// move a specifed distance in mm
McoStatus TCR::moveDistance(double dx,double dy)
{
char st[500];
int32 dx_i,dy_i;
int32 pos[2];
if (sp == 0L) return MCO_SERIAL_ERROR;
getLocation(pos,0);
dx_i = (40*(dx)+0.5);
dy_i = (40*(dy)+0.5);
pos[0] += dx_i;
pos[1] += dy_i;
pos[0] = MaxVal(pos[0],min_x);
pos[0] = MinVal(pos[0],max_x);
pos[1] = MaxVal(pos[1],min_y);
pos[1] = MinVal(pos[1],max_y);
sprintf(st,"PA %ld %ld;",pos[0],pos[1]);
current_x = pos[0];
current_y = pos[1];
sp->sendData(st,strlen(st));
waitTenthSec();
return MCO_SUCCESS;
}
McoStatus SpectroChart::moveToPatch(int32 patchNum,int ref)
{
char st[500];
int32 dx_i,dy_i;
double dist;
int tc;
int waitTime;
int32 table[2];
int error;
McoStatus state;
if (sp == 0L) return MCO_SERIAL_ERROR;
// turn online
state = turnOnline();
if (state != MCO_SUCCESS) return state;
translateToTable(&pointArray[patchNum*2],table);
table[0] = MaxVal(table[0],min_x);
table[0] = MinVal(table[0],max_x);
table[1] = MaxVal(table[1],min_y);
table[1] = MinVal(table[1],max_y);
sprintf(st,"; 208 0 %d %ld %ld\r\n",ref,(long)table[0],(long)table[1]);
dx_i = table[0]-current_x;
dy_i = table[1]-current_y;
sp->sendData(st,strlen(st));
state = CheckErrorChart();
return state;
}
McoStatus TCR::moveToPatch(int32 patchNum, int ref)
{
char st[500];
int32 dx_i,dy_i;
double dist;
long tc;
int waitTime;
int32 table[2];
if (sp == 0L) return MCO_SERIAL_ERROR;
translateToTable(&pointArray[patchNum*2],table);
//dx_i = table[0]-current_x;
//dy_i = table[1]-current_y;
//sprintf(st,"PR %ld %ld;",dx_i,dy_i); // the move command
table[0] = MaxVal(table[0],min_x);
table[0] = MinVal(table[0],max_x);
table[1] = MaxVal(table[1],min_y);
table[1] = MinVal(table[1],max_y);
sprintf(st,"PA %ld %ld;",(long)table[0],(long)table[1]); // the move command
sp->sendData(st,strlen(st));
dx_i = table[0]-current_x;
dy_i = table[1]-current_y;
// wait a time that is determined by the distance moved
dist = sqrt((double)(dx_i*dx_i+dy_i*dy_i))*0.025;
// assume that it moves 250mm/sec
waitTime = 36+(int)(60.0*dist/150.0);
tc = TickCount();
while (TickCount() - tc < waitTime) {}
//current_x = pointArray[patchNum*2];
//current_y = pointArray[patchNum*2+1];
current_x += dx_i;
current_y += dy_i;
return MCO_SUCCESS;
}
// translate a patch location to
void Table::translateToTable(int patchnum, int32 *table)
{
double x,y;
x = pointArray[patchnum*2];
y = pointArray[patchnum*2+1];
table[0] = a*x+b*y+Tx+0.5;
table[1] = c*x+d*y+Ty+0.5;
table[0] = MaxVal(table[0],min_x);
table[0] = MinVal(table[0],max_x);
table[1] = MaxVal(table[1],min_y);
table[1] = MinVal(table[1],max_y);
}
// move a specifed distance in mm
McoStatus SpectroChart::moveDistance(double dx,double dy)
{
char st[5000];
int32 dx_i,dy_i;
int error;
McoStatus state;
int32 pos[2];
if (sp == 0L) return MCO_SERIAL_ERROR;
getLocation(pos,1);
dx_i = (10*(dx)+0.5);
dy_i = (-10*(dy)+0.5);
pos[0] += dx_i;
pos[1] += dy_i;
pos[0] = MaxVal(pos[0],min_x);
pos[0] = MinVal(pos[0],max_x);
pos[1] = MaxVal(pos[1],min_y);
pos[1] = MinVal(pos[1],max_y);
// turn online
state = turnOnline();
if (state != MCO_SUCCESS) return state;
sprintf(st,"; 208 0 %ld %ld\r\n",pos[0],pos[1]);
sp->sendData(st,strlen(st));
waitTenthSec();
state = CheckErrorChart();
current_x = pos[0];
current_y = pos[1];
return state;
}
void TYPBLK<TYPE>::SetValue(PSZ p, int n)
{
ChkIndx(n);
if (Check) {
PGLOBAL& g = Global;
strcpy(g->Message, MSG(BAD_SET_STRING));
longjmp(g->jumper[g->jump_level], Type);
} // endif Check
bool minus;
ulonglong maxval = MaxVal();
ulonglong val = CharToNumber(p, strlen(p), maxval, Unsigned, &minus);
if (minus && val < maxval)
Typp[n] = (TYPE)(-(signed)val);
else
Typp[n] = (TYPE)val;
SetNull(n, false);
} // end of SetValue
SpiceDouble vrelg_c ( ConstSpiceDouble * v1,
ConstSpiceDouble * v2,
SpiceInt ndim )
/*
-Brief_I/O
Variable I/O Description
-------- --- --------------------------------------------------
v1,v2 I Input vectors.
