//------------------------------------------------------------------------------
// 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();
}
//------------------------------------------------------------------------------
Rmatrix33 ITRFAxes::Skew(Rvector3 vec)
{
Rmatrix33 r;
r.SetElement(0,0,0.0); r.SetElement(0,1,-vec.GetElement(2)); r.SetElement(0,2,vec.GetElement(1));
r.SetElement(1,0,vec.GetElement(2)); r.SetElement(1,1,0.0); r.SetElement(1,2,-vec.GetElement(0));
r.SetElement(2,0,-vec.GetElement(1)); r.SetElement(2,1,vec.GetElement(0)); r.SetElement(2,2,0.0);
return r;
}
//------------------------------------------------------------------------------
Rmatrix33 ITRFAxes::R3(Real angle)
{
Rmatrix33 r;
Real c = cos(angle);
Real s = sin(angle);
r.SetElement(0,0,c); r.SetElement(0,1,s); r.SetElement(0,2,0.0);
r.SetElement(1,0,-s); r.SetElement(1,1,c); r.SetElement(1,2,0.0);
r.SetElement(2,0,0.0); r.SetElement(2,1,0.0); r.SetElement(2,2,1.0);
return r;
}
void CoordinateConverter::RotationMatrixFromICRFToFK5(const A1Mjd &atEpoch)
{
Real theEpoch = atEpoch.Get();
#ifdef DEBUG_ICRF_TOFK5
MessageInterface::ShowMessage(
"Enter CoordinateConverter::RotationMatrixFromICRFToFK5 at epoch %18.12lf; \n\n", theEpoch);
#endif
// Specify Euler rotation vector for theEpoch:
Real vec[3];
ICRFFile* icrfFile = ICRFFile::Instance();
icrfFile->Initialize();
icrfFile->GetICRFRotationVector(theEpoch, &vec[0], 3, 9);
// Calculate rotation matrix based on Euler rotation vector:
Real angle = GmatMathUtil::Sqrt(vec[0]*vec[0]+vec[1]*vec[1]+vec[2]*vec[2]);
Real a[3];
a[0] = vec[0]/angle; a[1] = vec[1]/angle; a[2] = vec[2]/angle;
Real c = GmatMathUtil::Cos(angle);
Real s = GmatMathUtil::Sin(angle);
// rotation matrix from FK5 to ICRF:
Rmatrix33 rotM;
rotM.SetElement(0,0, c+a[0]*a[0]*(1-c));
rotM.SetElement(0,1, a[0]*a[1]*(1-c)+a[2]*s);
rotM.SetElement(0,2, a[0]*a[2]*(1-c)-a[1]*s);
rotM.SetElement(1,0, a[0]*a[1]*(1-c)-a[2]*s);
rotM.SetElement(1,1, c+a[1]*a[1]*(1-c));
rotM.SetElement(1,2, a[1]*a[2]*(1-c)+a[0]*s);
rotM.SetElement(2,0, a[0]*a[2]*(1-c)+a[1]*s);
rotM.SetElement(2,1, a[1]*a[2]*(1-c)-a[0]*s);
rotM.SetElement(2,2, c+a[2]*a[2]*(1-c));
// rotation matrix from ICRF to FK5:
icrfToFK5 = rotM.Transpose();
// rotation dot matrix from ICRF to FK5:
icrfToFK5Dot.Set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
#ifdef DEBUG_ICRF_TOFK5
MessageInterface::ShowMessage("theEpoch = %18.12lf\n",theEpoch);
MessageInterface::ShowMessage("rotation vector = %18.12e %18.12e %18.12e\n", vec[0], vec[1], vec[2]);
MessageInterface::ShowMessage("R(0,0)=%18.12e, R(0,1)=%18.12e, R(0,2)=%18.12e\n",icrfToFK5(0,0),icrfToFK5(0,1),icrfToFK5(0,2));
