//------------------------------------------------------------------------------
// Returns the attitude (DCM) state from inertial-to-body at the specified
// input time.
//------------------------------------------------------------------------------
Rmatrix33 CCSDSAEMEulerAngleSegment::GetState(Real atEpoch)
{
#ifdef DEBUG_AEM_EULER_GET_STATE
MessageInterface::ShowMessage("====== Entering EulerSegment::GetState with epoch = %lf, dataStore size = %d\n",
atEpoch, (Integer) dataStore.size());
#endif
// DetermineState will look for an exact match; if so,
// return the state at that time; if not, then return the last
// state (if interpolation degree = 0) or else, interpolate
// to the requested time
Rvector eulerAngles(3);
eulerAngles = DetermineState(atEpoch);
#ifdef DEBUG_AEM_EULER_GET_STATE
MessageInterface::ShowMessage(" eulerAngles (deg) from DetermineState are: %12.10f %12.10f %12.10f\n",
eulerAngles[0] * GmatMathConstants::DEG_PER_RAD,
eulerAngles[1] * GmatMathConstants::DEG_PER_RAD,
eulerAngles[2] * GmatMathConstants::DEG_PER_RAD);
MessageInterface::ShowMessage(" and euler sequence is: %d %d %d\n", euler1, euler2, euler3);
#endif
// Conversion method has to have an Rvector3
Rvector3 theEulerAngles(eulerAngles(0), eulerAngles(1), eulerAngles(2));
Rmatrix33 theDCM = AttitudeConversionUtility::ToCosineMatrix(
theEulerAngles, euler1, euler2, euler3);
#ifdef DEBUG_AEM_EULER_GET_STATE
MessageInterface::ShowMessage("About to Exit EulerSegment::GetState, DCM = %s\n",
theDCM.ToString().c_str());
#endif
if (inertialToBody) return theDCM;
else return theDCM.Transpose();
}
//------------------------------------------------------------------------------
// void ConvertDeltaVToInertial(Real *dv, Real *dvInertial, Real epoch)
//------------------------------------------------------------------------------
void Burn::ConvertDeltaVToInertial(Real *dv, Real *dvInertial, Real epoch)
{
#ifdef DEBUG_BURN_CONVERT
MessageInterface::ShowMessage
("Burn::ConvertDeltaVToInertial(), usingLocalCoordSys=%d, coordSystemName='%s', "
"coordSystem=<%p>'%s'\n", usingLocalCoordSys, coordSystemName.c_str(),
coordSystem, coordSystem ? coordSystem->GetName().c_str() : "NULL");
#endif
if (usingLocalCoordSys && localCoordSystem == NULL)
{
throw BurnException
("Unable to convert burn elements to Inertial, the local Coordinate "
"System has not been created");
}
else if (!usingLocalCoordSys && coordSystem == NULL)
{
throw BurnException
("Unable to convert burn elements to Inertial, the Coordinate "
"System has not been set");
}
Real inDeltaV[6], outDeltaV[6];
for (Integer i=0; i<3; i++)
inDeltaV[i] = dv[i];
for (Integer i=3; i<6; i++)
inDeltaV[i] = 0.0;
// if not using local CS, use ref CoordinateSystem
if (!usingLocalCoordSys)
{
// Now rotate to MJ2000Eq axes, we don't want to translate so
// set coincident to true
coordSystem->ToBaseSystem(epoch, inDeltaV, outDeltaV, true); // @todo - need ToMJ2000Eq here?