ndim I Dimension of v1 and v2.
-Detailed_Input
v1, v2 are two vectors for which the relative difference
is to be computed.
ndim is the dimension of v1 and v2.
-Detailed_Output
vrelg_c is the relative difference between v1 and v2.
It is defined as:
|| v1 - v2 ||
vrelg_c = ----------------------
max ( ||v1||, ||v2|| )
where || x || indicates the euclidean norm of
the vector x ( ||x|| = sqrt( x . x ) ).
vrelg_c assumes values in the range [0,2]. If both
v1 and v2 are zero vectors then vrelg_c is defined
to be zero.
-Parameters
None.
-Exceptions
Error free.
If both v1 and v2 are zero vectors then vrelg_c is defined to be
zero.
-Files
None.
-Particulars
This function computes the relative difference between two vectors
of general dimension as defined above.
The function vrel_c may be used to find the relative difference
for two 3-dimensional vectors.
-Examples
This example determines if the state of Jupiter, with respect
to Voyager 2, for a set of times is the same for two different
ephemeris files. Instead of insisting on absolute equality
between the state vectors, the program will check if the relative
difference between the vectors is greater than a fixed tolerance.
#include "SpiceUsr.h"
.
.
.
/.
The NAIF code for Jupiter is 599 and for Voyager 2 is -32.
Set the tolerance to be 0.0005.
./
#define NUM 500
#define JUP 599
#define VG2 -32
#define TOL .0005
/.
Local variables
./
SpiceDouble state1 [6][NUM];
SpiceDouble state2 [6][NUM];
SpiceDouble et [NUM];
SpiceDouble lt;
SpiceDouble diff;
SpiceInt i;
.
.
.
/.
Load the first SPK file.
./
furnsh_c ( "VG2_SOURCE_1.BSP" );
/.
Find the states for each time in the array ET.
This example assumes that the SPK file can
provide states for all of the times in the array.
./
for ( i = 0; i < NUM; i++ )
{
spkez_c ( JUP, et[i], "J2000", "lt", VG2,
state1[1][i], < );
}
/.
Unload the first file and load the second one.
./
unload_c ( "VG2_SOURCE_1.BSP" );
furnsh_c ( "VG2_SOURCE_2.BSP" );
/.
Find the states from the new file.
./
for ( i = 0; i < NUM; i++ )
{
spkez_c ( JUP, et[i], "J2000", "lt",
VG2, state2[1][i], < );
}
/.
Now compare the two state vectors for each time.
./
for ( i = 0; i < NUM; i++ )
{
diff = vrelg_c ( state1[1][i], state2[1][i], 6 );
if ( diff > TOL )
{
...
}
-Restrictions
None.
-Literature_References
None.
-Author_and_Institution
J.M. Lynch (JPL)
E.D. Wright (JPL)
-Version
-CSPICE Version 1.1.0, 28-AUG-2001 (NJB)
Include interface macro definition file SpiceZim.h.
Made some minor updates and corrections in the code example.
-CSPICE Version 1.0.0, 6-JUL-1999
-Index_Entries
relative difference of n-dimensional vectors
-&
*/
{ /* Begin vrelg_c */
/*
Local variables
*/
SpiceDouble nunorm;
SpiceDouble denorm;
/* If the vectors are both zero or equivalent, return 0. */
nunorm = vdistg_c ( v1, v2, ndim );
if ( nunorm == 0. )
{
return 0.;
}
else
{
denorm = MaxVal( vnormg_c( v1, ndim ), vnormg_c( v2, ndim ) );
return ( nunorm/denorm );
}
} /* End vrelg_c */
