diff --git a/Tudat/Astrodynamics/Aerodynamics/CMakeLists.txt b/Tudat/Astrodynamics/Aerodynamics/CMakeLists.txt index 12b548d155..208fbd1776 100644 --- a/Tudat/Astrodynamics/Aerodynamics/CMakeLists.txt +++ b/Tudat/Astrodynamics/Aerodynamics/CMakeLists.txt @@ -43,6 +43,7 @@ set(AERODYNAMICS_SOURCES "${SRCROOT}${AERODYNAMICSDIR}/hypersonicLocalInclinationAnalysis.cpp" "${SRCROOT}${AERODYNAMICSDIR}/tabulatedAtmosphere.cpp" "${SRCROOT}${AERODYNAMICSDIR}/customAerodynamicCoefficientInterface.cpp" + "${SRCROOT}${AERODYNAMICSDIR}/flightConditions.cpp" ) # Set the header files. @@ -61,6 +62,8 @@ set(AERODYNAMICS_HEADERS "${SRCROOT}${AERODYNAMICSDIR}/tabulatedAtmosphere.h" "${SRCROOT}${AERODYNAMICSDIR}/standardAtmosphere.h" "${SRCROOT}${AERODYNAMICSDIR}/customAerodynamicCoefficientInterface.h" + "${SRCROOT}${AERODYNAMICSDIR}/flightConditions.h" + "${SRCROOT}${AERODYNAMICSDIR}//UnitTests/testApolloCapsuleCoefficients.h" ) if(USE_NRLMSISE00) @@ -77,7 +80,7 @@ setup_tudat_library_target(tudat_aerodynamics "${SRCROOT}{AERODYNAMICSDIR}") # Add unit tests. add_executable(test_AerodynamicMomentAndAerodynamicForce "${SRCROOT}${AERODYNAMICSDIR}/UnitTests/unitTestAerodynamicMomentAndAerodynamicForce.cpp") setup_custom_test_program(test_AerodynamicMomentAndAerodynamicForce "${SRCROOT}${AERODYNAMICSDIR}") -target_link_libraries(test_AerodynamicMomentAndAerodynamicForce tudat_aerodynamics ${Boost_LIBRARIES}) +target_link_libraries(test_AerodynamicMomentAndAerodynamicForce tudat_simulation_setup tudat_aerodynamics tudat_reference_frames tudat_ephemerides tudat_basic_mathematics ${Boost_LIBRARIES}) add_executable(test_AerodynamicsNamespace "${SRCROOT}${AERODYNAMICSDIR}/UnitTests/unitTestAerodynamicsNamespace.cpp") setup_custom_test_program(test_AerodynamicsNamespace "${SRCROOT}${AERODYNAMICSDIR}") diff --git a/Tudat/Astrodynamics/Aerodynamics/UnitTests/testApolloCapsuleCoefficients.h b/Tudat/Astrodynamics/Aerodynamics/UnitTests/testApolloCapsuleCoefficients.h new file mode 100644 index 0000000000..2d7aef9202 --- /dev/null +++ b/Tudat/Astrodynamics/Aerodynamics/UnitTests/testApolloCapsuleCoefficients.h @@ -0,0 +1,90 @@ +#ifndef TUDAT_TESTAPOLLOCAPSULECOEFFICIENTS_H +#define TUDAT_TESTAPOLLOCAPSULECOEFFICIENTS_H + +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" +#include "Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.h" +#include "Tudat/Mathematics/GeometricShapes/capsule.h" + +namespace tudat +{ +namespace unit_tests +{ + +using basic_mathematics::Vector6d; +using mathematical_constants::PI; +using std::vector; +using namespace aerodynamics; + +boost::shared_ptr< HypersonicLocalInclinationAnalysis > getApolloCoefficientInterface( ) +{ + + // Create test capsule. + boost::shared_ptr< geometric_shapes::Capsule > capsule + = boost::make_shared< geometric_shapes::Capsule >( + 4.694, 1.956, 2.662, -1.0 * 33.0 * PI / 180.0, 0.196 ); + + vector< int > numberOfLines; + vector< int > numberOfPoints; + vector< bool > invertOrders; + numberOfLines.resize( 4 ); + numberOfPoints.resize( 4 ); + invertOrders.resize( 4 ); + + // Set number of analysis points. + numberOfLines[ 0 ] = 31; + numberOfPoints[ 0 ] = 31; + numberOfLines[ 1 ] = 31; + numberOfPoints[ 1 ] = 31; + numberOfLines[ 2 ] = 31; + numberOfPoints[ 2 ] = 10; + numberOfLines[ 3 ] = 11; + numberOfPoints[ 3 ] = 11; + invertOrders[ 0 ] = 0; + invertOrders[ 1 ] = 0; + invertOrders[ 2 ] = 0; + invertOrders[ 3 ] = 0; + + Eigen::Vector3d momentReference; + momentReference( 0 ) = -0.6624; + momentReference( 1 ) = 0.0; + momentReference( 2 ) = -0.1369; + + std::vector< std::vector< double > > independentVariableDataPoints; + independentVariableDataPoints.resize( 3 ); + independentVariableDataPoints[ 0 ] = getDefaultHypersonicLocalInclinationMachPoints( "Full" ); + std::vector< double > angleOfAttackPoints; + angleOfAttackPoints.resize( 7 ); + + for ( int i = 0; i < 7; i++ ) + { + angleOfAttackPoints[ i ] = static_cast< double >( i - 6 ) * 5.0 * PI / 180.0; + } + + independentVariableDataPoints[ 1 ] = angleOfAttackPoints; + independentVariableDataPoints[ 2 ] = + getDefaultHypersonicLocalInclinationAngleOfSideslipPoints( ); + std::vector< std::vector< int > > selectedMethods; + selectedMethods.resize( 2 ); + selectedMethods[ 0 ].resize( 4 ); + selectedMethods[ 1 ].resize( 4 ); + + selectedMethods[ 0 ][ 0 ] = 1; + selectedMethods[ 0 ][ 1 ] = 5; + selectedMethods[ 0 ][ 2 ] = 5; + selectedMethods[ 0 ][ 3 ] = 1; + selectedMethods[ 1 ][ 0 ] = 6; + selectedMethods[ 1 ][ 1 ] = 3; + selectedMethods[ 1 ][ 2 ] = 3; + selectedMethods[ 1 ][ 3 ] = 3; + + // Create analysis object and capsule database. + return boost::make_shared< HypersonicLocalInclinationAnalysis >( + independentVariableDataPoints, capsule, numberOfLines, numberOfPoints, + invertOrders, selectedMethods, PI * pow( capsule->getMiddleRadius( ), 2.0 ), + 3.9116, momentReference ); +} + +} + +} +#endif // TUDAT_TESTAPOLLOCAPSULECOEFFICIENTS_H diff --git a/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestAerodynamicMomentAndAerodynamicForce.cpp b/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestAerodynamicMomentAndAerodynamicForce.cpp index 3b43713f00..f0486fde6c 100644 --- a/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestAerodynamicMomentAndAerodynamicForce.cpp +++ b/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestAerodynamicMomentAndAerodynamicForce.cpp @@ -66,6 +66,7 @@ #include "Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h" #include "Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h" #include "Tudat/Astrodynamics/Aerodynamics/aerodynamicRotationalAcceleration.h" +#include "Tudat/SimulationSetup/createFlightConditions.h" namespace tudat { @@ -76,6 +77,7 @@ namespace unit_tests BOOST_AUTO_TEST_SUITE( test_aerodynamic_acceleration_force_moment_models ) using namespace aerodynamics; +using namespace simulation_setup; //! Test implementation of aerodynamic force and acceleration models. BOOST_AUTO_TEST_CASE( testAerodynamicForceAndAcceleration ) diff --git a/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestCoefficientGenerator.cpp b/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestCoefficientGenerator.cpp index 998d354b6b..df4baf26a4 100644 --- a/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestCoefficientGenerator.cpp +++ b/Tudat/Astrodynamics/Aerodynamics/UnitTests/unitTestCoefficientGenerator.cpp @@ -52,13 +52,14 @@ #include #include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" - #include "Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.h" #include "Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h" #include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" #include "Tudat/Mathematics/GeometricShapes/capsule.h" #include "Tudat/Mathematics/GeometricShapes/sphereSegment.h" +#include "Tudat/Astrodynamics/Aerodynamics/UnitTests/testApolloCapsuleCoefficients.h" + namespace tudat { namespace unit_tests @@ -274,20 +275,8 @@ BOOST_AUTO_TEST_CASE( testAerodynamicCoefficientGenerator ) } } -//! Apollo capsule test case. -BOOST_AUTO_TEST_CASE( testApolloCapsule ) +boost::shared_ptr< HypersonicLocalInclinationAnalysis > getApolloCoefficientInterface( ) { - // Set units of coefficients. - const double expectedValueOfAerodynamicCoefficients0 = -1.51; - const double expectedValueOfAerodynamicCoefficients4 = -0.052; - - // Tolerance in absolute units. - const double toleranceAerodynamicCoefficients0 = 0.1; - const double toleranceAerodynamicCoefficients1 = std::numeric_limits< double >::epsilon( ); - const double toleranceAerodynamicCoefficients2 = std::numeric_limits< double >::epsilon( ); - const double toleranceAerodynamicCoefficients3 = std::numeric_limits< double >::epsilon( ); - const double toleranceAerodynamicCoefficients4 = 0.05; - const double toleranceAerodynamicCoefficients5 = std::numeric_limits< double >::epsilon( ); // Create test capsule. boost::shared_ptr< geometric_shapes::Capsule > capsule @@ -341,11 +330,28 @@ BOOST_AUTO_TEST_CASE( testApolloCapsule ) selectedMethods[ 1 ][ 3 ] = 3; // Create analysis object and capsule database. - boost::shared_ptr< HypersonicLocalInclinationAnalysis > coefficientInterface = - boost::make_shared< HypersonicLocalInclinationAnalysis >( + return boost::make_shared< HypersonicLocalInclinationAnalysis >( independentVariableDataPoints, capsule, numberOfLines, numberOfPoints, invertOrders, selectedMethods, PI * pow( capsule->getMiddleRadius( ), 2.0 ), 3.9116, momentReference ); +} +//! Apollo capsule test case. +BOOST_AUTO_TEST_CASE( testApolloCapsule ) +{ + // Set units of coefficients. + const double expectedValueOfAerodynamicCoefficients0 = -1.51; + const double expectedValueOfAerodynamicCoefficients4 = -0.052; + + // Tolerance in absolute units. + const double toleranceAerodynamicCoefficients0 = 0.1; + const double toleranceAerodynamicCoefficients1 = std::numeric_limits< double >::epsilon( ); + const double toleranceAerodynamicCoefficients2 = std::numeric_limits< double >::epsilon( ); + const double toleranceAerodynamicCoefficients3 = std::numeric_limits< double >::epsilon( ); + const double toleranceAerodynamicCoefficients4 = 0.05; + const double toleranceAerodynamicCoefficients5 = std::numeric_limits< double >::epsilon( ); + + // Create aerodynamic coefficients. + boost::shared_ptr< HypersonicLocalInclinationAnalysis > coefficientInterface = getApolloCoefficientInterface( ); // Retrieve coefficients at zero angle of attack for comparison. boost::array< int, 3 > independentVariables; diff --git a/Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h b/Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h index a6a8b8bf2c..4873c4bc9d 100644 --- a/Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h +++ b/Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h @@ -40,6 +40,8 @@ #ifndef TUDAT_AERODYNAMIC_ACCELERATION_H #define TUDAT_AERODYNAMIC_ACCELERATION_H +#include + #include #include #include @@ -190,14 +192,18 @@ class AerodynamicAcceleration : public basic_astrodynamics::AccelerationModel< E * Function pointers to retrieve the current values of quantities from which the * acceleration is to be calculated are set by constructor. This function calls * them to update the associated variables to their current state. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) + void updateMembers( const double currentTime = TUDAT_NAN ) { - currentForceCoefficients_ = coefficientMultiplier_ * this->coefficientFunction_( ); - currentDensity_ = this->densityFunction_( ); - currentMass_ = this->massFunction_( ); - currentAirspeed_ = this->airSpeedFunction_( ); - currentReferenceArea_ = this->referenceAreaFunction_( ); + if( !( this->currentTime_ == currentTime ) ) + { + currentForceCoefficients_ = coefficientMultiplier_ * this->coefficientFunction_( ); + currentDensity_ = this->densityFunction_( ); + currentMass_ = this->massFunction_( ); + currentAirspeed_ = this->airSpeedFunction_( ); + currentReferenceArea_ = this->referenceAreaFunction_( ); + } } private: diff --git a/Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h b/Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h index 34a32d8908..bd405ffa99 100644 --- a/Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h +++ b/Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h @@ -59,7 +59,7 @@ namespace aerodynamics * Enum defining a list of independent variables on which the aerodynamic coefficients can depend. * Note that for a custom coefficient interface with other variables, you may use the * undefined_independent_variable variable type, but at the expense of being able to use the - * FlightConditions class to automatically update the aerodynamic coefficients during propagation. + * FlightConditions class to automatically updates the aerodynamic coefficients during propagation. */ enum AerodynamicCoefficientsIndependentVariables { @@ -241,7 +241,27 @@ class AerodynamicCoefficientInterface return numberOfIndependentVariables_; } + //! Function that returns whether the coefficients are given in aerodynamic frame. + /*! + * Function that returns whether the coefficients are given in aerodynamic frame (given in body) + * frame if false. + * \return Boolean whether coefficients are in aerodynamic frame + */ + bool getAreCoefficientsInAerodynamicFrame( ) + { + return areCoefficientsInAerodynamicFrame_; + } + //! Function that returns whether the coefficients are positive in positive axes directions. + /*! + * Function that returns whether the coefficients are positive in positive axes directions, i.e. + * if positive force (in given frame) gives positive coefficients. + * \return Boolean whether coefficients are in positive direction. + */ + bool getAreCoefficientsInNegativeAxisDirection( ) + { + return areCoefficientsInNegativeAxisDirection_; + } protected: diff --git a/Tudat/Astrodynamics/Aerodynamics/aerodynamicForce.cpp b/Tudat/Astrodynamics/Aerodynamics/aerodynamicForce.cpp index 38624bf079..96fe43c47f 100644 --- a/Tudat/Astrodynamics/Aerodynamics/aerodynamicForce.cpp +++ b/Tudat/Astrodynamics/Aerodynamics/aerodynamicForce.cpp @@ -1,3 +1,13 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + #include "Tudat/Astrodynamics/Aerodynamics/aerodynamicForce.h" namespace tudat diff --git a/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.cpp b/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.cpp index e3cbb744ee..e69de29bb2 100644 --- a/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.cpp +++ b/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.cpp @@ -1,66 +0,0 @@ -/* Copyright (c) 2010-2015, Delft University of Technology - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, are - * permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright notice, this list of - * conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright notice, this list of - * conditions and the following disclaimer in the documentation and/or other materials - * provided with the distribution. - * - Neither the name of the Delft University of Technology nor the names of its contributors - * may be used to endorse or promote products derived from this software without specific - * prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF - * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE - * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Changelog - * YYMMDD Author Comment - * 150416 D. Dirkx File created. - * - */ - -#include - -#include "Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h" - -namespace tudat -{ -namespace aerodynamics -{ - -//! Function to create an aerodynamic coefficient interface containing constant coefficients. -boost::shared_ptr< AerodynamicCoefficientInterface > -createConstantCoefficientAerodynamicCoefficientInterface( - const Eigen::Vector3d constantForceCoefficient, - const Eigen::Vector3d constantMomentCoefficient, - const double referenceLength, - const double referenceArea, - const double lateralReferenceLength, - const Eigen::Vector3d& momentReferencePoint, - const bool areCoefficientsInAerodynamicFrame, - const bool areCoefficientsInNegativeAxisDirection ) -{ - // Create coefficient interface - boost::shared_ptr< AerodynamicCoefficientInterface > coefficientInterface = - boost::make_shared< CustomAerodynamicCoefficientInterface >( - boost::lambda::constant( constantForceCoefficient ), - boost::lambda::constant( constantMomentCoefficient ), - referenceLength, referenceArea, lateralReferenceLength, momentReferencePoint, - std::vector< AerodynamicCoefficientsIndependentVariables >( ), - areCoefficientsInAerodynamicFrame, areCoefficientsInNegativeAxisDirection ); - coefficientInterface->updateCurrentCoefficients( std::vector< double >( ) ); - - return coefficientInterface; -} - -} // namespace aerodynamics -} // namespace tudat diff --git a/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h b/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h index 0e15423c37..44845a34ce 100644 --- a/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h +++ b/Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h @@ -38,7 +38,6 @@ #include "Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h" #include "Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientGenerator.h" #include "Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.h" -#include "Tudat/Mathematics/Interpolators/multiLinearInterpolator.h" #include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" namespace tudat @@ -208,40 +207,8 @@ class CustomAerodynamicCoefficientInterface: public AerodynamicCoefficientInterf }; -//! Function to create an aerodynamic coefficient interface containing constant coefficients. -/*! - * Function to create an aerodynamic coefficient interface containing constant coefficients, - * As a result, the generated coefficient interface depends on zero parameters. - * \param constantForceCoefficient Constant force coefficients. - * \param constantMomentCoefficient Constant moment coefficients. - * \param referenceLength Reference length with which aerodynamic moments - * (about x- and z- axes) are non-dimensionalized. - * \param referenceArea Reference area with which aerodynamic forces and moments are - * non-dimensionalized. - * \param lateralReferenceLength Reference length with which aerodynamic moments (about y-axis) - * is non-dimensionalized. - * \param momentReferencePoint Point w.r.t. aerodynamic moment is calculated - * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic - * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body - * frame (typically denoted as Cx, Cy, Cz). - * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic - * coefficients are positiver along tyhe positive axes of the body or aerodynamic frame - * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the - * coefficients are typically defined in negative direction (default false). - * \return Aerodynamic coefficient interface with constant coefficients (default true). - */ -boost::shared_ptr< AerodynamicCoefficientInterface > -createConstantCoefficientAerodynamicCoefficientInterface( - const Eigen::Vector3d constantForceCoefficient, - const Eigen::Vector3d constantMomentCoefficient, - const double referenceLength, - const double referenceArea, - const double lateralReferenceLength, - const Eigen::Vector3d& momentReferencePoint, - const bool areCoefficientsInAerodynamicFrame = false, - const bool areCoefficientsInNegativeAxisDirection = true ); - } // namespace aerodynamics + } // namespace tudat #endif // TUDAT_CUSTOM_AERODYNAMIC_COEFFICIENT_INTERFACE_H diff --git a/Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.cpp b/Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.cpp index 036c134d17..58948698d7 100644 --- a/Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.cpp +++ b/Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.cpp @@ -1,3 +1,13 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + #include #include "Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.h" diff --git a/Tudat/Astrodynamics/Aerodynamics/flightConditions.cpp b/Tudat/Astrodynamics/Aerodynamics/flightConditions.cpp new file mode 100644 index 0000000000..473da57ecd --- /dev/null +++ b/Tudat/Astrodynamics/Aerodynamics/flightConditions.cpp @@ -0,0 +1,173 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include + +#include "Tudat/Astrodynamics/Aerodynamics/flightConditions.h" +#include "Tudat/Astrodynamics/Aerodynamics/standardAtmosphere.h" +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" + +namespace tudat +{ + +namespace aerodynamics +{ + +FlightConditions::FlightConditions( + const boost::shared_ptr< aerodynamics::AtmosphereModel > atmosphereModel, + const boost::function< double( const Eigen::Vector3d ) > altitudeFunction, + const boost::function< basic_mathematics::Vector6d( ) > stateOfVehicle, + const boost::function< basic_mathematics::Vector6d( ) > stateOfCentralBody, + const boost::function< basic_mathematics::Vector6d( const basic_mathematics::Vector6d& ) > + transformationToCentralBodyFrame, + const boost::shared_ptr< AerodynamicCoefficientInterface > aerodynamicCoefficientInterface, + const boost::shared_ptr< reference_frames::AerodynamicAngleCalculator > + aerodynamicAngleCalculator ): + atmosphereModel_( atmosphereModel ), + altitudeFunction_( altitudeFunction ), + stateOfVehicle_( stateOfVehicle ), + stateOfCentralBody_( stateOfCentralBody ), + transformationToCentralBodyFrame_( transformationToCentralBodyFrame ), + aerodynamicCoefficientInterface_( aerodynamicCoefficientInterface ), + aerodynamicAngleCalculator_( aerodynamicAngleCalculator ),currentAltitude_( TUDAT_NAN ), + currentLatitude_( TUDAT_NAN ), currentLongitude_( TUDAT_NAN ), currentTime_( TUDAT_NAN ) +{ + updateLatitudeAndLongitude_ = 0; + + if( boost::dynamic_pointer_cast< aerodynamics::StandardAtmosphere >( atmosphereModel_ ) == + NULL ) + { + throw std::runtime_error( "Error when making flight conditions, no atmosphere is found" ); + } + + if( updateLatitudeAndLongitude_ && aerodynamicAngleCalculator_== NULL ) + { + throw std::runtime_error( "Error when making flight conditions, angles are to be updated, but no calculator is set" ); + } +} + +//! Function to set custom dependency of aerodynamic coefficients +void FlightConditions::setAerodynamicCoefficientsIndependentVariableFunction( + const AerodynamicCoefficientsIndependentVariables independentVariable, + const boost::function< double( ) > coefficientDependency ) +{ + if( ( independentVariable == mach_number_dependent ) || + ( independentVariable == angle_of_attack_dependent ) || + ( independentVariable == angle_of_sideslip_dependent ) ) + { + throw std::runtime_error( + std::string( "Error when setting aerodynamic coefficient function dependency, value of parameter " ) + + boost::lexical_cast< std::string >( independentVariable ) + + std::string(", will not be used." ) ); + } + else + { + customCoefficientDependencies_[ independentVariable ] = coefficientDependency; + } +} + + +//! Function to update all flight conditions. +void FlightConditions::updateConditions( const double currentTime ) +{ + currentTime_ = currentTime; + + // Calculate state of vehicle in global frame and corotating frame. + currentBodyCenteredState_ = stateOfVehicle_( ) - stateOfCentralBody_( ); + currentBodyCenteredPseudoBodyFixedState_ = transformationToCentralBodyFrame_( + currentBodyCenteredState_ ); + + // Calculate altitute and airspeed of vehicle. + currentAltitude_ = + altitudeFunction_( currentBodyCenteredPseudoBodyFixedState_.segment( 0, 3 ) ); + currentAirspeed_ = currentBodyCenteredPseudoBodyFixedState_.segment( 3, 3 ).norm( ); + + // Update aerodynamic/geometric angles. + if( aerodynamicAngleCalculator_!= NULL ) + { + aerodynamicAngleCalculator_->update( ); + } + + // Update latitude and longitude (if required) + if( updateLatitudeAndLongitude_ ) + { + currentLatitude_ = aerodynamicAngleCalculator_->getAerodynamicAngle( + reference_frames::latitude_angle ); + currentLongitude_ = aerodynamicAngleCalculator_->getAerodynamicAngle( + reference_frames::longitude_angle ); + } + + // Update density + currentDensity_ = atmosphereModel_->getDensity( currentAltitude_, currentLongitude_, + currentLatitude_, currentTime_ ); + + // Calculate independent variables for aerodynamic coefficients. + std::vector< double > aerodynamicCoefficientIndependentVariables; + for( unsigned int i = 0; i < aerodynamicCoefficientInterface_-> + getNumberOfIndependentVariables( ); i++ ) + { + switch( aerodynamicCoefficientInterface_->getIndependentVariableName( i ) ) + { + //Calculate Mach number if needed. + case mach_number_dependent: + aerodynamicCoefficientIndependentVariables.push_back( + currentAirspeed_ / atmosphereModel_->getSpeedOfSound( + currentAltitude_, currentLongitude_, currentLatitude_, currentTime_ ) ); + break; + //Get angle of attack if needed. + case angle_of_attack_dependent: + + if( aerodynamicAngleCalculator_== NULL ) + { + throw std::runtime_error( "Error, aerodynamic angle calculator is null, but require angle of attack" ); + } + aerodynamicCoefficientIndependentVariables.push_back( + aerodynamicAngleCalculator_->getAerodynamicAngle( + reference_frames::angle_of_attack ) ); + break; + //Get angle of sideslip if needed. + case angle_of_sideslip_dependent: + if( aerodynamicAngleCalculator_== NULL ) + { + throw std::runtime_error( "Error, aerodynamic angle calculator is null, but require angle of sideslip" ); + } + aerodynamicCoefficientIndependentVariables.push_back( + aerodynamicAngleCalculator_->getAerodynamicAngle( + reference_frames::angle_of_sideslip ) ); + break; + // Check if value is custom-defined. + default: + if( customCoefficientDependencies_.count( + aerodynamicCoefficientInterface_->getIndependentVariableName( i ) ) == 0 ) + { + throw std::runtime_error( "Error, did not recognize aerodynamic coefficient dependency " + + boost::lexical_cast< std::string >( + aerodynamicCoefficientInterface_->getIndependentVariableName( i ) ) ); + } + else + { + aerodynamicCoefficientIndependentVariables.push_back( + customCoefficientDependencies_.at( + aerodynamicCoefficientInterface_->getIndependentVariableName( i ) )( ) ); + } + } + } + + // Update aerodynamic coefficients. + aerodynamicCoefficientInterface_->updateCurrentCoefficients( + aerodynamicCoefficientIndependentVariables ); + + +} + + +} // namespace aerodynamics + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Aerodynamics/flightConditions.h b/Tudat/Astrodynamics/Aerodynamics/flightConditions.h new file mode 100644 index 0000000000..e65859cb7f --- /dev/null +++ b/Tudat/Astrodynamics/Aerodynamics/flightConditions.h @@ -0,0 +1,241 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_FLIGHTCONDITIONS_H +#define TUDAT_FLIGHTCONDITIONS_H + +#include + +#include + +#include "Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h" +#include "Tudat/Astrodynamics/Aerodynamics/atmosphereModel.h" +#include "Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h" +#include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" + +namespace tudat +{ + +namespace aerodynamics +{ + + +//! Class for calculating aerodynamic flight characteristics of a vehicle during numerical +//! integration. +/*! + * Class for calculating aerodynamic flight characteristics of a vehicle during numerical + * integration. Class is used to ensure that dependent variables such as density, altitude, etc. + * are only calculated once during each numerical integration step. The get functions of this class + * are linked to the various models in the code that subsequently require these values. + */ +class FlightConditions +{ +public: + + //! Constructor, sets objects and functions from which relevant environment and state variables + //! are retrieved. + /*! + * Constructor, sets objects and functions from which relevant environment and state variables + * are retrieved. + * \param atmosphereModel Atmosphere model of atmosphere through which vehicle is flying + * \param altitudeFunction Function returning the altitude of the vehicle as a function of + * its body-fixed position. + * \param stateOfVehicle Function returning the current state of the vehicle + * (in the global frame) + * \param stateOfCentralBody Function returning the current state of the central body + * (in the global frame) + * \param transformationToCentralBodyFrame Function transforming the inertial body-centered to + * the body-centered, body-fixed (co-rotating) frame. + * \param aerodynamicCoefficientInterface Object from which the aerodynamic coefficients + * are obtained. + * \param aerodynamicAngleCalculator Object from which the aerodynamic/trajectory angles + * of the vehicle are calculated. + */ + FlightConditions( const boost::shared_ptr< aerodynamics::AtmosphereModel > atmosphereModel, + const boost::function< double( const Eigen::Vector3d ) > altitudeFunction, + const boost::function< basic_mathematics::Vector6d( ) > stateOfVehicle, + const boost::function< basic_mathematics::Vector6d( ) > stateOfCentralBody, + const boost::function< basic_mathematics::Vector6d( + const basic_mathematics::Vector6d& ) > + transformationToCentralBodyFrame, + const boost::shared_ptr< AerodynamicCoefficientInterface > + aerodynamicCoefficientInterface, + const boost::shared_ptr< reference_frames::AerodynamicAngleCalculator > + aerodynamicAngleCalculator = + boost::shared_ptr< reference_frames::AerodynamicAngleCalculator >( ) ); + + //! Function to update all flight conditions. + /*! + * Function to update all flight conditions (altitude, density, force coefficients) to + * current state of vehicle and central body. + * \param currentTime Time to which conditions are to be updated. + */ + void updateConditions( const double currentTime ); + + //! Function to return altitude + /*! + * Function to return altitude that was set by previous call of updateConditions function. + * \return Current altitude + */ + double getCurrentAltitude( ) const + { + return currentAltitude_; + } + + //! Function to return density + /*! + * Function to return density that was set by previous call of updateConditions or + * updateDensity function. + * \return Current density + */ + double getCurrentDensity( ) const + { + return currentDensity_; + } + + //! Function to return airspeed + /*! + * Function to return airspeed that was set by previous call of updateConditions. + * \return Current airspeed + */ + double getCurrentAirspeed( ) const + { + return currentAirspeed_; + } + + //! Function to return the current time of the FlightConditions + /*! + * Function to return the current time of the FlightConditions. + * \return Current time of the FlightConditions + */ + double getCurrentTime( ) const + { + return currentTime_; + } + //! Function to return atmosphere model object + /*! + * Function to return atmosphere model object + * \return Atmosphere model object + */ + boost::shared_ptr< aerodynamics::AtmosphereModel > getAtmosphereModel( ) const + { + return atmosphereModel_; + } + + //! Function to (re)set aerodynamic angle calculator object + /*! + * Function to (re)set aerodynamic angle calculator object + * \param aerodynamicAngleCalculator Aerodynamic angle calculator object to set. + */ + void setAerodynamicAngleCalculator( + const boost::shared_ptr< reference_frames::AerodynamicAngleCalculator > + aerodynamicAngleCalculator ) + { + aerodynamicAngleCalculator_ = aerodynamicAngleCalculator; + } + + //! Function to set custom dependency of aerodynamic coefficients + /*! + * Function to set custom dependency of aerodynamic coefficients. If needed, the + * AerodynamicCoefficientsIndependentVariables enum may be expanded to include e.g. control surface deflections, the + * values of which will then be retrieved from the function set here + * \param independentVariable Identifier of independent variable + * \param coefficientDependency Function returning the current value of the independent variable. + */ + void setAerodynamicCoefficientsIndependentVariableFunction( + const AerodynamicCoefficientsIndependentVariables independentVariable, + const boost::function< double( ) > coefficientDependency ); + + //! Function to return current central body-fixed state of vehicle. + /*! + * Function to return central body-fixed state of vehicle. + * \return Current central body-fixed state of vehicle. + */ + basic_mathematics::Vector6d getCurrentBodyCenteredBodyFixedState( ) + { + return currentBodyCenteredPseudoBodyFixedState_; + + } + + //! Function to return aerodynamic angle calculator object + /*! + * Function to return aerodynamic angle calculator object + * \return Aerodynamic angle calculator object + */ + boost::shared_ptr< reference_frames::AerodynamicAngleCalculator > + getAerodynamicAngleCalculator( ) + { + return aerodynamicAngleCalculator_; + } + + +private: + + //! Name of central body (i.e. body with the atmosphere) + std::string centralBody_; + + //! Atmosphere model of atmosphere through which vehicle is flying + boost::shared_ptr< aerodynamics::AtmosphereModel > atmosphereModel_; + + //! Function returning the altitude of the vehicle as a function of its body-fixed position. + const boost::function< double( const Eigen::Vector3d ) > altitudeFunction_; + + //! Function returning the current state of the vehicle (in the global frame) + boost::function< basic_mathematics::Vector6d( ) > stateOfVehicle_; + + //! Function returning the current state of the central body (in the global frame) + boost::function< basic_mathematics::Vector6d( ) > stateOfCentralBody_; + + //! Function transforming the inertial body-centered to the body-centered, body-fixed + //! co-rotating) frame. + boost::function< basic_mathematics::Vector6d( const basic_mathematics::Vector6d& ) > + transformationToCentralBodyFrame_; + + //! Object from which the aerodynamic coefficients are obtained. + boost::shared_ptr< AerodynamicCoefficientInterface > aerodynamicCoefficientInterface_; + + //! List of custom functions for aerodynamic coefficient dependencies. + std::map< AerodynamicCoefficientsIndependentVariables, boost::function< double( ) > > customCoefficientDependencies_; + + //! Object from which the aerodynamic/trajectory angles of the vehicle are calculated. + boost::shared_ptr< reference_frames::AerodynamicAngleCalculator > aerodynamicAngleCalculator_; + + //! Current state of vehicle in base frame for Body objects. + basic_mathematics::Vector6d currentBodyCenteredState_; + + //! Current state of vehicle in body-fixed frame. + basic_mathematics::Vector6d currentBodyCenteredPseudoBodyFixedState_; + + //! Current density at vehicle's position. + double currentDensity_; + + //! Current airspeed at vehicle's position. + double currentAirspeed_; + + //! Current altitude of vehicle above central body's shapeModel_ + double currentAltitude_; + + //! Current latitude of vehicle above central body. + double currentLatitude_; + + //! Current longitude of vehicle above central body. + double currentLongitude_; + + //! Current time of propagation. + double currentTime_; + + //! Boolean setting whether latitude and longitude are to be updated by updateConditions(). + bool updateLatitudeAndLongitude_; +}; + +} // namespace aerodynamics + +} // namespace tudat +#endif // TUDAT_FLIGHTCONDITIONS_H diff --git a/Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.cpp b/Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.cpp index d1a74763b5..cc2d321f9e 100644 --- a/Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.cpp +++ b/Tudat/Astrodynamics/Aerodynamics/hypersonicLocalInclinationAnalysis.cpp @@ -163,7 +163,7 @@ HypersonicLocalInclinationAnalysis::HypersonicLocalInclinationAnalysis( dataPointsOfIndependentVariables, referenceLength, referenceArea, referenceLength, momentReferencePoint, boost::assign::list_of( mach_number_dependent )( angle_of_attack_dependent ) - ( angle_of_sideslip_dependent ), 1, 1 ), + ( angle_of_sideslip_dependent ), 1, 0 ), stagnationPressureCoefficient( 2.0 ), ratioOfSpecificHeats( 1.4 ), selectedMethods_( selectedMethods ) diff --git a/Tudat/Astrodynamics/Aerodynamics/tabulatedAtmosphere.h b/Tudat/Astrodynamics/Aerodynamics/tabulatedAtmosphere.h index c310868350..f451dd8caa 100644 --- a/Tudat/Astrodynamics/Aerodynamics/tabulatedAtmosphere.h +++ b/Tudat/Astrodynamics/Aerodynamics/tabulatedAtmosphere.h @@ -49,7 +49,7 @@ #include "Tudat/Basics/utilityMacros.h" -#include "Tudat/Astrodynamics/Aerodynamics/atmosphereModel.h" +#include "Tudat/Astrodynamics/Aerodynamics/standardAtmosphere.h" #include "Tudat/Astrodynamics/Aerodynamics/aerodynamics.h" #include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" #include "Tudat/Mathematics/Interpolators/cubicSplineInterpolator.h" @@ -66,7 +66,7 @@ namespace aerodynamics * NOTE: for the moment it only works for tables with 4 columns: altitude, density, pressure and * temperature. */ -class TabulatedAtmosphere : public AtmosphereModel +class TabulatedAtmosphere : public StandardAtmosphere { public: diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/CMakeLists.txt b/Tudat/Astrodynamics/BasicAstrodynamics/CMakeLists.txt index c8bc87cd9d..79641ef6ac 100755 --- a/Tudat/Astrodynamics/BasicAstrodynamics/CMakeLists.txt +++ b/Tudat/Astrodynamics/BasicAstrodynamics/CMakeLists.txt @@ -40,6 +40,7 @@ # Set the source files. set(BASICASTRODYNAMICS_SOURCES + "${SRCROOT}${BASICASTRODYNAMICSDIR}/accelerationModelTypes.cpp" "${SRCROOT}${BASICASTRODYNAMICSDIR}/clohessyWiltshirePropagator.cpp" "${SRCROOT}${BASICASTRODYNAMICSDIR}/geodeticCoordinateConversions.cpp" "${SRCROOT}${BASICASTRODYNAMICSDIR}/missionGeometry.cpp" @@ -51,6 +52,7 @@ set(BASICASTRODYNAMICS_SOURCES # Set the header files. set(BASICASTRODYNAMICS_HEADERS + "${SRCROOT}${BASICASTRODYNAMICSDIR}/accelerationModelTypes.h" "${SRCROOT}${BASICASTRODYNAMICSDIR}/accelerationModel.h" "${SRCROOT}${BASICASTRODYNAMICSDIR}/celestialBodyConstants.h" "${SRCROOT}${BASICASTRODYNAMICSDIR}/convertMeanToEccentricAnomalies.h" diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/UnitTests/testAccelerationModels.h b/Tudat/Astrodynamics/BasicAstrodynamics/UnitTests/testAccelerationModels.h index 38f1fe49f6..8d3ea545e1 100644 --- a/Tudat/Astrodynamics/BasicAstrodynamics/UnitTests/testAccelerationModels.h +++ b/Tudat/Astrodynamics/BasicAstrodynamics/UnitTests/testAccelerationModels.h @@ -106,8 +106,9 @@ class DerivedAccelerationModel /*! * Updates member variables used by the acceleration model. In this case, the internally stored * position and time are updated by calling the function-pointers passed to the constructor. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) { position = getPosition( ); time = getTime( ); } + void updateMembers( const double currentTime = TUDAT_NAN ) { position = getPosition( ); time = getTime( ); } protected: @@ -209,8 +210,9 @@ class AnotherDerivedAccelerationModel * Updates member variables used by the acceleration model. In this case, the internally stored * position, velocity, and time are updated by calling the function-pointers passed to the * constructor. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) + void updateMembers( const double currentTime = TUDAT_NAN ) { position = getPosition( ); velocity = getVelocity( ); diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h b/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h index c38fad1294..d5a109f71a 100644 --- a/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h +++ b/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h @@ -45,10 +45,15 @@ #ifndef TUDAT_ACCELERATION_MODEL_H #define TUDAT_ACCELERATION_MODEL_H +#include +#include + #include #include +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" + namespace tudat { namespace basic_astrodynamics @@ -94,8 +99,18 @@ class AccelerationModel * used by the getAcceleration() function. * * N.B.: This pure virtual function must be overridden by derived classes! + * \param currentTime Time at which acceleration model is to be updated. */ - virtual void updateMembers( ) = 0; + virtual void updateMembers( const double currentTime = TUDAT_NAN ) = 0; + + virtual void resetTime( const double currentTime = TUDAT_NAN ) + { + currentTime_ = currentTime; + } + +protected: + + double currentTime_; protected: @@ -135,6 +150,17 @@ AccelerationDataType updateAndGetAcceleration( return accelerationModel->getAcceleration( ); } +//! Typedef defining a list of accelerations acting on a single body, key is the name of each +//! body exerting a acceletation, value is a list of accelerations exerted by that body. +typedef std::map< std::string, std::vector< +boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > > > +SingleBodyAccelerationMap; + +//! Typedef defining a list of accelerations acting on a set of bodies, key is the name of each +//! body undergoing a acceletation, value is SingleBodyAccelerationMap, defining all accelerations +//! acting on it. +typedef std::map< std::string, SingleBodyAccelerationMap > AccelerationMap; + } // namespace basic_astrodynamics } // namespace tudat diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.cpp b/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.cpp new file mode 100644 index 0000000000..d7d8649a22 --- /dev/null +++ b/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.cpp @@ -0,0 +1,95 @@ +/* Copyright (c) 2010-2015, Delft University of Technology + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, are + * permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright notice, this list of + * conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright notice, this list of + * conditions and the following disclaimer in the documentation and/or other materials + * provided with the distribution. + * - Neither the name of the Delft University of Technology nor the names of its contributors + * may be used to endorse or promote products derived from this software without specific + * prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS + * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE + * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED + * OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Changelog + * YYMMDD Author Comment + * 150501 D. Dirkx Ported from personal code + * + * References + * + * Notes + * + */ + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h" + +namespace tudat +{ + +namespace basic_astrodynamics +{ + +//! Function to identify the derived class type of an acceleration model. +AvailableAcceleration getAccelerationModelType( + const boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + accelerationModel ) +{ + using namespace tudat::aerodynamics; + using namespace tudat::electro_magnetism; + using namespace tudat::gravitation; + + // Nominal type is undefined + AvailableAcceleration accelerationType = undefined_acceleration; + + // Check for each accelerarion mdoel type implemented as AvailableAcceleration. + if( boost::dynamic_pointer_cast< CentralGravitationalAccelerationModel3d >( + accelerationModel ) != NULL ) + { + accelerationType = central_gravity; + } + else if( boost::dynamic_pointer_cast< CannonBallRadiationPressureAcceleration >( + accelerationModel ) != NULL ) + { + accelerationType = cannon_ball_radiation_pressure; + } + else if( boost::dynamic_pointer_cast< ThirdBodyCentralGravityAcceleration >( + accelerationModel ) != NULL ) + { + accelerationType = third_body_central_gravity; + } + else if( boost::dynamic_pointer_cast< SphericalHarmonicsGravitationalAccelerationModelXd >( + accelerationModel ) != NULL ) + { + accelerationType = spherical_harmonic_gravity; + } + else if( boost::dynamic_pointer_cast< AerodynamicAcceleration >( + accelerationModel ) != NULL ) + { + accelerationType = aerodynamic; + } + else + { + throw std::runtime_error( + "Error, acceleration model not identified when getting acceleration type." ); + } + + // Return identified type. + return accelerationType; + +} + + +} // namespace basic_astrodynamics + +} // namespace tudat diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h b/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h new file mode 100644 index 0000000000..83b6520f65 --- /dev/null +++ b/Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h @@ -0,0 +1,84 @@ +/* Copyright (c) 2010-2015, Delft University of Technology + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, are + * permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright notice, this list of + * conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright notice, this list of + * conditions and the following disclaimer in the documentation and/or other materials + * provided with the distribution. + * - Neither the name of the Delft University of Technology nor the names of its contributors + * may be used to endorse or promote products derived from this software without specific + * prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS + * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE + * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED + * OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Changelog + * YYMMDD Author Comment + * 150501 D. Dirkx Ported from personal code + * + * References + * + * Notes + * + */ + +#ifndef TUDAT_ACCELERATIONMODELTYPES_H +#define TUDAT_ACCELERATIONMODELTYPES_H + +#include "Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h" +#include "Tudat/Astrodynamics/Gravitation/centralGravityModel.h" +#include "Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModel.h" +#include "Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h" +#include "Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h" + + +namespace tudat +{ + +namespace basic_astrodynamics +{ + + +//! List of accelerations available in simulations +/*! + * List of accelerations available in simulations. Acceleration models not defined by this + * given enum cannot be used for automatic acceleration model setup. + */ +enum AvailableAcceleration +{ + undefined_acceleration, + central_gravity, + aerodynamic, + cannon_ball_radiation_pressure, + spherical_harmonic_gravity, + third_body_central_gravity, + third_body_spherical_harmonic_gravity +}; + +//! Function to identify the derived class type of an acceleration model. +/*! + * Function to identify the derived class type of an acceleration model. The type must be defined + * in the AvailableAcceleration enum to be recognized by this function. + * \param accelerationModel Acceleration model of which the type is to be identified. + * \return Type of the accelerationModel, as identified by AvailableAcceleration enum. + */ +AvailableAcceleration getAccelerationModelType( + const boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + accelerationModel ); + + +} // namespace basic_astrodynamics + +} // namespace tudat + +#endif // TUDAT_ACCELERATIONMODELTYPES_H diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h b/Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h index a1a2eb6993..8ad39f7bfc 100644 --- a/Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h +++ b/Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h @@ -392,7 +392,7 @@ Eigen::Matrix< ScalarType, 6, 1 > convertCartesianToKeplerianElements( ScalarType dotProductPositionAndEccentricityVectors = position_.normalized( ).dot( eccentricityVector_.normalized( ) ); - // Check if the dot-product is one of the limiting cases: 0.0 or 1.0 + // Check if the dot-product is one of the limiting cases: 0.0, -1.0 or 1.0 // (within prescribed tolerance). if ( std::fabs( mathematical_constants::getFloatingInteger< ScalarType >( 1 ) - dotProductPositionAndEccentricityVectors ) < tolerance ) @@ -400,6 +400,13 @@ Eigen::Matrix< ScalarType, 6, 1 > convertCartesianToKeplerianElements( dotProductPositionAndEccentricityVectors = mathematical_constants::getFloatingInteger< ScalarType >( 1 ); } + + if ( std::fabs( mathematical_constants::getFloatingInteger< ScalarType >( 1 ) + + dotProductPositionAndEccentricityVectors ) < tolerance ) + { + dotProductPositionAndEccentricityVectors = + -mathematical_constants::getFloatingInteger< ScalarType >( 1 ); + } if ( std::fabs( dotProductPositionAndEccentricityVectors ) < tolerance ) { diff --git a/Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h b/Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h index c64ecb467c..0b5f3a2bf0 100644 --- a/Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h +++ b/Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h @@ -93,6 +93,18 @@ double convertCalendarDateToJulianDay( const int calendarYear, const int calendarMinutes, const double calendarSeconds ); +//! Dummy time conversion function (time remains constant) +/*! + * Dummy time conversion function (time remains constant) + * \param inputTime Time given as input. + * \return Same as inputTime. + */ +template< typename TimeType > +TimeType doDummyTimeConversion( const TimeType inputTime ) +{ + return inputTime; +} + } // namespace basic_astrodynamics } // tudat diff --git a/Tudat/Astrodynamics/CMakeLists.txt b/Tudat/Astrodynamics/CMakeLists.txt index 2db1dc75c5..049c7df060 100755 --- a/Tudat/Astrodynamics/CMakeLists.txt +++ b/Tudat/Astrodynamics/CMakeLists.txt @@ -43,8 +43,9 @@ set(EPHEMERIDESDIR "${ASTRODYNAMICSDIR}/Ephemerides") set(GRAVITATIONDIR "${ASTRODYNAMICSDIR}/Gravitation") set(MISSIONSEGMENTSDIR "${ASTRODYNAMICSDIR}/MissionSegments") set(REFERENCEFRAMESDIR "${ASTRODYNAMICSDIR}/ReferenceFrames") -set(STATEDERIVATIVEMODELSDIR "${ASTRODYNAMICSDIR}/StateDerivativeModels") set(OBSERVATIONMODELSDIR "${ASTRODYNAMICSDIR}/ObservationModels") +set(STATEDERIVATIVEMODELSDIR "${ASTRODYNAMICSDIR}/StateDerivativeModels") +set(PROPAGATORSDIR "${ASTRODYNAMICSDIR}/Propagators") # Add subdirectories. add_subdirectory("${SRCROOT}${AERODYNAMICSDIR}") @@ -54,8 +55,9 @@ add_subdirectory("${SRCROOT}${EPHEMERIDESDIR}") add_subdirectory("${SRCROOT}${GRAVITATIONDIR}") add_subdirectory("${SRCROOT}${MISSIONSEGMENTSDIR}") add_subdirectory("${SRCROOT}${REFERENCEFRAMESDIR}") -add_subdirectory("${SRCROOT}${STATEDERIVATIVEMODELSDIR}") add_subdirectory("${SRCROOT}${OBSERVATIONMODELSDIR}") +add_subdirectory("${SRCROOT}${STATEDERIVATIVEMODELSDIR}") +add_subdirectory("${SRCROOT}${PROPAGATORSDIR}") # Get target properties for static libraries. get_target_property(AERODYNAMICSSOURCES tudat_aerodynamics SOURCES) @@ -65,5 +67,6 @@ get_target_property(EPHEMERIDESSOURCES tudat_ephemerides SOURCES) get_target_property(GRAVITATIONSOURCES tudat_gravitation SOURCES) get_target_property(MISSIONSEGMENTSSOURCES tudat_mission_segments SOURCES) get_target_property(REFERENCEFRAMESSOURCES tudat_reference_frames SOURCES) -get_target_property(STATEDERIVATIVEMODELSSOURCES tudat_state_derivative_models SOURCES) get_target_property(OBSERVATIONMODELSDIR tudat_observation_models SOURCES) +get_target_property(STATEDERIVATIVEMODELSSOURCES tudat_state_derivative_models SOURCES) +get_target_property(PROPAGATORSDIR tudat_propagators SOURCES) diff --git a/Tudat/Astrodynamics/ElectroMagnetism/UnitTests/unitTestCannonBallRadiationPressureAccelerationAndForce.cpp b/Tudat/Astrodynamics/ElectroMagnetism/UnitTests/unitTestCannonBallRadiationPressureAccelerationAndForce.cpp index 38e16a2c60..72173d7ad0 100644 --- a/Tudat/Astrodynamics/ElectroMagnetism/UnitTests/unitTestCannonBallRadiationPressureAccelerationAndForce.cpp +++ b/Tudat/Astrodynamics/ElectroMagnetism/UnitTests/unitTestCannonBallRadiationPressureAccelerationAndForce.cpp @@ -449,7 +449,7 @@ BOOST_AUTO_TEST_CASE( testRadiationPressureAccelerationModelClassConstructor ) { // Declare and initialize cannon-ball radiation pressure acceleration model. electro_magnetism::CannonBallRadiationPressurePointer radiationPressureModel - = boost::make_shared< electro_magnetism::CannonBallRadiationPressure >( + = boost::make_shared< electro_magnetism::CannonBallRadiationPressureAcceleration >( &getSourcePosition, &getAcceleratedBodyPosition, &getRadiationPressure, &getRadiationPressureCoefficient, &getAreaSubjectToRadiationPressure, &getMassOfAcceleratedBody ); @@ -473,7 +473,7 @@ BOOST_AUTO_TEST_CASE( testRadiationPressureAccelerationModelClassUpdateMembers ) { // Declare and initialize cannon-ball radiation pressure acceleration model. electro_magnetism::CannonBallRadiationPressurePointer radiationPressureModel - = boost::make_shared< electro_magnetism::CannonBallRadiationPressure >( + = boost::make_shared< electro_magnetism::CannonBallRadiationPressureAcceleration >( &getSourcePosition, &getAcceleratedBodyPosition, &getRadiationPressure, &getRadiationPressureCoefficient, &getAreaSubjectToRadiationPressure, &getMassOfAcceleratedBody ); diff --git a/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.cpp b/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.cpp index 590e588b33..80062f73b2 100644 --- a/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.cpp +++ b/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.cpp @@ -58,7 +58,7 @@ Eigen::Vector3d computeCannonBallRadiationPressureAcceleration( } //! Get radiation pressure acceleration. -Eigen::Vector3d CannonBallRadiationPressure::getAcceleration( ) +Eigen::Vector3d CannonBallRadiationPressureAcceleration::getAcceleration( ) { return computeCannonBallRadiationPressureAcceleration( currentRadiationPressure_, currentVectorToSource_, currentArea_, @@ -66,14 +66,17 @@ Eigen::Vector3d CannonBallRadiationPressure::getAcceleration( ) } //! Update member variables used by the radiation pressure acceleration model. -void CannonBallRadiationPressure::updateMembers( ) +void CannonBallRadiationPressureAcceleration::updateMembers( const double currentTime ) { - currentVectorToSource_ = ( sourcePositionFunction_( ) - - acceleratedBodyPositionFunction_( ) ).normalized( ); - currentRadiationPressure_ = radiationPressureFunction_( ); - currentRadiationPressureCoefficient_ = radiationPressureCoefficientFunction_( ); - currentArea_ = areaFunction_( ); - currentMass_ = massFunction_( ); + if( !( this->currentTime_ == currentTime ) ) + { + currentVectorToSource_ = ( sourcePositionFunction_( ) + - acceleratedBodyPositionFunction_( ) ).normalized( ); + currentRadiationPressure_ = radiationPressureFunction_( ); + currentRadiationPressureCoefficient_ = radiationPressureCoefficientFunction_( ); + currentArea_ = areaFunction_( ); + currentMass_ = massFunction_( ); + } } } // namespace electro_magnetism diff --git a/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h b/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h index 05442a0ba6..ca7c9d4dd9 100644 --- a/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h +++ b/Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h @@ -88,7 +88,7 @@ Eigen::Vector3d computeCannonBallRadiationPressureAcceleration( * Class that can be used to compute the radiation pressure using a cannon-ball model, i.e., * assuming force to be in opposite direction of the vector to the source. */ -class CannonBallRadiationPressure : public basic_astrodynamics::AccelerationModel3d +class CannonBallRadiationPressureAcceleration: public basic_astrodynamics::AccelerationModel3d { private: @@ -115,7 +115,7 @@ class CannonBallRadiationPressure : public basic_astrodynamics::AccelerationMode * \param areaFunction Function returning current area assumed to undergo radiation pressure. * \param massFunction Function returning current mass of body undergoing acceleration. */ - CannonBallRadiationPressure( + CannonBallRadiationPressureAcceleration( Vector3dReturningFunction sourcePositionFunction, Vector3dReturningFunction acceleratedBodyPositionFunction, DoubleReturningFunction radiationPressureFunction, @@ -144,7 +144,7 @@ class CannonBallRadiationPressure : public basic_astrodynamics::AccelerationMode * \param area Constant area assumed to undergo radiation pressure. * \param mass Constant mass of body undergoing acceleration. */ - CannonBallRadiationPressure( + CannonBallRadiationPressureAcceleration( Vector3dReturningFunction sourcePositionFunction, Vector3dReturningFunction acceleratedBodyPositionFunction, DoubleReturningFunction radiationPressureFunction, @@ -179,8 +179,9 @@ class CannonBallRadiationPressure : public basic_astrodynamics::AccelerationMode * Updates member variables used by the acceleration model. This function evaluates all * dependent variables to the 'current' values of these parameters. Only these current values, * not the function-pointers are then used by the getAcceleration( ) function. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ); + void updateMembers( const double currentTime = TUDAT_NAN ); private: @@ -251,8 +252,8 @@ class CannonBallRadiationPressure : public basic_astrodynamics::AccelerationMode double currentMass_; }; -//! Typedef for shared-pointer to CannonBallRadiationPressure. -typedef boost::shared_ptr< CannonBallRadiationPressure > CannonBallRadiationPressurePointer; +//! Typedef for shared-pointer to CannonBallRadiationPressureAcceleration. +typedef boost::shared_ptr< CannonBallRadiationPressureAcceleration > CannonBallRadiationPressurePointer; } // namespace electro_magnetism } // namespace tudat diff --git a/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.cpp b/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.cpp index bb8ccd2456..0c083ea482 100644 --- a/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.cpp +++ b/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.cpp @@ -52,8 +52,11 @@ double calculateRadiationPressure( const double sourcePower, const double distan } //! Function to update the current value of the radiation pressure -void RadiationPressureInterface::updateInterface( ) +void RadiationPressureInterface::updateInterface( + const double currentTime ) { + currentTime_ = currentTime; + // Calculate current radiation pressure currentSolarVector_ = sourcePositionFunction_( ) - targetPositionFunction_( ); double distanceFromSource = currentSolarVector_.norm( ); diff --git a/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.h b/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.h index 531f5dc521..8d96d9ad13 100644 --- a/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.h +++ b/Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.h @@ -79,7 +79,7 @@ class RadiationPressureInterface{ * \param radiationPressureCoefficient Reflectivity coefficient of the target body. * \param area Reflecting area of the target body. * \param occultingBodyPositions List of functions returning the positions of the bodies - * causing occultations (default none) NOTE: Multplie concurrent occultations may currently + * causing occultations (default none) NOTE: Multiple concurrent occultations may currently * result in slighlty underestimted radiation pressure. * \param occultingBodyRadii List of radii of the bodies causing occultations (default none). * \param sourceRadius Radius of the source body (used for occultation calculations) (default 0). @@ -100,7 +100,9 @@ class RadiationPressureInterface{ occultingBodyPositions_( occultingBodyPositions ), occultingBodyRadii_( occultingBodyRadii ), sourceRadius_( sourceRadius ), - currentRadiationPressure_( 0.0 ){ } + currentRadiationPressure_( TUDAT_NAN ), + currentSolarVector_( Eigen::Vector3d::Zero( ) ), + currentTime_( TUDAT_NAN ){ } //! Destructor virtual ~RadiationPressureInterface( ){ } @@ -109,8 +111,9 @@ class RadiationPressureInterface{ /*! * Function to update the current value of the radiation pressure, based on functions returning * the positions of the bodies involved and the source power. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateInterface( ); + void updateInterface( const double currentTime = TUDAT_NAN ); //! Function to return the current radiation pressure due to source at target (in N/m^2). /*! @@ -184,6 +187,16 @@ class RadiationPressureInterface{ return sourcePower_; } + //! Function to return the current time of interface (i.e. time of last updateInterface call). + /*! + * Function to return the current time of interface (i.e. time of last updateInterface call). + * \return Current time of interface (i.e. time of last updateInterface call). + */ + double getCurrentTime( ) + { + return currentTime_; + } + //! Function to return the list of functions returning the positions of the bodies causing //! occultations /*! @@ -249,6 +262,9 @@ class RadiationPressureInterface{ //! Current vector from the target to the source. Eigen::Vector3d currentSolarVector_; + + //! Current time of interface (i.e. time of last updateInterface call). + double currentTime_; }; } // namespace electro_magnetism diff --git a/Tudat/Astrodynamics/Ephemerides/CMakeLists.txt b/Tudat/Astrodynamics/Ephemerides/CMakeLists.txt index a3dae3a3b9..32efb71dcc 100644 --- a/Tudat/Astrodynamics/Ephemerides/CMakeLists.txt +++ b/Tudat/Astrodynamics/Ephemerides/CMakeLists.txt @@ -37,11 +37,16 @@ set(EPHEMERIDES_SOURCES "${SRCROOT}${EPHEMERIDESDIR}/approximatePlanetPositionsBase.cpp" "${SRCROOT}${EPHEMERIDESDIR}/approximatePlanetPositions.cpp" "${SRCROOT}${EPHEMERIDESDIR}/approximatePlanetPositionsCircularCoplanar.cpp" + "${SRCROOT}${EPHEMERIDESDIR}/ephemeris.cpp" + "${SRCROOT}${EPHEMERIDESDIR}/rotationalEphemeris.cpp" "${SRCROOT}${EPHEMERIDESDIR}/cartesianStateExtractor.cpp" "${SRCROOT}${EPHEMERIDESDIR}/keplerStateExtractor.cpp" "${SRCROOT}${EPHEMERIDESDIR}/keplerEphemeris.cpp" "${SRCROOT}${EPHEMERIDESDIR}/rotationalEphemeris.cpp" "${SRCROOT}${EPHEMERIDESDIR}/simpleRotationalEphemeris.cpp" + "${SRCROOT}${EPHEMERIDESDIR}/tabulatedEphemeris.cpp" + "${SRCROOT}${EPHEMERIDESDIR}/frameManager.cpp" + "${SRCROOT}${EPHEMERIDESDIR}/compositeEphemeris.cpp" ) # Set the header files. @@ -51,12 +56,16 @@ set(EPHEMERIDES_HEADERS "${SRCROOT}${EPHEMERIDESDIR}/approximatePlanetPositionsCircularCoplanar.h" "${SRCROOT}${EPHEMERIDESDIR}/approximatePlanetPositionsDataContainer.h" "${SRCROOT}${EPHEMERIDESDIR}/ephemeris.h" + "${SRCROOT}${EPHEMERIDESDIR}/constantEphemeris.h" "${SRCROOT}${EPHEMERIDESDIR}/cartesianStateExtractor.h" "${SRCROOT}${EPHEMERIDESDIR}/keplerStateExtractor.h" "${SRCROOT}${EPHEMERIDESDIR}/keplerEphemeris.h" "${SRCROOT}${EPHEMERIDESDIR}/rotationalEphemeris.h" "${SRCROOT}${EPHEMERIDESDIR}/simpleRotationalEphemeris.h" "${SRCROOT}${EPHEMERIDESDIR}/tabulatedEphemeris.h" + "${SRCROOT}${EPHEMERIDESDIR}/frameManager.h" + "${SRCROOT}${EPHEMERIDESDIR}/compositeEphemeris.h" + "${SRCROOT}${EPHEMERIDESDIR}/constantEphemeris.h" ) # Add static libraries. @@ -88,6 +97,18 @@ add_executable(test_SimpleRotationalEphemeris "${SRCROOT}${EPHEMERIDESDIR}/UnitT setup_custom_test_program(test_SimpleRotationalEphemeris "${SRCROOT}${EPHEMERIDESDIR}") target_link_libraries(test_SimpleRotationalEphemeris tudat_ephemerides tudat_reference_frames tudat_input_output tudat_basic_astrodynamics tudat_basic_mathematics ${Boost_LIBRARIES}) +if(USE_CSPICE) +add_executable(test_FrameManager "${SRCROOT}${EPHEMERIDESDIR}/UnitTests/unitTestFrameManager.cpp") +setup_custom_test_program(test_FrameManager "${SRCROOT}${EPHEMERIDESDIR}") +target_link_libraries(test_FrameManager tudat_ephemerides tudat_reference_frames tudat_input_output tudat_basic_astrodynamics tudat_spice_interface tudat_basic_mathematics cspice ${Boost_LIBRARIES}) +endif() + +if(USE_CSPICE) +add_executable(test_CompositeEphemeris "${SRCROOT}${EPHEMERIDESDIR}/UnitTests/unitTestCompositeEphemeris.cpp") +setup_custom_test_program(test_CompositeEphemeris "${SRCROOT}${EPHEMERIDESDIR}") +target_link_libraries(test_CompositeEphemeris tudat_simulation_setup tudat_electro_magnetism tudat_gravitation tudat_ephemerides tudat_reference_frames tudat_aerodynamics tudat_reference_frames tudat_spice_interface tudat_input_output tudat_basic_astrodynamics tudat_basic_mathematics cspice ${TUDAT_CORE_LIBRARIES} ${Boost_LIBRARIES}) +endif() + add_executable(test_KeplerEphemeris "${SRCROOT}${EPHEMERIDESDIR}/UnitTests/unitTestKeplerEphemeris.cpp") setup_custom_test_program(test_KeplerEphemeris "${SRCROOT}${EPHEMERIDESDIR}") target_link_libraries(test_KeplerEphemeris tudat_ephemerides tudat_reference_frames tudat_input_output tudat_basic_astrodynamics tudat_basic_mathematics ${Boost_LIBRARIES}) diff --git a/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestCompositeEphemeris.cpp b/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestCompositeEphemeris.cpp new file mode 100644 index 0000000000..7e422b9e01 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestCompositeEphemeris.cpp @@ -0,0 +1,124 @@ +#define BOOST_TEST_MAIN + +#include +#include + +#include +#include + +#include "Tudat/Mathematics/BasicMathematics/linearAlgebra.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" +#include "Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h" +#include "Tudat/Basics/testMacros.h" +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#include "Tudat/InputOutput/basicInputOutput.h" + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/SimulationSetup/defaultBodies.h" +#include "Tudat/SimulationSetup/createBodies.h" + + +namespace tudat +{ + +namespace unit_tests +{ + +basic_mathematics::Vector6d getGroundStationPosition( + const double time ) +{ + Eigen::Vector3d nominalPosition; + nominalPosition << 4194511.7, 1162789.7, 4647362.5; + Eigen::Vector3d nominalVelocity; + nominalVelocity << 3.0E-3, -2.3E-3, 2.4E3; + nominalVelocity /= physical_constants::JULIAN_YEAR; + return ( basic_mathematics::Vector6d( )<< nominalPosition + time * nominalVelocity, nominalVelocity ).finished( ); +} + +BOOST_AUTO_TEST_SUITE( test_composite_ephemeris ) + +//! Test functionality of composite ephemeris. NOTE: Part of the functionality is also tested by test_FrameManager +BOOST_AUTO_TEST_CASE( testCompositeEphemeris ) +{ + using namespace tudat::interpolators; + using namespace tudat::simulation_setup; + using namespace tudat::ephemerides; + + //Load spice kernels. + std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "naif0009.tls"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp"); + + //Define setting for total number of bodies and those which need to be integrated numerically. + //The first numberOfNumericalBodies from the bodyNames vector will be integrated numerically. + + std::vector< std::string > bodyNames; + bodyNames.push_back( "Earth" ); + bodyNames.push_back( "Sun" ); + bodyNames.push_back( "Moon" ); + + // Specify initial time + double initialEphemerisTime = 1.0E7; + double finalEphemerisTime = 1.1E7; + double maximumTimeStep = 3600.0; + + double buffer = 5.0 * maximumTimeStep; + + // Create bodies needed in simulation + std::map< std::string, boost::shared_ptr< Body > > bodyMap = createBodies( + getDefaultBodySettings( bodyNames,initialEphemerisTime - buffer, finalEphemerisTime + buffer ) ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + boost::shared_ptr< Ephemeris > earthEphemeris = bodyMap.at( "Earth" )->getEphemeris( ); + boost::shared_ptr< RotationalEphemeris > rotationModel = bodyMap.at( "Earth" )->getRotationalEphemeris( ); + + boost::shared_ptr< Ephemeris > ephemeris1 = createReferencePointEphemeris< double, double >( + earthEphemeris, rotationModel, &getGroundStationPosition ); + boost::shared_ptr< Ephemeris > ephemeris2 = createReferencePointEphemeris< double, long double >( + earthEphemeris, rotationModel, &getGroundStationPosition ); + double testTime = 1.05E7; + + basic_mathematics::Vector6d doubleStateFromDoubleTime; + doubleStateFromDoubleTime.segment( 0, 3 ) = earthEphemeris->getCartesianStateFromEphemeris( testTime ).segment( 0, 3 ) + + rotationModel->getRotationToBaseFrame( testTime ) * getGroundStationPosition( testTime ).segment( 0, 3 ); + doubleStateFromDoubleTime.segment( 3, 3 ) = earthEphemeris->getCartesianStateFromEphemeris( testTime ).segment( 3, 3 ) + + rotationModel->getRotationToBaseFrame( testTime ) * getGroundStationPosition( testTime ).segment( 3, 3 ) + + rotationModel->getDerivativeOfRotationToBaseFrame( testTime ) * getGroundStationPosition( testTime ).segment( 0, 3 ); + + Eigen::Matrix< long double, 6, 1 > longDoubleStateFromDoubleTime; + longDoubleStateFromDoubleTime.segment( 0, 3 ) = earthEphemeris->getCartesianLongStateFromEphemeris( testTime ).segment( 0, 3 ) + + ( rotationModel->getRotationToBaseFrame( testTime ) * getGroundStationPosition( testTime ).segment( 0, 3 ) ).cast< long double >( ); + longDoubleStateFromDoubleTime.segment( 3, 3 ) = earthEphemeris->getCartesianLongStateFromEphemeris( testTime ).segment( 3, 3 ) + + ( rotationModel->getRotationToBaseFrame( testTime ) * getGroundStationPosition( testTime ).segment( 3, 3 ) ).cast< long double >( ) + + ( rotationModel->getDerivativeOfRotationToBaseFrame( testTime ) * getGroundStationPosition( testTime ).segment( 0, 3 ) ).cast< long double >( ); + double doubleTolerance = std::numeric_limits< double >::epsilon( ); + double longDoubleTolerance = std::numeric_limits< long double >::epsilon( ); + + //NOTE: Make test robust for smaller entries 2 and 5 + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( doubleStateFromDoubleTime, longDoubleStateFromDoubleTime.cast< double >( ), doubleTolerance ); + + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( longDoubleStateFromDoubleTime.cast< double >( ), doubleStateFromDoubleTime, doubleTolerance ); + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris1->getCartesianStateFromEphemeris( testTime ), doubleStateFromDoubleTime, doubleTolerance ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris1->getCartesianLongStateFromEphemeris( testTime ), doubleStateFromDoubleTime.cast< long double >( ), doubleTolerance ); + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris2->getCartesianStateFromEphemeris( testTime ), doubleStateFromDoubleTime, doubleTolerance ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris2->getCartesianLongStateFromEphemeris( testTime ).segment( 0, 2 ), + longDoubleStateFromDoubleTime.segment( 0, 2 ), longDoubleTolerance ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris2->getCartesianLongStateFromEphemeris( testTime ).segment( 2, 1 ), + longDoubleStateFromDoubleTime.segment( 2, 1 ), ( 1000.0 * longDoubleTolerance ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris2->getCartesianLongStateFromEphemeris( testTime ).segment( 3, 2 ), + longDoubleStateFromDoubleTime.segment( 3, 2 ), ( 10.0 * longDoubleTolerance ) );//Tolerance is not fully met because rotation is in double + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( ephemeris2->getCartesianLongStateFromEphemeris( testTime ).segment( 5, 1 ), + longDoubleStateFromDoubleTime.segment( 5, 1 ), ( 10000.0 * longDoubleTolerance ) ); +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} + +} diff --git a/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestFrameManager.cpp b/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestFrameManager.cpp new file mode 100644 index 0000000000..e070013c28 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestFrameManager.cpp @@ -0,0 +1,143 @@ +#define BOOST_TEST_MAIN + +#include +#include +#include + +#include "Tudat/Basics/testMacros.h" + +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#include "Tudat/InputOutput/basicInputOutput.h" + +#include "Tudat/Astrodynamics/Ephemerides/frameManager.h" +#include "Tudat/Astrodynamics/Ephemerides/constantEphemeris.h" + +namespace tudat +{ +namespace unit_tests +{ + +using namespace tudat::ephemerides; +using namespace tudat::spice_interface; + +BOOST_AUTO_TEST_SUITE( test_frame_manager ) + +BOOST_AUTO_TEST_CASE( test_FrameManager ) +{ + + std::string kernelsPath = input_output::getSpiceKernelPath( ); + + //Load spice kernels. + spice_interface::loadSpiceKernelInTudat( kernelsPath + "naif0009.tls"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp"); + + std::map< std::string, boost::shared_ptr< Ephemeris > > ephemerisList; + + basic_mathematics::Vector6d barycentricSunState = getBodyCartesianStateAtEpoch( "Sun", getBaseFrameName( ), "ECLIPJ2000", "NONE", 0.0 ); + ephemerisList[ "Sun" ] = boost::make_shared< ConstantEphemeris >( barycentricSunState, getBaseFrameName( ), "ECLIPJ2000" ); + + basic_mathematics::Vector6d sunCentricEarthState = getBodyCartesianStateAtEpoch( "Earth", "Sun", "ECLIPJ2000", "NONE", 0.0 ); + ephemerisList[ "Earth" ] = boost::make_shared< ConstantEphemeris >( sunCentricEarthState, "Sun", "ECLIPJ2000" ); + + basic_mathematics::Vector6d earthCentricMoonState = getBodyCartesianStateAtEpoch( "Moon", "Earth", "ECLIPJ2000", "NONE", 0.0 ); + ephemerisList[ "Moon" ] = boost::make_shared< ConstantEphemeris >( earthCentricMoonState, "Earth", "ECLIPJ2000" ); + + basic_mathematics::Vector6d earthCentricLageosState = basic_mathematics::Vector6d::Zero( ); + earthCentricLageosState( 1 ) = 2.5E6; + earthCentricLageosState( 2 ) = 4.0E6; + ephemerisList[ "LAGEOS" ] = boost::make_shared< ConstantEphemeris >( earthCentricLageosState, "Earth", "ECLIPJ2000" ); + + basic_mathematics::Vector6d moonCentricLroState = basic_mathematics::Vector6d::Zero( ); + moonCentricLroState( 0 ) = 1.0E6; + moonCentricLroState( 1 ) = 2.0E6; + + ephemerisList[ "LRO" ] = boost::make_shared< ConstantEphemeris >( moonCentricLroState, "Moon", "ECLIPJ2000" ); + + basic_mathematics::Vector6d sunCentricMarsState = getBodyCartesianStateAtEpoch( "Mars", "Sun", "ECLIPJ2000", "NONE", 0.0 ); + ephemerisList[ "Mars" ] = boost::make_shared< ConstantEphemeris >( sunCentricMarsState, "Sun", "ECLIPJ2000" ); + + basic_mathematics::Vector6d marsCentricPhobosState = basic_mathematics::Vector6d::Zero( ); + marsCentricPhobosState( 0 ) = 2.3E5; + marsCentricPhobosState( 1 ) = 2.9E4; + marsCentricPhobosState( 2 ) = 600; + + ephemerisList[ "Phobos" ] = boost::make_shared< ConstantEphemeris >( marsCentricPhobosState, "Mars", "ECLIPJ2000" ); + + boost::shared_ptr< ReferenceFrameManager > frameManager = boost::make_shared< ReferenceFrameManager >( ephemerisList ); + + std::map< std::string, int > expectedFrameLevel; + expectedFrameLevel[ "Sun" ] = 0; + expectedFrameLevel[ "Earth" ] = 1; + expectedFrameLevel[ "Mars" ] = 1; + expectedFrameLevel[ "LAGEOS" ] = 2; + expectedFrameLevel[ "Moon" ] = 2; + expectedFrameLevel[ "Phobos" ] = 2; + expectedFrameLevel[ "LRO" ] = 3; + + for( std::map< std::string, int >::iterator it = expectedFrameLevel.begin( ); it != expectedFrameLevel.end( ); it++ ) + { + if( frameManager->getFrameLevel( it->first ).first != it->second ) + { + throw std::runtime_error( + "Error when identifying frame level of " + it->first + " found " + + boost::lexical_cast< std::string >( frameManager->getFrameLevel( it->first ).first ) + " expected" + + boost::lexical_cast< std::string >( it->second ) ); + } + } + + std::vector< std::string > frames; + frames.push_back( "Earth" ); + frames.push_back( "Mars" ); + std::pair< std::string, int > commonFrame = frameManager->getNearestCommonFrame( frames ); + BOOST_CHECK_EQUAL( commonFrame.first, "Sun" ); + BOOST_CHECK_EQUAL( commonFrame.second, 0 ); + + frames.clear( ); + frames.push_back( "Moon" ); + frames.push_back( "Sun" ); + + commonFrame = frameManager->getNearestCommonFrame( frames ); + + BOOST_CHECK_EQUAL( commonFrame.first, "Sun" ); + BOOST_CHECK_EQUAL( commonFrame.second, 0 ); + + frames.clear( ); + frames.push_back( "Earth" ); + frames.push_back( "LRO" ); + + commonFrame = frameManager->getNearestCommonFrame( frames ); + + BOOST_CHECK_EQUAL( commonFrame.first, "Earth" ); + BOOST_CHECK_EQUAL( commonFrame.second, 1 ); + + basic_mathematics::Vector6d testState = frameManager->getEphemeris< >( "Moon", "LAGEOS" )->getCartesianStateFromEphemeris( 0.0 ); + basic_mathematics::Vector6d expectedState = earthCentricLageosState - earthCentricMoonState; + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( testState, expectedState, std::numeric_limits< double >::epsilon( ) ); + + testState = frameManager->getEphemeris( "Phobos", "Sun" )->getCartesianStateFromEphemeris( 0.0 ); + expectedState = sunCentricMarsState + marsCentricPhobosState; + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( testState, ( -1.0 * expectedState ), std::numeric_limits< double >::epsilon( ) ); + + testState = frameManager->getEphemeris( "Sun", "Phobos" )->getCartesianStateFromEphemeris( 0.0 ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( testState, expectedState, std::numeric_limits< double >::epsilon( ) ); + + testState = frameManager->getEphemeris( "Sun", "Earth" )->getCartesianStateFromEphemeris( 0.0 ); + expectedState = sunCentricEarthState; + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( testState, expectedState, std::numeric_limits< double >::epsilon( ) ); + + testState = frameManager->getEphemeris( getBaseFrameName( ), "Earth" )->getCartesianStateFromEphemeris( 0.0 ); + expectedState = barycentricSunState + sunCentricEarthState; + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( testState, expectedState, std::numeric_limits< double >::epsilon( ) ); + + testState = frameManager->getEphemeris( "Earth", getBaseFrameName( ) )->getCartesianStateFromEphemeris( 0.0 ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( testState, ( -1.0 * expectedState ), std::numeric_limits< double >::epsilon( ) ); + +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} + +} diff --git a/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestTabulatedEphemeris.cpp b/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestTabulatedEphemeris.cpp index 27780d7faa..c65bceb836 100644 --- a/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestTabulatedEphemeris.cpp +++ b/Tudat/Astrodynamics/Ephemerides/UnitTests/unitTestTabulatedEphemeris.cpp @@ -101,8 +101,8 @@ BOOST_AUTO_TEST_CASE( testTabulatedEphemeris ) < double, basic_mathematics::Vector6d > >( marsStateHistoryMap ); // Create tabulated epehemeris from interpolator - boost::shared_ptr< TabulatedCartesianEphemeris > tabulatedEphemeris = - boost::make_shared< TabulatedCartesianEphemeris >( + boost::shared_ptr< TabulatedCartesianEphemeris< > > tabulatedEphemeris = + boost::make_shared< TabulatedCartesianEphemeris< > >( marsStateInterpolator, "SSB", "J2000", basic_astrodynamics::JULIAN_DAY_ON_J2000 ); // Compare interpolated and tabulated ephemeris state at dummy time. diff --git a/Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h b/Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h index 252f4f878c..ff72661a3d 100644 --- a/Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h +++ b/Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h @@ -94,7 +94,8 @@ class ApproximatePlanetPositions : public ApproximatePlanetPositionsBase * \return State in Cartesian elements from ephemeris. */ basic_mathematics::Vector6d getCartesianStateFromEphemeris( - const double secondsSinceEpoch, const double julianDayAtEpoch ); + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ); //! Get keplerian state from ephemeris. /*! @@ -104,7 +105,8 @@ class ApproximatePlanetPositions : public ApproximatePlanetPositionsBase * \return State in Keplerian elements from ephemeris. */ basic_mathematics::Vector6d getKeplerianStateFromEphemeris( - const double secondsSinceEpoch, const double julianDayAtEpoch ); + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ); protected: diff --git a/Tudat/Astrodynamics/Ephemerides/compositeEphemeris.cpp b/Tudat/Astrodynamics/Ephemerides/compositeEphemeris.cpp new file mode 100644 index 0000000000..43fd4b8c2f --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/compositeEphemeris.cpp @@ -0,0 +1,97 @@ +#include "Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h" + + +namespace tudat +{ + +namespace ephemerides +{ + +//! Get state from ephemeris. +template< > +basic_mathematics::Vector6d CompositeEphemeris< double, double >::getCartesianStateFromEphemeris( + const double secondsSinceEpoch, const double julianDayAtEpoch ) +{ + // Initialize state to zero; + basic_mathematics::Vector6d state = basic_mathematics::Vector6d::Zero( ); + + // Initialize current indices of translation and rotation to zero. + int currentTranslationIndex = 0; + int currentRotationIndex = 0; + + // Loop over all ephemerides + for( unsigned int i = 0; i < isCurrentEphemerisTranslational_.size( ); i++ ) + { + // If current ephemeris is translational, add it and increment currentTranslationIndex + if( isCurrentEphemerisTranslational_[ i ] == true ) + { + state += translationalEphemerides_[ currentTranslationIndex ].first( secondsSinceEpoch ) * + static_cast< double >( translationalEphemerides_[ currentTranslationIndex ].second ); + currentTranslationIndex++; + } + // If current ephemeris is rotational, multiply position and state by rotation. + else + { + state = rotationalEphemerides_[ currentRotationIndex ]( secondsSinceEpoch, state ); + currentRotationIndex++; + } + } + + return state; +} + +//! Get state from ephemeris (with long double as state scalar). +template< > +Eigen::Matrix< long double, 6, 1 > CompositeEphemeris< double, double >::getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, const double julianDayAtEpoch ) +{ + return getCartesianStateFromEphemeris( secondsSinceEpoch, julianDayAtEpoch ).cast< long double >( ); +} + + +//! Get state from ephemeris (with long double as state scalar). +template< > +Eigen::Matrix< long double, 6, 1 > CompositeEphemeris< double, long double >::getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, const double julianDayAtEpoch ) + +{ + // Initialize state to zero; + Eigen::Matrix< long double, 6, 1 > state = Eigen::Matrix< long double, 6, 1 >::Zero( ); + + // Initialize current indices of translation and rotation to zero. + int currentTranslationIndex = 0; + int currentRotationIndex = 0; + + // Loop over all ephemerides + for( unsigned int i = 0; i < isCurrentEphemerisTranslational_.size( ); i++ ) + { + // If current ephemeris is translational, add it and increment currentTranslationIndex + if( isCurrentEphemerisTranslational_[ i ] == true ) + { + state += translationalEphemerides_[ currentTranslationIndex ].first( secondsSinceEpoch ) * + static_cast< long double >( translationalEphemerides_[ currentTranslationIndex ].second ); + currentTranslationIndex++; + } + // If current ephemeris is rotational, multiply position and state by rotation. + else + { + state = rotationalEphemerides_[ currentRotationIndex ]( secondsSinceEpoch, state ); + currentRotationIndex++; + } + } + return state; +} + + +//! Get state from ephemeris.r). +template< > +basic_mathematics::Vector6d CompositeEphemeris< double, long double >::getCartesianStateFromEphemeris( + const double secondsSinceEpoch, const double julianDayAtEpoch ) + +{ + return getCartesianLongStateFromEphemeris( secondsSinceEpoch, julianDayAtEpoch ).cast< double >( ); +} + +} // namespace ephemerides + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h b/Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h new file mode 100644 index 0000000000..0668f7f3e1 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h @@ -0,0 +1,302 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_COMPOSITEEPHEMERIS_H +#define TUDAT_COMPOSITEEPHEMERIS_H + +#include +#include + +#include +#include +#include + +#include + +#include "Tudat/Astrodynamics/Ephemerides/ephemeris.h" + +#include "Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/constantEphemeris.h" + + +namespace tudat +{ + +namespace ephemerides +{ + + +//! Class that combines a series of translational and rotational ephemeris functions +/*! + * Class that combines a series of translational and rotational ephemeris functions to yield a + * single translational ephemeris. By using this class, a single object can be used for calling a + * series of translations and rotations. The option is provided for both adding or subtracting a + * given translational state. + */ +template< typename TimeType = double, typename StateScalarType = double > +class CompositeEphemeris : public Ephemeris +{ +public: + + using Ephemeris::getCartesianLongStateFromEphemeris; + using Ephemeris::getCartesianStateFromEphemeris; + + typedef Eigen::Matrix< StateScalarType, 6, 1 > StateType; + + //! Constructor from series of translational and rotational ephemeris functions. + /*! + * Constructor from series of translational and rotational ephemeris functions. Input is + * provided as maps, with key being the index providing the position in the order where the + * given function should be applied. Each index must be present only once (i.e. either in + * translation or rotation), must start with 0 (which must be a translational ephemeris), and + * must be increasing by 1. + * \param translationalEphemerides List of translational ephemerides. + * \param rotationalEphemerides List of rotational ephemerides. + * \param referenceFrameOrigin Origin of reference frame in which state is defined. + * \param referenceFrameOrientation Orientation of reference frame in which state is defined. + */ + CompositeEphemeris( + const std::map< int, boost::function< StateType( const TimeType& ) > > + translationalEphemerides, + const std::map< int, boost::function< StateType( const double, const StateType& ) > > + rotationalEphemerides, + const std::string referenceFrameOrigin = "SSB", + const std::string referenceFrameOrientation = "ECLIPJ2000" ): + Ephemeris( referenceFrameOrigin, referenceFrameOrientation ) + { + // Create iterators over ephemeris functions. + typename std::map< int, boost::function< StateType( const TimeType& ) > >::const_iterator + translationIterator = translationalEphemerides.begin( ); + typename std::map< int, boost::function< StateType( const double, const StateType& ) > >::const_iterator + rotationIterator = rotationalEphemerides.begin( ); + + // Check whether chain starts with translation. + if( translationIterator->first != 0 ) + { + std::cerr << "Error, composite ephemeris must start with translation" << std::endl; + } + + // Run over all indices and set order. + int currentIndex = 0; + while( currentIndex < static_cast< int >( translationalEphemerides.size( ) + + rotationalEphemerides.size( ) ) ) + { + // If current ephemeris is translational, add to translations list (set as addition) and + // set translation flag at current index to true. + if( translationIterator != translationalEphemerides.end( ) + && translationIterator->first == currentIndex ) + { + translationalEphemerides_.push_back( std::make_pair( translationIterator->second, 1 ) ); + isCurrentEphemerisTranslational_.push_back( 1 ); + translationIterator++; + } + // If current ephemeris is rotational, add to rotations list and set translation flag at + // current index to false. + else if( rotationIterator != rotationalEphemerides.end( ) + && rotationIterator->first == currentIndex ) + { + rotationalEphemerides_.push_back( rotationIterator->second ); + isCurrentEphemerisTranslational_.push_back( 0 ); + rotationIterator++; + } + // If index is not found, display error message. + else + { + std::cerr << "Error when making composite ephemeris, input indices inconsistent" << std::endl; + } + currentIndex++; + } + + } + + //! Constructor from series of translational and rotational ephemeris functions + /*! + * Constructor from series of translational and rotational ephemeris functions, allowing either + * addition or subtraction of translation ep Input is provided as maps, with key being the + * index providing the position in the order where the given function should be applied. Each + * index must be present only once (i.e. either in translation or rotation), must start with 0 + * (which must be a translational ephemeris), and must be increasing by 1. The second element + * of the pair that is the translational map value denotes whether to add (1) or subtract(0) + * it. + * \param translationalEphemerides List of translational ephemerides, with subtraction/addition indicator. + * \param rotationalEphemerides List of rotational ephemerides. + * \param referenceFrameOrigin Origin of reference frame in which state is defined. + * \param referenceFrameOrientation Orientation of reference frame in which state is defined. + */ + CompositeEphemeris( + const std::map< int, std::pair< boost::function< StateType( const TimeType& ) >, bool > > + translationalEphemerides, + const std::map< int, boost::function< StateType( const double, const StateType& ) > > + rotationalEphemerides, + const std::string referenceFrameOrigin = "SSB", + const std::string referenceFrameOrientation = "ECLIPJ2000" ): + Ephemeris( referenceFrameOrigin, referenceFrameOrientation ) + { + // Create iterators over ephemeris functions. + typename std::map< int, std::pair< boost::function< StateType( const TimeType& ) >, bool > > + ::const_iterator translationIterator = translationalEphemerides.begin( ); + typename std::map< int, boost::function< StateType( const double, const StateType& ) > > + ::const_iterator rotationIterator = rotationalEphemerides.begin( ); + + // Check whether chain starts with translation. + if( translationIterator->first != 0 ) + { + std::cerr << "Error, composite ephemeris must start with translation" << std::endl; + } + + // Run over all indices and set order. + int currentIndex = 0; + while( currentIndex < static_cast< int >( translationalEphemerides.size( ) + + rotationalEphemerides.size( ) ) ) + { + // If current ephemeris is translational, add to translations list and set translation + // flag at current index to true. + if( translationIterator != translationalEphemerides.end( ) + && translationIterator->first == currentIndex ) + { + int addCurrentEphemeris = ( translationIterator->second.second == true ) ? 1 : -1; + + translationalEphemerides_.push_back( std::make_pair( translationIterator->second.first, + addCurrentEphemeris ) ); + isCurrentEphemerisTranslational_.push_back( 1 ); + translationIterator++; + } + // If current ephemeris is rotational, add to rotations list and set translation flag at + // current index to false. + else if( rotationIterator != rotationalEphemerides.end( ) + && rotationIterator->first == currentIndex ) + { + rotationalEphemerides_.push_back( rotationIterator->second ); + isCurrentEphemerisTranslational_.push_back( 0 ); + rotationIterator++; + } + // If index is not found, display error message. + else + { + std::cerr << "Error when making composite ephemeris, input indices inconsistent" << std::endl; + } + currentIndex++; + } + } + + //! Destructor + ~CompositeEphemeris( ){ } + + //! Get state from ephemeris. + /*! + * Returns state from ephemeris at given time. + * \param secondsSinceEpoch Seconds since epoch at which ephemeris is to be evaluated. + * \param julianDayAtEpoch Reference epoch in Julian day. + * \return Constant state given by combined rotations and translations. + */ + basic_mathematics::Vector6d getCartesianStateFromEphemeris( + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + + //! Get state from ephemeris (with long double as state scalar). + /*! + * Returns state from ephemeris with long double as state scalar at given time. + * \param secondsSinceEpoch Seconds since epoch at which ephemeris is to be evaluated. + * \param julianDayAtEpoch Reference epoch in Julian day. + * \return Constant state with long double as state scalar given by combined rotations and translations. + */ + Eigen::Matrix< long double, 6, 1 > getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + + //! Add an additional translational ephemeris at the end of the chain. + /*! + * Function to add an additional translational ephemeris at the end of the chain. + * \param stateFunction Translational ephemeris function to add. + * \param add Identifier setting whether to add (1) or subtract (-1) translation. + */ + void addTranslationalEphemeris( const boost::function< StateType( const TimeType& ) > stateFunction, + const int add = 1 ) + { + //Check validity of input. + if( add != 1 && add != -1 ) + { + std::cerr << "Error when adding to composite ephemeris" << std::endl; + } + + // Add translational ephemeris to end of chain + isCurrentEphemerisTranslational_.push_back( 1 ); + translationalEphemerides_.push_back( std::make_pair( stateFunction, add ) ); + } + +private: + + //! Vector of translational ephemeris functions. + /*! + * Vector of translational ephemeris functions and addition (1) or subtraction (-1) indicator. + */ + std::vector< std::pair< boost::function< StateType( const TimeType& ) >, int > > translationalEphemerides_; + + //! Vector of rotational ephemeris functions. + /*! + * Vector of rotational ephemeris functions. + */ + std::vector< boost::function< StateType( const double, const StateType& ) > > rotationalEphemerides_; + + //! Vector indicating order of translational and rotational ephemeris. + /*! + * Vector indicating order of translational and rotational ephemeris (0 is first, highest is last) + */ + std::vector< bool > isCurrentEphemerisTranslational_; +}; + +template< typename OldStateScalarType, typename NewStateScalarType, typename TimeType, int StateSize > +Eigen::Matrix< NewStateScalarType, StateSize, 1 > convertStateFunctionStateScalarOutput( + const boost::function< Eigen::Matrix< OldStateScalarType, StateSize, 1 >( const double& ) > + originalStateFunction, + const TimeType currentTime ) +{ + return originalStateFunction( currentTime ).template cast< NewStateScalarType >( ); +} + +template< typename TimeType = double, typename StateScalarType = double > +boost::shared_ptr< Ephemeris > createReferencePointEphemeris( + boost::shared_ptr< Ephemeris > bodyEphemeris, + boost::shared_ptr< RotationalEphemeris > bodyRotationModel, + boost::function< basic_mathematics::Vector6d( const double& ) > referencePointRelativeStateFunction ) +{ + typedef Eigen::Matrix< StateScalarType, 6, 1 > StateType; + + std::map< int, boost::function< StateType( const TimeType& ) > > referencePointEphemerisVector; + referencePointEphemerisVector[ 2 ] = boost::bind( + &Ephemeris::getTemplatedStateFromEphemeris< StateScalarType, TimeType >, bodyEphemeris, _1 ); + referencePointEphemerisVector[ 0 ] = boost::bind( + &convertStateFunctionStateScalarOutput< double, StateScalarType, TimeType, 6 >, + referencePointRelativeStateFunction, _1 ); + + + boost::function< Eigen::Quaterniond( const double ) > rotationToFrameFunction = + boost::bind( &RotationalEphemeris::getRotationToBaseFrame, bodyRotationModel, _1, + basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + boost::function< Eigen::Matrix3d( const double ) > rotationMatrixToFrameDerivativeFunction = + boost::bind( &RotationalEphemeris::getDerivativeOfRotationToBaseFrame, bodyRotationModel, _1, + basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + + std::map< int, boost::function< StateType( const double, const StateType& ) > > referencePointRotationVector; + referencePointRotationVector[ 1 ] = boost::bind( + transformStateToFrameFromStateFunctions< StateScalarType >, + _2, _1, rotationToFrameFunction, rotationMatrixToFrameDerivativeFunction ); + + boost::shared_ptr< Ephemeris > ephemeris + = boost::make_shared< CompositeEphemeris< TimeType, StateScalarType > >( + referencePointEphemerisVector, referencePointRotationVector, "SSB", "ECLIPJ2000" ); + + return ephemeris; +} + +} // namespace ephemerides + +} // namespace tudat +#endif // TUDAT_COMPOSITEEPHEMERIS_H diff --git a/Tudat/Astrodynamics/Ephemerides/constantEphemeris.h b/Tudat/Astrodynamics/Ephemerides/constantEphemeris.h new file mode 100644 index 0000000000..23e343f6d5 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/constantEphemeris.h @@ -0,0 +1,88 @@ +#ifndef TUDAT_CONSTANTEPHEMERIS_H +#define TUDAT_CONSTANTEPHEMERIS_H + +#include +#include + +#include "Tudat/Astrodynamics/Ephemerides/ephemeris.h" + + +namespace tudat +{ + +namespace ephemerides +{ + +//! Ephemeris class that gives a constant (i.e. time independent) state. +class ConstantEphemeris : public Ephemeris +{ +public: + + using Ephemeris::getCartesianStateFromEphemeris; + + //! Constructor of a constant Ephemeris object + /*! + * Constructor. + * \param constantStateFunction Function returning the constant state. + * \param referenceFrameOrigin Origin of reference frame in which state is defined. + * \param referenceFrameOrientation Orientation of reference frame in which state is defined. + */ + ConstantEphemeris( const boost::function< basic_mathematics::Vector6d( ) > constantStateFunction, + const std::string& referenceFrameOrigin = "SSB", + const std::string& referenceFrameOrientation = "ECLIPJ2000" ): + Ephemeris( referenceFrameOrigin, referenceFrameOrientation ), + constantStateFunction_( constantStateFunction ) { } + + //! Constructor of a constant Ephemeris object + /*! + * Constructor + * \param constantState Constant state value. + * \param referenceFrameOrigin Origin of reference frame in which state is defined. + * \param referenceFrameOrientation Orientation of reference frame in which state is defined. + */ + ConstantEphemeris( const basic_mathematics::Vector6d constantState, + const std::string& referenceFrameOrigin = "SSB", + const std::string& referenceFrameOrientation = "ECLIPJ2000" ): + Ephemeris( referenceFrameOrigin, referenceFrameOrientation ) + { constantStateFunction_ = boost::lambda::constant( constantState ); } + + //! Get state from ephemeris. + /*! + * Returns state from ephemeris at given time. + * \param seconsSinceEpoch Seconds since epoch at which ephemeris is to be evaluated + (not used in this derived class) + * \param julianDayAtEpoch Reference epoch in Julian day. + * \return Constant state given by constantStateFunction_ + */ + basic_mathematics::Vector6d getCartesianStateFromEphemeris( + const double seconsSinceEpoch = 0.0, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000) + { + return constantStateFunction_( ); + } + + //! Modifies the constant state + /*! + * Changes the constant state value to a new value. + * \param newState New value for constant state. + */ + void updateConstantState( const basic_mathematics::Vector6d& newState ) + { + constantStateFunction_ = boost::lambda::constant( newState ); + } + +private: + + //! Time-independent state function. + /*! + * Function that returns a constant cartesian state. + */ + boost::function< basic_mathematics::Vector6d( ) > constantStateFunction_; + +}; + +} // namespace ephemerides + +} // namespace tudat + +#endif // TUDAT_CONSTANTEPHEMERIS_H diff --git a/Tudat/Astrodynamics/Ephemerides/ephemeris.cpp b/Tudat/Astrodynamics/Ephemerides/ephemeris.cpp new file mode 100644 index 0000000000..3d1fd0c85e --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/ephemeris.cpp @@ -0,0 +1,35 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ +#include "Tudat/Astrodynamics/Ephemerides/ephemeris.h" + +namespace tudat +{ +namespace ephemerides +{ + +//! Get state from ephemeris, with state scalar as template type (double specialization). +template< > +Eigen::Matrix< double, 6, 1 > Ephemeris::getTemplatedStateFromEphemeris( const double& time ) +{ + return getCartesianStateFromEphemeris( time, basic_astrodynamics::JULIAN_DAY_ON_J2000 ); +} + +//! Get state from ephemeris, with state scalar as template type (long double specialization). +template< > +Eigen::Matrix< long double, 6, 1 > Ephemeris::getTemplatedStateFromEphemeris( const double& time ) +{ + return getCartesianLongStateFromEphemeris( time, basic_astrodynamics::JULIAN_DAY_ON_J2000 ); +} + + +} // namespace ephemerides + +} // namespace tudat + diff --git a/Tudat/Astrodynamics/Ephemerides/ephemeris.h b/Tudat/Astrodynamics/Ephemerides/ephemeris.h index d58433eee3..0e6e0d3284 100644 --- a/Tudat/Astrodynamics/Ephemerides/ephemeris.h +++ b/Tudat/Astrodynamics/Ephemerides/ephemeris.h @@ -41,16 +41,18 @@ #define TUDAT_EPHEMERIS_H #include +#include #include "Tudat/Mathematics/BasicMathematics/linearAlgebra.h" - #include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h" namespace tudat { namespace ephemerides { + //! Ephemeris base class. /*! * Ephemeris base class. @@ -85,7 +87,34 @@ class Ephemeris * \return State from ephemeris. */ virtual basic_mathematics::Vector6d getCartesianStateFromEphemeris( - const double secondsSinceEpoch, const double julianDayAtEpoch ) = 0; + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ) = 0; + + //! Get state from ephemeris (with long double as state scalar). + /*! + * Returns state from ephemeris with long double as state scalar at given time. By default, this + * function casts the double getCartesianStateFromEphemeris to long double. It may be overridden + * by derived classes to make use of full long double computations. + * \param secondsSinceEpoch Seconds since epoch at which ephemeris is to be evaluated. + * \param julianDayAtEpoch Reference epoch in Julian day. + * \return State from ephemeris with long double as state scalar + */ + virtual Eigen::Matrix< long double, 6, 1 > getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ) + { + return getCartesianStateFromEphemeris( secondsSinceEpoch, julianDayAtEpoch ).cast< long double >( ); + } + + //! Get state from ephemeris, with state scalar as template type. + /*! + * Returns state from ephemeris (state scalar as template type) at given time. + * \param time Time at which ephemeris is to be evaluated (JULIAN_DAY_ON_J2000 used as reference + julian day when needed). + * \return State from ephemeris with requested state scalar type. + */ + template< typename StateScalarType, typename TimeType > + Eigen::Matrix< StateScalarType, 6, 1 > getTemplatedStateFromEphemeris( const TimeType& time ); //! Get reference frame origin. /*! diff --git a/Tudat/Astrodynamics/Ephemerides/frameManager.cpp b/Tudat/Astrodynamics/Ephemerides/frameManager.cpp new file mode 100644 index 0000000000..a99cfb9750 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/frameManager.cpp @@ -0,0 +1,374 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ +#include "Tudat/Astrodynamics/Ephemerides/frameManager.h" + +namespace tudat +{ + +namespace ephemerides +{ + +std::string getBaseFrameName( ) +{ + return "SSB"; +} + +//! Function to determine if a given frame is an inertial frame. +bool isFrameInertial( const std::string& frame ) +{ + bool isFrameInertial_; + if( frame == "SSB" || frame == "" || frame == "Inertial" ) + { + isFrameInertial_ = true; + } + else + { + isFrameInertial_ = false; + } + return isFrameInertial_; +} + + +//! Constructor from named list of bodies. +ReferenceFrameManager::ReferenceFrameManager( const simulation_setup::NamedBodyMap& bodyMap ) +{ + // Get ephemerides from bodies + std::map< std::string, boost::shared_ptr< Ephemeris > > ephemerides; + for( simulation_setup::NamedBodyMap::const_iterator bodyIterator = bodyMap.begin( ); + bodyIterator != bodyMap.end( ); bodyIterator++ ) + { + if( bodyIterator->second->getEphemeris( ) != NULL ) + { + ephemerides[ bodyIterator->first ] = bodyIterator->second->getEphemeris( ); + } + } + + // Set name of global base frame. + frameIndexList_[ getBaseFrameName( ) ] = -1; + + // Initialize frame book-keeping variables. + setEphemerides( ephemerides ); +} + +//! Constructor from named list of ephemerides. +ReferenceFrameManager::ReferenceFrameManager( + const std::map< std::string, boost::shared_ptr< Ephemeris > >& ephemerisMap ) +{ + // Set name of global base frame. + frameIndexList_[ getBaseFrameName( ) ] = -1; + + // Initialize frame book-keeping variables. + setEphemerides( ephemerisMap ); +} + +//! Function to determine frame levels and base frames of all frames. +void ReferenceFrameManager::setEphemerides( + const std::map< std::string, boost::shared_ptr< Ephemeris > >& additionalEphemerides ) +{ + // Set list of all frames for which frame level and base frame have not yet been determined. + std::map< std::string, boost::shared_ptr< Ephemeris > > unhandledFrames_ = additionalEphemerides; + + // Set list of available ephemerides and check whether it already exists (not possible incurrent + // implementation) + for( std::map< std::string, boost::shared_ptr< Ephemeris > >::const_iterator ephemerisIterator = + additionalEphemerides.begin( ); ephemerisIterator != additionalEphemerides.end( ); + ephemerisIterator++ ) + { + if( availableEphemerides_.count( ephemerisIterator->first ) == 0 ) + { + availableEphemerides_[ ephemerisIterator->first ] = ephemerisIterator->second; + } + else + { + throw std::runtime_error( "Error when adding ephemerides to frame manager, frame already exists" ); + } + } + + // Start at frame level 0 + int currentLevel = 0; + std::map< std::string, std::string > singleLevelList; + + // While there are unhandled frames, continue at next frame level. + while( unhandledFrames_.size( ) != 0 ) + { + // Clear frame list for new level. + singleLevelList.clear( ); + + // If frame level is 0, base frame equals baseFrameName. + if( currentLevel == 0 ) + { + for( std::map< std::string, boost::shared_ptr< Ephemeris > >::iterator + frameIterator = unhandledFrames_.begin( ); + frameIterator != unhandledFrames_.end( ); frameIterator++ ) + { + // If current frame is at level 0, add to list of levels. + if( frameIterator->second->getReferenceFrameOrigin( ) == getBaseFrameName( ) ) + { + singleLevelList[ frameIterator->first ] = getBaseFrameName( ); + } + } + } + // Else check if frame is at current level. + else + { + std::map< std::string, std::string >::iterator previousLevelIterator; + for( std::map< std::string, boost::shared_ptr< Ephemeris > >::iterator + frameIterator = unhandledFrames_.begin( ); + frameIterator != unhandledFrames_.end( ); frameIterator++ ) + { + // If base frame of current ephemeris is on previous level, add to list of current + // level. + previousLevelIterator = baseFrameList_[ currentLevel - 1 ].find( + frameIterator->second->getReferenceFrameOrigin( ) ); + if( previousLevelIterator != baseFrameList_[ currentLevel - 1 ].end( ) ) + { + singleLevelList[ frameIterator->first ] + = frameIterator->second->getReferenceFrameOrigin( ); + } + } + } + + // Go through all ephemerides set at current level, add to frame list and remove from + // unhandled frame list if present. + std::map< std::string, boost::shared_ptr< Ephemeris > >::iterator frameIterator; + for( std::map< std::string, std::string >::iterator singleListIterator = singleLevelList.begin( ); + singleListIterator != singleLevelList.end( ); singleListIterator++ ) + { + // Find current frame in unhandles frame list. + frameIterator = unhandledFrames_.find( singleListIterator->first ); + if( frameIterator != unhandledFrames_.end( ) ) + { + unhandledFrames_.erase( frameIterator ); + frameIndexList_[ singleListIterator->first ] = currentLevel; + } + else + { + throw std::runtime_error( "Error when making frame manager, could not find frame " + + singleListIterator->first + " when deleting" ); + } + } + + // If no new frame matches found and unhandled frame list is not empty: stuck in infinite loop. + if( singleLevelList.size( ) == 0 ) + { + throw std::runtime_error( "Error, found no new frame matches at current level, but list is not empty" ); + } + + // Add to base frame list. + baseFrameList_.push_back( singleLevelList ); + currentLevel++; + } + + // Check if all frames have same orientation. + std::string firstFrameOrientation = availableEphemerides_.begin( )->second->getReferenceFrameOrientation( ); + for( std::map< std::string, boost::shared_ptr< Ephemeris > >::iterator ephemerisIterator = + availableEphemerides_.begin( ); ephemerisIterator != availableEphemerides_.end( ); ephemerisIterator++ ) + { + if( ephemerisIterator->second->getReferenceFrameOrientation( ) != firstFrameOrientation ) + { + throw std::runtime_error( + "Error, multiple reference frame orientations of ephemerides currently not supported" ); + } + } +} + + +//! Returns an ephemeris along a single line of the hierarchy tree. +std::vector< boost::shared_ptr< Ephemeris > > ReferenceFrameManager::getDirectEphemerisFromLowerToUpperFrame( + const std::string& lowerFrame, const std::string& upperFrame ) +{ + // Get indices of frames. + int upperIndex = frameIndexList_.at( upperFrame ); + int lowerIndex = frameIndexList_.at( lowerFrame ); + + std::vector< boost::shared_ptr< Ephemeris > > ephemerisList; + + // Check validity of input (i.e. upper > lower) + if( upperIndex < lowerIndex ) + { + throw std::runtime_error( + "Error when making direct ephemeris link in frame manager, upper index is smaller than lower index" ); + } + // If frames are not equal, make list of ephemeris + else if( upperIndex != lowerIndex ) + { + // Start list creation at upper frame. + int currentIndex = upperIndex; + std::string currentFrame = upperFrame; + + // Continue while lower frame is reached + while( currentIndex > lowerIndex ) + { + // Check whether current frame is consistent with current frame index. + if( frameIndexList_[ currentFrame ] != currentIndex ) + { + throw std::runtime_error( + "Error when making direct constituent ephemeris, frame index inconsistent." ); + } + + // Add base frame of current frame. + std::string currentBase = baseFrameList_[ currentIndex ][ currentFrame ]; + ephemerisList.push_back( availableEphemerides_[ currentFrame ] ); + + // Decrement frame level and move to one frame level lower. + currentIndex--; + currentFrame = currentBase; + } + } + return ephemerisList; +} + +//! Return the level at which the requested ephemeris is in the hierarchy. +std::pair< int, bool > ReferenceFrameManager::getFrameLevel( const std::string& frame ) +{ + std::pair< int, bool > returnValue; + + // Find level of frame. + std::map< std::string, int >::iterator frameIndexIterator; + frameIndexIterator = frameIndexList_.find( frame ); + + // If not found, return false and NaN frame index. + if( frameIndexIterator == frameIndexList_.end( ) ) + { + returnValue = std::make_pair( TUDAT_NAN, 0 ); + } + // If found, return found value. + else + { + returnValue = std::make_pair( frameIndexIterator->second, 1 ); + } + return returnValue; +} + +//! Returns the nearest common frame between frames. +std::pair< std::string, int > ReferenceFrameManager::getNearestCommonFrame( std::vector< std::string > frameList ) +{ + // Make lists of current frames and frame levels that are currently being investigated for each + // frame in frameList. + std::vector< int > currentFrameLevels; + currentFrameLevels.resize( frameList.size( ) ); + std::vector< std::string > currentFrames; + currentFrames.resize( frameList.size( ) ); + + // Initialize current maximum frame level to nonsense value. + int currentMaximumFrameLevel = -1E8; + + // Check frame level of all input frames and find maximum level. + for( unsigned int i = 0; i < frameList.size( ); i++ ) + { + // Get current frame level. + currentFrameLevels[ i ] = frameIndexList_[ frameList[ i ] ]; + currentFrames[ i ] = frameList[ i ]; + + if( currentFrameLevels[ i ] > currentMaximumFrameLevel ) + { + currentMaximumFrameLevel = currentFrameLevels[ i ]; + } + } + + bool isConverged = false; + std::string firstFrame; + bool areAllFramesEqual = true; + + // Check if all frames are equal, i.e. if already converged. + firstFrame = currentFrames[ 0 ]; + for( unsigned int i = 1; i < currentFrames.size( ); i++ ) + { + if( currentFrames[ i ] != firstFrame ) + { + areAllFramesEqual = false; + } + } + if( areAllFramesEqual ) + { + isConverged = true; + } + + // Decrement maximum frame levels and associated frames until all frames are equal. + while( isConverged == false && currentMaximumFrameLevel >= 0 ) + { + // Iterate over all frames. + for( unsigned int i = 0; i < frameList.size( ); i++ ) + { + // If frame level of current frame is at maximum, reduce it by one level. + if( currentFrameLevels[ i ] == currentMaximumFrameLevel ) + { + // Find base frame of current level. + currentFrames[ i ] = baseFrameList_[ currentFrameLevels[ i ] ][ currentFrames[ i ] ]; + + // Reduce level by 1 + currentFrameLevels[ i ]--; + } + } + currentMaximumFrameLevel--; + + // Check if all frames are equal. + areAllFramesEqual = true; + firstFrame = currentFrames[ 0 ]; + for( unsigned int i = 1; i < currentFrames.size( ); i++ ) + { + if( currentFrames[ i ] != firstFrame ) + { + areAllFramesEqual = false; + } + } + + if( areAllFramesEqual ) + { + isConverged = true; + } + } + + // If not converged, set global base frame as common frame. + std::pair< std::string, int > output; + if( isConverged == false ) + { + output = std::make_pair( getBaseFrameName( ), -1 ); + } + else + { + output = std::make_pair( currentFrames[ 0 ], currentMaximumFrameLevel ); + } + + return output; +} + +//! Get name of the base frame for a given body. +std::string ReferenceFrameManager::getBaseFrameNameOfBody( const std::string& bodyName ) +{ + std::string frameName; + + if( availableEphemerides_.count( bodyName ) == 0 ) + { + throw std::runtime_error( + "Error wgen getting base frame name of body, body " + bodyName + " not found" ); + } + else + { + frameName = availableEphemerides_.at( bodyName )-> getReferenceFrameOrigin( ); + } + return frameName; +} + +//! Get ephemeris origins (base frame names) for a list of bodies. +std::vector< std::string > ReferenceFrameManager::getEphemerisOrigins( + const std::vector< std::string >& bodyList ) +{ + std::vector< std::string > ephemerisOrigins; + for( unsigned int i = 0; i < bodyList.size( ); i++ ) + { + ephemerisOrigins.push_back( getBaseFrameNameOfBody( bodyList.at( i ) ) ); + } + return ephemerisOrigins; +} + +} // namespace ephemerides + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Ephemerides/frameManager.h b/Tudat/Astrodynamics/Ephemerides/frameManager.h new file mode 100644 index 0000000000..5eb66da646 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/frameManager.h @@ -0,0 +1,301 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ +#ifndef TUDAT_FRAMEMANAGER_H +#define TUDAT_FRAMEMANAGER_H + +#include +#include + +#include +#include + +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" + +#include "Tudat/Astrodynamics/Ephemerides/ephemeris.h" + +#include "Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/constantEphemeris.h" +#include "Tudat/SimulationSetup/body.h" + +namespace tudat +{ + +namespace ephemerides +{ + +//! Function to determine if a given frame is an inertial frame. +/*! + * Function to determine if a given frame is an inertial frame. Currently a frame identified as + * "SSB" (solar system barycenter), "inertial" or "" (empty) is recognized as inertial. + * \param frame Name of frame for which it is to be determined whether it is inertial. + * \return True if inertial, false if not. + */ +bool isFrameInertial( const std::string& frame ); + +//! Function to return base frame +/*! + * Function to return base frame, i.e. in which the states of the bodies are defined during the integration. + * \return Base frame for simulations. + */ +std::string getBaseFrameName( ); + + +//! Class to retrieve translation functions between different frames +/*! + * Class to retrieve translation functions between different frames, as calculated from a list of + * ephemeris objects. Using this class, the various Ephemeris objects may be 'pasted' together to + * obtain the state of one body w.r.t. any other body. + */ +class ReferenceFrameManager +{ +public: + + //! Constructor from named list of bodies. + /*! + * Constructor from named list of bodies. Ephemerides used in class are retrieved from bodies. + * \param bodyMap List of bodies used in simulations. + */ + ReferenceFrameManager( const simulation_setup::NamedBodyMap& bodyMap ); + + //! Constructor from named list of ephemerides. + /*! + * Constructor from named list of ephemerides. + * \param ephemerisMap List of ephemerides per body. + */ + ReferenceFrameManager( const std::map< std::string, boost::shared_ptr< Ephemeris > >& ephemerisMap ); + + //! Function to retrieve the ephemeris of a body with a requested frame origin. + /*! + * Function to retrieve the ephemeris of a body with a requested frame origin. Both the body + * and the origin must be loaded into the frame manager. + + * \param origin Origin of ephemeris + * \param body Body for which ephemeris is requested. + * \return Ephemeris of requested body qith requested frame origin + */ + template< typename StateScalarType = double, typename TimeType = double > + boost::shared_ptr< Ephemeris > getEphemeris( + const std::string& origin, const std::string& body ) + { + typedef Eigen::Matrix< StateScalarType, 6, 1 > StateType; + boost::shared_ptr< Ephemeris > ephemerisBetweenFrames; + + // If requested 'body' is global base frame, return constant zero ephemeris. + if( body == origin ) + { + //NOTE: Should generalize to long double state type. + ephemerisBetweenFrames = boost::make_shared< ConstantEphemeris >( + boost::lambda::constant( basic_mathematics::Vector6d::Zero( ) ), origin, "ECLIPJ2000" ); + } + else + { + // Set frames between which ephemeris must be created. + std::vector< std::string > framesToCheck; + framesToCheck.push_back( origin ); + framesToCheck.push_back( body ); + + // Find nearest common frame between frames. + std::pair< std::string, int > nearestCommonFrame = getNearestCommonFrame( framesToCheck ); + + // Initialize list of ephemeris functions for composite ephemeris creation + std::map< int, std::pair< boost::function< StateType( const TimeType& ) >, bool > > + totalEphemerisList; + + // If body is nearest common frame, get set of ephemeris and set to subtract them when + // making composite ephemeris. + std::vector< boost::shared_ptr< Ephemeris > > ephemerisList; + if( nearestCommonFrame.first == body ) + { + ephemerisList = getDirectEphemerisFromLowerToUpperFrame( body, origin ); + for( unsigned int i = 0; i < ephemerisList.size( ); i++ ) + { + totalEphemerisList[ i ] = std::make_pair( + boost::bind( &Ephemeris::getTemplatedStateFromEphemeris + < StateScalarType, TimeType >, + ephemerisList[ i ], _1 ), false ); + } + } + // If origin is nearest common frame, get set of ephemeris and set to add them when + // making composite ephemeris. + else if( nearestCommonFrame.first == origin ) + { + ephemerisList = getDirectEphemerisFromLowerToUpperFrame( origin, body ); + for( unsigned int i = 0; i < ephemerisList.size( ); i++ ) + { + totalEphemerisList[ i ] = std::make_pair( + boost::bind( &Ephemeris::getTemplatedStateFromEphemeris + < StateScalarType, TimeType >, + ephemerisList[ i ], _1 ), true ); + } + } + // If nearest common frame is neither input, create link from both to nearest common frame. + else + { + // Get set of ephemeris from nearest common frame to body and set to add them when + // making composite ephemeris. + ephemerisList = getDirectEphemerisFromLowerToUpperFrame( nearestCommonFrame.first, body ); + for( unsigned int i = 0; i < ephemerisList.size( ); i++ ) + { + totalEphemerisList[ i ] = std::make_pair( + boost::bind( &Ephemeris::getTemplatedStateFromEphemeris + < StateScalarType, TimeType >, + ephemerisList[ i ], _1 ), true ); + } + int firstListSize = ephemerisList.size( ); + + // Get set of ephemeris from nearest common frame to origin and set to subtract them + // when making composite ephemeris. + ephemerisList = getDirectEphemerisFromLowerToUpperFrame( nearestCommonFrame.first, origin ); + for( unsigned int i = 0; i < ephemerisList.size( ); i++ ) + { + totalEphemerisList[ i + firstListSize ] = std::make_pair( + boost::bind( &Ephemeris::getTemplatedStateFromEphemeris + < StateScalarType, TimeType >, + ephemerisList[ i ], _1 ), false ); + } + } + + typedef Eigen::Matrix< StateScalarType, 6, 1 > StateType; + + + // Create composite ephemeris + ephemerisBetweenFrames = boost::make_shared< CompositeEphemeris< TimeType, StateScalarType > >( + totalEphemerisList, + std::map< int, boost::function< StateType( const double, const StateType& ) > >( ), + origin ); + } + + return ephemerisBetweenFrames; + } + + //! Return the level at which the requested ephemeris is in the hierarchy. + /*! + * Return the level at which the requested ephemeris is in the hierarchy. + * \param frame Frame for which the frame level is requested. + * \return Pair of frame level and boolean. Boolean is true if frame exists, + * false if not (and frame level NAN). + */ + std::pair< int, bool > getFrameLevel( const std::string& frame ); + + //! Returns the nearest common frame between frames. + /*! + * Returns the nearest common frame between frames. + * \param frameList Vector of frame names for which the nearest common frame is to be found. + * \return Nearest common frame, with its frame level. + */ + std::pair< std::string, int > getNearestCommonFrame( std::vector< std::string > frameList ); + + //! Get name of the base frame for a given body. + /*! + * Get name of the base frame for a given body. + * \param bodyName Name of body for which the base frame is to be returned. + * \return Name od base frame of bodyName. + */ + std::string getBaseFrameNameOfBody( const std::string& bodyName ); + + //! Get ephemeris origins (base frame names) for a list of bodies. + /*! + * Get ephemeris origins (base frame names) for a list of bodies, calls getBaseFrameNameOfBody + * for each entry of bodyList. + * \param bodyList List of bodies for which ephemeris origins are to be calculated. + * \return Ephemeris origins of bodyList + */ + std::vector< std::string > getEphemerisOrigins( const std::vector< std::string >& bodyList ); + +private: + + //! Vector of frames with associated base frames, ordered by frame level. + /*! + * Vector of frames with associated base frames, ordered by frame level. Index of vector + * indicates at which frame level the frames in the maps at that index are. The map contains + * frame names (key) with their associated base frames (value). Each base frame must be a frame + * of one level lower; base frame of level 0 frames must be global base frame. + */ + std::vector< std::map< std::string, std::string > > baseFrameList_; + + //! Map of ephemerides (values) of bodies (keys) + /*! + * Map of ephemerides (values) of bodies (keys). The frame origins and orientations of these + * ephemerides can be retrievd from the objects themselves. + */ + std::map< std::string, boost::shared_ptr< Ephemeris > > availableEphemerides_; + + //! Map giving the frame level for each frame name. + /*! + * Map giving the frame level for each frame name. + */ + std::map< std::string, int > frameIndexList_; + + //! Returns an ephemeris along a single line of the hierarchy tree. + /*! + * Returns an ephemeris along a single line of the hierarchy tree, i.e. returned ephemeris + * constituent frame levels must be continuously increasing + */ + std::vector< boost::shared_ptr< Ephemeris > > getDirectEphemerisFromLowerToUpperFrame( + const std::string& lowerFrame, const std::string& upperFrame ); + + //! Function to determine frame levels and base frames of all frames. + /*! + * Function to determine frame levels and base frames of all frames; called by constructor. + */ + void setEphemerides( const std::map< std::string, + boost::shared_ptr< Ephemeris > >& additionalEphemerides ); + +}; + +template< typename StateScalarType = double, typename TimeType = double > +//! Function to get a list of translation functions from integration frames to ephemeris frames. +/*! + * Function to get a list of translation functions from integration frames to ephemeris frames. The + * output functions provide the state of the ephemeris origin in the integration origin. + * \param centralBodies List of integration origins. + * \param bodiesToIntegrate List of bodies for which the origins are considered. + * \param frameManager Object to retrieve translations between origins + * \return List of translation functions from integration frames to ephemeris frames. + */ +std::map< std::string, boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > > +getTranslationFunctionsFromIntegrationFrameToEphemerisFrame( + const std::vector< std::string >& centralBodies, + const std::vector< std::string >& bodiesToIntegrate, + const boost::shared_ptr< ephemerides::ReferenceFrameManager > frameManager ) +{ + std::map< std::string, boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > > + translationFunctionMap; + + // Check consistency of input. + if( centralBodies.size( ) != bodiesToIntegrate.size( ) ) + { + throw std::runtime_error( + "Error when making translation functrions from integration to ephemeris frame, input vector sizes inconsistent" ); + } + else + { + for( unsigned int i = 0; i < centralBodies.size( ); i++ ) + { + // If ephemeris and integration origin are not equal, provide translation function. + if( centralBodies.at( i ) != frameManager->getBaseFrameNameOfBody( bodiesToIntegrate.at( i ) ) ) + { + translationFunctionMap[ bodiesToIntegrate.at( i ) ] = boost::bind( + &ephemerides::Ephemeris::getTemplatedStateFromEphemeris< StateScalarType, TimeType >, + frameManager->getEphemeris< StateScalarType, TimeType >( + centralBodies.at( i ), + frameManager->getBaseFrameNameOfBody( bodiesToIntegrate.at( i ) ) ), _1 ); + } + } + } + + return translationFunctionMap; +} + +} // namespace ephemerides + +} // namespace tudat + +#endif // TUDAT_FRAMEMANAGER_H diff --git a/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.cpp b/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.cpp index 7487bc5f62..537816e8fa 100644 --- a/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.cpp +++ b/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.cpp @@ -63,33 +63,6 @@ Eigen::Matrix3d getDerivativeOfRotationMatrixToFrame( rotationToTargetFrame; } -//! Transform a state (Cartesian position and velocity) from one frame to another. -basic_mathematics::Vector6d transformStateToFrame( - const basic_mathematics::Vector6d& stateInBaseFrame, - const Eigen::Quaterniond& rotationToFrame, - const Eigen::Matrix3d& rotationMatrixToFrameDerivative ) -{ - basic_mathematics::Vector6d stateInTargetFrame; - stateInTargetFrame.segment( 0, 3 ) = - rotationToFrame * stateInBaseFrame.segment( 0, 3 ); - stateInTargetFrame.segment( 3, 3 ) = - rotationMatrixToFrameDerivative * stateInBaseFrame.segment( 0, 3 ) + - rotationToFrame * stateInBaseFrame.segment( 3, 3 ); - return stateInTargetFrame; - -} - -//! Transform a state (Cartesian position and velocity) from one frame to another. -basic_mathematics::Vector6d transformStateToFrame( - const basic_mathematics::Vector6d& stateInTargetFrame, - const boost::function< Eigen::Quaterniond( ) > rotationToFrameFunction, - const boost::function< Eigen::Matrix3d( ) > rotationMatrixToFrameDerivativeFunction ) -{ - return transformStateToFrame( - stateInTargetFrame, rotationToFrameFunction( ), - rotationMatrixToFrameDerivativeFunction( ) ); -} - } // namespace tudat } // namespace ephemerides diff --git a/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.h b/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.h index a4eb44d74b..08e583ae22 100644 --- a/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.h +++ b/Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.h @@ -44,6 +44,7 @@ #include #include "Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" #include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" namespace tudat @@ -51,6 +52,107 @@ namespace tudat namespace ephemerides { + +//! Function to calculate the rotational velocity vector of frame B w.r.t frame A. +/*! + * Function to calculate the rotational velocity vector of frame B (local) w.r.t frame A (global) + * from the rotation matrix between the frames, as well as its time derivative. + * \param rotationToTargetFrame Rotation matrix from frame A to frame B. + * \param rotationMatrixToGlobalFrameDerivative Time derivative if rotation matrix from + * frame B to frame A. + * \return Angular velocity vector of frame B, expressed in frame A. + */ +Eigen::Vector3d getRotationalVelocityVectorInBaseFrameFromMatrices( + const Eigen::Matrix3d& rotationToTargetFrame, + const Eigen::Matrix3d& rotationMatrixToGlobalFrameDerivative ); + +//! Function to calculate the time derivative of rotation matrix from frame A to frame B. +/*! + * Function to calculate the time derivative of rotation matrix from frame A (global) to frame B + * (local) from the rotation matrix between the frames, as well as the angular velocity + * vector of frame B w.r.t. frame A. + * \param rotationToTargetFrame Rotation matrix from frame A to frame B. + * \param rotationalVelocityVectorInTargetFrame Angular velocity vector of frame B, + * expressed in frame A. + * \return Time derivative if rotation matrix from frame A to frame B. + */ +Eigen::Matrix3d getDerivativeOfRotationMatrixToFrame( + const Eigen::Matrix3d& rotationToTargetFrame, + const Eigen::Vector3d& rotationalVelocityVectorInTargetFrame ); + +//! Transform a state (Cartesian position and velocity) from one frame to another. +/*! + * Transform a state (Cartesian position and velocity) from one frame to another, taking into + * account both the instantaneous rotational state of the two frames, and the rotational + * rate of one frame w.r.t. the other. + * \param stateInBaseFrame State that is to be transformed from base to target frame. + * \param rotationToFrame Rotation from base to target frame. + * \param rotationMatrixToFrameDerivative Time derivative of rotation matrix from base to target + * frame. + * \return State (Cartesian position and velocity) in target frame. + */ +template< typename StateScalarType > +Eigen::Matrix< StateScalarType, 6, 1 > transformStateToFrame( + const Eigen::Matrix< StateScalarType, 6, 1 >& stateInBaseFrame, + const Eigen::Quaterniond& rotationToFrame, + const Eigen::Matrix3d& rotationMatrixToFrameDerivative ) +{ + Eigen::Matrix< StateScalarType, 6, 1 >stateInTargetFrame; + stateInTargetFrame.segment( 0, 3 ) = + rotationToFrame.template cast< StateScalarType >( ) * stateInBaseFrame.segment( 0, 3 ); + stateInTargetFrame.segment( 3, 3 ) = + rotationMatrixToFrameDerivative.template cast< StateScalarType >( ) * stateInBaseFrame.segment( 0, 3 ) + + rotationToFrame.template cast< StateScalarType >( ) * stateInBaseFrame.segment( 3, 3 ); + return stateInTargetFrame; + +} + +//! Transform a state (Cartesian position and velocity) from one frame to another. +/*! + * Transform a state (Cartesian position and velocity) from one frame to another, taking into + * account both the instantaneous rotational state of the two frames, and the rotational + * rate of one frame w.r.t. the other. + * \param stateInBaseFrame State that is to be transformed from base to target frame. + * \param rotationToFrameFunction Function returning rotation from base to target frame. + * \param rotationMatrixToFrameDerivativeFunction Function returning time derivative of rotation + * matrix from base to target frame. + * \return State (Cartesian position and velocity) in target frame. + */ +template< typename StateScalarType > +Eigen::Matrix< StateScalarType, 6, 1 > transformStateToFrame( + const Eigen::Matrix< StateScalarType, 6, 1 >& stateInBaseFrame, + const boost::function< Eigen::Quaterniond( ) > rotationToFrameFunction, + const boost::function< Eigen::Matrix3d( ) > rotationMatrixToFrameDerivativeFunction ) +{ + return transformStateToFrame( + stateInBaseFrame, rotationToFrameFunction( ), + rotationMatrixToFrameDerivativeFunction( ) ); +} + +//! Transform a state (Cartesian position and velocity) from one frame to another. +/*! + * Transform a state (Cartesian position and velocity) from one frame to another, taking into + * account both the instantaneous rotational state of the two frames, and the rotational + * rate of one frame w.r.t. the other. + * \param stateInBaseFrame State that is to be transformed from base to target frame. + * \param currentTime Input time for rotationToFrameFunction and rotationMatrixToFrameDerivativeFunction + * \param rotationToFrameFunction Function returning rotation from base to target frame. + * \param rotationMatrixToFrameDerivativeFunction Function returning time derivative of rotation + * matrix from base to target frame. + * \return State (Cartesian position and velocity) in target frame. + */ +template< typename StateScalarType > +Eigen::Matrix< StateScalarType, 6, 1 > transformStateToFrameFromStateFunctions( + const Eigen::Matrix< StateScalarType, 6, 1 >& stateInBaseFrame, + const double currentTime, + const boost::function< Eigen::Quaterniond( const double ) > rotationToFrameFunction, + const boost::function< Eigen::Matrix3d( const double ) > rotationMatrixToFrameDerivativeFunction ) +{ + return transformStateToFrame( + stateInBaseFrame, rotationToFrameFunction( currentTime ), + rotationMatrixToFrameDerivativeFunction( currentTime ) ); +} + //! Base class for rotational ephemerides of bodies /*! * Base class for rotational ephemerides of bodies. The rotation (quaternion) between two frames @@ -85,12 +187,12 @@ class RotationalEphemeris * base frame at specified time. * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds - * are counted (default 0). + * are counted (ddefault J2000). * \return Rotation quaternion computed. */ virtual Eigen::Quaterniond getRotationToBaseFrame( - const double secondsSinceEpoch, const double julianDayAtEpoch = - basic_astrodynamics::JULIAN_DAY_ON_J2000 ) = 0; + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ) = 0; //! Get rotation quaternion to target frame from base frame. /*! @@ -98,12 +200,12 @@ class RotationalEphemeris * base frame at specified time. * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds are - * counted (default 0). + * counted (ddefault J2000). * \return Rotation quaternion computed. */ virtual Eigen::Quaterniond getRotationToTargetFrame( - const double secondsSinceEpoch, const double julianDayAtEpoch = - basic_astrodynamics::JULIAN_DAY_ON_J2000 ) = 0; + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ) = 0; //! Function to calculate the derivative of the rotation matrix from target frame to original //! frame. @@ -127,7 +229,7 @@ class RotationalEphemeris * frame at specified time, to be implemented by derived class. * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds are - * counted (default 0). + * counted (default J2000). * \return Derivative of rotation from original (typically global) to target (typically local) * frame at specified time. */ @@ -135,6 +237,69 @@ class RotationalEphemeris const double secondsSinceEpoch, const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ) = 0; + //! Function to retrieve the angular velocity vector, expressed in base frame. + /*! + * Function to retrieve the angular velocity vector, expressed in base frame. Thsi function uses the functions + * that calculate the rotation matrix and its time derivative. It may be redefined in a derived class, to + * calculate the angular velocity vector directly + * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument + * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds are + * counted (default J2000). + * \return Angular velocity vector, expressed in base frame. + */ + virtual Eigen::Vector3d getRotationalVelocityVectorInBaseFrame( + const double secondsSinceEpoch, const double julianDayAtEpoch = + basic_astrodynamics::JULIAN_DAY_ON_J2000 ) + { + return getRotationalVelocityVectorInBaseFrameFromMatrices( + Eigen::Matrix3d( getRotationToTargetFrame( secondsSinceEpoch, julianDayAtEpoch ) ), + getDerivativeOfRotationToTargetFrame( secondsSinceEpoch, julianDayAtEpoch ) ); + } + + //! Function to retrieve the angular velocity vector, expressed in target frame. + /*! + * Function to retrieve the angular velocity vector, expressed in target frame. This function calls the function + * that calculates the angular velocioty vector in the base frame, and rotates it to teh target frame. + * It may be redefined in a derived class, to calculate the angular velocity vector directly + * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument + * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds are + * counted (default J2000). + * \return Angular velocity vector, expressed in target frame. + */ + virtual Eigen::Vector3d getRotationalVelocityVectorInTargetFrame( + const double secondsSinceEpoch, const double julianDayAtEpoch = + basic_astrodynamics::JULIAN_DAY_ON_J2000 ) + { + return getRotationToTargetFrame( secondsSinceEpoch, julianDayAtEpoch ) * + getRotationalVelocityVectorInBaseFrame( secondsSinceEpoch, julianDayAtEpoch ); + } + + //! Function to calculate the full rotational state at given time + /*! + * Function to calculate the full rotational state at given time (rotation matrix, derivative of rotation matrix + * and angular velocity vector). + * \param currentRotationToLocalFrame Current rotation to local frame (returned by reference) + * \param currentRotationToLocalFrameDerivative Current derivative of rotation matrix to local frame + * (returned by reference) + * \param currentAngularVelocityVectorInGlobalFrame Current angular velocity vector, expressed in global frame + * (returned by reference) + * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument + * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds are + * counted (default J2000). + */ + virtual void getFullRotationalQuantitiesToTargetFrame( + Eigen::Quaterniond& currentRotationToLocalFrame, + Eigen::Matrix3d& currentRotationToLocalFrameDerivative, + Eigen::Vector3d& currentAngularVelocityVectorInGlobalFrame, + const double secondsSinceEpoch, const double julianDayAtEpoch = + basic_astrodynamics::JULIAN_DAY_ON_J2000 ) + { + currentRotationToLocalFrame = getRotationToTargetFrame( secondsSinceEpoch, julianDayAtEpoch ); + currentRotationToLocalFrameDerivative = getDerivativeOfRotationToTargetFrame( secondsSinceEpoch, julianDayAtEpoch ); + currentAngularVelocityVectorInGlobalFrame = getRotationalVelocityVectorInBaseFrameFromMatrices( + Eigen::Matrix3d( currentRotationToLocalFrame ), currentRotationToLocalFrameDerivative.transpose( ) ); + } + //! Get base reference frame orientation. /*! * Function to retrieve the base reference frame orientation. @@ -165,64 +330,6 @@ class RotationalEphemeris }; -//! Function to calculate the rotational velocity vector of frame B w.r.t frame A. -/*! - * Function to calculate the rotational velocity vector of frame B (local) w.r.t frame A (global) - * from the rotation matrix between the frames, as well as its time derivative. - * \param rotationToTargetFrame Rotation matrix from frame A to frame B. - * \param rotationMatrixToGlobalFrameDerivative Time derivative if rotation matrix from - * frame B to frame A. - * \return Angular velocity vector of frame B, expressed in frame A. - */ -Eigen::Vector3d getRotationalVelocityVectorInBaseFrameFromMatrices( - const Eigen::Matrix3d& rotationToTargetFrame, - const Eigen::Matrix3d& rotationMatrixToGlobalFrameDerivative ); - -//! Function to calculate the time derivative of rotation matrix from frame A to frame B. -/*! - * Function to calculate the time derivative of rotation matrix from frame A (global) to frame B - * (local) from the rotation matrix between the frames, as well as the angular velocity - * vector of frame B w.r.t. frame A. - * \param rotationToTargetFrame Rotation matrix from frame A to frame B. - * \param rotationalVelocityVectorInTargetFrame Angular velocity vector of frame B, - * expressed in frame A. - * \return Time derivative if rotation matrix from frame A to frame B. - */ -Eigen::Matrix3d getDerivativeOfRotationMatrixToFrame( - const Eigen::Matrix3d& rotationToTargetFrame, - const Eigen::Vector3d& rotationalVelocityVectorInTargetFrame ); - -//! Transform a state (Cartesian position and velocity) from one frame to another. -/*! - * Transform a state (Cartesian position and velocity) from one frame to another, taking into - * account both the instantaneous rotational state of the two frames, and the rotational - * rate of one frame w.r.t. the other. - * \param stateInBaseFrame State that is to be transformed from base to target frame. - * \param rotationToFrame Rotation from base to target frame. - * \param rotationMatrixToFrameDerivative Time derivative of rotation matrix from base to target - * frame. - * \return State (Cartesian position and velocity) in target frame. - */ -basic_mathematics::Vector6d transformStateToFrame( - const basic_mathematics::Vector6d& stateInBaseFrame, - const Eigen::Quaterniond& rotationToFrame, - const Eigen::Matrix3d& rotationMatrixToFrameDerivative ); - -//! Transform a state (Cartesian position and velocity) from one frame to another. -/*! - * Transform a state (Cartesian position and velocity) from one frame to another, taking into - * account both the instantaneous rotational state of the two frames, and the rotational - * rate of one frame w.r.t. the other. - * \param stateInBaseFrame State that is to be transformed from base to target frame. - * \param rotationToFrameFunction Function returning rotation from base to target frame. - * \param rotationMatrixToFrameDerivativeFunction Function returning time derivative of rotation - * matrix from base to target frame. - * \return State (Cartesian position and velocity) in target frame. - */ -basic_mathematics::Vector6d transformStateToFrame( - const basic_mathematics::Vector6d& stateInBaseFrame, - const boost::function< Eigen::Quaterniond( ) > rotationToFrameFunction, - const boost::function< Eigen::Matrix3d( ) > rotationMatrixToFrameDerivativeFunction ); } // namespace tudat } // namespace ephemerides diff --git a/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.cpp b/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.cpp new file mode 100644 index 0000000000..7031aa5089 --- /dev/null +++ b/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.cpp @@ -0,0 +1,79 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" + +namespace tudat +{ + +namespace ephemerides +{ + +//! Get cartesian state from ephemeris (in double precision), for double class StateScalarType +template< > +basic_mathematics::Vector6d TabulatedCartesianEphemeris< double, double >::getCartesianStateFromEphemeris( + const double ephemerisTime, const double julianDayAtEpoch ) +{ + if( julianDayAtEpoch != julianDayAtEpoch_ ) + { + throw std::runtime_error( + "Error in Tabulated Ephemeris, reference epochs are inconsistent" ); + } + + return interpolator_->interpolate( ephemerisTime ); +} + +//! Get cartesian state from ephemeris (in long double precision), for double class StateScalarType +template< > +Eigen::Matrix< long double, 6, 1 > TabulatedCartesianEphemeris< double, double >::getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, const double julianDayAtEpoch ) +{ + if( julianDayAtEpoch != julianDayAtEpoch_ ) + { + throw std::runtime_error( + "Error in Tabulated Ephemeris, reference epochs are inconsistent" ); + } + + return interpolator_->interpolate( secondsSinceEpoch ).cast< long double >( ); +} + + +//! Get cartesian state from ephemeris (in double precision), for long double class StateScalarType +template< > +basic_mathematics::Vector6d TabulatedCartesianEphemeris< long double, double >::getCartesianStateFromEphemeris( + const double ephemerisTime, const double julianDayAtEpoch ) +{ + if( julianDayAtEpoch != julianDayAtEpoch_ ) + { + throw std::runtime_error( + "Error in Tabulated Ephemeris, reference epochs are inconsistent" ); + } + + return interpolator_->interpolate( ephemerisTime ).cast< double >( ); +} + +//! Get cartesian state from ephemeris (in long double precision), for long double class StateScalarType +template< > +Eigen::Matrix< long double, 6, 1 > TabulatedCartesianEphemeris< long double, double >::getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, const double julianDayAtEpoch ) +{ + if( julianDayAtEpoch != julianDayAtEpoch_ ) + { + throw std::runtime_error( + "Error in Tabulated Ephemeris, reference epochs are inconsistent" ); + } + + return interpolator_->interpolate( secondsSinceEpoch ); +} + + +} // namespace ephemerides + +} // namespace tudat + diff --git a/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h b/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h index de1c891354..649474caee 100644 --- a/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h +++ b/Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h @@ -56,13 +56,16 @@ namespace ephemerides * This class may for instance be used for setting the numerically integrated state of a body * as its 'new' ephemeris */ +template< typename StateScalarType = double, typename TimeType = double > class TabulatedCartesianEphemeris : public Ephemeris { public: + typedef Eigen::Matrix< StateScalarType, 6, 1 > StateType; + //! Typedef for state interpolator typedef boost::shared_ptr< interpolators::OneDimensionalInterpolator - < double, basic_mathematics::Vector6d > > StateInterpolatorPointer; + < TimeType, StateType > > StateInterpolatorPointer; //! Constructor, sets data interpolator and frame data. /*! @@ -106,23 +109,28 @@ class TabulatedCartesianEphemeris : public Ephemeris //! Get cartesian state from ephemeris. /*! - * Returns cartesian state from ephemeris. + * Returns cartesian state from ephemeris, as calculated from interpolator_. * \param secondsSinceEpoch Seconds since epoch. * \param julianDayAtEpoch Reference epoch in Julian day. * \return State in Cartesian elements from ephemeris. */ basic_mathematics::Vector6d getCartesianStateFromEphemeris( - const double secondsSinceEpoch, const double julianDayAtEpoch = - basic_astrodynamics::JULIAN_DAY_ON_J2000 ) - { - if( julianDayAtEpoch != julianDayAtEpoch_ ) - { - throw std::runtime_error( - "Error in Tabulated Ephemeris, reference epochs are inconsistent" ); - } + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + + //! Get cartesian state from ephemeris (in long double precision). + /*! + * Returns cartesian state from ephemeris (in long double precision), as calculated from interpolator_. For + * double StateScalarType class template argument, this function returns the double precision interpolated values, + * cast to long double. Only for long double StateScalarType argument is this function used to its fullest. + * \param secondsSinceEpoch Seconds since epoch. + * \param julianDayAtEpoch Reference epoch in Julian day. + * \return State in Cartesian elements from ephemeris. + */ + Eigen::Matrix< long double, 6, 1 > getCartesianLongStateFromEphemeris( + const double secondsSinceEpoch, + const double julianDayAtEpoch = basic_astrodynamics::JULIAN_DAY_ON_J2000 ); - return interpolator_->interpolate( secondsSinceEpoch ); - } //! Function to return the interpolator /*! @@ -155,7 +163,7 @@ class TabulatedCartesianEphemeris : public Ephemeris }; -} +} // namespace ephemerides -} +} // namespace tudat #endif // TUDAT_TABULATEDEPHEMERIS_H diff --git a/Tudat/Astrodynamics/Gravitation/CMakeLists.txt b/Tudat/Astrodynamics/Gravitation/CMakeLists.txt index 087e3ba3e6..fbcd824a97 100644 --- a/Tudat/Astrodynamics/Gravitation/CMakeLists.txt +++ b/Tudat/Astrodynamics/Gravitation/CMakeLists.txt @@ -39,6 +39,8 @@ # Set the source files. set(GRAVITATION_SOURCES + "${SRCROOT}${GRAVITATIONDIR}/basicSolidBodyTideGravityFieldVariations.cpp" + "${SRCROOT}${GRAVITATIONDIR}/gravityFieldVariations.cpp" "${SRCROOT}${GRAVITATIONDIR}/centralGravityModel.cpp" "${SRCROOT}${GRAVITATIONDIR}/centralJ2GravityModel.cpp" "${SRCROOT}${GRAVITATIONDIR}/centralJ2J3GravityModel.cpp" @@ -50,13 +52,17 @@ set(GRAVITATION_SOURCES "${SRCROOT}${GRAVITATIONDIR}/sphericalHarmonicsGravityField.cpp" "${SRCROOT}${GRAVITATIONDIR}/stateDerivativeCircularRestrictedThreeBodyProblem.cpp" "${SRCROOT}${GRAVITATIONDIR}/thirdBodyPerturbation.cpp" + "${SRCROOT}${GRAVITATIONDIR}/timeDependentSphericalHarmonicsGravityField.cpp" "${SRCROOT}${GRAVITATIONDIR}/unitConversionsCircularRestrictedThreeBodyProblem.cpp" "${SRCROOT}${GRAVITATIONDIR}/UnitTests/planetTestData.cpp" "${SRCROOT}${GRAVITATIONDIR}/unitConversionsCircularRestrictedThreeBodyProblem.cpp" + "${SRCROOT}${GRAVITATIONDIR}/tabulatedGravityFieldVariations.cpp" ) # Set the header files. set(GRAVITATION_HEADERS + "${SRCROOT}${GRAVITATIONDIR}/basicSolidBodyTideGravityFieldVariations.h" + "${SRCROOT}${GRAVITATIONDIR}/gravityFieldVariations.h" "${SRCROOT}${GRAVITATIONDIR}/centralGravityModel.h" "${SRCROOT}${GRAVITATIONDIR}/centralJ2GravityModel.h" "${SRCROOT}${GRAVITATIONDIR}/centralJ2J3GravityModel.h" @@ -69,8 +75,10 @@ set(GRAVITATION_HEADERS "${SRCROOT}${GRAVITATIONDIR}/sphericalHarmonicsGravityField.h" "${SRCROOT}${GRAVITATIONDIR}/stateDerivativeCircularRestrictedThreeBodyProblem.h" "${SRCROOT}${GRAVITATIONDIR}/thirdBodyPerturbation.h" + "${SRCROOT}${GRAVITATIONDIR}/timeDependentSphericalHarmonicsGravityField.h" "${SRCROOT}${GRAVITATIONDIR}/unitConversionsCircularRestrictedThreeBodyProblem.h" "${SRCROOT}${GRAVITATIONDIR}/UnitTests/planetTestData.h" + "${SRCROOT}${GRAVITATIONDIR}/tabulatedGravityFieldVariations.h" ) # Add static libraries. @@ -113,3 +121,9 @@ target_link_libraries(test_SphericalHarmonicsGravityModel tudat_gravitation tuda add_executable(test_ThirdBodyPerturbation "${SRCROOT}${GRAVITATIONDIR}/UnitTests/unitTestThirdBodyPerturbation.cpp") setup_custom_test_program(test_ThirdBodyPerturbation "${SRCROOT}${GRAVITATIONDIR}") target_link_libraries(test_ThirdBodyPerturbation tudat_gravitation ${Boost_LIBRARIES} ) + +if(USE_CSPICE) +add_executable(test_GravityFieldVariations "${SRCROOT}${GRAVITATIONDIR}/UnitTests/unitTestGravityFieldVariations.cpp") +setup_custom_test_program(test_GravityFieldVariations "${SRCROOT}${GRAVITATIONDIR}") +target_link_libraries(test_GravityFieldVariations tudat_gravitation tudat_basic_mathematics tudat_spice_interface ${SPICE_LIBRARIES} ${Boost_LIBRARIES} ) +endif() diff --git a/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestGravityFieldVariations.cpp b/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestGravityFieldVariations.cpp new file mode 100644 index 0000000000..37bd2fc58d --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestGravityFieldVariations.cpp @@ -0,0 +1,326 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#define BOOST_TEST_MAIN + +#include +#include + +#include +#include +#include +#include + +#include + +#include "Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h" +#include "Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.h" +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#include "Tudat/InputOutput/basicInputOutput.h" + +namespace tudat +{ +namespace unit_tests +{ + +BOOST_AUTO_TEST_SUITE( test_gravity_field_variations ) + +using namespace tudat::gravitation; +using namespace tudat::spice_interface; + +//! Function to get nominal gravity field coefficients for Jupiter +/*! + * Function to get nominal gravity field coefficients for Jupiter (returned by reference) + * \param cosineCoefficients Jupiter's cosine coefficients + * \param sineCoefficients Jupiter's sine coefficients + */ +void getNominalJupiterGravityField( + Eigen::MatrixXd& cosineCoefficients, Eigen::MatrixXd& sineCoefficients ) +{ + // Define unnormalized coefficients. + double jupiterJ2 = 14.736E-3; + double jupiterJ3 = 1.4E-6; + double jupiterJ4 = -587.0E-6; + double jupiterJ6 = 31.0E-6; + double jupiterc22 = -0.03E-6; + double jupiters22 = -0.007E-6; + + cosineCoefficients.setZero( 5, 5 ); + sineCoefficients.setZero( 5, 5 ); + + // Normalize coefficients and set in matrices. + cosineCoefficients( 0, 0 ) = 1.0; + cosineCoefficients( 2, 0 ) = -jupiterJ2 / basic_mathematics::calculateLegendreGeodesyNormalizationFactor( 2, 0 ); + cosineCoefficients( 2, 2 ) = jupiterc22 / basic_mathematics::calculateLegendreGeodesyNormalizationFactor( 2, 2 ); + cosineCoefficients( 3, 0 ) = -jupiterJ3 / basic_mathematics::calculateLegendreGeodesyNormalizationFactor( 3, 0 ); + cosineCoefficients( 4, 0 ) = -jupiterJ4 / basic_mathematics::calculateLegendreGeodesyNormalizationFactor( 4, 0 ); + cosineCoefficients( 5, 0 ) = -jupiterJ6 / basic_mathematics::calculateLegendreGeodesyNormalizationFactor( 6, 0 ); + sineCoefficients( 2, 2 ) = jupiters22/ basic_mathematics::calculateLegendreGeodesyNormalizationFactor( 2, 2 ); +} + +//! Function to get tabulated gravity field variations +/*! + * Function to get tabulated gravity field variations, based on arbitrary values, purely for test + * purposes. + * \param cosineCoefficientCorrections Map of corrections to cosine coefficients as function of + * time. + * \param sineCoefficientCorrections Map of corrections to sine coefficients as function of + * time. + */ +void getTabulatedGravityFieldVariationValues( + std::map< double, Eigen::MatrixXd >& cosineCoefficientCorrections, + std::map< double, Eigen::MatrixXd >& sineCoefficientCorrections ) +{ + + // Define settings for coefficient variations + double angularFrequency = 2.0 * mathematical_constants::PI / 86400.0; + double amplitude = 1.0E-7; + double startTime = 0.99E7; + double endTime = 1.01E7; + double timeStep = 3600.0; + + // Iterate over time steps + double currentTime = startTime; + while( currentTime < endTime ) + { + // Initialize correctiuons to zero + cosineCoefficientCorrections[ currentTime ].setZero( 4, 5 ); + sineCoefficientCorrections[ currentTime ].setZero( 4, 5 ); + + // Set corrections for current time step. + for( unsigned int i = 1; i < 5; i++ ) + { + for( unsigned int j = 0; j <= i; j++ ) + { + cosineCoefficientCorrections[ currentTime ]( i - 1, j ) = + amplitude * + std::cos( currentTime * angularFrequency + static_cast< double >( i * j ) ); + if( j != 0 ) + { + sineCoefficientCorrections[ currentTime ]( i - 1, j ) = + amplitude * + std::cos( currentTime * angularFrequency - + static_cast< double >( i * j ) ); + } + } + } + currentTime += timeStep; + } +} + +//! Function to get predefined tabulated gravity field variations. +/*! + * Function to get predefined tabulated gravity field variations (non-physical values, purelu + * for test purposes) using getTabulatedGravityFieldVariationValues function + * \return Predefined tabulated gravity field variations. + */ +boost::shared_ptr< TabulatedGravityFieldVariations > getTabulatedGravityFieldVariations( ) +{ + // Get coefficient tables. + std::map< double, Eigen::MatrixXd > cosineCoefficientCorrections; + std::map< double, Eigen::MatrixXd > sineCoefficientCorrections; + getTabulatedGravityFieldVariationValues( + cosineCoefficientCorrections, sineCoefficientCorrections ); + + // Create correction object. + return boost::make_shared< TabulatedGravityFieldVariations >( + cosineCoefficientCorrections, sineCoefficientCorrections, 1, 0 ); +} + +//! Function to get predefined gravity field variations object. +/*! + * Function to get predefined gravity field variations object, consisting of dummy tabulated + * variations from getTabulatedGravityFieldVariationValues and degree 2 tidal variations. + * \return Predefined gravity field variations object. + */ +boost::shared_ptr< GravityFieldVariationsSet > getTestGravityFieldVariations( ) +{ + // Define bodies raising rides. + std::vector< std::string > deformingBodies; + deformingBodies.push_back( "Io" ); + deformingBodies.push_back( "Europa" ); + + // Retrieve required data of bodies raising tides. + std::vector< boost::function< basic_mathematics::Vector6d( const double ) > > + deformingBodyStateFunctions; + std::vector< boost::function< double( ) > > deformingBodyMasses; + for( unsigned int i = 0; i < deformingBodies.size( ); i++ ) + { + deformingBodyStateFunctions.push_back( + boost::bind( &getBodyCartesianStateAtEpoch, + deformingBodies.at( i ), "SSB", "J2000", + "None", _1 ) ); + deformingBodyMasses.push_back( + boost::bind( &getBodyGravitationalParameter, + deformingBodies.at( i ) ) ); + } + + // Define Love numbers ( constant for degree 2 only) + std::complex< double > constantLoveNumber( 0.5, 0.5E-3 ); + std::vector< std::complex< double > > constantSingleDegreeLoveNumber( 3, constantLoveNumber ); + std::vector< std::vector< std::complex< double > > > + loveNumbers( 1, constantSingleDegreeLoveNumber ); + + // Set up gravity field variation of Jupiter due to Galilean moons. + boost::shared_ptr< GravityFieldVariations > solidBodyGravityFieldVariations = + boost::make_shared< BasicSolidBodyTideGravityFieldVariations >( + boost::bind( &getBodyCartesianStateAtEpoch, + "Jupiter", "SSB", "J2000", "None", _1 ), + boost::bind( &computeRotationQuaternionBetweenFrames, + "J2000", "IAU_Jupiter", _1 ), + deformingBodyStateFunctions, + getAverageRadius( "Jupiter" ), + boost::bind( &getBodyGravitationalParameter, "Jupiter" ), + deformingBodyMasses, loveNumbers, deformingBodies ); + + // Get tabulated gravity field variations. + boost::shared_ptr< GravityFieldVariations > tabulatedGravityFieldVariations = + getTabulatedGravityFieldVariations( ); + + // Create and return full gravity field variations object. + return boost::make_shared< GravityFieldVariationsSet >( + boost::assign::list_of( solidBodyGravityFieldVariations ) + ( tabulatedGravityFieldVariations ), + boost::assign::list_of( basic_solid_body )( tabulated_variation ), + boost::assign::list_of( "BasicTidal" )( "Tabulated" ) ); +} + +BOOST_AUTO_TEST_CASE( testGravityFieldVariations ) +{ + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + // Load spice kernels. + loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + loadSpiceKernelInTudat( kernelsPath + "gm_de431.tpc" ); + loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + loadSpiceKernelInTudat( kernelsPath + "jup310_small.bsp" ); + + // Define properties of nominal field + double gravitationalParameter = getBodyGravitationalParameter( "Jupiter" ); + double referenceRadius = getAverageRadius( "Jupiter" ); + Eigen::MatrixXd nominalCosineCoefficients; + Eigen::MatrixXd nominalSineCoefficients; + getNominalJupiterGravityField( nominalCosineCoefficients, nominalSineCoefficients ); + + // Create gravity field corrections object and retrieve corrections + std::vector< boost::shared_ptr< GravityFieldVariations > > gravityFieldVariationsList = + getTestGravityFieldVariations( )->getVariationObjects( ); + + // Define data structures for storing expected gravity field variations. + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > directGravityFieldVariations; + Eigen::Matrix< double, 5, 5 > expectedCosineCoefficientsCorrections = + Eigen::Matrix< double, 5, 5 >::Zero( ); + Eigen::Matrix< double, 5, 5 > expectedSineCoefficientsCorrections = + Eigen::Matrix< double, 5, 5 >::Zero( ); + + // Calculate gravity field variations directly. + int minimumDegree, minimumOrder, numberOfDegrees, numberOfOrders; + double testTime = 1.0E7; + for( unsigned int i = 0; i < gravityFieldVariationsList.size( ); i++ ) + { + minimumDegree = gravityFieldVariationsList.at( i )->getMinimumDegree( ); + numberOfDegrees = gravityFieldVariationsList.at( i )->getNumberOfDegrees( ); + + minimumOrder = gravityFieldVariationsList.at( i )->getMinimumOrder( ); + numberOfOrders = gravityFieldVariationsList.at( i )->getNumberOfOrders( ); + + directGravityFieldVariations = + gravityFieldVariationsList.at( i )-> + calculateSphericalHarmonicsCorrections( testTime ); + expectedCosineCoefficientsCorrections.block( + minimumDegree, minimumOrder, numberOfDegrees, numberOfOrders ) += + directGravityFieldVariations.first; + expectedSineCoefficientsCorrections.block( + minimumDegree, minimumOrder, numberOfDegrees, numberOfOrders ) += + directGravityFieldVariations.second; + } + + // Create time-varying gravity field. + boost::shared_ptr< TimeDependentSphericalHarmonicsGravityField > timeDependentGravityField = + boost::make_shared< TimeDependentSphericalHarmonicsGravityField >( + gravitationalParameter, referenceRadius, nominalCosineCoefficients, + nominalSineCoefficients, getTestGravityFieldVariations( ) ); + timeDependentGravityField->update( 2.0 * testTime ); + + // Calculate variations for current test time. + timeDependentGravityField->update( testTime ); + + // Get corrections at current time step from timeDependentGravityField + Eigen::MatrixXd perturbedCosineCoefficients = + timeDependentGravityField->getCosineCoefficients( ); + Eigen::MatrixXd perturbedSineCoefficients = + timeDependentGravityField->getSineCoefficients( ); + Eigen::MatrixXd calculatedCosineCoefficientCorrections = + ( perturbedCosineCoefficients - nominalCosineCoefficients ).block( 0, 0, 5, 5 ); + Eigen::MatrixXd calculatedSineCoefficientCorrections = + ( perturbedSineCoefficients - nominalSineCoefficients ).block( 0, 0, 5, 5 ); + + // Compare corrections against expected variations. + for( unsigned int i = 0; i < 5; i++ ) + { + for( unsigned int j = 0; j < 5; j++ ) + { + BOOST_CHECK_SMALL( calculatedCosineCoefficientCorrections( i, j ) - + expectedCosineCoefficientsCorrections( i, j ), 1.0E-18 ); + BOOST_CHECK_SMALL( calculatedSineCoefficientCorrections( i, j ) - + expectedSineCoefficientsCorrections( i, j ), 1.0E-18 ); + } + } + + // Test calculated tidal corrections against manual corrections directly from Cartesian states + // of perturbing bodies. + { + // Define Love numbers + // Define Love numbers ( constant for degree 2 only) + std::complex< double > constantLoveNumber( 0.5, 0.5E-3 ); + std::vector< std::complex< double > > constantSingleDegreeLoveNumber( 3, constantLoveNumber ); + std::vector< std::vector< std::complex< double > > > + loveNumbers( 1, constantSingleDegreeLoveNumber ); + + // Manually calculate tidal corrections directly. + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > directIoTide = + calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + loveNumbers, getBodyGravitationalParameter( "Io" ) + / getBodyGravitationalParameter( "Jupiter" ), + getAverageRadius( "Jupiter" ), spice_interface::getBodyCartesianPositionAtEpoch( + "Io", "Jupiter", "IAU_Jupiter", "None", testTime ), 2, 2 ); + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > directEuropaTide = + calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + loveNumbers, getBodyGravitationalParameter( "Europa" ) + / getBodyGravitationalParameter( "Jupiter" ), + getAverageRadius( "Jupiter" ), spice_interface::getBodyCartesianPositionAtEpoch( + "Europa", "Jupiter", "IAU_Jupiter", "None", testTime ), 2, 2 ); + + // Calculate tidal corrections from objects + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > tidalCorrectionsFromObject = + ( ( timeDependentGravityField->getGravityFieldVariationsSet( ) + ->getGravityFieldVariation( basic_solid_body ) ).second + ->calculateSphericalHarmonicsCorrections( testTime ) ); + + // Compare results. + Eigen::MatrixXd directCosineCorrections = directIoTide.first + directEuropaTide.first; + Eigen::MatrixXd directSineCorrections = directIoTide.second + directEuropaTide.second; + + for( unsigned int i = 0; i < 3; i++ ) + { + BOOST_CHECK_SMALL( directCosineCorrections( 2, i ) + - tidalCorrectionsFromObject.first( 0, i ), 1.0E-20 ); + BOOST_CHECK_SMALL( directSineCorrections( 2, i ) + - tidalCorrectionsFromObject.second( 0, i ), 1.0E-20 ); + } + } +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} // namespace unit_tests +} // namespace tudat + diff --git a/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestThirdBodyPerturbation.cpp b/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestThirdBodyPerturbation.cpp index 8403bf9ee3..f2161a9776 100644 --- a/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestThirdBodyPerturbation.cpp +++ b/Tudat/Astrodynamics/Gravitation/UnitTests/unitTestThirdBodyPerturbation.cpp @@ -163,7 +163,7 @@ BOOST_AUTO_TEST_CASE( testComputationOfThirdBodyPerturbation ) boost::shared_ptr< gravitation::ThirdBodyCentralGravityAcceleration > thirdBodyAcceleration = boost::make_shared< gravitation::ThirdBodyCentralGravityAcceleration >( - directAccelerationModel, centralBodyAccelerationModel ); + directAccelerationModel, centralBodyAccelerationModel, "centralBody" ); thirdBodyAcceleration->updateMembers( ); // Compute perturbational acceleration for parameters given. @@ -299,7 +299,7 @@ BOOST_AUTO_TEST_CASE( testRealisticThirdBodyPerturbation ) boost::shared_ptr< gravitation::ThirdBodyCentralGravityAcceleration > thirdBodyAcceleration = boost::make_shared< gravitation::ThirdBodyCentralGravityAcceleration >( - directAccelerationModel, centralBodyAccelerationModel ); + directAccelerationModel, centralBodyAccelerationModel, "centralBody" ); thirdBodyAcceleration->updateMembers( ); realisticComputedAcceleration = thirdBodyAcceleration->getAcceleration( ); diff --git a/Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.cpp b/Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.cpp new file mode 100644 index 0000000000..4b7a598f57 --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.cpp @@ -0,0 +1,226 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include "Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h" +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" +#include "Tudat/Mathematics/BasicMathematics/legendrePolynomials.h" + +namespace tudat +{ + +namespace gravitation +{ + +//! Function to create constant complex Love number list for a range of degrees and orders. +std::vector< std::vector< std::complex< double > > > getFullLoveNumbersVector( + const std::complex< double > constantLoveNumber, const int maximumDegree, const int maximumOrder ) +{ + // Define list of Love numbers + std::vector< std::vector< std::complex< double > > > fullLoveNumbersVector; + fullLoveNumbersVector.resize( maximumDegree - 1 ); + + // Iterate over all degrees and orders. + for( unsigned int i = 0; i <= static_cast< unsigned int >( maximumDegree ) - 2;i++ ) + { + for( unsigned int j = 0; j <= ( i + 2 ); j++ ) + { + // Set current Love numbers. + if( static_cast< int >( j ) <= maximumOrder ) + { + fullLoveNumbersVector[ i ].push_back( constantLoveNumber ); + } + else + { + fullLoveNumbersVector[ i ].push_back( std::complex< double >( 0.0, 0.0 ) ); + } + } + } + + return fullLoveNumbersVector; +} + +//! Function to create constant real Love number list for a range of degrees and orders. +std::vector< std::vector< std::complex< double > > > getFullLoveNumbersVector( + const double constantLoveNumber, const int maximumDegree, const int maximumOrder ) +{ + return getFullLoveNumbersVector( std::complex< double >( constantLoveNumber, 0.0 ), maximumDegree, maximumOrder ); +} + +//! Function to calculate solid body tide gravity field variation due to single body at single +//! degree and order. +std::complex< double > calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + const std::complex< double > loveNumber, const double massRatio, + const double radiusRatioPowerN, + const double amplitude, const std::complex< double > tideArgument, + const int degree, const int order ) +{ + // Calculate and return corrections. + return loveNumber / ( 2.0 * static_cast< double >( degree ) + 1.0 ) * + massRatio * radiusRatioPowerN * + amplitude * basic_mathematics::calculateLegendreGeodesyNormalizationFactor( + degree, order ) * std::exp( -tideArgument ); +} + +//! Function to calculate solid body tide gravity field variations due to single body at single degree and order directly +//! from perturbing body's Cartesian state. +std::complex< double > calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + const std::complex< double > loveNumber, const double massRatio, + const double referenceRadius, const Eigen::Vector3d& relativeBodyFixedPosition, const int degree, const int order ) +{ + // Calculate spherical position of perturbing body. + Eigen::Vector3d sphericalPosition = coordinate_conversions::convertCartesianToSpherical( + relativeBodyFixedPosition ); + + // Calculate amplitude and argument of tide + double tideAmplitude = basic_mathematics::computeLegendrePolynomialExplicit( + degree, order, std::sin( mathematical_constants::PI / 2.0 - sphericalPosition.y( ) ) ) * + basic_mathematics::calculateLegendreGeodesyNormalizationFactor( + degree, order ); + std::complex< double > tideArgument = static_cast< double >( order ) * std::complex< double >( 0.0, sphericalPosition( 2 ) ); + + // Calculate tidal corrections. + return loveNumber / ( 2.0 * static_cast< double >( degree ) + 1.0 ) * + massRatio * std::pow( referenceRadius / sphericalPosition( 0 ), degree + 1 ) * + tideAmplitude * std::exp( -tideArgument ); +} + +//! Function to calculate solid body tide gravity field variations due to single body at a set of degrees and orders +//! from perturbing body's Cartesian state. +std::pair< Eigen::MatrixXd, Eigen::MatrixXd > calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + const std::vector< std::vector< std::complex< double > > > loveNumbers, const double massRatio, + const double referenceRadius, const Eigen::Vector3d& relativeBodyFixedPosition, + const int maximumDegree, const int maximumOrder ) +{ + // Initialize results. + Eigen::MatrixXd cosineCorrections = Eigen::MatrixXd::Zero( maximumDegree + 1, maximumOrder + 1 ); + Eigen::MatrixXd sineCorrections = Eigen::MatrixXd::Zero( maximumDegree + 1, maximumOrder + 1 ); + + std::complex< double > currentCorrections; + + // Iterate over all requested degrees and orders + for( int n = 2; n <= maximumDegree; n++ ) + { + for( int m = 0; ( m <= maximumOrder && m <= n ); m++ ) + { + // Calculate and set corrections at current degree and order. + currentCorrections = calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + loveNumbers.at( n - 2 ).at( m ), massRatio, referenceRadius, relativeBodyFixedPosition, n, m ); + cosineCorrections( n, m ) = currentCorrections.real( ); + if( m > 0 ) + { + sineCorrections( n, m ) = -currentCorrections.imag( ); + } + } + } + + return std::make_pair( cosineCorrections, sineCorrections ); +} + + +//! Sets current properties (mass state) of body involved in tidal deformation. +void BasicSolidBodyTideGravityFieldVariations::setBodyGeometryParameters( + const int bodyIndex, const double evaluationTime ) +{ + // Calculate current state and orientation of deformed body. + if( bodyIndex == 0 ) + { + deformedBodyPosition = deformedBodyStateFunction_( evaluationTime ).segment( 0, 3 ); + toDeformedBodyFrameRotation = deformedBodyOrientationFunction_( evaluationTime ); + } + + // Calculate current state of body causing deformation. + Eigen::Vector3d relativeDeformingBodyPosition = toDeformedBodyFrameRotation * ( + deformingBodyStateFunctions_[ bodyIndex ]( evaluationTime ).segment( 0, 3 ) - + deformedBodyPosition ); + Eigen::Vector3d relativeDeformingBodySphericalPosition =coordinate_conversions:: + convertCartesianToSpherical( relativeDeformingBodyPosition ); + + // Set geometric parameters of body causing deformation. + radiusRatio = deformedBodyReferenceRadius_ / relativeDeformingBodySphericalPosition.x( ); + iLongitude = mathematical_constants::COMPLEX_I * relativeDeformingBodySphericalPosition.z( ); + sineOfLatitude = std::sin( mathematical_constants::PI / 2.0 - + relativeDeformingBodySphericalPosition.y( ) ); +} + +//! Function for calculating spherical harmonic coefficient corrections. +std::pair< Eigen::MatrixXd, Eigen::MatrixXd > BasicSolidBodyTideGravityFieldVariations:: +calculateBasicSphericalHarmonicsCorrections( + const double time ) +{ + // Initialize corrections to zero. + Eigen::MatrixXd cTermCorrections = Eigen::MatrixXd::Zero( numberOfDegrees_, numberOfOrders_ ); + Eigen::MatrixXd sTermCorrections = Eigen::MatrixXd::Zero( numberOfDegrees_, numberOfOrders_ ); + + // Iterate over all bodies causing deformation and calculate and add associated corrections + for( unsigned int i = 0; i < deformingBodyStateFunctions_.size( ); i++ ) + { + setBodyGeometryParameters( i, time ); + + // Calculate properties of currently considered body + massRatio = deformingBodyMasses_[ i ]( ) / deformedBodyMass_( ); + + // Calculate all correction functions. + for( unsigned int j = 0; j < correctionFunctions.size( ); j++ ) + { + correctionFunctions[ j ]( cTermCorrections, sTermCorrections ); + } + } + + return std::make_pair( cTermCorrections, sTermCorrections ); +} + +//! Calculates basic solid body gravity field corrections due to single body. +void BasicSolidBodyTideGravityFieldVariations::addBasicSolidBodyTideCorrections( + Eigen::MatrixXd& cTermCorrections, + Eigen::MatrixXd& sTermCorrections ) +{ +// // Initialize power of radiusRatio^(N+1) (calculation starts at N=2) + radiusRatioPower = radiusRatio * radiusRatio * radiusRatio; + + currentCosineCorrections_.setZero( ); + currentSineCorrections_.setZero( ); + + // // Iterate over all love + std::complex< double > stokesCoefficientCorrection( 0.0, 0.0 ); + + for( unsigned int n = 2; n < loveNumbers_.size( ) + 2; n++ ) + { + for( unsigned int m = 0; ( m <= n && m < loveNumbers_.at( n - 2 ).size( ) ); m++ ) + { + updateTidalAmplitudeAndArgument( n, m ); + + // Calculate and add coefficients. + stokesCoefficientCorrection = + calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + loveNumbers_[ n - 2 ][ m ], massRatio, radiusRatioPower, tideAmplitude, + tideArgument, n, m ); + + + currentCosineCorrections_( n - 2, m ) += stokesCoefficientCorrection.real( ); + if( m != 0 ) + { + currentSineCorrections_( n - 2, m ) -= stokesCoefficientCorrection.imag( ); + } + } + + // Increment radius ratio power. + radiusRatioPower *= radiusRatio; + } + + cTermCorrections.block( 0, 0, maximumDegree_ - minimumDegree_ + 1, maximumOrder_ - minimumOrder_ + 1 ) += + currentCosineCorrections_; + sTermCorrections.block( 0, 0, maximumDegree_ - minimumDegree_ + 1, maximumOrder_ - minimumOrder_ + 1 ) += + currentSineCorrections_; + +} + +} + +} diff --git a/Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h b/Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h new file mode 100644 index 0000000000..f46f109232 --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h @@ -0,0 +1,560 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef BASICSOLIDBODYTIDEGRAVITYFIELDVARIATIONS_H +#define BASICSOLIDBODYTIDEGRAVITYFIELDVARIATIONS_H + +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include "Tudat/Mathematics/BasicMathematics/coordinateConversions.h" +#include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" +#include "Tudat/Mathematics/BasicMathematics/legendrePolynomials.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" + +namespace tudat +{ + +namespace gravitation +{ + + +//! Function to create constant complex Love number list for a range of degrees and orders. +/*! + * Function to create constant complex Love number list for a range of degrees and orders, maximum degree and order + * are given as input, minimum degree and order are 2 and 0, respectively. + * \param constantLoveNumber Love number to be set at each degree and order + * \param maximumDegree Maximum degree for Love numbers. + * \param maximumOrder Maximum order for Love numbers. + * \return List of Love numbers with requested settings. + */ +std::vector< std::vector< std::complex< double > > > getFullLoveNumbersVector( + const std::complex< double > constantLoveNumber, const int maximumDegree, const int maximumOrder ); + +//! Function to create constant real Love number list for a range of degrees and orders +/*! +* Function to create constant real Love number list for a range of degrees and orders, maximum degree and order +* are given as input, minimum degree and order are 2 and 0, respectively. +* \param constantLoveNumber Love number to be set at each degree and order +* \param maximumDegree Maximum degree for Love numbers. +* \param maximumOrder Maximum order for Love numbers. +* \return List of Love numbers with requested settings. +*/ +std::vector< std::vector< std::complex< double > > > getFullLoveNumbersVector( + const double constantLoveNumber, const int maximumDegree, const int maximumOrder ); + +//! Function to calculate solid body tide gravity field variations due to single body at single degree and order from +//! precomputed quantaties. +/*! + * Function to calculate solid body tide gravity field variations due to single body at single + * degree and order, (frequency-independent part), after (Petit et al. 2010, eq. 6.6), using + * complex tidal love numbers. Using this function requires the computation of a number of precomputed quantities + * (as is done by the BasicSolidBodyTideGravityFieldVariations class). + * \param loveNumber Complex Love number for given degree and order. + * \param massRatio Ratio of masses of body causing deformation to body being deformed. + * \param radiusRatioPowerN Ratio of equatorial radius of body being deformed over distance + * between center of body being deformed to center of body causing deformation to the power (n+1). + * \param amplitude Amplitude of the tide. + * \param tideArgument Argument of the tide. + * \param degree Degree of current coefficients + * \param order Order of current coefficients + * \return Combined variation in cosine (Delta C_{n,m}) and sine (Delta S_{n,m}) coefficients as: + * Delta C_{n,m} - i * Delta S_{n,m} + */ +std::complex< double > calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + const std::complex< double > loveNumber, const double massRatio, + const double radiusRatioPowerN, const double amplitude, + const std::complex< double > tideArgument, const int degree, const int order ); + +//! Function to calculate solid body tide gravity field variations due to single body at single degree and order directly +//! from perturbing body's Cartesian state. +/*! + * Function to calculate solid body tide gravity field variations due to single body at single + * degree and order, (frequency-independent part), after (Petit et al. 2010, eq. 6.6), using + * complex tidal love numbers. This function directly uses the perturbing body's Cartesian state, and should be used for + * 'external' computations. The BasicSolidBodyTideGravityFieldVariations uses the alternative overloaded function. + * \param loveNumber Complex Love number for given degree and order. + * \param massRatio Ratio of masses of body causing deformation to body being deformed. + * \param referenceRadius Equatorial radius of body being deformed. + * \param relativeBodyFixedPosition Cartesian position of body causing deformation in a frame centered on and fixed to + * the body that is being deformed. + * \param degree Degree of current coefficients + * \param order Order of current coefficients + * \return Combined variation in cosine (Delta C_{n,m}) and sine (Delta S_{n,m}) coefficients as: + * Delta C_{n,m} - i * Delta S_{n,m} + */ +std::complex< double > calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + const std::complex< double > loveNumber, const double massRatio, + const double referenceRadius, const Eigen::Vector3d& relativeBodyFixedPosition, const int degree, const int order ); + +//! Function to calculate solid body tide gravity field variations due to single body at a set of degrees and orders +//! from perturbing body's Cartesian state. +/*! + * Function to calculate solid body tide gravity field variations due to single body at a set of degrees and orders + * (frequency-independent part), after (Petit et al. 2010, eq. 6.6), using complex tidal love numbers. + * This function directly uses the perturbing body's Cartesian state, and should be used for + * 'external' computations. The BasicSolidBodyTideGravityFieldVariations uses the alternative overloaded function. + * This function defines the maximum degree and order, and always starts at degree 2 and order 0 + * \param loveNumbers Complex Love numbers for each degree and order (index of first vector is degree-2; index of second + * vector is order. + * \param massRatio Ratio of masses of body causing deformation to body being deformed. + * \param referenceRadius Equatorial radius of body being deformed. + * \param relativeBodyFixedPosition Cartesian position of body causing deformation in a frame centered on and fixed to + * the body that is being deformed. + * \param maximumDegree Maximum degree of current coefficient corrections. + * \param maximumOrder Maximum order of current coefficient corrections. + * \return Combined variation in cosine (Delta C_{n,m}) and sine (Delta S_{n,m}) matrices as first and second entry of + * pair, respectively. Both matrices start at degree and order 0. + */ +std::pair< Eigen::MatrixXd, Eigen::MatrixXd > calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + const std::vector< std::vector< std::complex< double > > > loveNumbers, const double massRatio, + const double referenceRadius, const Eigen::Vector3d& relativeBodyFixedPosition, + const int maximumDegree, const int maximumOrder ); + +//! Class to calculate first-order solid body tide gravity field variations on a single body raised +//! by any number of bodies up to any degree and order. +class BasicSolidBodyTideGravityFieldVariations: public GravityFieldVariations +{ +public: + //! Constructor + /*! + * Contructor, sets Love numbers and properties of deformed and tide-raising bodies. + * \param deformedBodyStateFunction Function returning state of body being deformed. + * \param deformedBodyOrientationFunction Function providing rotation from inertial to body + * being deformed-fixed frame + * \param deformingBodyStateFunctions List of state functions of body causing deformations. + * \param deformedBodyReferenceRadius Reference radius (typically equatorial) of body being + * deformed's spherical harmonic gravity field. + * \param deformedBodyMass Function returning mass (or gravitational parameter) of body being + * deformed. + * \param deformingBodyMasses List of functions returning masses (or gravitational parameters) + * of bodies causing deformation. + * \param loveNumbers List of love numbers for each degree and order. First vector level + * denotes degree (index 0 = degree 2), second vector level denotes order and must be of maximum size + * (loveNumbers.size( ) + 2, i.e. maximum degree >= maximum order) + * \param deformingBodies List of names of bodies causing deformation + */ + BasicSolidBodyTideGravityFieldVariations( + const boost::function< basic_mathematics::Vector6d( const double ) > + deformedBodyStateFunction, + const boost::function< Eigen::Quaterniond( const double ) > + deformedBodyOrientationFunction, + const std::vector< boost::function< basic_mathematics::Vector6d( const double ) > > + deformingBodyStateFunctions, + const double deformedBodyReferenceRadius, + const boost::function< double( ) > deformedBodyMass, + const std::vector< boost::function< double( ) > > deformingBodyMasses, + const std::vector< std::vector< std::complex< double > > > loveNumbers, + const std::vector< std::string > deformingBodies ): + GravityFieldVariations( 2, 0, 2 + loveNumbers.size( ) - 1, 2 + loveNumbers.size( ) - 1 ), + deformedBodyStateFunction_( deformedBodyStateFunction ), + deformedBodyOrientationFunction_( deformedBodyOrientationFunction ), + deformingBodyStateFunctions_( deformingBodyStateFunctions ), + deformedBodyReferenceRadius_( deformedBodyReferenceRadius ), + deformedBodyMass_( deformedBodyMass ), + deformingBodyMasses_( deformingBodyMasses ), + loveNumbers_( loveNumbers ), + deformingBodies_( deformingBodies ) + { + // Set basic deformation functon as function to be evaluated when requesting variations. + correctionFunctions.push_back( + boost::bind( + &BasicSolidBodyTideGravityFieldVariations::addBasicSolidBodyTideCorrections, + this, _1, _2 ) ); + currentCosineCorrections_ = Eigen::MatrixXd::Zero( + maximumDegree_ - minimumDegree_ + 1, maximumOrder_ - minimumOrder_ + 1 ); + currentSineCorrections_ = Eigen::MatrixXd::Zero( + maximumDegree_ - minimumDegree_ + 1, maximumOrder_ - minimumOrder_ + 1 ); + } + + //! Destructor + /*! + * Destructor + */ + virtual ~BasicSolidBodyTideGravityFieldVariations( ){ } + + //! Function for calculating basic spherical harmonic coefficient corrections. + /*! + * Function for calculating basic spherical harmonic coefficient corrections. + * \param time Time at which variations are to be calculated. + * \return Pair of matrices containing variations in (cosine,sine) coefficients. + */ + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > calculateBasicSphericalHarmonicsCorrections( + const double time ); + + //! Derived function for calculating spherical harmonic coefficient corrections. + /*! + * Derived function for calculating spherical harmonic coefficient corrections. + * \param time Time at which variations are to be calculated. + * \return Pair of matrices containing variations in (cosine,sine) coefficients. + */ + virtual std::pair< Eigen::MatrixXd, Eigen::MatrixXd > calculateSphericalHarmonicsCorrections( + const double time ) + { + return calculateBasicSphericalHarmonicsCorrections( time ); + } + + //! Function to retrieve the love numbers at given degree. + /*! + * Function to retrieve the love numbers at given degree. Returns a vector containing (complex) + * love numbers at all orders in current degree. + * \param degree Degree from which love numbers are to be retrieved. + * \return Vector of love numbers (i^{th} entry representing i^{th} order in requested degree) + * containing love numbers at current degree. + */ + std::vector< std::complex< double > > getLoveNumbersOfDegree( const int degree ) + { + return loveNumbers_[ degree - 2 ]; + } + + //! Function to return all love numbers. + /*! + * Function to return all love numbers, i.e. at all degrees and orders. + * \return Complete set of available love numbers. + */ + std::vector< std::vector< std::complex< double > > > getLoveNumbers( ) + { + return loveNumbers_; + } + + //! Function to reset the love numbers at given degree. + /*! + * Function to reset the love numbers at given degree. Input requires a vector containing + * (complex) love numbers at all orders in current degree. + * \param degree Degree from which love numbers are to be retrieved. + * \param loveNumbers of love numbers (i^{th} entry representing i^{th} order in requested degree) + * containing new love numbers at current degree. + */ + void resetLoveNumbersOfDegree( const std::vector< std::complex< double > > loveNumbers, + const int degree ) + { + if( loveNumbers_.size( ) > static_cast< unsigned int >( degree - 2 ) ) + { + if( loveNumbers.size( ) <= static_cast< unsigned int >( degree ) ) + { + loveNumbers_[ degree - 2 ] = loveNumbers; + } + else + { + std::cerr<<"Error, tried to set love numbers at degree "< getDeformedBodyMassFunction( ) + { + return deformedBodyMass_; + } + + //! Function to return list of the mass functions of the bodies causing the deformation. + /*! + * Function to return list of the mass functions of the bodies causing the deformation. + * \return List of the mass functions of the bodies causing the deformation. + */ + std::vector< boost::function< double( ) > > getDeformingBodyMasses( ) + { + return deformingBodyMasses_; + } + + //! Function to return list of the names of the bodies causing the deformation + /*! + * Function to return list of the names of the bodies causing the deformation + * \return List of the names of the bodies causing the deformation + */ + std::vector< std::string > getDeformingBodies( ) + { + return deformingBodies_; + } + + //! Function to return the state function of the deformed body. + /*! + * Function to return the state function of the deformed body. + * \return State function of the deformed body. + */ + boost::function< basic_mathematics::Vector6d( const double ) > getDeformedBodyStateFunction( ) + { + return deformedBodyStateFunction_; + } + + //! Function to return the orientation function (rotation to body-fixed frame) of the deformed + //! body. + /*! + * Function to return the orientation function (rotation to body-fixed frame) of the deformed + * body. + * \return Orientation function (rotation to body-fixed frame) of the deformed body. + */ + boost::function< Eigen::Quaterniond( const double ) > getDeformedBodyOrientationFunction( ) + { + return deformedBodyOrientationFunction_; + } + + //! Function to return list of the state functions of the bodies causing the deformation. + /*! + * Function to return list of the state functions of the bodies causing the deformation. + * \return List of the state functions of the bodies causing the deformation. + */ + std::vector< boost::function< basic_mathematics::Vector6d( const double ) > > + getDeformingBodyStateFunctions( ) + { + return deformingBodyStateFunctions_; + } + + //! Get a string with the concatenation of all the bodies causing the deformation. + /*! + * Get a string with the concatenation of all the bodies causing the deformation. + * \return A string with the concatenation of all the bodies causing the deformation. + */ + std::string getConcatenatedDeformingBodies( ) + { + // Initialize string + std::string id = ""; + + // Iterate over all bodies and add name to concatenates string + for( unsigned int i = 0; i < deformingBodies_.size( ); i++ ) + { + id += deformingBodies_[ i ]; + if( i != deformingBodies_.size( ) - 1 ) + { + id += "_"; + } + } + + return id; + } + + //! Function to return the current corrections to the cosine coefficients. + /*! + * Function to return the current corrections to the cosine coefficients (as calculated by + * current instance of this class). + * \return Current corrections to the cosine coefficients. + */ + Eigen::MatrixXd getCurrentCosineCorrections( ) + { + return currentCosineCorrections_; + } + + //! Function to return the current corrections to the sine coefficients. + /*! + * Function to return the current corrections to the sine coefficients (as calculated by + * current instance of this class). + * \return Current corrections to the sine coefficients. + */ + Eigen::MatrixXd getCurrentSineCorrections( ) + { + return currentSineCorrections_; + } + +protected: + + //! List of functions to call for calculating spherical harmonic corrections. + /*! + * List of functions to call for calculating spherical harmonic corrections. Each function + * modifies MatrixXd arguments (cosine, sine) as they are passed by reference, and adds + * the required (tidal) correction. + */ + std::vector< boost::function< void( Eigen::MatrixXd&, Eigen::MatrixXd& ) > > + correctionFunctions; + + //! Calculates basic solid body gravity field corrections due to single body. + /*! + * Calculates basic solid body gravity field corrections for all degrees and orders set. + * The arguments are modified as they are passed by reference, through which the corrections + * are returned. + * Class variables denoting properties of currently considered body must have been set before + * this function is called. + * \param cTermCorrections Corrections to cosine terms + * (passed by reference; correction added to input value). + * \param sTermCorrections Corrections to sine terms. + * + * (passed by reference; correction added to input value). + */ + virtual void addBasicSolidBodyTideCorrections( + Eigen::MatrixXd& cTermCorrections, Eigen::MatrixXd& sTermCorrections ); + + //! Sets current properties (mass state) of body causing tidal deformation. + /*! + * Sets current properties (mass state) of body causing tidal deformation. + * \param bodyIndex Index of body causing deformation for which data is to be retrieved. + * Deformed body is also updated to bodyIndex = 0. + * \param evaluationTime Time at which properties are to be evaluated. + */ + virtual void setBodyGeometryParameters( + const int bodyIndex, const double evaluationTime); + + //! Calculate tidal amplitude and argument at current degree and order. + /*! + * Calculate tidal amplitude and argument at current degree and order. + * \param degree Degree of tide. + * \param order Order of tide. + */ + virtual void updateTidalAmplitudeAndArgument( + const int degree, const int order ) + { + tideAmplitude = basic_mathematics::computeLegendrePolynomialExplicit( + degree, order, sineOfLatitude ); + tideArgument = static_cast< double >( order ) * iLongitude; + } + + + //! Function returning state of body being deformed. + /*! + * Function returning state of body being deformed. + */ + boost::function< basic_mathematics::Vector6d( const double ) > deformedBodyStateFunction_; + + //! Function providing rotation from inertial to body being deformed-fixed frame + /*! + * Function providing rotation from inertial to body being deformed-fixed frame. + */ + boost::function< Eigen::Quaterniond( const double ) > deformedBodyOrientationFunction_; + + //! List of state functions of body causing deformations. + /*! + * List of state functions of body causing deformations. + */ + std::vector< boost::function< basic_mathematics::Vector6d( const double ) > > + deformingBodyStateFunctions_; + + //! Reference radius (typically equatorial) of body being deformed's spherical harmonic + //! gravity field. + /*! + * Reference radius (typically equatorial) of body being deformed's spherical harmonic gravity + * field. + */ + double deformedBodyReferenceRadius_; + + //! Function returning mass of body being deformed. + /*! + * Function returning mass of body being deformed. + */ + boost::function< double( ) > deformedBodyMass_; + + //! List of functions returning masses of bodies causing deformation. + /*! + * List of functions returning masses of bodies causing deformation. + */ + std::vector< boost::function< double( ) > > deformingBodyMasses_; + + //! List of love numbers for each degree and order + /*! + * List of love numbers for each degree and order. First vector level denotes degree + * (index 0 = degree 2), second vector level must be of size (loveNumbers.size( ) + 2, i.e. + * maximum degree == maximum order. + */ + std::vector< std::vector< std::complex< double > > > loveNumbers_; + + + //! List of names of bodies causing deformation. + /*! + * List of names of bodies causing deformation. + */ + std::vector< std::string > deformingBodies_; + + + //! Ratio of masses in current calculation step + /*! + * Ratio of masses of body causing deformation to body being deformed in current calculation + * step. + */ + double massRatio; + + //! Ratio of radii in current calculation step. + /*! + * Ratio of equatorial radius of body being deformed over distance between center of body + * being deformed to center of body causing deformation in current calculation step + */ + double radiusRatio; + + //! Ratio of radii in current calculation step to the power (degree+1). + /*! + * Ratio of equatorial radius of body being deformed over distance between center of body + * being deformed to center of body causing deformation, to the power (degree+1), in current + * calculation step + */ + double radiusRatioPower; + + //! Sine of latitude of currently considered body in current calculation step + /*! + * Sine of latitude of body causing deformation in frame fixed to body being deformed in + * current calculation step. + */ + double sineOfLatitude; + + //! Longitude of currently considered body times i in current calculation step + /*! + * i (sqrt(-1)) times longitude of body causing deformation in frame fixed to body being + * deformed in current calculation step. + */ + std::complex< double > iLongitude; + + //! Current argument of the tide. + /*! + * Current argument of the tide, to be used as input to + * calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude, modulates the tide as + * exp( -tideArgument). + */ + std::complex< double > tideArgument; + + //! Current amplitude of the tide. + /*! + * Current amplitude of the tide, to be used as input to + * calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude. + */ + double tideAmplitude; + + //! Current position of body being deformed. + Eigen::Vector3d deformedBodyPosition; + + //! Current rotation to frame fixed to deformed body. + Eigen::Quaterniond toDeformedBodyFrameRotation; + + //! Tidal corrections to cosine coefficients at current calculation step. + Eigen::MatrixXd currentCosineCorrections_; + + //! Tidal corrections to sine coefficients at current calculation step. + Eigen::MatrixXd currentSineCorrections_; + +}; + +} + +} +#endif // BASICSOLIDBODYTIDEGRAVITYFIELDVARIATIONS_H diff --git a/Tudat/Astrodynamics/Gravitation/centralGravityModel.h b/Tudat/Astrodynamics/Gravitation/centralGravityModel.h index 8d29d4cc98..82c4558c50 100644 --- a/Tudat/Astrodynamics/Gravitation/centralGravityModel.h +++ b/Tudat/Astrodynamics/Gravitation/centralGravityModel.h @@ -43,6 +43,8 @@ #ifndef TUDAT_CENTRAL_GRAVITY_MODEL_H #define TUDAT_CENTRAL_GRAVITY_MODEL_H +#include + #include #include @@ -197,7 +199,35 @@ class CentralGravitationalAccelerationModel const typename Base::StateFunction positionOfBodyExertingAccelerationFunction = boost::lambda::constant( StateMatrix::Zero( ) ) ) : Base( positionOfBodySubjectToAccelerationFunction, - aGravitationalParameter, + boost::lambda::constant( aGravitationalParameter ), + positionOfBodyExertingAccelerationFunction ) + { + this->updateMembers( ); + } + + //! Constructor taking position-functions for bodies, and constant gravitational parameter. + /*! + * Constructor taking a pointer to a function returning the position of the body subject to + * gravitational acceleration, a constant gravitational parameter, and a pointer to a function + * returning the position of the body exerting the gravitational acceleration (typically the + * central body). This constructor uses the Boost::lambda library to create a function + * on-the-fly that returns the constant gravitational parameter provided. The constructor also + * updates all the internal members. The position of the body exerting the gravitational + * acceleration is an optional parameter; the default position is the origin. + * \param positionOfBodySubjectToAccelerationFunction Pointer to function returning position of + * body subject to gravitational acceleration. + * \param aGravitationalParameterFunction Functioning returning a (constant) gravitational + * parameter [m^2 s^-3]. + * \param positionOfBodyExertingAccelerationFunction Pointer to function returning position of + * body exerting gravitational acceleration (default = (0,0,0)). + */ + CentralGravitationalAccelerationModel( + const typename Base::StateFunction positionOfBodySubjectToAccelerationFunction, + const boost::function< double( ) > aGravitationalParameterFunction, + const typename Base::StateFunction positionOfBodyExertingAccelerationFunction + = boost::lambda::constant( StateMatrix::Zero( ) ) ) + : Base( positionOfBodySubjectToAccelerationFunction, + aGravitationalParameterFunction, positionOfBodyExertingAccelerationFunction ) { this->updateMembers( ); @@ -223,8 +253,16 @@ class CentralGravitationalAccelerationModel * Updates class members relevant for computing the central gravitational acceleration. In this * case the function simply updates the members in the base class. * \sa SphericalHarmonicsGravitationalAccelerationModelBase. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) { this->updateBaseMembers( ); } + void updateMembers( const double currentTime = TUDAT_NAN ) + { + if( !( this->currentTime_ == currentTime ) ) + { + this->updateBaseMembers( ); + } + } + protected: private: diff --git a/Tudat/Astrodynamics/Gravitation/centralJ2GravityModel.h b/Tudat/Astrodynamics/Gravitation/centralJ2GravityModel.h index cda95bcca8..460f2ec9f2 100644 --- a/Tudat/Astrodynamics/Gravitation/centralJ2GravityModel.h +++ b/Tudat/Astrodynamics/Gravitation/centralJ2GravityModel.h @@ -158,8 +158,15 @@ class CentralJ2GravitationalAccelerationModel * Updates class members relevant for computing the central gravitational acceleration. In this * case the function simply updates the members in the base class. * \sa SphericalHarmonicsGravitationalAccelerationModelBase. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) { this->updateBaseMembers( ); } + void updateMembers( const double currentTime = TUDAT_NAN ) + { + if( !( this->currentTime_ == currentTime ) ) + { + this->updateBaseMembers( ); + } + } protected: diff --git a/Tudat/Astrodynamics/Gravitation/centralJ2J3GravityModel.h b/Tudat/Astrodynamics/Gravitation/centralJ2J3GravityModel.h index e9d351d50c..9d02f5b92d 100644 --- a/Tudat/Astrodynamics/Gravitation/centralJ2J3GravityModel.h +++ b/Tudat/Astrodynamics/Gravitation/centralJ2J3GravityModel.h @@ -165,8 +165,15 @@ class CentralJ2J3GravitationalAccelerationModel * Updates class members relevant for computing the central gravitational acceleration. In this * case the function simply updates the members in the base class. * \sa SphericalHarmonicsGravitationalAccelerationModelBase. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) { this->updateBaseMembers( ); } + void updateMembers( const double currentTime = TUDAT_NAN ) + { + if( !( this->currentTime_ == currentTime ) ) + { + this->updateBaseMembers( ); + } + } protected: diff --git a/Tudat/Astrodynamics/Gravitation/centralJ2J3J4GravityModel.h b/Tudat/Astrodynamics/Gravitation/centralJ2J3J4GravityModel.h index f1eb3b4dc4..67ecfd771c 100644 --- a/Tudat/Astrodynamics/Gravitation/centralJ2J3J4GravityModel.h +++ b/Tudat/Astrodynamics/Gravitation/centralJ2J3J4GravityModel.h @@ -215,8 +215,15 @@ class CentralJ2J3J4GravitationalAccelerationModel * Updates class members relevant for computing the central gravitational acceleration. In this * case the function simply updates the members in the base class. * \sa SphericalHarmonicsGravitationalAccelerationModelBase. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) { this->updateBaseMembers( ); } + void updateMembers( const double currentTime = TUDAT_NAN ) + { + if( !