#ifdef DEBUG_BURN_CONVERT_ROTMAT
Rmatrix33 rotMat = coordSystem->GetLastRotationMatrix();
MessageInterface::ShowMessage
("rotMat=\n%s\n", rotMat.ToString(16, 20).c_str());
#endif
dvInertial[0] = outDeltaV[0];
dvInertial[1] = outDeltaV[1];
dvInertial[2] = outDeltaV[2];
}
else
{
// if MJ2000Eq axes rotation matrix is always identity matrix
if (isMJ2000EqAxes)
{
dvInertial[0] = dv[0];
dvInertial[1] = dv[1];
dvInertial[2] = dv[2];
}
else if (isSpacecraftBodyAxes)
{
Rvector3 inDeltaV(dv[0], dv[1], dv[2]);
Rvector3 outDeltaV;
// Get attitude matrix from Spacecraft and transpose since
// attitude matrix from spacecraft gives rotation matrix from
// inertial to body
Rmatrix33 inertialToBody = spacecraft->GetAttitude(epoch);
Rmatrix33 rotMat = inertialToBody.Transpose();
#ifdef DEBUG_BURN_CONVERT_ROTMAT
MessageInterface::ShowMessage
("for local Spacecraft body ----- rotMat=\n%s\n", rotMat.ToString(16, 20).c_str());
#endif
outDeltaV = inDeltaV * rotMat;
for (Integer i=0; i<3; i++)
dvInertial[i] = outDeltaV[i];
}
else
{
// // Now rotate to MJ2000Eq axes
// localCoordSystem->ToMJ2000Eq(epoch, inDeltaV, outDeltaV, true);
// Now rotate to base system axes
localCoordSystem->ToBaseSystem(epoch, inDeltaV, outDeltaV, true); // @todo - need ToMJ2000Eq here?
dvInertial[0] = outDeltaV[0];
dvInertial[1] = outDeltaV[1];
dvInertial[2] = outDeltaV[2];
}
}
#ifdef DEBUG_BURN_CONVERT
MessageInterface::ShowMessage
("Burn::ConvertDeltaVToInertial() returning\n"
" dv = %f %f %f\n dvInertial = %f %f %f\n",
dv[0], dv[1], dv[2], dvInertial[0], dvInertial[1], dvInertial[2]);
#endif
}
//------------------------------------------------------------------------------
bool GravityField::GetDerivatives(Real * state, Real dt, Integer dvorder,
const Integer id)
{
#ifdef DEBUG_FIRST_CALL
if (firstCallFired == false)
{
MessageInterface::ShowMessage(
"GravityField(%s) inputs:\n"
" state = [%.10lf %.10lf %.10lf %.16lf %.16lf %.16lf]\n"
" dt = %.10lf\n dvorder = %d\n",
instanceName.c_str(), state[0], state[1], state[2], state[3],
state[4], state[5], dt, dvorder);
}
#endif
// We may want to do this down the road:
// if (fabs(state[0]) + fabs(state[1]) + fabs(state[2]) < minimumDistance)
// throw ODEModelException("A harmonic gravity field is being computed "
// "inside of the " + bodyName + ", which is not allowed");
if ((dvorder > 2) || (dvorder < 1))
return false;
#ifdef DEBUG_GRAVITY_FIELD
MessageInterface::ShowMessage("%s %d %s %le %s %le %le %le %le %le %le\n",
"Entered GravityField::GetDerivatives with order", dvorder, "dt = ",
dt, "and state\n",
state[0], state[1], state[2], state[3], state[4], state[5]);
MessageInterface::ShowMessage("cartesianCount = %d, stmCount = %d, aMatrixCount = %d\n",
cartesianCount, stmCount, aMatrixCount);
MessageInterface::ShowMessage("fillCartesian = %s, fillSTM = %s, fillAMatrix = %s\n",
(fillCartesian? "true" : "false"), (fillSTM? "true" : "false"), (fillAMatrix? "true" : "false"));
MessageInterface::ShowMessage("cartesianStart = %d, stmStart = %d, aMatrixStart = %d\n",
cartesianStart, stmStart, aMatrixStart);
#endif
/// @todo Optimize this code -- May be possible to make GravityField calculations more efficient
if ((cartesianCount < 1) && (stmCount < 1) && (aMatrixCount < 1))
throw ODEModelException(
"GravityField requires at least one spacecraft.");
// todo: Move into header; this flag is used to decide if the velocity terms
// are copied into the position derivatives for first order integrators, so
// when the GravityField is set to work at non-central bodies, the detection
// will need to happen in initialization.
