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Allow moon and custom surfaces in spherical coords msg #279

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merged 7 commits into from
Jul 21, 2022
Merged

Allow moon and custom surfaces in spherical coords msg #279

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587e314
Add moon and custom surfaces to conversion functions, updated msg def…
adityapande-1995 Jul 19, 2022
a7b6f28
Linter errors fix
adityapande-1995 Jul 19, 2022
7724cab
renamed memebr to surface_axis_*
adityapande-1995 Jul 19, 2022
3966b0d
minor bug
adityapande-1995 Jul 19, 2022
961c0b9
Linter fixes
adityapande-1995 Jul 19, 2022
cf1715d
Merge branch 'main' into aditya/lunar_and_custom_dems
adityapande-1995 Jul 19, 2022
598d30d
Added msgs::Set test for custom surface
adityapande-1995 Jul 21, 2022
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30 changes: 22 additions & 8 deletions proto/gz/msgs/spherical_coordinates.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -33,28 +33,42 @@ message SphericalCoordinates
enum SurfaceModel
{
/// \brief World Geodetic System 1984
EARTH_WGS84 = 0;
EARTH_WGS84 = 0;

/// \brief Model of the moon, based on the Selenographic
/// coordinate system, see wikipedia: Selenographic
/// Coordinate System.
MOON_SCS = 1;

/// \brief Custom surface type
CUSTOM_SURFACE = 2;
}

/// \brief Optional header data.
Header header = 1;
Header header = 1;

/// \brief Planetary surface model.
SurfaceModel surface_model = 2;
SurfaceModel surface_model = 2;

/// \brief Latitude in degrees.
double latitude_deg = 3;
double latitude_deg = 3;

/// \brief Longitude in degrees.
double longitude_deg = 4;
double longitude_deg = 4;

/// \brief Elevation in meters.
double elevation = 5;
double elevation = 5;

/// \brief Heading in degrees.
double heading_deg = 6;
double heading_deg = 6;

/// \brief Entity that the coordinates apply to.
/// If not set, defaults to the world origin.
Entity entity = 7;
Entity entity = 7;

/// \brief Equatorial axis in meters.
double surface_axis_equatorial = 8;

/// \brief Polar axis in meters.
double surface_axis_polar = 9;
}
22 changes: 22 additions & 0 deletions src/Utility.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,16 @@ namespace gz
{
out.SetSurface(math::SphericalCoordinates::EARTH_WGS84);
}
else if (_sc.surface_model() == msgs::SphericalCoordinates::MOON_SCS)
{
out.SetSurface(math::SphericalCoordinates::MOON_SCS);
}
else if (_sc.surface_model() ==
msgs::SphericalCoordinates::CUSTOM_SURFACE)
{
out.SetSurface(math::SphericalCoordinates::CUSTOM_SURFACE,
_sc.surface_axis_equatorial(), _sc.surface_axis_polar());
}
else
{
std::cerr << "Unrecognized spherical surface type ["
Expand Down Expand Up @@ -472,6 +482,18 @@ namespace gz
{
_sc->set_surface_model(msgs::SphericalCoordinates::EARTH_WGS84);
}
else if (_m.Surface() == math::SphericalCoordinates::MOON_SCS)
{
_sc->set_surface_model(msgs::SphericalCoordinates::MOON_SCS);
}
else if (_m.Surface() ==
math::SphericalCoordinates::CUSTOM_SURFACE)
{
_sc->set_surface_model(
msgs::SphericalCoordinates::CUSTOM_SURFACE);
_sc->set_surface_axis_equatorial(_m.SurfaceAxisEquatorial());
_sc->set_surface_axis_polar(_m.SurfaceAxisPolar());
}
else
{
std::cerr << "Unrecognized spherical surface type ["
Expand Down
87 changes: 87 additions & 0 deletions src/Utility_TEST.cc
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Expand Up @@ -258,6 +258,59 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
EXPECT_DOUBLE_EQ(2.2, math.LongitudeReference().Degree());
EXPECT_DOUBLE_EQ(3.3, math.ElevationReference());
EXPECT_DOUBLE_EQ(0.4, math.HeadingOffset().Degree());

// For Moon's surface.
auto msgMoon = msgs::Convert(
math::SphericalCoordinates(
math::SphericalCoordinates::SurfaceType::MOON_SCS,
GZ_DTOR(1.1), GZ_DTOR(2.2), 3.3, GZ_DTOR(0.4)));

EXPECT_EQ(msgs::SphericalCoordinates::MOON_SCS,
msgMoon.surface_model());
EXPECT_DOUBLE_EQ(1.1, msgMoon.latitude_deg());
EXPECT_DOUBLE_EQ(2.2, msgMoon.longitude_deg());
EXPECT_DOUBLE_EQ(3.3, msgMoon.elevation());
EXPECT_DOUBLE_EQ(0.4, msgMoon.heading_deg());

auto mathMoon = msgs::Convert(msgMoon);