MessageInterface::ShowMessage("R(1,0)=%18.12e, R(1,1)=%18.12e, R(1,2)=%18.12e\n",icrfToFK5(1,0),icrfToFK5(1,1),icrfToFK5(1,2));
MessageInterface::ShowMessage("R(2,0)=%18.12e, R(2,1)=%18.12e, R(2,2)=%18.12e\n",icrfToFK5(2,0),icrfToFK5(2,1),icrfToFK5(2,2));
MessageInterface::ShowMessage("Rdot(0,0)=%18.12e, Rdot(0,1)=%18.12e, Rdot(0,2)=%18.12e\n",icrfToFK5Dot(0,0),icrfToFK5Dot(0,1),icrfToFK5Dot(0,2));
MessageInterface::ShowMessage("Rdot(1,0)=%18.12e, Rdot(1,1)=%18.12e, Rdot(1,2)=%18.12e\n",icrfToFK5Dot(1,0),icrfToFK5Dot(1,1),icrfToFK5Dot(1,2));
MessageInterface::ShowMessage("Rdot(2,0)=%18.12e, Rdot(2,1)=%18.12e, Rdot(2,2)=%18.12e\n\n\n",icrfToFK5Dot(2,0),icrfToFK5Dot(2,1),icrfToFK5Dot(2,2));
#endif
#ifdef DEBUG_ICRF_TOFK5
MessageInterface::ShowMessage("NOW exiting CoordinateConverter::RotationMatrixFromICRFToFK5 ...\n\n");
#endif
}
//------------------------------------------------------------------------------
// Rvector3 operator/(const Rmatrix33& m) const
//------------------------------------------------------------------------------
Rvector3 Rvector3::operator/(const Rmatrix33& m) const
{
Rmatrix33 invM;
try
{
invM = m.Inverse();
}
catch (Rmatrix::IsSingular)
{
throw;
}
return (*this) * invM;
}
// ********** JPD added these ***********
//--------------------------------------------------------------------
void GravityField::InverseRotate (Rmatrix33& rot, const Real in[3], Real out[3])
{
const Real *rm = rot.GetDataVector();
const Real rmt[9] = {rm[0], rm[3], rm[6],
rm[1], rm[4], rm[7],
rm[2], rm[5], rm[8]};
for (Integer p = 0; p < 3; ++p)
{
Integer p3 = 3*p;
out[p] = rmt[p3] * in[0] +
rmt[p3+1] * in[1] +
rmt[p3+2] * in[2];
}
}
//------------------------------------------------------------------------------
// 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
}
//---------------------------------------------------------------------------
void SpiceAttitudeKernelReader::GetTargetOrientation(const wxString &objectName,
Integer naifID,
Integer forFrameNaifId,
const A1Mjd &atTime,
// Real tolerance,
Rmatrix33 &r33,
Rvector3 &angVel,
const wxString &referenceFrame)
{
#ifdef DEBUG_CK_READING
MessageInterface::ShowMessage(wxT("Entering GetTargetOrientation for object %s, with NAIF ID %d, at time %12.10f, with frame = %s\n"),
objectName.c_str(), naifID, atTime.Get(), referenceFrame.c_str());
#endif
wxString objectNameToUse = objectName;
objectNameToUse = GmatStringUtil::ToUpper(objectNameToUse);
objectNameSPICE = objectNameToUse.char_str();
naifIDSPICE = naifID;
frameNaifIDSPICE = forFrameNaifId;
referenceFrameSPICE = referenceFrame.char_str();
etSPICE = A1ToSpiceTime(atTime.Get());
// boddef_c(objectNameSPICE, naifIDSPICE); // CSPICE method to set NAIF ID for an object - is this valid for spacecraft?