Real satState[6];
Integer nOffset;
now = epoch + dt/GmatTimeConstants::SECS_PER_DAY;
#ifdef DEBUG_GRAV_COORD_SYSTEM
MessageInterface::ShowMessage(
"------ body = %s\n------ inputCS = %s\n------ targetCS = %s"
"\n------ fixedCS = %s\n",
body->GetName().c_str(), (inputCS == NULL? "NULL" : inputCS->GetName().c_str()),
(targetCS == NULL? "NULL" : targetCS->GetName().c_str()), (fixedCS == NULL? "NULL" : fixedCS->GetName().c_str()));
#endif
#ifdef DEBUG_FIRST_CALL
if (firstCallFired == false)
{
CelestialBody *targetBody = (CelestialBody*) targetCS->GetOrigin();
CelestialBody *fixedBody = (CelestialBody*) fixedCS->GetOrigin();
MessageInterface::ShowMessage(
" Epoch = %.12lf\n targetBody = %s\n fixedBody = %s\n",
now.Get(), targetBody->GetName().c_str(),
fixedBody->GetName().c_str());
MessageInterface::ShowMessage(
"------ body = %s\n------ inputCS = %s\n------ targetCS = %s\n"
"------ fixedCS = %s\n",
body->GetName().c_str(), inputCS->GetName().c_str(),
targetCS->GetName().c_str(), fixedCS->GetName().c_str());
}
#endif
if (fillCartesian || fillAMatrix || fillSTM)
{
// See assumption 1, above
if ((cartesianCount < stmCount) || (cartesianCount < aMatrixCount))
{
throw ODEModelException("GetDerivatives: cartesianCount < stmCount or aMatrixCount\n");
}
Real originacc[3] = { 0.0,0.0,0.0 }; // JPD code
Rmatrix33 origingrad (0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
Rmatrix33 emptyGradient(0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
Rmatrix33 gradnew (0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
if (body != forceOrigin)
{
Real originstate[6] = { 0.0,0.0,0.0,0.0,0.0,0.0 };
Calculate(dt,originstate,originacc,origingrad);
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("---------> origingrad = %s\n", origingrad.ToString().c_str());
#endif
}
for (Integer n = 0; n < cartesianCount; ++n)
{
nOffset = cartesianStart + n * stateSize;
for (Integer i = 0; i < 6; ++i)
satState[i] = state[i+nOffset];
Real accnew[3]; // JPD code
gradnew = emptyGradient;
Calculate(dt,satState,accnew,gradnew);
if (body != forceOrigin)
{
for (Integer i=0; i<=2; ++i)
accnew[i] -= originacc[i];
gradnew -= origingrad;
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("---------> body not equal to forceOrigin\n");
#endif
}
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("---------> gradnew (%d) = %s\n", n, gradnew.ToString().c_str());
#endif
// Fill Derivatives
switch (dvorder)
{
case 1:
deriv[0+nOffset] = satState[3];
deriv[1+nOffset] = satState[4];
deriv[2+nOffset] = satState[5];
deriv[3+nOffset] = accnew[0];
deriv[4+nOffset] = accnew[1];
deriv[5+nOffset] = accnew[2];
break;
case 2:
deriv[0+nOffset] = accnew[0];
deriv[1+nOffset] = accnew[1];
deriv[2+nOffset] = accnew[2];
deriv[3+nOffset] = 0.0;
deriv[4+nOffset] = 0.0;
deriv[5+nOffset] = 0.0;
break;
}
#ifdef DEBUG_DERIVATIVES
for (Integer ii = 0 + nOffset; ii < 6+nOffset; ii++)
MessageInterface::ShowMessage("------ deriv[%d] = %12.10f\n", ii, deriv[ii]);
#endif
if (fillSTM)
{
Real aTilde[36];
Integer element;
// @todo Add the use of the GetAssociateIndex() method here to get index into state array
// (See assumption 1, above)
if (n <= stmCount)
{
Integer i6 = stmStart + n * 36;
// Calculate A-tilde
aTilde[ 0] = aTilde[ 1] = aTilde[ 2] =
aTilde[ 3] = aTilde[ 4] = aTilde[ 5] =
