//! Function to get the unit vector colinear with position segment of a translational state.
Eigen::Vector3d getForceDirectionColinearWithPosition(
const boost::function< void( Eigen::Vector6d& ) > currentStateFunction,
const double currentTime, const bool putForceInOppositeDirection )
{
static Eigen::Vector6d currentState;
currentStateFunction( currentState );
return ( ( putForceInOppositeDirection == 1 ) ? -1.0 : 1.0 ) * ( currentState.segment( 0, 3 ) ).normalized( );
}
//! Function determine the numerical partial derivative of the true anomaly wrt the elements of the Cartesian state
Eigen::Matrix< double, 1, 6 > calculateNumericalPartialOfTrueAnomalyWrtState(
const Eigen::Vector6d& cartesianElements, const double gravitationalParameter,
const Eigen::Vector6d& cartesianStateElementPerturbations )
{
using namespace tudat::orbital_element_conversions;
// Initialize partial to zero
Eigen::Matrix< double, 1, 6 > partial = Eigen::Matrix< double, 1, 6 >::Zero( );
// Iterate over all six elements and calculate partials.
Eigen::Vector6d perturbedCartesianElements;
double upPerturbedTrueAnomaly, downPerturbedTrueAnomaly;
for( int i = 0; i < 6; i++ )
{
// Calculate true anomaly at up-perturbed cartesian element i
perturbedCartesianElements = cartesianElements;
perturbedCartesianElements( i ) += cartesianStateElementPerturbations( i );
upPerturbedTrueAnomaly = convertCartesianToKeplerianElements( perturbedCartesianElements, gravitationalParameter )( trueAnomalyIndex );
// Check validity of result
if( upPerturbedTrueAnomaly != upPerturbedTrueAnomaly )
{
std::cout << "Error 1 in partial of true anomaly wrt cartesian state, element" << i
<< ", keplerian state: " << std::endl
<< convertCartesianToKeplerianElements( perturbedCartesianElements, gravitationalParameter ).transpose( ) << std::endl
<< perturbedCartesianElements.transpose( ) << std::endl;
}
// Calculate true anomaly at down-perturbed cartesian element i
perturbedCartesianElements = cartesianElements;
perturbedCartesianElements( i ) -= cartesianStateElementPerturbations( i );
downPerturbedTrueAnomaly = convertCartesianToKeplerianElements( perturbedCartesianElements, gravitationalParameter )( trueAnomalyIndex );
// Check validity of result
if( downPerturbedTrueAnomaly != downPerturbedTrueAnomaly )
{
std::cout << "Error 2 in partial of true anomaly wrt cartesian state, element" << i
<< ", keplerian state: " << std::endl
<< convertCartesianToKeplerianElements( perturbedCartesianElements, gravitationalParameter ).transpose( ) << std::endl
<< perturbedCartesianElements.transpose( ) << std::endl;
}
// Calculate central difference of term i
partial( 0, i ) = ( upPerturbedTrueAnomaly - downPerturbedTrueAnomaly ) / ( 2.0 * cartesianStateElementPerturbations( i ) );
// Check validity of result
if( partial( 0, i ) != partial( 0, i ) )
{
std::cout << "Error 2 in partial of true anomaly wrt cartesian state, element" << i << std::endl;
}
}
return partial;
}
double BodyNode::VelocityObjFunc::eval(Eigen::Map<const Eigen::VectorXd>& _x)
{
assert(mBodyNode->getParentJoint()->getNumGenCoords() == _x.size());
// Update forward kinematics information with _x
// We are just insterested in spacial velocity of mBodyNode
mBodyNode->getParentJoint()->setGenVels(_x, true, false);