// Convert the time (in TDB) to spacecaft ticks
SpiceDouble scTime;
sce2c_c(naifIDSPICE, etSPICE, &scTime);
if (failed_c())
{
ConstSpiceChar option[] = "LONG"; // retrieve long error message, for now
SpiceInt numChar = MAX_LONG_MESSAGE_VALUE;
//SpiceChar err[MAX_LONG_MESSAGE_VALUE];
SpiceChar *err = new SpiceChar[MAX_LONG_MESSAGE_VALUE];
getmsg_c(option, numChar, err);
wxString errStr(wxString::FromAscii(err));
wxString errmsg = wxT("Error getting spacecraft time (ticks) for object \"");
errmsg += objectName + wxT("\". Message received from CSPICE is: ");
errmsg += errStr + wxT("\n");
reset_c();
delete [] err;
throw UtilityException(errmsg);
}
// get the tolerance in spacecraft clock ticks
wxString tolerance = wxT("01"); // this should probably be user input, or set as a constant
ConstSpiceChar *tol = tolerance.char_str();
SpiceDouble tolTicks;
sctiks_c(naifIDSPICE, tol, &tolTicks);
if (failed_c())
{
ConstSpiceChar option[] = "LONG"; // retrieve long error message, for now
SpiceInt numChar = MAX_LONG_MESSAGE_VALUE;
//SpiceChar err[MAX_LONG_MESSAGE_VALUE];
SpiceChar *err = new SpiceChar[MAX_LONG_MESSAGE_VALUE];
getmsg_c(option, numChar, err);
wxString errStr(wxString::FromAscii(err));
wxString errmsg = wxT("Error getting tolerance (ticks) for object \"");
errmsg += objectName + wxT("\". Message received from CSPICE is: ");
errmsg += errStr + wxT("\n");
reset_c();
delete [] err;
throw UtilityException(errmsg);
}
#ifdef DEBUG_CK_READING
MessageInterface::ShowMessage(wxT("First, check for coverage for object \"%s\", with NAIF ID %d\n"),
objectName.c_str(), naifID);
#endif
Real beginCov = 0.0;
Real endCov = 0.0;
GetCoverageStartAndEnd(loadedKernels, forFrameNaifId, beginCov, endCov, false);
// Now get the C-matrix and angular velocity at the requested time
SpiceDouble cmat[3][3];
SpiceDouble av[3];
SpiceBoolean found;
SpiceDouble clkout;
#ifdef DEBUG_CK_READING
MessageInterface::ShowMessage(wxT("about to call ckgpav: \n"));
MessageInterface::ShowMessage(wxT(" NAIF ID = %d\n")
wxT(" etSPICE = %12.10f\n")
wxT(" scTime = %12.10fn")
wxT(" tolTicks = %12.10f\n")
wxT(" refFrame = %s\n"),
(Integer) naifIDSPICE, (Real) etSPICE, (Real) scTime, (Real) tolTicks,
referenceFrame.c_str());
#endif
ckgpav_c(frameNaifIDSPICE, scTime, tolTicks, referenceFrameSPICE, cmat, av, &clkout, &found);
// ckgpav_c(naifIDSPICE, scTime, tolTicks, referenceFrameSPICE, cmat, av, &clkout, &found);
if (failed_c())
{
ConstSpiceChar option[] = "LONG"; // retrieve long error message, for now
SpiceInt numChar = MAX_LONG_MESSAGE_VALUE;
//SpiceChar err[MAX_LONG_MESSAGE_VALUE];
SpiceChar *err = new SpiceChar[MAX_LONG_MESSAGE_VALUE];
getmsg_c(option, numChar, err);
wxString errStr(wxString::FromAscii(err));
wxString errmsg = wxT("Error getting C-matrix and/or angular velocity for object \"");
errmsg += objectName + wxT("\". Message received from CSPICE is: ");
errmsg += errStr + wxT("\n");
reset_c();
delete [] err;
throw UtilityException(errmsg);
}
if (found == SPICEFALSE)
{
wxString errmsg = wxT("Pointing data for object ");
