ticks.setCapability(ticks.ALLOW_CHILDREN_WRITE); + ticks.setCapability(ticks.ALLOW_DETACH); + + // Rendering Ticks on Axis + + for(int i = 0; i < tickLocations.length; i++) + { + float x = (float) tickLocations[i]*scale; + if (i % tMajor == 0) // Major tick mark? + { + lines.setCoordinate(coordIdx++, new Point3d(x, 0, 0)); + lines.setCoordinate(coordIdx++, new Point3d(x, -major, 0)); + + // Add the tick label + + int nt = i/tMajor; + Point3f pos = new Point3f(x,-tickOffSet,0); + Text3D tickLabel = new Text3D(tickFont,tickLabels[nt],pos); + tickLabel.setAlignment(tickLabel.ALIGN_CENTER); + ticks.addChild(new Shape3D(tickLabel)); + } + else // Minor tick mark + { + lines.setCoordinate(coordIdx++, new Point3d(x, 0, 0)); + lines.setCoordinate(coordIdx++, new Point3d(x, -minor, 0)); + } + } + // TODO: It would be more efficient to only update the label if something has changed. + mainGroup.addChild(ticks); + label.setFont3D(labelFont); + label.setString(labelText); + axis.setGeometry(lines); + } + /** + * Returns the node representing this Axis + * Subclasses can override this method to transform this axis + * to make it into an X,Y,Z axis. + */ + public Node getNode() + { + return mainGroup; + } +} diff --git a/src/jat/jat3D/FreeHEP/AxisLabelCalculator.java b/src/jat/jat3D/FreeHEP/AxisLabelCalculator.java new file mode 100644 index 0000000..909c9be --- /dev/null +++ b/src/jat/jat3D/FreeHEP/AxisLabelCalculator.java @@ -0,0 +1,392 @@ +package jat.jat3D.FreeHEP; + +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: AxisLabelCalculator.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class AxisLabelCalculator +{ + + /* VARIABLES */ + private double data_min = 0d, data_max = 1d; // actual min/max for the data set + private double plot_min = 0d, plot_max = 1d; // min/max on the axis itself + private AxisLabel[] labels; + private int nDivisions = 0; + private boolean labelsValid; + + public void createNewLabels(double min, double max) + { + data_min = min; + data_max = max; + int minNumberOfDivisions = 1; + int maxNumberOfDivisions = 10; + double log10 = Math.log(10.0); + int maxCharsPerLabel = 5; + labelsValid = true; + + // log_max is the logarithm of the max value of the data + double log_max = data_max == 0d ? 0d : Math.log(Math.abs(data_max)) / log10; + + // int_log_max is the floored integer equivalent of log_max + final int int_log_max = (int) Math.floor(log_max); + + // by default, scale_power is 0 + // This number represents the amount by which we scale all labels. For example, + // if our range is from 2,000,000,000 to 5,000,000,000 we want scale_power to be + // 9 so that we get 2.0, 2.5, 3.0, ... or something like that on the labels. + int scale_power = 0; + if (int_log_max >= maxCharsPerLabel) + // we have an order of magnitude that can't be displayed in standard form, so we need to set + // a value for scale_power + scale_power = int_log_max; + else if (int_log_max <= -maxCharsPerLabel) + // we have an order of magnitude that can't be displayed in standard form, so we need to set + // a value for scale_power + scale_power = int_log_max; + + // System.out.println(); + // System.out.println("int_log_max = " + int_log_max + ", maxCharsPerLabel = " + maxCharsPerLabel + ", scale_power = " + scale_power); + + final DoubleNumberFormatter format = new DoubleNumberFormatter(scale_power); + // the formatter uses scale_power when creating labels + + /* + * Our strategy here is based on the observation that plotting the range + * 0.2 to 40 is very similar to the task of plotting the ranges 2 to 400, + * or 0.02 to 4. We scale the min and max by an order of ten such that when + * converted to integers (by a process not quite like trucation) the difference + * between those two integers is a number greater than or equal to 10 and less + * than (but not equal to) 100. In other words, there will be a difference of + * exactly two digits, which is a sensible precision to see in variation between + * axis labels. For example, the ranges listed above would all yield the integer + * pair 1 to 40 (because the difference between those integers has two digits). + * Given a pair of integers, the function proceeds to calculate appropriate labels. + * If we are using the suggested range, we just round the min down to the next nice + * label and we round the max up to the next nice label (unless the max and min are + * already on nice labels). + */ + + final double difference = data_max - data_min; + final double pow = Math.floor(Math.log(difference) / log10) - 1.0; + // pow is the power of 10 used to get integers of the appropriate range + + int fractDigits = 0; + if (scale_power > 0) + fractDigits = scale_power - (int) pow; + else if (pow < -0.5) + // we use -0.5 instead of 0.0 in case a Math.floor() returns something that should be 0.0 + // but is really just barely under 0.0 + fractDigits = scale_power - (int) pow; + + final double conversion = Math.pow(10.0, pow); + // this is the actual conversion factor we used, stored once to keep from + // having to recalculate it + + int intMin = round(data_min / conversion, false); + int intMax = round(data_max / conversion, true); + // we now have intMin and intMax: the integer pair with a two-digit difference + + plot_min = data_min; + plot_max = data_max; + + final int naturalNumberOfDivisions = intMax - intMin; + // this number has precisely two digits + + int nDivisions = 0; + + final float idealMinFraction = 0.5f; + // we will allow as few as this fraction of the maximum number of labels if it is convenient + + int nUnits = 1; + // this number can represent two things: + // a) if naturalNumberOfDivisions < maxNumberOfDivisions + // it represents the number of divisions (units) between the natural divisions + // b) if naturalNumberOfDivisions > maxNumberOfDivisions + // it represents the number of units between divisions (the number to skip between divisions) + // 1 is the default value, but we will see if a different value might be better + + if (naturalNumberOfDivisions < maxNumberOfDivisions) + // we might like to put in some new divisions + { + final float proximity = (float) naturalNumberOfDivisions / (float) maxNumberOfDivisions; + // this number measures how close the natural number is to the maximum + + boolean niceDivisionFound = false; + if (proximity < idealMinFraction) + // we want to do something because the number we have is below the range we want + { + final int[] divisions = {2, 4, 5, 10, 20}; + // These are the numbers of subdivisions we might want to place between natural divisions. + // The array only goes up to 20 because we would need a plot with at least 200 labels before + // needing to go any higher. + for (int i = 0; i < divisions.length; i++) + { + final int candidate = divisions[i]; + if (proximity * candidate <= 1.0) + // this might work, because the number is small enough that we could fit + // this many divisions on the axis + { + niceDivisionFound = true; + nUnits = candidate; + + // the next iteration might be even better, so we... + continue; + } + + // if we didn't execute continue, it was because we can't fit this many + // divisions on the axis, and so there's no point in trying the next + // iteration either because it's even bigger, so we break out of the loop + break; + } + } + if (niceDivisionFound) + { + nDivisions = naturalNumberOfDivisions * nUnits + (int) ((plot_max / conversion - intMax) * nUnits); + /* + * The first term in the expression isn't tough: If nUnits is 2 then we need twice as many + * divisions on the axis. The second term isn't so obvious. Suppose our axis goes from 0 + * to 12.7 and we decide to set nUnits to 2. We therefore get labels 0.0, 0.5, 1.0, ... , 12.0 + * but we won't get 12.5 on there. There will instead be empty space where the 12.5 should go. + * The last term accounts for this, by taking the difference between the top label and the + * axis max (in this case 12.7 - 12.0 = 0.7), multiplying bn nUnits (to get 1.4 in this case) + * and truncating (to get 1 in this case). The result (1 in this case) is the number of labels + * extra we need. + */ + + if (pow < 0.5 || scale_power > 0) + // we use 0.5 instead of 1.0 in case a Math.floor() returns something + // that should be 1.0 but is really just barely under 1.0 + fractDigits++; + // we've gone down to one lover decimal level so we have to tell the formatter + + if ((nUnits == 4 || nUnits == 20) && (pow < 1.5 || scale_power > 0)) // we've actually gone down two decimal levels, so... + // we use 1.5 instead of 2.0 in case a Math.floor() returns something + // that should be 2.0 but is really just barely under 2.0 + fractDigits++; // we add another + } + else + // we give up and keep the natural number, even though it's smaller that what we'd like + { + nDivisions = Math.max(naturalNumberOfDivisions, minNumberOfDivisions); + } + } + else if (naturalNumberOfDivisions > maxNumberOfDivisions) + // the natural number is larger than what we'd like, so we have to skip over some + // (typically this is the more common problem) + { + nDivisions = 1; + // we supply this initialization to make the compiler happy, but in the algorithm + // requires that this initial value change + + final int[] skips = {2, 5, 10, 20, 25, 50}; + // These are the numbers of natural divisions we're going to try skipping. + + for (int i = 0; i < skips.length; i++) + { + final int nDivisionsThisTry = naturalNumberOfDivisions / skips[i]; + if (nDivisionsThisTry > maxNumberOfDivisions) + { + // this many skips isn't big enough, so we'll try the next one + continue; + } + + // we now assign to nUnits the number of natural divisions to skip over + nUnits = skips[i]; + nDivisions = nDivisionsThisTry; + + if (nUnits >= 10 && nUnits != 25 && fractDigits > 0) + // we're skipping at least an order of 10, and we're not in quarters, so... + fractDigits--; // we can get rid of one fraction digit + + /* + * We may calculate a new value for the intMin. Consider, for example, + * the range 3 to 17. If we decide that our skip will be 2, we will get + * labels like 3, 5, 7, 9, etc. This will look dumb because we would much rather + * have the first label a nice multiple of our skip (i.e., we would rather + * have 2, 4, 6, 8, etc., or for multiples of 5 we would rather have 20, + * 25, 30, 35, etc. over 18, 23, 28, 33, etc.) Therefore, if the intMin is not + * a nice multiple of that skip then we increase the intMin, and we may have + * to decrement nDivisions because of a lost label. + */ + if (intMin % nUnits != 0) + // only true if we are not using the suggested range + { + // increase is the amount we will increase intMin by to make it a nice multiple of nUnits + final int increase = intMin > 0 ? nUnits - intMin % nUnits : -intMin % nUnits; + + if (increase > intMax - (intMax - intMin) / nUnits * nUnits - intMin) + // we have put the last label over the limit, so... + nDivisions--; // we drop the last label + + intMin += increase; + } + + // We are happy with what we've got because it gives us an acceptable + // number of divisions. We don't want to go any higher because that + // will just make for fewer divisions, so we... + break; + } + } + else // hey! they're exactly equal + nDivisions = Math.max(naturalNumberOfDivisions, minNumberOfDivisions); + + double minLabelValue = intMin * conversion; + final double inc = naturalNumberOfDivisions < maxNumberOfDivisions ? conversion / nUnits : conversion * nUnits; + if (naturalNumberOfDivisions < maxNumberOfDivisions && minLabelValue - inc >= plot_min) + // this happens if we are dividing up divisions, and we get divisions below intMin * conversion + { + int nLost = (int) ((minLabelValue - inc) / inc); + minLabelValue -= nLost * inc; + nDivisions += nLost; + } + labels = new AxisLabel[nDivisions + 1]; + this.nDivisions = nDivisions; + + // System.out.println("fractDigits = " + fractDigits + ", minLabelValue = " + minLabelValue + ", inc = " + inc); + + format.setFractionDigits(fractDigits); + for (int j = 0; j < labels.length; j++) + { + final double labelValue = minLabelValue + j * inc; + + labels[j] = new AxisLabel(); + labels[j].text = format.format(labelValue); + labels[j].position = (labelValue - plot_min) / (plot_max - plot_min); + // labels[j].logPosition = Math.log(labels[j].position + Math.E); + if (labels[j].position < 0.) labels[j].position = 0.; + } + } + + private int charsReq(int pow) + /* + * Returns the number of characters required (not using scientific + * notation) to represent a decade of the given order of magnitude. + */ + { + if (pow < 0) + /* + * If the power is less than 0, we need one space for the + * leading zero, one for the decimal, and then -pow spaces + * for each of the following characters. For example, if + * pow = -2 then the result would be 4, because there are + * four characters in the string "0.01". + */ + return -pow + 2; + else + /* + * If the power is 0 or greater, we need one character for + * the character '1' and one '0' for each order of magnitude. + */ + return pow + 1; + } + + private int round(final double d, final boolean down) + /* + * Determines an integer value from a double by rounding intelligently. + * In the logarithmic case, when determining the order of magnitude + * of the lowest tick, the "down" parameter is false because + * we want to round up from the minimum point in the axis (so that + * the tick shows up on the range of the axis) if we are not very close + * to an integer value. However, when we are determining the order + * of magnitude of the highest tick, we want to round down if we are + * not very close to an integer so that the tick appears within the + * range of the axis. Similarly in the case for the linear axis, we round + * up to get the smallest tick value and we round down to get the largest + * tick value. We do exactly the opposite if wew are using the suggested + * range. In that case, we round down to get the minimum and up to get + * the maximum. + */ + { + final double minProximity = 0.0001; + /* + * A parameter's proximity to the nearest integer must be this + * fraction of its size in order to be considered that value. + */ + final double round = Math.round(d); // the closest integer value + if (d == round || Math.abs(d - round) < (d != 0.0 ? minProximity * Math.abs(d) : 0.000001)) + { + // we assume here that d is close enough to be an integer, so we round and return + return (int) round; + } + else + { + // d is not close enough to be an integer, so we return the + // floor if we were supposed to round down and ceil + // otherwise + return down ? (int) Math.floor(d) : (int) Math.ceil(d); + } + } + + public String [] getLabels() + { + int len = labels.length; + String [] lab = new String [len]; + for (int i = 0; i < len; ++i) + lab[i] = labels[i].text; + return lab; + } + + public double [] getPositions() + { + int len = labels.length; + double [] pos = new double [len]; + for (int i = 0; i < len; ++i) + pos[i] = labels[i].position; + return pos; + } + + public void printLabels() + { + System.out.println("data_min = " + data_min + ", data_max = " + data_max); + System.out.println("plot_min = " + plot_min + ", plot_max = " + plot_max); + System.out.println("nDivisions = " + nDivisions + ", labelsValid = " + labelsValid); + + int i; + + for (i = 0; i < labels.length; ++i) + { + System.out.println("label "+ (i+1) + ": " + labels[i].text + " position: " + labels[i].position); + } + } + + + + // This class is used when storing information about + // the labels on the axis. + private class AxisLabel + { + String text; + double position; + // double logPosition; + } + + /** + * Just for testing + */ + public static void main(String[] argv) + { + AxisLabelCalculator t = new AxisLabelCalculator(); + t.createNewLabels(0., 1.); + t.printLabels(); + t.createNewLabels(0., 100.); + t.printLabels(); + t.createNewLabels(0.0001, 0.001); + t.printLabels(); + t.createNewLabels(5., 10.); + t.printLabels(); + t.createNewLabels(.001, .050); + t.printLabels(); + t.createNewLabels(.00001, .00005); + t.printLabels(); + t.createNewLabels(-.001, .00005); + t.printLabels(); + t.createNewLabels(-.001, .005); + t.printLabels(); + t.createNewLabels(-2., 5.); + t.printLabels(); + t.createNewLabels(.05, 10.); + t.printLabels(); + + } + +} diff --git a/src/jat/jat3D/FreeHEP/Binned2DData.java b/src/jat/jat3D/FreeHEP/Binned2DData.java new file mode 100644 index 0000000..c883a40 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/Binned2DData.java @@ -0,0 +1,63 @@ +package jat.jat3D.FreeHEP; +import javax.vecmath.Color3b; + +/** + * A data source for binned 2D data which is used by the both the lego + * and the surface plot. Any class which implements this interface can + * be used to provide Data for a lego or surface plot. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: Binned2DData.java 8584 2006-08-10 23:06:37Z duns $ + */ + +public interface Binned2DData +{ + /** + * Number of bins on the X axis + */ + int xBins(); + + /** + * Number of bins on the Y axis + */ + int yBins(); + + /** + * Axis minimum on the X Axis + */ + float xMin(); + + /** + * Axis maximum on the X Axis + */ + float xMax(); + + /** + * Axis minimum on the Y Axis + */ + float yMin(); + + /** + * Axis maximum on the Y Axis + */ + float yMax(); + + /** + * Get Z value at the specified bin + */ + float zAt(int xIndex, int yIndex); + + /** + * Get the Color at the specified bin + */ + Color3b colorAt(int xIndex, int yIndex); + + /** + * Minimum data value on the Z Axis + */ + float zMin(); + + /** + * Maximum data value on the Z Axis + */ + float zMax(); +} diff --git a/src/jat/jat3D/FreeHEP/DoubleNumberFormatter.java b/src/jat/jat3D/FreeHEP/DoubleNumberFormatter.java new file mode 100644 index 0000000..729f324 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/DoubleNumberFormatter.java @@ -0,0 +1,29 @@ +package jat.jat3D.FreeHEP; + +import java.text.NumberFormat; + +/** Format a double number. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: DoubleNumberFormatter.java 8584 2006-08-10 23:06:37Z duns $ + */ +final class DoubleNumberFormatter +{ + DoubleNumberFormatter(int power) + { + if (formatter == null) + formatter = NumberFormat.getInstance(); + this.power = power; + } + void setFractionDigits(int fractDigits) + { + formatter.setMinimumFractionDigits(fractDigits); + formatter.setMaximumFractionDigits(fractDigits); + } + String format(final double d) + { + return formatter.format(power != 0 ? d / Math.pow(10.0, power) : d); + } + private static NumberFormat formatter = null; + private int power; +} + diff --git a/src/jat/jat3D/FreeHEP/NormalizedBinned2DData.java b/src/jat/jat3D/FreeHEP/NormalizedBinned2DData.java new file mode 100644 index 0000000..92b6a72 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/NormalizedBinned2DData.java @@ -0,0 +1,95 @@ +package jat.jat3D.FreeHEP; +import javax.vecmath.Color3b; + +/** + * The Binned2DDataNormalizer class is responsible for taking the user provided Binned2DData + * interface, and mapping it to the data format used internally. + * + * This involves normalizing the x,y,z axis to go from 0 to 1, and ensuring that we + * return 0 if the bin indexes are outside the allowed range. This routine also caches + * a local copy of the data to speed up access in the LegoBuilder class. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: NormalizedBinned2DData.java 8584 2006-08-10 23:06:37Z duns $ + */ + +public class NormalizedBinned2DData +{ + private int xBins; + private int yBins; + private float[][] data; + private Color3b[][] color; + + public NormalizedBinned2DData(Binned2DData in) + { + this.initialize(in); + } + + void initialize(Binned2DData in) + { + xBins = in.xBins(); + yBins = in.yBins(); + + // Copy the data to a local array, and calculate the Zmin, Zmax + + data = new float[xBins][yBins]; + color = new Color3b[xBins][yBins]; + + float zMin = +Float.MAX_VALUE; + float zMax = -Float.MAX_VALUE; + + for (int i=0; i zMax) zMax = z; + data[i][j] = z; + color[i][j] = in.colorAt(i,j); + } + } + //System.out.println("zMin = "+zMin+", zMax = "+zMax); + + // Now normalize the Z values + for (int i=0; i 0 + + data = new float[xBins][yBins]; + color = new Color3b[xBins][yBins]; + + float zMin = +Float.MAX_VALUE; + float zMax = -Float.MAX_VALUE; + + for (int i=0; i 0) { + if (z < zMin) zMin = z; + if (z > zMax) zMax = z; + } + data[i][j] = z; + color[i][j] = in.colorAt(i,j); + } + } + + // Now normalize the Z values in a log scale + double zMinLog = Math.log((double) zMin); + double zMaxLog = Math.log((double) zMax); + //System.out.println("zMin = "+zMin+", zMax = "+zMax+", zMinLog = "+zMinLog+", zMaxLog = "+zMaxLog); + for (int i=0; i=rtable.length) i = rtable.length-1; + return rtable[i]; + } +} diff --git a/src/jat/jat3D/FreeHEP/SurfaceBuilder.java b/src/jat/jat3D/FreeHEP/SurfaceBuilder.java new file mode 100644 index 0000000..d2244ff --- /dev/null +++ b/src/jat/jat3D/FreeHEP/SurfaceBuilder.java @@ -0,0 +1,168 @@ +package jat.jat3D.FreeHEP; + +import javax.media.j3d.Appearance; +import javax.media.j3d.Geometry; +import javax.media.j3d.Material; +import javax.media.j3d.Node; +import javax.media.j3d.PolygonAttributes; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3b; +import javax.vecmath.Color3f; +import javax.vecmath.Point3d; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.geometry.GeometryInfo; +import com.sun.j3d.utils.geometry.NormalGenerator; +import com.sun.j3d.utils.geometry.Stripifier; + +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: SurfaceBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class SurfaceBuilder extends AbstractPlotBuilder { + private TimeStamp timeStamp = TimeStamp.sharedInstance(); + + private Shape3D shape; + + /** + * @param data + * Bin Contents + */ + public Node buildContent(NormalizedBinned2DData data) { + shape = createShape(); + shape.setCapability(Shape3D.ALLOW_GEOMETRY_WRITE); + shape.setGeometry(buildGeometry(data)); + + return shape; + } + + public void updatePlot(NormalizedBinned2DData data) { + shape.setGeometry(buildGeometry(data)); + } + + private Geometry buildGeometry(NormalizedBinned2DData data) { + timeStamp.print("Starting SurfaceBuilder.buildContent()"); + + int nXbins = data.xBins(); + int nYbins = data.yBins(); + float xBinWidth = 1.f / nXbins; + float yBinWidth = 1.f / nYbins; + float x, y; + int i, k, l; + + Point3d bcoord[] = new Point3d[((int) nXbins - 1) * ((int) nYbins - 1) * 4]; + Color3b bcolor[] = new Color3b[((int) nXbins - 1) * ((int) nYbins - 1) * 4]; + + for (i = 0; i < ((int) nXbins - 1) * ((int) nYbins - 1) * 4; i++) { + bcoord[i] = new Point3d(); + bcolor[i] = new Color3b(); + } + + // Fill bcoord array with points that compose the surface + + double z1, z2, z3, z4; + int bcur = 0; + for (k = 0, x = -.5f; k < (int) nXbins - 1; k++, x += xBinWidth) { + for (l = 0, y = -.5f; l < (int) nYbins - 1; l++, y += yBinWidth) { + + // Point x,y + bcoord[bcur].x = x + xBinWidth / 2.f; + bcoord[bcur].y = y + yBinWidth / 2.f; + z1 = bcoord[bcur].z = data.zAt(k, l); + bcolor[bcur] = data.colorAt(k, l); + bcur++; + + // Next point in y direction + bcoord[bcur].x = x + xBinWidth / 2.f; + bcoord[bcur].y = y + 1.5f * xBinWidth; + z2 = bcoord[bcur].z = data.zAt(k, l + 1); + bcolor[bcur] = data.colorAt(k, l + 1); + bcur++; + + // Next point diagonally + bcoord[bcur].x = x + 1.5f * xBinWidth; + bcoord[bcur].y = y + 1.5f * yBinWidth; + z3 = bcoord[bcur].z = data.zAt(k + 1, l + 1); + bcolor[bcur] = data.colorAt(k + 1, l + 1); + bcur++; + + // Next point in x direction + bcoord[bcur].x = x + 1.5f * xBinWidth; + bcoord[bcur].y = y + yBinWidth / 2.f; + z4 = bcoord[bcur].z = data.zAt(k + 1, l); + bcolor[bcur] = data.colorAt(k + 1, l); + bcur++; + + if (z1 < 0.1 || z2 < 0 || z3 < 0 || z4 < 0) { + double z12 = Math.max(z1, z2); + double z34 = Math.max(z3, z4); + double zmax = Math.max(z12, z34); + if (z1 < 0) + bcoord[bcur - 4].z = zmax; + if (z2 < 0) + bcoord[bcur - 3].z = zmax; + if (z3 < 0) + bcoord[bcur - 2].z = zmax; + if (z4 < 0) + bcoord[bcur - 1].z = zmax; + } + } + } + //System.out.println("bcur " + bcur); + + // System.out.print("debug3:"); + + // We make a GeometryInfo object so that normals can be generated + // for us and geometry stripified for us. J3D documentation + // says it's best to do these two steps in this order. + + GeometryInfo geom = new GeometryInfo(GeometryInfo.QUAD_ARRAY); + + // geom.setNormals(normals); + geom.setCoordinates(bcoord); + geom.setColors(bcolor); + NormalGenerator ng = new NormalGenerator(); + ng.generateNormals(geom); + + // Make normals conform to our "handedness" of z direction + // i.e. change their sign + Vector3f normals[] = geom.getNormals(); + for (i = 0; i < normals.length; ++i) { + normals[i].x = -normals[i].x; + normals[i].y = -normals[i].y; + normals[i].z = -normals[i].z; + } + geom.setNormals(normals); + + Stripifier st = new Stripifier(); + st.stripify(geom); + geom.recomputeIndices(); + + System.out.print("Surface geometry done.\n"); + timeStamp.print("finished, now finalizing, point count = " + bcur); + return geom.getGeometryArray(); + } + + Shape3D createShape() { + Shape3D surface = new Shape3D(); + timeStamp.print("geometry set"); + surface.setAppearance(createMaterialAppearance()); + + return surface; + } + + private Appearance createMaterialAppearance() { + Appearance materialAppear = new Appearance(); + PolygonAttributes polyAttrib = new PolygonAttributes(); + polyAttrib.setCullFace(PolygonAttributes.CULL_NONE); + materialAppear.setPolygonAttributes(polyAttrib); + + Material material = new Material(); + // set diffuse color to red (this color will only be used + // if lighting disabled - per-vertex color overrides) + material.setDiffuseColor(new Color3f(1.0f, 0.0f, 0.0f)); + materialAppear.setMaterial(material); + + return materialAppear; + } +} diff --git a/src/jat/jat3D/FreeHEP/SurfacePlot.java b/src/jat/jat3D/FreeHEP/SurfacePlot.java new file mode 100644 index 0000000..ec6f9c9 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/SurfacePlot.java @@ -0,0 +1,168 @@ +package jat.jat3D.FreeHEP; + + + +import javax.media.j3d.Group; +import javax.media.j3d.Node; + + + +/** + * A simple convenience class that end users can pop into their GUI to produce a + * surface plot. + * + * Warning: SurfacePlot extends Canvas3D and thus is a heavyweight object. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: SurfacePlot.java 8584 2006-08-10 23:06:37Z duns $ + */ + +public class SurfacePlot extends Plot3D +{ + /** + * + */ + private static final long serialVersionUID = 6049917879597063362L; + private Binned2DData data; + private SurfaceBuilder builder; + private Node plot; + private boolean logZscaling = false; + private AxisBuilder xAxis; + private AxisBuilder yAxis; + private ZAxisBuilder zAxis; + private String xAxisLabel = "X Axis"; + private String yAxisLabel = "Y Axis"; + private String zAxisLabel = "Z Axis"; + private double xmin; + private double xmax; + private double ymin; + private double ymax; + private double zmin; + private double zmax; + + public SurfacePlot() + { + super(); + } + + public void setData(Binned2DData data) + { + this.data = data; + if (init) { + if (data.xMin() != xmin || data.xMax() != xmax) { + xmin = data.xMin(); + xmax = data.xMax(); + xAxis.createLabelsNTicks(xmin, xmax); + xAxis.apply(); + } + if (data.yMin() != ymin || data.yMax() != ymax) { + ymin = data.yMin(); + ymax = data.yMax(); + yAxis.createLabelsNTicks(ymin, ymax); + yAxis.apply(); + } + if (data.zMin() != zmin || data.zMax() != zmax) { + zmin = data.zMin(); + zmax = data.zMax(); + zAxis.createLabelsNTicks(zmin, zmax, logZscaling); + zAxis.apply(); + } + if (logZscaling) + builder.updatePlot(new NormalizedBinned2DLogData(data)); + else + builder.updatePlot(new NormalizedBinned2DData(data)); + } + } + + public boolean getLogZscaling() + { + return logZscaling; + } + + public void setLogZscaling(boolean b) + { + // System.out.println("setting Log Scaling to: " + b + " from: " + logZscaling); + if (logZscaling != b) { + logZscaling = b; + if (data != null) { + zmin = data.zMin(); + zmax = data.zMax(); + zAxis.createLabelsNTicks(zmin, zmax, logZscaling); + zAxis.apply(); + if (logZscaling) + builder.updatePlot(new NormalizedBinned2DLogData(data)); + else + builder.updatePlot(new NormalizedBinned2DData(data)); + } + } + } + + public String getXAxisLabel() + { + return xAxisLabel; + } + + public void setXAxisLabel(String s) + { + xAxisLabel = s; + xAxis.setLabel(s); + xAxis.apply(); + } + + public String getYAxisLabel() + { + return yAxisLabel; + } + + public void setYAxisLabel(String s) + { + yAxisLabel = s; + yAxis.setLabel(s); + yAxis.apply(); + } + + public String getZAxisLabel() + { + return zAxisLabel; + } + + public void setZAxisLabel(String s) + { + zAxisLabel = s; + zAxis.setLabel(s); + zAxis.apply(); + } + + protected Node createPlot() + { + builder = new SurfaceBuilder(); + Node box = builder.buildOutsideBox(); + if (logZscaling) + plot = builder.buildContent(new NormalizedBinned2DLogData(data)); + else + plot = builder.buildContent(new NormalizedBinned2DData(data)); + + double[] tick = {0,.1,.2,.3,.4,.5,.6,.7,.8,.9,1.0}; + String[] labels = {"0.0","0.2","0.4","0.6","0.8","1.0" }; + + xAxis = new XAxisBuilder(xAxisLabel,labels,tick); + yAxis = new YAxisBuilder(yAxisLabel,labels,tick); + zAxis = new ZAxisBuilder(zAxisLabel,labels,tick); + + xAxis.createLabelsNTicks(data.xMin(), data.xMax()); + yAxis.createLabelsNTicks(data.yMin(), data.yMax()); + zAxis.createLabelsNTicks(data.zMin(), data.zMax(), logZscaling); + + xAxis.apply(); + yAxis.apply(); + zAxis.apply(); + + Group g = new Group(); + g.addChild(box); + g.addChild(plot); + g.addChild(xAxis.getNode()); + g.addChild(yAxis.getNode()); + g.addChild(zAxis.getNode()); + return g; + } +} + diff --git a/src/jat/jat3D/FreeHEP/TimeStamp.java b/src/jat/jat3D/FreeHEP/TimeStamp.java new file mode 100644 index 0000000..c20545b --- /dev/null +++ b/src/jat/jat3D/FreeHEP/TimeStamp.java @@ -0,0 +1,49 @@ +package jat.jat3D.FreeHEP; +import java.util.Date; + +/** This is class TimeStamp - it has a print method which will keep track of the last + * time it was called and print a message along with the elapsed time since the last call. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: TimeStamp.java 8584 2006-08-10 23:06:37Z duns $ + */ + +public class TimeStamp { + + private long pastTime; + private boolean silent = false; + + public TimeStamp() + { + pastTime = System.currentTimeMillis(); + } + + public TimeStamp(String str) + { + this(); + System.out.println(str + " - begun at: " + new Date(pastTime)); + } + + public void print(String str) + { + if (!silent) + { + long now = System.currentTimeMillis(); + System.out.println(str + " - elapsed time: " + (now-pastTime) + " milliseconds."); + pastTime = now; + } + } + + public void setSilent() + { + silent = true; + } + /** + * A static method for getting a single, global instance of TimeStamp. + */ + public static TimeStamp sharedInstance() + { + if (sharedInstance == null) sharedInstance = new TimeStamp("Shared Timestamp"); + return sharedInstance; + } + private static TimeStamp sharedInstance; +} diff --git a/src/jat/jat3D/FreeHEP/XAxisBuilder.java b/src/jat/jat3D/FreeHEP/XAxisBuilder.java new file mode 100644 index 0000000..0e4c250 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/XAxisBuilder.java @@ -0,0 +1,47 @@ +package jat.jat3D.FreeHEP; +import javax.media.j3d.Node; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; + +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: XAxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class XAxisBuilder extends AxisBuilder +{ + public XAxisBuilder() + { + } + public XAxisBuilder(String label, String[] tickLabels, double[] tickLocations) + { + setLabel(label); + setTickLabels(tickLabels); + setTickLocations(tickLocations); + } + public Node getNode() + { + +// TransformGroup tg = new TransformGroup(); +// +// Transform3D transform1 = new Transform3D(); +// Vector3f vector = new Vector3f(1.5f, .0f, .0f); +// transform1.setTranslation(vector); +// +// Transform3D transform2 = new Transform3D(); +// transform2.rotZ(-Math.PI/2); +// transform1.mul(transform2); +// +// tg.setTransform(transform1); +// tg.addChild(super.getNode()); + + Transform3D t3d = new Transform3D(); + t3d.set(1/scale,new Vector3f(lo,-hi,lo)); + //Transform3D trans = new Transform3D(); + //trans.setTranslation(new Vector3f(0,-1,2)); + //t3d.mul(trans); + TransformGroup tg = new TransformGroup(t3d); + tg.addChild(super.getNode()); + return tg; + } +} diff --git a/src/jat/jat3D/FreeHEP/YAxisBuilder.java b/src/jat/jat3D/FreeHEP/YAxisBuilder.java new file mode 100644 index 0000000..8eec4bd --- /dev/null +++ b/src/jat/jat3D/FreeHEP/YAxisBuilder.java @@ -0,0 +1,34 @@ +package jat.jat3D.FreeHEP; +import javax.media.j3d.Node; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; + +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: YAxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class YAxisBuilder extends AxisBuilder +{ + + public YAxisBuilder() + { + } + public YAxisBuilder(String label, String[] tickLabels, double[] tickLocations) + { + setLabel(label); + setTickLabels(tickLabels); + setTickLocations(tickLocations); + } + public Node getNode() + { + Transform3D t3d = new Transform3D(); + t3d.set(1/scale,new Vector3f(lo,-hi,lo)); + Transform3D rot = new Transform3D(); + rot.rotZ(Math.PI/2); + t3d.mul(rot); + TransformGroup tg = new TransformGroup(t3d); + tg.addChild(super.getNode()); + return tg; + } +} diff --git a/src/jat/jat3D/FreeHEP/ZAxisBuilder.java b/src/jat/jat3D/FreeHEP/ZAxisBuilder.java new file mode 100644 index 0000000..a10aab3 --- /dev/null +++ b/src/jat/jat3D/FreeHEP/ZAxisBuilder.java @@ -0,0 +1,56 @@ +package jat.jat3D.FreeHEP; +import javax.media.j3d.Node; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: ZAxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class ZAxisBuilder extends AxisBuilder +{ + + public ZAxisBuilder() + { + } + public ZAxisBuilder(String label, String[] tickLabels, double[] tickLocations) + { + setLabel(label); + setTickLabels(tickLabels); + setTickLocations(tickLocations); + } + public Node getNode() + { + Transform3D t3d = new Transform3D(); + t3d.set(1/scale,new Vector3f(lo,-hi,lo)); + Transform3D rot = new Transform3D(); + rot.rotY(-Math.PI/2); + t3d.mul(rot); + TransformGroup tg = new TransformGroup(t3d); + tg.addChild(super.getNode()); + return tg; + } + + /** + * createLabelsNTicks method is overridden here to support z axis + * log scaling. + * + * @todo: z axis log scaling needs to be implemented in Axis labels and ticks + * this implementation is a minimal hack. + */ + public void createLabelsNTicks(double min, double max, boolean logZscaling) + { + super.createLabelsNTicks(min, max); + if (logZscaling) { + String[] tickLabels = getTickLabels(); + double[] tickLocations = getTickLocations(); + int numLabels = tickLabels.length; + for (int i = 1; i < numLabels-1; ++i) { + tickLabels[i] = " "; + tickLocations[i] = tickLocations[numLabels-1]; + } + } + // System.out.println("in z-axis createLabelsNTicks: min = " + min + ", max = " + max); + // axisCalc.printLabels(); + } +} diff --git a/src/jat/jat3D/Label3D.java b/src/jat/jat3D/Label3D.java new file mode 100644 index 0000000..f369162 --- /dev/null +++ b/src/jat/jat3D/Label3D.java @@ -0,0 +1,84 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D; + +import java.awt.Color; +import java.awt.Graphics; +import java.awt.image.BufferedImage; + +import javax.media.j3d.ImageComponent; +import javax.media.j3d.ImageComponent2D; +import javax.media.j3d.Shape3D; +import javax.vecmath.Point3f; + + +/** Label3D class + * @author Tobias Berthold + */ +public class Label3D extends Body3D +{ + float size; + + /** + * Method Label3D. + * @param szText + * @param x + * @param y + * @param z + */ + // public Label3D(float size) + // { + // super(myapplet); + // this.size = size; + // addChild(new ColorCube(size)); + // } + + public Label3D(String szText, float x, float y, float z) + { + + BufferedImage bufferedImage = new BufferedImage(50, 20, BufferedImage.TYPE_INT_RGB); + Graphics g = bufferedImage.getGraphics(); + g.setColor(Color.white); + g.drawString(szText, 10, 10); + + ImageComponent2D imageComponent2D = new ImageComponent2D(ImageComponent2D.FORMAT_RGB, bufferedImage); + imageComponent2D.setCapability(ImageComponent.ALLOW_IMAGE_READ); + imageComponent2D.setCapability(ImageComponent.ALLOW_SIZE_READ); + + // create the Raster for the image + javax.media.j3d.Raster renderRaster = + new javax.media.j3d.Raster( + new Point3f(x, y, z), + javax.media.j3d.Raster.RASTER_COLOR, + 0, + 0, + bufferedImage.getWidth(), + bufferedImage.getHeight(), + imageComponent2D, + null); + + // return new Shape3D(renderRaster); + + addChild(new Shape3D(renderRaster)); + set_position(x, y, z); + } +} diff --git a/src/jat/jat3D/Line3D.java b/src/jat/jat3D/Line3D.java new file mode 100644 index 0000000..090db22 --- /dev/null +++ b/src/jat/jat3D/Line3D.java @@ -0,0 +1,77 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import javax.media.j3d.BranchGroup; +import javax.media.j3d.LineArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3f; +import javax.vecmath.Point3f; + +public class Line3D extends BranchGroup { + + public Point3f p1, p2; + static Color3f col1 = new Color3f(Colors.gold); + static Color3f col2 = new Color3f(Colors.gray); + LineArray a = new LineArray(2, LineArray.COORDINATES | LineArray.COLOR_3); + + public Line3D() { + this(new Point3f(0, 0, 0), new Point3f(1, 1, 1)); + } + + public Line3D(Point3f p1, Point3f p2) { + this(p1,p2,col1,col2); + } + + public Line3D(float x1, float x2, float x3) { + this(new Point3f(0, 0, 0), new Point3f(x1, x2, x3),col1,col2); + } + + public Line3D(Point3f p1, Point3f p2, Color3f col1) { + this(p1,p2,col1,col1); + } + + public Line3D(Point3f x1, Point3f x2, Color3f col1, Color3f col2) { + super(); + a.setCoordinate(0, x1); + a.setCoordinate(1, x2); + a.setColor(0, col1); + a.setColor(1, col2); + setCapability(BranchGroup.ALLOW_DETACH); + setUserData("Line"); + addChild(new Shape3D(a)); + } + + // void common_to_all_constructors() { + // setCapability(BranchGroup.ALLOW_DETACH); + // setUserData("Line"); + // addChild(new Shape3D(a)); + // } + + public void change(int i) { + p1 = new Point3f(0, 0, i); + p2 = new Point3f(1, 1, 1); + a = new LineArray(2, LineArray.COORDINATES | LineArray.COLOR_3); + a.setCoordinate(0, p1); + a.setCoordinate(1, p2); + a.setColor(0, Colors.gold); + a.setColor(1, Colors.gray); + setChild(new