EXPECT_EQ(math::SphericalCoordinates::MOON_SCS,
mathMoon.Surface());
EXPECT_DOUBLE_EQ(1.1, mathMoon.LatitudeReference().Degree());
EXPECT_DOUBLE_EQ(2.2, mathMoon.LongitudeReference().Degree());
EXPECT_DOUBLE_EQ(3.3, mathMoon.ElevationReference());
EXPECT_DOUBLE_EQ(0.4, mathMoon.HeadingOffset().Degree());

// For custom surfaces.
auto sc = math::SphericalCoordinates(
math::SphericalCoordinates::CUSTOM_SURFACE,
12000, 10000);
sc.SetLatitudeReference(GZ_DTOR(1.1));
sc.SetLongitudeReference(GZ_DTOR(2.2));
sc.SetElevationReference(3.3);
sc.SetHeadingOffset(GZ_DTOR(0.4));

auto msgCustom = msgs::Convert(sc);

EXPECT_EQ(msgs::SphericalCoordinates::CUSTOM_SURFACE,
msgCustom.surface_model());
EXPECT_DOUBLE_EQ(1.1, msgCustom.latitude_deg());
EXPECT_DOUBLE_EQ(2.2, msgCustom.longitude_deg());
EXPECT_DOUBLE_EQ(3.3, msgCustom.elevation());
EXPECT_DOUBLE_EQ(0.4, msgCustom.heading_deg());
EXPECT_DOUBLE_EQ(12000, msgCustom.surface_axis_equatorial());
EXPECT_DOUBLE_EQ(10000, msgCustom.surface_axis_polar());

auto mathCustom = msgs::Convert(msgCustom);

EXPECT_EQ(math::SphericalCoordinates::CUSTOM_SURFACE,
mathCustom.Surface());
EXPECT_DOUBLE_EQ(1.1, mathCustom.LatitudeReference().Degree());
EXPECT_DOUBLE_EQ(2.2, mathCustom.LongitudeReference().Degree());
EXPECT_DOUBLE_EQ(3.3, mathCustom.ElevationReference());
EXPECT_DOUBLE_EQ(0.4, mathCustom.HeadingOffset().Degree());
EXPECT_DOUBLE_EQ(12000, mathCustom.SurfaceAxisEquatorial());
EXPECT_DOUBLE_EQ(10000, mathCustom.SurfaceAxisPolar());
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -488,6 +541,40 @@ TEST(MsgsTest, SetSphericalCoordinates)
EXPECT_DOUBLE_EQ(2.2, msg.longitude_deg());
EXPECT_DOUBLE_EQ(3.3, msg.elevation());
EXPECT_DOUBLE_EQ(0.4, msg.heading_deg());

// For Moon's surface.
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msgs::SphericalCoordinates msgMoon;
msgs::Set(&msgMoon, math::SphericalCoordinates(
math::SphericalCoordinates::SurfaceType::MOON_SCS,
GZ_DTOR(1.2), GZ_DTOR(2.3), 3.4, GZ_DTOR(0.5)));

EXPECT_EQ(msgs::SphericalCoordinates::MOON_SCS,
msgMoon.surface_model());
EXPECT_DOUBLE_EQ(1.2, msgMoon.latitude_deg());
EXPECT_DOUBLE_EQ(2.3, msgMoon.longitude_deg());
EXPECT_DOUBLE_EQ(3.4, msgMoon.elevation());
EXPECT_DOUBLE_EQ(0.5, msgMoon.heading_deg());

// For a custom surface.
msgs::SphericalCoordinates msgCustom;
auto sc = math::SphericalCoordinates(
math::SphericalCoordinates::CUSTOM_SURFACE,
12000, 10000);
sc.SetLatitudeReference(GZ_DTOR(1.9));
sc.SetLongitudeReference(GZ_DTOR(2.8));
sc.SetElevationReference(3.7);
sc.SetHeadingOffset(GZ_DTOR(0.6));

msgs::Set(&msgCustom, sc);

EXPECT_EQ(msgs::SphericalCoordinates::CUSTOM_SURFACE,
msgCustom.surface_model());
EXPECT_DOUBLE_EQ(1.9, msgCustom.latitude_deg());
EXPECT_DOUBLE_EQ(2.8, msgCustom.longitude_deg());
EXPECT_DOUBLE_EQ(3.7, msgCustom.elevation());
EXPECT_DOUBLE_EQ(0.6, msgCustom.heading_deg());
EXPECT_DOUBLE_EQ(12000, msgCustom.surface_axis_equatorial());
EXPECT_DOUBLE_EQ(10000, msgCustom.surface_axis_polar());
}

/////////////////////////////////////////////////
Expand Down