/* Copyright 2002-2017 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You 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 org.orekit.frames;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.io.ObjectInputStream;
import java.io.ObjectOutputStream;
import org.hipparchus.RealFieldElement;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.junit.Assert;
import org.junit.Test;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.FieldAbsoluteDate;
import org.orekit.utils.AngularDerivativesFilter;
import org.orekit.utils.CartesianDerivativesFilter;
public class InterpolatingTransformProviderTest {
@Test
public void testCacheHitWithDerivatives() throws OrekitException {
AbsoluteDate t0 = AbsoluteDate.GALILEO_EPOCH;
CirclingProvider referenceProvider = new CirclingProvider(t0, 0.2);
CirclingProvider rawProvider = new CirclingProvider(t0, 0.2);
InterpolatingTransformProvider interpolatingProvider =
new InterpolatingTransformProvider(rawProvider,
CartesianDerivativesFilter.USE_PVA,
AngularDerivativesFilter.USE_RR,
AbsoluteDate.PAST_INFINITY, AbsoluteDate.FUTURE_INFINITY,
5, 0.8, 10, 60.0, 60.0);
for (double dt = 0.1; dt <= 3.1; dt += 0.001) {
Transform reference = referenceProvider.getTransform(t0.shiftedBy(dt));
Transform interpolated = interpolatingProvider.getTransform(t0.shiftedBy(dt));
Transform error = new Transform(reference.getDate(), reference, interpolated.getInverse());
Assert.assertEquals(0.0, error.getCartesian().getPosition().getNorm(), 7.0e-15);
Assert.assertEquals(0.0, error.getCartesian().getVelocity().getNorm(), 3.0e-14);
Assert.assertEquals(0.0, error.getAngular().getRotation().getAngle(), 1.3e-15);
Assert.assertEquals(0.0, error.getAngular().getRotationRate().getNorm(), 2.2e-15);
Assert.assertEquals(0.0, error.getAngular().getRotationAcceleration().getNorm(), 1.2e-14);
}
Assert.assertEquals(10, rawProvider.getCount());
Assert.assertEquals(3001, referenceProvider.getCount());
}
@Test
public void testCacheHitWithoutDerivatives() throws OrekitException {
AbsoluteDate t0 = AbsoluteDate.GALILEO_EPOCH;
CirclingProvider referenceProvider = new CirclingProvider(t0, 0.2);
CirclingProvider rawProvider = new CirclingProvider(t0, 0.2);
InterpolatingTransformProvider interpolatingProvider =
new InterpolatingTransformProvider(rawProvider,
CartesianDerivativesFilter.USE_P,
AngularDerivativesFilter.USE_R,
AbsoluteDate.PAST_INFINITY, AbsoluteDate.FUTURE_INFINITY,
5, 0.8, 10, 60.0, 60.0);
for (double dt = 0.1; dt <= 3.1; dt += 0.001) {
Transform reference = referenceProvider.getTransform(t0.shiftedBy(dt));
Transform interpolated = interpolatingProvider.getTransform(t0.shiftedBy(dt));
Transform error = new Transform(reference.getDate(), reference, interpolated.getInverse());
Assert.assertEquals(0.0, error.getCartesian().getPosition().getNorm(), 1.3e-6);
Assert.assertEquals(0.0, error.getCartesian().getVelocity().getNorm(), 7.0e-6);
Assert.assertEquals(0.0, error.getAngular().getRotation().getAngle(), 2.0e-15);
Assert.assertEquals(0.0, error.getAngular().getRotationRate().getNorm(), 2.0e-15);
}
Assert.assertEquals(10, rawProvider.getCount());
Assert.assertEquals(3001, referenceProvider.getCount());
}
@Test(expected=OrekitException.class)
public void testForwardException() throws OrekitException {
InterpolatingTransformProvider interpolatingProvider =
new InterpolatingTransformProvider(new TransformProvider() {
private static final long serialVersionUID = -3126512810306982868L;
public Transform getTransform(AbsoluteDate date) throws OrekitException {
throw new OrekitException(OrekitMessages.INTERNAL_ERROR);
}
public <T extends RealFieldElement<T>> FieldTransform<T> getTransform(final FieldAbsoluteDate<T> date) {