// Compute and return the geometric distance between body node transformation
// and target transformation
Eigen::Vector6d diff = mBodyNode->getWorldVelocity() - mVelocity;
return diff.dot(diff);
}
double BodyNode::TransformObjFunc::eval(Eigen::Map<const Eigen::VectorXd>& _x)
{
assert(mBodyNode->getParentJoint()->getNumGenCoords() == _x.size());
// Update forward kinematics information with _x
// We are just insterested in transformation of mBodyNode
mBodyNode->getParentJoint()->setConfigs(_x, true, false, false);
// Compute and return the geometric distance between body node transformation
// and target transformation
Eigen::Isometry3d bodyT = mBodyNode->getWorldTransform();
Eigen::Vector6d dist = math::logMap(bodyT.inverse() * mT);
return dist.dot(dist);
}
//! Function to compute proper-time rate w.r.t. coordinate time, minus 1.0, from a speed and scalar potential
double calculateFirstCentralBodyProperTimeRateDifference(
const Eigen::Vector6d relativeStateVector, const double centralBodyGravitationalParameter,
const double equivalencePrincipleLpiViolationParameter )
{
return calculateFirstCentralBodyProperTimeRateDifference(
relativeStateVector.segment( 3, 3 ).norm( ), centralBodyGravitationalParameter /
relativeStateVector.segment( 0, 3 ).norm( ), equivalencePrincipleLpiViolationParameter );
}
void check_values(const std::vector<SimpleFrame*>& targets,
const std::vector<SimpleFrame*>& followers,
const Frame* relativeTo,
const Frame* inCoordinatesOf,
double tolerance)
{
for(std::size_t i=0; i<targets.size(); ++i)
{
Frame* T = targets[i];
Frame* F = followers[i];
const Eigen::Isometry3d& tf_error =
T->getTransform(relativeTo)*F->getTransform(relativeTo).inverse();
Eigen::Vector6d error;
Eigen::AngleAxisd rot_error(tf_error.rotation());
error.block<3,1>(0,0) = rot_error.angle()*rot_error.axis();
error.block<3,1>(3,0) = tf_error.translation();
EXPECT_TRUE( error.norm() < tolerance );
EXPECT_TRUE( equals(T->getSpatialVelocity(relativeTo, inCoordinatesOf),
F->getSpatialVelocity(relativeTo, inCoordinatesOf),
tolerance) );
EXPECT_TRUE( equals(T->getLinearVelocity(relativeTo, inCoordinatesOf),
F->getLinearVelocity(relativeTo, inCoordinatesOf),
tolerance) );
EXPECT_TRUE( equals(T->getAngularVelocity(relativeTo, inCoordinatesOf),
F->getAngularVelocity(relativeTo, inCoordinatesOf),
tolerance) );
EXPECT_TRUE( equals(T->getSpatialAcceleration(relativeTo, inCoordinatesOf),
F->getSpatialAcceleration(relativeTo, inCoordinatesOf),
tolerance) );
EXPECT_TRUE( equals(T->getLinearAcceleration(relativeTo, inCoordinatesOf),
F->getLinearAcceleration(relativeTo, inCoordinatesOf),
tolerance) );
EXPECT_TRUE( equals(T->getAngularAcceleration(relativeTo, inCoordinatesOf),
F->getAngularAcceleration(relativeTo, inCoordinatesOf),
tolerance) );
}
}
bool InverseKinematics::inverseKinematics(const MultiBody& mb, MultiBodyConfig& mbc,
const sva::PTransformd& ef_target)
{
int iter = 0;
bool converged = false;
int dof = 0;
rbd::forwardKinematics(mb, mbc);
Eigen::MatrixXd jacMat;
Eigen::Vector6d v = Eigen::Vector6d::Ones();
Eigen::Vector3d rotErr;
Eigen::VectorXd res = Eigen::VectorXd::Zero(3);
while( ! converged && iter < max_iterations_)
{
jacMat = jac_.jacobian(mb, mbc);
//non-strict zeros in jacobian can be a problem...