( this->currentTime_ == currentTime ) ) + { + this->updateBaseMembers( ); + } + } protected: diff --git a/Tudat/Astrodynamics/Gravitation/egm96_coefficients.dat b/Tudat/Astrodynamics/Gravitation/egm96_coefficients.dat new file mode 100644 index 0000000000..ecb9688b8b --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/egm96_coefficients.dat @@ -0,0 +1,65338 @@ + 2 0 -0.484165371736E-03 0.000000000000E+00 0.35610635E-10 0.00000000E+00 + 2 1 -0.186987635955E-09 0.119528012031E-08 0.10000000E-29 0.10000000E-29 + 2 2 0.243914352398E-05 -0.140016683654E-05 0.53739154E-10 0.54353269E-10 + 3 0 0.957254173792E-06 0.000000000000E+00 0.18094237E-10 0.00000000E+00 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0000000000..3f0350a01a --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/gravityFieldVariations.cpp @@ -0,0 +1,256 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h" +#include "Tudat/Mathematics/Interpolators/linearInterpolator.h" + +namespace tudat +{ + +namespace gravitation +{ + +//! Function to add sine and cosine corrections at given time to coefficient matrices. +void PairInterpolationInterface::getCosineSinePair( + const double time, Eigen::MatrixXd& sineCoefficients, Eigen::MatrixXd& cosineCoefficients ) +{ + // Interpolate corrections + Eigen::MatrixXd cosineSinePair = cosineSineInterpolator_->interpolate( time ); + + // Split combined interpolated cosine/sine correction block and add to existing values + cosineCoefficients.block( startDegree_, startOrder_, numberOfDegrees_, numberOfOrders_ ) += + cosineSinePair.block( 0, 0, cosineSinePair.rows( ), cosineSinePair.cols( ) / 2 ); + sineCoefficients.block( startDegree_, startOrder_, numberOfDegrees_, numberOfOrders_ ) += + cosineSinePair.block( 0, cosineSinePair.cols( ) / 2, + cosineSinePair.rows( ), cosineSinePair.cols( ) / 2 ); +} + + +//! Function to add sine and cosine corrections at given time to coefficient matrices. +void GravityFieldVariations::addSphericalHarmonicsCorrections( + const double time, Eigen::MatrixXd& sineCoefficients, Eigen::MatrixXd& cosineCoefficients ) +{ + // Calculate corrections. + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > correctionPair = + calculateSphericalHarmonicsCorrections( time ); + + // Add corrections to existing values + sineCoefficients.block( minimumDegree_, minimumOrder_, numberOfDegrees_, numberOfOrders_ ) + += correctionPair.second; + cosineCoefficients.block( minimumDegree_, minimumOrder_, numberOfDegrees_, numberOfOrders_ ) + += correctionPair.first; +} + +//! Function to retrieve a variation object of given type (and name if necessary). +std::pair< bool, boost::shared_ptr< gravitation::GravityFieldVariations > > +GravityFieldVariationsSet::getGravityFieldVariation( + const BodyDeformationTypes deformationType, + const std::string identifier ) +{ + // Declare return pointer. + boost::shared_ptr< gravitation::GravityFieldVariations > gravityFieldVariation; + + // Check how many variation objects of request type are in list. + int numberOfEntries = + std::count( variationType_.begin( ), variationType_.end( ), deformationType ); + + // Check if number of variation objects of requested type is not zero. + bool isEntryFound = 1; + if( numberOfEntries == 0 ) + { + isEntryFound = 0; + } + // If number of objects of requested type is 1, no further search is required + else if( numberOfEntries == 1 ) + { + // Retrieve index of object and set as return pointer. + std::vector< BodyDeformationTypes >::iterator findIterator = + std::find( variationType_.begin( ), variationType_.end( ), deformationType ); + int vectorIndex = std::distance( variationType_.begin( ), findIterator ); + gravityFieldVariation = variationObjects_[ vectorIndex ]; + } + // If number of objects of requested type is > 1, search for object with required identifier + else + { + bool isCorrectIdentifierFound = 0; + + // Loop over all entries + for( unsigned int i = 0; i < variationType_.size( ); i++ ) + { + // Check if type and identifer match + if( ( variationType_[ i ] == deformationType ) && + ( variationIdentifier_[ i ] == identifier ) ) + { + // Set return pointer and exit loop. + gravityFieldVariation = variationObjects_[ i ]; + isCorrectIdentifierFound = 1; + break; + } + } + + // Provide warning if no matches are found + if( isCorrectIdentifierFound == 0 ) + { + std::cerr << "Error when retrieving gravity field variation of type " << + deformationType << ", none of " << + numberOfEntries << " potential entries match identifier." << std::endl; + } + } + + return std::make_pair( isEntryFound, gravityFieldVariation ); +} + +//! Function to create a function linearly interpolating the sine and cosine correction coefficients +//! produced by an object of GravityFieldVariations type. +boost::function< void( const double, Eigen::MatrixXd&, Eigen::MatrixXd& ) > +createInterpolatedSphericalHarmonicCorrectionFunctions( + boost::shared_ptr< GravityFieldVariations > variationObject, + const double initialTime, + const double finalTime, + const double timeStep, + const boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorSettings ) +{ + // Declare map of combined cosine and since corrections, to be filled and passed to interpolator + std::map< double, Eigen::MatrixXd > cosineSineCorrectionsMap; + + // Perform once for matrices size determination. + double currentTime = initialTime; + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > singleCorrections; + singleCorrections = variationObject->calculateSphericalHarmonicsCorrections( currentTime ); + int correctionDegrees = singleCorrections.first.rows( ); + int correctionOrders = singleCorrections.first.cols( ); + + // Loop over all times at which corrections are to be calculated. + Eigen::MatrixXd cosineSineCorrections; + while( currentTime < finalTime ) + { + // Calculate current corrections. + singleCorrections = variationObject->calculateSphericalHarmonicsCorrections( currentTime ); + + // Set current corrections in single block. + cosineSineCorrections = Eigen::MatrixXd::Zero( correctionDegrees, 2 * correctionOrders ); + cosineSineCorrections.block( 0, 0, correctionDegrees, correctionOrders ) += + singleCorrections.first; + cosineSineCorrections.block( 0, correctionOrders, correctionDegrees, correctionOrders ) += + singleCorrections.second; + cosineSineCorrectionsMap[ currentTime ] = cosineSineCorrections; + + // Increment time. + currentTime += timeStep; + } + + + // Create interpolator + boost::shared_ptr< interpolators::OneDimensionalInterpolator< double, Eigen::MatrixXd > > + cosineSineCorrectionInterpolator = + interpolators::createOneDimensionalInterpolator< double, Eigen::MatrixXd >( + cosineSineCorrectionsMap, interpolatorSettings ); + + // Create pair interpolation interface for TimeDependentSphericalHarmonicsGravityField + boost::shared_ptr< PairInterpolationInterface > interpolationInterface = + boost::make_shared< PairInterpolationInterface >( + cosineSineCorrectionInterpolator, variationObject->getMinimumDegree( ), + variationObject->getMinimumOrder( ), + variationObject->getNumberOfDegrees( ), variationObject->getNumberOfOrders( ) ); + + // Create update function. + return boost::bind( &PairInterpolationInterface::getCosineSinePair, + interpolationInterface, _1, _2, _3 ); +} + +//! Class constructor. +GravityFieldVariationsSet::GravityFieldVariationsSet( + const std::vector< boost::shared_ptr< GravityFieldVariations > > variationObjects, + const std::vector< BodyDeformationTypes > variationType, + const std::vector< std::string > variationIdentifier, + const std::map< int, boost::shared_ptr< interpolators::InterpolatorSettings > > + createInterpolator, + const std::map< int, double > initialTimes, + const std::map< int, double > finalTimes, + const std::map< int, double > timeSteps ): + variationObjects_( variationObjects ), variationType_( variationType ), + variationIdentifier_( variationIdentifier ), + createInterpolator_( createInterpolator ), + initialTimes_( initialTimes ), finalTimes_( finalTimes ), timeSteps_( timeSteps ) +{ + // Check consistency of input data vector sizes. + if( variationObjects_.size( ) != variationType_.size( ) ) + { + std::cerr << "Error when making GravityFieldVariationsSet, inconsistent input, type 1" << std::endl; + } + if( variationObjects_.size( ) != variationIdentifier_.size( ) ) + { + std::cerr << "Error when making GravityFieldVariationsSet, inconsistent input, type 2" << std::endl; + } + + // Check if interpolation information is provided where required. + for( std::map< int, boost::shared_ptr< interpolators::InterpolatorSettings > >::iterator + interpolatorSettingsIterator = + createInterpolator_.begin( ); interpolatorSettingsIterator != createInterpolator_.end( ); + interpolatorSettingsIterator++ ) + { + if( initialTimes_.count( interpolatorSettingsIterator->first ) == 0 ) + { + std::cerr << "Error when making GravityFieldVariationsSet, inconsistent input, type 4, " << + interpolatorSettingsIterator->first << std::endl; + } + + if( finalTimes_.count( interpolatorSettingsIterator->first ) == 0 ) + { + std::cerr << "Error when making GravityFieldVariationsSet, inconsistent input, type 5, " << + interpolatorSettingsIterator->first << std::endl; + } + + if( timeSteps_.count( interpolatorSettingsIterator->first ) == 0 ) + { + std::cerr << "Error when making GravityFieldVariationsSet, inconsistent input, type 6, " << + interpolatorSettingsIterator->first << std::endl; + } + } +} + +//! Function to retrieve list of variation functions. +std::vector< boost::function< void( const double, Eigen::MatrixXd&, Eigen::MatrixXd& ) > > +GravityFieldVariationsSet::getVariationFunctions( ) +{ + // Declare list + std::vector< boost::function< void( const double, Eigen::MatrixXd&, Eigen::MatrixXd& ) > > + variationFunctions; + + // Iterate over all corrections and add correction function. + for( unsigned int i = 0; i < variationObjects_.size( ); i++ ) + { + // If current variation is to be interpolated, create interpolation function and add to list + if( createInterpolator_.count( i ) > 0 ) + { + variationFunctions.push_back( + createInterpolatedSphericalHarmonicCorrectionFunctions( + variationObjects_[ i ], initialTimes_[ i ], finalTimes_[ i ], + timeSteps_[ i ], createInterpolator_[ i ] ) ); + } + // If current variation is to not be interpolated, create function directly by function + // pointer by to current GravityFieldVariations object. + else + { + variationFunctions.push_back( + boost::bind( + &GravityFieldVariations::addSphericalHarmonicsCorrections, + variationObjects_[ i ], _1, _2, _3 ) ); + } + } + + // Return list. + return variationFunctions; +} + +} // namespace gravitation + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h b/Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h new file mode 100644 index 0000000000..bccc7ec997 --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h @@ -0,0 +1,444 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_GRAVITYFIELDVARIATIONS_H +#define TUDAT_GRAVITYFIELDVARIATIONS_H + +#include +#include + +#include + +#include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" +#include "Tudat/Mathematics/Interpolators/createInterpolator.h" + +namespace tudat +{ + +namespace gravitation +{ + +enum BodyDeformationTypes +{ + basic_solid_body, + tabulated_variation +}; + + +//! Interface class between GravityFieldVariations objects that are interpolated and +//! TimeDependentSphericalHarmonicsGravityField. +/*! + * Interface class between GravityFieldVariations objects that are interpolated and + * TimeDependentSphericalHarmonicsGravityField, the getCosineSinePair function mimics the + * addSphericalHarmonicsCorrections function of GravityFieldVariations. + * All correction coefficients are calculated as rectnagular blocks in both the cosine and sine + * matrices (of equal size) + */ +class PairInterpolationInterface +{ +public: + + //! Class constructor + /*! + * Constructor, receives an interpolator (typically created from a GravityFieldVariations + * object by the createInterpolatedSphericalHarmonicCorrectionFunctions function), which is + * used to approximate the spherical harmonic coefficient corrections at any given time + * (inside the interpolation window). All correction coefficients are calculated as rectangular + * blocks in both the cosine and sine matrices (of equal size) + * \param cosineSineInterpolator Interpolator object for approximating coefficient corrections. + * \param startDegree Degree where the rectangular correction block starts. + * \param startOrder Order where the rectangular correction block starts. + * \param numberOfDegrees Size of the rectangular correction block in the degree direction. + * \param numberOfOrders Size of the rectangular correction block in the order direction. + */ + PairInterpolationInterface( + const boost::shared_ptr< interpolators::OneDimensionalInterpolator< + double, Eigen::MatrixXd > > cosineSineInterpolator, + const int startDegree, const int startOrder, + const int numberOfDegrees, const int numberOfOrders ): + cosineSineInterpolator_( cosineSineInterpolator ), + startDegree_( startDegree ), startOrder_( startOrder ), + numberOfDegrees_( numberOfDegrees ), numberOfOrders_( numberOfOrders ){ } + + //! Function to add sine and cosine corrections at given time to coefficient matrices. + /*! + * Function to add sine and cosine corrections at given time to coefficient matrices. + * The current sine and cosine matrices are passed by reference, the corrections are + * calculated internally and added to them. + * \param time Time at which corrections are to be evaluated. + * \param sineCoefficients Current spherical harmonic sine coefficients, calculated + * corrections are added and returned by reference + * \param cosineCoefficients Current spherical harmonic cosine coefficients, calculated + * corrections are added and returned by reference + */ + void getCosineSinePair( const double time, + Eigen::MatrixXd& sineCoefficients, + Eigen::MatrixXd& cosineCoefficients ); + +private: + + //! Interpolator object for approximating coefficient corrections. + /*! + * Interpolator object for approximating coefficient corrections, interpolates the cosine and + * sine corrections, concatenated next to each other (i.e. as [C S] row 'vector' of + * cosine and sine corrections C and S, respectively). + */ + boost::shared_ptr< interpolators::OneDimensionalInterpolator< double, Eigen::MatrixXd > > + cosineSineInterpolator_; + + //! Degree where the rectangular correction block starts. + /*! + * Degree where the rectangular correction block starts. + */ + int startDegree_; + + //! Order where the rectangular correction block starts. + /*! + * Order where the rectangular correction block starts. + */ + int startOrder_; + + //! Size of the rectangular correction block in the degree direction. + /*! + * Size of the rectangular correction block in the degree direction. + */ + int numberOfDegrees_; + + //! Size of the rectangular correction block in the order direction. + /*! + * Size of the rectangular correction block in the order direction. + */ + int numberOfOrders_; +}; + +//! Virual base class for spherical harmonic gravity field variations +//! (i.e. time-dependencies of sine and cosine coefficients) +/*! + * Virual base class for spherical harmonic gravity field variations + * (i.e. time-dependencies of sine and cosine coefficients). The interface of derived classes + * with TimeDependentSphericalHarmonicsGravityField, which combines all corrections and adds them + * to nominal values, can be performed either directly, or through an interpolator + * (see PairInterpolationInterface and createInterpolatedSphericalHarmonicCorrectionFunctions) + * to save on computation time when evaluating slowly changing functions at very short intervals. + * All correction coefficients are calculated as rectangular blocks in both the cosine and sine + * matrices (of equal size). + */ +class GravityFieldVariations +{ +public: + + //! Base class constructor + /*! + * Base class constructor, input defines the size and position of correction blocks in sine and + * cosine matrices + * \param minimumDegree Degree where the rectangular correction blocks start. + * \param minimumOrder Order where the rectangular correction blocks start. + * \param maximumDegree Degree where the rectangular correction blocks end. + * \param maximumOrder Order where the rectangular correction blocks end. + */ + GravityFieldVariations( const int minimumDegree, const int minimumOrder, + const int maximumDegree, const int maximumOrder ): + minimumDegree_( minimumDegree ), minimumOrder_( minimumOrder ), + + maximumDegree_( maximumDegree ), maximumOrder_( maximumOrder ) + { + numberOfDegrees_ = maximumDegree_ - minimumDegree_ + 1; + numberOfOrders_ = maximumOrder_ - minimumOrder_ + 1; + } + + //! Virtual destructor + /*! + * Virtual destructor + */ + virtual ~GravityFieldVariations( ){ } + + //! Pure virtual function for calculating corrections. + /*! + * Pure virtual function for calculating corrections at given time. + * \param time Time at which variations are to be calculated. + * \return Pair of matrices containing variations in (cosine, sine) coefficients at block + * positions in total matrices defined by minimumDegree_, minimumOrder_, numberOfDegrees_, + * numberOfOrders_; + */ + virtual std::pair< Eigen::MatrixXd, Eigen::MatrixXd > calculateSphericalHarmonicsCorrections( + const double time ) = 0; + + //! Function to add sine and cosine corrections at given time to coefficient matrices. + /*! + * Function to add sine and cosine corrections at given time to coefficient matrices. + * The current sine and cosine matrices are passed by reference, the corrections are calculated + * internally and added to them. + * \param time Time at which corrections are to be evaluated. + * \param sineCoefficients Current spherical harmonic sine coefficients, calculated + * corrections are added and returned by reference + * \param cosineCoefficients Current spherical harmonic cosine coefficients, calculated + * corrections are added and returned by reference + */ + void addSphericalHarmonicsCorrections( + const double time, + Eigen::MatrixXd& sineCoefficients, + Eigen::MatrixXd& cosineCoefficients ); + + //! Function to return the maximum degree of the corrections. + /*! + * Function to return the maximum degree of the corrections. + */ + int getMaximumDegree( ) + { + return maximumDegree_; + } + + //! Function to return the maximum order of the corrections. + /*! + * Function to return the maximum order of the corrections. + */ + int getMaximumOrder( ) + { + return maximumOrder_; + } + + //! Function to return the minimum degree of the corrections. + /*! + * Function to return the minimum degree of the corrections. + */ + int getMinimumDegree( ) + { + return minimumDegree_; + } + + //! Function to return the minimum order of the corrections. + /*! + * Function to return the minimum order of the corrections. + */ + int getMinimumOrder( ) + { + return minimumOrder_; + } + + //! Function to return the number of degrees of the corrections. + /*! + * Function to return the number of degrees of the corrections. + */ + int getNumberOfDegrees( ) + { + return numberOfDegrees_; + } + + //! Function to return the number of orders of the corrections. + /*! + * Function to return the number of orders of the corrections. + */ + int getNumberOfOrders( ) + { + return numberOfOrders_; + } +protected: + + //! Minimum degree of variations + /*! + * Minimum degree of variations + */ + int minimumDegree_; + + //! Minimum order of variations + /*! + * Minimum order of variations + */ + int minimumOrder_; + + //! Maximum degree of variations + /*! + * Maximum degree of variations + */ + int maximumDegree_; + + //! Maximum order of variations + /*! + * Maximum order of variations + */ + int maximumOrder_; + + //! Number of degrees of variations + /*! + * Number of degrees of variations + */ + int numberOfDegrees_; + + //! Number of orders of variations + /*! + * Number of orders of variations + */ + int numberOfOrders_; +}; + +//! Function to create a function linearly interpolating the sine and cosine correction coefficients +//! produced by an object of GravityFieldVariations type. +/*! + * Function to create a function linearly interpolating the sine and cosine correction coefficients + * produced by an object of GravityFieldVariations type. + * The function creates a function pointer to the getCosineSinePair function of + * PairInterpolationInterface. The object of type PairInterpolationInterface is created by + * generating an interpolator for sine/cosine coefficients from the variationObject object and + * the initial/final time and time step that are passed. + * \param variationObject Object generating cosine and sine coefficient corrections. + * \param initialTime Start time of interpolator. + * \param finalTime End time of interpolator. + * \param timeStep Time step between subsequent evaluations of coefficient corrections + * \return Function pointer to function mimicing the addSphericalHarmonicsCorrections + * function of GravityFieldVariations. + */ +boost::function< void( const double, Eigen::MatrixXd&, Eigen::MatrixXd& ) > +createInterpolatedSphericalHarmonicCorrectionFunctions( + boost::shared_ptr< GravityFieldVariations > variationObject, + const double initialTime, + const double finalTime, + const double timeStep, + const boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorSettings = + boost::make_shared< interpolators::InterpolatorSettings >( + interpolators::linear_interpolator, interpolators::huntingAlgorithm ) ); + +//! Container class containing all gravity field variations for a single Body +//! (and TimeDependentSphericalHarmonicsGravityField). +/*! + * Container class containing all gravity field variations for a single Body + * (and TimeDependentSphericalHarmonicsGravityField). Also contains information on whether an + * interpolator is used for calculation of corrections by + * TimeDependentSphericalHarmonicsGravityField and, if so, the associated interpolator settings. + * Multiple corrections of a single type may be contained in this class, in which case each of them + * must be supplied with a unique identifier (string). + */ +class GravityFieldVariationsSet +{ +public: + + //! Class constructor. + /*! + * Class contructor, requires set of correction objects (and associated properties). + * \param variationObjects List of GravityFieldVariations objects denoting the complete set of + * variations to take into account. + * \param variationType List of type identifiers of variationObjects (prevents use of dynamic + * casts), must be of same size as variationObjects. + * \param variationIdentifier Name of variation object for each entry of variationObjects, must + * be of same size as variationObjects. + * Entries only required to be non-empty if multiple variations objects of same type are + * included in variationObjects list. + * \param createInterpolator List of booleans denoting whether to interpolate a given + * entry of variationObjects or not, must be of same size as variationObjects. + * \param initialTimes Initial times for interpolation, must contain an entry for each + * variation (map key denotes index of variationObjects) for which createInterpolator is true. + * \param finalTimes Final times for interpolation, must contain an entry for each variation + * (map key denotes index of variationObjects) for which createInterpolator is true. + * \param timeSteps Time steps for interpolation, must contain an entry for each variation + * (map key denotes index of variationObjects) for which createInterpolator is true. + */ + GravityFieldVariationsSet( + const std::vector< boost::shared_ptr< GravityFieldVariations > > variationObjects, + const std::vector< BodyDeformationTypes > variationType, + const std::vector< std::string > variationIdentifier, + const std::map< int, boost::shared_ptr< interpolators::InterpolatorSettings > > + createInterpolator = + std::map< int, boost::shared_ptr< interpolators::InterpolatorSettings > >( ), + const std::map< int, double > initialTimes = std::map< int, double >( ), + const std::map< int, double > finalTimes = std::map< int, double >( ), + const std::map< int, double > timeSteps = std::map< int, double >( ) ); + + //! Function to retrieve a variation object of given type (and name if necessary). + /*! + * Function to retrieve a variation object of given type (and name if necessary). + * Name must be provided only if if multiple variation objects of same type are included in + * variationObjects_ list. + * \param deformationType Type of gravity field variation. + * \param identifier Name of gravity field variation (only required if if multiple variation + * objects of same type are included in variationObjects_ list (ignored otherwise). + * \return Pair containing boolean (true if requested variation found, false otherwise) and + * pointer to variation object (only if requested variation found). + */ + std::pair< bool, boost::shared_ptr< gravitation::GravityFieldVariations > > + getGravityFieldVariation( + const BodyDeformationTypes deformationType, + const std::string identifier = "" ); + + //! Function to retrieve list of variation functions. + /*! + * Function to retrieve list of variation functions, entries are either created using function + * pointer binding to PairInterpolationInterface (if given variation is to be interpolated) + * or to GravityFieldVariations directly (if no interpolation requested). + * \return List of gravity field coefficient variation functions, matching the interface of + * GravityFieldVariations::addSphericalHarmonicsCorrections + */ + std::vector< boost::function< void( const double, Eigen::MatrixXd&, Eigen::MatrixXd& ) > > + getVariationFunctions( ); + + std::vector< boost::shared_ptr< GravityFieldVariations > > getVariationObjects( ) + { + return variationObjects_; + } + +private: + + //! List of GravityFieldVariations objects denoting the complete set of variations to take + //! into account. + /*! + * List of GravityFieldVariations objects denoting the complete set of variations to take + * into account. + */ + std::vector< boost::shared_ptr< GravityFieldVariations > > variationObjects_; + + //! List of type identifiers of variationObjects. + /*! + * List of type identifiers of variationObjects (prevents use of dynamic casts), must be of + * same size as variationObjects. + */ + std::vector< BodyDeformationTypes > variationType_; + + //! Name of variation object for each entry of variationObjects + /*! + * Name of variation object for each entry of variationObjects, must be of same size as + * variationObjects. Used for discriminating between different variation objects of same type. + * Entries only required to be non-empty if multiple variations objects of same type are + * included in variationObjects list. + */ + std::vector< std::string > variationIdentifier_; + + //! List of booleans denoting whether to interpolate a given entry of variationObjects or not + /*! + * List of booleans denoting whether to interpolate a given entry of variationObjects or not, + * must be of same size as variationObjects. + */ + std::map< int, boost::shared_ptr< interpolators::InterpolatorSettings > > createInterpolator_; + + //! Initial times for interpolation, + /*! + * Initial times for interpolation, must contain an entry for each variation + * (map key denotes index of variationObjects) for which createInterpolator is true. + */ + std::map< int, double > initialTimes_; + + //! Final times for interpolation, + /*! + * Final times for interpolation, must contain an entry for each variation + * (map key denotes index of variationObjects) for which createInterpolator is true. + */ + std::map< int, double > finalTimes_; + + //! Time steps for interpolation, + /*! + * Time steps for interpolation, must contain an entry for each variation + * (map key denotes index of variationObjects) for which createInterpolator is true. + */ + std::map< int, double > timeSteps_; + +}; + +} // namespace gravitation + +} // namespace tudat + +#endif // TUDAT_GRAVITYFIELDVARIATIONS_H diff --git a/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h b/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h index b0b73fe9da..a36dc33d6b 100644 --- a/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h +++ b/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h @@ -106,22 +106,18 @@ class SphericalHarmonicsGravityField: public GravityFieldModel * \param referenceRadius Reference radius of spherical harmonic field expansion * \param cosineCoefficients Cosine spherical harmonic coefficients (geodesy normalized) * \param sineCoefficients Sine spherical harmonic coefficients (geodesy normalized) - * \param rotationWrapper Function from which rotation between frame fixed to massive body - * and inertial frame is retrieved (identity matrix by default). - * \param fixedReferenceFrame Identified for body-fixed reference frame (optional). + * \param fixedReferenceFrame Identifier for body-fixed reference frame to which the field is fixed (optional). */ SphericalHarmonicsGravityField( const double gravitationalParameter, const double referenceRadius, const Eigen::MatrixXd& cosineCoefficients = Eigen::MatrixXd::Identity( 1, 1 ), const Eigen::MatrixXd& sineCoefficients = - Eigen::MatrixXd::Zero( 1, 1 ) , - const boost::function< Eigen::Quaterniond( ) > rotationWrapper= - boost::lambda::constant( Eigen::Quaterniond( Eigen::Matrix3d::Identity( ) ) ), + Eigen::MatrixXd::Zero( 1, 1 ), const std::string& fixedReferenceFrame = "" ) : GravityFieldModel( gravitationalParameter ), referenceRadius_( referenceRadius ), cosineCoefficients_( cosineCoefficients ), sineCoefficients_( sineCoefficients ), - rotationWrapper_( rotationWrapper ), fixedReferenceFrame_( fixedReferenceFrame ) + fixedReferenceFrame_( fixedReferenceFrame ) { } //! Virtual destructor. @@ -228,19 +224,6 @@ class SphericalHarmonicsGravityField: public GravityFieldModel return cosineCoefficients_.cols( ) + 1; } - //! Function to return the function from which rotation between frame fixed - //! to massive body and inertial frame is retrieved. - /*! - * Function to return the function from which rotation between frame fixed - * to massive body and inertial frame is retrieved. - * \return Object from which rotation between frame fixed to massive body and - * inertial frame is retrieved - */ - boost::function< Eigen::Quaterniond( ) > getRotationToLocalFrameWrapper( ) - { - return rotationWrapper_; - } - //! Function to calculate the gravitational potential at a given point /*! * Function to calculate the gravitational potential due to this body at a given point. @@ -345,14 +328,6 @@ class SphericalHarmonicsGravityField: public GravityFieldModel */ Eigen::MatrixXd sineCoefficients_; - //! Function from which rotation between frame fixed to massive body and inertial frame. - //! is retrieved. - /*! - * Function from which rotation between frame fixed to massive body and inertial frame. - * is retrieved. - */ - boost::function< Eigen::Quaterniond( ) > rotationWrapper_; - //! Identifier for body-fixed reference frame /*! * Identifier for body-fixed reference frame diff --git a/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModel.h b/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModel.h index 0a7b4ece86..c965473664 100644 --- a/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModel.h +++ b/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModel.h @@ -51,6 +51,7 @@ #include #include +#include #include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" #include "Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModelBase.h" @@ -202,6 +203,8 @@ class SphericalHarmonicsGravitationalAccelerationModel * \param aSineHarmonicCoefficientMatrix A (constant) sine harmonic coefficient matrix. * \param positionOfBodyExertingAccelerationFunction Pointer to function returning position of * body exerting gravitational acceleration (default = (0,0,0)). + * \param rotationFromBodyFixedToIntegrationFrameFunction Function providing the rotation from + * body-fixes from to the frame in which the numerical integration is performed. */ SphericalHarmonicsGravitationalAccelerationModel( const StateFunction positionOfBodySubjectToAccelerationFunction, @@ -210,14 +213,19 @@ class SphericalHarmonicsGravitationalAccelerationModel const CoefficientMatrixType aCosineHarmonicCoefficientMatrix, const CoefficientMatrixType aSineHarmonicCoefficientMatrix, const StateFunction positionOfBodyExertingAccelerationFunction - = boost::lambda::constant( Eigen::Vector3d::Zero( ) ) ) + = boost::lambda::constant( Eigen::Vector3d::Zero( ) ), + const boost::function< Eigen::Quaterniond( ) > + rotationFromBodyFixedToIntegrationFrameFunction = + boost::lambda::constant( Eigen::Quaterniond( Eigen::Matrix3d::Identity( ) ) ) ) : Base( positionOfBodySubjectToAccelerationFunction, aGravitationalParameter, positionOfBodyExertingAccelerationFunction ), equatorialRadius( anEquatorialRadius ), getCosineHarmonicsCoefficients( boost::lambda::constant(aCosineHarmonicCoefficientMatrix ) ), - getSineHarmonicsCoefficients( boost::lambda::constant(aSineHarmonicCoefficientMatrix ) ) + getSineHarmonicsCoefficients( boost::lambda::constant(aSineHarmonicCoefficientMatrix ) ), + rotationFromBodyFixedToIntegrationFrameFunction_( + rotationFromBodyFixedToIntegrationFrameFunction ) { this->updateMembers( ); } @@ -233,7 +241,7 @@ class SphericalHarmonicsGravitationalAccelerationModel * gravitational acceleration is an optional parameter; the default position is the origin. * \param positionOfBodySubjectToAccelerationFunction Pointer to function returning position of * body subject to gravitational acceleration. - * \param aGravitationalParameter Pointer to function returning gravitational parameter. + * \param aGravitationalParameterFunction Pointer to function returning gravitational parameter. * \param anEquatorialRadius Pointer to function returning equatorial radius. * \param cosineHarmonicCoefficientsFunction Pointer to function returning matrix of cosine-coefficients of spherical harmonics expansion. @@ -241,21 +249,27 @@ class SphericalHarmonicsGravitationalAccelerationModel sine-coefficients of spherical harmonics expansion. * \param positionOfBodyExertingAccelerationFunction Pointer to function returning position of * body exerting gravitational acceleration (default = (0,0,0)). + * \param rotationFromBodyFixedToIntegrationFrameFunction Function providing the rotation from + * body-fixes from to the frame in which the numerical integration is performed. */ SphericalHarmonicsGravitationalAccelerationModel( const StateFunction positionOfBodySubjectToAccelerationFunction, - const double aGravitationalParameter, + const boost::function< double( ) > aGravitationalParameterFunction, const double anEquatorialRadius, const CoefficientMatrixReturningFunction cosineHarmonicCoefficientsFunction, const CoefficientMatrixReturningFunction sineHarmonicCoefficientsFunction, const StateFunction positionOfBodyExertingAccelerationFunction - = boost::lambda::constant( Eigen::Vector3d::Zero( ) ) ) + = boost::lambda::constant( Eigen::Vector3d::Zero( ) ), + const boost::function< Eigen::Quaterniond( ) > + rotationFromBodyFixedToIntegrationFrameFunction = + boost::lambda::constant( Eigen::Quaterniond( Eigen::Matrix3d::Identity( ) ) ) ) : Base( positionOfBodySubjectToAccelerationFunction, - aGravitationalParameter, + aGravitationalParameterFunction, positionOfBodyExertingAccelerationFunction ), equatorialRadius( anEquatorialRadius ), getCosineHarmonicsCoefficients( cosineHarmonicCoefficientsFunction ), - getSineHarmonicsCoefficients( sineHarmonicCoefficientsFunction ) + getSineHarmonicsCoefficients( sineHarmonicCoefficientsFunction ), + rotationFromBodyFixedToIntegrationFrameFunction_( rotationFromBodyFixedToIntegrationFrameFunction ) { this->updateMembers( ); } @@ -273,12 +287,17 @@ class SphericalHarmonicsGravitationalAccelerationModel /*! * Updates all the base class members to their current values and also updates the class * members of this class. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) + void updateMembers( const double currentTime = TUDAT_NAN ) { - cosineHarmonicCoefficients = getCosineHarmonicsCoefficients( ); - sineHarmonicCoefficients = getSineHarmonicsCoefficients( ); - this->updateBaseMembers( ); + if( !( this->currentTime_ == currentTime ) ) + { + cosineHarmonicCoefficients = getCosineHarmonicsCoefficients( ); + sineHarmonicCoefficients = getSineHarmonicsCoefficients( ); + rotationToIntegrationFrame_ = rotationFromBodyFixedToIntegrationFrameFunction_( ); + this->updateBaseMembers( ); + } } protected: @@ -316,6 +335,13 @@ class SphericalHarmonicsGravitationalAccelerationModel * spherical harmonics expansion. */ const CoefficientMatrixReturningFunction getSineHarmonicsCoefficients; + + //! Function returning the current rotation from body-fixed frame to integration frame. + boost::function< Eigen::Quaterniond( ) > rotationFromBodyFixedToIntegrationFrameFunction_; + + //! Current rotation from body-fixed frame to integration frame. + Eigen::Quaterniond rotationToIntegrationFrame_; + }; //! Typedef for SphericalHarmonicsGravitationalAccelerationModelXd. @@ -335,13 +361,10 @@ template< typename CoefficientMatrixType > Eigen::Vector3d SphericalHarmonicsGravitationalAccelerationModel< CoefficientMatrixType > ::getAcceleration( ) { - return computeGeodesyNormalizedGravitationalAccelerationSum( - this->positionOfBodySubjectToAcceleration - - this->positionOfBodyExertingAcceleration, - gravitationalParameter, - equatorialRadius, - cosineHarmonicCoefficients, - sineHarmonicCoefficients ); + return rotationToIntegrationFrame_ * computeGeodesyNormalizedGravitationalAccelerationSum( + rotationToIntegrationFrame_.inverse( ) * + ( this->positionOfBodySubjectToAcceleration - this->positionOfBodyExertingAcceleration ), + gravitationalParameter, equatorialRadius, cosineHarmonicCoefficients, sineHarmonicCoefficients ); } } // namespace gravitation diff --git a/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModelBase.h b/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModelBase.h index c66936547c..ba07f8f811 100644 --- a/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModelBase.h +++ b/Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModelBase.h @@ -72,8 +72,7 @@ class SphericalHarmonicsGravitationalAccelerationModelBase * constructor also updates all the internal members. * \param positionOfBodySubjectToAccelerationFunction Pointer to function returning position of * body subject to gravitational acceleration. - * \param aGravitationalParameter Pointer to function returning gravitational parameter - * of body exerting gravitational acceleration. + * \param aGravitationalParameter Gravitational parameter of body exerting gravitational acceleration. * \param positionOfBodyExertingAccelerationFunction Pointer to function returning position of * body exerting gravitational acceleration. */ @@ -82,7 +81,31 @@ class SphericalHarmonicsGravitationalAccelerationModelBase const double aGravitationalParameter, const StateFunction positionOfBodyExertingAccelerationFunction ) : subjectPositionFunction( positionOfBodySubjectToAccelerationFunction ), - gravitationalParameter( aGravitationalParameter ), + gravitationalParameterFunction( boost::lambda::constant( aGravitationalParameter ) ), + sourcePositionFunction( positionOfBodyExertingAccelerationFunction ) + { } + + //! Default constructor taking position of body subject to acceleration, variable + //! gravitational parameter, and position of body exerting acceleration. + /*! + * Constructor taking a pointer to a function returning the position of the body subject to + * gravitational acceleration, a pointer to a function returning the gravitational parameter of + * the body exerting the acceleration, and a pointer to a function returning the position of + * the body exerting the gravitational acceleration (typically the central body). The + * constructor also updates all the internal members. + * \param positionOfBodySubjectToAccelerationFunction Pointer to function returning position of + * body subject to gravitational acceleration. + * \param aGravitationalParameterFunction Pointer to function returning gravitational parameter + * of body exerting gravitational acceleration. + * \param positionOfBodyExertingAccelerationFunction Pointer to function returning position of + * body exerting gravitational acceleration. + */ + SphericalHarmonicsGravitationalAccelerationModelBase( + const StateFunction positionOfBodySubjectToAccelerationFunction, + const boost::function< double( ) > aGravitationalParameterFunction, + const StateFunction positionOfBodyExertingAccelerationFunction ) + : subjectPositionFunction( positionOfBodySubjectToAccelerationFunction ), + gravitationalParameterFunction( aGravitationalParameterFunction ), sourcePositionFunction( positionOfBodyExertingAccelerationFunction ) { } @@ -102,6 +125,7 @@ class SphericalHarmonicsGravitationalAccelerationModelBase */ bool updateBaseMembers( ) { + this->gravitationalParameter = this->gravitationalParameterFunction( ); this->positionOfBodySubjectToAcceleration = this->subjectPositionFunction( ); this->positionOfBodyExertingAcceleration = this->sourcePositionFunction( ); return true; @@ -122,11 +146,17 @@ class SphericalHarmonicsGravitationalAccelerationModelBase */ const StateFunction subjectPositionFunction; + //! Function returning a gravitational parameter [m^3 s^-2]. + /*! + * Function returning current gravitational parameter of body exerting acceleration [m^3 s^-2]. + */ + const boost::function< double( ) > gravitationalParameterFunction; + //! Gravitational parameter [m^3 s^-2]. /*! * Current gravitational parameter of body exerting acceleration [m^3 s^-2]. */ - const double gravitationalParameter; + double gravitationalParameter; //! Position of body exerting acceleration. /*! diff --git a/Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.cpp b/Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.cpp new file mode 100644 index 0000000000..b0629678da --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.cpp @@ -0,0 +1,122 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include + +#include "Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.h" + +namespace tudat +{ + +namespace gravitation +{ + +//! Class constructor +TabulatedGravityFieldVariations::TabulatedGravityFieldVariations( + const std::map< double, Eigen::MatrixXd >& cosineCoefficientCorrections, + const std::map< double, Eigen::MatrixXd >& sineCoefficientCorrections, + const int minimumDegree, const int minimumOrder, + const boost::shared_ptr< interpolators::InterpolatorSettings >interpolatorType ): + GravityFieldVariations( minimumDegree, minimumOrder, + minimumDegree + cosineCoefficientCorrections.begin( )->second.rows( ) - 1, + minimumOrder + cosineCoefficientCorrections.begin( )->second.cols( ) - 1 ), + interpolatorType_( interpolatorType ) +{ + // Create interpolator for tabulated coefficients. + resetCoefficientInterpolator( cosineCoefficientCorrections, sineCoefficientCorrections ); +} + +//! Function to (re)set the tabulated spherical harmonic coefficients. +void TabulatedGravityFieldVariations::resetCoefficientInterpolator( + const std::map< double, Eigen::MatrixXd >& cosineCoefficientCorrections, + const std::map< double, Eigen::MatrixXd >& sineCoefficientCorrections ) +{ + // Set current coefficient tables. + cosineCoefficientCorrections_ = cosineCoefficientCorrections; + sineCoefficientCorrections_ = sineCoefficientCorrections; + + // Check consistency of map sizes. + if( cosineCoefficientCorrections_.size( ) != sineCoefficientCorrections_.size( ) ) + { + std::cerr<<"Error when resetting tabulated gravity field corrections, sine and "<< + "cosine data size incompatible"<::iterator cosineIterator = + cosineCoefficientCorrections_.begin( ); + std::map< double, Eigen::MatrixXd >::iterator sineIterator = + sineCoefficientCorrections_.begin( ); + + // Declare map to store concatenated (horizontally) [cosine|sine] coefficients for + // given discrete times. + std::map< double, Eigen::MatrixXd > sineCosinePairMap; + + // Declare matrix to set concatenated (horizontally) [cosine|sine] coefficients at + // current time in loop. + Eigen::MatrixXd currentCoefficients = Eigen::MatrixXd::Zero( numberOfDegrees_, 2 * numberOfOrders_ ); + + // Iterate over all times in correction maps. + for( unsigned int i = 0; i < cosineCoefficientCorrections_.size( ); i++ ) + { + // Check whether input times are consistent + if( cosineIterator->first != sineIterator->first ) + { + std::cerr<<"Warning when resetting tabulated gravity field corrections, sine and "<< + "cosine data time differ by "<< + cosineIterator->first - sineIterator->first<second.rows( ) != numberOfDegrees_ ) || + ( sineIterator->second.rows( ) != numberOfDegrees_ ) || + ( cosineIterator->second.cols( ) != numberOfOrders_ ) || + ( sineIterator->second.cols( ) != numberOfOrders_ ) ) + { + std::cerr<<"Error when resetting tabulated gravity field corrections, sine and "<< + "cosine blocks of inconsistent size"<second; + currentCoefficients.block( 0, numberOfOrders_, numberOfDegrees_, numberOfOrders_ ) = + sineIterator->second; + + // Set as entry in map of concatenated matrices + sineCosinePairMap[ cosineIterator->first ] = currentCoefficients; + + // Increment iterators. + cosineIterator++; + sineIterator++; + } + + // Create interpolator + variationInterpolator_ = + interpolators::createOneDimensionalInterpolator< double, Eigen::MatrixXd >( + sineCosinePairMap, interpolatorType_ ); +} + +//! Function for calculating corrections by interpolating tabulated corrections. +std::pair< Eigen::MatrixXd, Eigen::MatrixXd > TabulatedGravityFieldVariations:: +calculateSphericalHarmonicsCorrections( + const double time ) +{ + // Interpolate corrections + Eigen::MatrixXd cosineSinePair = variationInterpolator_->interpolate( time ); + + // Split interpolated concatenated matrix and return. + return std::make_pair( cosineSinePair.block( 0, 0, numberOfDegrees_, numberOfOrders_ ), + cosineSinePair.block( 0, numberOfOrders_, numberOfDegrees_, numberOfOrders_ ) ); +} + +} // namespace gravitation + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.h b/Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.h new file mode 100644 index 0000000000..9e89365245 --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.h @@ -0,0 +1,145 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + + +#ifndef TUDAT_TABULATEDGRAVITYFIELDVARIATIONS_H +#define TUDAT_TABULATEDGRAVITYFIELDVARIATIONS_H + +#include "Tudat/Mathematics/Interpolators/oneDimensionalInterpolator.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" +#include "Tudat/Mathematics/Interpolators/createInterpolator.h" + +namespace tudat +{ + +namespace gravitation +{ + + + +//! Class for variations in spherical harmonic coefficients, directly interpolated from tables. +/*! + * Class for variations in spherical harmonic coefficients, directly interpolated from tables. + * Maps of variatons of cosine and sine coefficients as a function of time are provided, as well + * as the type of interpolator that is to be used, from which interpolated variations are then + * returned at any time. The class may also be used for defining the complete gravity field + * (i.e. not only the variations) as a function of time when the constant coefficient contribution + * (i.e. not from a GravityFieldVariations) is zero for all degrees and orders. + */ +class TabulatedGravityFieldVariations: public GravityFieldVariations +{ + +public: + + //! Class constructor + /*! + * Class constructor, takes the maps of variations, as well as the minimum degree and order + * of the corrections, the corrections are applied as a rectangular block in degree and order, + * with the the size of the blocks determined by the contents of the maps. The matrix size of + * all map entries must be equal for both sine and cosine values. + * \param cosineCoefficientCorrections Map of cosine coefficient variations, with associated + * times as map key. + * \param sineCoefficientCorrections Map of sine coefficient variations, with associated + * times as map key. + * \param minimumDegree Minimum degree of correction block. + * \param minimumOrder Minimum order of correction block. + * \param interpolatorType Type of interpolator to use for calculating coefficients at any + * time between tabulated times. + */ + TabulatedGravityFieldVariations( + const std::map< double, Eigen::MatrixXd >& cosineCoefficientCorrections, + const std::map< double, Eigen::MatrixXd >& sineCoefficientCorrections, + const int minimumDegree, const int minimumOrder, + const boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorType = + boost::make_shared< interpolators::InterpolatorSettings >( + interpolators::linear_interpolator, interpolators::huntingAlgorithm ) ); + + //! Function to (re)set the tabulated spherical harmonic coefficients. + /*! + * Function to (re)set the tabulated spherical harmonic coefficients. + * Creates interpolator for returning the coefficients as a function of time. + * \param cosineCoefficientCorrections Map of cosine coefficient variations, + * with associated times as map key. + * \param sineCoefficientCorrections Map of sine coefficient variations, + * with associated times as map key. + */ + void resetCoefficientInterpolator( + const std::map< double, Eigen::MatrixXd >& cosineCoefficientCorrections, + const std::map< double, Eigen::MatrixXd >& sineCoefficientCorrections ); + + //! Function for calculating corrections by interpolating tabulated corrections. + /*! + * Function for calculating corrections by interpolating tabulated corrections. + * \param time Time at which variations are to be calculated. + * \return Pair of matrices containing variations in (cosine, sine) coefficients at + * block positions in total matrices defined by + * minimumDegree_, minimumOrder_, numberOfDegrees_, numberOfOrders_; + */ + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > calculateSphericalHarmonicsCorrections( + const double time ); + + //! Function to return map of cosine coefficient variations, with associated times as map key. + /*! + * Function to return map of cosine coefficient variations, with associated times as map key. + * \return Map of cosine coefficient variations, with associated times as map key. + */ + std::map< double, Eigen::MatrixXd > getCosineCoefficientCorrections( ) + { + return cosineCoefficientCorrections_; + } + + //! Function to return map of sine coefficient variations, with associated times as map key. + /*! + * Function to return map of sine coefficient variations, with associated times as map key. + * \return Map of sine coefficient variations, with associated times as map key. + */ + std::map< double, Eigen::MatrixXd > getSineCoefficientCorrections( ) + { + return sineCoefficientCorrections_; + } + + //! Function to return type of interpolator to use for calculating coefficients. + /*! + * Function to return type of interpolator to use for calculating coefficients at any time + * between tabulated times. + * \return Type of interpolator to use for calculating coefficients + */ + boost::shared_ptr< interpolators::InterpolatorSettings > getInterpolatorSettings( ) + { + return interpolatorType_; + } + +private: + + //! Type of interpolator to use for calculating coefficients at any time. + boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorType_; + + //! Map of cosine coefficient variations, with associated times as map key. + std::map< double, Eigen::MatrixXd > cosineCoefficientCorrections_; + + //! Map of sine coefficient variations, with associated times as map key. + std::map< double, Eigen::MatrixXd > sineCoefficientCorrections_; + + //! Interpolator for determining concatenated [cosine|sine] coefficients from tabulated values + //! at discrete times. + /*! + * Interpolator for determining concatenated [cosine|sine] coefficients from tabulated values + * at discrete times. The coefficients are interpolated concurrently and then split to reduce + * the number of calls to the interpolator. + */ + boost::shared_ptr< interpolators::OneDimensionalInterpolator< double, Eigen::MatrixXd > > + variationInterpolator_; +}; + +} // namespace gravitation + +} // namespace tudat + +#endif // TUDAT_TABULATEDGRAVITYFIELDVARIATIONS_H diff --git a/Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h b/Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h index 2d9d71dc37..fcccf5514c 100644 --- a/Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h +++ b/Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h @@ -108,15 +108,18 @@ class ThirdBodyAcceleration: public basic_astrodynamics::AccelerationModel< Eige * body undergoing acceleration (i.e. as expressed in an inertial frame) * \param accelerationModelForCentralBody Acceleration model on central body * (i.e. the body in a frame centered on which the third body acceleration is expressed) + * \param centralBodyName Name of the central body w.r.t. which the acceleration is computed. */ ThirdBodyAcceleration( const boost::shared_ptr< DirectAccelerationModelType > accelerationModelForBodyUndergoingAcceleration, const boost::shared_ptr< DirectAccelerationModelType > - accelerationModelForCentralBody ): + accelerationModelForCentralBody, + const std::string centralBodyName ): accelerationModelForBodyUndergoingAcceleration_( accelerationModelForBodyUndergoingAcceleration ), - accelerationModelForCentralBody_( accelerationModelForCentralBody ){ } + accelerationModelForCentralBody_( accelerationModelForCentralBody ), + centralBodyName_( centralBodyName ){ } //! Function to calculate the third body gravity acceleration. /*! @@ -134,12 +137,16 @@ class ThirdBodyAcceleration: public basic_astrodynamics::AccelerationModel< Eige //! Update member variables to current state. /*! * Update member variables to current state. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ) + void updateMembers( const double currentTime = TUDAT_NAN ) { - // Update two constituent acceleration models. - accelerationModelForBodyUndergoingAcceleration_->updateMembers( ); - accelerationModelForCentralBody_->updateMembers( ); + if( !( this->currentTime_ == currentTime ) ) + { + // Update two constituent acceleration models. + accelerationModelForBodyUndergoingAcceleration_->updateMembers( ); + accelerationModelForCentralBody_->updateMembers( ); + } } //! Function to return the direct acceleration model on body undergoing acceleration. @@ -164,6 +171,16 @@ class ThirdBodyAcceleration: public basic_astrodynamics::AccelerationModel< Eige return accelerationModelForCentralBody_; } + //! Function to return the name of the central body w.r.t. which the acceleration is computed. + /*! + * Function to return the name of the central body w.r.t. which the acceleration is computed. + * \return Name of the central body w.r.t. which the acceleration is computed. + */ + std::string getCentralBodyName( ) + { + return centralBodyName_; + } + private: //! Direct acceleration model on body undergoing acceleration. @@ -180,6 +197,9 @@ class ThirdBodyAcceleration: public basic_astrodynamics::AccelerationModel< Eige * body acceleration is expressed) */ boost::shared_ptr< DirectAccelerationModelType > accelerationModelForCentralBody_; + + //! Name of the central body w.r.t. which the acceleration is computed. + std::string centralBodyName_; }; //! Typedef for third body central gravity acceleration. diff --git a/Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.cpp b/Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.cpp new file mode 100644 index 0000000000..031e92622b --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.cpp @@ -0,0 +1,61 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include + +#include "Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h" + +namespace tudat +{ + +namespace gravitation +{ + +//! Function to (re)set the gravity field variations +void TimeDependentSphericalHarmonicsGravityField::setFieldVariationSettings( + const boost::shared_ptr< GravityFieldVariationsSet > gravityFieldVariationUpdateSettings, + const bool updateCorrections ) +{ + // Set new variation set. + gravityFieldVariationsSet_ = gravityFieldVariationUpdateSettings; + + // Update correction functions if necessary. + if( updateCorrections ) + { + updateCorrectionFunctions( ); + } +} + +//! Function to clear all gravity field variations +void TimeDependentSphericalHarmonicsGravityField::clearVariations( ) +{ + gravityFieldVariationsSet_ = boost::shared_ptr< GravityFieldVariationsSet >( ); + correctionFunctions_.clear( ); +} + + +//! Update gravity field to current time. +void TimeDependentSphericalHarmonicsGravityField::update( const double time ) +{ + // Initialize current coefficients to nominal values. + sineCoefficients_ = nominalSineCoefficients_; + cosineCoefficients_ = nominalCosineCoefficients_; + + // Iterate over all corrections. + for( unsigned int i = 0; i < correctionFunctions_.size( ); i++ ) + { + // Add correction of this iteration to current coefficients. + correctionFunctions_[ i ]( time, sineCoefficients_, cosineCoefficients_ ); + } +} + +} // namespace gravitation + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h b/Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h new file mode 100644 index 0000000000..9522fc3219 --- /dev/null +++ b/Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h @@ -0,0 +1,287 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_TIMEDEPENDENTSPHERICALHARMONICSGRAVITYFIELD_H +#define TUDAT_TIMEDEPENDENTSPHERICALHARMONICSGRAVITYFIELD_H + +#include +#include + +#include + +#include "Tudat/Mathematics/Interpolators/cubicSplineInterpolator.h" + +#include "Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" + + +namespace tudat +{ + +namespace gravitation +{ + +//! Class for time dependent spherical harmonic gravity field. +/*! + * Class for time dependent spherical harmonic gravity field, i.e where the sine and cosine + * coefficients are functions of time. This class combines nominal values with time-dependent + * variations, which are calculated by object of GravityFieldVariation derived classes (one object + * per variation). All spherical harmonic coefficients used in this class, as well as the + * variations, are implicitly assumed to be geodesy-normalized. + */ +class TimeDependentSphericalHarmonicsGravityField: public SphericalHarmonicsGravityField +{ +public: + + //! Semi-dummy constructor, used for setting up gravity field and variations. + /*! + * Semi-dummy constructor, used for setting up gravity field and variations. This constructor + * is neede, as some gravity field variations need to be linked to properties of the nominal + * gravity field (for instance gravitational parameter), but the complete object of this type + * cannot be created until all variations are created, causing a circular dependency. The + * object is fully created when subsequently calling the setFieldVariationSettings function and + * setting the field variation objects. + * \param gravitationalParameter Gravitational parameter of massive body. + * \param referenceRadius Reference radius of spherical harmonic field expansion. + * \param nominalCosineCoefficients Nominal (i.e. with zero variation) cosine spherical + * harmonic coefficients. + * \param nominalSineCoefficients Nominal (i.e. with zero variation) sine spherical harmonic + * coefficients. + * \param fixedReferenceFrame Identifier for body-fixed reference frame to which the field is + * fixed (optional). + */ + TimeDependentSphericalHarmonicsGravityField( + const double gravitationalParameter, const double referenceRadius, + const Eigen::MatrixXd& nominalCosineCoefficients, + const Eigen::MatrixXd& nominalSineCoefficients, + const std::string& fixedReferenceFrame = "" ): + SphericalHarmonicsGravityField( + gravitationalParameter, referenceRadius, nominalCosineCoefficients, + nominalSineCoefficients, fixedReferenceFrame ), + nominalSineCoefficients_( nominalSineCoefficients ), + nominalCosineCoefficients_( nominalCosineCoefficients ) + { } + + //! Full class constructor. + /*! + * Full class constructor. + * \param gravitationalParameter Gravitational parameter of massive body. + * \param referenceRadius Reference radius of spherical harmonic field expansion. + * \param nominalCosineCoefficients Nominal (i.e. with zero variation) cosine spherical + * harmonic coefficients. + * \param nominalSineCoefficients Nominal (i.e. with zero variation) sine spherical harmonic + * coefficients. + * \param gravityFieldVariationUpdateSettings Object containing all gravity field variations + * and related settings. + * \param fixedReferenceFrame Identifier for body-fixed reference frame to which the field is + * fixed (optional). + */ + TimeDependentSphericalHarmonicsGravityField( + const double gravitationalParameter, const double referenceRadius, + const Eigen::MatrixXd& nominalCosineCoefficients, + const Eigen::MatrixXd& nominalSineCoefficients, + const boost::shared_ptr< GravityFieldVariationsSet > gravityFieldVariationUpdateSettings, + const std::string& fixedReferenceFrame = "" ): + SphericalHarmonicsGravityField( + gravitationalParameter, referenceRadius, + nominalCosineCoefficients, nominalSineCoefficients, fixedReferenceFrame ), + nominalSineCoefficients_( nominalSineCoefficients ), + nominalCosineCoefficients_( nominalCosineCoefficients ), + gravityFieldVariationsSet_( gravityFieldVariationUpdateSettings ) + { + updateCorrectionFunctions( ); + } + + //! Destructor + /*! + * Destructor + */ + ~TimeDependentSphericalHarmonicsGravityField( ){ } + + //! Update gravity field to current time. + /*! + * Update gravity field coefficient corrections to current time. All correction functions are + * called and subsequently added to the nominal value. + * \param time Current time. + */ + void update( const double time ); + + //! Update correction functions. + /*! + * Update correction functions, for instance to account for changed changed environmental + * parameters. + */ + void updateCorrectionFunctions( ) + { + // Check if field variation set exists. + if( gravityFieldVariationsSet_ == NULL ) + { + std::cerr << "Warning, gravity field coefficient update functions are NULL " << + " when requesting update" << std::endl; + } + else + { + // Reset correction functions. + correctionFunctions_ = gravityFieldVariationsSet_->getVariationFunctions( ); + } + + } + + //! Function to (re)set the gravity field variations + /*! + * Function to (re)set the gravity field variations object. An option is provided for + * determining whether or not the variations should be immediately recalculated. + * \param gravityFieldVariationUpdateSettings Object storing all variation models and + * associated settings. + * \param updateCorrections Flag to determine whether the gravity field variation functions + * should be immediately updated with new settings. + */ + void setFieldVariationSettings( + const boost::shared_ptr< GravityFieldVariationsSet > gravityFieldVariationUpdateSettings, + const bool updateCorrections = 1 ); + + //! Function to clear all gravity field variations + /*! + * Function to clear all gravity field variations, the gravityFieldVariationsSet_ is set to + * NULL, and the correctionFunctions_ list is cleared. + */ + void clearVariations( ); + + //! Get nominal (i.e. with zero variations) cosine coefficients. + /*! + * Function to get nominal (i.e. with zero variations) cosine coefficients. + * \return Nominal cosine coefficients. + */ + Eigen::MatrixXd getNominalCosineCoefficients( ) + { + return nominalCosineCoefficients_; + } + + //! Set nominal (i.e. with zero variations) cosine coefficients. + /*! + * Function to set nominal (i.e. with zero variations) cosine coefficients. + * \param nominalCosineCoefficients New nominal cosine coefficients. + */ + void setNominalCosineCoefficients( Eigen::MatrixXd nominalCosineCoefficients ) + { + nominalCosineCoefficients_ = nominalCosineCoefficients; + } + + //! Set nominal (i.e. with zero variations) cosine coefficient of given degree and order. + /*! + * Set nominal (i.e. with zero variations) cosine coefficients of given degree and order. + * \param degree Spherical harmonic degree. + * \param order Spherical harmonic order. + * \param coefficient New cosine coefficient for given degree and order. + */ + void setNominalCosineCoefficient( const int degree, const int order, const double coefficient ) + { + if( degree <= nominalCosineCoefficients_.rows( ) && + order <= nominalCosineCoefficients_.cols( ) ) + { + nominalCosineCoefficients_( degree, order ) = coefficient; + } + else + { + std::cerr << "Error when resetting nominal cosine coefficient" << std::endl; + } + } + + //! Get nominal (i.e. with zero variations) sine coefficients. + /*! + * Function to get nominal (i.e. with zero variations) sine coefficients. + * \return Nominal sine coefficients. + */ + Eigen::MatrixXd getNominalSineCoefficients( ) + { + return nominalSineCoefficients_; + } + + //! Set nominal (i.e. with zero variations) sine coefficients. + /*! + * Function to set nominal (i.e. with zero variations) sine coefficients. + * \param nominalSineCoefficients New nominal sine coefficients. + */ + void setNominalSineCoefficients( const Eigen::MatrixXd& nominalSineCoefficients ) + { + nominalSineCoefficients_ = nominalSineCoefficients; + } + + //! Set nominal (i.e. with zero variations) sine coefficient of given degree and order. + /*! + * Set nominal (i.e. with zero variations) sine coefficients of given degree and order. + * \param degree Spherical harmonic degree. + * \param order Spherical harmonic order. + * \param coefficient New sine coefficient for given degree and order. + */ + void setNominalSineCoefficient( const int degree, const int order, const double coefficient ) + { + if( degree <= nominalSineCoefficients_.rows( ) && + order <= nominalSineCoefficients_.cols( ) ) + { + nominalSineCoefficients_( degree, order ) = coefficient; + } + else + { + std::cerr << "Error when resetting nominal sine coefficient" << std::endl; + } + } + + //! Function to get object containing all gravity field variations and related settings + /*! + * Function to get object containing all gravity field variations and related settings + */ + boost::shared_ptr< GravityFieldVariationsSet > getGravityFieldVariationsSet( ) + { + return gravityFieldVariationsSet_; + } + +private: + + //! Nominal (i.e. with zero variations) cosine coefficients. + /*! + * Nominal (i.e. with zero variations) cosine coefficients. When calling the update function, + * all corrections are calculated and the sum of these corrections and this nominal value is + * set as cosineCoefficients_ base class member. + */ + Eigen::MatrixXd nominalSineCoefficients_; + + //! Nominal (i.e. with zero variations) sine coefficients. + /*! + * Nominal (i.e. with zero variations) sine coefficients. When calling the update function, + * all corrections are calculated and the sum of these corrections and this nominal value is + * set as sineCoefficients_ base class member. + */ + Eigen::MatrixXd nominalCosineCoefficients_; + + //! List of update functions which are called when calculating current gravity field variations. + /*! + * List of update functions which are called when calculating current gravity field variations. + * Functions are either linked to PairInterpolationInterface, which contains an interpolator + * created from a GravityFieldVariations object, or the addSphericalHarmonicsCorrections of the + * GravityFieldVariations object directly. + */ + std::vector< boost::function< void( const double, Eigen::MatrixXd&, Eigen::MatrixXd& ) > > + correctionFunctions_; + + //! Object containing all GravityFieldVariations objects and update settings. + /*! + * Object containing all GravityFieldVariations objects and update settings + * (i.e. time settings for interpolator) + */ + boost::shared_ptr< GravityFieldVariationsSet > gravityFieldVariationsSet_; + +}; + +} // namespace gravitation + +} // namespace tudat + +#endif // TUDAT_TIMEDEPENDENTSPHERICALHARMONICSGRAVITYFIELD_H diff --git a/Tudat/Astrodynamics/MissionSegments/lambertTargeterGooding.h b/Tudat/Astrodynamics/MissionSegments/lambertTargeterGooding.h index b3f8f96006..0bab483e78 100644 --- a/Tudat/Astrodynamics/MissionSegments/lambertTargeterGooding.h +++ b/Tudat/Astrodynamics/MissionSegments/lambertTargeterGooding.h @@ -154,4 +154,4 @@ typedef boost::shared_ptr< LambertTargeterGooding > LambertTargeterGoodingPointe } // namespace mission_segments } // namespace tudat -#endif // TUDAT_LAMBERT_TARGETER_IZZO_H +#endif // TUDAT_LAMBERT_TARGETER_GOODING_H diff --git a/Tudat/Astrodynamics/Propagators/CMakeLists.txt b/Tudat/Astrodynamics/Propagators/CMakeLists.txt new file mode 100644 index 0000000000..7221a097c1 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/CMakeLists.txt @@ -0,0 +1,87 @@ + # Copyright (c) 2010-2015, Delft University of Technology + # All rights reserved. + # + # Redistribution and use in source and binary forms, with or without modification, are + # permitted provided that the following conditions are met: + # - Redistributions of source code must retain the above copyright notice, this list of + # conditions and the following disclaimer. + # - Redistributions in binary form must reproduce the above copyright notice, this list of + # conditions and the following disclaimer in the documentation and/or other materials + # provided with the distribution. + # - Neither the name of the Delft University of Technology nor the names of its contributors + # may be used to endorse or promote products derived from this software without specific + # prior written permission. + # + # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS + # OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + # MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + # COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + # EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE + # GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + # NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED + # OF THE POSSIBILITY OF SUCH DAMAGE. + # + # Changelog + # YYMMDD Author Comment + # 110820 S.M. Persson File created. + # 111025 K. Kumar Adapted file to work with Revision 194. + # 111026 K. Kumar Adapted file so all headers show in project tree in Qt Creator. + # + # References + # + # Notes + # + +# Add source files. +set(PROPAGATORS_SOURCES + "${SRCROOT}${PROPAGATORSDIR}/createEnvironmentUpdater.cpp" + "${SRCROOT}${PROPAGATORSDIR}/setNumericallyIntegratedStates.cpp" +) + +# Add header files. +set(PROPAGATORS_HEADERS + "${SRCROOT}${PROPAGATORSDIR}/createStateDerivativeModel.h" + "${SRCROOT}${PROPAGATORSDIR}/createEnvironmentUpdater.h" + "${SRCROOT}${PROPAGATORSDIR}/centralBodyData.h" + "${SRCROOT}${PROPAGATORSDIR}/nBodyStateDerivative.h" + "${SRCROOT}${PROPAGATORSDIR}/nBodyCowellStateDerivative.h" + "${SRCROOT}${PROPAGATORSDIR}/propagationSettings.h" + "${SRCROOT}${PROPAGATORSDIR}/dynamicsStateDerivativeModel.h" + "${SRCROOT}${PROPAGATORSDIR}/singleStateTypeDerivative.h" + "${SRCROOT}${PROPAGATORSDIR}/setNumericallyIntegratedStates.h" + "${SRCROOT}${PROPAGATORSDIR}/dynamicsSimulator.h" + "${SRCROOT}${PROPAGATORSDIR}/environmentUpdater.h" + "${SRCROOT}${PROPAGATORSDIR}/integrateEquations.h" +) + +# Add static libraries. +add_library(tudat_propagators STATIC ${PROPAGATORS_SOURCES} ${PROPAGATORS_HEADERS}) +setup_tudat_library_target(tudat_propagators "${SRCROOT}${PROPAGATORSDIR}") + +# Add unit tests. +add_executable(test_CentralBodyData + "${SRCROOT}${PROPAGATORSDIR}/UnitTests/unitTestCentralBodyData.cpp") +setup_custom_test_program(test_CentralBodyData "${SRCROOT}${PROPAGATORSDIR}") +target_link_libraries(test_CentralBodyData tudat_propagators tudat_basic_mathematics + ${Boost_LIBRARIES}) + +if(USE_CSPICE) +add_executable(test_CowellStateDerivative + "${SRCROOT}${PROPAGATORSDIR}/UnitTests/unitTestCowellStateDerivative.cpp") +setup_custom_test_program(test_CowellStateDerivative "${SRCROOT}${PROPAGATORSDIR}") +target_link_libraries(test_CowellStateDerivative tudat_simulation_setup tudat_propagators + tudat_aerodynamics tudat_gravitation tudat_mission_segments tudat_electro_magnetism + tudat_ephemerides tudat_numerical_integrators tudat_reference_frames tudat_basic_astrodynamics + tudat_input_output tudat_basic_mathematics tudat_propagators tudat_spice_interface + cspice ${Boost_LIBRARIES}) + +add_executable(test_EnvironmentModelUpdater + "${SRCROOT}${PROPAGATORSDIR}/UnitTests/unitTestEnvironmentUpdater.cpp") +setup_custom_test_program(test_EnvironmentModelUpdater "${SRCROOT}${PROPAGATORSDIR}") + target_link_libraries(test_EnvironmentModelUpdater tudat_simulation_setup tudat_propagators + tudat_aerodynamics tudat_geometric_shapes tudat_gravitation tudat_mission_segments + tudat_electro_magnetism tudat_ephemerides tudat_numerical_integrators tudat_reference_frames + tudat_basic_astrodynamics tudat_input_output tudat_basic_mathematics tudat_propagators + tudat_spice_interface cspice ${Boost_LIBRARIES}) +endif() diff --git a/Tudat/Astrodynamics/Propagators/UnitTests/unitTestCentralBodyData.cpp b/Tudat/Astrodynamics/Propagators/UnitTests/unitTestCentralBodyData.cpp new file mode 100644 index 0000000000..9e01e3e13d --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/UnitTests/unitTestCentralBodyData.cpp @@ -0,0 +1,90 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#define BOOST_TEST_MAIN + +#include + +#include +#include + +#include "Tudat/Astrodynamics/Propagators/nBodyStateDerivative.h" +#include "Tudat/SimulationSetup/body.h" + +namespace tudat +{ + +namespace unit_tests +{ + +using namespace tudat::propagators; + +BOOST_AUTO_TEST_SUITE( test_central_body_data ) + +//! Test update order of central body data +//! NOTE: The transformatons done by CentralBodyData are effectively handled by +//! testCowellPopagatorCentralBodies +BOOST_AUTO_TEST_CASE( testCentralBodyData ) +{ + // Define list of propagated bodies and origins (with multi-levelled hierarchy). + std::vector< std::string > bodiesToIntegrate; + bodiesToIntegrate.push_back( "Moon" ); + bodiesToIntegrate.push_back( "Satellite1" ); + bodiesToIntegrate.push_back( "Phobos" ); + bodiesToIntegrate.push_back( "Earth" ); + bodiesToIntegrate.push_back( "Sun" ); + bodiesToIntegrate.push_back( "Satellite2" ); + bodiesToIntegrate.push_back( "Mars" ); + bodiesToIntegrate.push_back( "Deimos" ); + std::vector< std::string > centralBodies; + centralBodies.push_back( "Earth" ); + centralBodies.push_back( "Moon" ); + centralBodies.push_back( "Mars" ); + centralBodies.push_back( "Sun" ); + centralBodies.push_back( "SSB" ); + centralBodies.push_back( "Deimos" ); + centralBodies.push_back( "Sun" ); + centralBodies.push_back( "Mars" ); + + // Create dummy state functions. + std::map< std::string, + boost::function< Eigen::Matrix< double, 6, 1 >( const double ) > > stateFunctions; + for( unsigned int i = 0; i < bodiesToIntegrate.size( ); i++ ) + { + stateFunctions[ bodiesToIntegrate[ i ] ] + = boost::lambda::constant( Eigen::Matrix< double, 6, 1 >::Zero( ) ); + } + + // Create central bodies object. + boost::shared_ptr< CentralBodyData< double > > centralBodyData + = boost::make_shared< CentralBodyData< double > >( centralBodies, bodiesToIntegrate, + stateFunctions ); + + // Get update order. + std::vector< int > updateOrder = centralBodyData->getUpdateOrder( ); + std::map< std::string, int > updateOrderMap; + for( unsigned int i = 0; i < bodiesToIntegrate.size( ); i++ ) + { + updateOrderMap[ bodiesToIntegrate[ updateOrder[ i ] ] ] = i; + } + + // Check whether the update order is consistent with input data. + BOOST_CHECK_EQUAL( updateOrderMap[ "Moon" ] < updateOrderMap[ "Earth" ], 0 ); + BOOST_CHECK_EQUAL( updateOrderMap[ "Satellite1" ] < updateOrderMap[ "Moon" ], 0 ); + BOOST_CHECK_EQUAL( updateOrderMap[ "Phobos" ] < updateOrderMap[ "Mars" ], 0 ); + BOOST_CHECK_EQUAL( updateOrderMap[ "Deimos" ] < updateOrderMap[ "Mars" ], 0 ); + BOOST_CHECK_EQUAL( updateOrderMap[ "Satellite2" ] < updateOrderMap[ "Deimos" ], 0 ); +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} // namespace unit_tests + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Propagators/UnitTests/unitTestCowellStateDerivative.cpp b/Tudat/Astrodynamics/Propagators/UnitTests/unitTestCowellStateDerivative.cpp new file mode 100644 index 0000000000..5f17cfd07f --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/UnitTests/unitTestCowellStateDerivative.cpp @@ -0,0 +1,467 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#define BOOST_TEST_MAIN + +#include + +#include +#include + +#include "Tudat/Mathematics/BasicMathematics/linearAlgebra.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h" + +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#include "Tudat/Mathematics/NumericalIntegrators/rungeKuttaCoefficients.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/keplerPropagator.h" +#include "Tudat/InputOutput/basicInputOutput.h" + +#include "Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h" +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/Propagators/nBodyCowellStateDerivative.h" +#include "Tudat/Astrodynamics/Propagators/dynamicsSimulator.h" +#include "Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h" +#include "Tudat/SimulationSetup/createBodies.h" +#include "Tudat/SimulationSetup/createAccelerationModels.h" +#include "Tudat/SimulationSetup/defaultBodies.h" + + +namespace tudat +{ + +namespace unit_tests +{ + + +//Using declarations. +using namespace tudat::ephemerides; +using namespace tudat::interpolators; +using namespace tudat::numerical_integrators; +using namespace tudat::spice_interface; +using namespace tudat::simulation_setup; +using namespace tudat::basic_astrodynamics; +using namespace tudat::orbital_element_conversions; +using namespace tudat::propagators; + +BOOST_AUTO_TEST_SUITE( test_cowell_propagator ) + +//! Test to check whether the frame origin transformations are handled properly. +BOOST_AUTO_TEST_CASE( testCowellPopagatorCentralBodies ) +{ + //Load spice kernels. + std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "naif0009.tls"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc"); + + // Define bodies in simulation. + unsigned int totalNumberOfBodies = 4; + std::vector< std::string > bodyNames; + bodyNames.resize( totalNumberOfBodies ); + bodyNames[ 0 ] = "Earth"; + bodyNames[ 1 ] = "Sun"; + bodyNames[ 2 ] = "Moon"; + bodyNames[ 3 ] = "Mars"; + + + // Specify initial time + double initialEphemerisTime = 1.0E7; + double finalEphemerisTime = 2.0E7; + double maximumTimeStep = 3600.0; + double buffer = 5.0 * maximumTimeStep; + + // Create bodies needed in simulation + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings = + getDefaultBodySettings( bodyNames, initialEphemerisTime - buffer, + finalEphemerisTime + buffer ); + bodySettings[ "Mars" ]->ephemerisSettings->resetFrameOrigin( "Earth" ); + bodySettings[ "Earth" ]->ephemerisSettings->resetFrameOrigin( "Sun" ); + bodySettings[ "Moon" ]->ephemerisSettings->resetFrameOrigin( "Earth" ); + + + std::map< std::string, boost::shared_ptr< Body > > bodyMap = createBodies( bodySettings ); + + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Set accelerations between bodies that are to be taken into account (mutual point mass gravity + // between all bodies). + SelectedAccelerationMap accelerationMap; + std::map< std::string, + std::vector< boost::shared_ptr< AccelerationSettings > > > accelerationsOfEarth; + accelerationsOfEarth[ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfEarth[ "Moon" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfEarth[ "Mars" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationMap[ "Earth" ] = accelerationsOfEarth; + + std::map< std::string, + std::vector< boost::shared_ptr< AccelerationSettings > > > accelerationsOfSun; + accelerationsOfSun[ "Moon" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfSun[ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfSun[ "Mars" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationMap[ "Sun" ] = accelerationsOfSun; + + std::map< std::string, + std::vector< boost::shared_ptr< AccelerationSettings > > > accelerationsOfMoon; + accelerationsOfMoon[ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfMoon[ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfMoon[ "Mars" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationMap[ "Moon" ] = accelerationsOfMoon; + + std::map< std::string, + std::vector< boost::shared_ptr< AccelerationSettings > > > accelerationsOfMars; + accelerationsOfMars[ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfMars[ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationsOfMars[ "Moon" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationMap[ "Mars" ] = accelerationsOfMars; + + // Define list of bodies to propagate + std::vector< std::string > bodiesToPropagate; + bodiesToPropagate.push_back( "Earth" ); + bodiesToPropagate.push_back( "Sun" ); + bodiesToPropagate.push_back( "Moon" ); + bodiesToPropagate.push_back( "Mars" ); + unsigned int numberOfNumericalBodies = bodiesToPropagate.size( ); + + // Define numerical integrator settings. + boost::shared_ptr< IntegratorSettings< > > integratorSettings = + boost::make_shared< IntegratorSettings< > > + ( rungeKutta4, initialEphemerisTime, finalEphemerisTime, 240.0 ); + + // Define central bodies to use in propagation (all w.r.t SSB). + std::vector< std::string > centralBodies; + centralBodies.resize( numberOfNumericalBodies ); + for( unsigned int i = 0; i < numberOfNumericalBodies; i++ ) + { + centralBodies[ i ] = "SSB"; + } + + // Get initial state vector as input to integration. + Eigen::VectorXd systemInitialState = getInitialStatesOfBodies( + bodiesToPropagate, centralBodies, bodyMap, initialEphemerisTime ); + + // Create acceleration models and propagation settings. + AccelerationMap accelerationModelMap = createAccelerationModelsMap( + bodyMap, accelerationMap, bodiesToPropagate, centralBodies ); + boost::shared_ptr< TranslationalStatePropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > > + ( centralBodies, accelerationModelMap, bodiesToPropagate, systemInitialState ); + + // Create simulation object and propagate dynamics. + SingleArcDynamicsSimulator< > dynamicsSimulator( + bodyMap, integratorSettings, propagatorSettings, true, false, false ); + + // Define new central bodies (hierarchical system) + centralBodies[ 0 ] = "Sun"; + centralBodies[ 1 ] = "SSB"; + centralBodies[ 2 ] = "Earth"; + centralBodies[ 3 ] = "Sun"; + + systemInitialState = getInitialStatesOfBodies( + bodiesToPropagate, centralBodies, bodyMap, initialEphemerisTime ); + + // Create new acceleration models and propagation settings. + AccelerationMap accelerationModelMap2 = createAccelerationModelsMap( + bodyMap, accelerationMap, bodiesToPropagate, centralBodies ); + boost::shared_ptr< TranslationalStatePropagatorSettings< double > > propagatorSettings2 = + boost::make_shared< TranslationalStatePropagatorSettings< double > > + ( centralBodies, accelerationModelMap2, bodiesToPropagate, systemInitialState ); + + // Create new simulation object and propagate dynamics. + SingleArcDynamicsSimulator< > dynamicsSimulator2( + bodyMap, integratorSettings, propagatorSettings2, true, false ); + + // Retrieve dynamics solution for the two different central body settings and create + // interpolators. + std::map< double, Eigen::VectorXd > solutionSet1 + = dynamicsSimulator.getEquationsOfMotionNumericalSolution( ); + std::map< double, Eigen::VectorXd > solutionSet2 + = dynamicsSimulator2.getEquationsOfMotionNumericalSolution( ); + + LagrangeInterpolator< double, Eigen::VectorXd > interpolator1( solutionSet1, 8 ); + LagrangeInterpolator< double, Eigen::VectorXd > interpolator2( solutionSet2, 8 ); + + // Define step size to be out of sync with integration step size. + double stepSize = 2001.1 + mathematical_constants::PI; + double currentTime = initialEphemerisTime + stepSize; + + std::map< double, Eigen::VectorXd > analyticalSolutions; + + // Define maps to retrieve propagated orbits from interpolator. + Eigen::VectorXd currentInertialSolution + = Eigen::VectorXd::Zero( 6 * numberOfNumericalBodies ); + Eigen::VectorXd currentNonInertialSolution + = Eigen::VectorXd::Zero( 6 * numberOfNumericalBodies ); + + // Define map to put inertial orbit reconstructed from non-inertial orbits. + Eigen::VectorXd reconstructedInertialSolution + = Eigen::VectorXd::Zero( 6 * numberOfNumericalBodies ); + + // Define error maps. + Eigen::VectorXd stateDifference = Eigen::VectorXd::Zero( 6 * numberOfNumericalBodies ); + + // Test numerical output against results with SSB as origin for ech body, + boost::shared_ptr< ephemerides::Ephemeris > sunEphemeris + = bodyMap[ "Sun" ]->getEphemeris( ); + while( currentTime < finalEphemerisTime - stepSize ) + { + // Retrieve data from interpolators; transform to inertial frames and compare. + currentInertialSolution = interpolator1.interpolate( currentTime ); + currentNonInertialSolution = interpolator2.interpolate( currentTime ); + reconstructedInertialSolution.segment( 0, 6 ) = currentNonInertialSolution.segment( 0, 6 ) + + sunEphemeris->getCartesianStateFromEphemeris( currentTime ); + reconstructedInertialSolution.segment( 6, 6 ) = currentNonInertialSolution.segment( 6, 6 ); + reconstructedInertialSolution.segment( 12, 6 ) + = currentNonInertialSolution.segment( 12, 6 ) + + reconstructedInertialSolution.segment( 0, 6 ); + reconstructedInertialSolution.segment( 18, 6 ) + = currentNonInertialSolution.segment( 18, 6 ) + + sunEphemeris->getCartesianStateFromEphemeris( currentTime ); + + // Compare states. + stateDifference = reconstructedInertialSolution - currentInertialSolution; + for( unsigned j = 0; j < 4; j++ ) + { + if( j != 2 ) + { + BOOST_CHECK_SMALL( std::fabs( stateDifference( 0 + 6 * j ) ), 1.0E-2 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 1 + 6 * j ) ), 1.0E-2 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 2 + 6 * j ) ), 1.0E-2 ); + + BOOST_CHECK_SMALL( std::fabs( stateDifference( 3 + 6 * j ) ), 5.0E-9 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 4 + 6 * j ) ), 5.0E-9 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 5 + 6 * j ) ), 5.0E-9 ); + } + else + { + BOOST_CHECK_SMALL( std::fabs( stateDifference( 0 + 6 * j ) ), 1.0E-1 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 1 + 6 * j ) ), 1.0E-1 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 2 + 6 * j ) ), 1.0E-1 ); + + BOOST_CHECK_SMALL( std::fabs( stateDifference( 3 + 6 * j ) ), 2.0E-7 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 4 + 6 * j ) ), 2.0E-7 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 5 + 6 * j ) ), 2.0E-7 ); + } + } + currentTime += stepSize; + } + + // Test whether ephemeris objects have been properly reset, i.e. whether all states have been + // properly transformed to the ephemeris frame. + boost::shared_ptr< ephemerides::Ephemeris > earthEphemeris = bodyMap[ "Earth" ]->getEphemeris( ); + boost::shared_ptr< ephemerides::Ephemeris > marsEphemeris = bodyMap[ "Mars" ]->getEphemeris( ); + boost::shared_ptr< ephemerides::Ephemeris > moonEphemeris = bodyMap[ "Moon" ]->getEphemeris( ); + + while( currentTime < finalEphemerisTime - stepSize ) + { + // Retrieve data from interpolators; transform to inertial frames and compare. + currentInertialSolution = interpolator1.interpolate( currentTime ); + + reconstructedInertialSolution.segment( 0, 6 ) + = earthEphemeris->getCartesianStateFromEphemeris( currentTime ) + + sunEphemeris->getCartesianStateFromEphemeris( currentTime ); + reconstructedInertialSolution.segment( 6, 6 ) + = sunEphemeris->getCartesianStateFromEphemeris( currentTime ); + reconstructedInertialSolution.segment( 12, 6 ) + = moonEphemeris->getCartesianStateFromEphemeris( currentTime ) + + earthEphemeris->getCartesianStateFromEphemeris( currentTime ) + + sunEphemeris->getCartesianStateFromEphemeris( currentTime ); + reconstructedInertialSolution.segment( 18, 6 ) + = marsEphemeris->getCartesianStateFromEphemeris( currentTime ) + + sunEphemeris->getCartesianStateFromEphemeris( currentTime ); + + // Compare states. + stateDifference = reconstructedInertialSolution - currentInertialSolution; + for( unsigned j = 0; j < 4; j++ ) + { + if( j != 2 ) + { + BOOST_CHECK_SMALL( std::fabs( stateDifference( 0 + 6 * j ) ), 1.0E-2 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 1 + 6 * j ) ), 1.0E-2 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 2 + 6 * j ) ), 1.0E-2 ); + + BOOST_CHECK_SMALL( std::fabs( stateDifference( 3 + 6 * j ) ), 5.0E-9 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 4 + 6 * j ) ), 5.0E-9 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 5 + 6 * j ) ), 5.0E-9 ); + } + else + { + BOOST_CHECK_SMALL( std::fabs( stateDifference( 0 + 6 * j ) ), 1.0E-1 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 1 + 6 * j ) ), 1.0E-1 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 2 + 6 * j ) ), 1.0E-1 ); + + BOOST_CHECK_SMALL( std::fabs( stateDifference( 3 + 6 * j ) ), 2.0E-7 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 4 + 6 * j ) ), 2.0E-7 ); + BOOST_CHECK_SMALL( std::fabs( stateDifference( 5 + 6 * j ) ), 2.0E-7 ); + } + } + + currentTime += stepSize; + } + +} + +//! Test to ensure that a point-mass acceleration on a body produces a Kepler orbit (to within +//! numerical error bounds). +BOOST_AUTO_TEST_CASE( testCowellPopagatorKeplerCompare ) +{ + //Load spice kernels. + std::string kernelsPath = input_output::getSpiceKernelPath( ); + + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "naif0009.tls"); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc"); + + // Define bodies in simulation. + std::vector< std::string > bodyNames; + bodyNames.push_back( "Earth" ); + bodyNames.push_back( "Moon" ); + + // Specify initial time + double initialEphemerisTime = 1.0E7; + double finalEphemerisTime = 2.0E7; + double maximumTimeStep = 3600.0; + double buffer = 5.0 * maximumTimeStep; + + // Create bodies needed in simulation + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings = + getDefaultBodySettings( bodyNames, + initialEphemerisTime - buffer, finalEphemerisTime + buffer ); + + // Change ephemeris settings of Moon and Earth to make test results analysis more transparent. + boost::dynamic_pointer_cast< InterpolatedSpiceEphemerisSettings > + ( bodySettings[ "Moon" ]->ephemerisSettings )->resetFrameOrigin( "Earth" ); + bodySettings[ "Earth" ]->ephemerisSettings = boost::make_shared< ConstantEphemerisSettings >( + basic_mathematics::Vector6d::Zero( ), "SSB", "ECLIPJ2000" ); + + std::map< std::string, boost::shared_ptr< Body > > bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Set accelerations between bodies that are to be taken into account. + SelectedAccelerationMap accelerationMap; + std::map< std::string, std::vector< boost::shared_ptr< AccelerationSettings > > > + accelerationsOfMoon; + accelerationsOfMoon[ "Earth" ].push_back( boost::make_shared< AccelerationSettings > + ( central_gravity ) ); + accelerationMap[ "Moon" ] = accelerationsOfMoon; + + // Propagate the moon only + std::vector< std::string > bodiesToPropagate; + bodiesToPropagate.push_back( "Moon" ); + unsigned int numberOfNumericalBodies = bodiesToPropagate.size( ); + + // Define settings for numerical integrator. + boost::shared_ptr< IntegratorSettings< > > integratorSettings = + boost::make_shared< IntegratorSettings< > > + ( rungeKutta4, initialEphemerisTime, finalEphemerisTime, 120.0 ); + + // Run test where Moon gravity is/is not taken into account. + for( unsigned testCase = 0; testCase < 2; testCase++ ) + { + // Get initial kepler elements + double effectiveGravitationalParameter; + if( testCase == 0 ) + { + effectiveGravitationalParameter + = bodyMap.at( "Earth" )->getGravityFieldModel( )->getGravitationalParameter( ) + + bodyMap.at( "Moon" )->getGravityFieldModel( )->getGravitationalParameter( ); + } + else + { + effectiveGravitationalParameter = + bodyMap.at( "Earth" )->getGravityFieldModel( )->getGravitationalParameter( ); + } + + // Define central bodies for integration. + std::vector< std::string > centralBodies; + + if( testCase == 0 ) + { + effectiveGravitationalParameter = + bodyMap.at( "Earth" )->getGravityFieldModel( )->getGravitationalParameter( ) + + bodyMap.at( "Moon" )->getGravityFieldModel( )->getGravitationalParameter( ); + centralBodies.push_back( "Earth" ); + + } + else + { + effectiveGravitationalParameter = + bodyMap.at( "Earth" )->getGravityFieldModel( )->getGravitationalParameter( ); + centralBodies.push_back( "SSB" ); + } + + // Create system initial state. + Eigen::VectorXd systemInitialState = Eigen::VectorXd( bodiesToPropagate.size( ) * 6 ); + for( unsigned int i = 0; i < numberOfNumericalBodies ; i++ ) + { + systemInitialState.segment( i * 6 , 6 ) = + spice_interface::getBodyCartesianStateAtEpoch( + bodiesToPropagate[ i ], "Earth", "ECLIPJ2000", "NONE", initialEphemerisTime ); + } + + // Create acceleration models and propagation settings. + AccelerationMap accelerationModelMap = createAccelerationModelsMap( + bodyMap, accelerationMap, bodiesToPropagate, centralBodies ); + boost::shared_ptr< TranslationalStatePropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > > + ( centralBodies, accelerationModelMap, bodiesToPropagate, systemInitialState ); + + // Create dynamics simulation object. + SingleArcDynamicsSimulator< > dynamicsSimulator( + bodyMap, integratorSettings, propagatorSettings, true, false ); + + basic_mathematics::Vector6d initialKeplerElements = + orbital_element_conversions::convertCartesianToKeplerianElements( + basic_mathematics::Vector6d( systemInitialState ), effectiveGravitationalParameter ); + + // Compare numerical state and kepler orbit at each time step. + boost::shared_ptr< Ephemeris > moonEphemeris = bodyMap.at( "Moon" )->getEphemeris( ); + double currentTime = initialEphemerisTime + buffer; + while( currentTime < finalEphemerisTime - buffer ) + { + basic_mathematics::Vector6d stateDifference + = orbital_element_conversions::convertKeplerianToCartesianElements( + propagateKeplerOrbit( initialKeplerElements, currentTime - initialEphemerisTime, + effectiveGravitationalParameter ), + effectiveGravitationalParameter ) + - moonEphemeris->getCartesianStateFromEphemeris( currentTime ); + for( int i = 0; i < 3; i++ ) + { + BOOST_CHECK_SMALL( stateDifference( i ), 1E-3 ); + BOOST_CHECK_SMALL( stateDifference( i + 3 ), 1.0E-9 ); + + } + currentTime += 10000.0; + } + } +} + +BOOST_AUTO_TEST_SUITE_END( ) + + +} // namespace unit_tests + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Propagators/UnitTests/unitTestEnvironmentUpdater.cpp b/Tudat/Astrodynamics/Propagators/UnitTests/unitTestEnvironmentUpdater.cpp new file mode 100644 index 0000000000..527726bb72 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/UnitTests/unitTestEnvironmentUpdater.cpp @@ -0,0 +1,623 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#define BOOST_TEST_MAIN + +#include + +#include +#include +#include + +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/unitConversions.h" +#include "Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h" +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" +#include "Tudat/Astrodynamics/Propagators/dynamicsSimulator.h" +#include "Tudat/Basics/testMacros.h" +#include "Tudat/External/SpiceInterface/spiceEphemeris.h" +#include "Tudat/InputOutput/basicInputOutput.h" +#include "Tudat/Mathematics/Interpolators/linearInterpolator.h" +#include "Tudat/SimulationSetup/createAccelerationModels.h" +#include "Tudat/SimulationSetup/createBodies.h" +#include "Tudat/SimulationSetup/defaultBodies.h" +#include "Tudat/Astrodynamics/Aerodynamics/UnitTests/testApolloCapsuleCoefficients.h" + +namespace tudat +{ +namespace unit_tests +{ + +using namespace simulation_setup; +using namespace basic_astrodynamics; +using namespace spice_interface; +using namespace input_output; +using namespace reference_frames; +using namespace propagators; + +BOOST_AUTO_TEST_SUITE( test_environment_updater ) + +//! Test set up of point mass gravitational accelerations, both direct and third-body. +BOOST_AUTO_TEST_CASE( test_centralGravityEnvironmentUpdate ) +{ + + double initialTime = 86400.0; + + // Load Spice kernels + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + + // Get settings for celestial bodies + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 10.0 * 86400.0 ); + bodySettings[ "Sun" ] = getDefaultSingleBodySettings( "Sun", 0.0,10.0 * 86400.0 ); + bodySettings[ "Moon" ] = getDefaultSingleBodySettings( "Moon", 0.0,10.0 * 86400.0 ); + bodySettings[ "Mars" ] = getDefaultSingleBodySettings( "Mars", 0.0,10.0 * 86400.0 ); + bodySettings[ "Venus" ] = getDefaultSingleBodySettings( "Venus", 0.0,10.0 * 86400.0 ); + + // Create settings for sh gravity field. + double gravitationalParameter = 398600.4418E9; + Eigen::MatrixXd cosineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + -4.841651437908150e-4, -2.066155090741760e-10, 2.439383573283130e-6, 0.0, 0.0, 0.0, + 9.571612070934730e-7, 2.030462010478640e-6, 9.047878948095281e-7, + 7.213217571215680e-7, 0.0, 0.0, 5.399658666389910e-7, -5.361573893888670e-7, + 3.505016239626490e-7, 9.908567666723210e-7, -1.885196330230330e-7, 0.0, + 6.867029137366810e-8, -6.292119230425290e-8, 6.520780431761640e-7, + -4.518471523288430e-7, -2.953287611756290e-7, 1.748117954960020e-7 + ).finished( ); + Eigen::MatrixXd sineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.384413891379790e-9, -1.400273703859340e-6, 0.0, 0.0, 0.0, + 0.0, 2.482004158568720e-7, -6.190054751776180e-7, 1.414349261929410e-6, 0.0, 0.0, + 0.0, -4.735673465180860e-7, 6.624800262758290e-7, -2.009567235674520e-7, + 3.088038821491940e-7, 0.0, 0.0, -9.436980733957690e-8, -3.233531925405220e-7, + -2.149554083060460e-7, 4.980705501023510e-8, -6.693799351801650e-7 + ).finished( ); + bodySettings[ "Earth" ]->gravityFieldSettings + = boost::make_shared< SphericalHarmonicsGravityFieldSettings >( + gravitationalParameter, 6378.0E3, cosineCoefficients, sineCoefficients, "IAU_Earth" ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Define variables used in tests. + SelectedAccelerationMap accelerationSettingsMap; + std::vector< std::string > propagatedBodyList; + std::vector< std::string > centralBodyList; + + std::map< IntegratedStateType, Eigen::VectorXd > integratedStateToSet; + double testTime = 0.0; + + { + + // Define (arbitrary) test state. + Eigen::VectorXd testState = ( Eigen::VectorXd( 6 ) << 1.44E6, 2.234E8, -3343.246E7, + 1.2E4, 1.344E3, -22.343E3 ).finished( ); + integratedStateToSet[ transational_state ] = testState; + testTime = 2.0 * 86400.0; + + // Test if environment is updated for inly central gravity accelerations + { + // Define accelerations + accelerationSettingsMap[ "Moon" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationSettingsMap[ "Moon" ][ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + + // Define origin of integration to be barycenter. + propagatedBodyList.push_back( "Moon" ); + centralBodyList.push_back( "SSB" ); + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, propagatedBodyList, centralBodyList ); + + // Create environment update settings. + boost::shared_ptr< PropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > >( + centralBodyList, accelerationsMap, propagatedBodyList, getInitialStateOfBody( + "Moon", centralBodyList.at( 0 ), bodyMap, initialTime ) ); + std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > environmentModelsToUpdate = + createEnvironmentUpdaterSettings< double >( propagatorSettings, bodyMap ); + + // Test update settings + BOOST_CHECK_EQUAL( environmentModelsToUpdate.size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_transational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_transational_state_update ).size( ), 2 ); + + + // Create and call updater. + boost::shared_ptr< propagators::EnvironmentUpdater< double, double > > updater = + createEnvironmentUpdaterForDynamicalEquations< double, double >( + propagatorSettings, bodyMap ); + updater->updateEnvironment( testTime, integratedStateToSet ); + + // Test if Earth, Sun and Moon are updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getState( ), + bodyMap.at( "Earth" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Sun" )->getState( ), + bodyMap.at( "Sun" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Moon" )->getState( ), testState, + std::numeric_limits< double >::epsilon( ) ); + + // Test if Mars is not updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getState( ), basic_mathematics::Vector6d::Zero( ), + std::numeric_limits< double >::epsilon( ) ); + + // Update environment to new time, and state from environment. + updater->updateEnvironment( + 0.5 * testTime, std::map< IntegratedStateType, Eigen::VectorXd >( ), + boost::assign::list_of( transational_state ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getState( ), + bodyMap.at( "Earth" )->getEphemeris( )-> + getCartesianStateFromEphemeris( 0.5 * testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Sun" )->getState( ), + bodyMap.at( "Sun" )->getEphemeris( )-> + getCartesianStateFromEphemeris( 0.5 * testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Moon" )->getState( ), + bodyMap.at( "Moon" )->getEphemeris( )-> + getCartesianStateFromEphemeris( 0.5 * testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getState( ), basic_mathematics::Vector6d::Zero( ), + std::numeric_limits< double >::epsilon( ) ); + } + + // Test third body acceleration updates. + { + accelerationSettingsMap.clear( ); + propagatedBodyList.clear( ); + centralBodyList.clear( ); + + // Set acceleration models. + accelerationSettingsMap[ "Moon" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationSettingsMap[ "Moon" ][ "Mars" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + + // Define origin of integration + propagatedBodyList.push_back( "Moon" ); + centralBodyList.push_back( "Earth"); + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, propagatedBodyList, centralBodyList ); + + // Create environment update settings. + boost::shared_ptr< PropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > >( + centralBodyList, accelerationsMap, propagatedBodyList, getInitialStateOfBody( + "Moon", centralBodyList.at( 0 ), bodyMap, initialTime ) ); + std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > environmentModelsToUpdate = + createEnvironmentUpdaterSettings< double >( propagatorSettings, bodyMap ); + + // Test update settings + BOOST_CHECK_EQUAL( environmentModelsToUpdate.size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_transational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_transational_state_update ).size( ), 3 ); + + // Create and call updater. + boost::shared_ptr< propagators::EnvironmentUpdater< double, double > > updater = + createEnvironmentUpdaterForDynamicalEquations< double, double >( + propagatorSettings, bodyMap ); + updater->updateEnvironment( testTime, integratedStateToSet ); + + // Test if Earth, Sun, Mars and Moon are updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getState( ), + bodyMap.at( "Earth" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Sun" )->getState( ), + bodyMap.at( "Sun" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Moon" )->getState( ), testState, + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getState( ), + bodyMap.at( "Mars" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + + // Test if Venus is not updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Venus" )->getState( ), basic_mathematics::Vector6d::Zero( ), + std::numeric_limits< double >::epsilon( ) ); + + // Update environment to new time, and state from environment. + updater->updateEnvironment( + 0.5 * testTime, std::map< IntegratedStateType, Eigen::VectorXd >( ), + boost::assign::list_of( transational_state ) ); + + } + + // Test spherical harmonic acceleration update + { + accelerationSettingsMap.clear( ); + propagatedBodyList.clear( ); + centralBodyList.clear( ); + + // Set acceleration models. + accelerationSettingsMap[ "Moon" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationSettingsMap[ "Moon" ][ "Earth" ].push_back( + boost::make_shared< SphericalHarmonicAccelerationSettings >( 6, 6 ) ); + accelerationSettingsMap[ "Moon" ][ "Mars" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + + // Define origin of integration + propagatedBodyList.push_back( "Moon" ); + centralBodyList.push_back( "Earth" ); + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, propagatedBodyList, centralBodyList ); + + // Create environment update settings. + boost::shared_ptr< PropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > >( + centralBodyList, accelerationsMap, propagatedBodyList, getInitialStateOfBody( + "Moon", centralBodyList.at( 0 ), bodyMap, initialTime ) ); + std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > environmentModelsToUpdate = + createEnvironmentUpdaterSettings< double >( propagatorSettings, bodyMap ); + + // Test update settings + BOOST_CHECK_EQUAL( environmentModelsToUpdate.size( ), 3 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_transational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_transational_state_update ).size( ), 3 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_rotational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_rotational_state_update ).size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( spherical_harmonic_gravity_field_update ), 1 ); + + // Create and call updater. + boost::shared_ptr< propagators::EnvironmentUpdater< double, double > > updater = + createEnvironmentUpdaterForDynamicalEquations< double, double >( + propagatorSettings, bodyMap ); + updater->updateEnvironment( testTime, integratedStateToSet ); + + // Test if Earth, Sun, Mars and Moon are updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getState( ), + bodyMap.at( "Earth" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Sun" )->getState( ), + bodyMap.at( "Sun" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Moon" )->getState( ), testState, + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getState( ), + bodyMap.at( "Mars" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + + // Test if Venus is not updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Venus" )->getState( ), basic_mathematics::Vector6d::Zero( ), + std::numeric_limits< double >::epsilon( ) ); + + // Test if Earth rotation is updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getCurrentRotationToGlobalFrame( ).toRotationMatrix( ), + bodyMap.at( "Earth" )->getRotationalEphemeris( )-> + getRotationToBaseFrame( testTime ).toRotationMatrix( ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getCurrentRotationToLocalFrame( ).toRotationMatrix( ), + bodyMap.at( "Earth" )->getRotationalEphemeris( )-> + getRotationToTargetFrame( testTime ).toRotationMatrix( ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getCurrentRotationMatrixDerivativeToGlobalFrame( ), + bodyMap.at( "Earth" )->getRotationalEphemeris( )-> + getDerivativeOfRotationToBaseFrame( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getCurrentRotationMatrixDerivativeToLocalFrame( ), + bodyMap.at( "Earth" )->getRotationalEphemeris( )-> + getDerivativeOfRotationToTargetFrame( testTime ), + std::numeric_limits< double >::epsilon( ) ); + + // Test if Mars rotation is not updated + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getCurrentRotationToLocalFrame( ).toRotationMatrix( ), + Eigen::Matrix3d::Identity( ), std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getCurrentRotationToGlobalFrame( ).toRotationMatrix( ), + Eigen::Matrix3d::Identity( ), std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getCurrentRotationMatrixDerivativeToGlobalFrame( ), + Eigen::Matrix3d::Zero( ), std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Mars" )->getCurrentRotationMatrixDerivativeToLocalFrame( ), + Eigen::Matrix3d::Zero( ), std::numeric_limits< double >::epsilon( ) ); + + // Update environment to new time, and state from environment. + updater->updateEnvironment( + 0.5 * testTime, std::map< IntegratedStateType, Eigen::VectorXd >( ), + boost::assign::list_of( transational_state ) ); + + } + } +} + +//! Dummy function to calculate mass as a function of time. +double getBodyMass( const double time ) +{ + return 1000.0 - 500.0 * ( time / ( 10.0 * 86400.0 ) ); +} + +//! Test radiation pressure acceleration +BOOST_AUTO_TEST_CASE( test_NonConservativeForceEnvironmentUpdate ) +{ + double initialTime = 86400.0; + + using namespace tudat::simulation_setup; + using namespace tudat; + + // Load Spice kernels + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + + // Get settings for celestial bodies + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 10.0 * 86400.0 ); + bodySettings[ "Sun" ] = getDefaultSingleBodySettings( "Sun", 0.0,10.0 * 86400.0 ); + + // Get settings for vehicle + double area = 2.34; + double coefficient = 1.2; + bodySettings[ "Vehicle" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Vehicle" ]->radiationPressureSettings[ "Sun" ] = + boost::make_shared< CannonBallRadiationPressureInterfaceSettings >( "Sun", area, coefficient ); + bodySettings[ "Vehicle" ]->ephemerisSettings = + boost::make_shared< KeplerEphemerisSettings >( + ( basic_mathematics::Vector6d( ) << 7000.0E3, 0.05, 0.3, 0.0, 0.0, 0.0 ).finished( ), + 0.0, spice_interface::getBodyGravitationalParameter( "Earth" ), "Earth", "ECLIPJ2000" ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + bodyMap[ "Vehicle" ]->setAerodynamicCoefficientInterface( + getApolloCoefficientInterface( ) ); + bodyMap[ "Vehicle" ]->setBodyMassFunction( &getBodyMass ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + + // Define test time and state. + double testTime = 2.0 * 86400.0; + std::map< IntegratedStateType, Eigen::VectorXd > integratedStateToSet; + Eigen::VectorXd testState = 1.1 * bodyMap[ "Vehicle" ]->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ) + + bodyMap.at( "Earth" )->getEphemeris( )->getCartesianStateFromEphemeris( testTime ); + integratedStateToSet[ transational_state ] = testState; + + { + // Define settings for accelerations + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Vehicle" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( cannon_ball_radiation_pressure ) ); + + // Define origin of integration + + std::vector< std::string > propagatedBodyList; + propagatedBodyList.push_back( "Vehicle" ); + std::vector< std::string > centralBodyList; + centralBodyList.push_back( "Earth" ); + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, propagatedBodyList, centralBodyList ); + + // Create environment update settings. + boost::shared_ptr< PropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > >( + centralBodyList, accelerationsMap, propagatedBodyList, getInitialStateOfBody( + "Vehicle", centralBodyList.at( 0 ), bodyMap, initialTime ) ); + std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > environmentModelsToUpdate = + createEnvironmentUpdaterSettings< double >( propagatorSettings, bodyMap ); + + BOOST_CHECK_EQUAL( environmentModelsToUpdate.size( ), 3 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_transational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_transational_state_update ).size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( radiation_pressure_interface_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( radiation_pressure_interface_update ).size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_mass_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_mass_update ).size( ), 1 ); + + + boost::shared_ptr< propagators::EnvironmentUpdater< double, double > > updater = + createEnvironmentUpdaterForDynamicalEquations< double, double >( + propagatorSettings, bodyMap ); + + updater->updateEnvironment( testTime, integratedStateToSet ); + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Sun" )->getState( ), + bodyMap.at( "Sun" )->getEphemeris( )->getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Vehicle" )->getState( ), testState, + std::numeric_limits< double >::epsilon( ) ); + + BOOST_CHECK_CLOSE_FRACTION( + bodyMap.at( "Vehicle" )->getBodyMass( ), getBodyMass( testTime ), + std::numeric_limits< double >::epsilon( ) ); + + + updater->updateEnvironment( + 0.5 * testTime, std::map< IntegratedStateType, Eigen::VectorXd >( ), + boost::assign::list_of( transational_state ) ); + + + } + + { + // Define settings for accelerations + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Vehicle" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( cannon_ball_radiation_pressure ) ); + accelerationSettingsMap[ "Vehicle" ][ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( aerodynamic ) ); + + // Define origin of integration + std::vector< std::string > propagatedBodyList; + propagatedBodyList.push_back( "Vehicle" ); + std::vector< std::string > centralBodyList; + centralBodyList.push_back( "Earth" ); + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, propagatedBodyList, centralBodyList ); + + + // Define orientation angles. + boost::shared_ptr< aerodynamics::FlightConditions > vehicleFlightConditions = + bodyMap[ "Vehicle" ]->getFlightConditions( ); + double angleOfAttack = 35.0 * mathematical_constants::PI / 180.0; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432; + vehicleFlightConditions->getAerodynamicAngleCalculator( )->setOrientationAngleFunctions( + boost::lambda::constant( angleOfAttack ), + boost::lambda::constant( angleOfSideslip ), + boost::lambda::constant( bankAngle ) ); + + boost::shared_ptr< PropagatorSettings< double > > propagatorSettings = + boost::make_shared< TranslationalStatePropagatorSettings< double > >( + centralBodyList, accelerationsMap, propagatedBodyList, getInitialStateOfBody( + "Vehicle", centralBodyList.at( 0 ), bodyMap, initialTime ) ); + std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > environmentModelsToUpdate = + createEnvironmentUpdaterSettings< double >( propagatorSettings, bodyMap ); + + // Test update settings + BOOST_CHECK_EQUAL( environmentModelsToUpdate.size( ), 5 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_transational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_transational_state_update ).size( ), 2 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( radiation_pressure_interface_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( radiation_pressure_interface_update ).size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_mass_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( body_mass_update ).size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( body_rotational_state_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( + body_rotational_state_update ).size( ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.count( vehicle_flight_conditions_update ), 1 ); + BOOST_CHECK_EQUAL( environmentModelsToUpdate.at( + vehicle_flight_conditions_update ).size( ), 1 ); + + // Create and call updater. + boost::shared_ptr< propagators::EnvironmentUpdater< double, double > > updater = + createEnvironmentUpdaterForDynamicalEquations< double, double >( + propagatorSettings, bodyMap ); + updater->updateEnvironment( testTime, integratedStateToSet ); + + // Test if Earth, Sun and Vehicle states are updated. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getState( ), + bodyMap.at( "Earth" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Sun" )->getState( ), + bodyMap.at( "Sun" )->getEphemeris( )-> + getCartesianStateFromEphemeris( testTime ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Vehicle" )->getState( ), testState, + std::numeric_limits< double >::epsilon( ) ); + + // Test if Earth rotation is updated. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getCurrentRotationToGlobalFrame( ).toRotationMatrix( ), + bodyMap.at( "Earth" )->getRotationalEphemeris( )-> + getRotationToBaseFrame( testTime ).toRotationMatrix( ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + bodyMap.at( "Earth" )->getCurrentRotationToLocalFrame( ).toRotationMatrix( ), + bodyMap.at( "Earth" )->getRotationalEphemeris( )-> + getRotationToTargetFrame( testTime ).toRotationMatrix( ), + std::numeric_limits< double >::epsilon( ) ); + + // Test if body mass is updated + BOOST_CHECK_CLOSE_FRACTION( + bodyMap.at( "Vehicle" )->getBodyMass( ), getBodyMass( testTime ), + std::numeric_limits< double >::epsilon( ) ); + + // Check if flight conditions update has been called + BOOST_CHECK_EQUAL( + ( vehicleFlightConditions->getCurrentAirspeed( ) + == vehicleFlightConditions->getCurrentAirspeed( ) ), 1 ); + BOOST_CHECK_EQUAL( + ( vehicleFlightConditions->getCurrentAltitude( ) + == vehicleFlightConditions->getCurrentAltitude( ) ), 1 ); + BOOST_CHECK_EQUAL( + ( vehicleFlightConditions->getCurrentDensity( ) + == vehicleFlightConditions->getCurrentDensity( ) ), 1 ); + BOOST_CHECK_EQUAL( vehicleFlightConditions->getCurrentTime( ), testTime ); + + // Check if radiation pressure update is updated. + boost::shared_ptr< electro_magnetism::RadiationPressureInterface > radiationPressureInterface + = bodyMap.at( "Vehicle" )->getRadiationPressureInterfaces( ).at( "Sun" ); + BOOST_CHECK_EQUAL( + ( radiationPressureInterface->getCurrentTime( ) + == radiationPressureInterface->getCurrentTime( ) ), 1 ); + BOOST_CHECK_EQUAL( + ( radiationPressureInterface->getCurrentRadiationPressure( ) + == radiationPressureInterface->getCurrentRadiationPressure( ) ), 1 ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + radiationPressureInterface->getCurrentSolarVector( ), + ( bodyMap.at( "Sun" )->getPosition( ) + - bodyMap.at( "Vehicle" )->getPosition( ) ), + std::numeric_limits< double >::epsilon( ) ); + + updater->updateEnvironment( + 0.5 * testTime, std::map< IntegratedStateType, Eigen::VectorXd >( ), + boost::assign::list_of( transational_state ) ); + + + } +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} // namespace unit_tests +} // namespace tudat + + diff --git a/Tudat/Astrodynamics/Propagators/centralBodyData.h b/Tudat/Astrodynamics/Propagators/centralBodyData.h new file mode 100644 index 0000000000..f396b3f453 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/centralBodyData.h @@ -0,0 +1,300 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CENTRALBODYDATA_H +#define TUDAT_CENTRALBODYDATA_H + +#include +#include + +#include +#include + +#include + +namespace tudat +{ + +namespace propagators +{ + +//! Types of integration origins that can be used in the simulations. +enum OriginType +{ + inertial,// origin is inertial. + from_ephemeris, // origin is moving with origin of body which is not propagated. + from_integration // origin is moving with origin of body which is propagated. +}; + +//! This class acts as a data container for properties of central bodies in a numerical integration +/*! + * This class acts as a data container for properties of central bodies in a numerical integration. + * It makes a distinction between central bodies that are integrated and those for which the state + * is taken from ephemeris The state of the central bodies in an inertial frame can be retrieved + * from it. + */ +template< typename StateScalarType = double, typename TimeType = double > +class CentralBodyData +{ +public: + //! Constructor of the central bodies and the integrated bodies + /*! + * Constructor, takes the names of the central bodies and the integrated bodies, as well as a + * list of body objects. Checks which central bodies are integrated bodies and sets the update + * order of the bodies' states accordingly. + * \param centralBodies Names of central bodies, belonging to the entries in the + * bodiesToIntegrate vector of same index. + * \param bodiesToIntegrate Names of bodies that are to be integrated numerically. + * \param bodyStateFunctions List of functions for the origins of selected bodies. + */ + CentralBodyData( const std::vector< std::string >& centralBodies, + const std::vector< std::string >& bodiesToIntegrate, + const std::map< std::string, + boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > >& + bodyStateFunctions ): + centralBodies_( centralBodies ) + { + // Check consistency of input. + if( centralBodies.size( ) != bodiesToIntegrate.size( ) ) + { + throw std::runtime_error( + "Error in CentralBodyData, number of central bodies not equal to number of bodies to integrate " ); + } + + + bodyOriginType_.resize( bodiesToIntegrate.size( ) ); + + // Iterate over all integrated bodies to set body origin, its type and associated data. + for( unsigned int i = 0; i < bodiesToIntegrate.size( ); i++ ) + { + // Check if central body is inertial. + if( ( centralBodies.at( i ) == "Inertial" ) || + ( centralBodies.at( i ) == "" ) || + ( centralBodies.at( i ) == "SSB" ) ) + { + bodyOriginType_.at( i ) = inertial; + } + else + { + // Check if central body of current integrated body is also integrated. + int centralBodyIndex = -1; + for( unsigned int j = 0; j < bodiesToIntegrate.size( ); j++ ) + { + // If there is a match between central body and an integrated body, store body + // index. + if( centralBodies.at( i ) == bodiesToIntegrate[ j ] ) + { + centralBodyIndex = j; + if( i == j ) + { + throw std::runtime_error( "Error, body "+ bodiesToIntegrate[ j ] + + " cannot be its own central body" ); + } + } + } + + // If no integrated central body foundl set body origin as being from an ephemeris. + if( centralBodyIndex == -1 ) + { + bodyOriginType_.at( i ) = from_ephemeris; + centralBodiesFromEphemerides_[ i ] + = bodyStateFunctions.at( centralBodies.at( i ) ); + } + // Else, set body origin as being from another integrated body, set indices of both + // bodies in centralBodiesFromIntegration_ + else + { + bodyOriginType_.at( i ) = from_integration; + centralBodiesFromIntegration_[ i ] = centralBodyIndex; + } + } + } + + std::vector< int > numericalBodies_; + + // Set initial update order of bodies. + updateOrder_.resize( bodiesToIntegrate.size( ) ); + int currentUpdateIndex = 0; + for( unsigned int i = 0; i < bodyOriginType_.size( ); i++ ) + { + // If body origin is not from another integrated body, order in update is irrelevant, + // set at current index of vector. + if( bodyOriginType_.at( i ) == inertial || bodyOriginType_.at( i ) == from_ephemeris ) + { + updateOrder_[ currentUpdateIndex ] = i; + currentUpdateIndex++; + } + // Else, store index of body having another integrated body as central body + else if( bodyOriginType_.at( i ) == from_integration ) + { + numericalBodies_.push_back( i ); + } + } + + // Switch body order if there are dependencies between bodies, + int bodyToMove; + for( unsigned int i = 0; i < numericalBodies_.size( ); i++ ) + { + for( unsigned int j = 0; j < i; j++ ) + { + if( centralBodies[ numericalBodies_[ j ] ] + == bodiesToIntegrate[ numericalBodies_.at( i ) ] ) + { + // Move central body to index before integrated body. + bodyToMove = numericalBodies_.at( i ); + numericalBodies_.erase( numericalBodies_.begin( ) + i ); + numericalBodies_.insert( numericalBodies_.begin( ) + j, bodyToMove ); + break; + } + } + } + + // Add propagated bodies to list. + for( unsigned int i = 0; i < numericalBodies_.size( ); i++ ) + { + updateOrder_[ currentUpdateIndex ] = numericalBodies_.at( i ); + currentUpdateIndex++; + } + } + + + //! Function to return the state of the central bodies in an inertial frame. + /*! + * Function to return the state of the central bodies in an inertial frame. The states of the + * integrated bodies in either their local frame or the inertial frame, and the current time + * have to be passed as arguments to this function. + * \param internalState States of bodies that are numerically integrated, size should be 6 * + * size of bodiesToIntegrate, with entries in the order of the bodies in the bodiesToIntegrate + * vector. + * \param time Current time (used for retrieving states from ephemerides) + * \param areInputStateLocal True if the internalState vector is given in the local frames of + * the integrated bodies, or the global frame. + * \return Vector of states of the reference frame origins for each body. + */ + std::vector< Eigen::Matrix< StateScalarType, 6, 1 > > getReferenceFrameOriginInertialStates( + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > internalState, const TimeType time, + const bool areInputStateLocal = true ) + { + std::vector< Eigen::Matrix< StateScalarType, 6, 1 > > referenceFrameOriginStates_; + referenceFrameOriginStates_.resize( updateOrder_.size( ) ); + + // Update state in correct order. + for( unsigned int i = 0; i < updateOrder_.size( ); i++ ) + { + referenceFrameOriginStates_[ updateOrder_[ i ] ] = + getSingleReferenceFrameOriginInertialState( internalState, + time, updateOrder_[ i ] ); + + // Modify current input state to global frame if input is local (in propagation frame). + if( areInputStateLocal ) + { + internalState.segment( 6 * updateOrder_[ i ], 6 ) + += referenceFrameOriginStates_[ updateOrder_[ i ] ]; + } + } + + return referenceFrameOriginStates_; + } + + + //! Function to get the order in which the body states are to be called + /*! + * Function to get the order in which the body states are to be called when getting global + * states. + * \return Order in which the body states are to be called when getting global states. + */ + std::vector< int > getUpdateOrder( ){ return updateOrder_; } + + //! Function to get the type of reference frame origin for each of the propagated bodies. + /*! + * Function to get the type of reference frame origin for each of the propagated bodies. + * \return Type of reference frame origin for each of the propagated bodies. + */ + std::vector< OriginType > getBodyOriginType( ){ return bodyOriginType_; } + + //! Function to get the names of central bodies + /*! + * Function to get the names of central bodies, belonging to the entries in the + * bodiesToIntegrate vector of same index. + * \return Names of central bodies, belonging to the entries in the bodiesToIntegrate vector of + * same index. + */ + std::vector< std::string > getCentralBodies( ){ return centralBodies_; } + + +private: + + //! Names of central bodies, belonging to the entries in the bodiesToIntegrate vector of same + //! index. + std::vector< std::string > centralBodies_; + + //! Order in which the body states are to be called when getting global states (taking into + //! account frame origin dependencies). + std::vector< int > updateOrder_; + + //! Type of reference frame origin for each of the propagated bodies. + std::vector< OriginType > bodyOriginType_; + + //! List of functions for the origins of selected bodies. + std::map< int, boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > > + centralBodiesFromEphemerides_; + + //! Map defining frame origin body index, for bodies having one of the other propagated bodies + //! as propagation origin + std::map< int, int > centralBodiesFromIntegration_; + + //! Function to get the global origin of the propagation center of a single body. + /*! + * Function to get the global origin of the propagation center of a single body, where the + * origin may be inertial, from an ephemeris, or from one of the other propagated bodies. + * \param internalSolution Full current state of the bodies being propagated, modified so that + * the origin of the current body is already translated to the global origin (if from + * integration) + * \sa getReferenceFrameOriginInertialStates + * \sa updateOrder + * \param time Current time. + * \param bodyIndex Index of the body for which the global origin state is to be retrieved + * \return Global origin state of the requested body. + */ + Eigen::Matrix< StateScalarType, 6, 1 > getSingleReferenceFrameOriginInertialState( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > internalSolution, + const TimeType time, + const int bodyIndex ) + { + Eigen::Matrix< StateScalarType, 6, 1 > originState + = Eigen::Matrix< StateScalarType, 6, 1 >::Zero( ); + + // Check origin type. + switch( bodyOriginType_[ bodyIndex ] ) + { + case inertial: + break; + case from_ephemeris: + originState + = centralBodiesFromEphemerides_.at( bodyIndex )( static_cast< double >( time ) ); + break; + case from_integration: + originState + = internalSolution.segment( centralBodiesFromIntegration_.at( bodyIndex ) * 6, 6 ); + break; + default: + throw std::runtime_error( "Error, do not recognize boy origin type " + + boost::lexical_cast< std::string >( bodyOriginType_[ bodyIndex ] ) ); + break; + } + return originState; + } +}; + + +} // namespace propagators + +} // namespace tudat +#endif // TUDAT_CENTRALBODYDATA_H diff --git a/Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.cpp b/Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.cpp new file mode 100644 index 0000000000..92a723b74c --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.cpp @@ -0,0 +1,376 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h" +#include "Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Function to check whether the requested environment updates are +//! possible with the existing environment. +void checkValidityOfRequiredEnvironmentUpdates( + const std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > >& + requestedUpdates, const simulation_setup::NamedBodyMap& bodyMap ) +{ + using namespace propagators; + + // Iterate over all environment update types. + for( std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > >::const_iterator + updateIterator = requestedUpdates.begin( ); + updateIterator != requestedUpdates.end( ); updateIterator++ ) + { + // Iterate over all updated bodies. + for( unsigned int i = 0; i < updateIterator->second.size( ); i++ ) + { + // Ignore global required updates. + if( updateIterator->second.at( i ) != "" ) + { + // Check if body exists. + if( bodyMap.count( updateIterator->second.at( i ) ) == 0 ) + { + throw std::runtime_error( + "Error when making environment model update settings, could not find body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + + // Check if requested environment model exists. + switch( updateIterator->first ) + { + case body_transational_state_update: + { + if( bodyMap.at( updateIterator->second.at( i ) )->getEphemeris( ) == NULL ) + { + throw std::runtime_error( + "Error when making environment model update settings, could not find ephemeris of body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + break; + } + case body_rotational_state_update: + { + if( bodyMap.at( updateIterator->second.at( i ) )-> + getRotationalEphemeris( ) == NULL ) + { + throw std::runtime_error( + "Error when making environment model update settings, could not find rotational ephemeris of body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + break; + } + case spherical_harmonic_gravity_field_update: + { + boost::shared_ptr< gravitation::SphericalHarmonicsGravityField > + gravityFieldModel = + boost::dynamic_pointer_cast< gravitation::SphericalHarmonicsGravityField >( + bodyMap.at( updateIterator->second.at( i ) )->getGravityFieldModel( ) ); + if( gravityFieldModel == NULL ) + { + throw std::runtime_error( + "Error when making environment model update settings, could not find spherical harmonic gravity field of body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + break; + } + case vehicle_flight_conditions_update: + { + boost::shared_ptr< aerodynamics::FlightConditions > flightConditions = bodyMap.at( + updateIterator->second.at( i ) )->getFlightConditions( ); + if( flightConditions == NULL ) + { + throw std::runtime_error( + "Error when making environment model update settings, could not find flight conditions of body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + break; + } + case radiation_pressure_interface_update: + { + std::map< std::string, boost::shared_ptr< electro_magnetism::RadiationPressureInterface > > + radiationPressureInterfaces = bodyMap.at( + updateIterator->second.at( i ) )->getRadiationPressureInterfaces( ); + if( radiationPressureInterfaces.size( ) == 0 ) + { + throw std::runtime_error( + "Error when making environment model update settings, could not find radiation pressure interface of body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + break; + } + case body_mass_update: + if( bodyMap.at( updateIterator->second.at( i ) )->getBodyMassFunction( ) == NULL ) + { + throw std::runtime_error( + "Error when making environment model update settings, no body mass function of body " + + boost::lexical_cast< std::string>( updateIterator->second.at( i ) ) ); + } + + break; + } + } + } + } +} + +//! Function to extend existing list of required environment update types +void addEnvironmentUpdates( std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > >& environmentUpdateList, + const std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > updatesToAdd ) +{ + // Iterate over all environment update types. + for( std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > >::const_iterator + environmentUpdateIterator = updatesToAdd.begin( ); + environmentUpdateIterator != updatesToAdd.end( ); environmentUpdateIterator++ ) + { + bool addCurrentUpdate = 0; + + // Iterate over all updated bodies. + for( unsigned int i = 0; i < environmentUpdateIterator->second.size( ); i++ ) + { + addCurrentUpdate = 0; + + // Check if current update type exists. + if( environmentUpdateList.count( environmentUpdateIterator->first ) == 0 ) + { + addCurrentUpdate = 1; + } + // Check if current body exists for update type. + else if( std::find( environmentUpdateList.at( environmentUpdateIterator->first ).begin( ), + environmentUpdateList.at( environmentUpdateIterator->first ).end( ), + environmentUpdateIterator->second.at( i ) ) == + environmentUpdateList.at( environmentUpdateIterator->first ).end( ) ) + { + addCurrentUpdate = 1; + } + + // Add update type if required. + if( addCurrentUpdate ) + { + environmentUpdateList[ environmentUpdateIterator->first ].push_back( + environmentUpdateIterator->second.at( i ) ); + } + } + } +} + +//! Get list of required environment model update settings from translational acceleration models. +std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > +createTranslationalEquationsOfMotionEnvironmentUpdaterSettings( + const basic_astrodynamics::AccelerationMap& translationalAccelerationModels, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + using namespace basic_astrodynamics; + using namespace propagators; + + std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > environmentModelsToUpdate; + std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > singleAccelerationUpdateNeeds; + + // Iterate over all bodies being accelerated + for( AccelerationMap::const_iterator acceleratedBodyIterator + = translationalAccelerationModels.begin( ); + acceleratedBodyIterator != translationalAccelerationModels.end( ); + acceleratedBodyIterator++ ) + { + // Iterate over all bodies exerting acceleration. + for( SingleBodyAccelerationMap::const_iterator accelerationModelIterator + = acceleratedBodyIterator->second.begin( ); + accelerationModelIterator != acceleratedBodyIterator->second.end( ); + accelerationModelIterator++ ) + { + singleAccelerationUpdateNeeds.clear( ); + for( unsigned int i = 0; i < accelerationModelIterator->second.size( ); i++ ) + { + AvailableAcceleration currentAccelerationModelType = + getAccelerationModelType( accelerationModelIterator->second.at( i ) ); + + // Add translational state of both bodies to update list for current acceleration model. + if( translationalAccelerationModels.count( accelerationModelIterator->first ) == 0 ) + { + singleAccelerationUpdateNeeds[ body_transational_state_update ].push_back( + accelerationModelIterator->first ); + } + + // Check acceleration model type and change environment update list accordingly. + switch( currentAccelerationModelType ) + { + case central_gravity: + break; + case third_body_central_gravity: + { + boost::shared_ptr< gravitation::ThirdBodyCentralGravityAcceleration > + thirdBodyAcceleration = boost::dynamic_pointer_cast< + gravitation::ThirdBodyCentralGravityAcceleration >( + accelerationModelIterator->second.at( i ) ); + if( thirdBodyAcceleration != NULL && translationalAccelerationModels.count( + thirdBodyAcceleration->getCentralBodyName( ) ) == 0 ) + { + singleAccelerationUpdateNeeds[ body_transational_state_update ].push_back( + thirdBodyAcceleration->getCentralBodyName( ) ); + } + else if( thirdBodyAcceleration == NULL ) + { + throw std::runtime_error( + std::string( "Error, incompatible input (ThirdBodyCentralGravityAcceleration) to" ) + + std::string( "createTranslationalEquationsOfMotionEnvironmentUpdaterSettings" ) ); + } + break; + } + case aerodynamic: + singleAccelerationUpdateNeeds[ body_rotational_state_update ].push_back( + accelerationModelIterator->first ); + singleAccelerationUpdateNeeds[ vehicle_flight_conditions_update ].push_back( + acceleratedBodyIterator->first ); + singleAccelerationUpdateNeeds[ body_mass_update ].push_back( + acceleratedBodyIterator->first ); + break; + case cannon_ball_radiation_pressure: + singleAccelerationUpdateNeeds[ radiation_pressure_interface_update ].push_back( + acceleratedBodyIterator->first ); + singleAccelerationUpdateNeeds[ body_mass_update ].push_back( + acceleratedBodyIterator->first ); + break; + case spherical_harmonic_gravity: + singleAccelerationUpdateNeeds[ body_rotational_state_update ].push_back( + accelerationModelIterator->first ); + singleAccelerationUpdateNeeds[ spherical_harmonic_gravity_field_update ]. + push_back( accelerationModelIterator->first ); + break; + case third_body_spherical_harmonic_gravity: + { + singleAccelerationUpdateNeeds[ body_rotational_state_update ].push_back( + accelerationModelIterator->first ); + singleAccelerationUpdateNeeds[ spherical_harmonic_gravity_field_update ]. + push_back( accelerationModelIterator->first ); + + boost::shared_ptr< + gravitation::ThirdBodySphericalHarmonicsGravitationalAccelerationModel > + thirdBodyAcceleration = boost::dynamic_pointer_cast< + gravitation::ThirdBodySphericalHarmonicsGravitationalAccelerationModel >( + accelerationModelIterator->second.at( i ) );; + if( thirdBodyAcceleration != NULL && translationalAccelerationModels.count( + thirdBodyAcceleration->getCentralBodyName( ) ) == 0 ) + { + singleAccelerationUpdateNeeds[ body_transational_state_update ].push_back( + thirdBodyAcceleration->getCentralBodyName( ) ); + } + else if( thirdBodyAcceleration == NULL ) + { + throw std::runtime_error( + std::string( "Error, incompatible input (ThirdBodySphericalHarmonicsGravitational" ) + + std::string( "AccelerationModel) to createTranslationalEquationsOfMotion ") + + std::string( "EnvironmentUpdaterSettings" ) ); + } + break; + } + default: + break; + } + + } + + // Check whether requested updates are possible. + checkValidityOfRequiredEnvironmentUpdates( singleAccelerationUpdateNeeds, bodyMap ); + + // Add requested updates of current acceleration model to + // full list of environment updates. + addEnvironmentUpdates( environmentModelsToUpdate, singleAccelerationUpdateNeeds ); + } + } + + return environmentModelsToUpdate; +} + + +//! Function to create 'brute-force' update settings, in which each environment model is updated. +std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > createFullEnvironmentUpdaterSettings( + const simulation_setup::NamedBodyMap& bodyMap ) +{ + using namespace basic_astrodynamics; + using namespace electro_magnetism; + using namespace gravitation; + using namespace propagators; + + std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > environmentModelsToUpdate; + std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > singleAccelerationUpdateNeeds; + + // Iterate over all bodies. + for( simulation_setup::NamedBodyMap::const_iterator + bodyIterator = bodyMap.begin( ); bodyIterator != bodyMap.end( ); bodyIterator++ ) + { + singleAccelerationUpdateNeeds.clear( ); + + // Check if current body is a vehicle. + + // Check if current body has flight conditions set. + if( bodyIterator->second ->getFlightConditions( ) != NULL ) + { + // If vehicle has flight conditions, add flight conditions update function to update list. + singleAccelerationUpdateNeeds[ vehicle_flight_conditions_update ]. + push_back( bodyIterator->first ); + } + + // Get body radiation pressure interface(s) (one per source) + std::map< std::string, + boost::shared_ptr< RadiationPressureInterface > > radiationPressureInterfaces + = bodyIterator->second->getRadiationPressureInterfaces( ); + + // Add each interface update function to update list. + for( std::map< std::string, boost::shared_ptr< RadiationPressureInterface > > ::iterator + iterator = radiationPressureInterfaces.begin( ); + iterator != radiationPressureInterfaces.end( ); iterator++ ) + { + singleAccelerationUpdateNeeds[ radiation_pressure_interface_update ]. + push_back( bodyIterator->first ); + } + + // If body has rotation model, update rotational state in each time step. + boost::shared_ptr< ephemerides::RotationalEphemeris > rotationalEphemeris = + bodyIterator->second->getRotationalEphemeris( ); + if( rotationalEphemeris != NULL ) + { + singleAccelerationUpdateNeeds[ body_rotational_state_update ]. + push_back( bodyIterator->first ); + } + + + boost::shared_ptr< TimeDependentSphericalHarmonicsGravityField > gravityField = + boost::dynamic_pointer_cast< TimeDependentSphericalHarmonicsGravityField > + ( bodyIterator->second->getGravityFieldModel( ) ); + if( gravityField != NULL ) + { + singleAccelerationUpdateNeeds[ spherical_harmonic_gravity_field_update ]. + push_back( bodyIterator->first ); + } + + singleAccelerationUpdateNeeds[ body_mass_update ].push_back( bodyIterator->first ); + + // Check whether requested updates are possible. + checkValidityOfRequiredEnvironmentUpdates( singleAccelerationUpdateNeeds, bodyMap ); + + // Add requested updates of current acceleration model to full list of environment updates. + addEnvironmentUpdates( environmentModelsToUpdate, singleAccelerationUpdateNeeds ); + } + return environmentModelsToUpdate; +} + +} // namespace propagators + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.h b/Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.h new file mode 100644 index 0000000000..cc1863c4a6 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.h @@ -0,0 +1,148 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEENVIRONMENTUPDATER_H +#define TUDAT_CREATEENVIRONMENTUPDATER_H + +#include + +#include "Tudat/Astrodynamics/Propagators/environmentUpdater.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Function to check validity of existing environment +/*! + * Function to check whether the requested environment updates are + * possible with the existing environment, i.e. if all + * environment models that are to be updated exist in the bodyMap. The + * function throws an error if environment cannot + * be updated as requested., + * \param requestedUpdates List of environment updates that are required + * \param bodyMap List of body objects used in the simulations. + */ +void checkValidityOfRequiredEnvironmentUpdates( + const std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > >& + requestedUpdates, + const simulation_setup::NamedBodyMap& bodyMap ); + +//! Function to extend existing list of required environment update types +/*! + * Function to extend existing list of required environment update types + * \param environmentUpdateList List of environment updates to extend + * (passed by reference and modified by function) + * \param updatesToAdd List of environment updates that are to be added to environmentUpdateList + */ +void addEnvironmentUpdates( + std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > >& + environmentUpdateList, + const std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > + updatesToAdd ); + +//! Get list of required environment model update settings from translational acceleration models. +/*! + * Get list of required environment model update settings from translational acceleration models. + * \param translationalAccelerationModels List of acceleration models used in simulation. + * \param bodyMap List of body objects used in the simulations. + * \return List of required environment model update settings. + */ +std::map< propagators::EnvironmentModelsToUpdate, std::vector< std::string > > +createTranslationalEquationsOfMotionEnvironmentUpdaterSettings( + const basic_astrodynamics::AccelerationMap& translationalAccelerationModels, + const simulation_setup::NamedBodyMap& bodyMap ); + +//! Get list of required environment model update settings from a list of propagation settings. +/*! +* Get list of required environment model update settings from a list of propagation settings. +* \param propagatorSettings Object providing the full settings for the +* dynamics that are to be propagated. +* \param bodyMap List of body objects used in the simulations. +* \return List of updates required when propagating dynamics defined by propagatorSettings. +*/ +template< typename StateScalarType > +std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > createEnvironmentUpdaterSettings( + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > environmentModelsToUpdate; + + // Check dynamics type + switch( propagatorSettings->stateType_ ) + { + case transational_state: + { + environmentModelsToUpdate = createTranslationalEquationsOfMotionEnvironmentUpdaterSettings( + boost::dynamic_pointer_cast< + TranslationalStatePropagatorSettings< StateScalarType > >( + propagatorSettings )->accelerationsMap_, + bodyMap ); + break; + } + default: + { + throw std::runtime_error( "Error, cannot create environment updates for type " + + boost::lexical_cast< std::string >( propagatorSettings->stateType_ ) ); + } + } + return environmentModelsToUpdate; + +} + +//! Function to create 'brute-force' update settings, in which each environment model is updated. +/*! + * Function to create 'brute-force' update settings, in which each + * environment model (i.e. each member of the Body + * objects that can be updated) is updated. + * \param bodyMap List of body objects used in the simulations. + * \return List of environment model updates, so that each updatable model is updated. + */ +std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > createFullEnvironmentUpdaterSettings( + const simulation_setup::NamedBodyMap& bodyMap ); + +//! Create environment updater from a list of propagation settings. +/*! +* Get environment updater from a list of propagation settings. +* \param propagatorSettings Object providing the full settings for the +* dynamics that are to be propagated. +* \param bodyMap List of body objects used in the simulations. +* \return Object that updates the environment in bodyMap, as per thhe +* requirements set by propagatorSettings. +*/ +template< typename StateScalarType, typename TimeType > +boost::shared_ptr< propagators::EnvironmentUpdater< StateScalarType, TimeType > > +createEnvironmentUpdaterForDynamicalEquations( + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + // Create environment update settings. + std::map< IntegratedStateType, + std::vector< std::pair< std::string, std::string > > >integratedTypeAndBodyList = + getIntegratedTypeAndBodyList< StateScalarType >( propagatorSettings ); + std::map< propagators::EnvironmentModelsToUpdate, + std::vector< std::string > > environmentModelsToUpdate = + createEnvironmentUpdaterSettings< StateScalarType >( propagatorSettings, bodyMap ); + + // Create and return environment updater object. + return boost::make_shared< EnvironmentUpdater< StateScalarType, TimeType > >( + bodyMap, environmentModelsToUpdate, integratedTypeAndBodyList ); +} + +} // namespace propagators + +} // namespace tudat + +#endif // TUDAT_CREATEENVIRONMENTUPDATER_H diff --git a/Tudat/Astrodynamics/Propagators/createStateDerivativeModel.h b/Tudat/Astrodynamics/Propagators/createStateDerivativeModel.h new file mode 100644 index 0000000000..cf962a2cac --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/createStateDerivativeModel.h @@ -0,0 +1,214 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATESTATEDERIVATIVEMODEL_H +#define TUDAT_CREATESTATEDERIVATIVEMODEL_H + +#include "Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h" +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" +#include "Tudat/Astrodynamics/Propagators/nBodyCowellStateDerivative.h" +#include "Tudat/SimulationSetup/body.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Function to create object handling frame origin transformations during numerical integration +/*! + * Function to create object handling frame origin transformations during numerical integration + * (needed by NBodyStateDerivative). + * \param centralBodies Names of central bodies, belonging to the + * entries in the bodiesToIntegrate vector of same index. + * \param bodiesToIntegrate Names of bodies that are to be integrated numerically. + * \param bodyMap List of body objects used in simulation. + * \return Object handling frame origin transformations during numerical integration + */ +template< typename StateScalarType, typename TimeType > +boost::shared_ptr< CentralBodyData< StateScalarType, TimeType > > createCentralBodyData( + const std::vector< std::string >& centralBodies, + const std::vector< std::string >& bodiesToIntegrate, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + + // Check whether the bodies that are to e integrated exist in bodyMap + for( unsigned int i = 0; i < bodiesToIntegrate.size( ); i++ ) + { + if( bodyMap.count( bodiesToIntegrate.at( i ) ) == 0 ) + { + throw std::runtime_error( + "Warning when creating CentralBodyData, body " + bodiesToIntegrate.at( i ) + + " not present in provided body map." ); + } + } + + std::vector< std::string > centralBodiesToUse; + // Generate central body data for requested settings; if no + // central bodies provided, get inertial SSB as central body + if( centralBodies.size( ) == 0 ) + { + for( unsigned int i = 0; i < bodiesToIntegrate.size( ); i++ ) + { + centralBodiesToUse.push_back( "SSB" ); + } + } + else + { + centralBodiesToUse = centralBodies; + } + + std::map< std::string, boost::function< Eigen::Matrix< StateScalarType, 6, 1 > + ( const TimeType ) > > bodyStateFunctions; + + // Retrieve frame origin state functions + for( unsigned int i = 0; i < centralBodiesToUse.size( ); i++ ) + { + if( centralBodiesToUse.at( i ) != "SSB" ) + { + bodyStateFunctions[ centralBodiesToUse.at( i ) ] = + boost::bind( &simulation_setup::Body::getTemplatedStateInBaseFrameFromEphemeris + < StateScalarType, TimeType >, + bodyMap.at( centralBodiesToUse.at( i ) ), _1 ); + } + else + { + bodyStateFunctions[ centralBodiesToUse.at( i ) ] = boost::lambda::constant( + Eigen::Matrix< StateScalarType, 6, 1 >::Zero( ) ); + } + } + return boost::make_shared< CentralBodyData< StateScalarType, TimeType > >( + centralBodiesToUse, bodiesToIntegrate, bodyStateFunctions ); +} + +//! Function to create a translational state derivative model. +/*! + * Function to create a translational state derivative model from + * propagation settings and environment. + * \param translationPropagatorSettings Settings for the translational dynamics model. + * \param bodyMap List of body objects in the environment + * \return Translational state derivative model (instance of derived class of NBodyStateDerivative) + */ +template< typename StateScalarType = double, typename TimeType = double > +boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > + createTranslationalStateDerivativeModel( + const boost::shared_ptr< TranslationalStatePropagatorSettings< StateScalarType > > + translationPropagatorSettings, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + + // Create object for frame origin transformations. + boost::shared_ptr< CentralBodyData< StateScalarType, TimeType > > centralBodyData = + createCentralBodyData< StateScalarType, TimeType >( + translationPropagatorSettings->centralBodies_, + translationPropagatorSettings->bodiesToIntegrate_, + bodyMap ); + + boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > stateDerivativeModel; + + // Check propagator type and create corresponding state derivative object. + switch( translationPropagatorSettings->propagator_ ) + { + case cowell: + { + stateDerivativeModel = boost::make_shared< + NBodyCowellStateDerivative< StateScalarType, TimeType > > + ( translationPropagatorSettings->accelerationsMap_, centralBodyData, + translationPropagatorSettings->bodiesToIntegrate_ ); + break; + } + default: + throw std::runtime_error( + "Error, did not recognize translational state propagation type: " + + boost::lexical_cast< std::string >( translationPropagatorSettings->propagator_ ) ); + } + return stateDerivativeModel; +} + +//! Function to create a state derivative model. +/*! + * Function to create a state derivative model from propagation settings and the environment. + * \param propagatorSettings Settings for the dynamical model. + * \param bodyMap List of body objects in the environment + * \return State derivative model (instance of required derived class of SingleStateTypeDerivative) + */ +template< typename StateScalarType = double, typename TimeType = double > +boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > + createStateDerivativeModel( + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > stateDerivativeModel; + + // Check dynamics type and call associated function to create + // specific type of state derivative model. + switch( propagatorSettings->stateType_ ) + { + case transational_state: + { + // Check input consistency. + boost::shared_ptr< TranslationalStatePropagatorSettings< StateScalarType > > + translationPropagatorSettings = + boost::dynamic_pointer_cast< + TranslationalStatePropagatorSettings< StateScalarType > >( propagatorSettings ); + if( translationPropagatorSettings == NULL ) + { + throw std::runtime_error( + "Error, expected translational state propagation settings when making state derivative model" ); + } + else + { + stateDerivativeModel = createTranslationalStateDerivativeModel< StateScalarType, TimeType >( + translationPropagatorSettings, bodyMap ); + } + break; + } + default: + throw std::runtime_error( + "Error, could not process state type " + + boost::lexical_cast< std::string >( propagatorSettings->stateType_ ) + + " when making state derivative model" ); + } + return stateDerivativeModel; +} + +//! Function to create a list of state derivative models. +/*! + * Function to create a list of state derivative models from + * propagation settings and the environment. + * \param propagatorSettings Settings for the dynamical model. + * \param bodyMap List of body objects in the environment + * \return List of state derivative models (instances of required + * derived class of SingleStateTypeDerivative) + */ +template< typename StateScalarType = double, typename TimeType = double > +std::vector< boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > > + createStateDerivativeModels( + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + std::vector< boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > > + stateDerivativeModels; + + // Check type of state derivative model and call associated create function. + switch( propagatorSettings->stateType_ ) + { + default: + stateDerivativeModels.push_back( createStateDerivativeModel< StateScalarType, TimeType >( + propagatorSettings, bodyMap ) ); + } + + return stateDerivativeModels; +} + +} // namespace propagators +} // namespace tudat + +#endif // TUDAT_CREATESTATEDERIVATIVEMODEL_H diff --git a/Tudat/Astrodynamics/Propagators/dynamicsSimulator.h b/Tudat/Astrodynamics/Propagators/dynamicsSimulator.h new file mode 100644 index 0000000000..806906d2b2 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/dynamicsSimulator.h @@ -0,0 +1,513 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_DYNAMICSSIMULATOR_H +#define TUDAT_DYNAMICSSIMULATOR_H + +#include +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" +#include "Tudat/Mathematics/NumericalIntegrators/rungeKuttaVariableStepSizeIntegrator.h" +#include "Tudat/Mathematics/NumericalIntegrators/rungeKuttaCoefficients.h" +#include "Tudat/Mathematics/Interpolators/cubicSplineInterpolator.h" + +#include "Tudat/Astrodynamics/Propagators/nBodyStateDerivative.h" +#include "Tudat/Astrodynamics/Ephemerides/frameManager.h" +#include "Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/orbitalElementConversions.h" +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/compositeEphemeris.h" +#include "Tudat/Astrodynamics/Propagators/nBodyCowellStateDerivative.h" +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" +#include "Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.h" +#include "Tudat/Astrodynamics/Propagators/integrateEquations.h" +#include "Tudat/Astrodynamics/Propagators/createStateDerivativeModel.h" +#include "Tudat/Astrodynamics/Propagators/createEnvironmentUpdater.h" +#include "Tudat/Astrodynamics/Propagators/dynamicsStateDerivativeModel.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Function to get the states of a set of bodies +/*! +* Function to get the states of a set of bodies, w.r.t. some set of +* central bodies, at the requested time. +* \param bodiesToIntegrate List of bodies for which to retrieve state. +* \param centralBodies Origins w.r.t. which to retrieve states of bodiesToIntegrate. +* \param bodyMap List of bodies to use in simulations. +* \param initialTime Time at which to retrieve states. +* \param frameManager OBject with which to calculate frame origin translations. +* \return Initial state vector (with 6 Cartesian elements per body, in +* order of bodiesToIntegrate vector). +*/ +template< typename TimeType = double, typename StateScalarType = double > +Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > getInitialStatesOfBodies( + const std::vector< std::string >& bodiesToIntegrate, + const std::vector< std::string >& centralBodies, + const simulation_setup::NamedBodyMap& bodyMap, + const TimeType initialTime, + const boost::shared_ptr< ephemerides::ReferenceFrameManager > frameManager ) +{ + // Set initial states of bodies to integrate. + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > systemInitialState = + Eigen::Matrix< StateScalarType, + Eigen::Dynamic, 1 >::Zero( bodiesToIntegrate.size( ) * 6, 1 ); + boost::shared_ptr< ephemerides::Ephemeris > ephemerisOfCurrentBody; + + // Iterate over all bodies. + for( unsigned int i = 0; i < bodiesToIntegrate.size( ) ; i++ ) + { + ephemerisOfCurrentBody = bodyMap.at( bodiesToIntegrate.at( i ) )->getEphemeris( ); + + // Get body initial state from ephemeris + systemInitialState.segment( i * 6 , 6 ) + = ephemerisOfCurrentBody->getTemplatedStateFromEphemeris< + StateScalarType, TimeType >( initialTime ); + + // Correct initial state if integration origin and ephemeris origin are not equal. + if( centralBodies.at( i ) != ephemerisOfCurrentBody->getReferenceFrameOrigin( ) ) + { + boost::shared_ptr< ephemerides::Ephemeris > correctionEphemeris + = frameManager->getEphemeris( ephemerisOfCurrentBody->getReferenceFrameOrigin( ), + centralBodies.at( i ) ); + systemInitialState.segment( i * 6 , 6 ) + -= correctionEphemeris->getTemplatedStateFromEphemeris< + StateScalarType, TimeType >( initialTime ); + } + } + return systemInitialState; +} + +//! Function to get the states of a set of bodies +/*! +* Function to get the states of a set of bodies, w.r.t. some set of +* central bodies, at the requested time, creates +* frameManager from input data. +* \param bodiesToIntegrate List of bodies for which to retrieve state. +* \param centralBodies Origins w.r.t. which to retrieve states of bodiesToIntegrate. +* \param bodyMap List of bodies to use in simulations. +* \param initialTime Time at which to retrieve states. +* \return Initial state vector (with 6 Cartesian elements per body, in +* order of bodiesToIntegrate vector). +*/ +template< typename TimeType = double, typename StateScalarType = double > +Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > getInitialStatesOfBodies( + const std::vector< std::string >& bodiesToIntegrate, + const std::vector< std::string >& centralBodies, + const simulation_setup::NamedBodyMap& bodyMap, + const TimeType initialTime ) +{ + // Create ReferenceFrameManager and call overloaded function. + return getInitialStatesOfBodies( bodiesToIntegrate, centralBodies, bodyMap, initialTime, + boost::make_shared< ephemerides::ReferenceFrameManager > + ( bodyMap ) ); +} + +//! Function to get the states of bodyToIntegrate +/*! +* Function to get the states of single, w.r.t. some set of central +* body, at the requested time., creates +* frameManager from input data. +* \param bodyToIntegrate Bodies for which to retrieve state +* \param centralBody Origins w.r.t. which to retrieve state of bodyToIntegrate. +* \param bodyMap List of bodies to use in simulations. +* \param initialTime Time at which to retrieve states. +* \return Initial state vector of bodyToIntegrate +*/ +template< typename TimeType = double, typename StateScalarType = double > +Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > getInitialStateOfBody( + const std::string& bodyToIntegrate, + const std::string& centralBody, + const simulation_setup::NamedBodyMap& bodyMap, + const TimeType initialTime ) +{ + return getInitialStatesOfBodies< TimeType, StateScalarType >( + boost::assign::list_of( bodyToIntegrate ), boost::assign::list_of( centralBody ), + bodyMap, initialTime ); +} + +//! Base class for performing full numerical integration of a dynamical system. +/*! + * Base class for performing full numerical integration of a + * dynamical system. Governing equations are set once, + * but can be re-integrated for different initial conditions using the same instance of the class. + * Derived classes define the specific kind of integration that is performed + * (single-arc/multi-arc; dynamics/variational equations, etc.) + */ +template< typename StateScalarType = double, typename TimeType = double > +class DynamicsSimulator +{ +public: + + //! Constructor of simulator. + /*! + * Constructor of simulator, constructs integrator and object for + * calculating each time step of integration. + * \param bodyMap Map of bodies (with names) of all bodies in integration. + * \param integratorSettings Settings for numerical integrator. + * \param propagatorSettings Settings for propagator. + * \param clearNumericalSolutions Boolean to determine whether to + * clear the raw numerical solution member variables (default true) + * after propagation and resetting ephemerides. + * \param setIntegratedResult Boolean to determine whether to (default true). + * automatically use the integrated results to set ephemerides. + */ + DynamicsSimulator( + const simulation_setup::NamedBodyMap& bodyMap, + const boost::shared_ptr< numerical_integrators::IntegratorSettings< TimeType > > + integratorSettings, + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const bool clearNumericalSolutions = true, + const bool setIntegratedResult = true ): + bodyMap_( bodyMap ), integratorSettings_( integratorSettings ), + propagatorSettings_( propagatorSettings ), + clearNumericalSolutions_( clearNumericalSolutions ), + setIntegratedResult_( setIntegratedResult ) + { + frameManager_ = boost::make_shared< ephemerides::ReferenceFrameManager >( bodyMap ); + + if( setIntegratedResult ) + { + integratedStateProcessors_ = createIntegratedStateProcessors< TimeType, StateScalarType >( + propagatorSettings_, bodyMap_, frameManager_ ); + } + + environmentUpdater_ = createEnvironmentUpdaterForDynamicalEquations< StateScalarType, TimeType >( + propagatorSettings_, bodyMap_ ); + dynamicsStateDerivative_ = boost::make_shared< DynamicsStateDerivativeModel< TimeType, StateScalarType > >( + createStateDerivativeModels< StateScalarType, TimeType >( + propagatorSettings_, bodyMap_ ), environmentUpdater_ ); + stateDerivativeFunction_ = + boost::bind( &DynamicsStateDerivativeModel + < TimeType, StateScalarType >::computeStateDerivative, + dynamicsStateDerivative_, _1, _2 ); + } + + //! Virtual destructor + virtual ~DynamicsSimulator( ) { } + + //! This function numerically (re-)integrates the equations of motion. + /*! + * This function numerically (re-)integrates the equations of motion, using the settings set + * through the constructor and a new initial state vector provided here. The raw results are + * set in the equationsOfMotionNumericalSolution_ + * \param initialGlobalStates Initial state vector that is to be used for numerical + * integration. Note that this state should be in the correct frame (i.e. corresponding to + * centralBodies in propagatorSettings_), but not in the propagator-specific form (i.e Encke, + * Gauss, etc. for translational dynamics) + * \sa SingleStateTypeDerivative::convertToOutputSolution + */ + virtual void integrateEquationsOfMotion( + const Eigen::Matrix< StateScalarType, + Eigen::Dynamic, Eigen::Dynamic >& initialGlobalStates ) = 0; + + //! Function to get the settings for the numerical integrator. + /*! + * Function to get the settings for the numerical integrator. + * \return The settings for the numerical integrator. + */ + boost::shared_ptr< numerical_integrators::IntegratorSettings< TimeType > > + getIntegratorSettings( ) + { + return integratorSettings_; + } + + //! Function to get the function that performs a single state derivative function evaluation. + /*! + * Function to get the function that performs a single state derivative function evaluation. + * \return Function that performs a single state derivative function evaluation. + */ + boost::function< Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > + ( const TimeType, const Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic >&) > + getStateDerivativeFunction( ) + { + return stateDerivativeFunction_; + } + + //! Function to get the settings for the propagator. + /*! + * Function to get the settings for the propagator. + * \return The settings for the propagator. + */ + boost::shared_ptr< PropagatorSettings< StateScalarType > > getPropagatorSettings( ) + { + return propagatorSettings_; + } + + //! Function to get the object that updates the environment + /*! + * Function to get the object responsible for updating the environment based on the current + * state and time. + * \return Object resposible for updating the environment based on the current state and time. + */ + boost::shared_ptr< EnvironmentUpdater< StateScalarType, TimeType > > getEnvironmentUpdater( ) + { + return environmentUpdater_; + } + + //! Function to get the object that updates and returns state derivative + /*! + * Function to get the object that updates current environment and returns state derivative from + * single function call. + * \return Object that updates current environment and returns state derivative from single + * function call + */ + boost::shared_ptr< DynamicsStateDerivativeModel< TimeType, StateScalarType > > + getDynamicsStateDerivative( ) + { + return dynamicsStateDerivative_; + } + + //! Function to get the map of named bodies involved in simulation. + /*! + * Function to get the map of named bodies involved in simulation. + * \return Map of named bodies involved in simulation. + */ + simulation_setup::NamedBodyMap getNamedBodyMap( ) + { + return bodyMap_; + } + +protected: + + //! This function updates the environment with the numerical solution of the propagation. + /*! + * This function updates the environment with the numerical solution of the propagation. For + * instance, it sets the propagated translational dynamics solution as the new input for the + * Ephemeris object of the body that was propagated. This function is pure virtual and must be + * implemented in the derived class. + */ + virtual void processNumericalEquationsOfMotionSolution( ) = 0; + + //! List of object (per dynamics type) that process the integrated numerical solution by + //! updating the environment + std::map< IntegratedStateType, std::vector< boost::shared_ptr< + IntegratedStateProcessor< TimeType, StateScalarType > > > > integratedStateProcessors_; + + //! Object responsible for updating the environment based on the current state and time. + /*! + + * Object responsible for updating the environment based on the current state and time. Calling + * the updateEnvironment function automatically updates all dependent variables that are needed + * to calulate the state derivative. + */ + boost::shared_ptr< EnvironmentUpdater< StateScalarType, TimeType > > environmentUpdater_; + + //! Interface object that updates current environment and returns state derivative from single + //! function call. + boost::shared_ptr< DynamicsStateDerivativeModel< TimeType, StateScalarType > > + dynamicsStateDerivative_; + + //! Function that performs a single state derivative function evaluation. + /*! + * Function that performs a single state derivative function evaluation, will typically be set + * to DynamicsStateDerivativeModel< TimeType, StateScalarType >::computeStateDerivative + * function. Calling this function will first update the environment (using + * environmentUpdater_) and then calculate the full system state derivative. + */ + boost::function< Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > + ( const TimeType, const Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic >& ) > + stateDerivativeFunction_; + + + //! Map of bodies (with names) of all bodies in integration. + simulation_setup::NamedBodyMap bodyMap_; + + //! Settings for numerical integrator. + boost::shared_ptr< numerical_integrators::IntegratorSettings< TimeType > > integratorSettings_; + + //! Settings for propagator. + boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings_; + + //! Object for retrieving ephemerides for transformation of reference frame (origins) + boost::shared_ptr< ephemerides::ReferenceFrameManager > frameManager_; + + //! Boolean to determine whether to clear the raw numerical solution member variables after + //! propagation and resetting ephemerides. + bool clearNumericalSolutions_; + + //! Boolean to determine whether to automatically use the integrated results to set ephemerides. + bool setIntegratedResult_; + + +}; + +//! Class for performing full numerical integration of a dynamical system in a single arc.. +/*! + * Class for performing full numerical integration of a dynamical system in a single arc, i.e. the + * equations of motion have a single initial time, and are propagated once for the full prescribed + * time interval. This is in contrast to multi-arc dynamics, where the time interval si cut into + * pieces. In this class, the governing equations are set once, but can be re-integrated for + * different initial conditions using the same instance of the class. + */ +template< typename StateScalarType = double, typename TimeType = double > +class SingleArcDynamicsSimulator: public DynamicsSimulator< StateScalarType, TimeType > +{ + +public: + + using DynamicsSimulator< StateScalarType, TimeType >::bodyMap_; + using DynamicsSimulator< StateScalarType, TimeType >::environmentUpdater_; + using DynamicsSimulator< StateScalarType, TimeType >::dynamicsStateDerivative_; + using DynamicsSimulator< StateScalarType, TimeType >::clearNumericalSolutions_; + using DynamicsSimulator< StateScalarType, TimeType >::stateDerivativeFunction_; + using DynamicsSimulator< StateScalarType, TimeType >::integratorSettings_; + using DynamicsSimulator< StateScalarType, TimeType >::propagatorSettings_; + using DynamicsSimulator< StateScalarType, TimeType >::integratedStateProcessors_; + + + //! Constructor of simulator. + /*! + * Constructor of simulator, constructs integrator and object for calculating each time step of + * integration. + * \param bodyMap Map of bodies (with names) of all bodies in integration. + * \param integratorSettings Settings for numerical integrator. + * \param propagatorSettings Settings for propagator. + * \param areEquationsOfMotionToBeIntegrated Boolean to denote whether equations of motion + * should be integrated immediately at the end of the contructor or not. + * \param clearNumericalSolutions Boolean to determine whether to clear the raw numerical + * solution member variables after propagation and resetting ephemerides. + * \param setIntegratedResult Boolean to determine whether to automatically use the integrated + * results to set ephemerides. + */ + SingleArcDynamicsSimulator( + const simulation_setup::NamedBodyMap& bodyMap, + const boost::shared_ptr< numerical_integrators::IntegratorSettings< TimeType > > + integratorSettings, + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const bool areEquationsOfMotionToBeIntegrated = true, + const bool clearNumericalSolutions = true, + const bool setIntegratedResult = true ): + DynamicsSimulator< StateScalarType, TimeType >( + bodyMap, integratorSettings, propagatorSettings, clearNumericalSolutions, + setIntegratedResult ) + { + // Integrate equations of motion if required. + if( areEquationsOfMotionToBeIntegrated ) + { + integrateEquationsOfMotion( propagatorSettings_->getInitialStates( ) ); + } + } + + //! Destructor + ~SingleArcDynamicsSimulator( ) + { } + + //! This function numerically (re-)integrates the equations of motion. + /*! + * This function numerically (re-)integrates the equations of motion, using the settings set + * through the constructor and a new initial state vector provided here. The raw results are + * set in the equationsOfMotionNumericalSolution_ + * \param initialStates Initial state vector that is to be used for numerical integration. Note + * that this state should be in the correct frame (i.e. corresponding to centralBodies in + * propagatorSettings_), but not in the propagator- specific form (i.e Encke, Gauss, etc. for + * translational dynamics) + * \sa SingleStateTypeDerivative::convertToOutputSolution + */ + void integrateEquationsOfMotion( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic >& initialStates ) + { + + equationsOfMotionNumericalSolution_.clear( ); + + dynamicsStateDerivative_->setPropagationSettings( std::vector< IntegratedStateType >( ), 1 ); + + // Integrate equations of motion numerically. + equationsOfMotionNumericalSolution_ = + integrateEquations< Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >, TimeType >( + stateDerivativeFunction_, dynamicsStateDerivative_->convertFromOutputSolution( + initialStates, integratorSettings_->initialTime_ ), integratorSettings_ ); + equationsOfMotionNumericalSolution_ = dynamicsStateDerivative_-> + convertNumericalStateSolutionsToOutputSolutions( equationsOfMotionNumericalSolution_ ); + + if( this->setIntegratedResult_ ) + { + processNumericalEquationsOfMotionSolution( ); + } + } + + //! Function to return the map of state history of numerically integrated bodies. + /*! + * Function to return the map of state history of numerically integrated bodies. + * \return Map of state history of numerically integrated bodies. + */ + std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > + getEquationsOfMotionNumericalSolution( ) + { + return equationsOfMotionNumericalSolution_; + } + + //! Function to reset the environment from an externally generated state history. + /*! + * Function to reset the environment from an externally generated state history, the order of + * the entries in the state vectors are proscribed by propagatorSettings + * \param equationsOfMotionNumericalSolution Externally generated state history. + */ + void manuallySetAndProcessRawNumericalEquationsOfMotionSolution( + const std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + equationsOfMotionNumericalSolution ) + { + equationsOfMotionNumericalSolution_ = equationsOfMotionNumericalSolution; + processNumericalEquationsOfMotionSolution( ); + } + +protected: + + + //! This function updates the environment with the numerical solution of the propagation. + /*! + * This function updates the environment with the numerical solution of the propagation. It + * sets the propagated translational dynamics solution as the new input for the Ephemeris + * object of the body that was propagated. + */ + void processNumericalEquationsOfMotionSolution( ) + { + // Create and set interpolators for ephemerides + resetIntegratedStates( equationsOfMotionNumericalSolution_, integratedStateProcessors_ ); + + + // Clear numerical solution if so required. + if( clearNumericalSolutions_ ) + { + equationsOfMotionNumericalSolution_.clear( ); + } + + for( std::map< std::string, boost::shared_ptr< simulation_setup::Body > >::const_iterator + bodyIterator = bodyMap_.begin( ); + bodyIterator != bodyMap_.end( ); bodyIterator++ ) + { + bodyIterator->second->updateConstantEphemerisDependentMemberQuantities( ); + } + } + + //! Map of state history of numerically integrated bodies. + /*! + * Map of state history of numerically integrated bodies, i.e. the result of the numerical + * integration, transformed into the 'conventional form' (\sa + * SingleStateTypeDerivative::convertToOutputSolution). Key of map denotes time, values are + * concatenated vectors of integrated body states (order defined by propagatorSettings_). + * + * NOTE: this map is empty if clearNumericalSolutions_ is set to true. + */ + std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > + equationsOfMotionNumericalSolution_; +}; + +} // namespace propagators + +} // namespace tudat + + +#endif // TUDAT_DYNAMICSSIMULATOR_H diff --git a/Tudat/Astrodynamics/Propagators/dynamicsStateDerivativeModel.h b/Tudat/Astrodynamics/Propagators/dynamicsStateDerivativeModel.h new file mode 100644 index 0000000000..21048f4236 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/dynamicsStateDerivativeModel.h @@ -0,0 +1,420 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_DYNAMICSSTATEDERIVATIVEMODEL_H +#define TUDAT_DYNAMICSSTATEDERIVATIVEMODEL_H + + +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include "Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h" +#include "Tudat/Astrodynamics/Propagators/environmentUpdater.h" + +namespace tudat +{ +namespace propagators +{ + +//! Top-level class responsible for single complete function evaluation of dynamics state derivative. +/*! + * Top-level class responsible for single complete function evaluation of dynamics state + * derivative. This class contains both the EnvironmentUpdater and list of + * SingleStateTypeDerivative derived classes that define the full state derivative function, which + * fully evaluated by calling the computeStateDerivative function. + */ +template< typename TimeType = double, typename StateScalarType = double > +class DynamicsStateDerivativeModel +{ +public: + + typedef Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > StateType; + typedef std::map< IntegratedStateType, std::vector< boost::shared_ptr + < SingleStateTypeDerivative< StateScalarType, TimeType > > > > StateDerivativeCalculatorList; + + //! Derivative model constructor. + /*! + * Derivative model constructor. Takes state derivative model and environment + * updater. Constructor checks whether all models use the same environment updater. + * \param stateDerivativeModels Vector of state derivative models, with one entry for each type + * of dynamical equation. + * \param environmentUpdater Object which is used to update time-dependent environment models + * to current time and state, + * must be consistent with member environment updaters of stateDerivativeModels entries. + */ + DynamicsStateDerivativeModel( + const std::vector< boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > > + stateDerivativeModels, + const boost::shared_ptr< EnvironmentUpdater< StateScalarType, TimeType > > environmentUpdater ): + environmentUpdater_( environmentUpdater ) + { + std::vector< IntegratedStateType > stateTypeList; + totalStateSize_ = 0; + + // Iterate over vector of state derivative models, check validity, set member variable map + // stateDerivativeModels_ and size indices. + for( unsigned int i = 0; i < stateDerivativeModels.size( ); i++ ) + { + if( i > 0 ) + { + if( ( std::find( stateTypeList.begin( ), stateTypeList.end( ), + stateDerivativeModels.at( i )->getIntegratedStateType( ) ) + != stateTypeList.end( ) ) + && ( stateDerivativeModels.at( i )->getIntegratedStateType( ) + != stateDerivativeModels.at( i - 1 )->getIntegratedStateType( ) ) ) + { + throw std::runtime_error( "Warning when making hybrid state derivative models, state type " + + boost::lexical_cast< std::string >( stateDerivativeModels.at( i )->getIntegratedStateType( ) ) + + " entries are non-contiguous" ); + } + } + + // Check uniqueness of state derivative type calculator in list + if( std::find( stateTypeList.begin( ), stateTypeList.end( ), + stateDerivativeModels.at( i )->getIntegratedStateType( ) ) == stateTypeList.end( ) ) + { + stateTypeSize_[ stateDerivativeModels.at( i )->getIntegratedStateType( ) ] = 0; + stateTypeStartIndex_[ stateDerivativeModels.at( i )->getIntegratedStateType( ) ] + = totalStateSize_; + } + stateTypeList.push_back( stateDerivativeModels.at( i )->getIntegratedStateType( ) ); + + // Set state part sizes + stateIndices_[ stateDerivativeModels.at( i )->getIntegratedStateType( ) ].push_back( + std::make_pair( totalStateSize_, stateDerivativeModels.at( i )->getStateSize( ) ) ); + totalStateSize_ += stateDerivativeModels.at( i )->getStateSize( ); + + stateTypeSize_[ stateDerivativeModels.at( i )->getIntegratedStateType( ) ] += + stateDerivativeModels.at( i )->getStateSize( ); + + // Set current model in member map. + stateDerivativeModels_[ stateDerivativeModels.at( i )->getIntegratedStateType( ) ].push_back( + stateDerivativeModels.at( i ) ); + } + } + + + //! Function to calculate the system state derivative + /*! + * Function to calculate the system state derivative, with settings as by last call to + * setPropagationSettings function. Dimensions of state must be consistent with these + * settings. Depending on the settings, this function may calculate the dynamical equations + * and/or variational equations for a subset of the dynamical equation types that are set in + * the stateDerivativeModels_ map. + * \param time Current time. + * \param state Current complete state. + * \return Calculated state derivative. + */ + StateType computeStateDerivative( const TimeType time, const StateType& state ) + { + // Initialize state derivative + StateType stateDerivative = StateType::Zero( state.rows( ), state.cols( ) ); + + // If dynamical equations are integrated, update the environment with the current state. + if( evaluateDynamicsEquations_ ) + { + std::map< IntegratedStateType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > + statesPerTypeInConventionalRepresentation = + convertCurrentStateToGlobalRepresentationPerType( state, time ); + environmentUpdater_->updateEnvironment( time, statesPerTypeInConventionalRepresentation, + integratedStatesFromEnvironment_ ); + } + else + { + environmentUpdater_->updateEnvironment( + time, std::map< IntegratedStateType, + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >( ), + integratedStatesFromEnvironment_ ); + } + + // If dynamical equations are integrated, evaluate dynamics state derivatives. + std::pair< int, int > currentIndices; + if( evaluateDynamicsEquations_ ) + { + // Iterate over all types of equations. + for( stateDerivativeModelsIterator_ = stateDerivativeModels_.begin( ); + stateDerivativeModelsIterator_ != stateDerivativeModels_.end( ); + stateDerivativeModelsIterator_++ ) + + { + for( unsigned int i = 0; i < stateDerivativeModelsIterator_->second.size( ); i++ ) + { + // Update state derivative models + stateDerivativeModelsIterator_->second.at( i )->updateStateDerivativeModel( time ); + + // Evaluate and set current dynamical state derivative + currentIndices = stateIndices_.at( stateDerivativeModelsIterator_->first ).at( i ); + + stateDerivativeModelsIterator_->second.at( i )->calculateSystemStateDerivative( + time, state.block( currentIndices.first, dynamicsStartColumn_, + currentIndices.second, 1 ) ); + + stateDerivative.block( currentIndices.first, dynamicsStartColumn_, + currentIndices.second, 1 ) = + stateDerivativeModelsIterator_->second.at( i )->calculateSystemStateDerivative( + time, state.block( currentIndices.first, dynamicsStartColumn_, + currentIndices.second, 1 ) ); + } + } + } + + return stateDerivative; + } + + + //! Function to convert the state in the conventional form to the propagator-specific form. + /*! + * Function to convert the state in the conventional form to the propagator-specific form. The + * conventional form is one that is typically used to represent the current state in the + * environment (e.g. Body class). For translational dynamics this is the Cartesian position and + * velocity). + * \param outputState State in 'conventional form' + * \param time Current time at which the state is valid. + * \return State (outputState), converted to the 'propagator-specific form' + */ + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > convertFromOutputSolution( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >& outputState, + const TimeType& time ) + { + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > internalState = + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >::Zero( outputState.rows( ), 1 ); + + // Iterate over all state derivative models and convert associated state entries + for( stateDerivativeModelsIterator_ = stateDerivativeModels_.begin( ); + stateDerivativeModelsIterator_ != stateDerivativeModels_.end( ); + stateDerivativeModelsIterator_++ ) + { + std::vector< std::pair< int, int > > currentStateIndices = + stateIndices_.at( stateDerivativeModelsIterator_->first ); + for( unsigned int i = 0; i < stateDerivativeModelsIterator_->second.size( ); i++ ) + { + internalState.segment( currentStateIndices.at( i ).first, + currentStateIndices.at( i ).second ) = + stateDerivativeModelsIterator_->second.at( i )->convertFromOutputSolution( + outputState.segment( currentStateIndices.at( i ).first, + currentStateIndices.at( i ).second ), + time ); + } + } + return internalState; + } + + //! Function to convert the propagator-specific form of the state to the conventional form. + /*! + * Function to convert the propagator-specific form of the state to the conventional form. The + * conventional form is one that is typically used to represent the current state in the + * environment (e.g. Body class). For translational dynamics this is the Cartesian position and + * velocity). In contrast to the convertCurrentStateToGlobalRepresentation function, this + * function does not provide the state in the inertial frame, but instead provides it in the + * frame in which it is propagated. \param internalSolution State in propagator-specific form + * (i.e. form that is used in numerical integration). + * \param time Current time at which the state is valid. + * \return State (internalSolution), converted to the 'conventional form' + */ + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > convertToOutputSolution( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >& internalSolution, + const TimeType& time ) + { + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > outputState = + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >::Zero( internalSolution.rows( ), 1 ); + + // Iterate over all state derivative models and convert associated state entries + for( stateDerivativeModelsIterator_ = stateDerivativeModels_.begin( ); + stateDerivativeModelsIterator_ != stateDerivativeModels_.end( ); + stateDerivativeModelsIterator_++ ) + { + std::vector< std::pair< int, int > > currentStateIndices = stateIndices_.at( + stateDerivativeModelsIterator_->first ); + for( unsigned int i = 0; i < stateDerivativeModelsIterator_->second.size( ); i++ ) + { + outputState.segment( currentStateIndices.at( i ).first, + currentStateIndices.at( i ).second ) = + stateDerivativeModelsIterator_->second.at( i )->convertToOutputSolution( + internalSolution.segment( + currentStateIndices.at( i ).first, + currentStateIndices.at( i ).second ), time ); + } + } + return outputState; + } + + //! Function to convert a state history from propagator-specific form to the conventional form. + /*! + * Function to convert a state history from propagator-specific form to the conventional form + * (not necessarily in inertial frame). + * \sa DynamicsStateDerivativeModel::convertToOutputSolution + * \param rawSolution State history in propagator-specific form (i.e. form that is used in + * numerical integration). + * \return State history (rawSolution), converted to the 'conventional form' + */ + std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > + convertNumericalStateSolutionsToOutputSolutions( + const std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& rawSolution ) + { + // Initialize converted solution. + std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > convertedSolution; + + // Iterate over all times. + for( typename std::map< TimeType, Eigen::Matrix< StateScalarType, + Eigen::Dynamic, 1 > >::const_iterator + stateIterator = rawSolution.begin( ); stateIterator != rawSolution.end( ); stateIterator++ ) + { + // Convert solution at this time to output (Cartesian with propagation origin frame for + // translational dynamics) solution + convertedSolution[ stateIterator->first ] = + convertToOutputSolution( stateIterator->second, stateIterator->first ); + } + return convertedSolution; + } + + //! Function to set which segments of the full state to propagate + /*! + * Function to set which segments of the full state to propagate, i.e. whether to propagate the + * variational/dynamical equations, and which types of the dynamics to propagate. + * \param stateTypesToNotIntegrate Types of dynamics to propagate + * \param evaluateDynamicsEquations Boolean to denote whether the dynamical equations are to be + * propagated or not + */ + void setPropagationSettings( + const std::vector< IntegratedStateType >& stateTypesToNotIntegrate, + const bool evaluateDynamicsEquations ) + { + integratedStatesFromEnvironment_ = stateTypesToNotIntegrate; + evaluateDynamicsEquations_ = evaluateDynamicsEquations; + dynamicsStartColumn_ = 0; + } + + //! Function to get complete list of state derivative models, sorted per state type. + /*! + * Function to get complete list of state derivative models, sorted per state type. + * \return Complete list of state derivative models, sorted per state type. + */ + std::map< IntegratedStateType, std::vector< boost::shared_ptr + < SingleStateTypeDerivative< StateScalarType, TimeType > > > > getStateDerivativeModels( ) + { + return stateDerivativeModels_; + } + + //! Function to get state start index per state type in the complete state vector. + /*! + * Function to get state start index per state type in the complete state vector. + * \return State start index per state type in the complete state vector. + */ + std::map< IntegratedStateType, int > getStateTypeStartIndices( ) + { + return stateTypeStartIndex_; + } + +private: + + //! Function to convert the to the conventional form in the global frame per dynamics type. + /*! + * Function to convert the propagator-specific form of the state to the conventional form in the + * global frame, split by dynamics type. The conventional form is one that is typically used to + * represent the current state in the environment (e.g. Body class). For translational dynamics + * this is the Cartesian position and velocity). The inertial frame is typically the barycenter + * with J2000/ECLIPJ2000 orientation, but may differ depending on simulation settings. + * \param state State in propagator-specific form (i.e. form that is used in numerical integration). + * \param time Current time at which the state is valid. + * \return State (state), converted to the 'conventional form' in inertial coordinates, + * that can for instance be set directly in the body object. + */ + std::map< IntegratedStateType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > + convertCurrentStateToGlobalRepresentationPerType( const StateType& state, const TimeType& time ) + { + int startColumn = 0; + + std::map< IntegratedStateType, + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > > splitConventionalStates; + + std::pair< int, int > currentIndices; + + // Iterate over all state derivative models + for( stateDerivativeModelsIterator_ = stateDerivativeModels_.begin( ); + stateDerivativeModelsIterator_ != stateDerivativeModels_.end( ); + stateDerivativeModelsIterator_++ ) + { + splitConventionalStates[ stateDerivativeModelsIterator_->first ] = + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >::Zero( + stateTypeSize_.at( stateDerivativeModelsIterator_->first ), 1 ); + int currentStateTypeSize = 0; + + // Iterate over all state derivative models of current type + for( unsigned int i = 0; i < stateDerivativeModelsIterator_->second.size( ); i++ ) + { + // Get state block indices of current state derivative model + currentIndices = stateIndices_.at( stateDerivativeModelsIterator_->first ).at( i ); + + // Set current block in split state (in global form) + splitConventionalStates[ stateDerivativeModelsIterator_->first ].block( + currentStateTypeSize, 0, currentIndices.second, 1 ) = + stateDerivativeModelsIterator_->second.at( i ) + ->convertCurrentStateToGlobalRepresentation( + state.block( currentIndices.first, startColumn, + currentIndices.second, 1 ), time ); + currentStateTypeSize += currentIndices.second; + } + } + return splitConventionalStates; + } + + //! Object used to update the environment to the current state and time. + boost::shared_ptr< EnvironmentUpdater< StateScalarType, TimeType > > environmentUpdater_; + + //! Map that denotes for each state derivative model the start index and size of the associated + //! state in the full state vector. + std::map< IntegratedStateType, std::vector< std::pair< int, int > > > stateIndices_; + + //! State size per state type in the complete state vector. + std::map< IntegratedStateType, int > stateTypeSize_; + + //! State start index per state type in the complete state vector. + std::map< IntegratedStateType, int > stateTypeStartIndex_; + + //! Complete list of state derivative models, sorted per state type. + std::map< IntegratedStateType, + std::vector< boost::shared_ptr< SingleStateTypeDerivative< StateScalarType, TimeType > > > > + stateDerivativeModels_; + + //! Predefined iterator for computational efficiency. + typename std::map< IntegratedStateType, std::vector< boost::shared_ptr + < SingleStateTypeDerivative< StateScalarType, TimeType > > > >::iterator + stateDerivativeModelsIterator_; + + //! Total length of state vector. + int totalStateSize_; + + //! List of states that are not propagated in current numerical integration, i.e, for which + //! current state is taken from the environment. + std::vector< IntegratedStateType > integratedStatesFromEnvironment_; + + //! Boolean denoting whether the equations of motion are to be propagated or not. + bool evaluateDynamicsEquations_; + + //! Start index in propagated matrix of the equations of motion (=0 if variational equations are + //! not propagated). + int dynamicsStartColumn_; + + +}; + + +} // namespace propagators +} // namespace tudat + +#endif // TUDAT_DYNAMICSSTATEDERIVATIVEMODEL_H diff --git a/Tudat/Astrodynamics/Propagators/environmentUpdater.h b/Tudat/Astrodynamics/Propagators/environmentUpdater.h new file mode 100644 index 0000000000..52a7f02302 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/environmentUpdater.h @@ -0,0 +1,485 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_ENVIRONMENTUPDATER_H +#define TUDAT_ENVIRONMENTUPDATER_H + +#include +#include +#include + +#include +#include + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h" +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Enum defining types of environment model updates that can be done. +enum EnvironmentModelsToUpdate +{ + body_transational_state_update = 0, + body_rotational_state_update = 1, + body_mass_update = 2, + spherical_harmonic_gravity_field_update = 3, + vehicle_flight_conditions_update = 4, + radiation_pressure_interface_update = 5 +}; + +//! Class used to update the environment during numerical integration. +/*! + * Class used to update the environment during numerical integration. The class ensures that the + * current state of the numerical integration is properly set, and that all the environment models + * that are used during the numerical integration are updated to the current time and state in the + * correct order. + */ +template< typename StateScalarType, typename TimeType > +class EnvironmentUpdater +{ +public: + + //! Constructor + /*! + * Constructor, provides the required settings for updating the environment. + * \param bodyList List of body objects, this list encompasses all environment object in the + * simulation. + * \param updateSettings List of updates of the environment models that are required. + * The list defines per model type (key) the bodies for which this environment model should be + * updated (values) + * \param integratedStates This map provides the list of identifiers for the numerically + * integrated states. The type of integrated state (key) is defined for each reference + * (value). Note that for the numerical integration of translational motion, the entry + * in the pair will have a second entry that is empty (""), with the first entry defining + * the body that is integrated. + */ + EnvironmentUpdater( + const simulation_setup::NamedBodyMap& bodyList, + const std::map< EnvironmentModelsToUpdate, std::vector< std::string > >& updateSettings, + const std::map< IntegratedStateType, + std::vector< std::pair< std::string, std::string > > >& integratedStates = + ( std::map< IntegratedStateType, + std::vector< std::pair< std::string, std::string > > >( ) ) ): + bodyList_( bodyList ), integratedStates_( integratedStates ) + { + // Set update function to be evaluated as dependent variables of state and time during each + // integration time step. + setUpdateFunctions( updateSettings ); + } + + //! Function to update the environment to the current state and time. + /*! + * Function to update the environment to the current state and time. This function calls the + * dependent variable functions set by the setUpdateFunctions function. By default, the + * numerically integrated states are set in the environment first. This may be overridden by + * using the setIntegratedStatesFromEnvironment variable, which forces the function to ignore + * specific integrated states and update them from the existing environment models instead. + * \param currentTime Current time. + * \param integratedStatesToSet Current list of integrated states, with specific integrated + * states defined by integratedStates_ member variable. Note that these states must have been + * converted to the global state before input to this function, as is done by the + * convertCurrentStateToGlobalRepresentationPerType function of the DynamicsStateDerivativeModel. + * \param setIntegratedStatesFromEnvironment Integrated state types which are not to be used for + * updating the environment, but which are to be set from existing environment models instead. + */ + void updateEnvironment( + const TimeType currentTime, + const std::map< IntegratedStateType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + integratedStatesToSet, + const std::vector< IntegratedStateType >& setIntegratedStatesFromEnvironment = + std::vector< IntegratedStateType >( ) ) + { + // Check consistency of input. + if( integratedStatesToSet.size( ) + setIntegratedStatesFromEnvironment.size( ) != integratedStates_.size( ) ) + { + throw std::runtime_error( "Error when updating environment, input size is inconsistent " + + boost::lexical_cast< std::string >( integratedStatesToSet.size( ) ) + " " + + boost::lexical_cast< std::string >( setIntegratedStatesFromEnvironment.size( ) ) + + " " + boost::lexical_cast< std::string >( integratedStates_.size( ) ) ); + } + + // Set integrated state variables in environment. + setIntegratedStatesInEnvironment( integratedStatesToSet ); + + // Set current state from environment for override settings setIntegratedStatesFromEnvironment + setStatesFromEnvironment( setIntegratedStatesFromEnvironment, currentTime ); + + // Set states of bodies which are not numerically integrated . + for( outerCurrentStateFromEnvironmentIterator_ = currentStateFromEnvironmentList_.begin( ); + outerCurrentStateFromEnvironmentIterator_ != currentStateFromEnvironmentList_.end( ); + outerCurrentStateFromEnvironmentIterator_++ ) + { + for( currentStateFromEnvironmentIterator_ = outerCurrentStateFromEnvironmentIterator_->second.begin( ); + currentStateFromEnvironmentIterator_ != outerCurrentStateFromEnvironmentIterator_->second.end( ); + currentStateFromEnvironmentIterator_++ ) + { + currentStateFromEnvironmentIterator_->second( currentTime ); + } + } + + // Evaluate update functions (dependent variables of state and time) determined by setUpdateFunctions + for( updateFunctionIterator = updateFunctionList_.begin( ); + updateFunctionIterator != updateFunctionList_.end( ); + updateFunctionIterator++ ) + { + for( unsigned int i = 0; i < updateFunctionIterator->second.size( ); i++ ) + { + updateFunctionIterator->second.at( i ).second( ); + } + } + + // Evaluate time-dependent update functions (dependent variables of state and time) + // determined by setUpdateFunctions + for( updateTimeIterator = updateTimeFunctionList_.begin( ); + updateTimeIterator != updateTimeFunctionList_.end( ); + updateTimeIterator++ ) + { + for( unsigned int i = 0; i < updateTimeIterator->second.size( ); i++ ) + { + updateTimeIterator->second.at( i ).second( static_cast< double >( currentTime ) ); + } + } + } + +private: + + //! Function to set numerically integrated states in environment. + /*! + * Function to set numerically integrated states in environment. Note that these states must + * have been converted to the global state before input to this function, as is done by the + * convertCurrentStateToGlobalRepresentationPerType function of the + * DynamicsStateDerivativeModel. + * \param integratedStatesToSet Integrated states which are to be set in environment. + */ + void setIntegratedStatesInEnvironment( + const std::map< IntegratedStateType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + integratedStatesToSet ) + { + // Iterate over state types and set states in environment + for( typename std::map< IntegratedStateType, + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >::const_iterator + integratedStateIterator = integratedStatesToSet.begin( ); + integratedStateIterator != integratedStatesToSet.end( ); + integratedStateIterator++ ) + { + + switch( integratedStateIterator->first ) + { + case transational_state: + { + // Set translational states for bodies provided as input. + std::vector< std::pair< std::string, std::string > > bodiesWithIntegratedStates = + integratedStates_.at( transational_state ); + for( unsigned int i = 0; i < bodiesWithIntegratedStates.size( ); i++ ) + { + bodyList_[ bodiesWithIntegratedStates[ i ].first ] + ->template setTemplatedState< StateScalarType >( + integratedStateIterator->second.segment( i * 6, 6 ) ); + } + break; + }; + default: + throw std::runtime_error( "Error, could not find integrated state settings for " + + boost::lexical_cast< std::string >( integratedStateIterator->first ) ); + } + } + } + //! Function to explicitly use existing environment models to update current states of integrated bodies + /*! + * Function to explicitly use existing environment models to update current states of integrated + * bodies, overriding the numerically integrated states. + * \param statesToSet Integrated state types which are not to be used for updating the environment, + * but which are to be set from existing environment models instead. + * \param currentTime Time to which environment is to be updated. + */ + void setStatesFromEnvironment( + const std::vector< IntegratedStateType >& statesToSet, + const TimeType currentTime ) + { + // Iterate over selected state types. + for( unsigned int i = 0; i < statesToSet.size( ); i++ ) + { + switch( statesToSet.at( i ) ) + { + case transational_state: + { + // Iterate over all integrated translational states. + std::vector< std::pair< std::string, std::string > > bodiesWithIntegratedStates = + integratedStates_.at( transational_state ); + for( unsigned int i = 0; i < bodiesWithIntegratedStates.size( ); i++ ) + { + bodyList_[ bodiesWithIntegratedStates[ i ].first ]-> + template setTemplatedStateFromEphemeris< StateScalarType, TimeType >( currentTime ); + + } + break; + } + default: + throw std::runtime_error( "Error, could not find state settings for " + + boost::lexical_cast< std::string >( statesToSet.at( i ) ) ); + } + } + } + + //! Function to set the update functions for the environment from the required update settings. + /*! + * Function to set the update functions for the environment from the required update settings. + * \param updateSettings Settings for the environment updates. + */ + void setUpdateFunctions( const std::map< EnvironmentModelsToUpdate, + std::vector< std::string > >& updateSettings ) + { + // Iterate over all required updates and set associated update function in lists + for( std::map< EnvironmentModelsToUpdate, + std::vector< std::string > >::const_iterator updateIterator = + updateSettings.begin( ); updateIterator != updateSettings.end( ); updateIterator++ ) + { + // Get list of bodies for which current environment type is to be updated. + std::vector< std::string > currentBodies = updateIterator->second; + for( unsigned int i = 0; i < currentBodies.size( ); i++ ) + { + if( currentBodies.at( i ) != "" ) + { + // Check whether body exists + if( bodyList_.count( currentBodies.at( i ) ) == 0 ) + { + throw std::runtime_error( + "Error when setting environment update functions, could not find body " + + currentBodies.at( i ) ); + } + + // Find type of environment. + switch( updateIterator->first ) + { + + // If requested body is not propagated, add to list. + case body_transational_state_update: + { + bool addUpdate = 1; + + // Check if translational state is propagated + if( integratedStates_.count( transational_state ) > 0 ) + { + // Check if current body is propagated + std::pair< std::string, std::string > bodyToCheck + = std::make_pair( currentBodies.at( i ), "" ); + std::vector< std::pair< std::string, std::string > > integratedTranslationalStates + = integratedStates_.at( transational_state ); + if( std::find( integratedTranslationalStates.begin( ), + integratedTranslationalStates.end( ), + bodyToCheck ) != integratedTranslationalStates.end( ) ) + { + addUpdate = 0; + } + } + + // Add state update function to list. + if( addUpdate == 1 ) + { + boost::function< void( const TimeType ) > stateSetFunction = + boost::bind( + &simulation_setup::Body + ::setTemplatedStateFromEphemeris< StateScalarType, TimeType >, + bodyList_.at( currentBodies.at( i ) ), _1 ); + + currentStateFromEnvironmentList_[ body_transational_state_update ].insert( + std::make_pair( currentBodies.at( i ), stateSetFunction ) ); + } + break; + } + case body_rotational_state_update: + { + boost::shared_ptr< ephemerides::RotationalEphemeris > rotationalEphemeris = + bodyList_.at( currentBodies.at( i ) )->getRotationalEphemeris( ); + + // Check if rotational ephemeris exists + if( rotationalEphemeris != NULL ) + { + boost::function< void( const TimeType ) > rotationalStateSetFunction = + boost::bind( &simulation_setup::Body + ::setCurrentRotationalStateToLocalFrameFromEphemeris, + bodyList_.at( currentBodies.at( i ) ), _1 ); + currentStateFromEnvironmentList_[ body_rotational_state_update ].insert( + std::make_pair( currentBodies.at( i ), rotationalStateSetFunction ) ); + } + else + { + throw std::runtime_error( + "Request rotation update of " + currentBodies.at( i ) + + ", but body has no rotational ephemeris" ); + } + + break; + + } + case body_mass_update: + { + updateTimeFunctionList_[ body_mass_update ].push_back( + std::make_pair( currentBodies.at( i ), + boost::bind( &simulation_setup::Body::updateMass, + bodyList_.at( currentBodies.at( i ) ), _1 ) ) ); + break; + } + case spherical_harmonic_gravity_field_update: + { + + // Check if body has time-dependent sh field + boost::shared_ptr< gravitation::TimeDependentSphericalHarmonicsGravityField > + gravityField = boost::dynamic_pointer_cast + < gravitation::TimeDependentSphericalHarmonicsGravityField > + ( bodyList_.at( currentBodies.at( i ) )->getGravityFieldModel( ) ); + if( gravityField != NULL ) + { + updateTimeFunctionList_[ spherical_harmonic_gravity_field_update ].push_back( + std::make_pair( + currentBodies.at( i ), + boost::bind( &gravitation + ::TimeDependentSphericalHarmonicsGravityField + ::update, + gravityField, _1 ) ) ); + } + // If no sh field at all, throw eeror. + else if( boost::dynamic_pointer_cast< gravitation::SphericalHarmonicsGravityField > + ( bodyList_.at( currentBodies.at( i ) )->getGravityFieldModel( ) ) == NULL ) + { + throw std::runtime_error( "Request sh update of " + currentBodies.at( i ) + + ", but body has no sh model" ); + } + + break; + } + case vehicle_flight_conditions_update: + { + // Check if current body has flight conditions set. + if( bodyList_.at( currentBodies.at( i ) )->getFlightConditions( ) != NULL ) + { + // If vehicle has flight conditions, add flight conditions update + // function to update list. + updateTimeFunctionList_[ vehicle_flight_conditions_update ].push_back( + std::make_pair( + currentBodies.at( i ), boost::bind( + &aerodynamics::FlightConditions::updateConditions, + bodyList_.at( currentBodies.at( i ) ) + ->getFlightConditions( ), _1 ) ) ); + } + else + { + throw std::runtime_error( + "Request flight condition update of " + currentBodies.at( i ) + + ", but body has no flight conditions" ); + } + break; + } + + case radiation_pressure_interface_update: + { + // Get body radiation pressure interface(s) (one per source) + std::map< std::string, boost::shared_ptr< electro_magnetism + ::RadiationPressureInterface > > + radiationPressureInterfaces = + bodyList_.at( currentBodies.at( i ) )->getRadiationPressureInterfaces( ); + + if( radiationPressureInterfaces.size( ) == 0 ) + { + throw std::runtime_error( + "Request radiation pressure update of " + currentBodies.at( i ) + + ", but body has no radiation pressure interfaces" ); + } + else if( radiationPressureInterfaces.size( ) > 1 ) + { + std::cerr<<"Request radiation pressure update of "< > + ::iterator iterator = radiationPressureInterfaces.begin( ); + iterator != radiationPressureInterfaces.end( ); iterator++ ) + { + updateTimeFunctionList_[ radiation_pressure_interface_update ].push_back( + std::make_pair( currentBodies.at( i ), + boost::bind( + &electro_magnetism + ::RadiationPressureInterface + ::updateInterface, + iterator->second, _1 ) ) ); + } + break; + } + } + } + } + } + } + + //! List of body objects, this list encompasses all environment object in the simulation. + simulation_setup::NamedBodyMap bodyList_; + + + //! list of identifiers for the numerically integrated states + /*! + * This map provides the list of identifiers for the numerically + * integrated states. The type of integrated state (key) is defined for each reference + * (value). Note that for the numerical integration of translational motion, the entry + * in the pair will have a second entry that is empty (""), with the first entry defining + * the body that is integrated. + */ + std::map< IntegratedStateType, std::vector< std::pair< std::string, std::string > > > + integratedStates_; + + //! List of function to call for updating the state (i.e. translational, rotational, etc.) from + //! the environment. + std::map< EnvironmentModelsToUpdate, + std::multimap< std::string, boost::function< void( const TimeType ) > > > + currentStateFromEnvironmentList_; + + //! Predefined iterator for computational efficiency. + typename std::map< EnvironmentModelsToUpdate, + std::multimap< std::string, boost::function< void( const TimeType ) > > >::iterator + outerCurrentStateFromEnvironmentIterator_; + + //! Predefined iterator for computational efficiency. + typename std::multimap< std::string, + boost::function< void( const TimeType ) > >::iterator + currentStateFromEnvironmentIterator_; + + //! List of time-independent functions to call to update the environment. + std::map< EnvironmentModelsToUpdate, + std::vector< std::pair< std::string, boost::function< void( ) > > > > updateFunctionList_; + + //! Predefined iterator for computational efficiency. + std::map< EnvironmentModelsToUpdate, + std::vector< std::pair< std::string, boost::function< void( ) > > > >::iterator + updateFunctionIterator; + + //! List of time-dependent functions to call to update the environment. + std::map< EnvironmentModelsToUpdate, + std::vector< std::pair< std::string, boost::function< void( const double ) > > > > + updateTimeFunctionList_; + + //! Predefined iterator for computational efficiency. + std::map< EnvironmentModelsToUpdate, + std::vector< std::pair< std::string, boost::function< void( const double ) > > > >::iterator + updateTimeIterator; + + +}; + +} // namespace propagators + +} // namespace tudat + +#endif // TUDAT_ENVIRONMENTUPDATER_H diff --git a/Tudat/Astrodynamics/Propagators/integrateEquations.h b/Tudat/Astrodynamics/Propagators/integrateEquations.h new file mode 100644 index 0000000000..a71366cf57 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/integrateEquations.h @@ -0,0 +1,129 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_INTEGRATEEQUATIONS_H +#define TUDAT_INTEGRATEEQUATIONS_H + +#include +#include + +#include + +#include "Tudat/Mathematics/NumericalIntegrators/numericalIntegrator.h" + +#include "Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h" +#include "Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h" +#include "Tudat/Astrodynamics/Propagators/environmentUpdater.h" +#include "Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Function to numerically integrate a given first order differential equation +/*! + * Function to numerically integrate a given first order differential equation, with the state + * derivative a function of a single independent variable and the current state + * \param stateDerivativeFunction Function returning the state derivative from current time and state. + * \param initialState Initial state + * \param integratorSettings Settings for numerical integrator. + * \param printInterval Frequency with which to print progress to console (nan = never). + * \return History of numerical states (first of pair) and derivatives of states (second of pair) + * given as maps with time as key. + */ +template< typename StateType = Eigen::MatrixXd, typename TimeType = double > +std::map< TimeType, StateType > integrateEquations( + boost::function< StateType( const TimeType, const StateType&) > stateDerivativeFunction, + const StateType initialState, + boost::shared_ptr< numerical_integrators::IntegratorSettings< TimeType > > integratorSettings, + const TimeType printInterval = TUDAT_NAN ) +{ + using namespace tudat::numerical_integrators; + + + // Create numerical integrator. + boost::shared_ptr< NumericalIntegrator< TimeType, StateType, StateType > > integrator + = createIntegrator< TimeType, StateType >( stateDerivativeFunction, + initialState, integratorSettings ); + + // Get Initial state and time. + TimeType currentTime = integratorSettings->initialTime_; + StateType newState = initialState; + + // Initialization of numerical solutions for variational equations. + std::map< TimeType, StateType > solutionHistory; + solutionHistory[ currentTime ] = newState; + + // Check if numerical integration is forward or backwrd. + TimeType timeStepSign = 1.0L; + if( integratorSettings->initialTimeStep_ < 0.0 ) + { + timeStepSign = -1.0L; + } + + // Set initial time step and total integration time. + TimeType timeStep = integratorSettings->initialTimeStep_; + TimeType endTime = integratorSettings->endTime_; + TimeType previousTime = currentTime; + + // Perform first integration step. + newState = integrator->performIntegrationStep( timeStep ); + + currentTime = integrator->getCurrentIndependentVariable( ); + + timeStep = timeStepSign * integrator->getNextStepSize( ); + solutionHistory[ currentTime ] = newState; + + int printIndex = 0; + int printFrequency = integratorSettings->printFrequency_; + + // Perform numerical integration steps until end time reached. + while( timeStepSign * static_cast< TimeType >( currentTime ) + < timeStepSign * static_cast< TimeType >( endTime ) ) + { + previousTime = currentTime; + + // Perform integration step. + newState = integrator->performIntegrationStep( timeStep ); + currentTime = integrator->getCurrentIndependentVariable( ); + timeStep = timeStepSign * integrator->getNextStepSize( ); + + // Save integration result in map + printIndex++; + printIndex = printIndex % printFrequency; + if( printIndex == 0 ) + { + solutionHistory[ currentTime ] = newState; + } + + // Print solutions + if( printInterval == printInterval ) + { + if( ( static_cast( std::fabs( currentTime - integratorSettings->initialTime_ ) ) % + static_cast< int >( printInterval ) ) < + ( static_cast< int >( std::fabs( previousTime - integratorSettings->initialTime_ ) ) % + static_cast( printInterval ) ) ) + { + std::cout << "Current time and state in integration: " << std::setprecision( 10 ) << + timeStep << " " << currentTime << " " << newState.transpose( ) << std::endl; + } + } + } + + return solutionHistory; +} + +} // namespace propagators + +} // namespace tudat +#endif // TUDAT_INTEGRATEEQUATIONS_H diff --git a/Tudat/Astrodynamics/Propagators/nBodyCowellStateDerivative.h b/Tudat/Astrodynamics/Propagators/nBodyCowellStateDerivative.h new file mode 100644 index 0000000000..0b843ceebb --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/nBodyCowellStateDerivative.h @@ -0,0 +1,74 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_NBODYCOWELLSTATEDERIVATIVE_H +#define TUDAT_NBODYCOWELLSTATEDERIVATIVE_H + +#include "Tudat/Astrodynamics/Propagators/nBodyStateDerivative.h" + +namespace tudat +{ + +namespace propagators +{ + +template< typename StateScalarType = double, typename TimeType = double > +class NBodyCowellStateDerivative: public NBodyStateDerivative< StateScalarType, TimeType > +{ +public: + NBodyCowellStateDerivative( const basic_astrodynamics::AccelerationMap& accelerationModelsPerBody, + const boost::shared_ptr< CentralBodyData< StateScalarType, TimeType > > centralBodyData, + const std::vector< std::string >& bodiesToIntegrate ): + NBodyStateDerivative< StateScalarType, TimeType >( + accelerationModelsPerBody, centralBodyData, cowell, bodiesToIntegrate ){ } + + ~NBodyCowellStateDerivative( ){ } + + //! Calculates the state derivative of the translational motion of the system. + /*! + * Calculates the state derivative (velocity+acceleration of each body) of the translational + * motion of the system at the given time and position/velocity of bodies. + * \param time Time (TDB seconds since J2000) at which the system is to be updated. + * \param stateOfSystemToBeIntegrated List of 6 * bodiesToBeIntegratedNumerically_.size( ), + * containing Caartesian position/velocity of the bodies being integrated. The order of the + * values is defined by the order of bodies in bodiesToBeIntegratedNumerically_ + * \return Current state derivative (velocity+acceleration) of system of bodies integrated numerically. + */ + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > calculateSystemStateDerivative( + const TimeType time, + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >& stateOfSystemToBeIntegrated ) + { + return ( this->sumStateDerivativeContributions( + stateOfSystemToBeIntegrated.template cast< double >( ), + time ) ).template cast< StateScalarType >( ); + } + + Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > + convertFromOutputSolution( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, + Eigen::Dynamic >& cartesianSolution, const TimeType& time ) + { + return cartesianSolution; + } + + Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > + convertToOutputSolution( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, + Eigen::Dynamic >& internalSolution, const TimeType& time ) + { + return internalSolution; + } +}; + +} // namespace propagators + +} // namespace tudat + +#endif // TUDAT_NBODYCOWELLSTATEDERIVATIVE_H diff --git a/Tudat/Astrodynamics/Propagators/nBodyStateDerivative.h b/Tudat/Astrodynamics/Propagators/nBodyStateDerivative.h new file mode 100644 index 0000000000..11db5dc3c3 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/nBodyStateDerivative.h @@ -0,0 +1,293 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_NBODYSTATEDERIVATIVE_H +#define TUDAT_NBODYSTATEDERIVATIVE_H + +#include +#include +#include + +#include +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h" +#include "Tudat/Astrodynamics/Propagators/centralBodyData.h" +#include "Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h" +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" + + +namespace tudat +{ + +namespace propagators +{ + +//! State derivative for the translational dynamics of N bodies +/*! + * This class calculates the trabnslational state derivative of any + * number of bodies, each under the influence of any number of bodies, + * both from the set being integrated and otherwise. + */ +template< typename StateScalarType = double, typename TimeType = double > +class NBodyStateDerivative: public propagators::SingleStateTypeDerivative< StateScalarType, TimeType > +{ +public: + + using propagators::SingleStateTypeDerivative< StateScalarType, TimeType >::calculateSystemStateDerivative; + + + //! Constructor from data for translational Cartesian state derivative creation. + //! It is assumed that all acceleration are exerted on bodies by bodies. + /*! + * From this constructor, the object for generating the state derivative is created. Required + * are the acceleration models, a map of all (named) bodies involved in the simulation and a + * list of body names, which must be a subset of the bodyList that are to be numerically + * integrated. Note that the state derivative model currently has 3 degrees of freedom (3 + * translational) in Cartesian coordinates. + * \param accelerationModelsPerBody A map containing the list of accelerations acting on each + * body, identifying the body being acted on and the body acted on by an acceleration. The map + * has as key a string denoting the name of the body the list of accelerations, provided as the + * value corresponding to a key, is acting on. This map-value is again a map with string as + * key, denoting the body exerting the acceleration, and as value a pointer to an acceleration + * model. + * \param centralBodyData Object responsible for providing the current integration origins from + * the global origins. + * \param propagatorType Type of propagator that is to be used (i.e. Cowell, Encke, etc.) + * \param bodiesToIntegrate List of names of bodies that are to be integrated numerically. + */ + NBodyStateDerivative( const basic_astrodynamics::AccelerationMap& accelerationModelsPerBody, + const boost::shared_ptr< CentralBodyData< StateScalarType, TimeType > > centralBodyData, + const TranslationalPropagatorType propagatorType, + const std::vector< std::string >& bodiesToIntegrate ): + propagators::SingleStateTypeDerivative< StateScalarType, TimeType >( + propagators::transational_state ), + accelerationModelsPerBody_( accelerationModelsPerBody ), + centralBodyData_( centralBodyData ), + propagatorType_( propagatorType ), + bodiesToBeIntegratedNumerically_( bodiesToIntegrate ) + { } + + //! Destructor + virtual ~NBodyStateDerivative( ){ } + + //! Function to update the state derivative model to the current time. + /*! + * Function to update the state derivative model (i.e. acceleration, torque, etc. models) to the + * current time. Note that this function only updates the state derivative model itself, the + * environment models must be updated before calling this function. + * \param currentTime Time at which state derivative is to be calculated + */ + void updateStateDerivativeModel( const TimeType currentTime ) + { + // Reser all acceleration times (to allow multiple evaluations at same time, e.g. stage 2 + // and 3 in RK4 integrator) + for( accelerationMapIterator = accelerationModelsPerBody_.begin( ); + accelerationMapIterator != accelerationModelsPerBody_.end( ); + accelerationMapIterator++ ) + { + // Iterate over all accelerations acting on body + for( innerAccelerationIterator = accelerationMapIterator->second.begin( ); + innerAccelerationIterator != accelerationMapIterator->second.end( ); + innerAccelerationIterator++ ) + { + // Update accelerations + for( unsigned int j = 0; j < innerAccelerationIterator->second.size( ); j++ ) + { + + innerAccelerationIterator->second[ j ]->resetTime( TUDAT_NAN ); + } + } + } + + // Iterate over all accelerations and update their internal state. + for( accelerationMapIterator = accelerationModelsPerBody_.begin( ); + accelerationMapIterator != accelerationModelsPerBody_.end( ); accelerationMapIterator++ ) + { + // Iterate over all accelerations acting on body + for( innerAccelerationIterator = accelerationMapIterator->second.begin( ); + innerAccelerationIterator != accelerationMapIterator->second.end( ); + innerAccelerationIterator++ ) + { + // Update accelerations + for( unsigned int j = 0; j < innerAccelerationIterator->second.size( ); j++ ) + { + + innerAccelerationIterator->second[ j ]->updateMembers( currentTime ); + } + } + } + } + + //! Function to convert the propagator-specific form of the state to the conventional form in the global frame. + /*! + * Function to convert the propagator-specific form of the state to the conventional form in the + * global frame. The conventional form for translational dynamics this is the Cartesian + * position and velocity). The inertial frame is typically the barycenter with J2000/ECLIPJ2000 + * orientation, but may differ depending on simulation settings. + * \param internalSolution State in propagator-specific form (i.e. form that is used in + * numerical integration). + * \param time Current time at which the state is valid. + * \return State (internalSolution), converted to the Cartesian state in inertial coordinates. + */ + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > convertCurrentStateToGlobalRepresentation( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >& internalSolution, + const TimeType& time ) + { + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > cartesianLocalSolution + = this->convertToOutputSolution( internalSolution, time ); + + std::vector< Eigen::Matrix< StateScalarType, 6, 1 > > centralBodyInertialStates + = centralBodyData_->getReferenceFrameOriginInertialStates( cartesianLocalSolution, + time, true ); + for( unsigned int i = 0; i < centralBodyInertialStates.size( ); i++ ) + { + cartesianLocalSolution.segment( i * 6, 6 ) += centralBodyInertialStates[ i ]; + } + return cartesianLocalSolution; + } + + //! Function to get list of names of bodies that are to be integrated numerically. + /*! + * Function to get list of names of bodies that are to be integrated numerically. + * \return List of names of bodies that are to be integrated numerically. + */ + std::vector< std::string > getBodiesToBeIntegratedNumerically( ) + { + return bodiesToBeIntegratedNumerically_; + } + + //! Function to get map containing the list of accelerations acting on each body, + /*! + * Function to get map containing the list of accelerations acting on each body, + * \return A map containing the list of accelerations acting on each body, + */ + basic_astrodynamics::AccelerationMap getAccelerationsMap( ) + { + return accelerationModelsPerBody_; + } + + //! Function to get object providing the current integration origins + /*! + * Function to get object responsible for providing the current integration origins from the + * global origins. + * \return Object providing the current integration origins from the global origins. + */ + boost::shared_ptr< CentralBodyData< StateScalarType, TimeType > > getCentralBodyData( ) + { + return centralBodyData_; + } + + //! Function to get type of propagator that is to be used (i.e. Cowell, Encke, etc.) + /*! + * Function to type of propagator that is to be used (i.e. Cowell, Encke, etc.) + * \return Type of propagator that is to be used (i.e. Cowell, Encke, etc.) + */ + TranslationalPropagatorType getPropagatorType( ) + { + return propagatorType_; + } + + //! Function to return the size of the state handled by the object + /*! + * Function to return the size of the state handled by the object + * \return Size of the state under consideration (6 times the number if integrated bodies). + */ + int getStateSize( ) + { + return 6 * bodiesToBeIntegratedNumerically_.size( ); + } + +protected: + + //! Function to get the state derivative of the system in Cartesian coordinates. + /*! + * Function to get the state derivative of the system in Cartesian coordinates. The environment + * and acceleration models must have been updated to the current state before calling this + * function. + * \param stateOfSystemToBeIntegrated Current Cartesian state of the system. + * \param time Time at which the state derivative is to be computed + * \return State derivative of the system in Cartesian coordinates. + */ + Eigen::VectorXd sumStateDerivativeContributions( + const Eigen::VectorXd& stateOfSystemToBeIntegrated, const TimeType time ) + { + using namespace basic_astrodynamics; + + // Declare and initialize to zero vector to be returned. + Eigen::VectorXd stateDerivative = Eigen::VectorXd::Zero( stateOfSystemToBeIntegrated.size( ) ); + + // Iterate over all bodies with accelerations. + for( unsigned int i = 0; i < bodiesToBeIntegratedNumerically_.size( ); i++ ) + { + // If body undergoes acceleration, calculate and add accelerations. + if( accelerationModelsPerBody_.count( bodiesToBeIntegratedNumerically_[ i ] ) != 0 ) + { + + { + // Iterate over all accelerations acting on body + for( innerAccelerationIterator = + accelerationModelsPerBody_[ bodiesToBeIntegratedNumerically_[ i ] ].begin( ); + innerAccelerationIterator != + accelerationModelsPerBody_[ bodiesToBeIntegratedNumerically_[ i ] ].end( ); + innerAccelerationIterator++ ) + { + for( unsigned int j = 0; j < innerAccelerationIterator->second.size( ); j++ ) + { + // Calculate acceleration and add to state derivative. + stateDerivative.segment( i * 6 + 3, 3 ) += ( + innerAccelerationIterator->second[ j ]->getAcceleration( ) ); + } + } + } + } + // Add body velocity as derivative of its position. + stateDerivative.segment( i * 6, 3 ) = stateOfSystemToBeIntegrated.segment( i * 6 + 3, 3 ); + } + + return stateDerivative; + } + + + //! A map containing the list of accelerations acting on each body, + /*! + * A map containing the list of accelerations acting on each body, identifying the body being + * acted on and the body acted on by an acceleration. The map has as key a string denoting the + * name of the body the list of accelerations, provided as the value corresponding to a key, is + * acting on. This map-value is again a map with string as key, denoting the body exerting the + * acceleration, and as value a pointer to an acceleration model. + */ + basic_astrodynamics::AccelerationMap accelerationModelsPerBody_; + + //! Object responsible for providing the current integration origins from the global origins. + boost::shared_ptr< CentralBodyData< StateScalarType, TimeType > > centralBodyData_; + + //! Type of propagator that is to be used (i.e. Cowell, Encke, etc.) + TranslationalPropagatorType propagatorType_; + + //! List of names of bodies that are to be integrated numerically. + std::vector< std::string > bodiesToBeIntegratedNumerically_; + + //! Predefined iterator to save (de-)allocation time. + basic_astrodynamics::AccelerationMap::iterator accelerationMapIterator; + + //! Predefined iterator to save (de-)allocation time. + std::map< std::string, std::vector< boost::shared_ptr< + basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > > >::iterator + innerAccelerationIterator; + +}; + +} // namespace propagators + +} // namespace tudat +#endif // TUDAT_NBODYSTATEDERIVATIVE_H diff --git a/Tudat/Astrodynamics/Propagators/propagationSettings.h b/Tudat/Astrodynamics/Propagators/propagationSettings.h new file mode 100644 index 0000000000..5d5ef9a558 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/propagationSettings.h @@ -0,0 +1,213 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_PROPAGATIONSETTINGS_H +#define TUDAT_PROPAGATIONSETTINGS_H + +#include +#include +#include +#include + +#include + +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/timeConversions.h" + +namespace tudat +{ + +namespace propagators +{ + + +//! Enum listing types of dynamics that can be numerically integrated +enum IntegratedStateType +{ + transational_state +}; + +//! Enum listing propagator types for translational dynamics that can be used. +enum TranslationalPropagatorType +{ + cowell = 0 +}; + +//! Base class for defining setting of a propagator +/*! + * Base class for defining setting of a propagator. This class is non-functional, and each state + * type requires its own derived class (which may have multiple derived classes of its own). + */ +template< typename StateScalarType > +class PropagatorSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param stateType Type of state being propagated + * \param initialBodyStates Initial state used as input for numerical integration + */ + PropagatorSettings( const IntegratedStateType stateType, + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > initialBodyStates ): + stateType_( stateType ), initialStates_( initialBodyStates ){ } + + //! Virtual destructor. + virtual ~PropagatorSettings( ){ } + + //!T ype of state being propagated + IntegratedStateType stateType_; + + //! Function to retrieve the initial state used as input for numerical integration + /*! + * Function to retrieve the initial state used as input for numerical integration + * \return Initial state used as input for numerical integration + */ + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > getInitialStates( ) + { + return initialStates_; + } + + //! Function to reset the initial state used as input for numerical integration + /*! + * Function to reset the initial state used as input for numerical integration + * \param initialBodyStates New initial state used as input for numerical integration + */ + virtual void resetInitialStates( const Eigen::Matrix< StateScalarType, + Eigen::Dynamic, 1 >& initialBodyStates ) + { + initialStates_ = initialBodyStates; + } + +protected: + + //! Initial state used as input for numerical integration + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > initialStates_; + +}; + +//! Class for defining settings for propagating translational dynamics. +/*! + * Class for defining settings for propagating translational dynamics. The propagator defines the + * form of the equations of motion (i.e. Cowell, Encke, Gauss etc.). This base class can be used + * for Cowell propagator. Other propagators have dedicated derived class. + */ +template< typename StateScalarType = double > +class TranslationalStatePropagatorSettings: public PropagatorSettings< StateScalarType > +{ +public: + + //! Constructor of translational state propagator settings + /*! + * Constructor creating translational state propagator settings object + * \param centralBodies List of bodies w.r.t. which the bodies in bodiesToIntegrate_ are + * propagated. + * \param accelerationsMap A map containing the list of accelerations acting on each body, + * identifying the body being acted on and the body acted on by an acceleration. The map has as + * key a string denoting the name of the body the list of accelerations, provided as the value + * corresponding to a key, is acting on. This map-value is again a map with string as key, + * denoting the body exerting the acceleration, and as value a pointer to an acceleration model. + * \param bodiesToIntegrate List of bodies for which the translational state is to be propagated. + * \param initialBodyStates Initial state used as input for numerical integration + * \param propagator Type of translational state propagator to be used + */ + TranslationalStatePropagatorSettings( const std::vector< std::string >& centralBodies, + const basic_astrodynamics::AccelerationMap& accelerationsMap, + const std::vector< std::string >& bodiesToIntegrate, + const Eigen::Matrix< StateScalarType, + Eigen::Dynamic, 1 >& initialBodyStates, + const TranslationalPropagatorType propagator = cowell): + PropagatorSettings< StateScalarType >( transational_state, initialBodyStates ), + centralBodies_( centralBodies ), accelerationsMap_( accelerationsMap ), + bodiesToIntegrate_( bodiesToIntegrate ), propagator_( propagator ){ } + + //! Virtual destructor + /*! + * Virtual destructor + */ + ~TranslationalStatePropagatorSettings( ){ } + + //! List of bodies w.r.t. which the bodies in bodiesToIntegrate_ are propagated. + std::vector< std::string > centralBodies_; + + //! A map containing the list of accelerations acting on each body + /*! + * A map containing the list of accelerations acting on each body, identifying the body being + * acted on and the body acted on by an acceleration. The map has as key a string denoting the + * name of the body the list of accelerations, provided as the value corresponding to a key, is + * acting on. This map-value is again a map with string as key, denoting the body exerting the + * acceleration, and as value a pointer to an acceleration model. + */ + basic_astrodynamics::AccelerationMap accelerationsMap_; + + //! List of bodies for which the translational state is to be propagated. + std::vector< std::string > bodiesToIntegrate_; + + //! Type of translational state propagator to be used + TranslationalPropagatorType propagator_; + +}; + +template< typename StateScalarType > +//! Function to retrieve the list of integrated state types and reference ids +/*! + * Function to retrieve the list of integrated state types and reference ids. For translational and + * rotational dynamics, the id refers only to the body being propagated (and the second entry of the + * pair is empty: ""). For proper time propagation, a body and a reference point may be provided, + * resulting in non-empty first and second pair entries. + * \param propagatorSettings Settings that are to be used for the propagation. + * \return List of integrated state types and reference ids + */ +std::map< IntegratedStateType, std::vector< std::pair< std::string, std::string > > > getIntegratedTypeAndBodyList( + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings ) +{ + std::map< IntegratedStateType, std::vector< std::pair< std::string, std::string > > > integratedStateList; + + // Identify propagator type + switch( propagatorSettings->stateType_ ) + { + case transational_state: + { + + boost::shared_ptr< TranslationalStatePropagatorSettings< StateScalarType > > + translationalPropagatorSettings = boost::dynamic_pointer_cast< + TranslationalStatePropagatorSettings< StateScalarType > >( propagatorSettings ); + if( translationalPropagatorSettings == NULL ) + { + throw std::runtime_error( "Error getting integrated state type list, translational state input inconsistent" ); + } + + // Retrieve list of integrated bodies in correct formatting. + std::vector< std::pair< std::string, std::string > > integratedBodies; + for( unsigned int i = 0; i < translationalPropagatorSettings->bodiesToIntegrate_.size( ); i++ ) + { + integratedBodies.push_back( std::make_pair( + translationalPropagatorSettings->bodiesToIntegrate_.at( i ), "" ) ); + } + integratedStateList[ transational_state ] = integratedBodies; + + break; + } + default: + throw std::runtime_error( "Error, could not process integrated state type " + + boost::lexical_cast< std::string >( propagatorSettings->stateType_ ) ); + } + + return integratedStateList; +} + +} // namespace propagators + +} // namespace tudat + +#endif // TUDAT_PROPAGATIONSETTINGS_H diff --git a/Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.cpp b/Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.cpp new file mode 100644 index 0000000000..095f2fcc2a --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.cpp @@ -0,0 +1,138 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include "Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" + +namespace tudat +{ + +namespace propagators +{ + + +//! Function to create an interpolator for the new translational state of a body. +template< > +boost::shared_ptr< interpolators::OneDimensionalInterpolator< double, Eigen::Matrix< double, 6, 1 > > > +createStateInterpolator( const std::map< double, Eigen::Matrix< double, 6, 1 > >& stateMap ) +{ + return boost::make_shared< + interpolators::LagrangeInterpolator< double, Eigen::Matrix< double, 6, 1 > > >( stateMap, 6 ); +} + +//! Function to create an interpolator for the new translational state of a body. +template< > +boost::shared_ptr< interpolators::OneDimensionalInterpolator< double, Eigen::Matrix< long double, 6, 1 > > > +createStateInterpolator( const std::map< double, Eigen::Matrix< long double, 6, 1 > >& stateMap ) +{ + return boost::make_shared< + interpolators::LagrangeInterpolator< double, + Eigen::Matrix< long double, 6, 1 > > >( stateMap, 6 ); +} + +//! Function to determine in which order the ephemerides are to be updated +std::vector< std::string > determineEphemerisUpdateorder( std::vector< std::string > integratedBodies, + std::vector< std::string > centralBodies, + std::vector< std::string > ephemerisOrigins ) +{ + + std::vector< std::string > updateOrder; + + // Declare variables + bool isFinished = 0; + int currentIndex = 0; + int counter = 0; + std::vector< std::string >::const_iterator centralBodyIterator; + std::vector< std::string >::const_iterator ephemerisOriginIterator; + + // Continue iterating until all integratedBodies have been handled. + while( !isFinished ) + { + // Check if current central body or ephemeris origin is integratedBodies + centralBodyIterator = std::find( + integratedBodies.begin( ), integratedBodies.end( ), + centralBodies.at( currentIndex ) ); + ephemerisOriginIterator = std::find( + integratedBodies.begin( ), integratedBodies.end( ), + ephemerisOrigins.at( currentIndex ) ); + + // If neither is in list, there is no dependency, and current body can be added to update + // list. + if( centralBodyIterator == integratedBodies.end( ) + && ephemerisOriginIterator == integratedBodies.end( ) ) + { + // Add to list. + updateOrder.push_back( integratedBodies.at( currentIndex ) ); + + // Remove from list of handled bodies. + integratedBodies.erase( integratedBodies.begin( ) + currentIndex ); + centralBodies.erase( centralBodies.begin( ) + currentIndex ); + ephemerisOrigins.erase( ephemerisOrigins.begin( ) + currentIndex ); + + // Handle first entry at next iteration. + currentIndex = 0; + + // Check if any bodies left. + if( integratedBodies.size( ) == 0 ) + { + isFinished = 1; + } + } + else + { + // If both are found in list, start next iteration at whichever is first in list. + if( centralBodyIterator != integratedBodies.end( ) + && ephemerisOriginIterator != integratedBodies.end( ) ) + { + + currentIndex = std::min( + std::distance( + integratedBodies.begin( ), + std::find( integratedBodies.begin( ), integratedBodies.end( ), + centralBodies.at( currentIndex ) ) ), + std::distance( + integratedBodies.begin( ), + std::find( integratedBodies.begin( ), integratedBodies.end( ), + ephemerisOrigins.at( currentIndex ) ) )); + + } + // If only central body is found, start with this central body in next iteration + else if( centralBodyIterator != integratedBodies.end( ) ) + { + currentIndex = std::distance( + integratedBodies.begin( ), + std::find( integratedBodies.begin( ), integratedBodies.end( ), + centralBodies.at( currentIndex ) ) ); + } + // If only ephemeris origin is found, start with this ephemeris origin in next iteration + else if( ephemerisOriginIterator != integratedBodies.end( ) ) + { + currentIndex = std::distance( + integratedBodies.begin( ), + std::find( integratedBodies.begin( ), integratedBodies.end( ), + ephemerisOrigins.at( currentIndex ) ) ); + } + } + + // Check to break circular dependency that occurs for inadmissible input data. + counter++; + if( counter > 10000 ) + { + throw std::runtime_error( "Warning, ephemeris update order determination now at iteration " + + boost::lexical_cast< std::string>( counter ) ); + } + } + + return updateOrder; +} + +} // namespace propagators + +} // namespace tudat diff --git a/Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.h b/Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.h new file mode 100644 index 0000000000..6761178415 --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/setNumericallyIntegratedStates.h @@ -0,0 +1,534 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_SETNUMERICALLYINTEGRATEDSTATES_H +#define TUDAT_SETNUMERICALLYINTEGRATEDSTATES_H + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/Ephemerides/frameManager.h" +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" + + +namespace tudat +{ + +namespace propagators +{ + +//! Function to reset the tabulated ephemeris of a body +/*! + * Function to reset the tabulated ephemeris of a body, this requires the requested body to possess + * an ephemeris of type TabulatedCartesianEphemeris< StateScalarType, TimeType > + * \param bodyMap List of bodies used in simulations. + * \param ephemerisInterpolator Interpolator providing the new state of the body as a function of time. + * \param bodyToIntegrate Name of body for which the ephemeris is to be reset. + */ +template< typename TimeType, typename StateScalarType > +void resetIntegratedEphemerisOfBody( + const simulation_setup::NamedBodyMap& bodyMap, + const boost::shared_ptr< interpolators::OneDimensionalInterpolator< + TimeType, Eigen::Matrix< StateScalarType, 6, 1 > > > ephemerisInterpolator, + const std::string& bodyToIntegrate ) +{ + using namespace tudat::interpolators; + using namespace tudat::ephemerides; + + // If body does not have ephemeris, give error message. + if( bodyMap.at( bodyToIntegrate )->getEphemeris( ) == NULL ) + { + throw std::runtime_error( "Error when resetting integrated ephemeris of body " + + bodyToIntegrate + "no ephemeris found" ); + } + + // If current ephemeris is not already a tabulated ephemeris, give error message. + else if( boost::dynamic_pointer_cast< TabulatedCartesianEphemeris< StateScalarType, TimeType > >( + bodyMap.at( bodyToIntegrate )->getEphemeris( ) ) == NULL ) + { + throw std::runtime_error( "Error when resetting integrated ephemeris of body " + + bodyToIntegrate + "no tabulated ephemeris found" ); + + } + // Else, update existing tabulated ephemeris + else + { + + boost::shared_ptr< TabulatedCartesianEphemeris< StateScalarType, TimeType > > tabulatedEphemeris = + boost::dynamic_pointer_cast< TabulatedCartesianEphemeris< StateScalarType, TimeType > >( + bodyMap.at( bodyToIntegrate )->getEphemeris( ) ); + tabulatedEphemeris->resetInterpolator( ephemerisInterpolator ); + } +} + +//! Function to convert output of translational motion to input for the ephemeris. +/*! + * Function to convert output of translational motion from the numerical integrator to the required + * input for the ephemeris. It extracts the state history of a single body from the full list of + * integrated states Additionally, it changes the origin of the reference frame in which the states + * are given, by using the integrationToEphemerisFrameFunction input variable. + * \param bodyIndex Index of integrated body for which the state is to be retrieved + * \param equationsOfMotionNumericalSolution Full numerical solution of numerical integrator, + * already converted to Cartesian states (w.r.t. the integration origin of the body of bodyIndex) + * \param integrationToEphemerisFrameFunction Function to provide the state of the ephemeris origin + * of the current body w.r.t. its integration origin. + * \return State history of body bodyIndex w.r.t. the origin with which its ephemeris is defined. +*/ +template< typename TimeType, typename StateScalarType > +std::map< TimeType, Eigen::Matrix< StateScalarType, 6, 1 > > convertNumericalSolutionToEphemerisInput( + const int bodyIndex, + const std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + equationsOfMotionNumericalSolution, + const boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > + integrationToEphemerisFrameFunction = NULL ) +{ + std::map< TimeType, Eigen::Matrix< StateScalarType, 6, 1 > > ephemerisTable; + + // If no integrationToEphemerisFrameFunction is provided, origin is already correct; only + // extract required indices. + if( integrationToEphemerisFrameFunction == 0 ) + { + for( typename std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >::const_iterator + bodyIterator = equationsOfMotionNumericalSolution.begin( ); + bodyIterator != equationsOfMotionNumericalSolution.end( ); bodyIterator++ ) + { + ephemerisTable[ bodyIterator->first ] = bodyIterator->second.block( 6 * bodyIndex, 0, 6, 1 ); + } + } + // Else, extract indices and add required translation from integrationToEphemerisFrameFunction + else + { + for( typename std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >::const_iterator + bodyIterator = equationsOfMotionNumericalSolution.begin( ); + bodyIterator != equationsOfMotionNumericalSolution.end( ); bodyIterator++ ) + { + + ephemerisTable[ bodyIterator->first ] = bodyIterator->second.block( 6 * bodyIndex, 0, 6, 1 ) - + integrationToEphemerisFrameFunction( bodyIterator->first ); + } + } + return ephemerisTable; +} + +//! Function to create an interpolator for the new translational state of a body. +/*! + * Function to create an interpolator for the new translational state of a body. + * \param stateMap New state history, w.r.t. the required ephemeris origin. + * \return Lagrange interpolator (order 6) that produces the required continuous state. + */ +template< typename TimeType, typename StateScalarType > +boost::shared_ptr< interpolators::OneDimensionalInterpolator< TimeType, Eigen::Matrix< StateScalarType, 6, 1 > > > +createStateInterpolator( + const std::map< TimeType, Eigen::Matrix< StateScalarType, 6, 1 > >& stateMap ); + +//! Create and reset ephemerides interpolator +/*! + * Creates and resets the interpolator for the ephemerides of the integrated bodies from the + * numerical integration results. + * \param bodyMap List of bodies used in simulations. + * \param bodiesToIntegrate List of names of bodies which are numericall integrated (in the order in + * which they are in the equationsOfMotionNumericalSolution map. + * \param ephemerisUpdateOrder Order in which to update the ephemeris objects. + * \param equationsOfMotionNumericalSolution Numerical solution of translational equations of + * motion, in Cartesian elements w.r.t. integratation origins. + * \param integrationToEphemerisFrameFunctions Function to provide the states of the ephemeris + * origins of each body w.r.t. their respective integration origins. + */ +template< typename TimeType, typename StateScalarType > +void createAndSetInterpolatorsForEphemerides( + const simulation_setup::NamedBodyMap& bodyMap, + const std::vector< std::string >& bodiesToIntegrate, + const std::vector< std::string >& ephemerisUpdateOrder, + const std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + equationsOfMotionNumericalSolution, + const std::map< std::string, + boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > >& + integrationToEphemerisFrameFunctions = + std::map< std::string, + boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > >( ) ) +{ + using namespace tudat::interpolators; + + // Iterate over all bodies that are integrated numerically and create state interpolator. + for( unsigned int i = 0; i < ephemerisUpdateOrder.size( ); i++ ) + { + // Get index of current body to be updated in bodiesToIntegrate. + std::vector< std::string >::const_iterator bodyFindIterator = std::find( + bodiesToIntegrate.begin( ), bodiesToIntegrate.end( ), ephemerisUpdateOrder.at( i ) ); + if( bodyFindIterator == bodiesToIntegrate.end( ) ) + { + throw std::runtime_error( "Error when creating and setting ephemeris after integration, cannot find body " + + ephemerisUpdateOrder.at( i ) ); + } + int bodyIndex = std::distance( bodiesToIntegrate.begin( ), bodyFindIterator ); + + // Get frame origin function if applicable + boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > integrationToEphemerisFrameFunction = + NULL; + if( integrationToEphemerisFrameFunctions.count( bodiesToIntegrate.at( bodyIndex ) ) > 0 ) + { + integrationToEphemerisFrameFunction = + integrationToEphemerisFrameFunctions.at( bodiesToIntegrate.at( bodyIndex ) ); + } + + // Create and reset interpolator. + boost::shared_ptr< OneDimensionalInterpolator< TimeType, Eigen::Matrix< StateScalarType, 6, 1 > > > + ephemerisInterpolator = + createStateInterpolator( convertNumericalSolutionToEphemerisInput( + bodyIndex, equationsOfMotionNumericalSolution, + integrationToEphemerisFrameFunction ) ); + resetIntegratedEphemerisOfBody( bodyMap, ephemerisInterpolator, + bodiesToIntegrate.at( bodyIndex ) ); + } +} + +//! Resets the ephemerides of the integrated bodies from the numerical integration results. +/*! + * Resets the ephemerides of the integrated bodies from the numerical integration results, and + * performs associated computation for ephemeris-dependent environment variables. + * \param bodyMap List of bodies used in simulations. + * \param bodiesToIntegrate List of names of bodies which are numerically integrated (in the order in + * which they are in the equationsOfMotionNumericalSolution map. + * \param ephemerisUpdateOrder Order in which to update the ephemeris objects (empty if arbitrary). + * \param equationsOfMotionNumericalSolution Numerical solution of translational equations of + * motion, in Cartesian elements w.r.t. integratation origins. + * \param integrationToEphemerisFrameFunctions Function to provide the states of the ephemeris + * origins of each body w.r.t. their respective integration origins. + */ +template< typename TimeType, typename StateScalarType > +void resetIntegratedEphemerides( + const simulation_setup::NamedBodyMap& bodyMap, + const std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + equationsOfMotionNumericalSolution, + const std::vector< std::string >& bodiesToIntegrate, + std::vector< std::string > ephemerisUpdateOrder = std::vector< std::string >( ), + const std::map< std::string, + boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > >& + integrationToEphemerisFrameFunctions = std::map< std::string, + boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > >( ) ) +{ + // Set update order arbitrarily if no order is provided. + if( ephemerisUpdateOrder.size( ) == 0 ) + { + ephemerisUpdateOrder = bodiesToIntegrate; + } + // Check input consistency + else if( ephemerisUpdateOrder.size( ) != bodiesToIntegrate.size( ) ) + { + throw std::runtime_error( "Error when resetting ephemerides, input vectors have inconsistent size" ); + } + + // Create interpolators from numerical integration results (states) at discrete times. + createAndSetInterpolatorsForEphemerides( + bodyMap, bodiesToIntegrate, ephemerisUpdateOrder, equationsOfMotionNumericalSolution, + integrationToEphemerisFrameFunctions ); +} + +//! Function to determine in which order the ephemerides are to be updated +/*! + * Function to determine in which order the ephemerides are to be updated. The order depends on the + * dependencies between the ephemeris/integration origins. + * \param integratedBodies List of bodies that are numerically integrated. + * \param centralBodies List of origins w.r.t. the integratedBodies' translational dynamics is propagated. + * \param ephemerisOrigins Origin of the Ephemeris objects of the integratedBodies. + * \return + */ +std::vector< std::string > determineEphemerisUpdateorder( std::vector< std::string > integratedBodies, + std::vector< std::string > centralBodies, + std::vector< std::string > ephemerisOrigins ); + +//! Base class for settings how numerically integrated states are processed +/*! + * Base class for defining settings on how numerically integrated states are to be processed in the + * environment. This class is pure virtual, and a derived class must be provided for each state + * type. + */ +template< typename TimeType, typename StateScalarType > +class IntegratedStateProcessor +{ +public: + + //! Constructor + /*! + * Constructor + * \param stateType Type of state that is to be set in environment. + * \param startIndexAndSize Start index of current state type in integrated state vector, and + * its size in the vector (first and second entry of pair). + */ + IntegratedStateProcessor( const IntegratedStateType stateType, + const std::pair< int, int > startIndexAndSize ): + stateType_( stateType ), startIndexAndSize_( startIndexAndSize ){ } + + //! Virtual destructor. + virtual ~IntegratedStateProcessor( ){ } + + //! Function that processes the entries of the stateType_ in the full numericalSolution + /*! + * Function that processes the entries of the stateType_ in the full numericalSolution + * \param numericalSolution Full numerical solution, in global representation (see + * convertToOutputSolution function in associated SingleStateTypeDerivative derived class. + */ + virtual void processIntegratedStates( + const std::map< TimeType, Eigen::Matrix< StateScalarType, + Eigen::Dynamic, 1 > >& numericalSolution ) = 0; + + //! Type of state that is to be set in environment. + IntegratedStateType stateType_; + + //! Start index of current state type in integrated state vector, and its size in the vector + /*! + * Start index of current state type in integrated state vector, and its size in the vector + * (first and second entry of pair). + */ + std::pair< int, int > startIndexAndSize_; +}; + +//! Class used for processing numerically integrated translational states +/*! + * Class used for processing numerically integrated translational states, updates ephemeris object + * of each integrated body, performing frame translations if needed. + */ +template< typename TimeType, typename StateScalarType > +class TranslationalStateIntegratedStateProcessor: public IntegratedStateProcessor< TimeType, StateScalarType > +{ +public: + //! Constructor. + /*! + * Constructor. + * \param startIndex Index in the state vector where the translational state starts. + * \param bodyMap List of bodies used in simulations. + * \param bodiesToIntegrate List of bodies for which the translational state is numerically + * integrated. Order in this vector is the same as the order in state vector. + * \param centralBodies List of origing w.r.t. which the translational states are integrated + * (with the same order as bodiesToIntegrate). + * \param frameManager Object to get state of one body w.r.t. another body. + */ + TranslationalStateIntegratedStateProcessor( + const int startIndex, + const simulation_setup::NamedBodyMap& bodyMap, + const std::vector< std::string >& bodiesToIntegrate, + const std::vector< std::string >& centralBodies, + const boost::shared_ptr< ephemerides::ReferenceFrameManager > frameManager ): + IntegratedStateProcessor< TimeType, StateScalarType >( + transational_state, std::make_pair( startIndex, 6 * bodiesToIntegrate.size( ) ) ), + bodyMap_( bodyMap ), bodiesToIntegrate_( bodiesToIntegrate ) + { + // Get update orders. + ephemerisUpdateOrder_ = determineEphemerisUpdateorder( + bodiesToIntegrate_, centralBodies, + frameManager->getEphemerisOrigins( bodiesToIntegrate ) ); + + // Get required frame origin translations. + integrationToEphemerisFrameFunctions_ + = ephemerides::getTranslationFunctionsFromIntegrationFrameToEphemerisFrame + < StateScalarType, TimeType >( centralBodies, + bodiesToIntegrate_, frameManager ); + } + + //! Function processing translational state in the full numericalSolution + /*! + * Function that processes the entries of the translational state in the full numericalSolution, + * extracts and converts the states to the required frames, and updates the associated + * ephemerides. + * \param numericalSolution Full numerical solution, in global representation (see + * convertToOutputSolution function in NBodyStateDerivative class. + */ + void processIntegratedStates( + const std::map< TimeType, + Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& numericalSolution ) + { + resetIntegratedEphemerides< TimeType, StateScalarType >( + bodyMap_, numericalSolution, bodiesToIntegrate_, ephemerisUpdateOrder_, + integrationToEphemerisFrameFunctions_ ); + } + +private: + + //! List of bodies used in simulations. + simulation_setup::NamedBodyMap bodyMap_; + + //! List of bodies for which the translational state is numerically integrated. + /*! + * List of bodies for which the translational state is numerically integrated. Order in this + * vector is the same as the order in state vector. + */ + std::vector< std::string > bodiesToIntegrate_; + + //! Order in which to update the ephemeris objects + std::vector< std::string > ephemerisUpdateOrder_; + + //! Function to provide the states of the ephemeris origins of each body w.r.t. their respective + //! integration origins. + std::map< std::string, boost::function< Eigen::Matrix< StateScalarType, 6, 1 >( const TimeType ) > > + integrationToEphemerisFrameFunctions_; +}; + +//! Function checking feasibility of resetting the translational dynamics +/*! + * Function to check the feasibility of resetting the translational dynamics of a set of + * bodies. Function throws error if not feasible. + * \param bodiesToIntegrate List of bodies to integrate. + * \param bodyMap List of bodies used in simulations. + */ +template< typename TimeType, typename StateScalarType > +void checkTranslationalStatesFeasibility( + const std::vector< std::string >& bodiesToIntegrate, + const simulation_setup::NamedBodyMap& bodyMap ) +{ + // Check feasibility of ephemeris origins. + for( simulation_setup::NamedBodyMap::const_iterator bodyIterator = bodyMap.begin( ); + bodyIterator != bodyMap.end( ); bodyIterator++ ) + { + if( std::find( bodiesToIntegrate.begin( ), bodiesToIntegrate.end( ), bodyIterator->first ) == + bodiesToIntegrate.end( ) ) + { + std::string ephemerisOrigin + = bodyIterator->second->getEphemeris( )->getReferenceFrameOrigin( ); + if( std::find( bodiesToIntegrate.begin( ), bodiesToIntegrate.end( ), ephemerisOrigin ) + != bodiesToIntegrate.end( ) ) + { + throw std::runtime_error( + "Warning, found non-integrated body with an integrated body as ephemeris origin" + + bodyIterator->second->getEphemeris( )->getReferenceFrameOrigin( ) + " " + + bodyIterator->first ); + } + } + + } + + // Check whether each integrated body exists, and whether it has a TabulatedEphemeris + for( unsigned int i = 0; i < bodiesToIntegrate.size( ); i++ ) + { + std::string bodyToIntegrate = bodiesToIntegrate.at( i ); + + if( bodyMap.count( bodyToIntegrate ) == 0 ) + { + if( bodyMap.at( bodyToIntegrate )->getEphemeris( ) == NULL ) + { + throw std::runtime_error( "Error when checking translational dynamics feasibility of body " + + bodyToIntegrate + "no such body found" ); + } + } + else + { + if( bodyMap.at( bodyToIntegrate )->getEphemeris( ) == NULL ) + { + throw std::runtime_error( "Error when checking translational dynamics feasibility of body " + + bodyToIntegrate + "no ephemeris found" ); + } + + // If current ephemeris is not already a tabulated ephemeris, give error message. + else if( boost::dynamic_pointer_cast< + ephemerides::TabulatedCartesianEphemeris< StateScalarType, TimeType > >( + bodyMap.at( bodyToIntegrate )->getEphemeris( ) ) == NULL ) + { + throw std::runtime_error( "Error when checking translational dynamics feasibility of body " + + bodyToIntegrate + "no tabulated ephemeris found" ); + + } + } + + } + +} + + +template< typename TimeType, typename StateScalarType > +//! Function to create list objects for processing numerically integrated results. +/*! + * Function to create list objects for processing numerically integrated results, so that all + * results are set in the environment models (i.e. resetting tabulated ephemeris for translational + * dynamics). + * \param propagatorSettings Settings for the propagation that is used + * \param bodyMap List of body objects that represents the environemnt + * \param frameManager Object for providinf conversion functions between different ephemeris origins. + * \param startIndex Index of state vector where the state entries handled with propagatorSettings + * starts. + * \return List objects for processing numerically integrated results. + */ +std::map< IntegratedStateType, + std::vector< boost::shared_ptr< IntegratedStateProcessor< TimeType, StateScalarType > > > > +createIntegratedStateProcessors( + const boost::shared_ptr< PropagatorSettings< StateScalarType > > propagatorSettings, + const simulation_setup::NamedBodyMap& bodyMap, + const boost::shared_ptr< ephemerides::ReferenceFrameManager > frameManager, + const int startIndex = 0 ) +{ + std::map< IntegratedStateType, std::vector< boost::shared_ptr< IntegratedStateProcessor + < TimeType, StateScalarType > > > > integratedStateProcessors; + + // Check dynamics type. + switch( propagatorSettings->stateType_ ) + { + case transational_state: + { + + // Check input feasibility + boost::shared_ptr< TranslationalStatePropagatorSettings< StateScalarType > > + translationalPropagatorSettings = boost::dynamic_pointer_cast + < TranslationalStatePropagatorSettings< StateScalarType > >( propagatorSettings ); + if( translationalPropagatorSettings == NULL ) + { + throw std::runtime_error( "Error, input type is inconsistent in createIntegratedStateProcessors" ); + } + checkTranslationalStatesFeasibility< TimeType, StateScalarType >( + translationalPropagatorSettings->bodiesToIntegrate_, bodyMap ); + + // Create state propagator settings + integratedStateProcessors[ transational_state ].push_back( + boost::make_shared< TranslationalStateIntegratedStateProcessor< TimeType, StateScalarType > >( + startIndex, bodyMap, translationalPropagatorSettings->bodiesToIntegrate_, + translationalPropagatorSettings->centralBodies_, frameManager ) ); + break; + } + default: + throw std::runtime_error( "Error, could not process integrated state type " + + boost::lexical_cast< std::string >( propagatorSettings->stateType_ ) ); + } + return integratedStateProcessors; +} + +//! Function resetting dynamical properties of environment from numerical dynamics solution +/*! + * Function to reset the dynamical properties of the environment from the numerically integrated + * dynamics solution + * \param equationsOfMotionNumericalSolution Solution produced by the numerical integration, in the + * 'conventional form' + * \sa SingleStateTypeDerivative::convertToOutputSolution + * \param integratedStateProcessors List of objects (per dynamics type) used to process integrated + * results into environment + */ +template< typename TimeType, typename StateScalarType > +void resetIntegratedStates( + const std::map< TimeType, Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > >& + equationsOfMotionNumericalSolution, + const std::map< IntegratedStateType, + std::vector< boost::shared_ptr + < IntegratedStateProcessor< TimeType, StateScalarType > > > > + integratedStateProcessors ) +{ + for( typename std::map< IntegratedStateType, std::vector< boost::shared_ptr + < IntegratedStateProcessor< TimeType, StateScalarType > > > >:: + const_iterator updateIterator = integratedStateProcessors.begin( ); + updateIterator != integratedStateProcessors.end( ); updateIterator++ ) + { + for( unsigned int i = 0; i < updateIterator->second.size( ); i++ ) + { + updateIterator->second.at( i )->processIntegratedStates( + equationsOfMotionNumericalSolution ); + } + } +} + + +} // namespace propagators + +} // namespace tudat + +#endif // TUDAT_SETNUMERICALLYINTEGRATEDSTATES_H diff --git a/Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h b/Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h new file mode 100644 index 0000000000..125809348a --- /dev/null +++ b/Tudat/Astrodynamics/Propagators/singleStateTypeDerivative.h @@ -0,0 +1,149 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_STATEDERIVATIVE_H +#define TUDAT_STATEDERIVATIVE_H + +#include + +#include "Tudat/Astrodynamics/Propagators/propagationSettings.h" + +namespace tudat +{ + +namespace propagators +{ + +//! Base class for calculating the state derivative model for a single type of dynamics. +/*! + * Base class for calculating the state derivative model for a single + * type of dynamics (i.e. translational, rotational, etc.). Each type + * of dynamics requires its own derived class. Moreover, a specific + * type of propagator (Cowell, Encke, etc. for translational + * dynamics) may require their own further derived class, depending + * on the exact requirements of such a propagator. + */ +template< typename StateScalarType = double, typename TimeType = double > +class SingleStateTypeDerivative +{ +public: + + //! Constructor. + /*! + * Constructor. + * \param integratedStateType Type of dynamics for whichh the state derivative is calculated. + */ + SingleStateTypeDerivative( const IntegratedStateType integratedStateType ): + integratedStateType_( integratedStateType ){ } + + //! Virtual destructor. + virtual ~SingleStateTypeDerivative( ){ } + + //! Calculates the state derivative of the system of equations for the given type of dynamics + /*! + * Calculates the state derivative of the system of equations for the given type of + * dynamics. The environment and acceleration models (updateStateDerivativeModel) must be + * updated before calling this function. It returns the state derivative in teh form required + * for the specific type of propagator used (defined by derived class). + * \param time Time at which the state derivative is to be calculated. + * \param stateOfSystemToBeIntegrated Current state of the system, in the form that the + * equations are propagated (i.e. directly from numerical integrator) + * \return Derivative of the state of the system, in the form that the equations are propagated + * (i.e. to be piped directly to numerical integrator) + */ + virtual Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > calculateSystemStateDerivative( + const TimeType time, + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >& stateOfSystemToBeIntegrated ) = 0; + + //! Function to update the state derivative model to the current time. + /*! + * Function to update the state derivative model (i.e. acceleration, torque, etc. models) to the + * current time. Note that this function only updates the state derivative model itself, the + * environment models must be updated before calling this function + * \param currentTime Time to which the state derivative is to be updated. + */ + virtual void updateStateDerivativeModel( const TimeType currentTime ) = 0; + + //! Function to convert the propagator-specific form of the state to the conventional form in + //! the global frame. + /*! + * Function to convert the propagator-specific form of the state to the conventional form in the + * global frame. The conventional form is one that is typically used to represent the current + * state in the environment (e.g. Body class). For translational dynamics this is the Cartesian + * position and velocity). The inertial frame is typically the barycenter with J2000/ECLIPJ2000 + * orientation, but may differ depending on simulation settings + * \param internalSolution State in propagator-specific form (i.e. form that is used in + * numerical integration). + * \param time Current time at which the state is valid. + * \return State (internalSolution), converted to the 'conventional form' in inertial + * coordinates, that can for instance be set directly in the body object. + */ + virtual Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 > convertCurrentStateToGlobalRepresentation( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, 1 >& internalSolution, const TimeType& time ) = 0; + + + //! Function to convert the state in the conventional form to the propagator-specific form. + /*! + * Function to convert the state in the conventional form to the propagator-specific form. The + * conventional form is one that is typically used to represent the current state in the + * environment (e.g. Body class). For translational dynamics this is the Cartesian position and + * velocity). + * \param outputSolution State in 'conventional form' + * \param time Current time at which the state is valid. + * \return State (outputSolution), converted to the 'propagator-specific form' + */ + virtual Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > convertFromOutputSolution( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic >& outputSolution, const TimeType& time ) = 0; + + //! Function to convert the propagator-specific form of the state to the conventional form. + /*! + * Function to convert the propagator-specific form of the state to the conventional form. The + * conventional form is one that is typically used to represent the current state in the + * environment (e.g. Body class). For translational dynamics this is the Cartesian position and + * velocity). In contrast to the convertCurrentStateToGlobalRepresentation function, this + * function does not provide the state in the inertial frame, but instead provides it in the + * frame in which it is propagated. + * \param internalSolution State in propagator-specific form (i.e. form that is used in + * numerical integration). + * \param time Current time at which the state is valid. + * \return State (internalSolution), converted to the 'conventional form' + */ + virtual Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic > convertToOutputSolution( + const Eigen::Matrix< StateScalarType, Eigen::Dynamic, Eigen::Dynamic >& internalSolution, const TimeType& time ) = 0; + + //! Function to return the size of the state handled by the object + /*! + * Function to return the size of the state handled by the object + * \return Size of the state under consideration. + */ + virtual int getStateSize( ) = 0; + + //! Function to return the type of dynamics for which the state derivative is calculated. + /*! + * Function to return the type of dynamics for which the state derivative is calculated + * \return Type of dynamics for which the state derivative is calculated. + */ + IntegratedStateType getIntegratedStateType( ) + { + return integratedStateType_; + } + +protected: + + //! Type of dynamics for whichh the state derivative is calculated. + IntegratedStateType integratedStateType_; + +}; + +} // namespace propagators + +} // namespace tudat + +#endif // TUDAT_STATEDERIVATIVE_H diff --git a/Tudat/Astrodynamics/ReferenceFrames/CMakeLists.txt b/Tudat/Astrodynamics/ReferenceFrames/CMakeLists.txt index cfc3187355..0b14c1018a 100755 --- a/Tudat/Astrodynamics/ReferenceFrames/CMakeLists.txt +++ b/Tudat/Astrodynamics/ReferenceFrames/CMakeLists.txt @@ -37,12 +37,14 @@ set(REFERENCEFRAMES_SOURCES "${SRCROOT}${REFERENCEFRAMESDIR}/referenceFrameTransformations.cpp" "${SRCROOT}${REFERENCEFRAMESDIR}/apparentAccelerationModel.cpp" + "${SRCROOT}${REFERENCEFRAMESDIR}/aerodynamicAngleCalculator.cpp" ) # Add header files. set(REFERENCEFRAMES_HEADERS "${SRCROOT}${REFERENCEFRAMESDIR}/referenceFrameTransformations.h" "${SRCROOT}${REFERENCEFRAMESDIR}/apparentAccelerationModel.h" + "${SRCROOT}${REFERENCEFRAMESDIR}/aerodynamicAngleCalculator.h" ) # Add static libraries. @@ -57,3 +59,7 @@ target_link_libraries(test_ReferenceFrameTransformations tudat_reference_frames add_executable(test_ApparentAccelerationModel "${SRCROOT}${REFERENCEFRAMESDIR}/UnitTests/unitTestApparentAccelerationModel.cpp") setup_custom_test_program(test_ApparentAccelerationModel "${SRCROOT}${REFERENCEFRAMESDIR}") target_link_libraries(test_ApparentAccelerationModel tudat_reference_frames ${Boost_LIBRARIES}) + +add_executable(test_AerodynamicAngleCalculator "${SRCROOT}${REFERENCEFRAMESDIR}/UnitTests/unitTestAerodynamicAngleCalculator.cpp") +setup_custom_test_program(test_AerodynamicAngleCalculator "${SRCROOT}${REFERENCEFRAMESDIR}") +target_link_libraries(test_AerodynamicAngleCalculator tudat_reference_frames tudat_basic_mathematics ${Boost_LIBRARIES}) diff --git a/Tudat/Astrodynamics/ReferenceFrames/UnitTests/erwinReferenceFrameCode.m b/Tudat/Astrodynamics/ReferenceFrames/UnitTests/erwinReferenceFrameCode.m new file mode 100644 index 0000000000..48a21643e0 --- /dev/null +++ b/Tudat/Astrodynamics/ReferenceFrames/UnitTests/erwinReferenceFrameCode.m @@ -0,0 +1,104 @@ +clear all +format long +% +degrad = pi/180; +raddeg = 180/pi; +% +Re = 6.378137e6; % Equatorial radius Earth (m) +omcb = 7.292115e-5; % Rotational rate Earth (rad/s) +THETA = 0.0; % I-frame is R-frame at t = 0 (Greenwhich Hour Angle) +%% +% Input relative spherical state (position: r, tau (lon), delta (lat)) +% +h = 119961.097; +r = Re + h; +tau = 0.0;%-105.965657*degrad; +delta = 90.0*degrad;%-22.0604427*degrad; +% Velocity (modulus Vrel, flight-path angle gamma, heading chi) +Vrel = 7438.14752; +gamma = 0.0*-1.42632303*degrad; +chi = 0.0*70.4369784*degrad; +% +% Transformtion V-frame to I-frame and vice versa +% +arg = tau+THETA; +carg = cos(arg); +sarg = sin(arg); +cdelta = cos(delta); +sdelta = sin(delta); +% +Civ(1,1) = -sdelta*carg; +Civ(2,1) = -sdelta*sarg; +Civ(3,1) = cdelta; +Civ(1,2) = -sarg; +Civ(2,2) = carg; +Civ(3,2) = 0; +Civ(1,3) = -cdelta*carg; +Civ(2,3) = -cdelta*sarg; +Civ(3,3) = -sdelta; +% +Cvi = Civ'; +% +% Transformtion I-frame to R-frame and vice versa +% +cangle = cos(THETA); +sangle = sin(THETA); +% +Cri = zeros(3,3); +Cri(1,1) = cangle; +Cri(1,2) = sangle; +Cri(2,1) = -sangle; +Cri(2,2) = cangle; +Cri(3,3) = 1; +% +Cir = Cri'; +% +% Transformation R-frame to V-frame and vice versa +% +Cvr = Cvi*Cir; +Crv = Cvr'; +% +% Spherical (relative) to Cartesian (relative) position +% +cdelta = cos(delta); +Xr(1) = r*cdelta*cos(tau); +Xr(2) = r*cdelta*sin(tau); +Xr(3) = r*sin(delta); +% +% Inertial Cartesian position +% +Xi = Cir*Xr'; +% +% Spherical velocity to Cartesian V-frame (relative) +% +Vv(1) = Vrel*cos(gamma)*cos(chi); +Vv(2) = Vrel*cos(gamma)*sin(chi); +Vv(3) = -Vrel*sin(gamma); +Crv = Cri*Civ; +Vr = Crv*Vv'; +Vi = Cir*Vr + cross([0 0 omcb]',Xi); +%% +% INVERSE +% +Xr = Cri*Xi; +% +r = norm(Xr); +h = r - Re; +delta = asin(Xr(3)/r); +tau = atan2(Xr(2),Xr(1)); +% +% Cartesian velocity from I-frame to R-frame +% +Vxri = Vi(1) + omcb*Xi(2); +Vyri = Vi(2) - omcb*Xi(1); +% +Vr(1) = Cri(1,1)*Vxri + Cri(1,2)*Vyri; +Vr(2) = Cri(2,1)*Vxri + Cri(2,2)*Vyri; +Vr(3) = Vi(3); +% +% Cartesian velocity in V-frame (NED) +% +Vv = Cvr*Vr; +V = norm(Vv); +gamma = -asin(Vv(3)/V); +chi = atan2(Vv(2),Vv(1)); diff --git a/Tudat/Astrodynamics/ReferenceFrames/UnitTests/unitTestAerodynamicAngleCalculator.cpp b/Tudat/Astrodynamics/ReferenceFrames/UnitTests/unitTestAerodynamicAngleCalculator.cpp new file mode 100644 index 0000000000..3b9aa82d4b --- /dev/null +++ b/Tudat/Astrodynamics/ReferenceFrames/UnitTests/unitTestAerodynamicAngleCalculator.cpp @@ -0,0 +1,228 @@ +#define BOOST_TEST_MAIN + +#include + +#include + +#include + +#include "Tudat/Basics/testMacros.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/unitConversions.h" + +#include "Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h" +#include "Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h" + +namespace tudat +{ +namespace unit_tests +{ + +using namespace unit_conversions; +using namespace reference_frames; + +BOOST_AUTO_TEST_SUITE( test_aerodynamic_angle_calculator ) + +//! Function to test the aerodynamic angle calculator. +/*! + * Function to test the aerodynamic angle calculator from a current body-fixed Cartesian state, the + * current orientation angles, and the expected spherical 6-dimensional state. + * \param testState Body-fixed cartesian state. + * \param testHeadingAngle Heading angle corresponding to testState + * \param testFlightPathAngle Flight path angle corresponding to testState + * \param testLatitude Latitude angle corresponding to testState + * \param testLongitude Longitude angle corresponding to testState + * \param angleOfAttack Angle of attack of vehicle + * \param angleOfSideslip Angle of sideslip of vehicle + * \param bankAngle Bank angle of vehicle + */ +void testAerodynamicAngleCalculation( + const basic_mathematics::Vector6d& testState, + double testHeadingAngle, + double testFlightPathAngle, + double testLatitude, + double testLongitude, + double angleOfAttack, + double angleOfSideslip, + double bankAngle ) +{ + // Create angle calculator + AerodynamicAngleCalculator aerodynamicAngleCalculator( + boost::lambda::constant( testState ), + boost::lambda::constant( angleOfAttack ), + boost::lambda::constant( angleOfSideslip), + boost::lambda::constant( bankAngle ), 1 ); + + // Update angle calculator. + aerodynamicAngleCalculator.update( ); + + // Compare expected against computed angles. + BOOST_CHECK_SMALL( + std::fabs( ( aerodynamicAngleCalculator.getAerodynamicAngle( heading_angle ) - + testHeadingAngle ) ),2.0E-15 ); + BOOST_CHECK_SMALL( + std::fabs( ( aerodynamicAngleCalculator.getAerodynamicAngle( flight_path_angle ) - + testFlightPathAngle ) ),2.0E-15 ); + BOOST_CHECK_SMALL( + std::fabs( ( aerodynamicAngleCalculator.getAerodynamicAngle( latitude_angle ) - + testLatitude ) ),2.0E-15 ); + BOOST_CHECK_SMALL( + std::fabs( ( aerodynamicAngleCalculator.getAerodynamicAngle( longitude_angle ) - + testLongitude ) ),2.0E-15 ); + + // Compute rotation matrices manually and from AerodynamicAngleCalculator + Eigen::Matrix3d aerodynamicToBodyFrameMatrix = + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + aerodynamic_frame, body_frame ).toRotationMatrix( ); + Eigen::Matrix3d testAerodynamicToBodyFrameMatrix = + getAirspeedBasedAerodynamicToBodyFrameTransformationMatrix( + angleOfAttack, angleOfSideslip ); + + Eigen::Matrix3d trajectoryToAerodynamicFrameMatrix = + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + trajectory_frame, aerodynamic_frame ).toRotationMatrix( ); + Eigen::Matrix3d testTrajectoryToAerodynamicFrameMatrix = + getTrajectoryToAerodynamicFrameTransformationMatrix( + bankAngle ); + + Eigen::Matrix3d verticalToTrajectoryFrameMatrix = + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + vertical_frame, trajectory_frame ).toRotationMatrix( ); + Eigen::Matrix3d testVerticalToTrajectoryFrameMatrix = + getLocalVerticalFrameToTrajectoryTransformationMatrix( + testFlightPathAngle, testHeadingAngle ); + + Eigen::Matrix3d corotatingToVerticalFrameMatrix = + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + corotating_frame, vertical_frame ).toRotationMatrix( ); + Eigen::Matrix3d testCorotatingToVerticalFrameMatrix = + getRotatingPlanetocentricToLocalVerticalFrameTransformationMatrix( + testLongitude, testLatitude ); + + // Compare rotation matrices. + for( unsigned int l = 0; l < 3; l++ ) + { + for( unsigned int m = 0; m < 3; m++ ) + { + BOOST_CHECK_SMALL( std::fabs( aerodynamicToBodyFrameMatrix( l, m ) - + testAerodynamicToBodyFrameMatrix( l, m ) ), 2.0E-15 ); + BOOST_CHECK_SMALL( std::fabs( trajectoryToAerodynamicFrameMatrix( l, m ) - + testTrajectoryToAerodynamicFrameMatrix( l, m ) ), 2.0E-15 ); + BOOST_CHECK_SMALL( std::fabs( verticalToTrajectoryFrameMatrix( l, m ) - + testVerticalToTrajectoryFrameMatrix( l, m ) ), 2.0E-15 ); + BOOST_CHECK_SMALL( std::fabs( corotatingToVerticalFrameMatrix( l, m ) - + testCorotatingToVerticalFrameMatrix( l, m ) ), 2.0E-15 ); + + } + + } + + // Test rotation matrix obtained directly and from combination of two rotation matrices from + // AerodynamicAngleCalculator + for( unsigned int i = 0; i < 5; i++ ) + { + for( unsigned int j = 0; j < 5; j++ ) + { + // Calculate direct rotation matrix + Eigen::Matrix3d directRotationMatrix = + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + static_cast< AerodynamicsReferenceFrames >( i ), + static_cast< AerodynamicsReferenceFrames >( j ) ).toRotationMatrix( ); + + // Calculate each possible intermediate rotation matrix. + for( unsigned int k = 0; k < 5; k++ ) + { + Eigen::Matrix3d indirectRotationMatrix = + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + static_cast< AerodynamicsReferenceFrames >( k ), + static_cast< AerodynamicsReferenceFrames >( j ) ).toRotationMatrix( ) * + aerodynamicAngleCalculator.getRotationQuaternionBetweenFrames( + static_cast< AerodynamicsReferenceFrames >( i ), + static_cast< AerodynamicsReferenceFrames >( k ) ).toRotationMatrix( ); + + // Compare matrices + for( unsigned int l = 0; l < 3; l++ ) + { + for( unsigned int m = 0; m < 3; m++ ) + { + BOOST_CHECK_SMALL( std::fabs( directRotationMatrix( l, m ) + - indirectRotationMatrix( l, m ) ), 2.0E-15 ); + } + + } + } + } + } + +} + +//! Test inertial to rotating planetocentric frame transformations, using Matlab script of Erwin +//! Mooij to generate reference data. +BOOST_AUTO_TEST_CASE( testAerodynamicAngleCalculator ) +{ + // Test case 1: arbitrary rotation + { + basic_mathematics::Vector6d testState; + testState<<-1656517.23153109, -5790058.28764025, -2440584.88186829, + 6526.30784888051, -2661.34558272018, 2377.09572383163; + + double testHeadingAngle = 1.229357188236127; + double testFlightPathAngle = -0.024894033070522; + double testLatitude = -0.385027359562548; + double testLongitude = -1.849449608688977; + + double angleOfAttack = 1.232; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432;\ + + testAerodynamicAngleCalculation( testState, testHeadingAngle, testFlightPathAngle, + testLatitude, testLongitude, + angleOfAttack, angleOfSideslip, bankAngle ); + } + + // Test case 2: rotation with zero and half pi angles. + { + basic_mathematics::Vector6d testState; + testState<<0.0, 6498098.09700000, 0.0, 0.0, 0.0, 7.438147520000000e+03; + + double testHeadingAngle = 0.0; + double testFlightPathAngle = 0.0; + double testLatitude = 0.0; + double testLongitude = mathematical_constants::PI / 2.0; + + double angleOfAttack = 1.232; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432; + + testAerodynamicAngleCalculation( testState, testHeadingAngle, testFlightPathAngle, + testLatitude, testLongitude, + angleOfAttack, angleOfSideslip, bankAngle ); + } + + // Test case 3: rotation with zero and half pi angles. + { + basic_mathematics::Vector6d testState; + testState<<0.0, 0.0, 6.498098097000000e3, -7.438147520000000e3, 0.0, 0.0; + + double testHeadingAngle = 0.0; + double testFlightPathAngle = 0.0; + double testLatitude = mathematical_constants::PI / 2.0; + double testLongitude = 0.0; + + double angleOfAttack = 1.232; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432; + + testAerodynamicAngleCalculation( testState, testHeadingAngle, testFlightPathAngle, + testLatitude, testLongitude, + angleOfAttack, angleOfSideslip, bankAngle ); + } + + + +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} // namespace unit_tests +} // namespace tudat + diff --git a/Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.cpp b/Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.cpp new file mode 100644 index 0000000000..50fbc73ccd --- /dev/null +++ b/Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.cpp @@ -0,0 +1,317 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include +#include +#include + +#include "Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h" +#include "Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h" +#include "Tudat/Mathematics/BasicMathematics/coordinateConversions.h" +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" + +namespace tudat +{ + +namespace reference_frames +{ + +//! Function to update the orientation angles to the current state. +void AerodynamicAngleCalculator::update( ) +{ + // Clear all current rotation matrices. + currentRotationMatrices_.clear( ); + + // Get current body-fixed state. + currentBodyFixedState_ = bodyFixedStateFunction_( ); + Eigen::Vector3d sphericalCoordinates = coordinate_conversions::convertCartesianToSpherical( + currentBodyFixedState_.segment( 0, 3 ) ); + + // Calculate latitude and longitude. + currentAerodynamicAngles_[ latitude_angle ] = + mathematical_constants::PI / 2.0 - sphericalCoordinates( 1 ); + currentAerodynamicAngles_[ longitude_angle ] = sphericalCoordinates( 2 ); + + // Calculate vertical <-> aerodynamic <-> body-fixed angles if neede. + if( calculateVerticalToAerodynamicFrame_ ) + { + Eigen::Vector3d verticalFrameVelocity = + getRotatingPlanetocentricToLocalVerticalFrameTransformationQuaternion( + currentAerodynamicAngles_.at( longitude_angle ), + currentAerodynamicAngles_.at( latitude_angle ) ) * + currentBodyFixedState_.segment( 3, 3 ); + + currentAerodynamicAngles_[ heading_angle ] = calculateHeadingAngle( verticalFrameVelocity ); + currentAerodynamicAngles_[ flight_path_angle ] = + calculateFlightPathAngle( verticalFrameVelocity ); + + currentAerodynamicAngles_[ angle_of_attack ] = angleOfAttackFunction_( ); + currentAerodynamicAngles_[ angle_of_sideslip ] = angleOfSideslipFunction_( ); + currentAerodynamicAngles_[ bank_angle ] = bankAngleFunction_( ); + } +} + +//! Function to get the rotation quaternion between two frames +Eigen::Quaterniond AerodynamicAngleCalculator::getRotationQuaternionBetweenFrames( + const AerodynamicsReferenceFrames originalFrame, + const AerodynamicsReferenceFrames targetFrame ) +{ + // Initialize rotation to identity matrix. + Eigen::Quaterniond rotationToFrame = Eigen::Quaterniond( Eigen::Matrix3d::Identity( ) ); + + // Inertial frame is not specificied in current object. + if( originalFrame == inertial_frame || targetFrame == inertial_frame) + { + throw( "Error in AerodynamicAngleCalculator, cannot calculate to/from inertial frame" ); + } + + // Check if update settings are consistent with requested frames. + if( !calculateVerticalToAerodynamicFrame_ && + ( originalFrame > vertical_frame || targetFrame > vertical_frame ) ) + { + throw( "Error in AerodynamicAngleCalculator, instance ends at vertical frame" ); + } + + // Set current frame pair. + std::pair< AerodynamicsReferenceFrames, AerodynamicsReferenceFrames > currentRotationPair = + std::make_pair( originalFrame, targetFrame ); + + // Calculate rotation matrix if current rotation is not yet calculated. + if( currentRotationMatrices_.count( currentRotationPair ) == 0 ) + { + // Get indices of required frames. + int currentFrameIndex = static_cast< int >( originalFrame ); + int targetFrameIndex = static_cast< int >( targetFrame ); + + // Check if any rotation is needed. + if( currentFrameIndex != targetFrameIndex ) + { + // Check 'direction' of transformation through AerodynamicsReferenceFrames list. + bool isTargetFrameUp; + if( targetFrameIndex > currentFrameIndex ) + { + isTargetFrameUp = 1; + } + else if( targetFrameIndex < currentFrameIndex ) + { + isTargetFrameUp = 0; + } + else + { + throw std::runtime_error( + "Error when identifying target frame direction in AerodynamicAngleCalculator." ); + + } + + // Add rotation sequence until final frame is reached. + while( currentFrameIndex != targetFrameIndex ) + { + switch( currentFrameIndex ) + { + case static_cast< int >( corotating_frame ): + + if( isTargetFrameUp ) + { + rotationToFrame = + getRotatingPlanetocentricToLocalVerticalFrameTransformationQuaternion( + currentAerodynamicAngles_.at( longitude_angle ), + currentAerodynamicAngles_.at( latitude_angle ) ) * + rotationToFrame; + } + else + { + throw std::runtime_error( + "Error, corotating_frame is end frame in AerodynamicAngleCalculator" ); + } + break; + case static_cast< int >( vertical_frame ): + if( isTargetFrameUp ) + { + + rotationToFrame = + getLocalVerticalFrameToTrajectoryTransformationQuaternion( + currentAerodynamicAngles_.at( flight_path_angle ), + currentAerodynamicAngles_.at( heading_angle ) ) * rotationToFrame; + } + else + { + rotationToFrame = + getLocalVerticalToRotatingPlanetocentricFrameTransformationQuaternion( + currentAerodynamicAngles_.at( longitude_angle ), + currentAerodynamicAngles_.at( latitude_angle ) ) * + rotationToFrame; + } + break; + case static_cast< int >( trajectory_frame ): + if( isTargetFrameUp ) + { + rotationToFrame = + getTrajectoryToAerodynamicFrameTransformationQuaternion( + currentAerodynamicAngles_.at( bank_angle ) ) * + rotationToFrame; + + } + else + { + rotationToFrame = + getTrajectoryToLocalVerticalFrameTransformationQuaternion( + currentAerodynamicAngles_.at( flight_path_angle ), + currentAerodynamicAngles_.at( heading_angle ) ) * + rotationToFrame; + } + break; + case static_cast< int >( aerodynamic_frame ): + if( isTargetFrameUp ) + { + rotationToFrame = + getAirspeedBasedAerodynamicToBodyFrameTransformationQuaternion( + currentAerodynamicAngles_.at( angle_of_attack ), + currentAerodynamicAngles_.at( angle_of_sideslip ) ) * + rotationToFrame; + } + else + { + rotationToFrame = + getAerodynamicToTrajectoryFrameTransformationQuaternion( + currentAerodynamicAngles_.at( bank_angle ) ) * + rotationToFrame; + } + break; + case static_cast< int >( body_frame ): + if( isTargetFrameUp ) + { + + throw std::runtime_error( + "Error, body frame is end frame in AerodynamicAngleCalculator." ); + } + else + { + rotationToFrame = + getBodyToAirspeedBasedAerodynamicFrameTransformationQuaternion( + currentAerodynamicAngles_.at( angle_of_attack ), + currentAerodynamicAngles_.at( angle_of_sideslip ) ) * + rotationToFrame; + } + break; + default: + throw std::runtime_error( + "Error, index " + + boost::lexical_cast< std::string>( currentFrameIndex ) + + "not found in AerodynamicAngleCalculator" ); + + } + + // Increment/decrement current frame. + if( isTargetFrameUp ) + { + currentFrameIndex++; + } + else + { + currentFrameIndex--; + } + } + } + + // Set current rotation (as well as inverse). + currentRotationMatrices_[ currentRotationPair ] = rotationToFrame; + currentRotationMatrices_[ std::make_pair( targetFrame, originalFrame ) ] = + rotationToFrame.inverse( ); + } + else + { + rotationToFrame = currentRotationMatrices_.at( currentRotationPair ); + } + return rotationToFrame; +} + +//! Function to get a single orientation angle. +double AerodynamicAngleCalculator::getAerodynamicAngle( + const AerodynamicsReferenceFrameAngles angleId ) +{ + double angleValue = TUDAT_NAN; + if( currentAerodynamicAngles_.count( angleId ) == 0 ) + { + throw std::runtime_error( "Error in AerodynamicAngleCalculator, angleId " + + boost::lexical_cast< std::string >( angleId ) + "not found" ); + } + else + { + angleValue = currentAerodynamicAngles_.at( angleId ); + } + return angleValue; +} + +//! Get a function to transform aerodynamic force from local to propagation frame. +boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > +getAerodynamicForceTransformationFunction( + const boost::shared_ptr< AerodynamicAngleCalculator > aerodynamicAngleCalculator, + const AerodynamicsReferenceFrames accelerationFrame, + const boost::function< Eigen::Quaterniond( ) > bodyFixedToInertialFrameFunction, + const AerodynamicsReferenceFrames propagationFrame ) +{ + boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > transformationFunction; + + // If propagation frame is the inertial frame, use bodyFixedToInertialFrameFunction. + if( propagationFrame == inertial_frame ) + { + std::vector< boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > > rotationsList; + + // Get accelerationFrame to corotating frame transformation. + boost::function< Eigen::Quaterniond( ) > firstRotation = + boost::bind( &AerodynamicAngleCalculator::getRotationQuaternionBetweenFrames, + aerodynamicAngleCalculator, accelerationFrame, corotating_frame ); + rotationsList.push_back( + boost::bind( + static_cast< Eigen::Vector3d(&)( + const Eigen::Vector3d&, + const boost::function< Eigen::Quaterniond( ) > ) >( &transformVector ), + _1, firstRotation ) ); + + // Add corotating to inertial frame. + rotationsList.push_back( + boost::bind( + static_cast< Eigen::Vector3d(&)( + const Eigen::Vector3d&, + const boost::function< Eigen::Quaterniond( ) > ) >( &transformVector ), + _1, bodyFixedToInertialFrameFunction ) ); + + // Create transformation function. + transformationFunction = boost::bind( + static_cast< Eigen::Vector3d(&)( + const Eigen::Vector3d&, + const std::vector< boost::function< + Eigen::Vector3d( const Eigen::Vector3d& ) > >& ) >( &transformVector ), + _1, rotationsList ); + } + else + { + // Get accelerationFrame to propagationFrame frame transformation directly. + boost::function< Eigen::Quaterniond( ) > rotationFunction = + boost::bind( &AerodynamicAngleCalculator::getRotationQuaternionBetweenFrames, + aerodynamicAngleCalculator, accelerationFrame, propagationFrame ); + + // Create transformation function. + transformationFunction = boost::bind( + static_cast< Eigen::Vector3d(&)( + const Eigen::Vector3d&, + const boost::function< Eigen::Quaterniond( ) > ) >( &transformVector ), _1, + rotationFunction ); + } + + return transformationFunction; +} + +} // namespace reference_frames + +} // namespace tudat + + + diff --git a/Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h b/Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h new file mode 100644 index 0000000000..a7e4a426ff --- /dev/null +++ b/Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h @@ -0,0 +1,190 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ +#ifndef TUDAT_AERODYNAMICANGLECALCULATOR_H +#define TUDAT_AERODYNAMICANGLECALCULATOR_H + +#include +#include + +#include +#include + +#include +#include + +#include "Tudat/Mathematics/BasicMathematics/linearAlgebraTypes.h" + +namespace tudat +{ + +namespace reference_frames +{ + +//! Enum to define ids for various reference frames for calculating between inertial and body-fixed +//! frame, using transformation chain via aerodynamic frame. +enum AerodynamicsReferenceFrames +{ + inertial_frame = -1, + corotating_frame = 0, + vertical_frame = 1, + trajectory_frame = 2, + aerodynamic_frame = 3, + body_frame = 4 +}; + +//! Enum to define ids for various angles needed for converting between inertial and body-fixed +//! frame, using transformation chain via aerodynamic frame. +enum AerodynamicsReferenceFrameAngles +{ + latitude_angle = 0, + longitude_angle = 1, + heading_angle = 2, + flight_path_angle = 3, + angle_of_attack = 4, + angle_of_sideslip = 5, + bank_angle = 6 +}; + +//! Object to calculate aerodynamic orientation angles from current vehicle state. +/*! + * Object to calculate aerodynamic orientation angles from current vehicle state. + */ +class AerodynamicAngleCalculator +{ +public: + + //! Constructor + /*! + * Constructor. + * \param bodyFixedStateFunction Vehicle state in a frame fixed w.r.t. the central body. Note + * that this state is w.r.t. the body itself, not w.r.t. the local atmosphere + * \param angleOfAttackFunction Function to determine the angle of attack of the vehicle. + * \param angleOfSideslipFunction Function to determine the angle of sideslip of the vehicle. + * \param bankAngleFunction Function to determine the bank angle of the vehicle. + * \param calculateVerticalToAerodynamicFrame Boolean to determine whether to determine + * vertical <-> aerodynamic frame conversion when calling update function. + */ + AerodynamicAngleCalculator( + const boost::function< basic_mathematics::Vector6d( ) > bodyFixedStateFunction, + const boost::function< double( ) > angleOfAttackFunction = + boost::lambda::constant ( 0.0 ), + const boost::function< double( ) > angleOfSideslipFunction = + boost::lambda::constant ( 0.0 ), + const boost::function< double( ) > bankAngleFunction = + boost::lambda::constant ( 0.0 ), + const bool calculateVerticalToAerodynamicFrame = 0 ): + bodyFixedStateFunction_( bodyFixedStateFunction ), + angleOfAttackFunction_( angleOfAttackFunction ), + angleOfSideslipFunction_( angleOfSideslipFunction ), + bankAngleFunction_( bankAngleFunction ), + calculateVerticalToAerodynamicFrame_( calculateVerticalToAerodynamicFrame ){ } + + //! Function to update the orientation angles to the current state. + /*! + * This function updates all requires orientation angles to the current state of the vehicle. + * The current state is retrieved from the bodyFixedStateFunction_ member variable + * function pointer. + */ + void update( ); + + //! Function to get the rotation quaternion between two frames + /*! + * Function to get the rotation quaternion between two frames. This function uses the values + * calculated by the previous call of the update( ) function. + * \param originalFrame Id for 'current' frame + * \param targetFrame Id for frame to which transformation object should transfrom a vector + * (from originalFrame). + * \return Rotation quaternion from originalFrame to targetFrame. + */ + Eigen::Quaterniond getRotationQuaternionBetweenFrames( + const AerodynamicsReferenceFrames originalFrame, + const AerodynamicsReferenceFrames targetFrame ); + + //! Function to get a single orientation angle. + /*! + * Function to get a single orientation angle, as calculated by previous call to update( ) + * function. + * \param angleId Id of requested angle. + * \return Value of requested angle. + */ + double getAerodynamicAngle( const AerodynamicsReferenceFrameAngles angleId ); + + void setOrientationAngleFunctions( + const boost::function< double( ) > angleOfAttackFunction = + boost::lambda::constant ( 0.0 ), + const boost::function< double( ) > angleOfSideslipFunction = + boost::lambda::constant ( 0.0 ), + const boost::function< double( ) > bankAngleFunction = + boost::lambda::constant ( 0.0 ) ) + { + angleOfAttackFunction_ = angleOfAttackFunction; + angleOfSideslipFunction_ = angleOfSideslipFunction; + bankAngleFunction_ = bankAngleFunction; + } + +private: + + //! Map of current angles, as calculated by previous call to update( ) function. + std::map< AerodynamicsReferenceFrameAngles, double > currentAerodynamicAngles_; + + //! Map of current transformation quaternions, as calculated since previous call to update( ) + //! function. + std::map< std::pair< AerodynamicsReferenceFrames, AerodynamicsReferenceFrames >, + Eigen::Quaterniond > currentRotationMatrices_; + + //! Current body-fixed state of vehicle, as set by previous call to update( ). + basic_mathematics::Vector6d currentBodyFixedState_; + + //! Vehicle state in a frame fixed w.r.t. the central body. + /*! + * Vehicle state in a frame fixed w.r.t. the central body. + * Note that this state is w.r.t. the body itself, not w.r.t. the local atmosphere + */ + boost::function< basic_mathematics::Vector6d( ) > bodyFixedStateFunction_; + + //! Function to determine the angle of attack of the vehicle. + boost::function< double( ) > angleOfAttackFunction_; + + //! Function to determine the angle of sideslip of the vehicle. + boost::function< double( ) > angleOfSideslipFunction_; + + //! Function to determine the bank angle of the vehicle. + boost::function< double( ) > bankAngleFunction_; + + //! Boolean to determine whether to determine vertical <-> aerodynamic frame conversion + //! when calling update function. + bool calculateVerticalToAerodynamicFrame_; + +}; + +//! Get a function to transform aerodynamic force from local to propagation frame. +/*! + * Get a function to transform aerodynamic force from local to propagation frame. The returned + * function takes the force in the accelerationFrame, and returns this force in the + * propagationFrame. + * \param aerodynamicAngleCalculator Object to calculate aerodynamic angles and rotation + * quaternions. + * \param accelerationFrame Id of frame in which aerodynamic force is calculated + * \param bodyFixedToInertialFrameFunction Function to get the central-body corotating frame to + * inertial frame quaternion. + * \param propagationFrame Id of frame in which orbit propagation is done. + * \return Aerodynamic force conversion function. + */ +boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > +getAerodynamicForceTransformationFunction( + const boost::shared_ptr< AerodynamicAngleCalculator > aerodynamicAngleCalculator, + const AerodynamicsReferenceFrames accelerationFrame, + const boost::function< Eigen::Quaterniond( ) > bodyFixedToInertialFrameFunction = + boost::lambda::constant( Eigen::Quaterniond( Eigen::Matrix3d::Identity( ) ) ), + const AerodynamicsReferenceFrames propagationFrame = inertial_frame); +} // namespace reference_frames + +} // namespace tudat +#endif // TUDAT_AERODYNAMICANGLECALCULATOR_H diff --git a/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.cpp b/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.cpp index e986c7b1c5..8ddb9c0c14 100644 --- a/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.cpp +++ b/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.cpp @@ -87,18 +87,21 @@ Eigen::Vector3d computeEulerAcceleration( } //! Update member variables used by apparent acceleration model. -void ApparentAccelerationModel::updateMembers( ) +void ApparentAccelerationModel::updateMembers( const double currentTime ) { - currentAccelerationOfNonInertialReferenceFrame_ = - accelerationOfNonInertialReferenceFrameFunction_( ); - currentAngularVelocityOfNonInertialReferenceFrame_ = - angularVelocityOfNonInertialReferenceFrameFunction_( ); - currentAngularAccelerationOfNonInertialReferenceFrame_ = - angularAccelerationOfNonInertialReferenceFrameFunction_( ); - currentPositionOfBodyInNonInertialReferenceFrame_ = - positionOfBodyInNonInertialReferenceFrameFunction_( ); - currentVelocityOfBodyInNonInertialReferenceFrame_ = - velocityOfBodyInNonInertialReferenceFrameFunction_( ); + if( !( this->currentTime_ == currentTime ) ) + { + currentAccelerationOfNonInertialReferenceFrame_ = + accelerationOfNonInertialReferenceFrameFunction_( ); + currentAngularVelocityOfNonInertialReferenceFrame_ = + angularVelocityOfNonInertialReferenceFrameFunction_( ); + currentAngularAccelerationOfNonInertialReferenceFrame_ = + angularAccelerationOfNonInertialReferenceFrameFunction_( ); + currentPositionOfBodyInNonInertialReferenceFrame_ = + positionOfBodyInNonInertialReferenceFrameFunction_( ); + currentVelocityOfBodyInNonInertialReferenceFrame_ = + velocityOfBodyInNonInertialReferenceFrameFunction_( ); + } } } // namespace reference_frames diff --git a/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.h b/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.h index 744fb2d50d..67042b91ce 100644 --- a/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.h +++ b/Tudat/Astrodynamics/ReferenceFrames/apparentAccelerationModel.h @@ -232,8 +232,9 @@ class ApparentAccelerationModel : public basic_astrodynamics::AccelerationModel< * that are required as input for the evaluation of the accelerations are retrieved from * boost::functions that may or may not give constant return values, depending on the * user input. This function sets the member variables using these functions. + * \param currentTime Time at which acceleration model is to be updated. */ - void updateMembers( ); + void updateMembers( const double currentTime = TUDAT_NAN ); protected: diff --git a/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.cpp b/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.cpp index dae1f07a93..35ffcfe98c 100644 --- a/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.cpp +++ b/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.cpp @@ -52,7 +52,6 @@ */ #include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" - #include "Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h" namespace tudat @@ -60,6 +59,39 @@ namespace tudat namespace reference_frames { +//! Wrapper function to transform a vector to a different frame from a single rotation function. +Eigen::Vector3d transformVector( + const Eigen::Vector3d& originalVector, + const boost::function< Eigen::Quaterniond( ) > rotation ) +{ + return rotation( ) * originalVector; +} + +//! Wrapper function to transform a vector to a different frame from a single transformation function. +Eigen::Vector3d transformVector( + const boost::function< Eigen::Vector3d( ) > originalVector, + const boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > transformationFunction ) +{ + return transformationFunction( originalVector( ) ); +} + +//! Wrapper function to transform a vector to a different frame from a list of transformation function. +Eigen::Vector3d transformVector( + const Eigen::Vector3d& originalVector, + const std::vector< boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > >& rotationsList ) +{ + Eigen::Vector3d currentVector = originalVector; + Eigen::Vector3d newVector; + + // Apply each of the required tranformations. + for( unsigned int i = 0; i < rotationsList.size( ); i++ ) + { + newVector = rotationsList.at( i )( currentVector ); + currentVector = newVector; + } + return currentVector; +} + //! Get rotating planetocentric (R) to inertial (I) reference frame transformation matrix. Eigen::Matrix3d getRotatingPlanetocentricToInertialFrameTransformationMatrix( const double angleFromXItoXR ) @@ -326,5 +358,18 @@ Eigen::Quaterniond getAirspeedBasedAerodynamicToBodyFrameTransformationQuaternio angleOfAttack, angleOfSideslip ).inverse( ); } +//! Calculate current heading angle. +double calculateHeadingAngle( const Eigen::Vector3d& velocityInVerticalFrame ) +{ + return std::atan2( velocityInVerticalFrame( 1 ), velocityInVerticalFrame( 0 ) ); +} + +//! Calculatre current flight path angle. +double calculateFlightPathAngle( const Eigen::Vector3d& velocityInVerticalFrame ) +{ + return -std::asin( velocityInVerticalFrame( 2 ) / velocityInVerticalFrame.norm( ) ); +} + + } // namespace reference_frames } // namespace tudat diff --git a/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h b/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h index a075ad872d..4817599b7a 100644 --- a/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h +++ b/Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h @@ -53,6 +53,9 @@ #define TUDAT_REFERENCE_FRAME_TRANSFORMATIONS_H #include +#include + +#include #include #include @@ -62,6 +65,40 @@ namespace tudat namespace reference_frames { +//! Wrapper function to transform a vector to a different frame from a single rotation function. +/*! + * Wrapper function to transform a vector to a different frame from a single rotation function. + * \param originalVector Vector that is to be rotated to a new frame + * \param rotation Function returning the current rotation to the new frame + * \return Vector originalVector, transformed to new frame. + */ +Eigen::Vector3d transformVector( + const Eigen::Vector3d& originalVector, + const boost::function< Eigen::Quaterniond( ) > rotation ); + +//! Wrapper function to transform a vector to a different frame from a single transformation function. +/*! + * Wrapper function to transform a vector to a different frame from a single transformation function. + * \param originalVector Vector that is to be transformed to a new frame + * \param transformationFunction Function transforming a vector to a new frame + * \return Vector originalVector, transformed to new frame. + */ +Eigen::Vector3d transformVector( + const boost::function< Eigen::Vector3d( ) > originalVector, + const boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > transformationFunction ); + +//! Wrapper function to transform a vector to a different frame from a list of transformation function. +/*! + * Wrapper function to transform a vector to a different frame from a list of transformation function. + * \param originalVector Vector that is to be transformed to a new frame + * \param rotationsList List of transformation function, each of which transforms a vector to a new frame. The functions + * in this list are called in descending order. + * \return Vector originalVector, transformed to new frame. + */ +Eigen::Vector3d transformVector( + const Eigen::Vector3d& originalVector, + const std::vector< boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > >& rotationsList ); + //! Get rotating planetocentric (R) to inertial (I) reference frame transformation matrix. /*! * Returns tranformation matrix from rotating planetocentric reference frame (R) to inertial @@ -361,6 +398,23 @@ Eigen::Matrix3d getAirspeedBasedAerodynamicToBodyFrameTransformationMatrix( Eigen::Quaterniond getAirspeedBasedAerodynamicToBodyFrameTransformationQuaternion( const double angleOfAttack, const double angleOfSideslip ); +//! Calculate current heading angle. +/*! + * Calculate heading angle from velocity in vertical (LVLH) frame. + * \param velocityInVerticalFrame Current Cartesian velocity in vertical frame. + * \return Current heading angle. + */ +double calculateHeadingAngle( const Eigen::Vector3d& velocityInVerticalFrame ); + +//! Calculate current flight path angle. Angle is defined positive upwards. +/*! + * Calculate flight path angle from velocity in vertical (LVLH) frame. + * Angle is defined positive upwards. + * \param velocityInVerticalFrame Current Cartesian velocity in vertical frame. + * \return Current flight path angle. + */ +double calculateFlightPathAngle( const Eigen::Vector3d& velocityInVerticalFrame ); + } // namespace reference_frames } // namespace tudat diff --git a/Tudat/CMakeLists.txt b/Tudat/CMakeLists.txt index c8db9e97e7..de543df0b8 100755 --- a/Tudat/CMakeLists.txt +++ b/Tudat/CMakeLists.txt @@ -110,6 +110,8 @@ set(BASICSDIR "/Basics") set(EXTERNALDIR "/External") set(INPUTOUTPUTDIR "/InputOutput") set(MATHEMATICSDIR "/Mathematics") +set(SIMULATIONSETUPDIR "/SimulationSetup") + # Include the top-level directories. include_directories(AFTER @@ -180,8 +182,10 @@ endif() option(USE_CSPICE "build Tudat with CSPICE enabled" ON) # OFF is the default if(NOT USE_CSPICE) message(STATUS "SPICE disabled!") + add_definitions(-DUSE_CSPICE=0) else() message(STATUS "SPICE enabled!") +add_definitions(-DUSE_CSPICE=1) # Find CSPICE library on local system. find_package(Spice) @@ -218,7 +222,7 @@ else() endif() # Set sub-directories. -set(SUBDIRS ${APPLICATIONSDIR} ${ASTRODYNAMICSDIR} ${BASICSDIR} ${INPUTOUTPUTDIR} ${MATHEMATICSDIR} ${EXTERNALDIR}) +set(SUBDIRS ${APPLICATIONSDIR} ${ASTRODYNAMICSDIR} ${BASICSDIR} ${INPUTOUTPUTDIR} ${MATHEMATICSDIR} ${EXTERNALDIR} ${SIMULATIONSETUPDIR}) # Add sub-directories to CMake process. foreach(CURRENT_SUBDIR ${SUBDIRS}) diff --git a/Tudat/External/SpiceInterface/CMakeLists.txt b/Tudat/External/SpiceInterface/CMakeLists.txt index 91e3b15bb0..c85a98ed57 100644 --- a/Tudat/External/SpiceInterface/CMakeLists.txt +++ b/Tudat/External/SpiceInterface/CMakeLists.txt @@ -55,4 +55,4 @@ setup_tudat_library_target(tudat_spice_interface "${SRCROOT}${SPICEINTERFACEDIR} # Add unit tests. add_executable(test_SpiceInterface "${SRCROOT}${EXTERNALDIR}/SpiceInterface/UnitTests/unitTestSpiceInterface.cpp") setup_custom_test_program(test_SpiceInterface "${SRCROOT}${EXTERNALDIR}/SpiceInterface") -target_link_libraries(test_SpiceInterface tudat_spice_interface tudat_basic_astrodynamics ${SPICE_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(test_SpiceInterface tudat_ephemerides tudat_basic_mathematics tudat_spice_interface tudat_basic_astrodynamics ${SPICE_LIBRARIES} ${Boost_LIBRARIES}) diff --git a/Tudat/External/SpiceInterface/Kernels/gm_de431.tpc b/Tudat/External/SpiceInterface/Kernels/gm_de431.tpc new file mode 100644 index 0000000000..af6fae6423 --- /dev/null +++ b/Tudat/External/SpiceInterface/Kernels/gm_de431.tpc @@ -0,0 +1,150 @@ +KPL/PCK + + Assign mass parameters to planets & satellites. + + Parameter "BODY000_GMLIST" contains list of included objects in + ASCENDING ID code order. + + Source: DE-431 "ASTRO-VALUES", Folkner [1-10,199,299,301,399] + Jacobson satellite file release forms [non-Lunar satellites, planets] + SB431-BIG16 small-body integration perturber file + + UNITS: km^3/s^2 + + Modification history: + + DATE Who Change + ----------- --- ------------------------------------------------------- + 2000-Nov-28 JDG Version 1.0 + 2002-Oct-17 JDG C-P-V values current + 2003-Feb-26 JDG Pluto/Charon values consistent w/Jacobson PLU006 + 2003-Mar-13 JDG Update all satellite/planet GMs + 2005-Mar-02 JDG Update Saturnians 601-609,699 to SAT192 values + 2005-Mar-07 JDG Update Pluto system (901,999) to PLU009 values + 2005-Mar-18 JDG Update 610-611, add 615-617 (SAT196) + 2006-Apr-28 JDG Update 601-609, 699 (SAT242) and 401-402, 499 (MAR063) + 2006-Sep-28 JDG Update 601-609, 699 (SAT252) + 2008-Aug-11 JDG Revert to DE405 for Pluto system GM (9) + 2008-Sep-05 JDG Over-ride DE405 "4" with 499+401+402. + 2008-Sep-25 JDG Update 4,499,401,402 for MAR080. + 2013-Jul-23 JDG Version 2.0 + Updated to DE431 values (from DE405) + 401-402,499 : MAR097 + 501-505,599 : JUP230 + 601-609,699 : SAT359 + 610-611,615-617: SAT357 + 701-705,799 : URA083 + 801,899 : NEP081 + 901-904,999 : PLU042 (902-904 newly added) + 2000001-2000004: BIG16 (smb perturber file value) + 2000006-2000007: BIG16 + 2000010 : BIG16 + 2000015-2000016: BIG16 + 2000029 : BIG16 + 2000052 : BIG16 + 2000065 : BIG16 + 2000087-2000088: BIG16 + 2000433 : Yeomans et al. (2000) Science v.289,pp.2085-2088 + 2000511 : BIG16 + 2000704 : BIG16 + 2013-Dec-30 JDG Updated for SAT360, PLU043 + 2014-Jan-08 JDG Updated for URA111/112. + + Key: + JDG= Jon.D.Giorgini@jpl.nasa.gov + + \begindata + + BODY000_GMLIST = ( 1 2 3 4 5 6 7 8 9 10 + 199 299 + 301 399 + 401 402 499 + 501 502 503 504 505 599 + 601 602 603 604 605 606 607 608 609 610 611 699 + 701 702 703 704 705 799 + 801 899 + 901 902 903 904 999 + 2000001 2000002 2000003 2000004 2000006 2000007 2000010 + 2000015 2000016 2000029 2000052 2000065 2000087 2000088 + 2000433 2000511 2000704 ) + + BODY1_GM = ( 2.2031780000000021E+04 ) + BODY2_GM = ( 3.2485859200000006E+05 ) + BODY3_GM = ( 4.0350323550225981E+05 ) + BODY4_GM = ( 4.2828375214000022E+04 ) + BODY5_GM = ( 1.2671276480000021E+08 ) + BODY6_GM = ( 3.7940585200000003E+07 ) + BODY7_GM = ( 5.7945486000000080E+06 ) + BODY8_GM = ( 6.8365271005800236E+06 ) + BODY9_GM = ( 9.7700000000000068E+02 ) + BODY10_GM = ( 1.3271244004193938E+11 ) + + BODY199_GM = ( 2.2031780000000021E+04 ) + BODY299_GM = ( 3.2485859200000006E+05 ) + BODY399_GM = ( 3.9860043543609598E+05 ) + BODY499_GM = ( 4.282837362069909E+04 ) + BODY599_GM = ( 1.266865349218008E+08 ) + BODY699_GM = ( 3.793120749865224E+07 ) + BODY799_GM = ( 5.793951322279009E+06 ) + BODY899_GM = ( 6.835099502439672E+06 ) + BODY999_GM = ( 8.696138177608748E+02 ) + + BODY301_GM = ( 4.9028000661637961E+03 ) + + BODY401_GM = ( 7.087546066894452E-04 ) + BODY402_GM = ( 9.615569648120313E-05 ) + + BODY501_GM = ( 5.959916033410404E+03 ) + BODY502_GM = ( 3.202738774922892E+03 ) + BODY503_GM = ( 9.887834453334144E+03 ) + BODY504_GM = ( 7.179289361397270E+03 ) + BODY505_GM = ( 1.378480571202615E-01 ) + + BODY601_GM = ( 2.503522884661795E+00 ) + BODY602_GM = ( 7.211292085479989E+00 ) + BODY603_GM = ( 4.121117207701302E+01 ) + BODY604_GM = ( 7.311635322923193E+01 ) + BODY605_GM = ( 1.539422045545342E+02 ) + BODY606_GM = ( 8.978138845307376E+03 ) + BODY607_GM = ( 3.718791714191668E-01 ) + BODY608_GM = ( 1.205134781724041E+02 ) + BODY609_GM = ( 5.531110414633374E-01 ) + BODY610_GM = ( 1.266231296945636E-01 ) + BODY611_GM = ( 3.513977490568457E-02 ) + BODY615_GM = ( 3.759718886965353E-04 ) + BODY616_GM = ( 1.066368426666134E-02 ) + BODY617_GM = ( 9.103768311054300E-03 ) + + BODY701_GM = ( 8.346344431770477E+01 ) + BODY702_GM = ( 8.509338094489388E+01 ) + BODY703_GM = ( 2.269437003741248E+02 ) + BODY704_GM = ( 2.053234302535623E+02 ) + BODY705_GM = ( 4.319516899232100E+00 ) + + BODY801_GM = ( 1.427598140725034E+03 ) + + BODY901_GM = ( 1.058799888601881E+02 ) + BODY902_GM = ( 3.048175648169760E-03 ) + BODY903_GM = ( 3.211039206155255E-03 ) + BODY904_GM = ( 1.110040850536676E-03 ) + + BODY2000001_GM = ( 6.3130000000000003E+01 ) + BODY2000002_GM = ( 1.3730000000000000E+01 ) + BODY2000003_GM = ( 1.8200000000000001E+00 ) + BODY2000004_GM = ( 1.7289999999999999E+01 ) + BODY2000006_GM = ( 9.3000000000000005E-01 ) + BODY2000007_GM = ( 8.5999999999999999E-01 ) + BODY2000010_GM = ( 5.7800000000000002E+00 ) + BODY2000015_GM = ( 2.1000000000000001E+00 ) + BODY2000016_GM = ( 1.8100000000000001E+00 ) + BODY2000029_GM = ( 8.5999999999999999E-01 ) + BODY2000052_GM = ( 1.5900000000000001E+00 ) + BODY2000065_GM = ( 9.1000000000000003E-01 ) + BODY2000087_GM = ( 9.8999999999999999E-01 ) + BODY2000088_GM = ( 1.0200000000000000E+00 ) + BODY2000433_GM = ( 4.463E-4 ) + BODY2000511_GM = ( 2.2599999999999998E+00 ) + BODY2000704_GM = ( 2.1899999999999999E+00 ) + + \begintext + diff --git a/Tudat/External/SpiceInterface/Kernels/jup310_small.bsp b/Tudat/External/SpiceInterface/Kernels/jup310_small.bsp new file mode 100644 index 0000000000..767028b4b8 Binary files /dev/null and b/Tudat/External/SpiceInterface/Kernels/jup310_small.bsp differ diff --git a/Tudat/External/SpiceInterface/Kernels/jup310_small.inp b/Tudat/External/SpiceInterface/Kernels/jup310_small.inp new file mode 100644 index 0000000000..b978d5e6c6 --- /dev/null +++ b/Tudat/External/SpiceInterface/Kernels/jup310_small.inp @@ -0,0 +1,7 @@ +LEAPSECONDS_KERNEL = naif0009.tls + +SPK_KERNEL = jup310_small.bsp + BEGIN_TIME = 2000 APR 01 + END_TIME = 2000 SEP 01 + SOURCE_SPK_KERNEL = jup310.bsp + diff --git a/Tudat/External/SpiceInterface/UnitTests/unitTestSpiceInterface.cpp b/Tudat/External/SpiceInterface/UnitTests/unitTestSpiceInterface.cpp index 8ab0cd6369..04c6289a20 100644 --- a/Tudat/External/SpiceInterface/UnitTests/unitTestSpiceInterface.cpp +++ b/Tudat/External/SpiceInterface/UnitTests/unitTestSpiceInterface.cpp @@ -270,6 +270,7 @@ BOOST_AUTO_TEST_CASE( testSpiceWrappers_3 ) BOOST_CHECK_SMALL( inverseStateTransitionMatrix[ i + 3 ][ j ] - inverseRotationMatrixDerivativeFromObject( i, j ), 2.0E-4 * std::numeric_limits< double >::epsilon( ) ); + } } diff --git a/Tudat/External/SpiceInterface/spiceInterface.cpp b/Tudat/External/SpiceInterface/spiceInterface.cpp index 26c73d16fb..dba4f7a886 100644 --- a/Tudat/External/SpiceInterface/spiceInterface.cpp +++ b/Tudat/External/SpiceInterface/spiceInterface.cpp @@ -191,6 +191,27 @@ Eigen::Vector3d getAngularVelocityVectorOfFrameInOriginalFrame( const std::strin finished( ); } +std::pair< Eigen::Quaterniond, Eigen::Matrix3d > computeRotationQuaternionAndRotationMatrixDerivativeBetweenFrames( + const std::string& originalFrame, const std::string& newFrame, const double ephemerisTime ) +{ + double stateTransition[ 6 ][ 6 ]; + + sxform_c( originalFrame.c_str( ), newFrame.c_str( ), ephemerisTime, stateTransition ); + + Eigen::Matrix3d matrixDerivative; + Eigen::Matrix3d rotationMatrix; + + for( unsigned int i = 0; i < 3; i++ ) + { + for( unsigned int j = 0; j < 3; j++ ) + { + rotationMatrix( i, j ) = stateTransition[ i ][ j ]; + matrixDerivative( i, j ) = stateTransition[ i + 3 ][ j ]; + } + } + return std::make_pair( Eigen::Quaterniond( rotationMatrix ), matrixDerivative ); +} + //! Get property of a body from Spice. std::vector< double > getBodyProperties( const std::string& body, const std::string& property, const int maximumNumberOfValues ) diff --git a/Tudat/External/SpiceInterface/spiceInterface.h b/Tudat/External/SpiceInterface/spiceInterface.h index 157b436786..496b450aec 100644 --- a/Tudat/External/SpiceInterface/spiceInterface.h +++ b/Tudat/External/SpiceInterface/spiceInterface.h @@ -199,6 +199,9 @@ Eigen::Vector3d getAngularVelocityVectorOfFrameInOriginalFrame( const std::strin const std::string& newFrame, const double ephemerisTime ); +std::pair< Eigen::Quaterniond, Eigen::Matrix3d > computeRotationQuaternionAndRotationMatrixDerivativeBetweenFrames( + const std::string& originalFrame, const std::string& newFrame, const double ephemerisTime ); + //! Get property of a body from Spice. /*! * Function to retrieve a property of a body from Spice, wraps the bodvrd_c Spice function. diff --git a/Tudat/External/SpiceInterface/spiceRotationalEphemeris.cpp b/Tudat/External/SpiceInterface/spiceRotationalEphemeris.cpp index 4653b75c0c..5ee05354fe 100644 --- a/Tudat/External/SpiceInterface/spiceRotationalEphemeris.cpp +++ b/Tudat/External/SpiceInterface/spiceRotationalEphemeris.cpp @@ -50,7 +50,34 @@ Eigen::Matrix3d SpiceRotationalEphemeris::getDerivativeOfRotationToBaseFrame( targetFrameOrientation_, baseFrameOrientation_, ephemerisTime ); } +//! Function to calculate the full rotational state at given time +void SpiceRotationalEphemeris::getFullRotationalQuantitiesToTargetFrame( + Eigen::Quaterniond& currentRotationToLocalFrame, + Eigen::Matrix3d& currentRotationToLocalFrameDerivative, + Eigen::Vector3d& currentAngularVelocityVectorInGlobalFrame, + const double secondsSinceEpoch, const double julianDayAtEpoch) +{ + // Set number of seconds since J2000. + double ephemerisTime = secondsSinceEpoch; + if ( julianDayAtEpoch != basic_astrodynamics::JULIAN_DAY_ON_J2000 ) + { + ephemerisTime -= ( basic_astrodynamics::JULIAN_DAY_ON_J2000 - julianDayAtEpoch ) + * physical_constants::JULIAN_DAY; + } -} + // Calculate rotation (and its time derivative) directly from spice. + std::pair< Eigen::Quaterniond, Eigen::Matrix3d > fullRotation = + spice_interface::computeRotationQuaternionAndRotationMatrixDerivativeBetweenFrames( + baseFrameOrientation_, targetFrameOrientation_, ephemerisTime ); + currentRotationToLocalFrame = fullRotation.first; + currentRotationToLocalFrameDerivative = fullRotation.second; + // Calculate angular velocity vector. + currentAngularVelocityVectorInGlobalFrame = getRotationalVelocityVectorInBaseFrameFromMatrices( + Eigen::Matrix3d( currentRotationToLocalFrame ), currentRotationToLocalFrameDerivative.transpose( ) ); } + + +} // namespace ephemerides + +} // namespace tudat diff --git a/Tudat/External/SpiceInterface/spiceRotationalEphemeris.h b/Tudat/External/SpiceInterface/spiceRotationalEphemeris.h index 1135653982..fdddf0d051 100644 --- a/Tudat/External/SpiceInterface/spiceRotationalEphemeris.h +++ b/Tudat/External/SpiceInterface/spiceRotationalEphemeris.h @@ -111,9 +111,29 @@ class SpiceRotationalEphemeris : public RotationalEphemeris transpose( ); } + //! Function to calculate the full rotational state at given time + /*! + * Function to calculate the full rotational state at given time (rotation matrix, derivative of + * rotation matrix and angular velocity vector). + * \param currentRotationToLocalFrame Current rotation to local frame (returned by reference) + * \param currentRotationToLocalFrameDerivative Current derivative of rotation matrix to local + * frame (returned by reference) + * \param currentAngularVelocityVectorInGlobalFrame Current angular velocity vector, expressed + * in global frame (returned by reference) + * \param secondsSinceEpoch Seconds since Julian day epoch specified by 2nd argument + * \param julianDayAtEpoch Reference epoch in Julian days from which number of seconds are + * counted (default J2000). + */ + void getFullRotationalQuantitiesToTargetFrame( + Eigen::Quaterniond& currentRotationToLocalFrame, + Eigen::Matrix3d& currentRotationToLocalFrameDerivative, + Eigen::Vector3d& currentAngularVelocityVectorInGlobalFrame, + const double secondsSinceEpoch, const double julianDayAtEpoch = + basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + }; -} +} // namespace ephemerides -} +} // namespace tudat #endif // TUDAT_SPICEROTATIONALEPHEMERIS_H diff --git a/Tudat/Mathematics/BasicMathematics/legendrePolynomials.cpp b/Tudat/Mathematics/BasicMathematics/legendrePolynomials.cpp index 4640194129..8a636d40ea 100644 --- a/Tudat/Mathematics/BasicMathematics/legendrePolynomials.cpp +++ b/Tudat/Mathematics/BasicMathematics/legendrePolynomials.cpp @@ -38,8 +38,10 @@ #include #include +#include #include "Tudat/Mathematics/BasicMathematics/legendrePolynomials.h" +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" namespace tudat { @@ -66,7 +68,7 @@ double computeLegendrePolynomial( const int degree, // Throw a run-time error. boost::throw_exception( boost::enable_error_info( std::runtime_error( - errorMessage.str( ) ) ) ); + errorMessage.str( ) ) ) ); } // Else if order is greater than degree... @@ -134,7 +136,7 @@ double computeGeodesyLegendrePolynomial( const int degree, // Throw a run-time error. boost::throw_exception( boost::enable_error_info( std::runtime_error( - errorMessage.str( ) ) ) ); + errorMessage.str( ) ) ) ); } // Else if order is greater than degree... @@ -232,36 +234,96 @@ double computeLegendrePolynomialExplicit( const int degree, const int order, const double polynomialParameter ) { - // If 0,0 term is requested return polynomial value. - if ( degree == 0 && order == 0 ) - { - return 1.0; - } - - // Else if 1,0 term is requested return polynomial value. - else if ( degree == 1 && order == 0 ) + // Check which order is required for Legendre polynomial. + switch( degree ) { - return polynomialParameter; - } - - // Else if 1,1 term is requested return Legendre polynomial value. - else if ( degree == 1 && order == 1 ) - { - return std::sqrt( 1 - polynomialParameter * polynomialParameter ); - } - - // Else the requested term cannot be computed; throw a run-time error. - else - { - // Set error message. - std::stringstream errorMessage; - errorMessage << "Error: computation of Legendre polynomial of = " << degree - << " and order = " << order << " is not supported." << std::endl; - - // Throw a run-time error. - boost::throw_exception( boost::enable_error_info( std::runtime_error( - errorMessage.str( ) ) ) ); + case 0: + switch( order ) + { + case 0: + return 1.0; + default: + std::cerr << "Error, explicit legendre polynomial not possible for " + << degree << " " << order << std::endl; + } + break; + case 1: + switch( order ) + { + case 0: + return polynomialParameter; + case 1: + return std::sqrt( 1 - polynomialParameter * polynomialParameter ); + default: + std::cerr << "Error, explicit legendre polynomial not possible for " + << degree << " " << order << std::endl; + } + break; + case 2: + switch( order ) + { + case 0: + return 0.5 * ( 3.0 * polynomialParameter * polynomialParameter - 1.0 ); + case 1: + return 3.0 * polynomialParameter + * std::sqrt( 1.0 - polynomialParameter * polynomialParameter ); + case 2: + return 3.0 * ( 1.0 - polynomialParameter * polynomialParameter ); + default: + std::cerr << "Error, explicit legendre polynomial not possible for " + << degree << " " << order << std::endl; + } + break; + case 3: + switch( order ) + { + case 0: + return 0.5 * polynomialParameter + * ( 5.0 * polynomialParameter * polynomialParameter - 3.0 ); + case 1: + return 1.5 * ( 5.0 * polynomialParameter * polynomialParameter - 1.0 ) + * std::sqrt( 1.0 - polynomialParameter * polynomialParameter ); + case 2: + return 15.0 * polynomialParameter * ( 1.0 - polynomialParameter * polynomialParameter ); + case 3: + return 15.0 * ( 1.0 - polynomialParameter * polynomialParameter ) + * std::sqrt( 1.0 - polynomialParameter * polynomialParameter ); + default: + std::cerr << "Error, a explicit legendre polynomial not possible for " + << degree << " " << order << std::endl; + } + break; + case 4: + switch( order ) + { + case 0: + return ( 35.0 * polynomialParameter * polynomialParameter + * polynomialParameter * polynomialParameter + - 30.0 * polynomialParameter * polynomialParameter + 3.0 ) / 8.0; + case 1: + return -2.5 * ( 7.0 * polynomialParameter * polynomialParameter * polynomialParameter + - 3.0 * polynomialParameter ) + * std::sqrt( 1.0 - polynomialParameter * polynomialParameter ); + case 2: + return 15.0 / 2.0 * ( - 1.0 + 7.0 * polynomialParameter * polynomialParameter ) + * ( 1.0 - polynomialParameter * polynomialParameter ); + case 3: + return -105.0 * polynomialParameter * ( 1.0 - polynomialParameter * polynomialParameter ) + * std::sqrt( 1.0 - polynomialParameter * polynomialParameter ); + case 4: + return 105.0 * ( 1.0 - polynomialParameter * polynomialParameter ) + * ( 1.0 - polynomialParameter * polynomialParameter ); + + default: + std::cerr << "Error, a explicit legendre polynomial not possible for " + << degree << " " << order << std::endl; + } + break; + default: + std::cerr << "Error, explicit legendre polynomial not possible for " + << degree << " " << order << std::endl; } + return TUDAT_NAN; } //! Compute low degree/order geodesy-normalized Legendre polynomials explicitly. @@ -292,12 +354,12 @@ double computeGeodesyLegendrePolynomialExplicit( const int degree, { // Set error message. std::stringstream errorMessage; - errorMessage << "Error: computation of Legendre polynomial of = " << degree - << " and order = " << order << " is not supported." << std::endl; + errorMessage << "Error: computation of Legendre polynomial of = " << degree + << " and order = " << order << " is not supported." << std::endl; // Throw a run-time error. boost::throw_exception( boost::enable_error_info( std::runtime_error( - errorMessage.str( ) ) ) ); + errorMessage.str( ) ) ) ); } } @@ -459,5 +521,22 @@ void dumpLegendrePolynomialCacheData( std::ostream& outputStream, outputStream << std::endl; } +//! Function to calculate the normalization factor for Legendre polynomials to geodesy-normalized. +double calculateLegendreGeodesyNormalizationFactor( const int degree, const int order ) +{ + + double deltaFunction = 0.0; + if( order == 0 ) + { + deltaFunction = 1.0; + } + + double factor = std::sqrt( + boost::math::factorial< double >( static_cast< double >( degree + order ) ) + / ( ( 2.0 - deltaFunction ) * ( 2.0 * static_cast< double >( degree ) + 1.0 ) + * boost::math::factorial< double >( static_cast< double >( degree - order ) ) ) ); + return 1.0 / factor; +} + } // namespace basic_mathematics } // namespace tudat diff --git a/Tudat/Mathematics/BasicMathematics/legendrePolynomials.h b/Tudat/Mathematics/BasicMathematics/legendrePolynomials.h index 68f20e512c..075897bd23 100644 --- a/Tudat/Mathematics/BasicMathematics/legendrePolynomials.h +++ b/Tudat/Mathematics/BasicMathematics/legendrePolynomials.h @@ -426,6 +426,19 @@ void dumpLegendrePolynomialCacheData( std::ostream& outputStream, boost::unordered_map< Point, double > cacheTable, boost::circular_buffer< Point > cacheHistory ); +//! Function to calculate the normalization factor for Legendre polynomials to geodesy-normalized. +/*! + * Function to calculate the normalization factor K_nm to convert regular Legendre polynomials P_nm + * to geodesy-normalized Legendre polynomials bar{P}_nm, so that bar{P}_nm=K_nm*P_nm. + * Note that the same conversion for spherical harmonic coefficients from regular to geodesy- + * normalized requires the inverse factor: 1/K_nm + * \param degree Degree of Legendre polynomial + * \param order Order of Legendre polynomial + * \return Normalization factor K_nm + */ +double calculateLegendreGeodesyNormalizationFactor( const int degree, const int order ); + + } // namespace basic_mathematics } // namespace tudat diff --git a/Tudat/Mathematics/BasicMathematics/mathematicalConstants.h b/Tudat/Mathematics/BasicMathematics/mathematicalConstants.h index f524307287..b9f41de61e 100644 --- a/Tudat/Mathematics/BasicMathematics/mathematicalConstants.h +++ b/Tudat/Mathematics/BasicMathematics/mathematicalConstants.h @@ -41,6 +41,7 @@ #ifndef TUDAT_MATHEMATICAL_CONSTANTS_H #define TUDAT_MATHEMATICAL_CONSTANTS_H +#include #include #include @@ -66,6 +67,12 @@ const static double E = std::exp( 1.0 ); */ const static double GOLDEN_RATIO = 0.5 * ( 1.0 + std::sqrt( 5.0 ) ); +//! Independent root of -1, typically denoted i. +/*! + * Independent root of -1, typically denoted i. + */ +const static std::complex< double > COMPLEX_I = std::complex< double >( 0.0, 1.0 ); + //! The constant PI \f$\approx\f$ 3.14159. /*! * The constant PI, denoted \f$\pi\f$, is a real number defined as the ratio of a circle's diff --git a/Tudat/Mathematics/Interpolators/CMakeLists.txt b/Tudat/Mathematics/Interpolators/CMakeLists.txt index c33037e515..df54faf2d4 100755 --- a/Tudat/Mathematics/Interpolators/CMakeLists.txt +++ b/Tudat/Mathematics/Interpolators/CMakeLists.txt @@ -47,6 +47,7 @@ set(INTERPOLATORS_HEADERS "${SRCROOT}${MATHEMATICSDIR}/Interpolators/lookupScheme.h" "${SRCROOT}${MATHEMATICSDIR}/Interpolators/oneDimensionalInterpolator.h" "${SRCROOT}${MATHEMATICSDIR}/Interpolators/multiLinearInterpolator.h" + "${SRCROOT}${MATHEMATICSDIR}/Interpolators/createInterpolator.h" ) # Add static libraries. diff --git a/Tudat/Mathematics/Interpolators/createInterpolator.h b/Tudat/Mathematics/Interpolators/createInterpolator.h new file mode 100644 index 0000000000..1d286818f3 --- /dev/null +++ b/Tudat/Mathematics/Interpolators/createInterpolator.h @@ -0,0 +1,218 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEINTERPOLATOR_H +#define TUDAT_CREATEINTERPOLATOR_H + +#include +#include +#include + +#include "Tudat/Mathematics/Interpolators/linearInterpolator.h" +#include "Tudat/Mathematics/Interpolators/cubicSplineInterpolator.