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Spherical coordinate conversions #47

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merged 10 commits into from
Jun 27, 2016
Merged

Spherical coordinate conversions #47

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ce67ee8
Merge remote-tracking branch 'upstream/master'
DominicDirkx May 17, 2016
7b16ac2
Merge branch 'master' of git://github.com/Tudat/tudat
DominicDirkx Jun 1, 2016
fa99fc0
Up to date with master
DominicDirkx Jun 4, 2016
4e4406f
Start version of spherical orbital state conversions
DominicDirkx Jun 4, 2016
0de49ce
Fixed unit test, singular cases handling TBD
DominicDirkx Jun 4, 2016
1ead583
Updated to new master
DominicDirkx Jun 6, 2016
8781938
Merge remote-tracking branch 'upstream/master'
DominicDirkx Jun 6, 2016
2e1b8ce
Updated to master
DominicDirkx Jun 7, 2016
e82f7c4
Added comments and expanded unit test for Cartesian <-> Spherical orb…
DominicDirkx Jun 7, 2016
1913ea6
Added extra comments to spherical conversions
DominicDirkx Jun 27, 2016
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2 changes: 1 addition & 1 deletion Tudat/Astrodynamics/Aerodynamics/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +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_simulation_setup tudat_aerodynamics tudat_reference_frames tudat_ephemerides tudat_basic_mathematics ${Boost_LIBRARIES})
target_link_libraries(test_AerodynamicMomentAndAerodynamicForce tudat_simulation_setup tudat_aerodynamics tudat_reference_frames tudat_ephemerides tudat_basic_astrodynamics tudat_basic_mathematics ${Boost_LIBRARIES})

add_executable(test_AerodynamicsNamespace "${SRCROOT}${AERODYNAMICSDIR}/UnitTests/unitTestAerodynamicsNamespace.cpp")
setup_custom_test_program(test_AerodynamicsNamespace "${SRCROOT}${AERODYNAMICSDIR}")
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6 changes: 6 additions & 0 deletions Tudat/Astrodynamics/BasicAstrodynamics/CMakeLists.txt
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Expand Up @@ -50,6 +50,7 @@ set(BASICASTRODYNAMICS_SOURCES
"${SRCROOT}${BASICASTRODYNAMICSDIR}/astrodynamicsFunctions.cpp"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/physicalConstants.cpp"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/bodyShapeModel.cpp"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/sphericalStateConversions.cpp"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/unifiedStateModelElementConversions.cpp"
)

Expand All @@ -76,6 +77,7 @@ set(BASICASTRODYNAMICS_HEADERS
"${SRCROOT}${BASICASTRODYNAMICSDIR}/bodyShapeModel.h"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/oblateSpheroidBodyShapeModel.h"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/sphericalBodyShapeModel.h"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/sphericalStateConversions.h"
"${SRCROOT}${BASICASTRODYNAMICSDIR}/unifiedStateModelElementConversions.h"
)

Expand Down Expand Up @@ -149,6 +151,10 @@ add_executable(test_GeodeticCoordinateConversions "${SRCROOT}${BASICASTRODYNAMIC
setup_custom_test_program(test_GeodeticCoordinateConversions "${SRCROOT}${BASICASTRODYNAMICSDIR}")
target_link_libraries(test_GeodeticCoordinateConversions tudat_basic_astrodynamics tudat_basic_mathematics ${Boost_LIBRARIES})

add_executable(test_SphericalOrbitalStateConversions "${SRCROOT}${BASICASTRODYNAMICSDIR}/UnitTests/unitTestSphericalOrbitStateConversions.cpp")
setup_custom_test_program(test_SphericalOrbitalStateConversions "${SRCROOT}${BASICASTRODYNAMICSDIR}")
target_link_libraries(test_SphericalOrbitalStateConversions tudat_basic_astrodynamics tudat_reference_frames tudat_basic_mathematics ${Boost_LIBRARIES})

add_executable(test_BodyShapeModels "${SRCROOT}${BASICASTRODYNAMICSDIR}/UnitTests/unitTestBodyShapeModels.cpp")
setup_custom_test_program(test_BodyShapeModels "${SRCROOT}${BASICASTRODYNAMICSDIR}")
target_link_libraries(test_BodyShapeModels tudat_basic_astrodynamics tudat_basic_mathematics ${Boost_LIBRARIES})
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310 changes: 310 additions & 0 deletions Tudat/Astrodynamics/BasicAstrodynamics/UnitTests/unitTestSphericalOrbitStateConversions.cpp
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@@ -0,0 +1,310 @@
/* 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 <iostream>

#include <boost/test/unit_test.hpp>

#include <Eigen/Core>

#include "Tudat/Basics/testMacros.h"
#include "Tudat/Astrodynamics/BasicAstrodynamics/unitConversions.h"
#include "Tudat/Astrodynamics/BasicAstrodynamics/sphericalStateConversions.h"
#include "Tudat/Astrodynamics/ReferenceFrames/referenceFrameTransformations.h"

namespace tudat
{
namespace unit_tests
{

using namespace orbital_element_conversions;
using namespace unit_conversions;
using namespace reference_frames;