Shape3D(a), 0); + } + +} diff --git a/src/jat/jat3D/Marker3D.java b/src/jat/jat3D/Marker3D.java new file mode 100644 index 0000000..565bd48 --- /dev/null +++ b/src/jat/jat3D/Marker3D.java @@ -0,0 +1,43 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import javax.vecmath.Point3f; + + +/** + * @author Tobias Berthold + * + */ +public class Marker3D extends Body3D { + + public Sphere3D s; + + public Marker3D() { + super(); + s=new Sphere3D(.05f, Colors.red, 0, 0, 0); + addChild(s); + addChild(new Line3D(new Point3f(0,0,-1.1f),new Point3f(0,0,1.1f),Colors.blue)); + + + } + + + +} + diff --git a/src/jat/jat3D/Orbit.java b/src/jat/jat3D/Orbit.java new file mode 100644 index 0000000..d296a03 --- /dev/null +++ b/src/jat/jat3D/Orbit.java @@ -0,0 +1,177 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.jat3D; + +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.cm.KeplerElements; +import jat.coreNOSA.cm.TwoBody; + +import javax.media.j3d.GeometryArray; +import javax.media.j3d.LineStripArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3f; + +/** + * The Orbit class creates a Shape3D object in Java3D for a twobody orbit. + * + * @author Tobias Berthold + * @version 1.0 + */ +// TODO: orbit color, number of segments as parameters +public class Orbit extends Shape3D implements Printable +{ + public double[] coords; + public double[] t, x, y, z; + int j = 0; + Color3f Color = Colors.pink; + private double a; // sma in km + private double e; // eccentricity + private double i; // inclination in radians + private double raan; // right ascension of ascending node in radians + private double w; // argument of perigee in radians + private double ta; // true anomaly in radians + private int steps=500; + Constants c = new Constants(); + + public Orbit(double[] coords) + { + this.coords = coords; + } + + public Orbit() + { + draw_orbit(); + } + + /** Construct a TwoBody orbit from 6 orbit elements. Angles are input in degrees. + * @param a Semi-major axis in km. + * @param e Eccentricity. + * @param i Inclination in degrees. + * @param raan RAAN in degrees. + * @param w Argument of perigee in degrees. + * @param ta True anomaly in degrees. + */ + public Orbit(double a, double e, double i, double raan, double w, double ta) + { + this.a = a; + this.e = e; + this.i = i; + this.raan = raan; + this.w = w; + this.ta = ta; + draw_orbit(); + } + + public Orbit(double a, double e, double i, double raan, double w, double ta, Color3f Color, int steps) + { + this.a = a; + this.e = e; + this.i = i; + this.raan = raan; + this.w = w; + this.ta = ta; + this.Color = Color; + this.steps=steps; + draw_orbit(); + } + + public Orbit(KeplerElements el) + { + this.a = el.a; + this.e = el.e; + this.i = Math.toRadians(el.i); + this.raan = Math.toRadians(el.raan); + this.w = Math.toRadians(el.w) ; + this.ta = Math.toRadians(el.ta); + draw_orbit(); + } + + public Orbit(KeplerElements el, Color3f Color) + { + this.a = el.a; + this.e = el.e; + this.i = Math.toRadians(el.i); + this.raan = Math.toRadians(el.raan); + this.w = Math.toRadians(el.w) ; + this.ta = Math.toRadians(el.ta); + this.Color = Color; + draw_orbit(); + } + + public void print(double time, double[] pos) + { + // also print to the screen for warm fuzzy feeling + // System.out.println(j+" "+time + " " + pos[0] + " " + pos[1] + " " + pos[2]); + t[j] = time; + x[j] = pos[0]; + y[j] = pos[1]; + z[j] = pos[2]; + // coords[j + 0] = pos[0]; + // coords[j + 1] = pos[1]; + // coords[j + 2] = pos[2]; + j++; + } + + private void draw_orbit() + { + //int steps = 10000; + // number of steps in propagate in TwoBody should be made a parameter + coords = new double[3 * steps + 6]; + + t = new double[steps + 2]; + x = new double[steps + 2]; + y = new double[steps + 2]; + z = new double[steps + 2]; + + // create a TwoBody orbit using orbit elements + TwoBody sat = new TwoBody(a, e, i, raan, w, ta); + //sat.printElements("Orbit"); + + // find out the period of the orbit + double tf = sat.period(); + + // propagate the orbit + //sat.propagate(0., tf, x, true); + sat.propagate(0., tf, this, true,steps); + + // Copy data into coords array + coords = new double[steps * 3]; + for (int k = 0; k < steps; k++) + { + coords[k * 3 + 0] = x[k]; + coords[k * 3 + 1] = y[k]; + coords[k * 3 + 2] = z[k]; + } + int num_vert = coords.length / 3; + int[] stripLengths = { num_vert }; + + LineStripArray myLines = + new LineStripArray(num_vert, GeometryArray.COORDINATES | GeometryArray.COLOR_3, stripLengths); + Color3f colors[] = new Color3f[num_vert]; + for (int i = 0; i < num_vert; i++) + colors[i] = Color; + myLines.setColors(0, colors); + myLines.setCoordinates(0, coords); + + this.setGeometry(myLines); + } +} diff --git a/src/jat/jat3D/Planet3D.java b/src/jat/jat3D/Planet3D.java new file mode 100644 index 0000000..962af8e --- /dev/null +++ b/src/jat/jat3D/Planet3D.java @@ -0,0 +1,174 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.astronomy.SolarSystemBodies; +import jat.core.ephemeris.DE405Body.body; +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; + +import java.awt.image.BufferedImage; +import java.io.IOException; +import java.net.MalformedURLException; +import java.net.URL; + +import javax.imageio.ImageIO; +import javax.media.j3d.Appearance; +import javax.media.j3d.Material; +import javax.media.j3d.TextureAttributes; +import javax.vecmath.Color3f; + +import com.sun.j3d.utils.geometry.Sphere; +import com.sun.j3d.utils.image.TextureLoader; + +/** + * Planet3D class + * + * @author Tobias Berthold + */ +public class Planet3D extends Body3D { + float radius; + Appearance app; + Color3f Planetcolor; // planet color if texture not found + Appearance appear; + String images_path; + SolarSystemBodies sb; + + // int divisions = 60; // number of divisions for sphere + + public Planet3D(PathUtil p, jatMessages messages, body planet, float scale) { + super(); + this.scale = scale; + // radius = (float) 1000f; + this.messages = messages; + images_path = p.root_path + "data/jat3D/images_hires/"; + sb = new SolarSystemBodies(); + + String fileName = null; + + switch (planet) { + case MERCURY: + fileName = images_path + "mercury.jpg"; + radius = (float) sb.Bodies[body.MERCURY.ordinal()].radius; + Planetcolor = Colors.red; + break; + case VENUS: + fileName = images_path + "venus.jpg"; + radius = (float) sb.Bodies[body.VENUS.ordinal()].radius; + Planetcolor = Colors.green; + break; + case EARTH: + fileName = images_path + "earth.jpg"; + radius = (float) sb.Bodies[body.EARTH.ordinal()].radius; + Planetcolor = Colors.blue; + break; + case MARS: + fileName = images_path + "mars.jpg"; + radius = (float) sb.Bodies[body.MARS.ordinal()].radius; + Planetcolor = Colors.blue; + break; + case JUPITER: + fileName = images_path + "jupiter.jpg"; + radius = (float) sb.Bodies[body.JUPITER.ordinal()].radius; + Planetcolor = Colors.orange; + break; + case SATURN: + fileName = images_path + "saturn.jpg"; + radius = (float) sb.Bodies[body.SATURN.ordinal()].radius; + Planetcolor = Colors.orange; + break; + case URANUS: + fileName = images_path + "uranus.jpg"; + radius = (float) sb.Bodies[body.URANUS.ordinal()].radius; + Planetcolor = Colors.orange; + break; + case NEPTUNE: + fileName = images_path + "neptune.jpg"; + radius = (float) sb.Bodies[body.NEPTUNE.ordinal()].radius; + Planetcolor = Colors.orange; + break; + case PLUTO: + fileName = images_path + "pluto.jpg"; + radius = (float) sb.Bodies[body.PLUTO.ordinal()].radius; + Planetcolor = Colors.orange; + break; + case MOON: + fileName = images_path + "moon.jpg"; + radius = (float) sb.Bodies[body.MOON.ordinal()].radius; + Planetcolor = Colors.blue; + break; + } + + // Create a URL for the desired page + // If it is called from an applet, it starts with "file:" or "http:" + // If it's an application, we need to add "file:" so that BufferReader + // works + boolean application; + if (fileName.startsWith("file") || fileName.startsWith("http")) + application = false; + else + application = true; + if (application) + fileName = "file:" + fileName; + messages.addln("[Planet3D] " + fileName); + try { + URL TextureURL = new URL(fileName); + BufferedImage img = ImageIO.read(TextureURL); + TextureLoader tex = new TextureLoader(img); + TextureAttributes ta = new TextureAttributes(); + ta.setTextureMode(TextureAttributes.MODULATE); + app = createMatAppear_star(Colors.white, Colors.white, 10.0f); + app.setTextureAttributes(ta); + app.setTexture(tex.getTexture()); + } catch (MalformedURLException e) { + app = createMatAppear_star(Colors.blue, Colors.white, 10.0f); + System.out.println("MalformedURLException"); + // e.printStackTrace(); + } catch (IOException e) { + app = createMatAppear_star(Colors.blue, Colors.white, 10.0f); + System.out.println("IOException"); + // e.printStackTrace(); + } + + addChild(new Sphere(scale * radius, Sphere.GENERATE_NORMALS | Sphere.GENERATE_TEXTURE_COORDS, 60, app)); + + } + + protected static Appearance createMatAppear_planet(Color3f dColor, Color3f sColor, float shine) { + Appearance appear = new Appearance(); + Material material = new Material(); + material.setDiffuseColor(dColor); + material.setSpecularColor(sColor); + material.setShininess(shine); + material.setEmissiveColor(0.1f, 0.1f, 0.1f); + appear.setMaterial(material); + return appear; + } + + static Appearance createMatAppear_star(Color3f dColor, Color3f sColor, float shine) { + Appearance appear = new Appearance(); + Material material = new Material(); + material.setDiffuseColor(dColor); + material.setSpecularColor(sColor); + material.setShininess(shine); + material.setEmissiveColor(1.f, 1.f, 1.f); + appear.setMaterial(material); + return appear; + } + +} diff --git a/src/jat/jat3D/PlanetGrid3D.java b/src/jat/jat3D/PlanetGrid3D.java new file mode 100644 index 0000000..c1797e8 --- /dev/null +++ b/src/jat/jat3D/PlanetGrid3D.java @@ -0,0 +1,193 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.jat3D; + +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.CoordTransform; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import javax.media.j3d.GeometryArray; +import javax.media.j3d.LineStripArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3f; + +/** + * @author Tobias Berthold + * + */ +public class PlanetGrid3D extends Body3D +{ + double radius = 1000.; + double long_section = 10; + double lat_section = 10; + int long_inc = 1; + int lat_inc = 1; + Color3f Color = Colors.darkgray; + Constants c = new Constants(); + //CoordTransform t = new CoordTransform(); + + /** Creates a 3D panet grid object + */ + public PlanetGrid3D(double radius) + { + super(); + this.radius = radius; + createGeometry(); + } + + public PlanetGrid3D(double radius, double long_section, double lat_section) + { + super(); + this.radius = radius; + this.long_section = long_section; + this.lat_section = lat_section; + createGeometry(); + } + + private void createGeometry() + { + VectorN point; + int max; + double theta = 0., phi = 0.; + + // Longitude circles + max = 360 / long_inc + 1; + // int num_vert = coords.length / 3; + int num_vert = max; + int[] stripLengths = { num_vert }; + for (phi = 0.; phi < 360.; phi += long_section) + { + // one circle + LineStripArray myLines = new LineStripArray(num_vert, GeometryArray.COORDINATES | GeometryArray.COLOR_3, stripLengths); + double[] coords = new double[max * 3]; + theta = 0.; + int j = 0; + while (j < max * 3) + { + //System.out.println("theta " + theta + " phi " + phi); + point = CoordTransform.Spherical_to_Cartesian_rad(radius, Math.toRadians(theta), Math.toRadians(phi)); + //point.print(); + coords[j + 0] = point.get(0); + coords[j + 1] = point.get(1); + coords[j + 2] = point.get(2); + theta += long_inc; + j += 3; + } + myLines.setCoordinates(0, coords); + // Set colors + Color3f colors[] = new Color3f[num_vert]; + for (int i = 0; i < num_vert; i++) + colors[i] = Color; + myLines.setColors(0, colors); + Shape3D s = new Shape3D(); + s.setGeometry(myLines); + addChild(s); + } + + // Latitude circles + max = 360 / lat_inc + 1; + for (theta = 0.; theta <= 181.; theta += lat_section) + { + // one circle + LineStripArray myLines = new LineStripArray(num_vert, GeometryArray.COORDINATES | GeometryArray.COLOR_3, stripLengths); + double[] coords = new double[max * 3]; + phi = 0.; + int j = 0; + while (j < max * 3) + { + //System.out.println("theta " + theta + " phi " + phi); + point = CoordTransform.Spherical_to_Cartesian_rad(radius, Math.toRadians(theta), Math.toRadians(phi)); + //point.print(); + coords[j + 0] = point.get(0); + coords[j + 1] = point.get(1); + coords[j + 2] = point.get(2); + phi += lat_inc; + j += 3; + } + myLines.setCoordinates(0, coords); + // Set colors + Color3f colors[] = new Color3f[num_vert]; + for (int i = 0; i < num_vert; i++) + colors[i] = Color; + myLines.setColors(0, colors); + Shape3D s = new Shape3D(); + s.setGeometry(myLines); + addChild(s); + } + } // end of createGeometry() + + /* + private void createGeometrynew() + { + VectorN point; + double theta = 0., phi = 0.; + + // Longitude circles + for (phi = 0.; phi < 360.; phi += long_section) + { + // one circle + addCircle(phi, theta); + } + // Latitude circles + for (theta = 0.; theta <= 181.; theta += lat_section) + { + // one circle + addCircle(phi, theta); + } + } + + private void addCircle(double phi, double theta) + { + VectorN point; + int max; + + // smoothness of circle + max = 360 / long_inc + 1; + // int num_vert = coords.length / 3; + int num_vert = max; + int[] stripLengths = { num_vert }; + // one circle + LineStripArray myLines = + new LineStripArray(num_vert, GeometryArray.COORDINATES | GeometryArray.COLOR_3, stripLengths); + double[] coords = new double[max * 3]; + int j = 0; + while (j < max * 3) + { + //System.out.println("theta " + theta + " phi " + phi); + point = t.Spherical_to_Cartesian(radius, theta * c.deg2rad, phi * c.deg2rad); + //point.print(); + coords[j + 0] = point.get(0); + coords[j + 1] = point.get(1); + coords[j + 2] = point.get(2); + j += 3; + } + myLines.setCoordinates(0, coords); + // Set colors + Color3f colors[] = new Color3f[num_vert]; + for (int i = 0; i < num_vert; i++) + colors[i] = Colors.darkgray; + myLines.setColors(0, colors); + Shape3D s = new Shape3D(); + s.setGeometry(myLines); + addChild(s); + } + */ +} // end of class diff --git a/src/jat/jat3D/RGBAxes3D.java b/src/jat/jat3D/RGBAxes3D.java new file mode 100644 index 0000000..03a4b85 --- /dev/null +++ b/src/jat/jat3D/RGBAxes3D.java @@ -0,0 +1,186 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import java.awt.Font; + +import javax.media.j3d.Appearance; +import javax.media.j3d.ColoringAttributes; +import javax.media.j3d.Font3D; +import javax.media.j3d.FontExtrusion; +import javax.media.j3d.Geometry; +import javax.media.j3d.GeometryArray; +import javax.media.j3d.IndexedLineArray; +import javax.media.j3d.Shape3D; +import javax.media.j3d.Text3D; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.media.j3d.TransparencyAttributes; +import javax.vecmath.Color3f; +import javax.vecmath.Point3f; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.geometry.Cone; + +/** + * @author Tobias Berthold + * + */ +public class RGBAxes3D extends Body3D { + + float axislength; + Shape3D s; + TransformGroup axislabelTrans; + + /** + * creates a 3D x-y-z axis object + */ + public RGBAxes3D() { + super(); + axislength = 15000.0f; + common_to_all_constructors(); + } + + /** + * creates a RGB-colored 3D x-y-z axis object + * + * @param axislength + * size of the x-y-z axes + * + */ + public RGBAxes3D(float axislength) { + this.axislength = axislength; + common_to_all_constructors(); + } + + public RGBAxes3D(double axislength) { + this.axislength = (float) axislength; + common_to_all_constructors(); + } + + void common_to_all_constructors() { + s = new Shape3D(); + s.setGeometry(createGeometry()); + addChild(s); + addChild(Arrowhead(Colors.red, new Vector3f(axislength, .0f, .0f), -Math.PI / 2,0)); + addChild(Arrowhead(Colors.green, new Vector3f(.0f, axislength, .0f), 0,0)); + addChild(Arrowhead(Colors.blue, new Vector3f(.0f, .0f,axislength ), 0,Math.PI / 2)); + //addChild(Arrowhead(Colors.blue, new Vector3f(.0f, .0f,axislength ), 0,0)); + // addChild(Arrowhead(Colors.red,new Vector3f(0, .0f, .0f),0)); + addChild(generateAxesLabels()); + } + + private Geometry createGeometry() { + IndexedLineArray axisLines = new IndexedLineArray(6, GeometryArray.COORDINATES | GeometryArray.COLOR_3, 30); + + // create line for X axis + axisLines.setCoordinate(0, new Point3f(0.0f * axislength, 0.0f, 0.0f)); + axisLines.setCoordinate(1, new Point3f(1.0f * axislength, 0.0f, 0.0f)); + // create line for Y axis + axisLines.setCoordinate(2, new Point3f(0.0f, 0.0f * axislength, 0.0f)); + axisLines.setCoordinate(3, new Point3f(0.0f, 1.0f * axislength, 0.0f)); + // create line for Z axis + axisLines.setCoordinate(4, new Point3f(0.0f, 0.0f, 0.0f * axislength)); + axisLines.setCoordinate(5, new Point3f(0.0f, 0.0f, 1.0f * axislength)); + + axisLines.setCoordinateIndex(0, 0); + axisLines.setCoordinateIndex(1, 1); + axisLines.setCoordinateIndex(2, 2); + axisLines.setCoordinateIndex(3, 3); + axisLines.setCoordinateIndex(4, 4); + axisLines.setCoordinateIndex(5, 5); + + Color3f colors[] = new Color3f[6]; + for (int i = 0; i < 2; i++) + colors[i] = Colors.red; + for (int i = 2; i < 4; i++) + colors[i] = Colors.green; + for (int i = 4; i < 6; i++) + colors[i] = Colors.blue; + axisLines.setColors(0, colors); + + axisLines.setColorIndex(0, 0); + axisLines.setColorIndex(1, 1); + axisLines.setColorIndex(2, 2); + axisLines.setColorIndex(3, 3); + axisLines.setColorIndex(4, 4); + axisLines.setColorIndex(5, 5); + + return axisLines; + + } // end of Axis createGeometry() + + private TransformGroup Arrowhead(Color3f col, Vector3f trans, double zRot, double xRot) { + // X axis + Appearance appearance = new Appearance(); + TransparencyAttributes ta = new TransparencyAttributes(); + ta.setTransparencyMode(TransparencyAttributes.BLENDED); + ta.setTransparency(0.5f); + appearance.setTransparencyAttributes(ta); + ColoringAttributes ca = new ColoringAttributes(col, ColoringAttributes.NICEST); + appearance.setColoringAttributes(ca); + Cone cone = new Cone(axislength / 40, axislength / 10, appearance); + TransformGroup tg = new TransformGroup(); + Transform3D arrowHeadTransform = new Transform3D(); + arrowHeadTransform.setTranslation(trans); + Transform3D zRotTransform = new Transform3D(); + zRotTransform.rotZ(zRot); + arrowHeadTransform.mul(zRotTransform); + Transform3D xRotTransform = new Transform3D(); + xRotTransform.rotX(xRot); + arrowHeadTransform.mul(xRotTransform); + tg.setTransform(arrowHeadTransform); + tg.addChild(cone); + return tg; + } + + public TransformGroup generateAxesLabels() { + TransformGroup axislabelTrans = new TransformGroup(); + + Font3D font3d = new Font3D(new Font("Display", Font.PLAIN, 6), new FontExtrusion()); + + float axeslength = axislength; + float i_xaxes = axislength; + float i_yaxes = axislength; + // X-Axis Label + // Text3D xfont = new Text3D(font3d, new String("X"), new + // Point3f((i_xaxes + axeslength + 0.5f), + // (i_yaxes - 0.25f), 0.0f)); + // Shape3D xshape = new Shape3D(xfont); + Text3D xfont = new Text3D(font3d, new String("X"), new Point3f(axislength, axislength, 0)); + Shape3D xshape = new Shape3D(xfont); + + // Y-Axis Label + Text3D yfont = new Text3D(font3d, new String("Y"), new Point3f((i_xaxes - 0.25f), + (i_yaxes + axeslength + 0.5f), 0.0f)); + Shape3D yshape = new Shape3D(yfont); + + // Z-Axis Label + Text3D zfont = new Text3D(font3d, new String("Z"), new Point3f((i_xaxes - 0.5f), (i_yaxes - 0.5f), + (axeslength + 0.5f))); + Shape3D zshape = new Shape3D(zfont); + + axislabelTrans.addChild(xshape); + axislabelTrans.addChild(yshape); + axislabelTrans.addChild(zshape); + + return axislabelTrans; + } // End generateAxesLabels + +} // end of class Axis + diff --git a/src/jat/jat3D/Sphere3D.java b/src/jat/jat3D/Sphere3D.java new file mode 100644 index 0000000..8125fc1 --- /dev/null +++ b/src/jat/jat3D/Sphere3D.java @@ -0,0 +1,132 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D; + +import javax.media.j3d.Appearance; +import javax.media.j3d.Material; +import javax.vecmath.Color3f; + +import com.sun.j3d.utils.geometry.Sphere; + +/** Sphere class + * @author Tobias Berthold + */ +public class Sphere3D extends Body3D +{ + public static float size_factor = 1.0f; + float radius; + static Color3f EmissiveColor = Colors.darkgray; + + /** + * Constructor Sphere3D. + * @param radius radius of sphere + * @param DiffuseColor color of sphere + */ + public Sphere3D(float radius, Color3f DiffuseColor) + { + this.radius = radius; + addChild( + new Sphere( + radius, + Sphere.GENERATE_NORMALS, + 60, + createMatAppear(DiffuseColor, Colors.white, EmissiveColor, 10.0f))); + } + + public Sphere3D(float radius, Color3f DiffuseColor, Color3f EmissiveColor) + { + this.radius = radius; + addChild( + new Sphere( + radius, + Sphere.GENERATE_NORMALS, + 60, + createMatAppear(DiffuseColor, Colors.white, EmissiveColor, 10.0f))); + } + + public Sphere3D(float radius, Color3f DiffuseColor, Color3f EmissiveColor, double x, double y, double z) + { + this.radius = radius; + addChild( + new Sphere( + radius, + Sphere.GENERATE_NORMALS, + 60, + createMatAppear(DiffuseColor, Colors.white, EmissiveColor, 10.0f))); + set_position(x, y, z); + } + + public Sphere3D(float radius, Color3f DiffuseColor, float x, float y, float z) + { + this.radius = radius; + addChild( + new Sphere( + radius, + Sphere.GENERATE_NORMALS, + 60, + createMatAppear(DiffuseColor, Colors.white, EmissiveColor, 10.0f))); + set_position(x, y, z); + } + + public Sphere3D(float radius, Color3f DiffuseColor, double x, double y, double z) + { + this.radius = radius; + addChild( + new Sphere( + radius, + Sphere.GENERATE_NORMALS, + 60, + createMatAppear(DiffuseColor, Colors.white, EmissiveColor, 10.0f))); + set_position(x, y, z); + } + + protected static Appearance createMatAppear( + Color3f DiffuseColor, + Color3f SpecularColor, + Color3f EmissiveColor, + float shine) + { + Appearance appear = new Appearance(); + Material material = new Material(); + material.setDiffuseColor(DiffuseColor); + material.setSpecularColor(SpecularColor); + material.setShininess(shine); + material.setEmissiveColor(EmissiveColor); + appear.setMaterial(material); + + //For Transparency + // TransparencyAttributes ta = new TransparencyAttributes(); + // ta.setTransparency(0.5f); + // ta.setTransparencyMode(TransparencyAttributes.BLENDED); + // appear.setTransparencyAttributes(ta); + + return appear; + } + + // // Methods to be implemented in subclasses + // public void add() + // { + // //TG_scene.addChild(new Sphere(radius, Sphere.GENERATE_NORMALS, 60, createMatAppear_planet(red, white, 10.0f))); + // addChild(new Sphere(radius, Sphere.GENERATE_NORMALS, 60, createMatAppear_planet(red, white, 10.0f))); + // } + +} diff --git a/src/jat/jat3D/Star3D.java b/src/jat/jat3D/Star3D.java new file mode 100644 index 0000000..fd80f79 --- /dev/null +++ b/src/jat/jat3D/Star3D.java @@ -0,0 +1,103 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; +import jat.coreNOSA.cm.cm; + +import java.awt.image.BufferedImage; +import java.io.IOException; +import java.net.MalformedURLException; +import java.net.URL; + +import javax.imageio.ImageIO; +import javax.media.j3d.Appearance; +import javax.media.j3d.Material; +import javax.media.j3d.TextureAttributes; +import javax.vecmath.Color3f; + +import com.sun.j3d.utils.geometry.Sphere; +import com.sun.j3d.utils.image.TextureLoader; + +/** + * Star3D class + * + * @author Tobias Berthold + */ +public class Star3D extends Body3D { + float radius; + Appearance app; + Color3f Starcolor; // Star color if texture not found + String images_path; + + public Star3D(PathUtil path, jatMessages messages, float scale) { + super(); + this.messages=messages; + this.scale = scale; + images_path = path.root_path + "data/jat3D/images_hires/"; + radius = (float) cm.sun_radius; + Starcolor = Colors.blue; + + String fileName= images_path + "sun.jpg"; + + + // Create a URL for the desired page + // If it is called from an applet, it starts with "file:" or "http:" + // If it's an application, we need to add "file:" so that BufferReader works + boolean application; + if (fileName.startsWith("file") || fileName.startsWith("http")) + application = false; + else + application = true; + if (application) + fileName = "file:" + fileName; + messages.addln("[Star3D] "+fileName); + try { + URL TextureURL = new URL(fileName); + BufferedImage img = ImageIO.read(TextureURL); + TextureLoader tex = new TextureLoader(img); + TextureAttributes ta = new TextureAttributes(); + ta.setTextureMode(TextureAttributes.MODULATE); + app = createMatAppear_star(Colors.white, Colors.white, 10.0f); + app.setTextureAttributes(ta); + app.setTexture(tex.getTexture()); + } catch (MalformedURLException e) { + app = createMatAppear_star(Colors.blue, Colors.white, 10.0f); + //e.printStackTrace(); + } catch (IOException e) { + app = createMatAppear_star(Colors.blue, Colors.white, 10.0f); + //e.printStackTrace(); + } + + addChild(new Sphere(scale * radius, Sphere.GENERATE_NORMALS | Sphere.GENERATE_TEXTURE_COORDS, 60, app)); + + } + + static Appearance createMatAppear_star(Color3f dColor, Color3f sColor, float shine) { + Appearance appear = new Appearance(); + Material material = new Material(); + material.setDiffuseColor(dColor); + material.setSpecularColor(sColor); + material.setShininess(shine); + material.setEmissiveColor(1.f, 1.f, 1.f); + appear.setMaterial(material); + return appear; + } + +} diff --git a/src/jat/jat3D/StarsBackground3D.java b/src/jat/jat3D/StarsBackground3D.java new file mode 100644 index 0000000..9a6a796 --- /dev/null +++ b/src/jat/jat3D/StarsBackground3D.java @@ -0,0 +1,168 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.astronomy.StarCatalog; +import jat.core.astronomy.Stardata; +import jat.core.util.PathUtil; +import jat.core.util.jatMessages; +import jat.coreNOSA.math.CoordTransform; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import javax.media.j3d.Appearance; +import javax.media.j3d.Background; +import javax.media.j3d.BoundingSphere; +import javax.media.j3d.BranchGroup; +import javax.media.j3d.PointArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3f; +import javax.vecmath.Point3d; + +/** + * Planet class + * + * @author Tobias Berthold + */ +public class StarsBackground3D extends BranchGroup { + float radius; + String Texturefilename; + Appearance app; + Color3f Starcolor; // Star color if texture not found + public StarCatalog s; + PathUtil p; + jatMessages messages; + boolean bugFound = true; + + public StarsBackground3D(PathUtil p, jatMessages messages, float radius) { + super(); + this.p = p; + this.messages=messages; + this.radius = radius; + Starcolor = Colors.blue; + addChild(createStarSphere()); + // addChild(createPointCloud()); + } + + public StarsBackground3D(PathUtil p, float radius) { + super(); + this.p = p; + this.radius = radius; + Starcolor = Colors.blue; + addChild(createStarSphere()); + // addChild(createPointCloud()); + } + + public BranchGroup createStarSphere() { + + BranchGroup bg = new BranchGroup(); + + s = new StarCatalog(p,messages); + + s.load(); + if (bugFound) { + + PointArray starfield = new PointArray(99, PointArray.COORDINATES | PointArray.COLOR_3); + float[] brightness = new float[3]; + Stardata sd; + for (int i = 0; i < s.manystardata.size(); i++) { + // for (int i = 0; i < manystardata.size(); i++) + sd = (Stardata) s.manystardata.get(i); + + // System.out.println(sd.ProperName + " " + sd.RA + " " + + // sd.dec); + VectorN point3 = CoordTransform.Spherical_to_Cartesian_deg(radius, sd.RA / MathUtils.DEG2RAD, sd.dec + / MathUtils.DEG2RAD); + + // point[0] = 1; + // point[1] = 1; + // point[2] = 1; + // point[0] *= 1.e8; + // point[1] *= 1.e8; + // point[2] *= 1.e8; + starfield.setCoordinate(i, point3.x); + // final float mag = rand.nextFloat(); + final float mag = 1.f; + brightness[0] = mag; + brightness[1] = mag; + brightness[2] = mag; + starfield.setColor(i, brightness); + } + bg.addChild(new Shape3D(starfield)); + } + return bg; + + } + + private BranchGroup createPointCloud() { + + BranchGroup bg = new BranchGroup(); + + final java.util.Random rand = new java.util.Random(); + PointArray starfield = new PointArray(20000, PointArray.COORDINATES | PointArray.COLOR_3); + float[] point = new float[3]; + float[] brightness = new float[3]; + for (int i = 0; i < 20000; i++) { + point[0] = (rand.nextInt(2) == 0) ? rand.nextFloat() * -1.0f : rand.nextFloat(); + point[1] = (rand.nextInt(2) == 0) ? rand.nextFloat() * -1.0f : rand.nextFloat(); + point[2] = (rand.nextInt(2) == 0) ? rand.nextFloat() * -1.0f : rand.nextFloat(); + point[0] *= 1.e8; + point[1] *= 1.e8; + point[2] *= 1.e8; + + starfield.setCoordinate(i, point); + final float mag = rand.nextFloat(); + brightness[0] = mag; + brightness[1] = mag; + brightness[2] = mag; + starfield.setColor(i, brightness); + } + bg.addChild(new Shape3D(starfield)); + + return bg; + + } + + private Background createBackGraph() { + Background background = new Background(); + final BoundingSphere infiniteBounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), Double.MAX_VALUE); + background.setApplicationBounds(infiniteBounds); + BranchGroup bg = new BranchGroup(); + + final java.util.Random rand = new java.util.Random(); + PointArray starfield = new PointArray(20000, PointArray.COORDINATES | PointArray.COLOR_3); + float[] point = new float[3]; + float[] brightness = new float[3]; + for (int i = 0; i < 20000; i++) { + point[0] = (rand.nextInt(2) == 0) ? rand.nextFloat() * -1.0f : rand.nextFloat(); + point[1] = (rand.nextInt(2) == 0) ? rand.nextFloat() * -1.0f : rand.nextFloat(); + point[2] = (rand.nextInt(2) == 0) ? rand.nextFloat() * -1.0f : rand.nextFloat(); + starfield.setCoordinate(i, point); + final float mag = rand.nextFloat(); + brightness[0] = mag; + brightness[1] = mag; + brightness[2] = mag; + starfield.setColor(i, brightness); + } + bg.addChild(new Shape3D(starfield)); + + background.setGeometry(bg); + return background; + } + +} diff --git a/src/jat/jat3D/Surface3D.java b/src/jat/jat3D/Surface3D.java new file mode 100644 index 0000000..ce7c0cd --- /dev/null +++ b/src/jat/jat3D/Surface3D.java @@ -0,0 +1,129 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D; + +import javax.media.j3d.Appearance; +import javax.media.j3d.Geometry; +import javax.media.j3d.Shape3D; +import javax.media.j3d.TransparencyAttributes; +import javax.media.j3d.TriangleFanArray; +import javax.vecmath.Color3f; +import javax.vecmath.Point3f; + +public class Surface3D extends Shape3D +{ + + //////////////////////////////////////////// + // + // create Shape3D with geometry and appearance + // the geometry is created in method yoyoGeometry + // the appearance is created in method yoyoAppearance + // + public Surface3D() + { + + this.setGeometry(yoyoGeometry()); + this.setAppearance(yoyoAppearance()); + + } // end of Yoyo constructor + + //////////////////////////////////////////// + // + // create yoyo geometry + // four triangle fans represent the yoyo + // strip indicies_______________ + // 0 0N+0 to 1N+0 ( 0 to N ) + // 1 1N+1 to 2N+1 + // 2 2N+2 to 3N+2 + // 3 3N+4 to 4N+3 + // + private Geometry yoyoGeometry() + { + + TriangleFanArray tfa; + int N = 17; + int totalN = 4 * (N + 1); + Point3f coords[] = new Point3f[totalN]; + Color3f colors[] = new Color3f[totalN]; + Color3f red = new Color3f(1.0f, 0.0f, 0.0f); + Color3f yellow = new Color3f(0.7f, 0.5f, 0.0f); + int stripCounts[] = { N + 1, N + 1, N + 1, N + 1 }; + float r = 6000.f; + float w = 4000.f; + int n; + double a; + float x, y; + + // set the central points for four triangle fan strips + coords[0 * (N + 1)] = new Point3f(0.0f, 0.0f, w); + coords[1 * (N + 1)] = new Point3f(0.0f, 0.0f, 0.0f); + coords[2 * (N + 1)] = new Point3f(0.0f, 0.0f, 0.0f); + coords[3 * (N + 1)] = new Point3f(0.0f, 0.0f, -w); + + colors[0 * (N + 1)] = red; + colors[1 * (N + 1)] = yellow; + colors[2 * (N + 1)] = yellow; + colors[3 * (N + 1)] = red; + + for (a = 0, n = 0; n < N; a = 2.0 * Math.PI / (N - 1) * ++n) + { + x = (float) (r * Math.cos(a)); + y = (float) (r * Math.sin(a)); + coords[0 * (N + 1) + n + 1] = new Point3f(x, y, w); + coords[1 * (N + 1) + N - n] = new Point3f(x, y, w); + coords[2 * (N + 1) + n + 1] = new Point3f(x, y, -w); + coords[3 * (N + 1) + N - n] = new Point3f(x, y, -w); + + colors[0 * (N + 1) + N - n] = red; + colors[1 * (N + 1) + n + 1] = yellow; + colors[2 * (N + 1) + N - n] = yellow; + colors[3 * (N + 1) + n + 1] = red; + } + + tfa = new TriangleFanArray(totalN, TriangleFanArray.COORDINATES | TriangleFanArray.COLOR_3, stripCounts); + + tfa.setCoordinates(0, coords); + tfa.setColors(0, colors); + + return tfa; + + } + + private Appearance yoyoAppearance() + { + + Appearance appearance = new Appearance(); + +// PolygonAttributes polyAttrib = new PolygonAttributes(); +// polyAttrib.setPolygonMode(PolygonAttributes.POLYGON_LINE); +// appearance.setPolygonAttributes(polyAttrib); + + TransparencyAttributes ta=new TransparencyAttributes(); + ta.setTransparency(0.5f); + ta.setTransparencyMode(TransparencyAttributes.BLENDED); + appearance.setTransparencyAttributes(ta); + + return appearance; + + } // end of method yoyoAppearance of class Yoyo + +} // end of class diff --git a/src/jat/jat3D/TestGeom.java b/src/jat/jat3D/TestGeom.java new file mode 100644 index 0000000..55f9a77 --- /dev/null +++ b/src/jat/jat3D/TestGeom.java @@ -0,0 +1,90 @@ +package jat.jat3D; + +import javax.media.j3d.QuadArray; +import javax.media.j3d.Shape3D; + +/** + * Simple color-per-vertex cube with a different color for each face + */ +public class TestGeom extends Body3D +{ + double scale; + Shape3D s; + + private static final float[] verts = + { + // front face + 1.0f, -1.0f, 1.0f, // + 1.0f, 1.0f, 1.0f, // + -1.0f, 1.0f, 1.0f, // + -1.0f, -1.0f, 1.0f, // + // back face + -1.0f, -1.0f, -1.0f,// + -1.0f, 1.0f, -1.0f,// + 1.0f, 1.0f, -1.0f, // + 1.0f, -1.0f, -1.0f,// + // // right face + 1.0f, -1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, -1.0f, 1.0f, + // // left face + // -1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, + // // top face + // 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, -1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f, 1.0f, + // // bottom face + // -1.0f, -1.0f, 1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f, -1.0f, 1.0f, + }; + + private static final float[] colors = + { + // front face (red) + 1.0f, 0.0f, 0.0f, // one + 0.0f, 1.0f, 0.0f, // + 1.0f, 0.0f, 0.0f, // + 1.0f, 0.0f, 0.0f, + // back face (green) + 0.0f, 1.0f, 0.0f,// + 0.0f, 1.0f, 0.0f, // + 0.0f, 1.0f, 0.0f,// + 0.0f, 1.0f, 0.0f,// + // // right face (blue) + 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, + // // left face (yellow) + // 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, + // // top face (magenta) + // 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, + // // bottom face (cyan) + // 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f, + }; + + public TestGeom() + { + scale = 1.0; + s=new Shape3D(); + QuadArray cube = new QuadArray(24, QuadArray.COORDINATES | QuadArray.COLOR_3); + + cube.setCoordinates(0, verts); + cube.setColors(0, colors); + + s.setGeometry(cube); + addChild(s); + + } + + public TestGeom(double scale) + { + this.scale = scale; + s=new Shape3D(); + + QuadArray cube = new QuadArray(24, QuadArray.COORDINATES | QuadArray.COLOR_3); + + float scaledVerts[] = new float[verts.length]; + for (int i = 0; i < verts.length; i++) + scaledVerts[i] = verts[i] * (float)scale; + + cube.setCoordinates(0, scaledVerts); + cube.setColors(0, colors); + + s.setGeometry(cube); + addChild(s); + } + +} \ No newline at end of file diff --git a/src/jat/jat3D/TwoBodyOrbit3D.java b/src/jat/jat3D/TwoBodyOrbit3D.java new file mode 100644 index 0000000..ae0b466 --- /dev/null +++ b/src/jat/jat3D/TwoBodyOrbit3D.java @@ -0,0 +1,148 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.cm.TwoBodyAPL; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +import javax.media.j3d.GeometryArray; +import javax.media.j3d.LineStripArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3b; +import javax.vecmath.Color3f; + +/** + * @author Tobias Berthold + * @version 1.0 + */ +public class TwoBodyOrbit3D extends Shape3D implements Printable { + public double[] coords; + public double[] t, x, y, z; + double t0; // initial time + double tf; // final time + int j = 0; + // Color3f color = Colors.pink; + Color3f color; + Color3b colorb = new Color3b(); + private int steps = 500; + Constants c = new Constants(); + double mu = Constants.GM_Sun / 1.e9; + VectorN r = new VectorN(100000000, 0, 0); + VectorN v = new VectorN(0, 30, 0); + public TwoBodyAPL sat; + + public TwoBodyOrbit3D(double[] coords) { + this.coords = coords; + } + + public TwoBodyOrbit3D() { + draw_orbit(); + } + + public TwoBodyOrbit3D(double mu, VectorN r, VectorN v) { + this.mu = mu; + this.r = r; + this.v = v; + // create a TwoBody orbit using orbit elements + sat = new TwoBodyAPL(mu, r, v); + // find out the period of the orbit + tf = sat.period(); + color = Colors.pink; + draw_orbit(); + } + + public TwoBodyOrbit3D(double mu, VectorN r, VectorN v, double t0, double tf) { + + this.t0 = t0; + this.tf = tf; + this.mu = mu; + this.r = r; + this.v = v; + // create a TwoBody orbit using orbit elements + sat = new TwoBodyAPL(mu, r, v); + color = Colors.pink; + draw_orbit(); + } + + public TwoBodyOrbit3D(double mu, VectorN r, VectorN v, double t0, double tf, Color3f color) { + this.t0 = t0; + this.tf = tf; + this.mu = mu; + this.r = r; + this.v = v; + // create a TwoBody orbit using orbit elements + sat = new TwoBodyAPL(mu, r, v); + this.color = color; + draw_orbit(); + } + + public void print(double time, double[] pos) { + // also print to the screen for warm fuzzy feeling + //System.out.println(j + " " + time + " " + pos[0] + " " + pos[1] + " " + pos[2]); + t[j] = time; + x[j] = pos[0]; + y[j] = pos[1]; + z[j] = pos[2]; + // coords[j + 0] = pos[0]; + // coords[j + 1] = pos[1]; + // coords[j + 2] = pos[2]; + j++; + } + + public VectorN getPosition(double t0, double tf) { + sat.propagate(t0, tf, this, true, steps); + return sat.getR(); + } + + private void draw_orbit() { + + t = new double[steps + 2]; + x = new double[steps + 2]; + y = new double[steps + 2]; + z = new double[steps + 2]; + + sat.propagate(t0, tf, this, true, steps); + + // Copy data into