jacMat = jacMat.unaryExpr(CwiseRoundOp(-almost_zero_, almost_zero_));
svd_.compute(jacMat, Eigen::ComputeThinU | Eigen::ComputeThinV);
rotErr = sva::rotationError(mbc.bodyPosW[ef_index_].rotation(),
ef_target.rotation());
v << rotErr, ef_target.translation() - mbc.bodyPosW[ef_index_].translation();
converged = v.norm() < threshold_;
res = svd_.solve(v);
dof = 0;
for(auto index : jac_.jointsPath())
{
std::vector<double>& qi = mbc.q[index];
for(auto &qv : qi)
{
qv += lambda_*res[dof];
++dof;
}
}
rbd::forwardKinematics(mb, mbc);
rbd::forwardVelocity(mb, mbc);
iter++;
}
return converged;
}
//! Convert dimensionless Cartesian state to dimensional units.
Eigen::VectorXd convertDimensionlessCartesianStateToDimensionalUnits(
const Eigen::Vector6d &dimensionlessCartesianState,
const double gravitationalParameterOfPrimaryBody,
const double gravitationalParameterOfSecondaryBody,
const double distanceBetweenPrimaries )
{
// Declare dimensional Cartesian state.
Eigen::Vector6d dimensionalCartesianState;
// Convert position to dimensional units.
dimensionalCartesianState.segment( 0, 3 )
= dimensionlessCartesianState.segment( 0, 3 ) * distanceBetweenPrimaries;
// Convert velocity to dimensional units.
dimensionalCartesianState.segment( 3, 3 )
= dimensionlessCartesianState.segment( 3, 3 )
* std::sqrt( ( gravitationalParameterOfPrimaryBody
+ gravitationalParameterOfSecondaryBody ) / distanceBetweenPrimaries );
// Return state in dimensional units.
return dimensionalCartesianState;
}
//! Compute state derivative.
Eigen::Vector6d StateDerivativeCircularRestrictedThreeBodyProblem::computeStateDerivative(
const double time, const Eigen::Vector6d& cartesianState )
{
using namespace orbital_element_conversions;
TUDAT_UNUSED_PARAMETER( time );
// Compute distance to primary body.
const double xCoordinateToPrimaryBodySquared =
( cartesianState( xCartesianPositionIndex ) + massParameter )
* ( cartesianState( xCartesianPositionIndex ) + massParameter );
const double yCoordinateSquared = cartesianState( yCartesianPositionIndex )
* cartesianState( yCartesianPositionIndex );
const double zCoordinateSquared = cartesianState( zCartesianPositionIndex )
* cartesianState( zCartesianPositionIndex );
const double normDistanceToPrimaryBodyCubed = pow(
xCoordinateToPrimaryBodySquared + yCoordinateSquared + zCoordinateSquared, 1.5 );
// Compute distance to secondary body.
const double xCoordinateSecondaryBodySquared =
( cartesianState( xCartesianPositionIndex ) - ( 1.0 - massParameter ) )
* ( cartesianState( xCartesianPositionIndex ) - ( 1.0 - massParameter ) );
double normDistanceToSecondaryBodyCubed = pow(
xCoordinateSecondaryBodySquared + yCoordinateSquared + zCoordinateSquared, 1.5 );
// Compute derivative of state.
Eigen::VectorXd stateDerivative( 6 );
stateDerivative.segment( xCartesianPositionIndex, 3 ) = cartesianState.segment( xCartesianVelocityIndex, 3 );
stateDerivative( 3 ) = cartesianState( xCartesianPositionIndex )
- ( ( 1.0 - massParameter ) / normDistanceToPrimaryBodyCubed )
* ( cartesianState( xCartesianPositionIndex ) + massParameter )
- ( massParameter / normDistanceToSecondaryBodyCubed )
* ( cartesianState( xCartesianPositionIndex ) - ( 1.0 - massParameter ) )
+ 2.0 * cartesianState( yCartesianVelocityIndex );
stateDerivative( 4 ) = cartesianState( yCartesianPositionIndex )
* ( 1.0 - ( ( 1.0 - massParameter ) / normDistanceToPrimaryBodyCubed )
- ( massParameter / normDistanceToSecondaryBodyCubed ) )
- 2.0 * cartesianState( xCartesianVelocityIndex );
stateDerivative( 5 ) = -cartesianState( zCartesianPositionIndex )
* ( ( ( 1.0 - massParameter ) / normDistanceToPrimaryBodyCubed )
+ ( massParameter / normDistanceToSecondaryBodyCubed ) );
// Return computed state derivative.