errmsg += objectName + wxT(" not found on loaded CK/SCLK kernels.\n");
throw UtilityException(errmsg);
}
#ifdef DEBUG_CK_READING
MessageInterface::ShowMessage(wxT("results from ckgpav: \n"));
MessageInterface::ShowMessage(wxT(" cosMat = %12.10f %12.10f %12.10f\n")
wxT(" %12.10f %12.10f %12.10f\n")
wxT(" %12.10f %12.10f %12.10f\n"),
(Real)cmat[0][0], (Real)cmat[0][1], (Real)cmat[0][2],
(Real)cmat[1][0], (Real)cmat[1][1], (Real)cmat[1][2],
(Real)cmat[2][0], (Real)cmat[2][1], (Real)cmat[2][2]);
MessageInterface::ShowMessage(wxT(" angvel = %12.10f %12.10f %12.10f\n"),
(Real)av[0], (Real)av[1], (Real)av[2]);
MessageInterface::ShowMessage(wxT(" and clkout = %12.10f\n"), (Real) clkout);
#endif
// Set output values
r33.Set(cmat[0][0], cmat[0][1], cmat[0][2],
cmat[1][0], cmat[1][1], cmat[1][2],
cmat[2][0], cmat[2][1], cmat[2][2]);
angVel.Set(av[0], av[1], av[2]);
}
//------------------------------------------------------------------------------
void ITRFAxes::CalculateRotationMatrix(const A1Mjd &atEpoch,
bool forceComputation)
{
#ifdef DEBUG_FIRST_CALL
if (!firstCallFired)
MessageInterface::ShowMessage(
"Calling ITRF::CalculateRotationMatrix at epoch %18.12lf; \n", atEpoch.Get());
#endif
Real theEpoch = atEpoch.Get();
// Perform time computations and read EOP file
Real sec2rad = GmatMathConstants::RAD_PER_DEG/3600;
Real a1MJD = theEpoch;
Real utcMJD = TimeConverterUtil::Convert(a1MJD,
TimeConverterUtil::A1MJD, TimeConverterUtil::UTCMJD,
JD_JAN_5_1941);
Real offset = JD_JAN_5_1941 - JD_NOV_17_1858;
Real xp,yp,LOD,dUT1;
dUT1 = eop->GetUt1UtcOffset(utcMJD + offset);
eop->GetPolarMotionAndLod(utcMJD + offset, xp, yp, LOD);
xp = xp*sec2rad;
yp = yp*sec2rad;
Real ut1MJD = TimeConverterUtil::Convert(a1MJD,
TimeConverterUtil::A1MJD, TimeConverterUtil::UT1,
JD_JAN_5_1941);
// Compute elapsed Julian centuries (UT1)
Real tDiff = JD_JAN_5_1941 - JD_OF_J2000;
Real jdUT1 = ut1MJD + JD_JAN_5_1941;
// convert input A1 MJD to TT MJD (for most calculations)
Real ttMJD = TimeConverterUtil::Convert(a1MJD,
TimeConverterUtil::A1MJD, TimeConverterUtil::TTMJD,
JD_JAN_5_1941);
Real jdTT = ttMJD + JD_JAN_5_1941; // right?
// Compute Julian centuries of TDB from the base epoch (J2000)
// NOTE - this is really TT, an approximation of TDB *********
Real T_TT = (ttMJD + tDiff) / DAYS_PER_JULIAN_CENTURY;
// Compute the Polar Motion Matrix, W, and Earth Rotation Angle, theta
Real sPrime = -0.000047*sec2rad*T_TT;
Rmatrix33 W = R3(-sPrime)*R2(xp)*R1(yp);
Real theta = fmod(GmatMathConstants::TWO_PI*(0.7790572732640 + 1.00273781191135448*(jdUT1 - 2451545.0)),GmatMathConstants::TWO_PI);
// Compute the precession-nutation matrix
// . interpolate the XYs data file
Real data[3];
if (iauFile == NULL)
{
throw CoordinateSystemException("Error: IAUFile object is NULL. GMAT cannot get IAU data.\n");
}
iauFile->GetIAUData(jdTT,data,3,9);
Real X = data[0]*sec2rad;
Real Y = data[1]*sec2rad;
Real s = data[2]*sec2rad;
// . construct the Precession Nutation matrix
Real b = 1/(1 + sqrt(1- X*X - Y*Y));
Rmatrix33 CT;
CT.SetElement(0,0, 1-b*X*X); CT.SetElement(0,1, -b*X*Y ); CT.SetElement(0,2,X);