coords array + // coords = new double[3 * steps + 6]; + int count = j; + coords = new double[count * 3]; + for (int k = 0; k < count; k++) { + coords[k * 3 + 0] = x[k]; + coords[k * 3 + 1] = y[k]; + coords[k * 3 + 2] = z[k]; + } + int num_vert = coords.length / 3; + int[] stripLengths = { num_vert }; + + LineStripArray myLines = new LineStripArray(num_vert, GeometryArray.COORDINATES | GeometryArray.COLOR_3, + stripLengths); + Color3f colors[] = new Color3f[num_vert]; + for (int i = 0; i < num_vert; i++) + colors[i] = color; + + // colors[i] = rainbow.colorFor(20); + + myLines.setColors(0, colors); + myLines.setCoordinates(0, coords); + + this.setGeometry(myLines); + } +} diff --git a/src/jat/jat3D/behavior/jat_KeyBehavior.java b/src/jat/jat3D/behavior/jat_KeyBehavior.java new file mode 100644 index 0000000..ccb8e6d --- /dev/null +++ b/src/jat/jat3D/behavior/jat_KeyBehavior.java @@ -0,0 +1,144 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.behavior; + +import jat.jat3D.plot3D.JatPlot3D; + +import java.awt.event.KeyEvent; + +import javax.media.j3d.Behavior; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.media.j3d.WakeupOnAWTEvent; +import javax.vecmath.Point3f; + +import com.sun.j3d.utils.universe.ViewingPlatform; + +/** + * A behaviour for 3d plots which defines certain keyboard events This is used + * instead of the default KeyNavigatorBehavior to work around bug 4376368 which + * causes the CPU used to go to 100% see + * http://developer.java.sun.com/developer/bugParade/bugs/4376368.html + * + * Use the arrow keys and page up/page down to move. Hold the shift key to + * rotate. Use the Home key to restore the default rotation. + * + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: PlotKeyNavigatorBehavior.java 8584 2006-08-10 23:06:37Z duns $ + * + */ +public class jat_KeyBehavior extends Behavior { + private Transform3D init; + public TransformGroup transformGroup; + private WakeupOnAWTEvent wup; + private float angle; + Transform3D transformZ = new Transform3D(); + Transform3D currXform = new Transform3D(); + JatPlot3D jatplot3d; + public ViewingPlatform myvp; + Point3f viewingCenter = new Point3f(0, 0, 0); + jat_Zoom jat_zoom; + jat_Rotate jat_rotate; + + + public jat_KeyBehavior(jat_Zoom jat_zoom,jat_Rotate jat_rotate) { + super(); + this.jat_zoom = jat_zoom; + this.jat_rotate = jat_rotate; + this.wup = new WakeupOnAWTEvent(KeyEvent.KEY_PRESSED); + this.jatplot3d=jat_zoom.jatplot3d; + } + + public void setViewingCenter(Point3f viewingCenter) { + this.viewingCenter = viewingCenter; + } + + public void setViewingPlatform(ViewingPlatform myvp) { + this.myvp = myvp; + } + + public jat_KeyBehavior(TransformGroup transformGroup, float moveStep, float rotStep) { + super(); + new Transform3D(); + this.init = new Transform3D(); + this.transformGroup = transformGroup; + this.wup = new WakeupOnAWTEvent(KeyEvent.KEY_PRESSED); + this.angle = (float) Math.toRadians(rotStep); + } + + public jat_KeyBehavior(JatPlot3D jatPlot3D) { + super(); + this.init = new Transform3D(); + this.wup = new WakeupOnAWTEvent(KeyEvent.KEY_PRESSED); + this.jatplot3d = jatPlot3D; + this.transformGroup = jatPlot3D.jatScene; + } + + public void initialize() { + wakeupOn(wup); + //transformGroup.getTransform(init); + } + + // public void setViewingPlatform(ViewingPlatform myvp) { + // this.myvp = myvp; + // } + + public void processStimulus(java.util.Enumeration criteria) { + KeyEvent event = (KeyEvent) (wup.getAWTEvent())[0]; + int keyCode = event.getKeyCode(); + boolean shift = (event.getModifiers() & event.SHIFT_MASK) != 0; + + switch (keyCode) { + case KeyEvent.VK_UP: + jat_rotate.jat_rotate(0, -.02f); + // jatPlot3D.jat_rotate(0, .02f); + break; + case KeyEvent.VK_DOWN: + jat_rotate.jat_rotate(0, .02f); + break; + case KeyEvent.VK_LEFT: + jat_rotate.jat_rotate(-.02f, 0); + break; + case KeyEvent.VK_RIGHT: + jat_rotate.jat_rotate(.02f, 0); + break; + case KeyEvent.VK_PAGE_UP: + // move(0f, 0f, 1f, shift); + break; + case KeyEvent.VK_PAGE_DOWN: + // move(0f, 0f, -1f, shift); + break; + case KeyEvent.VK_HOME: + transformGroup.setTransform(init); + break; + case KeyEvent.VK_EQUALS: + // System.out.println("plus pressed"); + jat_zoom.jat_zoom(1); + break; + case KeyEvent.VK_MINUS: + // System.out.println("minus pressed"); + jat_zoom.jat_zoom(-1); + break; + } + wakeupOn(wup); + } + +} diff --git a/src/jat/jat3D/behavior/jat_KeyBehavior_Translate.java b/src/jat/jat3D/behavior/jat_KeyBehavior_Translate.java new file mode 100644 index 0000000..3940afc --- /dev/null +++ b/src/jat/jat3D/behavior/jat_KeyBehavior_Translate.java @@ -0,0 +1,79 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.behavior; + +import jat.jat3D.plot3D.JatPlot3D; + +import java.awt.event.KeyEvent; + +import javax.media.j3d.Behavior; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.media.j3d.WakeupOnAWTEvent; + +public class jat_KeyBehavior_Translate extends Behavior { + public TransformGroup transformGroup; + private WakeupOnAWTEvent wup; + Transform3D transformZ = new Transform3D(); + Transform3D currXform = new Transform3D(); + JatPlot3D jatPlot3D; + + + public jat_KeyBehavior_Translate(JatPlot3D jatPlot3D) { + super(); + this.wup = new WakeupOnAWTEvent(KeyEvent.KEY_PRESSED); + this.jatPlot3D = jatPlot3D; + this.transformGroup = jatPlot3D.jatScene; + } + + public void initialize() { + wakeupOn(wup); + } + + // public void setViewingPlatform(ViewingPlatform myvp) { + // this.myvp = myvp; + // } + + public void processStimulus(java.util.Enumeration criteria) { + KeyEvent event = (KeyEvent) (wup.getAWTEvent())[0]; + int keyCode = event.getKeyCode(); + + switch (keyCode) { + case KeyEvent.VK_UP: + jatPlot3D.jat_translate(0f, 0f, .05f); + break; + case KeyEvent.VK_DOWN: + jatPlot3D.jat_translate(0f, 0f, -.05f); + break; + case KeyEvent.VK_LEFT: + jatPlot3D.jat_translate(-.05f, 0f, 0f); + break; + case KeyEvent.VK_RIGHT: + jatPlot3D.jat_translate(.05f, 0f, 0f); + //System.out.println("right"); + break; + default: + break; + } + wakeupOn(wup); + } + +} diff --git a/src/jat/jat3D/behavior/jat_KeyBehavior_UserCall.java b/src/jat/jat3D/behavior/jat_KeyBehavior_UserCall.java new file mode 100644 index 0000000..9d4c17b --- /dev/null +++ b/src/jat/jat3D/behavior/jat_KeyBehavior_UserCall.java @@ -0,0 +1,68 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.behavior; + +import java.awt.event.KeyEvent; + +import javax.media.j3d.Behavior; +import javax.media.j3d.WakeupOnAWTEvent; + +public class jat_KeyBehavior_UserCall extends Behavior { + private WakeupOnAWTEvent wup; + + public jat_KeyBehavior_UserCall() { + super(); + this.wup = new WakeupOnAWTEvent(KeyEvent.KEY_PRESSED); + } + + public void initialize() { + wakeupOn(wup); + } + + public void processStimulus(java.util.Enumeration criteria) { + KeyEvent event = (KeyEvent) (wup.getAWTEvent())[0]; + int keyCode = event.getKeyCode(); + + switch (keyCode) { + case KeyEvent.VK_UP: + keyup(); + break; + case KeyEvent.VK_DOWN: + keydown(); + break; + case KeyEvent.VK_LEFT: + keyleft(); + break; + case KeyEvent.VK_RIGHT: + keyright(); + break; + default: + break; + } + wakeupOn(wup); + } + + public void keyup(){} + public void keydown(){} + public void keyleft(){} + public void keyright(){} + +} diff --git a/src/jat/jat3D/behavior/jat_MouseDownUpBehavior.java b/src/jat/jat3D/behavior/jat_MouseDownUpBehavior.java new file mode 100644 index 0000000..c16e4c3 --- /dev/null +++ b/src/jat/jat3D/behavior/jat_MouseDownUpBehavior.java @@ -0,0 +1,115 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.behavior; + +import jat.jat3D.plot3D.JatPlot3D; + +import java.awt.AWTEvent; +import java.awt.event.MouseEvent; +import java.util.Enumeration; + +import javax.media.j3d.Behavior; +import javax.media.j3d.Bounds; +import javax.media.j3d.Transform3D; +import javax.media.j3d.WakeupCondition; +import javax.media.j3d.WakeupCriterion; +import javax.media.j3d.WakeupOnAWTEvent; +import javax.media.j3d.WakeupOr; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.universe.ViewingPlatform; + +public class jat_MouseDownUpBehavior extends Behavior { + WakeupOnAWTEvent w1 = new WakeupOnAWTEvent(MouseEvent.MOUSE_RELEASED); + WakeupCriterion[] w2 = { w1 }; + WakeupCondition w = new WakeupOr(w2); + WakeupOnAWTEvent wu1 = new WakeupOnAWTEvent(MouseEvent.MOUSE_PRESSED); + WakeupCriterion[] wu2 = { wu1 }; + WakeupCondition wu = new WakeupOr(wu2); + public ViewingPlatform myvp; + JatPlot3D jatPlot3D; + + public jat_MouseDownUpBehavior(Bounds bound) { + this.setSchedulingBounds(bound); + } + + public jat_MouseDownUpBehavior(JatPlot3D jatPlot3D) { + this.jatPlot3D = jatPlot3D; + } + + public void setViewingPlatform(ViewingPlatform myvp) { + this.myvp = myvp; + } + + public void initialize() { + // Establish initial wakeup criteria + wakeupOn(wu); + } + + /** + * Override Behavior's stimulus method to handle the event. + */ + public void processStimulus(Enumeration criteria) { + WakeupOnAWTEvent ev; + WakeupCriterion genericEvt; + AWTEvent[] events; + + while (criteria.hasMoreElements()) { + genericEvt = (WakeupCriterion) criteria.nextElement(); + if (genericEvt instanceof WakeupOnAWTEvent) { + ev = (WakeupOnAWTEvent) genericEvt; + events = ev.getAWTEvent(); + processSwitchEvent(events); + } + } + } + + /** + * Process a mouse up or down event + */ + void processSwitchEvent(AWTEvent[] events) { + + for (int i = 0; i < events.length; ++i) { + if (events[i] instanceof MouseEvent) { + MouseEvent event = (MouseEvent) events[i]; + if (event.getID() == MouseEvent.MOUSE_PRESSED) { + // default + // Set wakeup criteria for next time + //System.out.println("mouse pressed"); + wakeupOn(w); + break; + } else if (event.getID() == MouseEvent.MOUSE_RELEASED) { + //System.out.println("mouse released"); + Transform3D tf = new Transform3D(); + myvp.getViewPlatformTransform().getTransform(tf); + Vector3f vf = new Vector3f(); + tf.get(vf); + //System.out.println("distance from center " + vf.length()); + //jatPlot3D.adjustbox(); + // Set wakeup criteria for next time + wakeupOn(wu); + break; + } + } + } + } + +} diff --git a/src/jat/jat3D/behavior/jat_MouseRotate.java b/src/jat/jat3D/behavior/jat_MouseRotate.java new file mode 100644 index 0000000..05c9137 --- /dev/null +++ b/src/jat/jat3D/behavior/jat_MouseRotate.java @@ -0,0 +1,235 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code: +// Copyright (c) 2007 Sun Microsystems, Inc. All rights reserved. + +package jat.jat3D.behavior; + +import java.awt.AWTEvent; +import java.awt.event.MouseEvent; +import java.util.Enumeration; + +import javax.media.j3d.Transform3D; +import javax.media.j3d.WakeupCriterion; +import javax.media.j3d.WakeupOnAWTEvent; +import javax.media.j3d.WakeupOnBehaviorPost; +import javax.vecmath.Point3f; + +import com.sun.j3d.utils.behaviors.mouse.MouseBehavior; +import com.sun.j3d.utils.behaviors.mouse.MouseBehaviorCallback; +import com.sun.j3d.utils.universe.ViewingPlatform; + + +public class jat_MouseRotate extends MouseBehavior { + double x_angle, y_angle; + double x_factor = .01; + double y_factor = .01; + public ViewingPlatform myvp; + int i = 0; + private MouseBehaviorCallback callback = null; + Point3f viewingCenter = new Point3f(0, 0, 0); + jat_Rotate jat_rotate; + + + public jat_MouseRotate(jat_Rotate jat_rotate) { + super(0); + this.jat_rotate=jat_rotate; + } + + public void setViewingCenter(Point3f viewingCenter) { + this.viewingCenter = viewingCenter; + } + + + public void initialize() { + super.initialize(); + x_angle = 0; + y_angle = 0; + if ((flags & INVERT_INPUT) == INVERT_INPUT) { + invert = true; + x_factor *= -1; + y_factor *= -1; + } + } + + /** + * Return the x-axis movement multipler. + **/ + public double getXFactor() { + return x_factor; + } + + /** + * Return the y-axis movement multipler. + **/ + public double getYFactor() { + return y_factor; + } + + /** + * Set the x-axis amd y-axis movement multipler with factor. + **/ + public void setFactor(double factor) { + x_factor = y_factor = factor; + } + + /** + * Set the x-axis amd y-axis movement multipler with xFactor and yFactor + * respectively. + **/ + public void setFactor(double xFactor, double yFactor) { + x_factor = xFactor; + y_factor = yFactor; + } + + public void processStimulus(Enumeration criteria) { + WakeupCriterion wakeup; + AWTEvent[] events; + MouseEvent evt; + // int id; + // int dx, dy; + + while (criteria.hasMoreElements()) { + wakeup = (WakeupCriterion) criteria.nextElement(); + if (wakeup instanceof WakeupOnAWTEvent) { + events = ((WakeupOnAWTEvent) wakeup).getAWTEvent(); + if (events.length > 0) { + evt = (MouseEvent) events[events.length - 1]; + doProcess(evt); + } + } + + else if (wakeup instanceof WakeupOnBehaviorPost) { + while (true) { + // access to the queue must be synchronized + synchronized (mouseq) { + if (mouseq.isEmpty()) + break; + evt = (MouseEvent) mouseq.remove(0); + // consolidate MOUSE_DRAG events + while ((evt.getID() == MouseEvent.MOUSE_DRAGGED) && !mouseq.isEmpty() + && (((MouseEvent) mouseq.get(0)).getID() == MouseEvent.MOUSE_DRAGGED)) { + evt = (MouseEvent) mouseq.remove(0); + } + } + doProcess(evt); + } + } + } + wakeupOn(mouseCriterion); + } + + void doProcess(MouseEvent evt) { + int id; + int dx, dy; + + // System.out.println("enter doProcess "+i++); + processMouseEvent(evt); + if (((buttonPress) && ((flags & MANUAL_WAKEUP) == 0)) || ((wakeUp) && ((flags & MANUAL_WAKEUP) != 0))) { + id = evt.getID(); + if ((id == MouseEvent.MOUSE_DRAGGED) && !evt.isMetaDown() && !evt.isAltDown()) { + x = evt.getX(); + y = evt.getY(); + // System.out.println("x " + x + "y " + y); + + dx = x - x_last; + dy = y - y_last; + + if (!reset) { + x_angle = dx * x_factor; + y_angle = dy * y_factor; + + jat_rotate.jat_rotate((float) x_angle, (float) y_angle); + + if (callback != null) + callback.transformChanged(MouseBehaviorCallback.ROTATE, currXform); + } else { + reset = false; + } + + x_last = x; + y_last = y; + } else if (id == MouseEvent.MOUSE_PRESSED) { + x_last = evt.getX(); + y_last = evt.getY(); + } + } + // System.out.println("leave doProcess"); + } + + //float last_theta, last_phi; + + // public void jat_rotate(float x_angle, float y_angle) { + // // The view platform + // TransformGroup myvpt = myvp.getViewPlatformTransform(); + // Transform3D Trans = new Transform3D(); + // myvpt.getTransform(Trans); + // + // // the current Cartesian view position in space + // Vector3f v_current_cart1 = new Vector3f(); + // Trans.get(v_current_cart1); + // + // // the current Cartesian view position relative to the sphere + // Vector3f v_current_cart2 = new Vector3f(); + // v_current_cart2.x = v_current_cart1.x - viewingCenter.x; + // v_current_cart2.y = v_current_cart1.y - viewingCenter.y; + // v_current_cart2.z = v_current_cart1.z - viewingCenter.z; + // + // // the current spherical view position relative to the sphere + // Vector3f v_current_sphere; + // v_current_sphere = + // CoordTransform3D.Cartesian_to_Spherical(v_current_cart2); + // // util.print("view sphere", v_current_sphere); + // + // // the new spherical view position relative to the sphere + // v_current_sphere.y -= y_angle; + // v_current_sphere.z -= x_angle; + // + // // the new Cartesian view position relative to the sphere + // Vector3f v = CoordTransform3D.Spherical_to_Cartesian(v_current_sphere); + // + // // the new Cartesian view position in space + // v.x += viewingCenter.x ; + // v.y += viewingCenter.y ; + // v.z += viewingCenter.z ; + // + // Transform3D lookAt = new Transform3D(); + // lookAt.lookAt(new Point3d(v.x, v.y, v.z), new Point3d(viewingCenter), new + // Vector3d(0, 0, 1.0)); + // lookAt.invert(); + // + // myvpt.setTransform(lookAt); + // } + + /** + * Users can overload this method which is called every time the Behavior + * updates the transform + * + * Default implementation does nothing + */ + public void transformChanged(Transform3D transform) { + } + + /** + * The transformChanged method in the callback class will be called every + * time the transform is updated + */ + public void setupCallback(MouseBehaviorCallback callback) { + this.callback = callback; + } +} diff --git a/src/jat/jat3D/behavior/jat_MouseZoom.java b/src/jat/jat3D/behavior/jat_MouseZoom.java new file mode 100644 index 0000000..3a4cd06 --- /dev/null +++ b/src/jat/jat3D/behavior/jat_MouseZoom.java @@ -0,0 +1,132 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code: +// Copyright (c) 2007 Sun Microsystems, Inc. All rights reserved. + +package jat.jat3D.behavior; + +import java.awt.AWTEvent; +import java.awt.event.MouseEvent; +import java.util.Enumeration; + +import javax.media.j3d.WakeupCriterion; +import javax.media.j3d.WakeupOnAWTEvent; +import javax.media.j3d.WakeupOnBehaviorPost; + +import com.sun.j3d.utils.behaviors.mouse.MouseBehavior; + +public class jat_MouseZoom extends MouseBehavior { + + float z_factor = .004f; + public jat_Zoom jat_zoom; + + public jat_MouseZoom(jat_Zoom jat_zoom) { + super(0); + this.jat_zoom = jat_zoom; + } + + public void initialize() { + super.initialize(); + if ((flags & INVERT_INPUT) == INVERT_INPUT) { + z_factor *= -1; + invert = true; + } + } + + /** + * Return the y-axis movement multipler. + **/ + public double getFactor() { + return z_factor; + } + + /** + * Set the y-axis movement multipler with factor. + **/ + public void setFactor(float factor) { + z_factor = factor; + } + + public void processStimulus(Enumeration criteria) { + WakeupCriterion wakeup; + AWTEvent[] events; + MouseEvent evt; + // int id; + // int dx, dy; + + while (criteria.hasMoreElements()) { + wakeup = (WakeupCriterion) criteria.nextElement(); + if (wakeup instanceof WakeupOnAWTEvent) { + events = ((WakeupOnAWTEvent) wakeup).getAWTEvent(); + if (events.length > 0) { + evt = (MouseEvent) events[events.length - 1]; + doProcess(evt); + } + } + + else if (wakeup instanceof WakeupOnBehaviorPost) { + while (true) { + synchronized (mouseq) { + if (mouseq.isEmpty()) + break; + evt = (MouseEvent) mouseq.remove(0); + // consolidate MOUSE_DRAG events + while ((evt.getID() == MouseEvent.MOUSE_DRAGGED) && !mouseq.isEmpty() && (((MouseEvent) mouseq.get(0)).getID() == MouseEvent.MOUSE_DRAGGED)) { + evt = (MouseEvent) mouseq.remove(0); + } + } + doProcess(evt); + } + } + + } + wakeupOn(mouseCriterion); + } + + void doProcess(MouseEvent evt) { + int id; + int dx, dy; + + processMouseEvent(evt); + + if (((buttonPress) && ((flags & MANUAL_WAKEUP) == 0)) || ((wakeUp) && ((flags & MANUAL_WAKEUP) != 0))) { + id = evt.getID(); + if ((id == MouseEvent.MOUSE_DRAGGED) && evt.isAltDown() && !evt.isMetaDown()) { + + x = evt.getX(); + y = evt.getY(); + + dx = x - x_last; + dy = y - y_last; + + if (!reset) { + jat_zoom.jat_zoom(dy); + + } else { + reset = false; + } + + x_last = x; + y_last = y; + } else if (id == MouseEvent.MOUSE_PRESSED) { + x_last = evt.getX(); + y_last = evt.getY(); + } + } + } +} diff --git a/src/jat/jat3D/behavior/jat_Rotate.java b/src/jat/jat3D/behavior/jat_Rotate.java new file mode 100644 index 0000000..b7a5fc9 --- /dev/null +++ b/src/jat/jat3D/behavior/jat_Rotate.java @@ -0,0 +1,145 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code: +// Copyright (c) 2007 Sun Microsystems, Inc. All rights reserved. + +package jat.jat3D.behavior; + +import jat.jat3D.CoordTransform3D; +import jat.jat3D.plot3D.JatPlot3D; + +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Point3d; +import javax.vecmath.Point3f; +import javax.vecmath.Vector3d; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.universe.ViewingPlatform; + +/** + * jat_Rotate is a Java3D behavior object that lets users control the rotation + * of an object via a mouse or keyboard. + *

+ * In JAT, it works a bit different from the typical use. Instead of rotating + * the scene, it moves the viewing platform in orbits around the scene, while + * always looking at the scene, with the z-direction being up. Then, + */ +public class jat_Rotate { + double x_angle, y_angle; + double x_factor = .01; + double y_factor = .01; + public ViewingPlatform myvp; + Point3f viewingCenter = new Point3f(0, 0, 0); + JatPlot3D jatplot3d; + private Vector3f v_current_sphere; + + public Vector3f getV_current_sphere() { + // The view platform + TransformGroup myvpt = myvp.getViewPlatformTransform(); + Transform3D Trans = new Transform3D(); + myvpt.getTransform(Trans); + + // the current Cartesian view position in space + Vector3f v_current_cart1 = new Vector3f(); + Trans.get(v_current_cart1); + + // the current Cartesian view position relative to the sphere + Vector3f v_current_cart2 = new Vector3f(); + v_current_cart2.x = v_current_cart1.x - viewingCenter.x; + v_current_cart2.y = v_current_cart1.y - viewingCenter.y; + v_current_cart2.z = v_current_cart1.z - viewingCenter.z; + + // the current spherical view position relative to the sphere + //update_v_current_sphere(); + v_current_sphere = CoordTransform3D.Cartesian_to_Spherical(v_current_cart2); + // util.print("view sphere", v_current_sphere); + return v_current_sphere; + } + + public jat_Rotate(JatPlot3D jatplot3d) { + super(); + this.jatplot3d = jatplot3d; + myvp = jatplot3d.universe.getViewingPlatform(); + this.viewingCenter=jatplot3d.viewingCenter; + } + + public void jat_rotate(float x_angle, float y_angle) { + // The view platform + TransformGroup myvpt = myvp.getViewPlatformTransform(); + Transform3D Trans = new Transform3D(); + myvpt.getTransform(Trans); + + // the current Cartesian view position in space + Vector3f v_current_cart1 = new Vector3f(); + Trans.get(v_current_cart1); + + // the current Cartesian view position relative to the sphere + Vector3f v_current_cart2 = new Vector3f(); + v_current_cart2.x = v_current_cart1.x - viewingCenter.x; + v_current_cart2.y = v_current_cart1.y - viewingCenter.y; + v_current_cart2.z = v_current_cart1.z - viewingCenter.z; + + // the current spherical view position relative to the sphere + //update_v_current_sphere(); + v_current_sphere = CoordTransform3D.Cartesian_to_Spherical(v_current_cart2); + // util.print("view sphere", v_current_sphere); + + // the new spherical view position relative to the sphere + v_current_sphere.y -= y_angle; + v_current_sphere.z -= x_angle; + + // the new Cartesian view position relative to the sphere + Vector3f v = CoordTransform3D.Spherical_to_Cartesian(v_current_sphere); + + // the new Cartesian view position in space + v.x += viewingCenter.x; + v.y += viewingCenter.y; + v.z += viewingCenter.z; + + Transform3D lookAt = new Transform3D(); + lookAt.lookAt(new Point3d(v.x, v.y, v.z), new Point3d(viewingCenter), new Vector3d(0, 0, 1.0)); + lookAt.invert(); + + myvpt.setTransform(lookAt); + + } + + + void update_v_current_sphere() + { + // The view platform + TransformGroup myvpt = myvp.getViewPlatformTransform(); + Transform3D Trans = new Transform3D(); + myvpt.getTransform(Trans); + + // the current Cartesian view position in space + Vector3f v_current_cart1 = new Vector3f(); + Trans.get(v_current_cart1); + + // the current Cartesian view position relative to the sphere + Vector3f v_current_cart2 = new Vector3f(); + v_current_cart2.x = v_current_cart1.x - viewingCenter.x; + v_current_cart2.y = v_current_cart1.y - viewingCenter.y; + v_current_cart2.z = v_current_cart1.z - viewingCenter.z; + + v_current_sphere = CoordTransform3D.Cartesian_to_Spherical(v_current_cart2); +} + + +} diff --git a/src/jat/jat3D/behavior/jat_Zoom.java b/src/jat/jat3D/behavior/jat_Zoom.java new file mode 100644 index 0000000..7730ca7 --- /dev/null +++ b/src/jat/jat3D/behavior/jat_Zoom.java @@ -0,0 +1,178 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code: +// Copyright (c) 2007 Sun Microsystems, Inc. All rights reserved. + +package jat.jat3D.behavior; + +import jat.jat3D.plot3D.JatPlot3D; + +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Point3d; +import javax.vecmath.Point3f; +import javax.vecmath.Vector3d; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.behaviors.mouse.MouseBehaviorCallback; +import com.sun.j3d.utils.universe.ViewingPlatform; + +/** + * @author Tobias Berthold + * + * jat_Zoom is called by mouse as well as keyboard-driven (or future input device) + * zoom requests. + */ +public class jat_Zoom { + double x_angle, y_angle; + double x_factor = .01; + double y_factor = .01; + public ViewingPlatform myvp; + Point3f viewingCenter = new Point3f(0, 0, 0); + JatPlot3D jatplot3d; + + private MouseBehaviorCallback callback = null; + + public jat_Zoom(JatPlot3D jatplot3d) { + super(); + this.jatplot3d = jatplot3d; + myvp = jatplot3d.universe.getViewingPlatform(); + this.viewingCenter=jatplot3d.viewingCenter; + } + + public void jat_zoom(float dy) { + + // The zoom factor + float zoom; + if (dy > 0) + zoom = 0.96f; + else + zoom = 1.04f; + + // The view platform + TransformGroup myvpt = myvp.getViewPlatformTransform(); + Transform3D Trans = new Transform3D(); + myvpt.getTransform(Trans); + + + // the view platform position, including displacement + Vector3f vabs = new Vector3f(); + Trans.get(vabs); + // util.print("v", v); + + + // the view platform position, relative to viewing center + Vector3f v = new Vector3f(); + v.x=vabs.x-viewingCenter.x; + v.y=vabs.y-viewingCenter.y; + v.z=vabs.z-viewingCenter.z; + + + // zoom in or our view platform, relative + Point3d p = new Point3d(); + p.x = zoom * v.x; + p.y = zoom * v.y; + p.z = zoom * v.z; + // util.print("p", p); + + // get new absolute view platform position + p.x+=viewingCenter.x; + p.y+=viewingCenter.y; + p.z+=viewingCenter.z; + + + + Transform3D lookAt = new Transform3D(); + lookAt.lookAt(p, new Point3d(viewingCenter), new Vector3d(0, 0, 1.0)); + lookAt.invert(); + // update_user(); + myvpt.setTransform(lookAt); + // if (get_vp_t().length() > 10.f) { + adjustbox(); + // } + + //if (callback != null) + //callback.transformChanged(MouseBehaviorCallback.ZOOM, currXform); + + } + + public void adjustbox() { + boolean changed = false; + float new_distance = jatplot3d.get_vp_t().length(); + + if (new_distance > 10) { + changed = true; + jatplot3d.exponent += 1; + // System.out.println("nd>10 cd<10"); + } + if (new_distance < 1) { + changed = true; + jatplot3d.exponent -= 1; + // System.out.println("nd>10 cd<10"); + } + + if (changed) + new_box(new_distance); + } + + void new_box(float new_distance) { + float tf_factor = (float) Math.pow(10, jatplot3d.exponent); + float factor; + if (new_distance > 10.f) + factor = 0.1f; + else + factor = 10.f; + + // scale scene to fit inside box + jatplot3d.zoomScene(1.f / tf_factor); + // and move viewer accordingly + Vector3f v = jatplot3d.get_vp_t(); + Point3d p = new Point3d(v.x * factor, v.y * factor, v.z * factor); + Transform3D lookAt = new Transform3D(); + lookAt.lookAt(p, new Point3d(0.0, 0.0, 0.0), new Vector3d(0, 0, 1.0)); + lookAt.invert(); + jatplot3d.universe.getViewingPlatform().getViewPlatformTransform().setTransform(lookAt); + + // System.out.println("zoom , label"); + jatplot3d.bbox.setLabels(jatplot3d.exponent); + + // jatplot3d.bbox.xAxis.setLabel("X 10^" + jatplot3d.exponent + " km"); + // jatplot3d.bbox.xAxis.apply(); + } + + + + /** + * Users can overload this method which is called every time the Behavior + * updates the + * + * Default implementation does nothing + */ + public void viewChanged(Transform3D transform) { + } + + /** + * The transformChanged method in the callback class will be called every + * time the transform is updated + */ + public void setupCallback(MouseBehaviorCallback callback) { + this.callback = callback; + } + + +} diff --git a/src/jat/jat3D/jatScene3D.java b/src/jat/jat3D/jatScene3D.java new file mode 100644 index 0000000..0d188f7 --- /dev/null +++ b/src/jat/jat3D/jatScene3D.java @@ -0,0 +1,142 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import jat.core.util.jatMessages; + +import javax.media.j3d.BranchGroup; +import javax.media.j3d.Node; +import javax.media.j3d.SceneGraphObject; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; + +/** + * The class that holds all of the JAT scene elements. Allows dynamic addition + * and removal of elements, as well as scaling. + * + * @author Tobias Berthold + * + * + */ +public class jatScene3D extends TransformGroup { + private BranchGroup jatBranchGroup; + public Transform3D InitialRotation; + public Vector3f InitialTranslation; + jatMessages messages; + + public jatScene3D() { + // super(); + InitialRotation = new Transform3D(); + InitialTranslation = new Vector3f(); + setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + setCapability(TransformGroup.ALLOW_CHILDREN_WRITE); + setCapability(TransformGroup.ALLOW_CHILDREN_READ); + setCapability(TransformGroup.ALLOW_CHILDREN_EXTEND); + jatBranchGroup = new BranchGroup(); + jatBranchGroup.setCapability(BranchGroup.ALLOW_DETACH); + jatBranchGroup.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); + jatBranchGroup.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE); + jatBranchGroup.setCapability(BranchGroup.ALLOW_CHILDREN_READ); + jatBranchGroup.setUserData("jatBranchGroup"); + addChild(jatBranchGroup); + } + + public jatScene3D(jatMessages messages) { + this(); + this.messages = messages; + + } + + /** + * Add an element to the scene + * + * @param b + * body to add + * @param name + * name of added body; is used to identify the body if and when + * removed + */ + public void add(Body3D b, String name) { + if(messages!=null) + { + messages.addln("[jatScene3D add]"); + } + BranchGroup bg = new BranchGroup(); + bg.setUserData(name); + bg.setCapability(BranchGroup.ALLOW_DETACH); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_READ); + bg.addChild(b); + jatBranchGroup.addChild(bg); + } + + public void add(Body3D b, Vector3f position, String name) { + + b.set_position(position); + BranchGroup bg = new BranchGroup(); + bg.setUserData(name); + bg.setCapability(BranchGroup.ALLOW_DETACH); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_READ); + bg.addChild(b); + jatBranchGroup.addChild(bg); + } + + public void add(Node n, String name) { + BranchGroup bg = new BranchGroup(); + bg.setUserData(name); + bg.setCapability(BranchGroup.ALLOW_DETACH); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_READ); + bg.addChild(n); + jatBranchGroup.addChild(bg); + } + + /** + * Remove an element from the scene + * + * @param name + * Name of element to be removed + */ + public void remove(String name) { + try { + java.util.Enumeration enum1 = jatBranchGroup.getAllChildren(); + int index = 0; + + while (enum1.hasMoreElements() != false) { + SceneGraphObject sgObject = (SceneGraphObject) enum1.nextElement(); + Object userData = sgObject.getUserData(); + + if (userData instanceof String && ((String) userData).compareTo(name) == 0) { + System.out.println("Removing: " + sgObject.getUserData()); + // jatBranchGroup.detach(); + jatBranchGroup.removeChild(index); + } + index++; + } + } catch (Exception e) { + // the scenegraph may not have yet been synchronized... + } + } + +} diff --git a/src/jat/jat3D/loader/LightWaveObject.java b/src/jat/jat3D/loader/LightWaveObject.java new file mode 100644 index 0000000..68a1a0e --- /dev/null +++ b/src/jat/jat3D/loader/LightWaveObject.java @@ -0,0 +1,56 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D.loader; + +import jat.jat3D.Body3D; + +import com.sun.j3d.loaders.Loader; +import com.sun.j3d.loaders.Scene; +import com.sun.j3d.loaders.lw3d.Lw3dLoader; + +/** LightWaveObject class + * @author Tobias Berthold + */ +public class LightWaveObject extends Body3D +{ + + public LightWaveObject( String filename, float scale) + { + super(); + this.scale = scale; + String fullname; + Scene s = null; + + // Construct the Lw3d loader and load the file + fullname = Lightwave_path + filename; + System.out.println(fullname); + Loader lw3dLoader = new Lw3dLoader(Loader.LOAD_ALL); + try + { + s = lw3dLoader.load(fullname); + } catch (Exception e) + { + System.err.println("Exception loading file: " + e); + } + addChild(s.getSceneGroup()); + } +} diff --git a/src/jat/jat3D/loader/ThreeDStudioObject.java b/src/jat/jat3D/loader/ThreeDStudioObject.java new file mode 100644 index 0000000..dbc1fc6 --- /dev/null +++ b/src/jat/jat3D/loader/ThreeDStudioObject.java @@ -0,0 +1,123 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D.loader; + +import jat.jat3D.Body3D; +import jat.jat3D.Colors; +import jat.jat3D.Cylinder3D; +import jat.jat3D.Sphere3D; + +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Point3d; +import javax.vecmath.Vector3d; + +import com.mnstarfire.loaders3d.Inspector3DS; + +/** 3DStudio Object class + * @author Tobias Berthold + */ +public class ThreeDStudioObject extends Body3D +{ + Sphere3D left, right; + Cylinder3D lc,rc; + + public ThreeDStudioObject( String filename, float scale) + { + super(); + super.scale = scale; + String fullname; + // Construct the Lw3d loader and load the file + fullname = ThreeDStudio_path + filename; + System.out.println(fullname); + + Inspector3DS loader = new Inspector3DS(fullname); // constructor + loader.parseIt(); // process the file + TransformGroup theModel = loader.getModel(); + + //Orient vehicle such that its main axis is lined up with x-axis + Transform3D Rotate = new Transform3D(); + Transform3D R1 = new Transform3D(); + Transform3D R2 = new Transform3D(); + Rotate.setIdentity(); + R1.setIdentity(); + R2.setIdentity(); + R1.rotZ(Math.PI / 2); + R2.rotY(Math.PI / 2); + R2.mul(R1); // R2 = R2 . R1 + Rotate = R2; + + // For MarsOrbit class + //Rotate.rotY(0.6 * Math.PI); + + // These values compensate for the fact that carrier.3ds is not centered + // at the center of mass. Different for every model- make parameter later + Vector3d V = new Vector3d(); + Transform3D T_3D = new Transform3D(); + V.x = 875.f; + V.y = -222.f; + V.z = -209.f; + T_3D.set(V); + T_3D.mul(Rotate, T_3D); + theModel.setTransform(T_3D); + + super.set_scale(scale); + + setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + + + // Thrust plumes + // values for sphere +// Point3d lt = new Point3d(-380.f, -42.f, 0.f); //right thruster +// Point3d rt = new Point3d(-380.f, 35.f, 0.f); //left thruster + //addChild(left = new Sphere3D( 18, Colors.white,Colors.turquoise)); +// addChild(left = new Sphere3D( 18, Colors.white,Colors.turquoise,lt.x, lt.y, lt.z)); +// addChild(right = new Sphere3D( 18, Colors.white,Colors.turquoise,rt.x, rt.y, rt.z)); +// left.set_scale(0); +// right.set_scale(0); + + + // values for cylinder + Point3d rt = new Point3d(-485.f, -42.f, 0.f); //left thruster + Point3d lt = new Point3d(-485.f, 35.f, 0.f); //right thruster + addChild(rc = new Cylinder3D( 18,200, Colors.turquoise)); + addChild(lc = new Cylinder3D( 18,200, Colors.turquoise)); + rc.set_attitude(0,0,0.5*Math.PI); + lc.set_attitude(0,0,0.5*Math.PI); + rc.set_position(rt); + lc.set_position(lt); + rc.set_scale(0.01); + lc.set_scale(0.01); + + addChild(theModel); + + //BoundingSphere bounds = new BoundingSphere(rt, 40.f);//100000000.0 + //addChild(jat_light.PointLight(bounds)); + } + + public void thrusters_on() + { + lc.set_scale(1.); + rc.set_scale(1.); + } +} diff --git a/src/jat/jat3D/loader/WavefrontObject.java b/src/jat/jat3D/loader/WavefrontObject.java new file mode 100644 index 0000000..0fde496 --- /dev/null +++ b/src/jat/jat3D/loader/WavefrontObject.java @@ -0,0 +1,60 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.jat3D.loader; + +import jat.jat3D.Body3D; + +import java.io.FileNotFoundException; + +import com.sun.j3d.loaders.Scene; +import com.sun.j3d.loaders.objectfile.ObjectFile; + + +/** WavefrontObject class + * @author Tobias Berthold + */ +public class WavefrontObject extends Body3D +{ + + public WavefrontObject(String filename, float scale) + { + super(); + this.scale = scale; + Scene s = null; + +// int flags = ObjectFile.RESIZE; +// ObjectFile f = new ObjectFile(flags); + ObjectFile f = new ObjectFile(); + + filename = Wavefront_path + filename; + try + { + s = f.load(filename); + } catch (FileNotFoundException e) + { + System.err.println(e); + System.err.println("Exception loading file: " + e); + //System.exit(1); + } + addChild(s.getSceneGroup()); + } +} diff --git a/src/jat/jat3D/package.html b/src/jat/jat3D/package.html new file mode 100644 index 0000000..7860b7d --- /dev/null +++ b/src/jat/jat3D/package.html @@ -0,0 +1,2 @@ + +3D simulation visualization with Java3D \ No newline at end of file diff --git a/src/jat/jat3D/plot3D/AbstractPlotBuilder.java b/src/jat/jat3D/plot3D/AbstractPlotBuilder.java new file mode 100644 index 0000000..58a0ed3 --- /dev/null +++ b/src/jat/jat3D/plot3D/AbstractPlotBuilder.java @@ -0,0 +1,79 @@ +package jat.jat3D.plot3D; + +import javax.media.j3d.IndexedLineArray; +import javax.media.j3d.Node; +import javax.media.j3d.Shape3D; +import javax.vecmath.Point3d; + +/** + * This is a base class for all PlotBuilders. + * + * Note that all of its build* methods return BranchGraphs which can be added to + * a 3D display. + * + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: AbstractPlotBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public abstract class AbstractPlotBuilder { + public float lo = -.5f, hi = .5f; + + public Node buildOutsideBox() { + // Allocate line array for wire-frame cube - 8 vertices, 24 coordinates + // (i.e. size of array) + IndexedLineArray xCube = new IndexedLineArray(8, IndexedLineArray.COORDINATES, 24); + + // Set coordinates for the cube // + xCube.setCoordinate(0, new Point3d(lo, hi, lo)); + xCube.setCoordinate(1, new Point3d(hi, hi, lo)); + xCube.setCoordinate(2, new Point3d(hi, lo, lo)); + xCube.setCoordinate(3, new Point3d(lo, lo, lo)); + xCube.setCoordinate(4, new Point3d(lo, hi, hi)); + xCube.setCoordinate(5, new Point3d(hi, hi, hi)); + xCube.setCoordinate(6, new Point3d(hi, lo, hi)); + xCube.setCoordinate(7, new Point3d(lo, lo, hi)); + + // Construct the vertical // + xCube.setCoordinateIndex(0, 0); + xCube.setCoordinateIndex(1, 1); + xCube.setCoordinateIndex(2, 3); + xCube.setCoordinateIndex(3, 2); + xCube.setCoordinateIndex(4, 4); + xCube.setCoordinateIndex(5, 5); + xCube.setCoordinateIndex(6, 7); + xCube.setCoordinateIndex(7, 6); + + // Construct the lower side // + xCube.setCoordinateIndex(8, 0); + xCube.setCoordinateIndex(9, 4); + xCube.setCoordinateIndex(10, 4); + xCube.setCoordinateIndex(11, 7); + xCube.setCoordinateIndex(12, 7); + xCube.setCoordinateIndex(13, 3); + xCube.setCoordinateIndex(14, 3); + xCube.setCoordinateIndex(15, 0); + + // Construct the upper side // + xCube.setCoordinateIndex(16, 1); + xCube.setCoordinateIndex(17, 5); + xCube.setCoordinateIndex(18, 5); + xCube.setCoordinateIndex(19, 6); + xCube.setCoordinateIndex(20, 6); + xCube.setCoordinateIndex(21, 