return stateDerivative;
}
//==============================================================================
void ZeroDofJoint::setPartialAccelerationTo(
Eigen::Vector6d& _partialAcceleration,
const Eigen::Vector6d& /*_childVelocity*/)
{
_partialAcceleration.setZero();
}
//==============================================================================
std::string toString(const Eigen::Vector6d& _v)
{
return boost::lexical_cast<std::string>(_v.transpose());
}
//! Function for updating common blocks of partial to current state.
void EmpiricalAccelerationPartial::update( const double currentTime )
{
if( !( currentTime_ == currentTime ) )
{
using namespace tudat::basic_mathematics;
using namespace tudat::linear_algebra;
// Get current state and associated data.
Eigen::Vector6d currentState = empiricalAcceleration_->getCurrentState( );
Eigen::Vector3d angularMomentumVector = Eigen::Vector3d( currentState.segment( 0, 3 ) ).cross(
Eigen::Vector3d( currentState.segment( 3, 3 ) ) );
Eigen::Vector3d crossVector = angularMomentumVector.cross( Eigen::Vector3d( currentState.segment( 0, 3 ) ) );
// Compute constituent geometric partials.
Eigen::Matrix3d normPositionWrtPosition = calculatePartialOfNormalizedVector( Eigen::Matrix3d::Identity( ), currentState.segment( 0, 3 ) );
Eigen::Matrix3d angularMomentumWrtPosition = -getCrossProductMatrix( currentState.segment( 3, 3 ) );
Eigen::Matrix3d angularMomentumWrtVelocity = getCrossProductMatrix( currentState.segment( 0, 3 ) );
Eigen::Matrix3d normAngularMomentumWrtPosition = calculatePartialOfNormalizedVector( angularMomentumWrtPosition, angularMomentumVector );
Eigen::Matrix3d normAngularMomentumWrtVelocity = calculatePartialOfNormalizedVector( angularMomentumWrtVelocity, angularMomentumVector );
Eigen::Matrix3d crossVectorWrtPosition = getCrossProductMatrix( angularMomentumVector ) -
angularMomentumWrtVelocity * angularMomentumWrtPosition;
Eigen::Matrix3d crossVectorWrtVelocity = -getCrossProductMatrix( currentState.segment( 0, 3 ) ) *
getCrossProductMatrix( currentState.segment( 0, 3 ) );
Eigen::Matrix3d normCrossVectorWrtPosition = calculatePartialOfNormalizedVector( crossVectorWrtPosition, crossVector );
Eigen::Matrix3d normCrossVectorWrtVelocity = calculatePartialOfNormalizedVector( crossVectorWrtVelocity, crossVector );
// Retrieve current empirical acceleration
Eigen::Vector3d localAcceleration = empiricalAcceleration_->getCurrentLocalAcceleration( );
// Compute partial derivative contribution of derivative of rotation matrix from RSW to inertial frame
currentPositionPartial_ = localAcceleration.x( ) * normPositionWrtPosition + localAcceleration.y( ) * normCrossVectorWrtPosition +
localAcceleration.z( ) * normAngularMomentumWrtPosition;
currentVelocityPartial_ = localAcceleration.y( ) * normCrossVectorWrtVelocity + localAcceleration.z( ) * normAngularMomentumWrtVelocity;
// Compute partial derivative contribution of derivative of true anomaly