CT.SetElement(1,0, -b*X*Y); CT.SetElement(1,1, 1-b*Y*Y); CT.SetElement(1,2,Y);
CT.SetElement(2,0, -X); CT.SetElement(2,1, -Y); CT.SetElement(2,2,(1 - b*(X*X + Y*Y)));
CT = CT*R3(s);
// Form the complete rotation matrix from ITRF to GCRF
Rmatrix33 R = CT*R3(-theta)*W;
Real omegaEarth = 7.292115146706979e-5*(1 - LOD/86400);
Rvector3 vec(0.0, 0.0, omegaEarth);
Rmatrix33 Rdot = CT*R3(-theta)*Skew(vec)*W;
rotMatrix = R;
rotDotMatrix = Rdot;
#ifdef DEBUG_ITRF_ROT_MATRIX
MessageInterface::ShowMessage("a1MJD = %18.10lf\n",a1MJD);
MessageInterface::ShowMessage("utcMJD = %18.10lf\n",utcMJD);
MessageInterface::ShowMessage("dUT1=%18.10e, xp=%18.10e, yp=%18.10e, LOD=%18.10e\n",dUT1,xp,yp,LOD);
MessageInterface::ShowMessage("ut1MJD = %18.10lf\n",ut1MJD);
MessageInterface::ShowMessage("ttMJD = %18.10lf\n",ttMJD);
MessageInterface::ShowMessage("jdTT = %18.10lf\n",jdTT);
MessageInterface::ShowMessage("jdUT1 = %18.10lf\n",jdUT1);
MessageInterface::ShowMessage("T_TT = %18.10lf\n\n",T_TT);
MessageInterface::ShowMessage("sPrime = %18.10lf, theta = %18.10lf\n",sPrime, theta);
MessageInterface::ShowMessage("W(0,0)=%18.10lf, W(0,1)=%18.10lf, W(0,2)=%18.10lf\n",W.GetElement(0,0),W.GetElement(0,1),W.GetElement(0,2));
MessageInterface::ShowMessage("W(1,0)=%18.10lf, W(1,1)=%18.10lf, W(1,2)=%18.10lf\n",W.GetElement(1,0),W.GetElement(1,1),W.GetElement(1,2));
MessageInterface::ShowMessage("W(2,0)=%18.10lf, W(2,1)=%18.10lf, W(2,2)=%18.10lf\n",W.GetElement(2,0),W.GetElement(2,1),W.GetElement(2,2));
MessageInterface::ShowMessage("X = %18.10lf, Y = %18.10lf, s = %18.10lf\n", X, Y, s);
MessageInterface::ShowMessage("CT(0,0)=%18.10lf, CT(0,1)=%18.10lf, CT(0,2)=%18.10lf\n",CT.GetElement(0,0),CT.GetElement(0,1),CT.GetElement(0,2));
MessageInterface::ShowMessage("CT(1,0)=%18.10lf, CT(1,1)=%18.10lf, CT(1,2)=%18.10lf\n",CT.GetElement(1,0),CT.GetElement(1,1),CT.GetElement(1,2));
MessageInterface::ShowMessage("CT(2,0)=%18.10lf, CT(2,1)=%18.10lf, CT(2,2)=%18.10lf\n",CT.GetElement(2,0),CT.GetElement(2,1),CT.GetElement(2,2));
MessageInterface::ShowMessage("R(0,0)=%18.10lf, R(0,1)=%18.10lf, R(0,2)=%18.10lf\n",R.GetElement(0,0),R.GetElement(0,1),R.GetElement(0,2));
MessageInterface::ShowMessage("R(1,0)=%18.10lf, R(1,1)=%18.10lf, R(1,2)=%18.10lf\n",R.GetElement(1,0),R.GetElement(1,1),R.GetElement(1,2));
MessageInterface::ShowMessage("R(2,0)=%18.10lf, R(2,1)=%18.10lf, R(2,2)=%18.10lf\n",R.GetElement(2,0),R.GetElement(2,1),R.GetElement(2,2));
MessageInterface::ShowMessage("Rdot(0,0)=%18.10lf, Rdot(0,1)=%18.10lf, Rdot(0,2)=%18.10lf\n",Rdot.GetElement(0,0),Rdot.GetElement(0,1),Rdot.GetElement(0,2));
MessageInterface::ShowMessage("Rdot(1,0)=%18.10lf, Rdot(1,1)=%18.10lf, Rdot(1,2)=%18.10lf\n",Rdot.GetElement(1,0),Rdot.GetElement(1,1),Rdot.GetElement(1,2));
MessageInterface::ShowMessage("Rdot(2,0)=%18.10lf, Rdot(2,1)=%18.10lf, Rdot(2,2)=%18.10lf\n\n\n",Rdot.GetElement(2,0),Rdot.GetElement(2,1),Rdot.GetElement(2,2));
#endif
#ifdef DEBUG_FIRST_CALL
firstCallFired = true;
MessageInterface::ShowMessage("NOW exiting ITRFAxes::CalculateRotationMatrix ...\n");
#endif
}