2); + xCube.setCoordinateIndex(22, 2); + xCube.setCoordinateIndex(23, 1); + + return new Shape3D(xCube); + } + + /** + * @param label + * @param location + * @param tickLocation + * Value from 0-1 for each tick location + * @param tickLabels + * Label for each tick mark + */ + public Node buildAxis(int location, String label, double[] tickLocation, String[] tickLabels) { + return null; + } +} diff --git a/src/jat/jat3D/plot3D/AxisBuilder.java b/src/jat/jat3D/plot3D/AxisBuilder.java new file mode 100644 index 0000000..e43cb99 --- /dev/null +++ b/src/jat/jat3D/plot3D/AxisBuilder.java @@ -0,0 +1,256 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + + +package jat.jat3D.plot3D; + +import java.awt.Font; + +import javax.media.j3d.Billboard; +import javax.media.j3d.BoundingSphere; +import javax.media.j3d.BranchGroup; +import javax.media.j3d.Font3D; +import javax.media.j3d.LineArray; +import javax.media.j3d.Node; +import javax.media.j3d.Shape3D; +import javax.media.j3d.Text3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Color3f; +import javax.vecmath.Point3d; +import javax.vecmath.Point3f; + +public class AxisBuilder +{ + public float lo; // coordinates of the box + public float hi; // coordinates of the box + + private String labelText; + private Font3D labelFont = defaultLabelFont; + private double[] tickLocations; + private String[] tickLabels; + private Font3D tickFont = defaultTickFont; + + private TransformGroup mainGroup; + private Text3D label; + private Shape3D axis; + private BranchGroup ticks; + + protected static float scale = 256f; // See comment on apply + protected static float major = 0.02f*scale; + protected static float minor = 0.01f*scale; + protected static float tickOffSet = 0.06f*scale; + protected static float labelOffSet = 0.12f*scale; + + private static final Font3D defaultLabelFont = new Font3D(new Font("DIALOG",Font.PLAIN,14),null); + private static final Font3D defaultTickFont = new Font3D(new Font("DIALOG",Font.PLAIN,12),null); + + private static Color3f white = new Color3f(1,1,1); + + /** + * Constructs an axis + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: AxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ + AxisBuilder() + { + // build all the major components of the Axis, keeping the important + // parts in member variables so we can modify them later. + + label = new Text3D(); // The Axis label + label.setAlignment(label.ALIGN_CENTER); + Point3f pos = new Point3f(scale/2,-labelOffSet,0); + label.setPosition(pos); + label.setCapability(label.ALLOW_FONT3D_WRITE); + label.setCapability(label.ALLOW_STRING_WRITE); + + axis = new Shape3D(); // The axis and tick marks. + axis.setCapability(axis.ALLOW_GEOMETRY_WRITE); + + // We can create the tick labels yet, since we don't know how many there + // will be, but we can make a group to hold them. + + ticks = new BranchGroup(); + ticks.setCapability(ticks.ALLOW_CHILDREN_READ); + ticks.setCapability(ticks.ALLOW_CHILDREN_WRITE); + ticks.setCapability(ticks.ALLOW_DETACH); + + // Group the components together + + mainGroup = new TransformGroup(); + mainGroup.setCapability(ticks.ALLOW_CHILDREN_WRITE); + mainGroup.setCapability(ticks.ALLOW_CHILDREN_EXTEND); + mainGroup.addChild(new Shape3D(label)); + mainGroup.addChild(axis); + mainGroup.addChild(ticks); + + // Set up a BulletinBoard behaviour to keep the axis oriented + // towards the user. + + mainGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + mainGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + Billboard bboard = new Billboard( mainGroup ); + mainGroup.addChild( bboard ); + bboard.setSchedulingBounds( new BoundingSphere(new Point3d(0,0,0),10)); + bboard.setAlignmentAxis( 1.0f, 0.0f, 0.0f); + } + public String getLabel() + { + return labelText; + } + public void setLabel(String label) + { + labelText = label; + } + public Font3D getLabelFont() + { + return labelFont; + } + public void setLabelFont(Font3D font) + { + labelFont = font; + } + public Font3D getTickFont() + { + return tickFont; + } + public void setTickFont(Font3D font) + { + tickFont = font; + } + + /** + * Tick labels and locations (positions) can be set + * by the caller or calculated and set by the + * createLabelsNTicks method as a convenience. + */ + public double[] getTickLocations() + { + return tickLocations; + } + public void setTickLocations(double[] ticks) + { + tickLocations = ticks; + } + public String[] getTickLabels() + { + return tickLabels; + } + public void setTickLabels(String[] labels) + { + tickLabels = labels; + } + + /** + * Call the createLabelsNTicks method if you would like the + * axisbuilder to create axis labels and tick positions for you. + */ + public void createLabelsNTicks(double min, double max) + { + AxisLabelCalculator axisCalc = new AxisLabelCalculator(); + axisCalc.createNewLabels(min, max); + // System.out.println("in createLabelsNTicks: min = " + min + ", max = " + max); + // axisCalc.printLabels(); + tickLabels = axisCalc.getLabels(); + tickLocations = axisCalc.getPositions(); + } + + /** + * Call this method after setting the required axis properties, to actually + * setup/modify the axis appearance. + */ + public void apply() + { + /* + * Build an axis on the X axis from 0 to 256. Note the reason for the + * 256 is to compensate for the giant size of the Text3D characters. + * The axis is built in the XY plane. + * We will use suitable translation and rotation to position it later. + * + * Note we currently use Text3D to draw the labels. This is because Text3D + * seems somewhat easier to use. A better solution would + * probably involve using Text2D, but the com.sun.j3d.utils.geometry.Text2D + * class seems pretty brain dead. A better solution may be to get the source + * for the Text2D class and rewrite it for our own purposes. + */ + + int tMajor = (tickLocations.length-1)/(tickLabels.length-1); + + LineArray lines = new LineArray(2*tickLocations.length+2, LineArray.COORDINATES); + int coordIdx = 0; // coordinate index into Axis linearray + + // Actual axis + lines.setCoordinate(coordIdx++, new Point3d(0, 0, 0)); + lines.setCoordinate(coordIdx++, new Point3d(scale, 0, 0)); + + // Remove the old tick labels. Note a more efficient implementation + // we would keep as many as of the old labels as possible, adding/removing + // new tick marks only as the number of tick marks change, and changing the + // text only as necessary. For now we just do the easiest thing. + // TODO: More efficient implementation. + + // while (ticks.numChildren() > 0) + // ticks.removeChild(0); + + ticks.detach(); + ticks = new BranchGroup(); + ticks.setCapability(ticks.ALLOW_CHILDREN_READ); + ticks.setCapability(ticks.ALLOW_CHILDREN_WRITE); + ticks.setCapability(ticks.ALLOW_DETACH); + + // Rendering Ticks on Axis + + for(int i = 0; i < tickLocations.length; i++) + { + float x = (float) tickLocations[i]*scale; + if (i % tMajor == 0) // Major tick mark? + { + lines.setCoordinate(coordIdx++, new Point3d(x, 0, 0)); + lines.setCoordinate(coordIdx++, new Point3d(x, -major, 0)); + + // Add the tick label + + int nt = i/tMajor; + Point3f pos = new Point3f(x,-tickOffSet,0); + Text3D tickLabel = new Text3D(tickFont,tickLabels[nt],pos); + tickLabel.setAlignment(tickLabel.ALIGN_CENTER); + ticks.addChild(new Shape3D(tickLabel)); + } + else // Minor tick mark + { + lines.setCoordinate(coordIdx++, new Point3d(x, 0, 0)); + lines.setCoordinate(coordIdx++, new Point3d(x, -minor, 0)); + } + } + // TODO: It would be more efficient to only update the label if something has changed. + mainGroup.addChild(ticks); + label.setFont3D(labelFont); + label.setString(labelText); + axis.setGeometry(lines); + } + /** + * Returns the node representing this Axis + * Subclasses can override this method to transform this axis + * to make it into an X,Y,Z axis. + */ + public Node getNode() + { + return mainGroup; + } +} diff --git a/src/jat/jat3D/plot3D/AxisLabelCalculator.java b/src/jat/jat3D/plot3D/AxisLabelCalculator.java new file mode 100644 index 0000000..56cb5db --- /dev/null +++ b/src/jat/jat3D/plot3D/AxisLabelCalculator.java @@ -0,0 +1,411 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + + +package jat.jat3D.plot3D; + + + +public class AxisLabelCalculator +{ + + /* VARIABLES */ + private double data_min = 0d, data_max = 1d; // actual min/max for the data set + private double plot_min = 0d, plot_max = 1d; // min/max on the axis itself + private AxisLabel[] labels; + private int nDivisions = 0; + private boolean labelsValid; + + public void createNewLabels(double min, double max) + { + data_min = min; + data_max = max; + int minNumberOfDivisions = 1; + int maxNumberOfDivisions = 10; + double log10 = Math.log(10.0); + int maxCharsPerLabel = 5; + labelsValid = true; + + // log_max is the logarithm of the max value of the data + double log_max = data_max == 0d ? 0d : Math.log(Math.abs(data_max)) / log10; + + // int_log_max is the floored integer equivalent of log_max + final int int_log_max = (int) Math.floor(log_max); + + // by default, scale_power is 0 + // This number represents the amount by which we scale all labels. For example, + // if our range is from 2,000,000,000 to 5,000,000,000 we want scale_power to be + // 9 so that we get 2.0, 2.5, 3.0, ... or something like that on the labels. + int scale_power = 0; + if (int_log_max >= maxCharsPerLabel) + // we have an order of magnitude that can't be displayed in standard form, so we need to set + // a value for scale_power + scale_power = int_log_max; + else if (int_log_max <= -maxCharsPerLabel) + // we have an order of magnitude that can't be displayed in standard form, so we need to set + // a value for scale_power + scale_power = int_log_max; + + // System.out.println(); + // System.out.println("int_log_max = " + int_log_max + ", maxCharsPerLabel = " + maxCharsPerLabel + ", scale_power = " + scale_power); + + final DoubleNumberFormatter format = new DoubleNumberFormatter(scale_power); + // the formatter uses scale_power when creating labels + + /* + * Our strategy here is based on the observation that plotting the range + * 0.2 to 40 is very similar to the task of plotting the ranges 2 to 400, + * or 0.02 to 4. We scale the min and max by an order of ten such that when + * converted to integers (by a process not quite like trucation) the difference + * between those two integers is a number greater than or equal to 10 and less + * than (but not equal to) 100. In other words, there will be a difference of + * exactly two digits, which is a sensible precision to see in variation between + * axis labels. For example, the ranges listed above would all yield the integer + * pair 1 to 40 (because the difference between those integers has two digits). + * Given a pair of integers, the function proceeds to calculate appropriate labels. + * If we are using the suggested range, we just round the min down to the next nice + * label and we round the max up to the next nice label (unless the max and min are + * already on nice labels). + */ + + final double difference = data_max - data_min; + final double pow = Math.floor(Math.log(difference) / log10) - 1.0; + // pow is the power of 10 used to get integers of the appropriate range + + int fractDigits = 0; + if (scale_power > 0) + fractDigits = scale_power - (int) pow; + else if (pow < -0.5) + // we use -0.5 instead of 0.0 in case a Math.floor() returns something that should be 0.0 + // but is really just barely under 0.0 + fractDigits = scale_power - (int) pow; + + final double conversion = Math.pow(10.0, pow); + // this is the actual conversion factor we used, stored once to keep from + // having to recalculate it + + int intMin = round(data_min / conversion, false); + int intMax = round(data_max / conversion, true); + // we now have intMin and intMax: the integer pair with a two-digit difference + + plot_min = data_min; + plot_max = data_max; + + final int naturalNumberOfDivisions = intMax - intMin; + // this number has precisely two digits + + int nDivisions = 0; + + final float idealMinFraction = 0.5f; + // we will allow as few as this fraction of the maximum number of labels if it is convenient + + int nUnits = 1; + // this number can represent two things: + // a) if naturalNumberOfDivisions < maxNumberOfDivisions + // it represents the number of divisions (units) between the natural divisions + // b) if naturalNumberOfDivisions > maxNumberOfDivisions + // it represents the number of units between divisions (the number to skip between divisions) + // 1 is the default value, but we will see if a different value might be better + + if (naturalNumberOfDivisions < maxNumberOfDivisions) + // we might like to put in some new divisions + { + final float proximity = (float) naturalNumberOfDivisions / (float) maxNumberOfDivisions; + // this number measures how close the natural number is to the maximum + + boolean niceDivisionFound = false; + if (proximity < idealMinFraction) + // we want to do something because the number we have is below the range we want + { + final int[] divisions = {2, 4, 5, 10, 20}; + // These are the numbers of subdivisions we might want to place between natural divisions. + // The array only goes up to 20 because we would need a plot with at least 200 labels before + // needing to go any higher. + for (int i = 0; i < divisions.length; i++) + { + final int candidate = divisions[i]; + if (proximity * candidate <= 1.0) + // this might work, because the number is small enough that we could fit + // this many divisions on the axis + { + niceDivisionFound = true; + nUnits = candidate; + + // the next iteration might be even better, so we... + continue; + } + + // if we didn't execute continue, it was because we can't fit this many + // divisions on the axis, and so there's no point in trying the next + // iteration either because it's even bigger, so we break out of the loop + break; + } + } + if (niceDivisionFound) + { + nDivisions = naturalNumberOfDivisions * nUnits + (int) ((plot_max / conversion - intMax) * nUnits); + /* + * The first term in the expression isn't tough: If nUnits is 2 then we need twice as many + * divisions on the axis. The second term isn't so obvious. Suppose our axis goes from 0 + * to 12.7 and we decide to set nUnits to 2. We therefore get labels 0.0, 0.5, 1.0, ... , 12.0 + * but we won't get 12.5 on there. There will instead be empty space where the 12.5 should go. + * The last term accounts for this, by taking the difference between the top label and the + * axis max (in this case 12.7 - 12.0 = 0.7), multiplying bn nUnits (to get 1.4 in this case) + * and truncating (to get 1 in this case). The result (1 in this case) is the number of labels + * extra we need. + */ + + if (pow < 0.5 || scale_power > 0) + // we use 0.5 instead of 1.0 in case a Math.floor() returns something + // that should be 1.0 but is really just barely under 1.0 + fractDigits++; + // we've gone down to one lover decimal level so we have to tell the formatter + + if ((nUnits == 4 || nUnits == 20) && (pow < 1.5 || scale_power > 0)) // we've actually gone down two decimal levels, so... + // we use 1.5 instead of 2.0 in case a Math.floor() returns something + // that should be 2.0 but is really just barely under 2.0 + fractDigits++; // we add another + } + else + // we give up and keep the natural number, even though it's smaller that what we'd like + { + nDivisions = Math.max(naturalNumberOfDivisions, minNumberOfDivisions); + } + } + else if (naturalNumberOfDivisions > maxNumberOfDivisions) + // the natural number is larger than what we'd like, so we have to skip over some + // (typically this is the more common problem) + { + nDivisions = 1; + // we supply this initialization to make the compiler happy, but in the algorithm + // requires that this initial value change + + final int[] skips = {2, 5, 10, 20, 25, 50}; + // These are the numbers of natural divisions we're going to try skipping. + + for (int i = 0; i < skips.length; i++) + { + final int nDivisionsThisTry = naturalNumberOfDivisions / skips[i]; + if (nDivisionsThisTry > maxNumberOfDivisions) + { + // this many skips isn't big enough, so we'll try the next one + continue; + } + + // we now assign to nUnits the number of natural divisions to skip over + nUnits = skips[i]; + nDivisions = nDivisionsThisTry; + + if (nUnits >= 10 && nUnits != 25 && fractDigits > 0) + // we're skipping at least an order of 10, and we're not in quarters, so... + fractDigits--; // we can get rid of one fraction digit + + /* + * We may calculate a new value for the intMin. Consider, for example, + * the range 3 to 17. If we decide that our skip will be 2, we will get + * labels like 3, 5, 7, 9, etc. This will look dumb because we would much rather + * have the first label a nice multiple of our skip (i.e., we would rather + * have 2, 4, 6, 8, etc., or for multiples of 5 we would rather have 20, + * 25, 30, 35, etc. over 18, 23, 28, 33, etc.) Therefore, if the intMin is not + * a nice multiple of that skip then we increase the intMin, and we may have + * to decrement nDivisions because of a lost label. + */ + if (intMin % nUnits != 0) + // only true if we are not using the suggested range + { + // increase is the amount we will increase intMin by to make it a nice multiple of nUnits + final int increase = intMin > 0 ? nUnits - intMin % nUnits : -intMin % nUnits; + + if (increase > intMax - (intMax - intMin) / nUnits * nUnits - intMin) + // we have put the last label over the limit, so... + nDivisions--; // we drop the last label + + intMin += increase; + } + + // We are happy with what we've got because it gives us an acceptable + // number of divisions. We don't want to go any higher because that + // will just make for fewer divisions, so we... + break; + } + } + else // hey! they're exactly equal + nDivisions = Math.max(naturalNumberOfDivisions, minNumberOfDivisions); + + double minLabelValue = intMin * conversion; + final double inc = naturalNumberOfDivisions < maxNumberOfDivisions ? conversion / nUnits : conversion * nUnits; + if (naturalNumberOfDivisions < maxNumberOfDivisions && minLabelValue - inc >= plot_min) + // this happens if we are dividing up divisions, and we get divisions below intMin * conversion + { + int nLost = (int) ((minLabelValue - inc) / inc); + minLabelValue -= nLost * inc; + nDivisions += nLost; + } + labels = new AxisLabel[nDivisions + 1]; + this.nDivisions = nDivisions; + + // System.out.println("fractDigits = " + fractDigits + ", minLabelValue = " + minLabelValue + ", inc = " + inc); + + format.setFractionDigits(fractDigits); + for (int j = 0; j < labels.length; j++) + { + final double labelValue = minLabelValue + j * inc; + + labels[j] = new AxisLabel(); + labels[j].text = format.format(labelValue); + labels[j].position = (labelValue - plot_min) / (plot_max - plot_min); + // labels[j].logPosition = Math.log(labels[j].position + Math.E); + if (labels[j].position < 0.) labels[j].position = 0.; + } + } + + private int charsReq(int pow) + /* + * Returns the number of characters required (not using scientific + * notation) to represent a decade of the given order of magnitude. + */ + { + if (pow < 0) + /* + * If the power is less than 0, we need one space for the + * leading zero, one for the decimal, and then -pow spaces + * for each of the following characters. For example, if + * pow = -2 then the result would be 4, because there are + * four characters in the string "0.01". + */ + return -pow + 2; + else + /* + * If the power is 0 or greater, we need one character for + * the character '1' and one '0' for each order of magnitude. + */ + return pow + 1; + } + + private int round(final double d, final boolean down) + /* + * Determines an integer value from a double by rounding intelligently. + * In the logarithmic case, when determining the order of magnitude + * of the lowest tick, the "down" parameter is false because + * we want to round up from the minimum point in the axis (so that + * the tick shows up on the range of the axis) if we are not very close + * to an integer value. However, when we are determining the order + * of magnitude of the highest tick, we want to round down if we are + * not very close to an integer so that the tick appears within the + * range of the axis. Similarly in the case for the linear axis, we round + * up to get the smallest tick value and we round down to get the largest + * tick value. We do exactly the opposite if wew are using the suggested + * range. In that case, we round down to get the minimum and up to get + * the maximum. + */ + { + final double minProximity = 0.0001; + /* + * A parameter's proximity to the nearest integer must be this + * fraction of its size in order to be considered that value. + */ + final double round = Math.round(d); // the closest integer value + if (d == round || Math.abs(d - round) < (d != 0.0 ? minProximity * Math.abs(d) : 0.000001)) + { + // we assume here that d is close enough to be an integer, so we round and return + return (int) round; + } + else + { + // d is not close enough to be an integer, so we return the + // floor if we were supposed to round down and ceil + // otherwise + return down ? (int) Math.floor(d) : (int) Math.ceil(d); + } + } + + public String [] getLabels() + { + int len = labels.length; + String [] lab = new String [len]; + for (int i = 0; i < len; ++i) + lab[i] = labels[i].text; + return lab; + } + + public double [] getPositions() + { + int len = labels.length; + double [] pos = new double [len]; + for (int i = 0; i < len; ++i) + pos[i] = labels[i].position; + return pos; + } + + public void printLabels() + { + System.out.println("data_min = " + data_min + ", data_max = " + data_max); + System.out.println("plot_min = " + plot_min + ", plot_max = " + plot_max); + System.out.println("nDivisions = " + nDivisions + ", labelsValid = " + labelsValid); + + int i; + + for (i = 0; i < labels.length; ++i) + { + System.out.println("label "+ (i+1) + ": " + labels[i].text + " position: " + labels[i].position); + } + } + + + + // This class is used when storing information about + // the labels on the axis. + private class AxisLabel + { + String text; + double position; + // double logPosition; + } + + /** + * Just for testing + */ + public static void main(String[] argv) + { + AxisLabelCalculator t = new AxisLabelCalculator(); + t.createNewLabels(0., 1.); + t.printLabels(); + t.createNewLabels(0., 100.); + t.printLabels(); + t.createNewLabels(0.0001, 0.001); + t.printLabels(); + t.createNewLabels(5., 10.); + t.printLabels(); + t.createNewLabels(.001, .050); + t.printLabels(); + t.createNewLabels(.00001, .00005); + t.printLabels(); + t.createNewLabels(-.001, .00005); + t.printLabels(); + t.createNewLabels(-.001, .005); + t.printLabels(); + t.createNewLabels(-2., 5.); + t.printLabels(); + t.createNewLabels(.05, 10.); + t.printLabels(); + + } + +} diff --git a/src/jat/jat3D/plot3D/Binned2DData.java b/src/jat/jat3D/plot3D/Binned2DData.java new file mode 100644 index 0000000..5bb20da --- /dev/null +++ b/src/jat/jat3D/plot3D/Binned2DData.java @@ -0,0 +1,63 @@ +package jat.jat3D.plot3D; +import javax.vecmath.Color3b; + +/** + * A data source for binned 2D data which is used by the both the lego + * and the surface plot. Any class which implements this interface can + * be used to provide Data for a lego or surface plot. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: Binned2DData.java 8584 2006-08-10 23:06:37Z duns $ + */ + +public interface Binned2DData +{ + /** + * Number of bins on the X axis + */ + int xBins(); + + /** + * Number of bins on the Y axis + */ + int yBins(); + + /** + * Axis minimum on the X Axis + */ + float xMin(); + + /** + * Axis maximum on the X Axis + */ + float xMax(); + + /** + * Axis minimum on the Y Axis + */ + float yMin(); + + /** + * Axis maximum on the Y Axis + */ + float yMax(); + + /** + * Get Z value at the specified bin + */ + float zAt(int xIndex, int yIndex); + + /** + * Get the Color at the specified bin + */ + Color3b colorAt(int xIndex, int yIndex); + + /** + * Minimum data value on the Z Axis + */ + float zMin(); + + /** + * Maximum data value on the Z Axis + */ + float zMax(); +} diff --git a/src/jat/jat3D/plot3D/BoundingBox3D.java b/src/jat/jat3D/plot3D/BoundingBox3D.java new file mode 100644 index 0000000..2c11a74 --- /dev/null +++ b/src/jat/jat3D/plot3D/BoundingBox3D.java @@ -0,0 +1,172 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + +import jat.jat3D.Body3D; + +import javax.media.j3d.BranchGroup; +import javax.media.j3d.IndexedLineArray; +import javax.media.j3d.Shape3D; +import javax.vecmath.Point3d; + +/** + * @author Tobias Berthold + * + * BoundingBox3D: an adaption of the bounding box in FreeHEP. The + * feature of infinite zoom is added. Every time the observer moves to a + * position 10 times further or 1/10 closer, the box is updated in that + * the axes are scaled by a factor of 10. However, instead of creating a + * box that is 10 times larger or smaller, the whole scene is shrunk or + * enlarged by a factor of 10 while the axes labels are modified to + * reflect the new scale. The box always remains the same size. This + * prevents the problem that would be caused by calling up fonts of + * sizes that don't exist. + * + * Coordinates: The over-arching premise of plot3D is that the origin + * (0,0,0) of the coordinates for OpenGL is always, always at the zero + * (0,0,0) of the bounding box. The data are always normalized to 1, and + * the box size is always 1. The ticks go from any number to that number + * plus one, and the axis label indicates the maximum, the exponent, and + * the unit. + * + */ +public class BoundingBox3D extends Body3D { + public final static int NUMERIC = 0; + public final static int DATE = 1; + public float lo; + public float hi; + public AxisBuilder xAxis; + private AxisBuilder yAxis; + public ZAxisBuilder zAxis; + public String xAxisLabel = "X"; + public String yAxisLabel = "Y"; + public String zAxisLabel = "Z"; + public String exponentPart; + public String xunitsPart = ""; + public String yunitsPart = ""; + public String zunitsPart = ""; + + public BoundingBox3D(float lo, float hi) { + + this.lo = lo; + this.hi = hi; + + IndexedLineArray xCube = new IndexedLineArray(8, IndexedLineArray.COORDINATES, 24); + + // Set coordinates for the cube // + xCube.setCoordinate(0, new Point3d(lo, hi, lo)); + xCube.setCoordinate(1, new Point3d(hi, hi, lo)); + xCube.setCoordinate(2, new Point3d(hi, lo, lo)); + xCube.setCoordinate(3, new Point3d(lo, lo, lo)); + xCube.setCoordinate(4, new Point3d(lo, hi, hi)); + xCube.setCoordinate(5, new Point3d(hi, hi, hi)); + xCube.setCoordinate(6, new Point3d(hi, lo, hi)); + xCube.setCoordinate(7, new Point3d(lo, lo, hi)); + + // Construct the vertical // + xCube.setCoordinateIndex(0, 0); + xCube.setCoordinateIndex(1, 1); + xCube.setCoordinateIndex(2, 3); + xCube.setCoordinateIndex(3, 2); + xCube.setCoordinateIndex(4, 4); + xCube.setCoordinateIndex(5, 5); + xCube.setCoordinateIndex(6, 7); + xCube.setCoordinateIndex(7, 6); + + // Construct the lower side // + xCube.setCoordinateIndex(8, 0); + xCube.setCoordinateIndex(9, 4); + xCube.setCoordinateIndex(10, 4); + xCube.setCoordinateIndex(11, 7); + xCube.setCoordinateIndex(12, 7); + xCube.setCoordinateIndex(13, 3); + xCube.setCoordinateIndex(14, 3); + xCube.setCoordinateIndex(15, 0); + + // Construct the upper side // + xCube.setCoordinateIndex(16, 1); + xCube.setCoordinateIndex(17, 5); + xCube.setCoordinateIndex(18, 5); + xCube.setCoordinateIndex(19, 6); + xCube.setCoordinateIndex(20, 6); + xCube.setCoordinateIndex(21, 2); + xCube.setCoordinateIndex(22, 2); + xCube.setCoordinateIndex(23, 1); + setCapability(BranchGroup.ALLOW_DETACH); + setUserData("BoundingBox"); + addChild(new Shape3D(xCube)); + } + + public void createAxes(int exponent, String xunitsPart,String yunitsPart,String zunitsPart) { + this.xunitsPart=xunitsPart; + this.yunitsPart=yunitsPart; + this.zunitsPart=zunitsPart; + createAxes(exponent); + } + + public void createAxes(int exponent) { + + // Axes labels and tick marks + float range = hi - lo; + double[] tick = { 0, range / 4f, range / 2f, 3 * range / 4f, range }; + float[] pos = { lo, lo + range / 4, lo + range / 2, lo + 3 * range / 4, hi }; + String[] labels = { String.valueOf(pos[0]), String.valueOf(pos[1]), String.valueOf(pos[2]), + String.valueOf(pos[3]), String.valueOf(pos[4]) }; + setExponentPart(exponent); + xAxis = new XAxisBuilder(xAxisLabel + exponentPart + xunitsPart, labels, tick); + yAxis = new YAxisBuilder(yAxisLabel + exponentPart + yunitsPart, labels, tick); + zAxis = new ZAxisBuilder(zAxisLabel + exponentPart + zunitsPart, labels, tick); + xAxis.lo = lo; + xAxis.hi = hi; + yAxis.lo = lo; + yAxis.hi = hi; + zAxis.lo = lo; + zAxis.hi = hi; + + xAxis.apply(); + yAxis.apply(); + zAxis.apply(); + + addChild(xAxis.getNode()); + addChild(yAxis.getNode()); + addChild(zAxis.getNode()); + + } + + public void setLabels(int exponent) { + setExponentPart(exponent); + xAxis.setLabel(xAxisLabel + exponentPart + xunitsPart); + yAxis.setLabel(yAxisLabel + exponentPart + yunitsPart); + zAxis.setLabel(zAxisLabel + exponentPart + zunitsPart); + + xAxis.apply(); + yAxis.apply(); + zAxis.apply(); + + } + + public void setExponentPart(int exponent) { + // Why a separate method for this? To prevent creating the same string + // three times + exponentPart = new String(" [10^" + exponent + "]"); + } + +} diff --git a/src/jat/jat3D/plot3D/DoubleNumberFormatter.java b/src/jat/jat3D/plot3D/DoubleNumberFormatter.java new file mode 100644 index 0000000..2c6893f --- /dev/null +++ b/src/jat/jat3D/plot3D/DoubleNumberFormatter.java @@ -0,0 +1,46 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + +import java.text.NumberFormat; + + +final class DoubleNumberFormatter +{ + DoubleNumberFormatter(int power) + { + if (formatter == null) + formatter = NumberFormat.getInstance(); + this.power = power; + } + void setFractionDigits(int fractDigits) + { + formatter.setMinimumFractionDigits(fractDigits); + formatter.setMaximumFractionDigits(fractDigits); + } + String format(final double d) + { + return formatter.format(power != 0 ? d / Math.pow(10.0, power) : d); + } + private static NumberFormat formatter = null; + private int power; +} + diff --git a/src/jat/jat3D/plot3D/JatPlot3D.java b/src/jat/jat3D/plot3D/JatPlot3D.java new file mode 100644 index 0000000..94ea4bd --- /dev/null +++ b/src/jat/jat3D/plot3D/JatPlot3D.java @@ -0,0 +1,294 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + +import jat.jat3D.BodyGroup3D; +import jat.jat3D.jatScene3D; +import jat.jat3D.util; +import jat.jat3D.behavior.jat_KeyBehavior; +import jat.jat3D.behavior.jat_MouseRotate; +import jat.jat3D.behavior.jat_MouseZoom; +import jat.jat3D.behavior.jat_Rotate; +import jat.jat3D.behavior.jat_Zoom; + +import javax.media.j3d.AmbientLight; +import javax.media.j3d.BoundingSphere; +import javax.media.j3d.Bounds; +import javax.media.j3d.BranchGroup; +import javax.media.j3d.Canvas3D; +import javax.media.j3d.DirectionalLight; +import javax.media.j3d.Node; +import javax.media.j3d.Switch; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.media.j3d.View; +import javax.vecmath.Point3d; +import javax.vecmath.Point3f; +import javax.vecmath.Vector3d; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.behaviors.mouse.MouseTranslate; +import com.sun.j3d.utils.universe.SimpleUniverse; +import com.sun.j3d.utils.universe.ViewingPlatform; + +public abstract class JatPlot3D extends Canvas3D { + private static final long serialVersionUID = 160335685072272523L; + protected boolean init = false; + protected boolean parallelProjection = false; + public SimpleUniverse universe; + private Bounds bounds; + protected BodyGroup3D bboxgroup; + public BoundingBox3D bbox; + public jatScene3D jatScene; + public int exponent = 0; + public ViewingPlatform myvp; + TransformGroup myvpt; + public jat_MouseZoom mouseZoom; + public Switch keyBehaviorSwitch; + public Switch flightSelectorSwitch; + public jat_MouseRotate mouseRotate; + public jat_Rotate jat_rotate; + public Point3f viewingCenter = new Point3f(0, 0, 0); + public Point3d initialViewingPosition = new Point3d(2, 2, 1); + + protected JatPlot3D() { + super(SimpleUniverse.getPreferredConfiguration()); + } + + protected void init() { + + universe = new SimpleUniverse(this); + + ViewingPlatform myvp = universe.getViewingPlatform(); + myvpt = myvp.getViewPlatformTransform(); + + Node myScene = createScene(); + BranchGroup mouseGroup = defineMouseBehaviour(myScene); + setupLights(mouseGroup); + mouseGroup.compile(); + + universe.addBranchGraph(mouseGroup); + + // Set initial viewing position and center + Transform3D lookAt = new Transform3D(); + lookAt.lookAt(initialViewingPosition, new Point3d(viewingCenter), new Vector3d(0, 0, 1.0)); + lookAt.invert(); + myvp.getViewPlatformTransform().setTransform(lookAt); + + if (parallelProjection) { + setProjectionPolicy(universe, parallelProjection); + } + zoomScene(1.f / (float) Math.pow(10, exponent)); + init = true; + } + + // addNotify is called when the Canvas3D is added to a container + public void addNotify() { + if (!init) + init(); + super.addNotify(); // must call for Java3D to operate properly when + // overriding + } + + public boolean getParallelProjection() { + return parallelProjection; + } + + public void setParallelProjection(boolean b) { + if (parallelProjection != b) { + parallelProjection = b; + setProjectionPolicy(universe, parallelProjection); + } + } + + /** + * Override to provide plot content + */ + protected abstract Node createScene(); + + /** + * Override to provide different mouse behaviour + */ + protected BranchGroup defineMouseBehaviour(Node scene) { + BranchGroup bg = new BranchGroup(); + bg.setCapability(BranchGroup.ALLOW_DETACH); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE); + bg.setCapability(BranchGroup.ALLOW_CHILDREN_READ); + Bounds bounds = getDefaultBounds(); + + TransformGroup objTransform = new TransformGroup(); + objTransform.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); + objTransform.