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" + +namespace tudat +{ + +namespace interpolators +{ + +//! Enum of available interpolator types. +enum OneDimensionalInterpolatorTypes +{ + linear_interpolator = 1, + cubic_spline_interpolator = 2, + lagrange_interpolator = 3 +}; + +//! Base class for providing settings for creating an interpolator. +/*! + * Base class for providing settings for creating an interpolator using the createInterpolator + * function. This base class is functional, i.e. may be used directly for interpolator types + * requiring no additional information. For interpolators that do require more information, + * a derived class is provided. + */ +class InterpolatorSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param interpolatorType Selected type of interpolator. + * \param selectedLookupScheme Selected type of lookup scheme for independent variables. + */ + InterpolatorSettings( const OneDimensionalInterpolatorTypes interpolatorType, + const AvailableLookupScheme selectedLookupScheme = huntingAlgorithm ): + interpolatorType_( interpolatorType ), selectedLookupScheme_( selectedLookupScheme ){ } + + //! Virtual destructor + virtual ~InterpolatorSettings( ){ } + + //! Function to get the selected type of interpolator. + /*! + * Function to get the selected type of interpolator. + * \return Selected type of interpolator. + */ + OneDimensionalInterpolatorTypes getInterpolatorType( ) + { + return interpolatorType_; + } + + //! Function to get the selected type of lookup scheme for independent variables. + /*! + * Function to get the selected type of lookup scheme for independent variables. + * \return Selected type of lookup scheme for independent variables. + */ + AvailableLookupScheme getSelectedLookupScheme( ) + { + return selectedLookupScheme_; + } + +protected: + + //! Selected type of interpolator. + OneDimensionalInterpolatorTypes interpolatorType_; + + //! Selected type of lookup scheme for independent variables. + AvailableLookupScheme selectedLookupScheme_; + +}; + +//! Class for providing settings to creating a Lagrange interpolator. +class LagrangeInterpolatorSettings: public InterpolatorSettings +{ +public: + + //! Constructor. + /*! + * Constructor. + * \param interpolatorOrder Order of the Lagrange interpolator that is to be created. + * \param useLongDoubleTimeStep Boolean denoting whether time step is to be a long double, + * time step is a double if false. + * \param selectedLookupScheme Selected type of lookup scheme for independent variables. + */ + LagrangeInterpolatorSettings( + const int interpolatorOrder, + const bool useLongDoubleTimeStep = 0, + const AvailableLookupScheme selectedLookupScheme = huntingAlgorithm ): + InterpolatorSettings( lagrange_interpolator, selectedLookupScheme ), + interpolatorOrder_( interpolatorOrder ), useLongDoubleTimeStep_( useLongDoubleTimeStep ) + { } + + //! Destructor + ~LagrangeInterpolatorSettings( ){ } + + //! Function to get the order of the Lagrange interpolator that is to be created. + /*! + * Function to get the order of the Lagrange interpolator that is to be created. + * \return Order of the Lagrange interpolator that is to be created. + */ + int getInterpolatorOrder( ) + { + return interpolatorOrder_; + } + + //! Function to get a boolean denoting whether time step is to be a long double + /*! + * Function to get a boolean denoting whether time step is to be a long double + * \return Boolean denoting whether time step is to be a long double + */ + bool getUseLongDoubleTimeStep( ) + { + return useLongDoubleTimeStep_; + } + +protected: + + //! Order of the Lagrange interpolator that is to be created. + int interpolatorOrder_; + + //! Boolean denoting whether time step is to be a long double. + bool useLongDoubleTimeStep_; + +}; + +//! Function to create an interpolator +/*! + * Function to create an interpolator from the data that is to be interpolated, as well as the + * settings that are to be used to create the interpolator. + * \param dataToInterpolate Map providing data that is to be interpolated (key = independent + * variables, value = dependent variables) + * \param interpolatorSettings Settings that are to be used to create interpolator + * \return Interpolator created from dataToInterpolate using interpolatorSettings. + */ +template< typename IndependentVariableType, typename DependentVariableType > +boost::shared_ptr< OneDimensionalInterpolator< IndependentVariableType, DependentVariableType > > +createOneDimensionalInterpolator( + const std::map< IndependentVariableType, DependentVariableType > dataToInterpolate, + const boost::shared_ptr< InterpolatorSettings > interpolatorSettings ) +{ + boost::shared_ptr< OneDimensionalInterpolator< IndependentVariableType, DependentVariableType > > + createdInterpolator; + + // Check type of interpolator. + switch( interpolatorSettings->getInterpolatorType( ) ) + { + case linear_interpolator: + createdInterpolator = boost::make_shared< LinearInterpolator + < IndependentVariableType, DependentVariableType > >( + dataToInterpolate, interpolatorSettings->getSelectedLookupScheme( ) ); + break; + case cubic_spline_interpolator: + createdInterpolator = boost::make_shared< CubicSplineInterpolator + < IndependentVariableType, DependentVariableType > >( + dataToInterpolate, interpolatorSettings->getSelectedLookupScheme( ) ); + break; + case lagrange_interpolator: + { + // Check consistency of input + boost::shared_ptr< LagrangeInterpolatorSettings > lagrangeInterpolatorSettings = + boost::dynamic_pointer_cast< LagrangeInterpolatorSettings >( interpolatorSettings ); + if( lagrangeInterpolatorSettings != NULL ) + { + // Create Lagrange interpolator with requested time step type + if( !lagrangeInterpolatorSettings->getUseLongDoubleTimeStep( ) ) + { + createdInterpolator = boost::make_shared< LagrangeInterpolator + < IndependentVariableType, DependentVariableType, double > >( + dataToInterpolate, lagrangeInterpolatorSettings->getInterpolatorOrder( ), + interpolatorSettings->getSelectedLookupScheme( ) ); + } + else + { + createdInterpolator = boost::make_shared< LagrangeInterpolator + < IndependentVariableType, DependentVariableType, long double > >( + dataToInterpolate, lagrangeInterpolatorSettings->getInterpolatorOrder( ), + interpolatorSettings->getSelectedLookupScheme( ) ); + } + } + else + { + throw std::runtime_error( "Error, did not recognize lagrange interpolator settings" ); + + } + break; + } + default: + throw std::runtime_error( + "Error when making interpolator, function cannot be used to create interplator of type " + + boost::lexical_cast< std::string >( + interpolatorSettings->getInterpolatorType( ) ) ); + } + return createdInterpolator; +} + +} // namespace interpolators + +} // namespace tudat + +#endif // TUDAT_CREATEINTERPOLATOR_H diff --git a/Tudat/Mathematics/Interpolators/lagrangeInterpolator.h b/Tudat/Mathematics/Interpolators/lagrangeInterpolator.h index eaa3110a74..e8cbc19e8b 100644 --- a/Tudat/Mathematics/Interpolators/lagrangeInterpolator.h +++ b/Tudat/Mathematics/Interpolators/lagrangeInterpolator.h @@ -103,7 +103,7 @@ class LagrangeInterpolator : public OneDimensionalInterpolator< IndependentVaria const int numberOfStages, const AvailableLookupScheme selectedLookupScheme = huntingAlgorithm, const LagrangeInterpolatorBoundaryHandling boundaryHandling = - lagrange_no_boundary_interpolation ): + lagrange_cubic_spline_boundary_interpolation ): numberOfStages_( numberOfStages ), boundaryHandling_( boundaryHandling ) { if( numberOfStages_ % 2 != 0 ) @@ -170,7 +170,7 @@ class LagrangeInterpolator : public OneDimensionalInterpolator< IndependentVaria const int numberOfStages, const AvailableLookupScheme selectedLookupScheme = huntingAlgorithm, const LagrangeInterpolatorBoundaryHandling boundaryHandling = - lagrange_no_boundary_interpolation ): + lagrange_cubic_spline_boundary_interpolation ): numberOfStages_( numberOfStages ), boundaryHandling_( boundaryHandling ) { if( numberOfStages_ % 2 != 0 ) diff --git a/Tudat/Mathematics/NumericalIntegrators/CMakeLists.txt b/Tudat/Mathematics/NumericalIntegrators/CMakeLists.txt index d95ea43777..7ef0ded883 100755 --- a/Tudat/Mathematics/NumericalIntegrators/CMakeLists.txt +++ b/Tudat/Mathematics/NumericalIntegrators/CMakeLists.txt @@ -49,6 +49,7 @@ set(NUMERICALINTEGRATORS_HEADERS "${SRCROOT}${NUMERICALINTEGRATORSDIR}/numericalIntegrator.h" "${SRCROOT}${NUMERICALINTEGRATORSDIR}/reinitializableNumericalIntegrator.h" "${SRCROOT}${NUMERICALINTEGRATORSDIR}/rungeKutta4Integrator.h" + "${SRCROOT}${NUMERICALINTEGRATORSDIR}/createNumericalIntegrator.h" "${SRCROOT}${NUMERICALINTEGRATORSDIR}/UnitTests/numericalIntegratorTests.h" "${SRCROOT}${NUMERICALINTEGRATORSDIR}/UnitTests/numericalIntegratorTestFunctions.h" ) diff --git a/Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h b/Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h new file mode 100644 index 0000000000..17ee3a7939 --- /dev/null +++ b/Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h @@ -0,0 +1,308 @@ +#ifndef CREATENUMERICALINTEGRATOR_H +#define CREATENUMERICALINTEGRATOR_H + +#include +#include +#include + +#include "Tudat/Mathematics/NumericalIntegrators/numericalIntegrator.h" +#include "Tudat/Mathematics/NumericalIntegrators/rungeKutta4Integrator.h" +#include "Tudat/Mathematics/NumericalIntegrators/euler.h" + +#include "Tudat/Mathematics/NumericalIntegrators/rungeKuttaVariableStepSizeIntegrator.h" + +#include "Tudat/Mathematics/NumericalIntegrators/createNumericalIntegrator.h" + +namespace tudat +{ + +namespace numerical_integrators +{ + +//! Enum to define available integrators. +enum AvailableIntegrators +{ + rungeKutta4, + euler, + rungeKuttaVariableStepSize +}; + +//! Class to define settings of numerical integrator +/*! + * Class to define settings of numerical integrator, for instance for use in numerical integration + * of equations of motion/ variational equations. This class can be used for simple integrators + * such as fixed step RK and Euler. Integrators that require more settings to define have their own + * derived class (see below). + */ +template< typename TimeType = double > +class IntegratorSettings +{ +public: + + //! Constructor + /*! + * Constructor for integrator settings. + * \param integratorType Type of numerical integrator + * \param initialTime Start time (independent variable) of numerical integration. + * \param endTime Stop time (independent variable) of numerical integration. + * \param initialTimeStep Initial time (independent variable) step used in numerical + * integration. Adapted during integration for variable step size integrators. + * \param printFrequency Frequency at which to save the numerical integrated states (in units + * of i.e. per n integration time steps, with n = printFrequency). + */ + IntegratorSettings( const AvailableIntegrators integratorType, const TimeType initialTime, + const TimeType endTime, const TimeType initialTimeStep, + const int printFrequency = 1 ): integratorType_( integratorType ), + initialTime_( initialTime ), endTime_( endTime ), initialTimeStep_( initialTimeStep ), + printFrequency_( printFrequency ){ } + + //! Virtual destructor. + /*! + * Virtual destructor. + */ + virtual ~IntegratorSettings( ) { } + + //! Type of numerical integrator + /*! + * Type of numerical integrator, from enum of available integrators. + */ + AvailableIntegrators integratorType_; + + //! Start time of numerical integration. + /*! + * Start time (independent variable) of numerical integration. + */ + TimeType initialTime_; + + //! Stop time of numerical integration. + /*! + * Stop time (independent variable) of numerical integration. + */ + TimeType endTime_; + + //! Initial time step used in numerical integration + /*! + * Initial time (independent variable) step used in numerical integration. Adapted during + * integration for variable step size integrators. + */ + TimeType initialTimeStep_; + + //! Frequency which with to save numerical integration result. + /*! + * Frequency at which to save the numerical integrated states (in units of i.e. per n + * integration time steps, with n = printFrequency). + */ + int printFrequency_; +}; + +//! Class to define settings of variable step RK numerical integrator +/*! + * Class to define settings of variable step RK numerical integrator, for instance for use in + * numerical integration of equations of motion/ variational equations. + */ +template< typename TimeType = double > +class RungeKuttaVariableStepSizeSettings: public IntegratorSettings< TimeType > +{ +public: + + //! Constructor + /*! + * Constructor for variable step RK integrator settings. + * \param integratorType Type of numerical integrator (must be an RK variable step type) + * \param initialTime Start time (independent variable) of numerical integration. + * \param endTime Stop time (independent variable) of numerical integration. + * \param initialTimeStep Initial time (independent variable) step used in numerical integration. + * Adapted during integration + * \param coefficientSet Coefficient set (butcher tableau) to use in integration. + * \param minimumStepSize Minimum step size for integration. Integration stops (exception + * thrown) if time step comes below this value. + * \param maximumStepSize Maximum step size for integration. + * \param relativeErrorTolerance Relative error tolerance for step size control + * \param absoluteErrorTolerance Absolute error tolerance for step size control + * \param printFrequency Frequency at which to save the numerical integrated states (in units + * of i.e. per n integration time steps, with n = printFrequency). + * \param safetyFactorForNextStepSize Safety factor for step size control + * \param maximumFactorIncreaseForNextStepSize Maximum increase factor in time step in + * subsequent iterations. + * \param minimumFactorDecreaseForNextStepSize Maximum decrease factor in time step in + * subsequent iterations. + + */ + RungeKuttaVariableStepSizeSettings( + const AvailableIntegrators integratorType, + const TimeType initialTime, + const TimeType endTime, + const TimeType initialTimeStep, + const numerical_integrators::RungeKuttaCoefficients::CoefficientSets coefficientSet, + const TimeType minimumStepSize, const TimeType maximumStepSize, + const TimeType relativeErrorTolerance = 1.0E-12, + const TimeType absoluteErrorTolerance = 1.0E-12, + const int printFrequency = 1, + const TimeType safetyFactorForNextStepSize = 0.8, + const TimeType maximumFactorIncreaseForNextStepSize = 4.0, + const TimeType minimumFactorDecreaseForNextStepSize = 0.1 ): + IntegratorSettings< TimeType >( integratorType, initialTime, endTime, initialTimeStep, printFrequency ), + coefficientSet_( coefficientSet ), minimumStepSize_( minimumStepSize ), maximumStepSize_( maximumStepSize ), + relativeErrorTolerance_( relativeErrorTolerance ), absoluteErrorTolerance_( absoluteErrorTolerance ), + safetyFactorForNextStepSize_( safetyFactorForNextStepSize ), + maximumFactorIncreaseForNextStepSize_( maximumFactorIncreaseForNextStepSize ), + minimumFactorDecreaseForNextStepSize_( minimumFactorDecreaseForNextStepSize ){ } + + //! Destructor + /*! + * Destructor + */ + ~RungeKuttaVariableStepSizeSettings( ){ } + + //! Type of numerical integrator (must be an RK variable step type) + numerical_integrators::RungeKuttaCoefficients::CoefficientSets coefficientSet_; + + //! Minimum step size for integration. + /*! + * Minimum step size for integration. Integration stops (exception thrown) if time step comes + * below this value. + */ + const TimeType minimumStepSize_; + + //! Maximum step size for integration. + const TimeType maximumStepSize_; + + //! Relative error tolerance for step size control + const TimeType relativeErrorTolerance_; + + //! Absolute error tolerance for step size control + const TimeType absoluteErrorTolerance_; + + //! Safety factor for step size control + const TimeType safetyFactorForNextStepSize_; + + //! Maximum increase factor in time step in subsequent iterations. + const TimeType maximumFactorIncreaseForNextStepSize_; + + //! Maximum decrease factor in time step in subsequent iterations. + const TimeType minimumFactorDecreaseForNextStepSize_; +}; + +//! Function to create a numerical integrator. +/*! + * Function to create a numerical integrator from given integrator settings, state derivative + * function and initial state. + * \param stateDerivativeFunction Function returning the state derivative from current time and + * state. + * \param initialState Initial state for numerical integration + * \param integratorSettings Settings for numerical integrator. + * \return Numerical integrator object + */ +template< typename IndependentVariableType, typename DependentVariableType > +boost::shared_ptr< numerical_integrators::NumericalIntegrator< IndependentVariableType, + DependentVariableType, DependentVariableType > > createIntegrator( + boost::function< DependentVariableType( + const IndependentVariableType, const DependentVariableType& ) > stateDerivativeFunction, + const DependentVariableType initialState, + boost::shared_ptr< IntegratorSettings< IndependentVariableType > > integratorSettings ) + +{ + boost::shared_ptr< NumericalIntegrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > integrator; + + // Retrieve requested type of integrator + switch( integratorSettings->integratorType_ ) + { + case euler: + integrator = boost::make_shared< EulerIntegrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > + ( stateDerivativeFunction, integratorSettings->initialTime_, initialState ) ; + break; + case rungeKutta4: + + integrator = boost::make_shared< RungeKutta4Integrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > + ( stateDerivativeFunction, integratorSettings->initialTime_, initialState ) ; + break; + + + case rungeKuttaVariableStepSize: + { + // Check input consistency + boost::shared_ptr< RungeKuttaVariableStepSizeSettings< IndependentVariableType > > + variableStepIntegratorSettings = boost::dynamic_pointer_cast + < RungeKuttaVariableStepSizeSettings< IndependentVariableType > >( integratorSettings ); + if( variableStepIntegratorSettings == NULL ) + { + std::runtime_error( "Error, type of integrator settings not compatible with selected integrator" ); + } + else + { + // Get requested RK coefficients and create integrator. + RungeKuttaCoefficients coefficients = RungeKuttaCoefficients::get( + variableStepIntegratorSettings->coefficientSet_ ); + integrator = boost::make_shared< + RungeKuttaVariableStepSizeIntegrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > + ( coefficients, + stateDerivativeFunction, integratorSettings->initialTime_, initialState, + variableStepIntegratorSettings->minimumStepSize_, + variableStepIntegratorSettings->maximumStepSize_, + variableStepIntegratorSettings->relativeErrorTolerance_, + variableStepIntegratorSettings->absoluteErrorTolerance_ , + variableStepIntegratorSettings->safetyFactorForNextStepSize_, + variableStepIntegratorSettings->maximumFactorIncreaseForNextStepSize_, + variableStepIntegratorSettings->minimumFactorDecreaseForNextStepSize_ ); + } + break; + } + default: + std::runtime_error( + "Error, integrator " + boost::lexical_cast< std::string >( integratorSettings->integratorType_ ) + + "not found. " ); } + return integrator; +} + +//! Function to create a numerical integrator. +/*! + * Function to create a numerical integrator from given integrator settings, state derivative function and initial state. + * \param stateDerivativeFunction Function returning the state derivative from current time and state. + * \param initialState Initial state + * \param integratorSettings Settings for numerical integrator. + * \return Numerical integrator object + */ +template< typename IndependentVariableType, typename DependentVariableType, typename TimeType = double > +boost::shared_ptr< numerical_integrators::NumericalIntegrator< IndependentVariableType, DependentVariableType, +DependentVariableType > > createFixedStepSizeIntegrator( + boost::function< DependentVariableType( + const IndependentVariableType, const DependentVariableType& ) > stateDerivativeFunction, + const DependentVariableType initialState, + boost::shared_ptr< IntegratorSettings< IndependentVariableType > > integratorSettings ) + +{ + boost::shared_ptr< NumericalIntegrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > integrator; + + // Retrieve requested type of integrator + switch( integratorSettings->integratorType_ ) + { + case euler: + integrator = boost::make_shared< EulerIntegrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > + ( stateDerivativeFunction, integratorSettings->initialTime_, initialState ) ; + break; + case rungeKutta4: + + integrator = boost::make_shared< RungeKutta4Integrator + < IndependentVariableType, DependentVariableType, DependentVariableType > > + ( stateDerivativeFunction, integratorSettings->initialTime_, initialState ) ; + break; + + default: + std::runtime_error( + "Error, fixed step integrator " + + boost::lexical_cast< std::string >( integratorSettings->integratorType_ ) + "not found. " ); + } + return integrator; +} + +} + +} + +#endif // CREATENUMERICALINTEGRATOR_H diff --git a/Tudat/Mathematics/RootFinders/UnitTests/testFunction1.h b/Tudat/Mathematics/RootFinders/UnitTests/testFunction1.h index aed89a138c..fb5eeedcc5 100644 --- a/Tudat/Mathematics/RootFinders/UnitTests/testFunction1.h +++ b/Tudat/Mathematics/RootFinders/UnitTests/testFunction1.h @@ -166,4 +166,4 @@ struct TestFunction1 : public TestFunction, } // namespace unit_tests } // namespace tudat -#endif // TUDAT_TEST_FUNCTION_H +#endif // TUDAT_TEST_FUNCTION1_H diff --git a/Tudat/SimulationSetup/CMakeLists.txt b/Tudat/SimulationSetup/CMakeLists.txt new file mode 100644 index 0000000000..9ea8ad2a4d --- /dev/null +++ b/Tudat/SimulationSetup/CMakeLists.txt @@ -0,0 +1,69 @@ +# Copyright (c) 2010-2016, Delft University of Technology +# All rigths reserved +# +# This file is part of the Tudat. Redistribution and use in source and +# binary forms, with or without modification, are permitted exclusively +# under the terms of the Modified BSD license. You should have received +# a copy of the license with this file. If not, please or visit: +# http://tudat.tudelft.nl/LICENSE. +# + + +# Add source files. +set(SIMULATION_SETUP_SOURCES + "${SRCROOT}${SIMULATIONSETUPDIR}/createAccelerationModels.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createAtmosphereModel.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createEphemeris.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createFlightConditions.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createGravityFieldVariations.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createGravityField.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createRotationModel.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createBodies.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createBodyShapeModel.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/createRadiationPressureInterface.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/defaultBodies.cpp" + "${SRCROOT}${SIMULATIONSETUPDIR}/body.cpp" +) + +# Add header files. +set(SIMULATION_SETUP_HEADERS + "${SRCROOT}${SIMULATIONSETUPDIR}/accelerationSettings.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createAccelerationModels.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createAtmosphereModel.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createEphemeris.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createFlightConditions.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createGravityFieldVariations.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createGravityField.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createRotationModel.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createBodies.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createBodyShapeModel.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/createRadiationPressureInterface.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/defaultBodies.h" + "${SRCROOT}${SIMULATIONSETUPDIR}/body.h" +) + +# Add static libraries. +add_library(tudat_simulation_setup STATIC ${SIMULATION_SETUP_SOURCES} ${SIMULATION_SETUP_HEADERS} ) +setup_tudat_library_target(tudat_simulation_setup "${SRCROOT}${SIMULATIONSETUPDIR}") + +list(APPEND TUDAT_CSPICE_LIBRARIES "") +if(USE_CSPICE) + list(APPEND TUDAT_CSPICE_LIBRARIES tudat_spice_interface cspice) +endif() + +# Add unit tests. +add_executable(test_EnvironmentSetup "${SRCROOT}${SIMULATIONSETUPDIR}/UnitTests/unitTestEnvironmentModelSetup.cpp") +setup_custom_test_program(test_EnvironmentSetup "${SRCROOT}${SIMULATIONSETUPDIR}/") +target_link_libraries(test_EnvironmentSetup tudat_simulation_setup tudat_gravitation tudat_ephemerides + tudat_reference_frames tudat_electro_magnetism tudat_aerodynamics tudat_geometric_shapes + tudat_input_output tudat_basic_astrodynamics + tudat_basic_mathematics ${TUDAT_CSPICE_LIBRARIES} ${Boost_LIBRARIES}) + +if(USE_CSPICE) +add_executable(test_AccelerationModelSetup "${SRCROOT}${SIMULATIONSETUPDIR}/UnitTests/unitTestAccelerationModelSetup.cpp") +setup_custom_test_program(test_AccelerationModelSetup "${SRCROOT}${SIMULATIONSETUPDIR}/") +target_link_libraries(test_AccelerationModelSetup tudat_simulation_setup tudat_gravitation tudat_ephemerides + tudat_reference_frames tudat_electro_magnetism tudat_aerodynamics tudat_geometric_shapes + tudat_input_output tudat_basic_astrodynamics + tudat_basic_mathematics ${TUDAT_CSPICE_LIBRARIES} ${Boost_LIBRARIES}) +endif() diff --git a/Tudat/SimulationSetup/UnitTests/unitTestAccelerationModelSetup.cpp b/Tudat/SimulationSetup/UnitTests/unitTestAccelerationModelSetup.cpp new file mode 100644 index 0000000000..a9947403f6 --- /dev/null +++ b/Tudat/SimulationSetup/UnitTests/unitTestAccelerationModelSetup.cpp @@ -0,0 +1,686 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#define BOOST_TEST_MAIN + +#include + +#include +#include +#include + +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/unitConversions.h" +#include "Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h" +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" +#include "Tudat/Basics/testMacros.h" + +#include "Tudat/External/SpiceInterface/spiceEphemeris.h" +#include "Tudat/External/SpiceInterface/spiceRotationalEphemeris.h" + +#include "Tudat/InputOutput/basicInputOutput.h" +#include "Tudat/Mathematics/Interpolators/linearInterpolator.h" +#include "Tudat/SimulationSetup/createAccelerationModels.h" +#include "Tudat/SimulationSetup/createBodies.h" +#include "Tudat/SimulationSetup/defaultBodies.h" +#include "Tudat/Astrodynamics/Aerodynamics/UnitTests/testApolloCapsuleCoefficients.h" + +namespace tudat +{ +namespace unit_tests +{ + +using namespace simulation_setup; +using namespace basic_astrodynamics; +using namespace input_output; +using namespace reference_frames; + +BOOST_AUTO_TEST_SUITE( test_acceleration_model_setup ) + +//! Test set up of point mass gravitational accelerations, both direct and third-body. +BOOST_AUTO_TEST_CASE( test_centralGravityModelSetup ) +{ + // Load Spice kernel with gravitational parameters. + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + + // Create bodies with gravitational parameters from Spice and JPL approximane positions + // as ephemerides + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Mars" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Jupiter" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Sun" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Mars" ]->ephemerisSettings = boost::make_shared< ApproximatePlanetPositionSettings >( + ephemerides::ApproximatePlanetPositionsBase::mars, 0 ); + bodySettings[ "Jupiter" ]->ephemerisSettings = boost::make_shared< ApproximatePlanetPositionSettings >( + ephemerides::ApproximatePlanetPositionsBase::jupiter, 0 ); + bodySettings[ "Mars" ]->gravityFieldSettings = + boost::make_shared< GravityFieldSettings >( central_spice ); + bodySettings[ "Jupiter" ]->gravityFieldSettings = + boost::make_shared< GravityFieldSettings >( central_spice ); + bodySettings[ "Sun" ]->gravityFieldSettings = + boost::make_shared< GravityFieldSettings >( central_spice ); + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "J2000" ); + + // Defins state of Sun to be all zero. + std::map< double, basic_mathematics::Vector6d > sunStateHistory; + sunStateHistory[ -1.0E9 ] = basic_mathematics::Vector6d::Zero( ); + sunStateHistory[ 0.0 ] = basic_mathematics::Vector6d::Zero( ); + sunStateHistory[ -1.0E9 ] = basic_mathematics::Vector6d::Zero( ); + boost::shared_ptr< interpolators::LinearInterpolator< double, basic_mathematics::Vector6d > > + sunStateInterpolaotor = boost::make_shared< + interpolators::LinearInterpolator< double, basic_mathematics::Vector6d > >( + sunStateHistory ); + bodyMap[ "Sun" ] ->setEphemeris( boost::make_shared< ephemerides::TabulatedCartesianEphemeris< > >( + sunStateInterpolaotor ) ); + + // Update bodies to current state (normally done by numerical integrator). + for( NamedBodyMap::const_iterator bodyIterator = bodyMap.begin( ); bodyIterator != + bodyMap.end( ); bodyIterator++ ) + { + bodyIterator->second->setStateFromEphemeris( 1.0E7 ); + } + + + // Define settings for accelerations: point mass atraction by Jupiter and Sun on Mars + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Mars" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + accelerationSettingsMap[ "Mars" ][ "Jupiter" ].push_back( + boost::make_shared< AccelerationSettings >( central_gravity ) ); + + // Define origin of integration to be barycenter. + std::map< std::string, std::string > centralBodies; + centralBodies[ "Mars" ] = "SSB"; + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + + // Retrieve created accelerations. + boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + sunAcceleration = accelerationsMap[ "Mars" ][ "Sun" ][ 0 ]; + boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + jupiterAcceleration = accelerationsMap[ "Mars" ][ "Jupiter" ][ 0 ]; + + // Create accelerations manually (point mass inertial). + boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + manualSunAcceleration = + boost::make_shared< gravitation::CentralGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Mars" ] ), + spice_interface::getBodyGravitationalParameter( "Sun" ), + boost::bind( &Body::getPosition, bodyMap[ "Sun" ] ) ); + boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + manualJupiterAcceleration = + boost::make_shared< gravitation::CentralGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Mars" ] ), + spice_interface::getBodyGravitationalParameter( "Jupiter" ), + boost::bind( &Body::getPosition, bodyMap[ "Jupiter" ] ) ); + + // Test equivalence of two acceleration models. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( basic_astrodynamics::updateAndGetAcceleration( sunAcceleration ) ), + ( basic_astrodynamics::updateAndGetAcceleration( manualSunAcceleration ) ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( basic_astrodynamics::updateAndGetAcceleration( jupiterAcceleration ) ), + ( basic_astrodynamics::updateAndGetAcceleration( manualJupiterAcceleration ) ), + std::numeric_limits< double >::epsilon( ) ); + + // Change central body to Sun, which will result in modified accelerations. + centralBodies[ "Mars" ] = "Sun"; + + // Recreate and retrieve accelerations. + accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + sunAcceleration = accelerationsMap[ "Mars" ][ "Sun" ][ 0 ]; + jupiterAcceleration = accelerationsMap[ "Mars" ][ "Jupiter" ][ 0 ]; + + // Manually create Sun's acceleration on Mars, which now include's Mars'gravitational parameter, + // since the integration is done w.r.t. the Sun, not the barycenter. + manualSunAcceleration = + boost::make_shared< gravitation::CentralGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Mars" ] ), + spice_interface::getBodyGravitationalParameter( "Sun" ) + + spice_interface::getBodyGravitationalParameter( "Mars" ), + boost::bind( &Body::getPosition, bodyMap[ "Sun" ] ) ); + + // Manually create Jupiter's acceleration on Mars, which now a third body acceleration, + // with the Sun the central body. + manualJupiterAcceleration = + boost::make_shared< gravitation::ThirdBodyAcceleration< + gravitation::CentralGravitationalAccelerationModel< > > >( + boost::make_shared< gravitation::CentralGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Mars" ] ), + spice_interface::getBodyGravitationalParameter( "Jupiter" ), + boost::bind( &Body::getPosition, bodyMap[ "Jupiter" ] ) ), + boost::make_shared< gravitation::CentralGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Sun" ] ), + spice_interface::getBodyGravitationalParameter( "Jupiter" ), + boost::bind( &Body::getPosition, bodyMap[ "Jupiter" ] ) ), "Jupiter" ); + + // Test equivalence of two acceleration models. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( basic_astrodynamics::updateAndGetAcceleration( sunAcceleration ) ), + ( basic_astrodynamics::updateAndGetAcceleration( manualSunAcceleration ) ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( basic_astrodynamics::updateAndGetAcceleration( jupiterAcceleration ) ), + ( basic_astrodynamics::updateAndGetAcceleration( manualJupiterAcceleration ) ), + std::numeric_limits< double >::epsilon( ) ); +} + +//! Test set up of spherical harmonic gravitational accelerations. +BOOST_AUTO_TEST_CASE( test_shGravityModelSetup ) +{ + + // Create body map + NamedBodyMap bodyMap; + bodyMap[ "Earth" ] = boost::make_shared< Body >( ); + bodyMap[ "Vehicle" ] = boost::make_shared< Body >( ); + + // Set constant state for Earth and Vehicle + basic_mathematics::Vector6d dummyEarthState = + ( basic_mathematics::Vector6d ( ) << 1.1E11, 0.5E11, 0.01E11, 0.0 + ).finished( ); + bodyMap[ "Earth" ]->setState( dummyEarthState ); + bodyMap[ "Vehicle" ]->setState( + ( basic_mathematics::Vector6d ( ) << 7.0e6, 8.0e6, 9.0e6, 0.0, 0.0, 0.0 + ).finished( ) + dummyEarthState ); + + // Define Earth gravity field. + double gravitationalParameter = 3.986004418e14; + double planetaryRadius = 6378137.0; + Eigen::MatrixXd cosineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + -4.841651437908150e-4, -2.066155090741760e-10, 2.439383573283130e-6, 0.0, 0.0, 0.0, + 9.571612070934730e-7, 2.030462010478640e-6, 9.047878948095281e-7, + 7.213217571215680e-7, 0.0, 0.0, 5.399658666389910e-7, -5.361573893888670e-7, + 3.505016239626490e-7, 9.908567666723210e-7, -1.885196330230330e-7, 0.0, + 6.867029137366810e-8, -6.292119230425290e-8, 6.520780431761640e-7, + -4.518471523288430e-7, -2.953287611756290e-7, 1.748117954960020e-7 + ).finished( ); + Eigen::MatrixXd sineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.384413891379790e-9, -1.400273703859340e-6, 0.0, 0.0, 0.0, + 0.0, 2.482004158568720e-7, -6.190054751776180e-7, 1.414349261929410e-6, 0.0, 0.0, + 0.0, -4.735673465180860e-7, 6.624800262758290e-7, -2.009567235674520e-7, + 3.088038821491940e-7, 0.0, 0.0, -9.436980733957690e-8, -3.233531925405220e-7, + -2.149554083060460e-7, 4.980705501023510e-8, -6.693799351801650e-7 + ).finished( ); + bodyMap[ "Earth" ]->setGravityFieldModel( + boost::make_shared< gravitation::SphericalHarmonicsGravityField >( + gravitationalParameter, planetaryRadius, cosineCoefficients, + sineCoefficients, "IAU_Earth" ) ); + bodyMap[ "Earth" ]->setRotationalEphemeris( + boost::make_shared< ephemerides::SpiceRotationalEphemeris >( + "ECLIPJ2000", "IAU_Earth" ) ); + + + // Define settings for acceleration model (spherical harmonic due to Earth up to degree and + // order 5. + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Vehicle" ][ "Earth" ].push_back( + boost::make_shared< SphericalHarmonicAccelerationSettings >( 5, 5 ) ); + + // Set accelerations to be calculated w.r.t. the Earth. + std::map< std::string, std::string > centralBodies; + centralBodies[ "Vehicle" ] = "Earth"; + + // Create and retrieve acceleration. + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + directAcceleration = accelerationsMap[ "Vehicle" ][ "Earth" ][ 0 ]; + + // Manually create acceleration model. + boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > + manualAcceleration = + boost::make_shared< gravitation::SphericalHarmonicsGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Vehicle" ] ), + gravitationalParameter, + planetaryRadius, cosineCoefficients, sineCoefficients, + boost::bind( &Body::getPosition, bodyMap[ "Earth" ] ) ); + + // Test equivalence of two acceleration models. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( basic_astrodynamics::updateAndGetAcceleration( manualAcceleration ) ), + ( basic_astrodynamics::updateAndGetAcceleration( directAcceleration ) ), + std::numeric_limits< double >::epsilon( ) ); + + // Set (unrealistically) a gravity field model on the Vehicle, to test its + // influence on acceleration. + bodyMap[ "Vehicle" ]->setGravityFieldModel( boost::make_shared< gravitation::GravityFieldModel >( + 0.1 * gravitationalParameter ) ); + + // Recreate and retrieve acceleration. + accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + directAcceleration = accelerationsMap[ "Vehicle" ][ "Earth" ][ 0 ]; + + // Manually create acceleration. + manualAcceleration = + boost::make_shared< gravitation::SphericalHarmonicsGravitationalAccelerationModel< > >( + boost::bind( &Body::getPosition, bodyMap[ "Vehicle" ] ), + gravitationalParameter * 1.1, + planetaryRadius, cosineCoefficients, sineCoefficients, + boost::bind( &Body::getPosition, bodyMap[ "Earth" ] ) ); + + // Test equivalence of two acceleration models. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( basic_astrodynamics::updateAndGetAcceleration( manualAcceleration ) ), + ( basic_astrodynamics::updateAndGetAcceleration( directAcceleration ) ), + std::numeric_limits< double >::epsilon( ) ); + +} + +//! Test radiation pressure acceleration +BOOST_AUTO_TEST_CASE( test_radiationPressureAcceleration ) +{ + using namespace tudat::simulation_setup; + using namespace tudat; + + // Load Spice kernels + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + + // Get settings for celestial bodies + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 10.0 * 86400.0 ); + bodySettings[ "Sun" ] = getDefaultSingleBodySettings( "Sun", 0.0,10.0 * 86400.0 ); + + // Get settings for vehicle + double area = 2.34; + double coefficient = 1.2; + bodySettings[ "Vehicle" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Vehicle" ]->radiationPressureSettings[ "Sun" ] = + boost::make_shared< CannonBallRadiationPressureInterfaceSettings >( "Sun", area, coefficient ); + bodySettings[ "Vehicle" ]->ephemerisSettings = + boost::make_shared< KeplerEphemerisSettings >( + ( basic_mathematics::Vector6d( ) << 12000.0E3, 0.13, 0.3, 0.0, 0.0, 0.0 ).finished( ), + 0.0, spice_interface::getBodyGravitationalParameter( "Earth" ), "Earth", "ECLIPJ2000" ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Define settings for accelerations + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Vehicle" ][ "Sun" ].push_back( + boost::make_shared< AccelerationSettings >( cannon_ball_radiation_pressure ) ); + + // Define origin of integration + std::map< std::string, std::string > centralBodies; + centralBodies[ "Vehicle" ] = "Earth"; + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + boost::shared_ptr< AccelerationModel3d > radiationPressureAcceleration = accelerationsMap[ "Vehicle" ][ "Sun" ][ 0 ]; + + // Set (arbitrary) test time. + double testTime = 5.0 * 86400.0; + + // Set vehicle mass + double bodyMass = 500.0; + bodyMap[ "Vehicle" ]->setBodyMassFunction( boost::lambda::constant( bodyMass ) ); + bodyMap[ "Vehicle" ]->updateMass( testTime ); + + // Update environment to current time. + bodyMap[ "Sun" ]->setTemplatedStateFromEphemeris< double, double >( testTime ); + bodyMap[ "Earth" ]->setTemplatedStateFromEphemeris< double, double >( testTime ); + bodyMap[ "Vehicle" ]->setTemplatedStateFromEphemeris< double, double >( testTime ); + bodyMap[ "Vehicle" ]->getRadiationPressureInterfaces( ).at( "Sun" )->updateInterface( testTime ); + + + // Get acceleration + Eigen::Vector3d calculatedAcceleration = updateAndGetAcceleration( + radiationPressureAcceleration ); + + // Manually calculate acceleration + Eigen::Vector3d expectedForceDirection = + ( bodyMap[ "Vehicle" ]->getState( ) - bodyMap[ "Sun" ]->getState( ) ).segment( 0, 3 ); + double sourceDistance = expectedForceDirection.norm( ); + double expectedForceMagnitude = electro_magnetism::calculateRadiationPressure( + defaultRadiatedPowerValues.at( "Sun" ), sourceDistance ) * area * coefficient; + Eigen::Vector3d expectedAcceleration = expectedForceDirection.normalized( ) * expectedForceMagnitude / bodyMass; + + // Compare results + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + expectedAcceleration, calculatedAcceleration, ( std::numeric_limits< double >::epsilon( ) ) ); + + +} + +//! Test setup of aerodynamic accelerations (constant coefficients) +BOOST_AUTO_TEST_CASE( test_aerodynamicAccelerationModelSetup ) +{ + using namespace tudat::simulation_setup; + using namespace tudat; + + // Load Spice kernels + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + + // Test creation with coefficients positive/negative in body/aerodynamic frame (4 cases). + for( unsigned int testCase = 0; testCase < 4; testCase++ ) + { + // Get settings for Earth. + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 86400.0 ); + bodySettings[ "Vehicle" ] = boost::make_shared< BodySettings >( ); + + // Define (arbitrary) aerodynamic coefficient settings. + Eigen::Vector3d aerodynamicCoefficients = + ( Eigen::Vector3d( )<<1.0, 3.0, -2.0 ).finished( ); + double referenceArea = 4.7; + + // Get coefficient settings for current test case + bool areCoefficientsInAerodynamicFrame = 0; + bool areCoefficientsInNegativeAxisDirection = 1; + if( testCase < 2 ) + { + areCoefficientsInAerodynamicFrame = 1; + } + else + { + areCoefficientsInAerodynamicFrame = 0; + } + if( testCase % 2 == 0 ) + { + areCoefficientsInNegativeAxisDirection = 1; + } + else + { + areCoefficientsInNegativeAxisDirection = 0; + } + + bodySettings[ "Vehicle" ]->aerodynamicCoefficientSettings = + boost::make_shared< ConstantAerodynamicCoefficientSettings >( + 1.0, referenceArea, 1.0, Eigen::Vector3d::Zero( ), aerodynamicCoefficients, Eigen::Vector3d::Zero( ), + areCoefficientsInAerodynamicFrame, areCoefficientsInNegativeAxisDirection ); + + // Create body objects. + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Define settings for accelerations + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Vehicle" ][ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( aerodynamic ) ); + + // Define origin of integration + std::map< std::string, std::string > centralBodies; + centralBodies[ "Vehicle" ] = "Earth"; + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + boost::shared_ptr< AccelerationModel3d > aerodynamicAcceleration = accelerationsMap[ "Vehicle" ][ "Earth" ][ 0 ]; + + // Define expected aerodynamic angles (see testAerodynamicAngleCalculator) + double testHeadingAngle = 1.229357188236127; + double testFlightPathAngle = -0.024894033070522; + double testLatitude = -0.385027359562548; + double testLongitude = -1.849449608688977; + + double angleOfAttack = 1.232; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432; + + // Retrieve flight conditions and define orientation angles. + boost::shared_ptr< aerodynamics::FlightConditions > vehicleFlightConditions = + bodyMap[ "Vehicle" ]->getFlightConditions( ); + vehicleFlightConditions->getAerodynamicAngleCalculator( )->setOrientationAngleFunctions( + boost::lambda::constant( angleOfAttack ), + boost::lambda::constant( angleOfSideslip ), + boost::lambda::constant( bankAngle ) ); + + // Set vehicle body-fixed state (see testAerodynamicAngleCalculator) + basic_mathematics::Vector6d vehicleBodyFixedState = + ( basic_mathematics::Vector6d( )<< -1656517.23153109, -5790058.28764025, -2440584.88186829, + 6526.30784888051, -2661.34558272018, 2377.09572383163 ).finished( ); + + double testTime = 0.5E7; + + // Convert vehicle state to inertial frame. + basic_mathematics::Vector6d vehicleInertialState = + ephemerides::transformStateToFrame( + vehicleBodyFixedState, + bodyMap[ "Earth" ]->getRotationalEphemeris( )->getRotationToBaseFrame( testTime ), + bodyMap[ "Earth" ]->getRotationalEphemeris( )->getDerivativeOfRotationToBaseFrame( testTime ) ); + + // Set states in environment. + bodyMap[ "Earth" ]->setState( basic_mathematics::Vector6d::Zero( ) ); + bodyMap[ "Earth" ]->setCurrentRotationalStateToLocalFrameFromEphemeris( testTime ); + bodyMap[ "Vehicle" ]->setState( vehicleInertialState ); + + // Set vehicle mass + double bodyMass = 500.0; + bodyMap[ "Vehicle" ]->setBodyMassFunction( boost::lambda::constant( bodyMass ) ); + bodyMap[ "Vehicle" ]->updateMass( testTime ); + + // Update flight conditions. + vehicleFlightConditions->updateConditions( testTime ); + + // Check whether flight conditions object has been correctly automatically created + // (see testAerodynamicAngleCalculator) + { + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( latitude_angle ) - + testLatitude), 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( longitude_angle ) - + testLongitude), 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( heading_angle ) - + testHeadingAngle), 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( flight_path_angle ) - + testFlightPathAngle), 10.0 * std::numeric_limits< double >::epsilon( ) ); + + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( angle_of_attack ) - + angleOfAttack ), 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( angle_of_sideslip ) - + angleOfSideslip), 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( )-> + getAerodynamicAngle( bank_angle ) - + bankAngle), 10.0 * std::numeric_limits< double >::epsilon( ) ); + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + vehicleFlightConditions->getCurrentBodyCenteredBodyFixedState( ), vehicleBodyFixedState, + ( 2.0 * std::numeric_limits< double >::epsilon( ) ) ); + } + + // Define current frame for aerodynamic coefficients. + AerodynamicsReferenceFrames coefficientFrame = aerodynamic_frame; + if( testCase < 2 ) + { + coefficientFrame = aerodynamic_frame; + } + else + { + coefficientFrame = body_frame; + } + + // Get rotation from coefficient to propagation frame. + Eigen::Quaterniond rotationToPropagationFrame = + bodyMap[ "Earth" ]->getCurrentRotationToGlobalFrame( ) * + vehicleFlightConditions->getAerodynamicAngleCalculator( )->getRotationQuaternionBetweenFrames( + coefficientFrame, corotating_frame ); + + // Calculate aerodynamic force manually. + double dynamicPressure = 0.5 * bodyMap[ "Earth" ]->getAtmosphereModel( )->getDensity( + vehicleFlightConditions->getCurrentAltitude( ), testLongitude, testLatitude, testTime ) * + std::pow( vehicleBodyFixedState.segment( 3, 3 ).norm( ), 2.0 ); + Eigen::Vector3d expectedAerodynamicForce = dynamicPressure * referenceArea * + ( rotationToPropagationFrame * aerodynamicCoefficients ); + if( testCase % 2 == 0 ) + { + expectedAerodynamicForce *= -1.0; + } + + // Get automatic aerodynamic force. + Eigen::Vector3d computedAerodynamicForce = + bodyMass * updateAndGetAcceleration< Eigen::Vector3d >( aerodynamicAcceleration ); + + // Compare results + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + expectedAerodynamicForce, computedAerodynamicForce, ( 5.0 * std::numeric_limits< double >::epsilon( ) ) ); + } +} + +//! Test setup of aerodynamic accelerations (non-constant coefficients) +BOOST_AUTO_TEST_CASE( test_aerodynamicAccelerationModelSetupWithCoefficientIndependentVariables ) +{ + using namespace tudat::simulation_setup; + using namespace tudat; + + // Load Spice kernels + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + + // Get settings for Earth. + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 86400.0 ); + bodySettings[ "Vehicle" ] = boost::make_shared< BodySettings >( ); + + // Create body objects. + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Create vehicle aerodynamic coefficients + bodyMap[ "Vehicle" ]->setAerodynamicCoefficientInterface( + getApolloCoefficientInterface( ) ); + + // Define settings for accelerations: point + SelectedAccelerationMap accelerationSettingsMap; + accelerationSettingsMap[ "Vehicle" ][ "Earth" ].push_back( + boost::make_shared< AccelerationSettings >( aerodynamic ) ); + + // Define origin of integration + std::map< std::string, std::string > centralBodies; + centralBodies[ "Vehicle" ] = "Earth"; + + // Create accelerations + AccelerationMap accelerationsMap = createAccelerationModelsMap( + bodyMap, accelerationSettingsMap, centralBodies ); + boost::shared_ptr< AccelerationModel3d > aerodynamicAcceleration = accelerationsMap[ "Vehicle" ][ "Earth" ][ 0 ]; + + + // Retrieve flight conditions and orientation angles + boost::shared_ptr< aerodynamics::FlightConditions > vehicleFlightConditions = + bodyMap[ "Vehicle" ]->getFlightConditions( ); + boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > coefficientInterface = + bodyMap[ "Vehicle" ]->getAerodynamicCoefficientInterface( ); + + // Define orientation angles. + double angleOfAttack = 1.232; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432; + vehicleFlightConditions->getAerodynamicAngleCalculator( )->setOrientationAngleFunctions( + boost::lambda::constant( angleOfAttack ), + boost::lambda::constant( angleOfSideslip ), + boost::lambda::constant( bankAngle ) ); + + // Update environment to current time. + double testTime = 0.5E7; + bodyMap[ "Earth" ]->setCurrentRotationalStateToLocalFrameFromEphemeris( testTime ); + bodyMap[ "Earth" ]->setState( basic_mathematics::Vector6d::Zero( ) ); + double bodyMass = 500.0; + + // Set vehicle mass + bodyMap[ "Vehicle" ]->setBodyMassFunction( boost::lambda::constant( bodyMass ) ); + bodyMap[ "Vehicle" ]->updateMass( testTime ); + + // Test aerodynamic coefficients for various cases of independent variables. + for( unsigned int i = 0; i < 4; i++ ) + { + // Define body-fixed vehicle state. + basic_mathematics::Vector6d vehicleBodyFixedState = + ( basic_mathematics::Vector6d( )<< -1656517.23153109, -5790058.28764025, -2440584.88186829, + 6526.30784888051, -2661.34558272018, 2377.09572383163 ).finished( ); + if( i > 0 ) + { + vehicleBodyFixedState.segment( 3, 3 ) += ( Eigen::Vector3d( ) <<-3234.2, 2456.2, 33.245 ).finished( ); + } + + // Define vehicle inertial state. + basic_mathematics::Vector6d vehicleInertialState = + ephemerides::transformStateToFrame( + vehicleBodyFixedState, + bodyMap[ "Earth" ]->getRotationalEphemeris( )->getRotationToBaseFrame( testTime ), + bodyMap[ "Earth" ]->getRotationalEphemeris( )->getDerivativeOfRotationToBaseFrame( testTime ) ); + bodyMap[ "Vehicle" ]->setState( vehicleInertialState ); + + // Define orientation angles. + if( i > 1 ) + { + angleOfAttack -= 0.6465; + } + if( i > 2 ) + { + angleOfSideslip += 0.00123; + } + vehicleFlightConditions->getAerodynamicAngleCalculator( )->setOrientationAngleFunctions( + boost::lambda::constant( angleOfAttack ), + boost::lambda::constant( angleOfSideslip ), + boost::lambda::constant( bankAngle ) ); + + // Update flight conditions + vehicleFlightConditions->updateConditions( testTime ); + + // Calculate Mach number + double velocity = vehicleBodyFixedState.segment( 3, 3 ).norm( ); + double speedOfSound = bodyMap[ "Earth" ]->getAtmosphereModel( )->getSpeedOfSound( + vehicleFlightConditions->getCurrentAltitude( ), 0.0, 0.0, 0.0 ); + double machNumber = velocity / speedOfSound; + + // Get manual and automatic coefficients anf coompare. + Eigen::Vector3d automaticCoefficients = coefficientInterface->getCurrentForceCoefficients( ); + coefficientInterface->updateCurrentCoefficients( + boost::assign::list_of( machNumber )( angleOfAttack )( angleOfSideslip ) ); + Eigen::Vector3d manualCoefficients = coefficientInterface->getCurrentForceCoefficients( ); + + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + automaticCoefficients, manualCoefficients, ( 5.0 * std::numeric_limits< double >::epsilon( ) ) ); + + } +} + +BOOST_AUTO_TEST_SUITE_END( ) + +} // namespace unit_tests +} // namespace tudat + + diff --git a/Tudat/SimulationSetup/UnitTests/unitTestEnvironmentModelSetup.cpp b/Tudat/SimulationSetup/UnitTests/unitTestEnvironmentModelSetup.cpp new file mode 100644 index 0000000000..1c68141afa --- /dev/null +++ b/Tudat/SimulationSetup/UnitTests/unitTestEnvironmentModelSetup.cpp @@ -0,0 +1,811 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#define BOOST_TEST_MAIN + +#include + +#include +#include + +#include + +#include "Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.h" +#include "Tudat/Astrodynamics/Aerodynamics/tabulatedAtmosphere.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/unitConversions.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/geodeticCoordinateConversions.h" +#include "Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h" +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/simpleRotationalEphemeris.h" +#include "Tudat/Astrodynamics/Gravitation/centralGravityModel.h" +#include "Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h" +#include "Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h" +#include "Tudat/Basics/testMacros.h" + +#if USE_CSPICE +#include "Tudat/External/SpiceInterface/spiceEphemeris.h" +#endif + +#include "Tudat/InputOutput/basicInputOutput.h" +#include "Tudat/InputOutput/matrixTextFileReader.h" +#include "Tudat/Mathematics/BasicMathematics/coordinateConversions.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" +#include "Tudat/SimulationSetup/createAtmosphereModel.h" +#include "Tudat/SimulationSetup/createEphemeris.h" +#include "Tudat/SimulationSetup/createGravityField.h" +#include "Tudat/SimulationSetup/createRotationModel.h" +#include "Tudat/SimulationSetup/defaultBodies.h" + +namespace tudat +{ +namespace unit_tests +{ + +using namespace simulation_setup; +using namespace input_output; +using namespace reference_frames; +using namespace basic_astrodynamics; + +BOOST_AUTO_TEST_SUITE( test_environment_model_setup ) + +//! Test set up of atmosphere environment models. +BOOST_AUTO_TEST_CASE( test_atmosphereModelSetup ) +{ + + // Create settings for tabulated atmosphere. + boost::shared_ptr< TabulatedAtmosphereSettings > tabulatedAtmosphereSettings = + boost::make_shared< TabulatedAtmosphereSettings >( + input_output::getTudatRootPath( ) + "/External/AtmosphereTables/" + + "USSA1976Until100kmPer100mUntil1000kmPer1000m.dat" ); + + // Create settings for exponential atmosphere + double densityScaleHeight = 8.0E3; + double constantTemperature = 270.0; + double densityAtZeroAltitude = 1.225; + double specificGasConstant = 287.1; + boost::shared_ptr< ExponentialAtmosphereSettings > exponentialAtmosphereSettings = + boost::make_shared< ExponentialAtmosphereSettings >( + densityScaleHeight, constantTemperature, + densityAtZeroAltitude, specificGasConstant ); + + // Create atmpshere models using setup function + boost::shared_ptr< aerodynamics::AtmosphereModel > exponentialAtmosphere = + createAtmosphereModel( exponentialAtmosphereSettings, "Earth" ); + boost::shared_ptr< aerodynamics::AtmosphereModel > tabulatedAtmosphere = + createAtmosphereModel( tabulatedAtmosphereSettings, "Earth" ); + + // Create atmosphere models manually. + aerodynamics::TabulatedAtmosphere manualTabulatedAtmosphere( + input_output::getTudatRootPath( ) + "/External/AtmosphereTables/" + + "USSA1976Until100kmPer100mUntil1000kmPer1000m.dat" ); + aerodynamics::ExponentialAtmosphere manualExponentialAtmosphere( + densityScaleHeight, constantTemperature, densityAtZeroAltitude, + specificGasConstant ); + + // Verify equivalence of automatically set up and manual models. + BOOST_CHECK_EQUAL( manualTabulatedAtmosphere.getDensity( 32.0, 0.0, 0.0, 0.0 ), + tabulatedAtmosphere->getDensity( 32.0, 0.0, 0.0, 0.0 ) ); + BOOST_CHECK_EQUAL( manualTabulatedAtmosphere.getPressure( 32.0, 0.0, 0.0, 0.0 ), + tabulatedAtmosphere->getPressure( 32.0, 0.0, 0.0, 0.0 ) ); + BOOST_CHECK_EQUAL( manualTabulatedAtmosphere.getTemperature( 32.0, 0.0, 0.0, 0.0 ), + tabulatedAtmosphere->getTemperature( 32.0, 0.0, 0.0, 0.0 ) ); + + BOOST_CHECK_EQUAL( manualExponentialAtmosphere.getDensity( 32.0, 0.0, 0.0, 0.0 ), + exponentialAtmosphere->getDensity( 32.0, 0.0, 0.0, 0.0 ) ); + BOOST_CHECK_EQUAL( manualExponentialAtmosphere.getPressure( 32.0, 0.0, 0.0, 0.0 ), + exponentialAtmosphere->getPressure( 32.0, 0.0, 0.0, 0.0 ) ); + BOOST_CHECK_EQUAL( manualExponentialAtmosphere.getTemperature( 32.0, 0.0, 0.0, 0.0 ), + exponentialAtmosphere->getTemperature( 32.0, 0.0, 0.0, 0.0 ) ); +} + +#if USE_CSPICE +//! Test set up of ephemeris environment models. +BOOST_AUTO_TEST_CASE( test_ephemerisSetup ) +{ + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "pck00009.tpc" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "naif0009.tls" ); + + { + // Create settings for approximate planet positions. + ephemerides::ApproximatePlanetPositionsBase::BodiesWithEphemerisData bodyIdentifier = + ephemerides::ApproximatePlanetPositionsBase::mars; + bool useCircularCoplanarApproximation = 0; + boost::shared_ptr< ApproximatePlanetPositionSettings > approximateEphemerisSettings = + boost::make_shared< ApproximatePlanetPositionSettings >( + bodyIdentifier, useCircularCoplanarApproximation ); + + // Create ephemeris using setup function. + boost::shared_ptr< ephemerides::Ephemeris > approximateEphemeris = + createBodyEphemeris( approximateEphemerisSettings, "Earth" ); + + // Create manual ephemeris. + ephemerides::ApproximatePlanetPositions manualApproximateEphemeris( + bodyIdentifier ); + + // Verify equivalence of automatically set up and manual models. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( manualApproximateEphemeris.getCartesianStateFromEphemeris( 1.0E7 ) ), + ( approximateEphemeris->getCartesianStateFromEphemeris( 1.0E7 ) ), + std::numeric_limits< double >::epsilon( ) ); + } + + { + // Create spice ephemeris. + boost::shared_ptr< EphemerisSettings > spiceEphemerisSettings = + boost::make_shared< DirectSpiceEphemerisSettings >( "Earth", "J2000" ); + boost::shared_ptr< ephemerides::Ephemeris > spiceEphemeris = + createBodyEphemeris( spiceEphemerisSettings, "Moon" ); + + // Compare spice ephemeris against direct spice state. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( spice_interface::getBodyCartesianStateAtEpoch( + "Moon", "Earth", "J2000", "None", 1.0E7 ) ), + ( spiceEphemeris->getCartesianStateFromEphemeris( 1.0E7 ) ), + std::numeric_limits< double >::epsilon( ) ); + } + + { + // Create tabulated spice ephemeris + boost::shared_ptr< EphemerisSettings > spiceEphemerisSettings = + boost::make_shared< InterpolatedSpiceEphemerisSettings >( + 1.0E7 - 50.0 * 600.0, 1.0E7 + 50.0 * 600.0, 600.0, "Earth", "J2000" ); + boost::shared_ptr< ephemerides::Ephemeris > spiceEphemeris = + createBodyEphemeris( spiceEphemerisSettings, "Moon" ); + + // Compare tabulated spice ephemeris against direct spice state on node point. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( spice_interface::getBodyCartesianStateAtEpoch( + "Moon", "Earth", "J2000", "None", 1.0E7 ) ), + ( spiceEphemeris->getCartesianStateFromEphemeris( 1.0E7 ) ), + std::numeric_limits< double >::epsilon( ) ); + + // Manually create table of states from spice + std::map< double, basic_mathematics::Vector6d > tabulatedStates; + double currentTime = 1.0E7 - 50.0 * 600.0; + while( currentTime <= 1.0E7 + 50.0 * 600.0 ) + { + tabulatedStates[ currentTime ] = spice_interface::getBodyCartesianStateAtEpoch( + "Moon", "Earth", "J2000", "None", currentTime ); + currentTime += 600.0; + } + + // Create tabulated ephemeris. + boost::shared_ptr< EphemerisSettings > tabulatedEphemerisSettings = + boost::make_shared< TabulatedEphemerisSettings >( + tabulatedStates, "Earth", "J2000" ); + boost::shared_ptr< ephemerides::Ephemeris > tabulatedEphemeris = + createBodyEphemeris( tabulatedEphemerisSettings, "Moon" ); + + // Manually create tabulated ephemeris. + boost::shared_ptr< ephemerides::Ephemeris > manualTabulatedEphemeris = + boost::make_shared< ephemerides::TabulatedCartesianEphemeris< > >( + boost::make_shared< interpolators::LagrangeInterpolator + < double, basic_mathematics::Vector6d > >( tabulatedStates, 6 ), + "Earth", "J2000" ); + + // Compare ephemerides away from node point. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( spiceEphemeris->getCartesianStateFromEphemeris( 1.0E7 + 110.0 ) ), + ( tabulatedEphemeris->getCartesianStateFromEphemeris( 1.0E7 + 110.0 ) ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( spiceEphemeris->getCartesianStateFromEphemeris( 1.0E7 + 110.0 ) ), + ( manualTabulatedEphemeris->getCartesianStateFromEphemeris( 1.0E7 + 110.0 ) ), + std::numeric_limits< double >::epsilon( ) ); + } + + +} +#endif + +#if USE_CSPICE +//! Test set up of gravity field model environment models. +BOOST_AUTO_TEST_CASE( test_gravityFieldSetup ) +{ + // Load Spice kernel with gravitational parameters. + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( kernelsPath + "de-403-masses.tpc" ); + + // Create settings for spice central gravity field model. + boost::shared_ptr< GravityFieldSettings > spiceCentralGravityFieldSettings = + boost::make_shared< GravityFieldSettings >( central_spice ); + + // Create spice central gravity field model from setup function. + boost::shared_ptr< gravitation::GravityFieldModel > spiceCentralGravityField = + createGravityFieldModel( spiceCentralGravityFieldSettings, "Venus" ); + + // Check correct creation of gravity field. + BOOST_CHECK_EQUAL( + ( spice_interface::getBodyGravitationalParameter( "Venus" ) ), + ( spiceCentralGravityField->getGravitationalParameter( ) ) ); + + // Settings for spherical harmonic acceleration. + double gravitationalParameter = 398600.4418E9; + Eigen::Vector3d testPosition( 7.0e6, 8.0e6, 9.0e6 ); + Eigen::MatrixXd cosineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + -4.841651437908150e-4, -2.066155090741760e-10, 2.439383573283130e-6, 0.0, 0.0, 0.0, + 9.571612070934730e-7, 2.030462010478640e-6, 9.047878948095281e-7, + 7.213217571215680e-7, 0.0, 0.0, 5.399658666389910e-7, -5.361573893888670e-7, + 3.505016239626490e-7, 9.908567666723210e-7, -1.885196330230330e-7, 0.0, + 6.867029137366810e-8, -6.292119230425290e-8, 6.520780431761640e-7, + -4.518471523288430e-7, -2.953287611756290e-7, 1.748117954960020e-7 + ).finished( ); + Eigen::MatrixXd sineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.384413891379790e-9, -1.400273703859340e-6, 0.0, 0.0, 0.0, + 0.0, 2.482004158568720e-7, -6.190054751776180e-7, 1.414349261929410e-6, 0.0, 0.0, + 0.0, -4.735673465180860e-7, 6.624800262758290e-7, -2.009567235674520e-7, + 3.088038821491940e-7, 0.0, 0.0, -9.436980733957690e-8, -3.233531925405220e-7, + -2.149554083060460e-7, 4.980705501023510e-8, -6.693799351801650e-7 + ).finished( ); + + // Create settings for central gravity field. + boost::shared_ptr< CentralGravityFieldSettings > centralGravityFieldSettings = + boost::make_shared< CentralGravityFieldSettings >( gravitationalParameter ); + + // Create central gravity field with setup function. + boost::shared_ptr< gravitation::GravityFieldModel > centralGravityField = + createGravityFieldModel( centralGravityFieldSettings, "Earth" ); + + // Create central gravity field manually. + gravitation::GravityFieldModel manualCentralGravityField( + gravitationalParameter ); + + // Verify equivalence of automatically set up and manual models. + BOOST_CHECK_EQUAL( + ( manualCentralGravityField.getGravitationalParameter( ) ), + ( centralGravityField->getGravitationalParameter( ) ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( manualCentralGravityField.getGradientOfPotential( testPosition ) ), + ( centralGravityField->getGradientOfPotential( testPosition ) ), + std::numeric_limits< double >::epsilon( ) ); + + // Create settings for sh gravity field. + boost::shared_ptr< SphericalHarmonicsGravityFieldSettings > shGravityFieldSettings = + boost::make_shared< SphericalHarmonicsGravityFieldSettings >( + gravitationalParameter, 6378.0E3, cosineCoefficients, sineCoefficients, + "Earth_fixed" ); + + // Create sh gravity field with setup function. + boost::shared_ptr< gravitation::GravityFieldModel > shGravityField = + createGravityFieldModel( shGravityFieldSettings, "Earth" ); + + // Create sh gravity field manually. + gravitation::SphericalHarmonicsGravityField manualShGravityField( + gravitationalParameter, 6378.0E3, cosineCoefficients, sineCoefficients ); + + // Verify equivalence of automatically set up and manual models. + BOOST_CHECK_EQUAL( + ( manualShGravityField.getGravitationalParameter( ) ), + ( shGravityField->getGravitationalParameter( ) ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( manualShGravityField.getGradientOfPotential( testPosition ) ), + ( shGravityField->getGradientOfPotential( testPosition ) ), + std::numeric_limits< double >::epsilon( ) ); + + boost::shared_ptr< gravitation::SphericalHarmonicsGravityField > defaultEarthField = + boost::dynamic_pointer_cast< gravitation::SphericalHarmonicsGravityField >( + createGravityFieldModel( getDefaultGravityFieldSettings( + "Earth", TUDAT_NAN, TUDAT_NAN ), "Earth" ) ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getGravitationalParameter( ) ), ( 0.3986004418E15 ) ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getReferenceRadius( ) ), ( 6378137.0 ) ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getCosineCoefficients( ).rows( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getCosineCoefficients( ).cols( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getSineCoefficients( ).rows( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getSineCoefficients( ).cols( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getCosineCoefficients( )( 5, 3 ) ), -0.451955406071E-06 ); + BOOST_CHECK_EQUAL( + ( defaultEarthField->getSineCoefficients( )( 7, 1 ) ), 0.954336911867E-07 ); + + boost::shared_ptr< gravitation::SphericalHarmonicsGravityField > defaultMoonField = + boost::dynamic_pointer_cast< gravitation::SphericalHarmonicsGravityField >( + createGravityFieldModel( getDefaultGravityFieldSettings( + "Moon", TUDAT_NAN, TUDAT_NAN ), "Moon" ) ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getGravitationalParameter( ) ), ( 0.4902800238000000E+13 ) ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getReferenceRadius( ) ), ( 0.17380E+07 ) ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getCosineCoefficients( ).rows( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getCosineCoefficients( ).cols( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getSineCoefficients( ).rows( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getSineCoefficients( ).cols( ) ), 51 ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getCosineCoefficients( )( 5, 3 ) ), 0.5493176535439800E-06 ); + BOOST_CHECK_EQUAL( + ( defaultMoonField->getSineCoefficients( )( 7, 1 ) ), -0.1744763377093700E-06 ); + +} +#endif + +#if USE_CSPICE +//! Test set up of gravity field model variations environment models. +BOOST_AUTO_TEST_CASE( test_gravityFieldVariationSetup ) +{ + // Load Spice kernel with gravitational parameters. + const std::string kernelsPath = input_output::getSpiceKernelPath( ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "pck00009.tpc" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "naif0009.tls" ); + + + // Settings for spherical harmonic acceleration. + double gravitationalParameter = 398600.4418E9; + double referenceRadius = 6378.0E3; + Eigen::MatrixXd cosineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + -4.841651437908150e-4, -2.066155090741760e-10, 2.439383573283130e-6, 0.0, 0.0, 0.0, + 9.571612070934730e-7, 2.030462010478640e-6, 9.047878948095281e-7, + 7.213217571215680e-7, 0.0, 0.0, 5.399658666389910e-7, -5.361573893888670e-7, + 3.505016239626490e-7, 9.908567666723210e-7, -1.885196330230330e-7, 0.0, + 6.867029137366810e-8, -6.292119230425290e-8, 6.520780431761640e-7, + -4.518471523288430e-7, -2.953287611756290e-7, 1.748117954960020e-7 + ).finished( ); + Eigen::MatrixXd sineCoefficients = + ( Eigen::MatrixXd( 6, 6 ) << + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.384413891379790e-9, -1.400273703859340e-6, 0.0, 0.0, 0.0, + 0.0, 2.482004158568720e-7, -6.190054751776180e-7, 1.414349261929410e-6, 0.0, 0.0, + 0.0, -4.735673465180860e-7, 6.624800262758290e-7, -2.009567235674520e-7, + 3.088038821491940e-7, 0.0, 0.0, -9.436980733957690e-8, -3.233531925405220e-7, + -2.149554083060460e-7, 4.980705501023510e-8, -6.693799351801650e-7 + ).finished( ); + + + // Define body settings. + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Moon" ] = getDefaultSingleBodySettings( "Moon", 0.0, 1.0E7 ); + bodySettings[ "Sun" ] = getDefaultSingleBodySettings( "Sun", 0.0, 1.0E7 ); + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 1.0E7 ); + + bodySettings[ "Earth" ]->gravityFieldSettings = boost::make_shared< SphericalHarmonicsGravityFieldSettings >( + gravitationalParameter, referenceRadius, cosineCoefficients, sineCoefficients, "IAU_Earth" ); + + + // Define settings for tidal variations. + double loveNumber = 0.25; + std::vector< std::vector< std::complex< double > > > fullLoveNumberVector = + gravitation::getFullLoveNumbersVector( loveNumber, 3, 2 ); + double testTime = 0.5E7; + + + Eigen::MatrixXd cosineCorrections1, cosineCorrections2, cosineCorrections3; + Eigen::MatrixXd sineCorrections1, sineCorrections2, sineCorrections3; + + // Calculate non-interpolated corrections from two bodies in single object. + { + // Define correction settings + std::vector< std::string > deformingBodies; + deformingBodies.push_back( "Moon" ); + deformingBodies.push_back( "Sun" ); + + bodySettings[ "Earth" ]->gravityFieldVariationSettings.push_back( + boost::make_shared< BasicSolidBodyGravityFieldVariationSettings >( + deformingBodies, fullLoveNumberVector, referenceRadius ) ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Update states. + bodyMap[ "Earth" ]->setStateFromEphemeris( testTime ); + bodyMap[ "Earth" ]->setCurrentRotationalStateToLocalFrameFromEphemeris( testTime ); + bodyMap[ "Sun" ]->setStateFromEphemeris( testTime ); + bodyMap[ "Moon" ]->setStateFromEphemeris( testTime ); + + // Update gravity field + boost::shared_ptr< gravitation::TimeDependentSphericalHarmonicsGravityField > earthGravityField = + boost::dynamic_pointer_cast< gravitation::TimeDependentSphericalHarmonicsGravityField >( + bodyMap[ "Earth" ]->getGravityFieldModel( ) ); + earthGravityField->update( testTime ); + + // Retrieve corrections. + cosineCorrections1 = earthGravityField->getCosineCoefficients( ) - cosineCoefficients; + sineCorrections1 = earthGravityField->getSineCoefficients( ) - sineCoefficients; + + + } + + // Calculate non-interpolated corrections from two bodies in separate objects. + { + bodySettings[ "Earth" ]->gravityFieldVariationSettings.clear( ); + + // Define correction settings + std::vector< std::string > deformingBodies; + deformingBodies.push_back( "Moon" ); + bodySettings[ "Earth" ]->gravityFieldVariationSettings.push_back( + boost::make_shared< BasicSolidBodyGravityFieldVariationSettings >( + deformingBodies, fullLoveNumberVector, referenceRadius ) ); + + deformingBodies.clear( ); + deformingBodies.push_back( "Sun" ); + bodySettings[ "Earth" ]->gravityFieldVariationSettings.push_back( + boost::make_shared< BasicSolidBodyGravityFieldVariationSettings >( + deformingBodies, fullLoveNumberVector, referenceRadius ) ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Update states. + bodyMap[ "Earth" ]->setStateFromEphemeris( testTime ); + bodyMap[ "Earth" ]->setCurrentRotationalStateToLocalFrameFromEphemeris( testTime ); + bodyMap[ "Sun" ]->setStateFromEphemeris( testTime ); + bodyMap[ "Moon" ]->setStateFromEphemeris( testTime ); + + // Update gravity field + boost::shared_ptr< gravitation::TimeDependentSphericalHarmonicsGravityField > earthGravityField = + boost::dynamic_pointer_cast< gravitation::TimeDependentSphericalHarmonicsGravityField >( + bodyMap[ "Earth" ]->getGravityFieldModel( ) ); + earthGravityField->update( testTime ); + + // Retrieve corrections. + cosineCorrections2 = earthGravityField->getCosineCoefficients( ) - cosineCoefficients; + sineCorrections2 = earthGravityField->getSineCoefficients( ) - sineCoefficients; + } + + { + bodySettings[ "Earth" ]->gravityFieldVariationSettings.clear( ); + + // Define correction settings + std::vector< std::string > deformingBodies; + deformingBodies.push_back( "Moon" ); + deformingBodies.push_back( "Sun" ); + bodySettings[ "Earth" ]->gravityFieldVariationSettings.push_back( + boost::make_shared< BasicSolidBodyGravityFieldVariationSettings >( + deformingBodies, fullLoveNumberVector, referenceRadius, + boost::make_shared< ModelInterpolationSettings >( + 0.25E7, 0.75E7, 600.0, + boost::make_shared< interpolators::LagrangeInterpolatorSettings >( 8 ) ) ) ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Update gravity field + boost::shared_ptr< gravitation::TimeDependentSphericalHarmonicsGravityField > earthGravityField = + boost::dynamic_pointer_cast< gravitation::TimeDependentSphericalHarmonicsGravityField >( + bodyMap[ "Earth" ]->getGravityFieldModel( ) ); + earthGravityField->update( testTime ); + + // Retrieve corrections. + cosineCorrections3 = earthGravityField->getCosineCoefficients( ) - cosineCoefficients; + sineCorrections3= earthGravityField->getSineCoefficients( ) - sineCoefficients; + + } + + // Mutually compare results of three methods. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( cosineCorrections1.block( 2, 0, 2, 3 ), cosineCorrections2.block( 2, 0, 2, 3 ), 1.0E-10 ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( cosineCorrections1.block( 2, 0, 2, 3 ), cosineCorrections3.block( 2, 0, 2, 3 ), 1.0E-10 ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( sineCorrections1.block( 2, 1, 2, 3 ), sineCorrections2.block( 2, 1, 2, 3 ), 1.0E-10 ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( sineCorrections1.block( 2, 1, 2, 3 ), sineCorrections2.block( 2, 1, 2, 3 ), 1.0E-10 ); + + // Check whether 0 coefficients are actually 0. + for( unsigned int i = 0; i < 6; i++ ) + { + for( unsigned int j = 0; j < 6; j++ ) + { + if( i < 2 || i > 3 || j > 2 ) + { + BOOST_CHECK_EQUAL( cosineCorrections1( i, j ), 0.0 ); + BOOST_CHECK_EQUAL( cosineCorrections2( i, j ), 0.0 ); + BOOST_CHECK_EQUAL( cosineCorrections3( i, j ), 0.0 ); + + BOOST_CHECK_EQUAL( sineCorrections1( i, j ), 0.0 ); + BOOST_CHECK_EQUAL( sineCorrections2( i, j ), 0.0 ); + BOOST_CHECK_EQUAL( sineCorrections3( i, j ), 0.0 ); + } + else if( j == 0 ) + { + BOOST_CHECK_EQUAL( sineCorrections1( i, j ), 0.0 ); + BOOST_CHECK_EQUAL( sineCorrections2( i, j ), 0.0 ); + BOOST_CHECK_EQUAL( sineCorrections3( i, j ), 0.0 ); + } + + } + } + + // Calculate corrections manually and compare against created results. + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > directMoonTide = + gravitation::calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + fullLoveNumberVector, 0.4902800238000000E+13 / gravitationalParameter, + referenceRadius, spice_interface::getBodyCartesianPositionAtEpoch( + "Moon", "Earth", "IAU_Earth", "None", testTime ), 3, 2 ); + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > directSunTide = + gravitation::calculateSolidBodyTideSingleCoefficientSetCorrectionFromAmplitude( + fullLoveNumberVector, spice_interface::getBodyGravitationalParameter( "Sun" ) / gravitationalParameter, + referenceRadius, spice_interface::getBodyCartesianPositionAtEpoch( + "Sun", "Earth", "IAU_Earth", "None", testTime ), 3, 2 ); + + for( unsigned int n = 2; n <= 3; n++ ) + { + for( unsigned m = 0; m <=2; m++ ) + { + BOOST_CHECK_SMALL( directMoonTide.first( n, m ) + directSunTide.first( n, m ) - cosineCorrections1( n, m ), 1.0E-20 ); + BOOST_CHECK_SMALL( directMoonTide.second( n, m ) + directSunTide.second( n, m ) - sineCorrections1( n, m ), 1.0E-20 ); + } + } +} +#endif + +#if USE_CSPICE +//! Test set up of rotation models. +BOOST_AUTO_TEST_CASE( test_rotationModelSetup ) +{ + + // Create settings for simple rotation model. + Eigen::Matrix3d spiceInitialRotationToTargetFrameMatrix; + spiceInitialRotationToTargetFrameMatrix + << -0.9548214974296336, 0.2665104385944917, 0.1314841974018291, + -0.296591573568662, -0.882413772579987, -0.3652114078848295, + 0.01869081416890206, -0.3877088083617987, 0.9215923900425707; + double venusRotationRate = unit_conversions::convertDegreesToRadians( -1.4813688 ) / + physical_constants::JULIAN_DAY; + boost::shared_ptr< SimpleRotationModelSettings > simpleRotationSettings = + boost::make_shared< SimpleRotationModelSettings > + ( "IAU_VENUS", "J2000", Eigen::Quaterniond( spiceInitialRotationToTargetFrameMatrix ), + 1.0E7, venusRotationRate ); + + // Create rotation model using setup function + boost::shared_ptr< ephemerides::RotationalEphemeris > approximateEphemeris = + createRotationModel( simpleRotationSettings, "Earth" ); + + // Create rotation model manually. + ephemerides::SimpleRotationalEphemeris manualApproximateEphemeris( + Eigen::Quaterniond( spiceInitialRotationToTargetFrameMatrix ), + venusRotationRate, 1.0E7, basic_astrodynamics::JULIAN_DAY_ON_J2000, + "J2000", "IAU_VENUS" ); + + // Verify equivalence of automatically set up and manual models. + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( Eigen::Matrix3d( manualApproximateEphemeris.getRotationToBaseFrame( + 4.0E7, basic_astrodynamics::JULIAN_DAY_ON_J2000 ) ) ), + ( Eigen::Matrix3d( approximateEphemeris->getRotationToBaseFrame( + 4.0E7, basic_astrodynamics::JULIAN_DAY_ON_J2000 ) ) ), + std::numeric_limits< double >::epsilon( ) ); + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + ( Eigen::Matrix3d( manualApproximateEphemeris.getRotationToTargetFrame( + 4.0E7, basic_astrodynamics::JULIAN_DAY_ON_J2000 ) ) ), + ( Eigen::Matrix3d( approximateEphemeris->getRotationToTargetFrame( + 4.0E7, basic_astrodynamics::JULIAN_DAY_ON_J2000 ) ) ), + std::numeric_limits< double >::epsilon( ) ); + +} +#endif + +#if USE_CSPICE +//! Test set up of radiation pressure interfacel environment models. +BOOST_AUTO_TEST_CASE( test_radiationPressureInterfaceSetup ) +{ + // Load Spice kernels + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "pck00009.tpc" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "naif0009.tls" ); + + // Define body settings. + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( "Earth", 0.0, 1.0E7 ); + bodySettings[ "Sun" ] = getDefaultSingleBodySettings( "Sun", 0.0, 1.0E7 ); + + // Get settings for vehicle + double area = 2.34; + double coefficient = 1.2; + basic_mathematics::Vector6d initialKeplerElements = + ( basic_mathematics::Vector6d( ) << 12000.0E3, 0.13, 0.3, 0.0, 0.0, 0.0 ).finished( ); + bodySettings[ "Vehicle" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Vehicle" ]->radiationPressureSettings[ "Sun" ] = + boost::make_shared< CannonBallRadiationPressureInterfaceSettings >( "Sun", area, coefficient ); + bodySettings[ "Vehicle" ]->ephemerisSettings = + boost::make_shared< KeplerEphemerisSettings >( + initialKeplerElements, + 0.0, spice_interface::getBodyGravitationalParameter( "Earth" ), "Earth", "ECLIPJ2000" ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + BOOST_CHECK_EQUAL( bodyMap[ "Vehicle" ]->getRadiationPressureInterfaces( ).size( ), 1 ); + BOOST_CHECK_EQUAL( bodyMap[ "Vehicle" ]->getRadiationPressureInterfaces( ).count( "Sun" ), 1 ); + + double testTime = 0.5E7; + + // Update environment to current time. + bodyMap[ "Sun" ]->setTemplatedStateFromEphemeris< double, double >( testTime ); + bodyMap[ "Earth" ]->setTemplatedStateFromEphemeris< double, double >( testTime ); + bodyMap[ "Vehicle" ]->setTemplatedStateFromEphemeris< double, double >( testTime ); + + boost::shared_ptr< electro_magnetism::RadiationPressureInterface > vehicleRadiationPressureInterface = + bodyMap[ "Vehicle" ]->getRadiationPressureInterfaces( ).at( "Sun" ); + + vehicleRadiationPressureInterface->updateInterface( testTime ); + double sourceDistance = ( ( bodyMap[ "Vehicle" ]->getState( ) - bodyMap[ "Sun" ]->getState( ) ). + segment( 0, 3 ) ).norm( ); + double expectedRadiationPressure = electro_magnetism::calculateRadiationPressure( + defaultRadiatedPowerValues.at( "Sun" ), sourceDistance ); + + BOOST_CHECK_CLOSE_FRACTION( expectedRadiationPressure, + vehicleRadiationPressureInterface->getCurrentRadiationPressure( ), + std::numeric_limits< double >::epsilon( ) ); + +} +#endif + +#if USE_CSPICE +//! Test set up of body shape environment models (see testShapeModels). +BOOST_AUTO_TEST_CASE( test_shapeModelSetup ) +{ + // Define test values. + const Eigen::Vector3d testCartesianPosition( 1917032.190, 6029782.349, -801376.113 ); + const double flattening = 1.0 / 298.257223563; + const double equatorialRadius = 6378137.0; + + // Test spherical body setup + { + boost::shared_ptr< BodyShapeSettings > shapeSettings = boost::make_shared< SphericalBodyShapeSettings >( + equatorialRadius ); + boost::shared_ptr< BodyShapeModel > shapeModel = createBodyShapeModel( + shapeSettings, "Earth" ); + + + double calculatedAltitude = shapeModel->getAltitude( + testCartesianPosition ); + BOOST_CHECK_CLOSE_FRACTION( calculatedAltitude, testCartesianPosition.norm( ) - equatorialRadius, + std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_CLOSE_FRACTION( shapeModel->getAverageRadius( ), equatorialRadius, + std::numeric_limits< double >::epsilon( ) ); + } + // Test oblate spheroid setup + { + boost::shared_ptr< BodyShapeSettings > shapeSettings = boost::make_shared< OblateSphericalBodyShapeSettings >( + equatorialRadius, flattening ); + boost::shared_ptr< BodyShapeModel > shapeModel = createBodyShapeModel( + shapeSettings, "Earth" ); + + + double calculatedAltitude = shapeModel->getAltitude( + testCartesianPosition ); + double manualAltitude = coordinate_conversions::calculateAltitudeOverOblateSpheroid( + testCartesianPosition, equatorialRadius, flattening, 1.0E-4 ); + BOOST_CHECK_CLOSE_FRACTION( calculatedAltitude, manualAltitude, + std::numeric_limits< double >::epsilon( ) ); + } + +} +#endif + +#if USE_CSPICE +//! Test set up of flight conditions object. +BOOST_AUTO_TEST_CASE( test_flightConditionsSetup ) +{ + // Load Spice kernels + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "pck00009.tpc" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "de-403-masses.tpc" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "de421.bsp" ); + spice_interface::loadSpiceKernelInTudat( getSpiceKernelPath( ) + "naif0009.tls" ); + + // Define body settings/ + std::map< std::string, boost::shared_ptr< BodySettings > > bodySettings; + bodySettings[ "Earth" ] = getDefaultSingleBodySettings( + "Earth", 0.0, 1.0E7 ); + bodySettings[ "Vehicle" ] = boost::make_shared< BodySettings >( ); + bodySettings[ "Vehicle" ] ->aerodynamicCoefficientSettings = + boost::make_shared< ConstantAerodynamicCoefficientSettings >( + 1.0, 2.0, 3.0, Eigen::Vector3d::Zero( ), + ( Eigen::Vector3d( )<<-1.1, 0.1, 2.3 ).finished( ), + Eigen::Vector3d::Zero( ), 1, 1 ); + + // Create bodies + NamedBodyMap bodyMap = createBodies( bodySettings ); + setGlobalFrameBodyEphemerides( bodyMap, "SSB", "ECLIPJ2000" ); + + // Define expected aerodynamic angles (see testAerodynamicAngleCalculator) + double testHeadingAngle = 1.229357188236127; + double testFlightPathAngle = -0.024894033070522; + double testLatitude = -0.385027359562548; + double testLongitude = -1.849449608688977; + + double angleOfAttack = 1.232; + double angleOfSideslip = -0.00322; + double bankAngle = 2.323432; + + // Create flight conditions object. + boost::shared_ptr< aerodynamics::FlightConditions > vehicleFlightConditions = + createFlightConditions( bodyMap.at( "Vehicle" ), bodyMap.at( "Earth" ), + "Vehicle", "Earth", + boost::lambda::constant( angleOfAttack ), + boost::lambda::constant( angleOfSideslip ), + boost::lambda::constant( bankAngle ) ); + + // Set vehicle body-fixed state (see testAerodynamicAngleCalculator) + basic_mathematics::Vector6d vehicleBodyFixedState = + ( basic_mathematics::Vector6d( )<< -1656517.23153109, -5790058.28764025, -2440584.88186829, + 6526.30784888051, -2661.34558272018, 2377.09572383163 ).finished( ); + + // Set states in environment. + double testTime = 0.5E7; + basic_mathematics::Vector6d vehicleInertialState = + ephemerides::transformStateToFrame( + vehicleBodyFixedState, + bodyMap[ "Earth" ]->getRotationalEphemeris( )->getRotationToBaseFrame( testTime ), + bodyMap[ "Earth" ]->getRotationalEphemeris( )->getDerivativeOfRotationToBaseFrame( testTime ) ); + bodyMap[ "Earth" ]->setState( basic_mathematics::Vector6d::Zero( ) ); + bodyMap[ "Vehicle" ]->setState( vehicleInertialState ); + bodyMap[ "Earth" ]->setCurrentRotationalStateToLocalFrameFromEphemeris( testTime ); + + // Update flight conditions + vehicleFlightConditions->updateConditions( testTime ); + + // Check whether calulcate angles and body-fixed state correspond to expected results + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( latitude_angle ) - testLatitude), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( longitude_angle ) - testLongitude), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( heading_angle ) - testHeadingAngle), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( flight_path_angle) - testFlightPathAngle), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( angle_of_attack ) - angleOfAttack ), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( angle_of_sideslip) - angleOfSideslip), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + BOOST_CHECK_SMALL( + std::fabs( vehicleFlightConditions->getAerodynamicAngleCalculator( ) + ->getAerodynamicAngle( bank_angle ) - bankAngle), + 10.0 * std::numeric_limits< double >::epsilon( ) ); + + TUDAT_CHECK_MATRIX_CLOSE_FRACTION( + vehicleFlightConditions->getCurrentBodyCenteredBodyFixedState( ),vehicleBodyFixedState, + ( 2.0 * std::numeric_limits< double >::epsilon( ) ) ); + + +} +#endif + +BOOST_AUTO_TEST_SUITE_END( ) + +} // namespace unit_tests +} // namespace tudat + diff --git a/Tudat/SimulationSetup/accelerationSettings.h b/Tudat/SimulationSetup/accelerationSettings.h new file mode 100644 index 0000000000..ba9d159afc --- /dev/null +++ b/Tudat/SimulationSetup/accelerationSettings.h @@ -0,0 +1,95 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_ACCELERATIONSETTINGS_H +#define TUDAT_ACCELERATIONSETTINGS_H + +#include "Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h" +#include "Tudat/Astrodynamics/Gravitation/centralGravityModel.h" +#include "Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityModel.h" +#include "Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h" +#include "Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModelTypes.h" + + + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Class for providing settings for acceleration model. +/*! + * Class for providing settings for acceleration model. This class is a functional (base) class for + * settings of acceleration models that require no information in addition to their type. + * Classes defining settings for acceleration models requiring additional information must be + * derived from this class. + * Bodies exerting and undergong acceleration are set externally from this class. + * This class can be used for the easy setup of acceleration models + * (see createAccelerationModels.h), but users may also chose to do so manually. + * (Derived) Class members are all public, for ease of access and modification. + */ +class AccelerationSettings +{ +public: + //! Constructor, sets type of acceleration. + /*! + * Constructor, sets type of acceleration. + * \param accelerationType Type of acceleration from AvailableAcceleration enum. + */ + AccelerationSettings( const basic_astrodynamics::AvailableAcceleration accelerationType ): + accelerationType_( accelerationType ){ } + + //! Destructor. + virtual ~AccelerationSettings( ){ } + + //! Type of acceleration from AvailableAcceleration enum. + basic_astrodynamics::AvailableAcceleration accelerationType_; + +}; + +//! Class for providing settings for spherical harmonics acceleration model. +/*! + * Class for providing settings for spherical harmonics acceleration model, + * specifically the maximum degree and order up to which the field is to be expanded. Note that + * the minimum degree and order are currently always set to zero. + */ +class SphericalHarmonicAccelerationSettings: public AccelerationSettings +{ +public: + //! Constructor to set maximum degree and order that is to be taken into account. + /*! + * Constructor to set maximum degree and order that is to be taken into account. + * \param maximumDegree Maximum degree + * \param maximumOrder Maximum order + */ + SphericalHarmonicAccelerationSettings( const int maximumDegree, + const int maximumOrder ): + AccelerationSettings( basic_astrodynamics::spherical_harmonic_gravity ), + maximumDegree_( maximumDegree ), maximumOrder_( maximumOrder ){ } + + //! Maximum degree that is to be used for spherical harmonic acceleration + int maximumDegree_; + + //! Maximum order that is to be used for spherical harmonic acceleration + int maximumOrder_; +}; + +//! Typedef defining a list of acceleration settings, set up in the same manner as the +//! AccelerationMap typedef. +typedef std::map< std::string, std::map< std::string, std::vector< boost::shared_ptr< +AccelerationSettings > > > > SelectedAccelerationMap; + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_ACCELERATIONSETTINGS_H diff --git a/Tudat/SimulationSetup/body.cpp b/Tudat/SimulationSetup/body.cpp new file mode 100644 index 0000000000..d2da04fc3d --- /dev/null +++ b/Tudat/SimulationSetup/body.cpp @@ -0,0 +1,71 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include "Tudat/SimulationSetup/body.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Templated function to set the state manually. +template< > +void Body::setTemplatedState( const Eigen::Matrix< double, 6, 1 >& state ) +{ + setState( state ); +} + +//! Templated function to set the state manually. +template< > +void Body::setTemplatedState( const Eigen::Matrix< long double, 6, 1 >& state ) +{ + setLongState( state ); +} + +//! Templated function to get the current state of the body from its ephemeris and +//! global-to-ephemeris-frame function. +template< > +Eigen::Matrix< double, 6, 1 > Body::getTemplatedStateInBaseFrameFromEphemeris( const double& time ) +{ + return getStateInBaseFrameFromEphemeris( time ); +} + + +//! Templated function to get the current state of the body from its ephemeris and +//! global-to-ephemeris-frame function. +template< > +Eigen::Matrix< long double, 6, 1 > + Body::getTemplatedStateInBaseFrameFromEphemeris( const double& time ) +{ + return getLongStateInBaseFrameFromEphemeris( time ); +} + +//! Templated function to set the current state of the body from its ephemeris and +//! global-to-ephemeris-frame function. +template< > +void Body::setTemplatedStateFromEphemeris< double, double >( const double& time ) +{ + currentState_ = getTemplatedStateInBaseFrameFromEphemeris< double, double >( time ); +} + +//! Templated function to set the current state of the body from its ephemeris and +//! global-to-ephemeris-frame function. +template< > +void Body::setTemplatedStateFromEphemeris< long double, double >( const double& time ) +{ + currentLongState_ = getTemplatedStateInBaseFrameFromEphemeris< long double, double >( time ); + currentState_ = currentLongState_.cast< double >( ); +} + +} // namespace simulation_setup + +} // namespace tudat + diff --git a/Tudat/SimulationSetup/body.h b/Tudat/SimulationSetup/body.h new file mode 100644 index 0000000000..267e3d3596 --- /dev/null +++ b/Tudat/SimulationSetup/body.h @@ -0,0 +1,753 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_BODY_H +#define TUDAT_BODY_H + +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Body class representing the properties of a celestial body (natural or artificial). +/*! + * Body class representing the properties of a celestial body (natural or artificial). By storing + * all properties of bodies (ephemeris, rotation, gravity, etc.) in a set of body objects, + * the simulation environment can be defined in a clear and modular way. To create body + * objects, the createBodies.h function provides a range of functionality. The + * createAccelerationModels.h file provides functions to use body objects to create acceleration + * objects. + */ +class Body +{ +public: + + //! Constructor for a body + /*! + * Constructor for a body, sets current state (with zero default value). + * \param state Current state of body at initialization (default = zeroes). + */ + Body( const basic_mathematics::Vector6d& state = + basic_mathematics::Vector6d::Zero( ) ) + : currentState_( state ), + ephemerisFrameToBaseFrameFunction_( boost::lambda::constant( basic_mathematics::Vector6d::Zero( ) ) ), + ephemerisFrameToBaseFrameLongFunction_( boost::lambda::constant( Eigen::Matrix< long double, 6, 1 >::Zero( ) ) ), + currentRotationToLocalFrame_( Eigen::Quaterniond( Eigen::Matrix3d::Identity( ) ) ), + currentRotationToLocalFrameDerivative_( Eigen::Matrix3d::Zero( ) ), + currentAngularVelocityVectorInGlobalFrame_( Eigen::Vector3d::Zero( ) ), + bodyMassFunction_( NULL ) + { + currentLongState_ = currentState_.cast< long double >( ); + } + + + + //! Set current state of body manually + /*! + * Set current state of body manually, which must be in the global frame. Note that this + * function does not set the currentLongState_, use the setLongState when needing the use of the + * long precision current state. + * \param state Current state of the body that is set. + */ + void setState( const basic_mathematics::Vector6d& state ) + { + currentState_ = state; + } + + //! Set current state of body manually in long double precision. + /*! + * Set current state of body manually in long double precision. State must be in the global + * frame. Note that this function sets both the currentState_ and currentLongState_ variables + * (currentLongState_ directly and currentState_ by casting the input to double entries). + * \param longState Current state of the body that is set, in long double precision. + */ + void setLongState( const Eigen::Matrix< long double, 6, 1 >& longState ) + { + currentLongState_ = longState; + currentState_ = longState.cast< double >( ); + } + + //! Function to get the state of the current body from the ephemeris in the global frame + /*! + * Function to get the state of the current body from the ephemeris in the global frame. Calling + * this function calls the bodyEphemeris_ object, not the currentState_ variable. In addition, + * it adds the global frame origin w.r.t. the ephemeris origin using the + * ephemerisFrameToBaseFrameFunction_ variable. + * \param time Time at which the global state is to be retrieved. + * \return Global state at current time, obtained from ephemeris and ephemerisFrameToBaseFrameFunction_ + */ + basic_mathematics::Vector6d getStateInBaseFrameFromEphemeris( const double& time ) + { + return bodyEphemeris_->getCartesianStateFromEphemeris( time ) + ephemerisFrameToBaseFrameFunction_( time ); + } + + //! Function to get the long precisien state of the current body from ephemeris in the global frame + /*! + * Function to get the state of the current body, in long double precision, from the ephemeris + * in the global frame. Calling this function calls the bodyEphemeris_ object, not the + * currentLongState_ variable. In addition, it adds the global frame origin w.r.t. the + * ephemeris origin using the ephemerisFrameToBaseFrameLongFunction_ variable. + * \param time Time at which the global state is to be retrieved. + * \return Global state in long double precision at current time, obtained from ephemeris and + * ephemerisFrameToBaseFrameLongFunction_ + */ + Eigen::Matrix< long double, 6, 1 > getLongStateInBaseFrameFromEphemeris( const double& time ) + { + return bodyEphemeris_->getCartesianLongStateFromEphemeris( time ) + ephemerisFrameToBaseFrameLongFunction_( time ); + } + + + + //! Function to set the state of the current body from the ephemeris in the global frame + /*! + * Function to set the state of the current body from the ephemeris in the global frame + * (currentState_ variable). Calling this function uses the bodyEphemeris_ object, and adds the + * global frame origin w.r.t. the ephemeris origin using the ephemerisFrameToBaseFrameFunction_ + * variable.Note that this function does not set the currentLongState_, use the setLongState + * when needing the use of the long precision current state. + * \param time Time at which the global state is to be set. + */ + void setStateFromEphemeris( const double& time ) + { + currentState_ = bodyEphemeris_->getCartesianStateFromEphemeris( time ) + ephemerisFrameToBaseFrameFunction_( time ); + } + + //! Function to set long precision state of the current body from ephemeris in the global frame. + /*! + * Function to set the state of the current body from the ephemeris in the global frame in long + * double precision (currentLongState_ variable). Calling this function uses the bodyEphemeris_ + * object, and adds the global frame origin w.r.t. the ephemeris origin using the + * ephemerisFrameToBaseFrameLongFunction_ variable. Note that this function sets both the + * currentState_ and currentLongState_ variables (currentLongState_ directly and currentState_ + * by casting the input to double entries). + * \param time Time at which the global state is to be set. + */ + void setLongStateFromEphemeris( const double& time ) + { + currentLongState_ = bodyEphemeris_->getCartesianLongStateFromEphemeris( time ) + + ephemerisFrameToBaseFrameLongFunction_( time ); + currentState_ = currentLongState_.cast< double >( ); + } + + + + //! Templated function to set the state manually. + /*! + * Templated function to set the state manually, calls either setState or setLongState function. + * \param state Current state of the body that is set, with StateScalarType precision. + */ + template< typename StateScalarType > + void setTemplatedState( const Eigen::Matrix< StateScalarType, 6, 1 >& state ); + + //! Templated function to set the current state of the body from its ephemeris and + //! global-to-ephemeris-frame function. + /*! + * Templated function to set the current state of the body from its ephemeris and + * global-to-ephemeris-frame function. It calls either the setStateFromEphemeris or + * setLongStateFromEphemeris function. + * \param time Time at which the global state is to be set. + */ + template< typename StateScalarType, typename TimeType > + void setTemplatedStateFromEphemeris( const TimeType& time ); + + //! Templated function to get the current state of the body from its ephemeris and + //! global-to-ephemeris-frame function. + /*! + * Templated function to sgt the current state of the body from its ephemeris and + * global-to-ephemeris-frame function. It calls either the getStateInBaseFrameFromEphemeris or + * getLongStateInBaseFrameFromEphemeris function. + * \param time Time at which the global state is to be set. + */ + template< typename StateScalarType, typename TimeType > + Eigen::Matrix< StateScalarType, 6, 1 > getTemplatedStateInBaseFrameFromEphemeris( const TimeType& time ); + + + + //! Get current state. + /*! + * Returns the internally stored current state vector. + * \return Current state. + */ + basic_mathematics::Vector6d getState( ) { return currentState_; } + + //! Get current position. + /*! + * Returns the internally stored current position vector. + * \return Current position. + */ + Eigen::Vector3d getPosition( ) { return currentState_.segment( 0, 3 ); } + + //! Get current velocity. + /*! + * Returns the internally stored current velocity vector. + * \return Current velocity. + */ + Eigen::Vector3d getVelocity( ) { return currentState_.segment( 3, 3 ); } + + + //! Get current state, in long double precision + /*! + * Returns the internally stored current state vector, in long double precision + * \return Current state, in long double precisio + */ + Eigen::Matrix< long double, 6, 1 > getLongState( ) { return currentLongState_; } + + //! Get current position, in long double precision + /*! + * Returns the internally stored current position vector, in long double precision + * \return Current position, in long double precision + */ + Eigen::Matrix< long double, 3, 1 > getLongPosition( ) { return currentLongState_.segment( 0, 3 ); } + + //! Get current velocity, in long double precision. + /*! + * Returns the internally stored current velocity vector. + * \return Current velocity, in long double precision + */ + Eigen::Matrix< long double, 3, 1 > getLongVelocity( ) { return currentLongState_.segment( 3, 3 ); } + + + //! Function to set the rotation from global to body-fixed frame at given time + /*! + * Function to set the rotation from global to body-fixed frame at given time, using the + * rotationalEphemeris_ member object + * \param time Time at which the rotation is to be retrieved. + */ + void setCurrentRotationToLocalFrameFromEphemeris( const double time ) + { + if( rotationalEphemeris_!= NULL ) + { + currentRotationToLocalFrame_ = rotationalEphemeris_->getRotationToTargetFrame( time ); + } + else + { + throw std::runtime_error( + "Error, no rotationalEphemeris_ found in Body::setCurrentRotationToLocalFrameFromEphemeris" ); + } + } + + //! Function to set the rotation matrix derivative from global to body-fixed frame at given time + /*! + * Function to set the rotation matrix derivative from global to body-fixed frame at given time, + * using the rotationalEphemeris_ member object + * \param time Time at which the rotation matrix derivative is to be retrieved. + */ + void setCurrentRotationToLocalFrameDerivativeFromEphemeris( const double time ) + { + if( rotationalEphemeris_!= NULL ) + { + currentRotationToLocalFrameDerivative_ + = rotationalEphemeris_->getDerivativeOfRotationToTargetFrame( time ); + } + else + { + throw std::runtime_error( + "Error, no rotationalEphemeris_ found in Body::setCurrentRotationToLocalFrameDerivativeFromEphemeris" ); + } + } + + //! Function to set the angular velocity vector in the global frame at given time + /*! + * Function to set the angular velocity vector in the global frame at given time, using the + * rotationalEphemeris_ member object + * \param time Time at which the angular velocity vector in the global frame is to be retrieved. + */ + void setCurrentAngularVelocityVectorInGlobalFrame( const double time ) + { + if( rotationalEphemeris_!= NULL ) + { + currentAngularVelocityVectorInGlobalFrame_ + = rotationalEphemeris_->getRotationalVelocityVectorInBaseFrame( time ); + } + else + { + throw std::runtime_error( + "Error, no rotationalEphemeris_ found in Body::setCurrentAngularVelocityVectorInGlobalFrame" ); + } + } + + //! Function to set the full rotational state at given time + /*! + * Function to set the full rotational state at (rotation from global to body-fixed frame + * rotation matrix derivative from global to body-fixed frame and angular velocity vector in the + * global frame) at given time, using the rotationalEphemeris_ member object. + * \param time Time at which the angular velocity vector in the global frame is to be retrieved. + */ + void setCurrentRotationalStateToLocalFrameFromEphemeris( const double time ) + { + if( rotationalEphemeris_!