Eigen::Matrix< double, 1, 6 > localTrueAnomalyPartial = calculateNumericalPartialOfTrueAnomalyWrtState(
empiricalAcceleration_->getCurrentState( ),
empiricalAcceleration_->getCurrentGravitationalParameter( ), cartesianStateElementPerturbations );
Eigen::Matrix< double, 1, 6 > trueAnomalyPartial = localTrueAnomalyPartial;
currentPositionPartial_ += empiricalAcceleration_->getCurrentToInertialFrame( ) * (
empiricalAcceleration_->getCurrentAccelerationComponent( basic_astrodynamics::sine_empirical ) *
std::cos( empiricalAcceleration_->getCurrentTrueAnomaly( ) ) -
empiricalAcceleration_->getCurrentAccelerationComponent( basic_astrodynamics::cosine_empirical ) *
std::sin( empiricalAcceleration_->getCurrentTrueAnomaly( ) )
) * trueAnomalyPartial.block( 0, 0, 1, 3 );
currentVelocityPartial_ +=
( empiricalAcceleration_->getCurrentToInertialFrame( ) * (
empiricalAcceleration_->getCurrentAccelerationComponent( basic_astrodynamics::sine_empirical ) *
std::cos( empiricalAcceleration_->getCurrentTrueAnomaly( ) ) -
empiricalAcceleration_->getCurrentAccelerationComponent( basic_astrodynamics::cosine_empirical ) *
std::sin( empiricalAcceleration_->getCurrentTrueAnomaly( ) ) ) ) * trueAnomalyPartial.block( 0, 3, 1, 3 );
currentTime_ = currentTime;
// Check output.
if( currentPositionPartial_ != currentPositionPartial_ )
{
throw std::runtime_error( "Error, empirical acceleration position partials are NaN" );
}
if( currentVelocityPartial_ != currentVelocityPartial_ )
{
throw std::runtime_error( "Error, empirical acceleration velocity partials are NaN" );
}
}
}
//! Execute propagation of orbit of TeslaRoadster around the Earth.
int main( )
{
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// USING STATEMENTS //////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
using namespace tudat;
using namespace tudat::simulation_setup;
using namespace tudat::propagators;
using namespace tudat::numerical_integrators;
using namespace tudat::orbital_element_conversions;
using namespace tudat::basic_mathematics;
using namespace tudat::gravitation;
using namespace tudat::numerical_integrators;
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// CREATE ENVIRONMENT AND VEHICLE //////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Load Spice kernels.
spice_interface::loadStandardSpiceKernels( { input_output::getSpiceKernelPath( ) + "de430.bsp" } );
// Set simulation time settings.
const double simulationStartEpoch =
( 2458163.500000000 - basic_astrodynamics::JULIAN_DAY_ON_J2000 ) * 86400.0;
const double simulationEndEpoch = 500.0 * physical_constants::JULIAN_YEAR;
// Define body settings for simulation.
std::vector< std::string > bodiesToCreate;
bodiesToCreate.push_back( "Sun" );
bodiesToCreate.push_back( "Earth" );
bodiesToCreate.push_back( "Moon" );
bodiesToCreate.push_back( "Mars" );
bodiesToCreate.push_back( "Venus" );
bodiesToCreate.push_back( "Jupiter" );
bodiesToCreate.push_back( "Saturn" );
bodiesToCreate.push_back( "Mercury" );
// Create body objects.