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); + objTransform.addChild(scene); + bg.addChild(objTransform); + + jat_rotate = new jat_Rotate(this); + mouseRotate = new jat_MouseRotate(jat_rotate); + float x, y, z; + x = y = z = (bbox.hi + bbox.lo) / 2; + mouseRotate.setViewingCenter(new Point3f(x, y, z)); + mouseRotate.setSchedulingBounds(bounds); + bg.addChild(mouseRotate); + + MouseTranslate mouseTranslate = new MouseTranslate(); + mouseTranslate.setTransformGroup(objTransform); + mouseTranslate.setSchedulingBounds(bounds); + bg.addChild(mouseTranslate); + + jat_Zoom jat_zoom = new jat_Zoom(this); + mouseZoom = new jat_MouseZoom(jat_zoom); + mouseZoom.setSchedulingBounds(bounds); + bg.addChild(mouseZoom); + + // Switch for default keyboard behavior, add more children for your own + // keyboard behavior + keyBehaviorSwitch = new Switch(); + keyBehaviorSwitch.setCapability(Switch.ALLOW_SWITCH_WRITE); + + // Default key behavior + jat_KeyBehavior keyBehavior = new jat_KeyBehavior(jat_zoom, jat_rotate); + keyBehavior.setViewingPlatform(myvp); + x = y = z = (bbox.hi + bbox.lo) / 2; + keyBehavior.setViewingCenter(new Point3f(x, y, z)); + keyBehavior.setSchedulingBounds(bounds); + keyBehaviorSwitch.addChild(keyBehavior); + keyBehaviorSwitch.setWhichChild(0); + bg.addChild(keyBehaviorSwitch); + + addBehavior(); + + return bg; + } + + /** + * Override to add your own mouse and keyboard behavior-or not + */ + + public void addBehavior() { + } + + protected void setupLights(BranchGroup root) { + DirectionalLight lightD = new DirectionalLight(); + lightD.setDirection(new Vector3f(0.0f, -0.7f, -0.7f)); + lightD.setInfluencingBounds(getDefaultBounds()); + root.addChild(lightD); + + // This second light is added for the Surface Plot, so you + // can see the "under" surface + DirectionalLight lightD1 = new DirectionalLight(); + lightD1.setDirection(new Vector3f(0.0f, 0.7f, 0.7f)); + lightD1.setInfluencingBounds(getDefaultBounds()); + root.addChild(lightD1); + + AmbientLight lightA = new AmbientLight(); + lightA.setInfluencingBounds(getDefaultBounds()); + root.addChild(lightA); + } + + /** + * Override to set a different initial transformation + */ + protected Transform3D createDefaultOrientation() { + Transform3D trans = new Transform3D(); + trans.setIdentity(); + // trans.rotY(-Math.PI / 4.); + trans.setTranslation(new Vector3f(0f, 0f, 0.f)); + return trans; + } + + /** + * Set the projection policy for the plot - either perspective or projection + */ + protected void setProjectionPolicy(SimpleUniverse universe, boolean parallelProjection) { + View view = universe.getViewer().getView(); + if (parallelProjection) + view.setProjectionPolicy(View.PARALLEL_PROJECTION); + else + view.setProjectionPolicy(View.PERSPECTIVE_PROJECTION); + } + + /** + * Returns a bounds object that can be used for most behaviours, lighting + * models, etc. + */ + protected Bounds getDefaultBounds() { + if (bounds == null) { + Point3d center = new Point3d(0, 0, 0); + bounds = new BoundingSphere(center, 10); + } + return bounds; + } + + public void print_vp_t() { + Transform3D tf = new Transform3D(); + universe.getViewingPlatform().getViewPlatformTransform().getTransform(tf); + Vector3f vf = new Vector3f(); + tf.get(vf); + util.print("viewing platform", vf); + } + + public Vector3f get_vp_t() { + Transform3D tf = new Transform3D(); + universe.getViewingPlatform().getViewPlatformTransform().getTransform(tf); + Vector3f vf = new Vector3f(); + tf.get(vf); + return vf; + } + + public void zoomScene(float scale) { + // scale scene to fit inside box + Transform3D tscale = new Transform3D(); + tscale.set(scale); + tscale.setTranslation(jatScene.InitialTranslation); + tscale.mul(jatScene.InitialRotation); + jatScene.setTransform(tscale); + } + + public void jat_translate(float x, float y, float z) { + Transform3D Trans = new Transform3D(); + myvpt.getTransform(Trans); + + Vector3f v = new Vector3f(); + Trans.get(v); + Point3d p = new Point3d(); + p.x = v.x + x; + p.y = v.y + y; + p.z = v.z + z; + // util.print("p", p); + Transform3D lookAt = new Transform3D(); + lookAt.lookAt(p, new Point3d(0.0, 0.0, 0.0), new Vector3d(0, 0, 1.0)); + lookAt.invert(); + update_user(); + myvpt.setTransform(lookAt); + + } + + /** + * This function is to be overridden by the class that is derived from + * JatPlot3D. For example, to generate output in the user interface. + * JatPlot3D is the base class, and it does not know about the GUI elements + * that a user of it might implement. + */ + public void update_user() { + } + +} diff --git a/src/jat/jat3D/plot3D/NormalizedBinned2DData.java b/src/jat/jat3D/plot3D/NormalizedBinned2DData.java new file mode 100644 index 0000000..92b621f --- /dev/null +++ b/src/jat/jat3D/plot3D/NormalizedBinned2DData.java @@ -0,0 +1,95 @@ +package jat.jat3D.plot3D; +import javax.vecmath.Color3b; + +/** + * The Binned2DDataNormalizer class is responsible for taking the user provided Binned2DData + * interface, and mapping it to the data format used internally. + * + * This involves normalizing the x,y,z axis to go from 0 to 1, and ensuring that we + * return 0 if the bin indexes are outside the allowed range. This routine also caches + * a local copy of the data to speed up access in the LegoBuilder class. + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: NormalizedBinned2DData.java 8584 2006-08-10 23:06:37Z duns $ + */ + +public class NormalizedBinned2DData +{ + private int xBins; + private int yBins; + private float[][] data; + private Color3b[][] color; + + public NormalizedBinned2DData(Binned2DData in) + { + this.initialize(in); + } + + void initialize(Binned2DData in) + { + xBins = in.xBins(); + yBins = in.yBins(); + + // Copy the data to a local array, and calculate the Zmin, Zmax + + data = new float[xBins][yBins]; + color = new Color3b[xBins][yBins]; + + float zMin = +Float.MAX_VALUE; + float zMax = -Float.MAX_VALUE; + + for (int i=0; i zMax) zMax = z; + data[i][j] = z; + color[i][j] = in.colorAt(i,j); + } + } + //System.out.println("zMin = "+zMin+", zMax = "+zMax); + + // Now normalize the Z values + for (int i=0; i 0 + + data = new float[xBins][yBins]; + color = new Color3b[xBins][yBins]; + + float zMin = +Float.MAX_VALUE; + float zMax = -Float.MAX_VALUE; + + for (int i=0; i 0) { + if (z < zMin) zMin = z; + if (z > zMax) zMax = z; + } + data[i][j] = z; + color[i][j] = in.colorAt(i,j); + } + } + + // Now normalize the Z values in a log scale + double zMinLog = Math.log((double) zMin); + double zMaxLog = Math.log((double) zMax); + //System.out.println("zMin = "+zMin+", zMax = "+zMax+", zMinLog = "+zMinLog+", zMaxLog = "+zMaxLog); + for (int i=0; i=rtable.length) i = rtable.length-1; + return rtable[i]; + } +} diff --git a/src/jat/jat3D/plot3D/Rainbow3f.java b/src/jat/jat3D/plot3D/Rainbow3f.java new file mode 100644 index 0000000..ffead28 --- /dev/null +++ b/src/jat/jat3D/plot3D/Rainbow3f.java @@ -0,0 +1,51 @@ +package jat.jat3D.plot3D; + +import javax.vecmath.Color3f; + +public class Rainbow3f { + private double min, max; + private static float r, g, b; + private static Color3f rtable[] = new Color3f[100]; + static { + for (int j = 0; j < 40; j++) { + r = 1.f - j / 40.0f; + g = j / 40.0f; + b = 0; + rtable[j] = new Color3f(r, g, b); + } + for (int j = 40; j < 80; j++) { + r = 0; + g = (80 - j) / 40.0f; + b = (j - 40) / 40.0f; + rtable[j] = new Color3f(r, g, b); + } + for (int j = 80; j < 100; j++) { + r = (j - 80) / 40.0f; + g = 0; + b = (120 - j) / 40.0f; + rtable[j] = new Color3f(r, g, b); + } + } + + public Rainbow3f() { + this(0, 1); + } + + public Rainbow3f(double min, double max) { + this.min = min; + this.max = max; + } + + public Color3f colorFor(int i) { + return rtable[i]; + } + + // public Color3f colorFor(double d) { + // int i = (int) Math.floor((d - min) * 100 / (max - min)); + // if (i < 0) + // i = 0; + // else if (i >= rtable.length) + // i = rtable.length - 1; + // return rtable[i]; + // } +} diff --git a/src/jat/jat3D/plot3D/SurfaceBuilder.java b/src/jat/jat3D/plot3D/SurfaceBuilder.java new file mode 100644 index 0000000..d2b9623 --- /dev/null +++ b/src/jat/jat3D/plot3D/SurfaceBuilder.java @@ -0,0 +1,179 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + +import javax.media.j3d.Appearance; +import javax.media.j3d.Geometry; +import javax.media.j3d.Material; +import javax.media.j3d.Node; +import javax.media.j3d.PolygonAttributes; +import javax.media.j3d.Shape3D; +import javax.vecmath.Color3b; +import javax.vecmath.Color3f; +import javax.vecmath.Point3d; +import javax.vecmath.Vector3f; + +import com.sun.j3d.utils.geometry.GeometryInfo; +import com.sun.j3d.utils.geometry.NormalGenerator; +import com.sun.j3d.utils.geometry.Stripifier; + +public class SurfaceBuilder extends AbstractPlotBuilder { + + private Shape3D shape; + + /** + * @param data + * Bin Contents + */ + public Node buildContent(NormalizedBinned2DData data) { + shape = createShape(); + shape.setCapability(shape.ALLOW_GEOMETRY_WRITE); + shape.setGeometry(buildGeometry(data)); + + return shape; + } + + public void updatePlot(NormalizedBinned2DData data) { + shape.setGeometry(buildGeometry(data)); + } + + private Geometry buildGeometry(NormalizedBinned2DData data) { + + int nXbins = data.xBins(); + int nYbins = data.yBins(); + float xBinWidth = 1.f / nXbins; + float yBinWidth = 1.f / nYbins; + float x, y; + int i, k, l; + + Point3d bcoord[] = new Point3d[((int) nXbins - 1) * ((int) nYbins - 1) * 4]; + Color3b bcolor[] = new Color3b[((int) nXbins - 1) * ((int) nYbins - 1) * 4]; + + for (i = 0; i < ((int) nXbins - 1) * ((int) nYbins - 1) * 4; i++) { + bcoord[i] = new Point3d(); + bcolor[i] = new Color3b(); + } + + // Fill bcoord array with points that compose the surface + + double z1, z2, z3, z4; + int bcur = 0; + for (k = 0, x = -.5f; k < (int) nXbins - 1; k++, x += xBinWidth) { + for (l = 0, y = -.5f; l < (int) nYbins - 1; l++, y += yBinWidth) { + + // Point x,y + bcoord[bcur].x = x + xBinWidth / 2.f; + bcoord[bcur].y = y + yBinWidth / 2.f; + z1 = bcoord[bcur].z = data.zAt(k, l); + bcolor[bcur] = data.colorAt(k, l); + bcur++; + + // Next point in y direction + bcoord[bcur].x = x + xBinWidth / 2.f; + bcoord[bcur].y = y + 1.5f * xBinWidth; + z2 = bcoord[bcur].z = data.zAt(k, l + 1); + bcolor[bcur] = data.colorAt(k, l + 1); + bcur++; + + // Next point diagonally + bcoord[bcur].x = x + 1.5f * xBinWidth; + bcoord[bcur].y = y + 1.5f * yBinWidth; + z3 = bcoord[bcur].z = data.zAt(k + 1, l + 1); + bcolor[bcur] = data.colorAt(k + 1, l + 1); + bcur++; + + // Next point in x direction + bcoord[bcur].x = x + 1.5f * xBinWidth; + bcoord[bcur].y = y + yBinWidth / 2.f; + z4 = bcoord[bcur].z = data.zAt(k + 1, l); + bcolor[bcur] = data.colorAt(k + 1, l); + bcur++; + + if (z1 < 0.1 || z2 < 0 || z3 < 0 || z4 < 0) { + double z12 = Math.max(z1, z2); + double z34 = Math.max(z3, z4); + double zmax = Math.max(z12, z34); + if (z1 < 0) + bcoord[bcur - 4].z = zmax; + if (z2 < 0) + bcoord[bcur - 3].z = zmax; + if (z3 < 0) + bcoord[bcur - 2].z = zmax; + if (z4 < 0) + bcoord[bcur - 1].z = zmax; + } + } + } + //System.out.println("bcur " + bcur); + + // System.out.print("debug3:"); + + // We make a GeometryInfo object so that normals can be generated + // for us and geometry stripified for us. J3D documentation + // says it's best to do these two steps in this order. + + GeometryInfo geom = new GeometryInfo(GeometryInfo.QUAD_ARRAY); + + // geom.setNormals(normals); + geom.setCoordinates(bcoord); + geom.setColors(bcolor); + NormalGenerator ng = new NormalGenerator(); + ng.generateNormals(geom); + + // Make normals conform to our "handedness" of z direction + // i.e. change their sign + Vector3f normals[] = geom.getNormals(); + for (i = 0; i < normals.length; ++i) { + normals[i].x = -normals[i].x; + normals[i].y = -normals[i].y; + normals[i].z = -normals[i].z; + } + geom.setNormals(normals); + + Stripifier st = new Stripifier(); + st.stripify(geom); + geom.recomputeIndices(); + + return geom.getGeometryArray(); + } + + Shape3D createShape() { + Shape3D surface = new Shape3D(); + surface.setAppearance(createMaterialAppearance()); + + return surface; + } + + private Appearance createMaterialAppearance() { + Appearance materialAppear = new Appearance(); + PolygonAttributes polyAttrib = new PolygonAttributes(); + polyAttrib.setCullFace(PolygonAttributes.CULL_NONE); + materialAppear.setPolygonAttributes(polyAttrib); + + Material material = new Material(); + // set diffuse color to red (this color will only be used + // if lighting disabled - per-vertex color overrides) + material.setDiffuseColor(new Color3f(1.0f, 0.0f, 0.0f)); + materialAppear.setMaterial(material); + + return materialAppear; + } +} diff --git a/src/jat/jat3D/plot3D/XAxisBuilder.java b/src/jat/jat3D/plot3D/XAxisBuilder.java new file mode 100644 index 0000000..1f0cf07 --- /dev/null +++ b/src/jat/jat3D/plot3D/XAxisBuilder.java @@ -0,0 +1,59 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + + +import javax.media.j3d.Node; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; + +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: XAxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class XAxisBuilder extends AxisBuilder +{ + public XAxisBuilder() + { + } + public XAxisBuilder(String label, String[] tickLabels, double[] tickLocations) + { + setLabel(label); + setTickLabels(tickLabels); + setTickLocations(tickLocations); + } + + public Node getNode() + { + + Transform3D t3d = new Transform3D(); + //t3d.set(1/scale,new Vector3f(lo,-hi,lo)); + //t3d.set(1/scale,new Vector3f(lo,-hi,lo)); + t3d.set(1/scale,new Vector3f(lo,lo,lo)); + //Transform3D trans = new Transform3D(); + //trans.setTranslation(new Vector3f(0,-1,2)); + //t3d.mul(trans); + TransformGroup tg = new TransformGroup(t3d); + tg.addChild(super.getNode()); + return tg; + } +} diff --git a/src/jat/jat3D/plot3D/YAxisBuilder.java b/src/jat/jat3D/plot3D/YAxisBuilder.java new file mode 100644 index 0000000..2732551 --- /dev/null +++ b/src/jat/jat3D/plot3D/YAxisBuilder.java @@ -0,0 +1,55 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + +import javax.media.j3d.Node; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; + +/** + * @author Joy Kyriakopulos (joyk@fnal.gov) + * @version $Id: YAxisBuilder.java 8584 2006-08-10 23:06:37Z duns $ + */ +public class YAxisBuilder extends AxisBuilder +{ + + public YAxisBuilder() + { + } + public YAxisBuilder(String label, String[] tickLabels, double[] tickLocations) + { + setLabel(label); + setTickLabels(tickLabels); + setTickLocations(tickLocations); + } + public Node getNode() + { + Transform3D t3d = new Transform3D(); + t3d.set(1/scale,new Vector3f(lo,lo,lo)); + Transform3D rot = new Transform3D(); + rot.rotZ(Math.PI/2); + t3d.mul(rot); + TransformGroup tg = new TransformGroup(t3d); + tg.addChild(super.getNode()); + return tg; + } +} diff --git a/src/jat/jat3D/plot3D/ZAxisBuilder.java b/src/jat/jat3D/plot3D/ZAxisBuilder.java new file mode 100644 index 0000000..6a1b154 --- /dev/null +++ b/src/jat/jat3D/plot3D/ZAxisBuilder.java @@ -0,0 +1,73 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Original Code under LGPL +// http://java.freehep.org/freehep-java3d/license.html + +package jat.jat3D.plot3D; + +import javax.media.j3d.Node; +import javax.media.j3d.Transform3D; +import javax.media.j3d.TransformGroup; +import javax.vecmath.Vector3f; +public class ZAxisBuilder extends AxisBuilder +{ + + public ZAxisBuilder() + { + } + public ZAxisBuilder(String label, String[] tickLabels, double[] tickLocations) + { + setLabel(label); + setTickLabels(tickLabels); + setTickLocations(tickLocations); + } + public Node getNode() + { + Transform3D t3d = new Transform3D(); + t3d.set(1/scale,new Vector3f(lo,lo,lo)); + Transform3D rot = new Transform3D(); + rot.rotY(-Math.PI/2); + t3d.mul(rot); + TransformGroup tg = new TransformGroup(t3d); + tg.addChild(super.getNode()); + return tg; + } + + /** + * createLabelsNTicks method is overridden here to support z axis + * log scaling. + * + * @todo: z axis log scaling needs to be implemented in Axis labels and ticks + * this implementation is a minimal hack. + */ + public void createLabelsNTicks(double min, double max, boolean logZscaling) + { + super.createLabelsNTicks(min, max); + if (logZscaling) { + String[] tickLabels = getTickLabels(); + double[] tickLocations = getTickLocations(); + int numLabels = tickLabels.length; + for (int i = 1; i < numLabels-1; ++i) { + tickLabels[i] = " "; + tickLocations[i] = tickLocations[numLabels-1]; + } + } + // System.out.println("in z-axis createLabelsNTicks: min = " + min + ", max = " + max); + // axisCalc.printLabels(); + } +} diff --git a/src/jat/jat3D/rgbdec.gif b/src/jat/jat3D/rgbdec.gif new file mode 100644 index 0000000..d76e5b6 Binary files /dev/null and b/src/jat/jat3D/rgbdec.gif differ diff --git a/src/jat/jat3D/util.java b/src/jat/jat3D/util.java new file mode 100644 index 0000000..a0ea231 --- /dev/null +++ b/src/jat/jat3D/util.java @@ -0,0 +1,88 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.jat3D; + +import java.awt.GraphicsConfiguration; +import java.awt.GraphicsEnvironment; + +import javax.media.j3d.GraphicsConfigTemplate3D; +import javax.media.j3d.Transform3D; +import javax.vecmath.Matrix4f; +import javax.vecmath.Point3d; +import javax.vecmath.Vector3f; + +public class util { + + public boolean check_for_Java3D_a() { + + try { + Class.forName("javax.media.j3d.J3DBuffer"); + } catch (final ClassNotFoundException e) { + // + return false; + } + return true; + } + + public boolean check_for_Java3D_b() { + + try { + GraphicsConfigTemplate3D gconfigTemplate = new GraphicsConfigTemplate3D(); + GraphicsConfiguration config = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice() + .getBestConfiguration(gconfigTemplate); + } catch (Error e) // You shouldn't normally catch java.lang.Error... + // this is an exception + { + System.out.println("Java3D binaries not installed"); + return false; + } + return true; + } + + public static void print(String title, Vector3f v) { + System.out.println(title); + System.out.println(v.x + " " + v.y + " " + v.z ); + } + + public static void print(String title, Point3d p) { + System.out.println(title); + System.out.println(p.x + " " + p.y + " " + p.z ); + } + + public static void print(String title, Matrix4f mat) { + + System.out.println(title); + System.out.println(mat.m00 + " " + mat.m01 + " " + mat.m02 + " " + mat.m03); + System.out.println(mat.m10 + " " + mat.m11 + " " + mat.m12 + " " + mat.m13); + System.out.println(mat.m20 + " " + mat.m21 + " " + mat.m22 + " " + mat.m23); + System.out.println(mat.m30 + " " + mat.m31 + " " + mat.m32 + " " + mat.m33); + System.out.println(); + } + + public static void print_matrix_of_transform3D(String title, Transform3D t3) { + Matrix4f mat = new Matrix4f(); + t3.get(mat); + System.out.println(title); + System.out.println(mat.m00 + " " + mat.m01 + " " + mat.m02 + " " + mat.m03); + System.out.println(mat.m10 + " " + mat.m11 + " " + mat.m12 + " " + mat.m13); + System.out.println(mat.m20 + " " + mat.m21 + " " + mat.m22 + " " + mat.m23); + System.out.println(mat.m30 + " " + mat.m31 + " " + mat.m32 + " " + mat.m33); + System.out.println(); + } +} diff --git a/src/jat/simulation/CisLunarSim.java b/src/jat/simulation/CisLunarSim.java new file mode 100644 index 0000000..008780b --- /dev/null +++ b/src/jat/simulation/CisLunarSim.java @@ -0,0 +1,654 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Richard C. Page III + **/ +package jat.simulation; + +import jat.coreNOSA.algorithm.estimators.EKF; +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.cm.Constants; +import jat.coreNOSA.forces.GravitationalBody; +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.forces.Moon; +import jat.coreNOSA.forces.NRLMSISE_Drag; +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.forces.Sun; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.measurements.OpticalMeasurementModel; +import jat.coreNOSA.measurements.createMeasurements; +import jat.coreNOSA.simulation.EstimatorSimModel; +import jat.coreNOSA.simulation.initializer; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.spacecraft.SpacecraftModel; +import jat.coreNOSA.spacetime.LunaFixedRef; +import jat.coreNOSA.spacetime.RSW_Frame; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import jat.coreNOSA.spacetime.UniverseModel; +import jat.coreNOSA.trajectory.RelativeTraj; +import jat.coreNOSA.trajectory.Trajectory; +import jat.coreNOSA.util.Celestia; +import jat.coreNOSA.util.FileUtil; + +import java.io.IOException; +import java.io.PrintStream; + +public class CisLunarSim extends EstimatorSimModel { + +//** Static Variables **// + + public static String JAT_name; + //** Object Variables **// + private int numStates; + + public CisLunarSim(){ + super(); + } + + public CisLunarSim(boolean useFilter) { + super(useFilter); + } + +// ** Object Methods **// + protected void initializeConst(){ + String fs, dir_in; + fs = FileUtil.file_separator(); + try{ + dir_in = FileUtil.getClassFilePath("jat.sim","SimModel")+"input"+fs; + }catch(Exception e){ + dir_in = ""; + } + this.input = initializer.parse_file(dir_in+InputFile); + + double MJD0 = initializer.parseDouble(input,"init.MJD0"); + double T0 = initializer.parseDouble(input, "init.T0"); + double MJDF = initializer.parseDouble(input, "init.MJDF"); + double TF = initializer.parseDouble(input, "init.TF"); + this.mjd_utc_start = MJD0+T0/86400; + simTime = new Time(MJD0+T0/86400); + + //geons_truth = parseGEONSTruth(simTime.get_epoch_mjd_utc(),MJDF+TF/86400); + + numSpacecraft = initializer.parseInt(input,"prop.NumSpacecraft"); + numStates = initializer.parseInt(input,"FILTER.states"); + dt = initializer.parseInt(input,"init.dt"); + if(JAT_runtruth){ + truth = new SpacecraftModel[numSpacecraft]; + truth_traj = new Trajectory[numSpacecraft]; + } + ref = new SpacecraftModel[numSpacecraft]; + ref_traj = new Trajectory[numSpacecraft]; + for(int i=0; i (tf-sm.get_sc_dt()) && t != tf){ +// sm.set_sc_dt(tf-t); +// } +// t=t+sm.get_sc_dt(); + if(t > (tf-dt) && t != tf){ + dt=(tf-t); + } + t=t+dt; + //* add to trajectory + //traj.add(sm.get_sc_mjd_utc(),sm.get_spacecraft().toStateVector()); + //* update the universe + sm.update(t); + iteration++; + } + + + /** + * + */ + protected void filter() + { + + /*Provide the algorithm to run the Kalman filter one step at + a time. This may need to be placed into another file later on*/ + + /*Determine the num ber of measurements that we will be processing. + * Since this is a scalar update, we can simply loop over the + * measurement update step that many times + */ + int numMeas = created_meas.getNumberMeasurements(); + + /*Loop over the number of measurements being carefull to + * omit measurements of 0 + */ + + VectorN newState = new VectorN(ref[0].get_spacecraft().toStateVector()); + int processedMeasurements = 0; + for(int i = 0;i4620){ +// int donothing = 0; +// donothing++; +// } + //System.out.println("SimTime: " + simTime.get_sim_time() + " SimStep: " + simStep); + + for(int i=0; i 0 ? args[0] : "initialConditions_cev_e2m.txt"); + + CisLunarSim.JAT_name = "earth2moon"; + CisLunarSim.InputFile = "initialConditions_cev_gps_e2m_30Sec_WFOV.txt"; + //CEVSim.InputFile = "initialConditions_cev_e2m_30Sec_WFOV.txt"; +// CEVSim.InputFile = "initialConditions_cev_e2m_bias.txt"; + + CisLunarSim.PlotJAT = true; + + CisLunarSim Sim = new CisLunarSim(useFilter); + Sim.set_verbose(true); + Sim.runloop(); + if (OpticalMeasurementModel.fobs != null) { + OpticalMeasurementModel.fobs.close(); + } + if (OpticalMeasurementModel.fpred != null) { + OpticalMeasurementModel.fpred.close(); + } + System.out.println("Finished."); + } +} diff --git a/src/jat/simulation/Readme.txt b/src/jat/simulation/Readme.txt new file mode 100644 index 0000000..0904688 --- /dev/null +++ b/src/jat/simulation/Readme.txt @@ -0,0 +1,33 @@ + +*** Simulation.java *** + +Represents the top most level of JAT simulation. Create your run methods in here +using the SimModel.java class and it's methods. Currently, there are several examples +provided. The sequence is essentially this: + +1 - Initialize jat.sim.SimModel +2 - Create your filenames and other relevant variables +3 - Create/initialize your spacecraft either from file or manually using jat.spacecraft.* +3.5 - this includes any controllers or state estimation (see jat.spacecraft.SpacecraftModel) +4 - Create/initialize your force models either from jat.forces.* or create your own +5 - Initialize the integration parameters: stepsize, thinning, t0, tf, MJD_UTC_Start +6 - Use the SimModel.runloop() method to propagate + OR manually propagate using SimModel.step(dt) + +See jat.sim.SimModel for more details on simulation algorithms + +To use Matlab functions, use the jat.matlabinterface.MatlabFunc class which allows Java to +call any Matlab function so long as JAT is run from the current Matlab session. + +To use a Matlab controller, see jat.spacecraft.MatlabControlLaw + +To use JAT from Matlab, use the "javaaddpath" command to add your JAT home directory and +the external JAR directories to Matlab. Then, simply use the following syntax: + +sim = jat.sim.SimModel() + +force = jat.forces.ForceModel(); + +sim.addForce(force); + +etc \ No newline at end of file diff --git a/src/jat/tests/PosAstr/AngleTest.java b/src/jat/tests/PosAstr/AngleTest.java new file mode 100644 index 0000000..e4811ba --- /dev/null +++ b/src/jat/tests/PosAstr/AngleTest.java @@ -0,0 +1,34 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; + +public class AngleTest +{ + public static void main(String[] args) + { + Angle a1=new Angle(40.,Angle.DEGREES); + Angle a2=new Angle(45.,Angle.DEGREES); + a1.add(a2).println(); + } +} diff --git a/src/jat/tests/PosAstr/AnnualPrecession.java b/src/jat/tests/PosAstr/AnnualPrecession.java new file mode 100644 index 0000000..b4bc124 --- /dev/null +++ b/src/jat/tests/PosAstr/AnnualPrecession.java @@ -0,0 +1,81 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; + +public class AnnualPrecession +{ + public static void main(String[] args) + { + boolean plus = true, minus = false; + Angle m1971, n1971, m1974, n1974, m1973, n1973, m1980, n1980; + Angle alpha0, delta0; + + // m and n + m1971 = new Angle(true, 0, 0, 3.07366, Angle.HOURANGLE); + m1973 = new Angle(true, 0, 0, 3.07370, Angle.HOURANGLE); + m1974 = new Angle(true, 0, 0, 3.07372, Angle.HOURANGLE); + m1980 = new Angle(true, 0, 0, 3.07383, Angle.HOURANGLE); + n1971 = new Angle(true, 0, 0, 1.33605, Angle.HOURANGLE); + n1973 = new Angle(true, 0, 0, 1.33604, Angle.HOURANGLE); + n1974 = new Angle(true, 0, 0, 1.33603, Angle.HOURANGLE); + n1980 = new Angle(true, 0, 0, 1.33600, Angle.HOURANGLE); + //m.println("Annual precession in R.A."); + //n.println("Annual precession in Dec."); + + // Star Theta Oct 1971 + System.out.println("Star Theta Oct 1971 -> 1972"); + alpha0 = new Angle(plus, 0, 0, 7.7, Angle.HOURANGLE); + delta0 = new Angle(minus, 77, 13, 32., Angle.ARCDEGREES); + StarAlg.annual_precession(m1973, n1973, alpha0, delta0, true); + System.out.println(); + + // Star Theta Oct 1973 + System.out.println("Star Theta Oct 1973 -> 1974"); + alpha0 = new Angle(plus, 0, 0, 13.8, Angle.HOURANGLE); + delta0 = new Angle(minus, 77, 12, 53., Angle.ARCDEGREES); + StarAlg.annual_precession(m1973, n1973, alpha0, delta0, true); + System.out.println(); + + // Star 33 PsC 1973 + System.out.println("Star 33 PsC 1973 -> 1974"); + alpha0 = new Angle(plus, 0, 3, 57.1, Angle.HOURANGLE); + delta0 = new Angle(minus, 5, 51, 31., Angle.ARCDEGREES); + StarAlg.annual_precession(m1973, n1973, alpha0, delta0, true); + System.out.println(); + + // Star 33 PsC 1974 + System.out.println("Star 33 PsC 1974 -> 1975"); + alpha0 = new Angle(plus, 0, 4, 0.2, Angle.HOURANGLE); + delta0 = new Angle(minus, 5, 51, 11., Angle.ARCDEGREES); + StarAlg.annual_precession(m1974, n1974, alpha0, delta0, true); + System.out.println(); + + // Star 33 PsC 1980 + System.out.println("Star 33 PsC 1980 -> 1981"); + alpha0 = new Angle(plus, 0, 4, 18.6, Angle.HOURANGLE); + delta0 = new Angle(minus, 5, 49, 10., Angle.ARCDEGREES); + StarAlg.annual_precession(m1980, n1980, alpha0, delta0, true); + } + +} diff --git a/src/jat/tests/PosAstr/LAST_to_UT_ex.java b/src/jat/tests/PosAstr/LAST_to_UT_ex.java new file mode 100644 index 0000000..bc800b8 --- /dev/null +++ b/src/jat/tests/PosAstr/LAST_to_UT_ex.java @@ -0,0 +1,76 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; + +public class LAST_to_UT_ex +{ + public static void main(String[] args) + { + boolean plus = true, minus = false; + Angle LAST; // observed local apparent sidereal time + Angle EoE, Long; + Angle GMST_0hUT; // Greenwich mean sidereal time at 0h UT on given date + Angle TableVIII; // Mean sidereal to mean solar time on given date + + // Book example page 85: 1960 March 7 + System.out.println("Book example page 85: 1960 March 7"); + LAST = new Angle(plus, 13, 5, 37.249, Angle.HOURANGLE); + EoE = new Angle(plus, 0, 0, 0.046, Angle.HOURANGLE); + Long = new Angle(plus, 5, 8, 15.75, Angle.HOURANGLE); + GMST_0hUT = new Angle(plus, 10, 58, 50.971, Angle.HOURANGLE); + TableVIII = new Angle(plus, 0, 1, 11.269, Angle.HOURANGLE); + LAST_to_UT(LAST, EoE, Long,GMST_0hUT,TableVIII); + System.out.println(""); + + // Mid Term: 1980 July 8 + System.out.println("Mid Term: 1980 July 8"); + LAST = new Angle(plus, 23, 15, 57.881, Angle.HOURANGLE); + EoE = new Angle(plus, 0, 0, 0.631, Angle.HOURANGLE); + Long = new Angle(plus, 72, 39, 33.0, Angle.ARCDEGREES); + GMST_0hUT = new Angle(plus, 19, 04, 24.215, Angle.HOURANGLE); + TableVIII = new Angle(plus, 0, 1, 28.828, Angle.HOURANGLE); + LAST_to_UT(LAST, EoE, Long,GMST_0hUT,TableVIII); + } + + static void LAST_to_UT(Angle LAST, Angle EoE, Angle Long, Angle GMST_0hUT, Angle TableVIII) + { + Angle LMST, GMST,MST_int,UT; + + LMST = new Angle(LAST.radians + EoE.radians, Angle.RADIANS); + GMST = new Angle(LMST.radians + Long.radians, Angle.RADIANS); + MST_int= new Angle(GMST.radians-GMST_0hUT.radians , Angle.RADIANS); + UT= new Angle(MST_int.radians-TableVIII.radians , Angle.RADIANS); + + LAST.println("Local apparent sidereal time", Angle.HOURANGLE); + EoE.println("Equation of the Equinoxes", Angle.HOURANGLE); + LMST.println("Local mean sidereal time", Angle.HOURANGLE); + Long.println("Longitude", Angle.HOURANGLE); + GMST.println("Greenwich mean sidereal time", Angle.HOURANGLE); + GMST_0hUT.println("Greenwich mean sidereal time at 0h UT", Angle.HOURANGLE); + MST_int.println("Greenwich mean sidereal time interval", Angle.HOURANGLE); + TableVIII.println("Mean sidereal time to mean solar time", Angle.HOURANGLE); + UT.println("U.T. of observation", Angle.HOURANGLE); + + } +} diff --git a/src/jat/tests/PosAstr/Longitude.java b/src/jat/tests/PosAstr/Longitude.java new file mode 100644 index 0000000..29a194d --- /dev/null +++ b/src/jat/tests/PosAstr/Longitude.java @@ -0,0 +1,119 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class Longitude +{ + // Austin + // Latitude 30 o 16' '' + // Longitude 97 o 45' '' + // Longitude h m s + + public static void main(String[] args) + { + boolean plus = true, minus = false; + int i; + //double[] t_array = {1,2,3,4}; + //double[] y_array = {1,4,9,16 }; + + System.out.println("Latitude and Longitude measurement"); + System.out.println("March 7, 2004 in Austin, Texas"); + System.out.println("Table values:"); + System.out.println("Latitude 30 o 16'"); + System.out.println("Longitude 97 o 45'"); + System.out.println(); + + // Find maximum of observation data + VectorN x=parabola_fit(ObsData.t_C,ObsData.y_C); + //VectorN x=parabola_fit(ObsData.t_C,ObsData.y_C); + x.print("Parabola fit"); + double max_t = -x.get(1) / (2. * x.get(2)); + double max_angle = x.get(0) + x.get(1) * max_t + x.get(2) * max_t * max_t; + //System.out.println("max t = " + max_t); + //System.out.println("max angle = " + max_angle); + + // Corrections for errors + double clockerr = -28. / 3600; + double eq_of_time = -11. / 60. + 17. / 3600.; + double t_corr = max_t + clockerr + eq_of_time; + double angleerr = -8.8 / 60; + double angle_corr = max_angle + angleerr; + //System.out.println("corr t = " + t_corr); + //System.out.println("corr angle = " + angle_corr); + System.out.println(); + + // Latitude + double decl = - (5. + 30. / 60.); + double lat = 90. - (angle_corr / 2. - decl); + new Angle(lat,Angle.DEGREES).println("Latitude",Angle.ARCDEGREES); + //System.out.println("Latitude = " + lat); + System.out.println(); + + // Longitude + Angle LAT = new Angle(max_t, Angle.DECIMALHOURS); + Angle LMT = new Angle(t_corr, Angle.DECIMALHOURS); + Angle GMTcorr = new Angle(plus, 6, 0, 0., Angle.HOURANGLE); + Angle GMT = new Angle(LMT.radians + GMTcorr.radians, Angle.RADIANS); + Angle noon = new Angle(plus, 12, 00, 0., Angle.HOURANGLE); + Angle longitude = new Angle(GMT.radians - noon.radians, Angle.RADIANS); + LAT.println("LAT of transit", Angle.HOURANGLE); + LMT.println("LMT of transit", Angle.HOURANGLE); + GMT.println("GMT of transit", Angle.HOURANGLE); + System.out.println(); + longitude.println("Longitude", Angle.HOURANGLE); + longitude.println("Longitude", Angle.ARCDEGREES); + } + + + static VectorN parabola_fit(double[] t_array, double[] y_array) + { + int i; + VectorN y = new VectorN(y_array); + VectorN t = new VectorN(t_array); + int n = t_array.length; + + Matrix H = new Matrix(n, 3); + for (i = 0; i < n; i++) + { + H.set(i, 0, 1.); + H.set(i, 1, t.get(i)); + H.set(i, 2, t.get(i) * t.get(i)); + } + + Matrix HT = H.transpose(); + Matrix HTH = HT.times(H); + Matrix HTHinv = HTH.inverse(); + VectorN Hy = HT.times(y); + // H.print("H"); + // HT.print("HT"); + // HTH.print("HTH"); + // HTHinv.print("HTHinv"); + VectorN x = HTHinv.times(Hy); + + return x; + } + +} diff --git a/src/jat/tests/PosAstr/ObsData.java b/src/jat/tests/PosAstr/ObsData.java new file mode 100644 index 0000000..9958c75 --- /dev/null +++ b/src/jat/tests/PosAstr/ObsData.java @@ -0,0 +1,140 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +public class ObsData +{ + // Austin + // Latitude 30 o 16' '' + // Longitude 97 o 45' '' + // Longitude h m s + + // Raw data + static double[] t_B = + { + 11.015, + 11.40027778, + 11.65388889, + 11.93277778, + 12.19305556, + 12.47555556, + 12.72, + 12.91166667, + 13.14416667, + 13.41305556, + 13.65027778, + 13.88694444, + 14.06861111 }; + + static double[] y_B = + { 94.27333333, 99.85166667, 103.185, 105.82, 107.86, 109.0666667, 109.4483333, 109.27, 108.2783333, 106.445, 105.3966667, 102.8116667, 98.21333333 }; + + static double[] t_C = + { + 10.96583333, + 11.28, + 11.51777778, + 11.80138889, + 12.07861111, + 12.27888889, + 12.54916667, + 12.78861111, + 13.10527778, + 13.2875, + 13.53055556, + 13.78277778, + 14.02888889 }; + + static double[] y_C = + { + 93.36333333, + 98.51666667, + 102.0733333, + 105.2833333, + 107.7466667, + 108.8166667, + 109.92, + 109.9466667, + 108.8766667, + 108.84, + 105.7833333, + 103.5666667, + 100.26 }; + + static double[] t_array = + { + 10.96583333, + 11.015, + 11.28, + 11.40027778, + 11.51777778, + 11.65388889, + 11.80138889, + 11.93277778, + 12.07861111, + 12.19305556, + 12.27888889, + 12.47555556, + 12.54916667, + 12.72, + 12.78861111, + 12.91166667, + 13.10527778, + 13.14416667, + 13.2875, + 13.41305556, + 13.53055556, + 13.65027778, + 13.78277778, + 13.88694444, + 14.02888889, + 14.06861111 }; + + static double[] y_array = + { + 93.36333333, + 94.27333333, + 98.51666667, + 99.85166667, + 102.0733333, + 103.185, + 105.2833333, + 105.82, + 107.7466667, + 107.86, + 108.8166667, + 109.0666667, + 109.92, + 109.4483333, + 109.9466667, + 109.27, + 108.8766667, + 108.2783333, + 108.84, + 106.445, + 105.7833333, + 105.3966667, + 103.5666667, + 102.8116667, + 100.26, + 98.21333333 }; +} diff --git a/src/jat/tests/PosAstr/StarAlg.java b/src/jat/tests/PosAstr/StarAlg.java new file mode 100644 index 0000000..2779b85 --- /dev/null +++ b/src/jat/tests/PosAstr/StarAlg.java @@ -0,0 +1,236 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +/** + * Star Algorithms + * @author Tobias Berthold + * + */ +public class StarAlg +{ + /** Reduction from mean to apparent place by Besselian day numbers + * @param m + * @param n + * @param alpha0 + * @param delta0 + * @param tau + * @param mua + * @param mud + * @param A + * @param B + * @param C + * @param D + * @param E + * @param print + * @return New position + */ + public static Position mean_to_apparent_Besselian( + Angle m, + Angle n, + Angle alpha0, + Angle delta0, + double tau, + Angle mua, + Angle mud, + Angle A, + Angle B, + Angle C, + Angle D, + Angle E, + boolean print) + { + Angle alpha, delta; + Angle Aa, Bb, Cc, Dd, Aaprime, Bbprime, Ccprime, Ddprime; + double a, b, c, d; + double aprime, bprime, cprime, dprime; + Angle taumualpha, taumudelta; + double sina0 = Math.sin(alpha0.radians); + double cosa0 = Math.cos(alpha0.radians); + double sind0 = Math.sin(delta0.radians); + double cosd0 = Math.cos(delta0.radians); + double tand0 = Math.tan(delta0.radians); + Angle epsilon = new Angle(true, 23, 26, 34.06, Angle.ARCDEGREES); + + // Computations + taumualpha = new Angle(tau * mua.radians, Angle.RADIANS); + taumudelta = new Angle(tau * mud.radians, Angle.RADIANS); + a = m.radians / n.radians + sina0 * tand0; + b = cosa0 * tand0; + c = cosa0 * 1. / cosd0; + d = sina0 * 1. / cosd0; + aprime = cosa0; + bprime = -sina0; + cprime = Math.tan(epsilon.radians) * cosd0 - sina0 * sind0; + dprime = cosa0 * sind0; + Aa = new Angle(A.radians * a, Angle.RADIANS); + Bb = new Angle(B.radians * b, Angle.RADIANS); + Cc = new Angle(C.radians * c, Angle.RADIANS); + Dd = new Angle(D.radians * d, Angle.RADIANS); + Aaprime = new Angle(A.radians * aprime, Angle.RADIANS); + Bbprime = new Angle(B.radians * bprime, Angle.RADIANS); + Ccprime = new Angle(C.radians * cprime, Angle.RADIANS); + Ddprime = new Angle(D.radians * dprime, Angle.RADIANS); + alpha = new Angle(alpha0.radians + taumualpha.radians + Aa.radians + Bb.radians + Cc.radians + Dd.radians + E.radians, Angle.RADIANS); + delta = new Angle(delta0.radians + taumudelta.radians + Aaprime.radians + Bbprime.radians + Ccprime.radians + Ddprime.radians, Angle.RADIANS); + + //Printing + if (print) + { + System.out.println("tau = " + tau); + A.println("A", Angle.ARCDEGREES); + B.println("B", Angle.ARCDEGREES); + C.println("C", Angle.ARCDEGREES); + D.println("D", Angle.ARCDEGREES); + E.println("E", Angle.HOURANGLE); + System.out.println("a = " + a); + System.out.println("b = " + b); + System.out.println("c = " + c); + System.out.println("d = " + d); + System.out.println("a' = " + aprime); + System.out.println("b' = " + bprime); + System.out.println("c' = " + cprime); + System.out.println("d' = " + dprime); + Aa.println("Aa", Angle.HOURANGLE); + Bb.println("Bb", Angle.HOURANGLE); + Cc.println("Cc", Angle.HOURANGLE); + Dd.println("Dd", Angle.HOURANGLE); + Aaprime.println("Aa'", Angle.ARCDEGREES); + Bbprime.println("Bb'", Angle.ARCDEGREES); + Ccprime.println("Cc'", Angle.ARCDEGREES); + Ddprime.println("Dd'", Angle.ARCDEGREES); + taumualpha.println("tau*mualpha = ", Angle.HOURANGLE); + taumudelta.println("tau*mudelta = ", Angle.ARCDEGREES); + alpha0.println("alpha0 = ", Angle.HOURANGLE); + alpha.println("alpha = ", Angle.HOURANGLE); + delta0.println("delta0 = ", Angle.ARCDEGREES); + delta.println("delta = ", Angle.ARCDEGREES); + } + + Position pos = new Position(alpha, delta); + return pos; + } + + /** Reduction from mean to apparent place by independent day numbers + * @param alpha0 + * @param delta0 + * @param tau + * @param mua + * @param mud + * @param f + * @param g + * @param G + * @param h + * @param H + * @param i + * @param print + * @return new position + */ + public static Position mean_to_apparent_Independent( + Angle alpha0, + Angle delta0, + double tau, + Angle mua, + Angle mud, + Angle f, + Angle g, + Angle G, + Angle h, + Angle H, + Angle i, + boolean print) + { + Angle alpha, delta; + Angle gaterm, haterm, gdterm, hdterm, idterm; + Angle taumualpha, taumudelta; + double sina0 = Math.sin(alpha0.radians); + double cosa0 = Math.cos(alpha0.radians); + double sind0 = Math.sin(delta0.radians); + double cosd0 = Math.cos(delta0.radians); + double tand0 = Math.tan(delta0.radians); + //Angle epsilon = new Angle(true, 23, 26, 34.06, Angle.ARCDEGREES); + + // Computations + taumualpha = new Angle(tau * mua.radians, Angle.RADIANS); + taumudelta = new Angle(tau * mud.radians, Angle.RADIANS); + gaterm = new Angle(g.radians * Math.sin(G.radians + alpha0.radians) * tand0, Angle.RADIANS); + haterm = new Angle(h.radians * Math.sin(H.radians + alpha0.radians) / cosd0, Angle.RADIANS); + gdterm = new Angle(g.radians * Math.cos(G.radians + alpha0.radians), Angle.RADIANS); + hdterm = new Angle(h.radians * Math.cos(H.radians + alpha0.radians) * sind0, Angle.RADIANS); + idterm = new Angle(i.radians * cosd0, Angle.RADIANS); + alpha = new Angle(alpha0.radians + taumualpha.radians + f.radians + gaterm.radians + haterm.radians, Angle.RADIANS); + delta = new Angle(delta0.radians + taumudelta.radians + gdterm.radians + hdterm.radians + idterm.radians, Angle.RADIANS); + + //Printing + if (print) + { + System.out.println("tau = " + tau); + f.println("f", Angle.HOURANGLE); + g.println("g", Angle.ARCDEGREES); + G.println("G", Angle.HOURANGLE); + h.println("h", Angle.ARCDEGREES); + H.println("H", Angle.HOURANGLE); + i.println("i", Angle.ARCDEGREES); + gaterm.println("g*sin(G+alpha0)*tan(delta0)", Angle.HOURANGLE); + haterm.println("h*sin(H+alpha0)*sec(delta0)", Angle.HOURANGLE); + gdterm.println("g*cos(G+alpha0) ", Angle.ARCDEGREES); + hdterm.println("h*cos(H+alpha0)*sin(delta0)", Angle.ARCDEGREES); + idterm.println("i*cos(delta0) ", Angle.ARCDEGREES); + taumualpha.println("tau*mualpha = ", Angle.HOURANGLE); + taumudelta.println("tau*mudelta = ", Angle.ARCDEGREES); + alpha0.println("alpha0 = ", Angle.HOURANGLE); + alpha.println("alpha = ", Angle.HOURANGLE); + delta0.println("delta0 = ", Angle.ARCDEGREES); + delta.println("delta = ", Angle.ARCDEGREES); + } + Position pos = new Position(alpha, delta); + return pos; + } + + public static Position annual_precession(Angle m, Angle n, Angle alpha0, Angle delta0, boolean print) + { + double delta_alpha, delta_delta; + Angle alpha, delta; + + delta_alpha = m.radians + n.radians * Math.sin(alpha0.radians) * Math.tan(delta0.radians); + delta_delta = n.radians * Math.cos(alpha0.radians); + //new Angle(delta_alpha, Angle.RADIANS).println("Delta alpha"); + //new Angle(delta_delta, Angle.RADIANS).println("Delta delta"); + alpha = new Angle(alpha0.radians + delta_alpha, Angle.RADIANS); + delta = new Angle(delta0.radians + delta_delta, Angle.RADIANS); + + //Printing + if (print) + { + alpha0.println("alpha0", Angle.HOURANGLE); + alpha.println("alpha ", Angle.HOURANGLE); + delta0.println("delta0", Angle.ARCDEGREES); + delta.println("delta ", Angle.ARCDEGREES); + } + Position pos = new Position(alpha, delta); + return pos; + + } +} \ No newline at end of file diff --git a/src/jat/tests/PosAstr/SunLongitude.java b/src/jat/tests/PosAstr/SunLongitude.java new file mode 100644 