= NULL ) + { + rotationalEphemeris_->getFullRotationalQuantitiesToTargetFrame( + currentRotationToLocalFrame_, currentRotationToLocalFrameDerivative_, + currentAngularVelocityVectorInGlobalFrame_, time ); + } + else + { + throw std::runtime_error( + "Error, no rotationalEphemeris_ found in Body::setCurrentRotationalStateToLocalFrameFromEphemeris" ); + } + } + + + //! Get current rotation from body-fixed to inertial frame. + /*! + * Get current rotation from body-fixed to inertial frame, as set from the rotationalEphemeris_ + * by the setCurrentRotationalStateToLocalFrameFromEphemeris or + * setCurrentRotationToLocalFrameFromEphemeris function. If body has no rotational ephemeris, + * an identity quaternion (no rotation) is returned. + * \return Current rotation from body-fixed to inertial frame + */ + Eigen::Quaterniond getCurrentRotationToGlobalFrame( ) + { + return currentRotationToLocalFrame_.inverse( ); + } + + //! Get current rotation from inertial to body-fixed frame. + /*! + * Get current rotation from inertial to body-fixed frame, as set from the rotationalEphemeris_ + * by the setCurrentRotationalStateToLocalFrameFromEphemeris or + * setCurrentRotationToLocalFrameFromEphemeris function. If body has no rotational ephemeris, + * an identity quaternion (no rotation) is returned. + * \return Current rotation from inertial to body-fixed frame + */ + Eigen::Quaterniond getCurrentRotationToLocalFrame( ) + { + return currentRotationToLocalFrame_; + } + + //! Get current rotation matrix derivative from body-fixed to global frame. + /*! + * Get current rotation matrix derivative from body-fixed frame to global, as set from the + * rotationalEphemeris_ by the setCurrentRotationalStateToLocalFrameFromEphemeris or + * setCurrentRotationToLocalFrameDerivativeFromEphemeris function. If body has no rotational + * ephemeris, an zero matrix (no rotation) is returned. + * \return Current otation matrix derivative from global to body-fixed frame. + */ + Eigen::Matrix3d getCurrentRotationMatrixDerivativeToGlobalFrame( ) + { + return currentRotationToLocalFrameDerivative_.transpose( ); + } + + //! Get current rotation matrix derivative from global to body-fixed frame. + /*! + * Get current rotation matrix derivative from global to body-fixed frame, as set from the + * rotationalEphemeris_ by the setCurrentRotationalStateToLocalFrameFromEphemeris or + * setCurrentRotationToLocalFrameDerivativeFromEphemeris function. If body has no rotational + * ephemeris, an zero matrix (no rotation) is returned. + * \return Current otation matrix derivative from global to body-fixed frame. + */ + Eigen::Matrix3d getCurrentRotationMatrixDerivativeToLocalFrame( ) + { + return currentRotationToLocalFrameDerivative_; + } + + //! Function to set the ephemeris of the body. + /*! + * Function to set the ephemeris of the body, which is used to represent the (a priori) + * state history of the body. + * \param bodyEphemeris New ephemeris of the body. + */ + void setEphemeris( const boost::shared_ptr< ephemerides::Ephemeris > bodyEphemeris ) + { + bodyEphemeris_ = bodyEphemeris; + } + + //! Function to set the function returning the state of this body's ephemeris origin + /*! + * Function to set the function returning the state of this body's ephemeris origin w.r.t. the + * global origin (typically done by setGlobalFrameBodyEphemerides function). + * \param ephemerisFrameToBaseFrameFunction Function providing state of ephemeris origin w.r.t + * global origin. + */ + void setBaseFrameFunction( const boost::function< basic_mathematics::Vector6d( const double& ) > + ephemerisFrameToBaseFrameFunction ) + { + ephemerisFrameToBaseFrameFunction_ = ephemerisFrameToBaseFrameFunction; + } + + //! Function to set the function returning the state (in long double) of body's ephemeris origin + /*! + * Function to set the function returning the state of this body's ephemeris origin w.r.t. the + * global origin, with long double precision (typically done by setGlobalFrameBodyEphemerides + * function). + * \param ephemerisFrameToBaseFrameLongFunction Function providing state of ephemeris origin + * w.r.t global origin, with long double precision. + */ + void setBaseFrameLongFunction( const boost::function< Eigen::Matrix< long double, 6, 1 >( const double& ) > + ephemerisFrameToBaseFrameLongFunction ) + { + ephemerisFrameToBaseFrameLongFunction_ = ephemerisFrameToBaseFrameLongFunction; + } + + //! Function to set the gravity field of the body. + /*! + * Function to set the gravity field of the body; input is also used to (re)set the mass of the + * body. + * \param gravityFieldModel New gravity field of the body. + */ + void setGravityFieldModel( + const boost::shared_ptr< gravitation::GravityFieldModel > gravityFieldModel ) + { + gravityFieldModel_ = gravityFieldModel; + + // Update current mass of body, provide warning + if( bodyMassFunction_ != NULL ) + { + std::cerr<<"Warning when settings gravity field model for body, mass function already found: resetting"<getGravitationalParameter( ) + / physical_constants::GRAVITATIONAL_CONSTANT; + bodyMassFunction_ = boost::lambda::constant( currentMass_ ); + } + + //! Function to set the atmosphere model of the body. + /*! + * Function to set the atmosphere model of the body. + * \param atmosphereModel Atmosphere model of the body. + */ + void setAtmosphereModel( + const boost::shared_ptr< aerodynamics::AtmosphereModel > atmosphereModel ) + { + atmosphereModel_ = atmosphereModel; + } + + //! Function to set the rotation model of the body. + /*! + * Function to set the rotation model of the body. + * \param rotationalEphemeris Rotation model of the body. + */ + void setRotationalEphemeris( + const boost::shared_ptr< ephemerides::RotationalEphemeris > rotationalEphemeris ) + { + rotationalEphemeris_ = rotationalEphemeris; + } + + //! Function to set the shape model of the body. + /*! + * Function to set the shape model of the body. + * \param shapeModel Shape model of the body. + */ + void setShapeModel( const boost::shared_ptr< basic_astrodynamics::BodyShapeModel > shapeModel ) + { + shapeModel_ = shapeModel; + } + + //! Function to set the aerodynamic coefficient interface of the body. + /*! + * Function to set the aerodynamic coefficient interface of the body. + * \param aerodynamicCoefficientInterface Aerodynamic coefficient interface of the body. + */ + void setAerodynamicCoefficientInterface( + const boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > + aerodynamicCoefficientInterface) + { + aerodynamicCoefficientInterface_ = aerodynamicCoefficientInterface; + } + + //! Function to set the body flight conditions + /*! + * Function to set the body flight conditions, which calculates current aerodynamic angles, + * altitude, etc. + * \param aerodynamicFlightConditions Body flight conditions + */ + void setFlightConditions( + const boost::shared_ptr< aerodynamics::FlightConditions > aerodynamicFlightConditions ) + { + aerodynamicFlightConditions_ = aerodynamicFlightConditions; + } + + //! Function to set the radiation pressure interface of the body, for a single radiation source. + /*! + * Function to set the radiation pressure interface of the body, for a single radiation source + * \param radiatingBody Name of body that is the source of the radiation. + * \param radiationPressureInterface Radiation pressure interface of the body. + */ + void setRadiationPressureInterface( + const std::string& radiatingBody, + const boost::shared_ptr< electro_magnetism::RadiationPressureInterface > + radiationPressureInterface ) + { + radiationPressureInterfaces_[ radiatingBody ] = radiationPressureInterface; + } + + void setGravityFieldVariationSet( + const boost::shared_ptr< gravitation::GravityFieldVariationsSet > + gravityFieldVariationSet ) + { + gravityFieldVariationSet_ = gravityFieldVariationSet; + } + + //! Function to get the gravity field model of the body. + /*! + * Function to get the gravity field model of the body. + * \return Gravity field model of the body. + */ + boost::shared_ptr< gravitation::GravityFieldModel > getGravityFieldModel( ) + { + return gravityFieldModel_; + } + + //! Function to get the ephemeris of the body. + /*! + * Function to get the ephemeris of the body. + * \return Ephemeris of the body. + */ + boost::shared_ptr< ephemerides::Ephemeris > getEphemeris( ) + { + return bodyEphemeris_; + } + + //! Function to get the atmosphere model of the body. + /*! + * Function to get the atmosphere model of the body. + * \return Atmosphere model of the body. + */ + boost::shared_ptr< aerodynamics::AtmosphereModel > getAtmosphereModel( ) + { + return atmosphereModel_; + } + + //! Function to get the rotation model of the body. + /*! + * Function to get the rotation model of the body. + * \return Rotation model of the body. + */ + boost::shared_ptr< ephemerides::RotationalEphemeris > getRotationalEphemeris( ) + { + return rotationalEphemeris_; + } + + boost::shared_ptr< basic_astrodynamics::BodyShapeModel > getShapeModel( ) + { + return shapeModel_; + } + + boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > + getAerodynamicCoefficientInterface( ) + { + return aerodynamicCoefficientInterface_; + } + + //! Function to retrieve the body flight conditions + /*! + * Function to retrieve the body flight conditions, which calculates current aerodynamic angles, + * altitude, etc. + * \return Body flight conditions + */ + boost::shared_ptr< aerodynamics::FlightConditions > getFlightConditions( ) + { + return aerodynamicFlightConditions_; + } + + //! Function to retrieve the shape model of the body. + /*! + * Function to retrieve the shape model of the body. + * \return Shape model of the body. + */ + std::map< std::string, boost::shared_ptr< electro_magnetism::RadiationPressureInterface > > + getRadiationPressureInterfaces( ) + { + return radiationPressureInterfaces_; + } + + std::pair< bool, boost::shared_ptr< gravitation::GravityFieldVariations > > + getGravityFieldVariation( + const gravitation::BodyDeformationTypes& deformationType, + const std::string identifier = "" ) + { + return gravityFieldVariationSet_->getGravityFieldVariation( deformationType, identifier ); + } + + boost::shared_ptr< gravitation::GravityFieldVariationsSet > getGravityFieldVariationSet( ) + { + return gravityFieldVariationSet_; + } + + + + //! Function to set the function returning body mass as a function of time + /*! + * Function to set the function returning body mass as a function of time + * \param bodyMassFunction Function returning body mass as a function of time + */ + void setBodyMassFunction( const boost::function< double( const double ) > bodyMassFunction ) + { + bodyMassFunction_ = bodyMassFunction; + } + + //! Function to set the body mass as being constant (i.e. time-independent) + /*! + * Function to set the body mass as being constant (i.e. time-independent) + * \param bodyMass New constant body mass + */ + void setConstantBodyMass( const double bodyMass ) + { + bodyMassFunction_ = boost::lambda::constant( bodyMass ); + currentMass_ = bodyMass; + } + + //! Function to get the function returning body mass as a function of time + /*! + * Function to get the function returning body mass as a function of time + * \return Function returning body mass as a function of time + */ + boost::function< double( const double ) > getBodyMassFunction( ) + { + return bodyMassFunction_; + } + + //! Function to update the body mass to the current time + /*! + * Function to update the body mass to the current time, using the bodyMassFunction_ function + * \param time Current time + */ + void updateMass( const double time ) + { + if( bodyMassFunction_ != NULL ) + { + currentMass_ = bodyMassFunction_( time ); + } + else + { + throw std::runtime_error( "Error when updating body mass, no mass function is set" ); + } + } + + //! Function to retrieve the current body mass + /*! + * Function to retrieve the current body mass + * \return Current body mass. + */ + double getBodyMass( ) + { + return currentMass_; + } + + + void updateConstantEphemerisDependentMemberQuantities( ) + { + if( boost::dynamic_pointer_cast< gravitation::TimeDependentSphericalHarmonicsGravityField >( + gravityFieldModel_ ) != NULL ) + { + //std::cerr<<"Error, time. dep. update disabled due to circular dependency"<( + gravityFieldModel_ )->updateCorrectionFunctions( ); + } + } + +protected: + +private: + + + //! Current state. + basic_mathematics::Vector6d currentState_; + + //! Current state with long double precision. + Eigen::Matrix< long double, 6, 1 > currentLongState_; + + + + + //! Function returning the state of this body's ephemeris origin w.r.t. the global origin + //! (as set by setGlobalFrameBodyEphemerides function). + boost::function< basic_mathematics::Vector6d( const double& ) > + ephemerisFrameToBaseFrameFunction_; + + //! Function returning the state of this body's ephemeris origin w.r.t. the global origin + //! (as set by setGlobalFrameBodyEphemerides function), with long double precision + boost::function< Eigen::Matrix< long double, 6, 1 >( const double& ) > + ephemerisFrameToBaseFrameLongFunction_; + + + + + //! Current rotation from the global to the body-fixed frame. + Eigen::Quaterniond currentRotationToLocalFrame_; + + //! Current first derivative w.r.t. time of the rotation matrix from the global to the + //! body-fixed frame. + Eigen::Matrix3d currentRotationToLocalFrameDerivative_; + + //! Current angular velocity vector for body's rotation, expressed in the global frame. + Eigen::Vector3d currentAngularVelocityVectorInGlobalFrame_; + + + //! Mass of body (default set to zero, calculated from GravityFieldModel when it is set). + double currentMass_; + + //! Function returning body mass as a function of time. + boost::function< double( const double ) > bodyMassFunction_; + + + //! Ephemeris of body. + boost::shared_ptr< ephemerides::Ephemeris > bodyEphemeris_; + + //! Gravity field model of body. + boost::shared_ptr< gravitation::GravityFieldModel > gravityFieldModel_; + + boost::shared_ptr< gravitation::GravityFieldVariationsSet > gravityFieldVariationSet_; + + //! Atmosphere model of body. + boost::shared_ptr< aerodynamics::AtmosphereModel > atmosphereModel_; + + //! Shape model of body. + boost::shared_ptr< basic_astrodynamics::BodyShapeModel > shapeModel_; + + //! Aerodynamic coefficient model of body. + boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > + aerodynamicCoefficientInterface_; + + //! Object used for calculating current aerodynamic angles, altitude, etc. + boost::shared_ptr< aerodynamics::FlightConditions > aerodynamicFlightConditions_; + + //! Rotation model of body. + boost::shared_ptr< ephemerides::RotationalEphemeris > rotationalEphemeris_; + + //! List of radiation pressure models for the body, with the sources bodies as key + std::map< std::string, boost::shared_ptr< electro_magnetism::RadiationPressureInterface > > + radiationPressureInterfaces_; + + //! Predefined iterator for efficiency purposes. + std::map< std::string, + boost::shared_ptr< electro_magnetism::RadiationPressureInterface > >::iterator + radiationPressureIterator_; +}; + +typedef std::map< std::string, boost::shared_ptr< Body > > NamedBodyMap; + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_BODY_H diff --git a/Tudat/SimulationSetup/createAccelerationModels.cpp b/Tudat/SimulationSetup/createAccelerationModels.cpp new file mode 100644 index 0000000000..bba9abc643 --- /dev/null +++ b/Tudat/SimulationSetup/createAccelerationModels.cpp @@ -0,0 +1,581 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + + +#include +#include +#include + +#include "Tudat/Astrodynamics/Aerodynamics/flightConditions.h" +#include "Tudat/Astrodynamics/Ephemerides/frameManager.h" +#include "Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h" +#include "Tudat/Astrodynamics/ReferenceFrames/aerodynamicAngleCalculator.h" +#include "Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h" +#include "Tudat/SimulationSetup/accelerationSettings.h" +#include "Tudat/SimulationSetup/createAccelerationModels.h" +#include "Tudat/SimulationSetup/createFlightConditions.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +using namespace aerodynamics; +using namespace gravitation; +using namespace basic_astrodynamics; +using namespace electro_magnetism; +using namespace ephemerides; + +//! Function to add to double-returning functions. +double evaluateDoubleFunctions( + const boost::function< double( ) >& function1, + const boost::function< double( ) >& function2 ) +{ + return function1( ) + function2( ); +} + + +//! Function to create central gravity acceleration model. +boost::shared_ptr< CentralGravitationalAccelerationModel3d > createCentralGravityAcceleratioModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const bool useCentralBodyFixedFrame ) +{ + // Declare pointer to return object. + boost::shared_ptr< CentralGravitationalAccelerationModel3d > accelerationModelPointer; + + // Check if body is endowed with a gravity field model (i.e. is capable of exerting + // gravitation acceleration). + if( bodyExertingAcceleration->getGravityFieldModel( ) == NULL ) + { + throw std::runtime_error( + std::string( "Error, gravity field model not set when making central ") + + " gravitational acceleration of " + nameOfBodyExertingAcceleration + " on " + + nameOfBodyUndergoingAcceleration ); + } + else + { + boost::function< double( ) > gravitationalParameterFunction; + + // Set correct value for gravitational parameter. + if( useCentralBodyFixedFrame == 0 || + bodyUndergoingAcceleration->getGravityFieldModel( ) == NULL ) + { + gravitationalParameterFunction = + boost::bind( &gravitation::GravityFieldModel::getGravitationalParameter, + bodyExertingAcceleration->getGravityFieldModel( ) ); + } + else + { + boost::function< double( ) > gravitationalParameterOfBodyExertingAcceleration = + boost::bind( &gravitation::GravityFieldModel::getGravitationalParameter, + bodyExertingAcceleration->getGravityFieldModel( ) ); + boost::function< double( ) > gravitationalParameterOfBodyUndergoingAcceleration = + boost::bind( &gravitation::GravityFieldModel::getGravitationalParameter, + bodyUndergoingAcceleration->getGravityFieldModel( ) ); + gravitationalParameterFunction = + boost::bind( &evaluateDoubleFunctions, + gravitationalParameterOfBodyExertingAcceleration, + gravitationalParameterOfBodyUndergoingAcceleration ); + } + + // Create acceleration object. + accelerationModelPointer = + boost::make_shared< CentralGravitationalAccelerationModel3d >( + boost::bind( &Body::getPosition, bodyUndergoingAcceleration ), + gravitationalParameterFunction, + boost::bind( &Body::getPosition, bodyExertingAcceleration ) ); + } + + + return accelerationModelPointer; +} + +//! Function to create spherical harmonic gravity acceleration model. +boost::shared_ptr< gravitation::SphericalHarmonicsGravitationalAccelerationModelXd > +createSphericalHarmonicsGravityAcceleration( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const boost::shared_ptr< AccelerationSettings > accelerationSettings, + const bool useCentralBodyFixedFrame ) +{ + // Declare pointer to return object + boost::shared_ptr< SphericalHarmonicsGravitationalAccelerationModelXd > accelerationModel; + + // Dynamic cast acceleration settings to required type and check consistency. + boost::shared_ptr< SphericalHarmonicAccelerationSettings > sphericalHarmonicsSettings = + boost::dynamic_pointer_cast< SphericalHarmonicAccelerationSettings >( + accelerationSettings ); + if( sphericalHarmonicsSettings == NULL ) + { + throw std::runtime_error( + std::string( "Error, acceleration settings inconsistent ") + + " making sh gravitational acceleration of " + nameOfBodyExertingAcceleration + + " on " + nameOfBodyUndergoingAcceleration ); + } + else + { + // Get pointer to gravity field of central body and cast to required type. + boost::shared_ptr< SphericalHarmonicsGravityField > sphericalHarmonicsGravityField = + boost::dynamic_pointer_cast< SphericalHarmonicsGravityField >( + bodyExertingAcceleration->getGravityFieldModel( ) ); + + boost::shared_ptr< RotationalEphemeris> rotationalEphemeris = + bodyExertingAcceleration->getRotationalEphemeris( ); + if( sphericalHarmonicsGravityField == NULL ) + { + throw std::runtime_error( + std::string( "Error, spherical harmonic gravity field model not set when ") + + " making sh gravitational acceleration of " + + nameOfBodyExertingAcceleration + + " on " + nameOfBodyUndergoingAcceleration ); + } + else + { + if( rotationalEphemeris == NULL ) + { + throw std::runtime_error( "Warning when making spherical harmonic acceleration on body " + + nameOfBodyUndergoingAcceleration + ", no rotation model found for " + + nameOfBodyExertingAcceleration ); + } + + if( rotationalEphemeris->getTargetFrameOrientation( ) != + sphericalHarmonicsGravityField->getFixedReferenceFrame( ) ) + { + throw std::runtime_error( "Warning when making spherical harmonic acceleration on body " + + nameOfBodyUndergoingAcceleration + ", rotation model found for " + + nameOfBodyExertingAcceleration + " is incompatible, frames are: " + + rotationalEphemeris->getTargetFrameOrientation( ) + " and " + + sphericalHarmonicsGravityField->getFixedReferenceFrame( ) ); + } + + boost::function< double( ) > gravitationalParameterFunction; + + // Check if mutual acceleration is to be used. + if( useCentralBodyFixedFrame == false || + bodyUndergoingAcceleration->getGravityFieldModel( ) == NULL ) + { + gravitationalParameterFunction = + boost::bind( &SphericalHarmonicsGravityField::getGravitationalParameter, + sphericalHarmonicsGravityField ); + } + else + { + // Create function returning summed gravitational parameter of the two bodies. + boost::function< double( ) > gravitationalParameterOfBodyExertingAcceleration = + boost::bind( &gravitation::GravityFieldModel::getGravitationalParameter, + sphericalHarmonicsGravityField ); + boost::function< double( ) > gravitationalParameterOfBodyUndergoingAcceleration = + boost::bind( &gravitation::GravityFieldModel::getGravitationalParameter, + bodyUndergoingAcceleration->getGravityFieldModel( ) ); + gravitationalParameterFunction = + boost::bind( &evaluateDoubleFunctions, + gravitationalParameterOfBodyExertingAcceleration, + gravitationalParameterOfBodyUndergoingAcceleration ); + } + + // Create acceleration object. + accelerationModel = + boost::make_shared< SphericalHarmonicsGravitationalAccelerationModelXd > + ( boost::bind( &Body::getPosition, bodyUndergoingAcceleration ), + gravitationalParameterFunction, + sphericalHarmonicsGravityField->getReferenceRadius( ), + boost::bind( &SphericalHarmonicsGravityField::getCosineCoefficients, + sphericalHarmonicsGravityField, + sphericalHarmonicsSettings->maximumDegree_, + sphericalHarmonicsSettings->maximumOrder_ ), + boost::bind( &SphericalHarmonicsGravityField::getSineCoefficients, + sphericalHarmonicsGravityField, + sphericalHarmonicsSettings->maximumDegree_, + sphericalHarmonicsSettings->maximumOrder_ ), + boost::bind( &Body::getPosition, bodyExertingAcceleration ), + boost::bind( &Body::getCurrentRotationToGlobalFrame, + bodyExertingAcceleration ) ); + } + } + return accelerationModel; +} + + +//! Function to create a third body central gravity acceleration model. +boost::shared_ptr< gravitation::ThirdBodyCentralGravityAcceleration > +createThirdBodyCentralGravityAccelerationModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const boost::shared_ptr< Body > centralBody, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const std::string& nameOfCentralBody ) +{ + // Declare pointer to return object. + boost::shared_ptr< ThirdBodyCentralGravityAcceleration > accelerationModelPointer; + + // Create acceleration object. + accelerationModelPointer = boost::make_shared< ThirdBodyCentralGravityAcceleration >( + boost::dynamic_pointer_cast< CentralGravitationalAccelerationModel3d >( + createCentralGravityAcceleratioModel( bodyUndergoingAcceleration, + bodyExertingAcceleration, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration, 0 ) ), + boost::dynamic_pointer_cast< CentralGravitationalAccelerationModel3d >( + createCentralGravityAcceleratioModel( centralBody, bodyExertingAcceleration, + nameOfCentralBody, + nameOfBodyExertingAcceleration, 0 ) ), nameOfCentralBody ); + + return accelerationModelPointer; +} + + +//! Function to create an aerodynamic acceleration model. +boost::shared_ptr< aerodynamics::AerodynamicAcceleration > createAerodynamicAcceleratioModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration ) +{ + // Check existence of required environment models + if( bodyUndergoingAcceleration->getAerodynamicCoefficientInterface( ) == NULL ) + { + throw std::runtime_error( "Error when making aerodynamic acceleration, body " + + nameOfBodyUndergoingAcceleration + + "has no aerodynamic coefficients." ); + } + + if( bodyExertingAcceleration->getAtmosphereModel( ) == NULL ) + { + throw std::runtime_error( "Error when making aerodynamic acceleration, central body " + + nameOfBodyExertingAcceleration + " has no atmosphere model."); + } + + if( bodyExertingAcceleration->getShapeModel( ) == NULL ) + { + throw std::runtime_error( "Error when making aerodynamic acceleration, central body " + + nameOfBodyExertingAcceleration + " has no shape model." ); + } + + // Retrieve flight conditions; create object if not yet extant. + boost::shared_ptr< FlightConditions > bodyFlightConditions = + bodyUndergoingAcceleration->getFlightConditions( ); + if( bodyFlightConditions == NULL ) + { + bodyUndergoingAcceleration->setFlightConditions( + createFlightConditions( bodyUndergoingAcceleration, + bodyExertingAcceleration, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration ) ); + bodyFlightConditions = bodyUndergoingAcceleration->getFlightConditions( ); + } + + // Retrieve frame in which aerodynamic coefficients are defined. + boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > aerodynamicCoefficients = + bodyUndergoingAcceleration->getAerodynamicCoefficientInterface( ); + reference_frames::AerodynamicsReferenceFrames accelerationFrame; + if( aerodynamicCoefficients->getAreCoefficientsInAerodynamicFrame( ) ) + { + accelerationFrame = reference_frames::aerodynamic_frame; + } + else + { + accelerationFrame = reference_frames::body_frame; + } + + // Create function to transform from frame of aerodynamic coefficienrs to that of propagation. + boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > toPropagationFrameTransformation; + toPropagationFrameTransformation = + reference_frames::getAerodynamicForceTransformationFunction( + bodyFlightConditions->getAerodynamicAngleCalculator( ), + accelerationFrame, + boost::bind( &Body::getCurrentRotationToGlobalFrame, bodyExertingAcceleration ), + reference_frames::inertial_frame ); + + boost::function< Eigen::Vector3d( ) > coefficientFunction = + boost::bind( &AerodynamicCoefficientInterface::getCurrentForceCoefficients, + aerodynamicCoefficients ); + boost::function< Eigen::Vector3d( ) > coefficientInPropagationFrameFunction = + boost::bind( static_cast< Eigen::Vector3d(&)( + const boost::function< Eigen::Vector3d( ) >, + const boost::function< Eigen::Vector3d( const Eigen::Vector3d& ) > ) >( + &reference_frames::transformVector ), + coefficientFunction, toPropagationFrameTransformation ); + + // Create acceleration model. + return boost::make_shared< AerodynamicAcceleration >( + coefficientInPropagationFrameFunction, + boost::bind( &FlightConditions::getCurrentDensity, bodyFlightConditions ), + boost::bind( &FlightConditions::getCurrentAirspeed, bodyFlightConditions ), + boost::bind( &Body::getBodyMass, bodyUndergoingAcceleration ), + boost::bind( &AerodynamicCoefficientInterface::getReferenceArea, + aerodynamicCoefficients ), + aerodynamicCoefficients->getAreCoefficientsInNegativeAxisDirection( ) ); +} + +//! Function to create a cannonball radiation pressure acceleration model. +boost::shared_ptr< CannonBallRadiationPressureAcceleration > +createCannonballRadiationPressureAcceleratioModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration ) +{ + // Retrieve radiation pressure interface + if( bodyUndergoingAcceleration->getRadiationPressureInterfaces( ).count( + nameOfBodyExertingAcceleration ) == 0 ) + { + throw std::runtime_error( + "Error when making radiation pressure, no radiation pressure interface found in " + + nameOfBodyUndergoingAcceleration + + " for body " + nameOfBodyExertingAcceleration ); + } + boost::shared_ptr< RadiationPressureInterface > radiationPressureInterface = + bodyUndergoingAcceleration->getRadiationPressureInterfaces( ).at( + nameOfBodyExertingAcceleration ); + + // Create acceleration model. + return boost::make_shared< CannonBallRadiationPressureAcceleration >( + boost::bind( &Body::getPosition, bodyExertingAcceleration ), + boost::bind( &Body::getPosition, bodyUndergoingAcceleration ), + boost::bind( &RadiationPressureInterface::getCurrentRadiationPressure, + radiationPressureInterface ), + boost::bind( &RadiationPressureInterface::getRadiationPressureCoefficient, + radiationPressureInterface ), + boost::bind( &RadiationPressureInterface::getArea, radiationPressureInterface ), + boost::bind( &Body::getBodyMass, bodyUndergoingAcceleration ) ); + +} + + +//! Function to create acceleration model object. +boost::shared_ptr< AccelerationModel< Eigen::Vector3d > > createAccelerationModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const boost::shared_ptr< AccelerationSettings > accelerationSettings, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const boost::shared_ptr< Body > centralBody, + const std::string& nameOfCentralBody ) +{ + // Declare pointer to return object. + boost::shared_ptr< AccelerationModel< Eigen::Vector3d > > accelerationModelPointer; + + // Switch to call correct acceleration model type factory function. + switch( accelerationSettings->accelerationType_ ) + { + case central_gravity: + // Check if body is a single-body central gravity acceleration (use third-body if not) + if( nameOfCentralBody == nameOfBodyExertingAcceleration || + isFrameInertial( nameOfCentralBody ) ) + { + // Check if gravitational parameter to use is sum of gravitational paramater of the + // two bodies. + bool useCentralBodyFixedFrame = 0; + if( nameOfCentralBody == nameOfBodyExertingAcceleration ) + { + useCentralBodyFixedFrame = 1; + } + + accelerationModelPointer = createCentralGravityAcceleratioModel( + bodyUndergoingAcceleration, + bodyExertingAcceleration, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration, useCentralBodyFixedFrame ); + } + // Create third body central gravity acceleration + else + { + + accelerationModelPointer = createThirdBodyCentralGravityAccelerationModel( + bodyUndergoingAcceleration, + bodyExertingAcceleration, + centralBody, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration, + nameOfCentralBody ); + } + break; + case spherical_harmonic_gravity: + if( nameOfCentralBody == nameOfBodyExertingAcceleration || + isFrameInertial( nameOfCentralBody ) ) + { + // Check if gravitational parameter to use is sum of gravitational paramater of the + // two bodies. + bool useCentralBodyFixedFrame = 0; + if( nameOfCentralBody == nameOfBodyExertingAcceleration ) + { + useCentralBodyFixedFrame = 1; + } + + accelerationModelPointer = createSphericalHarmonicsGravityAcceleration( + bodyUndergoingAcceleration, + bodyExertingAcceleration, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration, + accelerationSettings, useCentralBodyFixedFrame ); + + } + else + { + throw std::runtime_error( + "Error, cannot yet make third body spherical harmonic acceleration." ); + + } + break; + case aerodynamic: + accelerationModelPointer = createAerodynamicAcceleratioModel( + bodyUndergoingAcceleration, + bodyExertingAcceleration, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration ); + break; + case cannon_ball_radiation_pressure: + accelerationModelPointer = createCannonballRadiationPressureAcceleratioModel( + bodyUndergoingAcceleration, + bodyExertingAcceleration, + nameOfBodyUndergoingAcceleration, + nameOfBodyExertingAcceleration ); + break; + default: + throw std::runtime_error( + std::string( "Error, acceleration model ") + + boost::lexical_cast< std::string >( accelerationSettings->accelerationType_ ) + + " not recognized when making acceleration model of" + + nameOfBodyExertingAcceleration + " on " + + nameOfBodyUndergoingAcceleration ); + break; + } + return accelerationModelPointer; +} + +//! Function to create a set of acceleration models from a map of bodies and acceleration model +//! types. +AccelerationMap createAccelerationModelsMap( + const NamedBodyMap& bodyMap, + const SelectedAccelerationMap& selectedAccelerationPerBody, + const std::map< std::string, std::string >& centralBodies ) +{ + // Declare return map. + AccelerationMap accelerationModelMap; + + // Iterate over all bodies which are undergoing acceleration + for( SelectedAccelerationMap::const_iterator bodyIterator = + selectedAccelerationPerBody.begin( ); bodyIterator != selectedAccelerationPerBody.end( ); + bodyIterator++ ) + { + boost::shared_ptr< Body > currentCentralBody; + + // Retrieve name of body undergoing acceleration. + std::string bodyUndergoingAcceleration = bodyIterator->first; + + // Retrieve name of current central body. + std::string currentCentralBodyName = centralBodies.at( bodyUndergoingAcceleration ); + + if( !isFrameInertial( currentCentralBodyName ) ) + { + if( bodyMap.count( currentCentralBodyName ) == 0 ) + { + throw std::runtime_error( + std::string( "Error, could not find non-inertial central body ") + + currentCentralBodyName + " of " + bodyUndergoingAcceleration + + " when making acceleration model." ); + } + else + { + currentCentralBody = bodyMap.at( currentCentralBodyName ); + } + } + + // Check if body undergoing acceleration is included in bodyMap + if( bodyMap.count( bodyUndergoingAcceleration ) == 0 ) + { + throw std::runtime_error( + std::string( "Error when making acceleration models, requested forces" ) + + "acting on body " + bodyUndergoingAcceleration + + ", but no such body found in map of bodies" ); + } + + // Declare map of acceleration models acting on current body. + SingleBodyAccelerationMap mapOfAccelerationsForBody; + + // Retrieve list of required acceleration model types and bodies exerting accelerationd on + // current body. + std::map< std::string, std::vector< boost::shared_ptr< AccelerationSettings > > > + accelerationsForBody = bodyIterator->second; + + // Iterate over all bodies exerting an acceleration + for( std::map< std::string, std::vector< boost::shared_ptr< AccelerationSettings > > >:: + iterator body2Iterator = accelerationsForBody.begin( ); + body2Iterator != accelerationsForBody.end( ); body2Iterator++ ) + { + // Retrieve name of body exerting acceleration. + std::string bodyExertingAcceleration = body2Iterator->first; + + // Check if body exerting acceleration is included in bodyMap + if( bodyMap.count( bodyExertingAcceleration ) == 0 ) + { + throw std::runtime_error( + std::string( "Error when making acceleration models, requested forces ") + + "acting on body " + bodyUndergoingAcceleration + " due to body " + + bodyExertingAcceleration + + ", but no such body found in map of bodies" ); + } + + // Retrieve list of accelerations due to current body. + std::vector< boost::shared_ptr< AccelerationSettings > > accelerationList = + body2Iterator->second; + + for( unsigned int i = 0; i < accelerationList.size( ); i++ ) + { + // Create acceleration model. + mapOfAccelerationsForBody[ bodyExertingAcceleration ].push_back( + createAccelerationModel( bodyMap.at( bodyUndergoingAcceleration ), + bodyMap.at( bodyExertingAcceleration ), + accelerationList.at( i ), + bodyUndergoingAcceleration, + bodyExertingAcceleration, + currentCentralBody, + currentCentralBodyName ) ); + } + } + + // Put acceleration models on current body in return map. + accelerationModelMap[ bodyUndergoingAcceleration ] = mapOfAccelerationsForBody; + } + + return accelerationModelMap; +} + +//! Function to create acceleration models from a map of bodies and acceleration model types. +basic_astrodynamics::AccelerationMap createAccelerationModelsMap( + const NamedBodyMap& bodyMap, + const SelectedAccelerationMap& selectedAccelerationPerBody, + const std::vector< std::string >& propagatedBodies, + const std::vector< std::string >& centralBodies ) +{ + if( centralBodies.size( ) != propagatedBodies.size( ) ) + { + throw std::runtime_error( "Error, number of propagated bodies must equal number of central bodies" ); + } + + std::map< std::string, std::string > centralBodyMap; + for( unsigned int i = 0; i < propagatedBodies.size( ); i++ ) + { + centralBodyMap[ propagatedBodies.at( i ) ] = centralBodies.at( i ); + } + + return createAccelerationModelsMap( bodyMap, selectedAccelerationPerBody, centralBodyMap ); +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createAccelerationModels.h b/Tudat/SimulationSetup/createAccelerationModels.h new file mode 100644 index 0000000000..3063a0edcb --- /dev/null +++ b/Tudat/SimulationSetup/createAccelerationModels.h @@ -0,0 +1,208 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEACCELERATIONMODELS_H +#define TUDAT_CREATEACCELERATIONMODELS_H + +#include +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" +#include "Tudat/Astrodynamics/Gravitation/centralGravityModel.h" +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/Aerodynamics/aerodynamicAcceleration.h" +#include "Tudat/SimulationSetup/accelerationSettings.h" +#include "Tudat/Astrodynamics/ElectroMagnetism/cannonBallRadiationPressureAcceleration.h" +#include "Tudat/Astrodynamics/Gravitation/thirdBodyPerturbation.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to create central gravity acceleration model. +/*! + * Function to create central gravity acceleration model from bodies exerting and undergoing + * acceleration. + * \param bodyUndergoingAcceleration Pointer to object of body that is being accelerated. + * \param bodyExertingAcceleration Pointer to object of body that is exerting the central gravity + * acceleration. + * \param nameOfBodyUndergoingAcceleration Name of body that is being accelerated. + * \param nameOfBodyExertingAcceleration Name of body that is exerting the central gravity + * acceleration. + * \param useCentralBodyFixedFrame Boolean setting whether the central attraction of body + * undergoing acceleration on body exerting acceleration is to be included in acceleration model. + * Should be set to true in case the body undergoing acceleration is a celestial body + * (with gravity field) and integration is performed in the frame centered at the body exerting + * acceleration. + * \return Central gravity acceleration model pointer. + */ +boost::shared_ptr< gravitation::CentralGravitationalAccelerationModel3d > +createCentralGravityAcceleratioModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const bool useCentralBodyFixedFrame ); + +//! Function to create spherical harmonic gravity acceleration model. +/*! + * Function to create spherical harmonic gravity acceleration model from bodies exerting and + * undergoing acceleration. + * \param bodyUndergoingAcceleration Pointer to object of body that is being accelerated. + * \param bodyExertingAcceleration Pointer to object of body that is exerting the spherical + * harmonic gravity acceleration. + * \param nameOfBodyUndergoingAcceleration Name of body that is being accelerated. + * \param nameOfBodyExertingAcceleration Name of body that is exerting the spherical harmonic + * gravity acceleration. + * \param accelerationSettings Settings for acceleration model that is to be created (should + * be of derived type associated with spherical harmonic acceleration. + * \param useCentralBodyFixedFrame Boolean setting whether the central attraction of body + * undergoing acceleration on body exerting acceleration is to be included in acceleration model. + * Should be set to true in case the body undergoing acceleration is a celestial body + * (with gravity field) and integration is performed in the frame centered at the body exerting + * acceleration. + * \return Spherical harmonic gravity acceleration model pointer. + */ +boost::shared_ptr< gravitation::SphericalHarmonicsGravitationalAccelerationModelXd > +createSphericalHarmonicsGravityAcceleration( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const boost::shared_ptr< AccelerationSettings > accelerationSettings, + const bool useCentralBodyFixedFrame ); + +//! Function to create a third body central gravity acceleration model. +/*! + * Function to create a third body central gravity acceleration model from bodies exerting and + * undergoing acceleration, as well as the central body, w.r.t. which the integration is to be + * performed. + * \param bodyUndergoingAcceleration Pointer to object of body that is being accelerated. + * \param bodyExertingAcceleration Pointer to object of body that is exerting the acceleration. + * \param centralBody Pointer to central body in frame centered at which acceleration is to be + * calculated. + * \param nameOfBodyUndergoingAcceleration Name of object of body that is being accelerated. + * \param nameOfBodyExertingAcceleration Name of object of body that is exerting the central + * gravity acceleration. + * \param nameOfCentralBody Name of central body in frame cenetered at which acceleration is to + * be calculated. + * \return Pointer to object for calculating central gravity acceleration between bodies. + */ +boost::shared_ptr< gravitation::ThirdBodyCentralGravityAcceleration > +createThirdBodyCentralGravityAccelerationModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const boost::shared_ptr< Body > centralBody, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const std::string& nameOfCentralBody ); + +//! Function to create an aerodynamic acceleration model. +/*! + * Function to create an aerodynamic acceleration model, automatically creates all required + * links to environment models, vehicle properies and frame conversions + * \param bodyUndergoingAcceleration Pointer to object of body that is being accelerated. + * \param bodyExertingAcceleration Pointer to object of body that is exerting the acceleration, + * i.e. body with the atmosphere through which the accelerated body is flying. + * \param nameOfBodyUndergoingAcceleration Name of object of body that is being accelerated. + * \param nameOfBodyExertingAcceleration Name of object of body that is exerting the acceleration. + * \return Pointer to object for calculating aerodynamic acceleration. + */ +boost::shared_ptr< aerodynamics::AerodynamicAcceleration > +createAerodynamicAcceleratioModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration ); + +//! Function to create a cannonball radiation pressure acceleration model. +/*! + * Function to create a cannonball radiation pressure automatically creates all required + * links to environment models, vehicle properies and frame conversions + * \param bodyUndergoingAcceleration Pointer to object of body that is being accelerated. + * \param bodyExertingAcceleration Pointer to object of body that is exerting the acceleration, + * i.e. body emitting the radiation. + * \param nameOfBodyUndergoingAcceleration Name of object of body that is being accelerated. + * \param nameOfBodyExertingAcceleration Name of object of body that is exerting the acceleration. + * \return Pointer to object for calculating cannonball radiation pressures acceleration. + */ +boost::shared_ptr< electro_magnetism::CannonBallRadiationPressureAcceleration > +createCannonballRadiationPressureAcceleratioModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration ); + +//! Function to create acceleration model object. +/*! + * Function to create acceleration model object. + * Type of requested model is checked and corresponding factory function is called. + * \param bodyUndergoingAcceleration Pointer to object of body that is being accelerated. + * \param bodyExertingAcceleration Pointer to object of body that is exerting acceleration, + * \param accelerationSettings Settings for acceleration model that is to be created. + * \param nameOfBodyUndergoingAcceleration Name of object of body that is being accelerated. + * \param nameOfBodyExertingAcceleration Name of object of body that is exerting the acceleration. + * \param centralBody Pointer to central body in frame centered at which acceleration is to be + * calculated (optional, only relevant for third body accelerations). + * \param nameOfCentralBody Name of central body in frame cenetered at which acceleration is to + * be calculated (optional, only relevant for third body accelerations). + * \return Acceleration model pointer. + */ +boost::shared_ptr< basic_astrodynamics::AccelerationModel< Eigen::Vector3d > > +createAccelerationModel( + const boost::shared_ptr< Body > bodyUndergoingAcceleration, + const boost::shared_ptr< Body > bodyExertingAcceleration, + const boost::shared_ptr< AccelerationSettings > accelerationSettings, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const boost::shared_ptr< Body > centralBody = boost::shared_ptr< Body >( ), + const std::string& nameOfCentralBody = "" ); + +//! Function to create acceleration models from a map of bodies and acceleration model types. +/*! + * Function to create acceleration models from a map of bodies and acceleration model types. + * The return type can be used to identify both the body undergoing and exerting acceleration. + * \param bodyMap List of pointers to bodies required for the creation of the acceleration model + * objects. + * \param selectedAccelerationPerBody List identifying which bodies exert which type of + * acceleration(s) on which bodies. + * \param centralBodies Map of central bodies for each body undergoing acceleration. + * \return List of acceleration model objects, in form of AccelerationMap. + */ +basic_astrodynamics::AccelerationMap createAccelerationModelsMap( + const NamedBodyMap& bodyMap, + const SelectedAccelerationMap& selectedAccelerationPerBody, + const std::map< std::string, std::string >& centralBodies ); + +//! Function to create acceleration models from a map of bodies and acceleration model types. +/*! + * Function to create acceleration models from a map of bodies and acceleration model types. + * The return type can be used to identify both the body undergoing and exerting acceleration. + * \param bodyMap List of pointers to bodies required for the creation of the acceleration model + * objects. + * \param selectedAccelerationPerBody List identifying which bodies exert which type of + * acceleration(s) on which bodies. + * \param propagatedBodies List of bodies that are to be propagated + * \param centralBodies List of central bodies for each body undergoing acceleration (in same order as propagatedBodies). + * \return List of acceleration model objects, in form of AccelerationMap. + */ +basic_astrodynamics::AccelerationMap createAccelerationModelsMap( + const NamedBodyMap& bodyMap, + const SelectedAccelerationMap& selectedAccelerationPerBody, + const std::vector< std::string >& propagatedBodies, + const std::vector< std::string >& centralBodies ); + + +} // namespace simulation_setup + +} // namespace tudat +#endif // TUDAT_CREATEACCELERATIONMODELS_H diff --git a/Tudat/SimulationSetup/createAtmosphereModel.cpp b/Tudat/SimulationSetup/createAtmosphereModel.cpp new file mode 100644 index 0000000000..254c208463 --- /dev/null +++ b/Tudat/SimulationSetup/createAtmosphereModel.cpp @@ -0,0 +1,89 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include +#include + +#include "Tudat/Astrodynamics/Aerodynamics/exponentialAtmosphere.h" +#include "Tudat/Astrodynamics/Aerodynamics/tabulatedAtmosphere.h" +#include "Tudat/SimulationSetup/createAtmosphereModel.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to create an atmosphere model. +boost::shared_ptr< aerodynamics::AtmosphereModel > createAtmosphereModel( + const boost::shared_ptr< AtmosphereSettings > atmosphereSettings, + const std::string& body ) +{ + using namespace tudat::aerodynamics; + + // Declare return object. + boost::shared_ptr< AtmosphereModel > atmosphereModel; + + // Check which type of atmosphere model is to be created. + switch( atmosphereSettings->getAtmosphereType( ) ) + { + case exponential_atmosphere: + { + // Check whether settings for atmosphere are consistent with its type. + boost::shared_ptr< ExponentialAtmosphereSettings > exponentialAtmosphereSettings = + boost::dynamic_pointer_cast< ExponentialAtmosphereSettings >( atmosphereSettings ); + if( exponentialAtmosphereSettings == NULL ) + { + throw std::runtime_error( + "Error, expected exponential atmosphere settings for body " + body ); + } + else + { + // Create and initialize exponential atmosphere model. + boost::shared_ptr< ExponentialAtmosphere > exponentialAtmosphereModel = + boost::make_shared< ExponentialAtmosphere >( + exponentialAtmosphereSettings->getDensityScaleHeight( ) , + exponentialAtmosphereSettings->getConstantTemperature( ), + exponentialAtmosphereSettings->getDensityAtZeroAltitude( ), + exponentialAtmosphereSettings->getSpecificGasConstant( ) ); + atmosphereModel = exponentialAtmosphereModel; + } + break; + } + case tabulated_atmosphere: + { + // Check whether settings for atmosphere are consistent with its type + boost::shared_ptr< TabulatedAtmosphereSettings > tabulatedAtmosphereSettings = + boost::dynamic_pointer_cast< TabulatedAtmosphereSettings >( atmosphereSettings ); + if( tabulatedAtmosphereSettings == NULL ) + { + throw std::runtime_error( + "Error, expected tabulated atmosphere settings for body " + body ); + } + else + { + // Create and initialize tabulatedl atmosphere model. + atmosphereModel = boost::make_shared< TabulatedAtmosphere >( + tabulatedAtmosphereSettings->getAtmosphereFile( ) ); + } + break; + } + default: + throw std::runtime_error( + "Error, did not recognize atmosphere model settings type " + + boost::lexical_cast< std::string >( atmosphereSettings->getAtmosphereType( ) ) ); + } + return atmosphereModel; +} + + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createAtmosphereModel.h b/Tudat/SimulationSetup/createAtmosphereModel.h new file mode 100644 index 0000000000..dfffa0cc2f --- /dev/null +++ b/Tudat/SimulationSetup/createAtmosphereModel.h @@ -0,0 +1,186 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEATMOSPHEREMODEL_H +#define TUDAT_CREATEATMOSPHEREMODEL_H + +#include + +#include + +#include "Tudat/Astrodynamics/Aerodynamics/atmosphereModel.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! List of atmosphere models available in simulations +/*! + * List of atmosphere models available in simulations. Atmosphere models not defined by this + * given enum cannot be used for automatic model setup. + */ +enum AtmosphereTypes +{ + exponential_atmosphere, + tabulated_atmosphere +}; + +//! Class for providing settings for atmosphere model. +/*! + * Class for providing settings for automatic atmosphere model creation. This class is a + * functional (base) class for settings of atmosphere models that require no information in + * addition to their type. Atmosphere model classes defining requiring additional information + * must be created using an object derived from this class. + */ +class AtmosphereSettings +{ +public: + + //! Constructor, sets type of atmosphere model. + /*! + * Constructor, sets type of atmosphere model. Settings for atmosphere models requiring + * additional information should be defined in a derived class. + * \param atmosphereType Type of atmosphere model that is to be created. + */ + AtmosphereSettings( const AtmosphereTypes atmosphereType ): + atmosphereType_( atmosphereType ){ } + + //! Destructor + virtual ~AtmosphereSettings( ){ } + + //! Function to return type of atmosphere model that is to be created. + /*! + * Function to return type of atmosphere model that is to be created. + * \return Type of atmosphere model that is to be created. + */ + AtmosphereTypes getAtmosphereType( ){ return atmosphereType_; } + +private: + + //! Type of atmosphere model that is to be created. + AtmosphereTypes atmosphereType_; +}; + +//! AtmosphereSettings for defining an exponential atmosphere. +class ExponentialAtmosphereSettings: public AtmosphereSettings +{ +public: + //! Constructor. + /*! + * Constructor. + * \param densityScaleHeight Scale heigh for density profile of atmosphere. + * \param constantTemperature Constant atmospheric temperature. + * \param densityAtZeroAltitude Atmospheric density at ground level. + * \param specificGasConstant Specific gas constant for (constant) atmospheric chemical + * composition. + */ + + ExponentialAtmosphereSettings( + const double densityScaleHeight, const double constantTemperature, + const double densityAtZeroAltitude, const double specificGasConstant ): + AtmosphereSettings( exponential_atmosphere ), + densityScaleHeight_( densityScaleHeight ), constantTemperature_( constantTemperature ), + densityAtZeroAltitude_( densityAtZeroAltitude ), specificGasConstant_( specificGasConstant ) + { } + + //! Function to return scale heigh for density profile of atmosphere. + /*! + * Function to return scale heigh for density profile of atmosphere. + * \return Scale heigh for density profile of atmosphere. + */ + double getDensityScaleHeight( ){ return densityScaleHeight_; } + + //! Function to return constant atmospheric temperature. + /*! + * Function to return constant atmospheric temperature. + * \return Constant atmospheric temperature. + */ + double getConstantTemperature( ){ return constantTemperature_; } + + //! Function to return atmospheric density at ground level. + /*! + * Function to return atmospheric density at ground level. + * \return Atmospheric density at ground level. + */ + double getDensityAtZeroAltitude( ){ return densityAtZeroAltitude_; } + + //! Function to return specific gas constant for (constant) atmospheric chemical + /*! + * Function to return specific gas constant for (constant) atmospheric chemical + * \return Specific gas constant for (constant) atmospheric chemical + */ + double getSpecificGasConstant( ){ return specificGasConstant_; } +private: + + //! Scale heigh for density profile of atmosphere. + double densityScaleHeight_; + + //! Constant atmospheric temperature. + double constantTemperature_; + + //! Atmospheric density at ground level. + double densityAtZeroAltitude_; + + //! Specific gas constant for (constant) atmospheric chemical + double specificGasConstant_; +}; + +//! AtmosphereSettings for defining an atmosphere with tabulated data from file. +class TabulatedAtmosphereSettings: public AtmosphereSettings +{ +public: + + //! Constructor. + /*! + * Constructor. + * \param atmosphereFile File containing atmospheric properties, file should contain + * four columns of atmospheric data with altitude, density, pressure and temperature, + * respectively. + */ + TabulatedAtmosphereSettings( const std::string& atmosphereFile ): + AtmosphereSettings( tabulated_atmosphere ), atmosphereFile_( atmosphereFile ){ } + + //! Function to return file containing atmospheric properties. + /*! + * Function to return file containing atmospheric properties. + * \return Filename containing atmospheric properties. + */ + std::string getAtmosphereFile( ){ return atmosphereFile_; } + +private: + + //! File containing atmospheric properties. + /*! + * File containing atmospheric properties, file should contain + * four columns of atmospheric data with altitude, density, pressure and temperature, + * respecrively. + */ + std::string atmosphereFile_; +}; + +//! Function to create an atmosphere model. +/*! + * Function to create an atmosphere model based on model-specific settings for the atmosphere. + * \param atmosphereSettings Settings for the atmosphere model that is to be created, defined + * a pointer to an object of class (derived from) AtmosphereSettings. + * \param body Name of the body for which the atmosphere model is to be created. + * \return Atmosphere model created according to settings in atmosphereSettings. + */ +boost::shared_ptr< aerodynamics::AtmosphereModel > createAtmosphereModel( + const boost::shared_ptr< AtmosphereSettings > atmosphereSettings, + const std::string& body ); +} // namespace simulation_setup + +} // namespace tudat + + +#endif // TUDAT_CREATEATMOSPHEREMODEL_H diff --git a/Tudat/SimulationSetup/createBodies.cpp b/Tudat/SimulationSetup/createBodies.cpp new file mode 100644 index 0000000000..5c5a4cedc9 --- /dev/null +++ b/Tudat/SimulationSetup/createBodies.cpp @@ -0,0 +1,304 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include +#include +#include + +#include "Tudat/Mathematics/BasicMathematics/coordinateConversions.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/physicalConstants.h" +#include "Tudat/Mathematics/BasicMathematics/mathematicalConstants.h" + +#include "Tudat/SimulationSetup/createBodies.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +using namespace ephemerides; +using namespace gravitation; + +std::vector< std::pair< std::string, boost::shared_ptr< BodySettings > > > determineBodyCreationOrder( + const std::map< std::string, boost::shared_ptr< BodySettings > >& bodySettings ) +{ + std::vector< std::pair< std::string, boost::shared_ptr< BodySettings > > > outputVector; + + std::map< std::string, std::vector< boost::shared_ptr< GravityFieldVariationSettings > > > + gravityFieldVariationSettingsList; + + for( std::map< std::string, boost::shared_ptr< BodySettings > >::const_iterator bodyIterator + = bodySettings.begin( ); + bodyIterator != bodySettings.end( ); bodyIterator ++ ) + { + if( bodyIterator->second->gravityFieldVariationSettings.size( ) != 0 ) + { + gravityFieldVariationSettingsList[ bodyIterator->first ] = + bodyIterator->second->gravityFieldVariationSettings; + } + outputVector.push_back( std::make_pair( bodyIterator->first, bodyIterator->second ) ); + } + + if( gravityFieldVariationSettingsList.size( ) != 0 ) + { + for( std::map< std::string, + std::vector< boost::shared_ptr< GravityFieldVariationSettings > > >::iterator + variationIterator = gravityFieldVariationSettingsList.begin( ); + variationIterator != gravityFieldVariationSettingsList.end( ); variationIterator++ ) + { + unsigned int currentBodyIndex = -1; + + for( unsigned int k = 0; k < variationIterator->second.size( ); k++ ) + { + boost::shared_ptr< BasicSolidBodyGravityFieldVariationSettings > variationSettings1 + = boost::dynamic_pointer_cast< + BasicSolidBodyGravityFieldVariationSettings >( variationIterator->second[ k ] ); + + if( variationSettings1 != NULL ) + { + + for( unsigned int i = 0; i < outputVector.size( ); i++ ) + { + if( outputVector[ i ].first == variationIterator->first ) + { + currentBodyIndex = i; + } + } + + std::vector< std::string > deformingBodies + = variationSettings1->getDeformingBodies( ); + for( unsigned int i = 0; i < deformingBodies.size( ); i++ ) + { + for( unsigned int j = 0; j < outputVector.size( ); j++ ) + { + if( deformingBodies[ i ] == outputVector[ j ].first + && j > currentBodyIndex ) + { + std::pair< std::string, boost::shared_ptr< BodySettings > > + entryToMove = outputVector[ j ]; + outputVector.erase( outputVector.begin( ) + j ); + outputVector.insert( outputVector.begin( ) + i, entryToMove ); + } + } + } + } + } + } + } + return outputVector; +} + + +//! Function to create a map of bodies objects. +NamedBodyMap createBodies( + const std::map< std::string, boost::shared_ptr< BodySettings > >& bodySettings ) +{ + std::vector< std::pair< std::string, boost::shared_ptr< BodySettings > > > orderedBodySettings + = determineBodyCreationOrder( bodySettings ); + + // Declare map of bodies that is to be returned. + NamedBodyMap bodyMap; + + // Create empty body objects. + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + bodyMap[ orderedBodySettings.at( i ).first ] = boost::make_shared< Body >( ); + } + + // Create ephemeris objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->ephemerisSettings != NULL ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setEphemeris( + createBodyEphemeris( orderedBodySettings.at( i ).second->ephemerisSettings, + orderedBodySettings.at( i ).first ) ); + } + } + + // Create atmosphere model objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->atmosphereSettings != NULL ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setAtmosphereModel( + createAtmosphereModel( orderedBodySettings.at( i ).second->atmosphereSettings, + orderedBodySettings.at( i ).first ) ); + } + } + + // Create body shape model objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->shapeModelSettings != NULL ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setShapeModel( + createBodyShapeModel( orderedBodySettings.at( i ).second->shapeModelSettings, + orderedBodySettings.at( i ).first ) ); + } + } + + // Create rotation model objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->rotationModelSettings != NULL ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setRotationalEphemeris( + createRotationModel( orderedBodySettings.at( i ).second->rotationModelSettings, + orderedBodySettings.at( i ).first ) ); + } + } + + // Create gravity field model objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->gravityFieldSettings != NULL ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setGravityFieldModel( + createGravityFieldModel( orderedBodySettings.at( i ).second->gravityFieldSettings, + orderedBodySettings.at( i ).first, bodyMap, + orderedBodySettings.at( i ).second->gravityFieldVariationSettings ) ); + } + } + + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->gravityFieldVariationSettings.size( ) > 0 ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setGravityFieldVariationSet( + createGravityFieldModelVariationsSet( + orderedBodySettings.at( i ).first, bodyMap, + orderedBodySettings.at( i ).second->gravityFieldVariationSettings ) ); + } + } + + // Create aerodynamic coefficient interface objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + if( orderedBodySettings.at( i ).second->aerodynamicCoefficientSettings != NULL ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setAerodynamicCoefficientInterface( + createAerodynamicCoefficientInterface( + orderedBodySettings.at( i ).second->aerodynamicCoefficientSettings, + orderedBodySettings.at( i ).first ) ); + } + } + + + // Create radiation pressure coefficient objects for each body (if required). + for( unsigned int i = 0; i < orderedBodySettings.size( ); i++ ) + { + std::map< std::string, boost::shared_ptr< RadiationPressureInterfaceSettings > > + radiationPressureSettings + = orderedBodySettings.at( i ).second->radiationPressureSettings; + for( std::map< std::string, boost::shared_ptr< RadiationPressureInterfaceSettings > >::iterator + radiationPressureSettingsIterator = radiationPressureSettings.begin( ); + radiationPressureSettingsIterator != radiationPressureSettings.end( ); + radiationPressureSettingsIterator++ ) + { + bodyMap[ orderedBodySettings.at( i ).first ]->setRadiationPressureInterface( + radiationPressureSettingsIterator->first, + createRadiationPressureInterface( + radiationPressureSettingsIterator->second, + orderedBodySettings.at( i ).first, bodyMap ) ); + } + + } + return bodyMap; + +} + +//! Function to define the global origin and orientation of the reference frame that is to be used +//! in the simulations. +void setGlobalFrameBodyEphemerides( const NamedBodyMap& bodyMap, + const std::string& globalFrameOrigin, + const std::string& globalFrameOrientation ) +{ + using namespace tudat::simulation_setup; + std::string ephemerisFrameOrigin; + std::string ephemerisFrameOrientation; + std::string rotationModelFrame; + + // Iterate over all bodies + for( NamedBodyMap::const_iterator bodyIterator = bodyMap.begin( ); + bodyIterator != bodyMap.end( ); bodyIterator++ ) + { + // Check id body contains an ephemeris + if( bodyIterator->second->getEphemeris( ) != NULL ) + { + // Retrieve ephemeris origin + ephemerisFrameOrigin = bodyIterator->second->getEphemeris( )->getReferenceFrameOrigin( ); + + // Check if ephemeris origin differs from global origin. + if( ephemerisFrameOrigin != globalFrameOrigin ) + { + // Check if correction can be made + if( bodyMap.count( ephemerisFrameOrigin ) == 0 ) + { + throw std::runtime_error( + "Error, body " + bodyIterator->first + " has ephemeris in frame " + + ephemerisFrameOrigin + ", but no conversion to frame " + globalFrameOrigin + + " can be made" ); + } + else + { + // Retrieve and set frame correction functions. + boost::function< basic_mathematics::Vector6d( const double& ) > correctionFunction + = boost::bind( &Body::getStateInBaseFrameFromEphemeris, + bodyMap.at( ephemerisFrameOrigin ), _1 ); + bodyIterator->second->setBaseFrameFunction( correctionFunction ); + + boost::function< Eigen::Matrix< long double, 6, 1 >( const double& ) > longCorrectionFunction + = boost::bind( &Body::getLongStateInBaseFrameFromEphemeris, + bodyMap.at( ephemerisFrameOrigin ), _1 ); + bodyIterator->second->setBaseFrameLongFunction( longCorrectionFunction ); + } + } + + // Retrieve ephemeris orientation + ephemerisFrameOrientation = bodyIterator->second->getEphemeris( )->getReferenceFrameOrientation( ); + + // If two are not equal, throw error. + if( ephemerisFrameOrientation != globalFrameOrientation ) + { + throw std::runtime_error( + "Error, ephemeris orientation of body " + bodyIterator->first + + " is not the same as global orientation " + ephemerisFrameOrientation + + ", " + globalFrameOrientation ); + } + + + } + + // Check if body has rotational ephemeris. + if( bodyIterator->second->getRotationalEphemeris( ) != NULL ) + { + // Check if rotational ephemeris base frame orienatation is equal to to global + // orientation. + rotationModelFrame = bodyIterator->second->getRotationalEphemeris( ) + ->getBaseFrameOrientation( ); + + // Throw error if two frames are not equal. + if( rotationModelFrame != globalFrameOrientation ) + { + throw std::runtime_error( + "Error, rotation base orientation of body " + bodyIterator->first + + " is not the same as global orientation " + rotationModelFrame + ", " + + globalFrameOrientation ); + } + } + } + +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createBodies.h b/Tudat/SimulationSetup/createBodies.h new file mode 100644 index 0000000000..34ef542de5 --- /dev/null +++ b/Tudat/SimulationSetup/createBodies.h @@ -0,0 +1,104 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEBODIES_H +#define TUDAT_CREATEBODIES_H + +#include "Tudat/Astrodynamics/Ephemerides/ephemeris.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/accelerationModel.h" + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/SimulationSetup/createEphemeris.h" +#include "Tudat/SimulationSetup/createAtmosphereModel.h" +#include "Tudat/SimulationSetup/createBodyShapeModel.h" +#include "Tudat/SimulationSetup/createEphemeris.h" +#include "Tudat/SimulationSetup/createGravityField.h" +#include "Tudat/SimulationSetup/createRotationModel.h" +#include "Tudat/SimulationSetup/createRadiationPressureInterface.h" +#include "Tudat/SimulationSetup/createFlightConditions.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Struct holding settings for a body to be created. +/*! + * Struct holding settings for a body to be created. From the settings, a CelestialBody object is + * created by the createBodies function. Default values can be generated from the function in + * defaultBodies.h. + */ +struct BodySettings +{ + //! Settings for the atmosphere model that the body is to contain. + boost::shared_ptr< AtmosphereSettings > atmosphereSettings; + + //! Settings for the ephemeris model that the body is to contain. + boost::shared_ptr< EphemerisSettings > ephemerisSettings; + + //! Settings for the gravity field model that the body is to contain. + boost::shared_ptr< GravityFieldSettings > gravityFieldSettings; + + //! Settings for the rotation model that the body is to contain. + boost::shared_ptr< RotationModelSettings > rotationModelSettings; + + //! Settings for the shape model that the body is to contain. + boost::shared_ptr< BodyShapeSettings > shapeModelSettings; + + //! Settings for the radiations pressure interfaces that the body is to contain (source body as key). + std::map< std::string, + boost::shared_ptr< RadiationPressureInterfaceSettings > > radiationPressureSettings; + + //! Settings for the aerodynamic coefficients that the body is to contain. + boost::shared_ptr< AerodynamicCoefficientSettings > aerodynamicCoefficientSettings; + + std::vector< boost::shared_ptr< GravityFieldVariationSettings > > gravityFieldVariationSettings; + +}; + +std::vector< std::pair< std::string, boost::shared_ptr< BodySettings > > > determineBodyCreationOrder( + const std::map< std::string, boost::shared_ptr< BodySettings > >& bodySettings ); + +//! Function to create a map of bodies objects. +/*! + * Function to create a msap of body objects based on model-specific settings for the bodies, + * containing settings for each relevant environment model. + * \param bodySettings List of settings for the bodies that are to be created, defined as a map of + * pointers to an object of class BodySettings + * \return List of bodies created according to settings in bodySettings. + */ +NamedBodyMap createBodies( + const std::map< std::string, boost::shared_ptr< BodySettings > >& bodySettings ); + + +//! Function to define the global origin and orientation of the reference frame +/*! + * Function to define the global origin and orientation of the reference frame that is to be used in + * the simulations. This function checks the origin and orientation of the Ephemeris and + * RotationalEphemeris, and checks whether their origin/orientation is the same as that + * globalFrameOrigin and globalFrameOrientation provided as input. In particular, this function + * sets the ephemerisFrameToBaseFrameFunction_ anf ephemerisFrameToBaseFrameLongFunction_ variables + * of the Body objects, which provide a time-dependent translation of the global origin to the + * body's ephemeris origin. In case of an inconsistency in the current and requried frames, this + * function throws an error. + * \param bodyMap List of body objects that constitute the environment. + * \param globalFrameOrigin Global reference frame origin. + * \param globalFrameOrientation Global referencef frame orientation. + */ +void setGlobalFrameBodyEphemerides( const NamedBodyMap& bodyMap, + const std::string& globalFrameOrigin, + const std::string& globalFrameOrientation ); + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_CREATEBODIES_H diff --git a/Tudat/SimulationSetup/createBodyShapeModel.cpp b/Tudat/SimulationSetup/createBodyShapeModel.cpp new file mode 100644 index 0000000000..1f010a7fb5 --- /dev/null +++ b/Tudat/SimulationSetup/createBodyShapeModel.cpp @@ -0,0 +1,88 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ +#if USE_CSPICE +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#endif +#include "Tudat/Astrodynamics/BasicAstrodynamics/sphericalBodyShapeModel.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/oblateSpheroidBodyShapeModel.h" +#include "Tudat/SimulationSetup/createBodyShapeModel.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to create a body shape model. +boost::shared_ptr< basic_astrodynamics::BodyShapeModel > createBodyShapeModel( + const boost::shared_ptr< BodyShapeSettings > shapeSettings, + const std::string& body ) +{ + using namespace tudat::basic_astrodynamics; + + boost::shared_ptr< BodyShapeModel > shapeModel; + + // Check body shape type + switch( shapeSettings->getBodyShapeType( ) ) + { + case spherical: + { + // Check input consistency + boost::shared_ptr< SphericalBodyShapeSettings > sphericalShapeSettings = + boost::dynamic_pointer_cast< SphericalBodyShapeSettings >( shapeSettings ); + if( sphericalShapeSettings == NULL ) + { + throw std::runtime_error( "Error, expected spherical shape settings for body " + body ); + } + else + { + // Creat spherical shape model + shapeModel = boost::make_shared< SphericalBodyShapeModel >( + sphericalShapeSettings->getRadius( ) ); + } + break; + } + case oblate_spheroid: + { + // Check input consistency + boost::shared_ptr< OblateSphericalBodyShapeSettings > oblateSpheroidShapeSettings = + boost::dynamic_pointer_cast< OblateSphericalBodyShapeSettings >( shapeSettings ); + if( oblateSpheroidShapeSettings == NULL ) + { + throw std::runtime_error( "Error, expected oblate spherical shape settings for body " + body ); + } + else + { + // Creat oblate spheroid shape model + shapeModel = boost::make_shared< OblateSpheroidBodyShapeModel >( + oblateSpheroidShapeSettings->getEquatorialRadius( ), + oblateSpheroidShapeSettings->getFlattening( ) ); + } + break; + } +#if USE_CSPICE + case spherical_spice: + { + // Retrieve radius from Spice and create spherical shape model. + shapeModel = boost::make_shared< SphericalBodyShapeModel >( + spice_interface::getAverageRadius( body ) ); + break; + } +#endif + default: + throw std::runtime_error( "Error, did not recognize body shape settings for " + body ); + + } + return shapeModel; +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createBodyShapeModel.h b/Tudat/SimulationSetup/createBodyShapeModel.h new file mode 100644 index 0000000000..b2c29cfa5a --- /dev/null +++ b/Tudat/SimulationSetup/createBodyShapeModel.h @@ -0,0 +1,152 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEBODYSHAPEMODEL_H +#define TUDAT_CREATEBODYSHAPEMODEL_H + +#include + +#include "Tudat/Astrodynamics/BasicAstrodynamics/bodyShapeModel.h" +#include "Tudat/SimulationSetup/body.h" + + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Types of body shape models that can be used. +enum BodyShapeTypes +{ + spherical, + spherical_spice, + oblate_spheroid +}; + +//! Class for providing settings for body shape model. +/*! + * Class for providing settings for automatic body shape model creation. This class is a functional + * (base) class for settings of body shapels models that require no information in addition to + * their type. Types requiring additional information must be created using an object derived from + * this class. + */ +class BodyShapeSettings +{ +public: + + //! Constructor + /*! + *Constructor + * \param bodyShapeType Type of body shape model that is to be created. + */ + BodyShapeSettings( BodyShapeTypes bodyShapeType ):bodyShapeType_( bodyShapeType ){ } + + //! Virtual destructor + virtual ~BodyShapeSettings( ){ } + + //! Function to return the type of body shape model that is to be created. + /*! + * Function to return the type of body shape model that is to be created. + * \return Type of body shape model that is to be created. + */ + BodyShapeTypes getBodyShapeType( ){ return bodyShapeType_; } + +protected: + + //! Type of body shape model that is to be created. + BodyShapeTypes bodyShapeType_; +}; + +//! EphemerisSettings derived class for defining settings of a spherical shape model +class SphericalBodyShapeSettings: public BodyShapeSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param radius Radius of spherical shape model. + */ + SphericalBodyShapeSettings( const double radius ) : + BodyShapeSettings( spherical ), radius_( radius ){ } + + //! Function to return the radius of spherical shape model. + /*! + * Function to return the radius of spherical shape model. + * \return Radius of spherical shape model. + */ + double getRadius( ){ return radius_; } + +private: + + //! Radius of spherical shape model. + double radius_; +}; + +//! EphemerisSettings derived class for defining settings of an oblate spheroid (flattened sphere) +//! shape model +class OblateSphericalBodyShapeSettings: public BodyShapeSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param equatorialRadius Equatorial radius of spheroid shape model. + * \param flattening Flattening of spheroid shape model. + */ + OblateSphericalBodyShapeSettings( const double equatorialRadius, + const double flattening ): + BodyShapeSettings( oblate_spheroid ), equatorialRadius_( equatorialRadius ), + flattening_( flattening ){ } + + + //! Function to return the equatorial radius of spheroid shape model. + /*! + * Function to return the equatorial radius of spheroid shape model. + * \return Flattening of spheroid shape model. + */ + double getEquatorialRadius( ){ return equatorialRadius_; } + + //! Function to return the flattening of spheroid shape model. + /*! + * Function to return the flattening of spheroid shape model. + * \return Flattening of spheroid shape model. + */ + double getFlattening( ){ return flattening_; } + +private: + + //! Equatorial radius of spheroid shape model. + double equatorialRadius_; + + //! Flattening of spheroid shape model. + double flattening_; +}; + +//! Function to create a body shape model. +/*! + * Function to create a body shape model based on model-specific settings for the shape. + * \param shapeSettings Settings for the shape model that is to be created, defined + * a pointer to an object of class (derived from) BodyShapeSettings. + * \param body Name of the body for which the shape model is to be created. + * \return Shape model created according to settings in shapeSettings. + */ +boost::shared_ptr< basic_astrodynamics::BodyShapeModel > createBodyShapeModel( + const boost::shared_ptr< BodyShapeSettings > shapeSettings, + const std::string& body ); + + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_CREATEBODYSHAPEMODEL_H diff --git a/Tudat/SimulationSetup/createEphemeris.cpp b/Tudat/SimulationSetup/createEphemeris.cpp new file mode 100644 index 0000000000..c842feb0a9 --- /dev/null +++ b/Tudat/SimulationSetup/createEphemeris.cpp @@ -0,0 +1,248 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include +#include + +#if USE_CSPICE +#include "Tudat/External/SpiceInterface/spiceEphemeris.h" +#endif + +#include "Tudat/Astrodynamics/Ephemerides/keplerEphemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/tabulatedEphemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/approximatePlanetPositions.h" +#include "Tudat/Astrodynamics/Ephemerides/approximatePlanetPositionsCircularCoplanar.h" +#include "Tudat/Astrodynamics/Ephemerides/constantEphemeris.h" +#include "Tudat/Mathematics/Interpolators/lagrangeInterpolator.h" +#include "Tudat/SimulationSetup/createEphemeris.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +using namespace ephemerides; + +#if USE_CSPICE +//! Function to create a tabulated ephemeris using data from Spice. +boost::shared_ptr< Ephemeris > createTabulatedEphemerisFromSpice( + const std::string& body, + const double initialTime, + const double endTime, + const double timeStep, + const std::string& observerName, + const std::string& referenceFrameName ) +{ + using namespace interpolators; + + std::map< double, basic_mathematics::Vector6d > timeHistoryOfState; + + // Calculate state from spice at given time intervals and store in timeHistoryOfState. + double currentTime = initialTime; + while( currentTime < endTime ) + { + timeHistoryOfState[ currentTime ] = spice_interface::getBodyCartesianStateAtEpoch( + body, observerName, referenceFrameName, "none", currentTime ); + currentTime += timeStep; + } + + // Create interpolator. + boost::shared_ptr< LagrangeInterpolator< double, basic_mathematics::Vector6d > > interpolator = + boost::make_shared< LagrangeInterpolator< double, basic_mathematics::Vector6d > >( + timeHistoryOfState, 6, huntingAlgorithm, + lagrange_cubic_spline_boundary_interpolation ); + + // Create ephemeris and return. + return boost::make_shared< TabulatedCartesianEphemeris< > >( + interpolator, observerName, referenceFrameName ); +} +#endif + +//! Function to create a ephemeris model. +boost::shared_ptr< ephemerides::Ephemeris > createBodyEphemeris( + const boost::shared_ptr< EphemerisSettings > ephemerisSettings, + const std::string& bodyName ) +{ + // Declare return object. + boost::shared_ptr< ephemerides::Ephemeris > ephemeris; + + // Check which type of ephemeris model is to be created. + switch( ephemerisSettings->getEphemerisType( ) ) + { + #if USE_CSPICE + case direct_spice_ephemeris: + { + // Check consistency of type and class. + boost::shared_ptr< DirectSpiceEphemerisSettings > directEphemerisSettings = + boost::dynamic_pointer_cast< DirectSpiceEphemerisSettings >( ephemerisSettings ); + if( directEphemerisSettings == NULL ) + { + throw std::runtime_error( + "Error, expected direct spice ephemeris settings for body " + bodyName ); + } + else + { + // Create corresponding ephemeris object. + ephemeris = boost::make_shared< SpiceEphemeris >( + bodyName, + directEphemerisSettings->getFrameOrigin( ), + directEphemerisSettings->getCorrectForStellarAbberation( ), + directEphemerisSettings->getCorrectForLightTimeAbberation( ), + directEphemerisSettings->getConvergeLighTimeAbberation( ), + directEphemerisSettings->getFrameOrientation( ) ); + } + break; + } + case interpolated_spice: + { + // Check consistency of type and class. + boost::shared_ptr< InterpolatedSpiceEphemerisSettings > interpolatedEphemerisSettings = + boost::dynamic_pointer_cast< InterpolatedSpiceEphemerisSettings >( + ephemerisSettings ); + if( interpolatedEphemerisSettings == NULL ) + { + throw std::runtime_error( + "Error, expected tabulated spice ephemeris settings for body " + bodyName ); + } + else + { + // Since only the barycenters of planetary systems are included in the standard DE + // ephemerides, append 'Barycenter' to body name. + std::string inputName; + inputName = bodyName; + if( bodyName == "Mars" || + bodyName == "Jupiter" || bodyName == "Saturn" || + bodyName == "Uranus" || bodyName == "Neptune" ) + { + inputName += " Barycenter"; + std::cerr<<"Warning, position of "<getInitialTime( ), + interpolatedEphemerisSettings->getFinalTime( ), + interpolatedEphemerisSettings->getTimeStep( ), + interpolatedEphemerisSettings->getFrameOrigin( ), + interpolatedEphemerisSettings->getFrameOrientation( ) ); + } + break; + } + #endif + case tabulated_ephemeris: + { + // Check consistency of type and class. + boost::shared_ptr< TabulatedEphemerisSettings > tabulatedEphemerisSettings = + boost::dynamic_pointer_cast< TabulatedEphemerisSettings >( ephemerisSettings ); + if( tabulatedEphemerisSettings == NULL ) + { + throw std::runtime_error( + "Error, expected tabulated ephemeris settings for body " + bodyName ); + } + else + { + // Create corresponding ephemeris object. + ephemeris = boost::make_shared< TabulatedCartesianEphemeris< > >( + boost::make_shared< + interpolators::LagrangeInterpolator< double, basic_mathematics::Vector6d > > + ( tabulatedEphemerisSettings->getBodyStateHistory( ), 6, + interpolators::huntingAlgorithm, + interpolators::lagrange_cubic_spline_boundary_interpolation ), + tabulatedEphemerisSettings->getFrameOrigin( ), + tabulatedEphemerisSettings->getFrameOrientation( ) ); + } + break; + } + case constant_ephemeris: + { + // Check consistency of type and class. + boost::shared_ptr< ConstantEphemerisSettings > constantEphemerisSettings = + boost::dynamic_pointer_cast< ConstantEphemerisSettings >( ephemerisSettings ); + if( constantEphemerisSettings == NULL ) + { + throw std::runtime_error( "Error, expected constant ephemeris settings for " + bodyName ); + } + else + { + // Create ephemeris + ephemeris = boost::make_shared< ConstantEphemeris >( + boost::lambda::constant( constantEphemerisSettings->getConstantState( ) ), + constantEphemerisSettings->getFrameOrigin( ), + constantEphemerisSettings->getFrameOrientation( ) ); + } + break; + } + case kepler_ephemeris: + { + // Check consistency of type and class. + boost::shared_ptr< KeplerEphemerisSettings > keplerEphemerisSettings = + boost::dynamic_pointer_cast< KeplerEphemerisSettings >( ephemerisSettings ); + if( keplerEphemerisSettings == NULL ) + { + throw std::runtime_error( "Error, expected Kepler ephemeris settings for " + bodyName ); + } + else + { + // Create ephemeris + ephemeris = boost::make_shared< KeplerEphemeris >( + keplerEphemerisSettings->getInitialStateInKeplerianElements( ), + keplerEphemerisSettings->getEpochOfInitialState( ), + keplerEphemerisSettings->getCentralBodyGravitationalParameter( ), + keplerEphemerisSettings->getFrameOrigin( ), + keplerEphemerisSettings->getFrameOrientation( ), + keplerEphemerisSettings->getRootFinderAbsoluteTolerance( ), + keplerEphemerisSettings->getRootFinderMaximumNumberOfIterations( ) ); + } + break; + } + case approximate_planet_positions: + { + // Check consistency of type and class. + boost::shared_ptr< ApproximatePlanetPositionSettings > approximateEphemerisSettings = + boost::dynamic_pointer_cast< ApproximatePlanetPositionSettings >( + ephemerisSettings ); + if( approximateEphemerisSettings == NULL ) + { + throw std::runtime_error( + "Error, expected approximate ephemeris settings for body " + bodyName ); + } + else + { + // Create corresponding ephemeris object. + if( approximateEphemerisSettings->getUseCircularCoplanarApproximation( ) ) + { + ephemeris = boost::make_shared< ApproximatePlanetPositionsCircularCoplanar >( + approximateEphemerisSettings->getBodyIdentifier( ) ); + } + else + { + ephemeris = boost::make_shared< ApproximatePlanetPositions >( + approximateEphemerisSettings->getBodyIdentifier( ) ); + } + } + break; + } + default: + { + throw std::runtime_error( + "Error, did not recognize ephemeris model settings type " + + boost::lexical_cast< std::string >( ephemerisSettings->getEphemerisType( ) ) ); + } + } + return ephemeris; + +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createEphemeris.h b/Tudat/SimulationSetup/createEphemeris.h new file mode 100644 index 0000000000..3a6f379ef3 --- /dev/null +++ b/Tudat/SimulationSetup/createEphemeris.h @@ -0,0 +1,548 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEEPHEMERIS_H +#define TUDAT_CREATEEPHEMERIS_H + +#include +#include + +#include + +#include "Tudat/InputOutput/matrixTextFileReader.h" +#include "Tudat/Astrodynamics/Ephemerides/ephemeris.h" +#include "Tudat/Astrodynamics/Ephemerides/approximatePlanetPositionsBase.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! List of ephemeris models available in simulations +/*! + * List of ephemeris models available in simulations. Ephemeris models not defined by this + * given enum cannot be used for automatic model setup. + */ +enum EphemerisType +{ + approximate_planet_positions, + direct_spice_ephemeris, + tabulated_ephemeris, + interpolated_spice, + constant_ephemeris, + kepler_ephemeris +}; + +//! Class for providing settings for ephemeris model. +/*! + * Class for providing settings for automatic ephemeris model creation. This class is a + * functional (base) class for settings of ephemeris models that require no information in + * addition to their type (and frame origin and orientation). Ephemeris model classes defining + * requiring additional information must be created using an object derived from this class. + */ +class EphemerisSettings +{ +public: + + //! Constructor, sets type of ephemeris model. + /*! + * Constructor, sets type of ephemeris model and frame origin and orientation. + * Settings for ephemeris models requiring additional information should be defined in a + * derived class. + * \param ephemerisType Type of ephemeris model that is to be created. + * \param frameOrigin Origin of frame in which ephemeris data is defined + * (optional "SSB" by default). + * \param frameOrientation Orientation of frame in which ephemeris data is defined + * (optional "ECLIPJ2000" by default). + */ + EphemerisSettings( const EphemerisType ephemerisType, + const std::string& frameOrigin = "SSB", + const std::string& frameOrientation = "ECLIPJ2000" ): + ephemerisType_( ephemerisType ), + frameOrigin_( frameOrigin ), + frameOrientation_( frameOrientation ){ } + + //! Destructor + virtual ~EphemerisSettings( ){ } + + //! Function to return type of gravity field model that is to be created. + /*! + * Function to return type of gravity field model that is to be created. + * \return Type of gravity field model that is to be created. + */ + EphemerisType getEphemerisType( ){ return ephemerisType_; } + + //! Function to return the origin of frame in which ephemeris data is defined. + /*! + * Function to return the origin of frame in which ephemeris data is defined. + * \return Origin of frame in which ephemeris data is defined. + */ + std::string getFrameOrigin( ){ return frameOrigin_; } + + //! Function to return the orientation of frame in which ephemeris data is defined. + /*! + * Function to return the orientation of frame in which ephemeris data is defined. + * \return Orientation of frame in which ephemeris data is defined. + */ + std::string getFrameOrientation( ){ return frameOrientation_;} + + void resetFrameOrigin( const std::string& frameOrigin ){ frameOrigin_ = frameOrigin; } + + +protected: + + //! Type of ephemeris model that is to be created. + EphemerisType ephemerisType_; + + //! Origin of frame in which ephemeris data is defined. + std::string frameOrigin_; + + //! Orientation of frame in which ephemeris data is defined. + std::string frameOrientation_; +}; + +//! EphemerisSettings derived class for defining settings of an ephemeris linked directly to Spice. +class DirectSpiceEphemerisSettings: public EphemerisSettings +{ +public: + + //! Constructor. + /*! Constructor, sets the properties from which the Spice ephemeris is to be retrieved. + * \param frameOrigin Name of body relative to which the ephemeris is to be calculated + * (optional "SSB" by default). + * \param correctForStellarAbberation Boolean whether to correct for stellar Abberation in + * retrieved values of (observed state) (optional "ECLIPJ2000" by defalut). + * \param correctForLightTimeAbberation Boolean whether to correct for light time in + * retrieved values of (observed state) (optional false by default). + * \param convergeLighTimeAbberation Boolean whether to use single iteration or max. 3 + * iterations for calculating light time (optional false by default). + * \param frameOrientation Orientatioan of the reference frame in which the epehemeris is to be + * calculated (optional false by default). + * \param ephemerisType Type of ephemeris that is to be created, always set to + * direct_spice_ephemeris when using this class directly. The derived class + * InterpolatedSpiceEphemerisSettings sets this parameter to a different value. Not + * to be changed by used (optional direct_spice_ephemeris by default). + */ + DirectSpiceEphemerisSettings( const std::string frameOrigin = "SSB", + const std::string frameOrientation = "ECLIPJ2000", + const bool correctForStellarAbberation = false, + const bool correctForLightTimeAbberation = false, + const bool convergeLighTimeAbberation = false, + const EphemerisType ephemerisType = direct_spice_ephemeris ): + EphemerisSettings( ephemerisType, frameOrigin, frameOrientation ), + correctForStellarAbberation_( correctForStellarAbberation ), + correctForLightTimeAbberation_( correctForLightTimeAbberation ), + convergeLighTimeAbberation_( convergeLighTimeAbberation ){ } + + + //! Destructor + virtual ~DirectSpiceEphemerisSettings( ){ } + + //! Returns whether to correct for stellar abberation in retrieved values of (observed state). + /*! + * Returns whether to correct for stellar abberation in retrieved values of (observed state). + * \return Boolean defining whether to correct for stellar abberation in retrieved + * values of (observed state). + */ + bool getCorrectForStellarAbberation( ){ return correctForStellarAbberation_; } + + //! Returns whether to correct for light time in retrieved values of (observed state). + /*! + * Returns whether to correct for light time in retrieved values of (observed state). + * \return Boolean defining whether to correct for light time in retrieved values of + * (observed state). + */ + bool getCorrectForLightTimeAbberation( ){ return correctForLightTimeAbberation_; } + + //! Returns whether to use single iteration or max. 3 iterations for calculating light time. + /*! + * Returns whether to use single iteration or max. 3 iterations for calculating light time. + * \return Boolean defining whether to use single iteration or max. 3 iterations for + * calculating light time. + */ + bool getConvergeLighTimeAbberation( ){ return convergeLighTimeAbberation_; } +protected: + + //! Boolean whether to correct for stellar abberation in retrieved values of (observed state). + bool correctForStellarAbberation_; + + //! Boolean whether to correct for light time in retrieved values of (observed state). + bool correctForLightTimeAbberation_; + + //! Boolean whether to use single iteration or max. 3 iterations for calculating light time. + bool convergeLighTimeAbberation_; +}; + +//! EphemerisSettings derived class for defining settings of a ephemeris interpolated from Spice +//! data. +/*! + * EphemerisSettings derived class for defining settings of a ephemeris interpolated from Spice + * data. Retrieving a state from Spice can be very computationally intensive. Using the + * settings of this class, ephemeris data for a body is pre-computed using a limited number + * of calls to Spice, which is then used to create an interpolator (6th order Lagrange). For + * many numerical integration scenarios, this approach may be faster than using + * DirectSpiceEphemerisSettings, with negligible influence on accuracy. + */ +class InterpolatedSpiceEphemerisSettings: public DirectSpiceEphemerisSettings +{ +public: + + //! Constructor. + /*! Constructor, sets the properties from which the tabulated spice data is to be created + * from which an ephemeris is to be created. + * \param initialTime Initial time from which interpolated data from Spice should be created. + * \param finalTime Final time from which interpolated data from Spice should be created. + * \param timeStep Time step with which interpolated data from Spice should be created. + * \param frameOrigin Name of body relative to which the ephemeris is to be calculated + * (optional "SSB" by default). + * \param frameOrientation Orientatioan of the reference frame in which the epehemeris is to be + * calculated (optional "ECLIPJ2000" by default). + */ + InterpolatedSpiceEphemerisSettings( double initialTime, + double finalTime, + double timeStep, + std::string frameOrigin = "SSB", + std::string frameOrientation = "ECLIPJ2000" ): + DirectSpiceEphemerisSettings( frameOrigin, frameOrientation, 0, 0, 0, + interpolated_spice ), + initialTime_( initialTime ), finalTime_( finalTime ), timeStep_( timeStep ){ } + + //! Function to returns initial time from which interpolated data from Spice should be created. + /*! + * Function to returns initial time from which interpolated data from Spice should be created. + * \return Initial time from which interpolated data from Spice should be created. + */ + double getInitialTime( ){ return initialTime_; } + + //! Function to returns final time from which interpolated data from Spice should be created. + /*! + * Function to returns final time from which interpolated data from Spice should be created. + * \return Final time from which interpolated data from Spice should be created. + */ + double getFinalTime( ){ return finalTime_; } + + //! Function to returns time step with which interpolated data from Spice should be created. + /*! + * Function to returns time step with which interpolated data from Spice should be created. + * \return Time step with which interpolated data from Spice should be created. + */ + double getTimeStep( ){ return timeStep_; } + +private: + + //! Initial time from which interpolated data from Spice should be created. + double initialTime_; + + //! Final time from which interpolated data from Spice should be created. + double finalTime_; + + //! Time step with which interpolated data from Spice should be created. + double timeStep_; + +}; + +//! EphemerisSettings derived class for defining settings of an approximate ephemeris for major +//! planets. +/*! + * EphemerisSettings derived class for defining settings of an approximate ephemeris for major + * planets, as inplemented in ApproximatePlanetPositions class and derived class, + * described on http://ssd.jpl.nasa.gov/txt/aprx_pos_planets.pdf. + */ +class ApproximatePlanetPositionSettings: public EphemerisSettings +{ +public: + + //! Constructor. + /*! + * Constructor. + * \param bodyIdentifier Parameter identifying for which body an ephemeris is to be created. + * \param useCircularCoplanarApproximation Boolean defining whether a circular, coplanar + * orbit of the body is to be assumed, or whether a non-zero inclination and long-period + * changes in the orbit are to be included. + */ + ApproximatePlanetPositionSettings( + const ephemerides::ApproximatePlanetPositionsBase::BodiesWithEphemerisData + bodyIdentifier, + const bool useCircularCoplanarApproximation ): + EphemerisSettings( approximate_planet_positions ), + bodyIdentifier_( bodyIdentifier ), + useCircularCoplanarApproximation_( useCircularCoplanarApproximation ){ } + + //! Function to return parameter identifying for which body an ephemeris is to be created. + /*! + * Function to return parameter identifying for which body an ephemeris is to be created. + * \return Parameter identifying for which body an ephemeris is to be created. + */ + ephemerides::ApproximatePlanetPositionsBase::BodiesWithEphemerisData getBodyIdentifier( ) + { + return bodyIdentifier_; + } + + //! Function to return whether a circular, coplanar orbit of the body is to be assumed. + /*! + * Function to return whether a circular, coplanar orbit of the body is to be assumed. + * \return Boolean defining whether a circular, coplanar orbit of the body is to be assumed. + */ + bool getUseCircularCoplanarApproximation( ) + { + return useCircularCoplanarApproximation_; + } + +private: + + //! Parameter identifying for which body an ephemeris is to be created. + ephemerides::ApproximatePlanetPositionsBase::BodiesWithEphemerisData bodyIdentifier_; + + //! Boolean defining whether a circular, coplanar orbit of the body is to be assumed, + /*! + * Boolean defining whether a circular, coplanar orbit of the body is to be assumed + * (creating an ApproximatePlanetPositionsCircularCoplanar object), or whether + * a non-zero inclination and long-period changes in the orbit are to be included + * (creating an ApproximatePlanetPositions object). + */ + bool useCircularCoplanarApproximation_; +}; + + +//! EphemerisSettings derived class for defining settings of an ephemeris producing a constant +//! (time-independent) state +class ConstantEphemerisSettings: public EphemerisSettings +{ +public: + + //! Constructor of settings for an ephemeris producing a constant (time-independent) state. + /*! + * Constructor of settings for an ephemeris producing a constant (time-independent) state. + * \param constantState Constant state that will be provided as output of the ephemeris at all times. + * \param frameOrigin Origin of frame in which ephemeris data is defined. + * \param frameOrientation Orientation of frame in which ephemeris data is defined. + */ + ConstantEphemerisSettings( const basic_mathematics::Vector6d& constantState, + const std::string& frameOrigin = "SSB", + const std::string& frameOrientation = "ECLIPJ2000" ): + EphemerisSettings( constant_ephemeris, + frameOrigin, + frameOrientation ), constantState_( constantState ){ } + + //! Function to return the constant state for output of the ephemeris at all times. + /*! + * Function to return the constant state that will be provided as output of the ephemeris at + * all times. + * \return Boolean defining whether a circular, coplanar orbit of the body is to be assumed. + */ + basic_mathematics::Vector6d getConstantState( ){ return constantState_; } + +private: + + //! Constant state that will be provided as output of the ephemeris at all times. + basic_mathematics::Vector6d constantState_; +}; + +//! EphemerisSettings derived class for defining settings of an ephemeris representing an ideal +//! Kepler orbit. +class KeplerEphemerisSettings: public EphemerisSettings +{ +public: + //! Constructor + /*! + * Constructor + * \param initialStateInKeplerianElements Kepler elements at time epochOfInitialState. + * \param epochOfInitialState Time at which initialStateInKeplerianElements represents + * the Keplerian state. + * \param centralBodyGravitationalParameter Gravitational parameter of the central body + * that is used in the computations. + * \param referenceFrameOrigin Origin of reference frame (string identifier). + * \param referenceFrameOrientation Orientation of reference frame (string identifier) + * \param rootFinderAbsoluteTolerance Convergence tolerance for root finder used to + * convert mean to eccentric anomaly on each call to getCartesianStateFromEphemeris. + * \param rootFinderMaximumNumberOfIterations Maximum iteration for root finder used to + * convert mean to eccentric anomaly on each call to getCartesianStateFromEphemeris. + */ + KeplerEphemerisSettings( const basic_mathematics::Vector6d& initialStateInKeplerianElements, + const double epochOfInitialState, + const double centralBodyGravitationalParameter, + const std::string& referenceFrameOrigin = "SSB", + const std::string& referenceFrameOrientation = "ECLIPJ2000", + const double rootFinderAbsoluteTolerance = + 200.0 * std::numeric_limits< double >::epsilon( ), + const double rootFinderMaximumNumberOfIterations = 1000.0 ): + EphemerisSettings( kepler_ephemeris, referenceFrameOrigin, referenceFrameOrientation ), + initialStateInKeplerianElements_( initialStateInKeplerianElements ), + epochOfInitialState_( epochOfInitialState ), + centralBodyGravitationalParameter_( centralBodyGravitationalParameter ), + rootFinderAbsoluteTolerance_( rootFinderAbsoluteTolerance ), + rootFinderMaximumNumberOfIterations_( rootFinderMaximumNumberOfIterations ){ } + + + //! Function to return the kepler elements at time epochOfInitialState. + /*! + * Function to return the kepler elements at time epochOfInitialState. + * \return Kepler elements at time epochOfInitialState. + */ + basic_mathematics::Vector6d getInitialStateInKeplerianElements( ) + { + return initialStateInKeplerianElements_; + } + + //! Function to return the initial epoch from which propagation of Kepler orbit is performed. + /*! + * Function to return the initial epoch from which propagation of Kepler orbit is performed. + * \return Initial epoch from which propagation of Kepler orbit is performed. + */ + double getEpochOfInitialState( ) + { + return epochOfInitialState_; + } + + //! Function to return the gravitational parameter of central body about which the Kepler orbit + //! is defined. + /*! + * Function to return the gravitational parameter of central body about which the Kepler orbit + * is defined. + * \return Gravitational parameter of central body about which the Kepler orbit is defined. + */ + double getCentralBodyGravitationalParameter( ) + { + return centralBodyGravitationalParameter_; + } + + //! Function to return the convergence tolerance for root finder used to convert mean to + //! eccentric anomaly + /*! + * Function to return the convergence tolerance for root finder used to convert mean to + * eccentric anomaly + * \return Convergence tolerance for root finder used to convert mean to eccentric anomaly + */ + double getRootFinderAbsoluteTolerance( ) + { + return rootFinderAbsoluteTolerance_; + } + + //! Function to return the maximum iteration for root finder used to convert mean to eccentric + //! anomaly + /*! + * Function to return the maximum iteration for root finder used to convert mean to eccentric + * anomaly + * \return Maximum iteration for root finder used to convert mean to eccentric anomaly + */ + double getRootFinderMaximumNumberOfIterations( ) + { + return rootFinderMaximumNumberOfIterations_; + } + +private: + + //! Kepler elements at time epochOfInitialState. + basic_mathematics::Vector6d initialStateInKeplerianElements_; + + //! Initial epoch from which propagation of Kepler orbit is performed. + double epochOfInitialState_; + + //! Gravitational parameter of central body about which the Kepler orbit is defined. + double centralBodyGravitationalParameter_; + + //! Convergence tolerance for root finder used to convert mean to eccentric anomaly. + double rootFinderAbsoluteTolerance_; + + //! Maximum iteration for root finder used to convert mean to eccentric anomaly + double rootFinderMaximumNumberOfIterations_; +}; + +//! EphemerisSettings derived class for defining settings of an ephemeris created from tabulated +//! data. +/*! + * EphemerisSettings derived class for defining settings of an ephemeris created from tabulated + * data. Currently the use of an 6th order Lagrange interpolator is hardcoded, which is created + * from the data that is provided. Note that at the edges of the interpolation interval, a + * Cubic spline interpolator is used to suppres the influence of Runge's phenomenon. + */ +class TabulatedEphemerisSettings: public EphemerisSettings +{ +public: + + //! Constructor. + /*! + * Constructor. + * \param bodyStateHistory Data map (time as key, Cartesian state as values) defining data + * from which an interpolated ephemeris is to be created. + * \param frameOrigin Name of body relative to which the ephemeris is to be calculated + * (optional "SSB" by default). + * \param frameOrientation Orientatioan of the reference frame in which the epehemeris is to be + * calculated (optional, "ECLIPJ2000" by default). + */ + TabulatedEphemerisSettings( + const std::map< double, basic_mathematics::Vector6d >& bodyStateHistory, + std::string frameOrigin = "SSB", + std::string frameOrientation = "ECLIPJ2000" ): + EphemerisSettings( tabulated_ephemeris, frameOrigin, frameOrientation ), + bodyStateHistory_( bodyStateHistory ){ } + + //! Function returning data map defining discrete data from which an ephemeris is to be created. + /*! + * Function returning data map defining discrete data from which an ephemeris is to be created. + * \return Data map defining discrete data from which an ephemeris is to be created. + */ + std::map< double, basic_mathematics::Vector6d > getBodyStateHistory( ) + { return bodyStateHistory_; } + +private: + + //! Data map defining discrete data from which an ephemeris is to be created. + /*! + * Data map (time as key, Cartesian state as values) defining data from which an interpolated + * ephemeris is to be created. + */ + std::map< double, basic_mathematics::Vector6d > bodyStateHistory_; +}; + +//! Function to create a tabulated ephemeris using data from Spice. +/*! + * Function to create a tabulated ephemeris using data from Spice. + * Retrieving a state from Spice can be very computationally intensive. Using this function, + * ephemeris data for a body is pre-computed using a limited number + * of calls to Spice, which is then used to create an interpolator (6th order Lagrange). For + * many numerical integration scenarios, this approach may be faster than using + * DirectSpiceEphemerisSettings, with negligible influence on accuracy. + * \param body Name of body for which ephemeris data is to be retrieved. + * \param initialTime Initial time from which interpolated data from Spice should be created. + * \param endTime Final time from which interpolated data from Spice should be created. + * \param timeStep Time step with which interpolated data from Spice should be created. + * \param observerName Name of body relative to which the ephemeris is to be calculated. + * \param referenceFrameName Orientatioan of the reference frame in which the epehemeris is to be + * calculated. + * \return Tabulated ephemeris using data from Spice. + */ +boost::shared_ptr< ephemerides::Ephemeris > createTabulatedEphemerisFromSpice( + const std::string& body, + const double initialTime, + const double endTime, + const double timeStep, + const std::string& observerName, + const std::string& referenceFrameName ); + +//! Function to create a ephemeris model. +/*! + * Function to create a ephemeris model based on model-specific settings for the ephemeris. + * \param ephemerisSettings Settings for the ephemeris model that is to be created, defined + * a pointer to an object of class (derived from) EphemerisSettings. + * \param bodyName Name of the body for which the ephemeris model is to be created. + * \return Ephemeris model created according to settings in ephemerisSettings. + */ +boost::shared_ptr< ephemerides::Ephemeris > createBodyEphemeris( + const boost::shared_ptr< EphemerisSettings > ephemerisSettings, + const std::string& bodyName ); + + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_CREATEEPHEMERIS_H diff --git a/Tudat/SimulationSetup/createFlightConditions.cpp b/Tudat/SimulationSetup/createFlightConditions.cpp new file mode 100644 index 0000000000..75d07ff718 --- /dev/null +++ b/Tudat/SimulationSetup/createFlightConditions.cpp @@ -0,0 +1,226 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include +#include + +#include "Tudat/Astrodynamics/Aerodynamics/aerodynamicCoefficientInterface.h" +#include "Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h" +#include "Tudat/SimulationSetup/createFlightConditions.