std::map< std::string, std::shared_ptr< BodySettings > > bodySettings =
getDefaultBodySettings( bodiesToCreate );
// bodySettings[ "Sun" ]->ephemerisSettings->resetFrameOrientation( "J2000" );
// bodySettings[ "Moon" ]->ephemerisSettings->resetFrameOrientation( "J2000" );
// bodySettings[ "Earth" ]->ephemerisSettings->resetFrameOrientation( "J2000" );
// for( unsigned int i = 0; i < bodiesToCreate.size( ); i++ )
// {
// bodySettings[ bodiesToCreate.at( i ) ]->rotationModelSettings->resetOriginalFrame( "J2000" );
// }
bodySettings[ "Mars" ]->ephemerisSettings = std::make_shared< ApproximatePlanetPositionSettings >(
ephemerides::ApproximatePlanetPositionsBase::mars, false );
bodySettings[ "Jupiter" ]->ephemerisSettings = std::make_shared< ApproximatePlanetPositionSettings >(
ephemerides::ApproximatePlanetPositionsBase::mars, false );
bodySettings[ "Saturn" ]->ephemerisSettings = std::make_shared< ApproximatePlanetPositionSettings >(
ephemerides::ApproximatePlanetPositionsBase::mars, false );
bodySettings[ "Venus" ]->ephemerisSettings = std::make_shared< ApproximatePlanetPositionSettings >(
ephemerides::ApproximatePlanetPositionsBase::mars, false );
bodySettings[ "Mercury" ]->ephemerisSettings = std::make_shared< ApproximatePlanetPositionSettings >(
ephemerides::ApproximatePlanetPositionsBase::mars, false );
NamedBodyMap bodyMap = createBodies( bodySettings );
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// CREATE VEHICLE /////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Create spacecraft object.
bodyMap[ "TeslaRoadster" ] = std::make_shared< simulation_setup::Body >( );
bodyMap[ "TeslaRoadster" ]->setConstantBodyMass( 1500.0 );
// Create radiation pressure settings
double referenceAreaRadiation = 8.0;
double radiationPressureCoefficient = 1.2;
std::vector< std::string > occultingBodies;
std::shared_ptr< RadiationPressureInterfaceSettings > teslaRoadsterRadiationPressureSettings =
std::make_shared< CannonBallRadiationPressureInterfaceSettings >(
"Sun", referenceAreaRadiation, radiationPressureCoefficient, occultingBodies );
// Create and set radiation pressure settings
bodyMap[ "TeslaRoadster" ]->setRadiationPressureInterface(
"Sun", createRadiationPressureInterface(
teslaRoadsterRadiationPressureSettings, "TeslaRoadster", bodyMap ) );
// Finalize body creation.
setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" );
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// CREATE ACCELERATIONS //////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Define propagator settings variables.
SelectedAccelerationMap accelerationMap;
std::vector< std::string > bodiesToPropagate;
std::vector< std::string > centralBodies;
// Define propagation settings.
std::map< std::string, std::vector< std::shared_ptr< AccelerationSettings > > > accelerationsOfAsterix;
accelerationsOfAsterix[ "Earth" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Sun" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Moon" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Mars" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Venus" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Mercury" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Saturn" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Jupiter" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::central_gravity ) );
accelerationsOfAsterix[ "Sun" ].push_back( std::make_shared< AccelerationSettings >(
basic_astrodynamics::cannon_ball_radiation_pressure ) );
accelerationMap[ "TeslaRoadster" ] = accelerationsOfAsterix;
bodiesToPropagate.push_back( "TeslaRoadster" );
centralBodies.push_back( "Sun" );
basic_astrodynamics::AccelerationMap accelerationModelMap = createAccelerationModelsMap(
bodyMap, accelerationMap, bodiesToPropagate, centralBodies );
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// CREATE PROPAGATION SETTINGS ////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Set Keplerian elements for TeslaRoadster.