index 0000000..9113eb5 --- /dev/null +++ b/src/jat/tests/PosAstr/SunLongitude.java @@ -0,0 +1,54 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; + +public class SunLongitude +{ + public static void main(String[] args) + { + boolean plus = true, minus = false; + Angle L, LT2, tau, tauT2, coa; + + System.out.println("Newcombs Sun"); + L = new Angle(plus, 279, 41, 48.04, Angle.ARCDEGREES); + tau = new Angle(plus, 18, 38, 45.836, Angle.HOURANGLE); + coa = new Angle(L.radians - tau.radians, Angle.RADIANS); + LT2 = new Angle(plus, 0, 0, 1.089, Angle.ARCDEGREES); + tauT2 = new Angle(plus, 0, 0, 0.00929, Angle.HOURANGLE); + + System.out.println("Constant Term"); + L.println("L ", Angle.ARCDEGREES); + tau.println("tau ", Angle.ARCDEGREES); + tau.println("tau ", Angle.HOURANGLE); + coa.println("Difference ", Angle.ARCDEGREES); + System.out.println(""); + + // L.println("L ",Angle.HOURANGLE); + // tau.println("tau",Angle.HOURANGLE); + // System.out.println("Quadratic Term"); + // LT2.println("L T^2 ",Angle.ARCDEGREES); + // LT2.println("L T^2 ",Angle.HOURANGLE); + // tauT2.println("tau T^2",Angle.HOURANGLE); + } +} diff --git a/src/jat/tests/PosAstr/hw4.java b/src/jat/tests/PosAstr/hw4.java new file mode 100644 index 0000000..39e7b62 --- /dev/null +++ b/src/jat/tests/PosAstr/hw4.java @@ -0,0 +1,154 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; + +public class hw4 +{ + public static void main(String[] args) + { + Angle m1960, n1960, m1980, n1980, alpha0, delta0; + double[] tau_interval = new double[2]; // tau on bracketting days + Angle[] mu = new Angle[2]; // mu alpha, mu delta + Angle[] ABCDE_interval = new Angle[10]; // A, B, C, D, E on bracketting days + Angle[] fgGhHi_interval=new Angle[12]; + + // m and n for 1960 and 1980 + m1960 = new Angle(true, 0, 0, 3.07346, Angle.HOURANGLE); + n1960 = new Angle(true, 0, 0, 1.33612, Angle.HOURANGLE); + + // Alpha Coronae Borealis July 1, 1960 + System.out.println("Alpha Coronae Borealis July 1, 1960, Besselian Day Numbers"); + System.out.println("----------------------------------------------------------"); + alpha0 = new Angle(true, 15, 32, 59.556, Angle.HOURANGLE); + delta0 = new Angle(true, 26, 50, 53.77, Angle.ARCDEGREES); + tau_interval[0] = 0.4974; + tau_interval[1] = 0.5001; + mu[0] = new Angle(true, 0, 0, 0.009, Angle.HOURANGLE); + mu[1] = new Angle(false, 0, 0, 0.09, Angle.ARCDEGREES); + ABCDE_interval[0] = new Angle(true, 0, 0, 8.786, Angle.ARCDEGREES); // A on July 1 + ABCDE_interval[1] = new Angle(true, 0, 0, 8.818, Angle.ARCDEGREES); // A on July 2 + ABCDE_interval[2] = new Angle(true, 0, 0, 9.580, Angle.ARCDEGREES); // B on July 1 + ABCDE_interval[3] = new Angle(true, 0, 0, 9.572, Angle.ARCDEGREES); // B on July 2 + ABCDE_interval[4] = new Angle(true, 0, 0, 2.994, Angle.ARCDEGREES); // C on July 1 + ABCDE_interval[5] = new Angle(true, 0, 0, 3.302, Angle.ARCDEGREES); // C on July 2 + ABCDE_interval[6] = new Angle(false, 0, 0, 20.199, Angle.ARCDEGREES); // D on July 1 + ABCDE_interval[7] = new Angle(false, 0, 0, 20.140, Angle.ARCDEGREES); // D on July 2 + ABCDE_interval[8] = new Angle(false, 0, 0, 0.0004, Angle.HOURANGLE); // E on July 1 + ABCDE_interval[9] = new Angle(false, 0, 0, 0.0005, Angle.HOURANGLE); // E on July 2 + mean_to_apparent_interval_Besselian(m1960, n1960, alpha0, delta0, 0.871, tau_interval, mu, ABCDE_interval); + + } + + private static void mean_to_apparent_interval_Besselian( + Angle m, + Angle n, + Angle alpha0, + Angle delta0, + double factor, + double[] tau_interval, + Angle[] mu, + Angle[] ABCDE_interval) + { + Angle[] ABCDE = new Angle[5]; + double tau; + + // Interpolate table values + ABCDE[0] = new Angle(ABCDE_interval[0].radians + factor * (ABCDE_interval[1].radians - ABCDE_interval[0].radians), Angle.RADIANS); + ABCDE[1] = new Angle(ABCDE_interval[2].radians + factor * (ABCDE_interval[3].radians - ABCDE_interval[2].radians), Angle.RADIANS); + ABCDE[2] = new Angle(ABCDE_interval[4].radians + factor * (ABCDE_interval[5].radians - ABCDE_interval[4].radians), Angle.RADIANS); + ABCDE[3] = new Angle(ABCDE_interval[6].radians + factor * (ABCDE_interval[7].radians - ABCDE_interval[6].radians), Angle.RADIANS); + ABCDE[4] = new Angle(ABCDE_interval[8].radians + factor * (ABCDE_interval[9].radians - ABCDE_interval[8].radians), Angle.RADIANS); + tau = tau_interval[0] + factor * (tau_interval[1] - tau_interval[0]); + mean_to_apparent_Besselian(m, n, alpha0, delta0, tau, mu, ABCDE); + } + + static void mean_to_apparent_Besselian(Angle m, Angle n, Angle alpha0, Angle delta0, double tau, Angle[] mu, Angle[] ABCDE) + { + Angle alpha, delta, A, B, C, D, E; + Angle Aa, Bb, Cc, Dd, Aaprime, Bbprime, Ccprime, Ddprime; + double a, b, c, d; + double aprime, bprime, cprime, dprime; + double taumualpha, taumudelta; + double sina0 = Math.sin(alpha0.radians); + double cosa0 = Math.cos(alpha0.radians); + double sind0 = Math.sin(delta0.radians); + double cosd0 = Math.cos(delta0.radians); + double tand0 = Math.tan(delta0.radians); + Angle epsilon = new Angle(true, 23, 26, 45., Angle.ARCDEGREES); + + taumualpha = tau * mu[0].radians; + taumudelta = tau * mu[1].radians; + A = ABCDE[0]; + B = ABCDE[1]; + C = ABCDE[2]; + D = ABCDE[3]; + E = ABCDE[4]; + a = m.radians / n.radians + sina0 * Math.tan(delta0.radians); + b = cosa0 * Math.tan(delta0.radians); + c = cosa0 * 1. / cosd0; + d = sina0 * 1. / cosd0; + aprime = cosa0; + bprime = -sina0; + cprime = Math.tan(epsilon.radians) * cosd0 - sina0 * sind0; + dprime = cosa0 * sind0; + Aa = new Angle(A.radians * a, Angle.RADIANS); + Bb = new Angle(B.radians * b, Angle.RADIANS); + Cc = new Angle(C.radians * c, Angle.RADIANS); + Dd = new Angle(D.radians * d, Angle.RADIANS); + Aaprime = new Angle(A.radians * aprime, Angle.RADIANS); + Bbprime = new Angle(B.radians * bprime, Angle.RADIANS); + Ccprime = new Angle(C.radians * cprime, Angle.RADIANS); + Ddprime = new Angle(D.radians * dprime, Angle.RADIANS); + alpha = new Angle(alpha0.radians + taumualpha + Aa.radians + Bb.radians + Cc.radians + Dd.radians + E.radians, Angle.RADIANS); + delta = new Angle(delta0.radians + taumudelta + Aaprime.radians + Bbprime.radians + Ccprime.radians + Ddprime.radians, Angle.RADIANS); + + System.out.println("tau = " + tau); + A.println("A", Angle.ARCDEGREES); + B.println("B", Angle.ARCDEGREES); + C.println("C", Angle.ARCDEGREES); + D.println("D", Angle.ARCDEGREES); + E.println("E", Angle.HOURANGLE); + System.out.println("a = " + a); + System.out.println("b = " + b); + System.out.println("c = " + c); + System.out.println("d = " + d); + System.out.println("a' = " + aprime); + System.out.println("b' = " + bprime); + System.out.println("c' = " + cprime); + System.out.println("d' = " + dprime); + Aa.println("Aa", Angle.HOURANGLE); + Bb.println("Bb", Angle.HOURANGLE); + Cc.println("Cc", Angle.HOURANGLE); + Dd.println("Dd", Angle.HOURANGLE); + Aaprime.println("Aa'", Angle.ARCDEGREES); + Bbprime.println("Bb'", Angle.ARCDEGREES); + Ccprime.println("Cc'", Angle.ARCDEGREES); + Ddprime.println("Dd'", Angle.ARCDEGREES); + alpha0.println("alpha0 = ", Angle.HOURANGLE); + alpha.println("alpha = ", Angle.HOURANGLE); + delta0.println("delta0 = ", Angle.ARCDEGREES); + delta.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/PosAstr/hw4a_Bessel.java b/src/jat/tests/PosAstr/hw4a_Bessel.java new file mode 100644 index 0000000..1d8f4d6 --- /dev/null +++ b/src/jat/tests/PosAstr/hw4a_Bessel.java @@ -0,0 +1,78 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +public class hw4a_Bessel +{ + public static void main(String[] args) + { + Angle m1960, n1960, alpha0, delta0; + Angle A1, B1, C1, D1, E1; //A, etc on July 1 + Angle A2, B2, C2, D2, E2; //A, etc on July 2 + Angle A, B, C, D, E; // interpolated value + double tau1, tau2, tau; + double factor = 0.871; + Angle mua, mud; // mu alpha, mu delta + + // m and n for 1960 and 1980 + m1960 = new Angle(true, 0, 0, 3.07346, Angle.HOURANGLE); + n1960 = new Angle(true, 0, 0, 1.33612, Angle.HOURANGLE); + + // Alpha Coronae Borealis July 1, 1960 + System.out.println("Alpha Coronae Borealis July 1, 1960, Besselian Day Numbers"); + System.out.println("----------------------------------------------------------"); + alpha0 = new Angle(true, 15, 32, 59.556, Angle.HOURANGLE); + delta0 = new Angle(true, 26, 50, 53.77, Angle.ARCDEGREES); + mua = new Angle(true, 0, 0, 0.009, Angle.HOURANGLE); + mud = new Angle(false, 0, 0, 0.09, Angle.ARCDEGREES); + + // Besselian day number table values + tau1 = 0.4974; + tau2 = 0.5001; + A1 = new Angle(true, 0, 0, 8.786, Angle.ARCDEGREES); + A2 = new Angle(true, 0, 0, 8.818, Angle.ARCDEGREES); + B1 = new Angle(true, 0, 0, 9.580, Angle.ARCDEGREES); + B2 = new Angle(true, 0, 0, 9.572, Angle.ARCDEGREES); + C1 = new Angle(true, 0, 0, 2.994, Angle.ARCDEGREES); + C2 = new Angle(true, 0, 0, 3.302, Angle.ARCDEGREES); + D1 = new Angle(false, 0, 0, 20.199, Angle.ARCDEGREES); + D2 = new Angle(false, 0, 0, 20.140, Angle.ARCDEGREES); + E1 = new Angle(false, 0, 0, 0.0004, Angle.HOURANGLE); + E2 = new Angle(false, 0, 0, 0.0005, Angle.HOURANGLE); + + // Interpolate table values + A = new Angle(A1.radians + factor * (A2.radians - A1.radians), Angle.RADIANS); + B = new Angle(B1.radians + factor * (B2.radians - B1.radians), Angle.RADIANS); + C = new Angle(C1.radians + factor * (C2.radians - C1.radians), Angle.RADIANS); + D = new Angle(D1.radians + factor * (D2.radians - D1.radians), Angle.RADIANS); + E = new Angle(E1.radians + factor * (E2.radians - E1.radians), Angle.RADIANS); + tau = tau1 + factor * (tau2 - tau1); + + Position pos=StarAlg.mean_to_apparent_Besselian(m1960, n1960, alpha0, delta0, tau, mua, mud, A, B, C, D, E,true); + //pos.RA.println("alpha = ", Angle.HOURANGLE); + //pos.dec.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/PosAstr/hw4a_Indep.java b/src/jat/tests/PosAstr/hw4a_Indep.java new file mode 100644 index 0000000..6776a1c --- /dev/null +++ b/src/jat/tests/PosAstr/hw4a_Indep.java @@ -0,0 +1,77 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +public class hw4a_Indep +{ + public static void main(String[] args) + { + Angle alpha0, delta0; + double tau1, tau2, tau; + double factor; + Angle mua, mud; // mu alpha, mu delta + Angle f1, g1, G1, h1, H1, i1; //f, etc on July 1 + Angle f2, g2, G2, h2, H2, i2; //f, etc on July 2 + Angle f, g, G, h, H, i; // interpolated value + + System.out.println("Alpha Coronae Borealis July 1, 1960, Independent Day Numbers"); + System.out.println("------------------------------------------------------------"); + alpha0 = new Angle(true, 15, 33, 2.097, Angle.HOURANGLE); + delta0 = new Angle(true, 26, 50, 41.69, Angle.ARCDEGREES); + mua = new Angle(true, 0, 0, 0.009, Angle.HOURANGLE); + mud = new Angle(false, 0, 0, 0.09, Angle.ARCDEGREES); + + // Independent day number table values + tau1 = -0.5026; + tau2 = -0.4999; + factor = 0.871; + f1 = new Angle(false, 0, 0, 1.7266, Angle.HOURANGLE); + f2 = new Angle(false, 0, 0, 1.7217, Angle.HOURANGLE); + g1 = new Angle(true, 0, 0, 14.781, Angle.ARCDEGREES); + g2 = new Angle(true, 0, 0, 14.751, Angle.ARCDEGREES); + G1 = new Angle(true, 9, 18, 24., Angle.HOURANGLE); + G2 = new Angle(true, 9, 18, 10., Angle.HOURANGLE); + h1 = new Angle(true, 0, 0, 20.420, Angle.ARCDEGREES); + h2 = new Angle(true, 0, 0, 20.410, Angle.ARCDEGREES); + H1 = new Angle(true, 11, 26, 14, Angle.HOURANGLE); + H2 = new Angle(true, 11, 22, 43, Angle.HOURANGLE); + i1 = new Angle(true, 0, 0, 1.300, Angle.ARCDEGREES); + i2 = new Angle(true, 0, 0, 1.434, Angle.ARCDEGREES); + + // Interpolate table values + f = new Angle(f1.radians + factor * (f2.radians - f1.radians), Angle.RADIANS); + g = new Angle(g1.radians + factor * (g2.radians - g1.radians), Angle.RADIANS); + G = new Angle(G1.radians + factor * (G2.radians - G1.radians), Angle.RADIANS); + h = new Angle(h1.radians + factor * (h2.radians - h1.radians), Angle.RADIANS); + H = new Angle(H1.radians + factor * (H2.radians - H1.radians), Angle.RADIANS); + i = new Angle(i1.radians + factor * (i2.radians - i1.radians), Angle.RADIANS); + tau = tau1 + factor * (tau2 - tau1); + + Position pos = StarAlg.mean_to_apparent_Independent(alpha0, delta0, tau, mua, mud, f, g, G, h, H, i, true); + //pos.RA.println("alpha = ", Angle.HOURANGLE); + //pos.dec.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/PosAstr/hw4b_Bessel.java b/src/jat/tests/PosAstr/hw4b_Bessel.java new file mode 100644 index 0000000..09cdbfa --- /dev/null +++ b/src/jat/tests/PosAstr/hw4b_Bessel.java @@ -0,0 +1,80 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +public class hw4b_Bessel +{ + public static void main(String[] args) + { + boolean plus=true;//,minus=false; + Angle m, n, alpha0, delta0; + Angle A1, B1, C1, D1, E1; //A, etc on June 3 + Angle A2, B2, C2, D2, E2; //A, etc on June 3 + Angle A, B, C, D, E; // interpolated value + double tau1, tau2, tau; + //double factor = 0.871; + double factor = 0.; + Angle mua, mud; // mu alpha, mu delta + + // m and n + m = new Angle(true, 0, 0, 3.07383, Angle.HOURANGLE); + n = new Angle(true, 0, 0, 1.33600, Angle.HOURANGLE); + + System.out.println("Aldebaran June 3, 1980 Besselian Day Numbers"); + System.out.println("---------------------------------------------"); + alpha0 = new Angle(true, 4, 34, 46., Angle.HOURANGLE); + delta0 = new Angle(true, 16, 28, 12., Angle.ARCDEGREES); + mua = new Angle(true, 0, 0, 0.439, Angle.HOURANGLE); + mud = new Angle(false, 0, 0, 18.97, Angle.ARCDEGREES); + + // Besselian day number table values + tau1 = 0.4211; + tau2 = 0.4239; + A1 = new Angle(plus, 0, 0, 4.086, Angle.ARCDEGREES); + A2 = new Angle(true, 0, 0, 4.162, Angle.ARCDEGREES); + B1 = new Angle(true, 0, 0, 7.945, Angle.ARCDEGREES); + B2 = new Angle(true, 0, 0, 7.915, Angle.ARCDEGREES); + C1 = new Angle(false, 0, 0, 5.629, Angle.ARCDEGREES); + C2 = new Angle(false, 0, 0, 5.330, Angle.ARCDEGREES); + D1 = new Angle(false, 0, 0, 19.551, Angle.ARCDEGREES); + D2 = new Angle(false, 0, 0, 19.652, Angle.ARCDEGREES); + E1 = new Angle(false, 0, 0, 0.0016, Angle.HOURANGLE); + E2 = new Angle(false, 0, 0, 0.0016, Angle.HOURANGLE); + + // Interpolate table values + A = new Angle(A1.radians + factor * (A2.radians - A1.radians), Angle.RADIANS); + B = new Angle(B1.radians + factor * (B2.radians - B1.radians), Angle.RADIANS); + C = new Angle(C1.radians + factor * (C2.radians - C1.radians), Angle.RADIANS); + D = new Angle(D1.radians + factor * (D2.radians - D1.radians), Angle.RADIANS); + E = new Angle(E1.radians + factor * (E2.radians - E1.radians), Angle.RADIANS); + tau = tau1 + factor * (tau2 - tau1); + + Position pos = StarAlg.mean_to_apparent_Besselian(m, n, alpha0, delta0, tau, mua, mud, A, B, C, D, E, true); + alpha0.println("alpha0 = ", Angle.SHA); + pos.RA.println("alpha = ", Angle.SHA); + //pos.dec.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/PosAstr/hw4b_Bessel_2.java b/src/jat/tests/PosAstr/hw4b_Bessel_2.java new file mode 100644 index 0000000..17a647e --- /dev/null +++ b/src/jat/tests/PosAstr/hw4b_Bessel_2.java @@ -0,0 +1,66 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +public class hw4b_Bessel_2 +{ + public static void main(String[] args) + { + boolean plus=true,minus=false; + Angle m, n, alpha0, delta0; + Angle A, B, C, D, E; // tabulated day numbers + double tau; + Angle mua, mud; // mu alpha, mu delta + + // m and n + m = new Angle(true, 0, 0, 3.07383, Angle.HOURANGLE); + n = new Angle(true, 0, 0, 1.33600, Angle.HOURANGLE); + + System.out.println("Aldebaran June 3, 1980 Besselian Day Numbers"); + System.out.println("---------------------------------------------"); + alpha0 = new Angle(plus, 4, 34, 46., Angle.HOURANGLE); + delta0 = new Angle(plus, 16, 28, 12., Angle.ARCDEGREES); + mua = new Angle(plus, 0, 0, 0.00439, Angle.HOURANGLE); + mud = new Angle(minus, 0, 0, .1897, Angle.ARCDEGREES); + //mud = new Angle(minus, 0, 0, 18.97, Angle.ARCDEGREES); + + // Besselian day number table values + tau = 0.4211; + A = new Angle(plus, 0, 0, 4.086, Angle.ARCDEGREES); + B = new Angle(plus, 0, 0, 7.945, Angle.ARCDEGREES); + C = new Angle(minus, 0, 0, 5.629, Angle.ARCDEGREES); + D = new Angle(minus, 0, 0, 19.551, Angle.ARCDEGREES); + E = new Angle(minus, 0, 0, 0.0016, Angle.HOURANGLE); + + + Position pos = StarAlg.mean_to_apparent_Besselian(m, n, alpha0, delta0, tau, mua, mud, A, B, C, D, E, true); + System.out.println("---------------------------------------------"); + alpha0.println("alpha0 = ", Angle.SHA); + pos.RA.println("alpha = ", Angle.SHA); + delta0.println("delta0 = ", Angle.ARCDEGREES); + pos.dec.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/PosAstr/hw4b_Indep.java b/src/jat/tests/PosAstr/hw4b_Indep.java new file mode 100644 index 0000000..0086c26 --- /dev/null +++ b/src/jat/tests/PosAstr/hw4b_Indep.java @@ -0,0 +1,82 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +public class hw4b_Indep +{ + public static void main(String[] args) + { + boolean plus=true,minus=false; + Angle alpha0, delta0; + double tau1, tau2, tau; + double factor; + Angle mua, mud; // mu alpha, mu delta + Angle f1, g1, G1, h1, H1, i1; //f, etc on July 1 + Angle f2, g2, G2, h2, H2, i2; //f, etc on July 2 + Angle f, g, G, h, H, i; // interpolated value + + // Alpha Tauri + System.out.println("Aldebaran June 3, 1980 Independent Day Numbers"); + System.out.println("----------------------------------------------"); + alpha0 = new Angle(true, 4, 34, 46., Angle.HOURANGLE); + delta0 = new Angle(true, 16, 28, 12., Angle.ARCDEGREES); + mua = new Angle(true, 0, 0, 0.439, Angle.HOURANGLE); + mud = new Angle(false, 0, 0, 18.97, Angle.ARCDEGREES); + + // Independent day number table values + tau1 = 0.4211; + tau2 = 0.4239; + //factor = 0.871; + factor = 0.; + f1 = new Angle(plus, 0, 0, 0.6251, Angle.HOURANGLE); + f2 = new Angle(plus, 0, 0, 0.6368, Angle.HOURANGLE); + g1 = new Angle(plus, 0, 0, 8.934, Angle.ARCDEGREES); + g2 = new Angle(plus, 0, 0, 8.943, Angle.ARCDEGREES); + G1 = new Angle(plus, 4,11,8., Angle.HOURANGLE); + G2 = new Angle(plus, 4,9,3, Angle.HOURANGLE); + h1 = new Angle(plus, 0,0,20.345, Angle.ARCDEGREES); + h2 = new Angle(plus, 0, 0, 20.362, Angle.ARCDEGREES); + H1 = new Angle(plus, 13,4,15, Angle.HOURANGLE); + H2 = new Angle(plus, 13,0,42., Angle.HOURANGLE); + i1 = new Angle(minus, 0, 0, 2.441, Angle.ARCDEGREES); + i2 = new Angle(minus, 0, 0, 2.311, Angle.ARCDEGREES); + + // Interpolate table values + f = new Angle(f1.radians + factor * (f2.radians - f1.radians), Angle.RADIANS); + g = new Angle(g1.radians + factor * (g2.radians - g1.radians), Angle.RADIANS); + G = new Angle(G1.radians + factor * (G2.radians - G1.radians), Angle.RADIANS); + h = new Angle(h1.radians + factor * (h2.radians - h1.radians), Angle.RADIANS); + H = new Angle(H1.radians + factor * (H2.radians - H1.radians), Angle.RADIANS); + i = new Angle(i1.radians + factor * (i2.radians - i1.radians), Angle.RADIANS); + tau = tau1 + factor * (tau2 - tau1); + + Position pos = StarAlg.mean_to_apparent_Independent(alpha0, delta0, tau, mua, mud, f, g, G, h, H, i, true); + alpha0.println("alpha0 = ", Angle.SHA); + pos.RA.println("alpha = ", Angle.SHA); + //pos.RA.println("alpha = ", Angle.HOURANGLE); + //pos.dec.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/PosAstr/hw4b_Indep_2.java b/src/jat/tests/PosAstr/hw4b_Indep_2.java new file mode 100644 index 0000000..4dd288a --- /dev/null +++ b/src/jat/tests/PosAstr/hw4b_Indep_2.java @@ -0,0 +1,62 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.PosAstr; + +import jat.coreNOSA.astronomy.Angle; +import jat.coreNOSA.astronomy.Position; + +public class hw4b_Indep_2 +{ + public static void main(String[] args) + { + boolean plus=true,minus=false; + Angle alpha0, delta0; + double tau; + Angle mua, mud; // mu alpha, mu delta + Angle f, g, G, h, H, i; // tabulated day numbers + + // Alpha Tauri + System.out.println("Aldebaran June 3, 1980 Independent Day Numbers"); + System.out.println("----------------------------------------------"); + alpha0 = new Angle(true, 4, 34, 46., Angle.HOURANGLE); + delta0 = new Angle(true, 16, 28, 12., Angle.ARCDEGREES); + mua = new Angle(true, 0, 0, 0.00439, Angle.HOURANGLE); + mud = new Angle(false, 0, 0, 0.1897, Angle.ARCDEGREES); + + // Independent day number table values + tau = 0.4211; + f = new Angle(plus, 0, 0, 0.6251, Angle.HOURANGLE); + g = new Angle(plus, 0, 0, 8.934, Angle.ARCDEGREES); + G = new Angle(plus, 4,11,8., Angle.HOURANGLE); + h = new Angle(plus, 0,0,20.345, Angle.ARCDEGREES); + H = new Angle(plus, 13,4,15, Angle.HOURANGLE); + i = new Angle(minus, 0, 0, 2.441, Angle.ARCDEGREES); + + Position pos = StarAlg.mean_to_apparent_Independent(alpha0, delta0, tau, mua, mud, f, g, G, h, H, i, true); + System.out.println("---------------------------------------------"); + alpha0.println("alpha0 = ", Angle.SHA); + pos.RA.println("alpha = ", Angle.SHA); + delta0.println("delta0 = ", Angle.ARCDEGREES); + pos.dec.println("delta = ", Angle.ARCDEGREES); + } +} diff --git a/src/jat/tests/core/algorithm/integrators/Benchmark1.java b/src/jat/tests/core/algorithm/integrators/Benchmark1.java new file mode 100644 index 0000000..5e0262e --- /dev/null +++ b/src/jat/tests/core/algorithm/integrators/Benchmark1.java @@ -0,0 +1,144 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.integrators; + + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.DormandPrince; +import jat.coreNOSA.algorithm.integrators.Printable; +import jat.coreNOSA.algorithm.integrators.RungeKuttaFehlberg78; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + + +/** + * Benchmark and Validation of numerical integrators by propagating a two-body orbit + * over varying final times. Reference for validation is the Kepler solution for + * two-body orbits. + * + * @author Tobias Berthold + * + */ +public class Benchmark1 implements Printable, Derivatives +{ + protected double mu = 398600.4415; // GM in km^3/s^2 (value from JGM-3 + static int dcount=0; + + public void print(double t, double [] y) + { + + // handle the first variable for plotting - this is a little mystery but it works + boolean first = true; + if (t == 0.0) first = false; + + // also print to the screen for warm fuzzy feeling + System.out.println(t+" "+y[0]+" "+y[1]); + } + + + public double[] derivs(double t, double[] y) + { + double out[] = new double[6]; + VectorN r = new VectorN(y[0], y[1], y[2]); + double rmag = r.mag(); + double rcubed = rmag * rmag * rmag; + double muorc = -1.0 * this.mu / rcubed; + + //System.out.println("I am being called! "+dcount++); + dcount++; + out[0] = y[3]; + out[1] = y[4]; + out[2] = y[5]; + out[3] = muorc * y[0]; + out[4] = muorc * y[1]; + out[5] = muorc * y[2]; + + return out; + } + + + public static void main(String[] args) + { + double[] x0, xf; + Benchmark1 dpt2 = new Benchmark1(); + + // create a TwoBody orbit using orbit elements + TwoBody orbit = new TwoBody(7000.0, 0.5, 0.0, 0.0, 0.0, 0.0); + orbit.setSteps(2); + + // initial time and final time, initial state + double t0 = 0.0; + double period=orbit.period(); + double tf = 9.*period; + x0 = orbit.randv(); + new VectorN(x0).print("initial state"); + + + // create an Dormand Prince integrator + DormandPrince dp=new DormandPrince(); + dp.setIntegration_error(1.e-7); + + // create an RungeKuttaFehlberg78 integrator + RungeKuttaFehlberg78 rk78f = new RungeKuttaFehlberg78(); + rk78f.setAccuracy(1.e-14); + + + // warm-up: propagate the orbit with each method + // Kepler solution + orbit.propagate(t0, tf); + orbit.rv.print("Kepler equation"); + + // Dormand Prince + dcount=0; + xf = dp.integrate(t0, x0, tf, dpt2); + new VectorN(xf).print("DP"); + + // Runge-Kutta + dcount=0; + xf = rk78f.integrate(t0, x0, tf, dpt2, dpt2, false); + new VectorN(xf).print("RKF78"); + + // create the table + Matrix M=new Matrix(10,6); + for(int i=0;i<10;i+=1) + { + int j=2*i; + tf = j*period; + M.set(i,0 , j); + // Kepler solution + orbit.propagate(t0, tf); + M.set(i,1 , orbit.rv.x[1]); + // Dormand Prince + dcount=0; + xf = dp.integrate(t0, x0, tf, dpt2); + M.set(i,2 , xf[1]); + M.set(i,3 , dcount); + // Runge-Kutta + dcount=0; + xf = rk78f.integrate(t0, x0, tf, dpt2, dpt2, false); + M.set(i,4 , xf[1]); + M.set(i,5 , dcount); + } + //new VectorN(x0).print("initial state"); + M.print("periods Kepler DP feval RK feval"); + } +} diff --git a/src/jat/tests/core/algorithm/integrators/DPTest1.java b/src/jat/tests/core/algorithm/integrators/DPTest1.java new file mode 100644 index 0000000..08833a2 --- /dev/null +++ b/src/jat/tests/core/algorithm/integrators/DPTest1.java @@ -0,0 +1,57 @@ +package jat.tests.core.algorithm.integrators; + +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.DormandPrince; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +public class DPTest1 implements Derivatives +{ + + public double[] derivs(double t, double[] x) + { + double[] out = new double[6]; + out[3] = -x[0]; + out[4] = -x[1]; + out[5] = -x[2]; + return out; + } + + + public static void main(String[] args) + { + System.out.println("Dormand Prince integrator test"); + DormandPrince dp = new DormandPrince(); + + DPTest1 dpt1=new DPTest1(); + // double[] r1 = new double[4]; + // double[] r2 = new double[4]; + // double[] r1prime = new double[4]; + // double[] r2prime = new double[4]; + // r1prime[1] = 10.; + // r1prime[2] = 0.; + // double time1 = 0.; + // double time2 = 2*Math.PI/12; + // dp.update(r1, r1prime, time1, r2, r2prime, time2); + // new VectorN(r2).print("r2"); + // new VectorN(r2prime).print("r2prime"); + // double[] r1 = new double[3]; + // double[] r2 = new double[3]; + // double[] r1prime = new double[3]; + // double[] r2prime = new double[3]; + // r1prime[0] = 10.; + // r1prime[1] = 1.; + // r1prime[2] = 1.; + // double time1 = 0.; + // double time2 = 2*Math.PI/12; + // dp.integrate(r1, r1prime, time1, r2, r2prime, time2); + // new VectorN(r2).print("r2"); + // new VectorN(r2prime).print("r2prime"); + double[] state1 = new double[6]; + state1[3] = 10.; + state1[4] = 1.; + state1[5] = 2.; + double time1 = 0.; + double time2 = 0 * Math.PI / 12; + double[] state2 = dp.integrate(time1, state1, time2, dpt1); + new VectorN(state2).print("state2"); } +} diff --git a/src/jat/tests/core/algorithm/integrators/RKF78_StoreSteps_Test1.java b/src/jat/tests/core/algorithm/integrators/RKF78_StoreSteps_Test1.java new file mode 100644 index 0000000..6f1f5fb --- /dev/null +++ b/src/jat/tests/core/algorithm/integrators/RKF78_StoreSteps_Test1.java @@ -0,0 +1,58 @@ +package jat.tests.core.algorithm.integrators; + +import jat.core.util.PrintMatrix; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.RKF78_StoreSteps; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +/** + * Test the Runge Kutta integrator by comparing it's output of a harmonic oscillator with the sine and cosine functions + * @author Tobias Berthold + */ +public class RKF78_StoreSteps_Test1 implements Derivatives +{ + public double[] derivs(double t, double[] x) + { + double[] out = new double[2]; + out[0] = x[1]; + out[1] = -x[0]; + return out; + } + + public static void main(String[] args) + { + double time1 = 0.; + double time2 = 24 * Math.PI / 12; + double h1 = 0.01; + double hmin = 0.0; + double[] state2; + RKF78_StoreSteps_Test1 rt = new RKF78_StoreSteps_Test1(); + RKF78_StoreSteps r = new RKF78_StoreSteps(); + // + r.eps = 1.e-4; + double[] state1 = new double[2]; + state1[0] = 0.; + state1[1] = 1.; + // Integrate + state2 = r.integrate(time1, state1, time2, rt); + new VectorN(state2).print("state"); + Matrix M = new Matrix(r.steplist); + PrintMatrix PM = new PrintMatrix(M); + String Titles[] = + { "t", "x", "x'", "retried steps" }; + PM.titles = Titles; + PM.setMinFracDig(8); + PM.print(); + System.out.println("good " + r.nok + " bad " + r.nbad + " steps"); + // N.toFile("outrk45.txt"); + // again to verify that the same integrator can be reused + state2 = r.integrate(time1, state1, time2, rt); + new VectorN(state2).print("state"); + Matrix N = new Matrix(r.steplist); + PrintMatrix PN = new PrintMatrix(N); + PN.setMinFracDig(8); + PN.print(); + System.out.println("good " + r.nok + " bad " + r.nbad + " steps"); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/DFP_test.java b/src/jat/tests/core/algorithm/optimization/DFP_test.java new file mode 100644 index 0000000..b501133 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/DFP_test.java @@ -0,0 +1,52 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization; + +import jat.coreNOSA.algorithm.optimization.DFP; +import jat.tests.core.algorithm.optimization.functions.Rosenbrock; + +/** + * Davidon-Fletcher-Powell variable metric method + * @author Tobias Berthold + * + */ +public class DFP_test +{ + + public static void main(String argv[]) + { + double[] x_init=new double[2]; + + System.out.println("Rosenbrock function, Numerical derivs, DFP"); + + // create instances of the classes + DFP_test dt = new DFP_test(); + x_init[0] = -1.2; + x_init[1] = 1.; + DFP dfp = new DFP(new Rosenbrock(), x_init); + dfp.err_ods=1.e-6; + dfp.err_dfp=1.e-6; + dfp.eps_CD=1.e-5; + dfp.max_it=50; + double[] x=dfp.find_min_DFP(); + + } +} diff --git a/src/jat/tests/core/algorithm/optimization/DataArraySearchTest.java b/src/jat/tests/core/algorithm/optimization/DataArraySearchTest.java new file mode 100644 index 0000000..011737a --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/DataArraySearchTest.java @@ -0,0 +1,61 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.tests.core.algorithm.optimization; + +import jat.core.algorithm.optimization.DataArraySearch; +import jat.core.math.MatrixVector.util.LabeledMatrix; +import jat.coreNOSA.math.MatrixVector.data.Matrix; + +import java.util.ArrayList; +import java.util.List; + +public class DataArraySearchTest { + + Matrix M; + + public static void main(String[] args) { + + List a = new ArrayList(); + a.add(new TestSet("corner 1", 0, 0)); + a.add(new TestSet("corner 2", 0, 9)); + a.add(new TestSet("corner 3", 9, 9)); + a.add(new TestSet("corner 4", 9, 0)); + a.add(new TestSet("edge x=0", 0, 5)); + a.add(new TestSet("edge x=9", 9, 5)); + a.add(new TestSet("edge y=0", 7, 0)); + a.add(new TestSet("edge y=9", 7, 9)); + a.add(new TestSet("middle 1", 5, 8)); + + // Create the test data + DataArraySearchTest da = new DataArraySearchTest(); + da.M = new LabeledMatrix(10); + for (int i = 0; i < 10; i++) + for (int j = 0; j < 10; j++) + da.M.A[i][j] = (float) 2*i * i + j * j; + + for (int i = 0; i < a.size(); i++) { + TestSet t = (TestSet) a.get(i); + DataArraySearch d = new DataArraySearch(da.M.A, t.start_x, t.start_y); + da.M.print(); + System.out.println(t.title); + System.out.println("Start position: " + t.start_x + " " + t.start_y); + while (d.step() > 0) + System.out.println(d.x_index + " " + d.y_index+" "+da.M.A[d.x_index][d.y_index]); + } + + } +} diff --git a/src/jat/tests/core/algorithm/optimization/GradientSearch_test.java b/src/jat/tests/core/algorithm/optimization/GradientSearch_test.java new file mode 100644 index 0000000..54c90a4 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/GradientSearch_test.java @@ -0,0 +1,79 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization; + +import jat.coreNOSA.algorithm.optimization.GradientSearch; +import jat.tests.core.algorithm.optimization.functions.Function4; +import jat.tests.core.algorithm.optimization.functions.QuadraticFunction; +import jat.tests.core.algorithm.optimization.functions.Rosenbrock; + +public class GradientSearch_test +{ + + public static void main(String argv[]) + { + double[] x; // result + double[] x_init = new double[2]; // initial guess + double[] x_init3 = new double[3]; // initial guess + + //System.out.println("Unconstrained Parameter Optimization Test"); + + // Quadratic Function + System.out.println("Quadratic Function"); + x_init[0] = 1.; + x_init[1] = 1.; + GradientSearch g22 = new GradientSearch(new QuadraticFunction(), x_init); + g22.err_ods = 1.e-4; + g22.err_grad = 1.e-3; + g22.eps_FD = 1.e-8; + x = g22.find_min_gradient(); + System.out.println(); + + // Rosenbrock function + System.out.println("Rosenbrock function"); + x_init[0] = -1.2; + x_init[1] = 1.; + GradientSearch g23 = new GradientSearch(new Rosenbrock(), x_init); + g23.err_ods = 1.e-4; + g23.err_grad = 1.e-3; + g23.eps_FD = 1.e-8; + g23.max_it = 20; + x = g23.find_min_gradient(); + System.out.println(); + + // n=3 function + System.out.println("Function of 3 vars"); + x_init3[0] = -1.2; + x_init3[1] = 1.; + x_init3[2] = 1.; + GradientSearch g3 = new GradientSearch(new Function4(), x_init3); + g3.err_ods = 1.e-4; + g3.err_grad = 1.e-3; + g3.eps_FD = 1.e-8; + g3.max_it = 20; + x = g3.find_min_gradient(); + } +} + +//Date start_time = new Date(); +//Date stop_time = new Date(); +//double etime = (stop_time.getTime() - start_time.getTime()) / 1000.; +//System.out.println("Elapsed Time = " + etime + " seconds"); diff --git a/src/jat/tests/core/algorithm/optimization/InnerClassExample.java b/src/jat/tests/core/algorithm/optimization/InnerClassExample.java new file mode 100644 index 0000000..0dd8137 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/InnerClassExample.java @@ -0,0 +1,64 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; +import jat.coreNOSA.algorithm.optimization.LineSearch; + +public class InnerClassExample +{ + public class Function implements ScalarfromArrayFunction + { + public double evaluate(double[] x) + { + return (0.1 * x[0] * x[0] - 2. * x[0] + 10.); + } + } + + static void printmin(double[] x) + { + System.out.print("The min is at "); + for (int i = 0; i < x.length; i++) + System.out.print("x" + i + "= " + x[i] + " "); + + System.out.println(); + System.out.println(); + } + + public static void main(String argv[]) + { + double[] x; // result + double[] x1 = new double[1]; // initial guess + double[] d1 = new double[1]; // search direction + + //System.out.println("Unconstrained Parameter Optimization Test"); + + // create instances of the classes + InnerClassExample ot = new InnerClassExample(); + + x1[0] = 0.; + d1[0] = 1.; + //opt.G=ot.new Function(); + x = LineSearch.ods(ot.new Function(), x1, d1, 1.e-4); + printmin(x); + + } +} diff --git a/src/jat/tests/core/algorithm/optimization/LineSearch_test.java b/src/jat/tests/core/algorithm/optimization/LineSearch_test.java new file mode 100644 index 0000000..3525f11 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/LineSearch_test.java @@ -0,0 +1,132 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization; + +import jat.coreNOSA.algorithm.optimization.LineSearch; +import jat.tests.core.algorithm.optimization.functions.Function1; +import jat.tests.core.algorithm.optimization.functions.Function2; +import jat.tests.core.algorithm.optimization.functions.Function3; + +import java.util.Date; + +/** + * Test the line search with a given search direction. + * @author Tobias Berthold + */ +public class LineSearch_test +{ + private static void copy(double[] from, double[] to) + { + int l = from.length; + System.arraycopy(from, 0, to, 0, l); + } + + static void printmin(double[] xg, double[] d, double[] x) + { + System.out.print("Initial Guess: "); + for (int i = 0; i < xg.length; i++) + System.out.print("xg" + i + "= " + xg[i] + " "); + System.out.println(); + System.out.print("Search Direction: "); + for (int i = 0; i < d.length; i++) + System.out.print("d" + i + "= " + d[i] + " "); + System.out.println(); + System.out.print("The min is at: "); + for (int i = 0; i < x.length; i++) + System.out.print("x" + i + "= " + x[i] + " "); + System.out.println(); + System.out.println(); + } + + static void example1() + { + // Function 1 + System.out.println("Function 1"); + double[] xg = { 0. }; + double[] d = { 1. }; + double[] x = new double[1]; + copy(xg, x); + + Function1 G = new Function1(); + LineSearch.ods(G, x, d, 1.e-4); + printmin(xg, d, x); + } + + static void example2() + { + // Function 2 + double[] xg = { 0. }; + double[] d = { 1. }; + double[] x = new double[1]; + copy(xg, x); + + System.out.println("Function 2, tolerance = 1.e-2"); + LineSearch.ods(new Function2(), x, d, 1.e-2); + printmin(xg, d, x); + + System.out.println("Function 2, tolerance = 1.e-4"); + copy(xg, x); + LineSearch.ods(new Function2(), x, d, 1.e-4); + printmin(xg, d, x); + + System.out.println("Function 2, tolerance = 1.e-8"); + copy(xg, x); + LineSearch.ods(new Function2(), x, d, 1.e-8); + printmin(xg, d, x); + } + + static void example3() + { + // Function 3 + double[] xg = { 1., 1. }; + double[] d = { 2., 0.5 }; + double[] x = new double[2]; + copy(xg, x); + + System.out.println("Function 3"); + LineSearch.ods(new Function3(), x, d, 1.e-6); + printmin(xg, d, x); + + d[0] = 1.; + d[1] = 2.; + copy(xg, x); + LineSearch.ods(new Function3(), x, d, 1.e-6); + printmin(xg, d, x); + } + + public static void main(String argv[]) + { + double epss; + + //System.out.println("Unconstrained Parameter Optimization Test"); + + Date start_time = new Date(); + + example1(); + example2(); + example3(); + + Date stop_time = new Date(); + double etime = (stop_time.getTime() - start_time.getTime()) / 1000.; + System.out.println("Elapsed Time = " + etime + " seconds"); + + } +} diff --git a/src/jat/tests/core/algorithm/optimization/TestSet.java b/src/jat/tests/core/algorithm/optimization/TestSet.java new file mode 100644 index 0000000..22b33d2 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/TestSet.java @@ -0,0 +1,15 @@ +package jat.tests.core.algorithm.optimization; + +public class TestSet { + + public String title; + int start_x; + int start_y; + + public TestSet(String title, int start_x, int start_y) { + this.title = title; + this.start_x = start_x; + this.start_y = start_y; + } + +} diff --git a/src/jat/tests/core/algorithm/optimization/VarMetric_test.java b/src/jat/tests/core/algorithm/optimization/VarMetric_test.java new file mode 100644 index 0000000..30c103f --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/VarMetric_test.java @@ -0,0 +1,84 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization; + +import jat.coreNOSA.algorithm.optimization.VarMetric; +import jat.tests.core.algorithm.optimization.functions.Rosenbrock; + +import java.text.DecimalFormat; +import java.text.NumberFormat; + +public class VarMetric_test +{ + static DecimalFormat df; + static NumberFormat itf; + + public VarMetric_test() + { + df = (DecimalFormat)NumberFormat.getInstance(); + df.applyPattern(" ###.############;-###.