BOOST_AUTO_TEST_SUITE( test_spherical_state_conversions )

//! Test Cartesian to spherical orbital state transformations, using Matlab script of Erwin Mooij to generate reference data.
//! See test_aerodynamic_angle_calculator unit test
BOOST_AUTO_TEST_CASE( testSphericalStateConversions )
{
// Test case 1: arbitrary rotation
{
// Define Cartesian state
basic_mathematics::Vector6d cartesianState;
cartesianState<<-1656517.23153109, -5790058.28764025, -2440584.88186829,
6526.30784888051, -2661.34558272018, 2377.09572383163;

// Define associated spherical orbital state
double testHeadingAngle = 1.229357188236127;
double testFlightPathAngle = -0.024894033070522;
double testLatitude = -0.385027359562548;
double testLongitude = -1.849449608688977;
double radius = cartesianState.segment( 0, 3 ).norm( );
double speed = cartesianState.segment( 3, 3 ).norm( );

// Convert pack and forth
basic_mathematics::Vector6d sphericalOrbitState = convertCartesianToSphericalOrbitalState(
cartesianState );
basic_mathematics::Vector6d reconvertedCartesianState = convertSphericalOrbitalToCartesianState(
sphericalOrbitState );

// Check computed spherical orbital state against reference data
BOOST_CHECK_SMALL(
std::fabs( radius - sphericalOrbitState( radiusIndex ) ),
radius * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLatitude - sphericalOrbitState( latitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLongitude - sphericalOrbitState( longitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( speed - sphericalOrbitState( speedIndex ) ),
speed * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testFlightPathAngle - sphericalOrbitState( flightPathIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testHeadingAngle - sphericalOrbitState( headingAngleIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );

// Check consistency of back-and-forth conversion
for( unsigned int i = 0; i < 3; i++ )
{
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i ) - cartesianState( i ) ),
radius * 2.0 * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i + 3 ) - cartesianState( i + 3 ) ),
speed * 2.0 * std::numeric_limits< double >::epsilon( ) );
}
}

// Test case 2: rotation with zero (heading, flight path, latitude) and half pi (longitude) angles.
{
// Define Cartesian state
basic_mathematics::Vector6d cartesianState;
cartesianState<<0.0, 6498098.09700000, 0.0, 0.0, 0.0, 7.438147520000000e+03;

// Define associated spherical orbital state
double testHeadingAngle = 0.0;
double testFlightPathAngle = 0.0;
double testLatitude = 0.0;
double testLongitude = mathematical_constants::PI / 2.0;
double radius = cartesianState.segment( 0, 3 ).norm( );
double speed = cartesianState.segment( 3, 3 ).norm( );

// Convert pack and forth
basic_mathematics::Vector6d sphericalOrbitState = convertCartesianToSphericalOrbitalState(
cartesianState );
basic_mathematics::Vector6d reconvertedCartesianState = convertSphericalOrbitalToCartesianState(
sphericalOrbitState );

// Check computed spherical orbital state against reference data
BOOST_CHECK_SMALL(
std::fabs( radius - sphericalOrbitState( radiusIndex ) ),
radius * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLatitude - sphericalOrbitState( latitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLongitude - sphericalOrbitState( longitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( speed - sphericalOrbitState( speedIndex ) ),
speed * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testFlightPathAngle - sphericalOrbitState( flightPathIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testHeadingAngle - sphericalOrbitState( headingAngleIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );

// Check consistency of back-and-forth conversion
for( unsigned int i = 0; i < 3; i++ )
{
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i ) - cartesianState( i ) ),
radius * 2.0 * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i + 3 ) - cartesianState( i + 3 ) ),
speed * 2.0 * std::numeric_limits< double >::epsilon( ) );
}
}

// Test case 3: rotation with zero (heading, flight path, longitude) and half pi (latitude) angles.
{
// Define Cartesian state
basic_mathematics::Vector6d cartesianState;
cartesianState<<0.0, 0.0, 6.498098097000000e3, -7.438147520000000e3, 0.0, 0.0;

// Define associated spherical orbital state
double testHeadingAngle = 0.0;
double testFlightPathAngle = 0.0;
double testLatitude = mathematical_constants::PI / 2.0;
double testLongitude = 0.0;
double radius = cartesianState.segment( 0, 3 ).norm( );
double speed = cartesianState.segment( 3, 3 ).norm( );

// Convert pack and forth
basic_mathematics::Vector6d sphericalOrbitState = convertCartesianToSphericalOrbitalState(
cartesianState );
basic_mathematics::Vector6d reconvertedCartesianState = convertSphericalOrbitalToCartesianState(
sphericalOrbitState );

// Check computed spherical orbital state against reference data
BOOST_CHECK_SMALL(
std::fabs( radius - sphericalOrbitState( radiusIndex ) ),
radius * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLatitude - sphericalOrbitState( latitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLongitude - sphericalOrbitState( longitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( speed - sphericalOrbitState( speedIndex ) ),
speed * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testFlightPathAngle - sphericalOrbitState( flightPathIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testHeadingAngle - sphericalOrbitState( headingAngleIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );

// Check consistency of back-and-forth conversion
for( unsigned int i = 0; i < 3; i++ )
{
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i ) - cartesianState( i ) ),
radius * 2.0 * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i + 3 ) - cartesianState( i + 3 ) ),
speed * 2.0 * std::numeric_limits< double >::epsilon( ) );
}
}

// Test case 4: rotation with zero (heading, longitude) and half pi (latitude, flight path) angles.
{
basic_mathematics::Vector6d cartesianState;
cartesianState<<0.0, 0.0, 6.498098097000000e3, 0.0, 0.0, -7.438147520000000e3;

// Define associated spherical orbital state
double testFlightPathAngle = -mathematical_constants::PI / 2.0;
double testLatitude = mathematical_constants::PI / 2.0;
double testLongitude = 0.0;
double radius = cartesianState.segment( 0, 3 ).norm( );
double speed = cartesianState.segment( 3, 3 ).norm( );

// Convert pack and forth
basic_mathematics::Vector6d sphericalOrbitState = convertCartesianToSphericalOrbitalState(
cartesianState );
basic_mathematics::Vector6d reconvertedCartesianState = convertSphericalOrbitalToCartesianState(
sphericalOrbitState );

// Check computed spherical orbital state against reference data (heading angle not tested, because close to
// undefined; value is numerically irrelevant for physical state).
BOOST_CHECK_SMALL(
std::fabs( radius - sphericalOrbitState( radiusIndex ) ),
radius * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLatitude - sphericalOrbitState( latitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testLongitude - sphericalOrbitState( longitudeIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( speed - sphericalOrbitState( speedIndex ) ),
speed * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( testFlightPathAngle - sphericalOrbitState( flightPathIndex ) ),
2.0 * mathematical_constants::PI * std::numeric_limits< double >::epsilon( ) );


// Check consistency of back-and-forth conversion
for( unsigned int i = 0; i < 3; i++ )
{
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i ) - cartesianState( i ) ),
radius * 2.0 * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i + 3 ) - cartesianState( i + 3 ) ),
speed * 2.0 * std::numeric_limits< double >::epsilon( ) );
}
}

// Test case 5: rotation with undefined heading angle.
{
basic_mathematics::Vector6d cartesianState;
cartesianState<<0.0, 0.0, 6.498098097000000e3, 0.0, 0.0, -7.438147520000000e3;

// Define associated spherical orbital state
basic_mathematics::Vector6d sphericalOrbitalState;
sphericalOrbitalState( headingAngleIndex ) = TUDAT_NAN;
sphericalOrbitalState( flightPathIndex ) = -mathematical_constants::PI / 2.0;
sphericalOrbitalState( latitudeIndex ) = mathematical_constants::PI / 2.0;
sphericalOrbitalState( longitudeIndex ) = 0.0;
sphericalOrbitalState( radiusIndex ) = cartesianState.segment( 0, 3 ).norm( );
sphericalOrbitalState( speedIndex ) = cartesianState.segment( 3, 3 ).norm( );

basic_mathematics::Vector6d reconvertedCartesianState = convertSphericalOrbitalToCartesianState(
sphericalOrbitalState );

// Check consistency of back-and-forth conversion
for( unsigned int i = 0; i < 3; i++ )
{
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i ) - cartesianState( i ) ),
sphericalOrbitalState( radiusIndex ) * 2.0 * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i + 3 ) - cartesianState( i + 3 ) ),
sphericalOrbitalState( speedIndex ) * 2.0 * std::numeric_limits< double >::epsilon( ) );
}
}

// Test case 5: rotation with undefined flight path angle.
{
basic_mathematics::Vector6d cartesianState;
cartesianState<<0.0, 0.0, 6.498098097000000e3, 0.0, 0.0, 0.0;

// Define associated spherical orbital state
basic_mathematics::Vector6d sphericalOrbitalState;
sphericalOrbitalState( headingAngleIndex ) = TUDAT_NAN;
sphericalOrbitalState( flightPathIndex ) = TUDAT_NAN;
sphericalOrbitalState( latitudeIndex ) = mathematical_constants::PI / 2.0;
sphericalOrbitalState( longitudeIndex ) = 0.0;
sphericalOrbitalState( radiusIndex ) = cartesianState.segment( 0, 3 ).norm( );
sphericalOrbitalState( speedIndex ) = cartesianState.segment( 3, 3 ).norm( );

basic_mathematics::Vector6d reconvertedCartesianState = convertSphericalOrbitalToCartesianState(
sphericalOrbitalState );

// Check consistency of back-and-forth conversion
for( unsigned int i = 0; i < 3; i++ )
{
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i ) - cartesianState( i ) ),
sphericalOrbitalState( radiusIndex ) * 2.0 * std::numeric_limits< double >::epsilon( ) );
BOOST_CHECK_SMALL(
std::fabs( reconvertedCartesianState( i + 3 ) - cartesianState( i + 3 ) ),
2.0 * std::numeric_limits< double >::epsilon( ) );
}
}

}

BOOST_AUTO_TEST_SUITE_END( )

} // namespace unit_tests
} // namespace tudat


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