Eigen::Vector6d teslaRoadsterInitialStateJ2000;
teslaRoadsterInitialStateJ2000 << -1.484544094935328E+06, -1.530028575781120E+06, -4.100899567817330E+05,
-2.358201939417945E+00, -2.459124989364402E+00, -6.370785284397021E-01;
teslaRoadsterInitialStateJ2000 *= 1000.0;
teslaRoadsterInitialStateJ2000 += spice_interface::getBodyCartesianStateAtEpoch(
"Earth", "SSB", "J2000", "None", simulationStartEpoch );
Eigen::Quaterniond toEclipJ2000 = spice_interface::computeRotationQuaternionBetweenFrames(
"J2000", "ECLIPJ2000", 0.0 );
Eigen::Vector6d teslaRoadsterInitialState;
teslaRoadsterInitialState.segment( 0, 3 ) = toEclipJ2000 * teslaRoadsterInitialStateJ2000.segment( 0, 3 );
teslaRoadsterInitialState.segment( 3, 3 ) = toEclipJ2000 * teslaRoadsterInitialStateJ2000.segment( 3, 3 );
\
// Define list of dependent variables to save.
std::vector< std::shared_ptr< SingleDependentVariableSaveSettings > > dependentVariablesList;
dependentVariablesList.push_back(
std::make_shared< SingleDependentVariableSaveSettings >(
relative_position_dependent_variable, "Earth", "Sun" ) );
dependentVariablesList.push_back(
std::make_shared< SingleDependentVariableSaveSettings >(
relative_position_dependent_variable, "Mars", "Sun" ) );
dependentVariablesList.push_back(
std::make_shared< SingleDependentVariableSaveSettings >(
relative_position_dependent_variable, "Venus", "Sun" ) );
dependentVariablesList.push_back(
std::make_shared< SingleDependentVariableSaveSettings >(
relative_distance_dependent_variable, "TeslaRoadster", "Earth" ) );
// Create object with list of dependent variables
std::shared_ptr< DependentVariableSaveSettings > dependentVariablesToSave =
std::make_shared< DependentVariableSaveSettings >( dependentVariablesList );
std::shared_ptr< TranslationalStatePropagatorSettings< double > > propagatorSettings =
std::make_shared< TranslationalStatePropagatorSettings< double > >
( centralBodies, accelerationModelMap, bodiesToPropagate, teslaRoadsterInitialState, simulationEndEpoch, cowell,
dependentVariablesToSave );
std::shared_ptr< IntegratorSettings< > > integratorSettings
= std::make_shared< tudat::numerical_integrators::BulirschStoerIntegratorSettings< > >(
simulationStartEpoch, 3600.0,
numerical_integrators::bulirsch_stoer_sequence, 4,
std::numeric_limits< double >::epsilon( ), std::numeric_limits< double >::infinity( ),
1.0E-15, 1.0E-12 );
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// PROPAGATE ORBIT ////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Create simulation object and propagate dynamics.
SingleArcDynamicsSimulator< > dynamicsSimulator(
bodyMap, integratorSettings, propagatorSettings, true, false, false );
std::map< double, Eigen::VectorXd > integrationResult = dynamicsSimulator.getEquationsOfMotionNumericalSolution( );
std::map< double, Eigen::VectorXd > dependentVariableResult = dynamicsSimulator.getDependentVariableHistory( );
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////// PROVIDE OUTPUT TO CONSOLE AND FILES //////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std::string outputSubFolder = "SpacexTeslaExample/";
// Write perturbed satellite propagation history to file.
input_output::writeDataMapToTextFile( integrationResult,
"spacexTeslaPropagationHistory.dat",
tudat_applications::getOutputPath( ) + outputSubFolder,
"",
std::numeric_limits< double >::digits10,
std::numeric_limits< double >::digits10,
"," );
input_output::writeDataMapToTextFile( dependentVariableResult,
"spacexTeslaDependentVariableHistory.dat",
tudat_applications::getOutputPath( ) + outputSubFolder,
"",
std::numeric_limits< double >::digits10,
std::numeric_limits< double >::digits10,
"," );
// Final statement.
// The exit code EXIT_SUCCESS indicates that the program was successfully executed.
return EXIT_SUCCESS;
}