###########"); + df.setMinimumFractionDigits(12); + df.setMinimumIntegerDigits(4); + itf = NumberFormat.getInstance(); + itf.setMinimumIntegerDigits(4); + } + + static void print_line(double gamma, double total_it, boolean fail,double norm) + { + System.out.print(df.format(gamma) + " " + itf.format(total_it)); + System.out.println(" "+df.format(norm)+" " + fail); + + } + + public static void main(String argv[]) + { + double[] x_init = new double[2]; + double[] x; + double gamma[] = { 100., 80., 10, 1., 0., -.3,-.302302340040, -0.4, -1., -5., -10., -50., -80.,-100., -1000. }; + int i; + + System.out.println("Unconstrained Parameter Optimization Test"); + System.out.println("Rosenbrock, Numerical derivs, Variable Metric"); + System.out.println(); + + // create instances of the classes + VarMetric_test dt = new VarMetric_test(); + x_init[0] = -1.2; + x_init[1] = 1.; + VarMetric vm = new VarMetric(new Rosenbrock(), x_init); + vm.err_ods = 1.e-6; + vm.err_vm = 1.e-5; + vm.eps_CD = 1.e-5; + vm.max_it = 50; + System.out.println("gamma iter |Gx| fail"); + for (i = 0; i < gamma.length; i++) + { + vm.gamma = gamma[i]; + x = vm.find_min_VarMetric(); + print_line(gamma[i], vm.total_it, vm.ods_fail, vm.norm); + } + } +} + +//Date start_time = new Date(); +//Date stop_time = new Date(); +//double etime = (stop_time.getTime() - start_time.getTime()) / 1000.; +//System.out.println("Elapsed Time = " + etime + " seconds"); diff --git a/src/jat/tests/core/algorithm/optimization/functions/Function1.java b/src/jat/tests/core/algorithm/optimization/functions/Function1.java new file mode 100644 index 0000000..e4e4e0b --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/Function1.java @@ -0,0 +1,31 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class Function1 implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + return (0.1 * x[0] * x[0] - 2. * x[0] + 10.); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/functions/Function2.java b/src/jat/tests/core/algorithm/optimization/functions/Function2.java new file mode 100644 index 0000000..86ae03f --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/Function2.java @@ -0,0 +1,31 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class Function2 implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + return (-x[0] * Math.cos(x[0] / 20.)); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/functions/Function3.java b/src/jat/tests/core/algorithm/optimization/functions/Function3.java new file mode 100644 index 0000000..49bd76c --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/Function3.java @@ -0,0 +1,31 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class Function3 implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + return ((x[0] - 10.) * (x[0] - 10.) + (x[1] - 10.) * (x[1] - 10.) + 1.); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/functions/Function4.java b/src/jat/tests/core/algorithm/optimization/functions/Function4.java new file mode 100644 index 0000000..b91699d --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/Function4.java @@ -0,0 +1,31 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class Function4 implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + return ((x[0] - 10.) * (x[0] - 10.) + (x[1] - 9.) * (x[1] - 9.) + (x[2] - 8.) * (x[2] - 8.)); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/functions/Function5.java b/src/jat/tests/core/algorithm/optimization/functions/Function5.java new file mode 100644 index 0000000..f76a804 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/Function5.java @@ -0,0 +1,49 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class Function5 implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + //return ( (x[1]-10.)*(x[1]-10.)+(x[2]-10.)*(x[2]-10.)+1. ); + //return ( (x[1]-10.)*(x[1]-10.)+(x[2]-10.)*(x[2]-10.) ); + // Example 1 + return ((x[0] - 5.) * (x[0] - 5.) + (x[1] - 5.) * (x[1] - 5.)); + } +} +// Test cases: +/* +x_guess[1] = 6.; +x_guess[2] = 6.; +d[1] = -1.; +d[2] = 1.; +x_guess[1] = 1.; +x_guess[2] = 1.; +d[1] = -1.; +d[2] = 1.; +x_guess[1] = 5.; +x_guess[2] = 5.; +d[1] = 1.; +d[2] = 1.; +*/ diff --git a/src/jat/tests/core/algorithm/optimization/functions/QuadraticFunction.java b/src/jat/tests/core/algorithm/optimization/functions/QuadraticFunction.java new file mode 100644 index 0000000..103e92f --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/QuadraticFunction.java @@ -0,0 +1,31 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class QuadraticFunction implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + return (x[0] * x[0] + 0.5 * x[1] * x[1]); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/functions/Rosenbrock.java b/src/jat/tests/core/algorithm/optimization/functions/Rosenbrock.java new file mode 100644 index 0000000..26e69ba --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/functions/Rosenbrock.java @@ -0,0 +1,34 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.optimization.functions; + +import jat.coreNOSA.algorithm.ScalarfromArrayFunction; + +public class Rosenbrock implements ScalarfromArrayFunction +{ + public double evaluate(double[] x) + { + // Rosenbrock + double term1 = x[0] * x[0] - x[1]; + double term2 = 1 - x[0]; + return (100. * term1 * term1 + term2 * term2); + } +} diff --git a/src/jat/tests/core/algorithm/optimization/output_DFP.txt b/src/jat/tests/core/algorithm/optimization/output_DFP.txt new file mode 100644 index 0000000..2e44838 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/output_DFP.txt @@ -0,0 +1,27 @@ +Rosenbrock function, Numerical derivs, DFP + It | x(0) | x(1) | G | Gx(0) | Gx(1) |Gx| +0,000 -0001.20000000 0001.00000000 0024.20000000 0215.60000007 0088.00000000 0232.86768782 +0,001 -0001.03007671 0001.06935644 0004.12809782 0000.64095407 -0001.65968192 0001.77914761 +0,002 -0000.92948126 0000.82816873 0003.85082344 0017.15674470 0007.15333528 0018.58827842 +0,003 -0000.78587298 0000.55889940 0003.53387530 0022.02307980 0011.73938688 0024.95654720 +0,004 -0000.34773901 0000.08636843 0001.93579825 0007.50178603 0006.91079786 0010.19980003 +0,005 -0000.35855234 0000.12357139 0001.84815287 0003.43254382 0000.99767739 0003.57459330 +0,006 -0000.17315177 -0000.00401661 0001.49187248 0004.70103930 0006.79962952 0008.26648245 +0,007 -0000.01089957 -0000.04427713 0001.21901782 0002.21535786 0008.87918627 0009.15138018 +0,008 0000.04364026 0000.01206384 0000.92494523 0002.09006238 -0002.03187272 0002.91493868 +0,009 0000.17937724 0000.01027698 0000.72137926 0000.06995760 0004.37984206 0004.38040073 +0,010 0000.26283102 0000.03572714 0000.65466038 -0002.03214358 0006.67060058 0006.97327180 +0,011 0000.58920074 0000.33205440 0000.19156645 -0002.73790916 0003.02062386 0004.07680206 +0,012 0000.58063722 0000.33415933 0000.17675333 0000.14654618 0000.59605148 0000.61380221 +0,013 0000.70092943 0000.47726725 0000.10914078 -0003.33682214 0002.80696109 0004.36043720 +0,014 0000.84651318 0000.70480495 0000.03743411 -0003.68166272 0002.35592100 0004.37092715 +0,015 0000.84211389 0000.70854500 0000.02496533 0000.11002590 0000.12216061 0000.16440472 +0,016 0000.91959734 0000.84001641 0000.00964877 -0001.91485835 0001.12857201 0002.22269145 +0,017 0000.99708245 0000.99586872 0000.00029592 0000.68197829 -0000.33906084 0000.76161449 +0,018 0001.00373073 0001.00763215 0000.00001638 0000.05548162 -0000.03135458 0000.06372849 +0,019 0000.99992734 0000.99988820 0000.00000012 0000.01355095 -0000.00670332 0000.01511829 +0,020 0000.99999015 0000.99998012 0000.00000000 -0000.00004748 0000.00003357 0000.00005815 +0,021 0001.00000000 0001.00000000 0000.00000000 -0000.00000023 0000.00000009 0000.00000025 +Convergence: +x0= 1.0000000014532862 x1= 1.0000000024439781 +|Gx|= 2.4600470793411067E-7 diff --git a/src/jat/tests/core/algorithm/optimization/output_gradient.txt b/src/jat/tests/core/algorithm/optimization/output_gradient.txt new file mode 100644 index 0000000..57843f7 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/output_gradient.txt @@ -0,0 +1,46 @@ +Quadratic Function + It | x(0) | x(1) | G | Gx(0) | Gx(1) |Gx| +0,001 0001.00000000 0001.00000000 0001.50000000 -0001.99999999 -0000.99999999 0002.23606796 +0,002 -0000.11111111 0000.44444444 0000.11111111 0000.22222221 -0000.44444445 0000.49690400 +0,003 0000.07407407 0000.07407406 0000.00823045 -0000.14814815 -0000.07407407 0000.16563466 +0,004 -0000.00823045 0000.03292181 0000.00060966 0000.01646089 -0000.03292181 0000.03680770 +0,005 0000.00548696 0000.00548696 0000.00004516 -0000.01097393 -0000.00548696 0000.01226923 +0,006 -0000.00060966 0000.00243865 0000.00000335 0000.00121931 -0000.00243865 0000.00272649 +0,007 0000.00040644 0000.00040643 0000.00000025 -0000.00081288 -0000.00040644 0000.00090883 +Convergence: +x0= 4.064357208536746E-4 x1= 4.064312247335101E-4 +|Gx|= 9.088270699369263E-4 + +Rosenbrock function + It | x(0) | x(1) | G | Gx(0) | Gx(1) |Gx| +0,001 -0001.20000000 0001.00000000 0024.20000000 0215.59999415 0087.99999840 0232.86768174 +0,002 -0001.02971873 0001.06950256 0004.12818885 0000.27751979 -0001.83638267 0001.85723411 +0,003 -0001.02673784 0001.04977767 0004.10961366 0005.86583539 0000.88258258 0005.93186116 +0,004 -0001.02046772 0001.05072108 0004.09106335 0000.21755890 -0001.87334414 0001.88593482 +0,005 -0001.01857722 0001.03444243 0004.07558857 0005.28271392 0000.61142231 0005.31797927 +0,006 -0001.01271297 0001.03512116 0004.06010245 0000.16350640 -0001.90671870 0001.91371642 +0,007 -0001.01150780 0001.02106706 0004.04659666 0004.86497573 0000.41619160 0004.88274557 +0,008 -0001.00591096 0001.02154586 0004.03306645 0000.11331122 -0001.93779998 0001.94111004 +0,009 -0001.00518100 0001.00906237 0004.02092680 0004.54369671 0000.26529394 0004.55143501 +0,010 -0000.99977081 0001.00937826 0004.00875913 0000.06580594 -0001.96731772 0001.96841800 +0,011 -0000.99939253 0000.99806930 0003.99762178 0004.28505968 0000.14322530 0004.28745262 +0,012 -0000.99411619 0000.99824566 0003.98645674 0000.02024914 -0001.99573313 0001.99583586 +0,013 -0000.99401072 0000.98785087 0003.97608302 0004.07009937 0000.04128724 0004.07030877 +0,014 -0000.98883094 0000.98790342 0003.96568345 -0000.02385869 -0002.02335837 0002.02349903 +0,015 -0000.98894487 0000.97824119 0003.95590697 0003.88721006 -0000.04584577 0003.88748041 +0,016 -0000.98383375 0000.97818091 0003.94610682 -0000.06686478 -0002.05041273 0002.05150268 +0,017 -0000.98412927 0000.96911864 0003.93680597 0003.72883115 -0000.12164332 0003.73081477 +0,018 -0000.97906495 0000.96895343 0003.92748343 -0000.10901076 -0002.07705257 0002.07991123 +0,019 -0000.97951435 0000.96039071 0003.91856586 0003.58980614 -0000.18847133 0003.59475028 +0,020 -0000.97447905 0000.96012635 0003.90962810 -0000.15045942 -0002.10338831 0002.10876277 +Maximum number of iterations reached +x0= -0.9750614138354026 x1= 0.9519849818031909 +|Gx|= 2.1087627680689556 + +Function of 3 vars + It | x(0) | x(1) | x(2) | G | Gx(0) | Gx(1) | Gx(2) |Gx| +0,001 -0001.20000000 0001.00000000 0001.00000000 0238.44000000 0022.39999948 0016.00000132 0013.99999974 0030.88300523 +0,002 0009.99999967 0009.00000061 0007.99999982 0000.00000000 0000.00000056 -0000.00000131 0000.00000027 0000.00000145 +Convergence: +x0= 9.999999672402549 x1= 9.000000611886025 x2= 7.9999998248575395 +|Gx|= 1.4516515813830857E-6 diff --git a/src/jat/tests/core/algorithm/optimization/output_linesearch.txt b/src/jat/tests/core/algorithm/optimization/output_linesearch.txt new file mode 100644 index 0000000..37a1bf3 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/output_linesearch.txt @@ -0,0 +1,32 @@ +Expected output for linesearch test + +Function 1 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 10.0 + +Function 2, tolerance = 1.e-2 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 16.899987549236975 + +Function 2, tolerance = 1.e-4 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 17.190356243183874 + +Function 2, tolerance = 1.e-8 +Initial Guess: xg0= 0.0 +Search Direction: d0= 1.0 +The min is at: x0= 17.206575545564526 + +Function 3 +Initial Guess: xg0= 1.0 xg1= 1.0 +Search Direction: d0= 2.0 d1= 0.5 +The min is at: x0= 11.588235294117647 x1= 3.6470588235294117 + +Initial Guess: xg0= 1.0 xg1= 1.0 +Search Direction: d0= 1.0 d1= 2.0 +The min is at: x0= 6.4 x1= 11.8 + +Elapsed Time = 0.01 seconds diff --git a/src/jat/tests/core/algorithm/optimization/package.html b/src/jat/tests/core/algorithm/optimization/package.html new file mode 100644 index 0000000..c00d6f6 --- /dev/null +++ b/src/jat/tests/core/algorithm/optimization/package.html @@ -0,0 +1,2 @@ + +Test examples for the optimization package \ No newline at end of file diff --git a/src/jat/tests/core/algorithm/solver/GaussElimTest.java b/src/jat/tests/core/algorithm/solver/GaussElimTest.java new file mode 100644 index 0000000..f6cc952 --- /dev/null +++ b/src/jat/tests/core/algorithm/solver/GaussElimTest.java @@ -0,0 +1,56 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.solver; + +import jat.coreNOSA.algorithm.solver.GaussElim; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +class GaussElimTest +{ + public static void run_example(double[][] A_data, double[] y_data) + { + System.out.println("Gaussian Elimination Test"); + Matrix A = new Matrix(A_data); + VectorN y = new VectorN(y_data); + A.print("A"); + y.print("y"); + VectorN X = GaussElim.solve(A, y); + GaussElim.C.print("C after solve in main"); + X.print("Solution x:"); + A.times(X).print("Test: Ax="); + } + + public static void main(String argv[]) + { + double[][] A1_data = { { 1, -1, 2, -1 }, { + 2, -2, 3, -3 }, { + 1, 1, 1, 0 }, { + 1, -1, 4, 3 } + }; + double[] y1_data = { -8, -20, -2, 4 }; + run_example(A1_data,y1_data); + + double[][] A2_data={{1,0,1},{0,3,0},{1,0,2}}; + double[] y2_data={1,2,3}; + run_example(A2_data,y2_data); + } +} diff --git a/src/jat/tests/core/algorithm/solver/GaussSeidel_test.java b/src/jat/tests/core/algorithm/solver/GaussSeidel_test.java new file mode 100644 index 0000000..5512cca --- /dev/null +++ b/src/jat/tests/core/algorithm/solver/GaussSeidel_test.java @@ -0,0 +1,73 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.algorithm.solver; + +import jat.coreNOSA.algorithm.solver.GaussSeidel; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; + +// Book Burden Faires +// Chapter 7.3 example 1 + +public class GaussSeidel_test +{ + public static void main(String[] args) + { + int n=4; + int maxIter=10; + double tol=1.e-10; + + double[] in_A= + { + 10,-1,2,0, + -1,11,-1,3, + 2,-1,10,-1, + 0,3,-1,8 + }; + double[] in_b={6,25,-11,15}; + double[] in_x0={0,0,0,0}; // Initial guess + + Matrix A=new Matrix(in_A,4); + VectorN x0=new VectorN(n); + VectorN b=new VectorN(in_b); + + A.print("A matrix"); + b.print("b"); + + GaussSeidel GS=new GaussSeidel(A,b,x0,maxIter,tol); + VectorN x=GS.iterate(); + + System.out.println("Solution for x"); + x.print("x"); + + /* + Vector y (n); + matVecMult (A,x,y); + y -= b; + cout << "The error norm is: " << maxNorm (y) << endl; + cout << "The error is: " << endl; + cout << y << endl; + return 0; + } + */ + } +} diff --git a/src/jat/tests/core/astronomy/StarCatalogTest.java b/src/jat/tests/core/astronomy/StarCatalogTest.java new file mode 100644 index 0000000..4876e37 --- /dev/null +++ b/src/jat/tests/core/astronomy/StarCatalogTest.java @@ -0,0 +1,43 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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 jat.tests.core.astronomy; + +import jat.core.astronomy.StarCatalog; +import jat.core.astronomy.Stardata; +import jat.core.util.PathUtil; + +import java.io.IOException; + +public class StarCatalogTest { + + public static void main(String[] args) throws IOException { + StarCatalog s; + PathUtil p = new PathUtil(); + s = new StarCatalog(p); + s.load(); + int number_of_stars = s.manystardata.size(); + Stardata sd; + + for (int i = 0; i < number_of_stars; i++) { + + sd = (Stardata) s.manystardata.get(i); + System.out.println(sd.ProperName + " " + sd.RA + " " + sd.dec); + + } + } +} diff --git a/src/jat/tests/core/attitude/QuatToDegSimpleTester.java b/src/jat/tests/core/attitude/QuatToDegSimpleTester.java new file mode 100644 index 0000000..eb6bbdf --- /dev/null +++ b/src/jat/tests/core/attitude/QuatToDegSimpleTester.java @@ -0,0 +1,70 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.core.attitude; + +import jat.coreNOSA.attitude.QuatToDeg; + + + + +/** + *

+ * QuatToDegTester demonstrate the use of the QuatToDeg class + * via both applet and application. + * + * @author Noriko Takada + * @version 1.2 + * Modification Record + * 1. Removed: import jat.attitude + */ + +public class QuatToDegSimpleTester +{ + + public static void main(String[] args) + { + double q1 = 0.0; + double q2 = 0.0; + double q3 = 0.0; + double q4 = 1.0; + double theta = 10.0; + double psi = 20.0; + double phi = 30.0; + + q1 = 0.7254; + q2 = 0.4691; + q3 = 0.1837; + q4 = 0.4691; + QuatToDeg tester = new QuatToDeg(q1, q2, q3, q4); + + double[] angle = new double[3]; + angle = tester.calculateAngle(); + theta = angle[0]; + psi = angle[1]; + phi = angle[2]; + + System.out.println("\nInput: ["+q1+", "+q2+", "+q3+", "+q4+"]"); + System.out.println("\nOutput: theta="+theta+" psi="+psi+" phi="+phi); + + } + +}// End of this file: QuatToDegTester diff --git a/src/jat/tests/core/ephemeris/EphemerisTest.java b/src/jat/tests/core/ephemeris/EphemerisTest.java new file mode 100644 index 0000000..3867715 --- /dev/null +++ b/src/jat/tests/core/ephemeris/EphemerisTest.java @@ -0,0 +1,88 @@ +package jat.tests.core.ephemeris; + +import jat.core.ephemeris.DE405Body.body; +import jat.core.ephemeris.DE405Frame.frame; +import jat.core.ephemeris.DE405Plus; +import jat.core.util.PathUtil; +import jat.core.util.messageConsole.MessageConsole; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.Time; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; +import java.io.IOException; + +import javax.swing.JApplet; +import javax.swing.JFrame; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class EphemerisTest extends JApplet { + + private static final long serialVersionUID = 4507683576803709168L; + + public void init() { + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(300, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + + // Redirect stdout and stderr to the text pane + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + System.out.println("Ephemeris Test"); + + } + + public void start() { + // Message console + System.out.println("Creating Ephemeris Test Applet"); + EphemerisTestConsole E = new EphemerisTestConsole(); + JFrame jf = new JFrame(); + jf.setSize(600, 400); + jf.getContentPane().add(E); + jf.setVisible(true); + E.init(); + System.out.println("Ephemeris Console created"); + + + // main task + + PathUtil path=new PathUtil(this); + System.out.println("[EphemerisTest current_path] "+path.current_path); + System.out.println("[EphemerisTest root_path] "+path.root_path); + System.out.println("[EphemerisTest data_path] "+path.data_path); + + Time mytime = new Time(2002, 2, 17, 12, 0, 0); + System.out.println("Loading DE405 Ephemeris File"); + DE405Plus ephem = new DE405Plus(path); + ephem.setFrame(frame.HEE); + System.out.println("DE405 Ephemeris File loaded"); + try { + VectorN rv; + //rv = ephem.get_planet_posvel(DE405Plus.body.MARS, mytime.jd_tt()); + rv = ephem.get_planet_posvel(body.MARS, mytime); + System.out.println("Reference Frame: "+ephem.ephFrame); + System.out.println("The position of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("x= " + rv.get(0) + " km"); + System.out.println("y= " + rv.get(1) + " km"); + System.out.println("z= " + rv.get(2) + " km"); + System.out.println("The velocity of Mars on 10-17-2002 at 12:00pm was "); + System.out.println("vx= " + rv.get(3) + " km/s"); + System.out.println("vy= " + rv.get(4) + " km/s"); + System.out.println("vz= " + rv.get(5) + " km/s"); + } catch (IOException e) { + System.out.println("Failed to get planet position velocity in get_planet_posvel()"); + e.printStackTrace(); + } + + } + +} diff --git a/src/jat/tests/core/ephemeris/EphemerisTestConsole.java b/src/jat/tests/core/ephemeris/EphemerisTestConsole.java new file mode 100644 index 0000000..4ab3d11 --- /dev/null +++ b/src/jat/tests/core/ephemeris/EphemerisTestConsole.java @@ -0,0 +1,44 @@ +package jat.tests.core.ephemeris; + +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class EphemerisTestConsole extends JApplet { + + private static final long serialVersionUID = -5288937301478318959L; + + public void init() { + + System.out.println("EphemerisTestConsole init"); + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + + // Redirect stdout and stderr to the text pane + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(2000); + System.out.println("EphemerisTestConsole init out"); + + + } + + public void start() { + + + } + +} diff --git a/src/jat/tests/core/math/interpolator_test.java b/src/jat/tests/core/math/interpolator_test.java new file mode 100644 index 0000000..57258a6 --- /dev/null +++ b/src/jat/tests/core/math/interpolator_test.java @@ -0,0 +1,57 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration and the Center for Space Research (CSR), + * The University of Texas at Austin. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + + +package jat.tests.core.math; + + +public class interpolator_test +{ + + public static void main(String[] args) + { + // Test interpolator + double[] data={1.,2.,3.,5.}; + double[] vari={1.,2.,3.,4.}; + double test_x; + jat.coreNOSA.math.Interpolator in1=new jat.coreNOSA.math.Interpolator(vari,data); + + // too low: expect error + test_x=in1.get_value(0.8); + System.out.println("Interpolated value: "+test_x); + + // on the lower boundary: expect 1.0 + test_x=in1.get_value(1.0); + System.out.println("Interpolated value: "+test_x); + + // Expect 2.3 + test_x=in1.get_value(2.3); + System.out.println("Interpolated value: "+test_x); + + // on the upper boundary: Expect 5.0 + test_x=in1.get_value(4.0); + System.out.println("Interpolated value: "+test_x); + + // too high: expect error + test_x=in1.get_value(4.5); + System.out.println("Interpolated value: "+test_x); + } +} diff --git a/src/jat/tests/core/math/run.bat b/src/jat/tests/core/math/run.bat new file mode 100644 index 0000000..50c0136 --- /dev/null +++ b/src/jat/tests/core/math/run.bat @@ -0,0 +1,4 @@ + +java -cp .;E:\SourceCode\Java jat.test.interpolator_test.interpolator_test + +pause \ No newline at end of file diff --git a/src/jat/tests/core/timeRef/EarthRefTest.java b/src/jat/tests/core/timeRef/EarthRefTest.java new file mode 100644 index 0000000..07869b6 --- /dev/null +++ b/src/jat/tests/core/timeRef/EarthRefTest.java @@ -0,0 +1,100 @@ +package jat.tests.core.timeRef; + +import jat.core.util.messageConsole.MessageConsole; +import jat.coreNOSA.cm.TwoBody; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.Matrix; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.timeRef.CalDate; +import jat.coreNOSA.timeRef.EarthRef; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class EarthRefTest extends JApplet { + + private static final long serialVersionUID = 2177968966155908054L; + + public void init() { + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + + // Redirect stdout and stderr to the text pane + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + System.out.println("Earth Reference Frame Test"); + + } + + public void start() { + double mu = 3986004.418E08; + double a = 7136635.001; + double e = 0.00349497; + double i = 90.01109; + double raan = 0.8383513; + double w = 260.51023; + double ta = 0.18307E-05; + TwoBody leo = new TwoBody(mu, a, e, i, raan, w, ta); + CalDate epoch = new CalDate(1994, 10, 4, 0, 0, 0.0); + EarthRef ref = new EarthRef(epoch); + + double mjd = epoch.mjd(); + System.out.println("mjd = " + mjd); + + VectorN r = leo.getR(); + VectorN v = leo.getV(); + r.print("ECI"); + + Matrix eci2ecef = ref.ECI2ECEF(); + VectorN recef = eci2ecef.times(r); + recef.print("ECEF"); + // double x = -0.073424*MathUtils.ARCSEC2RAD; + // double y = 0.206629*MathUtils.ARCSEC2RAD; + // ref.setIERS(x, y, 0.6155998); + double x = -0.070976 * MathUtils.ARCSEC2RAD; + double y = 0.204837 * MathUtils.ARCSEC2RAD; + ref.setIERS(0.0, 0.0, 0.6084018); + + VectorN rmod = ref.PrecMatrix().times(r); + rmod.print("MOD"); + + VectorN rtod = ref.NutMatrix().times(rmod); + rtod.print("TOD"); + + VectorN ritrf = (ref.PoleMatrix().times(ref.GHAMatrix())).times(rtod); + ritrf.print("ITRF"); + + eci2ecef = ref.ECI2ECEF(); + recef = eci2ecef.times(r); + recef.print("ECEF"); + + CalDate epoch2 = new CalDate(1999, 3, 4, 0, 00, 0.0); + EarthRef ref2 = new EarthRef(epoch2); + ref2.setIERS(0.06740 * MathUtils.ARCSEC2RAD, 0.24713 * MathUtils.ARCSEC2RAD, 0.649232); + ref2.PrecMatrix().print("P"); + ref2.NutMatrix().print("N"); + ref2.GHAMatrix().print("GHA"); + ref2.PoleMatrix().print("Pole"); + ref2.eci2ecef().print("eci2ecef"); + ref2.ECI2ECEF().print("ECI2ECEF"); + } + + + public static void main(String[] args) { + + + } +} diff --git a/src/jat/tests/core/util/PathUtil/PathUtilTest.java b/src/jat/tests/core/util/PathUtil/PathUtilTest.java new file mode 100644 index 0000000..afa7600 --- /dev/null +++ b/src/jat/tests/core/util/PathUtil/PathUtilTest.java @@ -0,0 +1,129 @@ +package jat.tests.core.util.PathUtil; + +import jat.core.util.PathUtil; +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.net.MalformedURLException; +import java.net.URL; + +import javax.swing.JApplet; +import javax.swing.JFrame; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class PathUtilTest extends JApplet { + + private static final long serialVersionUID = 4507683576803709168L; + boolean debug = true; + + public void init() { + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane + .setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(300, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + + // Redirect stdout and stderr to the text pane + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + System.out.println("[PathUtilTest]"); + + } + + public void start() { + // Message console + PathUtilTestConsole E = new PathUtilTestConsole(); + JFrame jf = new JFrame(); + jf.setSize(600, 400); + jf.getContentPane().add(E); + jf.setVisible(true); + E.init(); + if (debug) + System.out.println("[PathUtilTest] Console created"); + // main task + + PathUtil p = new PathUtil(this); + String fileName = p.data_path + + "tests/core/util/PathUtil/inputFile.txt"; + if (debug) { + System.out.println("[PathUtilTest current_path] " + p.current_path); + System.out.println("[PathUtilTest root_path] " + p.root_path); + System.out.println("[PathUtilTest data_path] " + p.data_path); + System.out.println("[PathUtilTest fileName] " + fileName); + } + +// String fileName = "http://jat.sourceforge.net/jat/data/tests/core/util/PathUtil/inputFile.txt"; + + try { + // Create a URL for the desired page + URL url = new URL(fileName); + BufferedReader in = new BufferedReader(new InputStreamReader( + url.openStream())); + String str; + while ((str = in.readLine()) != null) { + System.out.println(str); + } + in.close(); + } catch (MalformedURLException e) { + } catch (IOException e) { + } + + + } + +} + + + +//try { +//URL url2 = new URL("/"); +//System.out.println("[PathUtilTest] url . " + url2.toString()); +//} catch (MalformedURLException e1) { +//// TODO Auto-generated catch block +//e1.printStackTrace(); +//} + +// EasyReader inFile = new EasyReader(fileName); +// String Line = inFile.readLine(); +// if (Line != null){ +// System.out.println("The first line is : " + Line); +// Line = inFile.readLine(); +// System.out.println("The second line is : " + Line); +// Line = inFile.readLine(); +// System.out.println("The third line is : " + Line); +// } + + +//File here = new File("."); +//File root = new File(here.getAbsolutePath()); // is not it something? +//if (debug) { +// System.out.println("[PathUtilTest] here getAbsolutePath " +// + here.getAbsolutePath()); +// System.out.println("[PathUtilTest] here getPath " + here.getPath()); +// System.out.println("[PathUtilTest] root getAbsolutePath " +// + root.getAbsolutePath()); +// try { +// System.out.println("[PathUtilTest] getCanonicalPath " +// + root.getCanonicalPath()); +// } catch (IOException e) { +// // TODO Auto-generated catch block +// e.printStackTrace(); +// } + +//} + +//System.out.println("[PathUtilTest] getCodeBase " +// + this.getCodeBase()); + diff --git a/src/jat/tests/core/util/PathUtil/PathUtilTestConsole.java b/src/jat/tests/core/util/PathUtil/PathUtilTestConsole.java new file mode 100644 index 0000000..7d909d3 --- /dev/null +++ b/src/jat/tests/core/util/PathUtil/PathUtilTestConsole.java @@ -0,0 +1,46 @@ +package jat.tests.core.util.PathUtil; + +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class PathUtilTestConsole extends JApplet { + + private static final long serialVersionUID = -5288937301478318959L; + + public void init() { + + //System.out.println("PathUtilTestConsole init"); + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + + // Redirect stdout and stderr to the text pane + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + //System.out.println("PathUtilTestConsole init out"); + System.out.println("PathUtilTest"); + System.out.println("Loading file /data/tests/core/util/PathUtil/inputFile.txt"); + + + } + + public void start() { + + + } + +} diff --git a/src/jat/tests/core/util/messageConsole/MessageConsoleTest.java b/src/jat/tests/core/util/messageConsole/MessageConsoleTest.java new file mode 100644 index 0000000..c2c6d43 --- /dev/null +++ b/src/jat/tests/core/util/messageConsole/MessageConsoleTest.java @@ -0,0 +1,100 @@ +/* JAT: Java Astrodynamics Toolkit + * + Copyright 2012 Tobias Berthold + + Licensed 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. + */ + +// Description: The Java applet technology holds great promise for software deployment because no installation +// should be necessary. All the user has to do is to navigate a web browser to a given Web address. +// However, in reality, when something goes wrong such as jar files or data files not being found, all the user sees is +// a grey area in the web page and no indication as to what can be done to fix it. Java is very good at +// helping diagnose because of the exception management. The messages from the exception management can even +// help pinpoint a line in the code where the error occurred, but it requires some effort to find the place where these +// messages are printed. Web applets usually don't have a console window. +// The goal of this package is to test a method where the first applet simply displays the stderr and stdout messages, +// and then the actual application is loaded. That way, the user always sees something other than a grey area, and +// as the parts and data files of the application are loaded, the user gets messages indicating the progress and +// giving helpful messages if something goes wrong so that the user knows what to do to fix it. +// + +package jat.tests.core.util.messageConsole; + +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Component; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JFrame; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class MessageConsoleTest extends JApplet { + + private static final long serialVersionUID = -1835188793980442880L; + + public MessageConsoleTest() { + getContentPane().setLayout(new BorderLayout(0, 0)); + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane + .setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + JScrollPane scrollPane_1 = new JScrollPane(); + getContentPane().add(scrollPane_1, BorderLayout.NORTH); + + // JScrollPane scrollPane = new JScrollPane(); + // getContentPane().add(scrollPane, BorderLayout.SOUTH); + boolean mcb = true; + if (mcb) { + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + } + System.out.println("MessageConsoleTest"); + System.out.println("redirected stdout output:"); + for (int i = 0; i < 4; i++) + System.out.println("line" + i); + System.out.println("redirected stderr output:"); + + } + + public static void main(String[] args) { + // This class can run both as an applet or an application. + // as an applet, the constructor of the class is called. + // as an application, main is called. main will create a + // new frame and then add the applet inside the frame. + + Component applet = new MessageConsoleTest(); + JFrame frame = new JFrame("My applet, as application"); + frame.getContentPane().add(applet); + frame.setSize(600, 400); + frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + frame.pack(); + frame.setVisible(true); + + // Frame frame = + // new MainFrame(new deployWeb(), 256, 256); + + } + +} diff --git a/src/jat/tests/path_test/Jwhich.java b/src/jat/tests/path_test/Jwhich.java new file mode 100644 index 0000000..39ee631 --- /dev/null +++ b/src/jat/tests/path_test/Jwhich.java @@ -0,0 +1,24 @@ +package jat.tests.path_test; + + +public class Jwhich +{ + public static void main (String [] args) throws Exception + { + System.out.println("test"); + + String arg="jat.test.path_test.Jwhich"; + + try + { + Class c = Class.forName (arg); + String classRes = "/"+arg.replace ('.', '/')+".class"; + System.out.println ("Class "+args+" URL: "+c.getResource (classRes)); + } + catch (Throwable t) + { + System.out.println ("Unable to locate class "+arg); + } + } +} + diff --git a/src/jat/tests/path_test/path_test.java b/src/jat/tests/path_test/path_test.java new file mode 100644 index 0000000..f7ec1fd --- /dev/null +++ b/src/jat/tests/path_test/path_test.java @@ -0,0 +1,12 @@ +package jat.tests.path_test; + +import jat.coreNOSA.util.FileUtil; + +public class path_test +{ + public static void main (String [] args) throws Exception + { + System.out.println(FileUtil.getClassFilePath("jat.test.path_test","path_test")); + } +} + diff --git a/src/jat/tests/propagator/GEO.xml b/src/jat/tests/propagator/GEO.xml new file mode 100644 index 0000000..b22d259 --- /dev/null +++ b/src/jat/tests/propagator/GEO.xml @@ -0,0 +1,27 @@ + + + + + 36607.358256 + -20921.723703 + 0 + 1.525636 + 2.669451 + 0 + + +

60