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to create an aerodynamic coefficient interface containing constant coefficients. +boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > +createConstantCoefficientAerodynamicCoefficientInterface( + const Eigen::Vector3d constantForceCoefficient, + const Eigen::Vector3d constantMomentCoefficient, + const double referenceLength, + const double referenceArea, + const double lateralReferenceLength, + const Eigen::Vector3d& momentReferencePoint, + const bool areCoefficientsInAerodynamicFrame, + const bool areCoefficientsInNegativeAxisDirection ) +{ + // Create coefficient interface + boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > coefficientInterface = + boost::make_shared< aerodynamics::CustomAerodynamicCoefficientInterface >( + boost::lambda::constant( constantForceCoefficient ), + boost::lambda::constant( constantMomentCoefficient ), + referenceLength, referenceArea, lateralReferenceLength, momentReferencePoint, + std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables >( ), + areCoefficientsInAerodynamicFrame, areCoefficientsInNegativeAxisDirection ); + coefficientInterface->updateCurrentCoefficients( std::vector< double >( ) ); + + return coefficientInterface; +} + +//! Function to create and aerodynamic coefficient interface. +boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > +createAerodynamicCoefficientInterface( + const boost::shared_ptr< AerodynamicCoefficientSettings > coefficientSettings, + const std::string& body ) +{ + using namespace tudat::aerodynamics; + + boost::shared_ptr< AerodynamicCoefficientInterface > coefficientInterface; + + // Check type of interface that is to be created. + switch( coefficientSettings->getAerodynamicCoefficientType( ) ) + { + case constant_aerodynamic_coefficients: + { + // Check consistency of type. + boost::shared_ptr< ConstantAerodynamicCoefficientSettings > constantCoefficientSettings = + boost::dynamic_pointer_cast< ConstantAerodynamicCoefficientSettings >( + coefficientSettings ); + if( constantCoefficientSettings == NULL ) + { + throw std::runtime_error( + "Error, expected constant aerodynamic coefficients for body " + body ); + } + else + { + // create constant interface. + coefficientInterface = createConstantCoefficientAerodynamicCoefficientInterface( + constantCoefficientSettings->getConstantForceCoefficient( ), + constantCoefficientSettings->getConstantMomentCoefficient( ), + constantCoefficientSettings->getReferenceLength( ), + constantCoefficientSettings->getReferenceArea( ), + constantCoefficientSettings->getReferenceLength( ), + constantCoefficientSettings->getMomentReferencePoint( ), + constantCoefficientSettings->getAreCoefficientsInAerodynamicFrame( ), + constantCoefficientSettings->getAreCoefficientsInNegativeAxisDirection( ) ); + } + break; + } + case tabulated_coefficients: + { + // Check number of dimensions of tabulated coefficients. + int numberOfDimensions = coefficientSettings->getIndependentVariableNames( ).size( ); + switch( numberOfDimensions ) + { + case 1: + { + coefficientInterface = createTabulatedCoefficientAerodynamicCoefficientInterface< 1 >( + coefficientSettings, body ); + break; + } + case 2: + { + coefficientInterface = createTabulatedCoefficientAerodynamicCoefficientInterface< 2 >( + coefficientSettings, body ); + break; + } + case 3: + { + coefficientInterface = createTabulatedCoefficientAerodynamicCoefficientInterface< 3 >( + coefficientSettings, body ); + break; + } + case 4: + { + coefficientInterface = createTabulatedCoefficientAerodynamicCoefficientInterface< 4 >( + coefficientSettings, body ); + break; + } + case 5: + { + coefficientInterface = createTabulatedCoefficientAerodynamicCoefficientInterface< 5 >( + coefficientSettings, body ); + break; + } + case 6: + { + coefficientInterface = createTabulatedCoefficientAerodynamicCoefficientInterface< 6 >( + coefficientSettings, body ); + break; + } + default: + throw std::runtime_error( "Error when making tabulated aerodynamic coefficient interface, " + + boost::lexical_cast< std::string >( numberOfDimensions ) + " dimensions not yet implemented" ); + } + + } + default: + throw std::runtime_error( "Error, do not recognize aerodynamic coefficient settings for " + body ); + } + return coefficientInterface; +} + +//! Function to create a flight conditions object +boost::shared_ptr< aerodynamics::FlightConditions > createFlightConditions( + const boost::shared_ptr< Body > bodyWithFlightConditions, + const boost::shared_ptr< Body > centralBody, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const boost::function< double( ) > angleOfAttackFunction, + const boost::function< double( ) > angleOfSideslipFunction, + const boost::function< double( ) > bankAngleFunction ) +{ + // Check whether all required environment models are set. + if( centralBody->getAtmosphereModel( ) == NULL ) + { + throw std::runtime_error( + "Error when making flight conditions, body " + nameOfBodyExertingAcceleration + + " has no atmosphere model." ); + } + + if( centralBody->getShapeModel( ) == NULL ) + { + throw std::runtime_error( + "Error when making flight conditions, body " + nameOfBodyExertingAcceleration + + " has no shape model." ); + } + + if( centralBody->getRotationalEphemeris( ) == NULL ) + { + throw std::runtime_error( + "Error when making flight conditions, body " + nameOfBodyExertingAcceleration + + " has no rotation model." ); + } + + if( bodyWithFlightConditions->getAerodynamicCoefficientInterface( ) == NULL ) + { + throw std::runtime_error( + "Error when making flight conditions, body "+ nameOfBodyUndergoingAcceleration + + " has no aerodynamic coefficients." ); + } + + // Create function to calculate the altitude from current body-fixed state + boost::function< double( const Eigen::Vector3d ) > altitudeFunction = + boost::bind( &basic_astrodynamics::BodyShapeModel::getAltitude, + centralBody->getShapeModel( ), _1 ); + + // Create function to rotate state from intertial to body-fixed frame. + boost::function< Eigen::Quaterniond( ) > rotationToFrameFunction = + boost::bind( &Body::getCurrentRotationToLocalFrame, centralBody ); + boost::function< Eigen::Matrix3d( ) > rotationMatrixToFrameDerivativeFunction = + boost::bind( &Body::getCurrentRotationMatrixDerivativeToLocalFrame, centralBody ); + boost::function< basic_mathematics::Vector6d( const basic_mathematics::Vector6d& ) > + transformationToCentralBodyFrame = + boost::bind( + static_cast< basic_mathematics::Vector6d(&)( + const basic_mathematics::Vector6d&, + const boost::function< Eigen::Quaterniond( ) >, + const boost::function< Eigen::Matrix3d( ) > ) >( + &ephemerides::transformStateToFrame ), + _1, rotationToFrameFunction, + rotationMatrixToFrameDerivativeFunction ); + + // Create flight conditions. + boost::shared_ptr< aerodynamics::FlightConditions > flightConditions = + boost::make_shared< aerodynamics::FlightConditions >( + centralBody->getAtmosphereModel( ), altitudeFunction, + boost::bind( &Body::getState, bodyWithFlightConditions ), + boost::bind( &Body::getState, centralBody ), + transformationToCentralBodyFrame, + bodyWithFlightConditions->getAerodynamicCoefficientInterface( ) ); + + // Create aerodynamic angles calculator and set in flight conditions. + boost::shared_ptr< reference_frames::AerodynamicAngleCalculator > aerodynamicAngleCalculator = + boost::make_shared< reference_frames::AerodynamicAngleCalculator >( + boost::bind( &aerodynamics::FlightConditions::getCurrentBodyCenteredBodyFixedState, + flightConditions ), + angleOfAttackFunction, angleOfSideslipFunction, bankAngleFunction, 1 ); + flightConditions->setAerodynamicAngleCalculator( aerodynamicAngleCalculator ); + + return flightConditions; + + +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createFlightConditions.h b/Tudat/SimulationSetup/createFlightConditions.h new file mode 100644 index 0000000000..f6c7cc499a --- /dev/null +++ b/Tudat/SimulationSetup/createFlightConditions.h @@ -0,0 +1,619 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEFLIGHTCONDITIONS_H +#define TUDAT_CREATEFLIGHTCONDITIONS_H + +#include + +#include + +#include "Tudat/Mathematics/Interpolators/multiLinearInterpolator.h" +#include "Tudat/Astrodynamics/Aerodynamics/flightConditions.h" +#include "Tudat/Astrodynamics/Aerodynamics/customAerodynamicCoefficientInterface.h" +#include "Tudat/SimulationSetup/body.h" + +namespace tudat +{ + +namespace simulation_setup +{ + + +//! List of aerodynamic coefficient models available in simulations +/*! + * List of aerodynamic coefficient models available in simulations. Aerodynamic coefficient models + * not defined by this given enum cannot be used for automatic model setup. + */ +enum AerodynamicCoefficientTypes +{ + constant_aerodynamic_coefficients, + hypersonic_local_inclincation_coefficients, + tabulated_coefficients +}; + +//! Class for providing settings for aerodynamic coefficient model. +/*! + * Class for providing settings for automatic aerodynamic coefficient model creation. This class is + * a functional (base) class for settings of aerodynamic coefficient models that require no + * information in addition to their type. Aerodynamic coefficient model classes defining requiring + * additional information must be created using an object derived from this class. + */ +class AerodynamicCoefficientSettings +{ +public: + + //! Constructor, sets type of aerodynamic coefficient model. + /*! + * Constructor, sets type of aerodynamic coefficient model. Settings for aerodynamic + * coefficient models requiring additional information should be defined in a derived class. + * \param aerodynamicCoefficientTypes Type of aerodynamic coefficient model that is to be + * created. + * \param referenceLength Reference length with which aerodynamic moments + * (about x- and z- axes) are non-dimensionalized. + * \param referenceArea Reference area with which aerodynamic forces and moments are + * non-dimensionalized. + * \param lateralReferenceLength Reference length with which aerodynamic moments (about y-axis) + * is non-dimensionalized. + * \param momentReferencePoint Point w.r.t. aerodynamic moment is calculated + * \param independentVariableNames Vector with identifiers the physical meaning of each + * independent variable of the aerodynamic coefficients. + * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic + * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body + * frame (typically denoted as Cx, Cy, Cz). + * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic + * coefficients are positive along the positive axes of the body or aerodynamic frame + * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the + * coefficients are typically defined in negative direction. + */ + AerodynamicCoefficientSettings( + const AerodynamicCoefficientTypes aerodynamicCoefficientTypes, + const double referenceLength, + const double referenceArea, + const double lateralReferenceLength, + const Eigen::Vector3d& momentReferencePoint, + const std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables > + independentVariableNames, + const bool areCoefficientsInAerodynamicFrame = 1, + const bool areCoefficientsInNegativeAxisDirection = 1 ): + aerodynamicCoefficientTypes_( aerodynamicCoefficientTypes ), + referenceLength_( referenceLength ), referenceArea_( referenceArea ), + lateralReferenceLength_( lateralReferenceLength ), + momentReferencePoint_( momentReferencePoint ), + independentVariableNames_( independentVariableNames ), + areCoefficientsInAerodynamicFrame_( areCoefficientsInAerodynamicFrame ), + areCoefficientsInNegativeAxisDirection_( areCoefficientsInNegativeAxisDirection ){ } + + //! Destructor + virtual ~AerodynamicCoefficientSettings( ){ } + + //! Function to return type of aerodynamic coefficient model that is to be created. + /*! + * Function to return type of aerodynamic coefficient model that is to be created. + * \return Type of aerodynamic coefficient model that is to be created. + */ + AerodynamicCoefficientTypes getAerodynamicCoefficientType( ){ + return aerodynamicCoefficientTypes_; } + + //! Get reference area. + /*! + * Returns reference area used to non-dimensionalize aerodynamic forces and moments. + * \return Aerodynamic reference area. + */ + double getReferenceArea( ) { return referenceArea_; } + + //! Get reference length. + /*! + * Returns reference length used to non-dimensionalize aerodynamic moments. + * \return Aerodynamic reference length. + */ + double getReferenceLength( ) { return referenceLength_; } + + //! Get lateral reference length. + /*! + * Returns lateral reference length used to non-dimensionalize aerodynamic moments. + * \return Aerodynamic lateral reference length. + */ + double getLateralReferenceLength( ) { return lateralReferenceLength_; } + + //! Get moment reference point. + /*! + * Returns the point w.r.t. which the arm of the aerodynamic moment on a vehicle panel is + * determined. + * \return Aerodynamic reference point. + */ + Eigen::VectorXd getMomentReferencePoint( ) { return momentReferencePoint_; } + + //! Function to return identifiers of physical meaning of independent variables. + /*! + * Function to return identifiers of physical meaning of independent variables. + * \return Identifiers of physical meaning of independent variables. + */ + std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables > + getIndependentVariableNames( ) + { + return independentVariableNames_; + } + + //! Function to return whether coefficients are in aerodynamic frame. + /*! + * Function to return whether coefficients are in aerodynamic frame. + * \return Boolean defining whether coefficients are in aerodynamic frame. + */ + bool getAreCoefficientsInAerodynamicFrame( ) + { + return areCoefficientsInAerodynamicFrame_; + } + + //! Function to return whether coefficients are positive along positive axes. + /*! + * Function to return whether coefficients are positive along positive axes. + * \return Boolean defining whether coefficients are positive along positive axes. + */ + bool getAreCoefficientsInNegativeAxisDirection( ) + { + return areCoefficientsInNegativeAxisDirection_; + } + +private: + + //! Type of atmosphere model that is to be created. + AerodynamicCoefficientTypes aerodynamicCoefficientTypes_; + + //! Aerodynamic reference length. + /*! + * Reference length with which aerodynamic moments are non-dimensionalized. + */ + double referenceLength_; + + //! Aerodynamic reference area. + /*! + * Reference area with which aerodynamic forces and moments are non-dimensionalized. + */ + double referenceArea_; + + //! Lateral aerodynamic reference length. + /*! + * Lateral reference length with which aerodynamic moments are non-dimensionalized. + */ + double lateralReferenceLength_; + + //! Aerodynamic moment reference point. + /*! + * Point w.r.t. which the arm of the moment on a vehicle panel is determined. + */ + Eigen::Vector3d momentReferencePoint_; + + //! Vector with identifiers of the physical meaning of each independent variable of the + //! aerodynamic coefficients. + std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables > + independentVariableNames_; + + //! Boolean to define whether the aerodynamic coefficients are defined in the aerodynamic frame. + /*! + * Boolean to define whether the aerodynamic coefficients are defined in the aerodynamic frame + * (lift, drag, side force) or in the body frame (typically denoted as Cx, Cy, Cz). + */ + bool areCoefficientsInAerodynamicFrame_; + + //! Boolean to define whether the coefficients are positive along the positive axes. + /*! + * Boolean to define whether the aerodynamic coefficients are positive along the positive + * axes of the body or aerodynamic frame (see areCoefficientsInAerodynamicFrame). + * Note that for (lift, drag, side force), the coefficients are typically defined in + * negative direction. + */ + bool areCoefficientsInNegativeAxisDirection_; +}; + +//! AerodynamicCoefficientSettings for defining a constant aerodynamic coefficients +class ConstantAerodynamicCoefficientSettings: public AerodynamicCoefficientSettings +{ +public: + + //! Constructor. + /*! + * Constructor, omitting all moment coefficient data. + * \param constantForceCoefficient Constant force coefficients. + * \param referenceArea Reference area with which aerodynamic forces and moments are + * non-dimensionalized. + * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic + * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body + * frame (typically denoted as Cx, Cy, Cz). + * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic + * coefficients are positiver along tyhe positive axes of the body or aerodynamic frame + * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the + * coefficients are typically defined in negative direction. + */ + ConstantAerodynamicCoefficientSettings( + const double referenceArea, + const Eigen::Vector3d& constantForceCoefficient, + const bool areCoefficientsInAerodynamicFrame = 0, + const bool areCoefficientsInNegativeAxisDirection = 1 ): + AerodynamicCoefficientSettings( + constant_aerodynamic_coefficients, TUDAT_NAN, referenceArea, + TUDAT_NAN, Eigen::Vector3d::Zero( ), + std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables >( ), + areCoefficientsInAerodynamicFrame, areCoefficientsInNegativeAxisDirection ), + constantForceCoefficient_( constantForceCoefficient ), + constantMomentCoefficient_( Eigen::Vector3d::Zero( ) ){ } + + //! Constructor. + /*! + * Constructor. + * \param constantForceCoefficient Constant force coefficients. + * \param constantMomentCoefficient Constant moment coefficients. + * \param referenceLength Reference length with which aerodynamic moments + * (about x- and z- axes) are non-dimensionalized. + * \param referenceArea Reference area with which aerodynamic forces and moments are + * non-dimensionalized. + * \param lateralReferenceLength Reference length with which aerodynamic moments + * (about y-axis) is non-dimensionalized. + * \param momentReferencePoint Point w.r.t. aerodynamic moment is calculated + * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic + * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body + * frame (typically denoted as Cx, Cy, Cz). + * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic + * coefficients are positiver along tyhe positive axes of the body or aerodynamic frame + * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the + * coefficients are typically defined in negative direction. + */ + ConstantAerodynamicCoefficientSettings( + const double referenceLength, + const double referenceArea, + const double lateralReferenceLength, + const Eigen::Vector3d& momentReferencePoint, + const Eigen::Vector3d& constantForceCoefficient, + const Eigen::Vector3d& constantMomentCoefficient = Eigen::Vector3d::Zero( ), + const bool areCoefficientsInAerodynamicFrame = 0, + const bool areCoefficientsInNegativeAxisDirection = 1 ): + AerodynamicCoefficientSettings( + constant_aerodynamic_coefficients, referenceLength, referenceArea, + lateralReferenceLength, momentReferencePoint, + std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables >( ), + areCoefficientsInAerodynamicFrame, areCoefficientsInNegativeAxisDirection ), + constantForceCoefficient_( constantForceCoefficient ), + constantMomentCoefficient_( constantMomentCoefficient ) + { } + + //! Function to return constant force coefficients. + /*! + * Function to return constant force coefficients. + * \return Cnstant force coefficients. + */ + Eigen::Vector3d getConstantForceCoefficient( ) + { + return constantForceCoefficient_; + } + + //! Function to return constant moment coefficients. + /*! + * Function to return constant moment coefficients. + * \return Cnstant force coefficients. + */ + Eigen::Vector3d getConstantMomentCoefficient( ) + { + return constantMomentCoefficient_; + } + +private: + + //! Constant moment coefficients. + Eigen::Vector3d constantForceCoefficient_; + + //! Constant force coefficients. + Eigen::Vector3d constantMomentCoefficient_; +}; + + +//! Object for setting aerodynamic coefficients from a user-defined N-dimensional table. +/*! + * Object for setting aerodynamic coefficients from a user-defined N-dimensional table. + * The user must provide the force and moment coefficients in boost multi_arrays, and + * define the physical meaning of each of the independent variables. + */ +template< int NumberOfDimensions > +class TabulatedAerodynamicCoefficientSettings: public AerodynamicCoefficientSettings +{ +public: + + //! Constructor, sets properties of aerodynamic coefficients. + /*! + * Constructor, sets properties of aerodynamic coefficients. + * \param independentVariables Values of indepependent variables at which the coefficients + * in the input multi arrays are defined. + * \param forceCoefficients Values of force coefficients at independent variables defined + * by independentVariables. + * \param momentCoefficients Values of moment coefficients at independent variables defined + * by independentVariables. + * \param referenceLength Reference length with which aerodynamic moments + * (about x- and z- axes) are non-dimensionalized. + * \param referenceArea Reference area with which aerodynamic forces and moments are + * non-dimensionalized. + * \param lateralReferenceLength Reference length with which aerodynamic moments (about y-axis) + * is non-dimensionalized. + * \param momentReferencePoint Point w.r.t. aerodynamic moment is calculated + * \param independentVariableNames Vector with identifiers the physical meaning of each + * independent variable of the aerodynamic coefficients. + * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic + * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body + * frame (typically denoted as Cx, Cy, Cz). + * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic + * coefficients are positive along the positive axes of the body or aerodynamic frame + * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the + * coefficients are typically defined in negative direction. + */ + TabulatedAerodynamicCoefficientSettings( + const std::vector< std::vector< double > > independentVariables, + const boost::multi_array< Eigen::Vector3d, NumberOfDimensions > forceCoefficients, + const boost::multi_array< Eigen::Vector3d, NumberOfDimensions > momentCoefficients, + const double referenceLength, + const double referenceArea, + const double lateralReferenceLength, + const Eigen::Vector3d& momentReferencePoint, + const std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables > + independentVariableNames, + const bool areCoefficientsInAerodynamicFrame = 1, + const bool areCoefficientsInNegativeAxisDirection = 1 ): + AerodynamicCoefficientSettings( + tabulated_coefficients, referenceLength, referenceArea, + lateralReferenceLength, momentReferencePoint, + independentVariableNames, areCoefficientsInAerodynamicFrame, + areCoefficientsInNegativeAxisDirection ), + independentVariables_( independentVariables ), + forceCoefficients_( forceCoefficients ), + momentCoefficients_( momentCoefficients ){ } + + //! Function to return the values of the indepependent variables of tables of coefficients. + /*! + * Function to return the values of the indepependent variables of tables of coefficients. + * \return Values of the indepependent variables of tables of coefficients. + */ + std::vector< std::vector< double > > getIndependentVariables( ) + { + return independentVariables_; + } + + //! Function to return values of force coefficients in table. + /*! + * Function to return values of force coefficients in table. + * \return Values of force coefficients in table. + */ + boost::multi_array< Eigen::Vector3d, NumberOfDimensions > getForceCoefficients( ) + { + return forceCoefficients_; + } + + //! Function to return values of moment coefficients in table. + /*! + * Function to return values of moment coefficients in table. + * \return Values of moment coefficients in table. + */ + boost::multi_array< Eigen::Vector3d, NumberOfDimensions > getMomentCoefficients( ) + { + return momentCoefficients_; + } + +private: + + //! Values of indepependent variables at which the coefficients in the tables are defined. + /*! + * Values of indepependent variables at which the coefficients in the forceCoefficients_ and + * momentCoefficients_ tables are defined. + */ + std::vector< std::vector< double > > independentVariables_; + + //! Values of force coefficients at independent variables defined by independentVariables_. + boost::multi_array< Eigen::Vector3d, NumberOfDimensions > forceCoefficients_; + + //! Values of moment coefficients at independent variables defined by independentVariables_. + boost::multi_array< Eigen::Vector3d, NumberOfDimensions > momentCoefficients_; + + +}; + +//! Function to create an aerodynamic coefficient interface containing constant coefficients. +/*! + * Function to create an aerodynamic coefficient interface containing constant coefficients, + * As a result, the generated coefficient interface depends on zero parameters. + * \param constantForceCoefficient Constant force coefficients. + * \param constantMomentCoefficient Constant moment coefficients. + * \param referenceLength Reference length with which aerodynamic moments + * (about x- and z- axes) are non-dimensionalized. + * \param referenceArea Reference area with which aerodynamic forces and moments are + * non-dimensionalized. + * \param lateralReferenceLength Reference length with which aerodynamic moments (about y-axis) + * is non-dimensionalized. + * \param momentReferencePoint Point w.r.t. aerodynamic moment is calculated + * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic + * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body + * frame (typically denoted as Cx, Cy, Cz). + * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic + * coefficients are positiver along tyhe positive axes of the body or aerodynamic frame + * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the + * coefficients are typically defined in negative direction. + * \return Aerodynamic coefficient interface with constant coefficients. + */ +boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > +createConstantCoefficientAerodynamicCoefficientInterface( + const Eigen::Vector3d constantForceCoefficient, + const Eigen::Vector3d constantMomentCoefficient, + const double referenceLength, + const double referenceArea, + const double lateralReferenceLength, + const Eigen::Vector3d& momentReferencePoint, + const bool areCoefficientsInAerodynamicFrame = 0, + const bool areCoefficientsInNegativeAxisDirection = 1 ); + +//! Factory function for tabulated aerodynamic coefficient interface. +/*! + * Factory function for tabulated aerodynamic coefficient interface. + * \param independentVariables Values of indepependent variables at which the coefficients + * in the input multi arrays are defined. + * \param forceCoefficients Values of force coefficients at independent variables defined + * by independentVariables. + * \param momentCoefficients Values of moment coefficients at independent variables defined + * by independentVariables. + * \param referenceLength Reference length with which aerodynamic moments + * (about x- and z- axes) are non-dimensionalized. + * \param referenceArea Reference area with which aerodynamic forces and moments are + * non-dimensionalized. + * \param lateralReferenceLength Reference length with which aerodynamic moments (about y-axis) + * is non-dimensionalized. + * \param momentReferencePoint Point w.r.t. aerodynamic moment is calculated + * \param independentVariableNames Vector with identifiers the physical meaning of each + * independent variable of the aerodynamic coefficients. + * \param areCoefficientsInAerodynamicFrame Boolean to define whether the aerodynamic + * coefficients are defined in the aerodynamic frame (lift, drag, side force) or in the body + * frame (typically denoted as Cx, Cy, Cz). + * \param areCoefficientsInNegativeAxisDirection Boolean to define whether the aerodynamic + * coefficients are positive along the positive axes of the body or aerodynamic frame + * (see areCoefficientsInAerodynamicFrame). Note that for (lift, drag, side force), the + * coefficients are typically defined in negative direction. + * \return Tabulated aerodynamic coefficient interface pointer. + */ +template< int NumberOfDimensions > +boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > +createTabulatedCoefficientAerodynamicCoefficientInterface( + const std::vector< std::vector< double > > independentVariables, + const boost::multi_array< Eigen::Vector3d, NumberOfDimensions > forceCoefficients, + const boost::multi_array< Eigen::Vector3d, NumberOfDimensions > momentCoefficients, + const std::vector< aerodynamics::AerodynamicCoefficientsIndependentVariables > + independentVariableNames, + const double referenceLength, + const double referenceArea, + const double lateralReferenceLength, + const Eigen::Vector3d& momentReferencePoint, + const bool areCoefficientsInAerodynamicFrame = 0, + const bool areCoefficientsInNegativeAxisDirection = 1 ) +{ + // Check input consistency. + if( independentVariables.size( ) != NumberOfDimensions ) + { + throw std::runtime_error( "Error when creating tabulated aerodynamic coefficient interface, inconsistent variable vector dimensioning" ); + } + + if( independentVariableNames.size( ) != NumberOfDimensions ) + { + throw std::runtime_error( "Error when creating tabulated aerodynamic coefficient interface, inconsistent variable name vector dimensioning" ); + + } + + // Create interpolators for coefficients. + boost::shared_ptr< interpolators::MultiLinearInterpolator + < double, Eigen::Vector3d, NumberOfDimensions > > forceInterpolator = + boost::make_shared< interpolators::MultiLinearInterpolator + < double, Eigen::Vector3d, NumberOfDimensions > >( + independentVariables, forceCoefficients ); + boost::shared_ptr< interpolators::MultiLinearInterpolator + < double, Eigen::Vector3d, NumberOfDimensions > > momentInterpolator = + boost::make_shared< interpolators::MultiLinearInterpolator + < double, Eigen::Vector3d, NumberOfDimensions > >( + independentVariables, momentCoefficients ); + + // Create aerodynamic coefficient interface. + return boost::make_shared< aerodynamics::CustomAerodynamicCoefficientInterface >( + boost::bind( &interpolators::MultiLinearInterpolator + < double, Eigen::Vector3d, NumberOfDimensions >::interpolate, + forceInterpolator, _1 ), + boost::bind( &interpolators::MultiLinearInterpolator + < double, Eigen::Vector3d, NumberOfDimensions >::interpolate, + momentInterpolator, _1 ), + referenceLength, referenceArea, lateralReferenceLength, momentReferencePoint, + independentVariableNames, + areCoefficientsInAerodynamicFrame, areCoefficientsInNegativeAxisDirection ); +} + +//! Factory function for tabulated aerodynamic coefficient interface from coefficient settings. +/*! + * Factory function for tabulated aerodynamic coefficient interface from coefficient settings. + * This function is included to allow easier interface between the non-templated general + * createAerodynamicCoefficientInterface and the templated + * createTabulatedCoefficientAerodynamicCoefficientInterface. + * \param coefficientSettings Settings for aerodynamic coefficient interface, must be of derived + * type TabulatedAerodynamicCoefficientSettings< NumberOfDimensions >/ + * \param body Name of body for which coefficient interface is to be made. + * \return Tabulated aerodynamic coefficient interface pointer. + */ +template< int NumberOfDimensions > +boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > +createTabulatedCoefficientAerodynamicCoefficientInterface( + const boost::shared_ptr< AerodynamicCoefficientSettings > coefficientSettings, + const std::string& body ) +{ + // Check consistency of type. + boost::shared_ptr< TabulatedAerodynamicCoefficientSettings< NumberOfDimensions > > tabulatedCoefficientSettings = + boost::dynamic_pointer_cast< TabulatedAerodynamicCoefficientSettings< NumberOfDimensions > >( + coefficientSettings ); + if( tabulatedCoefficientSettings == NULL ) + { + throw std::runtime_error( + "Error, expected tabulated aerodynamic coefficients of size " + + boost::lexical_cast< std::string >( NumberOfDimensions ) + "for body " + body ); + } + else + { + return createTabulatedCoefficientAerodynamicCoefficientInterface< NumberOfDimensions >( + tabulatedCoefficientSettings->getIndependentVariables( ), + tabulatedCoefficientSettings->getForceCoefficients( ), + tabulatedCoefficientSettings->getMomentCoefficients( ), + tabulatedCoefficientSettings->getIndependentVariableNames( ), + tabulatedCoefficientSettings->getReferenceLength( ), + tabulatedCoefficientSettings->getReferenceArea( ), + tabulatedCoefficientSettings->getReferenceLength( ), + tabulatedCoefficientSettings->getMomentReferencePoint( ), + tabulatedCoefficientSettings->getAreCoefficientsInAerodynamicFrame( ), + tabulatedCoefficientSettings->getAreCoefficientsInNegativeAxisDirection( ) ); + } +} + + +//! Function to create an aerodynamic coefficient interface. +/*! + * Function to create an aerodynamic coefficient interface from interface settings. + * \param coefficientSettings Settings for the aerodynamic coefficient interface. + * \param body Name of body for which aerodynamic coefficients are to be made. + * \return Aerodynamic coefficient interface pointer of reqyested type and settings. + */ +boost::shared_ptr< aerodynamics::AerodynamicCoefficientInterface > +createAerodynamicCoefficientInterface( + const boost::shared_ptr< AerodynamicCoefficientSettings > coefficientSettings, + const std::string& body ); + +//! Function to create a flight conditions object +/*! + * Function to create a flight conditions object, which is responsible for calculating the various + * dependent variables required for calculation of the aerodynamic acceleration + * \param bodyWithFlightConditions Body for which flight conditions are to be created. + * \param centralBody Body in the atmosphere of which bodyWithFlightConditions is flying + * \param nameOfBodyUndergoingAcceleration Name of body undergoing acceleration. + * \param nameOfBodyExertingAcceleration Name of body with the atmosphere causing acceleration. + * \param angleOfAttackFunction Function returning the current angle of attack (default 0). + * \param angleOfSideslipFunction Function returning the current angle of sideslip (default 0). + * \param bankAngleFunction Function returning the current bank angle (default 0). + * \return Flight conditions object for given bodies and settings. + */ +boost::shared_ptr< aerodynamics::FlightConditions > createFlightConditions( + const boost::shared_ptr< Body > bodyWithFlightConditions, + const boost::shared_ptr< Body > centralBody, + const std::string& nameOfBodyUndergoingAcceleration, + const std::string& nameOfBodyExertingAcceleration, + const boost::function< double( ) > angleOfAttackFunction = + boost::lambda::constant ( 0.0 ), + const boost::function< double( ) > angleOfSideslipFunction = + boost::lambda::constant ( 0.0 ), + const boost::function< double( ) > bankAngleFunction = + boost::lambda::constant ( 0.0 ) ); + + +} // namespace simulation_setup + +} // namespace tudat +#endif // TUDAT_CREATEACCELERATIONMODELS_H diff --git a/Tudat/SimulationSetup/createGravityField.cpp b/Tudat/SimulationSetup/createGravityField.cpp new file mode 100644 index 0000000000..3a139039eb --- /dev/null +++ b/Tudat/SimulationSetup/createGravityField.cpp @@ -0,0 +1,263 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include + +#if USE_CSPICE +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#endif + +#include "Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h" + +#include "Tudat/SimulationSetup/createGravityField.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to read a gravity field file +std::pair< double, double > readGravityFieldFile( + const std::string& fileName, const int maximumDegree, const int maximumOrder, + std::pair< Eigen::MatrixXd, Eigen::MatrixXd >& coefficients, + const unsigned int gravitationalParameterIndex, const unsigned int referenceRadiusIndex ) +{ + // Attempt to open gravity file. + std::fstream stream( fileName.c_str( ), std::ios::in ); + if( stream.fail( ) ) + { + boost::throw_exception( + std::runtime_error( "Pds gravity field data file could not be opened." ) ); + } + + // Declare variables for reading file. + std::vector< std::string > vectorOfIndividualStrings; + vectorOfIndividualStrings.resize( 4 ); + std::string line; + + + double gravitationalParameter = TUDAT_NAN; + double referenceRadius = TUDAT_NAN; + + if( ( gravitationalParameterIndex == gravitationalParameterIndex ) && + ( referenceRadiusIndex == referenceRadiusIndex ) ) + { + // Get first line of file. + std::getline( stream, line ); + + // Get reference radius and gravitational parameter from first line of file. + boost::algorithm::trim( line ); + boost::algorithm::split( vectorOfIndividualStrings, + line, + boost::algorithm::is_any_of( "\t, " ), + boost::algorithm::token_compress_on ); + if( gravitationalParameterIndex >= vectorOfIndividualStrings.size( ) || + referenceRadiusIndex >= vectorOfIndividualStrings.size( ) ) + { + throw std::runtime_error( "Error when reading gravity field file, requested header index exceeds file contents" ); + } + + gravitationalParameter = boost::lexical_cast< double >( vectorOfIndividualStrings[ gravitationalParameterIndex ] ); + referenceRadius = boost::lexical_cast< double >( vectorOfIndividualStrings[ referenceRadiusIndex ] ); + } + else if( ( !( gravitationalParameterIndex == gravitationalParameterIndex ) && + ( referenceRadiusIndex == referenceRadiusIndex ) ) || + ( ( gravitationalParameterIndex == gravitationalParameterIndex ) && + !( referenceRadiusIndex == referenceRadiusIndex ) ) ) + { + throw std::runtime_error( "Error when reading gravity field file, must retrieve either both or neither of Re and mu" ); + } + + + // Declare variables for reading in cosine and sine coefficients. + int currentDegree = 0, currentOrder = 0; + Eigen::MatrixXd cosineCoefficients = Eigen::MatrixXd( maximumDegree + 1, maximumOrder + 1 ); + cosineCoefficients.setZero( ); + Eigen::MatrixXd sineCoefficients = Eigen::MatrixXd( maximumDegree + 1, maximumOrder + 1 ); + sineCoefficients.setZero( ); + + // Read coefficients up to required maximum degree and order. + while ( !stream.fail( ) && !stream.eof( ) && + ( currentDegree <= maximumDegree || currentOrder <= maximumOrder ) ) + { + // Read current line + std::getline( stream, line ); + + // Trim input string (removes all leading and trailing whitespaces). + boost::algorithm::trim( line ); + + // Split string into multiple strings, each containing one element from a line from the + // data file. + boost::algorithm::split( vectorOfIndividualStrings, + line, + boost::algorithm::is_any_of( ", " ), + boost::algorithm::token_compress_on ); + + // Check current line for consistency + if( vectorOfIndividualStrings.size( ) < 4 ) + { + std::cerr<<"Error when reading pds gravity field file, number of fields is " + <( vectorOfIndividualStrings[ 0 ] ); + currentOrder = boost::lexical_cast< int >( vectorOfIndividualStrings[ 1 ] ); + + // Set cosine and sine coefficients for current degree and order. + if( currentDegree <= maximumDegree && currentOrder <= maximumOrder ) + { + cosineCoefficients( currentDegree, currentOrder ) = + boost::lexical_cast< double >( vectorOfIndividualStrings[ 2 ] ); + sineCoefficients( currentDegree, currentOrder ) = + boost::lexical_cast< double >( vectorOfIndividualStrings[ 3 ] ); + } + } + } + + // Set cosine coefficient at (0,0) to 1. + cosineCoefficients( 0, 0 ) = 1.0; + coefficients = std::make_pair( cosineCoefficients, sineCoefficients ); + + return std::make_pair( gravitationalParameter, referenceRadius ); +} + +//! Function to create a gravity field model. +boost::shared_ptr< gravitation::GravityFieldModel > createGravityFieldModel( + const boost::shared_ptr< GravityFieldSettings > gravityFieldSettings, + const std::string& body, + const NamedBodyMap& bodyMap, + const std::vector< boost::shared_ptr< GravityFieldVariationSettings > >& gravityFieldVariationSettings ) +{ + using namespace tudat::gravitation; + + // Declare return object. + boost::shared_ptr< GravityFieldModel > gravityFieldModel; + + // Check which type of gravity field model is to be created. + switch( gravityFieldSettings->getGravityFieldType( ) ) + { + case central: + { + // Check whether settings for point mass gravity field model are consistent with its type. + boost::shared_ptr< CentralGravityFieldSettings > centralFieldSettings = + boost::dynamic_pointer_cast< CentralGravityFieldSettings >( gravityFieldSettings ); + if( centralFieldSettings == NULL ) + { + throw std::runtime_error( + "Error, expected central field settings when making gravity field model for body " + + body); + } + else if( gravityFieldVariationSettings.size( ) != 0 ) + { + std::cerr<<"Error, requested central gravity field, but field variations settings are not empty."<( + centralFieldSettings->getGravitationalParameter( ) ); + } + break; + } + #if USE_CSPICE + case central_spice: + { + if( gravityFieldVariationSettings.size( ) != 0 ) + { + std::cerr<<"Error, requested central gravity field, but field variations settings are not empty."<( + spice_interface::getBodyGravitationalParameter( body ) ); + } + + break; + } + #endif + case spherical_harmonic: + { + // Check whether settings for spherical harmonic gravity field model are consistent with + // its type. + boost::shared_ptr< SphericalHarmonicsGravityFieldSettings > sphericalHarmonicFieldSettings = + boost::dynamic_pointer_cast< SphericalHarmonicsGravityFieldSettings >( + gravityFieldSettings ); + + if( sphericalHarmonicFieldSettings == NULL ) + { + throw std::runtime_error( + "Error, expected spherical harmonic field settings when making gravity field model of " + + body ); + } + else + { + // Check consistency of cosine and sine coefficients. + if( ( sphericalHarmonicFieldSettings->getCosineCoefficients( ).rows( ) != + sphericalHarmonicFieldSettings->getSineCoefficients( ).rows( ) ) || + ( sphericalHarmonicFieldSettings->getCosineCoefficients( ).cols( ) != + sphericalHarmonicFieldSettings->getSineCoefficients( ).cols( ) ) ) + { + throw std::runtime_error( + std::string( "Error when making spherical harmonic field, sine and " ) + + std::string( "cosine matrix sizes are not equal for body " ) + body ); + } + else + { + + if( gravityFieldVariationSettings.size( ) == 0 && + sphericalHarmonicFieldSettings->getCreateTimeDependentField( ) == 0 ) + { + // Create and initialize spherical harmonic gravity field model. + gravityFieldModel = boost::make_shared< SphericalHarmonicsGravityField >( + sphericalHarmonicFieldSettings->getGravitationalParameter( ), + sphericalHarmonicFieldSettings->getReferenceRadius( ), + sphericalHarmonicFieldSettings->getCosineCoefficients( ), + sphericalHarmonicFieldSettings->getSineCoefficients( ), + sphericalHarmonicFieldSettings->getAssociatedReferenceFrame( ) ); + } + else + { + if( bodyMap.at( body )->getGravityFieldModel( ) != NULL ) + { + std::cerr<<"Warning when making time-dependent gravity field model for body "<( + sphericalHarmonicFieldSettings->getGravitationalParameter( ), + sphericalHarmonicFieldSettings->getReferenceRadius( ), + sphericalHarmonicFieldSettings->getCosineCoefficients( ), + sphericalHarmonicFieldSettings->getSineCoefficients( ), + sphericalHarmonicFieldSettings->getAssociatedReferenceFrame( ) ); + } + + + } + } + break; + } + default: + throw std::runtime_error( + "Error, did not recognize gravity field model settings type " + + boost::lexical_cast< std::string >( + gravityFieldSettings->getGravityFieldType( ) ) ); + } + + return gravityFieldModel; +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createGravityField.h b/Tudat/SimulationSetup/createGravityField.h new file mode 100644 index 0000000000..f8b0153bfc --- /dev/null +++ b/Tudat/SimulationSetup/createGravityField.h @@ -0,0 +1,254 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEGRAVITYFIELD_H +#define TUDAT_CREATEGRAVITYFIELD_H + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/SimulationSetup/createGravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldModel.h" +#include "Tudat/Astrodynamics/Gravitation/sphericalHarmonicsGravityField.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! List of gravity field models available in simulations +/*! + * List of gravity field models available in simulations. Gravity field models not defined by this + * given enum cannot be used for automatic model setup. + */ +enum GravityFieldType +{ + central, + central_spice, + spherical_harmonic +}; + +//! Class for providing settings for gravity field model. +/*! + * Class for providing settings for automatic gravity field model creation. This class is a + * functional (base) class for settings of gravity field models that require no information in + * addition to their type. Gravity field model classes defining requiring additional information + * must be created using an object derived from this class. + */ +class GravityFieldSettings +{ +public: + + //! Constructor, sets type of gravity field model. + /*! + * Constructor, sets type of gravity field model. Settings for gravity field models requiring + * additional information should be defined in a derived class. + * \param gravityFieldType Type of gravity field model that is to be created. + */ + GravityFieldSettings( const GravityFieldType gravityFieldType ): + gravityFieldType_( gravityFieldType ){ } + + //! Destructor + virtual ~GravityFieldSettings( ){ } + + //! Function to return type of gravity field model that is to be created. + /*! + * Function to return type of gravity field model that is to be created. + * \return Type of gravity field model that is to be created. + */ + GravityFieldType getGravityFieldType( ){ return gravityFieldType_; } + +protected: + + //! Type of gravity field model that is to be created. + GravityFieldType gravityFieldType_; +}; + +//! Derived class of GravityFieldSettings defining settings of point mass gravity field. +class CentralGravityFieldSettings: public GravityFieldSettings +{ +public: + + //! Constructor. + /*! + * Constructor. + * \param gravitationalParameter Gravitational parameter of gravity field. + */ + CentralGravityFieldSettings( double gravitationalParameter ):GravityFieldSettings( central ), + gravitationalParameter_( gravitationalParameter ){ } + + //! Function to return gravitational parameter for gravity field. + /*! + * Function to return gravitational parameter for gravity field. + * \return Gravitational parameter for gravity field. + */ + double getGravitationalParameter( ){ return gravitationalParameter_; } +private: + + //! Gravitational parameter for gravity field. + double gravitationalParameter_; +}; + + +//! Derived class of GravityFieldSettings defining settings of spherical harmonic gravity +//! field representation. +class SphericalHarmonicsGravityFieldSettings: public GravityFieldSettings +{ +public: + //! Constructor. + /*! + * Constructor. + * \param gravitationalParameter Gravitational parameter of gravity field. + * \param referenceRadius Reference radius of spherical harmonic field expansion. + * \param cosineCoefficients Cosine spherical harmonic coefficients (geodesy normalized). + * \param sineCoefficients Sine spherical harmonic coefficients (geodesy normalized). + * \param associatedReferenceFrame Identifier for body-fixed reference frame to which + * the coefficients are referred. + */ + SphericalHarmonicsGravityFieldSettings( const double gravitationalParameter, + const double referenceRadius, + const Eigen::MatrixXd cosineCoefficients, + const Eigen::MatrixXd sineCoefficients, + const std::string& associatedReferenceFrame ): + GravityFieldSettings( spherical_harmonic ), + gravitationalParameter_( gravitationalParameter ), + referenceRadius_( referenceRadius ), + cosineCoefficients_( cosineCoefficients ), + sineCoefficients_( sineCoefficients ), + associatedReferenceFrame_( associatedReferenceFrame ), + createTimeDependentField_( 0 ) + { } + + //! Function to return gravitational parameter for gravity field. + /*! + * Function to return gravitational parameter for gravity field. + * \return Gravitational parameter for gravity field. + */ + double getGravitationalParameter( ){ return gravitationalParameter_; } + + //! Function to return reference radius of spherical harmonic field expansion + /*! + * Function to return reference radius of spherical harmonic field expansion + * \return Reference radius of spherical harmonic field expansion + */ + double getReferenceRadius( ){ return referenceRadius_; } + + //! Function to return cosine spherical harmonic coefficients (geodesy normalized). + /*! + * Function to return cosine spherical harmonic coefficients (geodesy normalized). + * \return Cosine spherical harmonic coefficients (geodesy normalized). + */ + Eigen::MatrixXd getCosineCoefficients( ){ return cosineCoefficients_; } + + //! Function to return sine spherical harmonic coefficients (geodesy normalized). + /*! + * Function to return sine spherical harmonic coefficients (geodesy normalized). + * \return Sine spherical harmonic coefficients (geodesy normalized). + */ + Eigen::MatrixXd getSineCoefficients( ){ return sineCoefficients_; } + + //! Function to return identifier for body-fixed reference frame. + /*! + * Function to return identifier for body-fixed reference frame to which the coefficients + * are referred. + * \return Identifier for body-fixed reference frame to which the coefficients are referred. + */ + std::string getAssociatedReferenceFrame( ){ return associatedReferenceFrame_; } + + bool getCreateTimeDependentField( ){ return createTimeDependentField_; } + + void setCreateTimeDependentField( const bool createTimeDependentField ) + { + createTimeDependentField_ = createTimeDependentField; + } + +private: + + + //! Gravitational parameter for gravity field that is to be created. + double gravitationalParameter_; + + //! Reference radius of spherical harmonic field expansion. + double referenceRadius_; + + //! Cosine spherical harmonic coefficients (geodesy normalized). + Eigen::MatrixXd cosineCoefficients_; + + //! Sine spherical harmonic coefficients (geodesy normalized). + Eigen::MatrixXd sineCoefficients_; + + //! Identifier for body-fixed reference frame to which the coefficients are referred. + std::string associatedReferenceFrame_; + + bool createTimeDependentField_; + +}; + +//! Function to read a spherical harmonic gravity field file +/*! + * Function to read a spherical harmonic gravity field file, returns (by reference) cosine and sine + * spherical harmomic coefficients. + * The file structure should be as follows: The first line may be a file header with metadata. If this is the case, + * the gravitationalParameterIndex and referenceRadiusIndex should be used as input, to communicate which entries in + * the list of metadata represents these quantities. If both these variables are NaN, the file is assumed to have no + * header. The following lines of the file must have the following structure: + * Degree, Order, Cosine Coefficient, Sine Coefficients + * Subsequent columns may be present in the file, but are ignored when parsing. + * All coefficients not defined in the file are set to zero (except C(0,0) which is always 1.0) + * \param fileName Name of PDS gravity field file to be loaded. + * \param maximumDegree Maximum degree of gravity field to be loaded. + * \param maximumOrder Maximum order of gravity field to be loaded. + * \param gravitationalParameterIndex + * \param referenceRadiusIndex + * \param coefficients Spherical harmonics coefficients (first is cosine, second is sine). + * \return Pair of gravitational parameter and reference radius, values are non-NaN if + * gravitationalParameterIndex and referenceRadiusIndex are non-NaN. + */ +std::pair< double, double > readGravityFieldFile( + const std::string& fileName, const int maximumDegree, const int maximumOrder, + std::pair< Eigen::MatrixXd, Eigen::MatrixXd >& coefficients, + const unsigned int gravitationalParameterIndex = TUDAT_NAN, const unsigned int referenceRadiusIndex = TUDAT_NAN ); + +//! Function to create a gravity field model. +/*! + * Function to create a gravity field model based on model-specific settings for the gravity field. + * \param gravityFieldSettings Settings for the gravity field model that is to be created, defined + * a pointer to an object of class (derived from) GravityFieldSettings. + * \param body Name of the body for which the gravity field model is to be created. + * \param bodyMap List of body objects, as currently created (used when setting + * gravityFieldVariationSettings) + * \param gravityFieldVariationSettings List of settings for the variations of the gravity field + * that are to be used (but not immediately set!) by current body under consideration. + * \return Gravity field model created according to settings in gravityFieldSettings. + */ +boost::shared_ptr< gravitation::GravityFieldModel > createGravityFieldModel( + const boost::shared_ptr< GravityFieldSettings > gravityFieldSettings, + const std::string& body, + const NamedBodyMap& bodyMap = NamedBodyMap( ), + const std::vector< boost::shared_ptr< GravityFieldVariationSettings > >& gravityFieldVariationSettings = + std::vector< boost::shared_ptr< GravityFieldVariationSettings > >( ) ); + +} // namespace simulation_setup + +} // namespace tudat +#endif // TUDAT_CREATEGRAVITYFIELD_H diff --git a/Tudat/SimulationSetup/createGravityFieldVariations.cpp b/Tudat/SimulationSetup/createGravityFieldVariations.cpp new file mode 100644 index 0000000000..8c9daff31c --- /dev/null +++ b/Tudat/SimulationSetup/createGravityFieldVariations.cpp @@ -0,0 +1,249 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include "Tudat/Mathematics/Interpolators/interpolator.h" + +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/basicSolidBodyTideGravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/tabulatedGravityFieldVariations.h" +#include "Tudat/Astrodynamics/Gravitation/timeDependentSphericalHarmonicsGravityField.h" +#include "Tudat/SimulationSetup/createGravityFieldVariations.h" + +namespace tudat +{ + +namespace simulation_setup +{ + + +//! Function to create a set of gravity field variations, stored in the associated interface class +boost::shared_ptr< gravitation::GravityFieldVariationsSet > createGravityFieldModelVariationsSet( + const std::string& body, + const NamedBodyMap& bodyMap, + const std::vector< boost::shared_ptr< GravityFieldVariationSettings > >& + gravityFieldVariationSettings ) +{ + + using namespace tudat::gravitation; + + // Declare lists for input to GravityFieldVariationsSet + std::vector< boost::shared_ptr< GravityFieldVariations > > variationObjects; + std::vector< BodyDeformationTypes > variationTypes; + std::vector< std::string > variationIdentifiers; + std::map< int, boost::shared_ptr< interpolators::InterpolatorSettings > > createInterpolators; + std::map< int, double > initialTimes; + std::map< int, double > finalTimes; + std::map< int, double > timeSteps; + + // Iterate over all variations to create. + for( unsigned int i = 0; i < gravityFieldVariationSettings.size( ); i++ ) + { + // Get current type of deformation + variationTypes.push_back( gravityFieldVariationSettings.at( i )->getBodyDeformationType( ) ); + + // Set current variation object in list. + variationObjects.push_back( createGravityFieldVariationsModel( + gravityFieldVariationSettings.at( i ), body, bodyMap ) ); + + variationIdentifiers.push_back( "" ); + + // Check if current variation is interpolated, and set settings if necessary. + if( gravityFieldVariationSettings.at( i )->getInterpolatorSettings( ) != NULL ) + { + createInterpolators[ i ] + = gravityFieldVariationSettings.at( i )->getInterpolatorSettings( ) + ->interpolatorSettings_; + initialTimes[ i ] + = gravityFieldVariationSettings.at( i )->getInterpolatorSettings( ) + ->initialTime_; + finalTimes[ i ] + = gravityFieldVariationSettings.at( i )->getInterpolatorSettings( )->finalTime_; + timeSteps[ i ] + = gravityFieldVariationSettings.at( i )->getInterpolatorSettings( )->timeStep_; + } + } + + // Create object with settings for updating variations from new parameter values. + boost::shared_ptr< GravityFieldVariationsSet > fieldVariationsSet = + boost::make_shared< GravityFieldVariationsSet >( + variationObjects, variationTypes, variationIdentifiers, + createInterpolators, initialTimes, finalTimes, timeSteps ); + + if( boost::dynamic_pointer_cast< TimeDependentSphericalHarmonicsGravityField >( + bodyMap.at( body )->getGravityFieldModel( ) ) == NULL ) + { + throw std::runtime_error( "Error when making gravity field variations of body " + body + + ", base type is not time dependent" ); + } + + boost::dynamic_pointer_cast< TimeDependentSphericalHarmonicsGravityField >( + bodyMap.at( body )->getGravityFieldModel( ) ) + ->setFieldVariationSettings( fieldVariationsSet, 1 ); + + + return fieldVariationsSet; +} + +//! Function to create a single gravity field variation object. +boost::shared_ptr< gravitation::GravityFieldVariations > createGravityFieldVariationsModel( + const boost::shared_ptr< GravityFieldVariationSettings > gravityFieldVariationSettings, + const std::string body, + const NamedBodyMap bodyMap ) +{ + using namespace tudat::gravitation; + + boost::shared_ptr< GravityFieldVariations > gravityFieldVariationModel; + + // Check type of variation + switch( gravityFieldVariationSettings->getBodyDeformationType( ) ) + { + case basic_solid_body: + { + // Check consistency + boost::shared_ptr< BasicSolidBodyGravityFieldVariationSettings > + basicSolidBodyGravityVariationSettings = + boost::dynamic_pointer_cast< BasicSolidBodyGravityFieldVariationSettings >( + gravityFieldVariationSettings ); + if( basicSolidBodyGravityVariationSettings == NULL ) + { + throw std::runtime_error( "Error, expected basic solid body gravity field settings for " + body ); + } + else + { + // Define list of required input. + std::vector< std::string > deformingBodies + = basicSolidBodyGravityVariationSettings->getDeformingBodies( ); + boost::function< basic_mathematics::Vector6d( const double ) > deformedBodyStateFunction; + boost::function< Eigen::Quaterniond( const double ) > deformedBodyOrientationFunction; + std::vector< boost::function< basic_mathematics::Vector6d( const double ) > > + deformingBodyStateFunctions; + std::vector< boost::function< double( ) > > gravitionalParametersOfDeformingBodies; + + // Iterate over all bodies causing tidal perturbation. + for( unsigned int i = 0; i < deformingBodies.size( ); i++ ) + { + // Check if perturbing body exists. + if( bodyMap.count( deformingBodies[ i ] ) == 0 ) + { + throw std::runtime_error( "Error when making basic solid body gravity field variation, " + + deformingBodies[ i ] + " deforming body not found." ); + } + + // Create body state functions (depending on whether the variation is calculated + // directly during propagation, or a priori by an interpolator + if( gravityFieldVariationSettings->getInterpolatorSettings( ) != NULL ) + { + deformingBodyStateFunctions.push_back( + boost::bind( + &Body::getStateInBaseFrameFromEphemeris, + bodyMap.at( deformingBodies[ i ] ), _1 ) ); + } + else + { + deformingBodyStateFunctions.push_back( + boost::bind( &Body::getState, bodyMap.at( deformingBodies[ i ] ) ) ); + } + + // Get gravitational parameter of perturbing bodies. + if( bodyMap.at( deformingBodies[ i ] )->getGravityFieldModel( ) == NULL ) + { + throw std::runtime_error( + "Error, could not find gravity field model in body " + deformingBodies[ i ] + + " when making basic sh variation for body " + body ); + } + else + { + gravitionalParametersOfDeformingBodies.push_back( + boost::bind( &GravityFieldModel::getGravitationalParameter, + bodyMap.at( deformingBodies[ i ] ) + ->getGravityFieldModel( ) ) ); + } + } + + // Set state and orientation functions of perturbed body. + if( gravityFieldVariationSettings->getInterpolatorSettings( ) != NULL ) + { + deformedBodyStateFunction = boost::bind( &Body::getStateInBaseFrameFromEphemeris, + bodyMap.at( body ), _1 ); + deformedBodyOrientationFunction = boost::bind( + &ephemerides::RotationalEphemeris::getRotationToTargetFrame, + bodyMap.at( body )->getRotationalEphemeris( ), _1, + basic_astrodynamics::JULIAN_DAY_ON_J2000 ); + } + else + { + deformedBodyStateFunction = boost::bind( &Body::getState, bodyMap.at( body ) ); + deformedBodyOrientationFunction = boost::bind( &Body::getCurrentRotationToLocalFrame, + bodyMap.at( body ) ); + + + } + + boost::function< double( ) > gravitionalParameterOfDeformedBody = + boost::bind( &GravityFieldModel::getGravitationalParameter, + bodyMap.at( body )->getGravityFieldModel( ) ); + + // Create basic tidal variation object. + gravityFieldVariationModel + = boost::make_shared< BasicSolidBodyTideGravityFieldVariations >( + deformedBodyStateFunction, + deformedBodyOrientationFunction, + deformingBodyStateFunctions, + basicSolidBodyGravityVariationSettings->getBodyReferenceRadius( ), + gravitionalParameterOfDeformedBody, + gravitionalParametersOfDeformingBodies, + basicSolidBodyGravityVariationSettings->getLoveNumbers( ), + deformingBodies ); + } + break; + } + case tabulated_variation: + { + // Check input consistency + boost::shared_ptr< TabulatedGravityFieldVariationSettings > tabulatedGravityFieldVariationSettings + = boost::dynamic_pointer_cast< TabulatedGravityFieldVariationSettings >( + gravityFieldVariationSettings ); + if( tabulatedGravityFieldVariationSettings == NULL ) + { + throw std::runtime_error( "Error, expected tabulated gravity field variation settings for " + body ); + } + else + { + // Create variation. + gravityFieldVariationModel = boost::make_shared< TabulatedGravityFieldVariations > + ( tabulatedGravityFieldVariationSettings->getCosineCoefficientCorrections( ), + tabulatedGravityFieldVariationSettings->getSineCoefficientCorrections( ), + tabulatedGravityFieldVariationSettings->getMinimumDegree( ), + tabulatedGravityFieldVariationSettings->getMinimumOrder( ), + tabulatedGravityFieldVariationSettings->getInterpolatorSettings( )->interpolatorSettings_ ); + } + break; + } + default: + { + throw std::runtime_error( "Error, case " + boost::lexical_cast< std::string >( + gravityFieldVariationSettings->getBodyDeformationType( ) ) + + " not implemented for gravity field variations." ); + } + + } + + if( gravityFieldVariationModel == NULL ) + { + throw std::runtime_error( "Gravity variation model IS NULL after creation." ); + } + + return gravityFieldVariationModel; + +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createGravityFieldVariations.h b/Tudat/SimulationSetup/createGravityFieldVariations.h new file mode 100644 index 0000000000..99b25efdd3 --- /dev/null +++ b/Tudat/SimulationSetup/createGravityFieldVariations.h @@ -0,0 +1,316 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEGRAVITYFIELDVARIATIONS_H +#define TUDAT_CREATEGRAVITYFIELDVARIATIONS_H + +#include +#include + +#include + + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/Gravitation/gravityFieldVariations.h" +#include "Tudat/Mathematics/Interpolators/createInterpolator.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Object to define settings to be used for interpolating time-variations computed by an +//! environment model. +/*! + * Object to define settings to be used for interpolating time-variations computed by an environment + * model. For instance, gravity field variations may be computed a priori (in certain cases) and + * interpolated during propagation, which can significantly reduce the computation time.class + * ModelInterpolationSettings + */ +class ModelInterpolationSettings +{ +public: + + //! Constructor. + /*! Constructor + * \param initialTime Start time for interpolator. + * \param finalTime End time for interpolator. + * \param timeStep Time step with which to evaluate model, and provide input to interpolator + * \param interpolatorSettings Settings to use to crate the interpolator (i.e. type and any + * required associated information). + */ + ModelInterpolationSettings( + const double initialTime = 0.0, + const double finalTime = 0.0, + const double timeStep = 0.0, + const boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorSettings = + boost::make_shared< interpolators::LagrangeInterpolatorSettings >( 6 ) ): + interpolatorSettings_( interpolatorSettings ), initialTime_( initialTime ), + finalTime_( finalTime ), timeStep_( timeStep ){ } + + boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorSettings_; + + //! Start time for interpolator. + double initialTime_; + + //! End time for interpolator. + double finalTime_; + + //! Time step with which to evaluate model, and provide input to interpolator + double timeStep_; +}; + +//! Base class for defining settings for gravity field variations. +/*! + * Base class (non-functiona;) for defining settings for gravity field variations. Each type fo + * gravity field variations requires its own dedicated derived class, in which the properties to be + * used for the specific model are to be defined. + */ +class GravityFieldVariationSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param bodyDeformationType Type of gravity field variation to be used. + * \param interpolatorSettings Settings that are to be used to create an interpolator for the + * gravity field variations immediately upon creation (to be used during propagation). Default + * is NULL, in which no interpolation is used, and the model is evaluated during propagation. + */ + GravityFieldVariationSettings( const gravitation::BodyDeformationTypes bodyDeformationType, + const boost::shared_ptr< ModelInterpolationSettings > interpolatorSettings = NULL ): + bodyDeformationType_( bodyDeformationType ), + interpolatorSettings_( interpolatorSettings ){ } + + //! Virtual destructor. + virtual ~GravityFieldVariationSettings( ){ } + + //! Function to retrieve type of gravity field variation to be used. + /*! + * \brief Function to retrieve type of gravity field variation to be used. + * \return Type of gravity field variation to be used. + */ + gravitation::BodyDeformationTypes getBodyDeformationType( ){ return bodyDeformationType_; } + + //! Function to retrieve settings that are to be used to create an interpolator for the gravity + //! field variations + /*! + * \brief Function to retrieve settings that are to be used to create an interpolator for the + * gravity field variations + * \return Settings that are to be used to create an interpolator for the gravity field + * variations (if not NULL) + */ + boost::shared_ptr< ModelInterpolationSettings > getInterpolatorSettings( ){ return interpolatorSettings_; } + +protected: + + //! Type of gravity field variation to be used. + gravitation::BodyDeformationTypes bodyDeformationType_; + + //! Settings that are to be used to create an interpolator for the gravity field variations + /*! + * Settings that are to be used to create an interpolator for the gravity field variations + * immediately upon creation. If NULL, no interpolation is used, and the model is evaluated + * during propagation. + */ + boost::shared_ptr< ModelInterpolationSettings > interpolatorSettings_; + +}; + +//! Class to define settings for basic tidal gravity field variations, i.e. according to Eq. (6.6) +//! of IERS 2010 conventions. +class BasicSolidBodyGravityFieldVariationSettings: public GravityFieldVariationSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param deformingBodies List of bodies causing tidal deformation + * \param loveNumbers List of Love number for the deformed body. First vector level denotes + * degree (index 0 = degree 2), second vector level denotes order and must be of maximum size + * (loveNumbers.size( ) + 2, i.e. maximum degree >= maximum order) + * \param bodyReferenceRadius Reference (typically equatorial) radius of body being deformed + * \param interpolatorSettings Settings that are to be used to create an interpolator for the + * gravity field variations immediately upon creation (to be used during propagation). Default + * is NULL, in which no interpolation is used, and the model is evaluated during propagation. + */ + BasicSolidBodyGravityFieldVariationSettings( + const std::vector< std::string > deformingBodies, + const std::vector< std::vector< std::complex< double > > > loveNumbers, + const double bodyReferenceRadius, + const boost::shared_ptr< ModelInterpolationSettings > interpolatorSettings = NULL ): + GravityFieldVariationSettings( gravitation::basic_solid_body, interpolatorSettings ), + deformingBodies_( deformingBodies ), loveNumbers_( loveNumbers ), + bodyReferenceRadius_( bodyReferenceRadius ){ } + + virtual ~BasicSolidBodyGravityFieldVariationSettings( ){ } + + //! Function to retrieve list of bodies causing tidal deformation + /*! + * \brief Function to retrieve list of bodies causing tidal deformation + * \return List of bodies causing tidal deformation + */ + std::vector< std::string > getDeformingBodies( ){ return deformingBodies_;} + + //! Function to retrieve list of Love number for the deformed body. + /*! + * \brief Function to retrieve list of Love number for the deformed body. + * \return List of Love number for the deformed body. + */ + std::vector< std::vector< std::complex< double > > > getLoveNumbers( ){ return loveNumbers_; } + + //! Function to retrieve reference (typically equatorial) radius of body being deformed + /*! + * \brief Function to retrieve reference (typically equatorial) radius of body being deformed + * \return Reference (typically equatorial) radius of body being deformed + */ + double getBodyReferenceRadius( ){ return bodyReferenceRadius_; } + + //! Function to reset list of bodies causing tidal deformation + /*! + * \brief Function to reset list of bodies causing tidal deformation + * \param deformingBodies New list of bodies causing tidal deformation + */ + void resetDeformingBodies( const std::vector< std::string >& deformingBodies ){ + deformingBodies_ = deformingBodies; } + +protected: + + //! List of bodies causing tidal deformation + std::vector< std::string > deformingBodies_; + + //! List of Love number for the deformed body. + std::vector< std::vector< std::complex< double > > > loveNumbers_; + + //! Reference (typically equatorial) radius of body being deformed + double bodyReferenceRadius_; + +}; + +//! Class to define settings for tabulated gravity field variations. +class TabulatedGravityFieldVariationSettings: public GravityFieldVariationSettings +{ +public: + + //! Constructor + /*! + * Constructor + * \param cosineCoefficientCorrections Map of corrections to cosine coefficients (key is time) + * \param sineCoefficientCorrections Map of corrections to sine coefficients (key is time) + * \param minimumDegree Minimum degree (i.e. degree represented by first row of correction + * matrix values in (co)sineCoefficientCorrections) of spherical harmonic corrections. + * \param minimumOrder Minimum order (i.e. degree represented by first column of correction + * matrix values in (co)sineCoefficientCorrections of spherical harmonic corrections. + * \param interpolatorSettings Settings to use for the interpolator that is to be used. + */ + TabulatedGravityFieldVariationSettings( + const std::map< double, Eigen::MatrixXd > cosineCoefficientCorrections, + const std::map< double, Eigen::MatrixXd > sineCoefficientCorrections, + const int minimumDegree, const int minimumOrder, + const boost::shared_ptr< interpolators::InterpolatorSettings > interpolatorSettings ): + GravityFieldVariationSettings( + gravitation::tabulated_variation, boost::make_shared< ModelInterpolationSettings >( + TUDAT_NAN, TUDAT_NAN, TUDAT_NAN, interpolatorSettings ) ), + cosineCoefficientCorrections_( cosineCoefficientCorrections ), + sineCoefficientCorrections_( sineCoefficientCorrections ), + minimumDegree_( minimumDegree ), minimumOrder_( minimumOrder ){ } + + //! Function to retrieve map of corrections to cosine coefficients (key is time) + /*! + * \brief Function to retrieve map of corrections to cosine coefficients (key is time) + * \return Map of corrections to cosine coefficients (key is time) + */ + std::map< double, Eigen::MatrixXd > getCosineCoefficientCorrections( ) + { + return cosineCoefficientCorrections_; + } + + //! Function to retrieve map of corrections to sine coefficients (key is time) + /*! + * \brief Function to retrieve map of corrections to sine coefficients (key is time) + * \return Map of corrections to sine coefficients (key is time) + */ + std::map< double, Eigen::MatrixXd > getSineCoefficientCorrections( ) + { + return sineCoefficientCorrections_; + } + + //! Function to retrieve minimum degree of spherical harmonic corrections. + /*! + * \brief Function to retrieve minimum degree of spherical harmonic corrections. + * \return Minimum degree of spherical harmonic corrections. + */ + int getMinimumDegree( ) + { + return minimumDegree_; + } + + //! Function to retrieve minimum order of spherical harmonic corrections. + /*! + * \brief Function to retrieve minimum order of spherical harmonic corrections. + * \return Minimum order of spherical harmonic corrections. + */ + int getMinimumOrder( ) + { + return minimumOrder_; + } +private: + + //! Map of corrections to cosine coefficients (key is time) + std::map< double, Eigen::MatrixXd > cosineCoefficientCorrections_; + + //! Map of corrections to sine coefficients (key is time) + std::map< double, Eigen::MatrixXd > sineCoefficientCorrections_; + + //! Minimum degree of spherical harmonic corrections. + int minimumDegree_; + + //! Minimum order of spherical harmonic corrections. + int minimumOrder_; + +}; + +//! Function to create a set of gravity field variations, stored in the associated interface class +/*! + * Function to create a set of gravity field variations, stored in the associated interface class of + * type GravityFieldVariationsSet + * \param body Body for which gravity field variations are createad + * \param bodyMap List of body objects in simulations. + * \param gravityFieldVariationSettings List of settings for gravity field variations + * \return Interface class containing list of GravityFieldVariations. + */ +boost::shared_ptr< gravitation::GravityFieldVariationsSet > createGravityFieldModelVariationsSet( + const std::string& body, + const NamedBodyMap& bodyMap, + const std::vector< boost::shared_ptr< GravityFieldVariationSettings > >& + gravityFieldVariationSettings ); + +//! Function to create a single gravity field variation object. +/*! + * Function to create a single gravity field variation object. + * \param gravityFieldVariationSettings Settings for the gravity field variation object that is to + * be created. Depending on the settings and type of the gravity field variations, spherical + * harmonic corrections are calculated a priori and handled by an interpolator during propagation, + * or they are directly calculated from teh current state during numerical propagation. + * \param body Body for which gravity field variations are createad + * \param bodyMap List of body objects in simulations. + * \return Single gravity field variation object. + */ +boost::shared_ptr< gravitation::GravityFieldVariations > createGravityFieldVariationsModel( + const boost::shared_ptr< GravityFieldVariationSettings > gravityFieldVariationSettings, + const std::string body, + const NamedBodyMap bodyMap ); + +} // namespace simulation_setup +} // namespace tudat +#endif // TUDAT_CREATEGRAVITYFIELDVARIATIONS_H diff --git a/Tudat/SimulationSetup/createRadiationPressureInterface.cpp b/Tudat/SimulationSetup/createRadiationPressureInterface.cpp new file mode 100644 index 0000000000..778ae6d938 --- /dev/null +++ b/Tudat/SimulationSetup/createRadiationPressureInterface.cpp @@ -0,0 +1,152 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include + +#include "Tudat/SimulationSetup/createRadiationPressureInterface.h" +#include "Tudat/Astrodynamics/BasicAstrodynamics/sphericalBodyShapeModel.h" +#include "Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to obtain (by reference) the position functions and radii of occulting bodies +void getOccultingBodiesInformation( + const NamedBodyMap& bodyMap, const std::vector< std::string >& occultingBodies, + std::vector< boost::function< Eigen::Vector3d( ) > >& occultingBodyPositions, + std::vector< double >& occultingBodyRadii ) +{ + // Iterate over occulring bodies and retrieve radius and position function. + for( unsigned int i = 0; i < occultingBodies.size( ); i++ ) + { + if( bodyMap.count( occultingBodies[ i ] ) == 0 ) + { + throw std::runtime_error( "Error, could not find body " + occultingBodies[ i ] + + " in body map when making occulting body settings" ); + } + else + { + boost::shared_ptr< basic_astrodynamics::BodyShapeModel > shapeModel = + bodyMap.at( occultingBodies.at( i ) )->getShapeModel( ); + if( shapeModel == NULL ) + { + throw std::runtime_error( "Error, no shape model for " + occultingBodies[ i ] + + " when making occulting body settings" ); + } + occultingBodyPositions.push_back( + boost::bind( &Body::getPosition, bodyMap.at( occultingBodies[ i ] ) ) ); + occultingBodyRadii.push_back( shapeModel->getAverageRadius( ) ); + } + } +} + +//! Function to create a radiation pressure interface. +boost::shared_ptr< electro_magnetism::RadiationPressureInterface > createRadiationPressureInterface( + const boost::shared_ptr< RadiationPressureInterfaceSettings > radiationPressureInterfaceSettings, + const std::string& bodyName, const NamedBodyMap& bodyMap ) +{ + boost::shared_ptr< electro_magnetism::RadiationPressureInterface > radiationPressureInterface; + + // Check type of radiation pressure interface + switch( radiationPressureInterfaceSettings->getRadiationPressureType( ) ) + { + case cannon_ball: + { + // Check type consistency. + boost::shared_ptr< CannonBallRadiationPressureInterfaceSettings > cannonBallSettings = + boost::dynamic_pointer_cast< CannonBallRadiationPressureInterfaceSettings >( + radiationPressureInterfaceSettings ); + if( cannonBallSettings == NULL ) + { + throw std::runtime_error( "Error when making cannon ball radiation interface, type does not match object" ); + } + + // Retrieve source body and check consistency. + if( bodyMap.count( radiationPressureInterfaceSettings->getSourceBody( ) ) == 0 ) + { + throw std::runtime_error( "Error when making cannon ball radiation interface, source not found."); + } + + boost::shared_ptr< Body > sourceBody = + bodyMap.at( radiationPressureInterfaceSettings->getSourceBody( ) ); + + // Get reqruied data for occulting bodies. + std::vector< std::string > occultingBodies = cannonBallSettings->getOccultingBodies( ); + std::vector< boost::function< Eigen::Vector3d( ) > > occultingBodyPositions; + std::vector< double > occultingBodyRadii; + getOccultingBodiesInformation( + bodyMap, occultingBodies, occultingBodyPositions, occultingBodyRadii ); + + // Retrive radius of source if occultations are used. + double sourceRadius; + if( occultingBodyPositions.size( ) > 0 ) + { + boost::shared_ptr< basic_astrodynamics::BodyShapeModel > sourceShapeModel = + sourceBody->getShapeModel( ); + + if( sourceShapeModel == NULL ) + { + throw std::runtime_error( "Error when making occulted body, source body " + + radiationPressureInterfaceSettings->getSourceBody( ) + + " does not have a shape" ); + } + else + { + sourceRadius = sourceShapeModel->getAverageRadius( ); + } + } + else + { + sourceRadius = 0.0; + } + + // Create function returning radiated power. + boost::function< double( ) > radiatedPowerFunction; + if( defaultRadiatedPowerValues.count( + radiationPressureInterfaceSettings->getSourceBody( ) ) == 0 ) + { + throw std::runtime_error( "Error, no radiated power found for " + + radiationPressureInterfaceSettings->getSourceBody( ) ); + } + else + { + radiatedPowerFunction = boost::lambda::constant( + defaultRadiatedPowerValues.at( + radiationPressureInterfaceSettings->getSourceBody( ) ) ); + } + + // Create radiation pressure interface. + radiationPressureInterface = + boost::make_shared< electro_magnetism::RadiationPressureInterface >( + radiatedPowerFunction, + boost::bind( &Body::getPosition, sourceBody ), + boost::bind( &Body::getPosition, bodyMap.at( bodyName ) ), + cannonBallSettings->getRadiationPressureCoefficient( ), + cannonBallSettings->getArea( ), occultingBodyPositions, occultingBodyRadii, + sourceRadius ); + break; + + } + default: + throw std::runtime_error( + "Error, radiation pressure type" + boost::lexical_cast< std::string >( + radiationPressureInterfaceSettings->getRadiationPressureType( ) ) + + "not recognized for body" + bodyName ); + } + + return radiationPressureInterface; +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createRadiationPressureInterface.h b/Tudat/SimulationSetup/createRadiationPressureInterface.h new file mode 100644 index 0000000000..8281b88a86 --- /dev/null +++ b/Tudat/SimulationSetup/createRadiationPressureInterface.h @@ -0,0 +1,171 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATERADIATIONPRESSUREINTERFACE_H +#define TUDAT_CREATERADIATIONPRESSUREINTERFACE_H + +#include +#include + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/ElectroMagnetism/radiationPressureInterface.h" + + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Default values for radiation pressure. +static const std::map< std::string, double > defaultRadiatedPowerValues = +{ { "Sun", 3.839E26 } }; + +//! List of radiation pressure model types. +enum RadiationPressureType +{ + cannon_ball +}; + +//! Base class for radiation pressure interface settings. +/*! + * Base class for providing settings for automatic radiation pressure properties creation. This is + * a non-functional base class, specific implementations must be defined in derived classes. + */ +class RadiationPressureInterfaceSettings +{ +public: + + //! Constructor + /*! + * Constructor. + * \param radiationPressureType Type of radiation pressure interface that is to be made. + * \param sourceBody Name of body emitting the radiation. + * \param occultingBodies List of bodies causing (partial) occultation + */ + RadiationPressureInterfaceSettings( + const RadiationPressureType radiationPressureType, + const std::string& sourceBody, + const std::vector< std::string > occultingBodies = std::vector< std::string >( ) ): + radiationPressureType_( radiationPressureType ), sourceBody_( sourceBody ), + occultingBodies_( occultingBodies ){ } + + //! Destructor + virtual ~RadiationPressureInterfaceSettings( ){ } + + //! Function returning type of radiation pressure interface that is to be made. + /*! + * Function returning type of radiation pressure interface that is to be made. + * \return Type of radiation pressure interface that is to be made. + */ + RadiationPressureType getRadiationPressureType( ){ return radiationPressureType_; } + + //! Function returning name of body emitting the radiation. + /*! + * Function returning name of body emitting the radiation. + * \return Name of body emitting the radiation. + */ + std::string getSourceBody( ){ return sourceBody_; } + + //! Function returning list of bodies causing (partial) occultation. + /*! + * Function returning list of bodies causing (partial) occultation. + * \return List of bodies causing (partial) occultation. + */ + std::vector< std::string > getOccultingBodies( ){ return occultingBodies_; } + +protected: + + //! Type of radiation pressure interface that is to be made. + RadiationPressureType radiationPressureType_; + + //! Name of body emitting the radiation. + std::string sourceBody_; + + //! List of bodies causing (partial) occultation + std::vector< std::string > occultingBodies_; +}; + +//! Class providing settings for the creation of a cannonball radiation pressure interface +class CannonBallRadiationPressureInterfaceSettings: public RadiationPressureInterfaceSettings +{ +public: + + /*! Constructor + * Constructor + * \param sourceBody Name of body emitting the radiation. + * \param area Surface area that undergoes radiation pressure. + * \param radiationPressureCoefficient Radiation pressure coefficient. + * \param occultingBodies List of bodies causing (partial) occultation. + */ + CannonBallRadiationPressureInterfaceSettings( + const std::string& sourceBody, const double area, const double radiationPressureCoefficient, + const std::vector< std::string >& occultingBodies = std::vector< std::string >( ) ): + RadiationPressureInterfaceSettings( cannon_ball, sourceBody, occultingBodies ), + area_( area ), radiationPressureCoefficient_( radiationPressureCoefficient ){ } + + //! Function to return surface area that undergoes radiation pressure. + /*! + * Function to return surface area that undergoes radiation pressure. + * \return Surface area that undergoes radiation pressure. + */ + double getArea( ){ return area_; } + + //! Function to return radiation pressure coefficient. + /*! + * Function to return radiation pressure coefficient. + * \return Radiation pressure coefficient. + */ + double getRadiationPressureCoefficient( ){ return radiationPressureCoefficient_; } + + +private: + + //! Surface area that undergoes radiation pressure. + double area_; + + //! Radiation pressure coefficient. + double radiationPressureCoefficient_; +}; + +//! Function to obtain (by reference) the position functions and radii of occulting bodies +/*! + * Function to obtain (by reference) the position functions and radii of occulting bodies. + * \param bodyMap List of body objects. + * \param occultingBodies List of bodies causing occultation. + * \param occultingBodyPositions List of position functions of occulting bodies (return by reference + * output variable). + * \param occultingBodyRadii List of radii of occulting bodies (return by reference + * output variable). + */ +void getOccultingBodiesInformation( + const NamedBodyMap& bodyMap, const std::vector< std::string >& occultingBodies, + std::vector< boost::function< Eigen::Vector3d( ) > >& occultingBodyPositions, + std::vector< double >& occultingBodyRadii ); + +//! Function to create a radiation pressure interface. +/*! + * Function to create a radiation pressure interface. + * \param radiationPressureInterfaceSettings Settings for the radiation pressure interface. + * \param bodyName Name of body for which radiation pressure interface. + * \param bodyMap List of body objects to use for creation of radiation pressure interface. + * \return Radiation pressure interface pointer of requested type and settings. + */ +boost::shared_ptr< electro_magnetism::RadiationPressureInterface > createRadiationPressureInterface( + const boost::shared_ptr< RadiationPressureInterfaceSettings > radiationPressureInterfaceSettings, + const std::string& bodyName, const NamedBodyMap& bodyMap ); + + + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_CREATERADIATIONPRESSUREINTERFACE_H diff --git a/Tudat/SimulationSetup/createRotationModel.cpp b/Tudat/SimulationSetup/createRotationModel.cpp new file mode 100644 index 0000000000..5636c88491 --- /dev/null +++ b/Tudat/SimulationSetup/createRotationModel.cpp @@ -0,0 +1,83 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#include +#include + +#include "Tudat/Astrodynamics/Ephemerides/simpleRotationalEphemeris.h" +#if USE_CSPICE +#include "Tudat/External/SpiceInterface/spiceRotationalEphemeris.h" +#endif +#include "Tudat/SimulationSetup/createRotationModel.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to create a rotation model. +boost::shared_ptr< ephemerides::RotationalEphemeris > createRotationModel( + const boost::shared_ptr< RotationModelSettings > rotationModelSettings, + const std::string& body ) +{ + using namespace tudat::ephemerides; + + // Declare return object. + boost::shared_ptr< RotationalEphemeris > rotationalEphemeris; + + // Check which type of rotation model is to be created. + switch( rotationModelSettings->getRotationType( ) ) + { + case simple_rotation_model: + { + // Check whether settings for simple rotation model are consistent with its type. + boost::shared_ptr< SimpleRotationModelSettings > simpleRotationSettings = + boost::dynamic_pointer_cast< SimpleRotationModelSettings >( rotationModelSettings ); + if( simpleRotationSettings == NULL ) + { + throw std::runtime_error( + "Error, expected simple rotation model settings for " + body ); + } + else + { + // Create and initialize simple rotation model. + rotationalEphemeris = boost::make_shared< SimpleRotationalEphemeris >( + simpleRotationSettings->getInitialOrientation( ), + simpleRotationSettings->getRotationRate( ), + simpleRotationSettings->getInitialTime( ), + basic_astrodynamics::JULIAN_DAY_ON_J2000, + simpleRotationSettings->getOriginalFrame( ), + simpleRotationSettings->getTargetFrame( ) ); + } + break; + } + #if USE_CSPICE + case spice_rotation_model: + { + // Create rotational ephemeris directly from Spice. + rotationalEphemeris = boost::make_shared< SpiceRotationalEphemeris >( + rotationModelSettings->getOriginalFrame( ), + rotationModelSettings->getTargetFrame( ) ); + break; + } + #endif + default: + throw std::runtime_error( + "Error, did not recognize rotation model settings type " + + boost::lexical_cast< std::string >( rotationModelSettings->getRotationType( ) ) ); + } + + return rotationalEphemeris; +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/createRotationModel.h b/Tudat/SimulationSetup/createRotationModel.h new file mode 100644 index 0000000000..146c29d208 --- /dev/null +++ b/Tudat/SimulationSetup/createRotationModel.h @@ -0,0 +1,179 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_CREATEROTATIONMODEL_H +#define TUDAT_CREATEROTATIONMODEL_H + +#include +#include + +#include + +#include "Tudat/SimulationSetup/body.h" +#include "Tudat/Astrodynamics/Ephemerides/rotationalEphemeris.h" + + +namespace tudat +{ + +namespace simulation_setup +{ + +//! List of rotation models available in simulations +/*! + * List of rotation models available in simulations. Rotation models not defined by this + * given enum cannot be used for automatic model setup. + */ +enum RotationModelType +{ + simple_rotation_model, + spice_rotation_model +}; + +//! Class for providing settings for rotation model. +/*! + * Class for providing settings for automatic rotation model creation. This class is a + * functional (base) class for settings of rotation models that require no information in + * addition to their type. Rotation model classes defining requiring additional information + * must be created using an object derived from this class. + */ +class RotationModelSettings +{ +public: + + //! Constructor, sets type of rotation model. + /*! + * Constructor, sets type of rotation model and base and target frame identifiers. + * Settings for rotation models requiring additional information should be defined in a + * derived class. + * \param rotationType Type of rotation model that is to be created. + * \param originalFrame Base frame of rotation model. + * \param targetFrame Target frame of rotation model. + */ + RotationModelSettings( const RotationModelType rotationType, + const std::string& originalFrame, + const std::string& targetFrame ): + rotationType_( rotationType ), originalFrame_( originalFrame ), + targetFrame_( targetFrame ){ } + + //! Destructor. + virtual ~RotationModelSettings( ){ } + + //! Function to return the type of rotation model that is to be created. + /*! + * Function to return the type of rotation model that is to be created. + * \return Type of rotation model that is to be created. + */ + RotationModelType getRotationType( ){ return rotationType_; } + + //! Function to return the base frame of rotation model. + /*! + * Function to return the base frame of rotation model. + * \return Base frame of rotation model. + */ + std::string getOriginalFrame( ){ return originalFrame_; } + + //! Function to return the target frame of rotation model. + /*! + * Function to return the target frame of rotation model. + * \return Target frame of rotation model. + */ + std::string getTargetFrame( ){ return targetFrame_; } + + + void resetOriginalFrame( const std::string& originalFrame ) + { + originalFrame_ = originalFrame; + } + +protected: + + //! Type of rotation model that is to be created. + RotationModelType rotationType_; + + //! Target frame of rotation model. + std::string originalFrame_; + + //! Base frame of rotation model. + std::string targetFrame_; + +}; + +//! RotationModelSettings derived class for defining settings of a simple rotational ephemeris. +class SimpleRotationModelSettings: public RotationModelSettings +{ +public: + //! Constructor, + /*! + * Constructor, sets simple rotational ephemeris properties. + * \param originalFrame Base frame of rotation model. + * \param targetFrame Target frame of rotation model. + * \param initialOrientation Rotation from base to target frame at initialTime. + * \param initialTime Time at which initialOrientation represents the instantaneous rotation. + * \param rotationRate Rotation rate of body about its local z-axis. + */ + SimpleRotationModelSettings( const std::string& originalFrame, + const std::string& targetFrame, + const Eigen::Quaterniond& initialOrientation, + const double initialTime, + const double rotationRate ): + RotationModelSettings( simple_rotation_model, originalFrame, targetFrame ), + initialOrientation_( initialOrientation ), + initialTime_( initialTime ), rotationRate_( rotationRate ){ } + + //! Function to return rotation from base to target frame at initialTime. + /*! + * Function to return rotation from base to target frame at initialTime. + * \return Rotation from base to target frame at initialTime. + */ + Eigen::Quaterniond getInitialOrientation( ){ return initialOrientation_; } + + //! Function to return time at which initialOrientation represents the instantaneous rotation. + /*! + * Function to return time at which initialOrientation represents the instantaneous rotation. + * \return Time at which initialOrientation represents the instantaneous rotation. + */ + double getInitialTime( ){ return initialTime_; } + + //! Function to return rotation rate of body about its local z-axis. + /*! + * Function to return rotation rate of body about its local z-axis. + * \return Rotation rate of body about its local z-axis. + */ + double getRotationRate( ){ return rotationRate_; } + +private: + + //! Rotation from base to target frame at initialTime. + Eigen::Quaterniond initialOrientation_; + + //! Time at which initialOrientation represents the instantaneous rotation. + double initialTime_; + + //! Rotation rate of body about its local z-axis. + double rotationRate_; +}; + +//! Function to create a rotation model. +/*! + * Function to create a rotation model based on model-specific settings for the rotation. + * \param rotationModelSettings Settings for the rotation model that is to be created, defined + * a pointer to an object of class (derived from) RotationSettings. + * \param body Name of the body for which the rotation model is to be created. + * \return Rotation model created according to settings in rotationModelSettings. + */ +boost::shared_ptr< ephemerides::RotationalEphemeris > createRotationModel( + const boost::shared_ptr< RotationModelSettings > rotationModelSettings, + const std::string& body ); +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_CREATEROTATIONMODEL_H diff --git a/Tudat/SimulationSetup/defaultBodies.cpp b/Tudat/SimulationSetup/defaultBodies.cpp new file mode 100644 index 0000000000..5d087dacb1 --- /dev/null +++ b/Tudat/SimulationSetup/defaultBodies.cpp @@ -0,0 +1,169 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#if USE_CSPICE +#include "Tudat/External/SpiceInterface/spiceInterface.h" +#endif +#include "Tudat/InputOutput/basicInputOutput.h" +#include "Tudat/SimulationSetup/defaultBodies.h" + +namespace tudat +{ +namespace simulation_setup +{ + +//! Function to create default settings for a body's atmosphere model. +boost::shared_ptr< AtmosphereSettings > getDefaultAtmosphereModelSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ) +{ + + boost::shared_ptr< AtmosphereSettings > atmosphereSettings; + + // A default atmosphere is only implemented for Earth. + if( bodyName == "Earth" ) + { + atmosphereSettings = boost::make_shared< TabulatedAtmosphereSettings >( + input_output::getTudatRootPath( ) + "/External/AtmosphereTables/" + + "USSA1976Until100kmPer100mUntil1000kmPer1000m.dat" ); + } + + + return atmosphereSettings; +} + +//! Function to create default settings for a body's ephemeris. +boost::shared_ptr< EphemerisSettings > getDefaultEphemerisSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ) +{ +#if USE_CSPICE + // Create settings for an interpolated Spice ephemeris. + return boost::make_shared< InterpolatedSpiceEphemerisSettings >( + initialTime, finalTime, 300.0, "SSB", "ECLIPJ2000" ); +#else + throw std::runtime_error( "Default ephemeris settings can only be used together with the SPICE library" ); +#endif +} + +//! Function to create default settings for a body's gravity field model. +boost::shared_ptr< GravityFieldSettings > getDefaultGravityFieldSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ) +{ + if( bodyName == "Earth" ) + { + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > coefficients; + std::string earthGravityFieldFile = + input_output::getTudatRootPath( ) + "Astrodynamics/Gravitation/egm96_coefficients.dat"; + readGravityFieldFile( earthGravityFieldFile, 50, 50, coefficients ); + + return boost::make_shared< SphericalHarmonicsGravityFieldSettings >( + 0.3986004418E15, 6378137.0, coefficients.first, coefficients.second, "IAU_Earth" ); + } + else if( bodyName == "Moon" ) + { + std::pair< Eigen::MatrixXd, Eigen::MatrixXd > coefficients; + std::string earthGravityFieldFile = + input_output::getTudatRootPath( ) + "Astrodynamics/Gravitation/gglp_lpe200_sha.tab"; + std::pair< double, double > referenceData = + readGravityFieldFile( earthGravityFieldFile, 50, 50, coefficients, 1, 0 ); + return boost::make_shared< SphericalHarmonicsGravityFieldSettings >( + referenceData.first, referenceData.second, coefficients.first, coefficients.second, "IAU_Moon" ); + + } + else + { +#if USE_CSPICE + // Create settings for a point mass gravity with data from Spice + return boost::make_shared< GravityFieldSettings >( central_spice ); +#else + throw std::runtime_error( "Default gravity field settings can only be used together with the SPICE library" ); +#endif + } +} + + +//! Function to create default settings from which to create a single body object. +boost::shared_ptr< RotationModelSettings > getDefaultRotationModelSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ) +{ +#if USE_CSPICE + // Create settings for a rotation model taken directly from Spice. + return boost::make_shared< RotationModelSettings >( + spice_rotation_model, "ECLIPJ2000", "IAU_" + bodyName ); +#else + throw std::runtime_error( "Default rotational model settings can only be used together with the SPICE library" ); +#endif +} + +//! Function to create default settings for a body's shape model. +boost::shared_ptr< BodyShapeSettings > getDefaultBodyShapeSettings( + const std::string& body, + const double initialTime, const double finalTime ) +{ +#if USE_CSPICE + return boost::make_shared< SphericalBodyShapeSettings >( + spice_interface::getAverageRadius( body ) ); +#else + throw std::runtime_error( "Default body settings can only be used together with the SPICE library" ); +#endif +} + +//! Function to create default settings for a body's rotation model. +boost::shared_ptr< BodySettings > getDefaultSingleBodySettings( + const std::string& body, + const double initialTime, + const double finalTime ) +{ + boost::shared_ptr< BodySettings > singleBodySettings = boost::make_shared< BodySettings >( ); + + // Get default settings for each of the environment models in the body. + singleBodySettings->atmosphereSettings = getDefaultAtmosphereModelSettings( + body, initialTime, finalTime ); + singleBodySettings->rotationModelSettings = getDefaultRotationModelSettings( + body, initialTime, finalTime ); + singleBodySettings->ephemerisSettings = getDefaultEphemerisSettings( + body, initialTime, finalTime ); + singleBodySettings->gravityFieldSettings = getDefaultGravityFieldSettings( + body, initialTime, finalTime ); + singleBodySettings->shapeModelSettings = getDefaultBodyShapeSettings( + body, initialTime, finalTime ); + + return singleBodySettings; +} + + +//! Function to create default settings from which to create a set of body objects. +std::map< std::string, boost::shared_ptr< BodySettings > > getDefaultBodySettings( + const std::vector< std::string >& bodies, + const double initialTime, + const double finalTime ) +{ + std::map< std::string, boost::shared_ptr< BodySettings > > settingsMap; + + // Iterative over all bodies and get default settings. + for( unsigned int i = 0; i < bodies.size( ); i++ ) + { + settingsMap[ bodies.at( i ) ] = getDefaultSingleBodySettings( + bodies.at( i ), initialTime, finalTime ); + + } + return settingsMap; +} + +} // namespace simulation_setup + +} // namespace tudat diff --git a/Tudat/SimulationSetup/defaultBodies.h b/Tudat/SimulationSetup/defaultBodies.h new file mode 100644 index 0000000000..a548985548 --- /dev/null +++ b/Tudat/SimulationSetup/defaultBodies.h @@ -0,0 +1,163 @@ +/* Copyright (c) 2010-2016, Delft University of Technology + * All rigths reserved + * + * This file is part of the Tudat. Redistribution and use in source and + * binary forms, with or without modification, are permitted exclusively + * under the terms of the Modified BSD license. You should have received + * a copy of the license with this file. If not, please or visit: + * http://tudat.tudelft.nl/LICENSE. + */ + +#ifndef TUDAT_DEFAULTBODIES_H +#define TUDAT_DEFAULTBODIES_H + +#include "Tudat/SimulationSetup/createBodies.h" + +namespace tudat +{ + +namespace simulation_setup +{ + +//! Function to create default settings for a body's atmosphere model. +/*! + * Function to create default settings for a body's atmosphere model. Currently set to no + * atmosphere, except for Earth, for which a tabulated version of the 1976 Standard Atmosphere is + * set. + * \param bodyName Name of body for which default atmosphere settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \param finalTime End time up to which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \return Default settings for a body's atmosphere model. + */ +boost::shared_ptr< AtmosphereSettings > getDefaultAtmosphereModelSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ); + +//! Function to create default settings for a body's ephemeris. +/*! + * Function to create default settings for a body's ephemeris. Currently set to a + * creating a 6th order Lagrange interpolator from Spice, with a 300 s time step. + * \param bodyName Name of body for which default ephemeris settings are to be retrieved. + * \param initialTime Start time at which ephemeris is to be created. + * \param finalTime End time up to which ephemeris is to be created. + * \return Default settings for a body's ephemeris. + */ +boost::shared_ptr< EphemerisSettings > getDefaultEphemerisSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ); + +//! Function to create default settings for a body's gravity field model. +/*! + * Function to create default settings for a body's gravity field model. Currently set to + * a point mass gravty field, with the gravitational parameter obtained from Spice. + * \param bodyName Name of body for which default gravity field settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \param finalTime End time up to which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \return Default settings for a body's gravity field model. + */ +boost::shared_ptr< GravityFieldSettings > getDefaultGravityFieldSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ); + +//! Function to create default settings for a body's rotation model. +/*! + * Function to create default settings for a body's rotation model. Currently set to + * a rotation model taken directly from Spice + * \param bodyName Name of body for which default rotation model settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \param finalTime End time up to which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \return Default settings for a body's rotation model. + */ +boost::shared_ptr< RotationModelSettings > getDefaultRotationModelSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ); + +//! Function to create default settings for a body's shape model. +/*! + * Function to create default settings for a body's shape model. Currently set to + * a spherical model, with the radius taken from Spice + * \param body Name of body for which default shape model settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (not currently used by this function, but included for consistency). + * \param finalTime End time up to which environment models in body are to be created + * (not currently used by this function, but included for consistency). + */ +boost::shared_ptr< BodyShapeSettings > getDefaultBodyShapeSettings( + const std::string& body, + const double initialTime, const double finalTime ); + + +//! Function to create default settings from which to create a single body object. +/*! + * Function to create default settings from which to create a single body object using + * the code in createBodies.h/.cpp. This function is included to streamline and simplify the + * creation of typical celestial bodies. The default settings for the various + * environment models of the body are defined in the various functions defined in this file. + * \param bodyName Name of body for which default settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (included as some environment models require e.g., interpolators to be created over + * a certain time period). + * \param finalTime End time up to which environment models in body are to be created + * (included as some environment models require e.g., interpolators to be created over + * a certain time period). + * \return Default settings from which to create a single body object. + */ +boost::shared_ptr< RotationModelSettings > getDefaultRotationModelSettings( + const std::string& bodyName, + const double initialTime, + const double finalTime ); + +//! Function to create default settings for a single for body. +/*! + * Function to create default settings for a single body from which to create a object using + * the code in createBodies.h/.cpp. This function is included to streamline and simplify the + * creation of typical celestial bodies. The default settings for the various + * environment models of the body are defined in the various functions defined in this file. + * \param body Name of body for which default settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (included as some environment models require e.g., interpolators to be created over + * a certain time period). + * \param finalTime End time up to which environment models in body are to be created + * (included as some environment models require e.g., interpolators to be created over + * a certain time period). + */ +boost::shared_ptr< BodySettings > getDefaultSingleBodySettings( + const std::string& body, + const double initialTime, + const double finalTime ); + +//! Function to create default settings from which to create a set of body objects. +/*! + * Function to create default settings from which to create a set of body objects using + * the code in createBodies.h/.cpp. This function is included to streamline and simplify the + * creation of typical celestial bodies. The default settings for the various + * environment models of the body are defined in the various functions defined in this file. + * \param bodies List of bodies for which default settings are to be retrieved. + * \param initialTime Start time at which environment models in body are to be created + * (included as some environment models require e.g., interpolators to be created over + * a certain time period). + * \param finalTime End time up to which environment models in body are to be created + * (included as some environment models require e.g., interpolators to be created over + * a certain time period). + * \return Default settings from which to create a set of body objects. + */ +std::map< std::string, boost::shared_ptr< BodySettings > > getDefaultBodySettings( + const std::vector< std::string >& bodies, + const double initialTime, + const double finalTime ); + +} // namespace simulation_setup + +} // namespace tudat + +#endif // TUDAT_DEFAULTBODIES_H