aTilde[ 6] = aTilde[ 7] = aTilde[ 8] =
aTilde[ 9] = aTilde[10] = aTilde[11] =
aTilde[12] = aTilde[13] = aTilde[14] =
aTilde[15] = aTilde[16] = aTilde[17] =
aTilde[21] = aTilde[22] = aTilde[23] =
aTilde[27] = aTilde[28] = aTilde[29] =
aTilde[33] = aTilde[34] = aTilde[35] = 0.0;
// fill in the lower left quadrant with the calculated gradient values
aTilde[18] = gradnew(0,0);
aTilde[19] = gradnew(0,1);
aTilde[20] = gradnew(0,2);
aTilde[24] = gradnew(1,0);
aTilde[25] = gradnew(1,1);
aTilde[26] = gradnew(1,2);
aTilde[30] = gradnew(2,0);
aTilde[31] = gradnew(2,1);
aTilde[32] = gradnew(2,2);
for (Integer j = 0; j < 6; j++)
{
for (Integer k = 0; k < 6; k++)
{
element = j * 6 + k;
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("------ deriv[%d] = %12.10f\n", (i6+element), aTilde[element]);
#endif
deriv[i6+element] = aTilde[element];
}
}
}
}
if (fillAMatrix)
{
Real aTilde[36];
Integer element;
// @todo Add the use of the GetAssociateIndex() method here to get index into state array
// (See assumption 1, above)
if (n <= aMatrixCount)
{
Integer i6 = aMatrixStart + n * 36;
// Calculate A-tilde
aTilde[ 0] = aTilde[ 1] = aTilde[ 2] =
aTilde[ 3] = aTilde[ 4] = aTilde[ 5] =
aTilde[ 6] = aTilde[ 7] = aTilde[ 8] =
aTilde[ 9] = aTilde[10] = aTilde[11] =
aTilde[12] = aTilde[13] = aTilde[14] =
aTilde[15] = aTilde[16] = aTilde[17] =
aTilde[21] = aTilde[22] = aTilde[23] =
aTilde[27] = aTilde[28] = aTilde[29] =
aTilde[33] = aTilde[34] = aTilde[35] = 0.0;
// fill in the lower left quadrant with the calculated gradient values
aTilde[18] = gradnew(0,0);
aTilde[19] = gradnew(0,1);
aTilde[20] = gradnew(0,2);
aTilde[24] = gradnew(1,0);
aTilde[25] = gradnew(1,1);
aTilde[26] = gradnew(1,2);
aTilde[30] = gradnew(2,0);
aTilde[31] = gradnew(2,1);
aTilde[32] = gradnew(2,2);
for (Integer j = 0; j < 6; j++)
{
for (Integer k = 0; k < 6; k++)
{
element = j * 6 + k;
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("------ deriv[%d] = %12.10f\n", (i6+element), aTilde[element]);
#endif
deriv[i6+element] = aTilde[element];
}
}
}
}
} // end for
}
#ifdef DEBUG_FIRST_CALL
if (firstCallFired == false)
{
if (body->GetName() == "Mars")
{
MessageInterface::ShowMessage(
" GravityField[%s <> %s] --> mu = %lf, origin = %s, [%.10lf %.10lf "
"%.10lf %.16lf %.16lf %.16lf]\n",
instanceName.c_str(), body->GetName().c_str(), mu,
targetCS->GetOriginName().c_str(),
deriv[0], deriv[1], deriv[2], deriv[3], deriv[4], deriv[5]);
firstCallFired = true;
}
}
#endif
return true;
}
//------------------------------------------------------------------------------
void GravityField::Calculate (Real dt, Real state[6],
Real acc[3], Rmatrix33& grad)
{
#ifdef DEBUG_CALCULATE
MessageInterface::ShowMessage(
"Entering Calculate with dt = %12.10f, state = %12.10f %12.10f %12.10f %12.10f %12.10f %12.10f\n",
dt, state[0], state[1], state[2], state[3], state[4], state[5]);
MessageInterface::ShowMessage(" acc = %12.10f %12.10f %12.10f\n", acc[0], acc[1], acc[2]);
#endif
Real jday = epoch + GmatTimeConstants::JD_JAN_5_1941 +
dt/GmatTimeConstants::SECS_PER_DAY;
// convert to body fixed coordinate system
Real now = epoch + dt/GmatTimeConstants::SECS_PER_DAY;
Real tmpState[6];
// CoordinateConverter cc; - move back to class, for performance
cc.Convert(now, state, inputCS, tmpState, fixedCS); // which CSs to use here???