+ 10 + + + GEO + 1.2 + 2.2 + 20 + 1000 + + diff --git a/src/jat/tests/propagator/GPS.xml b/src/jat/tests/propagator/GPS.xml new file mode 100644 index 0000000..c1b73b5 --- /dev/null +++ b/src/jat/tests/propagator/GPS.xml @@ -0,0 +1,27 @@ + + + + + 5525.33668 + -15871.18494 + -20998.992446 + 2.750341 + 2.434198 + -1.068884 + + + + + GPS + 1.2 + 2.2 + 20 + 1000 + + diff --git a/src/jat/tests/propagator/ISS.xml b/src/jat/tests/propagator/ISS.xml new file mode 100644 index 0000000..d2e5e0f --- /dev/null +++ b/src/jat/tests/propagator/ISS.xml @@ -0,0 +1,27 @@ + + + + + -4453.783586 + -5038.203756 + -426.384456 + 3.831888 + -2.887221 + -6.018232 + + + + + ISS + 1.2 + 2.2 + 20 + 1000 + + diff --git a/src/jat/tests/propagator/Molniya.xml b/src/jat/tests/propagator/Molniya.xml new file mode 100644 index 0000000..b51e510 --- /dev/null +++ b/src/jat/tests/propagator/Molniya.xml @@ -0,0 +1,27 @@ + + + + + -1529.894287 + -2672.877357 + -6150.115340 + 8.717518 + -4.989709 + 0 + + + + + Molniya + 1.2 + 2.2 + 20 + 1000 + + diff --git a/src/jat/tests/propagator/SimulationLoop.java b/src/jat/tests/propagator/SimulationLoop.java new file mode 100644 index 0000000..a451796 --- /dev/null +++ b/src/jat/tests/propagator/SimulationLoop.java @@ -0,0 +1,305 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2005 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ +package jat.tests.propagator; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.forces.ForceModelListOld; +import jat.coreNOSA.math.MathUtils; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.matlabInterface.MatlabControl; +import jat.coreNOSA.spacecraft.Spacecraft; +import jat.coreNOSA.timeRef.EarthRef; +import jat.coreNOSA.trajectory.Trajectory; + +/** + * SimulationLoop provides a way to encapsulate the feedback loop + * used to propagate the satellite and implement a control law. + * + * spacecraft[]-->(sum)-->[Dynamics]->[Control Law]-->acceleration[] + * A - | + * |_______________________________| + * + * @author Richard C. Page III + * + */ +public class SimulationLoop { + + /** + * earthRef: Reference variable for the Earth fixed coordinate system. + */ + protected EarthRef earthRef; +// /** +// * iers: International Earth Rotation and Reference System Service +// * information. +// */ +// protected FitIERS iers; + /** + * spacecraft: An array of the various spacecraft to propagate. + * The usage of multiple spacecraft allows for implementation of + * spacecraft formation dependent controls. + */ + protected Spacecraft[] sc; + /** + * num_sc: number of spacecraft; + */ + protected int num_sc; + /** + * mjd_start: The start time of the simulation as a Modified Julian Date (UTC). + */ + protected double mjd_start; + /** + * t: Current Simulation time expressed as seconds since mjd_start. + */ + protected double t; + /** + * tf: Finish time expressed as seconds since mjd_start. + */ + protected double tf; + /** + * counter: Counts the number of iterations. + */ + protected int counter; + /** + * timestep: Simulation timestep. + */ + protected double timestep; + /** + * forces: An array of force model lists representing the forces + * which act on the various spacecraft. + */ + protected ForceModelListOld[] forces; + /** + * useJAT: A flag which determines whether to use the integrator from + * JAT or to call the Matlab(R) integrator. + */ + protected boolean useJAT = true; + /** + * out: Output printer which to print position and velocity data. + */ + protected LinePrinter out; + /** + * rk8: 8th order RungeKutta integrator. + */ + protected RungeKutta8 rk8; + /** + * acceleration: The acceleration developed from the simulation loop + * on each spacecraft. (Implemented as a parallel array to SimulationLoop.sc) + */ + //protected VectorN[] acceleration; + protected MatlabControl matlab; + + protected Trajectory jat; + protected double thinning; + protected boolean use_IERS; + + public SimulationLoop(double mjd0,double dt, Spacecraft[] s, + ForceModelListOld[] f, boolean q){ + mjd_start = mjd0; + timestep = dt; + sc = s; + num_sc = s.length; + forces = f; + this.use_IERS = q; + t = 0; + rk8 = new RungeKutta8(); + int size = s.length; + earthRef = new EarthRef(mjd0); + for(int i=0; i tf){ + dt = tf-t; + } + t = t+dt; + earthRef.updateTimeSinceStart(t); + counter++; + } + } + + private void step(double dt, LinePrinter lp){ + step(dt); + if(MathUtils.mod(counter,lp.getThinning())== 0) + print(lp); + } + + + /** + * Simulation loop. Propagates the spacecraft. + * @param duration The time over which to propagate in seconds. + */ + public void loop(double duration){ + //format input parameters + tf = duration; + //loop over time equal to "duration" + while(t < tf){ + step(timestep); + } + //store output parameters and stop + } + + public void loop(double duration, LinePrinter lp){ +// format input parameters + tf = duration; + thinning = lp.getThinning(); + double timestep_mod = timestep; + //print initial condition +// lp.println("time [days] \t x [km] \t y [km] \t z [km] \t xdot [km/s] \t ydot [km/s] \t zdot [km/s]"); + print(lp); + //loop over time equal to "duration" + while(t < tf){ + step(timestep,lp); + } + //store output parameters and stop + } + + + protected void print(LinePrinter lp){ + double[] X = new double[6]; + //VectorN a; + for(int i=0;i tf){ +// dt = tf-t; +// } +// //earthRef.incrementTime(dt); +// t = t+dt; +// earthRef.updateTimeSinceStart(t); +// counter++; +// +// } +} + diff --git a/src/jat/tests/propagator/Sun-Sync.xml b/src/jat/tests/propagator/Sun-Sync.xml new file mode 100644 index 0000000..23d5723 --- /dev/null +++ b/src/jat/tests/propagator/Sun-Sync.xml @@ -0,0 +1,27 @@ + + + + + -2290.301063 + -6379.471940 + 0 + -0.883923 + 0.317338 + 7.610832 + + + + + Sun-Sync + 1.2 + 2.2 + 20 + 1000 + + diff --git a/src/jat/tests/propagator/TwoBodyTest.java b/src/jat/tests/propagator/TwoBodyTest.java new file mode 100644 index 0000000..af3271b --- /dev/null +++ b/src/jat/tests/propagator/TwoBodyTest.java @@ -0,0 +1,46 @@ +/* + * Created on May 10, 2005 + * + * TODO To change the template for this generated file go to + * Window - Preferences - Java - Code Style - Code Templates + */ +package jat.tests.propagator; + +import jat.coreNOSA.algorithm.integrators.LinePrinter; +import jat.coreNOSA.algorithm.integrators.RungeKutta8; +import jat.coreNOSA.cm.TwoBody; + +/** + * @author + * + * TODO To change the template for this generated type comment go to + * Window - Preferences - Java - Code Style - Code Templates + */ +public class TwoBodyTest { + + public static void main(String[] args) { + TwoBody tb = new TwoBody(398600.4415); + RungeKutta8 rk8 = new RungeKutta8(5.0); + LinePrinter lp = new LinePrinter(""); + lp.setThinning(600.0); + // initialize the variables + double [] x0 = new double[6]; + + x0[0] = 6740.83104800; + x0[1] = -6.23521800; + x0[2] = -462.64447700; + x0[3] = 0.41275600; + x0[4] = 4.78381400; + x0[5] = 5.99847500; + + // set the final time + double tf = 345600.0; + + // set the initial time to zero + double t0 = 0.0; + + // integrate the equations + rk8.integrate(t0, x0, tf, tb, lp, true); + + } +} diff --git a/src/jat/tests/propagator/input.txt b/src/jat/tests/propagator/input.txt new file mode 100644 index 0000000..367bddf --- /dev/null +++ b/src/jat/tests/propagator/input.txt @@ -0,0 +1,23 @@ +# This is an input file for the simulation + +# Coordinate System Flag +1 # ( 1=ECI 2=ECF 3=HCF ) + +# Initial State +10000.0 # x +10000.0 # y +10000.0 # z +10.0 # xdot +20.0 # ydot +15.0 # zdot +0.0 # initial time + +# Propogation Parameters +1000.0 # final time +1.0 # time step + +# Force Model Flags (Assumes at least Two Body gravitation) +1 # Spherical Harmonic Earth +0 # Sun and Moon gravitation +0 # Harris Priester +1 # Solar Radiation \ No newline at end of file diff --git a/src/jat/tests/propagator/input.xml b/src/jat/tests/propagator/input.xml new file mode 100644 index 0000000..97b2ea0 --- /dev/null +++ b/src/jat/tests/propagator/input.xml @@ -0,0 +1,12 @@ + + + +Input File for JAT Simulation +0 +2.2 +0.6 +30 +53158 +0 +604800 + diff --git a/src/jat/tests/propagator/output/jat.m b/src/jat/tests/propagator/output/jat.m new file mode 100644 index 0000000..42b65c9 --- /dev/null +++ b/src/jat/tests/propagator/output/jat.m @@ -0,0 +1,24 @@ +function X = jat(file) +% jat +% simple function to read in the JAT output into the Matlab workspace + +X = dlmread(file,'\t',0,0); + +% max2 = max(max(X(1:num,2)),max(X(1:num,3))); +% min2 = min(min(X(1:num,2)),min(X(1:num,3))); +% max3 = max(max2,max(X(1:num,4))) +% min3 = min(min2,min(X(1:num,4))) +%figure(1); +%plot3(X(1:num,2),X(1:num,3),X(1:num,4)); +% xlim([min3 max3]); +% ylim([min3 max3]); +% zlim([min3 max3]); +%xlabel('x'); +%ylabel('y'); +%zlabel('z'); +%figure(2); +%plot(X(1:num,2),X(1:num,3)); +% xlim([min2 max2]); +% ylim([min2 max2]); +%xlabel('x'); +%ylabel('y'); \ No newline at end of file diff --git a/src/jat/tests/propagator/sim_input.xml b/src/jat/tests/propagator/sim_input.xml new file mode 100644 index 0000000..f0831f1 --- /dev/null +++ b/src/jat/tests/propagator/sim_input.xml @@ -0,0 +1,29 @@ + + + + + 36607.358256 + -20921.723703 + 0 + + 4.525636 + 1.669451 + 0 + + + + + 0 + 2.2 + + 0.6 + + 30 + + diff --git a/src/jat/tests/scaling/ScaledDerivs.java b/src/jat/tests/scaling/ScaledDerivs.java new file mode 100644 index 0000000..1471fb7 --- /dev/null +++ b/src/jat/tests/scaling/ScaledDerivs.java @@ -0,0 +1,68 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2003 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.scaling; + +import jat.coreNOSA.algorithm.VectorTimeFunction; +import jat.coreNOSA.algorithm.integrators.Derivatives; +import jat.coreNOSA.algorithm.integrators.Printable; + +/** + * Equations of motion + * + * @author Tobias Berthold + */ +public class ScaledDerivs implements Derivatives, Printable +{ + double scalefactor = 1.2; + + int n = 1; + double T; // Thrust magnitude (parameter but always max when on) + double g0 = 0.00981; + VectorTimeFunction u; // thrust direction + + public ScaledDerivs() + { + } + + public ScaledDerivs(double scalefactor) + { + this.scalefactor=scalefactor; + } + + public double[] derivs(double t, double[] x) + { + double[] out = new double[2]; + out[0] = x[1]; + out[1] = -x[0]; + + out[0] = scalefactor * out[0]; + out[1] = scalefactor * out[1]; + return out; + } + + public void print(double t, double[] y) + { + // print to the screen for warm fuzzy feeling + //System.out.println(t + " " + y[0] + " " + y[1] ); + + } + +} diff --git a/src/jat/tests/scaling/SimpleIntegrator.java b/src/jat/tests/scaling/SimpleIntegrator.java new file mode 100644 index 0000000..00b9c76 --- /dev/null +++ b/src/jat/tests/scaling/SimpleIntegrator.java @@ -0,0 +1,54 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2002 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + */ + +package jat.tests.scaling; + +import jat.coreNOSA.algorithm.integrators.RungeKutta8; + +public class SimpleIntegrator +{ + + public static void main(String[] args) + { + + RungeKutta8 rk8 = new RungeKutta8(0.0001); + + // initialize the variables + double[] x0 = new double[2]; + x0[0] = 1.0; + x0[1] = 0.0; + + // initial and final time + double t0 = 0.0; + double tf = Math.PI*1.4;//10.0; + + ScaledDerivs D=new ScaledDerivs(1.0); + double[] xD=rk8.integrate(t0, x0, tf, D, D, true); + + double scalefactor=tf; + ScaledDerivs SD=new ScaledDerivs(scalefactor); + + double[] xSD=rk8.integrate(t0, x0, tf/scalefactor, SD, SD, true); + System.out.println("Final values"); + System.out.println("Unscaled "+xD[0]+" "+xD[1]); + System.out.println(" Scaled "+xSD[0]+" "+xSD[1]); + + } +} diff --git a/src/jat/tests/system/SystemProperties.java b/src/jat/tests/system/SystemProperties.java new file mode 100644 index 0000000..e99b62e --- /dev/null +++ b/src/jat/tests/system/SystemProperties.java @@ -0,0 +1,50 @@ +package jat.tests.system; + +import jat.core.util.messageConsole.MessageConsole; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; + +import javax.swing.JApplet; +import javax.swing.JScrollPane; +import javax.swing.JTextPane; + +public class SystemProperties extends JApplet{ + + private static final long serialVersionUID = 7544071833875739222L; + + public SystemProperties() { + + + getContentPane().setLayout(new BorderLayout(0, 0)); + + // Create a text pane. + JTextPane textPane = new JTextPane(); + JScrollPane paneScrollPane = new JScrollPane(textPane); + paneScrollPane + .setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_ALWAYS); + paneScrollPane.setPreferredSize(new Dimension(250, 155)); + paneScrollPane.setMinimumSize(new Dimension(10, 10)); + + getContentPane().add(paneScrollPane, BorderLayout.CENTER); + JScrollPane scrollPane_1 = new JScrollPane(); + getContentPane().add(scrollPane_1, BorderLayout.NORTH); + + // JScrollPane scrollPane = new JScrollPane(); + // getContentPane().add(scrollPane, BorderLayout.SOUTH); + boolean mcb = true; + if (mcb) { + MessageConsole mc = new MessageConsole(textPane); + mc.redirectOut(); + mc.redirectErr(Color.RED, null); + mc.setMessageLines(100); + } + System.getProperties().list(System.out); + //System.out.println(com.sun.deploy.config.Config.getCacheDirectory()); + + } + + + +} diff --git a/src/jat/unittest/core/math/arbaxisrot/AllTests.java b/src/jat/unittest/core/math/arbaxisrot/AllTests.java new file mode 100644 index 0000000..ebc3b99 --- /dev/null +++ b/src/jat/unittest/core/math/arbaxisrot/AllTests.java @@ -0,0 +1,66 @@ +/* Copyright 2011 Glenn Murray + * + * Licensed 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 jat.unittest.core.math.arbaxisrot; + +import junit.framework.Test; +import junit.framework.TestCase; +import junit.framework.TestSuite; + +/** + *

+ * The root JUnit tests for all tests. + *

+ * + * 
+ * java -cp classes:lib/junit_3.8.1-mac.jar junit.swingui.TestRunner \
+ *                     arbaxisrot.AllTests
+ *
+ * + *

+ * Note when running from Eclipse, you may have to add the root folder for this + * project to the classpath for this test in the "Run..." menu. + *

+ */ +public class AllTests extends TestCase { + + // Static initialization-------------------------------------------- + // Instance variables----------------------------------------------- + // Constructors----------------------------------------------------- + // JUnit Methods---------------------------------------------------- + + public static Test suite() { + TestSuite suite = new TestSuite("arbaxisrot.AllTests"); + + // Add by calling suite(). + // suite.addTest(arbaxisrot.RotationMatrix2005Test.suite()); + + // Equivalently add a test as class + // suite.addTest(new TestSuite(arbaxisrot.RotationMatrixTest.class)); + // suite.addTest(new + // TestSuite(arbaxisrot.RotationMatrixFullTest.class)); + // suite.addTest(new TestSuite( + // arbaxisrot.RotationMatrixProgressionTest.class)); + + // Add by calling suite(). + suite.addTest(RotationMatrix2005Test.suite()); + + // Equivalently add a test as class + suite.addTest(new TestSuite(RotationMatrixTest.class)); + suite.addTest(new TestSuite(RotationMatrixFullTest.class)); + suite.addTest(new TestSuite(RotationMatrixProgressionTest.class)); + + return suite; + } +} diff --git a/src/jat/unittest/core/math/arbaxisrot/RotationMatrix2005Test.java b/src/jat/unittest/core/math/arbaxisrot/RotationMatrix2005Test.java new file mode 100644 index 0000000..59f20c4 --- /dev/null +++ b/src/jat/unittest/core/math/arbaxisrot/RotationMatrix2005Test.java @@ -0,0 +1,461 @@ +/* Copyright 2011 Glenn Murray + * + * Licensed 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 jat.unittest.core.math.arbaxisrot; + +import jat.core.math.arbaxisrot.RotationMatrix; +import jat.core.math.arbaxisrot.RotationMatrix2005; +import junit.framework.Test; +import junit.framework.TestCase; +import junit.framework.TestSuite; + + +/** + *

A class to test a RotationMatrix class by comparing it to a previous + * version. Run with:

+ * + * 
+ * java -cp classes:lib/junit_3.8.1-mac.jar junit.swingui.TestRunner \ 
+ *                     arbaxisrot.RotationMatrix2005Test
+ *
+ * + * @author Last modified by $Author: gmurray $ + */ +public class RotationMatrix2005Test extends TestCase { + + // Static Initialization-------------------------------------------- + /** For debugging. */ + private static final boolean LOG = false; + + /** How close a double must to a double to be "equal". */ + private static final double TOLERANCE = 1E-6; + + // Instance Variables----------------------------------------------- + + private double pi = Math.PI; + /** See {@link RotationMatrix}. */ + private double a = 0; + private double b = 0; + private double c = 0; + private double u = 0; + private double v = 0; + private double w = 0; + private double theta = 0; + + // Constructors----------------------------------------------------- + + /** + * For JUnit. + */ + public RotationMatrix2005Test(String name) { + super(name); + } + + // JUnit Methods---------------------------------------------------- + protected void setUp() { + pi = Math.PI; + a = 0; + b = 0; + c = 0; + u = 0; + v = 0; + w = 0; + theta = 0; + } + + /** + * For JUnit + */ + public static Test suite() { + //return new TestSuite(arbaxisrot.RotationMatrix2005Test.class); + return new TestSuite(RotationMatrix2005Test.class); + } + + // Methods---------------------------------------------------------- + + /** + * Test the constructor. + */ + public void testRotationMatrix() { + + u = 1; + RotationMatrix2005 rM = new RotationMatrix2005(a, b, c, u, v, w, theta); + // This should be the identity matrix + double[][] m = rM.getMatrix(); + for(int i=0; iA class to test the RotationMatrixFull class. Run with:

+ * + * 
+ * java -cp classes:lib/junit_3.8.1-mac.jar junit.swingui.TestRunner    \
+ *                     arbaxisrot.RotationMatrixFullTest
+ *
+ * + * @author Glenn Murray + */ +public class RotationMatrixFullTest extends TestCase { + + // Static Initialization-------------------------------------------- + /** For debugging. */ + //private static final boolean LOG = false; + private static final boolean LOG = true; + + /** How close a double must be to a double to be "equal". */ + private static final double TOLERANCE = AbstractRotationMatrix.TOLERANCE; + + + // Instance Variables----------------------------------------------- + + private double pi = Math.PI; + /** See {@link RotationMatrixFull}. */ + private double a = 0; + private double b = 0; + private double c = 0; + private double u = 1; + private double v = 0; + private double w = 0; + private double theta = 0; + + // Constructors----------------------------------------------------- + + /** + * For JUnit. + */ + public RotationMatrixFullTest(String name) { + super(name); + } + + // JUnit Methods---------------------------------------------------- + protected void setUp() { + pi = Math.PI; + a = 0; + b = 0; + c = 0; + u = 0; + v = 0; + w = 0; + theta = 0; + } + + /** + * For JUnit + */ + public static Test suite() { + // return new TestSuite(arbaxisrot.RotationMatrixFullTest.class); + return new TestSuite(RotationMatrixFullTest.class); + } + + // Methods---------------------------------------------------------- + + /** + * Test the constructor. + */ + public void testRotationMatrixFull() { + u = 2; + RotationMatrixFull rM = new RotationMatrixFull(a, b, c, u, v, w, theta); + // This should be the identity matrix + double[][] m = rM.getMatrix(); + for(int i=0; iA class to test a RotationMatrix class by comparing it to a previous + * version. Run with:

+ * + * 
+ * java -cp classes:lib/junit_3.8.1-mac.jar junit.swingui.TestRunner \ 
+ *                     arbaxisrot.RotationMatrixProgressionTest
+ *
+ */ +public class RotationMatrixProgressionTest extends TestCase { + + // Static Initialization-------------------------------------------- + /** For debugging. */ + private static final boolean LOG = false; + + /** How close a double must be to a double to be "equal". */ + private static final double TOLERANCE = AbstractRotationMatrix.TOLERANCE; + + + // Instance Variables----------------------------------------------- + + private double pi = Math.PI; + /** See {@link RotationMatrix}. */ + private double a; + private double b; + private double c; + private double u; + private double v; + private double w; + private double angle; + + + // Constructors----------------------------------------------------- + + /** + * For JUnit. + */ + public RotationMatrixProgressionTest(String name) { + super(name); + } + + + // JUnit Methods---------------------------------------------------- + protected void setUp() {} + + /** + * For JUnit + */ + public static Test suite() { + //return new TestSuite(arbaxisrot.RotationMatrixProgressionTest.class); + return new TestSuite(RotationMatrixProgressionTest.class); + } + + + // Methods---------------------------------------------------------- + + /** + * Test that newer {@link AbstractRotationMatrix} instances give the same + * results as {@link RotationMatrix2005}. + */ + public void testRotationMatrixProgression() { + + int numTrials = 100; + while (numTrials > 0) { + numTrials--; + + randomRotationNumbers(); + RotationMatrix2005 rM2005 + = new RotationMatrix2005(a, b, c, u, v, w, angle); + double[][] matrix2005 = rM2005.getMatrix(); + double x = getRandom(); + double y = getRandom(); + double z = getRandom(); + double[] rotPoint2005 = rM2005.rotPointFromFormula(x, y, z); + double[] rInfo = new double[] {a, b, c, u, v, w, x, y, z, angle}; + + RotationMatrix rM = new RotationMatrix(a, b, c, u, v, w, angle); + double[][] matrix = rM.getMatrix(); + compareMatrices(matrix2005, matrix); + double[] rotPoint = rM.rotPointFromFormula(rInfo); + comparePoints(rotPoint2005, rotPoint); + + RotationMatrixFull rMFull + = new RotationMatrixFull(a, b, c, u, v, w, angle); + double[][] matrixFull = rMFull.getMatrix(); + compareMatrices(matrix2005, matrixFull); + double[] rotPointFull = rM.rotPointFromFormula(rInfo); + comparePoints(rotPoint2005, rotPointFull); + + // Note that whether we compute the matrices by normalized vectors + // or not, the final matrices should be the same (as we know from + // the previous tests against the 2005 matrix). + compareMatrices(matrix, matrixFull); + } + } + + + /** + * Helper method to check that two double[][] matrices are equal. + */ + private void compareMatrices(double[][] firstM, double[][] secondM) { + assertEquals(firstM.length, secondM.length); + + for(int i=0; iA class to test the RotationMatrix class. Run with:

+ * + * 
+ * java -cp classes:lib/junit_3.8.1-mac.jar junit.swingui.TestRunner    \
+ *                     arbaxisrot.RotationMatrixTest
+ *
+*/ +public class RotationMatrixTest extends TestCase { + + // Static Initialization-------------------------------------------- + /** For debugging. */ + private static final boolean LOG = false; + + /** How close a double must be to a double to be "equal". */ + private static final double TOLERANCE = AbstractRotationMatrix.TOLERANCE; + + + // Instance Variables----------------------------------------------- + + private double pi = Math.PI; + /** See {@link RotationMatrix}. */ + private double a = 0; + private double b = 0; + private double c = 0; + private double u = 1; + private double v = 0; + private double w = 0; + private double theta = 0; + + // Constructors----------------------------------------------------- + + /** + * For JUnit. + */ + public RotationMatrixTest(String name) { + super(name); + } + + // JUnit Methods---------------------------------------------------- + protected void setUp() { + pi = Math.PI; + a = 0; + b = 0; + c = 0; + u = 0; + v = 0; + w = 0; + theta = 0; + } + + /** + * For JUnit + */ + public static Test suite() { + //return new TestSuite(arbaxisrot.RotationMatrixTest.class); + return new TestSuite(RotationMatrixTest.class); + } + + // Methods---------------------------------------------------------- + + /** + * Test the constructor. + */ + public void testRotationMatrix() { + + u = 1; + RotationMatrix rM = new RotationMatrix(a, b, c, u, v, w, theta); + // This should be the identity matrix + double[][] m = rM.getMatrix(); + for(int i=0; i= 7) { + velocity.set(0, Double.parseDouble(numberStrs[4])*1000); + velocity.set(1, Double.parseDouble(numberStrs[5])*1000); + velocity.set(2, Double.parseDouble(numberStrs[6])*1000); + } + return time; + } + + private VectorN readTarget(String positionInput) { + // First parse the line into three doubles. + String[] numberStrs = positionInput.trim().split("\\s+"); + VectorN force = new VectorN(3); + force.set(0, Double.parseDouble(numberStrs[0])); + force.set(1, Double.parseDouble(numberStrs[1])); + force.set(2, Double.parseDouble(numberStrs[2])); + return force; + } + + private void writeTarget(VectorN force, BufferedWriter wrtr) + throws IOException { + wrtr.write(force.get(0) + "\t" + force.get(1) + "\t" + force.get(2)); + wrtr.newLine(); + } +} diff --git a/src/jat/unittest/coreNOSA/forces/GravityModelTest.java b/src/jat/unittest/coreNOSA/forces/GravityModelTest.java new file mode 100644 index 0000000..e901703 --- /dev/null +++ b/src/jat/unittest/coreNOSA/forces/GravityModelTest.java @@ -0,0 +1,27 @@ +package jat.unittest.coreNOSA.forces; + +import jat.coreNOSA.forces.GravityModel; +import jat.coreNOSA.forces.GravityModelType; +import jat.coreNOSA.spacecraft.Spacecraft; + +import java.io.IOException; + +public class GravityModelTest extends ForceModelTest { + + public static void main(String[] args) { + junit.textui.TestRunner.run(GravityModelTest.class); + } + + /* + * Test method for 'jat.forces.SolarRadiationPressure.acceleration(Time, BodyRef, Spacecraft)' + */ + public void testAccelerationTimeBodyRefSpacecraft() throws IOException { + Spacecraft sc = new Spacecraft(); + sc.set_area(20); + sc.set_mass(1000); + GravityModel force = new GravityModel(2, 2, GravityModelType.JGM3); + + testForceModelAcceleration(sc, force, "earth_gravity.txt", + "Gravity Model using JGM3 Earth Gravity"); + } +} diff --git a/src/jat/unittest/coreNOSA/forces/HarrisPriesterTest.java b/src/jat/unittest/coreNOSA/forces/HarrisPriesterTest.java new file mode 100644 index 0000000..3d71c67 --- /dev/null +++ b/src/jat/unittest/coreNOSA/forces/HarrisPriesterTest.java @@ -0,0 +1,27 @@ +package jat.unittest.coreNOSA.forces; + +import jat.coreNOSA.forces.HarrisPriester; +import jat.coreNOSA.spacecraft.Spacecraft; + +import java.io.IOException; + +public class HarrisPriesterTest extends ForceModelTest { + + public static void main(String[] args) { + junit.textui.TestRunner.run(HarrisPriesterTest.class); + } + + /* + * Test method for 'jat.forces.HarrisPriester.acceleration(Time, BodyRef, Spacecraft)' + */ + public void testAccelerationTimeBodyRefSpacecraft() throws IOException { + Spacecraft sc = new Spacecraft(); + sc.set_area(20); + sc.set_mass(1000); + sc.set_cd(1.2); + HarrisPriester force = new HarrisPriester(sc.cd(), sc.area(), sc.mass()); + + testForceModelAcceleration(sc, force, "harris_priester.txt", + "Harris Priester atmosphere drag"); + } +} diff --git a/src/jat/unittest/coreNOSA/forces/NRLMSISEDragTest.java b/src/jat/unittest/coreNOSA/forces/NRLMSISEDragTest.java new file mode 100644 index 0000000..915affd --- /dev/null +++ b/src/jat/unittest/coreNOSA/forces/NRLMSISEDragTest.java @@ -0,0 +1,27 @@ +package jat.unittest.coreNOSA.forces; + +import jat.coreNOSA.forces.NRLMSISE_Drag; +import jat.coreNOSA.spacecraft.Spacecraft; + +import java.io.IOException; + +public class NRLMSISEDragTest extends ForceModelTest { + + public static void main(String[] args) { + junit.textui.TestRunner.run(NRLMSISEDragTest.class); + } + + /* + * Test method for 'jat.forces.HarrisPriester.acceleration(Time, BodyRef, Spacecraft)' + */ + public void testAccelerationTimeBodyRefSpacecraft() throws IOException { + Spacecraft sc = new Spacecraft(); + sc.set_area(20); + sc.set_mass(1000); + sc.set_cd(1.2); + NRLMSISE_Drag force = new NRLMSISE_Drag(sc.cd(), sc.area(), sc.mass()); + + testForceModelAcceleration(sc, force, "nrlmsise_drag.txt", + "NRLMSISE atmosphere drag"); + } +} diff --git a/src/jat/unittest/coreNOSA/forces/SolarRadiationPressureTest.java b/src/jat/unittest/coreNOSA/forces/SolarRadiationPressureTest.java new file mode 100644 index 0000000..01a9167 --- /dev/null +++ b/src/jat/unittest/coreNOSA/forces/SolarRadiationPressureTest.java @@ -0,0 +1,27 @@ +package jat.unittest.coreNOSA.forces; + +import jat.coreNOSA.forces.SolarRadiationPressure; +import jat.coreNOSA.spacecraft.Spacecraft; + +import java.io.IOException; + +public class SolarRadiationPressureTest extends ForceModelTest { + + public static void main(String[] args) { + junit.textui.TestRunner.run(SolarRadiationPressureTest.class); + } + + /* + * Test method for 'jat.forces.SolarRadiationPressure.acceleration(Time, BodyRef, Spacecraft)' + */ + public void testAccelerationTimeBodyRefSpacecraft() throws IOException { + Spacecraft sc = new Spacecraft(); + sc.set_area(20); + sc.set_mass(1000); + sc.set_cr(0.07); + SolarRadiationPressure force = new SolarRadiationPressure(sc); + + testForceModelAcceleration(sc, force, "solar_pressure.txt", + "solar pressure radiation"); + } +} diff --git a/src/jat/unittest/coreNOSA/forces/cira_drag.txt b/src/jat/unittest/coreNOSA/forces/cira_drag.txt new file mode 100644 index 0000000..78f7143 --- /dev/null +++ b/src/jat/unittest/coreNOSA/forces/cira_drag.txt @@ -0,0 +1,1443 @@ +# CIRA exponential atmosphere drag +# x y z +-2.335460905184493E-6 1.7273772925922401E-6 4.056966483531857E-6 +-2.526687869745685E-6 1.451926422711682E-6 3.978224428626931E-6 +-2.695547390940133E-6 1.173421963551286E-6 3.873868504916897E-6 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b/src/jat/unittest/coreNOSA/spacetime/BodyCenteredInertialRefTest.java @@ -0,0 +1,87 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Rob Antonucci + **/ +package jat.unittest.coreNOSA.spacetime; + +import jat.coreNOSA.ephemeris.DE405; +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.EarthRef; +import jat.coreNOSA.spacetime.LunaRef; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; +import junit.framework.TestCase; + +public class BodyCenteredInertialRefTest extends TestCase { + + /** A simple structure holding the contents of one line of */ + public static class Entry + { + public double epochSecs; + public VectorN lciPos; + public VectorN lcfPos; + } + + public static void main(String[] args) { + junit.textui.TestRunner.run(BodyCenteredInertialRefTest.class); + } + + /* + * Test method for 'jat.spacetime.BodyCenteredInertialRef.getTranslater(ReferenceFrame, Time)' + */ + public void testECItoLCI() { + + // Some time + Time t = new Time(TimeUtils.JDtoMJD(2.458232499999999e+006)); + double timeStep = 60 * 60 * 12; // Half day in seconds + for(int i=0; i<1000; ++i) { + t.update(i*timeStep); + EarthRef eciRef = new EarthRef(t); + LunaRef lciRef = new LunaRef(); + ReferenceFrameTranslater x = new ReferenceFrameTranslater(eciRef, lciRef, t); + + DE405 ephemeris_file = new DE405(); + VectorN moonEciPos = new VectorN(ephemeris_file.get_planet_pos(DE405_Body.GEOCENTRIC_MOON, t.mjd_tt())).times(1000); + VectorN moonLciPos = x.translatePoint(moonEciPos); + VectorN moonEciPos2 = x.translatePointBack(new VectorN(3)); + // Passed if within a meter. + assertTrue("Moon Geocentric position " + moonEciPos + " did not translate to Moon origin when " + + "translating from ECI to LCI. Translated to " + moonLciPos, moonLciPos.mag()<1); + double eciDiff = moonEciPos.minus(moonEciPos2).mag(); + assertTrue("Moon origin did not translate to Moon Geocentric position " + moonEciPos + + " when translating from ECI to LCI. Translated to " + moonEciPos2 + " instead of " + + moonEciPos + " (difference of " + eciDiff + ").", eciDiff<1); + + // At the time of this test, get_Geocentric_Moon_vel was broken. + // So compute geocentric velocity from two positions at two points in time + VectorN geocentricPos1 = new VectorN(ephemeris_file.get_planet_pos(DE405_Body.GEOCENTRIC_MOON, t.mjd_tt())); + Time t2 = new Time(t.mjd_utc()); + t2.update(1); + VectorN geocentricPos2 = new VectorN(ephemeris_file.get_planet_pos(DE405_Body.GEOCENTRIC_MOON, t2.mjd_tt())); + VectorN moonEciVel = geocentricPos2.minus(geocentricPos1).times(1000); + VectorN moonLciVel = x.translateVelocity(moonEciVel, moonEciPos); + // Passed if within a cm/sec. + assertTrue("Moon Geocentric velocity " + moonEciVel + " did not translate to stand still when " + + "translating from ECI to LCI. Translated to " + moonLciVel, moonLciVel.mag()<0.1); + } + } +} diff --git a/src/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest.java b/src/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest.java new file mode 100644 index 0000000..1d84dff --- /dev/null +++ b/src/jat/unittest/coreNOSA/spacetime/LunaFixedRefTest.java @@ -0,0 +1,244 @@ +/* JAT: Java Astrodynamics Toolkit + * + * Copyright (c) 2006 National Aeronautics and Space Administration. All rights reserved. + * + * This file is part of JAT. JAT is free software; you can + * redistribute it and/or modify it under the terms of the + * NASA Open Source Agreement + * + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * NASA Open Source Agreement for more details. + * + * You should have received a copy of the NASA Open Source Agreement + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * National Aeronautics and Space Administration + * File created by Rob Antonucci + **/ +package jat.unittest.coreNOSA.spacetime; + +import jat.coreNOSA.ephemeris.DE405_Body; +import jat.coreNOSA.math.MatrixVector.data.VectorN; +import jat.coreNOSA.spacetime.BodyCenteredInertialRef; +import jat.coreNOSA.spacetime.LunaFixedRef; +import jat.coreNOSA.spacetime.LunaRef; +import jat.coreNOSA.spacetime.ReferenceFrame; +import jat.coreNOSA.spacetime.ReferenceFrameTranslater; +import jat.coreNOSA.spacetime.Time; +import jat.coreNOSA.spacetime.TimeUtils; + +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStream; +import java.io.InputStreamReader; +import java.text.DecimalFormat; +import java.text.NumberFormat; + +import junit.framework.TestCase; + +public class LunaFixedRefTest extends TestCase { + + /** A simple structure holding the contents of one line of */ + public static class Entry + { + public double epochSecs; + public VectorN lciPos; + public VectorN lciVel; + public VectorN lcfPos; + public VectorN lcfVel; + } + + public static void main(String[] args) { + junit.textui.TestRunner.run(LunaFixedRefTest.class); + } + + /* + * Test method for 'jat.spacetime.LunaFixedRef.getTranslater(ReferenceFrame, Time)' + */ + public void testLCItoLCF() throws IOException { + final String COMMENT = "#"; + final String DECLARATION = "%"; + final String NUM_LINES_VAR = "num"; + final String EPOCH_VAR = "jd0"; + + InputStream strm = getClass().getClassLoader().getResourceAsStream( + "jatcoretest/spacetime/llo_ascii.txt"); + BufferedReader rdr = new BufferedReader(new InputStreamReader(strm)); + + // The first lines will specify the number of data lines + // and the start of the epoch. + int numLines = 0; + double epoch = 0; + int lineCtr=0; + while ((numLines == 0) || (epoch == 0)) { + ++lineCtr; + String nextLine = rdr.readLine(); + if (nextLine.startsWith(COMMENT)) { + // It's a comment. Ignore. + } + else if (nextLine.startsWith(DECLARATION)) { + // Variable definition. Parse. + int equalIndex = nextLine.indexOf("="); + assertTrue("Declaraion on line " + lineCtr + "not of the form: " + + "% var = value", equalIndex > 2); + String varName = nextLine.substring(1, equalIndex).trim(); + String value = nextLine.substring(equalIndex+1).trim(); + if (varName.equals(NUM_LINES_VAR)) { + numLines = Integer.parseInt(value); + } + else if (varName.equals(EPOCH_VAR)) { + epoch = Double.parseDouble(value); + } + } + else if (!nextLine.trim().equals("")) { + fail("Found data line before " + NUM_LINES_VAR + + " and " + EPOCH_VAR + " were defined. Error at line " + lineCtr); + } + } + + compareData(rdr, numLines, epoch, lineCtr); + } + + private void compareData(BufferedReader rdr, int numLines, double epoch, + int startLine) throws IOException + { + final double MARGIN = 0.01; + BodyCenteredInertialRef inertial = new BodyCenteredInertialRef(DE405_Body.GEOCENTRIC_MOON); + LunaFixedRef fixed = new LunaFixedRef(); + int numEntriesRead = 0; + int lineCtr = startLine; + boolean done = false; + Time t = new Time(TimeUtils.JDtoMJD(epoch)); + while ((numEntriesRead < numLines) && !done) { + Entry nextEntry = new Entry(); + ++lineCtr; + String nextLine = rdr.readLine(); + done = (nextLine == null); + if ((nextLine != null) && !nextLine.trim().equals("")) + { + parseNext(nextLine, nextEntry, lineCtr); + t.update(nextEntry.epochSecs); + + // Verify the point translations + ReferenceFrameTranslater xlater = + new ReferenceFrameTranslater(inertial, fixed, t); + VectorN computedF = xlater.translatePoint(nextEntry.lciPos); + double distance = computedF.minus(nextEntry.lcfPos).mag(); + double allowed = nextEntry.lcfPos.mag() * MARGIN; + assertTrue("Line " + lineCtr + " position: " + computedF + " is off from " + + nextEntry.lcfPos + " by " + distance, distance <= allowed); + ReferenceFrameTranslater backXlater = + new ReferenceFrameTranslater(fixed, inertial, t); + VectorN computedI = backXlater.translatePoint(nextEntry.lcfPos); + distance = computedI.minus(nextEntry.lciPos).mag(); + allowed = nextEntry.lciPos.mag() * MARGIN; + assertTrue("Line " + lineCtr + " position: " + computedI + " is off from " + + nextEntry.lciPos + " by " + distance, distance <= allowed); + VectorN recomputedI = xlater.translatePointBack(nextEntry.lcfPos); + distance = recomputedI.minus(nextEntry.lciPos).mag(); + assertTrue("Line " + lineCtr + " position: " + recomputedI + " is off from " + + nextEntry.lciPos + " by " + distance, distance <= allowed); + + // Verify the velocity translations + computedF = xlater.translateVelocity(nextEntry.lciVel, nextEntry.lciPos); + double difference = computedF.minus(nextEntry.lcfVel).mag(); + allowed = nextEntry.lcfVel.mag() * MARGIN; + assertTrue("Line " + lineCtr + " velocity: " + computedF + " is off from " + + nextEntry.lcfVel + " by " + difference, difference <= allowed); + computedI = backXlater.translateVelocity(nextEntry.lcfVel, nextEntry.lcfPos); + difference = computedI.minus(nextEntry.lciVel).mag(); + allowed = nextEntry.lciVel.mag() * MARGIN; + assertTrue("Line " + lineCtr + " velocity: " + computedI + " is off from " + + nextEntry.lciVel + " by " + difference, difference <= allowed); + recomputedI = xlater.translateVelocityBack(nextEntry.lcfVel, nextEntry.lcfPos); + difference = recomputedI.minus(nextEntry.lciVel).mag(); + assertTrue("Line " + lineCtr + " velocity: " + recomputedI + " is off from " + + nextEntry.lciVel + " by " + difference, difference <= allowed); + + ++numEntriesRead; + } + } + assertEquals("Encountered " + numEntriesRead + " lines of data when " + + numLines + " were expected.", numLines, numEntriesRead); + } + + private void parseNext(String input, Entry entry, int lineNum) + { + try { + // The line should have 13 doubles separated by spaces. + String[] doubles = input.trim().split("\\s+"); + assertEquals("Line " + String.valueOf(lineNum) + " needs 13 number separated " + + "by spaces.", 13, doubles.length); + NumberFormat parser = new DecimalFormat("0.0000000000000000E000"); + entry.epochSecs = Double.parseDouble(doubles[0]); + entry.lcfPos = new VectorN(3); + entry.lcfPos.set(0, Double.parseDouble(doubles[1])); + entry.lcfPos.set(1, Double.parseDouble(doubles[2])); + entry.lcfPos.set(2, Double.parseDouble(doubles[3])); + entry.lcfVel = new VectorN(3); + entry.lcfVel.set(0, Double.parseDouble(doubles[4])); + entry.lcfVel.set(1, Double.parseDouble(doubles[5])); + entry.lcfVel.set(2, Double.parseDouble(doubles[6])); + entry.lciPos = new VectorN(3); + entry.lciPos.set(0, Double.parseDouble(doubles[7])); + entry.lciPos.set(1, Double.parseDouble(doubles[8])); + entry.lciPos.set(2, Double.parseDouble(doubles[9])); + entry.lciVel = new VectorN(3); + entry.lciVel.set(0, Double.parseDouble(doubles[10])); + entry.lciVel.set(1, Double.parseDouble(doubles[11])); + entry.lciVel.set(2, Double.parseDouble(doubles[12])); + } + catch (NullPointerException e) { + fail("Failure to parse doubles on line " + lineNum + ". " + + e.getMessage()); + } + } + + public void testECIVelocityToLCFVelocity() { + //double[] startEciPos = {-2.7555712051348615E8, 2.278862267130929E8, 1.0302526370467307E8}; + //double[] startEciVel = {719.703479618275, 737.5548929186978, 220.44009064585677}; + double[] startEciPos = {1.7232607076253737e+002, 1.6379287856614317e+003, -8.1592709137349675e+002}; + double[] startEciVel = {1.3836671664810035e-001, 7.1393322649210633e-001, 1.4624051437086556e+000}; + double timestep = 0.5; // in seconds + double ERROR = 0.01; + + Time t = new Time(TimeUtils.JDtoMJD(2.458232499999999e+006)); + ReferenceFrame eciRef = new LunaRef(); + ReferenceFrame lcfRef = new LunaFixedRef(); + + VectorN eciPos1 = new VectorN(startEciPos); + VectorN eciVel1 = new VectorN(startEciVel); + System.out.println("ECI Position =\t\t" + eciPos1); + System.out.println("ECI Velocity =\t\t" + eciVel1); + ReferenceFrameTranslater xlater = new ReferenceFrameTranslater(eciRef, lcfRef, t); + VectorN lcfPos1 = xlater.translatePoint(eciPos1); + VectorN lcfVel1 = xlater.translateVelocity(eciVel1, eciPos1); + System.out.println("LCF Position =\t\t" + lcfPos1); + System.out.println("LCF Velocity =\t\t" + lcfVel1); + + t.update(timestep); + VectorN eciPos2 = eciVel1.times(timestep).plus(eciPos1); + VectorN lcfPos2 = lcfVel1.times(timestep).plus(lcfPos1); + System.out.println("ECI New Position =\t" + eciPos2); + xlater = new ReferenceFrameTranslater(eciRef, lcfRef, t); + VectorN lcfPos2True = xlater.translatePoint(eciPos2); + System.out.println("LCF New Position =\t" + lcfPos2True); + System.out.println("LCF Estimated =\t\t" + lcfPos2); + + VectorN change = lcfPos2.minus(lcfPos1); + VectorN changeTrue = lcfPos2True.minus(lcfPos1); + VectorN error = lcfPos2.minus(lcfPos2True); + System.out.println("LCF Position changed by\t" + changeTrue); + System.out.println("LCF estimated to change\t" + change); + System.out.println("Error was\t\t" + error); + assertTrue("velocity produced change " + change + " instead of " + + changeTrue, error.mag() < changeTrue.mag() * ERROR); + + + } + +} diff --git a/src/jat/unittest/coreNOSA/spacetime/llo_ascii.txt b/src/jat/unittest/coreNOSA/spacetime/llo_ascii.txt new file mode 100644 index 0000000..6a37df3 --- /dev/null +++ b/src/jat/unittest/coreNOSA/spacetime/llo_ascii.txt @@ -0,0 +1,4040 @@ +# First column = time (seconds since jd0) +# Column 2-4 = Selenographic position (km) +# Column 5-7 = Selenographic velocity (km/s) +# Column 8-10 = Lunar-centered Inertial position(km) +# Column 11-13 = Lunar-centered Inertial velocity (km/s) +% num = 4033 +% jd0 = 2.458232499999999e+006 + 0.0000000000000000e+000 -7.0653447440413493e+002 9.2387238910403778e+002 -1.4232051310790273e+003 -7.6578459477044203e-001 1.0064446005845396e+000 1.0334979559135251e+000 1.7232607076253737e+002 1.6379287856614317e+003 -8.1592709137349675e+002 1.3836671664810035e-001 7.1393322649210633e-001 1.4624051437086556e+000 + 1.5000000000000000e+002 -8.1516651919556466e+002 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