throw new UnsupportedOperationException("never called in this test");
}
},
CartesianDerivativesFilter.USE_PVA,
AngularDerivativesFilter.USE_RRA,
AbsoluteDate.PAST_INFINITY, AbsoluteDate.FUTURE_INFINITY,
5, 0.8, 10, 60.0, 60.0);
interpolatingProvider.getTransform(AbsoluteDate.J2000_EPOCH);
}
@Test
public void testSerialization() throws OrekitException, IOException, ClassNotFoundException {
AbsoluteDate t0 = AbsoluteDate.GALILEO_EPOCH;
CirclingProvider rawProvider = new CirclingProvider(t0, 0.2);
InterpolatingTransformProvider interpolatingProvider =
new InterpolatingTransformProvider(rawProvider,
CartesianDerivativesFilter.USE_PVA,
AngularDerivativesFilter.USE_RRA,
AbsoluteDate.PAST_INFINITY, AbsoluteDate.FUTURE_INFINITY,
5, 0.8, 10, 60.0, 60.0);
for (double dt = 0.1; dt <= 3.1; dt += 0.001) {
interpolatingProvider.getTransform(t0.shiftedBy(dt));
}
Assert.assertEquals(10, rawProvider.getCount());
ByteArrayOutputStream bos = new ByteArrayOutputStream();
ObjectOutputStream oos = new ObjectOutputStream(bos);
oos.writeObject(interpolatingProvider);
Assert.assertTrue(bos.size () > 500);
Assert.assertTrue(bos.size () < 600);
ByteArrayInputStream bis = new ByteArrayInputStream(bos.toByteArray());
ObjectInputStream ois = new ObjectInputStream(bis);
InterpolatingTransformProvider deserialized =
(InterpolatingTransformProvider) ois.readObject();
Assert.assertEquals(0, ((CirclingProvider) deserialized.getRawProvider()).getCount());
for (double dt = 0.1; dt <= 3.1; dt += 0.001) {
Transform t1 = interpolatingProvider.getTransform(t0.shiftedBy(dt));
Transform t2 = deserialized.getTransform(t0.shiftedBy(dt));
Transform error = new Transform(t1.getDate(), t1, t2.getInverse());
// both interpolators should give the same results
Assert.assertEquals(0.0, error.getCartesian().getPosition().getNorm(), 1.0e-15);
Assert.assertEquals(0.0, error.getCartesian().getVelocity().getNorm(), 1.0e-15);
Assert.assertEquals(0.0, error.getAngular().getRotation().getAngle(), 1.0e-15);
Assert.assertEquals(0.0, error.getAngular().getRotationRate().getNorm(), 1.0e-15);
}
// the original interpolator should not have triggered any new calls
Assert.assertEquals(10, rawProvider.getCount());
// the deserialized interpolator should have triggered new calls
Assert.assertEquals(10, ((CirclingProvider) deserialized.getRawProvider()).getCount());
}
private static class CirclingProvider implements TransformProvider {
private static final long serialVersionUID = 473784183299281612L;
private int count;
private final AbsoluteDate t0;
private final double omega;
public CirclingProvider(final AbsoluteDate t0, final double omega) {
this.count = 0;
this.t0 = t0;
this.omega = omega;
}
public Transform getTransform(final AbsoluteDate date) {
// the following transform corresponds to a frame moving along the circle r = 1
// with its x axis always pointing to the reference frame center
++count;
final double dt = date.durationFrom(t0);
final double cos = FastMath.cos(omega * dt);
final double sin = FastMath.sin(omega * dt);
return new Transform(date,
new Transform(date,
new Vector3D(-cos, -sin, 0),
new Vector3D(omega * sin, -omega * cos, 0),
new Vector3D(omega * omega * cos, omega * omega * sin, 0)),
new Transform(date,
new Rotation(Vector3D.PLUS_K,
FastMath.PI - omega * dt,
RotationConvention.VECTOR_OPERATOR),
new Vector3D(omega, Vector3D.PLUS_K)));
}
public <T extends RealFieldElement<T>> FieldTransform<T> getTransform(final FieldAbsoluteDate<T> date) {
throw new UnsupportedOperationException("never called in this test");
}
public int getCount() {
return count;
}
private Object readResolve() {
count = 0;
return this;
}
}
}