#ifdef DEBUG_CALCULATE
MessageInterface::ShowMessage(
"After Convert, jday = %12.10f, now = %12.10f, and tmpState = %12.10f %12.10f %12.10f %12.10f %12.10f %12.10f\n",
jday, now, tmpState[0], tmpState[1], tmpState[2], tmpState[3], tmpState[4], tmpState[5]);
#endif
Rmatrix33 rotMatrix = cc.GetLastRotationMatrix();
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("---->>>> rotMatrix = %s\n", rotMatrix.ToString().c_str());
#endif
// calculate sun and moon pos
Real sunpos[3] = {0.0,0.0,0.0};
Real moonpos[3] = {0.0,0.0,0.0};
Real sunMass = 0.0;
Real moonMass = 0.0;
// Acceleration
Real rotacc[3];
Rmatrix33 rotgrad;
bool useTides;
// for now, "None" and "SolidAndPole" are the only valid EarthTideModel values
if ((bodyName == GmatSolarSystemDefaults::EARTH_NAME) && (GmatStringUtil::ToUpper(earthTideModel) == "SOLIDANDPOLE"))
{
Real ep = epoch + dt / GmatTimeConstants::SECS_PER_DAY; // isn't this the same as now?
CelestialBody* theSun = solarSystem->GetBody(SolarSystem::SUN_NAME);
CelestialBody* theMoon = solarSystem->GetBody(SolarSystem::MOON_NAME);
if (!theSun || !theMoon)
throw ODEModelException("Solar system does not contain the Sun or Moon for Tide model.");
Rvector6 sunstateinertial = theSun->GetState(ep);
Rvector6 moonstateinertial = theMoon->GetState(ep);
Rvector6 sunstate;
Rvector6 moonstate;
cc.Convert(now, sunstateinertial, inputCS, sunstate, fixedCS);
cc.Convert(now, moonstateinertial, inputCS, moonstate, fixedCS);
sunstate.GetR(sunpos);
moonstate.GetR(moonpos);
sunMass = theSun->GetMass();
moonMass = theMoon->GetMass();
useTides = true;
}
else
useTides = false;
#ifdef DEBUG_GRAVITY_EARTH_TIDE
MessageInterface::ShowMessage("Calling gravityModel->CalculateFullField with useTides = %s\n",
(useTides? "true" : "false"));
#endif
// Get xp and yp from the EOP file
Real xp, yp, lod;
Real utcmjd = TimeConverterUtil::Convert(now, TimeConverterUtil::A1MJD, TimeConverterUtil::UTCMJD,
GmatTimeConstants::JD_JAN_5_1941);
eop->GetPolarMotionAndLod(utcmjd, xp, yp, lod);
bool computeMatrix = fillAMatrix || fillSTM;
gravityModel->CalculateFullField(jday, tmpState, degree, order, useTides, sunpos, moonpos, sunMass, moonMass,
xp, yp, computeMatrix, rotacc, rotgrad);
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("after CalculateFullField, rotgrad = %s\n", rotgrad.ToString().c_str());
#endif
/*
MessageInterface::ShowMessage
("HarmonicField::Calculate pos= %20.14f %20.14f %20.14f\n",
tmpState[0],tmpState[1],tmpState[2]);
MessageInterface::ShowMessage
("HarmonicField::Calculate grad= %20.14e %20.14e %20.14e\n",
rotgrad(0,0),rotgrad(0,1),rotgrad(0,2));
MessageInterface::ShowMessage
("HarmonicField::Calculate grad= %20.14e %20.14e %20.14e\n",
rotgrad(1,0),rotgrad(1,1),rotgrad(1,2));
MessageInterface::ShowMessage
("HarmonicField::Calculate grad= %20.14e %20.14e %20.14e\n",
rotgrad(2,0),rotgrad(2,1),rotgrad(2,2));
*/
// Convert back to target CS
InverseRotate (rotMatrix,rotacc,acc);
grad = rotMatrix.Transpose() * rotgrad * rotMatrix;
#ifdef DEBUG_DERIVATIVES
MessageInterface::ShowMessage("at end of Calculate, after rotation, grad = %s\n", grad.ToString().c_str());
#endif
}
